LS Mecapion L7, L7 A002, L7 A010, L7 A004, L7 A020 User Manual

VER 1.5

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.

iii

Safety Precautions

Precautions

Definition

Danger

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

Caution

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

Danger

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

goes off, and then check the voltage.

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

Caution

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

material.

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

Safety Precautions

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

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

 Electric Shock Precautions

 Fire Prevention Precautions

iv

Safety Precautions

Environment

Conditions

Servo Drive

Servo Motor

Usage temp.

0 ~ 50 ℃

0 ~ 40 ℃

Storage temp.

-20 ~ 65 ℃

-20 ~ 60 ℃

Usage

humidity

Below 90% RH (non-condensing) Below 80% RH

Storage

humidity

Below 90% RH

Altitude

Below 1000 m

Spacing

 When installing 1 unit:

 More than 40 mm space at the top and

bottom of the control panel

 More than 10 mm space at the left and

right sides of the control panel

 When installing 2 or more units:

 More than 100 mm space at the top of

the control panel

 More than 40 mm space at the bottom

of the control panel

 More than 30 mm space at the left and

right sides of the control panel

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

Control Panel."

Others

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

Caution

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

material.

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

motor.

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

 Installation Precautions

Store and use the product in an environment as follows:

v

Safety Precautions

Caution

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

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

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

terminal for the servo drive.

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

encoder cable.

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

until the charge lamp goes off completely.

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

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

Caution

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

Caution

 Check and adjust each parameter before operation.  Do not touch the rotating unit of the motor during operation.  Do not touch the heat sink during operation.  Be sure to attach or remove the CN1 and CN2 connectors when the power is off.  Extreme change of parameters may cause system instability.

 Wiring Precautions

 Precautions for Initial Operation

 Precautions for Handling and Operation

vi

Safety Precautions

Caution

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

alarm is reset while the servo is on.

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

electrical devices may malfunction because of the interference.

 Use only the specified combinations of servo drive and servo motor.  The electric brake on the servo motor keeps the 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 mechanical safety.

Caution

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

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

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

safety, deactivate the alarm and start operation again.

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

Caution

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

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

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

Caution

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

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

Caution

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

situations related to human life.

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

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

 Precautions for Use

 Malfunction Precautions

 Precautions for Repair/Inspection

 General Precautions

 Product Application

vii

Safety Precautions

Caution

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

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

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

 EEPROM Lifespan

viii

Table of Contents

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

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

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

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 Configuration .................................................................................................... 1-7

1.2.1 Overview ........................................................................................................ 1-7

1.2.2 Wiring Diagram of the Entire CN1 Connector ................................................. 1-9

1.2.3 Example of Position Operation Mode Wiring ................................................ 1-10

1.2.4 Example of Speed Operation Mode Wiring ................................................... 1-11

1.2.5 Example of Torque Operation Mode Wiring .................................................. 1-12

1.2.6 Examples of Speed / Position Operation Mode Wiring ................................. 1-13

1.2.7 Example of Speed/Torque Operation Mode Wiring ....................................... 1-14

1.2.8 Example of Position/Torque Operation Mode Wiring .................................... 1-15

1.3 Signals ........................................................................................................................ 1-16

1.3.1 Digital Input Contact Signal .......................................................................... 1-16

1.3.2 Analog Input Contact Signal ......................................................................... 1-17

1.3.3 Digital Output Contact Signal ........................................................................ 1-17

1.3.4 Monitor Output Signal and Output Power ..................................................... 1-18

1.3.5 Pulse Train Input Signal ................................................................................ 1-18

1.3.6 Encoder Output Signal ................................................................................. 1-19

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 Connection ........................................................................................... 2-1

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

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

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

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

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

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

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

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

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

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

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

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

3.2.2 Dimensions for Power Circuit Electrical Parts ................................................. 3-4

3.3 Timing Diagram ............................................................................................................. 3-5

3.3.1 Timing Diagram During Power Input ............................................................... 3-5

ix

Table of Contents

3.3.2 Timing Diagram at the Time of Alarm Trigger .................................................. 3-6

3.4 Control Signal Wiring ..................................................................................................... 3-7

3.4.1 Contact Input Signal ....................................................................................... 3-7

3.4.2 Contact Output Signal .................................................................................... 3-8

3.4.3 Analog Input/Output Signals ........................................................................... 3-9

3.4.4 Pulse Train Input Signal................................................................................ 3-10

3.4.5 Encoder Output Signal ..................................................................................3-11

3.5 Quadrature Encoder Signaling Unit (CN2) Wiring ........................................................ 3-12

3.5.1 APCS-EAS Cable .................................................................................. 3-12

3.5.2 APCS-EBS Cable .................................................................................. 3-12

3.6 Serial Encoder Signaling Unit (CN2) Wiring ................................................................ 3-13

3.6.1 APCS-ECS Cable .................................................................................. 3-13

3.7 Transmission of Absolute Encoder Data ...................................................................... 3-15

3.7.1 Transmission of Absolute Encoder Data ....................................................... 3-15

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

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

4.1.1 Name and Function of Each Part.................................................................... 4-1

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

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

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

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

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

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

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

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

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

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

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

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

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

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 Display ........................................................ 4-50

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

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

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

4.4.2 Control Parameter Setting ............................................................................ 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

x

Table of Contents

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 List ................................................ 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 Operation [Cn-01] .................................................................... 5-4

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

5.2.4 Reading Alarm History [Cn-03] ....................................................................... 5-6

5.2.5 Alarm History Reset [Cn-04] ........................................................................... 5-7

5.2.6 Auto Gain Tuning [Cn-05] ............................................................................... 5-8

5.2.7 Phase Z Search Operation [Cn-06] ................................................................ 5-9

5.2.8 Input Contact Forced ON/OFF [Cn-07] ......................................................... 5-10

5.2.9 Output Contact Forced ON/OFF [Cn-08] ...................................................... 5-12

5.2.10 Parameter Reset [Cn-09] .............................................................................. 5-13

5.2.11 Automatic Speed Command Offset Correction [Cn-10] ................................. 5-14

5.2.12 Automatic Torque Command Offset Correction [Cn-11] ................................ 5-15

5.2.13 Manual Speed Command Offset Correction [Cn-12] .................................. 5-16

5.2.14 Manual Torque Command Offset Correction [Cn-13] ................................. 5-17

5.2.15 Instantaneous Maximum Load Factor Initialization [Cn-15]........................... 5-18

5.2.16 Parameter Lock[Cn-16] ................................................................................ 5-19

5.2.17 Current Offset[Cn-17] ................................................................................... 5-20

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

7.1.2 Outline Drawing ............................................................................................ 7-14

7.2 Servo Drive.................................................................................................................. 7-23

xi

Table of Contents

7.2.1 Product Features .......................................................................................... 7-23

7.2.2 Outline Drawing ............................................................................................ 7-25

7.3 Options and Peripheral Devices .................................................................................. 7-27

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

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

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

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

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

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

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

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

9. Appendix ............................................................................................................. 9-1

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

9.2 Test Drive Procedure ..................................................................................................... 9-4

Quality Assurance ........................................................................................................ 9-9

User Manual Revision History .................................................................................. 9-10

xii

1. Product Components and Signals

Series

Name

Communication

Type

Input

Voltage

Capacity

Encoder Type

Option

Servo Series

S: Standard I/O type

N: Network type

A: 220 VAC

B: 400 VAC

001: 100 W 050: 5.0 kW 002: 200 W 075: 7.5 kW 004: 400 W 110: 11.0kW 008: 750 W 150: 15.0kW 010: 1.0 kW 020: 2.0 kW 035: 3.5 kW

A: Quadrature (Pulse type) B: Serial

(communication type)

Exclusive Option

L7 S A 004 A AA

1. Product Components and Signals

1.1 Product Components

1.1.1 Product 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 tag 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

1-1

1. Product Components and Signals

Encoder Type

Quadrature(pulse type)

A: Inc. 1024 [P/R]

B: Inc. 2000 [P/R]

C: Inc. 2048 [P/R]

D: Inc. 2500 [P/R]

E: Inc. 3000 [P/R]

F: Inc. 5000 [P/R]

G: Inc. 6000 [P/R]

Serial BISS

(communication type)

N : 19bit S-Turn Abs.

M : 19bit M-Turn Abs.

