SMC Networks LECSB Series, LECSB-S5 Series, LECSB-S7 Series, LECSB*-S8 Series Operation Manual

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Doc. no. JXC※-OMT0021-B

PRODUCT NAME

AC Servo Motor Driver

MODEL/ Series

LECSB Series

LECSB□-□ Series / Driver

which, if not avoided, could result in minor or

moderate injury.

indicates a hazard w it h a medi um level o f ri sk which , if no t avoid ed, cou ld resul t in death

or serious injury.

k which, if not avoided, will result in death or

serious injury.

Warning

1. The compatibility of the product is the responsibility of the person who designs the equipment or

ntact SMC beforehand and take special consideration of safety measures if the product is to be

1. Safety Instructions

These safety instructions are intended to prevent hazardous situations and/or equipment damage. These instructions indicate the level of potential hazard with the labels of “Caution,” “Warning” or “Danger.” They are all important not es f or safety and m ust be followed in add ition to Inter nation al Standards (ISO/IEC) *1), and other safety regulations.

*1) ISO 4414: Pneumatic flu id power -- General rules relating to systems

ISO 4413: Hydraulic fluid power -- General rules relating to systems IEC 60204-1: Safety of machinery -- Electrical equipment of machines (Part 1: General requirements) ISO 10218: Manipulating industrial robots -- Safety

etc.

Caution

Caution indicates a hazard with a low level of risk

Warning Danger

decides its specifications.

Since the product specified here is used under various operating conditions, its compatibility with specific equipment mus t be decided b y the per son who designs the equipm ent or dec ides its specific ations bas ed on necessary analysis and test results. The expected performance and safety assurance of the equipment will be the responsibility of the person who has determined its compatibility with the product. This person should also continuously review all specifications of the product referring to its latest catalog information, with a view to giving due consideration to any possibility of equipment failure when configuring the equipment.

2. Only personnel with appropriate training should operate machinery and equipment.

The product specified here may become unsafe if handled incorrectly. The assembly, operation and maintenance of machines or equipment including our products must be performed by an operator who is appropriately trained and experienced.

3. Do not service or attempt to remove product an d mac h inery/equipment until safety is confirmed.

The inspection and maintenance of machinery/equipment should only be performed after measures to prevent falling or runaway of the driven objects have been confirmed. When the product is to be r emoved, confir m that the safety meas ures as m entioned above ar e implem ented and the power from any appropriate source is cut, and read and understand the specific product precautions of all relevant products carefully. Before machinery/equipment is restarted, take measures to prevent unexpected operation and malfunction.

4. Co used in any of the following conditions.

1) Conditions and envir onments outside of the given s pecifications , or use outdoors or in a place expos ed to direct sunlight.

2) Installation on equipment in conjunction with atomic energy, railways, air navigation, space, shipping, vehicles, military, medical treatment, combustion and recreation, or equipment in contact with food and beverages, emergenc y stop circuits, clutch and lock circuits in press ap plications, saf ety equipment or other applications unsuitable for the standard specifications described in the product catalog.

3) An application whic h could have negative ef fects on people, proper ty, or animals r equiring special safet y analysis.

4) Use in an interlock circuit, which requires the pro vision of double interlock f or possible failure by using a mechanical protective function, and periodical checks to confirm proper operation.

Note that the CAUTION level may lead to a serious consequence according to conditions. Please follow the instructions of both levels because they are important to personnel safety.

Warning

Danger indicates a hazard with a high level of ris

A - 1

What must not be done and what must be done are indicated by the following diagrammatic symbols.

Prohibition

Indicates what must not be done. For example, "No Fire" is indicated by

Compulsion

Indicates what must be done. For example, grounding is indicated by

In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so on are classified into "POINT". After reading this installation guide, always keep it accessible to the operator.

A - 2

Caution

If anything is unclear, contact your nearest sales branch.

Also, even within the warranty period, the wear of a product due to the use of the vacuum pad or failure due to the deterioration of rubber material are not covered by the limited warranty.

LECSB□-□ Series / Driver

1. Safety Instructions

The product is provided for use in manufacturing industries.

The product herein described is basically provided for peaceful use in manufacturing industries. If considering using th e product in other indus tries, consult SMC bef orehand and exchang e specifications or a contract if necessary.

Limited warranty and Disclaimer/Compliance Requirements

The product used is subject to the following “Limited warranty and Disclaimer” and “Compliance Requirements”. Read and accept them before using the product.

Limited warran ty and Disclaime r

The warranty period of the product is 1 year in service or 1.5 years after the product is delivered, whichever is first.*3) Also, the product may have specified durability, running distance or replacement parts. Please consult your nearest sales branch.

For any failure or damage reported within the warranty period which is clearly our responsibility, a replacement product or necessary parts will be provided. This limited warranty applies only to our product independently, and not to any other damage incurred due to the failure of the product.

Prior to using SMC products, please read and understand the warranty terms and disclaimers noted in the specified catalog for the particular products.

*3) Vacuum pads are excluded from this 1 year warranty.

A vacuum pad is a consumable part, so it is warranted for a year after it is delivered.

Compliance Requirem e nt s

When the product is exported, str ictly follow the laws requ ired by the M inistry of Econom y, Trade and I ndustry (Foreign Exchange and Foreign Trade Control Law).

A - 3

WARNING

CAUTION

1. To prevent electric shock, note the following

Before wiring or inspection, turn off the power and wait for 15 minutes or more (20 minutes or for drive unit 30kW or more) until the charge lamp turns off. Then, confirm that the voltage between P(

and L for drive unit 30kW or more) is safe with a voltage tester and others. Otherwise, an electric

(L shock may occur. In addition, always confirm from the front of the driver, whether the charge lamp is off or not. Connect the driver and servo motor to ground. Any person who is involved in wiring and inspection should be fully competent to do the work. Do not attempt to wire the driver and servo motor until they have been installed. Otherwise, you may get an electric shock. Operate the switches with dry hand to prevent an electric shock. The cables should not be damaged, stressed, loaded, or pinched. Otherwise, you may get an electric shock. During power-on or operation, do not open the front cover. You may get an electric shock. Do not operate the driver with the front cover removed. High-voltage terminals and charging area are exposed and you may get an electric shock. Except for wiring or periodic inspection, do not remove the front cover even if the power is off. The driver is charged and y ou may ge t an ele ct r i c sho c k.

) and N( )

2. To prevent fire, note the following

Install the driver, servo motor and regenerative resistor on incombustible material. Installing them directly or close to combustibles will lead to a fire. Always connect a magnetic contactor between the main circuit power supply and L1, L2, and L3 of the driver, and configure the wiring to be able to shut down the power supply on the side of the driver power supply. If a magnetic contactor is not connected, continuous flow of a large current may cause a fire when the driver malfunctions. When a regenerative resistor is used, use an alarm signal to switch main power off. Otherwise, a regenerative transistor fault or the like may overheat the regenerative resistor, causing a fire. Provide adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the driver, and servo motor. Always connect a no-fuse breaker to the power supply of the driver.

A - 4

CAUTION

3. To prevent injury, note the follow

Only the voltage specified in the Instruction Manual should be applied to each terminal, Otherwise, a burst, damage, etc. may occur. Connect the terminals correctly to prevent a burst, damage, etc. Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur. Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.) with the driver heat sink, regenerative resistor, servo motor, etc. since they may be hot while pow er i s on or for some time after power-off. Their temperatures may be high and you may get burnt or a parts may damaged. During operation, never touch the rotating parts of the servo motor. Doing so can cause injury.

4. Additional instructions

The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric shock, etc.

(1) Transportation and installation

Transport the products correctly according to their mass. Stacking in excess of the specified number of products is not allowed. Do not carry the servo motor by the cables, shaft or encoder. Do not hold the front cover to transport the driver. The driver may drop. Install the driver in a load-bearing place in accordance with the Instruction Manual. Do not climb or stand on servo equipment. Do not put heavy objects on equipment. The driver and servo motor must be installed in the specified direction. Leave specified clearances between driver and control enclosure walls or other equipment. Do not install or operate the driver and servo motor which has been damaged or has any parts missing. Do not block the intake and exhaust areas of the driver and servo motor which has a cooling fan. Doing so may cause faults. Do not drop or strike driver or servo motor. Isolate from all impact loads. Securely attach the servo motor to the machine. If attach insecurely, the servo motor may come off during operation. The servo motor with reduction gear must be installed in the specified direction to prevent oil leakage. Take safety measures, e.g. provide covers, to prevent accidental access to the rotating parts of the servo motor during operation. Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. The encoder may become faulty. Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break.

A - 5

CAUTION

Environmental conditions

Driver

Servo motor

In operation

[ ]

0 to 55 (non-freezing)

0 to 40 (non-freezing)

[ ]

32 to 131 (non-freezing)

32 to 104 (non-freezing)

[ ]

20 to 65 (non-freezing)

15 to 70 (non-freezing)

[ ]

4 to 149 (non-freezing)

5 to 158 (non-freezing)

Ambient humidity

In operation

90%RH or less (non-condensing)

80%RH or less (non-condensing)

In storage

90%RH or less (non-condensing)

Ambience

Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt

Altitude

Max. 1000m (3280 ft) above sea level

series

Note. Except the servo motor with redu cti on ge ar.

CAUTION

Servo motor

U V

Servo amplifier

(drive unit)

U V

Servo motor

Servo amplifier

(drive unit)

When you keep or use it, please fulfill the following environmental conditions.

Item

Ambient temperature

In storage

LECS□□-S5 LECS□□-S7 LECS□□-S8

X, Y: 49 m/s2

(Note) Vibration

[m/s

]

5.9 or less at 10 to 55Hz (directions of X, Y and Z axes)

When the equipment has been stored for an extended period of time, contact your local sales office.

(2) Wiring

Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly. Do not install a power capacitor, surge absorber or radio noise filter (FR-BIF-(H) : Mitsubishi Electric Corporation) between the servo motor and driver. Connect the wires to the correct phase terminals (U, V, W) of the driver and servo motor. Not doing so may cause unexpected operation. Connect the servo motor power terminal (U, V, W) to the servo motor power input terminal (U, V, W) directly. Do not let a magnetic contactor, etc. intervene.

Driver

Do not connect AC power directly to the servo motor. Otherwise, a fault may occu r.

A - 6

CAUTION

DOCOM

Control output signal

DICOM

24VDC

Servo amplifier

(drive unit)

For sink output interface

DOCOM

Control output signal

DICOM

24VDC

Servo amplifier

(drive unit)

For source output interface

CAUTION

The surge absorbing diode installed to the DC relay for control output should be fitted in the specified direction. Otherwise, the emergency stop and other protective circuits may not operate.

Driver

When the cable is not tightened enough to the terminal block (connector), the cable or terminal block (connector) may generate heat because of the poor contact. Be sure to tighten the cable with specified torque.

(3) Test run adjustment

Before operation, check the parameter settings. Improper settings may cause some machines to perform unexpected operation. The parameter settings must not be changed excessively. Operation will be insatiable.

(4) Usage

Provide an external emergency stop circuit to ensure that operation can be stopped and power switched off immediately. Any person who is involved in disassembly and repair should be fully competent to do the work. Before resetting an alarm, make sure that the run signal of the driver is off to prevent an accident. A sudden restart is made if an alarm is reset with the run signal on. Do not modify the equipment. Use a noise filter, etc. to minimize the influence of electromagnetic interference, which may be caused by electronic equipment used near the driver. Burning or breaking a driver may cause a toxic gas. Do not burn or break a converter unit and driver. Use the driver with the specified servo motor. The lock on the servo motor is designed to hold the motor shaft and should not be used for ordinary braking. For such reasons as service life and mechanical structure (e.g. where a ball screw and the servo motor are coupled via a timing belt), the lock may not hold the motor shaft. To ensure safety, install a stopper on the machine side.

A - 7

CAUTION

Servo motor

Electromagnetic brake

Contacts must be opened with the EMG stop switch.

Contacts must be opened when ALM (Malfunction) or MBR (Electromagnetic brake interlock) turns off.

24 V DC

CAUTION

Lock

(5) Corrective actions

When it is assumed that a hazardous condition may take place at the occur due to a power failure or a product fault, use a servo motor with a lock or an external lock mechanism for the purpose of prevention. Do not use the 24VDC interface for the lock. Always use the power supply designed exclusively for the lock. Otherwise, a fault may occur. Configure a lock circuit so that it is activated also by an external emergency stop switch.

Contacts must be opened when ALM (Malfunction) and MBR (Electromagnetic brake interlock) turns off.

Lock

Refer to section 3.11.4 when wiring for the circuit configuration.

When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before restarting operation. When power is restored after an instantaneous power failure, keep away from the machine because the machine may be restarted suddenly (design the machine so that it is secured against hazard if restarted).

(6) Maintenance, inspection and parts replacement

With age, the electrolytic capacitor of the driver will deteriorate. To prevent a secondary accident due to a fault, it is recommended to replace the electrolytic capacitor every 10 years when used in general environment. Please contact your local sales office.

(7) General instruction

To illustrate details, the equipment in the diagrams of this Specifications and Instruction Manual may have been drawn without covers and safety guards. When the equipment is operated, the covers and safety guards must be installed as specified. Operation must be performed in accordance with this Specifications and Instruction Manual.

A - 8

DISPOSAL OF WASTE

Please dispose a driver battery (primary battery) and other options according to your local laws and regulations.

EEP-ROM life

The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If the total number of the following operations exceeds 100,000, the converter unit, driver and/or converter unit may fail when the EEP-ROM reaches the end of its useful life.

Write to the EEP-ROM due to parameter setting changes Home position setting in the absolute position detection system Write to the EEP-ROM due to device changes

Precautions for Choosing the Products

SMC will not be held liable for damage caused by factors found not to be the cause of SMC; machine damage or lost profits caused by faults in the SMC products; damage, secondary damage, accident compensation caused by special factors unpredictable by SMC; damages to products other than SMC products; and to other duties.

COMPLIANCE WITH THE EUROPEAN EC DIRECTIVES

Refer to Appendix 9 f or the com plianc e with EC Dir ect ives .

COMPLIANCE WITH UL/ C-UL STANDARD

Refer to Appendix 10 for the compliance with UL/C-UL standard.

<<About the manuals>>

This Instruction Manual are required if you use the General-Purpose AC servo LECSB□-□ for the first time. Always purchase them and use the LECSB□-□ safely.

<<Wiring>>

Wires mentioned in this instruction manual are selected based on the ambient temperature of 40

(104 ).

A - 9

1. FUNCTIONS AND CONFIGURATION 1 - 1 to 1 -13

1.1 Summary .................................................................................................................................................. 1 - 2

1.2 Function block diagram ............................................................................................................................ 1 - 3

1.3 Driver standard specifications .................................................................................................................. 1 - 4

1.4 Function list .............................................................................................................................................. 1 - 5

1.4.1 Applicable control mode for each actuator. ...................................................................................... 1 - 7

1.5 Model code definition ............................................................................................................................... 1 - 8

1.6 Combination with servo motor ................................................................................................................ 1 -10

1.7 Structure .................................................................................................................................................. 1 -11

1.7.1 Parts ide nt i fi cati on ............................................................................................................................ 1 -11

1.8 Configuration including auxiliary equipment........................................................................................... 1 -12

2. INSTALLATION 2 - 1 to 2 - 6

2.1 Installation direction and clearances ....................................................................................................... 2 - 3

2.2 Keep out foreign materials ....................................................................................................................... 2 - 4

2.3 Cable stress ............................................................................................................................................. 2 - 5

2.4 Inspection items ....................................................................................................................................... 2 - 5

2.5 Parts having service lives ........................................................................................................................ 2 - 6

3. SIGNALS AND WIRING 3 - 1 to 3 -64

3.1 Input power supply circuit ........................................................................................................................ 3 - 3

3.2 I/O signal connection example ................................................................................................................ 3 - 6

3.2.1 Position control mode ........................................................................................................................ 3 - 6

3.2.2 Speed control mode .......................................................................................................................... 3 - 8

3.2.3 Torque control mode ........................................................................................................................ 3 -10

3.3 Explanation of power supply system ...................................................................................................... 3 -12

3.3.1 Signal ex pl an at io n s .......................................................................................................................... 3 -12

3.3.2 Power-on sequence ......................................................................................................................... 3 -13

3.3.3 CNP1, CNP2, CNP3 wiring method ................................................................................................ 3 -15

3.4 Connectors and signal arrangements .................................................................................................... 3 -20

3.5 Signal explanations ................................................................................................................................. 3 -23

3.6 Detailed description of the signals .......................................................................................................... 3 -34

3.6.1 Position control mode ....................................................................................................................... 3 -34

3.6.2 Speed control mode ......................................................................................................................... 3 -38

3.6.3 Torque control mode ........................................................................................................................ 3 -40

3.6.4 Position/speed control change mode .............................................................................................. 3 -43

3.6.5 Speed/torque control change mode ................................................................................................ 3 -45

3.6.6 Torque/position control change mode ............................................................................................. 3 -47

3.7 Alarm occurrence timing chart ................................................................................................................ 3 -48

3.8 Interfaces ................................................................................................................................................. 3 -49

3.8.1 Internal connection diagram ............................................................................................................ 3 -49

3.8.2 Detailed description of interfaces ..................................................................................................... 3 -50

3.8.3 Source I/O interfaces ....................................................................................................................... 3 -55

3.9 Treatment of cable shield external conductor ........................................................................................ 3 -56

3.10 Connection of driver and servo motor .................................................................................................. 3 -57

3.10.1 Connection instructions .................................................................................................................. 3 -57

3.10.2 Power supply cable wiring diagrams ............................................................................................. 3 -58

3.11 Servo motor with a lock......................................................................................................................... 3 -59

3.11.1 Safety precautions ......................................................................................................................... 3 -59

3.11.2 Setting ............................................................................................................................................. 3 -59

3.11.3 Timing charts .................................................................................................................................. 3 -60

3.11.4 Wiring diagrams (LE-□-□ series servo motor) ............................................................................ 3 -62

3.12 Grounding .............................................................................................................................................. 3 -64

4. STARTUP 4 - 1 to 4 -19

4.1 Switching power on for the first time ....................................................................................................... 4 - 2

4.1.1 Startup procedure .............................................................................................................................. 4 - 2

4.1.2 Wiring check ...................................................................................................................................... 4 - 3

4.1.3 Surrounding environment .................................................................................................................. 4 - 4

4.2 Startup in position control mode .............................................................................................................. 4 - 5

4.2.1 Power on and off procedures ............................................................................................................ 4 - 5

4.2.2 Stop .................................................................................................................................................... 4 - 5

4.2.3 Test operation.................................................................................................................................... 4 - 6

4.2.4 Parameter setting .............................................................................................................................. 4 - 7

4.2.5 Actual operation ................................................................................................................................ 4 - 8

4.2.6 Trouble at start-up ............................................................................................................................. 4 - 8

4.3 Startup in speed control mode ................................................................................................................ 4 -10

4.3.1 Power on and off procedures ........................................................................................................... 4 -10

4.3.2 Stop ................................................................................................................................................... 4 -11

4.3.3 Test operation................................................................................................................................... 4 -12

4.3.4 Parameter setting ............................................................................................................................. 4 -13

4.3.5 Actual operation ............................................................................................................................... 4 -14

4.3.6 Trouble at start-up ............................................................................................................................ 4 -14

4.4 Startup in torque control mode ............................................................................................................... 4 -15

4.4.1 Power on and off procedures ........................................................................................................... 4 -15

4.4.2 Stop ................................................................................................................................................... 4 -16

4.4.3 Test operation .................................................................................................................................. 4 -17

