Ac Servo Drive: The Best Choice For The Most Benefit!

The Best Choice for the Most Benefit!
LSIS always tries its best to bring the greatest benefit to its customers.
AC SERVO DRIVE
XGT Servo XDL-L7S Series User Manual
Safety Precautions
 Read all safety precautions before using this
product.
 After reading this manual, store it in a readily
accessible location for future reference.
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Table of Contents
Introduction
Hello. Thank you for choosing LSIS XDL-L7 Series.
This user manual describes how to use the product and what precautions to take.
Failure to comply with guidelines may cause injury or product damage. Be sure to read this
user manual before you use the product and follow all guidelines.
 The contents of this manual are subject to change without prior notice depending on software
versions.
 No reproduction of part or all of the contents of this manual in any form, by any means or for any
purpose, shall be permitted without the explicit written consent of LSIS.
 The patent, trademark, copyright and other intellectual property rights in this user manual are
reserved by LSIS. No use for purposes other than those related to the product of LSIS shall be
authorized.
iii

Table of Contents
Safety Precautions
Safety precautions are categorized as either Danger or Caution, depending on the
seriousness of the precaution.
Precautions Definition
Danger Failure to comply with guidelines may cause death or serious injury.
Caution Failure to comply with guidelines may cause injury or property damage.
 Certain conditions that are listed as Caution may also result in serious injury.
 Electric Shock Precautions
Danger
 Before wiring or inspection tasks, turn off the power. Wait 15 minutes until the charge lamp
goes off, and then check the voltage.
 Be sure to ground both the servo drive and the servo motor.
 Only specifically trained professional engineers are permitted to perform wiring tasks.
 Perform wiring tasks after you install both the servo drive and the servo motor.
 Do not operate the device with wet hands.
 Do not open the servo drive cover while in operation.
 Do not operate the device with the servo drive cover removed.
 Even if the power is off, do not remove the servo drive cover.
 Fire Prevention Precautions
Caution
 Install the servo drive, the servo motor, and the regenerative resistance on non-combustible
material.
 In case of servo drive malfunction, disconnect the input power.
iv

Table of Contents
 Installation Precautions
Store and use the product in an environment as follows:
Conditions
Environment
Servo Drive Servo Motor
Usage temp. 0 ~ 50 ℃ 0 ~ 40 ℃
Storage temp. -20 ~ 65 ℃ -20 ~ 60 ℃
Usage
Below 80% RH
humidity
Below 90% RH (non-condensing)
Storage
Below 90% RH
humidity
Altitude Below 1000 m
 When installing 1 unit:
 More than 40 mm space at the top
and bottom of the control panel
 More than 10 mm space at the left
and right sides of the control panel
 When installing 2 or more units:
 More than 100 mm space at the top of
Spacing the control panel
 More than 40 mm space at the bottom
of the control panel
 More than 30 mm space at the left
and right sides of the control panel
 More than 2 mm between units
 Refer to "2.2.2 Installation Inside the
Control Panel."
 Install in a location free from iron, corrosive gas, and combustible gas.
Others
 Install in a location free from vibration or shock.
Caution
 Make sure that the installation orientation is correct.
 Do not drop the product or expose it to excessive shock.
 Install in a location that is free from water, corrosive gas, combustible gas, or flammable
material.
 Install in a location that can support the weight of the product.
 Do not stand on the product or place heavy objects on top of it.
 Be sure to maintain the specified spacing when you install the servo drive.
 Be sure not to get conductive or flammable debris inside either the servo drive or the servo
motor.
 Firmly fix the servo motor onto the machine.
 Be sure to install a servo motor with a gearbox in the specified direction.
 Do not touch the rotating unit of the servo motor while you operate the machine.
 Do not apply excessive shock when you connect a coupling to the servo motor shaft.
 Do not place a load on the servo motor shaft that is heavier than specified.

Table of Contents
 Wiring Precautions
Caution
 Be sure to use AC 200-230 V for the input power of the servo drive.
 Be sure to connect the servo drive ground terminal.
 Do not connect commercial power directly to the servo motor.
 Do not connect commercial power directly to the U, V, and W output terminal of the servo drive.
 Directly connect U, V, W output terminals of the servo drive and U, V, W input terminals of the
servo motor, but do not install a magnetic contactor between the wiring.
 Be sure to use a pressurized terminal with an insulation tube when you connect the power
terminal for the servo drive.
 When wiring, be sure to separate the U, V, and W cables for the servo motor power and
encoder cable.
 Be sure to use robotic cable if the motor requires movement.
 Before you perform power line wiring, turn off the input power of the servo drive, and then wait
until the charge lamp goes off completely.
 Be sure to use shielded twisted-pair wire for the pulse command signal (PF+, PF-, PR+, PR-),
speed command signal (SPDCOM), and torque command signal (TRQCOM).
 Precautions for Initial Operation
Caution
 Check the input voltage (AC 200-230 V) and power unit wiring before you turn on the power.
 The servo must be in the OFF mode when you turn on the power.
 Before you turn on the power, check the motor's ID and the encoder pulse for XDL-L7 □A
□□□A.
 Set the motor ID ([P0-00]) and the encoder pulse ([P0-02]) for XDL-L7 □A □□□A first after you
turn on the power.
 After you complete the above settings, set the drive mode for the servo drive that is connected
to the upper level controller to [P0-03].
 Refer to Chapter 1.2 "System Configuration" to perform CN1 wiring for the servo drive
according to each drive mode.
 You can check the ON/OFF state for each input terminal of CN1 at [St-14].
 Precautions for Handling and Operation
Caution
 Check and adjust each parameter before operation.
 Do not touch the rotating unit of the motor during operation.
 Do not touch the heat sink during operation.
 Be sure to attach or remove the CN1 and CN2 connectors when the power is off.
 Extreme change of parameters may cause system instability.
vi

Table of Contents
 Precautions for Use
Caution
 Install an emergency stop circuit on the outside to immediately stop operation if necessary.
 Reset the alarm when the servo is off. Be warned that the system restarts immediately if the
alarm is reset while the servo is on.
 Minimize electromagnetic interference by using a noise filter or DC reactor. Otherwise, adjacent
electrical devices may malfunction because of the interference.
 Use only the specified combinations of servo drive and servo motor.
 The electric brake on the servo motor keeps the motor at a standstill. Do not use it for ordinary
braking.
 The electric brake may not function properly depending on the brake lifespan and mechanical
structure (for example, if the ball screw and servo motor are combined via the timing belt).
Install an emergency stop device to ensure mechanical safety.
 Malfunction Precautions
Caution
 For potentially dangerous situations that may occur during emergency stop or device
malfunction, use a servo motor with an electric brake, or separately install a brake system on
the outside.
 In case of an alarm, solve the source of the problem. After you solve the problem and ensure
safety, deactivate the alarm and start operation again.
 Do not get close to the machine until the problem is solved.
 Precautions for Repair/Inspection
Caution
 Before performing servicing tasks, turn off the power. Wait 15 minutes until the charge lamp
goes off, and then check the voltage. Voltage may remain in the condenser even after you turn
off power and may cause an electric shock.
 Only authorized personnel are permitted to perform repair, inspection or replacement of parts.
 Do not modify the product.
 General Precautions
Caution
 This user manual is subject to change upon product modification or standards changes. In case
of such changes, the user manual will be issued with a new product number.
 Product Application
Caution
 This product is not designed or manufactured for machines or systems that are used in
situations related to human life.
 This product is manufactured under strict quality control. However, be sure to install safety
devices when applying the product to a facility where a malfunction in the product might cause
a major accident or significant loss.
vii

Table of Contents
 EEPROM Lifespan
Caution
 EEPROM is rewritable up to 1 million times for the purpose of, among others, recording
parameter settings. The servo drive may malfunction depending on the lifespan of EEPROM
when the total counts of the following tasks exceed 1 million.
 EEPROM recording as a result of parameter changes
 EEPROM recording as a result of alarm trigger
 Responding to international regulations
XDL-L7 Series responds to international regulations with standard models.
Model(Note1) Low Voltage Directive EMC Directive
XDL-L7SA001X
XDL-L7SA002X
XDL-L7SA004X
XDL-L7SA008X
EN61800-5-1 EN61800-3
XDL-L7SA010X
XDL-L7SA020X
XDL-L7SA035X
XDL-L7SA050X
Note1) X = A or B: A = Quadrature Encoder Type, B = Serial Encoder Type.
※1: For more information, please feel free to ask LSIS.
※2: Please follow the regulations of destination when exporting.
viii

Table of Contents
Table of Contents
Introduction .................................................................................................................... iii
Safety Precautions......................................................................................................... iv
Table of Contents ........................................................................................................... ix
1. Product Components and Signals ................................................................... 2-1

1.1 Product Components .....................................................................................................2-1
1.1.1 Product Verification ........................................................................................2-1
1.1.2 Part Names .......................................................................................................2-3
1.2 System Configuration ....................................................................................................2-8

1.2.1 Overview...........................................................................................................2-8
1.2.2 Wiring Diagram of the Entire CN1 Connector ............................................2-10
1.2.3 Example of Position Operation Mode Wiring ............................................. 2-11
1.2.4 Example of Speed Operation Mode Wiring ................................................2-12
1.2.5 Example of Torque Operation Mode Wiring ...............................................2-13
1.2.6 Examples of Speed / Position Operation Mode Wiring .............................2-14
1.3 Signal .............................................................................................................................2-17

1.3.1 Digital Input Contact Signal .........................................................................2-17
1.3.2 Analog Input Contact Signal ........................................................................2-18
1.3.3 Digital Output Contact Signal ......................................................................2-18
1.3.4 Monitor Output Signal and Output Power ..................................................2-19
1.3.5 Pulse Train Input Signal ...............................................................................2-19
1.3.6 Encoder Output Signal .................................................................................2-20
2 Installation .......................................................................................................... 2-1

2.1 Servo Motor .....................................................................................................................2-1
2.1.1 Usage Environment.........................................................................................2-1
2.1.2 Prevention of Excessive Impact ....................................................................2-1
2.1.3 Motor Connection............................................................................................2-1
2.1.4 Load Device Connection ................................................................................2-2
2.1.5 Cable Installation .............................................................................................2-2
2.2 Servo Drive ......................................................................................................................2-3

2.2.1 Usage Environment.........................................................................................2-3
2.2.2 Installation Inside the Control Panel .............................................................2-4
2.2.3 Power Wiring ...................................................................................................2-5
3 Wiring Method .................................................................................................... 3-1

3.1 Internal Block Diagram...................................................................................................3-1
3.1.1 XDL-L7 Drive Block Diagram [XDL-L7SA001□ - XDL-L7SA004□] ...............3-1
3.1.2 XDL-L7 Drive Block Diagram [XDL-L7SA008□ - XDL-L7SA035□] ...............3-2
3.1.3 XDL-L7 Drive Block Diagram [XDL-L7SA050□ ] ...........................................3-3
3.2 Power Wiring ...................................................................................................................3-4

3.2.1 XDL-L7 Drive Wiring Diagram [XDL-L7SA001□ - XDL-L7SA035□] .............3-4
3.2.2 XDL-L7 Drive Wiring Diagram [XDL-L7SA050□]...........................................3-5
3.2.3 Dimensions for Power Circuit Electrical Parts .............................................3-6
3.3 Example of connecting to PLC ....................................................................................3-10
3.4 Timing Diagram .............................................................................................................3-17

ix

Table of Contents
3.4.1 Timing Diagram During Power Input .......................................................... 3-17

3.4.2 Timing Diagram at the Time of Alarm Trigger ........................................... 3-18
3.5 Control Signal Wiring .................................................................................................. 3-19

3.5.1 Contact Input Signal..................................................................................... 3-19
3.5.2 Contact Output Signal ................................................................................. 3-20
3.5.3 Analog Input/Output Signals ....................................................................... 3-21
3.5.4 Pulse Train Input Signal............................................................................... 3-22
3.5.5 Encoder Output Signal ................................................................................ 3-23
3.6 Quadrature Encoder Signaling Unit (CN2) Wiring .................................................... 3-24

3.6.1 XLCS-E AS Cable .................................................................................... 3-24
3.6.2 XLCS-E BS Cable .................................................................................... 3-24
3.7 Serial Encoder Signaling Unit (CN2) Wiring ............................................................. 3-25

3.7.1 XLCS-E CS Cable .................................................................................... 3-25
3.8 Multi Turn Encoder signal unit(CN2) wiring .............................................................. 3-27

3.8.1 XLCS-E CS1 Cable .................................................................................. 3-27
3.8.2 XLCS-E DS1 Cable .................................................................................. 3-27
3.8.3 XLCS-E ES1 Cable .................................................................................. 3-28
3.9 Transmission of Absolute Encoder Data................................................................... 3-29

3.9.1 Transmission of Absolute Encoder Data ................................................... 3-29
4 Parameters .......................................................................................................... 4-1

4.1 How to Use the Loader .................................................................................................. 4-1
4.1.1 Names and Functions of Each Parts ............................................................ 4-1
4.1.2 Status Summary Display ............................................................................... 4-2
4.1.3 Parameter Handling ....................................................................................... 4-4
4.1.4 Data Display .................................................................................................... 4-8
4.1.5 External Input Contact Signal Display [St-14] ........................................... 4-10
4.1.6 External Input Signal and Logic Definition ................................................. 4-11
4.1.7 External Output Contact Signal Display [St-15] ........................................ 4-19
4.1.8 External Output Signal and Logic Definition ............................................. 4-20
4.2 Parameter Description ................................................................................................ 4-26

4.2.1 Parameter System ........................................................................................ 4-26
4.2.2 Operation Status Display Parameter .......................................................... 4-27
4.2.3 System Setting Parameter ........................................................................... 4-30
4.2.4 Control Setting Parameter ........................................................................... 4-34
4.2.5 Input/Output Setting Parameter .................................................................. 4-38
4.2.6 Speed Operation Setting Parameter ........................................................... 4-41
4.2.7 Position Operation Setting Parameter ....................................................... 4-43
4.2.8 Operation Handling Parameter ................................................................... 4-46
4.3 Operation Status Display ............................................................................................ 4-50

4.3.1 Status Display [St-00]................................................................................... 4-50
4.3.2 Speed Display ............................................................................................... 4-50
4.3.3 Position Display ........................................................................................... 4-50
4.3.4 Torque and Load Display............................................................................. 4-50
4.3.5 I/O Status Display ......................................................................................... 4-51
4.3.6 Miscellaneous Status and Data Display ..................................................... 4-51
4.3.7 Version Display ............................................................................................. 4-52
4.4 Parameter Setting ........................................................................................................ 4-53

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

Table of Contents
4.4.2 Control Parameter Setting ............................................................................4-56

4.4.3 Analog Input/Output Parameter Setting .....................................................4-61
4.4.4 Input/Output Contact Point Parameter Setting ..........................................4-62
4.4.5 Speed Operation Parameter Setting............................................................4-65
4.4.6 Position Operation Parameter Setting ........................................................4-66
4.5 Alarms and Warnings ...................................................................................................4-68

4.5.1 Servo Alarm Status Summary Display List ................................................4-68
4.5.2 Servo Warning Status Summary Display List ............................................4-70
4.6 Motor Type and ID (to be continued on the next page) ............................................4-71
5 Handling and Operation .................................................................................... 5-1

5.1 What to Check Before Operation ..................................................................................5-1
5.1.1 Wiring Check ...................................................................................................5-1
5.1.2 Drive Signal (CN1) Wiring Check ...................................................................5-1
5.1.3 Surrounding Environment Check ..................................................................5-1
5.1.4 Machine Status Check ......................................................................................5-1
5.1.5 System Parameter Check ...............................................................................5-2
5.2 Handling...........................................................................................................................5-3
5.2.1 Manual JOG Operation [Cn-00] ......................................................................5-3
5.2.2 Program JOG Operation [Cn-01] ...................................................................5-5
5.2.3 Alarm Reset [Cn-02] ........................................................................................5-6
5.2.4 Reading Alarm History [Cn-03] ......................................................................5-7
5.2.5 Alarm History Reset [Cn-04] ..........................................................................5-8
5.2.6 Auto Gain Tuning [Cn-05] ...............................................................................5-9
5.2.7 Phase Z Search Operation [Cn-06] ..............................................................5-10
5.2.8 Input Contact Forced ON/OFF [Cn-07] ........................................................ 5-11
5.2.9 Output Contact Forced ON/OFF [Cn-08] .....................................................5-13
5.2.10 Parameter Reset [Cn-09] ..............................................................................5-15
5.2.11 Automatic Speed Command Offset Correction [Cn-10] ............................5-16
5.2.12 Automatic Torque Command Offset Correction [Cn-11] ...........................5-17
5.2.13 Manual Speed Command Offset Correction [Cn-12]...............................5-18
5.2.14 Manual Torque Command Offset Correction [Cn-13] .............................5-19
5.2.15 Absolute Encoder Reset [Cn-14] .................................................................5-20
5.2.16 Instantaneous Maximum Load Factor Initialization [Cn-15] .....................5-21
5.2.17 Parameter Lock [Cn-16] ................................................................................5-22
5.2.18 Current Offset[Cn-17]....................................................................................5-23
6 Communication Protocol .................................................................................. 6-1

6.1 Overview and Communication Specifications ............................................................6-1
6.1.1 Overview...........................................................................................................6-1
6.1.2 Communication Specifications and Cable Access Rate .............................6-2
6.2 Communication Protocol Base Structure ....................................................................6-3

6.2.1 Sending/Receiving Packet Structure ............................................................6-3
6.2.2 Protocol Command Codes .............................................................................6-5
6.3 XDL-L7 Servo Drive Communication Address Table ................................................6-10

6.3.1 Operation Status Parameter Communication Address Table ...................6-10
6.3.2 System Parameter Communication Address Table ...................................6-12
6.3.3 Control Parameter Communication Address Table ...................................6-14
6.3.4 Input/Output Parameter Communication Address Table ..........................6-16
6.3.5 Speed Operation Parameter Communication Address Table ...................6-17
xi

Table of Contents
6.3.6 Position Operation Parameter Communication Address Table .............. 6-18
7 Product Specifications ...................................................................................... 7-1

7.1 Servo Motor .................................................................................................................... 7-1
7.1.1 Product Features ............................................................................................ 7-2
7.1.2 Outline Drawing ............................................................................................ 7-33
7.2 Servo Drive ................................................................................................................... 7-50

7.2.1 Product Features .......................................................................................... 7-50
7.2.2 Outline Drawing ............................................................................................ 7-52
7.3 Options and Peripheral Devices ................................................................................ 7-54
8 Maintenance and Inspection ............................................................................. 8-1

8.1 Maintenance and Inspection......................................................................................... 8-1
8.1.1 Precautions ..................................................................................................... 8-1
8.1.2 What to Inspect ............................................................................................... 8-1
8.1.3 Parts Replacement Cycle .............................................................................. 8-2
8.2 Diagnosis of Abnormality and Troubleshooting ........................................................ 8-3

8.2.1 Servo Motor..................................................................................................... 8-3
8.2.2 Servo Drive...................................................................................................... 8-4
9 Appendix ........................................................................................................... 9-17

9.1 Motor Type and ID (to be continued on the next page)............................................ 9-17
9.2 Test Drive Procedure ................................................................................................... 9-20
User Manual Revision History .................................................................................. 9-24
xii

1. Product Components and Signals
1.1 Product Components
1.1.1 Product Verification

1. Check the name tag to verify that the product received matches the model ordered.
 Does the format of the servo drive's name tag match?
 Does the format of the servo motor's name tag match?
2. Check the product and options.
 Are the type and length of the cables correct?
 Does the regenerative resistance conform to the required standard?
 Is the shape of the shaft end correct?
 Is there any abnormality when the oil seal or brake is mounted?
 Are the gearbox and the gear ratios correct?
 Is the encoder format correct?
3. Check the exterior of the device.
 Is there any foreign substance or humidity?
 Is there any discoloring, contamination, damage or disconnection of wires?
 Are the bolts at joints fastened sufficiently?
 Is there any abnormal sound or excessive friction during rotation?
 Servo Drive Product Format
XDL-L7 S A 004 A AA
Series Communication Input

Capacity Encoder Type Option
Name Type Voltage
001: 100 W 050: 5.0 kW
002: 200 W 075: 7.5 kW A: Parallel
S: Standard I/O
A: 220 VAC 004: 400 W 110: 11.0kW (Pulse type)
Servo type Exclusive
008: 750 W 150: 15.0kW B: Serial
Series Option
B: 400 VAC 010: 1.0 kW (communication
N: Network type
020: 2.0 kW type)
035: 3.5 kW
2-1

 Servo Motor Product Format
XML – S B 04 A E K 1
Servo Drive
Motor Capacity
R3 : 30[W] Shape of Shaft End
R5 : 50[W] N : Straight
01 : 100[W] K : One side Round
Motor Shaft 02 : 200[W] key (Standard)
S : Solid Shaft 03 : 300[W]
D : D Cut
H : Hollow Shaft 04 : 400[W]
T : Taper 형상
B : 조립형 05 : 450[W]
R : 양쪽 둥근키
F : Flat형 06 : 550/600[W]
H : Hollow Shaft
07 : 650[W]
08 : 750/800[W]
09 : 850/900[W]
10 : 1.0[kW]
·· Encoder Type
·
Flange Size 150 : 15.0[kW]
220 : 22.0[kW] Quadrature(Pulse Type)
300 : 30.0[kW] A : Inc. 1024 [P/R]
A : 40 Flange
370 : 37.0[kW]
B : 60 Flange B : Inc. 2000 [P/R]
C : 80 Flange C : Inc. 2048 [P/R]
D : 100 Flange D : Inc. 2500 [P/R]
E : 130 Flange E : Inc. 3000 [P/R]
F : 180 Flange F : Inc. 5000 [P/R]
G : 220 Flange Rated Speed
G : Inc. 6000 [P/R]
H : 250 Flange A : 3000 [rpm]
J : 280 Flange D : 2000 [rpm] Serial BISS(SeralType)
G : 1500 [rpm] N : 19bit S-Turn Abs.
M : 1000 [rpm] M : 19bit M-Turn Abs.
(18bit SA M-Trun Abs)
2-2

1.1.2 Part Names
 Servo Motor
 80 Flange or below
Motor Power
Motor Cable Encoder
Connector Connector
Encoder
Cable
Shaft
Encoder
Cover
Flange Frame Housing
Bearing Cap
 80 Flange or below(Flat Type)

Encoder connector
Power connector
Shaft
 130 Flange or higher Flange Frame Mold Housing Encoder Cover
Motor
Connector Encoder
Connector
Encoder
Cover
Shaft
Housing
Frame
Flange
Bearing Cap
2-3

 Servo Drive
 XDL-L7SA 001□, XDL-L7SA 002□, XDL-L7SA 004□
Display
Operation keys
(Mode, Up, Down, Set)
CN5:
Main power connector (L1, USB connector
L2, L3)
CN4:
RS-422 communication
DC reactor connector connector
(PO, PI)
Short circuit when not used
CN3:
connector
Regenerative resistance
connector (B+, B, BI)
 When basic installation
is in use short circuit B
and BI terminals
 When installing external
resistance install in the CN1:
B+ and B terminals Control signal connector
Control power connector

(C1, C2)
Motor power cable

connector (U, V, W) CN2:
Encoder signal connector
Front cover
Heat sink
Ground
2-4

 XDL-L7SA 008□, XDL-L7SA 010□
Display
Operation keys
CN5:
Main power connector USB connector
(L1, L2, L3)
CN4:
DC reactor connector connector
(PO, PI)
Short circuit when not used CN3:
connector
is in use short circuit B
and BI terminals.
resistance install in the
B+ and B terminals. CN1:
Control signal connector
(C1, C2)
Motor power cable

connector (U, V, W)
CN2:
Front cover
Heat sink Ground
2-5

 XDL-L7SA 020□, XDL-L7SA 035□
Display
Operation keys
CN5:
Main power connector USB connector
(L1, L2, L3)
CN4:
DC reactor connector RS-422 communication
(PO, PI) connector
Short circuit when not used
CN3:
connector
is in useshort circuit B
and BI terminals.
resistance install in the CN1:
B+ and B terminals. Control signal connector

(C1, C2)
Motor power cable CN2:

connector (U, V, W) Encoder signal connector
Front cover
Heat sink Ground
2-6

 XDL-L7SA 050□
Display
Operation keys
CN5:
USB Connector
CN4:
RS-422 Communication
connector
CN3:
RS-422 Communication
connector
CN1:
Control signal connector

(C1, C2) CN2:
DC reactor connector
(PO, PI)
Short circuit when not used Front cover
*Not used(N)
Ground
Main power connector

(L1, L2, L3)
Regenerative resistance connector (B+, B)

 When basic installation is in use, Motor power cable
leave it. connector (U, V, W)
 When installing external resistance,
install in the B+ and B terminals after
attaching wires of internal resistance to
“NC” hole on the case.
2-7

1.2 System Configuration
1.2.1 Overview
The XDL-L7 servo system can be configured in various ways depending on its interface with
the upper level controller.
(1) Position Operation System

The servo is run by pulse commands. You can change the location of the servo motor by
changing command pulses based on a certain transfer unit.
 Advantage: The structure of the upper level controller is simple because pulse input is linked to
transfer units.
 Disadvantages:
 Fast rotation is compromised when a precise transfer unit is used.
 Response is low because multiple levels of controllers are used.
(2) Speed Operation System

The servo is run by speed commands. There are two types of speed commands: analog
voltage command and digital speed command.
 Advantages:
 The servo responds quickly.
 Precision control is easy.
 Disadvantage: The upper level controller is complex.
2-8

(3) Torque Operation System

The servo is run by torque commands. Analog voltage-based commands are used.
 Advantages:
 The servo responds quickly.
 Precise control is easy.
 Disadvantage: The upper level controller is complex.
(4) Operation Mode

The XDL-L7 servo drive can be run in torque, speed and position modes, depending on its
interface with the upper level controller. The operation modes can be switched by
parameters or digital input contact point.
Operation Mode System Configuration
0 The servo is run on the torque operation system.
1 The servo is run on the speed operation system.
2 The servo is run on the position operation system.
The servo is run with the speed and position operation systems as points of
3
contact.
The servo is run with the speed and torque operation systems as points of
4
contact.
The servo is run with the position and torque operation systems as points of
5
contact.
2-9

1.2.2 Wiring Diagram of the Entire CN1 Connector
Digital Input Note 1) Digital Output

DC 24V (DO1)
38 ALARM+
+24V IN 50
Note 1) 3.3k Ω 39 ALARM-
(DIA) (DO2)
STOP 48 40 READY+
(DI9)
EMG 18 41 READY-
(DI8)
CWLIM 19 (DO3)
(DI7) 43 ZSPD
CCWLIM 20 (DO4)
Note 3)
(DI6) ** INSPD
MODE ** (DO5)
(DI5) 45 INPOS
ALMRST 17
(DI4) 16 ALO0
PCON **
(DI3) 15 ALO1
P-CLR **
(DI2) 14 ALO2
GAIN2 **
(DI1)
SVON 47 25 GND24
EGEAR1 ** Note 2) 24 GND24
EGEAR2 **
T_LMT Note 2) ** TLMT
**
ABS_RQ
ZCLAMP
** CN1 **
**
VLMT
WARN
**
SPD3 21 44 BRAKE
SPD2 22
SPD1 23 Analog Output
DIR 46 28 MONIT1
Command Pulse Input
ABS_RST -10V~ +10V
**
29 MONIT2
PULCOM 49 -10V~+10V
37 GND
PF+ 9
34 +12VA
PF- 10
Upper Level Line Driver
35 -12VA
Controller
PR+ 11 Encoder Pulse Output
PR- 12 32 AO
33 /AO
30 BO
Open Collector
Upper Level
-10V~+10V
Controller
Analog Input 31 /BO
SPDCOM 27
Analog Speed 4 ZO
Command/Limit
GND 8
-10V~+10V 5 /ZO
Analog Torque
TRQCOM 1 36 SG
Command/Limit
GND 8
Connect to Connector Case
Note 1) Input signals DI1 to DIA and output signals DO1 to DO5 are default signals allocated by the factory.
Note 2) **These are non-allocated signals. You can change their allocation by setting parameters. For
information, refer to "4.1.6 External Input Signal and Logic Definition" and "4.1.8 External Output Signal and
Logic Definition."
Note 3) Input Contact Mode = ON : Speed Control Mode, Mode = OFF : Position Operation Mode
2-10

1.2.3 Example of Position Operation Mode Wiring

DC 24V (DO1)
38 ALARM+
+24V IN 50
3.3kΩ 39 ALARM-
Note 1)
(DIA) (DO2)
STOP 48 40 READY+
(DI9)
EMG 18 41 READY-
(DI8)
CWLIM 19
(DO3)
(DI7) ** TLMT
CCWLIM 20 (DO4)
Note 3)
(DI6) ** VLMT
MODE ** (DO5)
(DI5) ** INSPD
ALMRST 17
(DI4) 16 ALO0
PCON **
(DI3) 15 ALO1
GAIN2 **
(DI2) 14 ALO2
T_LMT **
(DI1)
SVON 47 25 GND24
EGEAR2 ** Note 2)
P_CLR ** ** WARN
ABS_RQ
ZCLAMP
** CN1 45
43
INPOS
ZSPD
**
DIR 46 44 BRAKE
SPD3 21
SPD1 23 28 MONIT1
ABS_RST -10V~ +10V
**
29 MONIT2
-10V~+10V
37 GND
34 +12VA
35 -12VA
Encoder Pulse Output
32 AO
33 /AO
30 BO Upper Level
Controller
Analog Input -10V~ +10V 31 /BO
SPDCOM 27
Analog Speed 4 ZO
Command/Limit
GND 8
-10V~+10V 5 /ZO
Analog Torque TRQCOM 1 36 SG

Command/Limit
GND 8 Connect to Connector Case
Logic Definition."
Note 3) Input Contact Mode = ON : Speed Control Mode, Mode = OFF : Torque Operation Mode
2-11

1.2.4 Example of Speed Operation Mode Wiring

DC 24V (DO1)
38 ALARM+
+24V IN 50
3.3k Ω 39 ALARM-
Note 1) (DO2)
(DIA)
STOP 48 40 READY+
(DI9)
EMG 18 41 READY-
(DI8)
CWLIM 19
(DO3)
(DI7) ** VLMT
CCWLIM 20 (DO4)
Note 3)
(DI6) ** TLMT
MODE ** (DO5)
(DI5) 45 INPOS
ALMRST 17
(DI4) 16 ALO0
P_CLR **
(DI3) 15 ALO1
T_LMT **
(DI2) 14 ALO2
ABS_RQ **
(DI1)
SVON 47 25 GND24
EGEAR2 **
PCON Note 2)
** ** INSPD
GAIN2
ZCLAMP
** CN1 **
44
WARN
BRAKE
**
DIR 46 43 ZSPD
SPD3 21
SPD1 23 28 MONIT1
Command Pulse Input
ABS_RST -10V~ +10V
**
29 MONIT2
PULCOM 49 -10V~+10V
37 GND
PF+ 9
34 +12VA
PF- 10
35 -12VA
Controller
PR- 12 32 AO
33 /AO
30 BO
Open Collector
Upper Level
-10V~+10V
Controller
Analog Input 31 /BO
SPDCOM 27
Analog Speed 4 ZO
Command/Limit
GND 8
-10V~+10V 5 /ZO
Analog Torque
TRQCOM 1 36 SG
Command/Limit
Logic Definition."
Note 3) Input Contact Mode = ON : Position Control Mode, Mode = OFF : Torque Operation Mode
2-12

1.2.5 Example of Torque Operation Mode Wiring

DC 24V (DO1)
38 ALARM+
+24V IN 50
3.3kΩ 39 ALARM-
Note 1)
(DI9) (DO2)
STOP 48 40 READY+
(DI8)
EMG 18 41 READY-
(DI7)
CWLIM 19 (DO3)
(DI6) 43 ZSPD
CCWLIM 20 (DO4)
(DI5) 44 BRAKE
DIR 46 (DO5)
(DI4) ** INSPD
ALMRST 17
(DI3) 16 ALO0
T_LMT **
(DI2) 15 ALO1
ABS_RQ **
14 ALO2
(DI1)
SVON 47 25 GND24
EGEAR2 **
** Note 2)
PCON 45 INPOS
GAIN2
P_ CLR
**
**
CN1 **
**
TLMT
VLMT
MODE ** ** WARN
ZCLAMP **
ABS_RST ** Analog Output
SPD3 21 28 MONIT1
SPD2 22 -10V~ +10V
SPD1 23 29 MONIT2
-10V~+10V
37 GND
34 +12VA
35 -12VA
32 AO
33 /AO
30 BO Upper Level
-10V~ +10V
Controller
Analog Input 31 /BO
SPDCOM 27
Analog Speed 4 ZO
GND 8
Command/Limit
-10V~+10V 5 /ZO
Analog Torque
TRQCOM 1 36 SG
Command/Limit
GND 8
Logic Definition."
2-13

1.2.6 Examples of Speed / Position Operation Mode

Wiring

DC 24V (DO1)
38 ALARM+
+24V IN 50
Note 1) 3.3k Ω 39 ALARM-
(DIA) (DO2)
STOP 48 40 READY+
(DI9)
EMG 18 41 READY-
(DI8)
CWLIM 19 (DO3)
(DI7) 43 ZSPD
CCWLIM 20 (DO4)
Note 3)
(DI6) ** INSPD
MODE ** (DO5)
(DI5) 45 INPOS
ALMRST 17
(DI4) 16 ALO0
PCON **
(DI3) 15 ALO1
P-CLR **
(DI2) 14 ALO2
GAIN2 **
(DI1)
SVON 47 25 GND24
EGEAR2 **
T_LMT Note 2) TLMT
** **
ABS_RQ
ZCLAMP
** CN1 **
**
VLMT
WARN
**
SPD3 21 44 BRAKE
SPD2 22
DIR 46 28 MONIT1
Command Pulse Input
ABS_RST -10V~ +10V
**
29 MONIT2
PULCOM 49 -10V~+10V
37 GND
PF+ 9
34 +12VA
PF- 10
35 -12VA
Controller
PR- 12 32 AO
33 /AO
30 BO
Open Collector
Upper Level
-10V~+10V
Controller
Analog Input 31 /BO
SPDCOM 27
Analog Speed 4 ZO
Command/Limit
GND 8
-10V~+10V 5 /ZO
Analog Torque
TRQCOM 1 36 SG
Command/Limit
GND 8
Logic Definition."
Note 3) Input Contact Mode = ON : Speed Control Mode, Mode = OFF : Position Operation Mode
2-14

1.2.7 Example of Speed/Torque Operation Mode Wiring

DC 24V (DO1)
38 ALARM+
+24V IN 50
3.3kΩ 39 ALARM-
Note 1)
(DIA) (DO2)
STOP 48 40 READY+
(DI9)
EMG 18 41 READY-
(DI8)
CWLIM 19
(DO3)
(DI7) ** TLMT
CCWLIM 20 (DO4)
Note 3)
(DI6) ** VLMT
MODE ** (DO5)
(DI5) ** INSPD
ALMRST 17
(DI4) 16 ALO0
PCON **
(DI3) 15 ALO1
GAIN2 **
(DI2) 14 ALO2
T_LMT **
(DI1)
SVON 47 25 GND24
EGEAR2 ** Note 2)
P_CLR ** ** WARN
ABS_RQ
ZCLAMP
** CN1 45
43
INPOS
ZSPD
**
DIR 46 44 BRAKE
SPD3 21
SPD1 23 28 MONIT1
ABS_RST -10V~ +10V
**
29 MONIT2
-10V~+10V
37 GND
34 +12VA
35 -12VA
32 AO
33 /AO
30 BO Upper Level
Controller
Analog Input -10V~ +10V 31 /BO
SPDCOM 27
Analog Speed 4 ZO
Command/Limit
GND 8
-10V~+10V 5 /ZO
Analog Torque TRQCOM 1 36 SG

Command/Limit
Logic Definition."
Note 3) Input Contact Mode = ON : Speed Control Mode, Mode = OFF : Torque Operation Mode
2-15

1.2.8 Example of Position/Torque Operation Mode

Wiring

DC 24V (DO1)
38 ALARM+
+24V IN 50
3.3k Ω 39 ALARM-
Note 1) (DO2)
(DIA)
STOP 48 40 READY+
(DI9)
EMG 18 41 READY-
(DI8)
CWLIM 19
(DO3)
(DI7) ** VLMT
CCWLIM 20 (DO4)
Note 3)
(DI6) ** TLMT
MODE ** (DO5)
(DI5) 45 INPOS
ALMRST 17
(DI4) 16 ALO0
P_CLR **
(DI3) 15 ALO1
T_LMT **
(DI2) 14 ALO2
ABS_RQ **
(DI1)
SVON 47 25 GND24
EGEAR2 **
PCON Note 2)
** ** INSPD
GAIN2
ZCLAMP
** CN1 **
44
WARN
BRAKE
**
DIR 46 43 ZSPD
SPD3 21
SPD1 23 28 MONIT1
Command Pulse Input
ABS_RST -10V~ +10V
**
29 MONIT2
PULCOM 49 -10V~+10V
37 GND
PF+ 9
34 +12VA
PF- 10
35 -12VA
Controller
PR- 12 32 AO
33 /AO
30 BO
Open Collector
Upper Level
-10V~+10V
Controller
Analog Input 31 /BO
SPDCOM 27
Analog Speed 4 ZO
Command/Limit
GND 8
-10V~+10V 5 /ZO
Analog Torque
TRQCOM 1 36 SG
Command/Limit
Logic Definition."
Note 3) Input Contact Mode = ON : Position Control Mode, Mode = OFF : Torque Operation Mode
2-16

