SMC Networks LECSC Series Operation Manual

LEC-OM06008

(Doc no. JXC※-OMT0056-A)

PRODUCT NAME

AC Servo Motor Driver

(CC-Link Type)

MODEL / Series / Product Number

LECSC Series

（Simplified edition）

文書管理 No. －旧文書体系 No. 対応表

文書管理 No.

旧文書体系 No.

JXC※-OMT0056

LEC-OM06007

JXC※-OMT0056-A

LEC-OM06008

本書は、対応文書の原紙と一緒に保管する。

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CONTENTS

CONTENTS .................................................................................................... 1

Introduction ................................................................................................... 7

1. Configuration ............................................................................................ 8

2. Pre-Operation Procedure .......................................................................... 9

2.1 Flow chart ................................................................................................................... 9

2.2 Driver display ........................................................................................................... 10

3. Wiring ......................................................................................................... 12

3.1 Power Supply Wiring ............................................................................................... 12

3.2 I/O signal connection .............................................................................................. 13

3.2.1 Connection example (Sink I/O interfaces) ............................................................................ 13

3.2.2 Source I/O interfaces .............................................................................................................. 14

3.3 Wiring of PLC and driver ......................................................................................... 15

4. Parameter list (Driver side) ....................................................................... 17

5. Parameter Configuration using Setup software (MR Configurator2TM) . 18

5.1Setup software (MR Configurator2TM) ..................................................................... 18

5.1.1 Installation Method .................................................................................................................. 18

5.2 Basic driver set-up for Initial Test Drive ................................................................ 18

5.2.1 Start up the Setup software (MR Configurator2TM) .............................................................. 19

5.2.2 “System Settings” ................................................................................................................... 20

5.2.3 Model Selection ....................................................................................................................... 20

5.2.4 Driver ON LINE Check ............................................................................................................ 21

5.2.5 Help Function .......................................................................................................................... 21

5.3 Parameter Settings (Driver side) ............................................................................ 22

5.3.1 Change of parameter block .................................................................................................... 23

5.3.2 Change of parameter block .................................................................................................... 23

5.3.3 Parameter Configuration Method (Ex. “Control mode” Selection) .................................... 24

5.3.4 Recommended Parameter Values by Actuator Model......................................................... 25

5.3.5 Absolute position detection system ..................................................................................... 30

5.3.6 Remote register-based position/speed specifying system selection ................................. 31

5.3.7 Electronic Gears ...................................................................................................................... 32

5.3.8 Verify of parameters ................................................................................................................ 33

5.3.9 Parameter initialization ........................................................................................................... 34

5.4 JOG Mode in the Setup Software ........................................................................... 35

5.4.1 JOG Mode................................................................................................................................. 36

5.5 Changing I/O Signal Allocation .............................................................................. 37

5.5.1 Automatic Input Signal ON Selection Parameter Configuration ........................................ 37

5.5.2 Initial I/O Signal Allocation ..................................................................................................... 40

5.5.3 Signal Allocation using Setup Software ............................................................................... 40

5.5.4 Allocation Examples ............................................................................................................... 41

5.5.5 I/O Signal Allocation Check.................................................................................................... 43

5.5.6 Parameter setting when using it by I/O signal (CN6 connector use) ................................ 44

5.6 Positioning Mode in Setup Software ...................................................................... 46

5.6.1 Positioning Mode .................................................................................................................... 47

5.6.2 Motor speed Configuration .................................................................................................... 48

5.6.3 Acceleration/deceleration Time Configuation ...................................................................... 49

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5.6.4 Move distance Configuration and Operation ....................................................................... 50

5.7 Positioning (Point Table) Operation using the Setup Software ........................... 51

5.7.1 Point table List ......................................................................................................................... 51

5.7.2 Point table Data ....................................................................................................................... 52

5.7.3 Point table (Target position) Configuration .......................................................................... 53

5.7.4 Point table (Servo Motor Speed) Configuration ................................................................... 56

5.7.5 Point Table (Acceleration time constant/Deceleration time constant) Configuration ..... 57

5.7.6 Other Settings .......................................................................................................................... 57

5.7.7 Single-Step Feed ..................................................................................................................... 58

5.8 Saving/Loading Parameters ................................................................................... 59

5.8.1 Saving Parameters .................................................................................................................. 59

5.8.2 To Load saved Parameters ..................................................................................................... 60

5.9 Saving/Loading Project ........................................................................................... 61

5.9.1 Saving Project ......................................................................................................................... 61