4.4.4 Parameter setting ............................................................................................................................. 4 -18

4.4.5 Actual operation ............................................................................................................................... 4 -19

4.4.6 Trouble at start-up ............................................................................................................................ 4 -19

5. PARAMETERS 5 - 1 to 5 -57

5.1 Basic setting parameters (No.PA ) .................................................................................................... 5 - 2

5.1.1 Parameter list .................................................................................................................................... 5 - 2

5.1.2 Parameter write inhibit ...................................................................................................................... 5 - 3

5.1.3 Selection of control mode ................................................................................................................. 5 - 4

5.1.4 Selection of regenerative option ....................................................................................................... 5 - 5

5.1.5 Using absolute position detection system ........................................................................................ 5 - 6

5.1.6 Using electromagnetic brake interlock (MBR) .................................................................................. 5 - 6

5.1.7 Number of command input pulses per servo motor revolution ........................................................ 5 - 7

5.1.8 Electronic gear................................................................................................................................... 5 - 8

5.1.9 Auto tuning ....................................................................................................................................... 5 -12

5.1.10 In-position range ............................................................................................................................ 5 -13

5.1.11 Torque limit ..................................................................................................................................... 5 -14

5.1.12 Selection of command pulse input form ........................................................................................ 5 -15

5.1.13 Selection of servo motor rotation direction .................................................................................... 5 -16

5.1.14 Encoder output pulse ..................................................................................................................... 5 -16

5.2 Gain/filter parameters (No. PB

5.2.1 Parameter list ................................................................................................................................... 5 -18

5.2.2 Detail li s t ........................................................................................................................................... 5 -20

5.2.3 Position smoothing ........................................................................................................................... 5 -31

5.3 Extension setting parameters (No. PC

5.3.1 Parameter list ................................................................................................................................... 5 -32

5.3.2 List of d et ail s ..................................................................................................................................... 5 -33

5.3.3 Analog monitor ................................................................................................................................. 5 -43

5.3.4 Alarm history clear ............................................................................................................................ 5 -46

5.4 I/O setting parameters (No. PD

5.4.1 Parameter list ................................................................................................................................... 5 -47

5.4.2 List of d et ail s ..................................................................................................................................... 5 -48

5.4.3 Using forward/reverse rotation stroke end to change the stopping pattern ................................... 5 -57

) ....................................................................................................... 5 -18

) .......................................................................................... 5 -32

)...................................................................................................... 5 -47

6. DISPLAY AND OPERATION SECTIONS 6 - 1 to 6 -23

6.1 Overview ................................................................................................................................................... 6 - 2

6.2 Display sequence ..................................................................................................................................... 6 - 3

6.3 Status display ........................................................................................................................................... 6 - 4

6.3.1 Display transition ............................................................................................................................... 6 - 4

6.3.2 Display examples .............................................................................................................................. 6 - 5

6.3.3 Status display list ............................................................................................................................... 6 - 6

6.3.4 Changi ng the s t atu s disp lay screen .................................................................................................. 6 - 7

6.4 Diagnostic mode ...................................................................................................................................... 6 - 8

6.5 Alarm mode ............................................................................................................................................. 6 -10

6.6 Parameter mode ..................................................................................................................................... 6 -12

6.6.1 Parameter mode transition............................................................................................................... 6 -12

6.6.2 Operation example ........................................................................................................................... 6 -13

6.7 External I/O signal display ...................................................................................................................... 6 -15

6.8 Output si gn al (D O) fo rced ou tp ut............................................................................................................ 6 -18

6.9 Test operation mode ............................................................................................................................... 6 -19

6.9.1 Mode cha ng e .................................................................................................................................... 6 -19

6.9.2 JOG operation .................................................................................................................................. 6 -20

6.9.3 Positioning operation ........................................................................................................................ 6 -21

6.9.4 Motor-less operation ........................................................................................................................ 6 -23

7. GENERAL GAIN ADJUSTMENT 7 - 1 to 7 -11

7.1 Different adjustment methods .................................................................................................................. 7 - 2

7.1.1 Adjustment on a single driver ........................................................................................................... 7 - 2

7.1.2 Adjustment using software (MR Configurator2

)............................................................................ 7 - 3

7.2 Auto tuning ............................................................................................................................................... 7 - 4

7.2.1 Auto tuning mode .............................................................................................................................. 7 - 4

7.2.2 Auto tuning mode basis .................................................................................................................... 7 - 5

7.2.3 Adjustment procedure by auto tuning ............................................................................................... 7 - 6

7.2.4 Response level setting in auto tuning mode .................................................................................... 7 - 7

7.3 Manual mode 1 (simple manual adjustment) .......................................................................................... 7 - 8

7.4 Interpolation mode .................................................................................................................................. 7 -11

8. SPECIAL ADJUSTMENT FUNCTIONS 8 - 1 to 8 -18

8.1 Function block diagram ............................................................................................................................ 8 - 2

8.2 Adaptive filter

........................................................................................................................................ 8 - 2

8.3 Machine resonance suppression filter ..................................................................................................... 8 - 5

8.4 Advanced vib r ati o n supp re ss io n co nt rol ................................................................................................. 8 - 7

8.5 Low-pass filter ......................................................................................................................................... 8 -11

8.6 Gain chang in g fu n ction ........................................................................................................................... 8 -11

8.6.1 Applications ...................................................................................................................................... 8 -11

8.6.2 Funct io n bl o ck di ag ram .................................................................................................................... 8 -12

8.6.3 Parameters ....................................................................................................................................... 8 -13

8.6.4 Gain changing procedure ................................................................................................................. 8 -15

8.7 Vibration suppression control filter 2 ...................................................................................................... 8 -17

9. TROUBLESHOOTING 9 - 1 to 9 -26

9.1 Alarms and warning list ............................................................................................................................ 9 - 2

9.2 Remedies for alarms ................................................................................................................................ 9 - 3

9.3 Remedies for warnings ........................................................................................................................... 9 -16

9.4 Troubles without an alarm/warning ........................................................................................................ 9 -18

10. OUTLINE DRAWINGS 10- 1 to 10- 5

10.1 Driver ..................................................................................................................................................... 10- 2

10.2 Connector .............................................................................................................................................. 10- 4

11. CHARACTERISTICS 11- 1 to 11 - 7

11.1 Overload protection characteristics ...................................................................................................... 11- 2

11.2 Power supply equipment capacity and generated loss ....................................................................... 11- 3

11.3 Dynamic brake characteristics .............................................................................................................. 11- 5

11.3.1 Dynamic brake operation ............................................................................................................... 11- 5

11.3.2 The dynamic brake at the load inertia moment ............................................................................. 11- 6

11.4 Cable flexing life .................................................................................................................................... 11- 7

11.5 Inrush currents at power-on of main circuit and control circuit ............................................................ 11- 7

12. OPTIONS AND AUXILIARY EQUIPMENT 12- 1 to 12 -36

12.1 Cable/connector sets ............................................................................................................................ 12- 2

12.1.1 Combinations of cable/connector sets .......................................................................................... 12- 3

12.1.2 Encoder cable ................................................................................................................................ 12- 5

12.1.3 Motor cables ................................................................................................................................... 12- 7

12.1.4 Lock cables ..................................................................................................................................... 12- 9

12.2 Regenerative options ........................................................................................................................... 12-10

12.3 Set up software(MR Configurator2

) ................................................................................................. 12-13

12.3.1 Specifications ................................................................................................................................ 12-13

12.3.2 System configuration ..................................................................................................................... 12-14

12.3.3 Precautions for using USB communication function .................................................................... 12-16

12.4 Battery unit LEC-MR-J3BAT ................................................................................................................ 12-17

12.5 Selection example of wires .................................................................................................................. 12-18

12.6 No-fuse breakers, fuses, magnetic contactors ................................................................................... 12-21

12.7 Noise reduction techniques ................................................................................................................. 12-22

12.8 Leakage current breaker ...................................................................................................................... 12-30

12.9 EMC filter (recommended) .................................................................................................................. 12-32

13. COMMUNICATION FUNCTION 13- 1 to 13-35

13.1 Configuration ......................................................................................................................................... 13- 2

13.2 Communication specifications .............................................................................................................. 13- 4

13.2.1 Communication overview ............................................................................................................... 13- 4

13.2.2 Parameter setting ........................................................................................................................... 13- 5

13.3 Protocol ................................................................................................................................................. 13- 6

13.3.1 Transmission data configuration .................................................................................................... 13- 6

13.3.2 Character codes ............................................................................................................................. 13- 7

13.3.3 Error codes ..................................................................................................................................... 13- 8

13.3.4 Checksum ....................................................................................................................................... 13- 8

13.3.5 Time-out.......................................................................................................................................... 13- 9

13.3.6 Retry ............................................................................................................................................... 13- 9

13.3.7 Ini ti al ization .................................................................................................................................... 13-10

13.3.8 Communication procedure example ............................................................................................. 13-10

13.4 Command and data No. list ................................................................................................................. 13-11

13.4.1 Read commands ........................................................................................................................... 13-11

13.4.2 Write commands ........................................................................................................................... 13-15

13.5 Detailed explanations of commands ................................................................................................... 13-17

13.5.1 Data processing ............................................................................................................................ 13-17

13.5.2 Status display ................................................................................................................................ 13-19

13.5.3 Parameters .................................................................................................................................... 13-20

13.5.4 External I/O signal statuses (DIO diagnosis) ............................................................................... 13-23

13.5.5 Input device ON/OFF .................................................................................................................... 13-26

13.5.6 Disable/enable of I/O devices (DIO) ............................................................................................. 13-26

13.5.7 Input devices ON/OFF (test operation) ........................................................................................ 13-27

13.5.8 Test operation mode ..................................................................................................................... 13-28

13.5.9 Output signal pin ON/OFF output signal (DO) forced output ....................................................... 13-31

13.5.10 Alarm history ............................................................................................................................... 13-32

13.5.11 Current alarm .............................................................................................................................. 13-33

13.5.12 Other commands ......................................................................................................................... 13-34

14. ABSOLUTE POSITION DETECTION SYSTEM 14- 1 to 14-66

14.1 Outline ................................................................................................................................................... 14- 2

14.1.1 Features.......................................................................................................................................... 14- 2

14.1.2 Restrictions ..................................................................................................................................... 14- 3

14.2 Specifications ........................................................................................................................................ 14- 4

14.3 Battery replacement procedure ............................................................................................................ 14- 5

14.3.1 When replacing battery with the control circuit power ON ............................................................ 14- 5

14.4 Battery installation procedure ............................................................................................................... 14- 5

14.5 Standard connection diagram ............................................................................................................... 14- 6

14.6 Signal explanation ................................................................................................................................. 14- 7

14.7 Startup procedure ................................................................................................................................. 14- 8

14.8 Absolute position data transfer protocol ............................................................................................... 14- 9

14.8.1 Data transfer procedure ................................................................................................................. 14- 9

14.8.2 Transfer method ............................................................................................................................ 14-10

14.8.3 Home position setting.................................................................................................................... 14-21

14.8.4 Use of servo motor with a lock...................................................................................................... 14-23

14.8.5 How to process the absolute position data at detection of stroke end ........................................ 14-25

14.9 Examples of use ................................................................................................................................... 14-26

14.9.1 MELSEC FX

(2N)-32MT (FX(2N)-1PG) ........................................................................................... 14-26

14.9.2 MELSEC A1SD75 ......................................................................................................................... 14-38

14.9.3 MELSEC QD75 ............................................................................................................................. 14-51

14.10 Absolute position data transfer errors ............................................................................................... 14-59

14.10.1 Corrective actions ....................................................................................................................... 14-59

14.10.2 Error resetting conditions ............................................................................................................ 14-61

14.11 Communication-based ABS transfer system .................................................................................... 14-62

14.11.1 Serial communication command ................................................................................................ 14-62

14.11.2 Absolute position data transfer protocol ..................................................................................... 14-62

14.12 Confirmation of absolute position detection data .............................................................................. 14-66

15. SERVO MOTOR 15- 1 to 15- 6

15.1 Servo motor with a lock......................................................................................................................... 15- 2

15.1.1 Features.......................................................................................................................................... 15- 2

15.1.2 Characteristics of servo motor with a lock ..................................................................................... 15- 4

15.2 Protection from oil and water ........................................................................................................ 15- 5

15.3 Cable ............................................................................................................................................. 15- 5

15.4 Rated speed of servo motor ......................................................................................................... 15- 5

15.5 Mounting connectors .................................................................................................................... 15- 6

APPENDIX App.- 1 to App.-13

App. 1 Parameter list ..................................................................................................................................App.- 2

App. 2 Signal layout recording paper ........................................................................................................App.- 4

App. 3 Status display block diagram .........................................................................................................App.- 5

App. 4 Handling of AC driver batteries for the United Nations

Recommendations on the Transport of Dangerous Goods ..........................................................App.- 6

App. 5 Symbol for the new EU Battery Directive ......................................................................................App.- 6

App. 6 Compliance with the European EC directives ...............................................................................App.- 7

App. 7 Conformance with UL/C-UL standard .......................................................................................... App.-10

1. FUNCTIONS AND CONFIGURATI ON

1. FUNCTIONS AND CONFIGURATION .......................................................................................................... 2

1.1 Summary .................................................................................................................................................. 2

1.2 Function block diagram ............................................................................................................................ 3

1.3 Driver standard specifications .................................................................................................................. 4

1.4 Function list .............................................................................................................................................. 5

1.4.1 Applicable control mode for each actuator. ....................................................................................... 7

1.5 Model code definition ............................................................................................................................... 8

1.6 Combination with servo motor ............................................................................................................... 10

1.7 Structure ................................................................................................................................................. 11

1.7.1 Parts identification ........................................................................................................................... 11

1.8 Configuration including auxiliary equipment .......................................................................................... 12

1 - 1

1. FUNCTIONS AND CONFIGURATION

1. FUNCTIONS AND CONFIGURATIO N

1.1 Summary It has position control, speed control and torque control modes. Further, it can perform operation with the control modes changed, e.g. position/speed control, speed/torque control and torque/position control. Hence, it is applicable to a wide range of fields, not only precision positioning and smooth speed control of machine tools and general industrial machines but also line control and tension control. As this new series has the USB or RS-422 serial communication function, a set up software

(MR Configurator2 operation, status display monitoring, gain adjustment, etc. With real-time auto tuning, you can automatically adjust the servo gains according to the machine. The LECSB□-□ series servo motor with an absolute position encoder which has the resolution of 262144 pulses/rev to ensure. Simply adding a battery to the driver makes up an absolute position detection system. This makes home position return unnecessary at power-on or alarm occurrence by setting a home position once.

(1) Position control mode

An up to 1Mpps high-speed pulse train is used to control the speed and direction of a motor and execute precision positioning of 262144 pulses/rev resolution. The position smoothing function provides a choice of two different modes appropriate for a machine, so a smoother start/stop can be made in response to a sudden position command. A torque limit is imposed on the driver by the clamp circuit to protect the power transistor in the main circuit from overcurrent due to sudden acceleration/deceleration or overload. This torque limit value can be changed to any value with an external analog input or the parameter.

(2) Speed control mode

An external analog speed command (0 to speeds) is used to control the speed and direction of a servo motor smoothly. There are also the acceleration/deceleration time constant setting in response to speed command, the servo lock function at a stop time, and automatic offset adjustment function in response to external analog speed command.

(3) Torque control mode

An external analog torque command (0 to To prevent unexpected operation under no load, the speed limit function (external or internal setting) is also available for application to tension control, etc.

) installed personal computer or the like can be used to perform parameter setting, test

10VDC) or parameter-driven internal speed command (max. 7

8VDC) is used to control the torque output by the servo motor.

1 - 2

1. FUNCTIONS AND CONFIGURATION

CN5 CN3 CN6

I/F

USB RS-422 D/AA/D

USB RS-422

CN4

MR-J3BAT

CN1

(

) N

(

)

NFB

(Note 2) Power supply

24VDC

Servo amplifier

U V W

U V

Diode

stack

Regenerative

option

Power factor improving DC reactor

CHARGE lamp

Regenerative TR

(Note 1)

Current

detector

Servo motor

Dynamic

brake circuit

Electro- magnetic brake

Encoder

Base

amplifier

Voltage

detection

Overcurrent

protection

Current

detection

Control

circuit power

supply

(Note 3) Cooling fan

Relay

Pulse input

Model position

control

Model speed

control

Virtual

encoder

Virtual

motor

Model position

Model speed

Model torque

Actual position

control

Actual speed

control

Current

control

Optional battery (for absolute position detection system)

Analog monitor

(2 channels)

Personal

computer

D I/O control

Servo on

Command pulse train input

Start Failure, etc

Analog

(2 channels)

Controller

CN2

Lock LEC-MR-J3BAT

Driver

1.2 Function block diagram The function block diagram of this servo is shown below.

(1) LECSB□-□

Note 1. The built-in regenerative resistor is not provided for the LECSB1-S5.

2. For 1-phase 200 to 230VAC, connect the power supply to L1, L2 and leave L3 open. There is no L

3 for 1-phase 100 to 120VAC power supply. For the specification of power supply, refer to section 1.3.

1 - 3

1. FUNCTIONS AND CONFIGURATION

Driver

Item

Output

Rated voltage

3-phase 170VAC

Rated current [A]

1.1

1.5

2.8

Main circuit power

Voltage, frequency

3-phase or 1-phase 200 to 230VAC, 50/60Hz

Rated current [A]

0.9

1.5

2.6

3-phase or 1-phase

170 to 253VAC

Permissible frequency fluctuation

Within 5

Power supply capacity

Refer to section 11.2

Inrush current

Refer to section 11.5

Voltage, frequency

1-phase 200 to 230VAC, 50/60Hz

Rated current [A]

0.2

Permissible voltage fluctuation

Permissible fluctuation

Power consumption [W]

Inrush current

Refer to section 11.5

Voltage

24VDC 10

Power supply capacity

Control System

Sine-wave PWM control, current control system

Dynamic brake

Built-in

Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off (electronic

protection, excessive error protection

Position control

Max. input pulse frequency

1Mpps (for differential receiver), 200kpps (for open collector)

Command pulse multiplying factor

In-position range setting

0 to 10000 pulse (command pulse unit)

Error excessive

3 revolutions

Torque limit

Set by parameter setting or external analog input (0 to 10VDC/maximum torque)

Speed control range

Analog speed command 1: 2000, internal speed command 1: 5000

Analog speed command input

0.01 or less (load fluctuation 0 to 100 )

0.2 or less (ambient temperature 25 10

(59 to 95 )

)

Torque limit

Set by parameter setting or external analog input (0 to 10VDC/maximum torque)

Torque control

Analog torque command input

Speed limit

Set by parameter setting or external analog input (0 to 10VDC/Rated speed)

CE (LVD: IEC/EN 50178, EMC: IEC/EN 61800-3)

UL (UL 508C)

Structure

Natural-cooling, open

[ ]

(Note 2) 0 to 55 (non-freezing)

[ ]

(Note 2) 32 to 131 (non-freezing)

[ ]

20 to 65 (non-freezing)

[ ]

4 to 149 (non-freezing)

Ambient humidity

In operation

In storage

Indoors (no direct sunlight),

Free from corrosive gas, flammable gas, oil mist, dust and dirt

Altitude

Max. 1000m above sea level

Vibration

5.9m/s2 or less at 10 to 55Hz (directions of X, Y and Z axes)

[kg]

0.8

1.0

[lb]

1.76

2.21

1.3 Driver standard specifications (1) 200V class

Permissible voltage fluctuation

supply

Control circuit power supply

Interface power supply

Protective functions

frequency

LECSB□-□

LECSB□-S5 LECSB□-S7 LECSB-□-S8

1-phase 170 to 253VAC

Within 5

(Note 1) 0.3A

thermal relay), servo motor overheat protection, encoder error protection, regenerative error protection, undervoltage, instantaneous power failure protection, overspeed

Electronic gear A:1 to 1048576, B:1 to 1048576, 1/10 A/B 2000

mode

0 to 10VDC / Rated speed

mode

Speed fluctuation ratio

Speed control

mode

Compliance to standards

Ambient temperature

Ambient

Environmental conditions

Mass

Note 1. 0.3A is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of

I/O points.