Servo Motor

Motor Capacity

R3 : 30[W]

R5 : 50[W]

01 : 100[W]

02 : 200[W]

03 : 300[W]

04 : 400[W]

05 : 450[W]

06 : 550/600[W]

07 : 650[W]

08 : 750/800[W]

09 : 850/900[W]

10 : 1.0[kW]

·

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

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

Flange Size A : 40 Flange B : 60 Flange C : 80 Flange D : 100 Flange E : 130 Flange

F : 180 Flange G : 220 Flange H : 250 Flange J : 280 Flange

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

Shaft Cross-section N: Straight K: One-sided round key (standard) C: C Cut D: D Cut T: Tapering R: Double-sided

round key

H: Hollow Shaft

Oil Seal and Brake Non-existent: None attached 1: Oil Seal attached 2: Brake attached 3: Oil Seal and Brake attached

Gearbox

Specifications

Non-existent:

No gearbox

G1: For general industrial

purposes (Foot Mount)

G2: For general industrial

purposes (Flange Mount)

G3: Precise Gearbox

Gearbox

Classification 03: 1/3 10: 1/10

APM – S B 04 A E K 1 G1 03

 Servo Motor Product Format

1-2

1. Product Components and Signals

Bearing Cap

Shaft

Flange

Frame

Housing

Encoder

Cover

Encoder

Connector

Motor Power

Cable

Motor

Connector

Encoder

Cable

Bearing Cap

Shaft

Flange

Frame

Housing

Encoder

Cover

Encoder

Connector

Motor

Connector

Flange

Shaft

Frame

Power connector

Encoder connector

Mold

Housing

Encoder Cover

1.1.2 Part Names

 Servo Motor

 80 Flange or below

 80 Flange or below(Flat Type)

 130 Flange or higher

1-3

1. Product Components and Signals

Main power connector (L1, L2, L3)

Regenerative resistance connector (B+, B, BI)

 When basic installation

is in use short circuit B and BI terminals

 When installing external

resistance install in the B+ and B terminals

Motor power cable connector (U, V, W)

Operation keys (Mode, Up, Down, Set)

Heat sink

Control power connector (C1, C2)

Ground

CN3: RS-422 communication

connector

CN2: Encoder signal connector

CN1: Control signal connector

Display

Front cover

CN5: USB connector

CN4: RS-422 communication

connector

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

 Servo Drive

 L7SA 001□, L7SA 002□, L7SA 004□

1-4

1. Product Components and Signals

CN3: RS-422 communication

connector

CN2: Encoder signal connector

CN1: Control signal connector

Display

Front cover

CN5: USB connector

CN4: RS-422 communication

connector

Main power connector (L1, L2, L3)

Motor power cable connector (U, V, W)

Heat sink

Control power connector (C1, C2) Ground

Operation keys (Mode, Up, Down, Set)

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

Regenerative resistance connector (B+, B, BI)

 When basic installation

is in use short circuit B and BI terminals.

 When installing external

resistance install in the B+ and B terminals.

 L7SA 008□, L7SA 010□

1-5

1. Product Components and Signals

CN3: RS-422 communication

connector

CN2: Encoder signal connector

CN1: Control signal connector

Display

Front cover

CN5: USB connector

CN4: RS-422 communication

connector

Main power connector (L1, L2, L3)

Motor power cable connector (U, V, W)

Heat sink

Control power connector (C1, C2)

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

Regenerative resistance connector (B+, B, BI)

 When basic installation

is in useshort circuit B and BI terminals.

 When installing external

resistance install in the B+ and B terminals.

Operation keys (Mode, Up, Down, Set)

Ground

 L7SA 020□, L7SA 035□

1-6

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 Operation System

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

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

transfer units.

 Disadvantages:

 Fast rotation is compromised when a precise transfer unit is used.  Response is low because multiple levels of controllers are used.

(2) Speed Operation System

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

 Advantages:

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

 Disadvantage: The upper level controller is complex.

1-7

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

0

The servo is run on the torque operation system.

1

The servo is run on the speed operation system.

2

The servo is run on the position operation system.

3

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

4

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

5

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

(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.

1-8

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

ZSPD43

BRAKE44

INPOS

45

50+24V 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

3.3kΩ

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

1-9

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

ZSPD43

BRAKE44

INPOS

45

50+24V IN

GND2424

MONIT128

MONIT229

GND37

AO32

/AO33

BO30

/BO31

ZO4

/ZO5

ALO016

ALO115

ALO214

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

Upper

Level

Controller

-10V ~ +10V

Analog Torque

Limit

Upper

Level

Controller

EGEAR1

**

EGEAR2

**

PCON **

GAIN2 **

P_CLR **

T_LMT **

VLMT**

TLMT**

Note 1)

Note 2)

(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.”

MODE **

ABS_RQ **

ZCLAMP ** WARN**

INSPD**

+12VA34

-12VA35

1.2.3 Example of Position Operation Mode Wiring

1-10

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

ZSPD43

BRAKE44

INPOS

45

50+24V 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

3.3kΩ

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.”

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

1.2.4 Example of Speed Operation Mode Wiring

1-11

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

ZSPD43

BRAKE44

INPOS

45

50+24V 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

3.3kΩ

Line Driver

Open Collector

CN1

-10V ~ +10V

Upper

Level

Controller

-10V ~ +10V

Analog

Speed Limit

Analog Torque

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.”

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

1.2.5 Example of Torque Operation Mode Wiring

1-12

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

ZSPD43

BRAKE44

INPOS

45

50+24V IN

GND2424

ALO016

ALO115

ALO214

GND2425

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 **

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

Note 3)

1.2.6 Examples of Speed / Position 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

ZSPD43

BRAKE44

INPOS

45

50+24V 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

3.3kΩ

Line Driver

Open Collector

CN1

-10V ~ +10V

Upper

Level

Controller

-10V ~ +10V

Analog

Speed

Command/

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: Speed 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 **

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

Note 3)

1.2.7 Example of Speed/Torque Operation Mode Wiring

1-14

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

ZSPD43

BRAKE44

INPOS

45

50+24V IN

GND2424

ALO016

ALO115

ALO214

GND2425

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

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 **

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

Note 3)

1.2.8 Example of Position/Torque Operation Mode Wiring

1-15

1. Product Components and Signals

Number

of

Factory

Setting

Name

Details

Applicable Modes

Position

Speed

Torque

Speed

/Position

Speed

/Torque

Position /Torque

50

+24 V IN

Input contact +24 [V]

power

O O O O O

O

47

SVON

Servo ON

O O O O O

O

23

SPD1

Multi-speed 1

X O X

O/X

O/X X 22

SPD2

Multi-speed 2

X O X

O/X

O/X X 21

SPD3

Multi-speed 3

X O X

O/X

O/X X 17

ALMRST

Reset upon alarm

O O O O O

O

46

DIR

Select rotation

direction

O O O O O O 20

CCWLMT

Counter-clockwise

limit

O O O O O

O

19

CWLMT

Clockwise limit

O O O O O O 18

EMG

Emergency stop

O O O O O

O

48

STOP

Stop

O O O O O

O

Allocate

EGEAR1

Electronic gear ratio 1

O X X

X/O X O/X

Allocate

EGEAR2

Electronic gear ratio 2

O X X

X/O X O/X

Allocate

PCON

P control action

O O X O O/X

O/X

Allocate

GAIN2

Select gain 2

O O X O O/X

O/X

Allocate

P_CLR

Clear input pulse

O X X

X/O X O/X

Allocate

T_LMT

Control torque with

TRQCOM

O O O O O O Allocate

MODE

Change operation

modes

X X X O O O Allocate

ABS_RQ

Request absolute

position data

O O O O O

O

Allocate

ZCLAMP

Zero clamp

X O X

O/X

O

1.3 Signals

1.3.1 Digital Input Contact Signal

1-16

1. Product Components and Signals

Number

Name

Description

Applicable Modes

Position

Speed

Torque

Speed

/Position

Speed

/Torque

Position

/Torque

27

SPDCOM

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

X O X

O/X

X

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

X X O X X/O

X/O

1

TRQCOM

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

X X O X X/O

X/O

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

O O X O O/X

O/X

8

37

GND

Grounding for analog signals

O O O O O

O

Number

of

Factory

Setting

Name

Description

Applicable Modes

Position

Speed

Torque

Speed

/Position

Speed

/Torque

Position

/Torque

16

ALO0

Alarm group contact output 1

O O O O O O 15

ALO1

Alarm group contact output 2

O O O O O

O

14

ALO2

Alarm group contact output 3

O O O O O

O

38 / 39

ALARM +/-

Alarm O O O O O O

40 / 41

READY +/-

Ready for operation

O O O O O O 43

ZSPD

Zero speed reached

O O O O O O 44

BRAKE

Brake O O O O O O

45

INPOS

Position reached

O X X

X/O X O/X

Allocate

TLMT

Torque limit

O O O O O O Allocate

VLMT

Speed limit

O O O O O O Allocate

INSPD

Speed reached

X O X

O/X

O/X X Allocate

WARN

Warning

O O O O O

O

24 25

GND24

Input/output contact Grounding of drive

power (24 [V])

O O O O O

O

1.3.2 Analog Input Contact Signal

1.3.3 Digital Output Contact Signal

1-17

1. Product Components and Signals

Number

Name

Description

Applicable Modes

Position

Speed

Torque

Speed

/Position

Speed

/Torque

Position

/Torque

28

MONIT1

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

O O O O O O 29

MONIT2

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

O O O O O

O

8

37

GND

Grounding for analog signals

O O O O O

O

34

+12 V

Terminal for +12 [V] power output

O O O O O O 35

-12 V

Terminal for -12 [V] power output

O O O O O

O

Number

Name

Description

Applicable Modes

Position

Speed

Torque

Speed

/Position

Speed

/Torque

Position

/Torque

9

PF+

F+ pulse input

O X X

X/O X O/X

10

PF-

F- pulse input

O X X

X/O X O/X

11

PR+

R+ pulse input

O X X

X/O X O/X

12

PR-

R- pulse input

O X X

X/O X O/X

49

PULCOM

Not for use

X X X X X

X

Number

Name

Description

Applicable Modes

Position

Speed

Torque

Speed

/Position

Speed

/Torque

Position

/Torque

9

PF+

Not for use

X X X X X

X

10

PF-

F pulse input

O X X

X/O X O/X

11

PR+

Not for use

X X X X X X 12

PR-

R pulse input

O X X

X/O X O/X

49

PULCOM

+24 V power input

O X X

X/O X O/X

1.3.4 Monitor Output Signal and Output Power

1.3.5 Pulse Train Input Signal

 Line Driver (5 V)

 Open Collector (24 V)

1-18

1. Product Components and Signals

Number

Name

Description

Applicable Modes

Position

Speed

Torque

Speed

/Position

Speed

/Torque

Position

/Torque

32 33 30 31

AO

/AO

BO

/BO

Outputs encoder signals

received from the motor as

signals pre-scaled

according to the ratio

defined by [P0-14]/[P0-15].