1.3 Signal
1.3.1 Digital Input Contact Signal
Pin Applicable Modes

Number
of Name Details Speed Speed Position
Factory Position Speed Torque /Position /Torque /Torque
Setting
Input contact +24
50 +24 V IN O O O O O O
[V] power
47 SVON Servo ON O O O O O O
23 SPD1 Multi-speed 1 X O X O/X O/X X
17 ALMRST Reset upon alarm O O O O O O
Select rotation
46 DIR O O O O O O
direction
Counter-clockwise
20 CCWLMT O O O O O O
limit
19 CWLMT Clockwise limit O O O O O O
18 EMG Emergency stop O O O O O O
48 STOP Stop X O O O/X O X/O
Electronic gear
Allocate EGEAR1 O X X X/O X O/X
ratio 1
Electronic gear
Allocate EGEAR2 O X X X/O X O/X
ratio 2
Allocate PCON P control action O O X O O/X O/X
Allocate GAIN2 Select gain 2 O O X O O/X O/X
Allocate P_CLR Clear error pulse O X X X/O X O/X
Control torque with
Allocate T_LMT O O O O O O
TRQCOM
Change operation
Allocate MODE X X X O O O
modes
Request absolute
Allocate ABS_RQ O O O O O O
position data
Allocate ZCLAMP Zero clamp X O X O/X O/X O
Reset absolute
Allocate ABS_RST O O O O O O
encoder data
* ABS_RST is applied from OS Ver 1.24
2-17

1.3.2 Analog Input Contact Signal
Applicable Modes
Pin
Name Description Speed Speed Position
Number
Position Speed Torque
/Position /Torque /Torque
Analog speed
X O X O/X O/X X
command (-10-+10 [V])
27 SPDCOM
Analog Speed Limit
X X O X X/O X/O
(-10-+10 [V])
Analog Torque
Command X X O X X/O X/O
1 TRQCOM (-10-+10 [V])
Analog torque limit
O O X O O/X O/X
(-10-+10 [V])
8 Grounding for analog
GND O O O O O O
37 signals
1.3.3 Digital Output Contact Signal
Pin Applicable Modes

Number
of Name Description Speed Speed Position
Factory Position Speed Torque
Setting
Alarm group contact
16 ALO0 O O O O O O
output 1
Alarm group contact
15 ALO1 O O O O O O
output 2
Alarm group contact
14 ALO2 O O O O O O
output 3
38 / 39 ALARM +/- Alarm O O O O O O
40 / 41 READY +/- Ready for operation O O O O O O
43 ZSPD Zero speed reached O O O O O O
44 BRAKE Brake O O O O O O
45 INPOS Position reached O X X X/O X O/X
Allocate TLMT Torque limit O O O O O O
Allocate VLMT Speed limit O O O O O O
Allocate INSPD Speed reached X O X O/X O/X X
Allocate WARN Warning O O O O O O
Input/output contact
24
GND24 Grounding of drive O O O O O O
25
power (24 [V])
2-18

1.3.4 Monitor Output Signal and Output Power
Applicable Modes
Pin
Number
Analog monitor
28 MONIT1 output 1 O O O O O O
(-10-+10 [V])
Analog monitor
29 MONIT2 output 2 O O O O O O
(-10-+10 [V])
8 Grounding for analog
GND O O O O O O
37 signals
Terminal for +12 [V]
34 +12 V O O O O O O
power output
Terminal for -12 [V]
35 -12 V O O O O O O
power output
1.3.5 Pulse Train Input Signal
 Line Driver (5 V)
Applicable Modes
Pin
Number
9 PF+ F+ pulse input O X X X/O X O/X
10 PF- F- pulse input O X X X/O X O/X
11 PR+ R+ pulse input O X X X/O X O/X
12 PR- R- pulse input O X X X/O X O/X
49 PULCOM Not for use X X X X X X
 Open Collector (24 V)
Applicable Modes
Pin
Number
9 PF+ Not for use X X X X X X
10 PF- F pulse input O X X X/O X O/X
11 PR+ Not for use X X X X X X
12 PR- R pulse input O X X X/O X O/X
49 PULCOM +24 V power input O X X X/O X O/X
2-19

1.3.6 Encoder Output Signal
Applicable Modes
Pin
Number
Outputs encoder signals
32 AO received from the motor as
33 /AO signals pre-scaled
according to the ratio O O O O O O
30 BO
defined by [P0-14].
31 /BO
(5 [V] line driver method)
Outputs encoder Z signals
4 ZO
received from the motor. O O O O O O
5 /ZO
(5 [V] line driver method)
2-20

2. Installation
2 Installation
2.1 Servo Motor
2.1.1 Usage Environment
Item Requirements Notes

Consult with our technical support team to customize the
Ambient
0 ∼ 40[℃] product if the temperature in the installation environment is
temperature
over the given temperature.
Ambient
80[%] RH or lower Use the product in steam-free places.
humidity
Vibration acceleration
External
19.6 [㎨] or below in the Excessive vibration reduces the lifespan of bearings.
vibration
X and Y directions
2.1.2 Prevention of Excessive Impact

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

 The motor might burn out when commercial power is directly connected to it.
Be sure to connect via the specified drive.
 Connect the ground terminal of the motor to either of the two ground terminals inside the drive, and
the remaining terminal to the type-3 grounding.
U–U
V-V
W–W
- F.G
 Connect the U, V, and W terminals of the motor, just as the U, V, and W terminals of the drive.
 Make sure that the pins on the motor connector are securely connected.
 In case of moisture or condensation on the motor, make sure that insulation resistance is 10 [㏁]
(500 [V]) or higher before you start installation.
2-1

2. Installation
2.1.4 Load Device Connection

For coupling connection: Make sure that the motor shaft and the load shaft are aligned within
the tolerance.
0.03 [㎜] or below (peak to peak)

Load shaft
Motor shaft
0.03 [㎜] or below (peak to peak)
 For pulley connection:
Lateral Load Axial Load

Flange Notes
N kgf N kgf
40 148 15 39 4
Nr: 30 [㎜] or
60 206 21 69 7 below
80 255 26 98 10 Lateral load

130 725 74 362 37
180 1548 158 519 53
220 1850 189 781 90

Axial load
2.1.5 Cable Installation

 In case of vertical installation, make sure that no oil or water flows into connection parts.
 Do not apply pressure or scratch, to cables.
In case of moving the motor, be sure to use robotic cables to prevent sway.
2-2

2. Installation
2.2 Servo Drive
2.2.1 Usage Environment
Item Requirements Notes
Caution
Ambient
0∼50[℃] Install a cooling fan on the control panel in to keep the
temperature
surrounding temperature within the required range.
Caution
Ambient 90[%] RH or Condensation or freezing of moisture inside the drive during
humidity lower prolonged periods of inactivity may damage it.
Remove any moisture completely before you operate the drive
after a prolonged period of inactivity.
Vibration
External Excessive vibration reduces the lifespan of the machine and
acceleration 4.9
vibration causes malfunction.
[㎨] or lower
 No exposure to direct sunlight.
Surrounding  No corrosive gas or combustible gas.
conditions  No oil or dust.
 Sufficient ventilation for closed areas.
2-3

2. Installation
2.2.2 Installation Inside the Control Panel

Comply with the spaces specified in the following images for installation inside the control
panel.
40 mm or 100 mm
longer or longer
10 mm or 10 mm or 30 mm or 30 mm or
longer longer longer longer
40 mm or 40 mm or 2 mm or longer
longer longer
When installing 1 unit: When installing 2 or more units:
Caution
 Make sure that heat does not affect the drive during the installation of external regenerative
resistance.
 When assembling the control panel of the servo drive, make sure that it is sufficiently close to
the wall.
 When assembling the control panel, make sure that metal powder caused by drilling does not
enter the drive.
 Make sure that oil, water, and metal dust do not enter the drive through gaps or the ceiling.
 Protect the control panel with air purge in places where there is a lot of harmful gas or dust.
2-4

2. Installation
2.2.3 Power Wiring

 Make sure that the input power voltage is within the allowed range.
Caution
Overvoltage can damage the drive.
 Connecting commercial power to the U, V and W terminals of the drive may cause damage.
Be sure to supply power via L1, L2 and L3 terminals.
 Connect short-circuit pins to the B and BI terminals. For external regenerative resistance, use
standard resistance for the B+ and B terminals after removing the short-circuit pins.
Resistance Standard
Model * Notes
Value Capacity
XDL- Caution
L7□A001□ For more information about resistance for
XDL- expanding regenerative capacity, refer to “7.3
100 [Ω] Built-in 50 [W] Option and Peripheral Device.”
L7□A002□
XDL-
L7□A004□
XDL-L7□A08□
Built-in 100
XDL- 40 [Ω]
[W]
L7□A010□
XDL-
L7□A020□ Built-in 150
13 [Ω]
XDL- [W]
L7□A035□
XDL-
6.8[Ω] Built-in 120[W]
L7□A050□
 Configure the system in a way that main power (L1, L2, L3) is supplied only after control power (C1,
C2). (Refer to “Chapter 3 Wiring.”)
 High voltage remains for a while, even after the main power is disconnected.
Danger
After disconnecting the main power, make sure that the charge lamp is off before you start
wiring. There is a risk of electric shock.
 Grounding must be done over the shortest distance.

A long ground wire is susceptible to noise which may cause malfunction.
2-5

2. Installation
2-6

3. Wiring Method
3 Wiring Method
3.1 Internal Block Diagram
3.1.1 XDL-L7 Drive Block Diagram [XDL-L7SA001□ -

XDL-L7SA004□]
If you use a DC reactor, connect to the PO and PI pins.
If you use external regenerative resistance, connect to the B+ and B pins after removing the B and BI short-
circuit pins.
3-1

3. Wiring Method
3.1.2 XDL-L7 Drive Block Diagram [XDL-L7SA008□ -

XDL-L7SA035□]
NOTE 1) If you use a DC reactor, connect to the PO and PI pins.
If you use external regenerative resistance, connect to the B+ and B pins after you remove the B and BI
short-circuit pins.
The XDL-L7SA008□ and XDL-L7SA035□ models are cooled by a DC 24 [V] cooling fan.
3-2

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

(Note2)
(Note1) External Regenerative
Resistance(separately Installed)
(Note3)
Diode PO PI B+ B IGBT FAN
Three-phase
Power Input Regenerative
Resistance
Current Sensor
AC200~230V L1 U
L2
Thermister
V
L3 W
M E
Chage
Lamp
T1 T2
Thermister
Internal Regenerative IGBT PWM U and V

Control Power Main Power Relay DC Voltage DB
Temperature Braking Temperature Signal Current
Failure Detection Failure Detection Detection Operation Detection
Operation SC Detection Operation
Circuit Detection Detection
Circuit Circuit Circuit Circuit
Circuit Circuit Circuit Circuit Circuit
One-phase
Power Input
AC200~230V
C1 S Main Control POWER Circuit Access(CN7)
M
P U,VCurrent
C2 S DC Voltage
BISS
CN3,CN4 RS422
Communication
CN5
USB USB TO UART DSP / FPGA
Communication
A/D Conversion
Encoder CN2
Input
D/A Conversion P/C Insulation I/F
Analog Input Monitor Output Contact Input Pulse Input Contact Output Encoder
(2 points) (10 points) (10 points) (2 points) (5 points) Output
Upper Level Controller Connection(CN1)
NOTE 1) If you use a DC reactor, connect to the PO and PI pins.
If you use external regenerative resistance, connect to the B+ and B pins after attaching wires of internal
regenerative resistance to “NC” hole on the case.
The XDL-L7SA050□ models are cooled by a DC 24 [V] cooling fan.
3-3

3. Wiring Method
3.2 Power Wiring
3.2.1 XDL-L7 Drive Wiring Diagram [XDL-L7SA001□ -

XDL-L7SA035□]
(200~230V)
R S T 서보드라이브
Servo Drive
주1)
Note 1)
Main DCDC
리액터
Reactor
Main
OFF ON
RA
PO PI
NF 1MC
1MC 1Ry 1SK U
L1
L2
V
W
M
L3
C1
C2 E
인코더
Encoder
1Ry
Alarm+ B+
+24V RA 38
B
Alarm-
39 BI Note 2)
주2) 외부External
Regenerative Resistance
CN1 회생저항
NOTE 1) It takes approximately one to two seconds until alarm signal is output after you turn on the main
power. Accordingly, push and hold the main power ON switch for at least two seconds.
Short-circuit B and BI terminals before use. Regenerative resistance of XDL-L7SA001□-XDL-L7SA004□ (50

[W], 100 [Ω]), XDL-L7SA010□ (100 [W], 40 [Ω]), and XDL-L7SA035□ (150 [W], 13 [Ω]) exist inside.
If regenerative capacity is high because of frequent acceleration and deceleration, open the short-
circuit pins (B, BI) and connect external regenerative resistance to B and B+.
Remove approximately 7-10 [mm] of the sheath from the cables for the main circuit power and attach crimp
terminals. (Refer to “3.2.2 Power Circuit Electric Sub Assembly Standards.”)
7~10 ㎜
Connect or remove the main circuit power unit wiring after pushing the button of the XDL-L7SA001□ – XDL-
L7SA010□ drive terminal. For XDL-L7SA035□ drive, use a (-) slot screwdriver for connection and
removal.
3-4

3. Wiring Method
3.2.2 XDL-L7 Drive Wiring Diagram [XDL-L7SA050□]
R S T (200~230V) Servo Drive

Main (Note1) DC Reactor
Main
OFF ON
RA
PO PI
NF 1MC
1MC 1Ry 1SK U
L1
L2
V
W
M
L3
C1
C2 E
Encoder
1Ry
Alarm+ B+
+24V RA 38
B
Alarm-
39 external
(Note2)
regenerative
CN1 resistance
NOTE 1) It takes approximately one to two seconds until alarm signal is output after you turn on the main
power. Accordingly, push and hold the main power ON switch for at least two seconds.
NOTE 2) Check status of connection of internal regenerative resistance (B+, B) before using because XDL-
L7SA050□ (120[W], 6.8[Ω]) has internal regenerative resistance. If the value of regenerative
voltage is too high by frequent deceleration and acceleration, install external regenerative
resistance on B, B+ terminal after attaching internal regenerative resistance connected B+, B to
“NC” hole on the case.
3-5

3. Wiring Method
3.2.3 Dimensions for Power Circuit Electrical Parts

XDL- XDL- XDL- XDL- XDL- XDL- XDL- XDL-
Name L7SA001□ L7SA002□ L7SA004□ L7SA008□ L7SA010□ L7SA020□ L7SA035□ L7SA050□
30A Frame 50A Frame
MCCB(NFB) 30A Frame 5A (ABE33b/5) 10A 30A Frame 15A (ABE33b/15) 30A Frame 30A (ABE33b/30) 40A(ABE53b
(ABE33b/10) /40)
Noise Filter TB6-
TB6-B010LBEI(10A) TB6-B030NBDC(30A)
(NF) B040A(40A)
HFN-
DC reactor HFN-10 (10 A) HFN-15 (15 A) HFN-30 (30 A)
40(40A)
11A / 240V 18A / 240V 32A / 240V 50A / 240V
MC
(GM□-9) (GM□-18) (GM□-32) (GM□-50)
L1,L2,L3
PO,PI,N, AWG16 AWG14 AWG12 AWG10 (6.0
B+,B,BI (1.5 ㎟) (2.5 ㎟) (4.0 ㎟) ㎟)
Wire U,V,W
C1 AWG16(1.5
AWG16(1.5 ㎟) AWG16(1.5 ㎟) AWG16(1.5 ㎟)
C2 ㎟)
UA-F1510, SEOIL UA-F2010, SEOIL UA-F4010, SEOIL(10 mm GP110028

Crimp terminal Strip & Twist)
(10 mm Strip & Twist) (10 mm Strip & Twist) KET
Regenerative
resistance 50 [W] 100 [W] 150 [W] 120[W]
(Provided by 100 Ω 40 Ω 13 Ω 6.8Ω
default)
• BLZ7.62HP/03/180LR
Connector • BLF 5.08/03/180F SN BK BX SN BK BX SO
(L1,L2...U,V,W
) • BLF 5.08/11/180F SN BK BX BLZ7.62HP/11/180LR
SN BK BX SO
Note1) Use 600V-PVC Insulated wire for wiring.
Use approved UL wire (Temp. 60℃ or above) for UL (CSA) Regulation.
Use approved wire for any other regulations.
Use equivalent or advanced components compare to components above for any special applications.
3-6

3. Wiring Method
( XDL-L7SA004□ or below)
Length of strip
7~10[㎜]
0.4~0.5[N·m]
0
.
6
3
.
5
1
0
0
Weidmueller’s
SD 0.6x3.5x100
M4 : 1.2[N·m]
(XDL-L7SA008□ ~ XDL-L7SA010□)
Length of strip
7~10[㎜]
0.4~0.5[N·m]
Weidmueller’s
A
SD 0.6x3.5x100
M4 : 1.2[N·m]
3-7

3. Wiring Method
(XDL-L7SA020□ ~ XDL-L7SA035□)
Length of strip
7~10[㎜]
0.4~0.5[N·m]
A
Weidmueller’s
M4 : 1.2[N·m]
SD 0.6x3.5x100
1) Refer to the drawings above for wiring with BLF 5.08 or BLZ 7.62HP Series connector.
2) Insert wire into wire-hole when upper screw is untightened and then, use appropriate (-) shaped
screwdriver with 0.4 ~ 0.5[N.m] torque to make tight completely.
3) Cut by vibration, malfunction or fire by contact could be occurred if torque of screwing was not enough.
4) After wiring, tight completely by using hooks to both side when connectors are attached to servo drive.
5) FG screw, which is located on the bottom of servo drive, has to be M4 and put on the FG screw with
1.2[N.m] torque.
6) Malfunction of drive could be occurred if torque of screwing was not enough.
7) Recommended (-) shaped screwdriver: Weidmueller’s SD 0.6x3.5x100.
3-8

3. Wiring Method
T
B
3
T
B
2
T
B
1
NC
NC:: Internal
내부 회생저항기regenerative resistor
Screw
리드 단자for 고정용
holding
나사lead terminal
(XDL-L7SA050□)
Terminal Block Signals

TB1
L1 L2 L3 B+ B U V W FG FG Screw : M4
Screwing torque : 1.2[N·m]
TB2
N PO P1 Screw : M4
TB3
C1 C2 Screw : M4
1) Cut by vibration, malfunction or fire by contact could be occurred if torque of screwing was not enough.
3-9

3. Wiring Method
3.3 Example of connecting to PLC
3.3.1 XGT PLC

1. XGF-PO1/2/3A (Open Collector)
3-10

3. Wiring Method
2. XGF-PD1/2/3A (Line Driver)
DC 24V I/O Power L7S

XGF-PD1/2/3A (Servo Drive)
(Line Driver) +24V IN
+24V GND24
+24V IN 50
(DO1)
Twisted 38 ALARM+
Pair
FP+ 21 PF+ 9 39 ALARM-
FP- 22 PF- 10 (DO3)

43 ZSPD
RP+ 23 PR+ 11 (DO4)
44 BRAKE
RP- 24 PR- 12 (DO5)
45 INPOS
16 ALO0
Twisted Encoder Z
Pair phase output
HOME +5V 37 ZO 4 15 ALO1
HOME COM 38 /ZO 5 14 ALO2
+24V IN
3.3kΩ 25 GND24
+24V Digital input
(DIA) 24 GND24
OV+ 25 STOP 48
OV- 26 EMG 18 (DI9)
(DI8) ** TLMT
STOP 27 CWLIM 19
(DI7) ** VLMT
DOG 28 CCWLIM 20
(DI6) ** INSPD
VTP 29 DIR 46
(DI5) ** WARN
ECMD 30 ALMRST 17
JOG- 31 EGEAR1 ** (DI4)
(DI3) Analog output
EGEAR2 **
COM 32
P_CLR ** (DI2) 28 MONIT1
SVON 47 (DI1) 29 MONIT2
5V
MPG A+ 1 37 GND
A
MPG A- 2 PCON **
B 34 +12VA
MPG B+ 3
0V GAIN2 ** CN1
MPG B- 4 35 -12VA
T_LMT **
Manual pulse generator MODE ** Encoder pulse
+24V output
ABS_RQ **
32 AO
ZCLAMP **
CON 7 SPD3 21 33 /AO
EMG 8 SPD2 22
COM 10 30 BO
SPD1 23
31 /BO
DR/INP COM 34
(DO2)
DR/INP 33 RDY+ 40 36 SG
RDY- 41
-10V ~ +10V
Analog
TRQCOM 1
torque limit
GND 8
(CN1 Case) F.G
F.G
※ This is an example for the standard of 1 axis. To use 2, 3 axis, refer to the pin diagram of positioning
module.
3-11

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

XGF-PO1/2/3/4H (Servo Drive)
(Open Collector) +24V IN
+24V GND24
+24V IN 50
24V 1A (DO1)
PULCOM 49 38 ALARM+
24V 1C
1.5K
P COM 1B 39 ALARM-
P COM 1D
(DO3)
43 ZSPD
FP+ 18A PF- 10 1.5K
(DO4)
44 BRAKE
FP- 17A
16 ALO0
RP+ 16A PR- 12
15 ALO1
RP- 15A
Twisted Encoder Z
14 ALO2
Pair phase output
HOME +5V 3A ZO 4
25 GND24
HOME COM 2A /ZO 5
+24V IN ** TLMT
Digital input 3.3kΩ
** VLMT
+24V
OV+ 14A STOP 48 (DIA) ** INSPD
OV- 13A EMG 18 (DI9) ** WARN
DOG 12A CWLIM 19 (DI8)
EMG/STOP 11A CCWLIM 20 (DI7)
VTP 10A DIR 46 (DI6)
ALMRST 17 (DI5)
COM 9A
EGEAR1 ** (DI4) Analog output
EGEAR2 ** (DI3)
28 MONIT1
5V P_CLR ** (DI2)
MPG A+ 20A 29 MONIT2
A SVON 47 (DI1)
MPG A- 20B 37 GND
B
MPG B+ 19A
MPG B- 19B
0V PCON ** CN1 34 +12VA
GAIN2 ** 35 -12VA
Manual pulse generator
T_LMT ** Encoder pulse
MODE ** output
ABS_RQ ** 32 AO
ZCLAMP **
33 /AO
+24V SPD3 21
SPD2 22 30 BO
DR/INP COM 6A SPD1 23

31 /BO
(DO2)
DR 8A RDY+ 40
36 SG
RDY- 41
(DO5)
INP 7A INPOS 45
GND 24
-10V ~ +10V
TRQCOM 1
Analog torque limit
GND 8
(CN1 Case) F.G
F.G
※ This is an example for the standard of 1 axis. To use 2, 3, 4 axis, refer to the pin diagram of positioning
module.
3-12

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

XGF-PD1/2/3/4H (Servo Drive)
+24V GND24
24V 1A
24V 1C +24V IN 50
(DO1)
P COM 1B 38 ALARM+
P COM 1D Twisted
Pair 39 ALARM-
FP+ 18A PF+ 9
(DO3)
43 ZSPD
FP- 17A PF- 10
(DO4)
44 BRAKE
RP+ 16A PR+ 11
16 ALO0
RP- 15A PR- 12
15 ALO1
Twisted Encoder Z
14 ALO2
Pair phase output
HOME +5V 3A ZO 4
25 GND24
HOME COM 2A /ZO 5
+24V IN ** TLMT
** VLMT
+24V
OV+ 14A STOP 48 (DIA) ** INSPD
OV- 13A EMG 18 (DI9) ** WARN
DOG 12A CWLIM 19 (DI8)
EMG/STOP 11A CCWLIM 20 (DI7)
VTP 10A DIR 46 (DI6)
ALMRST 17 (DI5)
COM 9A (DI4) Analog output
EGEAR1 **
EGEAR2 ** (DI3)
28 MONIT1
5V P_CLR ** (DI2)
MPG A+ 20A 29 MONIT2
A SVON 47 (DI1)
MPG A- 20B 37 GND
B
MPG B+ 19A
MPG B- 19B
0V PCON ** CN1 34 +12VA
GAIN2 ** 35 -12VA
Manual pulse generator
MODE ** output
ABS_RQ ** 32 AO
ZCLAMP **
33 /AO
+24V SPD3 21
SPD2 22 30 BO
DR/INP COM 6A SPD1 23

31 /BO
(DO2)
DR 8A RDY+ 40
36 SG
RDY- 41
(DO5)
INP 7A INPOS 45
GND24 24
-10V ~ +10V
Analog
TRQCOM 1
torque limit
GND 8
(CN1 Case)
F.G
F.G
※ This is an example for the standard of 1 axis. To use 2, 3, 4 axis, refer to the pin diagram of positioning
module.
3-13

3. Wiring Method
5. XBF-PD02A (Line Driver)

XBF-PD02A (Servo Drive)
+24V GND24
24V 1A
24V 1C +24V IN 50 주1)
(DO1)
P COM 1B 38 ALARM+
P COM 1D Twisted
Pair 39 ALARM-
FP+ A18 PF+ 9
(DO3)
43 ZSPD
FP- A17 PF- 10
(DO4)
44 BRAKE
RP+ A16 PR+ 11
16 ALO0
RP- A15 PR- 12
15 ALO1
Twisted Encoder Z
14 ALO2
Pair phase output
HOME +5V A3 ZO 4
25 GND24
HOME COM A2 /ZO 5
+24V IN 주2) ** TLMT

+24V 주1, 2) ** VLMT
OV+ A14 STOP 48 (DIA) ** INSPD
OV- A13 EMG 18 (DI9) ** WARN
DOG A12 CWLIM 19 (DI8)
CCWLIM 20 (DI7)
DIR 46 (DI6)
COM A9
ALMRST 17 (DI5)

EGEAR2 ** (DI3)
28 MONIT1
5V P_CLR ** (DI2)
MPG A+ B20 29 MONIT2
A SVON 47 (DI1)
MPG A- A20 37 GND
B
MPG B+ B19
MPG B- A19
0V PCON ** CN1 34 +12VA
GAIN2 ** 35 -12VA
Manual pulse
generator
MODE ** output
ABS_RQ ** 32 AO
ZCLAMP **
33 /AO
SPD3 21
SPD2 22 30 BO
SPD1 23
31 /BO
+24V (DO2)
RDY+ 40
36 SG
INP A7 RDY- 41
(DO5)
INP COM A6 INPOS 45
GND24 24
-10V ~ +10V
Analog TRQCOM 1
torque
limit GND 8
(CN1 Case)
F.G
F.G
※ This is an example for the standard of 1 axis. To use 2 axis, refer to the pin diagram of positioning module.
3-14

3. Wiring Method
6. XBM-DN**S (Open Collector)

XBM-DN**S (Servo Drive)
(Open Collector)
+24V GND24 +24V IN
+24V IN 50 주1)
(DO1)
PULCOM 49 38 ALARM+
1.5K
39 ALARM-
+24V DC24
(DO3)
43 ZSPD
Pulse P20 PF- 10 1.5K
(DO4)
Output 44 BRAKE
COM
Common
16 ALO0
Direction P22 PR- 12
Output 15 ALO1
COM
Common
Encoder Z
14 ALO2
phase output
ZO 4
25 GND24
/ZO 5
+24V IN 주2) ** TLMT

주1, 2) ** VLMT
HOME P05 STOP 48 (DIA) ** INSPD

DOG P04 EMG 18 (DI9) ** WARN
Limit L P01 CWLIM 19 (DI8)
Limit H P00 CCWLIM 20 (DI7)
DIR 46 (DI6)
Input
Common
COM0
ALMRST 17 (DI5)

EGEAR2 ** (DI3)
28 MONIT1
P_CLR ** (DI2)
29 MONIT2
SVON 47 (DI1)
37 GND
PCON ** CN1 34 +12VA

GAIN2 ** 35 -12VA
MODE ** output
ABS_RQ ** 32 AO
ZCLAMP **
33 /AO
SPD3 21
SPD2 22 30 BO
SPD1 23
31 /BO
(DO2)
RDY+ 40
36 SG
RDY- 41
(DO5)
INPOS 45
GND 24
-10V ~ +10V
TRQCOM 1
Analog
torque GND 8
limit
(CN1 Case) F.G
F.G
This is an example for the standard of 1 axis. To use 2 axis, refer to the pin diagram of positioning module.
3-15

3. Wiring Method
7. XBC/XEC-DNxxH (Open Collector)
DC 24V L7S
XBC/XEC-DNxxH I/O Power (Servo Drive)
(Open Collector)
+24V GND24 +24V IN
+24V IN 50
(DO1)
PULCOM 49 38 ALARM+
1.5K
39 ALARM-
+24V P
(DO3)
P20 43 ZSPD
Pulse %QX0.0.0 PF- 10 1.5K
(DO4)
Output 44 BRAKE
COM
Common
P22 16 ALO0
Direction %QX0.0.2 PR- 12
Output 15 ALO1
COM
Common
Encoder Z phase output 14 ALO2
ZO 4
25 GND24
/ZO 5
+24V IN ** TLMT
** VLMT
HOME P0D
STOP 48 (DIA) ** INSPD
%QX0.0.13
DOG
P0C
EMG 18 (DI9) ** WARN
%QX0.0.12
Limit H
P09
CWLIM 19 (DI8)
%QX0.0.9
Limit L
P08
CCWLIM 20 (DI7)
%QX0.0.8
DIR 46 (DI6)
Input
Common
COM0
ALMRST 17 (DI5)

EGEAR2 ** (DI3)
28 MONIT1
P_CLR ** (DI2)
29 MONIT2
SVON 47 (DI1)
37 GND
PCON ** CN1 34 +12VA

GAIN2 ** 35 -12VA
T_LMT **
Encoder pulse output
MODE **
ABS_RQ ** 32 AO
ZCLAMP **
33 /AO
SPD3 21
SPD2 22 30 BO
SPD1 23
31 /BO
(DO2)
RDY+ 40
36 SG
RDY- 41
(DO5)
INPOS 45
GND 24
-10V ~ +10V
TRQCOM 1
Analog
torque limit GND 8
(CN1 Case) F.G
F.G
※ This is an example for the standard of 1 axis. To use 2 axis, refer to the pin diagram of positioning module
.
3-16

3. Wiring Method
3.4 Timing Diagram
3.4.1 Timing Diagram During Power Input

For XDL-L7 Series, connect single-phase power to the C1 and C2 terminals to supply power
to the control circuit, and three-phase power to L1, L2, and L3 to supply power to the main
circuit.
The servo signal becomes Ready after the maximum time of 120 [ms] that is required to
reset the inside of the device. If you change the signal to ON, the servo operates in 40 [ms].
200 ms
Main power,
control power
supply
Control power 150 ms 50 ms

establishment 5
[V]
Control program 120 ms

reset
Main power 10 ms
establishment
Alarm
(Normally On)
10 ms
Servo Ready
Servo On
Clear DB 5 ms
PWM output 40 ms 2 ms
(motor
rotation)
3-17

3. Wiring Method
3.4.2 Timing Diagram at the Time of Alarm Trigger

When the alarm triggered in the servo drive, it blocks the PWM and the motor stops.
Caution
 After solving the problem that triggered the alarm, and changing the command signal (Servo
ON) to OFF, reset the alarm.
200 ms
Main power,
control power
supply
Control power 150 ms

establishment
5 [V]
Control
program
Reset
Main power
establishment Alarm triggered by
an anomaly Remove
causes that
Alarm triggered
(Normally On) alarm
Servo RDY 10 ms
Servo On
Clear DB 5 ms
PWM 40 ms 2 ms 30 ms
(Motor rotation)
RESET
3-18

3. Wiring Method
3.5 Control Signal Wiring
3.5.1 Contact Input Signal
Caution
1. There are two input contacts based on the characteristics of individual signals: contact A and
contact B. They can be set by [P2-08] and [P2-09].
2. It is possible to turn each contact on or off forcibly with [Cn-07]. Take extra caution because
each contact is automatically turned off when power is off.
3. The signal definition of each contact can be modified by [P2-00], [P2-01], [P2-02], [P2-03], and
[P2-04].
R1: 3.3 KΩ, R2: 680 Ω
3-19

3. Wiring Method
3.5.2 Contact Output Signal
Caution
1. There are two output contacts based on the characteristics of individual signals: contact A and
contact B. They can be set by [P2-10].
2. It is possible to turn each contact on or off forcibly with [Cn-08]. Take extra caution because
each contact is automatically turned off when power is off.
3. The signal definition of each contact point can be modified by [P2-05], [P2-06], and [P2-07].
4. Overvoltage and overcurrent may cause damage because a transistor switch is used internally.
 Rated voltage and current: DC 24 [V] ±10%, 120 [㎃]
NOTE 1) For alarm and READY output signals, the GND24 terminal is separated.
3-20

3. Wiring Method
3.5.3 Analog Input/Output Signals

1. Keep GND as 0 [V] of control power.
2. Keep the input signal command voltage within ±10 [V], and input impedance at 22 [㏀].
3. Output signal voltage for Monitor 1 (No. 28) and Monitor 2 (No. 29) is ±10 [V].
Configure wiring as shown in the following image when you adjust analog input with
parameter resistance by using power supplied by the drive.
Do not exceed the maximum output capacity of 30 [㎃].
<Servo Drive >
<Analog output> <Analog input>
<Analog Input Example>
3-21

3. Wiring Method
3.5.4 Pulse Train Input Signal
(1) Line Driver (5 [V]) Pulse Input
Upper level controller

Twisted Pair Servo Drive
Shield Wire
PF+
PF
PF-
PR+
PR
PR-
Line driver Line receiver
FG
(2) Open Collector (24 [V]) Pulse Input
Upper level controller Servo Drive

GND24 +24 [V] Pulse COM
Shield Wire PF-
PR-
GND24 FG
(3) 12 [V] or 5 [V] NPN Open Collector Pulse Command
Upper level controller Servo Drive
R PR+
PF+
R
GND12 Power note 1)
NPN PF-
PR-
FG
NOTE 1) When using 5 [V] power: Resistance R = 100-150 [Ω], 1/2 [W]
When using 12 [V] power: Resistance R = 560-680 [Ω], 1/2 [W]
When using 24 [V] power: Resistance R = 1.5 [kΩ], 1/2 [W]
3-22

3. Wiring Method
(4) PNP Open Collector Pulse Command
NOTE 1) When using 24 [V] power: Resistance R = 1.5 [kΩ], 1/2 [W]
3.5.5 Encoder Output Signal

Connect the GND terminal of the upper level controller and the GND terminal of CN1
because encoder signals are output based on the GND of control power.
Encoder signals for the servo motor received from CN2 are pre-scaled, according to the ratio
defined by [P0-14] and output in line driver mode.
Upper level controller

Servo Drive
Line driver Line receiver
PA AO
/AO
GND
SG SG
Set “1” on the 3rd bit in the menu [P0-17] ‘Function Select Bit',
It outputs open collector A,B,Z phases through existing AL0, AL1 and AL2 contact points.
(Output voltage 40mA and below, Maximum frequency 100Khz)
3-23

3. Wiring Method
3.6 Quadrature Encoder Signaling Unit (CN2)

Wiring
3.6.1 XLCS-E AS Cable
3.6.2 XLCS-E BS Cable
3-24

3. Wiring Method
3.7 Serial Encoder Signaling Unit (CN2)

Wiring
3.7.1 XLCS-E CS Cable
3.7.2 XLCS-E DS Cable
3-25

3. Wiring Method
3.7.3 XLCS-E ES Cable

Servo Motor Servo Drive
1 MA 3
6 /MA 4
2 SL 5
7 /SL 6
인코더
Encoder
Cable
9 5V 14
Connector(CN2)
4 GND 7
Maker - 3M
10314-52A0-008
10114-3000VE
Connector 5 SHD Frame

Tyco Connector
(7Ciruits)
3-26

3. Wiring Method
3.8 Multi Turn Encoder signal unit(CN2)

wiring
3.8.1 XLCS-E CS1 Cable

AWG24 4Pair Twist
Shield Wire Servo Drive
Servo Motor
1 MA 3
2 /MA 4
3 SL 5
4 /SL 6
5 BAT+
Encoder 6 BAT-
Cable
7 5V 14 Connector (CN2)
8 GND 7
Maker - 3M
10314-52A0-008
10114-3000VE
Cable 9 SHD Frame

Connector
MS3108S20-29S
3.8.2 XLCS-E DS1 Cable
Servo Motor AWG24 4Pair Twist Servo Drive

Shield Wire
A MA 3
B /MA 4
C SL 5
D /SL 6
E BAT+
Encode F BAT-
Cable
H 5V 14 Connector(CN2)
G GND 7
Maker - 3M
10314-52A0-008
10114-3000VE
Cable J SHD Frame

Connector
MS3108S20-29S
3-27

3. Wiring Method
3.8.3 XLCS-E ES1 Cable
Servo Motor Servo Drive
1 MA 3
6 /MA 4
2 SL 5
7 /SL 6
8 BAT+
인코더
Encoder 3 BAT_
Cable
9 5V 14 Connector(CN2)
4 GND 7
Maker - 3M
10314-52A0-008
10114-3000VE
5 SHD Frame
Connector
Tyco Connector
(7 Circuits)
3-28

3. Wiring Method
3.9 Transmission of Absolute Encoder Data
3.9.1 Transmission of Absolute Encoder Data

Upon the absolute encoder's request for absolute data, the data of the absolute encoder are
transmitted to the upper level controller in the form of quadrature pulses through the output
of the encoder output signals, AO and BO.
In this case, pulses are output at the speed of 500 [Kpps].
Among absolute data, multi-turn data are transmitted first, followed by single-turn data.
(Refer to “4.1.6 External Input Signal and Logic Definition" for information on the allocation of
the sequence input signal and ABS-RQ signal.)
 Transmission Sequence of Absolute Data
1. When the servo is OFF, change the ABS_RQ signal on the upper level controller to ON.
2. The servo drive checks the ABS_RQ signal for 10 [ms].
3. The servo drive prepares the transmission of multi-turn data for 100 [ms].
4. The servo drive transmits multi-turn data for up to 140 [ms] (based on 16-bit multi-turn data).
5. The servo drive prepares the transmission of single-turn data for 100 [ms].
6. The servo drive transmits single-turn data with the pre-scaler ratio applied for up to 1100 [ms]
(based on 19-bit single-turn data).
7. The servo drive operates with normal encoder output signals 100 [ms] after the single-turn data are
completely transmitted.
Absolute data transmission Pre-scaler pulse output
3-29

4. Parameters
4 Parameters
4.1 How to Use the Loader
4.1.1 Names and Functions of Each Parts
Display 5-digit FND data.
Digit 5 Digit 4 Digit 3 Digit 2 Digit 1
Displays the decimal point.
E.g.) 123.4
[MODE]: Change display mode.
[/LEFT]: Move to another data digit. In the case of 16 bits, the minus symbol is used.
[UP]: Increase displayed data. In the case of 32 bits, a dot is used.
[DOWN]: Decrease displayed data.
[SET]: Confirm displayed data. E.g.) -123.4

[/RIGHT]: Move to another data digit.
4-1

4. Parameters
4.1.2 Status Summary Display
(1) Status Summary Display in Speed Mode

① Example of the OFF status of the servo in speed control mode
DIGIT 3-1: Displays the current status of the servo.

 bb - Servo OFF
 run - Servo ON
 Pot - CCW Limit
 not - CW Limit
DIGIT 4_High: ZSPD
DIGIT 4_Medium: INSPD or INPOS
DIGIT 4_Low: Command (speed or torque)
DIGIT 4_DOT: READY
DIGIT 5: Displays the current control mode.