2. When closely mounting the driver of 3.5kW or less, operate them at the ambient temperatures of 0 to 45 effective load ratio.

3. When a UL/C-UL-compliant servo motor is used in combination, the value is 2.9A.

In operation In storage

0 to 8VDC / Maximum torque (input impedance 10 to 12k )

0 (power fluctuation 10 )

90 RH or less (non-condensing)

or at 75% or smaller

1 - 4

1. FUNCTIONS AND CONFIGURATION

(Note)

Control mode

Section 4.2

Section 4.3

Section 3.2.3

Section 4.4

change mode

control and speed control.

mode

control and torque control.

Torque/position control change mode

Using input device, control can be switched between torque control and position control.

High-resolution encoder of 262144 pulses/rev is used as a servo motor encoder.

system

return unnecessary at every power-on.

stop or use an input device to change gains during operation.

suppression control

vibration.

characteristics automatically to suppress mechanical vibration.

system response is increased.

function.

control

stop.

No.PB24

1.4 Function list The following table lists the functions of this servo. For details of the functions, refer to the reference field.

Function Description

Position control mode This servo is used as position control servo. P

Speed control mode This servo is used as speed control servo. S

Torque control mode This servo is used as torque control servo. T

Position/speed control

Speed/torque control change

High-resolution encoder Absolute position detection

Gain changing function Advanced vibration

Adaptive filter

Using input device, control can be switched between position

Using input device, control can be switched between speed

Merely setting a home position once makes home position

You can switch between gains during rotation and gains during

This function suppresses vibration at the arm end or residual

Driver detects mechanical resonance and sets filter

P/S Section 3.6.4

S/T Section 3.6.5

T/P Section 3.6.6

P, S, T

P, S Section 8.6

P, S, T Section 8.2

Reference

Section 3.2.1 Section 3.6.1

Section 3.2.2 Section 3.6.2

Section 3.6.3

P Chapter 14

P Section 8.4

Low-pass filter

Machine analyzer function

Machine simulation

Gain search function

Robust disturbance compensation

Advanced Gain search

Suppresses high-frequency resonance which occurs as servo

Analyzes the frequency characteristic of the mechanical system by simply connecting a personal computer installed Set up software(MR Configurator2TM) with a driver. Set up software(MR Configurator2

Can simulate machine motions on a personal computer screen on the basis of the machine analyzer results. Set up software(MR Configurator2

Personal computer changes gains automatically and searches for overshoot-free gains in a short time. Set up software(MR Configurator2

This function provides better disturbance response in case of low response level due to high load inertia moment ratio for the roll send axes. Set up software(MR Configurator2

Advanced Gain search automatically searches for the optimum parameter for settle time to be short. The gain can be adjusted by setting sequentially in accordance with wizard screens. Set up software(MR Configurator2

) is necessary for this

P, S, T Section 8.5

P, S, T

Slight vibration suppression

Suppresses vibration of 1 pulse produced at a servo motor

1 - 5

Parameters

1. FUNCTIONS AND CONFIGURATION

Control mode

Parameters No.PA06, PA07

to the servo motor shaft varies.

Position smoothing

Speed can be increased smoothly in response to input pulse.

Parameter No.PB03

deceleration time constant

regenerative power.

Alarm history clear

Alarm history is cleared.

P, S, T

Parameter No.PC18

restarted by merely switching on the start signal.

different types.

Forward rotation start, reverse rotation start, servo-on (SON)

CN1 connectors.

Parameters

PD10 to PD12

connectors.

PD18

Section 5.1.11

No.PC05 to PC11

Status display

Servo status is shown on the 5-digit, 7-segment LED display

P, S, T

Section 6.3

display.

Use this function for output signal wiring check, etc.

analog speed limit (VLA) of 0V.

for positioning operation and program operation.

Analog monitor output

Servo status is output in terms of voltage in real time.

P, S, T

Parameter No.PC14

(MR Configurator2TM)

status display, etc. can be performed.

output in 3-bit code.

Note. P: Position control mode, S: Speed control mode, T: Torque control mode

P/S: Position/speed control change mode, S/T: Speed/torque control change mode, T/P: Torque/position control change mode

Function Description

Electronic gear Input pulses can be multiplied by 1/50 to 50. P

(Note)

Reference

Auto tuning

S-pattern acceleration/

Return converter

Restart after instantaneous power failure

Command pulse selection

Input signal selection (Device settings)

Output signal selection (Device settings)

Torque limit Servo motor torque can be limited to any value. P, S

Speed limit Servo motor speed can be limited to any value. T

External I/O signal display

Automatically adjusts the gain to optimum value if load applied

Speed can be increased and decreased smoothly. S, T Parameter No.PC03 Used when the regenerative option cannot provide enough

If the input power supply voltage had reduced to cause an alarm but has returned to normal, the servo motor can be

Command pulse train form can be selected from among three

and other input device can be assigned to certain pins of the

Trouble (ALM), dynamic brake interlock (MBR) and other output device can be assigned to certain pins of the CN1

ON/OFF statuses of external I/O signals are shown on the

P, S Chapter 7

P, S, T Section 12.4

S Parameter No.PC22

P Section 5.1.12

P, S, T

P, S, T Section 6.7

No.PD03 to PD08,

Parameters No.PD13 to PD16,

Section 3.6.1 (5)

Section 3.6.3 (3) Parameter

Output signal (DO) forced output

Automatic VC offset

Test operation mode

Set up software

Alarm code output

Output signal can be forced on/off independently of the servo status.

Voltage is automatically offset to stop the servo motor if it does not come to a stop at the analog speed command (VC) or

JOG operation, positioning operation, motor-less operation, DO forced output and program operation. However, Set up software(MR Configurator2

Using a personal computer, parameter setting, test operation,

If an alarm has occurred, the corresponding alarm number is

) is necessary

P, S, T Section 6.8

S, T Section 6.4

P, S, T Section 6.9

P, S, T Section 12.8

P, S, T Section 9.1

1 - 6

1. FUNCTIONS AND CONFIGURATION

（

）

（○：Applicable

Inapplicable）

1.4.1 Applicable control mode for each actuator. The following control mode can be selected for applicable actuators. Please refer 「3. SIGNALS AND WIRING」and「5. PARAMETERS」about wiring and parameter setting.

Table. Applicable control mode.

Driver type Actuator type

Control mode Position control Speed control Torque control

Note 1) 2)

Selected by parameter number PA1.

，×：

LECSB

（

Absolute

）

LEY ○ ○ LEF ○ × ×

Note 2)

○

Note2 )

LEJ ○ × ×

Command method

[Pulse train] [ON/OFF Signal] [ON/OFF Signal]

Operation method

Positioning operation Setting speed operation Setting t orque operation

Note 1. The control change mode cannot be used. Note 2. Make the moving range limitation by external sensor etc to avoid actuator hitting to the work

piece or stroke end. When using the thrush control, the following parameter should be set. If not, it will cause malfunction. LECSB ： The value of the parameter value [PC13] “Analog torque maximum output command”

should be 30 (Maximum thrush of the product) or less. (LEY63 : 50% or less).

When the control equivalent to the pushing operation of the controller LECP series is performed,

select the LECSS / LECSS-T driver and combine it with the Motion or Simple Motion (manufactured by Mitsubishi Electric Corporation) which has a pushing operation function.

1 - 7

1. FUNCTIONS AND CONFIGURATION

ＬＥ

Cable Content

AC Servo motor

Encoder cable

Lock cable

Motor cable

Motor Type

10m

Cable Length (L) [ｍ]

Opposite axis side

Axis side

Connector Direction

Robot cable

Standard cable

Cable Type Motor type

Driver Type

AC200～230V 50,60Hz

AC100～120V 50,60Hz

２

１

Power supply

Pulse input type

* If I/O connector(CN1) is required, order the part

number "LEC-CSNB-1" separately.

*1 This is a symbol of motor type (actuator part).

Absolute

Ｓ５

Ｓ７

Type

Capacity

Encoder

AC Servo motor (S6*1)

AC Servo motor (S7*1)

AC Servo motor (S8*1)

100W

200W

400W

Ｓ８*2

1.5 Model code definition (1) Model

(2) Option Model

a) Motor cable / Lock cable / Encoder cable

（Absolute encoder）

ＬＥＣＳ

１

number "LE-CSNB" separately.

* If I/O cable(CN1) is required, order the part

－

*2 It is correspondence only the power supply voltage "AC200 ~ 230V"

S M

－

５

A S

1 - 8

1. FUNCTIONS AND CONFIGURATION

Driver Type

LECSB

Regenerative option Type

Permissible regenerative power 100W

Permissible regenerative power 30W

032

Languag

English version

Japanese version

NIL

Chinese version

b） I/O Connector

c）Regenerative option s

d）Setup software (MR Configurator2

Refer to the website of Mitsubishi Electric Corporation for the information of the operating

e）USB cable(3m)

f）Battery

ＬＥ-CＳＮB

*LE-CSNB is 10150-3000PE(

Limited or equivalent goods. Applicable wire size: AWG24~30

Connector)/10350-52F0-008（Shell kit）of Sumitomo 3M

ＬＥC-MR-RB-032

*MR-RB□ of Mitsubishi Electric

Corporation.

)

ＬＥＣ-MRC2□

* SW1DNC-MRC2-□ of Mitsubishi Electric Corporation.

environment and upgrading. Prepare USB cable should be ordered separately.

ＬＥＣ-MR-Ｊ3ＵＳＢ

* MR-J3USBCBL3M of Mitsubishi Electric Corporation.

ＬＥＣ-MR-Ｊ3ＢＡＴ

* MR-J3BAT of Mitsubishi Electric Corporation.

Battery for replacement. Absolute position data is maintained by instal lin g the battery to the driver.

1 - 9

1. FUNCTIONS AND CONFIGURATION

Servo motors

LECSB□-S5

S5,S6

LECSB□-S7

LECSB□-S8

Driver Type

LECSB

Cable length(L)[m]

1.5

Wiring

g） I/O Cable

1.6 Combination with servo motor The following table lists combinations of driver and servo motors. The same combinations apply to the models with a lock and the models with a reduction gear.

ＬＥC-CＳＮB-1

*LEC-CSNB-1(Connector/ Shell kit) is 10150-3000PE (Connector)/ 10350-52F0-008(Shell kit)

of Sumitomo 3M Limited or equivalent goods.

Applicable wire size: AWG24

Driver

LE-□-□

1 - 10

1. FUNCTIONS AND CONFIGURATION

MODE UP DOWN SET

Main circuit power supply connector (CNP1) Connect the input power supply.

USB communication connector (CN5) Connect the personal computer.

Analog monitor connector (CN6) Outputs the analog monitor.

RS-422 communication connector (CN3) Connect the personal computer.

Control circuit connector (CNP2) Connect the control circuit power supply/regenerative option.

I/O signal connector (CN1) Used to connect digital I/O signals.

Charge lamp Lit to indicate that the main circuit is charged. While this lamp is lit, do not reconnect the cables.

Encoder connector (CN2) Used to connect the servo motor encoder.

Battery holder Contains the battery for absolute position data backup.

Battery connector (CN4) Used to connect the battery for absolute position data backup.

Protective earth (PE) terminal ( ) Ground terminal.

Section 12.8

Section 3.2 Section 3.4

Section 12.8

Chapter 13

Section 3.2 Section 3.4

Section 3.4

Section 12.1 Section 12.9

Chapter 14

Section 14.3

Section 1.5

Fixed part (2 places)

Servo motor power connector (CNP3) Connect the servo motor.

Section 3.1 Section 3.3

Rating plate

Name/Application

Display The 5-digit, seven-segment LED shows the servo status and alarm number.

Used to set data.

Used to change the display or data in each mode.

Used to change the mode.

MODE

DOWN

SET

Operation section Used to perform status display, diagnostic, alarm and parameter setting operations.

Chapter 6

Detailed

explanation

1.7 Structure

1.7.1 Parts identification (1) LECSB□-□

1 - 11

1. FUNCTIONS AND CONFIGURATION

POINT

(Note 3) Power supply

Line noise filter (FR-BSF01)

R S T

Magnetic contactor (MC)

No-fuse breaker (NFB) or fuse

CN5

CN3

Regenerative option

P C

Power factor improving DC reactor (FR-BEL)

Analog monitor

CN1

CN2

CN4

Junction terminal block

CN6

Servo amplifier

Servo motor

(Note 1) Battery MR-J3BAT

(Note 2)

MR Configurator

Personal computer

LEC-MR-J3BAT

Driver

(Mitsubishi Corporation)

Set up software

Monitor cable(1m) (Mitsubishi Electric Corporation)

1.8 Configuration including auxiliary equipment

Equipment other than the driver and servo motor are optional or recommended products.

(1) LECSB□-□

(a) For 3-phase or 1-phase 200 to 230VAC

（MR-J3CN6CBL1M）

Note 1. The battery is used for the absolute position detection system in the position control mode.

Electric

3.For 1-phase 200 to 230VAC, connect the power supply to L specification.

1 - 12

（MR Configurator2TM）

and leave L3 open. Refer to section 1.3 for the power supply

1 L2

1. FUNCTIONS AND CONFIGURATION

(Note 3

)

Power

supply

Line noise filter (FR-BSF01)

Magnetic contactor (MC)

No-fuse breaker (NFB) or fuse

CN5

Regenerative option

P C

Analog monitor

CN1

CN2

CN4

Junction terminal block

CN6

Servo amplifier

Servo motor

(Note 1) Battery MR-J3BAT

Configurator

Personal computer

Power

factor improving AC reactor (FR-BAL)

(Note 2)

R S

LEC-MR-J3BAT

Driver

(Mitsubishi Corporation)

Set up software

Monitor cable(1m) (Mitsubishi Electric Corporation)

(b) For 1-phase 100 to 120VAC

Electric

（MR-J3CN6CBL1M）

（MR Configurator2TM）

Note 1. The battery is used for the absolute position detection system in the position control mode.

2. The power factor improving DC reactor cannot be used.

3. Refer to section 1.3 f or t he power supply specification.

1 - 13

2. INSTALLATION

2. INSTALLATION ............................................................................................................................................. 2

2.1 Installation direction and clearances ........................................................................................................ 3

2.2 Keep out foreign materials ....................................................................................................................... 4

2.3 Cable stress ............................................................................................................................................. 5

2.4 Inspection items ....................................................................................................................................... 5

2.5 Parts having service lives ........................................................................................................................ 6

2 - 1

2. INSTALLATION

2. INSTALLATION WARNING

CAUTION

To prevent electric shock, ground each equipment securely.

Stacking in excess of the limited number of product packages is not allowed. Install the equipment to incombustibles. Installing them directly or close to combustibles will led to a fire. Install the equipment in a load-bearing place in accordance with this Instruction Manual. Do not get on or put heavy load on the equipment to prevent injury. Use the equipment within the specified environmental condition range. (For details of the environmental condition, refer to section 1.3.) Provide an adequate protection to prevent screws, metallic detritus and other conductive matter or oil and other combustible matter from entering the driver. Do not block the intake and exhaust areas of the driver and servo motor which has a cooling fan. Doing so may cause faults. Do not subject the driver to drop impact or shock loads as they are precision equipment. Do not install or operate a faulty driver. When the product has been stored for an extended period of time, contact your local sales office. When handling the driver, be careful about the edged parts such as the corners of the each unit. The driver must be installed in the metal cabinet (control box).

2 - 2

2. INSTALLATION

Control box

Top

Bottom

Control box

40mm or more Servo amplifier

40mm or more

10mm or more

Wiring allowance 80mm

Driver

2.1 Installation direction and clearances

The equipment must be installed in the specified direction. Otherwise, a fault may occur.

CAUTION

Leave specified clearances between the driver and control box inside walls or other equipment.

(1) LECSB□-□

(a) Installation of one driver

2 - 3

2. INSTALLATION

40mm or more

Control box

100mm or more

40mm or more

10mm or more

Control box

Leaving clearance

Mounting closely

1mm 1mm

100mm or more

30mm or more

Top

Bottom

(b) Installation of two or more drivers

POINT

Close mounting is available for the driver of under 3.5kW for 200V class and 400W for 100V class.

Leave a large clearance between the top of the driver and the internal surface of the control box, and install a cooling fan to prevent the internal temperature of the control box from exceeding the environmental conditions. When installing the drivers closely, leave a clearance of 1mm between the adjacent drivers in consideration of mounting tolerances. In this case, make circumference temperature into 0 to 45

, or use it at 75 or a smaller effective load ratio.

(2) Others

When using heat generating equipment such as the regenerative option, install them with full consideration of heat generation so that the driver is not affected. Install the driver on a perpendicular wall in the correct vertical direction.

2.2 Keep out foreign materials

(1) When installing the unit in a control box, prevent drill chips and wire fragments from entering the driver.

(2) Prevent oil, water, metallic dust, etc. from entering the driver through openings in the control box or a

cooling fan installed on the ceiling.

(3) When installing the control box in a place where there are much toxic gas, dirt and dust, conduct an air

purge (force clean air into the control box from outside to make the internal pressure higher than the external pressure) to prevent such materials from entering the control box.

2 - 4

2. INSTALLATION

2.3 Cable stress

(1) The way of clamping the cable must be fully examined so that flexing stress and cable's own weight stress

are not applied to the cable connection.

(2) For use in any application where the servo motor moves, fix the cables (encoder, power supply, brake) with

having some slack from the connector connection part of the servo motor to avoid putting stress on the connector connection part. Use the optional encoder cable within the flexing life range. Use the power supply and brake wiring cables within the flexing life of the cables.

(3) Avoid any probability that the cable sheath might be cut by sharp chips, rubbed by a machine corner or

stamped by workers or vehicles.

(4) For installation on a machine where the servo motor will move, the flexing radius should be made as large

as possible. Refer to section 11.4 for the flexing life.

(5) The minimum bending radius : Min. 45mm.

2.4 Inspection items

Before starting maintenance and/or inspection, turn off the power and wait for 15 minutes or longer until the charge lamp turns off. Then, confirm that the voltage between P(

WARNING

electric shock may occur. In addition, always confirm from the front of the driver whether the charge lamp is off or not. Any person who is involved in inspection should be fully competent to do the work. Otherwise, you may get an electric shock.

POINT

) and N( ) is safe with a voltage tester and others. Otherwise, an

Do not test the driver with a megger (measure insulation resistance), or it may become faulty. Do not disassemble and/or repair the equipment on customer side.

It is recommended to make the following checks periodically.

(1) Check for loose terminal block screws. Retighten any loose screws.

(2) Check the cables and the wires for scratches and cracks. Perform periodic inspection according to

operating conditions.

2 - 5

2. INSTALLATION

Part name

Life guideline

Smoothing capacitor

10 years

stop times : 100,000 times

Cooling fan

10,000 to 30,000hours (2 to 3 years)

Absolute position battery

Refer to section 14.2

2.5 Parts having service lives

The following parts must be changed periodically as listed below. If any part is found faulty, it must be changed immediately even when it has n ot yet reach ed the end of its life, whic h depe nds o n the opera ting m ethod an d environmental conditions.