(5 [V] line driver method)

O O O O O

O 4 5 ZO

/ZO

Outputs encoder Z signals

received from the motor.

(5 [V] line driver method)

O O O O O

O

1.3.6 Encoder Output Signal

1-19

1. Product Components and Signals

1-20

2. Installation

Item

Requirements

Notes

Ambient

temperature

0 ∼ 40[℃]

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

Ambient humidity

80[%] RH or lower

Use the product in steam-free places.

External

vibration

Vibration acceleration

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

Excessive vibration reduces the lifespan of bearings.

U – U

V - V

W – W

- F.G

2. Installation

2.1 Servo Motor

2.1.1 Usage Environment

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.

 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

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

Load shaft

Motor shaft

0.03 [㎜] or below (peak to peak)

Nr: 30 [㎜] or

below

Lateral load

Axial load

2.1.4 Load Device Connection

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

 For pulley connection:

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

Ambient

temperature

0∼50[℃]

Caution

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

Ambient humidity

90[%] RH or

lower

Caution

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

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

External vibration

Vibration

acceleration 4.9

[㎨] or lower

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

Surrounding

conditions

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

2.2 Servo Drive

2.2.1 Usage Environment

2-3

2. Installation

Caution

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

resistance.

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

the wall.

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

enter the drive.

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

When installing 1 unit:

When installing 2 or more units:

40 mm or

longer

10 mm or

longer

10 mm or

longer

40 mm or

longer

100 mm

or longer

30 mm or

longer

30 mm or

longer

40 mm or

longer

2 mm or longer

2.2.2 Installation Inside the Control Panel

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

2-4

2. Installation

Caution

Overvoltage can damage the drive.

Model

Resistance

Value

Standard

Capacity

* Notes

L7□A001□

100 [Ω]

Built-in 50 [W]

Caution

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

L7□A002□

L7□A004□

L7□A08□

40 [Ω]

Built-in 100

[W]

L7□A010□

L7□A020□

13 [Ω]

Built-in 150

[W]

L7□A035□

Danger

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

2.2.3 Power Wiring

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

 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.

 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.

 Grounding must be done over the shortest distance.

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

2-5

2. Installation

2-6

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 cooled by a DC 24 [V] cooling fan.

3-2

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

Servo Drive

Note 1)

DC Reactor

Encoder

Note 2) External

Regenerative Resistancer

7~10 ㎜

3.2 Power Wiring

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

3-3

NOTE 1) It takes approximately one to two seconds 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 circuit 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 resistance to B and B+.

use devoted crimp 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 the L7SA001□-

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

3. Wiring Method

Name

L7SA001□

L7SA002□

L7SA004□

L7SA008□

L7SA010□

L7SA020□

L7SA035□

MCCB

ABS33bM (8 A)

12 A

24 A

Noise Filter

(NF)

RFY-4010M

4020M

4030M

DC reactor

HFN-6 (6 A)

HFN-10 (10 A)

HFN-30 (30 A)

MC

GMC-9 (11 A)

GMC-18 (18 A)

GMC-40 (35 A)

Wire

AWG16

(1.25 SQ)

AWG14

(2.0 SQ)

AWG12

(4.0 SQ)

Crimp terminal

UA-F1510, SEOIL

(10 mm Strip & Twist)

UA-F2010, SEOIL

(10 mm Strip & Twist)

UA-F4010, SEOIL

(10 mm Strip & Twist)

Regenerative

resistance

(Provided by

default)

50 [W]

100 Ω

100 [W]

40 Ω

150 [W]

13 Ω

3.2.2 Dimensions for Power Circuit Electrical Parts

3-4

3. Wiring Method

Control power establishment 5 [V]

Control program reset

Main power establishment

Alarm (Normally On)

Servo Ready Servo On

Clear DB

PWM output (motor rotation)

150 ms

50 ms

120 ms

10 ms

5 ms

40 ms

Main power, control power supply

200 ms

2 ms

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].

3-5

3. Wiring Method

Caution

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

command signal (Servo ON) to OFF.

200 ms

Control power establishment

5 [V]

Control program

Reset

Main power establishment

Alarm (Normally On) Servo RDY

Servo On

Clear DB

PWM (Motor rotation)

RESET 150 ms

40 ms

10 ms

5 ms

2 ms

30 ms

Alarm triggered by anomaly

Remove causes that triggered alarm

Main power, control power supply

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.

3-6

3. Wiring Method

Caution

1. There are two input contacts based on the characteristics of individual signals: contact A and contact B. They can be set by [P2-08] and [P2-09].

2. It is possible to turn each contact on or off forcibly with [Cn-07]. Take extra caution, 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].

R2

Internal

Circuit

COM

R1

DC 24V

R1: 3.3 KΩ, R2: 680 Ω

3.4 Control Signal Wiring

3.4.1 Contact Input Signal

3-7

3. Wiring Method

Caution

1. There are two output contacts based on the characteristics of individual signals: contact A and contact B. They can be set by [P2-10].

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%, 150 [㎃]

Internal

Circuit

DC 24V

L

Contact

Note 1)

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

3.4.2 Contact Output Signal

3-8

3. Wiring Method

Input/output

Servo Drive

Input/output signal

AGND

Twisted Pair Shield Wire

FG

330 [Ω] 1/4 [W]

5 [kΩ]

0.1 [uF]

+12 [V] (34)

-12 [V] (35)

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].

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 [㎃].

3-9

3. Wiring Method

Servo Drive

Upper level controller

PF

PR

PF+

PF-

PR+

PR-

Line driver

Line receiver

FG

Twisted Pair

Shield Wire

Servo Drive

Upper level controller

+24 [V]

GND24

Pulse COM

PR-

FG

Shield Wire

PF-

Upper level controller

Servo Drive

PR+

PF+

PF-

PR-

GND12

Power note 1)

NPN

R

FG

3.4.4 Pulse Train Input Signal

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

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

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

NOTE 1) When using 5 [V] power: Resistance R = 100-150 [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]

3-10

3. Wiring Method

Servo Drive

Upper level controller

PA

AO /AO GND

Line driver

Line receiver

GND

Upper level controller

Servo Drive

Power

note 2)

FG

PNP

PF+

PF-

P

PR+

4

PR-

R

(4) PNP Open Collector Pulse Command

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] / [P0-15] and output in line driver mode.

3-11

Set bit number 2 to 1 in the menu ‘P0-18 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. 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 10314-52A0-008 10114-3000VE

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 MS3108B20-29S

14

3.5 Quadrature Encoder Signaling Unit (CN2)

Wiring

3.5.1 APCS-EAS Cable

3.5.2 APCS-EBS Cable

3-12

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 Cable

3-13

3. Wiring Method

Servo Drive

Servo Motor

인코더

1 6 2 7

9 4

5

MA

/MA

SL

/SL

5V

GND

SHD

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

Connector Tyco Connector (7Ciruits)

Encoder

3 4 5 6

14

7

Frame

3.6.3 APCS-EES Cable

3-14

3. Wiring Method

Absolute data transmission

Pre-scaler pulse output

3.7 Transmission of Absolute Encoder Data

3.7.1 Transmission of Absolute Encoder Data

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

In this case, pulses are output at the speed of 500 [Kpps]. Among absolute data, multi-turn data are transmitted first, followed by single-turn data.

(Refer to “4.1.6 External Input Signal and Logic Definition" for information on the allocation of the sequence input signal and ABS-RQ signal.)

 Transmission Sequence of Absolute Data

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

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

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

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

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

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

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

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

3-15

4. Parameters

Display 5-digit FND data.

Digit 5 Digit 4 Digit 3 Digit 2 Digit 1

[MODE]: Change display mode. [/LEFT]: Move to another data digit.

[UP]: Increase displayed data. [DOWN]: Decrease displayed data. [SET]: Confirm displayed data. [/RIGHT]: Move to another data digit.

Displays the decimal point.

E.g.) 123.4

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

E.g.) -123.4

4. Parameters

4.1 How to Use the Loader

4.1.1 Name and Function of Each Part

4-1

4. Parameters

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

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

DIGIT 4_High: ZSPD DIGIT 4_Medium: INSPD or INPOS DIGIT 4_Low: Command (speed or torque) DIGIT 4_DOT: Ready

DIGIT 5: Displays the current control mode.

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

DIGIT 5_DOT: Servo ON

4.1.2 Status Summary Display

(1) Status Summary Display in Speed Mode

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

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

4-2

4. Parameters

Operation Status

Screen

Function

Notes

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

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

Displays CCW status when in position mode.

Displays CW status when in position mode.

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

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

Displays CCW status when in speed mode.

Displays CW status when in speed mode.

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

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

Displays CCW status when in torque mode.

Displays CW status when in torque mode.

(2) Servo Operation Status Summary Display List

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

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] indicating

operation status is displayed.

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

displayed and you can see and edit the parameter data.

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

respectively) and becomes editable.

4-4

4. Parameters

Orde

r

Loader Displays

Keys to Use

What to Do

1

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

2

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

3

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

4

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

00001.

5

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

6

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

7

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

8

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

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

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

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

continues to increase/decrease.

4-5

4. Parameters

Orde

r

Loader Displays

Keys to Use

What to Do

1

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

2

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

3

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

4

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

00200.

5

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

6

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

7

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

8

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

(3) Example of changing speed proportional gain 2

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

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

continues to increase/decrease.