5.9.2 To Load saved Project ............................................................................................................ 62

5.10 Saving/Loading Point table ................................................................................... 63

5.10.1 Saving Point table ................................................................................................................. 63

5.10.2 To Load saved Point table .................................................................................................... 64

5.11 Acquisition of motion waveform with graph monitor ......................................... 65

5.11.1 Under the setting Tab: Setting of the items to display the graph .................................... 66

5.11.2 Trigger wait ............................................................................................................................ 70

5.11.3 Operation Instruction ............................................................................................................ 71

5.11.4 Saving of waveform .............................................................................................................. 72

5.12 Display All Monitor List ........................................................................................ 73

6. CC-Link setting ......................................................................................... 75

6.1 Station number setting ............................................................................................ 76

6.2 Communication baud rate setting .......................................................................... 77

6.3 Occupied station count setting .............................................................................. 77

6.4 Parameter setting by PLC ....................................................................................... 78

6.5 Device ....................................................................................................................... 79

6.5.1 Detailed explanation of Input signals (Input devices) ......................................................... 82

6.5.2 Detailed explanation of Output signals (Output devices) ................................................... 87

6.5.3 Detailed explanation of Remote registers input .................................................................. 89

6.5.4 Detailed explanation of Remote registers output ................................................................ 91

6.6 Monitor1 (RWwn) ･ Monitor2 (RWwn+1) ............................................................... 92

6.6.1 Timing chart of monitor .......................................................................................................... 93

6.6.2 Pxrogramming example of the monitor ................................................................................ 94

6.7 Read instruction code No. (0000h to 0AFFh) ........................................................ 95

6.7.1 Timing chart of read instruction code ................................................................................ 100

6.7.2 Programming examples of read instruction code ............................................................. 100

6.8 Write instruction code No. (8010h to 91FFh) ....................................................... 101

6.8.1 Timing chart of write instruction code ................................................................................ 104

6.8.2 Programming examples of write instruction code ............................................................ 104

6.9 Respond codes (RWrn+2) ..................................................................................... 105

7. Home position return ................................................................................ 106

7.1 Setting of home position return ........................................................................... 106

7.1.1 Home position return ............................................................................................................ 107

7.1.2 Stopper type home position return. .................................................................................... 108

8. Positioning operation method of operation ............................................ 110

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8.1 Point table method ................................................................................................ 112

8.1.1 Positioning operation indication of the point table method (Example) ........................... 112

8.2 Remote register method ....................................................................................... 116

8.2.1 Positioning operation indication of the remote register method (Example) ................... 116

9. Troubleshooting ........................................................................................ 121

9.1 Alarms and Warning List ....................................................................................... 121

9.2 Alarm Display ......................................................................................................... 122

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LECSC Series / Driver 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 notes for safety and must be followed in addition to International Standards (ISO/IEC), Japan Industrial Standards (JIS)*1) and other safety regulations*2).

*1) ISO 4414: Pneumatic fluid 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 10218-1992: Manipulating industrial robots -- Safety JIS B 8370: General rules for pneumatic equipment. JIS B 8361: General rules for hydraulic equipment. JIS B 9960-1: Safety of machinery – Electrical equipment for machines. (Part 1: General requirements) JIS B 8433-1993: Manipulating industrial robots - Safety.etc. *2) Labor Safety and Sanitation Law, etc.

Caution

Caution indicates a hazard with a low level of risk which, if not avoided, could result in minor or

moderate injury.

Warning

Warning indicates a hazard with a medium level of risk which, if not avoided, could result in death

or serious injury.

Danger

Danger indicates a hazard with a high level of risk 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 decides its specifications.

Since the product specified here is used under various operating conditions, its compatibility with specific equipment must be decided by the person who designs the equipment or decides its specifications based 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 and machinery/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 removed, confirm that the safety measures as mentioned above are implemented 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. Contact SMC beforehand and take special consideration of safety measures if the product is to be used in any of the following conditions.

1) Conditions and environments outside of the given specifications, or use outdoors or in a place exposed 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, emergency stop circuits, clutch and lock circuits in press applications, safety equipment or other applications unsuitable for the standard specifications described in the product catalog.

3) An application which could have negative effects on people, property, or animals requiring special

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safety analysis.

4) Use in an interlock circuit, which requires the provision of double interlock for 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.

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LECSC Series / Driver

Safety Instructions

Caution

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 the product in other industries, consult SMC beforehand and exchange specifications or a contract if necessary. If anything is unclear, contact your nearest sales branch.