Number of power-on and number of emergency

Driver

Relay

(1) Smoothing capacitor

Affected by ripple currents, etc. and deteriorates in characteristic. The life of the capacitor greatly depends on ambient temperature and operating conditions. The capacitor will reach the end of its life in 10 years of continuous operation in normal air-conditioned environment (40

(104 ) surrounding air temperature or

less).

(2) Relays

Their contacts will wear due to switching currents and contact faults occur. Relays reach the end of their life when the cumulative number of power-on and emergency stop times is 100,000, which depends on the power supply capacity.

(3) Driver cooling fan

The cooling fan bearings reach the end of their life in 10,000 to 30,000 hours. Normally, therefore, the cooling fan must be changed in a few years of continuous operation as a guideline. It must also be changed if unusual noise or vibration is found during inspection.

2 - 6

3. SIGNALS AND WIRING

3. SIGNALS AND WIRING ................................................................................................................................ 2

3.1 Input power supply circuit ........................................................................................................................ 3

3.2 I/O signal connection example ................................................................................................................. 6

3.2.1 Position control mode ........................................................................................................................ 6

3.2.2 Speed control mode .......................................................................................................................... 8

3.2.3 Torque control mode ....................................................................................................................... 10

3.3 Explanation of power supply system ...................................................................................................... 12

3.3.1 Signal explanations ......................................................................................................................... 12

3.3.2 Power-on sequence ........................................................................................................................ 13

3.3.3 CNP1, CNP2, CNP3 wiring method ................................................................................................ 15

3.4 Connectors and signal arrangements .................................................................................................... 20

3.5 Signal explanations ................................................................................................................................ 23

3.6 Detailed description of the signals ......................................................................................................... 34

3.6.1 Position control mode ...................................................................................................................... 34

3.6.2 Speed control mode ........................................................................................................................ 38

3.6.3 Torque control mode ....................................................................................................................... 40

3.6.4 Position/speed control change mode .............................................................................................. 43

3.6.5 Speed/torque control change mode ................................................................................................ 45

3.6.6 Torque/position control change mode ............................................................................................. 47

3.7 Alarm occurrence timing chart ............................................................................................................... 48

3.8 Interfaces ............................................................................................................................................... 49

3.8.1 Internal connection diagram ............................................................................................................ 49

3.8.2 Detailed description of interfaces .................................................................................................... 50

3.8.3 Source I/O interfaces ....................................................................................................................... 55

3.9 Treatment of cable shield external conductor ........................................................................................ 56

3.10 Connection of driver and servo motor .................................................................................................. 57

3.10.1 Connection instructions ................................................................................................................. 57

3.10.2 Power supply cable wiring diagrams ............................................................................................. 58

3.11 Servo motor with a lock ........................................................................................................................ 59

3.11.1 Safety precautions ......................................................................................................................... 59

3.11.2 Setting ........................................................................................................................................... 59

3.11.3 Timing charts ................................................................................................................................. 60

3.11.4 Wiring diagrams (LE-□-□ series servo motor) ............................................................................... 62

3.12 Grounding ............................................................................................................................................ 64

3 - 1

3. SIGNALS AND WIRING

DOCOM

Control output signal

DICOM

24VDC

Servo amplifier

For sink output interface

DOCOM

Control output signal

DICOM

24VDC

Servo amplifier

For source output interface

Controller

Driver

3. SIGNALS AND WIRING

Any person who is involved in wiring should be fully competent to do the work. Before wiring, turn off the power and wait for 15 minutes or longer until the charge lamp turns off. Then, confirm that the voltage betwee n P( voltage tester and others. Otherwise, an electric shock may occur. In addition,

WARNING

always confirm from the front of the driver whether the charge lamp is off or not. Ground the driver and the servo motor securely. Do not attempt to wire the driver and servo motor until they have been installed. Otherwise, you may get an electric shock. The cables should not be damaged, stressed excessively, loaded heavily, or pinched. Otherwise, you may get an electric shock.

Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpected resulting in injury. Connect cables to correct terminals to prevent a burst, fault, etc. Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur. The surge absorbing diode installed to the DC relay for control output should be fitted in the specified direction. Otherwise, the emergency stop and other protective circuits may not operate.

) and N( ) is safe with a

CAUTION

Use a noise filter, etc. to minimize the influence of electromagnetic interference, which may be given to electronic equipment used near the driver. Do not install a power capacitor, surge killer or radio noise filter (FR-BIF-(H) : Mitsubishi Electric Corporation) with the power line of the servo motor. When using the regenerative resistor, switch power off with the alarm signal. Otherwise, a transistor fault or the like may overheat the regenerative resistor, causing a fire. Do not modify the equipment. During power-on, do not open or close the motor power line. Otherwise, a malfunction or faulty may occur.

3 - 2

3. SIGNALS AND WIRING

Trouble

(

OFF

Driver

3.1 Input power supply circuit

Always connect a magnetic contactor between the main circuit power and L1, L2,

3 of the driver, and configure the wiring to be able to shut down the power

and L supply on the side of the driver’s power supply. If a magnetic contactor is not connected, continuous flow of a large current may cause a fire when the driver malfunctions.

CAUTION

Use the trouble (ALM) to switch power off. Otherwise, a regenerative transistor fault or the like may overheat the regenerative resistor, causing a fire. Check the model and input the correct voltage for the power supply of the driver. When a voltage, which exceeds the maximum input voltage of the driver specifications, is input, the driver malfunctions.

Wire the power supply and main circuit as shown below so that the servo-on (SON) turns off as soon as alarm occurrence is detected and power is shut off. A no-fuse breaker (NFB) must be used with the input cables of the power supply.

(1) For 3-phase 200 to 230VAC power supply to LECSB□-□

3-phase 200 to 230VAC

Note 4)

Emergency stop (Note 6) Servo-on

Emergency stop

(Note 6)

(Note 7)

MCNFB

(Note 1)

(Note 2)

Servo amplifier

CNP1

L2 L3 N( ) P

CNP2

P( ) C D L11 L

CN1 CN1

EMG

SON

DOCOM

CNP3

CN2

DOCOM

DICOM

ALM

U V W

(Note 5)

(Note 3)

Encoder cable

24VDC

Servo

U V

Trouble

motor

Motor

Encoder

(Note 4)

3 - 3

3. SIGNALS AND WIRING

Trouble

(

OFF

Driver

Note 1. Always connect P1 and P2. (Factory-wired.)

2. Always connect P( ) and D. (Factory-wired.) When using the regenerative option, refer to section 12.2.

3. For encoder cable, use of the option cable is recommended. Refer to section 12.1 for selection of the cable.

4. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3.

5. Refer to section 3.10.

6. Configure the circuit to shut down the main circuit power supply simultaneously with the turn off of emergency stop (EMG) using the external sequence.

7. Be sure to use a magnetic contactor with an operation delay time of 80ms or less. The operation delay time is the time interval between current being applied to the coil until closure of contacts.

(2) For 1-phase 200 to 230VAC power supply to LECSB□-□

Emergency stop

(Note 6)

1-phase 200 to 230VAC

(Note 7)

MCNFB

(Note 1)

(Note 2

CNP1

L L2 L3 N P P

CNP2

P C

)

D L11 L

Servo motorServo amplifier

CNP3

U V W

CN2

(Note 5)

(Note 3)

Encoder cable

U V

Motor

Encoder

Note 4)

Emergency stop (Note 6) Servo-on

CN1 CN1

EMG SON

DOCOM

DICOM

ALM

24VDC

Trouble

(Note 4)

Note 1. Always connect P1 and P2. (Factory-wired.)

2. Always connect P and D. (Factory-wired.) When using the regenerative option, refer to section 12.2.

3. For encoder cable, use of the option cable is recommended. Refer to section 12.1 for selection of the cable.

4. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3.

5. Refer to section 3.10.

6. Configure the circuit to shut down the main circuit power supply simultaneously with the turn off of emergency stop (EMG) using the external sequence.

7. Be sure to use a magnetic contactor with an operation delay time of 80ms or less. The operation delay time is the time interval between current being applied to the coil until closure of contacts.

3 - 4

3. SIGNALS AND WIRING

Trouble

(

OFF

Driver

(3) For 1-phase 100 to 120VAC power supply to LECSB□-□

1-phase 100 to 120VAC

Note 4)

Emergency stop (Note 6) Servo-on

Emergency stop

(Note 6)

(Note 7)

MCNFB

(Note 1)

(Note 2)

CNP1

Blank

CNP3

L2 N P

CNP2

P C D

CN2

L11 L

CN1 CN1

EMG SON

DOCOM

DICOM

ALM

U V W

(Note 5)

(Note 3)

Encoder cable

24VDC

Servo motorServo amplifier

U V

Trouble

Motor

Encoder

(Note 4)

Note 1. Always connect P1 and P2. (Factory-wired.) The power factor improving DC reactor cannot be used.

2. Always connect P and D. (Factory-wired.) When using the regenerative option, refer to section 12.2.

3. For encoder cable, use of the option cable is recommended. Refer to section 12.1 for selection of the cable.

4. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3.

5. Refer to section 3.10.

6. Configure the circuit to shut down the main circuit power supply simultaneously with the turn off of emergency stop (EMG) using the external sequence.

7. Be sure to use a magnetic contactor with an operation delay time of 80ms or less. The operation delay time is the time interval between current being applied to the coil until closure of contacts.

3 - 5

3. SIGNALS AND WIRING

(Note 12)

Plate

Servo amplifier

3 1 2

(Note 7)

CN6

(Note 2)

Trouble (Note 6) Zero speed detection Limiting torque

Encoder A-phase pulse (differential line driver)

DICOM

48 ALM 23 ZSP 25 TLC 24 INP

4 LA 5 LAR 6 LB 7 LBR

34 LG 33 OP

1 P15R

10m max.

2m max.

Encoder B-phase pulse (differential line driver)

Control common

Encoder Z-phase pulse (open collector)

(Note 7)

CN1

DICOM

10m max. (Note 8)

20 46

49 10 11 35

9 3

CLEARCOM

15 16

14 13

CLEAR

RDYCOM

READY

PULSE F PULSE F

PG0

PG0 COM

PULSE R PULSE R

DOCOM

RD PP PG NP NG LZ

LZR

(Note 11)

(Note 7)

CN1

QD75D

Positioning module

24VDC

In-position

(Note 4, 12)

Control common

RA1

RA2

RA3

RA4

Plate

(Note 1)

2m max.

10m max.

Upper limit setting

42 15 19 17 18 43 44 47

EMG SON

RES

TL LSP LSN

DOCOM

P15R

TLA

LG 28

(Note 7)

CN1 Emergency stop Servo-on Reset Proportion control External torque limit selection Forward rotation stroke end Reverse rotation stroke end

(Note 3, 5)

(Note 5)

(Note 10)

USB cable

(option)

(Note 9) MR Configurator

CN5

Analog torque limit 10V/max. torque

Personal computer

(Note 12)

Plate

MO1

MO2

2m max.

Analog monitor 1

Analog monitor 2

Driver

(Note 9)

LEC-MR-J3USB (option)

(Note 13)

(Note 14)

3.2 I/O signal connection example

3.2.1 Position control mode

Set up software （MR Configurator2

）

3 - 6

3. SIGNALS AND WIRING

MR-PRU03

parameter unit

CN3

EIA568-compliant cable (10BASE-T cable, etc.)

RS-232C/RS-422 conversion cable

Recommended product: Interface cable DSV-CABV (Diatrend)

Personal computer

Servo amplifier

To RS-232C connector

Driver

Mitsubishi Electric Corporation)

Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked ) of the driver to the

protective earth (PE) of the control box.

2. Connect the diode in the correct direction. If it is connected reversely, the driver will be faulty and will not output signals, disabling the emergency stop (EMG) and other protective circuits.

3. The emergency stop switch (normally closed contact) must be installed.

4. Supply 24VDC 10 300mA current for interfaces from the outside. 300mA is the value applicabl e when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. Refer to section 3.8.2 (1) that gives the current value necessary for the interface.

5. When starting operation, always turn on emergency stop (EMG) and Forward/Reverse rotation stroke end (LSP/LSN). (Normally closed contacts)

6. Trouble (ALM) turns on in normal alarm-free condition. When this signal is switched off (at occurrence of an alarm), the output of the PC or PLC…etc should be stopped by the sequence program.

7. The pins with the same signal name are connected in the driver.

8. This length applies to the command pulse train input in the differential line driver system. It is 2m or less in the open collector system.

9. Use LEC-MRC2E.

10. Personal computers or parameter units can also be connected via the CN3 connector, enabling RS-422 communication. Note that using the USB communication function (CN5 connector) prevents the RS-422 communication function (CN3 connector) from being used, and vice versa. They cannot be used together.

(

11. This connection is not required for the QD75D. Depending on the used positioning module, however, it is recommended to connect the LG and control common terminals of the driver to enhance noise immunity.

12. For the sink I/O interface. For the source I/O interface, refer to section 3.8 .3.

13. If the command pulse train input is open collector method, it supports only to the sink (NPN) type interface. It does not correspond to the source (PNP) type interface.

14. Encoder Z-phase pulse will correspond to the differential line driver system and the open collector system. If the encoder Z-phase pulse is open collector method, it supports only to the sink (NPN) type interface. It does not correspond

to the source (PNP) type interface.

3 - 7

3. SIGNALS AND WIRING

3 1 2

(Note 7)

CN6

Plate

MO1

MO2

2m max.

Analog monitor 1

Analog monitor 2

(Note 10)

USB cable

(option)

(Note 9) MR Configurator

Personal computer

Upper limit setting

Emergency stop Servo-on Reset Speed selection 1 Speed selection 2

Forward rotation stroke end Reverse rotation stroke end

(Note 3, 5)

(Note 5)

Analog speed command 10V/rated speed

(Note 12)

Upper limit setting

Analog torque limit 10V/max. torque

(Note 11)

(Note 8)

Forward rotation start Reverse rotation start

Encoder A-phase pulse (differential line driver)

Encoder B-phase pulse (differential line driver)

Control common

Encoder Z-phase pulse (open collector)

Encoder Z-phase pulse (differential line driver)

(Note 12)

Trouble (Note 6) Zero speed detection Limiting torque

Ready

Speed reached

Servo amplifier

(Note 1)

(Note 2)

DICOM

48 ALM 23 ZSP 25 TLC 24 SA

(Note 7)

CN1

49 RD

4 LA 5 LAR 6 LB 7 LBR

34 LG 33 OP

1 P15R

10m max.

2m max.

8 LZ 9 LZR

(Note 7)

CN1

20 46

DICOM

DOCOM

2m max.

28 27

TLA

P15R

CN5

24VDC

RA1

RA2

RA3

RA4

RA5

(Note 4)

10m max.

42 15 19

17 18 43 44 47

41 16

EMG SON

RES

ST1 ST2 LSP LSN

DOCOM

SP1 SP2

Plate

Driver

(Note 9)

LEC-MR-J3USB (option)

(Note 13)

3.2.2 Speed control mode

Set up software （MR Configurator2

TM）

3 - 8

3. SIGNALS AND WIRING

MR-PRU03

parameter unit

CN3

EIA568-compliant cable (10BASE-T cable, etc.)

RS-232C/RS-422 conversion cable

Recommended product: Interface cable DSV-CABV (Diatrend)

Personal computer

Servo amplifier

To RS-232C connector

Driver

Mitsubishi Electric Corporation)

Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked ) of the driver to the

protective earth (PE) of the control box.

2. Connect the diode in the correct direction. If it is connected reversely, the driver will be faulty and will not output signals, disabling the emergency stop (EMG) and other protective circuits.

3. The emergency stop switch (normally closed contact) must be installed.

4. Supply 24VDC 10 300mA current for interfaces from the outside. 300mA is the value applic abl e when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. Refer to section 3.8.2 (1) that gives the current value necessary for the interface.

5. When starting operation, always turn on emergency stop (EMG) and forward/reverse rotation stroke end (LSP/LSN). (Normally closed contacts)

6. Trouble (ALM) turns on in normal alarm-free condition.

7. The pins with the same signal name are connected in the driver.

8. By setting parameters No.PD03 to PD08, PD09 to PD12 to make external torque limit selection (TL) available, TLA can be used.

9. Use LEC-MRC2E.

(

11. Use an external power supply when inputting a negative voltage.

12. For the sink I/O int erface. For the source I/O interface, refer to section 3.8.3.

13. Encoder Z-phase pulse will correspond to the differential line driver system and the open collector system. If the encoder Z-phase pulse is open collector method, it supports only to the sink (NPN) type interface. It does not correspond

to the source (PNP) type interface.

3 - 9

3. SIGNALS AND WIRING

3 1 2

(Note 6)

CN6

Plate

MO1

MO2

2m max.

Analog monitor 1

Analog monitor 2

Encoder A-phase pulse (differential line driver)

Encoder B-phase pulse (differential line driver)

Control common

Encoder Z-phase pulse (open collector)

Encoder Z-phase pulse (differential line driver)

(Note 10)

Trouble (Note 5) Zero speed detection

Ready

Limiting speed

(Note 8)

USB cable

(option)

Upper limit setting

Emergency stop Servo-on Reset Speed selection 1 Speed selection 2

(Note 3)

Analog torque command 8V/max. torque

(Note 10)

Upper limit setting

Analog speed limit 0 to 10V/rated speed

(Note 9)

Forward rotation selection Reverse rotation selection

24VDC(Note 4)

Servo amplifier

(Note 1)

(Note 2)

DICOM

48 ALM 23 ZSP 25 VLC

4 LA 5 LAR 6 LB 7 LBR

34 LG 33 OP

1 P15R

10m max.

2m max.

(Note 6)

CN1

49 RD

8 LZ

LZR

(Note 6)

CN1

20 46

DICOM

DOCOM

Personal computer

CN5

2m max.

Plate

VLA

P15R

(Note 7) MR Configurator

Plate

10m max.

42 15 19

41 16

EMG SON

RES

RS1 RS2

DOCOM

SP1 SP2

RA1

RA2

RA3

RA4

Driver

(Note 7)

LEC-MR-J3USB (option)

(Note 11)

3.2.3 Torque control mode

Set up software （MR Configurator2

）

3 - 10

3. SIGNALS AND WIRING

MR-PRU03

parameter unit

CN3

EIA568-compliant cable (10BASE-T cable, etc.)

RS-232C/RS-422 conversion cable

Recommended product: Interface cable DSV-CABV (Diatrend)

Personal computer

Servo amplifier

To RS-232C connector

Driver

Note 1. To prevent an electric shock, always connect the protective earth (PE) terminal of the (terminal marked ) driver to the

protective earth (PE) of the control box.

2. Connect the diode in the correct direction. If it is connected reversely, the driver will be faulty and will not output signals, disabling the emergency stop (EMG) and other protective circuits.

3. The emergency stop switch(normally closed contact) must be installed.

5. Trouble (ALM) turns on in normal alarm-free condition.

6. The pins with the same signal name are connected in the driver.

7. Use LEC-MRC2E.

8. Personal computers or parameter units can also be connected via the CN3 connector, enabling RS-422 communic ation. Note that using the USB communication function (CN5 connector) prevents the RS-422 communication function (CN3 connector) from being used, and vice versa. They cannot be used together.

9. Use an external power supply when inputting a negative voltage.

10. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3.

11. Encoder Z-phase pulse will correspond to the differential line driver system and the open collector system. If the encoder Z-phase pulse is open collector method, it supports only to the sink (NPN) type interface. It does not correspond

to the source (PNP) type interface.