4-6

4. Parameters

Orde

r

Loader Displays

Keys to Use

What to Do

1

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

2

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

3

Press [UP] or [DOWN] to move to [P020].

4

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

00000.

5

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

6

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

7

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

8

Press and hold [MODE] for approximately one second to return to [P0-20].

(4) Example of changing DAC output offset 1 ([P0-20]: 0 [Unit/V] ->

-500 [Unit/V])

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

continues to increase/decrease.

4-7

4. Parameters

① Minimum (0b00000)

② Maximum (0b11111)

① Minimum (0x0000)

② Maximum (0xFFFF)

① E.g.) 0

② E.g.) +1234

① E.g.) -1234

② E.g.) +5678

① E.g.) -123.4

② E.g.) +123.4

4.1.4 Data Display

(1) Binary

(2) Hex

(3) 16-bit Unsigned Integer

(4) 16-bit Signed Integer

① E.g.) -1234 ② E.g.) +5678

(5) 16-bit Decimal Point Display

① E.g.) -123.4 ② E.g.) +123.4

4-8

4. Parameters

Display upper two digits

Display middle four digits

Display lower four digits

Display upper two digits

Display middle four digits

Display lower four digits

Order

Loader Displays

Keys to Use

What to Do

1

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

2

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

3

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

4

Press [SET] to display lower digit data.

5

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

lower, middle, and upper data is displayed.

6

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

lower, middle, and upper data is displayed.

7

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

(6) 32-bit Signed Integer Data Display

① Minimum (-2147483648)

② Maximum (2147483647)

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

Lower = 2071

NOTE 1) “ ” indicates flickering.

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

CN1

Pin number

48

18

19

20

46

17

21

22

23

47

Allocated

default

Signal name

STOP

EMG

CWLIM

CCWLI

M

DIR

ALMR

ST

SPD3

SPD2

SPD1

SVON

4.1.5 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

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

Input

Signal

Alwa

ys

Alloc

ated

CN1 Pin Default Allocation Number

No Alloc ation

Input

Signal

Definition

Default

setting

Parameter Allocation

48

18

19

20

46

17

21

22

23

47

Servo ON

[P2-00].Set Digit 1

SVON

F A 9 8 7 6 5 4 3 2 1

0

[P2-00]

0x4321

Multi-speed 1

[P2-00]. Set Digit 2

SPD1

F A 9 8 7 6 5 4 3 2 1

0

Multi-speed 2

[P2-00]. Set Digit 3

SPD2

F A 9 8 7 6 5 4 3 2 1

0

Multi-speed 3

[P2-00]. Set Digit 4

SPD3

F A 9 8 7 6 5 4 3 2 1

0

Alarm reset

[P2-01]. Set Digit 1

ALMRST

F A 9 8 7 6 5 4 3 2 1

0

[P2-01]

0x8765

Select rotation

direction

[P2-01]. Set Digit 2

DIR

F A 9 8 7 6 5 4 3 2 1

0

Forward rotation

prohibited

[P2-01]. Set Digit 3

CCWLIM

F A 9 8 7 6 5 4 3 2 1

0

Reverse rotation

prohibited

[P2-01]. Set Digit 4

CWLIM

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

[P2-02]. Set Digit 1

EMG

F A 9 8 7 6 5 4 3 2 1

0

[P2-02]

0x00A9

Stop

[P2-02]. Set Digit 2

STOP

F A 9 8 7 6 5 4 3 2 1

0

Electronic gear

ratio 1

[P2-02]. Set Digit 3

EGEAR1

F A 9 8 7 6 5 4 3 2 1

0

Electronic gear

ratio 2

[P2-02]. Set Digit 4

EGEAR2

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

[P2-03]. Set Digit 1

PCON

F A 9 8 7 6 5 4 3 2 1

0

[P2-03]

0x0000

Select gain 2

[P2-03]. Set Digit 2

GAIN2

F A 9 8 7 6 5 4 3 2 1

0

Input pulse clear [P2-03]. Set Digit 3

P_CLR

F A 9 8 7 6 5 4 3 2 1

0

Torque limit

[P2-03]. Set Digit 4

T_LMT

F A 9 8 7 6 5 4 3 2 1

0

Change operation

modes

[P2-04]. Set Digit 1

MODE

F A 9 8 7 6 5 4 3 2 1

0

[P2-04]

0x0000

Absolute encoder

data request

[P2-04]. Set Digit 2

ABS_RQ

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

[P2-04]. Set Digit 3

ZCLAMP

F A 9 8 7 6 5 4 3 2 1

0

4-12

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

4. Parameters

Input Signal

Input Allocation Number

(2) Example of Changing Input Signal Allocation

The input signal definition can be changed in [P2-00], [P2-01], [P2-02], [P2-03], and [P2-04]. The input signal logic definition can be changed in [P2-08] and [P2-09]. Allocate input signals as shown in the following table:

4-13

4. Parameters

Signal Name

Input

Signal

Alwa

ys Alloc

ated

CN1 Pin Default Allocation Number

No Alloc

ation

Input

Signal

Definition

Value

After

Changing

Parameter Allocation

48

18

19

20

46

17

21

22

23

47

Servo ON

[P2-00].Set Digit 1

SVON

F A 9 8 7 6 5 4 3 2 1

0

[P2-00]

0x0321

Multi-speed 1

[P2-00]. Set Digit 2

SPD1

F A 9 8 7 6 5 4 3 2 1

0

Multi-speed 2

[P2-00]. Set Digit 3

SPD2

F A 9 8 7 6 5 4 3 2 1

0

Multi-speed 3

[P2-00]. Set Digit 4

SPD3

F A 9 8 7 6 5 4 3 2 1

0

Alarm reset

[P2-01]. Set Digit 1

ALMRST

F A 9 8 7 6 5 4 3 2 1

0

[P2-01]

0x0765

Select rotation

direction

[P2-01]. Set Digit 2

DIR

F A 9 8 7 6 5 4 3 2 1

0

Forward rotation

prohibited

[P2-01]. Set Digit 3

CCWLIM

F A 9 8 7 6 5 4 3 2 1

0

Reverse rotation

prohibited

[P2-01]. Set Digit 4

CWLIM

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

[P2-02]. Set Digit 1

EMG

F A 9 8 7 6 5 4 3 2 1

0

[P2-02]

0x0080

Stop

[P2-02]. Set Digit 2

STOP

F A 9 8 7 6 5 4 3 2 1

0

Electronic gear

ratio 1

[P2-02]. Set Digit 3

EGEAR1

F A 9 8 7 6 5 4 3 2 1

0

Electronic gear

ratio 2

[P2-02]. Set Digit 4

EGEAR2

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

[P2-03]. Set Digit 1

PCON

F A 9 8 7 6 5 4 3 2 1

0

[P2-03]

0x9000

Select gain 2

[P2-03]. Set Digit 2

GAIN2

F A 9 8 7 6 5 4 3 2 1

0

Input pulse clear [P2-03]. Set Digit 3

P_CLR

F A 9 8 7 6 5 4 3 2 1

0

Torque limit

[P2-03]. Set Digit 4

T_LMT

F A 9 8 7 6 5 4 3 2 1

0

Change operation

modes

[P2-04]. Set Digit 1

MODE

F A 9 8 7 6 5 4 3 2 1

0

[P2-04]

0x000A

Absolute encoder

data request

[P2-04]. Set Digit 2

ABS_RQ

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

[P2-04]. Set Digit 3

ZCLAMP

F A 9 8 7 6 5 4 3 2 1

0

4-14

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

4. Parameters

Before Changing

After Changing

[P2-00]:

[P2-02]:

Order

Loader Displays

Keys to Use

What to Do

1

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

2

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

04321.

3

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

4

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

5

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

6

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

7

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

8

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

9

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

00019.

10

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

11

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

12

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

※

In case of exiting

without saving the set

value

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

 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.

NOTE 1) “ ” indicates flickering.

4-15

4. Parameters

Signal Name

Input

Signal

(Initial name)

CN1 Pin Default Allocation Number

Contact B

Input

signal

logic

setting

Default

setting

Parameter Allocation

48

18

19

20

46

17

21

22

23

47

Servo ON

[P2-08].Set Digit 1

SVON

1 0

[P2-08]

0x11111

Multi-speed 1

[P2-08]. Set Digit 2

SPD1

1 0

Multi-speed 2

[P2-08]. Set Digit 3

SPD2

1 0

Multi-speed 3

[P2-08]. Set Digit 4

SPD3

1 0

Alarm reset

[P2-08]. Set Digit 5

ALMRST

1 0

[P2-09]

0x10001

Select rotation

direction

[P2-01]. Set Digit 2

DIR 1

0

Forward rotation

prohibited

[P2-01]. Set Digit 3

CCWLIM

0

Reverse rotation

prohibited

[P2-01]. Set Digit 4

CWLIM

0

Emergency stop [P2-02]. Set Digit 1

EMG

0

Stop

[P2-02]. Set Digit 2

STOP

1 0

Input signal logic definition

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.

4-16

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

4. Parameters

Signal Name

Input

Signal

CN1 Pin Default Allocation Number

Cont act B

Input

signal

logic

definition

Default setting

Parameter Allocation

48

18

19

20

46

17

21

22

23

47

Servo ON

[P2-08].Set Digit 1

SVON

1 0

[P2-08]

0x11111

Multi-speed 1

[P2-08]. Set Digit 2

SPD1

1 0

Multi-speed 2

[P2-08]. Set Digit 3

SPD2

1 0

Multi-speed 3

[P2-08]. Set Digit 4

SPD3

1 0

Alarm reset

[P2-08]. Set Digit 5

ALMRST

1 0

Select rotation

direction

[P2-01]. Set Digit 2

DIR 1

0

[P2-09]

0x11101

Forward rotation

prohibited

[P2-01]. Set Digit 3

CCWLIM

0

Reverse rotation

prohibited

[P2-01]. Set Digit 4

CWLIM

1 0

Emergency stop [P2-02]. Set Digit 1

EMG

1 0

Stop

[P2-02]. Set Digit 2

STOP

1 0

Input signal logic definition

Input signal logic definition number

(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.