 P - Position control
 S - Speed control
 T - Torque control
DIGIT 5_DOT: Servo ON
② Example of the ON status of the servo in speed control mode
4-2

4. Parameters
(2) Servo Operation Status Summary Display List

The following list explains the operation status summary display of different modes of the
servo.
Operation Status Function Notes

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

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

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

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

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

mode.
Displays CCW status when in torque mode.
Displays CW status when in torque mode.
4-3

4. Parameters
4.1.3 Parameter Handling
(1) Parameter Movement

Example of changing speed control mode to position control mode ([P0-03]: 00001 -> 00002)
 If the alarm does not go off at the starting operation, the speed operation mode [S=bb] indicating
operation status is displayed.
 Editable parameters are from [P0-00] to [Cn-15]. Press [SET] when a parameter number is
displayed and you can see and edit the parameter data.
 In the initial parameter edit status, the number on the far right flickers (ON and OFF for 0.5 seconds
respectively) and becomes editable.
4-4

4. Parameters
(2) Example of changing speed control mode to position control

mode ( [P0-03]: 00001 -> 00002 )
Ord
Loader Displays Keys to Use What to Do
er
Displays the speed control mode with
1 main power and control power
permitted.
Press [MODE] to move to [P0-00].
2
Press [UP] or [DOWN] to move to [P0-

3 03].
Press [SET] to go to the parameter edit

4 window. The parameter is displayed as
00001.
Press [UP] or [DOWN] at the blinking
5 cursor to change the number to 00002.
Press and hold [SET] for approximately

one second. After two flickers, the
6
number will be saved as 00002 in the
parameter.
Press and hold [MODE] for
7 approximately one second to return to
the P0-03 parameter.
Press [MODE] to change status to
position operation [P= bb] status which
8
is the summary display of the current
status.
NOTE 1) “ ” indicates flickering.
If you hold down [UP] / [DOWN] at the current cursor in the parameter window, the number continues to
increase/decrease.
4-5

4. Parameters
(3) Example of changing speed proportional gain 2

([P1-07]: 200 [rad/s] -> 500 [rad/s])
Ord
er
1 main power and permitted control
power.
2

3 07].
Press [SET] to enter parameter edit

4 mode. The parameter is displayed as
00200.
Press [/LEFT] or [/RIGHT] at the
5 blinking cursor to move to the desired
digit, DIGIT 3.
6 DIGIT 3 position to change the number
to 00500.
7
number will be saved as 00500 in the
parameter.
[P1-07].
increase/decrease.
4-6

4. Parameters
(4) Example of changing DAC output offset 1

([P0-19]: 0 [Unit/V] -> -500 [Unit/V])
Ord
er
permitted.
2

3 19].

00000.
digit, DIGIT 3.
6 DIGIT 3 position to change the number
to -0500.
7
number will be saved as -0500 in the
parameter.
[P0-19].
increase/decrease.
4-7

4. Parameters
4.1.4 Data Display
(1) Binary
① Minimum (0b00000) ② Maximum (0b11111)
(2) Hex
① Minimum (0x0000) ② Maximum (0xFFFF)
(3) 16-bit Unsigned Integer
① E.g.) 0 ② E.g.) +1234
(4) 16-bit Signed Integer

① E.g.) -1234 ② E.g.) +5678
① E.g.) -1234 ② E.g.) +5678
(5) 16-bit Decimal Point Display

① E.g.) -123.4 ② E.g.) +123.4
① E.g.) -123.4 ② E.g.) +123.4
4-8

4. Parameters
(6) 32-bit Signed Integer Data Display

① Minimum (-2147483648)
Display upper two digits Display middle four digits Display lower four digits
② Maximum (2147483647)
Display upper two digits Display middle four digits Display lower four digits
 E.g.) [St-16]: Displayed as Upper = 0, Middle = 0012, and

Lower = 2071
Order Loader Displays Keys to Use What to Do

permitted.
Press [MODE] to move to [St-00].
2
Press [UP] or [DOWN] to move to [St-

3 16].
Press [SET] to display lower digit data.

4
Each time you press [/LEFT] or

[/RIGHT]
5
lower, middle, and upper data is
displayed.
Each time you press [/LEFT] or
[/RIGHT]
6
lower, middle, and upper data is
displayed.
[St-16].
4-9

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

You can check whether the ON/OFF status of digital input/output signals that access the
servo drive are on or off.
(1) External Input Signal Display

The positions of the seven segment LEDs and CN1 connector pins correspond as follows.
If an LED that corresponds to a pin is turned on/off, it indicates ON/OFF accordingly.
 Input Contact Display

Number (A) (9) (8) (7) (6) (5) (4) (3) (2) (1)
Contact DIA DI9 DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1
Number
CN1
48 18 19 20 46 17 21 22 23 47
Pin number
Allocated
default CCWLI ALMR
STOP EMG CWLIM DIR SPD3 SPD2 SPD1 SVON
M ST
Signal name
4-10

4. Parameters
4.1.6 External Input Signal and Logic Definition

The following describes how to allocate input signals and how to view them.
(1) Input Signal Allocation

XDL-L7 Drive allows for the allocation of a total of 19 input contact functions to 10 hardware
contacts.
Each of the input contact functions is located at the designated digit of parameter [P2-00],
[P2-01], [P2-02], [P2-03], or [P2-04]. Changing the value of the digit allows allocation to pins
DI1 through DIA
The default input signal allocation is as follows:
One number can be allocated to two input signals such as N (input signal): 1 (input allocation
number).
E.g.) If SVON and SPD1 are allocated to DI #01, you can use both the SVON signal and the
SPD1 signal when entering DI #01.
Input Signal Input Allocation Number
Caution
If you change the input contact function, Since it is an immediate effect on the drive, you need to be
careful for the operation.
Before change, recommended to be set ‘EEPROM save no use’ in DIGIT 5 of [P0-17] parameter
..
4-11

4. Parameters
Signal Name Alwa CN1 Pin Default Allocation Number No

Input
Input ys Allo Default
Parameter Signal
Signal Alloc 48 18 19 20 46 17 21 22 23 47 cati setting
Allocation Definition
ated on
Servo ON
SVON F A 9 8 7 6 5 4 3 2 1 0
[P2-00].Set Digit 1
Multi-speed 1
SPD1 F A 9 8 7 6 5 4 3 2 1 0
[P2-00]. Set Digit 2
[P2-00] 0x4321
Multi-speed 2
SPD2 F A 9 8 7 6 5 4 3 2 1 0
Multi-speed 3
SPD3 F A 9 8 7 6 5 4 3 2 1 0
Alarm reset
ALMRST F A 9 8 7 6 5 4 3 2 1 0
Select rotation
direction DIR F A 9 8 7 6 5 4 3 2 1 0
[P2-01] 0x8765
Forward rotation
prohibited CCWLIM F A 9 8 7 6 5 4 3 2 1 0
Reverse rotation
prohibited CWLIM F A 9 8 7 6 5 4 3 2 1 0
Emergency stop
EMG F A 9 8 7 6 5 4 3 2 1 0
Stop
STOP F A 9 8 7 6 5 4 3 2 1 0
Electronic gear [P2-02] 0x00A9

ratio 1 EGEAR1 F A 9 8 7 6 5 4 3 2 1 0
Electronic gear
ratio 2 EGEAR2 F A 9 8 7 6 5 4 3 2 1 0
P control action
PCON F A 9 8 7 6 5 4 3 2 1 0
Select gain 2
GAIN2 F A 9 8 7 6 5 4 3 2 1 0
[P2-03] 0x0000
Error pulse clear
P_CLR F A 9 8 7 6 5 4 3 2 1 0
Torque limit
T_LMT F A 9 8 7 6 5 4 3 2 1 0
Change operation
modes MODE F A 9 8 7 6 5 4 3 2 1 0
Absolute encoder
data request ABS_RQ F A 9 8 7 6 5 4 3 2 1 0
[P2-04] 0x0000
Zero clamp
ZCLAMP F A 9 8 7 6 5 4 3 2 1 0
Reset absolute
ABS_RS
encoder data F A 9 8 7 6 5 4 3 2 1 0
T
NOTE 1) CN1 connector pin is not allocated when the default value is "0".
NOTE 2) For ABS_RST Signal, hold “High” for 500ms or longer in order to reset absolute encoder data.
4-12

4. Parameters
(2) Example of Changing Input Signal Allocation

The input signal definition can be changed in [P2-00], [P2-01], [P2-02], [P2-03], and [P2-04].
The input signal logic definition can be changed in [P2-08] and [P2-09].
Allocate input signals as shown in the following table:
Input Signal Input Allocation Number
4-13

4. Parameters
Signal Name Alwa CN1 Pin Default Allocation Number

No Input Value
Input ys
Parameter Alloc Signal After
Signal Alloc 48 18 19 20 46 17 21 22 23 47
Allocation ation Definition Changing
ated
Servo ON
SVON F A 9 8 7 6 5 4 3 2 1 0
[P2-00].Set Digit 1
Multi-speed 1
SPD1 F A 9 8 7 6 5 4 3 2 1 0
[P2-00] 0x0321
Multi-speed 2
SPD2 F A 9 8 7 6 5 4 3 2 1 0
Multi-speed 3
SPD3 F A 9 8 7 6 5 4 3 2 1 0
Alarm reset
ALMRST F A 9 8 7 6 5 4 3 2 1 0
Select rotation
direction DIR F A 9 8 7 6 5 4 3 2 1 0
[P2-01] 0x0765
Forward rotation
prohibited CCWLIM F A 9 8 7 6 5 4 3 2 1 0
Reverse rotation
prohibited CWLIM F A 9 8 7 6 5 4 3 2 1 0
Emergency stop
EMG F A 9 8 7 6 5 4 3 2 1 0
Stop
STOP F A 9 8 7 6 5 4 3 2 1 0
Electronic gear [P2-02] 0x0080

ratio 1 EGEAR1 F A 9 8 7 6 5 4 3 2 1 0
Electronic gear
ratio 2 EGEAR2 F A 9 8 7 6 5 4 3 2 1 0
P control action
PCON F A 9 8 7 6 5 4 3 2 1 0
Select gain 2
GAIN2 F A 9 8 7 6 5 4 3 2 1 0
[P2-03] 0x9000
Error pulse clear
P_CLR F A 9 8 7 6 5 4 3 2 1 0
Torque limit
T_LMT F A 9 8 7 6 5 4 3 2 1 0
Change operation
modes MODE F A 9 8 7 6 5 4 3 2 1 0
Absolute encoder
data request ABS_RQ F A 9 8 7 6 5 4 3 2 1 0
[P2-04]. Set Digit 2 [P2-04] 0x000A
Zero clamp
ZCLAMP F A 9 8 7 6 5 4 3 2 1 0
Reset absolute
ABS_RS
encoder data F A 9 8 7 6 5 4 3 2 1 0
T
NOTE 2) For ABS_RST Signal, hold “High” for 500ms or longer in order to reset absolute encoder data.
4-14

4. Parameters
 Examples of Changing Input Signal Allocation
The following is an example of changing input signal allocation.
The allocation signals of SVON (CN1-47) and STOP (CN1-48) can be switched in the
following sequence.
Before Changing After Changing
[P2-00]:
[P2-02]:

1

04321.
3 cursor to change the number to
0432A.
Hold down [SET] for approximately
4
number is saved as 0432A for the
parameter.
Hold down [MODE] for approximately
5 one second to return to [P2-00].

6 cursor to change the number to P2-02.

000A9.
digit, DIGIT 2.
00019.
10
number is saved as 00019 for the
parameter.
12 ** Modification is not possible with the servo on &. Reset the parameter.
In case of exiting Hold down [MODE] for approximately
※ without saving the set one second to return to the parameter.
value
4-15

4. Parameters
(3) Input signal logic definition

XDL-L7 Drive allows for defining the logic of input signals for 10 hardware contacts from DI1
to DIA through parameters [P2-08] and [P2-09].
The logic of input signals as set in the factory is as follows.
Input signal logic definition Input signal logic definition number
Signal Name Input CN1 Pin Default Allocation Number Input

Signal signal Default
Parameter Contact B
(Initial 48 18 19 20 46 17 21 22 23 47 logic setting
Allocation name) setting
Servo ON
SVON 1 0
[P2-08].Set Digit 1
Multi-speed 1
SPD1 1 0
Multi-speed 2
SPD2 1 0 [P2-08] 0x11111
Multi-speed 3
SPD3 1 0
Alarm reset
ALMRST 1 0
Select rotation
direction DIR 1 0
Forward rotation
prohibited CCWLIM 0
Reverse rotation [P2-09] 0x10001

prohibited CWLIM 0
Emergency stop
EMG 0
Stop
STOP 1 0
NOTE 1) For the purpose of the input signal logic definitions, Contact A is 1 and Contact B is 0.
4-16

4. Parameters
(4) Example of Changing Input Signal Logic Definitions

Input signal logic definitions can be changed in [P2-08] and [P2-09].
When input signals are allocated as below, settings will be done as shown in table below.
Input signal logic definition Input signal logic definition number
Signal Name CN1 Pin Default Allocation Number Input

Input Cont signal Default
Parameter Signal act B logic setting
48 18 19 20 46 17 21 22 23 47
Allocation definition
Servo ON
SVON 1 0
[P2-08].Set Digit 1
Multi-speed 1
SPD1 1 0
Multi-speed 2
SPD2 1 0 [P2-08] 0x11111
Multi-speed 3
SPD3 1 0
Alarm reset
ALMRST 1 0
Select rotation
direction DIR 1 0
Forward rotation
prohibited CCWLIM 0
Reverse rotation [P2-09] 0x11101

prohibited CWLIM 1 0
Emergency stop
EMG 1 0
Stop
STOP 1 0
NOTE 1) For the purpose of the input signal logic definition, Contact A is 1 and Contact B is 0.
4-17

4. Parameters
 Examples of changing input signal logic definitions
The table below shows examples of changing input signal logic definitions.
The sequence of changing logic signal contact A of SVON (CN1-47) to contact B and logic
signal contact B of CCWLIM (1-20) to contact A is as follows.
Before changing After changing
[P2-08]:
[P2-09]:

1 cursor to move to [P2-08].

11111.
3 cursor to change the number to 11110.

4
parameter.

6 cursor to change the number to [P2-
09].
10001.
digit, DIGIT 2.
10011.
10
parameter.
12 ** Modification is not possible with the servo on &. Reset the parameter.
In case of exiting Hold down [MODE] for approximately
※ without saving the set one second to return to the parameter.
value
4-18

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

You can check whether the ON/OFF status of digital input/output signals that access the
servo drive are on or off.
(1) External Output Signal Display

The positions of the seven segment LEDs and CN1 connector pins correspond as follows.
If an LED that corresponds to a pin is turned on/off, it indicates ON/OFF accordingly.
Output Contact Display

Number (5) (4) (3) (2) (1)
Contact
DO5 DO4 DO3 DO2 DO1
Number
CN1
45 44 43 40/41 38/39
pin number
Allocated default
INPOS BRAKE ZSPD READY ALARM
signal name
4-19

4. Parameters
4.1.8 External Output Signal and Logic Definition

The following explains output signal allocation and the method of checking allocation status.
(1) Output Signal Allocation

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

Not
Output ys Internal Default
Alloc
Parameter Allocation Signal Alloc 45 44 43 40/41 38/39 Parameter Value
ated
ated
Alarm
ALARM F 5 4 3 2 1 0
[P2-05].Set Digit 1
Servo Ready
READY F 5 4 3 2 1 0
[P2-05] 0x4321
Zero speed achieved
ZSPD F 5 4 3 2 1 0
Brake
BRAKE F 5 4 3 2 1 0
Position reached
INPOS F 5 4 3 2 1 0
Torque limit reached

TLMT F 5 4 3 2 1 0
[P2-06] 0x0005
Speed limit reached
VLMT F 5 4 3 2 1 0
Speed achieved
INSPD F 5 4 3 2 1 0
Warning
WARN F 5 4 3 2 1 0 [P2-07] 0x0000
4-20

4. Parameters
(2) Examples of Changing Output Signal Allocation

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

ys Not Value
Output Internal
Alloc After
Parameter Allocation Signal Alloc 45 44 43 40/41 38/39 Parameter
ated Changing
ated
Alarm
ALARM F 5 4 3 2 1 0
[P2-05].Set Digit 1
Servo Ready
READY F 5 4 3 2 1 0
[P2-05] 0x0301
Zero speed achieved
ZSPD F 5 4 3 2 1 0
Brake
BRAKE F 5 4 3 2 1 0
Position reached
INPOS F 5 4 3 2 1 0
Torque limit reached

TLMT F 5 4 3 2 1 0
[P2-06] 0x5400
Speed limit reached
VLMT F 5 4 3 2 1 0
Speed achieved
INSPD F 5 4 3 2 1 0
Warning
WARN F 5 4 3 2 1 0 [P2-07] 0x0002
4-21

4. Parameters
 Example of Changing Output Signal Allocation
The following is an example of output signal allocation change.
The sequence of switching the allocation signals of ALARM (CN1-38/39) and ZSPD (CN1-
43) is as follows:
[P2-05]:
Loader Window
Order Keys to Use What to Do
Display Result
1 Press [MODE] to move to [P2-05].
Press [SET] to enter parameter

2 edit mode. The parameter is
displayed as 04321.
Press [UP] or [DOWN] at the
3 blinking cursor to change the
number to 04323.
4 blinking cursor to move to the
desired digit, DIGIT 3.
number to 04123.
6
number will be saved as 04123 for
the parameter.
Hold down [MODE] for
7 approximately one second to
return to [P2-05].
8 ** Modification is not possible with the servo on & Reset the parameter.
In case of exiting without
※ approximately one second to
saving the set value
return to the parameter.
If two output signals are allocated to a number, the output contact setting error [AL-72] alarm
will be triggered.
4-22

4. Parameters
(3) Output Signal Logic Definition

Output signal logic definition: [P2-10]
The logic of output signals as shipped from the factory is as follows.
Output signal logic definitions
Output signal logic definition number
DO1(Contact A/Contact B)
Signal Name Input CN1 Pin Default Allocation Number Output

Signal Signal Default
Contact B
(Initial Logic Setting
Parameter Allocation Name) 45 44 43 40 /41 38 /39 Definition
Alarm
ALARM 0
[P2-10].Set Digit 1
Servo Ready
READY 1 0
Zero speed achieved

ZSPD 1 0 [P2-10] 0x10110
[P2-10].Digit 3
Brake
BRAKE 0
[P2-10].Digit 4
Position reached
INPOS 1 0
[P2-10].Digit 5
NOTE 1) For the purpose of the input signal logic definition, Contact A is 1 and Contact B is 0
4-23

4. Parameters
(4) Examples of Changing Output Signal Logic Definition

 Output signal logic definitions can be changed at [P2-10]
 Set output signals as shown in the table below when they are allocated as below.
Output signal logic definitions
Output signal logic definition number
Signal Name Input CN1 Pin Default Allocation Number Output

Signal Signal Default
Contact B
(Initial Logic Setting
Parameter Allocation Name) 45 44 43 40 /41 38 /39 Definition
Alarm
ALARM 0
[P2-10].Set Digit 1
Servo Ready
READY 1 0
Zero speed achieved

ZSPD 1 0 [P2-10] 0x11110
[P2-10].Digit 3
Brake
BRAKE 1 0
[P2-10].Digit 4
Position reached
INPOS 1 0
[P2-10].Digit 5
For the purpose of the input signal logic definition, Contact A is 1 and Contact B is 0
4-24

4. Parameters
 Example of Changing Output Signal Allocation
The following is an example of output signal allocation change.
The sequence of switching the allocation signals of ALM (CN1-38/39) and ZSPD (CN1-43) is
as follows:
[P2-05]:
Loader Window
Order Keys to Use What to Do
Display Result
1 Press [MODE] to move to [P2-05].
Press [SET] to enter parameter

2 edit mode. The parameter is
displayed as 04321.
number to 04323.
4 blinking cursor to move to the
desired digit, DIGIT 3.
number to 04123.
6
number will be saved as 04123 for
the parameter.
7 approximately one second to
return to [P2-05].
8 ** Modification is not possible with the servo on & Reset the parameter.
In case of exiting without
※ approximately one second to
saving the set value
return to the parameter.
NOTE 1) “ “indicates flickering.
If two output signals are allocated to a number, the output contact setting error [AL-72] alarm
will be triggered.
4-25

4. Parameters
4.2 Parameter Description
4.2.1 Parameter System

There are a total of eight groups of parameters. Each group is explained in the following
table:
Move to
Parameter Parameter
Another Initial Screen Details
Number Group Name
Parameter
E.g.) In speed mode
Status Summary Displays the status
-
Display summary of the servo.
Displays the operation

St-00 - St-26 Status
status of the servo.
Saves system
P0-00 - P0-27 System configuration
information.
Save control-related
P1-00 - P1-29 Control
parameters.
MODE Key
Saves parameters
P2-00 - P2-22 IN / OUT related to analog and
digital input/output.
Speed Saves speed

P3-00 - P3-20
Operation operation parameters.
Position Saves position pulse

P4-00 - P4-14
Operation operation parameters.
Performs operation
Cn-00 - Cn-18 Command
handling.
The following explains the acronyms related to application mode in the parameter.
 P: Use in position control mode.
 S: Use in speed control mode.
 T: Use in torque control mode.
Press [MODE] once to move to the next display mode.
4-26

4. Parameters
4.2.2 Operation Status Display Parameter

For detailed information, refer to "4.3 Operation Status Display."
“**” Modification is not possible with the servo on & Power reset parameter.
“*” Parameter that cannot be modified with the servo on
Parameter Unit Initial Applic

Details ation
Code Name Minimum Maximum mode
Current operation Displays the current operation status.

- - DIGIT 5: Operation Mode
status
DIGIT 4: ZSPD, INPOS/INSPD, Command, READY
St-00
DIGIT 3-1: Run Status
Operation status 0 0 PST
(Details: Refer to "4.1.2 Status Summary Display.")
Current operation
[RPM] 0
Displays the current operation speed. PST
St-01 speed (Details: Refer to “4.3.2 Speed Display.”)
Current speed -10000 10000
Current command Displays the current command speed.
[RPM] 0
St-02 speed (Details: Refer to “4.3.2 Speed Display.”)
ST
Command speed -10000 10000
Follow position Displays the accumulated number of tracked position
[pulse] 0 command pulses.
pulse
 Displays the accumulated number of position
P
command pulses that followed as a result of the
rotation of the servo motor because the servo was
St-03 turned on.
Feedback pulse -2^30 2^30  If a number is lower than the minimum or higher
than the maximum, it is displayed as the minimum
or maximum.
(Details: Refer to “4.3.3 Position Display.”)
Position Displays the accumulated number of position command
[pulse] 0 pulses.
command pulse
 Displays the accumulated number of position
St-04 command pulses that have been entered since the P
Command pulse -2^30 2^30 servo turned on.
Remaining Displays the remaining position pulses that the servo

[pulse] 0 has to operate.
position pulse
 This is the difference between command pulse and
tracking pulse, and displays the remaining position
St-05 pulses for the servo to operate.
P
Pulse error -2^30 2^30  The remaining position pulses, which are displayed
when the servo is off, are ignored when the servo
turns on.
Input pulse Displays input pulse frequency.

[Kpps] 0.0
frequency
St-06 P
Input Pulse
-1000.0 1000.0
frequency
Current operation Displays the current load factor against the rated load
[%] 0.0 factor.
St-07 torque
Displays the load currently output by the servo motor as
T
Current torque -300.0 300.0 a percentage against the rated output.
Current command Displays the command load factor against the rated load
[%] 0.0 factor.
torque
St-08  Displays the load currently output by the servo
motor as a percentage against the rated output. T
Command torque -300.0 300.0
(Details: Refer to “4.3.4 Torque and Load Display.”)
4-27

4. Parameters

Details ation
Accumulated Displays the currently accumulated load factor

[%] 0.0 against the maximum accumulated load factor as a
overload rate
St-09 percentage. PST
Accumulated
-300.0 300.0 (Details: Refer to “4.3.4 Torque and Load Display.”)
overload
Instantaneous Displays the instantaneous maximum load factor
maximum load [%] 0.0 against the rated load factor.
factor  Displays, as a percentage, the maximum
St-10 PST
overload between the current time and the start
Maximum load -300.0 300.0 of control set off when the servo turned on.
Torque limit [%] - Displays the torque limit value.
 Displays, as a percentage, the maximum torque
that the servo motor can output, against the
St-11 PST
Torque limit -300.0 300.0 rated torque.
(T_LMT contact ON: Analog torque input. T_LMT
contact OFF: [P1-13] and [P1-14] values)
DC link voltage [V] 0.0 Displays the current DC link voltage of the main
power.
 The DC link voltage of the standard drive that
uses 220 [V] is approximately 300 [V].
 The maximum DC link voltage allowed for the
standard drive that uses 220 [V] is 405 [V].
St-12  The overvoltage alarm [AL-41] triggers when the
DC link voltage 0.0 500.0 PST
DC link voltage threshold is exceeded because
there is either too much or too little regenerative
resistance.
 The normal DC link voltage in the regenerative
section is 385 [V] or below.
Regenerative Displays the regenerative overload rate.
[%] 0.0
overload
St-13 PST
Regeneration
0.0 20.0
overload
Input contact Displays the input contact status that the servo
- - recognizes.
status
St-14 PST
(Details: Refer to “4.1.5 External Input Contact Signal
Input Status - - Display.”)
Output contact Displays the output contact status that the servo
- - outputs.
status
St-15 PST
(Details: Refer to “4.1.6 External Input Contact Signal
Output status - - Display.”)
Single-turn data Displays the single-turn data of the encoder in
[pulse] 0 pulses.
St-16 (Single-turn data)
Single-turn data 0 2^30 PST
Displays the single-turn data of the encoder in
Single-turn data degrees.
[˚] 0.0
(Degrees)
St-17 PST
Single-turn data
0.0 360.0
(Degrees)
Multi-turn data [rev] 0 Displays the multi-turn data of the encoder.
St-18
Multi-turn data -32768 32767 PST
4-28

4. Parameters

Details ation
Internal Displays the internal temperature sensor value.

[℃] 0
temperature
St-19 PST
Room
-40 200
temperature
Rated motor Displays the rated speed of the currently
[RPM] 0
St-20 speed installed motor.
Rated RPM 0 10000 PST
Maximum motor Displays the maximum speed of the currently
[RPM] 0
St-21 speed installed motor.
Maximum RPM 0 10000 PST
Rated motor Displays the rated current of the currently
[A] 0.00
St-22 current installed motor.
Rated current 0.00 655.35 PST
U phase current Displays the U phase current offset.
[mA] 0
offset
St-23 PST
U Phase current
-200 200
offset
V phase current Displays the V phase current offset.
[mA] 0
offset
St-24 PST
V phase current
-200 200
offset
Program version - - Displays the version of the currently installed
program.
St-25 PST
Software version - - (Details: Refer to “4.3.7 Software Version
Display.”)
FPGA Version - - Displays the version of the currently installed
St-26
FPGA version.
PST
FPGA Version - -
Analog Torque
% 0 Displays the values of the current analog
St-27 Command
torque command
T
Analog Tq CMD -3000 3000
4-29

4. Parameters
4.2.3 System Setting Parameter

For detailed information, refer to "4.4.1 System Parameter Setting."
Parameter Unit Initial Appli
Details cation
Motor ID - 999  Set Motor ID.
 If the attempt to read motor data fails, the initial PST
**P0-00
Motor ID 0 999 value is set to 999.
(Details: Refer to “4.4.1 System Parameter Setting.")
Encoder type - 0  0: Quadrature Type encoder.
 1: Single turn Serial encoder. PST
**P0-01
Encoder type 0 5  3: Multi turn Serial encoder
Encoder pulse [ppr] 3000  Serial Type encoder: Set the number of bits per
turn from the encoder.
**P0-02  Quadrature Type encoder: Sets the number of
Enc resolution 1 30000 encoder pulses. PST
Select operation Sets operation mode.
- 1
mode (0: Torque operation. 1: Speed operation. 2: Position
operation. 3: Speed/position operation. 4: PST
*P0-03 Torque/speed operation. 5: Torque/position
Operation mode 0 5 operation.)
(Details: Refer to “4.4.1 Speed Operation Parameter
Setting.")
RS422 Sets communication speed for RS-422
communication [bps] 0 communication.
speed  0 : 9600 [bps]
 1 : 19200 [bps]
PST
**P0-04
 2 : 38400 [bps]
RS422 baud rate 0 3
 3 : 57600 [bps]
System ID - 0 Sets drive ID for communication.
 An ID can be given to the servo if USB
communication, RS422 communication and BUS
communication are used for communication with PST
**P0-05 the servo.
System ID 0 99
 A unique ID can be given to the servo and used
for individual communication with it.
4-30

4. Parameters
Parameter Unit Initial Applica

Details tion
Main power Sets main power input.
- 0b00000
input mode DIGIT 1-> 0: Single-phase power
1: 3-phase power input
P0-06 Caution: Using single-phase power may PST
Power fail mode 0b00000 0b11111 lower motor output.
DIGIT2 -> 0: Alarm in case of phase loss
1: Warning in case of phase loss
RST checking Sets the time to check main power phase loss.
[ms] 20
P0-07 time PST
RST check time 0 5000
Displays Sets the number for the operation status
parameter - 0 parameter that is displayed at the start. PST
P0-08 upon start. (Details: Refer to “4.4.1 System Parameter
Setting.")
Start up
0 26
parameter
Regenerative Sets derating factor for checking of regenerative
overload [%] 100 resistance overload. The overload alarm triggers PST
*P0-09 derating quickly when the derating value is set to 100% or
below.
Regeneration
1 200
derating
Regenerative Sets the resistance value for regenerative
[Ω] 0
resistance value braking resistance. If set to 0, the default PST
**P0-10 resistance value of the drive is used.
Regeneration
0 1000
brake resistor
Regenerative Sets the capacity for the current regenerative
resistance [W] 0 resistance. If set to 0, a default resistance PST
**P0-11 capacity
capacity embedded in the drive is used.
Regeneration
0 30000
brake capacity
Overload check Indicates the load factor for starting
[%] 100
Base load factor continuous overload checks. If set to 100 or PST
*P0-12
Overload check below, an overload check starts early and the
10 100
base overload alarm triggers early.
Continuous Indicates the level of continuous overload
overload [%] 50 warning signal output. Outputs the warning PST
P0-13 warning level
signal when the percentage value against
Overload alarm trigger load factor is reached.
10 100
Warning Level
Encoder output Sets the encoder output pulses per a rotation,
- 12000
scaling when the servo outputs an encoder output signal PST
*P0-14 to the outside.
Pulse out per (Details: Refer to “4.4.1 System Parameter
-2^21 2^21
rotation. Setting.")
PWM OFF delay Sets the time to delay until the PWM signal
[ms] 10
time actually goes off after the servo is turned off. PST
(Details: Refer to “4.4.1 System Parameter
*P0-15 PWM OFF
0 1000 Setting.")
delay
4-31

4. Parameters

Details tion
DB control mode - 0x0 Sets DB control mode.
 0: Hold after DB stop
 1: Release after DB stop PST
*P0-16  2: Release after free run stop
DB control mode 0x0 0x3
 3: Hold after free run stop
Setting.")
Function setting Sets drive function per digit.
- 0b00000
bit DIGIT 1 -> Sets the direction of the servo
rotation.
 0: Forward (CCW), Reverse (CW)
 1: Forward (CW), Reverse (CCW)
DIGIT 2 -> Sets the lock of the servo motor when
the value of analog speed command is 0 in
speed operation mode.
 0: Not for use
 1: Use (Torque improvement when PST
analog command stops)
DIGIT 3 -> Sets the open collector contacts for
encoder pulse output.
*P0-17  0: Not for use
Function select  1: Use(ALO0-> A Phase, ALO1->B
0b00000 0b11111
bit Phase, ALO2-> Z Phase)
DIGIT 4 -> Sets the range of monitor output
voltage.
 0: -10V~+10V
 1: 0~10V
DIGIT 5 -> Sets EEPROM save function in
communication.
 0: Enable to save parameter data when
writing through communication.
 1: Unable to save parameter data when
writing through communication.
Setting.")
DAC output Sets output mode for 1-2 analog output
- 0x3210
mode channels.
Sets CH0-CH3 from the bottom, HEX Code, in
order.
 Output CH0 and CH1 as MONIT1 and
MONIT2.
 0 : Speed Feedback [RPM]
PST
 1 : Speed Command [RPM]
 2 : Torque Feedback [%]
P0-18
 3 : Torque Command [%]
DAC mode (F) 0x0000 0xFFFF
 4 : Position Command Frequency [0.1
Kpps]
 5 : Following Error [pulse]
 6 : DC Link Voltage [V]
 D: Speed command (User) [RPM]
 E: Torque command (User) [%]
Setting.")
4-32

4. Parameters

Maximu Details tion
Code Name Minimum mode
m
DAC output Sets offset for 1-2 analog output channels.
offset 1 [Unit/V] 0  Speed: [RPM]
(MONIT1)  Torque: [%]
P0-19
DAC output  Position command frequency: [0.1 Kpps]
offset 1 -1000 1000  Position: [pulse]
(MONIT1)  DC Link: [V] PST
DAC output  Offset
offset 2 [Unit/V] 0 (Details: Refer to “4.4.1 System Parameter
P0-20 (MONIT2) Setting.")
DAC offset 2 (F)
-1000 1000
(MONIT2)
P0-21 Reserved
P0-22 Reserved
DAC output Sets magnification for 1-2 analog output
scale 1 [Unit/V] 500 channels.
(MONIT1) Sets magnification as setting Unit/V.
E.g.) Channel 1 scale 100 [RPM]: Output 100
P0-23
[RPM] as 1 [V]. PST
DAC scale1 (F)
1 10000
(MONIT1)
Setting.")
DAC output
scale 2 [Unit/V] 500
P0-24 (MONIT2)
PST
DAC scale 2 (F)
1 10000
(MONIT2)
DAC output Sets magnification for 1-2 analog output
scale 2 [Unit/V] 500 channels.
(MONIT2) Sets magnification as setting Unit/V.
P0-24 E.g.) Channel 1 scale 100 [RPM]: Output 100
[RPM] as 1 [V]. PST
DAC scale 2 (F)
1 10000
(MONIT2) (Details: Refer to “4.4.1 System Parameter
Setting.")
P0-25 Reserved
Encoder function
- 0
Multi turn encoder function setting PST
setting *0: Using as Multi turn mode with multi turn
encoder.
P0-26
*1: Using as Single turn mode with multi turn
0 1 encoder.
(Applied from OS Ver 1.29)
U phase Current
[mA] 0 PST
P0-27 Offset value Store U phase Current Offset value.
U Current Offset -9999 9999
V phase Current
[mA] 0 PST
Offset value
P0-28 Store V phase Current Offset value.
V Current Offset -9999 9999
P0-29 Reserved
4-33

4. Parameters
4.2.4 Control Setting Parameter

For detailed information, refer to "4.4.2 Control Parameter Setting."
Details tion
Inertia ratio [%] 100 Sets inertia ratio for load.
 Inertia ratio is considered 100 percent when
there is no load from the motor. Because setting
inertia ratio against load is an important control
parameter for the operation of the servo, inertia
ratio shall be set by calculating load inertia by PST
P1-00 the machine system and rotor inertia from the
Inertia ratio 0 20000
motor specification table.
 Setting an accurate inertia ratio is crucial for
optimal servo operation.
(Details: Refer to “4.4.2 Control Parameter
Setting.”)
Position Sets position control proportional gain 1.
proportional gain [Hz] 50 (Details: Refer to “4.4.2 Control Parameter P
P1-01 1 Setting.”)
Position P gain 1 0 500
Position Sets position control proportional gain 2.
Proportional Gain [Hz] 70 (Details: Refer to “4.4.2 Control Parameter P
Position P gain 2 0 500
Position
command filter [ms] 0 Sets filter time constant for internal position P
time constant command which is reflected by electric gear ratio.
P1-03
Pos. command (Details: Refer to “4.4.2 Control Parameter
filter time 0 1000 Setting.”)
constant
Position Sets position feedforward control ratio.
[%] 0
feedforward gain (Details: Refer to “4.4.2 Control Parameter
P1-04 P
Pos. feedforward Setting.”)
0 100
gain
Position Sets position feedforward control filter time
feedforward constant.
[ms] 0
Filter time (Details: Refer to “4.4.2 Control Parameter
P1-05 constant Setting.”)
P
Pos. feedforward
0 1000
time constant
Speed Sets speed control proportional gain 1.
proportional gain [rad/s] 400 (Details: Refer to “4.4.2 Control Parameter PS
Speed P gain 1 0 5000
4-34

4. Parameters

Details tion
Speed Sets speed control proportional gain 2.
proportional gain [rad/s] 700 (Details: Refer to “4.4.2 Control Parameter PS
Speed P gain 2 0 5000
Speed integral Sets speed control integral time constant 1.
[ms] 50
time constant 1 (Details: Refer to “4.4.2 Control Parameter
P1-08 PS
Speed time Setting.”)
1 1000
constant 1
Speed integral
[ms] 15
time constant 2 PS
P1-09 Sets speed control integral time constant 2.
Speed time
1 1000
constant 2
Speed command
filter time [ms] 10
PS
constant
P1-10 Sets filter time constant for speed command values.
Speed command
filter time 0 1000
constant
Speed feedback Sets filter time constant for speed search values.
0.1[ms] 0.5
filter time constant (Details: Refer to “4.4.2 Control Parameter Setting.”)
P1-11 PS
Spd. feedback
0 100
filter time constant
Torque command Sets filter time constant for torque command values. PST
[ms] 10
filter time constant (Details: Refer to “4.4.2 Control Parameter Setting.”)
P1-12
Trq. command
0 1000
filter time constant
Forward rotation Sets forward rotation torque limit.
[%] 300
torque limit (Details: Refer to “4.4.2 Control Parameter Setting.”) PST
P1-13
Positive torque
0 300
limit
4-35