3 - 11

3. SIGNALS AND WIRING

POINT

(application)

LECSB2-S8

LECSB1-S8

50/60Hz

Refer to section 12.13.

Refer to section 12.2 to 12.5.

Power supply

50/60Hz

3.3 Explanation of power supply system

3.3.1 Signal explanations

For the layout of connector and terminal block, refer to outline drawings in chapter 10.

Abbreviation

Connection target

Description

L1 L L

P1 P

P C D

L11 L

2 3

Main circuit power

supply

Power factor improving

DC reactor

Regenerative option

Control circuit power

supply

Supply the following power to L connect the power supply to L

Power supply

3-phase 200 to 230VAC,

1-phase 200 to 230VAC,

1-phase 100 to 120VAC,

When not using the power factor improving DC reactor, connect P wired.) When using the power factor improving DC reactor, disconnect P power factor improving DC reactor to P

When using driver built-in regenerative resistor, connect P( When using regenerative option, disconnect P( to P and C.

Supply the following power to L

1-phase 200 to 230VAC,

1, L2, L3. For the 1-phase 200 to 230VAC power supply,

1, L2, and keep L3 open.

Driver

11 L21.

LECSB2-S5 LECSB2-S7 LECSB2-S8

L11 L21

LECSB2-S5 LECSB2-S7

1 and P2.

1・L2・L3

L1・L2

L1 L2

) and D, and connect regenerative option

LECSB1-S5 LECSB1-S7 LECSB1-S8

LECSB1-S5 LECSB1-S7

1 and P2. (Factory-

1 and P2, and connect the

) and D. (Factory-wired)

1-phase 100 to 120VAC,

3 - 12

L11 L21

3. SIGNALS AND WIRING

(application)

Brake unit

For details, refer to section 12.3 to 12.5.

(PE)

box to perform grounding.

95ms

Ready(RD)

Reset(RES)

Servo-on(SON)

OFF

ON OFF

Base circuit

OFF

10ms5ms

10ms

10ms5ms

10ms

5ms 10ms

(1.5 to 2s)

Servo-on (SON) accepted

Main circuit Control circuit Power supply

Yes (OFF)

No (ON)

Trouble(ALM)

(1 to 1.5s)

Abbreviation

Connection target

Description

U V

Servo motor power

Return converter

Protective earth

3.3.2 Power-on sequence (1) Power-on procedure

1) Always wire the power supply as shown in above section 3.1 using the magnetic contactor with the main circui t powe r sup ply (3-phase: L to switch off the magnetic contactor as soon as an alarm occurs.

2) Switch on th e co nt rol ci rc u it powe r sup ply L11, L21 simultaneously with the main circuit power supply or before swit chi ng on the main circuit power s up ply . If t he main circuit powe r sup ply i s no t on, the display show s the c or res pon di ng war nin g . How eve r , by swit ching on the main circuit power s up ply , the warning disappears and the driver will operate properly .

3) The driver can accept the servo-on (SON) about 1 to 2s after the main circuit power supply is switched on. Therefore, when SON is switched on simultaneously with the main circuit power supply, the base circuit will switch on in about 1 to 2s, and the ready (RD) will switch on in further about 5ms, making the driver ready to operate. (Refer to paragraph (2) of this section.)

4) When the reset (RES) is switched on, the base circuit is shut off and the servo motor shaft coasts.

(2) Timing chart

Connect to the servo motor power supply terminals (U, V, W). During power-on, do not open or close the motor power line. Otherwise, a malfunction or faulty may occur.

Do not connect to driver.

Connect to the earth terminal of the servo motor and to the protective earth (PE) of the control

, L2, L3, 1-phase: L1, L2). Configure up an external sequence

Power-on timing chart

3 - 13

3. SIGNALS AND WIRING

DICOM

EMGEmergency stop

24VDC

(Note)

Servo amplifier

Driver

(3) Emergency stop

Provide an external emergency stop circuit to ensure that operation can be stopped

CAUTION

and power swit ch ed off i mme di at ely.

Make up a circuit that shuts off main circuit power as soon as EMG is turned off at an emergency stop. When EMG is turned off, the dynamic brake is operated to bring the servo motor to a sudden stop. At this time, the display shows the servo emergency stop warning (AL.E6). During ordinary operation, do not use the external emergency stop (EMG) to alternate stop and run. The driver life may be shortened. Also, if the forward rotation start (ST1) and reverse rotation start (ST2) are on or a pulse train is input during an emergency stop, the servo motor will rotate as soon as the warning is reset. During an emergency stop, always shut off the run command.

Note. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3.

3 - 14

3. SIGNALS AND WIRING

POINT

Refer to section 12.11 for the wire sizes used for wiring.

CNP2

CNP1

CNP3

Connector for CNP1

54928-0670(M

olex)

Connector for CNP2

54927-0520(Molex)

Connector for CNP3

5492

8-0370(Molex)

<Applicable cable example> Cable finish OD: to 3.8mm

(

Note

)

Servo amplifier

Power supply connectors

Servo amplifier

8 to 9mm

Sheath

Core

Cable size

Ferrule type (Note 1)

[mm2]

AWG

For 1 cable

For 2 cable

1.25/1.5

AI 1,5-10 BK

AI-TWIN2 1,5-10 BK

2/2.5

AI 2,5-10 BU

Driver

Driver Power supply connectors

200VAC / Part No. K05A50230490 (Note) Part No. K05A50230491 (Note)

Part No. K05A50230492 (Note)

3.3.3 CNP1, CNP2, CNP3 wiring method

Use the supplied driver power supply connectors for wiring of CNP1, CNP2 and CNP3.

(1) LECSB□-□

(a) Driver power supply connectors

100VAC / Part No. K05A50230496 (Note)

Note. MITSUBISHI ELECT R IC SYSTEM & SERVICE CO., LTD Please purchase from distributor or distributor of Mitsubishi Electric Corporation.

(b) Termination of the cables

Solid wire: After the sheath has been stripped, the cable can be used as it is.

Twisted wire: Use the cable after stripping the sheath and twisting the core. At this time, take care to

avoid a short caused by the loose wires of the core and the adjacent pole. Do not solder the core as it may cause a contact fault. Alternatively, a ferrule may be used to put the wires together.

Note 1. Manufacturer: Phoenix Contact

2. Manufacturer: WAGO

Crimping tool (Note 2)

Variocrimp 4 206-204

3 - 15

3. SIGNALS AND WIRING

POINT

MXJ 54932

7.7

4.7

Approx. 3 4.9

20.6

3.46.5

Approx. 4.9

Approx. 7.7

Approx.3.4

(2) Insertion of cable into connectors

Insertion of cable into connectors are as follows.

It may be difficult for a cable to be inserted to the connector depending on wire size or ferrule configuration. In this case, change the wire type or correct it in order to prevent the end of ferrule fr om widening, an d then inser t it.

How to connect a cable to the driver power supply connector is shown below. (a) When using the supplied cable connection lever

1) The driver is packed with the cable connection lever.

[Unit: mm]

3 - 16

3. SIGNALS AND WIRING

1) Attach the cable connection lever to the housing. (Detachable)

2) Push the cable connection lever in the direction of arrow.

3) Hold down the cable connection lever and insert the cable in the direction of arrow.

4) Release the cable connection lever.

Cable connection lever

2) Cable connection procedure

3 - 17

3. SIGNALS AND WIRING

0.6

Approx.R0.3

Approx.22

Approx.R0.3

3 to 3.5

1) Insert the screwdriver into the square hole. Insert it along the top of the square hole to insert it smoothly.

2) If inserted properly, the screwdri

ver is held.

3) With the screwdriver held, insert the cable in the direction of arrow. (Insert the cable as far as it will go.)

4) Releasing the screwdriver connects the cable.

(b) Inserting the cable into the connector

1) Applicable flat-blade screwdriver dimensions Always use the screwdriver shown here to do the work.

2) When using the flat-blade screwdriver - part 1

[Unit: mm]

3 - 18

3. SIGNALS AND WIRING

1) Insert the screwdriver into the square window at top of the connector.

2) Push the screwdriver in the direction of arrow.

3) With the screwdriver pushed, insert the cable in the direction of arrow. (Insert the cable as far as it will go.)

4) Releasing the screwdriver connects the cable.

3) When using the flat-blade screwdriver - part 2

3 - 19

3. SIGNALS AND WIRING

POINT

P C D

25 50

MO2

MO1

CN6

CN1

CN5 CN6CN3CN1CN2

CN5 (USB connector) Refer to section 12.8.

CN3 (RS-422 connector) Refer to section 13.1.

The frames of the CN1 connectors is connected to the PE (earth) terminal in the amplifier.

The 3M make connector is shown. When using any other connector, refer to section 12.1.2.

MRR

LG 8

BAT

CN2

MDR

driver.

The Sumitomo 3M Limited make connector is shown.

12.3

3.4 Connectors and signal arrangements

The pin configurations of the connectors are as viewed from the cable connector wiring section. Refer to (2) of this section for CN1 signal assignment.

(1) Signal arrangement

The driver front view shown is that of the LECSB□-S5、LECSB□-S7. Refer to chapter 10 Outline Drawings for the appearances and connector layouts of the other drivers.

3 - 20

3. SIGNALS AND WIRING

(Note 2) I/O signals in control modes

No.

1 P15R

P15R

P15R 2 I

/VC

VC/VLA

VLA

VLA/ 3 LG

LG 4 O LA

LA 5 O LAR

LAR

LAR 6 O LB

LB 7 O LBR

LBR

LBR 8 O LZ

LZ 9 O LZR

LZR

LZR 10 I PP

PP/ /PP 11 I PG

PG/ /PG 12 OPC

OPC/ /OPC 13

15 I SON

SON

PD03

16 I

/SP2

SP2

SP2/SP2

SP2

SP2/

PD04

17 I PC

PC/ST1

ST1

ST1/RS2

RS2

RS2/PC

PD05

18 I TL

TL/ST2

ST2

ST2/RS1

RS1

RS1/TL

PD06

19 I RES

RES

PD07

20 DICOM

DICOM

21 DICOM

DICOM

22 O INP

INP/SA

SA/ /INP

PD13

23 O ZSP

ZSP

PD14

24 O INP

INP/SA

SA/ /INP

PD15

25 O TLC

TLC

TLC/VLC

VLC

VLC/TLC

PD16

TLA

TLA/TC

28 LG

LG 29

30 LG

LG 31

33 O OP

OP 34 LG

LG 35 I NP

NP/ /NP 36 I NG

NG/ /NG 37

41 I CR

CR/SP1

SP1

SP1/SP1

SP1

SP1/CR

PD08

42 I EMG

EMG

(2) CN1 signal assignment

The signal assignment of connector changes with the control mode as indicated below. For the pins which are given parameter No.s in the related parameter column, their signals can be changed using those parameters.

parameter

Pin No.

(Note 1)

I/O

P P/S S S/T T T/P

27 I TLA

(Note 3)

TC TC/TLA

3 - 21

3. SIGNALS AND WIRING

(Note 2) I/O signals in control modes

No.

43 I LSP

LSP

LSP/ /LSP

PD10

44 I LSN

LSN

LSN/

/LSN

PD11

45 I LOP

LOP

PD12

DOCOM

48 O ALM

ALM

ALM 49 O RD

PD18

Abbreviation

Signal name

Abbreviation

Signal name

SON

Servo-on

TLC

Limiting torque

LSP

Forward rotation stroke end

VLC

Limiting speed

LSN

Reverse rotation stroke end

Ready

Clear

ZSP

Zero speed detection

SP1

Speed selection 1

INP

In-position

SP2

Speed selection 2

Speed reached

Proportion control

ALM

Trouble

ST1

Forward rotation start

WNG

Warning

ST2

Reverse rotation start

BWNG

Battery warning

External torque limit selection

Encoder Z-phase pulse (open collector)

RES

Reset

MBR

Electromagnetic brake interlock

EMG

Emergency stop

(differential line driver)

LOP

Control selection

LZR

Analog speed command

(differential line driver)

VLA

Analog speed limit

LAR

TLA

Analog torque limit

Analog torque command

LBR

RS1

Forward rotation selection

DICOM

Digital I/F power supply input

RS2

Reverse rotation selection

OPC

Open collector power input

DOCOM

Digital I/F common

P15R

15VDC power supply

Control common

Shield

Pin No.

Note 1. I: Input signal, O: Output signal

2. P: Position control mode, S: Speed control mode, T: Torque control mode, P/S: Position/speed control changeover mode, S/T: Speed/torque control changeover mode, T/P: Torque/position control changeover mode

3. TLA can be used when TL is made usable by setting the parameter No.PD03 to PD08/PD10 to PD12.

(Note 1)

I/O

(3) Explanation of abbreviations

P P/S S S/T

T T/P

parameter

Encoder Z-phase pulse

Encoder A-phase pulse

Encoder B-phase pulse (differential line driver)

Forward/reverse rotation pulse train

3 - 22

3. SIGNALS AND WIRING

No.

mode

P S T

terminals connected) automatically in the driver.

operation.

(Refer to section 5.4.3.)

(Note) Input device

Operation

direction

1 1

0 1

stroke end

LSN

CN1-44 1 0

0 0

No.PD01

Status

LSP

LSN

Automatic ON

WNG, set the parameter No.PD13 to PD16/PD18 to make it usable.

3.5 Signal explanations For the I/O interfaces (symbols in I/O division column in the table), refer to section 3.8.2. In the control mode field of the table P : Position control mode, S: Speed control mode, T: Torque control mode

: Denotes that the signal may be used in the initial setting status.

: Denotes that the signal may be used by setting the corresponding parameter No.PD03 to PD08, PD10 to

PD12, PD13 to PD16, PD18. The pin No.s in the connector pin No. column are those in the initial status.

(1) I/O devices

(a) Input devices

Control

Device Symbol

Connec-

tor pin

Functions/Applications

I/O

division

Servo-on SON CN1-15 Turn SO N on to power on the base circuit and make the driver ready

to operate (servo-on). Turn it off to shut off the base circuit and coast the servo motor. Set "

Reset RES CN1-19 Turn RES on for more than 50ms to reset the alarm.

Some alarms cannot be deactivated by the reset (RES). Refer to section 9.1. Turning RES on in an alarm-free status shuts off the base circuit. The base circuit is not shut off when " No.PD20. This device is not designed to make a stop. Do not turn it ON during

Forward rotation stroke end

Reverse rotation

LSP CN1-43 To start operation, turn LSP/LSN on. Turn it off to bring the motor t o

a sudden stop and make it servo-locked. Set "

4" in parameter No.PD01 to switch this signal on (keep

1 " is set in parameter

1" in parameter No.PD20 to make a slow stop.

LSP LSN

CCW

DI-1

Note. 0: off

Set parameter No.PD01 as indicated below to switch on the signals (keep terminals connected) automatically in the driver.

Parameter

When LSP or LSN turns OFF, an external stroke limit warning (AL.

99) occurs, and Warning (WNG) turns OFF. However, when using

1: on

3 - 23

3. SIGNALS AND WIRING

No.

mode

P S T

For details, refer to section 3.6.1 (5).

(Note) Input device

ST2

ST1

0 0

Stop (servo lock)

start

ST2

CN1-18 0

CCW

1 1

Stop (servo lock)

servo-locked after deceleration to a stop.

(Note) Input device

RS2

RS1

0 0

Torque is not generated.

selection

reverse rotation in regenerative mode

forward rotation in regenerative mode

Torque is not generated.

1: on

Device Symbol

Connec-

tor pin

Functions/Applications

I/O

division

Control

External torque limit selection

Internal torque limit selection

Forward rotation start

Reverse rotation

Note. 0: off

Forward rotation selection

TL CN1-18 Turn TL off to make Forward torque limit (parameter No.PA11) and

Reverse torque limit (parameter No.PA12) valid, or turn it on to make Analog torque limit (TLA) valid.

TL1 When using this signal, make it usable by making the setting of

parameter No.PD03 to PD08, PD10 to PD12.

ST1 CN1-17 Used t o start the servo motor in any of the following directi ons.

1: on

If both ST1 and ST2 are switched on or off during operation, the servo motor will be decelerated to a stop according to the parameter No.PC02 setting and servo-locked. When "

RS1 CN1-18 Used to select any of the following servo motor torque generation

directions.

DI-1

Servo motor starting direction

1" is set in parameter No.PC23, the servo motor is not

DI-1

Reverse rotation

Note. 0: off

RS2 CN1-17

0 1

1 0

Torque generation direction

Forward rotation in driving mode/

Reverse rotation in driving mode/

3 - 24

3. SIGNALS AND WIRING

No.

mode

P S T

Input device

SP3

SP2

SP1 0 0 0 Analog speed command (VC)

0 0 1

Internal sp eed c om ma nd 1 (par am et er No. PC 05)

0 1 0

Internal sp eed c om ma nd 2 (par am et er No.PC06)

Speed selection 3

SP3

0 1 1 Internal sp eed c om ma nd 3 (par am et er No. PC 07)

DI-1 1 0 0 Internal sp eed c om ma nd 4 (par am et er No. PC 08)

1 0 1 Internal sp eed c om ma nd 5 (par am et er No. PC 09)

1 1 0 Internal speed command 6 (para meter No.P C 1 0)

1 1 1 Internal sp eed c om ma nd 7 (par am et er No. PC 11)

Input device

SP3

SP2

SP1 0 0 0

Analog speed limit (VLA)

0 0 1 Internal speed limit 1 (parameter No.PC05)

0 1 0 Internal speed limit 2 (parameter No.PC06)

0 1 1 Internal speed limit 3 (parameter No.PC07)

1 0 0 Internal speed limit 4 (parameter No.PC08)

1 0 1 Internal speed limit 5 (parameter No.PC09)

1 1 0 Internal speed limit 6 (parameter No.PC10)

1 1 1 Internal speed limit 7 (parameter No.PC11)

1: on

Device Symbol

Connec-

tor pin

Functions/Applications

I/O

division

Control

Speed selection 1 SP1 CN1-41 <Speed control mode>

Used to select the command speed for operation. When using SP3, make it usable by making the setting of parameter No.PD03 to PD08, PD10 to PD12.

Speed selection 2 SP2 CN1-16

Note. 0: off

(Note)

1: on

<Torque control mode> Used to select the limit speed for operation. When using SP3, make it usable by making the setting of parameter No.PD03 to PD08, PD10 to PD12.

Speed command

DI-1

Note. 0: off

(Note)

Speed limit

3 - 25

3. SIGNALS AND WIRING

No.

mode

P S T

torque limit (TLA).

in the emergency stop state to reset that state.

cleared while CR is on.

CM2

(Note) Input device

DI-1

CM2

CM1

0 0 Parameter No.PA06

0 1 Parameter No.PC32

1 0 Parameter No.PC33

1 1 Parameter No.PC34

values into the parameter No.PB29 to PB34 values.

Device Symbol

Connec-

tor pin

Functions/Applications

I/O

division

Control

Proportion control PC CN1-17 Turn PC on to switch the speed amplifier from the proportional

integral type to the proportional type. If the servo motor at a stop is rotated even one pulse due to any external factor, it generates torque to compensate for a position shift. When the servo motor shaft is to be locked mechanically after positioning completion (stop), switching on the proportion control (PC) upon positioning completion will suppress the unnecessary torque generated to compensate for a position shift. When the shaft is to be locked for a long time, switch on the proportion control (PC) and external torque limit selection (TL) at the same time to make the torque less than the rated by the analog

Emergency stop EMG CN1-42 Turn EMG off (open between commons) to bring the motor to an

emergency stop state, in which the base circuit is shut off and the dynamic brake is operated. Turn EMG on (short between commons)

Clear CR CN1-41 Turn CR on to clear the position control counter droop pulses on its

leading edge. The pulse width should be 10ms or longer. The delay amount set in parameter No.PB03 (position command acceleration/deceleration time constant) is also cleared. When the

1 ", the pulses are always

Electronic gear selection 1

parameter No.PD22 setting is "

CM1 When using CM1 and CM2, make them usable by the setting of

parameters No.PD03 to PD08, PD10 to PD12. The combination of CM1 and CM2 gives you a choice of four different electronic gear numerators set in the parameters. CM1 and CM2 cannot be used in the absolute position detection system.