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

4-17

4. Parameters

Before changing

After changing

[P2-08]:

[P2-09]:

Order

Loader Displays

Keys to Use

What to Do

1

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

2

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

11111.

3

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

4

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

5

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

6

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

7

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

10001.

8

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

9

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

10

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

11

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

12

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

※

In case of exiting

without saving the set

value

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

 Examples of changing input signal logic definitions

The table below shows examples of changing input signal logic definitions. The sequence of changing logic signal contact A of SVON (CN1-47) to contact B and logic

signal contact B of CCWLIM (1-20) to contact A is as follows.

NOTE 1) “ ” indicates flickering.

4-18

4. Parameters

Number

(5)

(4)

(3)

(2)

(1)

Contact Number

DO5

DO4

DO3

DO2

DO1

CN1

pin number

45

44

43

40/41

38/39

Allocated default

signal name

INPOS

BRAKE

ZSPD

READY

ALARM

4.1.7 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

4-19

4. Parameters

Signal Name

Output

Signal

Alwa

ys

Alloc

ated

CN1 Pin Default Allocation Number

Not

Alloc

ated

Internal

Parameter

Default

Value

Parameter Allocation

45

44

43

40/41

38/39

Alarm

[P2-05].Set Digit 1

ALARM

F 5 4 3 2 1 0

[P2-05]

0x4321

Servo Ready

[P2-05]. Set Digit 2

READY

F 5 4 3 2 1 0

Zero speed achieved

[P2-05]. Set Digit 3

ZSPD

F 5 4 3 2 1 0

Brake

[P2-05]. Set Digit 4

BRAKE

F 5 4 3 2 1 0

Position reached

[P2-06]. Set Digit 1

INPOS

F 5 4 3 2 1 0

[P2-06]

0x0005

Torque limit reached

[P2-06]. Set Digit 2

TLMT

F 5 4 3 2 1 0

Speed limit reached

[P2-06]. Set Digit 3

VLMT

F 5 4 3 2 1 0

Speed achieved

[P2-06]. Set Digit 4

INSPD

F 5 4 3 2 1 0

Warning

[P2-07]. Set Digit 1

WARN

F 5 4 3 2 1 0

[P2-07]

0x0000

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:

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

4-20

4. Parameters

Signal Name

Output

Signal

Alwa

ys

Alloc

ated

CN1 Pin Default Allocation Number

Not

Alloc

ated

Internal

Parameter

Value

After

Changing

Parameter Allocation

45

44

43

40/41

38/39

Alarm

[P2-05].Set Digit 1

ALARM

F 5 4 3 2 1 0

[P2-05]

0x0301

Servo Ready

[P2-05]. Set Digit 2

READY

F 5 4 3 2 1 0

Zero speed achieved

[P2-05]. Set Digit 3

ZSPD

F 5 4 3 2 1 0

Brake

[P2-05]. Set Digit 4

BRAKE

F 5 4 3 2 1 0

Position reached

[P2-06]. Set Digit 1

INPOS

F 5 4 3 2 1 0

[P2-06]

0x5400

Torque limit reached

[P2-06]. Set Digit 2

TLMT

F 5 4 3 2 1 0

Speed limit reached

[P2-06]. Set Digit 3

VLMT

F 5 4 3 2 1 0

Speed achieved

[P2-06]. Set Digit 4

INSPD

F 5 4 3 2 1 0

Warning

[P2-07]. Set Digit 1

WARN

F 5 4 3 2 1 0

[P2-07]

0x0002

Output Signal

Output Allocation Number

(2) Examples of Changing Output Signal Allocation

 The output signal definition can be changed in [P2-05], [P2-06], and [P2-07].  The output signal logic definition can be changed in [P2-10].  Allocate output signals as in the following table:

4-21

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

4. Parameters

Before Changing

After Changing

[P2-05]:

Order

Loader Window Display

Result

Keys to Use

What to Do

1

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

2

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

3

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

4

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

5

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

6

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

7

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

8

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

※

In case of exiting without

saving the set value

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

 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:

NOTE 1) “ ” indicates flickering.

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

4-22

4. Parameters

Signal Name

Input Signal (Initial Name)

CN1 Pin Default Allocation Number

Contact B

Output

Signal

Logic

Definition

Default Setting

Parameter Allocation

45

44

43

40 /41

38 /39

Alarm

[P2-10].Set Digit 1

ALARM

0

[P2-10]

0x10110

Servo Ready

[P2-10]. Set Digit 2

READY

1

0

Zero speed achieved

[P2-10].Digit 3

ZSPD

1

0

Brake

[P2-10].Digit 4

BRAKE

0

Position reached

[P2-10].Digit 5

INPOS

1

0

Output signal logic definition number

Output signal logic definitions

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

(3) Output Signal Logic Definition

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

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

4-23

4. Parameters

Signal Name

Input Signal (Initial Name)

CN1 Pin Default Allocation Number

Contact B

Output

Signal

Logic

Definition

Default Setting

Parameter Allocation

45

44

43

40 /41

38 /39

Alarm

[P2-10].Set Digit 1

ALARM

0

[P2-10]

0x11110

Servo Ready

[P2-10]. Set Digit 2

READY

1

0

Zero speed achieved

[P2-10].Digit 3

ZSPD

1

0

Brake

[P2-10].Digit 4

BRAKE

1

0

Position reached

[P2-10].Digit 5

INPOS

1

0

Output signal logic definitions

Output signal logic definition number

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

(4) 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.

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

4-24

4. Parameters

Before Changing

After Changing

[P2-05]:

Order

Loader Window Display

Result

Keys to Use

What to Do

1

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

2

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

3

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

4

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

5

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

6

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

7

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

8

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

※

In case of exiting without

saving the set value

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

 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:

NOTE 1) “ “ indicates flickering.

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

4-25

4. Parameters

Move to

Another

Parameter

Number

Initial Screen

Parameter

Group Name

Details

MODE Key

-

E.g.) In speed mode

Status Summary

Display

Displays the status summary of the servo.

St-00 - St-26

Status

Displays the operation status of the servo.

P0-00 - P0-27

System

Saves system configuration information.

P1-00 - P1-29

Control

Save control-related parameters.

P2-00 - P2-22

IN / OUT

Saves parameters related to analog and digital input/output.

P3-00 - P3-20

Speed

Operation

Saves speed operation parameters.

P4-00 - P4-14

Position

Operation

Saves position pulse operation parameters.

Cn-00 - Cn-18

Command

Performs operation handling.

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:

4-26

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

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

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

4. Parameters

Parameter

Unit

Initial

Details

Code

Name

Minimum

Maximum

St-00

Current operation status

-

Displays the current operation status. DIGIT 5: Operation Mode

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

Operation status

0

St-01

Current operation speed

[RPM]

0

Displays the current operation speed. (Details: Refer to “4.3.2 Speed Display.”)

Current speed

-10000

10000

St-02

Current command speed

[RPM]

0

Displays the current command speed. (Details: Refer to “4.3.2 Speed Display.”)

Command speed

-10000

10000

St-03

Follow position pulse

[pulse]

0

Displays the accumulated number of tracked position command pulses.

 Displays the accumulated number of position

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

 If a number is lower than the minimum or higher

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

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

Feedback pulse

-2^30

2^30

St-04

Position command pulse

[pulse]

0

Displays the accumulated number of position command pulses.

 Displays the accumulated number of position

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

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

Command pulse

-2^30

2^30

St-05

Remaining position pulse

[pulse]

0

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

 This is the difference between command pulse and

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

 The remaining position pulses, which are displayed

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

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

Pulse error

-2^30

2^30

St-06

Input pulse frequency

[Kpps]

0.0

Displays input pulse frequency.

Input Pulse frequency

-1000.0

1000.0

St-07

Current operation torque

[%]

0.0

Displays the current load factor against the rated load factor.

 Displays the load currently output by the servo

motor as a percentage against the rated output.

Current torque

-300.0

300.0

St-08

Current command torque

[%]

0.0

Displays the command load factor against the rated load factor.

 Displays the load currently output by the servo

motor as a percentage against the rated output.

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

Command torque

-300.0

300.0

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

4-27

4. Parameters

Parameter

Unit

Initial

Details

Code

Name

Minimum

Maximum

St-09

Accumulated overload

rate

[%]

0.0

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

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

Accumulated overload

-300.0

300.0

St-10

Instantaneous maximum

load factor

[%]

0.0

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

 Displays, as a percentage, the maximum overload

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

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

Maximum load

-300.0

300.0

St-11

Torque limit

[%]

-

Displays the torque limit value.  Displays, as a percentage, the maximum torque

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

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

Torque limit

-300.0

300.0

St-12

DC link voltage

[V]

0.0

Displays the current DC link voltage of the main power.  The DC link voltage of the standard drive that uses

220 [V] is approximately 300 [V].

 The maximum DC link voltage allowed for the

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

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

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

 The normal DC link voltage in the regenerative

section is 385 [V] or below.

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

DC link voltage

0.0

500.0

St-13 Regenerative overload

[%]

0.0

Displays the regenerative overload rate.