4. Parameters

Details tion
Gain transfer Sets gain transfer mode. [0x0F (DIGIT 1)]
- 0x00
mode  0: Use only gain 1. PS
 1: ZSPD automatic gain transfer
In case of zero speed, transfer from gain 1 to gain
2.
In the opposite case, transfer from gain 2 to gain 1.
 2: INPOS automatic gain transfer
In case of IN position, transfer from gain 1 to gain
2.
 3: Manual gain transfer
When the gain 2 contact is on, transfer from gain 1
to gain 2.
P1-15
Conversion mode 0x00 0x43 Sets P and PI control transfer modes. [0xF0 (DIGIT 2)]
0: Control PI only.
 1: Control P if the command torque is higher than
the set torque [P1-24].
 2: Control P if the command speed is higher than
the set speed [P1-25].
 3: Control P if the current acceleration is higher
than the set acceleration [P1-26].
 4: Control P if the current position error is higher
than the set position error [P1-27].
 Control P if the PCON contact is on (highest
priority).
(Details: Refer to “4.4.2 Control Parameter Setting.”)
(Details: Refer to “4.4.4 Input/Output Contact
Parameter Setting.”)
Gain transfer time [ms] 1 Sets gain transfer time during operation.
When converting gain 1 to gain 2 and gain 2 to gain 1,
P1-16 Gain conversion conversion is scheduled according to the set time.
PS
1 100
time
Resonance Select whether to use the notch filter or not.

avoidance - 0 0: Do not use. 1: Use
P1-17 operation PST
Notch filter use 0 1
Resonance
avoidance [Hz] 300 Sets resonance avoidance frequency.
P1-18 frequency PST
Notch frequency 0 1000
Resonance PST
[Hz] 100 Sets the scope of resonance avoidance frequency.
P1-19 avoidance range
Notch bandwidth 0 1000
Auto gain tuning 100 PST

8
speed [RPM]
P1-20 Sets speed for automatic gain tuning run.
Auto gain tuning
1 10
Speed
Auto gain tuning PST
- 3
distance
P1-21 Sets round-trip distance for automatic gain tuning run.
Auto gain tuning
1 5
distance
4-36

4. Parameters

Details tion
Torque control T
Sets speed limit mode during torque control.
speed limiting - 0
mode 0: Limit to [P1-23]. 1: Maximum motor speed
P1-22 2: Analog speed command
Velocity limit
switch 0 3 3: Limited to the smaller value between the value of
[P1-23] and the analog speed command.
(torque control)
Speed limit [RPM] 2000 T
Sets speed limit when speed limit mode [P1-22] is 0
P1-23 Velocity limit value
0 10000 during torque control.
(torque control)
P control PS
% 200
conversion torque
Torque switch When setting P and PI control transfer mode [P1-15],
P1-24
value sets [0x10 (DIGIT 2)] P control conversion torque.
0 300
(P control
conversion)
P control PS
rpm 50
conversion speed
Speed switch When setting P and PI control transfer mode [P1-15],
P1-25
value sets [0x20 (DIGIT 2)] P control conversion speed.
0 6000
(P control
conversion)
P control PS
conversion rpm/s 1000
acceleration When setting P and PI control transfer mode [P1-15],
P1-26 sets [0x30 (DIGIT 2)] P control conversion
Acc. switch value
acceleration.
(P control 0 5000
conversion)
P control PS
conversion pulse 2000
position error When setting P and PI control transfer mode [P1-15],
P1-27 Position Err switch sets [0x40 (DIGIT 2)] P control conversion position
value error .
0 10000
(P control
conversion)
4-37

4. Parameters
4.2.5 Input/Output Setting Parameter

For detailed information, refer to "4.4.3 Analog Input/Output Parameter Setting" and "4.4.4
Input/Output Contact Parameter Setting."
Details tion
Input signal
- 0x4321
Allocates a CN1 connector pin for a digital input PST
definition 1 signal.
**P2-00
Input port define  Initial input signal allocation
0 0xFFFF  [P2-00]DIGIT 1 = SVON (DI1)
1
 [P2-00]DIGIT 2 = SPD1 (DI2)
Input signal  [P2-00]DIGIT 3 = SPD2 (DI3)
- 0x8765
definition 2  [P2-00]DIGIT 4 = SPD3 (DI4)
**P2-01  [P2-01]DIGIT 1 = ALARMST (DI5)
Input Port define  [P2-01]DIGIT 2 = DIR (DI6)
0 0xFFFF
2  [P2-01]DIGIT 3 = CCWLIM (DI7)
 [P2-01]DIGIT 4 = CWLIM (DI8)
Input signal
- 0x00A9  [P2-02]DIGIT 1 = EMG (DI9)
definition 3  [P2-02]DIGIT 2 = STOP (DIA)
**P2-02  [P2-02]DIGIT 3 = EGEAR1 (**)
Input Port define
0 0xFFFF  [P2-02]DIGIT 4 = EGEAR2 (**)
3  [P2-03]DIGIT 1 = PCON (**)
Input signal  [P2-03]DIGIT 2 = GAIN2 (**)
- 0x0000  [P2-03]DIGIT 3 = P_CLR (**)
definition 4
**P2-03  [P2-03]DIGIT 4 = T_LMT (**)
Input Port define  [P2-04]DIGIT 1 = MODE (**)
0 0xFFFF
4  [P2-04]DIGIT 2 = ABS_RQ (**)
 [P2-04]DIGIT 3 = ZCLAMP (**)
Input signal  [P2-04]DIGIT 4 = ABS_RST (**)
- 0x0F00
definition 5 (**) Unallocated signals
**P2-04
Input Port define (Details: Refer to “4.1.6 External Input Signal and
0 0xFFFF
5 Logic Definition.”)
Output signal
- 0x4321
Allocate a CN1 connector pin for a digital output PST
definition 1 signal.
**P2-05
Output port define  Initial output signal allocation
0 0xFFFF  [P2-05]DIGIT 1 = ALARM (DO1)
1
 [P2-05]DIGIT 2 = READY (DO2)
Output signal  [P2-05]DIGIT 3 = ZSPD (DO3)
- 0x0005
definition 2  [P2-05]DIGIT 4 = BREAK (DO4)
**P2-06  [P2-06]DIGIT 1 = INPOS (DO5)
Output port define  [P2-06]DIGIT 2 = TLMT (**)
0 0xFFFF
2  [P2-06]DIGIT 3 = VMLT (**)
 [P2-06]DIGIT 4 = INSPD (**)
Output signal
- 0x0000  [P2-07]DIGIT 1 = WARN (**)
definition 3
(**) Unallocated signals
**P2-07 (Details: Refer to “4.1.8 External Output Signal and
Output port define Logic Definition.”)
0 0xFFFF
3 In case of dual allocation, the output contact setting
error [AL-72] occurs.
Input signal logic
- 0b11111
Define CN1 connector logic for a digital input signal. PST
definition 1 (0: Contact B. 1: Contact A)
Initial input logic definitions
 [P2-08]DIGIT 1 = DI1 (CN1 #47) (Contact A)
**P2-08
Input logic set 1 0 0b11111  [P2-08]DIGIT 4 = DI4 (CN1 #21) (Contact A)
(Details: Refer to “4.1.6 External Input Signal and
Logic Definition.”)
4-38

4. Parameters

Details tion
Input signal logic
- 0b10001
Define CN1 connector logic for a digital input PST
definition 2 signal.(0: Contact B, 1: Contact A)
**P2-09
Input logic set 2 0 0b11111  [P2-09]DIGIT 4 = DI9 (CN1 #18) (Contact A)
 [P2-09]DIGIT 5 = DIA (CN1 #48) (Contact A)
(Details: Refer to “4.1.6 External Input Signal and
Output signal
- 0b10110
Define CN1 connector logic for a digital output PST
logic definition signal (0: Contact B, 1: Contact A)
 [P2-10]DIGIT 1 = DO1 (CN #38/39) (Contact B)
 [P2-10]DIGIT 2 = DO2 (CN #40/41) (Contact A)
 [P2-10]DIGIT 3 = DO3 (CN #43) (Contact A)
**P2-10  [P2-10]DIGIT 4 = DO4 (CN #44) (Contact B)
0 0b11111
Output logic set  [P2-10]DIGIT 5 = DO5 (CN #45) (Contact A)
(Details: Refer to “4.1.8 External Output Signal and
Position reached
[pulse] 10
Sets remaining pulse range for position reached P
output range output in position operation mode.
P2-11
In position range 1 65535 Parameter Setting.”)
Zero speed
[RPM] 10
Sets speed range for zero speed output during a PST
output range stop.
P2-12
Zero speed range 1 500 Parameter Setting.”)
Range of output Sets speed range for command speed reached S
for speed [RPM] 10 output.
P2-13 reached (Details: Refer to “4.4.4 Input/Output Contact
In speed range 1 500 Parameter Setting.”)
Brake output
[RPM] 100
Sets speed for turning on the brake output contact. PST
action speed (Details: Refer to “4.4.4 Input/Output Contact
P2-14
Brake output Parameter Setting.”)
0 6000
speed
Brake output
[ms] 500
Sets how much time to delay until the brake output PST
delay time contact turns on when the servo is off or stops.
P2-15
Brake output (Details: Refer to “4.4.4 Input/Output Contact
0 1000 Parameter Setting.”)
delay time
Position pulse
- 1
Select operation type for position pulse clear P
clear mode (PCLR) mode.
 0: Operate in edge mode.
 1: Operate in level mode.(Torque :
P2-16
Continue)
PCLR mode 0 1  2: Operate in level mode.(Torque : 0)
Analog speed
[RPM] 2000
Sets speed scale when the analog speed command S
scale is 10 [V].
*P2-17 (Details: Refer to “4.4.3 Analog Input/Output
Analog speed
command scale
4-39

4. Parameters

Details tion
Analog speed
[mV] 0
Sets offset for analog speed commands. S
offset (Details: Refer to “4.4.3 Analog Input/Output
P2-18 Parameter Setting.”)
Analog speed
-1000 1000
command offset
Zero speed clamp Sets voltage range for the clamp operation of the S
[mV] 0
voltage analog zero speed command.
P2-19
Zero speed
0 1000
clamp voltage
Analog torque
[%] 100
Sets torque scale when the analog torque T
scale command is 10 [V].
*P2-20
Analog torque (Details: Refer to “4.4.3 Analog Input/Output
scale
Analog torque
[mV] 0
Sets offset for analog torque commands. T
command offset (Details: Refer to “4.4.3 Analog Input/Output
Analog torque
-1000 1000
command offset
Zero torque
[mV] 0
Sets voltage range for the clamp operation of the T
clamp voltage analog zero torque command.
P2-22
Zero torque
0 1000
clamp voltage
4-40

4. Parameters
4.2.6 Speed Operation Setting Parameter

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

Details
Code Name Minimum Maximum
Speed command 1 [RPM] 10 Sets 1-6 speed commands based on the speed
P3-00 command input contact.
Speed command 1 -6000 6000
SPD1 SPD2 SPD3 Speed Control
Speed command 2 [RPM] 100
P3-01 OFF OFF OFF Analog speed
Speed command 2 -6000 6000 command
Speed command 3 [RPM] 500 ON OFF OFF Digital speed

P3-02 command 1
OFF ON OFF Digital speed
Speed command 4 [RPM] 1000 command 2
P3-03
Speed command 4 -6000 6000 ON ON OFF Digital speed
command 3
Speed command 5 [RPM] 1500 OFF OFF ON Digital speed
P3-04 command 4
ON OFF ON Digital speed
Speed command 6 [RPM] 2000 command 5
P3-05
Speed command 6 -6000 6000 OFF ON ON Digital speed
command 6
Speed command 7 [RPM] 3000
ON ON ON Digital speed
command 7
P3-06
Speed command 7 -6000 6000 (Details: Refer to “4.4.5 Speed Operation
Z detection operation speed [RPM] 10 Sets Z detection operation speed.
P3-07
Z search operation speed 1 300
Speed command acceleration Sets acceleration time for speed commands.
[ms] 0
time (Details: Refer to “4.4.5 Speed Operation
Speed command
0 10000
ACC. time
Speed command deceleration Sets deceleration time for speed commands.
[ms] 0
P3-09 time (Details: Refer to “4.4.5 Speed Operation
Speed command DEC. time 0 10000 Parameter Setting.”)
Speed command S-curve Sets S-Curve time for speed commands.

[ms] 10
time
P3-10
Speed command
1 100
S-curve time
Speed operation pattern - 0 Sets acceleration/deceleration type for speed
commands.
*P3-11 (0;Trapezoidal, 1;Sinusoidal)
ACC.DEC. pattern 0 1
(Details: Refer to “4.4.5 Speed Operation
Manual JOG operation speed [RPM] 500 Sets operation speed for manual JOG operation
P3-12 [Cn-00].
JOG operation speed -6000 6000
4-41

4. Parameters

Details
Program JOG operation Sets operation speed/operation time for programs 1
[RPM] 0
P3-13 speed 1 to 4 during program JOG operation [Cn-01].
Program jog speed 1 -6000 6000 A test run repeats from step 1 to step 4.
Sets operation speed ([P3-13]-[P3-16]) and
Program JOG operation
[RPM] 3000 operation time ([P3-17]-[P3-20]) for each step.
P3-14 speed 2
Program jog speed 2 -6000 6000
E.g.) Step 1 operation
[RPM] 0
P3-15 speed 3
[RPM] -3000
P3-16 speed 4
[ms] 500
P3-17 time 1
Program jog time 1 0 65535
[ms] 5000
P3-18 time 2
[ms] 500
P3-19 time 3
[ms] 5000
P3-20 time 4
4-42

4. Parameters
4.2.7 Position Operation Setting Parameter

For detailed information, refer to "4.4.6 Position Operation Parameter Setting."
Details
Position input pulse Sets logic for position operation input pulses.
- 0
logic - The type of position command input pulses
and rotation direction per logic are as follows:
**P4-00
Pulse Input Logic 0 5
E.g.) Relation between direction signals and

rotation directions when the position pulse
input logic is set to 2.
When the direction signal is low: Reverse
rotation (CW/clockwise)
When the direction signal is high: Forward
rotation (CCW/counterclockwise)
(Details: Refer to “4.4.6 Position Operation
4-43

4. Parameters

Details
Electronic gear ratio Sets electronic gear ratio numerator/denominator 1,
- 1000
*P4-01 numerator 1 2, 3, and 4.
Electric gear num.1 1 2^21 Electronic Gear
EGEAR EGEAR Ratio Electronic
Electronic gear ratio 1 2 Numerator / Gear Ratio
- 1000
*P4-02 numerator 2 Denominator
Electric gear num.2 1 2^21 Electronic gear

ratio numerator 1 Electronic
Electronic gear ratio OFF OFF
- 1000 Electronic gear gear ratio 1
*P4-03 numerator 3 ratio denominator 1
Electronic gear ratio ON OFF
- 1000 Electronic gear gear ratio 2
*P4-04 numerator 4
ratio denominator 2
Electronic gear ratio OFF ON
- 1000 gear ratio 3
*P4-05 denominator 1 Electronic gear
ratio denominator 3
Electric gear den.1 1 32767
Electronic gear
Electronic gear ratio ratio numerator 4 Electronic
- 2000 ON ON
*P4-06 denominator 2 Electronic gear gear ratio 4
ratio denominator 4
Electric gear den.2 1 32767
 The electronic gear ratio is the
Electronic gear ratio numerator/denominator form of the relation
3000
*P4-07 denominator 3 between the position command input pulse and
Electric gear den.3 1 32767 the motor encoder pulse. It is important to set
the ratio so that there is no error during position
Electronic gear ratio operation.
- 4000
*P4-08 denominator 4 (Details: Refer to “4.4.6 Position Operation
Electric gear den.4 1 32767 Parameter Setting.”)
Electronic gear ratio Select an electronic gear ratio mode.

- 0
mode  0: Select electronic gear ratio 1-4.
P4-09  1: Override offset [P4-10] on the electronic gear
ratio numerator 1.
Electric gear mode 0 1
Electric gear ratio Sets the offset of the electronic gear ratio numerator
- 0 1.
numerator offset
The offset will be set on the electronic gear ratio
numerator 1.
 EGEAR1 contact LOW -> HIGH
P4-10 : Increase as the [P4-10] setting value .
Electric gear num.
-32767 32767  EGEAR2 contact LOW -> HIGH
offset
: Decrease as the [P4-10] setting value .
Position error [Pulse] 90000 Sets range for triggering the position error alarm.
P4-11 (Details: Refer to “4.4.4 Input/Output Contact
Following error range 1 2^30 Parameter Setting.”)
Limit contact function - 0 Select the operation type of position command pulse
clear for CWLIM and CCWLIM contacts.
 0: Ignore any input pulses when the CCWLIM /
P4-12 Position limit
0 1 CWLIM contact is on.
function  1: When the CCWLIM / CWLIM contact is on,
receive an input pulses and save them to buffer.
4-44

4. Parameters

Maximu Details
Code Name Minimum
m
Backlash Sets backlash compensation in position
- 0
compensation operation.
Sets backlash compensation by converting the
amount of backlashes to number of pulses if the
position changes because of backlashes
P4-13 caused by position operation.
Backlash
0 10000 Sets in the opposite direction according to the
compensation
amount of backlashes.
Pulse input filter - 3 Sets filter frequency according to pulse input.
 0 : No filter used
 1 : 500 Khz (Min)
 2 : 750 Khz
**P4-14  3 : 1 Mhz (Default)
Pulse input filter 0 5  4 : 1.25 Mhz
The frequency bands above were determined
based on the width of input pulse in
consideration of the characteristics of digital
filters.
4-45

4. Parameters
4.2.8 Operation Handling Parameter

Minimu Maximu Details
Code Name
m m
Manual JOG operation - - The drive performs manual JOG operation
by itself.
(Refer to “Chapter 5 Handling and
Operation.”)
 [MODE]: Finish
 [UP]: Forward rotation (CCW)
 [DOWN]: Reverse rotation (CW)
 [SET]: Servo ON / OFF
Related parameters are as follows:

 [P3-08]: Speed command acceleration
Cn-00 time
Jog - -
 [P3-09]: Speed command deceleration
time
 [P3-10]: Speed command S-curve
 [P3-11]: Speed operation pattern
 [P3-12]: JOG operation speed
Operate regardless of the contact input

status of CN1.
(Details: Refer to "5.2 Handling.")
Program JOG operation - - Continuously operates according to the
program already set.
 [SET]: Program JOG run or stop
Related parameters are as follows:

 [P3-08]: Speed command acceleration
time
 [P3-09]: Speed command deceleration
time
 [P3-10]: Speed command S-curve
Cn-01 Program jog  [P3-11]: Speed operation pattern
- -
 [P3-13~16]: Program operation speed 1
to 4
 [P3-17~20]: Program operation time 1 to
4
Operate regardless of the contact input

status of CN1.
Alarm reset - - Reset the alarm that went off.
Cn-02
Alarm reset - - (Details: Refer to "5.2 Handling.")
4-46

4. Parameters

Details
Get alarm history - - Check the saved alarm code history.
[UP] or [DOWN]: Reads alarm codes.
 E.g.) Recent first history [AL-42]:

Cn-03 RST_PFAIL occurs.
Get alarm history - -  01: Latest alarm
 20: 20th previous alarm

Alarm history clear - - Deletes the entire saved alarm code history.
Cn-04
Alarm history clear - - (Details: Refer to "5.2 Handling.")
Auto gain tuning - - Performs automatic gain tuning operation.
Related parameters are as follows.

Cn-05  [P1-22]: Auto gain tuning speed
Auto gain tuning - -
 [P1-23]: Auto gain tuning distance

Z search - - Perform Z detection.
 [SET]: Mode entering and servo ON status

 [UP]: Phase Z forward search
 [DOWN]: Phase Z reverse search
Cn-06
Z detection - -
Related parameters are as follows.
 [P3-07]: Sets Z-phase search operation
speed [RPM].

Input contact forced Forcibly turns on/off the input contact
- -
ON/OFF temporarily.
 [UP]: (A),(8),(6),(4), and (2) signals forced
ON/OFF
Cn-07
 [DOWN]: (9),(7),(5),(3), and (1) signals
Forced input test - - forced ON/OFF
 [MODE]: Move to another digit.
Output contact forced Forcibly turns on/off the output contact
- -
ON / OFF temporarily.
 [UP]: (4) and (2) signals forced ON/OFF
Cn-08  [DOWN]: (5),(3), and (1) signals forced
Forced output test - - ON/OFF
 [MODE]: Move to another digit.
Parameter initialization - - Initializes parameter data.
Cn-09
Parameter Initialization - - (Details: Refer to "5.2 Handling.")
4-47

4. Parameters

Minimu Maximu Details
Code Name
m m
Auto speed command Calibrates the offset of analog speed
- -
offset correction commands automatically.
The possible voltage range is from -1 V to 1

V.
If offset voltage exceeds this range, [oVrnG]
Cn-10 is displayed and there is no calibration.
Auto speed command
- -
offset calibration
You can check the calibrated offset in the
analog speed command offset [P2-18].

Auto torque command Calibrates the offset of analog torque
- -
offset correction commands automatically.

V.
Auto torque command
- -
offset calibration
analog torque command offset [P2-21].

Manual speed command Calibrates the offset of analog speed
- -
offset correction commands manually.

V.
Manual speed command
- -
offset calibration
analog speed command offset [P2-18].

Manual torque Calibrate the offset of analog torque
command offset - - commands manually.
correction
The possible voltage range is from +1 V to -
1 V.
Manual torque
command - -
offset calibration You can check the calibrated offset in the
analog torque command offset [P2-21].
4-48

4. Parameters

Maximu Details
Code Name Minimum
m
Absolute encoder reset - - Resets the absolute encoder.
Cn-14
Abs encoder reset - - (Details: Refer to "5.2 Handling.")
Reset the instantaneous maximum load factor to

Max load clear - - 0.
 [UP]: Displays the + forward maximum load
factor.
Cn-15
 [DOWN]: Displays the - direction maximum
load factor.
Max load clear - -
 [SET]: Initializes the maximum load factor.
Parameter lock - - Lock or Unlock whole parameter.
[UP] : Unlock
Cn-16
Parameter lock - - [DOWN] : Lock
(Details: Refer to “5.2 Handling.”)
Current offset - - Store existing current offset value into [P0-27]
Cn-17 ~[P0-28] Parameter.
Calculate current offset - - (Details: Refer to “5.2 Handling.”)
4-49

4. Parameters
4.3 Operation Status Display
4.3.1 Status Display [St-00]

Refer to "4.1.2 Status Summary Display."
4.3.2 Speed Display

1. Current operation speed [St-01]
Displays the current operation speed in [RPM].
2. Current command speed [St-02]
Displays the current command speed in [RPM].
4.3.3 Position Display

1. Tracking position pulse [St-03]
Displays the accumulated number of position command pulses that followed as a result of rotation
of the servo motor since the servo was turned on.
2. Position command pulse [St-04]
Displays the accumulated number of position command pulses that have been entered since the
servo turned on.
3. Remaining position pulse [St-05]
 This is the difference between command pulse and tracking pulse, and displays the remaining
position pulses for the servo to operate.
 The remaining position pulses delayed while the servo is off are ignored when it is turned on.
4. Input pulse frequency [St-06]
Displays input pulse frequency.
4.3.4 Torque and Load Display

1. Current operation torque [St-07]
Displays the energy (load) output by the servo motor as a percentage of the rated output.
2. Current command torque [St-08]
Displays the internal torque command calculated from the servo's control algorithm as a percentage
of the rated torque.
3. Accumulated overload rate [St –09]
Displays the current energy (load) as a percentage of the rated energy (load) of the servo motor.
4. Instantaneous maximum load factor [St–10]
Displays the maximum (peak) load between the current time and the start of control after the servo
is turned on as a percentage of the rated output.
4-50

4. Parameters
5. Torque limit [St –11]
Displays the maximum torque that the servo motor can output as a percentage of the rated torque.
6. DC link voltage [St–12]
 The DC link voltage of the standard drive that uses 220 [V] is approximately 300 [V].
 The maximum DC link voltage allowed for the standard drive that uses 220 [V] is 405 [V].
 The overvoltage alarm [AL-41] triggers when the DC link voltage threshold is exceeded because
there is either too much or too little regenerative resistance.
 The normal DC link voltage in the regenerative section is 385 [V] or below.
7. Regenerative overload [St–13]
Displays overload rate relative to the regenerative capacity of the servo drive.
4.3.5 I/O Status Display

1. CN1 I/O input contact point status [St-14]
Refer to "4.1.4 External Input Contact Point Signal Display [St-14]."
2. CN1 I/O output contact status [St-15]
Refer to "4.1.6 External Output Contact Signal Display [St-15]."
4.3.6 Miscellaneous Status and Data Display

1. Single-turn data (pulse) display [St-16]
Displays the single-turn data of the encoder in pulses.
2. Single-turn data (degree) display [St-17]
Displays the single-turn data of the encoder in degrees.
3. Multi-turn data display [St-18]
Displays the multi-turn data of the encoder.
4. Inside temperature display [St-19]
Displays the temperature sensor value of the servo drive in [℃].
5. Rated motor speed display [St-20]
Displays the rated speed of the currently installed motor in [RPM].
6. Peak motor speed display [St-21]
Displays the peak speed of the currently installed motor in [RPM].
7. Rated motor current display [St-22]
Displays the rated current of the currently installed motor in [A].
8. U phase current offset display [St-23]

Displays the U phase current offset in [mA].
9. V phase current offset display [St-24]
Displays the V phase current offset in [mA].
4-51

4. Parameters
4.3.7 Version Display

1. Software version display [St-25]
Displays the version of the currently installed software.
4-52

4. Parameters
4.4 Parameter Setting
4.4.1 System Parameter Setting

1. Motor ID setting [P0-00]
 Refer to motor ID: xxx on the label.
2. Encoder setting
 Encoder type [P0-01]
 Refer to encoder content of the label attached to the motor and the table below.
 Encoder pulse [P0-02]
 Refer to encoder content of the label attached to the motor and the table below.
Please caution encoder type is different depending on □ part in XML-SB04A□K1G103 from motor’s
name.
The label attached to the motor System parameter setting
Encoder Type Enc Resolution

XML-SB04A□K1G103
[P0-01] [P0-02]
A~G (Incremental parallel Type) 0 1024~6000p/r
N (Single turn Serial Type) 1 19 [bits]
M (Multi turn Serial Type) 3 19 [bits]
Note 1) When Single turn Serial Type is connected, it sets the value of P0-00, P0-01, P0-02
automatically.
Note 2) Incremental parallel Type is p/r input, Single turn Serial and Multi turn Serial Type is Bit
input.
3. Operation mode setting [P0-03]: Sets operation mode of the servo.
Operation Mode Operation Method

0 Torque control operation
1 Speed control operation
2 Position control operation
Mode contact ON: Position control operation
3
Mode contact OFF: Speed control operation
Mode contact ON: Speed control operation
4
Mode contact OFF: Torque control operation
Mode contact ON: Position control operation
5
Mode contact OFF: Torque control operation
4-53

4. Parameters
4. System ID setting
An ID can be given to the servo if RS422 communication and BUS communication are used for
communication with the servo. Communication-related options are required in this case.
 Communication speed setting [P0-04]
You can select the baud rate, the communication speed of RS422.
 0: 9600 [bps]
 1: 19200 [bps]
 2: 38400 [bps]
 3: 57600 [bps]
 System ID [P0-05]
A unique ID can be given to the servo and used for individual communication with it.
5. Main power input mode setting [P0-06]
Sets the main power input mode and processing mode in case of phase loss.
 DIGIT 1: Sets the main power input type.
(0: Single-phase power input. 1: Three-phase power input.)
 DIGIT 2: Sets how to handle errors and warnings in case of main power phase loss.
(0: Error in case of main power phase loss. 1: Warning in case of main power phase loss.)
6. RST checking time setting [P0-07]
Sets checking time for main power phase loss.
7. Start-up display parameter setting [P0-08]
 You can set the parameter to be applied when the servo is turned on.
 There are 26 values available for setting, from [St-00] to [St-25]. Choose one for a specific
parameter.
8. Regenerative overload derating factor setting [P0-09]
Sets derating factor for checking of regenerative resistance overload. When the derating value is
set to 100% or below, the overload alarm triggers at a time proportional to the set value.
9. Regenerative resistance value setting [P0-10]
Sets the resistance value for regenerative braking resistance. If set to 0, a default resistance
capacity embedded in the drive is used.
10. Regenerative resistance capacity setting [P0-11]
Sets the capacity for the current regenerative resistance. If set to 0, a default resistance capacity
embedded in the drive is used.
11. Overload check default load factor setting [P0-12]
Indicates the load factor for starting continuous overload checks. If set to 100 or below, an overload
check starts early and the overload alarm triggers early.
12. Overload warning level setting [P0-13]
Sets the level for continuous overload warning signal output. A warning signal is issued when the
percentage value set relative to the alarm trigger value is reached.
13. Encoder pulse prescale output (encoder output scaling[P0-14])
4-54

4. Parameters
When an encoder signal is output from the servo to the outside, its output pulses are pre-scaled as
the value of encoder output scaling[P0-14]
 E.g.) Set the value of encoder output scaling[P0-14] in a motor whose encoder pulse is 3,000
[ppr].
 encoder output scaling[P0-14] = 12,000[ppr]
=> Encoder pulse output: 3,000 [ppr] × 4 = 12,000 [ppr]
14. PWM OFF delay time setting [P0-15]
Sets the time span between servo OFF command and actual PWM OFF. This is to prevent the
motor from slipping down the vertical axis until the motor brake comes into effect after receiving the
servo off command and then the brake signal. Set a PWM off delay when operating the motor brake
with the output contact point brake signal. (Range: 0-1000 [ms]. Initial value: 10.)
15. DB control mode [P0-16]: Sets DB control mode.
 0: Hold after DB stop
 1: Release after DB stop.
 2: Release after free run stop.
 3: Hold after free run stop.
16. Servo function setting bit [P0-17]
Sets drive function per digit.
 DIGIT 1 -> Sets the operation direction of the servo.
 0: CCW (Forward), CW (Reverse)
 1: CW (Forward), CCW (Reverse)
 DIGIT 2 -> Sets the lock of the servo motor when the value of analog speed command is 0 in
speed operation mode.
 0: Not for use
 1 : Use(Torque improvement when analog command stops.)
 DIGIT 3 -> Sets the open collector contacts for encoder ouput .
 0: Not for use
 1 : Use(ALO0,ALO1,ALO2 output contacts  open collector A,B,Z output)
Gruop x AL-XX AL0 AL1 AL2
Group 1 AL-10~16 ON OFF OFF

Group 2 AL-21~24 OFF ON OFF
Group 3 AL-30~35 ON ON OFF
Group 4 AL-40~43 OFF OFF ON
Group 5 AL-50~53 ON OFF ON
Group 6 AL-63~64 OFF ON ON
Group 7 AL-71~72 ON ON ON
 DIGIT 4 -> Sets the range of monitor output voltage.(can be applied both monitor1 and 2)
 0: -10~+10V
4-55

4. Parameters
 1 : 0~+10V
 DIGIT 5 -> Sets EEPROM save function in communication.
 0: EEPROM use.
 1: EEPROM not for use
17. DAC output setting
There are 2 kinds of DAC output, each of which is made every 200 [usec] according to the condition
of used data.
 DAC output type [P0-18 DIGIT 1, DIGIT 2]
Type Data Content Type Data Content

0 Speed feedback [RPM] 5 Following error [pulse]
1 Speed command [RPM] 6 DC link voltage [V]
2 Torque feedback [%] D Speed command (user) [RPM]
3 Torque command [%] E Torque command (user) [%]
Position command frequency
4
[0.1 Kpps]
 DAC output scale[P0-23], [P0-24]
If the output value is too low or too high, output ratio can be adjusted.
Sets magnification [Unit/V] for analog output channels 1 and 2.
(Speed [RPM], torque [%], position command frequency [0.1 Kpps], position [pulse], DC link [V])
Example) Channel 1 scale 100 =>100 [RPM] is output as 1 [V].
 DAC output offset [P0-19], [P0-20]
Sets offset [Unit/V] for 1 ~ 2 analog output channels.
(Speed [RPM], torque [%], position command frequency [0.1 Kpps], position [pulse], DC_Link
[V])
4.4.2 Control Parameter Setting

The order of setting control parameters is as follows:
 Load inertia ratio [P1-00] setting: Refer to “5.2.6 Auto Gain Tuning [Cn-05].”
 Position proportional gain [P1-01] and [P1-02] adjustment:
Increase the gain to the extent that the servo motor does not overshoot or take off (do not use
during speed operation or torque operation).
 Speed proportional gain [P1-06] and [P1-07] adjustment:
Increase the gain to the extent that the servo motor does not vibrate.
 Speed integral time constant [P1-08] and [P1-09] adjustment:
Refer to the following table and perform setting according to the speed proportional gain.
4-56

4. Parameters
(1) Inertia Ratio Setting [P1-00]

An inertia ratio shall be set by calculating load inertia from the machine system and rotor
inertia from the motor specification table.
Setting inertia ratio against load is an important control parameter for the operation of the
servo. Setting accurate inertia ratio is crucial for optimal servo operation.
 The following table contains control gain recommendations for different categories of inertia
ratio:
Inertia Ratio Gain Range

Motor Position Speed
Flange [Inertia] Speed Integral
Category Proportional Proportional
(Multiple) Gain
Gain Gain
Low inertia 1~5 40 ~ 90 400 ~ 1000 10 ~ 40
40 Medium
5 ~ 20 20 ~ 70 200 ~ 500 20 ~ 60
~ 80 inertia
High inertia 20 ~ 50 10 ~ 40 100 ~ 300 50 ~ 100
* Inertia ratio can be tuned during a test drive if it is hard to calculate.
(2) Position Control Gain

Differ
FF filter time Feedforward gain
entiati
constant [P1-04]
on
+ Speed
+ Position error Command
Position Proportional +
command gain
-
Current position
Prescale
Pulse output
[P0-14]
 Position command: Count the position command pulses entering from outside, and converts them
into position commands, apply an electric gear ratio, and then pass through [P1-03] position
command filter, and use it as an internal position command. In the case that Numerator of electric
gear is bigger, a change of external input position command pulse influences on a change of
internal position command. And this influence is getting bigger. So there is need to adjust ‘[P1-03]
position command filter time constant’
 Current position: Count pulse signals received from the encoder and convert them to current
position by using electronic gear ratio settings.
 Position proportional gain [P1-01] and [P1-02]: Convert the difference between the position
command and the current position into a speed command by multiplying it by position proportional
gain.
* Recommended value = speed proportional gain [P1-06] / 10
4-57

4. Parameters
 Feedforward gain [P1-04]: Calculate the gradient with the differential value of the position command.
Reduce time to target position by adding the speed command to the gradient. If the resultant
value is too big, overshooting or instability might occur in position control. Therefore, it is important
to gradually increase the value from a small value while watching the test drive.
 Feedforward filter [P1-05]: If position commands change too drastically, the feedforward control
filter vibrates. In this case, set a filter value to remove the vibration.
(3) Speed Control Gain
Analog
speed
command Speed command Speed integral
filter time constant time constant
[P1- 10]
[P1-08]
+
Digital speed command + Speed Torque command

Proportional Gain
[P1-06]
- Current speed
Encoder signal
Speed feedback filter Speed calculation
time constant [P1-11]
Current torque
 Speed command: Use an analog speed signal entering from outside as a speed command after
running it through the speed command filter [P1-10], or use a digital speed command and [RPM]
set in the internal parameter.
 Current speed: Calculate speed by counting encoder signals as time progresses, and use the
calculated speed as the current speed after running it through a filter. An algorithm, which projects
speed by using the current torque and inertia, is used to make up for the errors occurring during
speed calculation at a very low speed. Therefore, an accurate motor constant and inertia ratio are
closely associated with the stability of motor speed control.
 Speed integral time constant [P1-08]: Calculate the integral value of the speed error, which is the
difference between the command and the current speed, and convert it into a torque command by
multiplying it by integral time constant.
A decreased integral time constant solves the transient response issue and thus improves speed
tracking. If the integral time constant is too small, however, overshoot occurs. On the other hand,
if the integral time constant is too big, excessive response drops and proportional control takes over.
* Recommended value = 10000 / speed proportional gain [P1-06]
Speed Low
High
Command
speed
Tracking speed
Time
 Speed proportional gain [P1-06]: Convert the speed error into a torque command by multiplying it
by proportional gain.
If the result value is large, speed response accelerates and thus speed tracking increases. If the
value is too big, however, vibration occurs. If the value is too small, speed response slows down
and speed tracking decreases. Consequently, the servo loses its power.
4-58

4. Parameters
Speed
Command
speed
High
Low
Time
 Speed feedback filter time constant [P1-11]: If the speed of the motor changes because of vibration
of the drive system, or vibration occurs due to gain when there is too much load inertia, you can
control the vibration by applying a filter to speed feedback. If you set too great a value, speed
responsiveness will be reduced and thus the power of control will be compromised.
* Recommended value = 0 to speed integral time constant [P1-08]/10
(4) Torque Command Filter Time Constant Setting [P1-12]

You can improve the stability of command signals by setting a digital filter for analog torque
command voltage. If you set too great a value, responsiveness for torque commands will
be reduced. It is important to set an appropriate value for your system.
(5) Torque Limit Setting [P1-13], [P1-14]

You can set maximum torque limits for forward rotation [P1-13] and for reverse rotation [P1-
14] separately. The setting is displayed as a percentage of the rated torque and the standard
is 300 [%].
(6) Gain 1<->Gain 2 Transfer Mode Setting [P1-15] 0x0F (DIGIT 1)

Set speed gain transfer mode. [0x0F (DIGIT 1)]
 0: Use only gain 1.
 1: ZSPD auto gain transfer
In case of zero speed, transfer from gain 1 to gain 2.
 2: INPOS auto gain transfer
In case of IN position, transfer from gain 1 to gain 2.
 3: Manual gain transfer
When the gain 2 contact is on, transfer from gain 1 to gain 2.
4-59

4. Parameters
(7) Gain 1<->Gain 2 Conversion Time Setting [P1-16]

 Set gain transfer time during operation.
 When converting gain 1 to gain 2 and gain 2 to gain 1, conversion is scheduled according to the set
time.
(8) P / PI Conversion Mode Setting [P1-15 DIGIT 2]

Set P and PI control conversion modes. [0xF0 (DIGIT 2)]
 0: Control PI only.
 1: Control P if the command torque is higher than the set torque [P1-24].
 2: Control P if the command speed is higher than the set speed [P1-25].
 3: Control P if the current acceleration is higher than the set acceleration [P1-26].
 4: Control P if the current position error is higher than the set position error [P1-27].
 Control P if the PCON contact is on (highest priority).
With such functions, you can improve position operation by applying the P control operation
stop function after PI control operation.
(9) Resonance Avoidance Operation Setting [P1-17], [P1-18], [P1-

19]
Torque output
Resonance avoidance frequency [P1-18]
Torque output frequency
Resonance avoidance range

BW [P1-19]
If vibration occurs at certain frequencies in certain systems because of mechanical

resonance, you can control the vibration by controlling torque output for the specific
frequencies.
 Resonance avoidance operation [P1-17]
 0: Not for use
 1: Use
4-60

4. Parameters
4.4.3 Analog Input/Output Parameter Setting
(1) Analog Speed Scale Setting

 Analog speed scale [P2-17]: Set the analog speed command of 10 [V] in the unit of [RPM]. The
maximum value is the maximum motor speed.
 Analog speed command offset [P2-18]: There are cases where a certain level of voltage remains on
the analog signal access circuit, even at the 0 speed command. In this case, you can compensate it
by setting the voltage as offset. The unit is [㎷].
 Zero speed command clamp setting
Speed
+10 [V] -㎷ +10 [V]

-10 [V] Voltage -10 [V] +㎷
Zero speed command
clamp voltage
[P2-19]
Zero speed command clamp Zero speed command clamp

voltage” voltage
[P2-19] = 0 [P2-19] = Not 0 [mV]
(2) Analog Torque Scale Setting

 Analog torque command scale [P2-20]: Set the analog torque command of 10 [V] as a percentage
of the rated torque. The setting should be within the torque limit [P1-13] and [P-14] of system
parameter setting.
 Torque command offset [P2-21]: There are cases in which a certain level of voltage remains on the
analog circuit, even at the 0 torque command, because of problems with the circuit. You can
compensate this by setting the voltage as offset. The unit is [㎷].
 Zero torque command clamp
Torque
+10 [V] -㎷ +10 [V]

+㎷
-10 [V] Voltage -10 [V] Zero torque command
clamp voltage
[P2-22]
Zero torque command clamp Zero torque command clamp

voltage voltage
[P2-22] = 0 [P2-22] = Not 0 [mV]
4-61

4. Parameters
4.4.4 Input/Output Contact Point Parameter Setting
(1) Position Operation Parameter Setting

 Position reached output range [P2-11]: If the error pulse, which is the difference between the
command position pulse and the follow position pulse, reaches this range, a signal is output to
indicate that the position has been decided.
Pulse counter
Command pulse counter
Error pulse Follow pulse

counter
Position reached output

range
[P2-11] Time
Position
decision
Completed
output
If you set too great a value, the target position complete output signal might occur during operation
depending on the position command pulse. Therefore, it is important to set an appropriate value.
 Position operation follow error range [P4-11]
Pulse counter Command pulse counter
Position follow error range
Error Follow pulse counter
Time
Position
follow
error alarm
If the error pulse is greater than the position operation tracking error range, the position tracking
error alarm [AL-51] triggers.
4-62

4. Parameters
(2) Speed Operation Parameter Setting
Speed
Command speed
Range of output for
speed reached
[P2-13]
Zero speed output

range [P2-12] Time
Zero speed (ZSPD)
Speed reached
(INSPD)
 Zero speed output range [P2-12]: When the current speed becomes lower than the set speed, the
zero speed signal is output.
 Speed-reached output range [P2-13]: The speed-reached signal is output.
(3) Brake Signal Output Parameter Setting
Speed Motor operation speed

Servo OFF or Alarm trigger
Brake signal output

Operation speed [P2-
14]
Time
Servo ON
input
Brake
Output Within 50 [msec] Brake signal output
signal
Delay time [P2-15]
 Brake signal output operation speed [P2-14], brake signal output delay time [P2-15]
In the event that an alarm triggers when the servo’s built-in brake is applied to the vertical axis for
the operation of the motor by the servo, this feature is activated to prevent the vertical axis from
falling to the motor brake. This may occur as a result of the brake signal’s turning off, which is
triggered by first of either the brake signal output operation speed [P2-14] or the brake signal output
delay time [P2-15].
4-63

4. Parameters
(4) Position Pulse Clear Mode [P2-16]

Set the operation of position pulse clear mode in position operation mode.
Setting Operation
Operate only on the edge where the contact point turns from off to on.
0
(Do not operate when it is off or on.)
Operate immediately at contact point on_ Level. Then, maintain torque when
1
contact is “High”.
Operate immediately at contact point on_ Level. Then, torque is “0” when contact
2
is “High”.
(5) Output Signal Logic Definition Setting [P2-10]

You can change the output condition of the current output contact point to initial status ON or
initial status OFF.
4-64

4. Parameters
4.4.5 Speed Operation Parameter Setting
(1) Speed Command [P3-00]-[P3-06]

You can adjust operation speed in [RPM]. Operation speed is determined by speed
command input contact points.
SPD1 SPD2 SPD3 Speed Control

OFF OFF OFF Analog speed command
Digital speed command
ON OFF OFF
1
OFF ON OFF
2
ON ON OFF
3
OFF OFF ON
4
ON OFF ON
5
OFF ON ON
6
ON ON ON
7
(2) Acceleration/Deceleration Time

 Acceleration time [P3-08]: Sets the time required for the motor to reach the rated motor speed from
zero speed in [ms] units.
 Deceleration time [P3-09]: Sets the time required for the motor to stop after running at the rated
motor speed in [ms] units.
(3) S-Curve Operation [P3-11]

You can set acceleration/deceleration operation as an S-curve pattern for smooth
acceleration/deceleration.
 0: Trapezoidal -> Set acceleration/deceleration time [P3-08] and [P3-09].
 1: Sinusoidal -> Set acceleration/deceleration time [P3-08] and [P3-09] + S-curve time [P3-10].
(4) Manual JOG Operation [Cn-00]

Press RIGHT for forward rotation at JOG operation speed [P3-12]. Press LEFT for reverse
rotation at JOG operation speed [P3-12]. The contact point input status by CN1 is ignored.
(5) Program JOG Operation [Cn-01]

A test drive repeats from step 1 to step 4.
Set operation speed [P3-13]-[P3-16]) and operation time ([P3-17]-[P3-20]) for each step.
4-65

4. Parameters
4.4.6 Position Operation Parameter Setting
(1) Input Pulse Logic [P4-00]

Set type of the position command input pulse and rotation method per logic.
 0: A+B
 1: CW+CCW, positive logic
 2: Pulse + sign, positive logic
 3: A+B
 4: CW + CCW, negative logic
 5: Pulse + sign, negative logic
PF + PR Forward rotation Reverse rotation
PULS PULS
Phase
A+B (CN1-9) (CN1-9)
Positive
0
Logic SIGN SIGN
(CN1-11) (CN1-11)
PULS PULS
CW+CCW L Level
Positive 1 (CN1-9) (CN1-9)
Logic SIGN SIGN L Level
(CN1-11) (CN1-11)
Pulse + PULS PULS

direction
2 (CN1-9) (CN1-9)
positive SIGN SIGN
logic H Level L Level
(CN1-11) (CN1-11)
PF + PR Forward rotation Reverse rotation
Phase
PULS PULS
A+B (CN1-9) (CN1-9)
Negative
3 SIGN SIGN
Logic
(CN1-11) (CN1-11)
PULS PULS
CW+CCW
(CN1-9) H Level
Negative 4 (CN1-9)
Logic SIGN SIGN
H Level
(CN1-11) (CN1-11)
Pulse + PULS PULS

direction
5 (CN1-9) (CN1-9)
negative SIGN SIGN
logic L Level H Level
(CN1-11) (CN1-11)
4-66

4. Parameters
(2) Electronic Gear Ratio [P4-01] ~ [P4-08]

The electronic gear ratio is the numerator/denominator form of the relation between the
position command input pulse and the motor encoder pulse. It is important to set the ratio so
that there is no error during position operation. The following describes how to set it:
* Electronic gear ratio = transmission per input pulse x number of pulses per motor rotation /
transmission per motor rotation
e.g.) If deceleration ratio is 1/2, ball screw lead is 10 [㎜], and encoder pulse is 3000 in the
unit of commands that control each pulse in 1 [㎛].
1. Transmission per input pulse = 1 × 10 - 3 = 0.001 [㎜]
2. Number of pulses per motor rotation = number of encoder pulses × 4 = 3000 × 4 = 12000
3. Transmission per motor rotation = 10 × 1/2 = 5 [㎜]
4. Electronic gear ratio = 12000 × 10 - 3/5 = 12/5
Therefore, the numerator and denominator of electronic gear ratio are 12 and 5 respectively.
NOTE 1) There are 12,000 pulses per rotation for a 3,000-pulse encoder because the servo drive controls
pulses by multiplying them by four in quadrature type encoder signals.
In this case, motor speed ([RPM]) is calculated as follows:
Motor speed = 60 × electronic gear ratio × input pulse frequency / number of pulses per
motor rotation
The following is how to calculate error pulse [St-05], the difference between command pulse and tracking
pulse during operation. Error pulse = command pulse frequency × electronic gear ratio × {1 -
(0.01 × [P1-05])} / [P1-01]
In the case of serial type encoder, It is 523288 pulses per 1 rotation without X4.
(3) Backlash Compensation [P4-13]

Sets backlash compensation by converting the amount of backlashes into the number of
pulses if the position changes because of backlashes caused by position operation. If the
travel range per rotation is changed because of abrasion of machine. You can use is by
adjusting off-set variation volume caused by abrasion
(4) Electronic Gear Ratio Offset Adjustment: For reasons of wear

and tear on the machine during position pulse command
operation
If the operation distance per rotation changes, you can adjust the change caused by wear
and tear with offset.
 Electronic gear ratio setting mode [P4-09]
 0: Use electronic gear ratio 1~4.
 1: Use electronic gear ratio 1. Override the value on the electronic gear ratio numerator.
 Electronic gear ratio numerator offset setting
In the above example, if you enter 12,000 for the numerator and 5,000 for the denominator and turn
on the EGEAR1 contact point, the numerator increases by one. If you turn on the EGEAR2 contact,
the numerator decreases by one. The change is saved in the [P4-10] parameter.
4-67

4. Parameters
If the offset is two, the electronic gear ratio for operation changes from 12000/5000 to 12002/5000.
Also, if the offset is -2, the electronic gear ratio for operation changes from 12000/5000 to
11998/5000.
4.5 Alarms and Warnings
4.5.1 Servo Alarm Status Summary Display List

If an alarm triggers, the malfunction signal output contact point (ALARM) turns off and the
dynamic brake stops the motor.
Alarm
Name Details What to inspect
Code
Check for incorrect drive output wiring and
incorrect encoder wiring.
Check the motor ID / drive ID / encoder
IPM Fault Overcurrent (H/W)
setting.
Check for equipment clash or
confinement.
Check the motor ID, drive ID, and encoder
IPM temperature IPM module overheat
setting.
confinement.
Overcurrent Overcurrent (S/W)
setting.
confinement.
Replace the drive if [St-23] and [St-24] are
Current offset Abnormal current offset
10% or higher of the rated current.
Overcurrent (/CL) Overcurrent (H/W)
setting.
confinement.
confinement.
Check load and brake condition.
Continuous overload Continuous overload Check for incorrect drive output wiring and
setting.
Check the temperature inside the drive
Room temperature Drive overheat [St-19].
Install a cooling fan and check load.
Check input voltage, regenerative braking
Regen. Overload Regenerative overload resistance, and wiring.
Replace the drive.
4-68

4. Parameters
Alarm
Code
Motor cable open Motor cable disconnection Motor wiring
Serial encoder Check for incorrect wiring of the serial
Encoder comm.
communication error encoder cable.
Encoder cable Check whether the encoder cable is
Encoder cable open
disconnection disconnected.
Check the [P0-02] setting and encoder
Encoder data error Encoder data error
wiring.
Motor setting error Motor ID setting error Check the [P0-00] setting.
Encoder Z PHASE cable

Encoder Z PHASE Open Check the encoder cable
broken
BackUp battery has not enough voltage,
Change battery After replacing battery.
Low Battery Error Low voltage error ※Power “ON” and Homing operation are
absolutely needed.
(apply from S/W Ver 1.28)
Check input voltage and power unit
Under voltage Low voltage
wiring.
Check input voltage and wiring. Check for
braking resistance damage.
Overvoltage Overvoltage
Check for excessive regenerative
operation. Check regenerative resistance.
RST power fail Main power failure Check power unit wiring and power.
Control power fail Control power failure Check power unit wiring and power.
Check the encoder, encoder setting,
encoder wiring, gain setting, motor wiring,
Over speed limit Overspeed
motor ID, electronic gear ratio, and speed
command scale.
Check the excessive position command
pulse setting [P4-11], wiring, limit contact
Position following Excessive position error point, gain setting, encoder setting, and
electronic gear ratio. Check for equipment
confinement and load.
Check pulse command frequency from
Pulse command frequency the upper level controller.
Over pulse CMD
error
Check command pulse type.
Check for incorrect wiring in the drive
output and encoder. Also, check the
Speed Deviation Excessive speed error
connection and load status of the
equipment.
Check for incorrect wiring in the drive
output and encoder. Also, check the
Motor Over Run Motor overrun
connection and load status of the
equipment.
Parameter checksum Parameter error Check the value of parameters
Parameter range Parameter range error Check the value of parameters
Invalid factory setting Factory setting error Check the value of parameters
Output contact point
GPIO setting Check the value of parameters
setting error
4-69

4. Parameters
4.5.2 Servo Warning Status Summary Display List

If a warning code is displayed as the current operation status [St-00], the servo drive is
operating abnormally. Check what needs to be inspected for the issue.
Warning
State Name Cause What to inspect
(CODE)
If the [P0-06] DIGIT 2 is set to 1, the
RST_PFAIL Main power phase loss
main power fails.
When apply absolute value encoder,
LOW_BATT Battery low Output voltage of BackUp batter need
to replace.
More than the maximum torque
OV_TCMD Excessive torque command
commands have been entered.
More than the maximum speed
OV_VCMD Overspeed command
commands have been entered.
The maximum overload [P0-13] has
OV_LOAD Overload warning
been reached.
The electric current capacity of the
SETUP Capacity setting
motor is bigger than that of the drive.
When [P0-06] DIGIT 2 is set to 1, the
UD_VTG Low voltage warning
DC link voltage is 190 V or below.
Check the I/O wiring and [P2-09]
EMG EMG contact point
setting
- Warning code is indicated in hexadecimal. If the over 2 warning codes occurs, the sum of
warning codes will be displayed. For example, if [W-04] Excessive Toque Command and [W-
08] Excessive Speed Command are occurred at the same time, [W-0C] will be displayed.
- If warning code 80 occurs, “SV-ON” state changes to “SV-OFF” state automatically.

-To avoid warning code 80, wire EMG contact or change EMG input signal logic definition.
(Refer to 4.1 How to Use the Loader)
4-70

4. Parameters
4.6 Motor Type and ID (to be continued on

the next page)
Model Name ID Watt Notes Model Name ID Watt Notes
SAR3A 1 30 SE13G 75 1300

SAR5A 2 50 SE17G 76 1700
SA01A 3 100 HE09A 77 900 Hollow type
SB01A 11 100 SF30A 81 3000
SB02A 12 200 SF50A 82 5000
SB04A 13 400 SF22D 85 2200
HB02A 15 200 Hollow type LF35D 190 3500
HB04A 16 400 Hollow type SF55D 87 5500
SF75D 88 7500
SC04A 21 400 SF12M 89 1200
SC06A 22 600 SF20M 90 2000
SC08A 23 800 LF30M 192 3000
SC10A 24 1000 SF44M 92 4400
SC03D 25 300 SF20G 93 1800
SC05D 26 450 LF30G 191 2900
SC06D 27 550 SF44G 95 4400
SC07D 28 650 SF60G 96 6000
SE09A 61 900 SG22D 111 2200
SE15A 62 1500 LG35D 193 3500

SE22A 63 2200 SG55D 113 5500
SE30A 64 3000 SG75D 114 7500
SE06D 65 600 SG110D 115 11000
SE11D 66 1100 SG12M 121 1200
SE16D 67 1600 SG20M 122 2000
SE22D 68 2200 LG30M 195 3000
SE03M 69 300 SG44M 124 4400
SE06M 70 600 SG60M 125 6000
SE09M 71 900 SG20G 131 1800
SE12M 72 1200 LG30G 194 2900
SE05G 73 450 SG44G 133 4400
SE09G 74 850 SG60G 134 6000
4-71

4. Parameters
SG85G 135 8500 FF30A 781 3000

SG110G 136 11000 FF50A 782 5000
SG150G 137 15000 FF22D 785 2200
FF35D 786 3500
FB01A 711 100 FF55D 787 5500
FB02A 712 200 FF75D 788 7500
FB04A 713 400 FF12M 789 1200
FF20M 790 2000
FC04A 721 400 FF30M 791 3000
FC06A 722 600 FF44M 792 4000
FC08A 723 800 FF20G 793 1800
FC10A 724 1000 FF30G 794 2900
FF44G 795 4400

FC03D 725 300 FF60G 796 6000
FC05D 726 500 FF75G 804 7500
FC06D 727 600
FC07D 728 700 FG22D 811 2200
FG35D 812 3500
FE09A 761 900 FG55D 813 5500

FE15A 762 1500 FG75D 814 7500
FE22A 763 2200 FG12M 821 1200
FE30A 764 3000 FG20M 822 2000
FE06D 765 600 FG30M 823 3000
FE11D 766 1100 FG44M 824 4400
FE16D 767 1600 FG20G 831 1800
FE22D 768 2200 FG30G 832 2900
FE03M 769 300
FE06M 770 600
FE09M 771 900
FE12M 772 1200
FE05G 773 450
FE09G 774 850
FE13G 775 1300
FE17G 776 1700
4-72

4. Parameters
DB03D 601 63
DB06D 602 126
DB09D 603 188
DC06D 611 126
DC12D 612 251
DC18D 613 377
DD12D 621 251
DD22D 622 461
DD34D 623 712
DE40D 632 838
DE60D 633 1257

DFA1G 641 1728
DFA6G 642 2513
4-73

5. Handling and Operation
5 Handling and Operation
5.1 What to Check Before Operation

Thoroughly check the following lists during test drive to prevent injury or product damage in
servo motor.
5.1.1 Wiring Check

1. Is the voltage (AC 200 [V]) appropriate for the power input terminals?
2. Are the power cables (U, V, W, and FG) between the drive and the motor connected correctly?
3. Is the voltage of 24 [V] connected to control signals correctly?
4. Is the regenerative resistance appropriate for the capacity and correctly connected?
5. Are the wiring cables free from bends or dents?
6. Are the grounding and shielding free from defects?
5.1.2 Drive Signal (CN1) Wiring Check

Make sure that the wiring and contact for drive signals are as in the following table:
Pin State of Pin State of

Pin Name Pin Name
Number Contact Number Contact
18 EMG ON 19 CWLIM ON
47 SVON OFF 20 CCWLIM ON
48 STOP OFF 17 ALMRST OFF
The above is factory-initialized status. Different functions may be allocated according to input
signal allocations ([P2-00], [P2-01], [P2-02], [P2-03], and [P2-04]).
5.1.3 Surrounding Environment Check

Is there any metal powder or water around wires?
5.1.4 Machine Status Check
1. Is the coupling of the servo motor in good condition?
2. Are the locking bolts tightly screwed?
3. Are there any obstacles in the machine operation area?
5-1

5.1.5 System Parameter Check

1. Is the motor ID setting [P0-00] in good condition?
2. Are the encoder type [P0-01] and the encoder pulse [P0-02] in good condition?
3. Is control gain set to an appropriate value?
*Note: Refer to "Appendix 2 Test Drive Procedure."
5-2

5.2 Handling
5.2.1 Manual JOG Operation [Cn-00]

The drive performs manual JOG operation by itself.
1. Press [SET] in [Cn-00] and [JoG] is displayed.
2. Press [SET] and [SV-on] is displayed and the servo turns on for operation.
If an alarm triggers, check wiring and other possible causes before restarting.
3. Press and hold [UP] and the motor turns forward (CCW) at the JOG operation speed [P3-12].
4. Press and hold [DOWN] and the motor turns counterclockwise at the JOG operation speed [P3-12].
5. Press [SET] again and the manual JOG operation finishes and the servo turns off.
6. Press [MODE] for a while and then you return to the parameter screen [Cn-00].
Related Parameters Speed Initial

[P3-08] Speed command acceleration time [ms] 0
[P3-09] Speed command deceleration time [ms] 0
[P3-10] Speed command S-curve time [ms] 10
*[P3-11] Speed operation pattern 0
[P3-12] JOG operation speed [RPM] 500
The parameter marked with “*” cannot be modified when the servo is on.
5-3

[Example of handling manual JOG operation]

Displays the speed control mode
1 with main power and control
power permitted.
Press [MODE] to move to [Cn-
2 00].
Press [SET] to enter manual

3 JOG operation.
Press [SET] to turn on the servo.

4
Press and hold [UP] when the

servo is on and the motor turns
5
forward (CCW). Lift your hand
off the key and the motor stops.
Press and hold [DOWN] when
the servo is on and the motor
6 turns reverse (CW). Lift your
hand off the key and the motor
stops.
Press [SET] and the servo
7 changes to OFF.
Press [MODE] for a second and

8 you return to the parameter
screen [Cn-00].
※ “ ” indicates flickering.
5-4

5.2.2 Program JOG Operation [Cn-01]

Continuously operates according to the program already set.
1. Press [SET] in [Cn-01] and [P-JoG] is displayed.
2. Press [SET] and [run] is displayed. The program JOG operation starts after the servo is turned on.
(If an alarm triggers at this moment, check the wiring of the servo and other possible causes before
restarting.)
3. Press [SET] again and the program JOG operation finishes and the servo is turned off.
4. Press [MODE] for a while and then you return to the parameter screen [Cn-00].
5. Four operation steps repeat continuously from 0 to 3. Operation speed and time can be set in the
following parameter:
Related Parameters Speed Initial

[P3-08] Speed command acceleration time [ms] 100
[P3-09] Speed command deceleration time [ms] 100
[P3-10] Speed command S-curve time [ms] 10
[P3-11] Speed operation pattern 0
Step Program Operation Speed Program Operation Time

0 [P3-13] [P3-17]
1 [P3-14] [P3-18]
2 [P3-15] [P3-19]
3 [P3-16] [P3-20]
[Example of handling program JOG operation]

1 with main power and control
power permitted.
Press [MODE] to move to [Cn-

2
00].
Press [UP] or [DOWN] to move to

3
[Cn-01].
Press [SET] to enter program

4
Jog operation.
Press [SET] and the motor starts

5 operating according to the
predefined program.
Press [SET] again and the
6 operation ends. [done] is
displayed.
Press [MODE] for approximately

7
one second to return to [Cn-01].
5-5

5.2.3 Alarm Reset [Cn-02]

Reset the alarm that went off.
1. Contact alarm reset: If you turn on ALMRST among input contacts, the alarm is reset and becomes
normal.
2. Operation alarm reset: If you press [SET] in the alarm reset [Cn-02] parameter among operation
handling parameters, [ALrst] is displayed. If you press [SET] again, the alarm is reset and becomes
normal.
※ If the alarm keeps ringing after the reset, check and remove possible causes and then repeat
the process.
[Example of alarm reset]

1 with main power and control power
permitted.
2 Press [MODE] to move to [Cn-00].

3
[Cn-02].
Press [SET] to enter alarm reset

4
mode.
Press [SET] to reset the alarm.

5
[done] is displayed.
Press [MODE] for a second to return

6
to [Cn-02].
5-6

5.2.4 Reading Alarm History [Cn-03]

Check the saved alarm history.
[Example of getting alarm history]

permitted.

3
[Cn-03].
Press [SET] to start reading alarm

4
history.
Press [SET] and the most recent

alarm code is displayed.
Example: Recent first history [AL-
5 42]: Main power failure occurred.
01: Latest alarm
20: 20th previous alarm
Press [UP] or [DOWN] to read alarm
history.
Example: The second previous
6 history [AL-10]: Over current (HW)
occurred.
01: Latest alarm
20: 20th previous alarm
Press [SET] to finish reading alarm
7 history.

8
to [Cn-03].
※ “AL-43” is not saved from OS Ver 1.02
5-7

5.2.5 Alarm History Reset [Cn-04]

Delete all currently stored alarm history.
[Example of alarm history reset]

permitted.

3
[Cn-04].
Press [SET] to enter alarm history

4
reset.
Press [SET] to delete alarm history.

5

6
to [Cn-04].
5-8

5.2.6 Auto Gain Tuning [Cn-05]

Perform automatic tuning operation.
1. Press [SET] from the [Cn-05] parameter and [Auto] is displayed.
2. Press [SET] and [run] is displayed and automatic gain tuning starts.
If an alarm triggers at this moment, check the wiring of the servo and other possible causes before
restarting.
3. When gain adjustment is completed, inertia ratio [%] is displayed, and [P1-00], [P1-06] and [P1-08]
is automatically changed and saved.
Related Parameters Name Initial

[P1-20] Auto gain tuning speed [100 RPM] 8
[P1-21] Auto gain tuning distance 3
[Example of handling auto gain tuning]

permitted.

3
[Cn-05].
Press [SET] to enter automatic gain

4
tuning.
Press [SET] to start three cycles of

5 forward rotation and reverse
rotation.
Upon completion of automatic
tuning, the tuning result will be
6 - displayed on the loader.
Press [SET] for retuning.
Press [MODE] for a second to

7
return to [Cn-05].
5-9

5.2.7 Phase Z Search Operation [Cn-06]

Perform phase Z search operation.
1. Press [SET] in [Cn-06] and [Z-rtn] is displayed.
2. Press [SET] and [run] is displayed and the servo turns on.
3. While you hold down UP, the motor keeps turning forward (CCW) until it finds the phase Z position
of the encoder.
4. While you hold down DOWN, the motor keeps turning counterclockwise until it finds the phase Z
position of the encoder.
5. Press [SET] and [done] is played and the phase Z search ends.
※ This function is useful for finding the Z position and assembling it by a specific standard.
Related Parameters Name Initial

[P3-07] Phase Z search operation speed setting [RPM] 10
[Example of handling phase Z search operation]

Ord
er
permitted.

3
[Cn-06].
Press [SET] to enter phase Z search

4
operation.
5 Press [SET] to turn on the servo.
Press [UP] and the motor turns

forward (CCW) until it finds phase Z.
6
Press [DOWN] and the motor turns
reverse (CW) until it finds phase Z.
Press [SET] to end the phase Z
search operation mode.
7
The servo turns off and [done] is
displayed.

8
to the parameter screen [Cn-06].
5-10

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

The drive forcibly turns on/off the input contact without an upper level controller or I/O jig.
(1) Input Contact Forced ON/OFF Setting

The positions of the seven segment LEDs and CN1 contacts correspond as follows.
If an LED that corresponds to a contact is turned on/off, it indicates ON/OFF accordingly.
[Input Contact Setting]

Number (A) (9) (8) (7) (6) (5) (4) (3) (2) (1)
CN1
pin 48 18 19 20 46 17 21 22 23 47
number
Allocated
default
STOP EMG CWLIM CCWLIM DIR ALMRST SPD3 SPD2 SPD1 SVON
signal
name
Press [UP] on each digit and the (A), (8), (6), (4), and (2) signals turn on or off forcibly.
Press [DOWN] on each digit and the (9), (7), (5), (3), and (1) signals turn on or off forcibly.
Press [MODE] to move to another digit.
5-11

(2) Example of Input Contact Forced ON/OFF

(SVON ON → EMG ON → EMG OFF → SVON OFF)
[Example of handling input contact forced ON/OFF]


2
[Cn-07].
Press [SET] to enter input forced

3
ON/OFF mode.
Press [SET] to enter forced input bit

4
setting.
Press [DOWN] to turn on the servo

5
forcibly.
Press [MODE] at the blinking cursor

6 to move to the desired digit, DIGIT
5.
Press [DOWN] to turn on EMG

7
forcibly.
Press [DOWN] to turn off EMG

8
forcibly.
Press [MODE] at the cursor to move

9
to the desired digit, DIGIT 1.
Press [DOWN] to turn off the servo

10
forcibly.
Press [SET] to end input forced

11 ON/OFF mode.
Press [MODE] for a second to

12
return to [Cn-07].
5-12

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

Without an upper level controller or I/O jig, the drive forcibly turns on/off the output contact.
(1) Output Contact Forced ON/OFF Setting

The positions of the seven segment LEDs and CN1 contact correspond as follows.
If an LED that corresponds to a contact is turned on/off, it indicates ON/OFF accordingly.
[Output Contact Setting]

Number (5) (4) (3) (2) (1)
CN1 - pin
45 44 43 40 /41 38 / 39
number
Allocated default
INPOS BRAKE ZSPD READY ALARM
signal name
Press [UP] on each digit and the (4) and (2) signals are turned on or off for forced output.
Press [Down] on each digit and the (5), (3) and (1) signals are turned on or off for forced
output.
Press [MODE] to move to another digit.
5-13

(2) Example of Output Contact Forced ON/OFF

(BRAKE OFF)
[Example of handling output contact forced ON/OFF]


2
[Cn-08].
Press [SET] to enter input forced

3
ON/OFF setting.
Press [SET] to enter forced output bit

4
setting.
Press [MODE] at the blinking cursor

5 to move to the desired digit, DIGIT 2,
and it rotates.
Press [UP] to turn off the brake

6
signal.
Press [SET] to end input forced

7 ON/OFF mode.

8
to [Cn-08].
5-14

5.2.10 Parameter Reset [Cn-09]

Reset parameter data.
[Example of initializing parameters]

permitted.
Press [MODE] to move to [Cn-00].

2
[Cn-09].
3 Press [SET] to enter parameter reset.
Press [SET] to reset data.

4

5
to [Cn-09].
[Cn-09 In the case of parameter initialization, unapplied parameters]

Parameter Detailed parameter
P0-XX P0-00~P0-02, P0-04, P0-05, P0-10, P0-11, P0-27~P0-29
P2-XX P2-00~P2-10, P2-17, P2-18, P2-20, P2-21
5-15

5.2.11 Automatic Speed Command Offset Correction

[Cn-10]
This calibrates the offset of analog speed commands automatically.
The range of adjustable speed command analog voltage is from +1 V to -1 V. If offset voltage
exceeds this range, [oVrnG] is displayed and calibration is not allowed.
You can check the corrected offset value in the analog speed offset [P2-18].
[Example of handling automatic speed command offset calibration]

1 Press [MODE] to display [Cn-00].

2
[Cn-10].
3 Press [SET] to enter offset correction.
Press [SET] to compensate offset.

4 or
If the value exceeds the allowed
range, [oVrnG] is displayed.

5
to [Cn-10].
5-16

5.2.12 Automatic Torque Command Offset Correction

[Cn-11]
This calibrates the offset of analog torque commands automatically.
The range of adjustable torque command analog voltage is from +1 V to -1 V. If offset

voltage exceeds this range, [oVrnG] is displayed and calibration is not allowed.
You can check the corrected offset value in the analog torque offset [P2-21].
[Example of handling automatic torque command offset correction]


2
[Cn-11].
Press [SET] to compensate offset.

[Done] is displayed.
4 or
If the value exceeds the allowed
range, [oVrnG] is displayed.

5
to [Cn-11].
5-17

5.2.13 Manual Speed Command Offset Correction

[Cn-12]
This calibrates the offset value of analog speed commands manually. Example: -10
The range of adjustable speed command analog voltage is from +1 V to -1 V. If offset voltage
exceeds this range, [oVrnG] is displayed and calibration is not allowed.
You can check the corrected offset value in the analog speed offset [P2-18].
[Example of handling manual speed command offset correction]


2
[Cn-12].
Press [SET] to enter offset correction

4 setting.
The current offset value displayed.
Press [UP] or [DOWN] to adjust the

5
value.
Press [SET] to save the adjusted

offset value.
6 or [Done] is displayed.
If you press [MODE] and it will not be
saved.

7
to [Cn-12].
5-18

5.2.14 Manual Torque Command Offset Correction

[Cn-13]
This calibrates the offset value of analog torque commands manually.
The range of adjustable torque command analog voltage is from +1 V to -1 V. If offset

voltage exceeds this range, [oVrnG] is displayed and calibration is not allowed.
You can check the corrected offset value in the analog torque command offset [P2-21].
[Example of handling manual torque command offset correction]


2
[Cn-13].
Press [SET] to enter offset correction

4 setting.
The current offset value displayed.
Press [UP] or [DOWN] to adjust the

5
value.
Press [SET] to save the adjusted

offset value.
If you press [MODE] and it will not be
saved.

7
to the parameter screen [Cn-13].
5-19

5.2.15 Absolute Encoder Reset [Cn-14]

Initialize values of [St-16], [St-17],[St-18] to “0” when It is connected with Multi turn Motor.
[Example of how to use Absolute Encoder Reset]

Orde
r
1 Press [MODE] key to display [Cn-00].
Move to [Cn-14] by Pressing [UP] or

2
[DOWN] key.
When pressing [SET] key, the value of

absolute encoder data will be initialized
3 or to “0”. Then, it will be displayed [donE].
When pressing [MODE] key, it will be
returned to [Cn-14] without initialization.
Press [MODE] for a second to return to

4
the parameter screen [Cn-14].
5-20

5.2.16 Instantaneous Maximum Load Factor

Initialization [Cn-15]
Reset the instantaneous maximum load factor to 0.
[Example of initializing the instantaneous maximum load factor]


2
[Cn-15].
Press [SET] to enter instantaneous

3
maximum load factor initialization.
Press [SET] and the current

4
maximum load factor is displayed.
Press [UP] and the forward direction

maximum load factor is displayed.
5 or Press [DOWN] and the reverse
direction maximum load factor is
displayed.
Press [SET] and the instantaneous

maximum load factor is reset.
If you press [MODE] and will not
reset.

7
to [Cn-15].
5-21

5.2.17 Parameter Lock [Cn-16]

Lock or Unlock whole parameter.
[Example of locking or unlocking parameter]


2
[Cn-16].
Press [SET] to enter parameter lock

3
setting.
Press [UP] to unlock whole

parameter.
4 or
Press [DOWN] to lock
whole parameter.
Hold down [MODE] for a second to

5
return to [Cn-16].
5-22

5.2.18 Current Offset[Cn-17]

Store existing current offset value into [P0-27] ~ [P0-28] parameter.
[Example of setting current offset value]


2
[Cn-17].
Press [SET] to enter current offset

3
value setting.
Press [SET] to store U phase current

6 offset value into [P0-27] and V phase
current offset value into [P0-28].
Hold down [MODE] for a second to

7
return to [Cn-17].
5-23

6. Communication Protocol
6 Communication Protocol
6.1 Overview and Communication

Specifications
6.1.1 Overview
The XDL-L7 servo drive uses RS-422 serial communication. By connecting it to a PC or an
upper level controller, you can test drive it or change gain tuning and parameters.
You can also operate or handle communication of up to 32 axes by connecting multiple XDL-
L7 servo drives via a multi-drop method.
(1) Serial Communication Access through RS422
(2) Multi-Drop Access through RS422 (up to 32 machines)
NOTE 1) When using a PC as the upper level controller, you have to use the RS232/RS485 communication
converter.
The CN3 and the CN4 connector pins of the servo drive are connected on a one-to-one basis internally,
making multi-drop wiring easy.
6-1

6.1.2 Communication Specifications and Cable

Access Rate
(1) Communication Specifications
Item Specifications
Communication standard ANSI/TIA/EIA-422 standard
Communication protocol MODBUS-RTU
Data bit 8 bit
Data
Stop bit 1 bit
Type
Parity None
Synchronous method Asynchronous
9600 /19200/38400/57600 [bps]
Transmission speed
[P0-04] can be selected.
Transmission distance Up to 200 [m]
Current consumption 100 [㎃] or below
(2) Connection of CN3 and CN4 Connector Pins
Pin Number Pin Function

1 Not for use.
2 Terminating resistance connection note 1)
3 RXD+
4 TXD-
5 TXD+
6 RXD-
7 Not for use.
8 GND
NOTE 1) In case of multi access connection, apply terminating resistance by connecting Pin 2 of the last
drive to Pin 6 (RXD-). Use 120Ω for terminal resistor
NOTE 2) Connect TXD+ and TXD-, and RXD+ and RXD- in twisted pairs.
NOTE 3) The TXD and RXD in the above table are based on the servo drive.
6-2

6.2 Communication Protocol Base Structure

The communication of the XDL-L7 servo drive complies with the international standard
MODBUS-RTU protocol. For information about items not covered in this manual, refer to
the following standard. (Related standard: Mudbugs application protocol specification 1.1b,
2006.12.28)
Also, the concept of sending and receiving in this manual is based on the host.
6.2.1 Sending/Receiving Packet Structure

The maximum sending/receiving packet length of the MODBUS-RTU protocol is 256 bytes.
Make sure that the total length of the sending/receiving packet does not exceed 256 bytes.
The MODBUS-RTU communication mode requires space of at least 3.5 char between the
end of the previous packet and the beginning of the next packet as show in the following
image to distinguish packets.
(1) Sending Packet Structure
Additional Functio
Data Error Check
Address n Code
Bytes 0 1 2 . . n-1 n
Details Node ID Function Data . . CRC (MSB) CRC (LSB)
(2) Receiving Packet Structure

[Normal Response]
Additional Function
Data Error Check
Address Code
Bytes 0 1 2 . . n-1 n
Details Node ID Function Data . . CRC (MSB) CRC (LSB)
[Abnormal Response]
Additiona Functio
Data Error Check
l Address n Code
Bytes 0 1 2 3 4
Descripti Function+
Node ID Exception code CRC (MSB) CRC (LSB)
on 0x80
6-3

(3) Protocol Packet Code

 Node ID
Indicates the exchange number of the servo drive to send.
Set the exchange number of the servo drive to [P0-05].
 Function Code
The following are the Modbus-RTU standard function codes supported by the XDL-L7 servo drive.
Comman Purpose
 D Category Details
a d Code Read Write
t
0x03 Read single register ○
a
Public function 0x03 Read multi register ○
[
code 0x06 Write single register ○
S
e 0x10 Write multi register ○
n
d User defined 0x6A Read each block register
○
i function code
n
g]
For read register commands, the Modbus address, the number of registers, and the number of
bytes will be set. For write register commands, the Modbus address, the number of bytes, and
other necessary values will be set.
[Receiving]
In the case of read register commands, normal responses are received with the same node ID
and function code as they are sent. In terms of data, registers are received according to the
order of sent registers.
In the case of write single register commands, the same data as those sent are received. In the
case of write multi registers, the start address of the register, whose data were to be used with
the write multi register command, and the number of registers are received.
Abnormal responses consist of node ID, error code, and exception code. The packet structure is
the same for all abnormal responses regardless of their function codes.
(4) CRC
Enter the 16-bit CRC check sum. Send 1 byte of MSB and LSB each.
(5) Exception Code

The followings are the exception codes for all abnormal responses of all function codes
supported in the XDL-L7 servo drive.
Exception Code Description

0x01 Unsupported function codes
0x02 Invalid register address
0x03 Non-matching node IDs or CRC check errors
0x04 Command handling failure
0x05 Waiting(state of preparing data)
0x06 Locking(state of locking parameter)
6-4

6.2.2 Protocol Command Codes
(1) Read Single Register (0x03)

Read the single register (16-bit data) value.
Sending Packet Normal Receiving Packet

Byte Content Value Byte Content Value
0 Node ID 0x00 0 Node ID 0x00
1 Function 0x03 1 Function 0x03
2 Starting Address Hi 0x00 2 Byte Count 0x02
3 Starting Address Lo 0x6B 3 Register Value Hi 0x02
4 Quantity of Register Hi 0x00 4 Register Value Lo 0x2B
5 Quantity of Register Lo 0x01 5 CRC Hi
6 CRC Hi 6 CRC Lo
7 CRC Lo
Error Receiving Packet
Byte Content Value
0 Node ID 0x00
1 Error Code 0x03 + 0x80
2 Exception Code 0x01 ~ 0x04
3 CRC Hi
4 CRC Lo
Example)
6-5

(2) Read Multi Register (0x03)

Read the continuous register block (16-bit data) value.
2 Starting Address Hi 0x00 2 Byte Count 0x06
3 Starting Address Lo 0x6B 3 Register Value Hi 0x02
4 Quantity of Register Hi 0x00 4 Register Value Lo 0x2B
5 Quantity of Register Lo 0x03 5 Register Value Hi 0x00
6 CRC Hi 6 Register Value Lo 0x00
7 CRC Lo 7 Register Value Hi 0x00
8 Register Value Lo 0x64
9 CRC Hi .
10 CRC Lo
Byte Content Value
0 Node ID 0x00
3 CRC Hi
4 CRC Lo
Example)
Slave Address(Node-ID) Node-ID

Function Code 03
Staring Address Hi 00
Starting Address Lo 6B
Quantity of Registers Hi 00
Quantity of Registers Lo 01
CRC Hi CRC Hi
CRC Lo CRC Lo
Slave Address(Node-ID) Node-ID

Function Code 03
Byte Count 06
Register Value Hi (108) 02
Register Value Lo (108) 2B
CRC Hi CRC Hi
CRC Lo CRC Lo
6-6

(3) Write Single Register (0x06)

Write values on the single register (16-bit data).
2 Register Address Hi 0x00 2 Register Address Hi 0x00
3 Register Address Lo 0x01 3 Register Address Lo 0x01
4 Register Value Hi 0x00 4 Register Value Hi 0x00
5 Register Value Lo 0x03 5 Register Value Lo 0x03
6 CRC Hi 6 CRC Hi
7 CRC Lo 7 CRC Lo
Byte Content Value
0 Node ID 0x00
3 CRC Hi
4 CRC Lo
Example)
6-7

(4) Write Multi Register (0x10)

Writes values on the continuous register block (16-bit data).
2 Starting Address Hi 0x00 2 Starting Address Hi 0x00
3 Starting Address Lo 0x01 3 Starting Address Lo 0x01
4 Quantity of Registers Hi 0x00 4 Quantity of Registers Hi 0x00
5 Quantity of Registers Lo 0x02 5 Quantity of Registers Lo 0x02
6 Byte Count 0x04 6 CRC Hi
7 Register Value Hi 0x00 7 CRC Lo
8 Register Value Lo 0x0A
9 Register Value Hi 0x01 Error Receiving Packet
10 Register Value Lo 0x02 Byte Content Value
11 CRC Hi 0 Node ID 0x00
12 CRC Lo 1 Error Code 0x10 + 0x80
3 CRC Hi
4 CRC Lo
Example)
6-8

(5) Read Each Block Register (0x6A)

Read values on the discontinuous register block (16-bit data).
1 Function 0x6A 1 Function 0x6A
2 Byte Count 0x06 2 Byte Count 0x06
3 Address Hi 0x00 3 Register Value Hi 0x02
4 Address Lo 0x01 4 Register Value Lo 0x2B
6 Address Lo 0x04 6 Register Value Lo 0x00
8 Address Lo 0x08 8 Register Value Lo 0x64
9 CRC Hi 9 CRC Hi .
10 CRC Lo 10 CRC Lo
Byte Content Value
0 Node ID 0x00
1 Error Code 0x6A + 0x80
3 CRC Hi
4 CRC Lo
Example)
6-9

6.3 XDL-L7 Servo Drive Communication

Address Table
6.3.1 Operation Status Parameter Communication

Address Table
Communicatio Parameter
Parameter Name Material Type
n Address Number
(Decimal
Operation Status Display Parameter
Number)
INT16
BIT0: Alarm
BIT1: Servo on
BIT2: Warning
BIT3: CCW limit
BIT4: CW limit
BIT5: Zero speed
0 Current operation status St - 00
BIT6: In speed
BIT7: In position
BIT8: Power ready
BIT9: Analog command active
BIT10 - BIT13: Control mode
(0: Trq, 1: Spd, 2: Pos, 3: Spd/Pos,
4: Trq/Spd, 5: Trq/Pos)
2 Current operation speed St - 01 INT16
4 Current command speed St - 02 INT16
6 Tracking position pulse - L
St - 03 INT32
8 Tracking position pulse - H
10 Position command pulse - L
St - 04 INT32
12 Position command pulse - H
Remaining position pulse -
14
L
St - 05 INT32
Remaining position pulse -
16
H
18 Input pulse frequency – L
St - 06 INT32
20 Input pulse frequency - H
22 Current operation torque St - 07 INT16
24 Current command torque St - 08 INT16
26 Accumulated overload rate St - 09 INT16
Instantaneous maximum
28 St - 10 INT16
load factor
30 Torque limit value St - 11 INT16
32 DC Link Voltage St - 12 UINT16
34 Regenerative overload St - 13 UINT16
6-10

n Address Number
(Decimal
Operation Status Display Parameter
Number)
36 Input contact status St - 14 UINT16
38 Output contact status St - 15 UINT16
40 Single-turn data - L
St - 16 INT32
42 Single-turn data - H
44 Single-turn data (degree) St - 17 UINT16
46 Multi-turn data - L
St - 18 INT32
48 Multi-turn data - H
Temperature in the servo
50 St - 19 INT16
drive
52 Rated motor speed St - 20 UINT16
54 Maximum motor speed St - 21 UINT16
56 Rated motor current St - 22 UINT16
58 Phase U current offset St - 23 INT16
60 Phase V current offset St - 24 INT16
UINT16
BIT0-BIT4: Drive capacity
(1: 100W, 2: 200W, 3: 400W, 4: 750W, 5:
62 Software version St - 25 1kW, 6: 3.5kW)
BIT5-BIT14: Version number
BIT 15: Encoder type
(0: Quadrature, 1: Serial)
64 FPGA version St - 26 UINT16
66 Analog torque command St-27 INT16
68 Reserved
6-11

6.3.2 System Parameter Communication Address

Table
The following table lists Modbus communication addresses for the system parameter group
[P0-xx].
n Address Number
(Decimal
System Parameter Parameter
Number)
70 Motor ID P0 - 00 UINT16
72 Encoder Type P0 - 01 UINT16
74 Encoder pulse P0 - 02 UINT16
76 Select operation mode P0 - 03 UINT16
78 RS-422 communication speed P0 - 04 UINT16
80 System ID P0 - 05 UINT16
82 Main power input mode P0 - 06 UINT16
84 RST checking time P0 - 07 UINT16
86 Start-up display parameter P0 - 08 UINT16
88 Regenerative overload derating P0 - 09 UINT16
90 Regenerative resistance value P0 - 10 UINT16
92 P0 - 11 UINT16
capacity
Overload detection base load
94 P0 - 12 UINT16
factor
Continuous overload warning
96 P0 - 13 UINT16
level
98 Encoder output pre-scale - L P0 - 14 INT32
100 Encoder output pre-scale - H
102 PWM OFF delay time P0 - 15 UINT16
104 Dynamic brake control mode P0 – 16 UINT16
106 Function setting bit P0 - 17 UINT16
108 DAC output mode P0 – 18 UINT16
110 DAC output offset 1 P0 - 19 INT16
112 DAC output offset 2 P0 - 20 INT16
114 Reserved P0 – 21
118 DAC output scale 1 P0 – 23 UINT16
120 DAC output scale 2 P0 – 24 UINT16
124 Reserved P0 - 26
126 U Phase Current Offset P0 - 27 INT16
128 V Phase Current Offset P0 - 28 INT16
6-12

n Address Number
(Decimal
System Parameter Parameter
Number)
130 W Phase Current Offset P0 - 29 INT16
132 Reserved
134 Reserved
136 Reserved
138 Reserved
6-13

6.3.3 Control Parameter Communication Address

Table
The following table lists Modbus communication addresses for the control parameter group
[P1-xx].
n Address Number
(Decimal
Control Parameter Parameter
Number)
140 Inertia ratio P1 - 00 UINT16
142 Position proportional gain 1 P1 - 01 UINT16
144 Position proportional gain 2 P1 - 02 UINT16
Position command filter time
146 P1 - 03 UINT16
constant
148 Position feedforward gain P1 - 04 UINT16
Position feedforward filter time
150 P1 - 05 UINT16
constant
152 Speed proportional gain 1 P1 - 06 UINT16
154 Speed proportional gain 2 P1 - 07 UINT16
156 Speed integral time constant 1 P1 - 08 UINT16
158 Speed integral time constant 2 P1 - 09 UINT16
Speed command filter time
160 P1 - 10 UINT16
constant
Speed feedback filter time
162 P1 - 11 UINT16
constant
Torque command filter time
164 P1 - 12 UINT16
constant
166 Forward rotation torque limit P1 - 13 UINT16
168 Reverse rotation torque limit P1 - 14 UINT16
170 Gain transfer mode P1 - 15 UINT16
172 Gain transfer time P1 - 16 UINT16
174 Resonance avoidance operation P1 - 17 UINT16
176 Resonance avoidance frequency P1 - 18 UINT16
178 Resonance avoidance range P1 - 19 UINT16
180 Auto gain tuning speed P1 - 20 UINT16
182 Auto gain tuning distance P1 - 21 UINT16
184 Torque control speed limiting mode P1 - 22 UINT16
186 Speed limit P1 - 23 UINT16
188 Control P transfer torque P1 - 24 UINT16
190 Control P transfer speed P1 - 25 UINT16
192 Control P transfer acceleration P1 - 26 UINT16
194 Control P transfer position error P1 - 27 UINT16
6-14

n Address Number
(Decimal
Control Parameter Parameter
Number)
196 Reserved
198 Reserved
200 Reserved
202 Reserved
204 Reserved
206 Reserved
208 Reserved
210 Reserved
212 Reserved
214 Reserved
216 Reserved
218 Reserved
6-15

6.3.4 Input/Output Parameter Communication

Address Table
The following table lists Modbus communication addresses for the input/output parameter
(analog and digital) parameter group [P2-xx].
n Address Number
(Decimal
Input/Output Parameter Parameter
Number)
220 Input signal definition 1 P2 - 00 UINT16
230 Output signal definition 1 P2 - 05 UINT16
236 Input signal logic definition 1 P2 - 08 UINT16
238 Input signal logic definition 2 P2 - 09 UINT16
240 Output signal logic definition P2 - 10 UINT16
242 Range of output for position reached P2 - 11 UINT16
244 Zero speed output range P2 - 12 UINT16
246 Range of output for speed reached P2 - 13 UINT16
248 Brake output operation speed P2 - 14 UINT16
250 Brake output delay time P2 - 15 UINT16
252 Position pulse clear mode P2 - 16 UINT16
254 Analog speed command scale P2 - 17 UINT16
256 Analog speed command offset P2 - 18 INT16
258 Zero speed clamp speed P2 - 19 UINT16
260 Analog torque command scale P2 - 20 UINT16
262 Analog torque command offset P2 - 21 INT16
264 Zero speed clamp voltage P2 - 22 UINT16
266 Reserved
268 Reserved
270 Reserved
272 Reserved
274 Reserved
276 Reserved
278 Reserved
6-16

6.3.5 Speed Operation Parameter Communication

Address Table
The following table lists Modbus communication addresses for the speed operation
parameter group [P3-xx].
n Address Number
(Decimal
Input/Output Parameter Parameter
Number)
280 Digital speed command 1 P3 - 00 INT16
294 Z search operation speed setting P3 - 07 UINT16
296 Speed command acceleration time P3 - 08 UINT16
298 Speed command deceleration time P3 - 09 UINT16
300 Speed command S-Curve time P3 - 10 UINT16
302 Speed operation pattern P3 - 11 UINT16
304 Manual JOG operation speed P3 - 12 INT16
306 Program JOG operation speed 1 P3 - 13 INT16
314 Program JOG operation time 1 P3 - 17 UINT16
322 Reserved
324 Reserved
326 Reserved
328 Reserved
6-17

6.3.6 Position Operation Parameter Communication

Address Table
The following table lists Modbus communication addresses for the position operation
parameter group [P4-xx].
n Address Number
(Decimal
Position operation Parameter
Number)
330 Position input pulse logic P4 - 00 UINT16
Electronic gear ratio numerator
332 P4 - 01 INT32
1–L
334
1–H
336 P4 - 02 INT32
2–L
338
2–H
340 P4 - 03 INT32
3–L
342
3–H
344 P4 - 04 INT32
4–L
346
4-H
Electronic gear ratio
348 P4 - 05 UINT16
denominator 1
350 P4 - 06 UINT16
denominator 2
352 P4 – 07 UINT16
denominator 3
354 P4 - 08 UINT16
denominator 4
356 Electronic gear ratio mode P4 – 09 UINT16
358 P4 - 10 UINT16
offset
360 Position error range - L P4 - 11 INT32
362 Position error range- H
364 Limit contact function P4 – 12 UINT16
366 Backlash compensation P4 - 13 UINT16
368 Pulse input filter P4 – 14 UINT16
6-18

7. Product Specifications
7 Product Specifications
7.1 Servo Motor
■ Heat Sink Specifications

Type Dimensions(mm) Materials
AP04 250x250x6
AP06 250x250x6
AP08 250x250x12 Aluminum
AP13 350x350x20
AP18 550x550x30
AP22 650x650x35
NOTE 1) The data on the product features is measured when those heat sinks are applied.
7-1

7.1.1 Product Features
Servo Motor Type (XML- ) SAR3A SAR5A SA01A SA015A

Applicable Drive (XDL-L7□A□□) XDL-L7□A001 XDL-L7□A002
Rated output [kW] 0.03 0.05 0.10 0.15
[Nm] 0.10 0.16 0.32 0.48
Rated torque
[kgfcm] 0.97 1.62 3.25 4.87
Maximum [Nm] 0.29 0.48 0.96 1.43
instantaneous
torque [kgfcm] 2.92 4.87 9.74 14.62
Rated current [A] 1.07 1.20 1.38 1.73

Maximum current [A] 3.21 3.60 4.14 5.19
Rated rotation
[r/min] 3000
speed
Maximum rotation
[r/min] 5000
speed
[kgm2x10-4] 0.0164 0.02 0.05 0.06
Inertia moment
[gfcms2] 0.0167 0.02 0.05 0.07
Allowed load inertia Motor inertia x 30 Motor inertia x 20
Rated power rate [kW/s] 5.56 10.55 23.78 35.34
Speed and position Standard Quad. Type Incremental 2048[P/R]

detector Option Serial Type(coming soon)
Protection
Fully closedself-cooling IP55(excluding axis penetration)
method
Time rating Continuous
Ambient
Specifications and 0~40[°C]
temperature
features
Ambient
20~80[%]RH (no condensation)
humidity
Atmosphere No direct sunlight, corrosive gas, or combustible gas
Anti-vibration Vibration acceleration of 49[m/s2](5G)
Weight [kg] 0.3 0.4 0.5 0.7
Rotation Speed – Torque Characteristics
XML-SAR3A XML-SAR5A XML-SA01A
Repeatedly used area Repeatedly used area Repeatedly used area
Continuously used area Continuously used area Continuously used area
7-2

XML-SA015A
Repeatedly used area
Continuously used area
■ Product Features
Servo Drive Type (XML- ) SB01A SB02A SB04A
Applicable Drive (XDL-L7□A□□) XDL-L7□A002 XDL-L7□A004
Rated output [kW] 0.10 0.20 0.40
[Nm] 0.32 0.64 1.27
Rated torque
[kgfcm] 3.25 6.49 12.99
Maximum [Nm] 0.96 1.91 3.82
instantaneous
torque [kgfcm] 9.74 19.48 38.96
Rated current [A] 1.65 1.63 2.89
Maximum current [A] 4.95 4.89 8.67
Rated rotation
[r/min] 3000
speed
Maximum rotation
[r/min] 5000
speed
[kgm2x10-4] 0.11 0.18 0.32
Inertia moment
[gfcms2] 0.12 0.19 0.33
Allowed load inertia Motor inertia x 20
Rated power rate [kW/s] 8.89 22.26 50.49
Speed and Standard Quad. Type Incremental 3000[P/R]

position detector Option Serial Type 19[Bit]
Protection
method
Ambient
Specifications 0~40[°C]
temperature
and features
Ambient
humidity
Anti-vibration Vibration acceleration 49[m/s2](5G)
Weight [kg] 0.8 1.1 1.6
Rotation speed – Torque Characteristics
7-3

XML-SB01A XML-SB02A XML-SB04A
Servo Motor Type (XML- ) SBN01A SBN02A SBN04A SBN04A-BK
Applicable drive (XDL-L7□A□□) XDL-L7□A002 XDL-L7□A004
Rated output [kW] 0.1 0.2 0.4 0.4
[Nm] 0.32 0.64 1.27 1.27
Rated torque
[kgfcm] 3.25 6.49 12.99 12.99
Maximum [Nm] 0.95 1.91 3.82 3.82
instantaneous
torque [kgfcm] 9.74 19.48 38.96 38.96
Rated current [A] 1.58 1.50 3.00 2.73

Rated rotation
[r/min] 3000
speed
Maximum rotation
[r/min] 5000
speed
[kgm2x10-4] 0.11 0.18 0.32 0.25
Inertia moment
[gfcms2] 0.12 0.19 0.33 0.26
Speed and Standard Quad. Type Incremental 3000[P/R]

position detector Option Serial Type 19[Bit]
Protection
method
Ambient
temperature
and features
Ambient
humidity
Anti-vibration Vibration acceleration of 49[m/s2](5G)
Weight [kg] 0.8 1.1 1.6 1.6
7-4

XML-SBN01A XML-SBN02A XML-SBN04A
Repeatedly used area Repeatedly used area

XML-SBN04A-BK
Servo Motor Type (XML- ) SC04A SC06A SC08A SC10A
XDL- XDL-
Applicable drive (XDL-L7□A□□) XDL-L7□A008
L7□A004 L7□A010
Rated output [kW] 0.4 0.6 0.8 1.0
[Nm] 1.27 1.91 2.55 3.19
Rated torque
[kgfcm] 12.99 19.49 25.98 32.48
Maximum [Nm] 3.82 5.73 7.64 9.56
instantaneous
torque [kgfcm] 38.96 58.47 77.95 97.43
Rated current [A] 2.82 3.58 4.83 5.37

Rated rotation
[r/min] 3000
speed
Maximum rotation
[r/min] 5000
speed
[kgm2x10-4] 0.67 1.09 1.51 1.93
Inertia moment
[gfcms2] 0.69 1.11 1.54 1.97
Speed and Standard Quadrature Type Incremental 3000[P/R]

position detector Option Serial Type 19[bit]
Protection
method
Ambient
temperature
and features
Ambient
humidity
Weight [kg] 1.9 2.5 3.2 3.8
7-5

XML-SC04A XML-SC06A XML-SC08A
XML-SC10A
Servo Motor Type (XML- ) SC03D SC05D SC06D SC07D
XDL-
L7□A004
Rated output [kW] 0.30 0.45 0.55 0.65
[Nm] 1.43 2.15 2.63 3.10
Rated torque
[kgfcm] 14.61 21.92 26.79 31.66
Maximum [Nm] 4.30 6.45 7.88 9.31
instantaneous
torque [kgfcm] 43.84 65.77 80.38 94.99
Rated current [A] 2.59 3.23 3.82 4.42

Rated rotation
[r/min] 2000
speed
Maximum rotation
[r/min] 3000
speed
[kgm2x10-4] 0.67 1.09 1.51 1.93
Inertia moment
[gfcms2] 0.69 1.11 1.54 1.97
Standard Quadrature Type Incremental 3000[P/R]
Speed and position
detector Option Serial Type 19[bit]
Protection Fully closedself-cooling IP65(excluding axis

method penetration)
Specifications and
features Ambient
0~40[°C]
temperature
Ambient
humidity
7-6

Atmosphere No direct sunlight, corrosive gas, or combustible gas.

Weight [kg] 1.9 2.5 3.2 3.9
 Rotation speed – Torque Characteristics 
XML-SC03D XML-SC05D XML-SC06D

XML-SC07D
Servo Motor Type (XML- ) SE09A SE15A SE22A SE30A SE06D SE11D
XDL- XDL- XDL- XDL-
L7□A008 L7□A035 L7□A008 L7□A010
Rated output [kW] 0.9 1.5 2.2 3.0 0.6 1.1
[Nm] 2.86 4.77 7.00 9.55 2.86 5.25
Rated torque
[kgfcm] 29.23 48.72 71.45 97.43 29.23 53.59
Maximum [Nm] 8.59 14.32 21.01 28.64 8.59 15.75
instantaneous
torque [kgfcm] 87.69 146.15 214.35 292.29 87.69 160.76
Rated current [A] 4.95 8.23 11.98 17.16 3.97 6.28

Maximum current [A] 14.85 24.69 35.94 51.48 11.91 18.84
Rated rotation
[r/min] 3000 2000
speed
Maximum rotation
[r/min] 5000 3000
speed
[kgm2x10-4] 6.66 12.00 17.34 22.68 6.66 12.00
Inertia moment
[gfcms2] 6.80 12.24 17.69 23.14 6.80 12.24
Rated power rate [kW/s] 12.32 18.99 28.28 40.20 12.32 22.98

Protection
method
Specifications
and features
Ambient
0~40[°C]
temperature
7-7

Ambient
20~80[%]RH(no condensation)
humidity
Weight [kg] 5.5 7.5 9.7 11.8 5.5 7.5
XML-SE09A XML-SE15A XML-SE22A

XML-SE30A XML-SE06D XML-SE11D
Servo Motor Type (XML- ) SE16D SE22D SE03M SE06M SE09M SE12M
XDL- XDL- XDL- XDL-
L7□A004 L7□A008 L7□A010 L7□A020
Rated output [kW] 1.6 2.2 0.3 0.6 0.9 1.2
[Nm] 7.64 10.50 2.86 5.73 8.59 11.46
Rated torque
[kgfcm] 77.94 107.17 29.23 58.46 87.69 116.92
Maximum [Nm] 22.92 31.51 8.59 17.19 25.78 34.37
instantaneous
torque [kgfcm] 233.83 321.52 87.69 175.30 263.06 350.75
Rated current [A] 9.23 12.37 2.51 4.15 5.78 7.63

Rated rotation
[r/min] 2000 1000
speed
Maximum rotation
[r/min] 3000 2000
speed
[kgm2x10-4] 17.34 22.68 6.66 12.00 17.34 22.68
Inertia moment
[gfcms2] 17.69 23.14 6.80 12.24 17.69 23.14

Specifications Protection
and features Method
7-8


Ambient
0~40[°C]
temperature
Ambient
humidity
Weight [kg] 9.7 11.8 5.5 7.5 9.7 11.8
XML-SE16D XML-SE22D XML-SE03M
XML-SE09M XML-SE12M
XML-SE06M

Continuously used area Continuously used area

Servo Motor Type (XML- ) SE05G SE09G SE13G SE17G SF30A SF50A
XDL- XDL- XDL- XDL-
L7□A008 L7□A010 L7□A035 L7□A050
Rated output [kW] 0.45 0.85 1.3 1.7 3.0 5.0
[Nm] 2.86 5.41 8.28 10.82 9.55 15.91

Rated torque
[kgfcm] 29.23 55.21 84.44 110.42 97.43 162.38
Maximum [Nm] 8.59 16.23 24.83 32.46 28.64 47.74
instantaneous
torque [kgfcm] 87.69 165.63 253.32 331.26 292.29 487.15
Rated current [A] 3.97 6.47 10.00 12.75 16.70 27.40

Rated rotation
[r/min] 1500 3000
speed
Maximum rotation
[r/min] 3000 5000
speed
[kgm2x10-4] 6.66 12.00 17.34 22.68 30.74 52.13
Inertia moment
[gfcms2] 6.80 12.24 17.69 23.14 31.37 53.19
7-9


Protection
method
Ambient
temperature
and features
Ambient
humidity
Weight [kg] 5.5 7.5 9.7 11.8 12.4 17.7
XML-SE05G XML-SE09G XML-SE13G


XML-SE17G XML-SF30A XML-SF50A

Servo Motor Type (XML- ) SF22D LF35D SF55D SF20G LF30G SF44G
XDL- XDL- XDL- XDL-

L7□A020 L7□A035 L7□A050 L7□A050
Rated output [kW] 2.2 3.5 5.5 1.8 2.9 4.4
[Nm] 10.50 16.71 26.26 11.46 18.46 28.01
Rated torque
[kgfcm] 107.17 170.50 267.93 116.92 188.37 285.80
Maximum [Nm] 31.51 50.13 78.77 34.37 55.38 84.02
instantaneous
torque [kgfcm] 321.52 511.51 803.80 350.75 565.10 857.39
Rated current [A] 13.50 15.85 30.25 14.7 15.92 31.75

Rated rotation
[r/min] 2000 1500
speed
Maximum rotation
[r/min] 3000 3000 2700 3000
speed
Inertia moment [kgm2x10-4] 30.74 52.13 85.31 30.74 52.13 83.60
7-10

[gfcms2] 31.35 53.16 83.60 31.37 53.19 85.31


Protection
method
Ambient
temperature
and features
Ambient
humidity
Weight [kg] 12.4 17.7 26.3 12.4 17.7 26.3
XML-SF22D XML-LF35D XML-SF55D

XML-SF20G XML-LF30G XML-SF44G


Servo Motor Type (XML- ) SF12M SF20M LF30M SF44M
XDL- XDL-
L7□A020 L7□A050
Rated output [kW] 1.2 2.0 3.0 4.4
[Nm] 11.46 19.10 28.64 42.01
Rated torque
[kgfcm] 116.92 194.86 292.29 428.69
Maximum [Nm] 34.37 57.29 85.93 126.04
instantaneous
torque [kgfcm] 350.75 584.58 876.88 1286.08
Rated current [A] 8.40 14.40 15.99 31.24

Maximum
[A] 25.2 43.2 47.97 93.72
current
7-11

Rated rotation
[r/min] 1000
speed
Maximum
[r/min] 2000 1700 2000
rotation speed
[kgm2x10-4] 30.74 52.13 83.60 121.35
Inertia moment
[gfcms2] 31.37 53.19 85.31 123.83

Speed and

method penetration)
Ambient
temperature
and features
Ambient
humidity
Weight [kg] 12.4 17.7 26.3 35.6
 Rotation Speed - Torque Characteristics 
XML-SF12M XML-SF20M XML-LF30M
XML-SF44M
7-12

Servo Motor Type (XML- ) SG20G LG30G SG44G SG22D LG35D SG55D
XDL- XDL- XDL- XDL- XDL- XDL-
Applicable drive (XDL-L7□A□□)
L7□A020 L7□A035 L7□A050 L7□A020 L7□A035 L7□A050
Rated output 1.8 1.8 2.9 4.4 2.2 3.5 5.5
11.46 11.46 18.46 28.01 10.50 16.71 26.26
Rated torque
116.92 116.92 188.37 285.80 107.20 170.52 267.9
Maximum 34.47 34.47 55.38 84.02 31.51 50.13 78.77
instantaneous
torque 350.80 350.80 565.10 857.39 321.52 511.51 803.8
Rated current [A] 13.10 16.19 31.50 12.30 16.05 30.25

Rated rotation
[r/min] 1500 2000
speed
Maximum
[r/min] 3000 2700 3000 3000
rotation speed
[kgm2x10-4] 51.42 80.35 132.41 51.42 80.35 135.11
Inertia moment
[gfcms2] 52.47 81.99 135.11 52.47 81.99 132.41
Speed and
Protection
method
Ambient
temperature
and features
Ambient
humidity
Weight [kg] 17.0 22.0 30.8 17.0 22.0 30.8
XML-SF20G XML-LG30G XML-SG44G


7-13

XML-SG22D XML-LG35D XML-SG55D


Servo Motor Type (XML- ) SG12M SG20M LG30M SG44M
XDL- XDL-
Applicable Drive (XDL-L7□A□□) XDL-L7□A035
L7□A020 L7□A050
Rated output [kW] 1.2 2.0 3.0 4.4
[Nm] 11.46 19.10 28.64 42.01
Rated torque
[kgfcm] 116.92 194.86 292.29 428.69
Maximum [Nm] 34.37 57.29 85.93 126.04
instantaneous
torque [kgfcm] 350.75 584.58 876.88 1286.08
Rated current [A] 8.87 15.02 16.04 31.83

Maximum
[A] 26.61 45.06 48.12 95.49
current
Rated rotation
[r/min] 1000
speed
Maximum
[r/min] 2000 1700 2000
rotation speed
[kgm2x10-4] 51.42 80.35 132.41 172.91
Inertia moment
[gfcms2] 52.47 81.99 135.11 176.44
Rated power
[kW/s] 25.53 45.39 61.97 102.08
rate

Protection
method
Ambient
temperature
and features
Ambient
humidity
Weight [kg] 17.0 22.0 30.8 37.5 17.0 22.0
7-14

 Rotation Speed - Torque Characteristics 

XML-SG12M XML-SG20M XML-LG30M

XML-SG44M
Servo Motor Type (XML- ) HB01A HB02A HB04A HE09A HE15A
XDL- XDL- XDL-
L7□A004 L7□A010 L7□A020
Rated output [kW] 0.1 0.2 0.4 0.9 1.5
[Nm] 0.32 0.64 1.27 2.86 4.77
Rated torque
[kgfcm] 3.25 6.49 12.99 29.23 48.72
Maximum [Nm] 0.96 1.91 3.82 8.59 14.32
instantaneous
torque [kgfcm] 9.74 19.48 38.96 87.69 146.15
Rated current [A] 1.65 1.63 2.89 4.95 8.23

Maximum current [A] 4.95 4.89 8.67 14.85 24.69
Rated rotation
[r/min] 3000
speed
Maximum rotation
[r/min] 3500
speed
[kgm2x10-4] 0.27 0.33 0.46 19.56 22.27
Inertia moment
[gfcms2] 0.27 0.34 0.47 19.96 22.72
Rated power rate [kW/s] 3.34 11.98 34.47 4.10 10.01
Speed and Standard Quadrature Type Incremental 1024P/R 2048 P/R

position detector Option x
Protection
Specifications Fully closedself-cooling IP55(excluding axis penetration)
method
and features
7-15

Ambient
0~40°C
temperature
Ambient
humidity
Weight [kg] 0.9 1.2 1.7 5.8 7.4
XML-HB01A XML-HB02A XML-HB04A
XML-HE09A XML-HE15A

Servo Motor Type (XML- ) FB01A FB02A FB04A FC04A FC06A
XDL- XDL- XDL-
L7□A001 L7□A002 L7□A008
Rated output [kW] 0.10 0.20 0.40 0.40 0.60
[Nm] 0.32 0.64 1.27 1.27 1.91
Rated torque
[kgfcm] 3.25 6.50 12.99 13.00 19.50
Maximum [Nm] 0.96 1.91 3.82 3.82 5.73
instantaneous
torque [kgfcm] 9.74 19.49 38.98 38.98 58.47
Rated current [A] 0.95 1.45 2.60 2.58 3.81

Maximum current [A] 2.86 4.35 7.79 7.75 11.42
Rated rotation
[r/min] 3000
speed
Maximum rotation
[r/min] 5000
speed
[kgm2x10-4] 0.09 0.15 0.25 0.50 0.88
Inertia moment
[gfcms2] 0.09 0.15 0.25 0.51 0.89
Rated power rate [kW/s] 11.38 27.95 65.90 32.62 41.69
Speed and Standard Serial Type 19[bit]

position detector Option X
7-16

Protection
method
Ambient
temperature
and features
Ambient
humidity
Weight [kg] 0.7 0.9 1.3 1.6 2.2
XML-FB01A XML-FB02A XML-FB04A

XML-FC04A XML-FC06A

Servo Motor Type (XML- ) FC08A FC10A FC03D FC05D FC06D FC07D
XDL- XDL- XDL-
Applicable Drive (XDL-L7□A□□) L7□A010 XDL-L7□A008
L7□A008 L7□A004
Rated output [kW] 0.75 1.00 0.30 0.45 0.55 0.65
[Nm] 2.39 3.18 1.43 2.15 2.60 3.10

Rated torque
[kgfcm] 24.36 32.50 14.60 21.90 26.80 31.70
Maximum [Nm] 7.16 9.55 4.30 6.45 7.88 9.31
instantaneous
torque [kgfcm] 73.08 97.44 43.80 65.80 80.40 95.00
Rated current [A] 5.02 6.70 2.50 3.05 3.06 3.83
Rated rotation
[r/min] 3000 2000
speed
Maximum rotation
[r/min] 5000 3000
speed
[kgm2x10-4] 1.25 1.62 0.50 0.88 1.25 1.62
Inertia moment
[gfcms2] 1.27 1.65 0.51 0.89 1.27 1.65
7-17

Speed and Standard Serial Type 19[bit]

Protection
method
Ambient
temperature
and features
Ambient
humidity
Weight [kg] 2.7 3.8 1.6 2.2 2.7 3.8
XML-FC08A XML-FC10A XML-FC03D
XML-FC06D XML-FC07D
XML-FC05D
Servo Motor Type (XML- ) FE09A FE15A FE22A FE30A FE06D FE11D
Applicable Drive (XDL-L7□A□□)
L7□A010 L7□A020 L7□A035 L7□A035 L7□A008 L7□A010
Rated output [kW] 0.9 1.5 2.2 3.0 0.6 1.1
[Nm] 2.86 4.77 7.00 9.55 2.86 5.25
Rated torque
[kgfcm] 29.20 48.70 71.40 97.40 29.2 0 53.60
Maximum [Nm] 8.59 14.32 21.01 28.65 8.59 15.75
instantaneous
torque [kgfcm] 87.70 146.10 214.30 292.20 87.70 160.70
Rated current [A] 6.45 9.15 13.24 16.09 4.56 6.47

Rated rotation
[r/min] 3000 2000
speed
Maximum rotation
[r/min] 5000 3000
speed
Inertia moment [kgm2x10-4] 5.66 10.18 14.62 19.04 5.66 10.18
7-18

[gfcms2] 5.77 10.39 14.92 19.43 5.77 10.39

Speed and Standard Serial Type 19 [bit]

Protection
method
Ambient
temperature
and features
Ambient
humidity
Weight [kg] 5.0 6.7 8.5 10.1 5.0 6.7
XML-FE09A XML-FE15A XML-FE22A

XML-FE30A XML-FE06D XML-FE11D
Servo Motor Type (XML- ) FE16D FE22D FE03M FE06M FE09M FE12M
L7□A020 L7□A035 L7□A004 L7□A008 L7□A010 L7□A020
Rated output [kW] 1.6 2.2 0.3 0.6 0.9 1.2
[Nm] 7.63 10.5 2.86 5.72 8.59 11.46
Rated torque
[kgfcm] 77.90 107.10 29.22 58.4 87.7 116.9
Maximum [Nm] 22.92 31.51 8.59 17.18 25.77 34.22
instantaneous
torque [kgfcm] 233.80 321.40 87.66 175.3 262.9 349.1
Rated current [A] 10.98 12.97 2.73 4.56 6.18 10.67

7-19

Rated rotation
[r/min] 2000 1000
speed
Maximum rotation
[r/min] 3000 2000
speed
[kgm2x10-4] 14.62 19.04 5.66 10.18 14.62 19.04
Inertia moment
[gfcms2] 14.92 19.43 5.77 10.39 14.92 19.43

Protection
method
Ambient
temperature
and features
Ambient
20~80[%]RH(no condensation_
humidity
Weight [kg] 8.5 10.1 5.0 6.7 8.5 10.1
XML-FE16D XML-FE22D XML-FE03M
XML-FE06M XML-FE09M XML-FE12M

■Product Features
Servo Motor Type (XML- ) FE05G FE09G FE13G FE17G FF30A FF50A
XDL- XDL- XDL- XDL-
L7□A008 L7□A010 L7□A035 L7□A050
Rated output [kW] 0.45 0.85 1.3 1.7 3.0 5.0
[Nm] 2.86 5.41 8.27 10.82 9.55 15.91
Rated torque
[kgfcm] 29.22 55.19 84.41 110.38 97.40 162.30
Maximum [Nm] 8.59 16.23 24.82 32.46 28.65 47.74
7-20

instantaneous
torque [kgfcm] 87.66 165.57 253.23 331.14 292.3 487.00
Rated current [A] 4.56 6.67 11.90 13.36 15.26 26.47

Rated rotation
[r/min] 1500 3000
speed
Maximum rotation
[r/min] 3000 5000
speed
[kgm2x10-4] 5.66 10.18 14.62 19.04 27.96 46.56
Inertia moment
[gfcms2] 5.77 10.39 14.92 19.43 28.53 47.51

Protection
method
Ambient
temperature
and features
Ambient
humidity
Weight [kg] 5.0 6.7 8.5 10.1 12.5 17.4
XML-FE05G XML-FE09G XML-FE13G

XML-FE17G XML-FF30A XML-FF50A
7-21

■Protect Features
Servo Motor Type (XML- ) FF22D FF35D FF55D FF20G FF30G FF44G
L7□A020 L7□A035 L7□A050 L7□A020 L7□A035 L7□A050
Rated output [kW] 2.2 3.5 5.5 1.8 2.9 4.4
[Nm] 10.50 16.70 26.25 11.45 18.46 28.00
Rated torque
[kgfcm] 107.1 170.4 267.8 116.9 188.3 285.7
Maximum [Nm] 31.50 50.10 78.76 34.35 55.38 84.03
instantaneous
torque [kgfcm] 321.30 511.40 803.4 350.60 564.90 857.10
Rated current [A] 13.07 16.48 28.78 12.16 15.98 30.70

Rated rotation
[r/min] 2000 1500
speed
Maximum rotation
[r/min] 3000 3000 2700 3000
speed
[kgm2x10-4] 27.96 46.56 73.85 27.96 46.56 73.85
Inertia moment
[gfcms2] 28.53 47.51 75.36 28.53 47.51 75.36

Protection
method
Ambient
temperature
and features
Ambient
humidity
Weight [kg] 12.5 17.4 25.12 12.5 17.4 25.2
XML-FF22D XML-FF35D XML-FF20G
7-22

XML-FF30G XML-FF44G XML-FF12M
■Product Features
Servo Motor Type (XML- ) FF12M FF20M FF30M FF44M
XDL- XDL- XDL- XDL-
L7□A020 L7□A020 L7□A035 L7□A050
Rated output [kW] 1.2 2.0 3.0 4.4
[Nm] 11.46 19.09 28.64 42.02
Rated torque
[kgfcm] 116.9 194.8 292.2 428.7
Maximum [Nm] 34.38 57.29 85.94 126.1
instantaneous
torque [kgfcm] 350.70 584.40 876.60 128.60
Rated current [A] 11.01 12.96 16.58 30.60

Maximum
[A] 33.03 38.88 49.74 91.8
current
Rated rotation
[r/min] 1000
speed
Maximum
[r/min] 2000 1700 2000
rotation speed
[kgm2x10-4] 27.96 46.56 73.85 106.7
Inertia moment
[gfcms2] 28.53 47.51 75.36 108.9

method penetration)
Ambient
temperature
and features
Ambient
humidity
Weight [kg] 12.5 17.4 25.2 33.8
7-23

XML-FF20M XML-FF30M XML-FF44M

XML-FG22D XML-FG35D XML-FG20G

■Product Features
Servo Motor Type (XML- ) FG22D FG35D FG55D FG20G FG30G FG44G
XDL- XDL- XDL- XDL- XDL-
L7□A035 L7□A050 L7□A020 L7□A035 L7□A050
Rated output [kW] 2.9 4.4 1.2 2.0 3.0 4.4
[Nm] 18.50 28.00 11.50 19.10 28.60 42.00
Rated torque
[kgfcm] 188.4 285.8 116.9 194.9 292.3 428.7
Maximum [Nm] 55.40 84.00 34.40 57.30 85.90 126.00
instantaneous
torque [kgfcm] 565.1 857.4 350.8 584.6 876.9 128.61
Rated current [A] 10.25 14.67 29.74 11.18 16.21 31.72

Rated rotation
[r/min] 2000 1500
speed
Maximum rotation
[r/min] 3000 2700 3000 3000 2700 3000
speed
[kgm2x10-4] 41.13 71.53 117.72 14.13 71.53 117.72
Inertia moment
[gfcms2] 41.97 72.99 120.12 41.97 72.99 120.12

Protection
method
Ambient
Specifications and 0~40[°C]
temperature
features
Ambient
humidity
Weight [kg] 15.4 20.2 28.12 15.4 20.2 28.0
7-24

XML-FG30G XML-FG44G XML-FG12M
XML-FG20M XML-FG30M XML-FG44M
■Product Features
Servo Motor Type (XML- ) FG12M FG20M FG30M FG44M
Applicable Drive (XDL- XDL- XDL-

L7□A□□) L7□A035 L7□A050
Rated output [kW] 1.2 2.0 3.0 4.4
[Nm] 11.50 19.10 28.60 42.00

Rated torque
[kgfcm] 116.9 194.9 292.3 428.7
Maximum [Nm] 34.40 57.30 85.90 126.00

instantaneous
torque [kgfcm] 350.8 584.6 876.9 128.61
Rated current [A] 11.28 13.10 15.52 27.26

Maximum
[A] 33.84 39.3 46.56 81.78
current
Rated rotation
[r/min] 1000
speed
Maximum
[r/min] 2000 1700 2000
rotation speed
[kgm2x10-4] 41.13 71.53 117.72 149.40

Inertia moment
[gfcms2] 41.97 72.99 120.12 152.45
Allowed load inertia Allowed load inertia

Rated power
[kW/s] 31.91 51.00 69.70 118.14
rate
position
detector Option X
Protection
Specifications Fully closedself-cooling IP65(excluding axis penetration)
method
and features
7-25

Ambient
0~40[°C]
temperature
Ambient
humidity
Weight [kg] 15.4 20.2 28.0 33.5
XML-FG12M XML-FG20M XML-FG30M

XML-FG44M
Servo Motor Type (XML- ) FALR5A FAL01A FAL015A FBL01A FBL02A FBL04A
XDL- XDL- XDL- XDL-
L7□A002 L7□A001 L7□A002 L7□A004
Rated output [kW] 0.05 0.10 0.15 0.10 0.20 0.40
[Nm] 0.16 0.32 0.48 0.32 0.64 1.27

Rated torque
[kgfcm] 1.62 3.25 4.87 3.25 6.49 12.99
Maximum [Nm] 0.48 0.96 1.43 0.96 1.91 3.82
instantaneous
torque [kgfcm] 4.87 9.74 14.62 9.74 19.48 38.96
Rated current [A]Φ.ac.rms 0.95 1.25 1.76 0.95 1.45 2.60

Maximum
[A]Φ.ac.rms 2.85 3.75 5.28 2.85 4.35 7.80
current
Rated rotation
[r/min] 3000
speed
Maximum
[r/min] 5000
rotation speed
[kgm2x10-4] 0.023 0.042 0.063 0.091 0.147 0.248
Inertia moment
[gfcms2] 0.024 0.043 0.065 0.093 0.150 0.253
Allowed load inertia Motor inertia x 30 Motor inertia Motor inertia x 20

Rated power
[kW/s] 10.55 23.78 35.34 11.09 27.60 27.07
rate
7-26

Speed and Standard Serial Multi-Turn Built-in Type(18bit) Serial Multi-Turn Built-in Type(19bit)
position
detector Option x
Protection
method
Ambient
temperature
and features
Ambient
humidity
Weight [kg] 0.31 0.45 0.61 0.56 0.74 1.06
XML-FALR5A XML-FAL01A XML-FAL015A

XML-FBL01A XML-FBL02A XML-FBL04A
Servo Motor Type (XML- ) FCL04A FCL06A FCL08A FCL10A
XDL- XDL-
L7□A004 L7□A010
Rated output [kW] 0.40 0.60 0.75 1.00
[Nm] 1.27 1.91 2.39 3.18

Rated torque
[kgfcm] 12.99 19.49 24.36 32.48
Maximum [Nm] 3.82 5.73 7.16 9.55

instantaneous
torque [kgfcm] 38.98 58.47 73.08 97.44
Rated current [A]Φ.ac.rms 2.58 3.81 5.02 5.83

Maximum
[A]Φ.ac.rms 7.75 11.42 15.07 17.50
current
Rated rotation
[r/min] 3000
speed
7-27

Maximum
[r/min] 5000
rotation speed
[kgm2x10-4] 0.530 0.897 1.264 1.632

Inertia moment
[gfcms2] 0.541 0.915 1.290 1.665
Allowed load inertia

Rated power
[kW/s] 30.60 40.66 45.09 62.08
rate
Speed and Standard Serial Multi-Turn Built-in Type(19bit)
position
detector Option x
Protection
method
Ambient
temperature
and features
Ambient
humidity
Weight [kg] 1.52 2.14 2.68 3.30
XML-FALR5A XML-FAL015A
XML-FBL01A XML-FBL01A XML-FBL04A
7-28

Servo Motor Type (XML- ) FCL04A FCL06A FCL08A FCL10A
XDL- XDL-
L7□A004 L7□A010
Rated output [kW] 0.40 0.60 0.75 1.00
[Nm] 1.27 1.91 2.39 3.18

Rated torque
[kgfcm] 12.99 19.49 24.36 32.48
Maximum [Nm] 3.82 5.73 7.16 9.55

instantaneous
torque [kgfcm] 38.98 58.47 73.08 97.44

Maximum
[A]Φ.ac.rms 7.75 11.42 15.07 17.50
current
Rated rotation
[r/min] 3000
speed
Maximum
[r/min] 5000
rotation speed
[kgm2x10-4] 0.530 0.897 1.264 1.632

Inertia moment
[gfcms2] 0.541 0.915 1.290 1.665

Rated power
[kW/s] 30.60 40.66 45.09 62.08
rate
position
detector Option x
Protection
method
Ambient
temperature
and features
Ambient
humidity
Weight [kg] 1.52 2.14 2.68 3.30
XML-FCL04A XML-FCL06A XML-FCL08A

7-29

XML-FCL10A
Servo Motor Type (XML- ) FCL03D FCL05D FCL06D FCL07D
XDL-
L7□A004
Rated output [kW] 0.30 0.45 0.55 0.65
[Nm] 1.43 2.15 2.63 3.10

Rated torque
[kgfcm] 14.62 21.92 26.80 31.67
Maximum [Nm] 4.30 6.45 7.88 9.31

instantaneous
torque [kgfcm] 43.85 65.77 80.39 95.01

Maximum
[A]Φ.ac.rms 7.51 9.16 9.18 11.50
current
Rated rotation
[r/min] 2000
speed
Maximum
[r/min] 3000
rotation speed
[kgm2x10-4] 0.530 0.897 1.264 1.63

Inertia moment
[gfcms2] 0.541 0.915 1.290 1.66

Rated power
[kW/s] 38.73 51.47 54.56 59.03
rate
position
detector Option x
Protection
method
Ambient
temperature
and features
Ambient
humidity
Weight [kg] 1.26 2.12 2.66 2.78
7-30

XML-FCL03D XML-FCL05D XML-FCL06D

XML-FCL07D
7-31

■ Electric Brake Specifications
Applicable Motor
XML-SA XML-SB XML-SC XML-SE XML-SF XML-SG
Series
Purpose Maintenance
Input voltage [V] DC 24V DC 24V DC 90V
Static friction torque

0.32 1.47 3.23 10.4 40 74
[N•m]
Capacity [W] 6 6.5 9 19.4 25 32
Coil resistance [Ω] 96 89 64 29.6 23 327
Rated current [A] 0.25 0.27 0.38 0.81 1.04 0.28
Braking mechanism Spring brake
Insulation grade GraDde F
Applicable Motor
XML-FB XML-FC
Series
Purpose Maintenance Maintenance
Input voltage [V] DC 24V DC 24V
Static friction torque

1.47 3.23
[N•m]
Capacity [W] 6.5 9
Coil resistance [Ω] 89 64
Rated current [A] 0.27 0.38
Braking mechanism Spring brake Spring brake
Insulation grade Grade F Grade F
NOTE 1) The same specifications apply to all electric brakes installed in our servo motors.
NOTE 2) Electric brakes are designed to maintain a stop. Never use them for absolute braking.
NOTE 3) The characteristics of the electric brakes were measured at 20°C.
NOTE 4) These brake specifications are subject to change. Check the voltage specifications on your
specific motor.
7-32

7.1.2 Outline Drawing
 SA Series | XML-SAR3A, XML-SAR5A, XML-SA01A, XML-

SA015A
External Dimensions
Name Weight (kg)
L LM LC CB
SAR3A 101.3(137.6) 76.3(112.6) 42.5(42.4) 66.3(102.3) 0.32(0.67)
SAR5A 108.3(144.6) 83.3(119.6) 49.5(49.4) 73.3(109.3) 0.38(0.73)
SA01A 125.3(161.6) 100.3(136.6) 66.5(66.4) 90.3(126.3) 0.5(0.85)
SA015A 145.3 120.3 86.5 110.3 0.7
NOTE 1) The standard shaft end for 40 flange is straight.
NOTE 2) Use DC 24 [V] for brake-opening power.
NOTE 3) The sizes in parentheses apply when attached to brakes.(Except SA015A)

NOTE 4) Option specification; Serial M-turn Encoder PinMap
7-33

 SB Series | XML-SB01A, XML-SB02A, XML-SB04A
External Dimensions
Name Weight (kg)
L LM LC CB
SB01A 122(162) 92(132) 52.5(52.3) 59.5(99.5) 0.82(1.4)
SB02A 136(176) 106(146) 66.5(66.3) 73.5(113.5) 1.08(1.66)
SB04A 164(199) 134(169) 94.5(94.3) 101.5(141.5) 1.58(2.16)
NOTE 2) The sizes in parentheses apply when attached to brakes.

7-34

 SC Series | XML-SC04A,SC03D, XML-SC06A,SC05D,

XML-SC08A,SC06D, XML-SC10A,SC07D
External Dimensions Weight

Name
L LM LC CB S (kg)
SC04A, SC03D 158.5(198.8) 118.5(158.8) 79(78.8) 86(126.3) 14 1.88(2.92)
SC06A, SC05D 178.5(218.8) 138.5(178.8) 99(98.8) 106(146.3) 16 2.52(3.56)
SC08A, SC06D 198.5(238.8) 158.5(198.8) 119(118.8) 126(166.3) 16 3.15(4.22)
SC10A, SC07D 218.5(258.8) 178.5(218.8) 139(138.8) 146(186.3) 16 3.80(4.94)
NOTE 1) Use DC 24 [V] for brake-opening power
NOTE 2) The sizes in parentheses apply when attached to brakes
7-35

 SE Series | XML-SE09A, SE06D, SE05G, SE03M, XML-SE15A,

SE11D,SE09G,SE06M, XML-SE22A, SE16D, SE13G, SE09M,
XML-SE30A, SE22D, SE17G, SE12M
Key
Name Dimensions
(kg)
L LM LC S T W U
SE09A, SE06D,
201.3(239.3) 143.3(181.3) 93.8(93.6) 19 5 5 3 5.5(7.04)
SE05G, SE03M
SE15A, SE11D,
225.3(263.3) 167.3(205.3) 117.8(117.6) 19 5 5 3 7.54(9.08)
SE09G, SE06M
SE22A, SE16D, 3. 9.68(11.22
249.3(287.3) 191.3(229.3) 141.8(141.6) 22 6 6
SE13G, SE09M 5 )
SE30A, SE22D, 3. 11.78(13.3
273.3(311.3) 215.3(253.3) 165.8(165.6) 22 6 6
SE17G, SE12M 5 2)
NOTE 1) Use DC 24 [V] for brake-opening power
NOTE 2) . The sizes in parentheses apply when attached to brakes
NOTE 3) . Option specification; Serial M-turn Encoder PinMap
7-36

 SF Series | XML-SF30A, SF22D, SF20G, SF12M, SF50A, LF35D,

LF30G, SF20M, SF30M, LF30M,SF44G, SF44M

Name
L LM LC (Kg)
SF30A, SF22D, SF20G, SF12M 261.5(312.9) 182.5(233.9) 133(132.7) 12.4(19.2)
SF50A, LF35D, LF30G, SF20M 295.5(346.9) 216.5(267.9) 167(166.7) 17.7(24.9)
SF55D, SF44G LF30M 345.5(396.9) 266.5(317.9) 217(216.7) 26.3(33.4)
SF44M 405.5(456.9) 326.5(377.9) 277(276.7) 35.6(42.8)
NOTE 1) Eye bolts apply to LF30M or higher models

7-37

 SG Series | XML-SG22D, SG20G, SG12M,

XML-LG35D, LG30G, SG20M,
XML-SG55D, SG44G, LG30M, XML-SG44M

Name
L LM LC (Kg)
SG22D, SG20G,SG12M 236.5(302.7) 171.5(237.7) 122(121.2) 16.95(30.76)
LG35D,LG30G,SG20M 256.5(322.7) 191.5(257.7) 142(142.2) 21.95(35.7)
SG55D, SG44G,LG30M 292.5(358.7) 227.5(293.7) 178(177.2) 30.8(44.94)
SG44M 320.5(386.7) 255.5(321.7) 206(205.2) 37.52(50.94)

7-38

 XML-HB01A (Hollow Shaft), XML-HB02A (Hollow Shaft),

XML-HB04A (Hollow Shaft)
External Dimensions
Name Hollow Weight (Kg)
L LM LC CB Shaft
Diameter
HB01A 140.5 98.5 68.5 24 15 0.89
HB02A 154.5 112.5 82.5 38 15 1.16
HB04A 182.5 140.5 105.5 66 15 1.69
 XML-HE09A (Hollow Shaft), XML-HE15A (Hollow Shaft)
External Dimensions
Name Hollow Weight (Kg)
L LM LC Shaft
Diameter
HE09A 207 150 111.5 40 5.82
HE15A 231 174 135.5 40 7.43
7-39

 FB Series : XML-FB01A, XML-FB02A, XML-FB04A
(The drawing in the case of Rear Type cable, it is available on request)
External Dimensions
Name Weight(kg)
L LM LC
FB01A 109(149.2) 79(119.2) 43.5(43) 0.72(1.3)
FB02A 120(160.2) 90(130.2) 54.5(54) 0.94(1.49)
FB04A 140(180.2) 110(150.2) 74.5(74) 1.32(1.87)
NOTE 1) Use DC power (24V) to operate the brake.
7-40

NOTE 2) The sizes in parentheses apply when attached to the brakes.
 FC Series | XML-FC04A,FC03D, XML-FC06A,FC05D,

XML-FC08A,FC06D, XML-FC10A,FC07D
(The drawing in the case of Rear Type cable, it is available on request)
External Dimensions Shaft, Key Dimensions

Name Weight(kg)
L LM LC S H T W U
FC04A,FC03D 136.5(177) 96.5(137) 61(60.5) 14 -0.018 5 5 3 1.56(2.6)
7-41

FC06A,FC05D 154.5(195) 114.5(155) 79(78.5) 19 -0.021 6 6 3.5 2.18(3.22)

FC08A,FC06D 172.5(213) 132.5(173) 97(96.5) 19 -0.021 6 6 3.5 2.72(3.76)
FC10A,FC07D 190.5(231) 150.5(191) 115(114.5) 19 -0.021 6 6 3.5 3.30(4.34)
NOTE 4) The sizes in parentheses apply when attached to the brakes.
 FE Series | XML-FE09A, FE15A, FE22A, FE30A, FE06D, FE11D,

FE16D, FE22D, FE03M, FE06M, FE09M, FE12M, FE05G, FE09G,
FE13G, FE17G
<Standard>
External Dimensions Key Dimensions
Name Weight(kg)
L LM LC S QW T W U
FE09A,FE06D,FE05G,FE03M 197.3 139.3 89.8 19 25 5 5 3 5.04
FE15A,FE11D,FE09G,FE06M 217.3 159.3 109.8 19 25 5 5 3 6.74
FE22A,FE16D,FE13G,FE09M 237.3 179.3 129.8 22 25 6 6 3.5 8.48
FE30A,FE22D,FE17G,FE12M 255.3 197.3 147.8 24 36 7 8 4 10.05
<Brake>
7-42


Name Weight(kg)
L LM LC S QW T W U
FE09A,FE06D,FE05G,FE03M 235.3 177.3 89.6 19 25 5 5 3 6.58
FE15A,FE11D,FE09G,FE06M 255.3 197.3 109.6 19 25 5 5 3 8.28
FE22A,FE16D,FE13G,FE09M 275.3 217.3 129.6 22 25 6 6 3.5 10.02
FE30A,FE22D,FE17G,FE12M 293.3 235.3 147.6 24 36 7 8 4 11.59
 FF Series | XML-FF30A, FF50A, FF22D, FF35D, FF20G, FF30G,

FF44G, FF12M, FF20M, FF30M, FF44M
<Standard>
Name Weight(kg)
L LM LC LR S QK T W U
FF30A,22D,20G,12M 257.5 178.5 129 12.5
FF50A,35D,30G,20M 287.5 208.5 159 35 60 8 10 5 17.4
79
44G,30M 331.5 252.5 203 25.2
44M 384.5 305.5 256 42 60 8 12 5 33.8
<Brake>
7-43


Name Weight(kg)
L LM LC LR T W U
FF30A,22D,20G,12M 308.9 229.9 128.7 19.7
FF50A,35D,30G,20M 338.9 259.9 158.7 35 8 10 5 24.6
44G,30M 382.9 303.9 202.7 32.4
44M 435.9 356.9 234.7 42 8 12 5 41.0
NOTE 1) Eye bolts apply to FF30M or higher models.
 FG Series | XML-FG22D FG35D FG20G, FG30G, FG44G, FG12M,

FG20M, FG30M, FG44M
<Standard>
Name Weight(kg)
L LM LC S T W U
FG22D,FG20G,FG12M 229.5 164.5 115 15.42
FG35D,FG30G,FG20M 250.5 185.5 135 35 8 10 5 20.22
FG44G,FG30M 282.5 217.5 168 28.02
FG44M 304.5 239.5 190 42 8 12 5 33.45
<Brake>
7-44

External Dimensions Key Dimensions Weight

Name
L LM LC S T W U (kg)
114.
FG22D,FG20G,FG12M 295.7 230.7 29.23
2
135.
FG35D,FG30G,FG20M 316.7 251.7 35 8 10 5 34.03
2
167.
FG44G,FG30M 348.7 283.7 41.83
2
189.
FG44M 370.7 305.7 42 8 10 5 47.26
2
 FAL Series | XML-FALRA, FAL01A, FAL015A
7-45


Name
L LM LC LA (kg)
FALR5A 103.2(139.6) 78.2(114.6) 49.5 23 0.31(0.66)
FAL01A 120.2(156.6) 95.2(131.6) 66.5 35 0.45(0.80)
FAL015A 140.2 115.2 86.5 35 0.61
NOTE 2) The dimension of ( ) is for brake type motor.
NOTE 3) To connect FAL motor, connect power cable first.
 FBL Series | XML-FBL01A, FBL02A, FBL04A
7-46

Key
Name Dimensions
(kg)
L LM LC S H T W U
FBL01A 107.2(147.2) 77.2(117.2) 48.5(48.3) 14 -0.018 5 5 3 0.56(1.3)
FBL02A 118.2(158.2) 88.2(128.2) 59.5(59.3) 14 -0.018 5 5 3 0.74(1.48)
FBL04A 138.2(178.2) 108.2(148.2) 79.5(79.3) 14 -0.018 5 5 3 1.06(1.8)
7-47

 FCL Series | XML-FCL04A, FCL03D, FCL06A, FCL05D, FCL08A,

FCL06D, FCL10A, FCL07D
7-48


Name Weight(kg)
L LM LC S H T W U
FCL04A,FCL03D 138.7(179.5) 98.7(139.5) 70(69.8) 14 -0.018 5 5 3 1.52(2.32)/1.26(2.06)
FCL06A,FCL05D 156.7(197.5) 116.7(157.5) 88(87.8) 19 -0.021 6 6 3.5 2.14(2.94)/2.12(2.92)
FCL08A,FCL06D 174.7(215.5) 134.7(175.5) 106(105.8) 19 -0.021 6 6 3.5 2.68(3.48)/2.66(3.46)
FCL10A,FCL07D 192.7(233.5) 152.7(193.5) 124(123.8) 19 -0.021 6 6 3.5 3.30(4.10)/2.78(3.58)
7-49

7.2 Servo Drive
7.2.1 Product Features

Type Name L7□A L7□A
L7□A L7□A L7□A L7□A L7□A L7□A
Item 008□ 020□
001□ 002□ 004□ 010□ 035□ 050□
Main power 3-phase AC 200-230 [V] (-15~10[%]), 50-60 [Hz]

Input
power
Control power Single-phase AC 200-230 [V] (-15~10[%]), 50-60 [Hz]
Rated current [A] 1.4 1.7 3.0 5.2 6.75 13.5 16.7 32
Peak current [A] 4.2 5.1 9.0 15.6 20.25 40.5 50.1 96
Quad. Type incremental line driver 2000-10000 [P/R]

Encoder Type
Serial 17 / 19 bit / 21 bit
Speed control
Maximum 1: 5000
range
Frequency
Maximum 1 [kHz] or above (when the 19-bit serial encoder is applied).
response
Speed
Speed DC –10 [V]~+10 [V] (Reverse rotation in case of negative voltage)
command
Control
Acceleration/d
Straight or S-curve acceleration/deceleration (0-10,000 [ms], possible to be set
eceleration
by one [ms] unit)
time
Speed change ±0.01 [%] or lower [when load changes between 0 and 100%]
rate ±0.1[%] or lower [temperature 25 ±10℃]
Control
performan Input
1 [Mpps], line driver / 200 [kbps], open collector
ce frequency
Position Input pulse
Symbol + pulse series, CW+CCW, A/B phase
Control Method
Electric Gear
Four digital gear ratios can be set, selected and tuned.
Ratio
Torque
DC –10~+10 [V] (Reverse direction torque in case of negative voltage)
command
Torque
Speed limit DC 0~10 [V], internal speed command within ±1[%]
Control
Repetition
Within ±1[%]
accuracy
Input range DC -10~10 [V]

Analog
Input Angular
12 [bit]*
Input/outp resolution
ut signal
Output range DC-1 0~10 [V]
Analog
Output Angular
12 [bit]
resolution
7-50


Type Name L7□A L7□A
L7□A L7□A L7□A L7□A L7□A L7□A
Item 008□ 020□
001□ 002□ 004□ 010□ 035□ 050□
A total of 10 input channels (allocable)

SVON, SPD1, SPD2, SPD3, ALMRST, DIR, CCWLIM, CWLIM, EMG, STOP, EGEAR1, EGEAR2,
Digital PCON, GAIN2, P_CLR, T_LMT, MODE, ABS_RQ, ZCLAMP
input
You can selectively allocate a total of 19 functions.
You can set the positive/negative logic of the selected signal.
A total of 5 channels (allocable), 3 channels (fixed with alarm codes)

Digital ALARM, READY, ZSPD, BRAKE, INPOS, TLMT, VLMT, INSPD, WARN
output You can selectively allocate a total of nine kinds of output.
You can set the positive/negative logic of the selected signal.
RS422 Accessible to PC software and the RS422 server

Communic
ation Status monitoring through PC software, JOG operation, and parameter uploading/downloading
USB
are possible.
Encoder Serial BiSS encoder and quadrature encoder supported
Encoder output
Random pre-scale output through FPGA (maximum 6.4 Mpps)
method
Dynamic
Standard built-in (activated when the servo alarm goes off or when the servo is off)
braking
Regenerati
Both default built-in and external installation possible
ve braking
Displaying Seven segments (5 DIGIT)
Built-in Self-
Loader (SET, MODE, UP, and [DOWN] keys)
functions setting
Add-on Auto gain tuning, phase Z detection, manual JOG operation,

functions program JOG operation, automatic analog input calibration
Overcurrent, overload, overvoltage, voltage lack, main power input error, control power input
Protection
error, overspeed, motor cable, heating error (power module heating, drive temperature error),
function
encoder error, excessive regeneration, sensor error, communication error
Temperature 0 ~ 50[℃]
Environment Humidity 90[%] RH or lower (no condensation)
Indoors, a place free from corrosive gas or combustible gas, or a place without
Environment
liquid or conductive dust.
7-51

7.2.2 Outline Drawing
 XDL-L7□A001□ ~ XDL-L7□A004□
★ Weight: 1.0[kg]
 XDL-L7□A008□ / XDL-L7□A010□
★ Weight: 1.5[kg](Cooling fan included)
7-52

 XDL-L7□A020□ / XDL-L7□A035□
 XDL-L7□A050□
7-53

7.3 Options and Peripheral Devices
■ Option (incremental encoder cable)

Type
Product Name Applicable
Category Specifications
Name (Note Motors
1)
Motor connection Drive connection (CN2)
All models
Quadrature of
type
XML-SA,
Incremental
For XLCS- XML-SB,
signaling Encoder E AS XML-SC
cable
and
(small 1. Motor connection
capacity) XML-HB
Series a. Cap specifications (15 positions): 172163-1 (AMP)
b. Socket specifications: 170361-1 (AMP)
2. Drive connection (CN2)
a. Case specifications: 10314-52A0-008 (3M)
b. Connector specifications: 10114-3000VE (3M)
c. Cable specifications: 7Px0.2SQ (AWG24)
All models
of
Quadrature XML-SE,
type XML-SF,
Incremental XML-LF,
For XLCS-
signaling Encoder E DS APL-LG,
cable
XML-SG
(medium
capacity) and
XML-HE
Series 1. Motor connection (MS: Military Standard)
a. Plug specifications: MS3108B (MS3106B) 20-29S
a. Case specifications: 10314-52A0-008 (3M) or SM-14J(Suntone)
b. Connector specifications: 10114-3000VE (3M) orSM-14J(Suntone)
3. Cable specifications: 7Px0.2SQ or 7Px24AWG
NOTE 1) The in Type Name indicates the type and length of each cable. Refer to the table below for
how to display them.
Cable length (m) 3 5 10 20

Robotic cable F03 F05 F10 F20
General cable N03 N05 N10 N20
7-54

■ Option (serial encoder cable)

Product Type Name Applicable
Category Specifications
Name (Note 1) Motors
All models of
Serial type XML-SA,
Encoder (Will provide)
For XLCS-
cable XML-SB
signaling E CS
(small and
capacity) XML-SC
Series
1. Motor connection
a. Cap specifications (9 positions): 172161-1 (AMP)
3. Cable specifications: 4Px0.2SQ (AWG24)
All models
Multi turn of
type XML-SA,
For Encoder XLCS-
(Will provide)
signaling cable E CS1
XML-SB
(Small
capacity) XML-SC 1. Motor connection
SERIES a. Cap specifications:(9Position): 172161-1(AMP)
b. SOCKET specifications: 170361-1(AMP)
a. Case specifications: 10314-52A0-008(3M) or
SM-14J(Suntone)
b. Connector specifications:10114-3000VE(3M) or
SM-14J(Suntone)
3. specifications: 4Px0.2SQ or 4Px24AWG
7-55

Drive connection (CN2)

Motor connection
XLCS-
E ES All models
Encoder *Front : of
For cable for flat XLCS-
XML-FB
signaling type motor E ES
and
(small * Rear :
capacity) XLCS- XML-FC
E ES-R Series
1. Motor connection
a. Cap specifications: 2201825-1 (Tyco)
b. Socket specifications: 2174065-1(Tyco)
2. Drive connection(CN2)
a. Case specifications: 10314-52A0-008(3M)
b. Connector specifications: 10114-3000VE(3M)
3. Cable specifications: 4Px0.2SQ(AWG24)
Drive Connection
Motor Connection
XLCS-
E ES1-
Multi turn *Front : All models of
Type XLCS- XML-FB
For
E ES1
signaling Serial and
* Rear :
Encoder XML-FC
XLCS-
Cable Series
E ES1-
R
1. Motor connection
a. Cap specifications(9 Position): 2201825-
1(Tyco)
b. Socket specifications: 2174065-4(Tyco)
a. Case specifications: 10314-52A0-008(3M)
3. Cable specifications : 4Px0.2SQ(AWG24) or
4Px24AWG
7-56

All models
of
XML-SE
Serial
XML-SF
Type
XML-SG
For Encoder XLCS-
XML-LF
signaling Cable E DS
XML-LG
(Medium
XML-FE
capacity) 1. Motor connection ((MS:Military Standard))
XML-FF a. Plug specifications: MS3108B(MS3106B) 20-29S
XML-FG
2. Drive connection(cn2)
SERIES
a. U, V and W pin specifications:2012
b. Case specifications: 10314-52A0-008(3M) or
SM-14J(Suntone)
3. Cable specifications: 4Px0.2SQ or 4Px24AWG
Motor Connection Drive Connection
XML-SE
,
Multi turn XML-SF,
Type XML-SG,
For Serial XML-LF,
signaling XLCS-
Encoder XML-LG,
E DS1
Cable XML-FE,
(Medium 1. Motor connection
XML-FF
capacity) a. Cap specifications(9Position):MS3108B 20-29S
and
XML-FG
a. Case specifications: 10314-52A0-008(3M) or
Series SM-14J(Suntone)
SM-14J(Suntone)
3. Cable specifications: 4Px0.2SQ(AWG24)

7-57

■ Option (power cable)

Category Product Type Applicable
Name Name Motors Specifications
(Note 1)
Motor connection Drive connection
All models
of
Standard XML-SA,
type XLCS- XML-SB,
For power
Power P GS XML-SC
cable and
XML-HB 1. Motor connection
Series a. Cap specifications (4 positions): 172159-1 (AMP)
2. Drive connection (U, V, W, and FG)
a. U,V and W pin specifications: UA-F1512 (SEOIL)
b. FG pin specifications: 1.5x4 (ring terminal)
3. Cable specifications: 4Cx0.75SQ (AWG18)
(XML-SAR3A, SAR5A, and SA01A use 0.5SQ)
Motor connection Power Supply (DC24V)
All models
of
Brake XML-SA,
XLCS-
type P KB XML-SB
For power
Power (new) and
cable
XML-SC
Series 1. Motor connection
a. Cap specifications (6 positions): 172157-1 (AMP)
2. For brake power
a. Connection terminal specifications: 1.5x3 (KET GP110012)
b. Cable specifications: 2Cx0.75SQ (AWG18)
7-58


(Note 1)
All models
Standard of
type XLCS- XML-SE
For power 1. Motor connection (MS: Military Standard)
Power P HS and
cable XML-HE
Series
a. U, V and W pin specifications: UA-F2512
b. FG pin specifications: 2.5x4 (ring terminal)
Note: The drive end connection of the XML-SE03M Series cable
uses the UA-F1512 pin.
All models
Power of
cable XLCS- XML-SE
For power 1. Motor connection
(Brake P NB XML-FE
type) SERIES a. Plug specifications: MS3108B20-15S (MS)
2. Drive connection
a. U, V and W pin specifications:2012
b. Cable specifications: 4C x 2.5SQ or 4C x 12AWG
c. FG pin specifications: 2.5 x 4(Ring Terminal)
3. Brake power connection
a. BK pin specifications : 1.5 x 3(Ring Terminal)
b. Cable specifications: 2C x 0.75SQ or 2C x 18AWAG
7-59


(Note 1)
XML-SF
XML-SG
Standard XML-FF
type XLCS-
For power XML-FG
Power P IS
cable SERIES
Below
3.5KW 1. Motor connection (MS: Military Standard)
a. U, V and W pin specifications: UA-F4012 (SEOIL)
b. FG pin specifications: 2.5 X 4 (ring terminal)
XML-SF
Power XML-LF
Cable XLCS- XML-FF
For power
(brake P PB SERIES
type) Below 1. Motor connection
3.5KW a. Plug specifications:: MS3108B24-10S(MS)
2. Drive connection
a. Cable specifications: 4C x 2.5SQ or 4C x 14AWG
b. FG pin specifications: 2.5 x 4(Ring Terminal)
3. Brake power connection
a. BK pin specifications : 1.5 x 3(Ring Terminal)
b. Cable specifications: 2C x 0.75SQ or 2C x 18AW
XML-SF
XML-SG
XML-FF
Standard XML-FG
XLCS-
type
For power P JS SERIES
Power
(new) Over
cable
3.5KW
1. Motor connection (MS: Military Standard)
Below
5KW
a. U, V and W pin specifications: 6012
b. FG pin specifications: 6.0 x 5 (Ring Terminal)
7-60


(Note 1)
All models
of
XML-SF
Power XML-LF
XLCS- XML-FF
Cable P LB
For power
(Brake SERIES
(new) 1. Motor connection
type) Over
a. Plug specification: MS3108B24-10S(MS)
3.5KW
2. Drive connection
Below
a. Cable specifications: 4C x 2.5SQ or 4C x 14AWG
5KW
b. Pin specifications: 2.5 x 4(Ring Terminal)
3. Brake power connection:
a. BK pin connection: 1.5 x 3(Ring Terminal)
b. Cable specifications: 2C x 0.75SQ or 2C x 18AW
Drive connection
Motor connection
XLCS-
P FS-
All models
Power *Front : of
cable for XLCS-
XML-FB
For power flat type P FS
motor(small and
* Rear :
capacity) XLCS- XML-FC 1. Motor connection
P FS- Series a. Plug specification: KN5FT04SJ1(JAE)
R b. Plug specification: ST-KN-S-C1B-3500 (JAE)
2. Drive connection (U,V,W,FG)
a. U,V,W pin connection: F1512
b. FG pin connection: 1.5x4 (Ring Terminal)
3. Cable specifications: 4Cx0.75SQ or 4Cx18AWG
XLCS-
B QS
All models
*Front :
Brake XLCS- of
cable for B QS XML-FB
For power flat type
motor(small * Rear : and
capacity) XLCS- XML-FC
B QS- 1. Motor connection
Series
R a. Plug specifications: : KN5FT02SJ1 (JAE)
b. Socket specifications: ST-KN-S-C1B-3500 (JAE)
2. Drive connection
a. Connection terminal specifications: 1.5x3(KET GP110012)
3. Cable specifications: 2Cx0.75SQ or 2Cx18AWG18
7-61


(Note 1)
Brake Connection Drive Connection
All models
XLCS- of
Brake P SB XML-SG
For power
cable (new XML-LG
model) XML-FG
Series 1. Motor side connector
a. PLUG : MS3108B14-7S
2. Power side Connector(+,-)
a. Connection terminals : 1.5x3(KET GP110012)
3. Cable
a. 2Cx0.75SQ or 2Cx19AWG

7-62

■ Option (cable)
Category Product Type Name Applicable
(Note 1) Specifications
Name Drive
Motor Side Connector Drive Side Connector
XLCS- 1. Motor side connector

P LS(Front a. PLUG : SM-JN8FT04 (Suntone사)
Power All models of
cable for L b. Socket : SMS-201 (Suntone사)
Direction)/ XML-
For power series 2. Drive side connector (U,V,W,FG)
FAL/FBL/FCL
(small XLCS- a. U,V,W pin connection:1512
capacitor) P LS- Series
b. FG pin: 1.5x4 (Ring Terminal)
R(Rear 3. Cable : 4Cx0.75SQ or 4Cx18AWG
Direction)
4. Remark: For FAL motor, after connect power cable
first, connect Encoder cable
7-63

■ Option (cable)
Categ Product Type Name Applicable
(Note 1) Specifications
ory Name Drive
[Upper level controller] [Drive connection CN1]

Pin number display

c. Cable specifications:ROW-SB0.1Cx50C (AWG
28)
For
signali CN1 Cable XLC-CN1 A XDL-L7 SERIES
ng
[PC - USB port] [Servo drive – CN5]
For 1. PC connection: USB A plug

Communicatio XLCS- 2. Drive connection (CN5): Mini USB 5P plug
signali XDL-L7 SERIES
n cable CM5L7U
ng 3. Electrical requirements:
Double shielding, twisted pair, EMI filter
installation
(similar product: KU-AMB518 by SANWA)
NOTE 1) The in Type Name indicates the length of each cable. Refer to the table below for how to display
them.

Written as 01 02 03 05
7-64

■ Option (connector)
Specifications
ory Name Drive
Terminal block XLC-VSCN1T

T/B XDL-L7 SERIES
for CN1 XLC-VPCN1T
1. APC-VSCN1T: CN1 T/B expansion of APD-VS

2. APC-VPCN1T: CN1 T/B expansion of APD-VP
3. The cable length can be changed.
4. Standard cable length: 0.5 [m]
26 1 1
CN1
CN XLC-CN1NNA XDL-L7 SERIES
Connector
50 25
1. Case specifications: 10350-52A0-008 (3M)

2. Connector specifications: 10150-3000VE (3M)
8 1
CN2
CN XLC-CN3NNA XDL-L7 SERIES
Connector 14 7
1. Case specifications: 10314-52A0-008 (3M)

2. Connector specifications: 10114-3000VE (3M)
7-65

■ Option (braking resistance)

Specifications
ory Name Drive
XDL-L7□A001□
Resist Braking
XLCS-140R50 XDL-L7□A002□
ance resistance
XDL-L7□A004□
Resist Braking XDL-L7□A008□

XLCS-300R30
ance resistance XDL-L7□A010□
XDL-L7□A020□
Resist
Braking (2P)
ance XLC-600R30
resistance XDL-L7□A035□
(3P)
Resist
Braking XDL-L7□A050□
ance XLC-600R28
resistance (4P)
7-66

8. Maintenance and Inspection
8 Maintenance and Inspection
8.1 Maintenance and Inspection

This chapter explains how to conduct basic maintenance and inspection, diagnosis and
troubleshooting on the servo motor and drive.
8.1.1 Precautions
1. Measuring motor voltage: The voltage output from the servo amp to the motor is PWM controlled,
and, for this reason, its waves take the form of pulses. Use a rectifier voltmeter for accurate
measuring because different meters often produce different results.
2. Measuring motor current: Connect a moving-iron-type ampere meter directly for use as the pulse
waveform becomes smooth sine waves to some degree because of the motor's reactance.
3. Measuring electric power: Use an electrodynamometer based on the 3 power meter method.
4. Other gauges: When using an oscilloscope or digital voltmeter, make sure that they do not touch
the ground. Use 1 [mA] or lower of gauge input current.
8.1.2 What to Inspect

Be sure to start inspection approximately 10 minutes after power is turned off because the
charged voltage left in the internal smoothing condenser may cause an accident.
(1) Servo Motor Inspection
Caution
Be sure to start inspection approximately 10 minutes after power is turned off because the charged
voltage left in the internal smoothing condenser may cause an accident.
Inspection
Inspection Period Inspection and Handling Notes
Item
Vibration and The feel and sound should be
Every month Touch and listen to sound.
sound check no more notable than usual.
Depending on the
Exterior Clean with cloth or air
contamination or -
inspection pressure.
damage
Disconnect from the drive
Insulation and measure insulation
resistance. If resistance is 10[㏁] or lower,
resistance At least once a year
measurement contact our service center.
Normal resistance is 10 [㏁]
or higher. Note 1)
Once
Oil seal Remove it from the machine This only applies to motors
replacement every 5,000 hours at the for replacement. with an oil seal.
least
Every 20,000 hours or
General Do not disassemble the servo
once every 5 years at Contact our service center.
inspection motor for cleaning yourself.
the least
NOTE 1) Conduct measuring between FG and one of the U, V, and W power lines of the servo motor.
8-1

(2) Servo Drive Inspection
Inspection What to do if abnormality is

Inspection Item How to inspect
Period found
Cleaning of the
At least once a Check if there is any dust or oil
main body and Clean with air pressure or cloth.
year on it.
the board
Check whether screws on
At least once a terminals and connectors are
Loose screws Fasten the screws.
year
loose.
Defective parts Check whether there is any
At least once a
on the main body discoloration, damage, or Contact our company.
year
or the board disconnection caused by heat.
8.1.3 Parts Replacement Cycle

The following parts may experience low performance or malfunction because of mechanical
friction and aging. It is therefore important to conduct regular maintenance checks and
replace parts.
1. Smoothing condenser: This part ages because of the impact of ripple current and other factors. Its
lifespan greatly depends on the surrounding temperature and environment. When continuously
used in an air-conditioned ordinary environment, it lasts 10 years on average. Inspect it at least
once a year because it ages rapidly over a short period of time once it starts to do so. (Inspect more
frequently when it gets closer to its obsolescence.)
※ Criteria for visual inspection:
a. Case's condition: Expanded sides and bottom of the case
b. Lid's condition: Notable expansion, severe cracks, or broken parts
c. Explosion valve's condition: Notable valve expansion and operation
d. Besides, check regularly if there is any crack, broken part, discoloration, or leak on the exterior.
A condenser shall be deemed obsolete when its capacity becomes 85[%] or lower of the rated
capacity.
2. Relays: Bad connection occurs because of wear and tear at the contact caused by switching
current. A relay is deemed obsolete when its accumulated switching reaches 100,000 times as it
depends greatly on power capacity.
3. Motor bearing: Replace when it reaches 20,000 to 30,000 hours of operation at the rated speed
under the rated load. Replace if abnormal sound or vibration is detected during inspection, which
are dependent on operating conditions.
[Standard Part Replacement Cycle]

Part Name Standard Replacement Cycle Method
Smoothing condenser 7-8 years Replace (decide after inspection).
Relays - Decide after inspection.
Fuses 10 years Replace.
Aluminum electrolytic
condensers Replace with new boards (decide after
5 years
inspection).
on printed boards
Cooling fans 4-5 years Replace.
Motor bearings - Decide after inspection.
Motor oil seals 5,000 hours Replace.
8-2

8.2 Diagnosis of Abnormality and

Troubleshooting
AL- is displayed if a problem occurs during operation. In this case, try to solve the problem
by following this advice. If the problem persists, contact our service center.
8.2.1 Servo Motor
[Cause of abnormality, how to inspect, and troubleshooting]

Symptoms Cause How to inspect Troubleshooting
The input of CCWLIM and P-OT and N-OT Contacts have to be
Refer to "1.2 System Configuration."
CWLIM is off. "ON"
Check the parameters of the motor,
Reset the parameters. (Refer to
Parameters are incorrectly set. encoder, and encoder type control
“Chapter 4 Parameters.”)
mode.
The motor Measure the motor lead terminal with

does not The motor has defects. a tester (resistance between phases: Replace the motor.
move. several ohms).
Locking screws are loose. Check locking screws. Fasten loose screws.
External wiring is incorrect or Check the wiring of the motor and the Redo the wiring.
cables are disconnected. encoder. Replace cables.
Replace the encoder.
The encoder has defects. Check output waves.
(Contact our service center.)
Check the connection of the motor
Connection is bad. Fix bad connection.
lead terminal.
Motor rotation Input voltage is low. Check the input voltage of the drive. Change power.
is unstable.
Remove foreign substances in the
Overload occurs. Check the condition of the machine. rotating unit and provide lubricants (or
grease).
The ambient temperature is Check the temperature around the Change heat transfer structure.
high. motor. (40[℃] or lower) Install a cooling fan.
The surface of the motor is Check whether there is any foreign
Clean the surface of the motor.
contaminated. substance on the surface of the motor.
The motor Reduce load.

overheats. Check the load factor of the drive. Increase acceleration/deceleration
Overload occurs. time.
Check acceleration/deceleration time.
Replace with a motor of greater
capacity.
The magnetic power of the Check counter voltage and voltage
Replace the motor.
magnets is reduced. waveforms.
Check the tightness of coupling
Coupling is bad. screws and the concentricity of the Readjust the coupling.
connection.
A strange Check the vibration and sound of
sound Bearings are abnormal. Contact us.
bearings.
occurs.
Parameters are incorrectly set.
(Inertia, gain, and time Check parameters. Refer to “Chapter 4 Parameters.”
constant)
8-3

8.2.2 Servo Drive

If an alarm triggers, the malfunction signal output contact (ALARM) is turned off and the
dynamic brake stops the motor.
Alarm
Code
Check for incorrect drive output wiring /
IPM Fault Overcurrent (H/W)
Check the motor ID / drive ID / encoder setting.
Check for equipment clash or confinement.
IPM temperature IPM module overheat Check the motor ID, drive ID, and encoder
setting.
Overcurrent Overcurrent (S/W) Check the motor ID, drive ID, and encoder
setting.
Replace the drive if [St-23] and [St-24] are 10%
Current offset Abnormal current offset
or higher of the rated current.
Overcurrent (/CL) Overcurrent (H/W) Check the motor ID, drive ID, and encoder
setting.
Check load and brake condition.
Continuous overload Continuous overload Check for incorrect drive output wiring and
setting.
Check the temperature inside the drive [St-19].
Room temperature Drive overheat
Install a cooling fan and check load.
Check input voltage, regenerative braking
Regen. Overload Regenerative overload resistance, and wiring.
Replace the drive.
Motor cable open Motor cable disconnection Motor wiring
Serial encoder Check for incorrect wiring of the serial encoder

Encoder comm.
communication error cable.
Encoder cable Check whether the encoder cable is
Encoder cable open
disconnection disconnected.
Encoder data error Encoder data error Check the [P0-02] setting and encoder wiring.
Motor setting error Motor ID setting error Check the [P0-00] setting.
Encoder Z PHASE cable

Encoder Z PHASE Open Check the encoder cable
broken
BackUp battery has not enough voltage,
Change battery.
Low Battery Error Low voltage error ※After replacing battery, Power “ON” and
Homing operation are absolutely needed
(apply from S/W Ver 1.28)
8-4

Alarm
Code
Under voltage Low voltage Check input voltage and power unit wiring.
Check input voltage and wiring. Check for

braking resistance damage.
Overvoltage Overvoltage
Check for excessive regenerative operation.
Check regenerative resistance.
RST power fail Main power failure Check power unit wiring and power.
Control power fail Control power failure Check power unit wiring and power.
Check the encoder, encoder setting, encoder

Over speed limit Overspeed wiring, gain setting, motor wiring, motor ID,
electric gear ratio, and speed command scale.
Check the excessive position command pulse
setting [P4-11], wiring, limit contact point, gain
Position following Excessive position error
setting, encoder setting, and electric gear ratio.
Check for equipment confinement and load.
Check the emergency stop contact signal,
EMG Emergency stop
external 24 V power, and contact points.
Check pulse command frequency from the
Pulse command frequency upper level controller.
Over pulse CMD
error
Check command pulse type.
Check for incorrect wiring in the drive output
Speed Deviation Excessive speed error and encoder. Also, check the connection and
load status of the equipment.
Check for incorrect wiring in the drive output
Motor Over Run Motor overrun and encoder. Also, check the connection and
load status of the equipment.
Parameter checksum Parameter error Check the value of parameters
Parameter range Parameter range error Check the value of parameters
Invalid factory setting Invalid factory setting Check the value of parameters
Output contact point setting

GPIO setting Check the value of parameters
error
8-5

If a warning code is displayed in the current operation status [St-00], the servo drive is
operating abnormally. Check what needs to be inspected for the issue.
Warning
State Name Details and cause What to inspect
(CODE)
If the [P0-06] DIGIT 2 is set to 1, the main
RST_PFAIL Main power phase loss
power fails.
LOW_BATT Low battery BackUp battery has not enough voltage
More than the maximum torque commands

OV_TCMD Excessive torque command
have been entered.
More than the maximum speed commands
OV_VCMD Overspeed command
have been entered.
The maximum overload [P0-13] has been
OV_LOAD Overload warning
reached.
The electric current capacity of the motor is
SETUP Capacity setting
bigger than that of the drive.
When [P0-06] DIGIT 2 is set to 1, the DC link
UD_VTG Low voltage warning
voltage is 190 V or below.
EMG EMG contact point Check the I/O wiring and [P2-09] setting
Warning code is displayed to hexadecimal. If the over 2 warning codes occurs, the sum of
warning codes will be displayed. For example, if [W-04] Excessive Toque Command and [W-
08] Excessive Speed Command are occurred at the same time, [W-0C] will be displayed.
- If warning code 80 occurs, “SV-ON” state changes to “SV-OFF” state automatically.

-To avoid warning code 80, wire EMG contact or change EMG input signal logic definition.
(Refer to 4.1 How to Use the Loader)
8-6

 Servo Drive Overload Graphs (400W or below)
(1) Graph of Overload during Rotation

AL-21 AL-21
Load (%) Occurring MAX MIN Load (%) Occurring MAX MIN
Time (sec) Time (sec)
100% or
Infinite
below
110 55776.0 89241.6 33465.6 210 66.8 106.9 40.08
120 13944.0 22310.4 8366.4 220 50.1 80.2 30.06
130 6197.3 9915.7 3718.38 230 38.5 61.6 23.1
140 3486.0 5577.6 2091.6 240 30.3 48.5 18.18
150 1183.0 1892.8 709.8 250 24.2 38.7 14.52
160 566.0 905.6 339.6 260 4.2 6.7 2.52
170 318.0 508.8 190.8 270 3.8 6.1 2.28
180 198.0 316.8 118.8 280 3.4 5.4 2.04
190 131.0 209.6 78.6 290 3.0 4.8 1.8
200 92.0 147.2 55.2 300 2.7 4.3 1.62
Load Curve During Rotation

Time (sec)
Load Factor (%)
8-7

(2) Graph of Overload during Stop

AL-21 AL-21
100% or
Infinite
below
110 37937.7 60700.3 22762.62 210 50.1 80.2 30.06
120 9483.9 15174.2 5690.34 220 38.5 61.6 23.1
130 4215.1 6744.2 2529.06 230 30.3 48.5 18.18
140 2371.0 3793.6 1422.6 240 9.7 15.5 5.82
150 926.0 1481.6 555.6 250 8.3 13.3 4.98
160 470.0 752.0 282 260 3.8 6.1 2.28
170 273.0 436.8 163.8 270 3.4 5.4 2.04
180 173.0 276.8 103.8 280 3.1 5.0 1.86
190 117.0 187.2 70.2 290 2.7 4.3 1.62
200 66.0 105.6 39.6 300 2.5 4.0 1.5
Load Curve During Stop

Time (sec)
Load Factor (%)
8-8

 Servo Drive Overload Graphs (SA type of 100 W or below)

AL-21 AL-21
100% or
Infinite
below
110 1696.0 2713.6 1017.6 210 5.2 8.3 3.12
120 424.0 678.4 254.4 220 4.4 7.0 2.64
130 188.4 301.5 113.064 230 3.8 6.1 2.28
140 106.0 169.6 63.6 240 3.3 5.3 1.98
150 70.4 112.6 42.24 250 2.9 4.6 1.74
160 26.8 42.9 16.08 260 2.6 4.2 1.56
170 20.6 33.0 12.36 270 2.3 3.7 1.38
180 16.2 25.9 9.72 280 2.0 3.2 1.2
190 13.0 20.8 7.8 290 1.8 2.9 1.08
200 10.5 16.8 6.3 300 1.6 2.6 0.96
Load Curve during Rotation 100 W or Lower SA Type

Time (sec)
Load Factor (%)
8-9


AL-21 AL-21
Occurrin Occurring
Load (%) MAX MIN Load (%) MAX MIN
g Time Time
(sec) (sec)
100% or
Infinite
below
110 1372.8 2196.5 823.68 210 3.9 6.2 2.34
120 343.2 549.1 205.92 220 3.4 5.4 2.04
130 152.5 244.0 91.518 230 3.0 4.8 1.8
140 85.8 137.3 51.48 240 2.6 4.2 1.56
150 58.6 93.8 35.16 250 2.3 3.7 1.38
160 16.2 25.9 9.72 260 2.0 3.2 1.2
170 13.0 20.8 7.8 270 1.8 2.9 1.08
180 10.5 16.8 6.3 280 1.6 2.6 0.96
190 8.7 13.9 5.22 290 1.5 2.4 0.9
200 7.2 11.5 4.32 300 1.3 2.1 0.78
Load Curve during Stop 100 W or Lower SA Type

Time (sec)
Load Factor (%)
8-10

 Servo Drive Overload Graphs (750W, 1.0KW)

AL-21 AL-21
Load Occurri Load Occurri
MAX MIN MAX MIN
(%) ng Time (%) ng Time
(sec) (sec)
100% or
Infinite
below
110 105800 169280.0 63480 210 119.0 190.4 71.4
120 26450 42320.0 15870 220 89.2 142.7 53.52
130 11755 18808.0 7053 230 49.3 78.9 29.58
140 6612.5 10580.0 3967.5 240 38.8 62.1 23.28
150 2244.0 3590.4 1346.4 250 31.0 49.6 18.6
160 1073.6 1717.8 644.16 260 7.0 11.2 4.2
170 603.2 965.1 361.92 270 6.4 10.2 3.84
180 413.6 661.8 248.16 280 5.7 9.1 3.42
190 273.6 437.8 164.16 290 5.0 8.0 3
200 201.0 321.6 120.6 300 4.6 7.4 2.76
Load Curve during Rotation

Time (sec)
Load Factor (%)
8-11


AL-21 AL-21
Occurrin Load Occurri
Load (%) MAX MIN MAX MIN
g Time (%) ng Time
(sec) (sec)
100% or
Infinite
below
110 37937.7 60700.3 22762.62 210 50.1 80.2 30.06
120 9483.9 15174.2 5690.34 220 38.5 61.6 23.1
130 4215.1 6744.2 2529.06 230 30.3 48.5 18.18
140 2371.0 3793.6 1422.6 240 9.7 15.5 5.82
150 926.0 1481.6 555.6 250 8.3 13.3 4.98
160 470.0 752.0 282 260 3.8 6.1 2.28
170 273.0 436.8 163.8 270 3.4 5.4 2.04
180 173.0 276.8 103.8 280 3.1 5.0 1.86
190 117.0 187.2 70.2 290 2.7 4.3 1.62
200 66.0 105.6 39.6 300 2.5 4.0 1.5
Load Curve during Stop

Time (sec)
Load Factor (%)
8-12

 Servo Drive Overload Graphs (2.0KW, 3.5kW)

AL-21 AL-21
Load(%) Occurring MAX MIN Load(%) Occurring MAX MIN
Time(sec) Time(sec)
100% or
Infinite
below
110 4832.0 7731.2 2899.2 210 66.8 106.9 40.08
120 1208.0 1932.8 724.8 220 50.1 80.2 30.06
130 536.9 859.0 322.1333 230 38.5 61.6 23.1
140 302.0 483.2 181.2 240 30.3 48.5 18.18
150 257.0 411.2 154.2 250 24.2 38.7 14.52
160 229.0 366.4 137.4 260 4.2 6.7 2.52
170 200.0 320.0 120 270 3.8 6.1 2.28
180 165.0 264.0 99 280 3.4 5.4 2.04
190 131.0 209.6 78.6 290 3.0 4.8 1.8
200 103.0 164.8 61.8 300 2.7 4.3 1.62
Load Curve During Rotation

Time (sec)
Load Factor (%)
8-13


AL-21
AL-21
Occurring
Load(%) Occurring MAX MIN Load(%) MAX MIN
Time
Time (sec)
(sec)
100% or
Infinite
below
110 4832.0 7731.2 2899.2 210 44.0 70.4 26.4
120 1208.0 1932.8 724.8 220 36.0 57.6 21.6
130 536.9 859.0 322.1333 230 30.3 48.5 18.18
140 302.0 483.2 181.2 240 9.7 15.5 5.82

150 154.0 246.4 92.4 250 8.3 13.3 4.98
160 110.0 176.0 66 260 3.8 6.1 2.28
170 90.0 144.0 54 270 3.4 5.4 2.04
180 75.0 120.0 45 280 3.1 5.0 1.86
190 61.0 97.6 36.6 290 2.7 4.3 1.62
200 52.0 83.2 31.2 300 2.5 4.0 1.5
AL-21 AL-21
Load(%) Occurring MAX MIN Load(%) Occurring MAX MIN

Time (sec)
Load Factor (%)
8-14

 Servo Drive Overload Graphs (5.0KW)

AL-21 AL-21
Occurri Occurri
Load(%) MAX MIN Load(%) MAX MIN
ng Time ng Time
(sec) (sec)
100% or
Infinite
below
110 4832.0 7731.2 2899.2 210 66.8 106.9 40.08
120 1208.0 1932.8 724.8 220 50.1 80.2 30.06
130 536.9 859.0 322.1333 230 38.5 61.6 23.1
140 302.0 483.2 181.2 240 30.3 48.5 18.18
150 257.0 411.2 154.2 250 24.2 38.7 14.52
160 229.0 366.4 137.4 260 18.0 28.8 10.8
170 200.0 320.0 120 270 16.0 25.6 9.6
180 165.0 264.0 99 280 14.0 22.4 8.4
190 131.0 209.6 78.6 290 8.0 12.8 4.8
200 103.0 164.8 61.8 300 5.0 8.0 3.0

Time (sec)
Load Factor (%)
8-15

2) Graph of Overload during Stop

AL-21 AL-21
Occurrin Occurri
Load(%) MAX MIN Load(%) MAX MIN
g Time ng Time
(sec) (sec)
100% or
Infinite
below
110 4832.0 7731.2 2899.2 210 44.0 70.4 26.4
120 1208.0 1932.8 724.8 220 36.0 57.6 21.6
130 536.9 858.8 322.08 230 30.3 48.5 18.18
140 302.0 483.2 181.2 240 9.7 15.5 5.82
150 154.0 246.4 92.4 250 8.3 13.3 4.98
160 100.0 160.0 60.0 260 3.8 6.1 2.28
170 85.0 136.0 51.0 270 3.4 5.4 2.04
180 70.0 112.0 42.0 280 3.1 5.0 1.86
190 61.0 97.6 36.6 290 2.7 4.3 1.62
200 52.0 83.2 31.2 300 2.5 4.0 1.5

Time (sec)
Load Factor (%)
8-16

9. Appendix
9 Appendix
9.1 Motor Type and ID (to be continued on

the next page)
SAR3A 1 30 SE13G 75 1300

SAR5A 2 50 SE17G 76 1700
SB01A 11 100 SF30A 81 3000
SB02A 12 200 SF50A 82 5000
SB04A 13 400 SF22D 85 2200
HB02A 15 200 Hollow type LF35D 190 3500
HB04A 16 400 Hollow type SF55D 87 5500
SF75D 88 7500
SC04A 21 400 SF12M 89 1200
SC06A 22 600 SF20M 90 2000
SC08A 23 800 LF30M 192 3000
SC10A 24 1000 SF44M 92 4400
SC03D 25 300 SF20G 93 1800
SC05D 26 450 LF30G 191 2900
SC06D 27 550 SF44G 95 4400
SC07D 28 650 SF60G 96 6000
SE09A 61 900 SG22D 111 2200
SE15A 62 1500 LG35D 193 3500
SE22A 63 2200 SG55D 113 5500

SE30A 64 3000 SG75D 114 7500
SE06D 65 600 SG110D 115 11000
SE11D 66 1100 SG12M 121 1200
SE16D 67 1600 SG20M 122 2000
SE22D 68 2200 LG30M 195 3000
SE03M 69 300 SG44M 124 4400
SE06M 70 600 SG60M 125 6000
SE09M 71 900 SG20G 131 1800
SE12M 72 1200 LG30G 194 2900
SE05G 73 450 SG44G 133 4400
9-17

9. Appendix

SE09G 74 850 SG60G 134 6000
SG85G 135 8500 FF30A 781 3000
SG110G 136 11000 FF50A 782 5000
SG150G 137 15000 FF22D 785 2200
FF35D 786 3500

FB01A 711 100 FF55D 787 5500
FB02A 712 200 FF75D 788 7500
FB04A 713 400 FF12M 789 1200
FF20M 790 2000
FC04A 721 400 FF30M 791 3000
FC06A 722 600 FF44M 792 4000

FC08A 723 800 FF20G 793 1800
FC10A 724 1000 FF30G 794 2900
FF44G 795 4400
FC03D 725 300 FF60G 796 6000
FC05D 726 500 FF75G 804 7500
FC06D 727 600

FC07D 728 700 FG22D 811 2200
FG35D 812 3500
FE09A 761 900 FG55D 813 5500
FE15A 762 1500 FG75D 814 7500
FE22A 763 2200 FG12M 821 1200
FE30A 764 3000 FG20M 822 2000

FE06D 765 600 FG30M 823 3000
FE11D 766 1100 FG44M 824 4400
FE16D 767 1600 FG20G 831 1800
FE22D 768 2200 FG30G 832 2900
FE03M 769 300
FE06M 770 600
FE09M 771 900
FE12M 772 1200
FE05G 773 450
FE09G 774 850
FE13G 775 1300
FE17G 776 1700
9-18

9. Appendix
DB03D 601 63 FAL05A 702 50

DB06D 602 126 FAL01A 703 100
DB09D 603 188 FAL15A 704 150
DC06D 611 126
DC12D 612 251 FBL01A 714 100
DC18D 613 377 FBL02A 715 200
DD12D 621 251 FBL04A 716 400
DD22D 622 461
DD34D 623 712 FCL04A 729 400
DE40D 632 838 FCL06A 730 600
DE60D 633 1257 FCL08A 731 750
DFA1G 641 1728 FCL10A 732 1000
DFA6G 642 2513

FCL03D 733 300
FCL05D 734 450
FCL06D 735 550
FCL07D 736 650
9-19

9. Appendix
9.2 Test Drive Procedure

Thank you for purchasing our product. Conduct test drive following the process described as
follows:
Caution
In order to prevent accidents, conduct an operation test and test drive in manual JOG operation
when there is no load (the motor exists without any coupling or belt) after attaching the servo motor
to your equipment. Afterwards, connect the load and conduct the final test drive.
1. Product check: Check the name tag to verify that the product matches the model you ordered.
(Refer to "Chapter 1.1.")
 A name tag is attached to the right side of the product. (For motors, right side of the shaft)
 Main check point: Product capacity and main options
2. Power connection: Wire single-phase AC 220 [V] to control power input C1 and C2, and three-
phase AC 220 [V] to main power input L1, L2, and L3. (Refer to "Chapter 3.2.")
 The product runs even if you input single-phase AC 220 [V] as the main power. However,
such wiring reduces torque and the lifespan of the product. Be sure to input three-phase AC
220 [V].
3. Signal cable wiring: Wire CN1 (I/O), CN3, CN4, CN5 (communication), CN2 encoder cable, and
motor power cable per operation mode. (Refer to "Chapter 1.2 and Chapter 3.")
 Be sure to use robotic cables if the motor requires movement.
 Be sure to use twist shield cables as signal and encoder cables.
 Be sure to fasten bolts after locking the connector (drive direction) of the encoder cable.
 Be sure not to change the U, V, and W wiring of the motor power cable.
9-20

9. Appendix
4. Control power supply: Supply single-phase AC 220 [V] to C1 and C2.

 Be sure to check external input voltage before turning on the servo drive.
 Check whether the display is normal. (There should be no break on the seven segments or alarm
output.)
5. Motor ID setting: Set motor ID in the parameter [P0-00] and encoder pulse in the parameter [P0-02]
respectively. (Refer to "Appendix 1.")
(※ The serial encoder is automatically set.)
 Easy check: Check the motor ID and encoder pulse on the product name tag attached on the
right side of the motor.
 Check whether the external control signal input is normal.
 For information on how to handle the keys of the servo drive loader, refer to "4.1 Loader
Handling."
6. Motor encoder type setting: Set ecoder type in the [P0-01], refer to “4.4.1 System Parameter Setting.
7. Main power supply: Supply three-phase AC 220 [V] to L1, L2, and L3.
 Be sure to check external input voltage before turning on the servo drive.
 When power is supplied, the red lamp on the charge LED at the bottom of the loader window
comes on.
 If an alarm is displayed, it indicates that there is an error in the power circuit, wiring of the servo
motor, or encoder wiring.
Turn off power and fix the error using the information in "[Alarm Codes and Descriptions]."
9-21

9. Appendix
8. Test drive: Start [Cn-00] by pressing [SET] to conduct test drive manually. (JOG
operation speed can be changed in [P3-12].)
 * [Up]: Motor forward rotation (CCW) → Only operate while you hold down the key.
 * [Down]: Reverse motor rotation (CW) → Only operate while you hold down the key.
 During normal operation, the power input of the servo drive and wiring among
motors are verified as normal.
 If the alarm is displayed, it indicates an error in the power circuit, wiring of the
servo motor, or encoder wiring. Turn off power and fix the error using the
information in "[Alarm Codes and Descriptions]."
9. Operation mode setting: Set

operation mode in [P0-03].
Speed
operation  0: Torque control operation Position operation
setting  1: Speed control operation setting
 2: Position control
operation
 3: Speed/position control
operation
 4: Speed/torque control
operation
10. Perform speed operation with the upper level 11. Perform position operation with the upper level
controller by adjusting the following parameter controller by adjusting the following parameter
data. data.
a. Speed operation setting parameter: [P3- d. Position operation setting parameter: [P4-
01]~[P3-20] 00]~[P4-14]
b. Input/output setting parameter: [P2-00]~[P2-22] e. Input/output parameter setting parameter:
[P2-00]~[P2-22]
c. Control setting parameter:
[P1-00]~[P1-27] f. Control parameter setting parameter:
(Refer to “Appendix 1.”) [P1-00]~[P1-27]
(Refer to “Appendix 1.”)
9-22

9. Appendix
10-1
 How to Set Control Parameters [Gain Tuning]
1) Auto gain tuning
→ Perform automatic gain tuning by pressing [SET] in [Cn-05].
→ If the load condition of the equipment is not directly related to motor shaft, it is hard to
perform accurate gain tuning because of characteristics of automatic gain tuning. Therefore,
manual gain tuning is recommended.
2) Manual gain tuning

→ Set inertia ratio [P1-00], speed proportional gain [P1-06], and speed integral time constant
[P1-08] as the standard gain.
→ Increase inertia ratio [P1-00] gradually until the motor starts vibrating.
→ For more stable control, increase speed proportional gain [P1-06] a little at a time until the
motor vibrates slightly. If you increase speed integral time constant [P1-08], the motor stops
vibrating.
→ Increase speed integral time constant [P1-08] in the last stage and the motor will stop
vibrating. However, it takes as much time to reach normal state as the time constant set in
responsiveness. If you set speed proportional gain [P1-06] too big in an effort to attain satisfying
responsiveness, overshoot might occur. The allowed range of overshoot is generally 10 percent
or below.
11-1
 How to Set Electric Gear Ratio [P4-01]~[P4-05]
→ Electric gear ratio = transmission per input pulse X number of pulses per motor rotation /
transmission per motor rotation
9-23

9. Appendix
User Manual Revision History
Issued Year and Version

Number Revised Content Notes
Month Number
1 2011.10.19 1.0
Option specification name
2 2011.12.19 Add 750W, 2KW 1.1
Position command filter time constant,

3 2012.01.09 1.2
Warning code description
4 2012.02.05 Brake resistance, Motor specification 1.3
Added FLAT Type Motor, Revise

5 2012.03.01 1.4
communication info
6 2012.04.09 correct minor typo 1.5
7 2012.06.19 Modify electric gear ratio 1.6
8 2012.09.10 Refer to history of modification 1.7
Added Multi turn encoder and modify

9 2012.11.15 1.8
parameter
10 2013.02.13 Add 5kW Drive Info 1.9
11 2013.04.05 Add motor specific chart and option 2.0
12 2013.08.09 Add new motor ID and cable 2.1
Added an alarm code and modified
13 2013.11.08 2.2
the motor cable
Added function, alarm code and
14 2014.03.12 2.3
modified motor details
Example of connecting to PLC,
15 2014.06.27 2.4
Added and modified motor details
Green Management Product Disposal

LSIS considers environment protection as The LSIS servo drive is environmentally
a high priority of management, and its friendly.
employees try their best to protect the It can be broken down to iron, aluminum,
Earth. bronze, and synthetic resin (cover), and
separately recycled.
9-24

LSIS values every single customers.
Quality and service come first at LSIS.
Always at your service, standing for our customers.
http://www.lsis.com
■ HEAD OFFICE ■ LSIS Chengdu Office _ Chengdu, China

LS Tower, 127, LS-ro, Dongan-gu, Anyang-si,Gyeonggi-do, 431-848 Address : 12FL. Guodong Buiding. No.52 Jindun
Korea http://eng.lsis.com Road Chengdu.610041. P.R. China
Tel : (82-2)2034-4870/Fax : 82-2-2034-4648 e-mail : cshwang@lsis.com Tel : 86-28-8612-9151(9226)/Fax : 86-28-8612-9236 e-mail : comysb@lsis.com
■ LSIS Tokyo Office _ Tokyo, Japan ■ LSIS Qingdao Office _ Qingdao, China
Address: 16FL. Higashi-Kan. Akasaka Twin Tower 17-22, Address : YinHe Bldg. 402 Room No. 2P Shandong Road,
Akasaka.Monato-ku Tokyo 107-8470. Japan Qingdao-City,Shandong-province 266071, P.R. China
Tel : 81-3-3582-9128/Fax : 81-3-3582-2667 e-mail : jschuna@lsis.com Tel : 86-532-8501-6068/Fax : 86-532-8501-6057 e-mail : wangzy@lsis.com.cn
■ LSIS (ME) FZE _ Dubai, U.A.E. ■ LSIS Europe B.V. , Netherlands
Address : Jafza View Tower Lob 19, Room 205 Along Sheikh Zayed Address : 1st. Floor, Tupolevlaan 48, 1119NZ, Schiphol-Rijk, The Netherlands
Road Jebel Aali Free Zone Dubai, United Arab Emirates Tel : +31 (0)20 654 1420/Fax : +31 (0)20 654 1429 e-mail : junshickp@lsis.com
Tel : 971-4-886-5360/Fax : 971-4-886-5361 e-mail : jungyongl@lsis.com ■ Wuxi LSIS Co., Ltd _ Wuxi, China
■ LSIS Shanghai Office _ Shanghai, China Address : 102-A. National High & New Tech Industrial Development Area.
Address : Room E-G. 12FL Hiamin Empire Plaza. No.726. West. Wuxi. Jiangsu. 214028. P.R. China
Yan'an Road Shanghai 200050. P.R. China e-mail : liyong@lsis.com.cn Tel : 86-510-8534-6666/Fax : 86-510-8534-4078 e-mail : caidx@lsis.com.cn
Tel : 86-21-5237-9977(609)/Fax : 89-21-5237-7189 ■ Dalian LSIS Co., Ltd. _ Dalian, China
■ LSIS Beijing Office _ Beijing, China Address : No. 15. Liaohexi 3-Road. Economic and Technical Development zone.
Address : B-Tower 17FL. Beijing Global Trade Center B/D. No. 36. Dalian 116600. China
East BeisanHuan-Road. DongCheng-District. Beijing 100013. P.R. China Tel : 86-411-273-7777/Fax : 86-411-8730-7560 e-mail : cuibx@lsis.com.cn
Tel : 86-10-5825-6027(666)/Fax : 86-10-5825-6028 e-mail : xunmj@lsis.com.cn
■ LSIS Guangzhou Office _ Guangzhou, China
Address : Room 1403.14FL. New Poly Tower.
2 Zhongshan Liu Road.Guangzhou.P.R China
Tel : 86-20-8328-6754/Fax : 86-20-8326-6287 e-mail : chenxs@lsis.com.cn
※ LSIS constantly endeavors to improve its product so that 2015. 5

information in this manual is subject to change without notice.
ⓒ LSIS Co., Ltd 2011 All Rights Reserved.

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 Electric Shock Precautions

 Fire Prevention Precautions

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Store and use the product in an environment as follows:

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 Precautions for Initial Operation

 Precautions for Handling and Operation

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 Precautions for Use

 Precautions for Repair/Inspection

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 Responding to international regulations

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

Model(Note1) Low Voltage Directive EMC Directive

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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