DI-1

Electronic gear selection 2

Note. 0: off

Gain changing CDP W hen using this signal, make it usable by the setting of parameter

1: on

No.PD03 to PD08, PD10 to PD12. Turn CDP on to change the load inertia moment ratio and gain

Electronic gear molecule

3 - 26

DI-1

3. SIGNALS AND WIRING

No.

mode

P S T

(Note) LOP

Control mode

Position

1 Speed

(Note) LOP

Control mode

0 Speed

1 Torque

(Note) LOP

Control mode

0 Torque

1 Position

1: on

(Note) STAB2

Acceleration/deceleration time constant

Acceleration time constant

(parameter No.PC02)

Acceleration time constant 2

(parameter No.PC31)

1: on

transfer. (Refer to chapter 14.)

Device Symbol

Connec-

tor pin

Functions/Applications

I/O

division

Control

Control change LOP CN1-45 <Position/speed control change mode>

Used to select the control mode in the position/speed control change mode.

Note. 0: off

1: on

<Speed/torque control change mode> Used to select the control mode in the speed/torque control change mode.

Note. 0: off

1: on

<Torque/position control mode> Used to select the control mode in the torque/position control change mode.

DI-1 Refer to

Functions/

Appli-

cations.

Note. 0: off

Second acceleration/dece leration selection

Note. 0: off

ABS transfer mode

ABS request ABSR CN1-18 ABS request device.

STAB2

ABSM CN1-17 ABS transfer mode request device.

When using this signal, set the parameter No.PD03 to PD08/PD10

to PD12 to make it usable. This signal allows selection of the acceleration/deceleration time constant at servo motor rotation in the speed control mode or torque control mode. The S-pattern acceleration/deceleration time constant is always uniform.

The CN1-17 pin acts as ABSM only during absolute position data

The CN1-18 pin acts as ABSR only during absolute position data

DI-1

(parameter No.PC01) Deceleration time constant

(parameter No.PC30) Deceleration time constant 2

DI-1

3 - 27

3. SIGNALS AND WIRING

No.

mode

P S T

turns on within 1s after power-on.

For the driver of 7kW or less, it is not necessary to use this device.

operate.

INP turns on when servo on turns on.

reverse rotation start (ST2) are off.

when servo on (SON) turns off.

(parameter No.PA12) or analog torque limit (TLA).

(b) Output devices

Device Symbol

Connec-

tor pin

Functions/Applications

I/O

division

Control

Trouble ALM CN1-48 ALM turns off when power is switched off or the protective circuit is

activated to shut off the base circuit. Without alarm occurring, ALM

Dynamic brake interlock

Ready RD CN1-49 RD turns on when the servo is switched on and the driver is ready to

In-position INP CN1-24 INP turns on when the number of droop pulses is in the preset in-

Speed reached SA SA turns on when the servo motor speed has nearly reached the

Limiting speed VLC CN1-25 VLC turns on when speed reaches the value limited using any of the

DB When using the signal, make it usable by the setting of parameter

No.PD13 to PD16 and PD18. DB turns off when the dynamic brake needs to operate. When using the external dynamic brake on the driver of 11 kW or more, this device is required. (Refer to section 12.6)

position range. The in-position range can be changed using parameter No.PA10. When the in-position range is increased, may be kept connected during low-speed rotation.

preset speed. When the preset speed is 20r/min or less, SA always turns on. SA does not turn on even when the servo on (SON) is turned off or the servo motor speed by the external force reaches the preset speed while both the forward rotation start (ST1) and the

internal speed limits 1 to 7 (parameter No.PC05 to PC11) or the analog speed limit (VLA) in the torque control mode. VLC turns off

DO-1

Limiting torque TLC TLC turns on when the torque generated reaches the value set to

the Forward torque limit (parameter No.PA11), Reverse torque limit

DO-1

3 - 28

3. SIGNALS AND WIRING

No.

mode

P S T

OFF

0r/min

Forward rotation direction

Servo motor speed

Reverse rotation direction

Zero speed detection (ZSP)

ON level 50r/min OFF level 70r/min

ON level 50r/min

OFF level 70r/min

Parameter No. PC17

20r/min (Hysteresis width)

Parameter No. PC17

Hysteresis width is 20r/min for the LECSB□-□ driver.

MBR turns off when the servo is switched off or an alarm occurs.

warning, WNG turns off within about 1.5s after power-on.

after power-on.

Device Symbol

Connec-

tor pin

Functions/Applications

I/O

division

Control

Zero speed detection

ZSP CN1-23 ZSP turns on when the servo motor speed is zero speed (50r/min)

or less. Zero speed can be changed using parameter No.PC17. Example Zero speed is 50r/min

ZSP turns on 1) when the servo motor is decelerated to 50r/min, and ZSP turns off 2) when the servo motor is accelerated to 70r/min again. ZSP turns on 3) when the servo motor is decelerated again to 50r/min, and turns off 4) when the servo motor speed has reached 70r/min. The range from the point when the servo motor speed has reached ON level, and ZSP turns on, to the point when it is accelerated again and has reached OFF level is called hysteresis width.

DO-1

Electromagnetic brake interlock

MBR Set the parameter No.PD13 to PD16/PD18 or parameter No.PA04

to make this signal usable. Note that ZSP will be unusable.

Warning WNG To use this signal, assign the connector pin for output using

parameter No.PD13 to PD16, PD18. The old signal before assignment will be unusable. When warning has occurred, WNG turns on. When there is no

Battery warning BWNG T o use this signal, assign the connector pin for output using

parameter No.PD13 to PD16, PD18. The old signal before assignment will be unusable. BWNG turns on when battery cable disconnection warning (AL. 92) or battery warning (AL. 9F) has occurred. When there is no battery warning, BWNG turns off within about 1.5s

DO-1

3 - 29

3. SIGNALS AND WIRING

No.

mode

P S T

Alarm code

ACD 0

CN1-24

DO-1

ACD 1

CN1-23

(Note) Alarm code

88888

Watchdog AL.12

Memory error 1

AL.13

Clock error

AL.15

Memory error 2

AL.17

Board error

AL.19

Memory error 3

AL.37

Parameter error

time-out error

AL.8E

Serial communication error

AL.30

Regenerative error

AL.33

Overvoltage

0 1 0 AL.10

Undervoltage

overheat

AL.46

Servo motor overheat

AL.47

Cooling fan alarm

AL.50

Overload 1

AL.51

Overload 2

AL.24

Main circuit error

AL.32

Overcurrent

AL.31

Overspeed

frequency alarm

AL.52

Error excessive

AL.16

Encoder error 1

AL.1A

Monitor combination error

AL.20

Encoder error 2

AL.25

Absolute position erase

1: on

selection

erasing

data bit 0

during ABS transmission data transmission. (Refer to chapter 14.)

data bit 1

during ABS transmission data transmission. (Refer to chapter 14.)

data ready

during ABS transmission data transmission. (Refer to chapter 14.)

Connec-

Signal Symbol

ACD 2 CN1-22

tor pin

To use this signal, set " 1" in parameter No.PD24. This signal is output when an alarm occurs. When there is no alarm, respective ordinary signals (RD, INP, SA, ZSP) are output. Alarm codes and alarm names are listed below.

Functions/Applications

I/O

division

Control

CN1-

0 0 0

0 0 1

0 1 1

1 0 0

CN1-

Alarm

display

AL.8A

AL.45

Name

Serial communication

Main circuit device

Note. 0: off

Variable gain

Absolute position

ABS transmission

CDPS CDPS is on during gain changing. DO-1

ABSV ABSV turns on when the absolute position is erased. DO-1

ABSB0 CN1-22 Outputs ABS transmission data bit 0. CN1-22 acts as ABSB0 only

ABSB1 CN1-23 Outputs ABS transmission data bit 1. CN1-23 acts as ABSB1 only

ABST CN1-25 Outputs ABS transmission data ready. CN1-25 acts as ABST only

1 0 1 AL.35

1 1 0

3 - 30

Command pulse

DO-1

3. SIGNALS AND WIRING

No.

mode

P S T

Resolution:10bit

The torque at 8V input can be changed using parameter No.PC13.

Resolution:14bit or equivalent

limit

No.PC12 is provided at 10V. (Refer to section 3.6.3 (3).)

input

PA13.

(2) Input signals

Signal Symbol

Connec-

tor pin

Functions/Applications

I/O

division

Control

Analog torque limit

Analog torque command

Analog speed command

Analog speed

Forward rotation pulse train Reverse rotation pulse train

TLA CN1-27 To use this signal in the speed control mode, set any of parameters

No.PD13 to PD16, PD18 to make external torque limit selection (TL) available. When the analog torque limit (TLA) is valid, torque is limited in the full servo motor output torque range. Apply 0 to TLA-LG. Connect the positive terminal of the power supply to TLA. Maximum torque is generated at

TC Used to control torque in the full servo motor output torque range.

Apply 0 to

8V. (Refer to section 3.6.3 (1).)

VC CN1-2 Apply 0 to 10VDC across VC-LG. Speed set in parameter

No.PC12 is provided at

VLA Apply 0 to 10VDC across VLA-LG. Speed set in parameter

PP NP PG NG

CN1-10 CN1-35 CN1-11 CN1-36

Used to enter a command pulse train.

In the open collector system (max. input frequency 200kpps) Forward rotation pulse train across PP-DOCOM

Reverse rotation pulse train across NP-DOCOM If the command pulse train input is open collector method, it supports only to the sink (NPN) type interface. It does not correspond to the source (PNP) type interface.

In the differential receiver system (max. input frequency 1Mpps)

Forward rotation pulse train across PG-PP

Reverse rotation pulse train across NG-NP

The command pulse train form can be changed using parameter No.

8VDC across TC-LG. Maximum torque is generated at

10V. (Refer to section 3.6.1 (5).)

10V. (Refer to section 3.6.2 (1).)

10VDC across

Analog

input

Analog

input

Analog

input

Analog

DI-2

3 - 31

3. SIGNALS AND WIRING

No.

mode

P S T

using this pulse, set the creep speed to 100r/min. or less.

driver)

LG in terms of voltage. Resolution: 10 bits or equivalent

output

LG in terms of voltage. Resolution: 10 bits or equivalent

output

POINT

No.

mode

P S T

RDN

CN3-6

(3) Output signals

Signal Symbol

Connec-

tor pin

Functions/Applications

I/O

division

Control

Encoder Z-phase pulse (Open collector)

Encoder A-phase pulse (Differential line

Encoder B-phase pulse (Differential line

Encoder Z-phase pulse (Differential line

Analog monitor 1 MO1 CN6-3 Used to output the data set in parameter No.PC14 to across MO1-

Analog monitor 2 MO2 CN6-2 Used to output the data set in parameter No.PC15 to across MO2-

OP CN1-33 Outputs the zero-point signal of the encoder. One pulse is output per

servo motor revolution. OP turns on when the zero-point position is reached. (Negative logic)

s. For home position return

LAR

LBR

LZR

CN1-4 CN1-5

CN1-6 CN1-7

CN1-8 CN1-9

The minimum pulse width is about 400

Outputs pulses per servo motor revolution set in parameter No.PA15 in the differential line driver system. In CCW rotation of the servo motor, the encoder B-phase pulse lags the encoder A-phase pulse by a phase angle of The relationships between rotation direction and phase difference of the A- and B-phase pulses can be changed using parameter No. PC19.

The same signal as OP is output in the differential line driver system.

/2.

(4) Communication

DO-2

Analog

Signal Symbol

RS-422 I/F SDP

SDN RDP

Refer to chapter 13 for the communication function.

Connec-

tor pin

CN3-5 CN3-4 CN3-3

Terminals for RS-422 communication. (Refer to chapter 13.)

Functions/Applications

I/O

division

Control

3 - 32

3. SIGNALS AND WIRING

No.

mode

P S T

connect of 24VDC external power supply.

power input

terminal with the positive ( ) power of 24VDC.

24VDC external power supply.

Permissible current: 30mA

CN6-1

Shield

Plate

Connect the external conductor of the shield cable.

(5) Power supply

Signal Symbol

Connec-

tor pin

Functions/Applications

I/O

division

Control

Digital I/F power supply input

Open collector

Digital I/F common

15VDC power supply

Control common LG CN1-3

DICOM CN1-20

CN1-21

OPC CN1-12 When inputting a pulse train in the open collector system, supply this

DOCOM CN1-46

CN1-47

P15R CN1-1 Outputs 15V DC to across P15R-LG. Available as power for TC,

CN1-28 CN1-30 CN1-34

CN3-1 CN3-7

Used to input 24VDC (24VDC 10 300mA) for I/O interface of the driver. The power supply capacity changes depending on the number of I/O interface points to be used. For sink interface, connect

Common terminal for input device such as SON and EMG of the driver. Pins are connected internally. For sink interface, connect of 24VDC external power supply. For source interface, connect

TLA, VC, VLA.

Common terminal for TLA, TC, VC, VLA, FPA, FPB, OP ,MO1, MO2 and P15R. Pins are connected internally.

of 24VDC external power supply. For source interface,

3 - 33

3. SIGNALS AND WIRING

Servo amplifier

OPC

DOCOM

24VDC

(Note)

Approx.

1.2k Approx.

1.2k

(ON)(OFF)

(ON) (OFF) (ON) (OFF) (ON)

(OFF)

Forward rotation pulse train (transistor)

Reverse rotation pulse train (transistor)

(ON)(OFF)

Forward rotation command

Reverse rotation command

(OFF)

Driver

3.6 Detailed description of the signals

3.6.1 Position control mode (1) Pulse train input

(a) Input pulse waveform selection

Command pulses may be input in any of three different forms, for which positive or negative logic can be chosen. Set the command pulse train form in parameter No.PA13. Refer to section 5.1.10 for details.

(b) Connections and waveforms

1) Open collector system Connect as shown below.

Note. Pulse train input interface is comprised of a photo coupler.

Therefore, it may be any malfunctions since the current is reduced when connect a resistance to a pulse train signal line. If the command pulse train input is open collector method, it supports only to the sink (NPN) type interface. It does not correspond to the source (PNP) type interface.

The explanation assumes that the input waveform has been set to the negative logic and forward and reverse rotation pulse trains (parameter No.PA13 has been set to 0010). Their relationships with transistor ON/OFF are as follows.

3 - 34

3. SIGNALS AND WIRING

Approx. 100

Servo amplifier

(Note)

Approx. 100

Forward rotation pulse train

Reverse rotation pulse train

Forward rotation command Reverse rotation command

Servo-on (SON)

Alarm

Droop pulses

ON OFF

Yes No

In-position range

ON OFF

In-position (INP)

Driver

2) Differential line driver system Connect as shown below.

Note. Pulse train input interface is comprised of a photo coupler.

Therefore, it may be any malfunctions since the current is reduced when connect a resistance to a pulse train signal line.

The explanation assumes that the input waveform has been set to the negative logic and forward and reverse rotation pulse trains (parameter No.PA13 has been set to 0010). The waveforms of PP, PG, NP and NG are based on that of the LG of the differential line driver.

(2) In-position (INP)

INP turns on when the number of droop pulses in the deviation counter falls within the preset in-position range (parameter No.PA10). INP turns on when low-speed operation is performed with a large value set as the in-position range.

3 - 35

3. SIGNALS AND WIRING

Servo-on (SON)

Alarm

Ready (RD)

ON OFF

Yes No

100ms or less 10ms or less 10ms or less

ON OFF

(Note) Input device

CM2

CM1

Parameter No.PA06

Parameter No.PC32

Parameter No.PC33

Parameter No.PC34

0 10010

[%]

CW direction

Max. torque CCW direction

Torque

Torque limit value in parameter No.PA12

Torque limit value in parameter No.PA11

(3) Ready (RD)

(4) Electronic gear switching

The combination of CM1 and CM2 gives you a choice of four different electronic gear numerators set in the parameters. As soon as CM1/CM2 is turned ON or OFF, the molecule of the electronic gear changes. Therefore, if any shock occurs at this change, use position smoothing (parameter No.PB03) to relieve shock.

Electronic gear molecule

(5) Torque limit

CAUTION

(a) Torque limit and torque

By setting parameter No.PA11 (forward rotation torque limit) or parameter No.PA12 (reverse rotation torque limit ), to rqu e is always limit e d to the maximum value during operation. A relationship between the limit value and servo motor torque is shown below.

Note. 0: off

1: on

If the torque limit is canceled during servo lock, the servo motor may suddenly rotate according to position deviation in respect to the command position.

3 - 36

3. SIGNALS AND WIRING

Connection example

Japan resistor RRS10 or equivalent

TLA application voltage vs.

torque limit value

TLA application voltage [V]

000.05 10

(Note)

DOCOM

P15R

TLA

LG SD

Servo amplifier

Torque limit value [ ]

100

(Note) Input device

Validated torque limit values

CCW driving/CW

regeneration

CW driving/CCW

regeneration

Parameter No.PA11

Parameter No.PA12

Parameter No.PA11

Parameter No.PA12

Parameter No.PA11

Parameter No.PA12

Parameter No.PA11

Parameter No.PA12

Parameter No.PA11

Parameter No.PA12

TLA

Parameter No.PC35

TLA

Parameter No.PC35

TLA

Driver

A relationship between the applied voltage of the analog torque limit (TLA) and the torque limit value of the servo moto r i s sh ow n bel ow . To rqu e limit values will vary about 5 relative to the voltage depending on products. At the voltage of less than 0.05V, torque may vary as it may not be limited sufficiently. Therefore, use this function at the voltage of 0.05V or more.

(b) Torque limit value selection

As shown below, the forward rotation torque limit (parameter No.PA11), or reverse rotation torque limit (parameter No. PA12) and the analog torque limit (TLA) can be chosen using the external torque limit selection (TL). When internal torque limit selection (TL1) is made usable by parameter No.PD03 to PD08, PD10 to PD12, internal torque limit 2 (parameter No.PC35) can be selected. However, if the parameter No.PA11 and parameter No.PA12 value is less than the limit value selected by TL/TL1, the parameter No.PA11 and parameter No.PA12 value is made valid.

Note. For the sink I/O interface. For the source I/O interfac e, ref er to section 3.8. 3.

TL1 TL

0 1

1 0

1 1

Note. 0: off

1: on

TLC turns on when the servo motor torque reaches the torque limited using the forward rotation torque limit, reve r se rot at io n t o rque l i mit or analog torque limit.

Parameter No.PC35

Limit value status

TLA

Parameter No.PA11 Parameter No.PA12

TLA TLA

Parameter No.PA11 Parameter No.PA12

Parameter No.PC35 Paramet er No.PC35

3 - 37

3. SIGNALS AND WIRING

Forward rotation (CCW)

Reverse rotation (

)

Rated speed [r/min]

CCW direction

0 +10

VC applied voltage [V]

CW direction

Rated speed

Speed [r/min]

(Note 1) Input device

(Note 2) Rotation direction

Analog speed command (VC)

commands

Polarity

(Servo lock)

0 1 CCW

(No servo lock)

CCW

1 0 CW

CCW

(Servo lock)

ST2

DOCOM

P15R

VC LG SD

ST1

Japan resistor RRS10 or equivalent

(Note)

Servo amplifier

Driver

3.6.2 Speed control mode (1) Speed setting

(a) Speed command and speed

The servo motor is run at the speeds set in the parameters or at the speed set in the applied voltage of the analog speed command (VC). A relationship between the analog speed command (VC) applied voltage and the servo motor speed is shown below. Rated speed is achieved at parameter No.PC12.