Regeneration overload

0.0

20.0

St-14

Input contact status

-

Displays the input contact status that the servo recognizes.

(Details: Refer to “4.1.5 External Input Contact Signal

Display.”)

Input Status

-

St-15

Output contact status

-

Displays the output contact status that the servo outputs.

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

Output status

-

St-16

Single-turn data

(Single-turn data)

[pulse]

0

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

Single-turn data

0

2^30

St-17

Single-turn data

(Degrees)

[˚]

0.0

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

Single-turn data

(Degrees)

0.0

360.0

St-18

Multi-turn data

[rev]

0

Displays the multi-turn data of the encoder.

Multi-turn data

-32768

32767

4-28

4. Parameters

Parameter

Unit

Initial

Details

Code

Name

Minimum

Maximum

St-19

Internal temperature

[℃]

0

Displays the internal temperature sensor value.

Room temperature

0

200

St-20

Rated motor speed

[RPM]

0

Displays the rated speed of the currently installed motor.

Rated RPM

0

10000

St-21

Maximum motor speed

[RPM]

0

Displays the maximum speed of the currently installed motor.

Maximum RPM

0

10000

St-22

Rated motor current

[A]

0.00

Displays the rated current of the currently installed motor.

Rated current

0.00

655.35

St-23

U phase current offset

[mA]

0

Displays the U phase current offset.

U Phase current

offset

-200

200

St-24

V phase current offset

[mA]

0

Displays the V phase current offset.

V phase current

offset

-200

200

St-25

Program version

-

Displays the version of the currently installed program.

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

Software version

-

St-26

FPGA 버전

-

Displays the version of the currently installed FPGA version.

FPGA Version

-

4-29

4. Parameters

Parameter

Unit

Initial

Details

Code

Name

Minimum

Maximum

**P0-00

Motor ID

-

999

 Serial type encoder: Reads the motor ID from the

encoder and displays it.

 Quadrature Type encoder: Sets motor ID directly.  If the attempt to read motor data fails, the initial

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

Setting.")

Motor ID

0

999

**P0-01

Encoder type

-

0

 Serial Type encoder: Reads and displays from the

encoder.

 Quadrature Type encoder: Sets the value directly.

 0: Quadrature Type encoder  1: Serial encoder (-)  2: Serial encoder (12 bit)  3: Serial encoder (16 bit)  4: Serial encoder (20 bit)  5: Serial encoder (24 bit)

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

Encoder type

0

5

**P0-02

Encoder pulse

[ppr]

3000

 Serial Type encoder: Reads the number of bits

per turn from the encoder and displays it.

 Quadrature Type encoder: Sets the number of

encoder pulses directly. (Details: Refer to “4.4.1 System Parameter

Setting.")

Enc resolution

1

30000

*P0-03

Select operation

mode

-

1

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

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

Operation mode

0

5

**P0-04

RS422

communication

speed

[bps]

0

Sets communication speed for RS-422 communication.

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

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

RS422 baud rate

0

3

**P0-05

System ID

-

0

Sets drive ID for communication.  An ID can be given to the servo if USB

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

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

for individual communication with it.

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

System ID

0

99

4.2.3 System Setting Parameter

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

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

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

4-30

4. Parameters

Parameter

Unit

Initial

Details

Code

Name

Minimum

Maximum

P0-06

Main power input mode

-

0b00

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

1: 3-phase power input

Caution: Using single-phase power

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

Power fail mode

0b00

0b11

P0-07

RST checking time

[ms]

20

Sets the time to check main power phase loss.

RST check time

0

5000

P0-08

Displays parameter

upon start.

-

0

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

(Details: Refer to “4.4.1 System Parameter

Setting.")

Start up parameter

0

25

*P0-09

Regenerative overload

derating

[%]

100

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

Regeneration derating

1

200

**P0-10

Regenerative resistance

value

[Ω]

0

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

Regenerarion brake resistor

0

1000

**P0-11

Regenerative resistance

capacity

[W]

0

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

Regenerarion brake

capacity

0

30000

*P0-12

Overload check

Base load factor

[%]

100

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

Overload check base

10

100

P0-13

Continuous overload

warning level

[%]

50

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

Overload Warning Level

10

100

*P0-14

Encoder output prescale

numerator

-

1

Sets the prescale numerator for encoder output when the servo outputs an encoder signal to the outside.

(Details: Refer to “4.4.1 System Parameter

Setting.")

Encoder out NUM.

1

16383

*P0-15

Encoder output prescale

denominator

-

1

Sets the prescale denominator for encoder output when the servo outputs an encoder signal to the outside.

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

Encoder out DEN.

1

16383

*P0-16 PWM OFF delay time

[ms]

10

Sets the time to delay until the PWM signal actually goes off after the servo is turned off.

(Details: Refer to “4.4.1 System Parameter

Setting.")

PWM OFF delay

0

1000

4-31

4. Parameters

Parameter

Unit

Initial

Details

Code

Name

Minimum

Maximum

*P0-17

DB control mode

-

0x0

Sets DB control mode.

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

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

DB control mode

0x0

0x3

*P0-18

Function setting bit

-

0b00

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

servo.

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

DIGIT 2 -> Sets the open collector output.

 0: Not for use  1: Use

DIGIT 4 -> Sets the monitor output.voltage

 0: -10V~+10V 1: 0~10V

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

Function select bit

0b00

0b11

P0-19

DAC output mode

-

0x3210

Sets output mode for 1-4 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.")

DAC mode (F)

0x0000

0xFFFF P0-20

DAC output offset 1

(MONIT1)

[Unit/V]

0

Sets offset for 1-4 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.")

DAC output offset 1

(MONIT1)

-1000

1000

P0-21

DAC output offset 2

(MONIT2)

[Unit/V]

0

DAC offset 2 (F)

(MONIT2)

-1000

1000

P0-22

DAC Output Offset 3

[Unit/V]

0

DAC offset 3 (F)

-1000

1000

P0-23

DAC Output Offset 4

[Unit/V]

0

DAC offset 4 (F)

-1000

1000

4-32

4. Parameters

Parameter

Unit

Initial

Details

Code

Name

Minimum

Maximum

P0-24

DAC output scale 1

(MONIT1)

[Unit/V]

500

Sets magnification for 1-4 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.")

DAC scale1 (F)

(MONIT1)

1

10000

P0-25

DAC output scale 2

(MONIT2)

[Unit/V]

500

DAC scale 2 (F)

(MONIT2)

1

10000

P0-26

DAC output scale 3

[Unit/V]

50

DAC scale 3 (F)

1

10000

P0-27

DAC output scale 4

[Unit/V]

50

DAC scale 4 (F)

1

10000

P0-28

U phase Current Offset

value

[mA]

0

Store U phase Current Offset value.

U Current Offset

-9999

9999

P0-29

V phase Current Offset

value

[mA]

0

Store V phase Current Offset value.

V Current Offset

-9999

9999

P0-30

4-33

4. Parameters

Parameter

Unit

Initial

Details

Code

Name

Minimum

Maximum

P1-00

Inertia ratio

[%]

100

Sets inertia ratio for load.  Inertia ratio is considered 100 percent when

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

 Setting an accurate inertia ratio is crucial for

optimal servo operation.

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

Inertia ratio

0

20000

P1-01

Position proportional gain

1

[Hz]

50

Sets position control proportional gain 1.

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

Position P gain 1

0

500

P1-02

Position Proportional Gain

2

[Hz]

70

Sets position control proportional gain 2.

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

Position P gain 2

0

500

P1-03 Position command filter

time constant

[ms]

0

Sets filter time constant for internal position command which is reflected by electric gear ratio.

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

Pos. command filter time

constant

0

1000

P1-04

Position feedforward gain

[%]

0

Sets position feedforward control ratio.

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

Pos. feedforward gain

0

100

P1-05

Position feedforward

Filter time constant

[ms]

0

Sets position feedforward control filter time constant.

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

Pos. feedforward time

constant

0

1000

P1-06

Speed proportional gain 1

[rad/s]

400

Sets speed control proportional gain 1.

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

Speed P gain 1

0

5000

P1-07

Speed proportional gain 2

[rad/s]

700

Sets speed control proportional gain 2.

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

Speed P gain 2

0

5000

P1-08

Speed integral time

constant 1

[ms]

50

Sets speed control integral time constant 1.

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

Speed time constant 1

1

1000

P1-09

Speed integral time

constant 2

[ms]

15

Sets speed control integral time constant 2.

Speed time constant 2

1

1000

P1-10

Speed command filter

time constant

[ms]

10

Sets filter time constant for speed command values.

Spd. command filter time

constant

0

1000

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 servo on

4-34

4. Parameters

Parameter

Unit

Initial

Details

Code

Name

Minimum

Maximum

P1-11

Speed feedback filter time

constant

0.1[ms]

5

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

Spd. feedback filter time

constant

0

1000

P1-12

Torque command filter time

constant

[ms]

10

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

Trq. command filter time

constant

0

1000

P1-13

Forward rotation torque

limit

[%]

300

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

Positive torque limit

0

300

P1-14

Negative torque limit

[%]

300

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

Negative torque limit

0

300

P1-15

Gain transfer mode

-

0x00

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

 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.”)

Conversion mode

0x00

0x43

P1-16

Gain transfer time

[ms]

1

Sets gain transfer time during operation. When converting gain 1 to gain 2 and gain 2 to gain

1, conversion is scheduled according to the set time.