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 warranty and Disclaimer

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. 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.

Compliance Requirements

When the product is exported, strictly follow the laws required by the Ministry of Economy, Trade and Industry (Foreign Exchange and Foreign Trade Control Law).

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Introduction

It is recommended that the operator read the operation manual for LECSC prior to use. For the handling and details of other equipment, please refer to the operation manual for used equipment.

Check that the main circuit power supply (AC100V/AC200V) and controller circuit power supply (AC100V/AC200V) are wired correctly.

When using the emergency stop SW etc. provided by customer, wire it to the EMG (Forced stop) of the input/output signal(CN6-1). When wiring, I/O connector(LE-CSNA) or I/O cable(LEC-CSNA-1) is required. (EMG (Forced stop) cannot be controlled with CC-Link.)

Please put the wiring for EMG (Forced stop) into the state of EMG release (operational). (EMG (Forced stop) can be compulsorily set to automatic ON by the parameter.)

Please refer to chapter 4 of the “LECSC Operation Manual” and chapter 3 of the “LECSC Operation Manual (Simplified Edition)” for details.

When setup software (MR Configurator2TM) is used, the LECSC□-□ model selection is required. Select 'MR-J3-T' through “Model" - "New" and "Project".

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1. Configuration

Minimum equipment and wiring requirements to get started

(*1) Refer to “LECSC Operation Manual”, Chapter 4 for further details if the power supply voltage is

100VAC.

(*2) When wiring to EMG (Forced stop) of input/output signal(CN6-1), I/O connector(LE-CSNA) or I/O

cable(LEC-CSNA-1) is required. (EMG (Forced stop) cannot be controlled with CC-Link.)

Driver

LECSC*-S*

Motor cable

LE-CSM-***

Encoder cable

LE-CSE-***

I/O connector

LE-CSNA

I/O cable

LEC-CSNA-1

CC-Link connector

CN1 (Accessory) of Mitsubishi Electric System & Service Co., Ltd. Product number : K05A 502 306 00

USB cable

LEC-MR-J3USB

Setup software （MR Configurator2TM)

LEC-MRC2E

Main circuit power supply connector

CNP1 (Accessory)

Control circuit power supply connector

CNP2 (Accessory)

Motor connector

CNP3 (Accessory)

Battery

LEC-MR-J3BAT（a bundled item） It is unnecessary when using it with the incremental system.

Note) The lock cable option is not shown on this drawing. Refer to the “LECSC Operation Manual” for

details.

Ex) 200 V AC (*1)

Electric Actuators Ex) LEF

Ｌ1

Ｌ2

Ｌ3 N Ｐ1

Ｐ2 Ｐ C

Ｌ11

Ｌ21 U V

4 (*2)

6 7 8 9 10

Provided

by customer

Provided

by customer

Provided

by customer

PLC (CC-Link master unit)

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2. Pre-Operation Procedure

2.1 Flow chart

Wiring

See [3. Wiring]

Parameter setting

See [4. Parameter list (Driver side)]

[Point table method]

setting

See [8.1. Point table method]

- Remote register control by writing the position and the speed data to the remote register

- Point table control by writing the point table data to the driver

[Remote register method]

setting

See [8.2. Remote register method]

CC-Link setting

See [6. CC-Link setting]

Home position return

See [7. Home position return]

Signal allocation setting

See [5.5 Changing I/O Signal Allocation]

Parameter Settings using the Setup Software (MR

Configurator2TM)

see [5. Parameter Settings using the Setup Software (MR

Configurator2TM)]

Occupies only 2 stations.

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2.2 Driver display

On the driver display (three-digit, seven-segment display), check the status of communication with the CC-Link driver at power-on, check the station number, and diagnose a fault at occurrence of an alarm.

(1) Display sequence

During forced stop

At occurrence of overload warning (Note 2)

At occurrence of overload

Servo amplifier power ON

CC-Link master module power ON CC-Link communication beginning

Servo ON

Not ready

(Note 3)

Ready

(Note 3)

Flicker display

Alarm reset or warning

(Note 1) When alarm warning No. is displayed

Flicker display

When alarm occurs, alarm code appears.

Servo amplifier power OFF

Waiting for CC-Link communication

Point table No. display

2s later

Note 1. Only alarm and warning No. are displayed, but no station No. is displayed.

2. If warning other than AE6 occurs during the servo on, flickering the second place of decimal point indicates that it is during the servo on.