10V with initial setting. The speed at 10V can be changed using

The following table indicates the rotation direction according to forward rotation start (ST1) and reverse rotation start (ST2) combination.

ST2 ST1

0 0

1 1

Note 1. 0: off

1: on

2. If the torque limit is canceled during servo lock, the servo motor may suddenly rotate according to position deviation in respect to the command position.

Stop

Internal speed

Generally, make connection as shown below.

Stop

Note. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3.

3 - 38

3. SIGNALS AND WIRING

(Note) Input device

SP2

SP1 0 0

Analog speed command (VC)

Internal speed command 1 (parameter No.PC05)

Internal speed command 2 (parameter No.PC06)

Internal speed command 3 (parameter No.PC07)

(Note) Input device

SP3

SP2

SP1 0 0 0 Analog speed command (VC)

0 0 1

Internal speed command 1 (parameter No.PC05)

0 1 0

Internal speed command 2 (parameter No.PC06)

0 1 1

Internal speed command 3 (parameter No.PC07)

1 0 0

Internal speed command 4 (parameter No.PC08)

1 0 1

Internal speed command 5 (parameter No.PC09)

1 1 0

Internal speed command 6 (parameter No.PC10)

1 1 1

Internal speed command 7 (parameter No.PC11)

OFF

Set speed selection

Internal speed

command 1

Internal speed

command 2

Start (ST1,ST2)

Servo motor speed

Speed reached (SA)

(b) Speed selection 1 (SP1), speed selection 2 (SP2) and speed command value

Choose any of the speed settings made by the internal speed commands 1 to 3 using speed selection 1 (SP1) and speed selection 2 (SP2) or the speed setting made by the analog speed command (VC).

Speed command value

Note. 0: off

1: on

By making speed selection 3 (SP3) usable by setting of parameter No.PD03 to PD08/PD10 to PD12, you can choose the speed command values of analog speed command (VC) and internal speed commands 1 to 7.

Speed command value

(2) Speed reached (SA)

(3) Torque limit

Note. 0: off

1: on

The speed may be changed during rotation. In this case, the values set in parameters No.PC01 and PC02 are used for acceleration/deceleration. When the speed has been specified under any internal speed command, it does not vary due to the ambient temperature.

SA turns on when the servo motor speed has nearly reached the speed set to the internal speed command or analog speed command.

As in section 3.6.1 (5).

3 - 39

3. SIGNALS AND WIRING

Forward rotation (CCW)

Reverse rotation (CW)

-10

Rated speed [r/min]

CCW direction

0 +10

VC applied voltage [V]

CW direction

Rated speed

Speed[r/min]

(Note) Input device

Rotation direction

Torque control command (TC)

Polarity

Torque is not generated.

in regenerative mode)

Torque is not generated.

RS2

DOCOM

TC LG SD

8 to

Servo amplifier

RS1

(Note)

Driver

3.6.3 Torque control mode (1) Torque control

(a) Torque command and torque

A relationship between the applied voltage of the analog torque command (TC) and the torque by the servo motor is shown below. The maximum torque is generated at parameter No.PC13.

Generated torque limit values will vary about 5 relative to the voltage depending on products. Also the torque may vary if the voltage is low ( 0.05 to 0.05V) and the actual speed is close to the limit value. In such a case, increase the speed limit value. The following table indicates the torque generation directions determined by the forward rotation selection (RS1) and reverse rotation selection (RS2) when the analog torque command (TC) is used.

8V. Note that the torque at 8V input can be changed with

RS2 RS1

0 1

1 0

Note. 0: off

1: on

CCW (reverse rotati on in driving mode/forward rotation

CW (forward rotation in driving mode/reverse rotation

Torque is not

generated.

CW (forward rotation in driving mode/reverse rotation

CCW (reverse rotation in driving mode/forward rotation

Generally, make connection as shown below.

Note. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3.

3 - 40

3. SIGNALS AND WIRING

8( 8)

Max. torque

Generated torque

TC applied voltage [V]

Parameter No. PC38 offset range 999 to 999mV

Forward rotation (CCW)

Reverse rotation (CW)

-10

Rated speed [r/min]

CCW direction

+10

VC applied voltage [V]

CW direction

Rated speed

Speed[r/min]

(Note) Input device

Speed limit direction

Analog speed limit (VLA)

Internal speed

commands

Polarity

1 0 CCW

CCW

0 1 CW

CCW

(b) Analog torque command offset

Using parameter No.PC38, the offset voltage of

999 to 999mV can be added to the TC applied

voltage as show n bel ow .

(2) Torque limit

By setting parameter No.PA11 (forward rotation torque limit) or parameter No.PA12 (reverse rotation torque limit), torque is always limited to the maximum value during operation. A relationship between limit value and servo motor torque is as in section 3.6.1 (5). Note that the analog torque limit (TLA) is unavailable.

(3) Speed limit

(a) Speed limit value and speed

The speed is limited to the values set in parameters No.PC05 to PC11 (internal speed limits 1 to 7) or the value set in t he app lie d vol ta ge of t he ana lo g sp eed li mi t ( VLA ) . A relationship between the analog speed limit (VLA) applied voltage and the servo motor speed is shown below. When the servo motor speed reaches the speed limit value, torque control may become unstable. Make the set value more than 100r/min greater than the desired speed limit value.

The following table indicates the limit direction according to forward rotation selection (RS1) and reverse rotation selection (RS2) combination.

RS1 RS2

Note. 0: off

1: on

3 - 41

3. SIGNALS AND WIRING

SP2

DOCOM

P15R

VLA

LG SD

SP1

Japan resistor RRS10 or equivalent

(Note)

Servo amplifier

(Note) Input device

SP3

SP2

SP1 0 0 0 Analog speed limit (VLA)

0 0 1

Internal speed limit 1 (parameter No.PC05)

0 1 0

Internal speed limit 2 (parameter No.PC06)

0 1 1

Internal speed limit 3 (parameter No.PC07)

1 0 0

Internal speed limit 4 (parameter No.PC08)

1 0 1

Internal speed limit 5 (parameter No.PC09)

1 1 0

Internal speed limit 6 (parameter No.PC10)

1 1 1

Internal speed limit 7 (parameter No.PC11)

Driver

Generally, make connection as shown below.

Note. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3.

(b) Speed selection 1(SP1)/speed selection 2(SP2)/speed selection 3(SP3) and speed limit values

Choose any of the speed settings made by the internal speed limits 1 to 7 using speed selection 1(SP1), speed selection 2(SP2) and speed selection 3(SP3) or the speed setting made by the analog speed limit (VLA) , a s indi c at ed bel ow .

Speed limit value

When the internal speed limits 1 to 7 are used to command the speed, the speed does not vary with the ambient temperature.

VLC turns on when the servo motor speed reaches the speed limited using any of the internal speed limits 1 to 7 or the analog speed limit (VLA).

Note. 0: off

1: on

3 - 42

3. SIGNALS AND WIRING

(Note) LOP

Servo control mode

Position control mode

Speed control mode

ON OFF ON OFF

Position

control mode

Speed

control mode

Servo motor speed

Zero speed detection (ZSP)

Control change (LOP)

Zero speed level

(Note)(Note)

Position

control mode

3.6.4 Position/speed control change mode Set "

1" in parameter No.PA01 to switch to the position/speed control change mode. This function is not

available in the ab solu t e pos i ti on de tec ti on sy st em.

(1) Control change (LOP)

Use control change (LOP) to switch between the position control mode and the speed control mode from an external contact. Relationships between LOP and control modes are indicated below.

Note. 0: off

1: on

The control mode may be changed in the zero speed status. To ensure safety, change control after the servo motor has stopped. When position control mode is changed to speed control mode, droop pulses are reset. If the LOP has been switched on-off at the speed higher than the zero speed and the speed is then reduced to the zero speed or less, the control mode cannot be changed. A change timing chart is shown below.

(2) Torque limit in position control mode

As in section 3.6.1 (5).

Note. When ZSP is not on, control cannot be changed if LOP is switched on-off.

If ZSP switches on after that, control cannot be changed.

3 - 43

3. SIGNALS AND WIRING

ST2

DOCOM

P15R

VC LG SD

ST1

Japan resistor RRS10 or equivalent

(Note)

Servo amplifier

(Note) Input device

SP2

SP1 0 0

Analog speed command (VC)

Internal speed command 1 (parameter No.PC05)

Internal speed command 2 (parameter No.PC06)

Internal speed command 3 (parameter No.PC07)

(Note) Input device

SP3

SP2

SP1 0 0 0 Analog speed command (VC)

0 0 1

Internal speed command 1 (parameter No.PC05)

0 1 0

Internal speed command 2 (parameter No.PC06)

0 1 1

Internal speed command 3 (parameter No.PC07)

1 0 0

Internal speed command 4 (parameter No.PC08)

1 0 1

Internal speed command 5 (parameter No.PC09)

1 1 0

Internal speed command 6 (parameter No.PC10)

1 1 1

Internal speed command 7 (parameter No.PC11)

Driver

(3) Speed setting in speed control mode

(a) Speed command and speed

The servo motor is run at the speed set in parameter No.8 (internal speed command 1) or at the speed set in the applied voltage of the analog speed command (VC). A relationship between analog speed command (VC) applied voltage and servo motor speed and the rotation directions determined by the forward rotation start (ST1) and reverse rotation start (ST2) are as in (a), (1) in section 3.6.2. Generally, make connection as shown below.

Note. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3.

(b) Speed selection 1 (SP1), speed selection 2 (SP2) and speed command value

Choose any of the speed settings made by the internal speed commands 1 to 3 using speed selection 1 (SP1) and speed selection 2 (SP2) or the speed setting made by the analog speed command (VC).

Speed command value

Note. 0: off

1: on

By making speed selection 3 (SP3) usable by setting of parameter No.PD03 to PD08/PD10 to PD12, you can choose the speed command values of analog speed command (VC) and internal speed commands 1 to 7.

Speed command value

Note. 0: off

1: on

3 - 44

3. SIGNALS AND WIRING

(Note) LOP

Servo control mode

Speed control mode

Torque control mode

10V

ON OFF

Torque

control mode

Servo motor speed

Control change (LOP)

(Note)

Speed

control mode

Speed

control mode

Analog torque command (TC)

Load torque

Forward rotation in driving mode

The speed may be changed during rotation. In this case, the values set in parameters No.PC01 and PC02 are used for acceleration/deceleration. When the internal speed command 1 to 7 is used to command the speed, the speed does not vary with the ambient temperature.

As in section 3.6.2 (2).

3.6.5 Speed/torque control change mode Set "

3" in parameter No.PA01 to switch to the speed/torque control change mode.

(1) Control change (LOP)

Use control change (LOP) to switch between the speed control mode and the torque control mode from an external contact. Relationships between LOP and control modes are indicated below.

Note. 0: off

1: on

The control mode may be changed at any time. A change timing chart is shown below.

(2) Speed setting in speed control mode

As in section 3.6.2 (1).

(3) Torque limit in speed control mode

As in section 3.6.1 (5).

Note. When the start (ST1 ST2) is switched off as soon as the mode is changed to

speed control, the servo motor comes to a stop according to the deceleration time constant.

3 - 45

3. SIGNALS AND WIRING

SP1

DOCOM

P15R

VLA

LG SD

Japan resistor RRS10 or equivalent

(Note)

Servo amplifier

(Note) Input device

SP1

Analog speed limit (VLA)

Internal speed limit 1 (parameter No.PC05)

Driver

(4) Speed limit in torque control mode

(a) Speed limit value and speed

The speed is limited to the limit value set in parameter No.8 (internal speed limit 1) or the value set in the applied v ol ta ge of the ana lo g s pee d l i mit (VLA). A relations hi p betwe en th e an al og spe ed limit (VLA) applied voltage and the servo motor speed is as in section 3.6.3 (3) (a). Generally, make connection as shown below.

Note. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3.

(b) Speed selection 1 (SP1) and speed limit value

Use speed selection 1 (SP1) to select between the speed set by the internal speed limit 1 and the speed set by the analog speed limit (VLA) as indicated in the following table.

Note. 0: off

When the internal speed limit 1 is used to command the speed, the speed does not vary with the ambient temperature.

As in section 3.6.3 (3) (c)

(5) Torque control in torque control mode

As in section 3.6.3 (1).

(6) Torque limit in torque control mode

As in section 3.6.3 (2).

Speed command value

1: on

3 - 46

3. SIGNALS AND WIRING

(Note) LOP

Servo control mode

Torque control mode

Position control mode

10V

ON OFF ON OFF

Servo motor speed

Zero speed detection (ZSP)

Control change (LOP)

Zero speed level

Speed

control mode

Torque

control mode

Speed

control mode

Analog torque command (TC)

3.6.6 Torque/position control change mode Set "

5 " in parameter No.PA01 to switch to the torque/position control change mode.

(1) Control change (LOP)

Use control change (LOP) to switch between the torque control mode and the position control mode from an external contact. Relationships between LOP and control modes are indicated below.

Note. 0: off

1: on

The control mode may be changed in the zero speed status. To ensure safety, change control after the servo motor has stopped. When position control mode is changed to torque control mode, droop pulses are reset. If the LOP has been switched on-off at the speed higher than the zero speed and the speed is then reduced to the zero speed or less, the control mode cannot be changed. A change timing chart is shown below.

(2) Speed limit in torque control mode

As in section 3.6.3 (3).

(3) Torque control in torque control mode

As in section 3.6.3 (1).

(4) Torque limit in torque control mode

As in section 3.6.3 (2).

(5) Torque limit in position control mode

As in section 3.6.1 (5).

3 - 47

3. SIGNALS AND WIRING

OFF

Brake operation

15 to 60ms (Note 2)

Alarm occurs.

Remove cause of trouble.

Brake operation

Power off

Power on

Valid

Invalid

Main circuit control circuit power supply

Base circuit

Dynamic brake

Servo-on (SON)

Reset (RES)

Ready (RD)

Trouble (ALM)

(Note 1)

50ms or longer

3.7 Alarm occurrence timing chart When an alarm has occurred, remove its cause, make sure that the operation signal

CAUTION

is not being input, ensure safety, and reset the alarm before restarting operation. As soon as an alarm occurs, turn off Servo-on (SON) and power off.

When an alarm occurs in the driver, the base circuit is shut off and the servo motor is coated to a stop. Switch off the main circuit power supply in the external sequence. To reset the alarm, switch the control circuit power supply from off to on, press the " SET " button on the current alarm screen, or turn the reset (RES) from off to on. However, the alarm cannot be reset unless its cause is removed.

Note 1. Shut off the main circuit power as soon as an alarm occurs.

2. Changes depending on the operating status.

(1) Overcurrent, overload 1 or overload 2

If operation is repeated by switching control circuit power off, then on to reset the overcurrent (AL.32), overload 1 (AL.50) or overload 2 (AL.51) alarm after its occurrence, without removing its cause, the driver and servo motor may become faulty due to temperature rise. Securely remove the cause of the alarm and also allow about 30 minutes for cooling before resuming operation.

(2) Regenerative alarm

If operation is repeated by switching control circuit power off, then on to reset the regenerative (AL.30) alarm after its occurrence, the external regenerative resistor will generate heat, resulting in an accident.

(3) Instantaneous power failure

Undervoltage (AL.10) occurs when the input power is in either of the following statuses.

A power failure of the control circuit power supply continues for 60ms or longer, then the power restores. During the servo-on status, the bus voltage dropped to 200VDC or less for LECSB2-□, 158VDC or less for LECSB1-□.

(4) In position control mode (incremental)

When an alarm occurs, the home position is lost. When resuming operation after deactivating the alarm, make a home position return.

3 - 48

3. SIGNALS AND WIRING

10VDC

DOCOM

SON SON SON

CN1

SP2 SP2 16

PC ST1 RS2 17

TL ST2 RS1 18

RES RES 19

CR SP1 41

EMG 42

LSP 43 LSN 44 LOP 45

OPC 12

47 PP 10 PG 11 NP 35 NG 36

LSP LSN LOP

DICOM

DOCOM

LOP

RES

SP1

P S T

CN1

21 22 23 24 25 48 49

DICOM

INP SA

ZSP

INP

TLC

ZSP

TLC

ALM

ZSP

TLC

P S T

CN1 P S T

4 5 6 7 8

9 33 34

CN3 P S T

LAR

LBR

LZR

SDP SDN RDP RDN

LG LG

CN6

S T

MO1

MO2

Differential line driver output (35mA or less)

Open collector output

CN1P S T

2VC VLA

27TLA

TLA

1P15R 3

28LG 30LG

Case

(Note 2)

15VDC

Approx. 5.6k

RS-422

Analog monitor

Servo amplifier

24VDC

CN2 P S T

MRR

MDR

Encoder

Servo motor

(Note 3)

USB

P S T

GND

VBUS 1

2 3 5

CN5

(Note 1)

(

Note 1)

(Note 1)

Approx. 5.6k

Approx. 100k

Approx. 1.2k

10VDC

Driver

(Note 4)

Encoder Z-phase pulse

Encoder A / B / Z-phase pulse

3.8 Interfaces

3.8.1 Internal connection diagram

3 - 49

3. SIGNALS AND WIRING

DOCO 46

OPC 12

47 PP 10 PG 11 NP 35 NG 36

DICOM

DOCOM

24VDC

SON, etc.

Servo amplifier

Switch

Approx. 5mA

For transistor

DICOM

CES

1.0V

CEO

100 A

24VDC 10 300mA

Approx. 5.6k

(Note)

Servo amplifier

ALM, etc.

Load

DOCOM

If polarity of diode is reversed, servo amplifier will fail.

24VDC 10 300mA

Driver

driver

Note 1. P: Position control mode S: Speed control mode T: Torque control mode

2. For the differential line driver pulse train input. For the open collector pulse train input, make the following connection. If the command pulse train input is open collector method, it supports only to the sink (NPN) type interface.

It does not correspond to the source (PNP) type interface.

3. For the sink I/O interface. For the source I/O interface, refer to section 3.8.3.

4. Encoder Z-phase pulse will correspond to the differential line driver system and the open collector system. If the encoder Z-phase pulse is open collector method, it supports only to the sink (NPN) type interface. It does not correspond to the source (PNP) type interface.

3.8.2 Detailed description of interfaces This section provides the details of the I/O signal interfaces (refer to the I/O division in the table) given in

section 3.5. Refer to this section and make connection with the external equipment.

(1) Digital input interface DI-1

Give a signal with a relay or open collector transistor. Refer to section 3.8.3 for source input.

(2) Digital output interface DO-1

A lamp, relay or photocoupler can be driven. Install a diode (D) for an inductive load, or install an inrush current suppressing resistor (R) for a lamp load. (Rated current: 40mA or less, maximum current: 50mA or less, inrush current: 100mA or less) A maximum of 2.6V voltage drop occurs in the driver. Refer to section 3.8.3 for the source output.

Note. If the voltage drop (maximum of 2.6V) interferes with the relay operation, apply high

voltage (up to 26.4V) from external source.

3 - 50

3. SIGNALS AND WIRING

PG(NG)

PP(NP)

Max. input pulse frequency 1Mpps

Servo amplifier

Am26LS31 or equivalent

Approx. 100

(Note)

10m or less

: 2.5V : 0.5V

0.9

0.1

tHL

tc tLH

tLH=tHL<0.1 s tc>0.35 s tF>3 s

PP PG

NP NG

Driver

(3) Pulse train input interface DI-2

Give a pulse train signal in the differential line driver system or open collector system. (a) Differential line driver system

1) Interface

Note. Pulse train input interface is comprised of a photo coupler.

Therefore, it may be any malfunctions since the current is reduced when connect a resistance to a pulse train signal line.

2) Input pulse condition

3 - 51

3. SIGNALS AND WIRING

Approx. 1.2k

Servo amplifier

24VDC

OPC

PP,

DOCOM

Max. input

pulse

frequency 200kpps

2m or less

(Note)

0.9

0.1

tHL

tLH

tLH=tHL<

0.2 s tc>2 s tF>3

Driver

(b) Open collector system

1) Interface

2) Input pulse condition

Note. Pulse train input interface is comprised of a photo coupler.

3 - 52

3. SIGNALS AND WIRING

Photocoupler

Servo amplifier

5 to

24VDC

Servo amplifier

LA (LB, LZ)

LAR (LBR, LZR)

150

Am26LS32 or equivalent

High-speed photocoupler

Servo amplifier

LAR (LBR, LZR)

100

LA (LB, LZ)

Servo motor CCW rotation

LAR

LBR

LZR

Time cycle (T) is determined by the settings of parameter No.PA15 and PC19.

400 s or longer

Driver

(4) Encoder output pulse DO-2

Encoder Z-phase pulse wil l correspond to the differential line driver system and the open collector system.

(a) Open collector system

Interface Max. output current: 35mA

If the encoder Z-phase pulse is open collector method, it supports only to the sink (NPN) type

interface. It does not correspond to the source (PNP) type interface.

(b) Differential line driver system (Encoder A / B / Z-phase pulse)

1) Interface Max. output current: 35mA

2) Output pulse

3 - 53

3. SIGNALS AND WIRING

Upper limit setting 2k

15VDC

P15R VC, etc

LG SD

Servo amplifier

Approx. 10k

MO1

Servo amplifier

(MO2)

Output voltage: 10V (Note) Max. Output current: 1mA Resolution: 10 bits or equivalent

Driver

(5) Analog input

Input impedance 10 to 12k

(6) Analog output

Note. Output voltage range varies depending on the monitored signal. (Refer to section

5.3.3.) When connecting an analog output to an external device, use one whose withstand voltage is

15VDC or more.

3 - 54

3. SIGNALS AND WIRING

Servo amplifier

Switch

Approx. 5mA

CES

1.0V

CEO

100 A

24VDC 10 300mA

Approx. 5.6k

SON, etc.

DICOM

(Note)

If polarity of diode is reversed, servo amplifier will fail.

24VDC 10 300mA

Servo amplifier

ALM, etc.

Load

DOCOM

Driver

driver

3.8.3 Source I/O interfaces In this driver, source type I/O interfaces can be used. In this case, all DI-1 input signals and DO-1 output

signals are of source type. Perform wiring according to the following interfaces. (1) Digital input interface DI-1

(2) Digital output interface DO-1

A maximum of 2.6V voltage drop occurs in the driver.

Note. If the voltage drop (maximum of 2.6V) interferes with the relay operation, apply high

voltage (up to 26.4V) from external source.

3 - 55

3. SIGNALS AND WIRING

External conductor Sheath

External conductor

Pull back the external conductor to cover the sheath.

SheathCore

Strip the sheath.

Screw

Ground plate

Cable

Screw

Cable

Ground plate

3.9 Treatment of cable shield external conductor In the case of the CN1 and CN2 connectors, securely connect the shielded external conductor of the cable to the ground plate as shown in this section and fix it to the connector shell.

(1) For CN1 connector (Sumitomo 3M Limited connector)

(2) For CN2 connector (Sumitomo 3M Limited or Molex connector)

3 - 56

3. SIGNALS AND WIRING

POINT

Servo amplifier

Servo motor

PE terminal

Control box

Driver

3.10 Connection of driver and servo motor During power-on, do not open or close the motor power line. Otherwise, a

WARNING

malfunction or faulty may occur.

3.10.1 Connection instructions

WARNING

Insulate the connections of the power supply terminals to prevent an electric shock.

Connect the wires to the correct phase terminals (U, V, W) of the driver and servo motor. Not doing so may cause unexpected operation. Do not connect AC power supply directly to the servo motor. Otherwise, a fault may

CAUTION

occur. Do not use the 24VDC interface power supply for the electromagnetic brake. Always use the power supply designed exclusively for the electromagnetic brake. Otherwise, a fault may occur.

Refer to section 12.1 for the selection of the encoder cable. Refer to the Servo Motor Instruction Manual (Vol.2) for the selection of a surge absorber for the electromagnetic brake.

This section indicates the connection of the motor power supply (U, V, W). Use of the optional cable or connector set is recommended for connection between the driver and servo motor. Refer to section 12.1 for details of the options.

(1) For grounding, connect the earth cable of the servo motor to the protective earth (PE) terminal of the driver

and connect the ground cable of the driver to the earth via the protective earth of the control box. Do not connect them directly to the protective earth of the control panel.

(2) Do not use the 24VDC interface power supply for the lock. Always use the power supply designed

exclusively for the lock.

3 - 57

3. SIGNALS AND WIRING

CNP3

AWG 19 (red) AWG 19 (white) AWG 19 (black) AWG 19 (green/yellow)

Servo motorServo amplifier

10m or less

MR-PWS1CBL M-A1-L MR-PWS1CBL M-A2-L MR-PWS1CBL M-A1-H MR-PWS1CBL M-A2-H

MR-PWS1CBL2M-A1-L MR-PWS1CBL2M-A2

-L MR-PWS1CBL2M-A1-H MR-PWS1CBL2M-A2-H MR-PWS2CBL03M-A1-L MR-PWS2CBL03M-A2-L

CNP3

AWG 19 (red) AWG 19 (white) AWG 19 (black)

U V

Servo motor

Servo amplifier

Extension cable

50m or less

2m or less

U VWM

AWG 19 (green/yellow)

(Note) a) Relay connector for extension cable

(Note) b) Relay connector for motor power supply cable

Relay connector

Description

IP rating

Numeral changes depending on the cable OD.

Connector: RM15WTPZ-4P(71) Cord clamp: JR13WCC-5(72) (Hirose Electric)

IP65

b) Relay connector for

cable

Numeral changes depending on the cable OD.

Connector: RM15WTJZ-4S(71) Cord clamp: JR13WCC-8(72) (Hirose Electric)

IP65

Driver

LE-CSM-

3.10.2 Power supply cable wiring diagrams (1) LE-□-□ series servo motor

(a) When cable length is 10m or less

(b) When cable length exceeds 10m

When the cable length exceeds 10m, fabricate an extension cable as show n bel ow . In thi s ca se, the motor power supply cable should be within 2m long. Refer to section 12.5 for the wire used for the extension cable.

□□□

Note. Use of the following connectors is recommended when ingress protection (IP65) is

a) Relay connector for

extension cable

motor power supply

necessary.

3 - 58

3. SIGNALS AND WIRING

Servo motor

Electromagnetic brake

Contacts must be opened with the EMG stop switch.

Contacts must be opened when ALM (Malfunction) or MBR (Electromagnetic brake interlock) turns off.

24 V DC

POINT

Lock

Contacts must be opened when ALM (Malfunction) off.

Refer to section 3.11.4 when wiring for the circuit configuration.

3.11 Servo motor with a lock

3.11.1 Safety precautions Configure a lock circuit so that it is activated also by an external emergency stop

switch.

and MBR (Electromagnetic brake interlock) turns

CAUTION

The lock is provided for holding purpose and must not be used for ordinary braking. Before performing the operation, be sure to confirm that the lock operates properly. Do not use the 24VDC interface power supply for the lock. Always use the power supply designed exclusively for the lock. Otherwise, a fault may occ ur .

Refer to chapter 15 for specifications such as the power supply capacity and operation delay time of the lock. Refer to chapter 15 for the selection of a surge absorber for the lock.

Note the following when the servo motor with a lock is used.

1) Set " 1" in parameter No.PA04 to make the electromagnetic brake interlock (MBR) valid.

2) The lock will operate when the power (24VDC) switches off.

3) While the res et (RES) is on, th e base circuit is shut off. W hen using the serv o motor with a v ertical shaft, use the electromagnetic brake interlock (MBR).

4) Switch off the servo-on (SON) after the servo motor has stopped.

3.11.2 Setting (1) Set "

1" in parameter No.PA04 to make the electromagnetic brake interlock (MBR) valid.

(2) Using parameter No.PC16 (electromagnetic brake sequence output), set a delay time (Tb) at servo-off from

lock operation to base circuit shut-off as in the timing chart shown in section 3.11.3(1).

3 - 59

3. SIGNALS AND WIRING

(95ms)

Electromagnetic brake interlock (MBR)

(Note 1) ON OFF

ON OFF

0 r/min

Base circuit

Servo motor speed

Servo-on (SON)

ON OFF

Coasting

Electromagnetic brake operatio n delay time

Release Activate

Position comma nd (Note 4)

Electromagnetic brake

Release delay time and external relay (Note 2)

(Note 3)

0 r/min

Servo motor speed

Electromagnetic brake interlock (MBR)

ON OFF

Base circuit

(Note) ON OFF

Emergency stop (EMG)

(10ms)

(210ms)

Dynamic brake

Dynamic brake Electromagnetic brake

Electromagnetic brake

Invalid (ON)

Valid (OFF)

Electromagnetic brake operation delay time

Electromagnetic brake release

Lock

Lock Lock

Lock

Lock release

3.11.3 Timing charts (1) Servo-on (SON) command (from driver) ON/OFF

Tb [ms] after the servo-on (SON) signal is switched off, the servo lock is released and the servo motor coasts. If the lock is made valid in the servo lock status, the lock life may be shorter. Therefore, when using the lock in a vertical lift application or the like, set Tb to about the same as the lock operation del ay ti me t o prevent a drop.

Note 1. ON: Lock is not activated.

OFF: Lock is activated.

2. Lock is released after delaying for the release delay time of lock and operation t ime of external ci rcuit rel ay. For the release delay time of lock, refer to chapter 15.

3. Give a position command after the lock is released.

4. For the position control mode.

(2) Emergency stop (EMG) ON/OFF

Note. ON: Lock is not activat ed.

OFF: Lock is activated.

3 - 60

3. SIGNALS AND WIRING

Servo motor speed

ON OFF

Base circuit

Electromagnetic brake interlock (MBR)

(Note) ON

OFF

Trouble (ALM)

No (ON) Yes (OFF)

Dynamic brake

Dynamic brake Electromagnetic brake

Electromagnetic brake operation delay time

Electromagnetic brake

(10ms)

Dynamic brake

Dynamic brake Electromagnetic brake

Electromagnetic brake

(Note 1) 15 to 60ms

Electromagnetic brake operation delay time

(Note 2) ON OFF

Electromagnetic brake interlock (MBR)

ON OFF

Base circuit

Servo motor speed

No (ON) Yes (OFF)

Trouble (ALM)

ON OFF

Main circuit Control circuit

power

10ms

Lock

Lock operation delay time

(3) Alarm occurrence

Note. ON: Lock is not acti vat ed.

OFF: Lock is activated.

(4) Both main and control circuit power supplies off

Note 1. Changes with the operating status.

2. ON: Lock is not activated. OFF: Lock is activated.

3 - 61

3. SIGNALS AND WIRING

Servo motor speed

OFF

Base circuit

Electromagnetic brake interlock

(MBR)

(Note 2) ON

OFF

Trouble (ALM)

No (ON) Yes (OFF)

ON OFF

Main circuit power supply

Dynamic brake

Electromagnetic brake

Electromagnetic brake operation delay time

(10ms)

(Note 1) 15ms or longer

10m or less

Electromagnetic

brake interlock

(MBR)

AWG20

(Note 1)

B1 B2

Trouble

(ALM)

Servo motor

(Note 4)

(Note 2)

MR-BKS1CBL

M-A1-L

MR-BKS1CBL M-A

2-L

MR-

BKS1CBL M-A1-H

MR-BKS1CBL M-

A2-H

24VDC power

supply for

electromagnetic

brake

(Note 5)

(Note 3)

Lock

Lock operation delay time

lock

(5) Only main circuit power supply off (control circuit power supply remains on)

Note 1. Changes with the operating status.

2. ON: Lock is not activated. OFF: Lock is activated.

3.11.4 Wiring diagrams (LE-□-□ series servo motor)

(1) When cable length is 10m or less

When fabricating the lock cable LE-CSB-R□A, refer to section 12.1.4.

Note 1. Connect a surge absorber as close to the servo motor as possible.

2. There is no polarity in lock t erminals (B 1 and B2).

3. When using a servo motor with a lock, assign the electromagnetic brake interlock (MBR) to external output signal in the parameters No.PA04, PD13 to PD16 and PD18.

4. Shut off the circuit by interlocking with the emergency stop switch.

5. Do not use the 24VDC interface power supply for the lock.

3 - 62

LE-CSB-□□□

3. SIGNALS AND WIRING

(Note 2) a) Relay connector for extension cable

MR-BKS1CBL2M-A1-L

MR-BKS1CBL2M-A2-L MR-BKS1CBL2M-A1-H MR-BKS1CBL2M-A2-H

MR-BKS2CBL03M-A1-L MR-BKS2CBL03M-A2-L

2m or less

50m or less

Electromagnetic

brake interlock

(MBR)

AWG20

(Note 1)

B1 B2

Trouble

(ALM)

Servo motor

(Note 5)

(Note 3)

24VDC power

supply for

electromagnetic

brake

(Note 2) b) Relay connector for motor brake cable

Extension cable (To be fabricated)

(Note 6)

(Note 4)

Relay connector

Description

IP rating

CM10-CR2P(DDK)

Wire size: S, M, L

lock cable

CM10-SP2S- (D6) (DDK)

Wire size: S, M, L

LE-CSB

lock

lock cable

(2) When cable length exceeds 10m

When the cable length exceeds 10m, fabricate an extension cable as shown below on the customer side. In this case, the lock cable should be within 2m long. Refer to section 12.11 for the wire used for the extension cable.

-□□□

Note 1. Connect a surge absorber as close to the servo motor as possible.

2. Use of the following connectors is recommended when ingress protection (IP65) is necessary.

a) Relay connector for

extension cable

b) Relay connector for

IP65

3. There is no polarity in lock t erminals (B 1 and B2).

4. When using a servo motor with a lock, assign the electromagnetic brake interlock (MBR) to external output signal in the parameters No.PA04, PD13 to PD16 and PD18.

5. Shut off the circuit by interlocking with the emergency stop switch.

6. Do not use the 24VDC interface power supply for the lock.

3 - 63

3. SIGNALS AND WIRING

(Note) Power supply

Ensure to connect it to PE terminal of the servo amplifier. Do not connect it directly to the protective earth of the control panel.

Control box

Servo motor

U V

Encoder

CN2

Servo amplifier

CN1

Protective earth (PE)

Outer box

NFB

Line filter

Programmable

controller

Driver

driver.

PC or

3.12 Grounding Ground the driver and servo motor securely.

WARNING

To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked

) of the driver with the protective earth (PE) of the control box.

The driver switches the power transistor on-off to supply power to the servo motor. Depending on the wiring and ground cable routing, the driver may be affected by the switching noise (due to di/dt and dv/dt) of the transistor. To prevent such a fault, refer to the following diagram and always ground. To conform to the EMC Directive, refer to the EMC Installation Guidelines (IB(NA)67310).

PLC…etc

Note. For 1-phase 200 to 230VAC or 1-phase 100 to 120VAC, connect the power supply to L1 L2 and leave L3 open.

There is no L3 for 1-phase 100 to 120VAC power supply. For the specification of power supply, ref er to secti on 1.3.

3 - 64

SMC Networks LECSB Series, LECSB*-S5 Series, LECSB*-S7 Series, LECSB*-S8 Series Operation Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

1. Safety Instructions

1. To prevent electric shock, note the following

2. To prevent fire, note the following

3. To prevent injury, note the follow

4. Additional instructions

COMPLIANCE WITH THE EUROPEAN EC DIRECTIVES

COMPLIANCE WITH UL/ C-UL STANDARD

CONTENTS

1. FUNCTIONS AND CONFIGURATI ON

1. FUNCTIONS AND CONFIGURATION

1.2 Function block diagram The function block diagram of this servo is shown below.

1.3 Driver standard specifications (1) 200V class

1.4 Function list The following table lists the functions of this servo. For details of the functions, refer to the reference field.

1.4.1 Applicable control mode for each actuator. The following control mode can be selected for applicable actuators. Please refer 「3. SIGNALS AND WIRING」and「5. PARAMETERS」about wiring and parameter setting.

1.5 Model code definition (1) Model

1.6 Combination with servo motor The following table lists combinations of driver and servo motors. The same combinations apply to the models with a lock and the models with a reduction gear.

1.7 Structure

1.7.1 Parts identification (1) LECSB□-□

1.8 Configuration including auxiliary equipment

2. INSTALLATION

2. INSTALLATION

2.1 Installation direction and clearances

2.2 Keep out foreign materials

2.3 Cable stress

2.4 Inspection items

2.5 Parts having service lives

3. SIGNALS AND WIRING

3. SIGNALS AND WIRING

3.1 Input power supply circuit

3.2 I/O signal connection example

3.2.1 Position control mode

3.2.2 Speed control mode

3.2.3 Torque control mode

3.3 Explanation of power supply system

3.3.1 Signal explanations

3.3.2 Power-on sequence (1) Power-on procedure

3.3.3 CNP1, CNP2, CNP3 wiring method

3.4 Connectors and signal arrangements

3.5 Signal explanations For the I/O interfaces (symbols in I/O division column in the table), refer to section 3.8.2. In the control mode field of the table P : Position control mode, S: Speed control mode, T: Torque control mode

3.6 Detailed description of the signals

3.6.1 Position control mode (1) Pulse train input

3.6.2 Speed control mode (1) Speed setting

3.6.3 Torque control mode (1) Torque control

3.6.4 Position/speed control change mode Set "

3.6.5 Speed/torque control change mode Set "

3.6.6 Torque/position control change mode Set "

3.7 Alarm occurrence timing chart When an alarm has occurred, remove its cause, make sure that the operation signal

3.8 Interfaces

3.8.1 Internal connection diagram

3.8.2 Detailed description of interfaces This section provides the details of the I/O signal interfaces (refer to the I/O division in the table) given in

3.8.3 Source I/O interfaces In this driver, source type I/O interfaces can be used. In this case, all DI-1 input signals and DO-1 output

3.9 Treatment of cable shield external conductor In the case of the CN1 and CN2 connectors, securely connect the shielded external conductor of the cable to the ground plate as shown in this section and fix it to the connector shell.

3.10 Connection of driver and servo motor During power-on, do not open or close the motor power line. Otherwise, a

3.10.1 Connection instructions

3.10.2 Power supply cable wiring diagrams (1) LE-□-□ series servo motor

3.11 Servo motor with a lock

3.11.1 Safety precautions Configure a lock circuit so that it is activated also by an external emergency stop

3.11.2 Setting (1) Set "

3.11.3 Timing charts (1) Servo-on (SON) command (from driver) ON/OFF

3.11.4 Wiring diagrams (LE-□-□ series servo motor)

3.12 Grounding Ground the driver and servo motor securely.

SMC Networks LECSB Series, LECSB-S5 Series, LECSB-S7 Series, LECSB*-S8 Series Operation Manual