Gain conversion time

1

100

P1-17

Resonance avoidance

operation

-

0

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

Notch filter use

0

1

4-35

4. Parameters

Parameter

Unit

Initial

Details

Code

Name

Minimum

Maximum

P1-18

Resonance avoidance

frequency

[Hz]

300

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

Notch frequency

0

1000

P1-19

Resonance avoidance

range

[Hz]

100

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

Notch bandwidth

0

1000

P1-20

Auto gain tuning speed

100

[RPM]

8

Sets speed for automatic gain tuning run.

Auto gain tuning Speed

1

10

P1-21

Auto gain tuning distance

-

3

Sets round-trip distance for automatic gain tuning run.

Auto gain tuning distance

1

5

P1-22

Torque control speed

limiting mode

-

0

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.

Velocity limit switch

(torque control)

0

3

P1-23

Speed limit

[RPM]

2000

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

Velocity limit value

(torque control)

0

10000

P1-24

P control conversion torque

%

200

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

Torque switch value

(P control conversion)

0

300

P1-25

P control conversion speed

rpm

50

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

Speed switch value

(P control conversion)

0

6000

P1-26

P control conversion

acceleration

rpm/s

1000

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

acceleration.

Acc. switch value

(P control conversion)

0

5000

P1-27

P control conversion

position error

pulse

2000

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

error .

Position Err switch value

(P control conversion)

0

10000

4-36

4. Parameters

Parameter

Unit

Initial

Details

Code

Name

Minimum

Maximum

**P2-00

Input signal definition 1

-

0x4321

Allocates a CN1 connector pin for a digital input signal.

 Initial input signal allocation

 [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 to “4.1.6 External Input Signal and

Logic Definition.”)

Input port define 1

0

0xFFFF

**P2-01

Input signal definition 2

-

0x8765

Input Port define 2

0

0xFFFF

**P2-02

Input signal definition 3

-

0x00A9

Input Port define 3

0

0xFFFF

**P2-03

Input signal definition 4

-

0x0000

Input Port define 4

0

0xFFFF

**P2-04

Input signal definition 5

-

0x0F00

Input Port define 5

0

0xFFFF

**P2-05

Output signal definition 1

-

0x4321

Allocate a CN1 connector pin for a digital output 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 to “4.1.8 External Output Signal and Logic Definition.”)

In case of dual allocation, the output contact setting error [AL-72] occurs.

Output port define 1

0

0xFFFF

**P2-06

Output signal definition 2

-

0x0005

Output port define 2

0

0xFFFF

**P2-07

Output signal definition 3

-

0x0000

Output port define 3

0

0xFFFF

**P2-08

Input signal logic

definition 1

-

0b11111

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

Initial input logic definitions

 [P2-08]DIGIT 1 = DI1 (CN1 #47) (Contact A)  [P2-08]DIGIT 2 = DI2 (CN1 #23) (Contact A)  [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 to “4.1.6 External Input Signal and Logic Definition.”)

Input logic set 1

0

0b11111

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

4-37

4. Parameters

Parameter

Unit

Initial

Details

Code

Name

Minimum

Maximum

**P2-09

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

(Details: Refer to “4.1.6 External Input Signal

and Logic Definition.”)

Input logic set 2

0

0b11111

**P2-10

Output signal logic

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 to “4.1.8 External Output Signal and Logic Definition.”)

(Details: Refer to “4.4.4 Input/Output Contact

Parameter Setting.”)

Output logic set

0 0b11111

P2-11

Position reached output

range

[pulse]

10

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

(Details: Refer to “4.4.4 Input/Output Contact

Parameter Setting.”)

In position range

1

65535

P2-12

Zero speed output range

[RPM]

10

Sets speed range for zero speed output during a stop.

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

Zero speed range

1

500

P2-13

Range of output for speed

reached

[RPM]

10

Sets speed range for command speed reached output.

(Details: Refer to “4.4.4 Input/Output Contact

Parameter Setting.”)

In speed range

1

500

P2-14

Brake output action speed

[RPM]

100

Sets speed for turning on the brake output contact.

(Details: Refer to “4.4.4 Input/Output Contact

Parameter Setting.”)

Brake output speed

0

6000

P2-15

Brake output delay time

[ms]

500

Sets how much time to delay until the brake output contact turns on when the servo is off or stops.

(Details: Refer to “4.4.4 Input/Output Contact

Parameter Setting.”)

Brake output delay time

0

1000

P2-16

Position pulse clear mode

-

1

Select operation type for position pulse clear (PCLR) mode.

 0: Operate in edge mode.  1: Operate in level mode.

(Details: Refer to “4.4.4 Input/Output Contact

Parameter Setting.”)

PCLR mode

0

1

*P2-17

Analog speed scale

[RPM]

2000

Sets speed scale when the analog speed command is 10 [V].

(Details: Refer to “4.4.3 Analog Input/Output Parameter Setting.”)

Analog speed

command scale

1

6000

4-38

4. Parameters

Parameter

Unit

Initial

Details

Code

Name

Minimum

Maximum

P2-18

Analog speed offset

[mV]

0

Sets offset for analog speed commands. (Details: Refer to “4.4.3 Analog Input/Output

Parameter Setting.”)

Analog speed

command offset

-1000

1000

P2-19

Zero speed clamp speed

[RPM]

0

Sets speed range for the clamp operation of the analog zero speed command.

(Details: Refer to “4.4.3 Analog Input/Output

Parameter Setting.”)

Zero speed

clamp RPM

0

1000

*P2-20

Analog torque scale

[%]

100

Sets torque scale when the analog torque command is 10 [V].

(Details: Refer to “4.4.3 Analog Input/Output

Parameter Setting.”)

Analog torque scale

1

350

P2-21

Analog torque command

offset

[mV]

0

Sets offset for analog torque commands.

(Details: Refer to “4.4.3 Analog Input/Output

Parameter Setting.”)

Analog torque

command offset

-1000

1000

P2-22

Zero torque clamp voltage

[mV]

75

Sets voltage range for the clamp operation of the analog zero torque command.

(Details: Refer to “4.4.3 Analog Input/Output

Parameter Setting.”)

Zero torque clamp voltage

0

1000

4-39

4. Parameters

Parameter

Unit

Initial

Details

Code

Name

Minimum

Maximum

P3-00

Speed command 1

[RPM]

10

Sets 1-6 speed commands based on the speed command input contact.

SPD

SD2

SPD3

Speed Control

OFF

Analog speed

command

ON

OFF

Digital speed

command 1

OFF

ON

OFF

Digital speed

command 2

ON

OFF

Digital speed

command 3

OFF

ON

Digital speed

command 4

ON

OFF

ON

Digital speed

command 5

OFF

ON

Digital speed

command 6

ON

Digital speed

command 7

(Details: Refer to “4.4.5 Speed Operation

Parameter Setting.”)

Speed command 1

-6000

6000

P3-01

Speed command 2

[RPM]

100

Speed command 2

-6000

6000

P3-02

Speed command 3

[RPM]

500

Speed command 3

-6000

6000

P3-03

Speed command 4

[RPM]

1000

Speed command 4

-6000

6000

P3-04

Speed command 5

[RPM]

1500

Speed command 5

-6000

6000

P3-05

Speed command 6

[RPM]

2000

Speed command 6

-6000

6000

P3-06

Speed command 7

[RPM]

3000

Speed command 7

-6000

6000

P3-07

Z detection operation speed

[RPM]

10

Sets Z detection operation speed.

Z search operation speed

1

300

P3-08

Speed command acceleration

time

[ms]

0

Sets acceleration time for speed commands.

(Details: Refer to “4.4.5 Speed Operation

Parameter Setting.”)

Speed command

ACC. time

0

10000

P3-09

Speed command deceleration

time

[ms]

0

Sets deceleration time for speed commands. (Details: Refer to “4.4.5 Speed Operation

Parameter Setting.”)

Speed command DEC. time

0

10000

P3-10

Speed command S-curve

time

[ms]

10

Sets S-Curve time for speed commands.

Speed command

S-curve time

1

100

*P3-11

Speed operation pattern

-

0

Sets acceleration/deceleration type for speed commands.

(0;Trapezoidal, 1;Sinusoidal)

(Details: Refer to “4.4.5 Speed Operation

Parameter Setting.”)

ACC.DEC. pattern

0

1

P3-12

Manual JOG operation speed

[RPM]

500

Sets operation speed for manual JOG operation [Cn-00].

JOG operation speed

-6000

6000

4.2.6 Speed Operation Setting Parameter

For detailed information, refer to "4.4.5 Speed Operation Parameter Setting."

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

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

4-40

4. Parameters

Parameter

Unit

Initial

Details

Code

Name

Minimum

Maximum

P3-13

Program JOG operation

speed 1

[RPM]

0

Sets operation speed/operation time for programs 1 to 4 during program JOG operation [Cn-01].

A test run repeats from step 1 to step 4. Sets operation speed ([P3-13]-[P3-16]) and operation time ([P3-17]-[P3-20]) for each step.

E.g.) Step 1 operation

Program jog speed 1

-6000

6000

P3-14

Program JOG operation

speed 2

[RPM]

3000

Program jog speed 2

-6000

6000

P3-15

Program JOG operation

speed 3

[RPM]

0

Program jog speed 3

-6000

6000

P3-16

Program JOG operation

speed 4

[RPM]

-3000

Program jog speed 4

-6000

6000

P3-17

Program JOG operation

time 1

[ms]

500

Program jog time 1

0

65535

P3-18

Program JOG operation

time 2

[ms]

5000

Program jog time 2

0

65535

P3-19

Program JOG operation

time 3

[ms]

500

Program jog time 3

0

65535

P3-20

Program JOG operation

time 4

[ms]

5000

Program jog time 4

0

65535

4-41

4. Parameters

Parameter

Unit

Initial

Details

Code

Name

Minimum

Maximum

**P4-00

Position input pulse

logic

-

0

Sets logic for position operation input pulses.