3. The right-hand segments of b01, c02 and d16 indicate the axis number.

(Below example indicates Station No.1)

Station

No.1

Station

No.2

Station

No.64

Driver power ON

Driver power OFF

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(2) Indication list

Indication

Status

Description

b # #

Waiting for CC-Link communication

Power of the CC-Link master module was switched on at the condition that the power of

CC-Link master module is OFF.

The CC-Link master module is faulty.

(Note 1)

d # #

Ready

The servo was switched on after completion of initialization and the driver is ready to operate. (This is indicated for 2 seconds.)

(Note 1)

C # #

Not ready

The driver is being initialized or an alarm has occurred.

(Note 2)

$ $ $

Ready for operation

Two seconds have passed after the driver is ready to operate by turning ON the servo-on (RYn1).

(Note 3)

Alarm Warning

The alarm No./warning No. that occurred is displayed. (Refer to section 10.4.)

8 88

CPU error

CPU watchdog error has occurred.

(Note 4)

0 0.b

(Note 4) Test operation mode

JOG operation positioning operation programmed operation DO forced output single-step feed

(Note 1)

# #.d

Motor-less operation

# #.C

Note 1. ## denotes any of numerals 00 to 16 and what it means is listed below.

Description

Set to the test operation mode.

Station number 1

Station number 2

Station number 3

Station number 62

Station number 63

Station number 64

Note 2. $$$ indicates numbers from 0 to 255, and the number indicates the executing point table number.

3. indicates the warning/alarm No.

4. Requires set up software(MR Configurator2TM) .

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3. Wiring

3.1 Power Supply Wiring

Connect the actuator and driver power supply. (1) LECSC (Absolute encoder)

EX.) Power supply is AC200V single phase

Trouble

L2 L3

1-phase 200 to 230VAC

L11 L

U V

(Note 1)

(Note 2)

CNP1

CNP3

CNP2

U V

Motor

Encoder

CN2

(Note 3)

Encoder cable

(Note 5)

MCNFB

Servo motorServo amplifier

Emergency stop

OFF

(Note 6)

(Note 7)

[1] Power supply input terminal: Supply specified power supply. [2] - Connect the motor power supply input terminal (U, V, W) to the driver power terminal (U, V, W)

- Connect the motor ground terminal to the driver ground terminal.

- Connect the cable for detector.

[3] Supply specified power to the control circuit power supply. Refer to “LECSC Operation Manual”, Chapter 4 for further details if the power supply voltage is 100VAC.

Driver

[1]

[3]

[2]

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3.2 I/O signal connection

3.2.1 Connection example (Sink I/O interfaces)

An example of a connection for the I/O signal connection is shown below. Connect wires as necessary.

LBR

LAR

LZR

12 25

RA1

RA2

RA3

14 RD

ALM

16 ZP

CN6

11 24

13 26

1 2 3

Plate

17 EMG DOG

LSP LSN

DICOM

DOCOM

MR-J3USBCBL3M

(Option)

CN5

(Note 7) MR Configurator

Personal computer

CN1

CC-Link

Encoder A-phase pulse (differential line driver)

Encoder B-phase pulse (differential line driver)

Control common

Encoder Z-phase pulse (differential line driver)

24VDC power supply

(Note 4)

(Note 8)

Proximity dog

Forward rotation stroke end Reverse rotation stroke end

(Note 3, 5)

(Note 9)

(Note 5)

Forced stop

(Note 9)

Ready Trouble (Note 6) Home position

return completion

(Note 2)

10m or less

Servo amplifier

CN6

10m or less

(Note 1)

Refer to“LECSC Operation Manual”,section 4.2 for wiring details. Refer to “LECSC Operation Manual”,section 4.5 for input/output signal details.

Driver

LEC-MR-J3US

(Note 7) Set up software （MR Configurator）

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3.2.2 Source I/O interfaces

It is possible to configure the I/O interface for, source type I/O interface. In this case, all (DI-1) input signals and (DO-1) output signals are of source type. wire according to the following interfaces.

(1) Digital input interface DI-1

EMG, etc.

Servo amplifier

Switch

Approx. 5mA

DICOM

CES

1.0V

CEO

100 A

24VDC 10% 150mA

Approx. 5.6k

(2) Digital output interface DO-1

A maximum of 2.6V voltage drop occurs in the driver.

If polarity of diode is reversed, servo amplifier will fail.

Servo amplifier

ALM, etc.

Load

DOCOM

24VDC 10% 150mA

(Note)

Note. If the voltage drop (maximum of 2.6V) interferes with the relay operation, apply higher voltage (up to 26.4V)

from an external source.

Driver

driver

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3.3 Wiring of PLC and driver

Connect the PLC and the driver. (1)Wiring of PLC and driver

Connect the programmable driver CC-Link master unit station and the driver by a twisted cable (3-wire type).

Programmable controller

CC-Link unit

CC-Link Ver.1.10-compliant cable

(2) Wiring of connector

The pin layout of the communication connector CN1 on the driver unit is shown below.

DG DB

SLD

Servo amplifier

CN1

The driver and programmable driver CC-Link master unit are wired as shown below. Refer to “LECSC Operation Manual”,section 13.4 (3) for the CC-Link Ver.1.10-compliant cable used for connection.

Servo amplifier

SLD

CN1

Programmable controller

CC-Link master unit

Driver

CN1 of Mitsubishi Electric System & Service Co., Ltd. Product number : K05A50230600

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(3) Connecting multiple units

Example for connecting multiple servo units

As the remote I/O stations of CC-Link, drivers share the link system and can be controlled/monitored

using programmable driver user programs.

DG DB

SLD

DG DB

SLD

(Note 2) CC-Link Ver.1.10-compliant cable

MR-J3- T option unit CC-Link connector (CN1)

(Note 1) Termination register

MR-J3- T option unit CC-Link connector (CN1)

Termination register

Programmable controller

CC-Link master unit

(4) Insert the power line

Insert the core of the cable into the opening and tighten it with a flat-blade screwdriver so that it will not come loose. (Tightening torque: 0.5 to 0.6N m) When inserting the wire into the opening, make sure that the terminal screw is fully loose.

Loosen

Tighten

CC-Link connector (CN1)

To the next

station

Flat blade screwdriver Tip thickness 0.4 to 0.6mm Full wide 2.5 to 3.5mm

To the preceding station or

programmable controller

LECSC□-□

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4. Parameter list (Driver side)

Parameters require setting. If necessary, please set the parameters. Refer to "LECSC Operation Manual”,chapter 6 and "LECSC Operation Manual (Simplified Edition)”,section

5.3 for details. Refer to "LECSC Operation Manual",chapter 6 for parameters which are not mentioned.

Setup software (MR Configurator2

:LEC-MRC2E) is necessary for the setting of parameter.

*1 Setup software version 1.52E or above is required. *2 The setup software (MR Configurator2

: LEC-MRC2E) must be purchased as an additional item.

*3 The USB cable (LEC-MR-J3USB) must be purchased as an additional item.

(1) [Basic setting parameters (No.PA□□)]

No.

Symbol

Name

Initial value

Unit

PA01

*STY

Control mode

0000h PA03

*ABS

Absolute position detection system

0000h PA05

*FTY

Feeding function selection

0000h PA06

*CMX

Electronic gear numerator

1 PA07

*CDV

Electronic gear denominator

1 PA08

ATU

Auto tuning mode

0001h PA09

RSP

Auto tuning response

12 PA10

INP

In-position range

100 m PA14

*POL

Rotation direction selection

(2) [Extension setting parameters (No. PC□□)]

No.

Symbol

Name

Initial value

Unit

PC02

*ZTY

Home position return type

0000h PC03

*ZDIR

Home position return direction

0001h PC04

ZRF

Home position return speed

500

r/min

PC05

CRF

Creep speed

r/min

PC06

ZST

Home position shift distance

0 m PC07

*ZPS

Home position return position data

STM

PC12

JOG

Jog speed

100

r/min

PC24

*COP3

Function selection C-3

0000h

PC30

*DSS

Remote register-based position/speed specifying system selection

0000h

PC31

LMPL

Software limit

STM

PC32

LMPH

PC33

LMNL

Software limit

STM

PC34

LMNH

(3) [I/O setting parameters (No. PD□□)]

Change the allocation of the input/output signal and select the input signal automatic ON. Refer to "LECSC Operation Manual”, section 6.4 and "LECSC Operation Manual (Simplified Edition)”, section 5.5 for details.

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5. Parameter Configuration using Setup software (MR Configurator2TM)

This section describes the configuration procedure for main parameters using the setup software (MR Configurator2TM: LEC-MRC2E). See chapter 6 of the “LECSC Operation Manual” for parameter details.

5.1Setup software (MR Configurator2TM)

*1 Setup software version 1.52E or above is required. *2 The setup software (MR Configurator2

:LEC-MRC2E) must be purchased as an additional item.

*3 The USB cable (LEC-MR-J3USB) must be purchased as an additional item.

5.1.1 Installation Method

Perform installation according to the “MR Configurator2TM instruction manual” (Manual/ib0300160*.pdf) contained on the setup software (MR Configurator2TM) CD-ROM. The “MR Configurator2TM” software will be added to the PC.

5.2 Basic driver set-up for Initial Test Drive

Switch on the main circuit power supply (AC100V/AC200V) and controller circuit power supply

(AC100V/AC200V) to the LECSC driver. When the driver display flashes as shown below, it wires for EMG and ON (state of EMG release (operational)).

When wiring, I/O connector(LE-CSNA) or I/O cable(LEC-CSNA-1) is required. (EMG (Forced stop) cannot be controlled with CC-Link.)

If the power supply is turned on for the first time, refer to "LECSC Operation Manual”, chapter 5.

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5.2.1 Start up the Setup software (MR Configurator2TM)

① Connect the PC and LECSC using the USB cable. ② Turn on the power of the LECSC. ③ Start application “MR Configurator2”.

Once the application starts, the screen below will be displayed.

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5.2.2 “System Settings”

① From “Project” menu select “New”, the “New project” window will be displayed.

5.2.3 Model Selection

① The Mitsubishi Electric Corporation series will be displayed in the model selection list.

Please select the model “MR-J3-T”, if using the LECSC. Please select the station for the USB connection. Please to match the value of parameter [PC20] and the station. Please select the station “00”, if you want to use for the first time. Please select the option unit “No Connection”.

② Please select “servo amplifier connection USB” as the communication device. ③ Click OK. ④ Click OK.

①

② ③ ④

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5.2.4 Driver ON LINE Check

Check that the driver is enabled (ONLINE).

Check that the “ONLINE/OFFLINE” icon is displayed “ ”. It is OFFLINE when displayed as “ ”. * For OFFLine, PC and amplifier aren’t communicating. Confirm the following points.

- Is amplifier's power supply turning on?

- Are PC and amplifier connected with the USB cable?

- Is the USB driver installed?

- Is the USB driver which is compliant to Windows version installed?

- Is the setting of “Port” for USB connection corresponding?

Please to match the value of parameter [PC20] and the station. Please select the station “00”, if you want to use for the first time. Please select the option unit “No Connection”.

5.2.5 Help Function

By selecting “MR Configurator2 Help” in “Help” from any window of the setup software, a “HELP” screen will be shown.

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5.3 Parameter Settings (Driver side)

The setup software (MR Configurator2TM:LEC-MRC2E) is necessary for setting the parameter.

*1 Setup software version 1.52E or above is required. *2 The setup software (MR Configurator2TM:LEC-MRC2E) must be purchased as an additional item. *3 The USB cable (LEC-MR-J3USB) must be purchased as an additional item.

① From the “Parameter” menu select “Parameter Setting”, the “parameter setting” window will open. ② The explanation of the parameter item is displayed in “MR2 Help”.

(When it is not displayed, from the “View” menu select “Docking window” – “Docking Help”.)

③ When each item of “List display” is clicked, “Parameter list” screen along each item is displayed.

When “Basic” is selected, it is displayed as follows.

Refer to"LECSC Operation Manual”, chapter 6 for details of each parameter.

① ②

③

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5.3.1 Change of parameter block

To enable settings for all parameters.

① Select “Basic settings (list)” tab and change “PA19” value to “000C”. ② Click the “PA19” row then click “Selected Items Write”. ③ Cycle the power off, then on for parameters for this driver to be enabled.

④ Please click “Read".

When changing of each parameter, note the following points. Note1) Some of the various parameters, there is "Enable once on again turning the power OFF after

setting". (If you do not the power to OFF, it does not reflect the data in the driver.) Note2) “Selected Items Write”: It writes the parameter values of the corresponding frame to the driver. “Single Axis Write”: It writes all of the parameters to the driver. Note3) Do not change “For manufacturer setting” parameters. If you change by these by mistake, it may cause

the amplifier to not work properly.

5.3.2 Change of parameter block

If you read the parameters of the driver to the software, please do the “read” operation.

① From the View menu bar "parameter (A)" - please click on the "parameter setting (P)". "Parameter

Settings" screen will display.

② Please click on the “Read".

② ② ①

④

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5.3.3 Parameter Configuration Method (Ex. “Control mode” Selection)

Please set the parameters for each actuator. Please change the parameter values according to usage.

Refer to "LECSC Operation Manual”,chapter 6 for details of each parameter.

Refer to “LECSC Operation Manual (Simplified Edition)”,section 5.4.3 for recommended parameter values for SMC supplied actuators.

・Setting example of the Control mode (PA01) (in the case of setting to "Absolute value command

system").

① Set the parameters of the PA01 to "0000" in the "Basic" tab.

・Setting example of the Control mode (PA01) (in the case of setting to “Incremental value command

system”).

① Set the parameters of the PA01 to "0001" in the "Basic" tab.

② Click on the "Single Axis Write" button. ③ Turn the power OFFand ON again. The Parameter is then enabled.

When changing of each parameter, note the following points. Note1) Some of the various parameters, there is "Enable once on again turning the power OFF after setting".

(If you do not the power to OFF, it does not reflect the data in the driver.) Note2) “Selected Items Write”: It writes the parameter values of the corresponding frame to the driver. “Single Axis Write”: It writes all of the parameters to the driver. Note3) Do not change “For manufacturer setting” parameters. If you change by these by mistake, it may cause

the amplifier to not work properly.

①

②

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5.3.4 Recommended Parameter Values by Actuator Model

Please change the parameter values according to the customer application. Refer to “LECSC Operation Manual”,chapter 6 for details.

Recommended Parameter Values [LEF]

Series

LEFS25

LEFS32

LEFS40

Lead symbol

H A B H A B H A B

Lead

12 6 24

16 8 30

Parameter *1,*2

Para.

No.

Initial value

Recommended value

Electronic gear numerator *3

PA06

32768

Electronic gear denominator *3

PA07

2500

1500

750

3000

2000

1000

3750

2500

1250

Feel length multiplication (STM) (Multiplier)

PA05

0000

0000(Less than stroke 1000)/ 0001(Stroke 1000 or more)

Home position return type

PC02

0000

□□□3（Stopper type）

Home position return direction

PC03

0001

□□□1 (Motor side)

Home position return

Speed (rpm)

PC04

500

150

300

113

225

180

Home position return position data (μm)

PC07 0 -2000(Less than stroke 1000) / -200(Stroke 1000 or more)

Stopper type home position return

stopper time (msec)

PC09

100

200

Stopper type home position return torque limit value (%)

PC10

Regenerative option

PA02

0000

0000(Non) / 0002(LEC-MR-RB-032)

Rotation direction selection *4

PA14

1(+：Counter motors side)

Adaptive tuning mode

PB01

0000

Load to motor inertia moment ratio

PB06

Machine resonance suppression filter 1

PB13

4500

Notch shape selection 1

PB14

0000

Different from the initial value.

*1 Parameter is the recommended value. Please change the parameter to the appropriate value for the

operating method.

*2 A mechanical resonance may occur depending on the configuration or the mounting orientation of the

transferred object. Please change the parameter in the initial setting.

*3 The minimum unit of the travel distance of the actuator should be 1 [μm].

*4. When the motor mounting position is right side parallel (LEFS*R) or left side parallel (LEFS*L), the

rotation direction PA14 selection is 0(+: Counter motors side).

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Series

LEFB25

LEFB25U

LEFB32

LEFB32U

LEFB40

LEFB40U

Lead symbol

Lead

Parameter *1,*2

Para.

No.

Initial value

Recommended value

Electronic gear numerator *3

PA06

32768

Electronic gear denominator *3

PA07

6750

Feel length multiplication (STM) (Multiplier)

PA05

0000

0000(Less than stroke 1000)/ 0001(Stroke 1000 or more)

Home position return type

PC02

0000

□□□3（Stopper type）

Home position return direction

PC03

0001

□□□1 (Motor side)

Home position return

Speed (rpm)

PC04

500

Home position return position data (μm)

PC07 0 -3000(Less than stroke 1000) / -300(Stroke 1000 or more)

Stopper type home position return

stopper time (msec)

PC09

100

200

Stopper type home position return torque limit value (%)

PC10

Regenerative option

PA02

0000

0000(Non) / 0002(LEC-MR-RB-032)

Rotation direction selection

PA14

1(+：

Counter

motors

side)

0(+：

Counter

motors

side)

1(+：

Counter

motors

side)

0(+：

Counter

motors

side)

1(+：

Counter

motors

side)

0(+：

Counter

motors

side)

★ Adaptive tuning

mode

PB01

0000

0002

0000

★ Load to motor

inertia moment ratio

PB06

★Machine resonance suppression filter 1

PB13

4500

400

4500

★ Notch shape

selection 1

PB14

0000

0030

0000

★ Parameter should be changed.

Different from the initial value.

*1 Parameter is the recommended value. Please change the parameter to the appropriate value for the

operating method.

*2 A mechanical resonance may occur depending on the configuration or the mounting orientation of the

transferred object. Please change the parameter in the initial setting.

*3 The minimum unit of the travel distance of the actuator should be 1 [μm].

-27-

Recommended Parameter Values [LEJ]

Series

LEJS40

LEJS63

LEJB40

LEJB63

Lead symbol

H A B H A

Lead

16 8 30

Parameter *1,*2

Para.

No.

Initial value

Recommended value

Electronic gear numerator *3

PA06

32768

Electronic gear denominator *3

PA07

3000

2000

1000

3750

2500

1250

3375

5250

Feel length multiplication (STM) (Multiplier)

PA05

0000

0000(Less than stroke 1000) / 0001(Stroke 1000 or more)

Home position return type

PC02

0000

□□□3（Stopper type）

Home position return direction

PC03

0001

□□□1 (Motor side)

Home position return Speed (rpm)

PC04

500

113

225

180

133

Home position return position data (μm)

PC07

-2000(Less than stroke 1000) / -200(Stroke 1000 or more)

Stopper type home position return stopper time (msec)

PC09

100

200

Stopper type home position return torque limit value (%)

PC10

Regenerative option

PA02

0000

0000(Non) / 0002(LEC-MR-RB-032) / 0003(LEC-MR-RB-12)

Rotation direction selection

PA14

(+：Counter motors side)

★Adaptive tuning mode

PB01

0000

0002

0000

★Load to motor inertia moment ratio

PB06

★Machine resonance suppression filter 1

PB13

4500

400

4500

★Notch shape selection 1

PB14

0000

0030

0000

★ Parameter should be changed.

Different from the initial value.

*1 Parameter is the recommended value. Please change the parameter to the appropriate value for the

operating method.

*2 A mechanical resonance may occur depending on the configuration or the mounting orientation of the

transferred object. Please change the parameter in the initial setting.

*3 The minimum unit of the travel distance of the actuator should be 1 [μm].

-28-

Recommended Parameter Values [LEY]

Series

LEY25/LEYG25

LEY25D/

LEYG25D

LEY32/LEYG32

LEY32D/

LEYG32D

Lead symbol

A B C A B C A B C A B C Lead

12 6 3

10 5 16 8 4

Parameter *1,*2

Para. No

Initial value

Recommended value

Electronic gear numerator *3

PA06

32768

Electronic gear denominator *3

PA07

1500

750

375

1500

750

375

2500

1250

625

2000

1000

500

Feel length multiplication (STM) (Multiplier)

PA05

0000

0000 (Less than stroke 1000) / 0001 (Stroke 1000 or more)

Home position return type

PC02

0000

□□□3 （Stopper type）

Home position return

direction

PC03

0001

□□□1 (Motor side)

Home position return

Speed (rpm)

PC04

500

150

300

600

150

300

600

180

360

112

225

450

Home position return

position data (μm)

PC07 0 -2000(Less than stroke 1000) / -200(Stroke 1000 or more)

Stopper type home position return

stopper time (msec)

PC09

100

200

Stopper type home position return torque limit value (%)

PC10

Regenerative option

PA02

0000

0000 (Non)/ 0002 (LEC-MR-RB-032)

Rotation direction selection *4

PA14

(

+：Counter

motors side)

(+：Counter

motors side )

(

+：Counter

motors side)

(+：Counter

motors side )

Adaptive tuning mode

PB01

0000

Load to motor inertia moment ratio

PB06

Machine resonance suppression filter 1

PB13

4500

Notch shape selection 1

PB14

0000

Different from the initial value.

*1 Parameter is the recommended value. Please change the parameter to the appropriate value for the

operating method.

*2 A mechanical resonance may occur depending on the configuration or the mounting orientation of the

transferred object. Please change the parameter in the initial setting. *3 The minimum unit of the travel distance of the actuator should be 1 [μm]. *4 When the motor mounting position is right side parallel (LEY*R / LEYG*R) or left side parallel (LEY*L /

LEYG*L), the rotation direction selection is 0(+: Counter motors side).

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SMC Networks LECSC Series Operation Manual

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User Manual