- The type of position command input pulses and rotation direction per logic are as follows:

PULS

(CN1-9)

SIGN

(CN1-11)

PULS

(CN1-9)

SIGN

(CN1-11)

0

1

Phase A + B

Positive

Logic

CW+CCW

Positive

Logic

PULS

(CN1-9)

SIGN

(CN1-11)

2

Pulse +

direction

positive

logic

Forward rotation Reverse rotation

PULS

(CN1-9)

SIGN

(CN1-11)

PULS

(CN1-9)

SIGN

(CN1-11)

PULS

(CN1-9)

SIGN

(CN1-11)

PF + PR

L Level

H Level

PULS

(CN1-9)

SIGN

(CN1-11)

PULS

(CN1-9)

SIGN

(CN1-11)

3

4

PULS

(CN1-9)

SIGN

(CN1-11)

5

Forward rotation

Phase A + B

Negative

Logic

CW+CCW

Negative

Logic

Pulse +

direction negative

logic

Reverse rotation

PULS

(CN1-9)

SIGN

(CN1-11)

PULS

(CN1-9)

SIGN

(CN1-11)

PF + PR

PULS

(CN1-9)

SIGN

(CN1-11)

H Level

L Level

E.g.) Relation between direction signals and rotation directions when the position pulse input logic is set to 2.

When the direction signal is low: Reverse rotation (CW/clockwise)

When the direction signal is high: Forward rotation (CCW/counterclockwise)

(Details: Refer to “4.4.6 Position Operation Parameter Setting.”)

Pulse Input Logic

0

5

4.2.7 Position Operation Setting Parameter

For detailed information, refer to "4.4.6 Position Operation Parameter Setting."

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

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

4-42

4. Parameters

Parameter

Unit

Initial

Details

Code

Name

Minimum

Maximum

*P4-01

Electronic gear ratio

numerator 1

-

1000

Sets electronic gear ratio numerator/denominator 0, 1, 2, and 3.

EGEAR

1

EGEAR

2

Electronic Gear

Ratio

Numerator /

Denominator

Electronic

Gear Ratio

OFF

Electronic gear

ratio numerator 0

Electronic

gear ratio 1

Electronic gear

ratio denominator 0

ON

OFF

Electronic gear

ratio numerator 1

Electronic

gear ratio 2

Electronic gear

ratio denominator 1

OFF

ON

Electronic gear

ratio numerator 2

Electronic

gear ratio 3

Electronic gear

ratio denominator 2

ON

Electronic gear

ratio numerator 3

Electronic

gear ratio 4

Electronic gear

ratio denominator 3

 The electronic gear ratio is the

numerator/denominator form of the relation between the position command input pulse and the motor encoder pulse. It is important to set the ratio so that there is no error during position operation.

(Details: Refer to “4.4.6 Position Operation Parameter Setting.”)

Electric gear num.1

1

30000

*P4-02

Electronic gear ratio

numerator 2

-

1000

Electric gear num.2

1

30000

*P4-03

Electronic gear ratio

numerator 3

-

1000

Electric gear num.3

1

30000

*P4-04

Electronic gear ratio

numerator 4

-

1000

Electric gear num.4

1

30000

*P4-05

Electronic gear ratio

denominator 1

-

1000

Electric gear den.1

1

30000

*P4-06

Electronic gear ratio

denominator 2

-

2000

Electric gear den.2

1

30000

*P4-07

Electronic gear ratio

denominator 3

3000

Electric gear den.3

1

30000

*P4-08

Electronic gear ratio

denominator 4

-

4000

Electric gear den.4

1

30000

P4-09

Electronic gear ratio

mode

-

0

Select an electronic gear ratio mode.

 0: Select electronic gear ratio 1-4.  1: Override offset [P4-10] on the electronic gear

ratio numerator 0.

(Details: Refer to “4.4.6 Position Operation

Parameter Setting.”)

Electric gear mode

0

1

P4-10

Electric gear ratio

numerator offset

-

0

Sets the offset of the electronic gear ratio numerator

0. The offset will be set on the electronic gear ratio numerator 0.

 EGEAR1 contact LOW -> HIGH

: Increase the electronic gear ratio numerator by

1.

 EGEAR2 contact LOW -> HIGH

: Decrease the electronic gear ratio numerator by 1)

(Details: Refer to “4.4.6 Position Operation Parameter Setting.”)

Electric gear num.

offset

-30000

30000

P4-11

Position error

[Pulse]

90000

Sets range for triggering the position error alarm.

(Details: Refer to “4.4.4 Input/Output Contact

Parameter Setting.”)

Following error range

1

2^30

P4-12

Limit contact function

-

0

Select the operation type of position command pulse clear for CWLIM and CCWLIM contacts.

 0: When the CCWLIM / CWLIM contact is on,

receive an input pulse and save it to buffer.

 1: Ignore any input pulse when the CCWLIM /

CWLIM contact is on.

Position limit

function

0

1

4-43

4. Parameters

Parameter

Unit

Initial

Details

Code

Name

Minimum

Maximum

P4-13

Backlash

compensation

-

0

Sets backlash compensation in position operation.

Sets backlash compensation by converting the amount of backlashes to number of pulses if the position changes because of backlashes caused by position operation.

Sets in the opposite direction according to the amount of backlashes.

(Details: Refer to “4.4.6 Position Operation

Parameter Setting.”)

Backlash

compensation

0

10000

P4-14

Pulse input filter

-

3

Sets filter frequency according to pulse input.

 0 : No filter used  1 : 500 Khz (Min)  2 : 750 Khz  3 : 1 Mhz (Default)  4 : 1.25 Mhz

The frequency bands above were determined

based on the width of input pulse in consideration of the characteristics of digital filters.

Pulse input filter

0

4

4-44

4. Parameters

Parameter

Unit

Initial

Details

Code

Name

Minimum

Maximum

Cn-00

Manual JOG operation

-

The drive performs manual JOG operation by itself.

(Refer to “Chapter 5 Handling and

Operation.”)

 [MODE]: Finish  [UP]: Forward rotation (CCW)  [DOWN]: Reverse rotation (CW)  [SET]: Servo ON / OFF

Related parameters are as follows:  [P3-08]: Speed command acceleration

time

 [P3-09]: Speed command deceleration

time

 [P3-10]: Speed command S-curve  [P3-11]: Speed operation pattern  [P3-12]: JOG operation speed

Operate regardless of the contact input status of CN1.

(Details: Refer to “4.4.5 Speed Operation

Parameter Setting.”) (Details: Refer to "5.2 Handling.")

Jog

-

Cn-01

Program JOG operation

-

Continuously operates according to the program already set.

 [SET]: Program JOG run or stop

Related parameters are as follows:  [P3-08]: Speed command acceleration

time

 [P3-09]: Speed command deceleration

time

 [P3-10]: Speed command S-curve  [P3-11]: Speed operation pattern  [P3-13~16]: Program operation speed 1

to 4

 [P3-17~20]: Program operation time 1 to

4

Operate regardless of the contact input status of CN1.

(Details: Refer to “4.4.5 Speed Operation

Parameter Setting.”) (Details: Refer to "5.2 Handling.")

Program jog

-

Cn-02

Alarm reset

-

Reset the alarm that went off. (Details: Refer to "5.2 Handling.")

Alarm reset

-

4.2.8 Operation Handling Parameter

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

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

4-45

4. Parameters

Parameter

Unit

Initial

Details

Code

Name

Minimum

Maximum

Cn-03

Get alarm history

-

Check the saved alarm code history. [UP] or [DOWN]: Reads alarm codes.

 E.g.) Recent first history [AL-42]:

RST_PFAIL occurs.

 01: Latest alarm  20: 20th previous alarm

(Details: Refer to "5.2 Handling.")

Get alarm history

-

Cn-04

Alarm history reset

-

Deletes the entire saved alarm code history. (Details: Refer to "5.2 Handling.")

Alarm history clear

-

Cn-05

Auto gain tuning

-

Performs automatic gain tuning operation.

Related parameters are as follows.

 [P1-22]: Auto gain tuning speed  [P1-23]: Auto gain tuning distance

(Details: Refer to "5.2 Handling.")

Auto gain tuning

-

Cn-06

Z search

-

Perform Z detection.

 [SET]: Mode entering and servo ON status  [UP]: Phase Z forward search  [DOWN]: Phase Z reverse search

Related parameters are as follows.  [P3-07]: Sets Z-phase search operation

speed [RPM].

(Details: Refer to "5.2 Handling.")

Z detection

-

Cn-07

Input contact forced

ON/OFF

-

Forcibly turns on/off the input contact temporarily.

 [UP]: (A),(8),(6),(4), and (2) signals forced

ON/OFF

 [DOWN]: (9),(7),(5),(3), and (1) signals

forced ON/OFF  [MODE]: Move to another digit. (Details: Refer to "5.2 Handling.")

Forced input test

-

Cn-08

Output contact forced

ON / OFF

-

Forcibly turns on/off the output contact temporarily.

 [UP]: (4) and (2) signals forced ON/OFF  [DOWN]: (5),(3), and (1) signals forced

ON/OFF  [MODE]: Move to another digit. (Details: Refer to "5.2 Handling.")

Forced output test

-

Cn-09

Parameter initialization

-

Initializes parameter data. (Details: Refer to "5.2 Handling.")

Parameter Initialization

-

4-46

LS Mecapion L7, L7 A002, L7 A010, L7 A004, L7 A020 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual