L7CA Manual
L7CA Manual
L7CA Manual
Safety Precautions
Read all safety precautions before using this
product.
Introduction
The user manual describes how to correctly use this product and matters for which to
exercise caution.
Failure to comply with the guidelines outlined in this manual may cause personal injury
or damage to the product. Be sure to read this manual carefully before using this
product and follow all guidelines contained therein.
The contents of this manual are subject to change according to software versions without
notice.
Reproduction of part or all of the contents of this manual in any form, by any means or for
any purpose is strictly prohibited without the explicit written consent of our company.
Our company retains all patents, trademarks, copyrights and other intellectual property
rights to the materials in this manual. Therefore, the information contained in this manual
is only intended for use with our company products, and using it for any other purposes is
prohibited.
iii
Introduction
Precaution Descriptions
Danger Failure to comply with the guidelines may cause serious injury or death.
Failure to comply with the guidelines may cause personal injury or property
Caution
damage.
Depending on the situation, ignoring a caution may also result in serious injury. So, be mindful
of this.
Warning
Before wiring or inspection, turn off the power, wait 15 minutes, make sure that
the charge lamp has gone off, and check the voltage.
Ground both the servo drive and the servo motor faultlessly.
Only qualified and trained technicians may perform wiring on this product.
Install both the servo drive and the servo motor before performing any wiring.
Do not operate the device with wet hands.
Do not open the servo drive cover during operation.
Do not operate the device with the servo drive cover removed.
Even if the power is off, do not remove the servo drive cover.
Caution
Install the servo drive, the servo motor, and the regenerative resistance on non-
combustible materials.
Disconnect the input power if the servo drive malfunctions.
iv
Introduction
Installation Precautions
Store and operate this product under the following environmental conditions.
Conditions
Environment
Servo Drive Servo Motor
Operating temp. 0 ~ 50 ℃ 0 ~ 40 ℃
Operating humidity
90% RH or lower (no condensation) 20 ~ 80% RH (no condensation)
Storage humidity
Caution
Install this product in a location that is free from water, corrosive gas, combustible
v
Introduction
Wiring Precautions
Caution
Make sure to use AC power for input power of the servo drive.
Use a voltage source that is suitable for 200[V] (AC 200~230[V]).
Always connect the servo drive to a ground terminal.
Do not connect a commercial power supply directly to the servo motor.
Do not connect commercial power supply directly to U, V and W output terminals
of the servo drive.
When wiring, be sure to separate U, V and W power cables for the servo motor
and the encoder cable.
Always use the robot cable if the motor is of a moving structure.
Before performing power wiring, turn off the input power of the servo drive and
wait until the charge lamp goes off completely.
vi
Introduction
Startup Precautions
Caution
Check the input voltage and power unit wiring before supplying power to the
device.
The servo must be in OFF mode when you turn on the power.
For L7C□ □□□, check the motor's ID, encoder type, and encoder pulse before
turning on the power.
For L7C□ □□□, first set the motor’s ID for [0x2000], encoder type for [0x2001],
and encoder pulse for [0x2002] after turning on the power.
After completing the above settings, set the drive mode for the servo drive
connected to the upper level controller in [0x3000].
Perform I/O wiring for the servo drive referring to Section 2.5, “Wiring for
Input/Output Signals.”
Caution
Usage Precautions
Caution
Install an emergency cut-off circuit which can immediately stop operation in an
emergency.
Reset the alarm only when the servo is off. Be warned that the system restarts
immediately if the alarm is reset while the servo is on.
The electric brake on the servo motor is for maintaining paused operation. Do not
use it for ordinary braking.
The electric brake may malfunction if the brake degrades or if the mechanical
structure is improper (for example, if the ball screw and servo motor are combined
via the timing belt). Install an emergency stop device to ensure mechanical safety.
vii
Introduction
Malfunction Precautions
Caution
Use a servo motor with an electric brake or install a separate brake system for use
if there is potential for a dangerous situation during emergencies or device
malfunctions.
If an alarm occurs, eliminate the underlying cause of the problem and ensure
safety in operation. Then, deactivate the alarm and resume operation.
Do not approach the machine until the problem is solved.
Repair/Inspection Precautions
Caution
Before performing repair or inspection, turn off the power, wait at least 15
minutes, make sure that the charge lamp has gone off, and check the voltage.
Enough voltage may remain in the electrolytic condenser after the power is off to
cause an electric shock.
Only authorized personnel may repair and inspect the device or replace its parts.
Never modify this device in any way.
General Precautions
Caution
This user manual is subject to change due to product modification or changes in
standards. If such changes occur, we issue a new user manual with a new product
number.
Product Application
Caution
This product is not designed or manufactured for machines or systems intended
to sustain human life.
viii
Introduction
EEPROM Lifespan
Caution
EEPROM is rewritable up to 4 million times for the purpose of recording parameter
settings and other information. The servo drive may malfunction if the total
number of the following tasks exceeds 4 million, due to the lifespan of the
EEPROM.
EEPROM recording as a result of a parameter change
EEPROM recording as a result of an alarm
ix
Introduction
Table of Contents
1. Product Configuration ..................................... 1-1
1.1 Product Verification .................................................................................1-1
2.5.3 Names and Functions of Pulse Train Input Signals ...................................... 2-19
x
Introduction
xi
Introduction
xii
Introduction
10.3.2 Example of Indexing Position Operation Electric Gear Setting ................. 10-43
10.3.4 Electric Gear for Pulse Input Position Operation ....................................... 10-46
xiv
Introduction
14.9 Servo Motor Formats and IDs (continued on the next page)14-21
xv
Introduction
xvi
1. Product Configuration
1. Product Configuration
1. Check the name plate to verify that the product received matches the model ordered.
Are there any abnormalities after mounting the oil seal or the brake?
1-1
1. Product Configuration
L7 C A 004 U O
Series Name Series Name Input voltage Capacity (200[V]) Encoder Option
U
Standard A: 001 100[W] Universal Blank Standard
1-2
1. Product Configuration
APM C – F B L 01 A Y K 1
1-3
1. Product Configuration
Display
Shows drive status, alarms, etc.
CHARGE Lamp
The light is turned on when the main circuit
power is on.
Power Connector
L1, L2: Main power input
B+, B: Connected to external regenerative resistors
U, V, W: Connected to the servo motor (U,V,W)
Ground Terminal
Ground terminals prevent electric shock.
1-4
1. Product Configuration
800W, 1kW
Display
Shows drive status, alarms, etc.
CHARGE Lamp
The light is turned on when the main circuit
power is on.
Power Connector
L1, L2: Main power input
B+, B: Connected to external regenerative resistors
U, V, W: Connected to the servo motor (U,V,W)
Ground Terminal
Ground terminals prevent electric shock.
1-5
1. Product Configuration
80 Flange or Lower
Motor Power
Motor Cable
Connector Encoder
Connector
Encoder
Cable
Shaft
Encoder
Cover
Bearing Cap Flange Frame Housing
Motor
Connector
Encoder
Connector
Encoder
Shaft Cover
Bearing Cap
Flange Frame Housing
1-6
1. Product Configuration
The figure below shows an example of system configuration using this drive.
Power
Single phase AC220V
R T Upper Device
Breaker
This is used to protect the
power line.
It turns off the circuit Servo Drive
breaker when there is
overcurrent. Mini USB Cable
RS-422 Communication and I/O
Noise Filter
This blocks external noise
from the power line.
Note 1) RS-422 Communication Cable
10 31 4
3M
Input/Output Cables
Magnetic Contactor
Turn the servo power
ON/FF.
10 31 4
3M
External
Regenerative
Resistor Connection Motor Cable
Refer to Section 10.11,
Regenerative Resistance.
Servo Motor
may be disconnected due to disconnection in cable shields. Also, build the structure of a
input/output cables. Make sure to use shielded twisted cables (Twisted Pair Wire) for RS-
Note 2) PE between the servo motor and the servo and between the servo and the device must
be connected.
1-7
2. Wiring and Connection
Operating Consult our technical support team to customize the product if the
0 ∼ 40[℃]
Temp. temperatures in the installation environment are outside this range.
Operating
80[%] RH or lower Do not operate this device in an environment with steam.
Humidity
Vibration acceleration
External
19.6[㎨] or below on X Excessive vibrations reduce the lifespan of the bearings.
Vibration
and Y axes
Caution
2-1
2. Wiring and Connection
Servo Motor
U U
V V
W W
FG
Directly connecting the motor to a commercial power supply may burn the motor. Make sure to
connect it with the specified drive before using it.
Connect the ground terminal of the motor to either of the two ground terminals inside the
drive, and attach the remaining terminal to the Type-3 ground.
Connect U, V, and W terminals of the motor to match U, V, and W terminals of the drive.
Ensure that no pin on the motor connector is fallen off or inadequately connected.
If there is moisture or condensation on the motor, make sure that insulation resistance is 10[㏁]
(500[V]) or higher and install only if there is no abnormality.
Sometimes, if the motor’s PE and the drive’s PE terminal are not connected, DriveCM
connection may not work properly when you turn on the servo. So, be mindful of this.
2-2
2. Wiring and Connection
Motor shaft
Do not pressurize or damage the cables. Make sure to use robot cables for a moving motor
and prevent the cables from swaying.
2-3
2. Wiring and Connection
Environmental
Items Notes
Conditions
Caution
Operating
0 ∼ 50[℃] Install a cooling fan on the control panel for ventilation and
Temp.
to maintain the temperature within the range.
Caution
Vibration
External Excessive vibration reduces the lifespan of the product, and it
acceleration
Vibration may cause malfunctions.
4.9[㎨] or lower
2-4
2. Wiring and Connection
Higher Higher
than than
40mm 100mm
Caution
Install the external regenerative resistance properly so that generated heat does not affect
the drive.
Assemble the servo drive control panel so it is flat against the wall.
Do not let any metal debris generated from drilling, etc. fall into the drive when assembling
Make sure that oil, water, or metal dust does not enter the drive through the gaps or roof of
Protect the control panel by using air purge system when using it in an area where there are
2-5
2. Wiring and Connection
B B+
SMPS
Diode Note 1)
IPM
Single-phase
power Input
AC200~230V L1
Current sensor
U
Thermistor V
Note 2) M E
L2 W
Chage
Lamp
T1 T2
Thermistor N
Main power phase Internal Relay drive DC voltage Regenerative IGBT PWM signal SC U, V current
loss detection temperature circuit detection circuit braking drive temperature detection circuit detection circuit DB drive circuit
circuit detection circuit circuit detection circuit
A/D conversion
BiSS-C
Quadrature
MCU
USB USB
communication USB OTG FS
Encoder input
(ENCODER
connector)
P/C insulation I/F
Pulse input Encoder output Digital input Digital output Analog input
(2points) (8points) (2points) RS-422 communication
(3points) (10points)
Note1) Since there is no internal regenerative resistance, make sure to connect regenerative
2-6
2. Wiring and Connection
Ensure that the input power voltage is within the acceptable range.
Caution
If a commercial power supply is connected to U, V and W terminals of the drive, the drive may
be damaged. Make sure to connect the power to L1 and L2 terminals.
Make sure to use the standard resistance values for the B+ and B terminals when using external
regenerative resistance.
100[W] Caution
800[W]
40[Ω] External 100[W]
1[kW]
High voltages may remain in the device for sometime even after the main power is
disconnected. Be careful.
Warning
Before resuming wiring, make sure to disconnect the main power and that the charge lamp
is completely turned off. Failure to do so may result in electric shock.
Always ground the device using the shortest possible ground wire. Long ground wires are easily
influenced by noise, which causes malfunctions.
2-7
2. Wiring and Connection
AC 200~230[V]
Servo drive
R T Note 1)
Main Main
OFF ON
RA
NF 1MC
1MC 1Ry 1SK U
L1
L2
V
W
M
E
Encoder
1Ry
Alarm+ B+ External
+24V RA 38 regenerative
B resistor
Alarm-
39
CN1
Note1) About 1~2 seconds are required from main power supply to alarm signal output. Press the main power on
Connect a regenerative resistance of (50[W], 100[Ω]) for a 100[W]~400[W] drive and (100[W], 40[Ω]) for a
Remove approximately 7 to 10[㎜] of the sheathing from the cables for the main circuit power and use the
dedicated pressurized terminals. (Refer to Section 2.4.3, "Power Circuit Electrical Component Standards.”)
Use a (-) flathead screwdriver to connect or remove the main circuit power unit wires.
2-8
2. Wiring and Connection
For wiring of the main power, use a magnetic contactor for the main circuit power as
shown in Section 2.4.1, “Power Supply Wiring Diagram.” Set the magnetic contactor to
be turned off simultaneously with an alarm occurrence in the external sequence.
The alarm signal is turned on (normal state) about 2.5 seconds after power supply,
then the servo on command signal is recognized. Accordingly, if the servo on
command signal is on during power supply, the actual servo on operation begins
after about 2.5 seconds. Keep this in mind when designing the power input sequence.
Timing Chart
ON
Main power,
control power input OFF
ON
Servo on command
OFF
ON
Servo on operation
OFF
Alarm ON
(On for normal state)
OFF
2.5[s]
2-9
2. Wiring and Connection
MCCB (NFB) 30A Frame 5A 30A Frame 10A 30A Frame 15A
Connector BCP-508F- 7 GN
To comply with UL (CSA) standards, use UL-certified wires that have a heat resistant
To comply with other standards, use proper wires that meet the applicable standards.
For other special specifications, use wires equivalent or superior to those specified in this
Section.
2-10
2. Wiring and Connection
1 26
2 27
3
4 28
29
44
46
22 47
24 48
49
23 50
25
2-11
2. Wiring and Connection
Pin
Names Assignments Description Functions
Numbers
50 +24V DC 24V DC 24 V input Common
2-12
2. Wiring and Connection
Selection of jog’s
Switches the rotational direction of
46 DI 6 JDIR rotational
jog operation.
direction
Stops the motor so that the
actuator cannot move beyond the
Prohibition of
motion range in the forward
20 DI 7 POT forward (CCW)
rotational direction. The stopping
rotation
method varies according to
[0x2013] setting value.
Stops the motor so that the
actuator cannot move beyond the
Prohibition of
motion range in the reverse
19 DI 8 NOT reverse (CW)
rotational direction. The stopping
rotation
method varies according to the
[0x2013] setting value.
When EMG signal is turned on,
the servo initiates an emergency
stop and generates “W-80.” Here,
18 DI 9 EMG Emergency stop
the stopping method varies
according to the [0x2013] setting
value.
2-13
2. Wiring and Connection
2-14
2. Wiring and Connection
parameter settings. For more information, refer to Section 10.2, “Input/Output Signals Setting.”
Wiring can be also done by using COMMON (DC 24V) of the input signal as GND.
SPD1 and LVSF1 signals use the same setting values during assignment, as do SPD2 and LVSF2
signals, and the functions differ according to the operation mode (Velocity operation: SPD1,
Pin
Names Assignments Description Functions
Numbers
Alarm group contact Outputs the alarm group.
16 DO 6 ALO0
output 1 ex) outputs ALO0 upon AL-10
Alarm group contact occurrence
15 DO 7 ALO1
output 2 Outputs ALO0, ALO1 upon AL-
31 occurrence
Alarm group contact
14 DO 8 ALO2 Outputs ALO2 upon AL-42
output 3
occurrence
2-15
2. Wiring and Connection
39 DO 1- occurs
2-16
2. Wiring and Connection
2-17
2. Wiring and Connection
Pin
Names Description Functions
Numbers
Indexing Position Mode:
Applies -10~+10V between TRQCOM
(AI1) and AGND to limit motor
output torque. The relationship
between input voltage and torque
limit depends on the value set in
Analog torque input [0x2210].
1 TRQCOM
(Command/limit) Torque Mode:
Applies -10~+10V between TRQCOM
(AI1) and AGND to issue analog
torque commands. The relationship
between input voltage and torque
command depends on the value set
in [0x2210].
Indexing Position Mode:
Applies -10~+10V between SPDCOM
(AI2) and AGND to override index
operation velocity.
The override value is set to 0% for an
input of -10V, to 100% for 0V, and to
200% for +10V. Whether or not to
Analog velocity
use the function can be selected in
27 SPDCOM input
[0x220F] or by AOVR contact input.
(Command/override)
Velocity Mode:
Applies -10~+10V between SPDCOM
(AI2) and AGND to control analog
velocity.
The relationship between input
voltage and velocity command
depends on the value set in [0x2229].
2-18
2. Wiring and Connection
32 AO
Encoder Signal A Outputs de-multiplied encoder
33 /AO signals in A, B, and Z phases by
30 BO the line drive method.
Encoder Signal B
The number of output pulses can
31 /BO
be set in [0x3006].
4 ZO The encoder signal output
frequency of the drive is 4 [Mpps]
Encoder Signal Z
at the maximum for the line drive
5 /ZO
method.
2-19
2. Wiring and Connection
Caution
1. You can set the input contact to contact A or contact B, based on the characteristics of
individual signals.
3. For more information on signal assignment and change of the input contact, refer to
Section 10.2, “Input/Output Signals Setting.”
Internal
R2
circuit
DI1
R1
Internal
R2
circuit
DI16
R1
2-20
2. Wiring and Connection
Caution
1. You can set the output contact to contact A or contact B, based on the characteristics of
individual signals.
3. For more information on signal assignment and change of the output contact, refer to
Section 10.2, “Input/Output Signals Setting.”
4. Excessive voltage or overcurrent may damage the device because it uses an internal
transistor switch. Be cautious.
5. The rated voltage and current are DC 24V ± 10% and 120[㎃].
Servo drive
DO1+ L
Internal
circuit
DO1-
DO8+
L
Internal
circuit
DC 24V
DO8-
Note 1) DO1 and DO2 outputs use separated GND24 terminals, and DO3~DO8 outputs use a
Note 2) DO6~DO8 outputs are locked for alarm group outputs. You can assign desired output signals
2-21
2. Wiring and Connection
Caution
1. For information on how to operate analog input signals, refer to Section 4.5, “Analog
Velocity Override,” Section 6.2, “Analog Velocity Command,” Section 7.2, “Analog Torque
Command Scale,” and Section 10.8, “Torque Limit Function.”
DC±24V R1 TRQCOM 1
AGND 8
R2
DC±24V R1 SPDCOM 27
AGND 8
No R1 R2
1 5KΩ 6KΩ
2 10KΩ 12KΩ
R2 +12[V] 34 R2 +12[V] 34
AGND 8 AGND 8
R2 -12[V] 35
No R1 R2
1 10KΩ 660Ω
2 5KΩ 330Ω
3 2KΩ 132Ω
2-22
2. Wiring and Connection
Twisted Pair
Upper level controller Shield Wire Servo drive
PF PF+
PF-
PR+
PR
PR-
Line receiver
Line drive
FG
PR-
FG
FG
2-23
2. Wiring and Connection
Digital input
Digital output
(DO1)
+24V IN 50 38 ALARM+
DC 24V 3.92kΩ
39 ALARM-
(DI1)
SVON 47 (DO2)
40 RDY+
(DI2)
SPD1 23
41 RDY-
(DI3)
SPD2 22
(DO3)
(DI4) 43 ZSPD
SPD3 21
(DI5)
A-RST 17
(DI6) (DO4)
JDIR 46 44 BRAKE
(DI7)
POT 20
(DI8)
NOT 19 (DO5)
45 INPOS1
EMG 18 (DI9)
(DIA)
STOP 48
note) (DO6)
16 ALO0
note) (DO7)
ISEL0 ** 15 ALO1
ISEL1 **
ISEL2 **
note) (DO8)
ISEL3 **
14 ALO2
ISEL4 **
ISEL5 ** 25 GND24
PCON ** 24 GND24
GAIN2 **
PCL ** ** ORG
NCL ** ** EOS
H-START ** CN1 ** TGON
INHIBIT ** ** TLMT
MODE ** ** VLMT
PAUSE ** ** INSPD
ABS_RQ ** ** WARN
JSTART ** ** INPOS2
JDIR ** ** IOUT0
PCLR ** ** IOUT1
AOVR ** ** IOUT2
LVSF1 ** ** IOUT3
LVSF2 ** ** IOUT4
EGEAR1 ** ** IOUT5
EGEAR2 **
33 /AO
PF+ 9
PF- 10 30 BO
Upper Line drive
level PR+ 11 31 /BO
controller
PR- 12 4 ZO
5 /ZO
Open collector
RS-422
Analog input
2 TXD+
-10V~+10V
TRQCOM 1
Analog torque input 3 TXD-
(Command/limit)
AGND 8
6 RXD+
-10V~+10V
SPDCOM 27
Analog velocity input 7 RXD-
(Command/override) AGND 8
Note 1) Input signals DI1~DI10 and output signals DO1~DO8 are factory default signals. Note before use that
DO6~DO8 are locked output ports for which assignment is not possible.
2-24
2. Wiring and Connection
1 8
2
3 9 10
4
11
5 12
6
7 13 14
Quadrature Type
Pin No. Signal Names Pin No. Signal Names Pin No. Signal Names
1 W 6 /U 11 B
2 /W 7 GND 12 /A
3 V 8 /Z 13 A
4 /V 9 Z 14 5V
5 U 10 /B Frame SG
Serial-Multiturn Type
Pin No. Signal Names Pin No. Signal Names Pin No. Signal Names
1 - 6 /SL 11 -
2 - 7 GND 12 -
3 MA 8 - 13 -
4 /MA 9 - 14 5V
5 SL 10 - Frame SG
2-25
2. Wiring and Connection
Connector Cable
Tyco connector Connector(ENCODER)
(7Ciruits) Maker – 3M
10314-52A0-008
10114-3000VE
5 SHD Frame
2-26
2. Wiring and Connection
W V U B B+ L2 L1
2-27
3. Operation Modes
3. Operation Modes
For position settings, L7C drive supports the indexing position control method which
internally generates position commands and the pulse input position control method
which receives pulse train inputs from outside. It also supports velocity operation which
controls velocity with external analog voltage and internal parameters as well as torque
operation which controls torque with external analog voltage.
Indexing Position Mode is a position control mode which does not use external upper
level controllers but generates position profiles inside the drive in order to drive to the
target positions. To use the index function, set control mode (0x3000) to “Index Mode 0.”
Load Indexing
Buffer 1 Position Demand Position Demand Internal
( Index00 ~ 63 ) Value (0x2629) Value (0x2624)
Trajectory Enc.
Modulo Factor (0x240C)
2 Generator
3-1
3. Operation Modes
Related Objects
3-2
3. Operation Modes
- Index 00 - - - -
2 Distance DINT RW - UU
11 Action UINT RW - -
~ ~
0x313F - Index 63 - - - -
3-3
3. Operation Modes
Analog Input1
12bit A/D
A-TLMT Analog Torque Limit
Scale 0x221C
Offset 0x221D
Torque
Feed-Forward
Notch Filter
+
Adaptive Filter
Gain 0x210E function Select
0x2500
+ Frequency Width Depth
Velocity Filter 0x210F P/PI Gain Conversion
Limit 1 0x2501 0x2502 0x2503
Function P/PI
Speed Control 0x2114
Mode 2 0x2504 0x2505 0x2506
+ P Gain I Gain +
Torque 0x2115
A 3 0x2507 0x2508 0x2509
1 0x2102 0x2103
- Speed 0x2116 +
4 0x250A 0x250B 0x250C
2 0x2106 0x2107
Acc. 0x2117
Gear Ratio Following
7 Inverse Error
0x2118
Torque Command
Filter
Speed Feedback
0x2600 1 0x2104
Filter
Feedback Speed
[rpm] Time 0x210B Disturbance 2 0x2108
Observer
Gain 0x2512
The linear coordinate system marks the positions with values in the range of –
2147483648~+2147483647. If the value exceeds +2147483647 in the forward
rotation, the lowest value –2147483648 is displayed. In contrast, if the value goes
past –2147483648 in the reverse rotation, the highest value +2147483647 is
displayed.
3-4
3. Operation Modes
+2147483647
-2147483648
During forward rotation During reverse rotation
You must set the control mode (0x3000) to the linear coordinate system to enable
the below 6 PTP position controls.
Absolute Move
In Absolute Move, the movement value is determined by the difference between the current
position and the target distance values.
Relative Move
In Relative Move, the movement value equals the target distance value.
During movement to the target position, REGT signal input from outside is converted into
registration velocity and distance values, and the movement diverts to the new target position
(absolute value).
During movement to the target position, REGT signal input from outside is converted into
registration velocity and distance values, and the movement diverts to the new target position
(relative value).
When a new position command is input during movement to the target position, the current
target position is reached and a subsequent movement is made to the new target position
(absolute value).
When a new position command is input during movement to the target position, the current
target position is reached and a subsequent movement is made to the new target position
(relative value).
3-5
3. Operation Modes
The rotary coordinate system marks the positions only with positive values. The range
(Modulo Factor-1).
If the value exceeds (Modulo Factor-1) in the forward rotation, the lowest value 0 is
displayed. In contrast, if the value goes past 0 in the reverse rotation, the highest
Modulo Factor
0
During forward rotation During reverse rotation
You must set the control mode (0x3000) to the rotary coordinate system to enable
the below 5 PTP position controls. Here, the Modulo Factor setting must be proper.
Rotary Absolute Move
The movement direction is determined according to the relationship between the current
position and the distance value for position operation. Movement is not necessarily made by
the shortest distance. Rotation is possible only within a revolution (Modulo Factor setting value)
If the distance value is (+), position operation is made in the positive direction, and if the value
is (-), in the negative direction. Rotation is possible beyond a revolution (Modulo Factor setting
The shortest distance from the current position determines the direction for position operation.
Rotation is possible only within a revolution (Modulo Factor setting value) according to the
Position operation is always in the (+) direction. Rotation is possible only within a revolution
(Modulo Factor setting value) according to the distance value. The distance value is treated as
an absolute value.
Position operation is always in the (-) direction. Rotation is possible only within a revolution
(Modulo Factor setting value) according to the distance value. The distance value is treated as
an absolute value.
3-6
3. Operation Modes
Items Description
0: Absolute Move
1: Relative Move
0: Stop
2: Next Index
3-7
3. Operation Modes
C
Position Velocity Torque
Pulse Input Logic (0x3003) Gear Ratio M
Control Control Control
3-8
3. Operation Modes
Related Objects
- - - - - - -
3-9
3. Operation Modes
Gear Ratio
Numerator 0x300C
Velocity
0x2629 Feed-Forward
0x300D
Position Demand 0x2624
Value [UU] Position Demand Gain 0x210C
0x300E
Pulse Input Internal Value
FP+/FP- 0x300F [pulse] Filter 0x210D
C
RP+/RP-
Denomiator 0x3010
Pulse Input Setup Smoothing Position Control
1 0x3011 Position Command Filter + P Gain +
Logic 0x3003 0x3012 Filter Time 0x2109 Gain 1 0x2101 A
0x3013 Average - +
Filter 0x3004 0x210A Gain 2 0x2105
Filter Time
0x3000
Control Mode
0x2625
0x262B Position Internal
Following Error Actual Value [pulse]
Actual Value [UU] +
Gear Ratio
9 Inverse
B
0x2121: 04, 10 INPOS Output -
Drive Status INPOS1
Output 1 0x2401 Gain Conversion
Output
INPOS2
Output
0x2403 8
Mode 0x2119
Output
0x2402 0x262A
Time Time1 0x211A
Pulse Output Position Actual
A phase Value [UU] Time2 0x211B
Encoder Output Pulse
B phase Regeneration
Z phase Waiting
0x211C
OutPulse 0x3006 Time1
Waiting
Output 0x211D
0x3007 Time2
Mode
Analog Input1
12bit A/D
A-TLMT Analog Torque Limit
Scale 0x2210
Offset 0x2211
Torque
Feed-Forward
Notch Filter
Adaptive Filter
Gain 0x210E function Select
0x2500
+ Frequency Width Depth
Velocity Filter 0x210F P/PI Gain Conversion
Limit 1 0x2501 0x2502 0x2503
Function P/PI
Speed Control 0x2114
Mode 2 0x2504 0x2505 0x2506
+ P Gain I Gain +
Torque 0x2115
A 3 0x2507 0x2508 0x2509
1 0x2102 0x2103
- Speed 0x2116 +
4 0x250A 0x250B 0x250C
2 0x2106 0x2107
Acc. 0x2117
Gear Ratio Following
7 Inverse Error
0x2118
Torque Command
Filter
Speed Feedback
0x2600 1 0x2104
Filter
Feedback Speed
[rpm] Time 0x210B Disturbance 2 0x2108
Observer
Gain 0x2512
3-10
3. Operation Modes
Velocity Control Mode is used to control velocity by issuing velocity commands to the servo
drive in the form of analog voltage output from the upper level controller and digital inputs
which use parameter setting values inside the servo drive.
Set the control mode [0x3000] to 2 and select the velocity command switch select [0x231A]
according to the method of command to the servo drive.
3-11
3. Operation Modes
Related Objects
3-12
3. Operation Modes
3-13
3. Operation Modes
0x3000
Control Mode
Gain Conversion
Waiting
0x211C
Time1
Waiting
0x211D
Time2
Following
7 0x2118
Error
Torque Command
Filter
Speed Feedback 1 0x2104
0x2600 Filter
Feedback Speed
[rpm] Time 0x210B 2 0x2108
Disturbance
Observer
Gain 0x2512
Positon
B Encoder Motor Gain 0x2514 Positive 0x3022
Calulation
Negative 0x3023
0x262C
Torque Demand
Value [0.1%]
3-14
3. Operation Modes
Torque Control Mode is used to control tension or pressure of the device’s mechanical parts by the
means of the servo drive receiving from the upper level controller the voltage inputs for the desired
To input commands, apply voltage of -10[V]~+10[V] to pin number 1 and 8 of the CN1
connector.
OP Mode : Torque
Velocity Torque
Generate
M
Control Control
Analog Torque Input(command/limit) Scale(0x2210) Torque
Command
Analog Torque Input(command/limit) Offset(0x2211)
Analog Torque Command Filter Time Constant(0x2213)
Enc.
Speed Limit Value at Torque control Mode(0x230E)
3-15
3. Operation Modes
Related Objects
3-16
3. Operation Modes
Gain Conversion
Mode 0x2119
Analog Torque
Command(A-TLMT) Time1 0x211A
Notch Filter
Adaptive
Filter function 0x2500
Select
Frequency Width Depth
Velocity P/PI Gain Conversion
Limit 1 0x2501 0x2502 0x2503
Function P/PI
0x2114
Speed Control Mode 2 0x2504 0x2505 0x2506
+ P Gain I Gain
Torque 0x2115
3 0x2507 0x2508 0x2509
1 0x2102 0x2103
- Speed 0x2116
4 0x250A 0x250B 0x250C
2 0x2106 0x2107
Acc. 0x2117
Following
7 0x2118
Error Torque Command
Filter Time
Constant
Speed Feedback
0x2600 Filter 0x2213
Feedback Speed
[rpm] Time 0x210B
0x262D 0x262C
Analog Torque
Torque Actual Torque Demand
command Scale
Value [0.1%] Velocity Value [0.1%]
Calulation 0x2210
6 C Analog Torque
Current Control
command Offset
0x2211
0x262A Positon
Encoder Motor Gain 0x2514
Position Actual Calulation
Value [UU]
0x2625
8 Position Internal
Actual Value [pulse]
3-17
4. Indexing Position Operation
Distance
Distance refers to the movement distance of each index (Unit: UU), which can be set to
either an absolute or relative value.
In Absolute Move, the final movement value is determined by the difference between the
current position and the target distance values. In Relative Move, the final movement
value equals only the target distance value.
In a velocity/acceleration pattern as the one below, the final movement value equals the
total area.
Speed
Area= Distance
Movement distance
(+)
Time
Movement distance
(-)
4-1
4. Indexing Position Operation
Velocity
You can set the target velocity (Unit: UU/s) of index operation.
Velocity is set to a positive (+) value regardless of Distance, and the sign of the target
velocity is determined by the sign of Distance.
Target speed
Speed = +2000[UU/s]
Distance(+)
Time
A pattern when Distance is
insufficient Distance (-)
Target speed
= -2000[UU/s]
You can set Acceleration and Deceleration for index operation. The device supports an
asymmetrical Acceleration/Deceleration operation, in which Acceleration and Deceleration
are set to different values.
In the below figure, when the settings are Velocity = 1000 [UU/s], Acceleration = 10000
[UU/s2], and Deceleration = 20000 [UU/s2], Acceleration time period and Deceleration
time period needed to reach the target velocities are 100 [ms] = (1000 [UU/s] / 10000
[UU/s2]), 50[ms] = (1000 [UU/s] / 20000 [UU/s2]), respectively.
Speed
Asymmetrical Acceleration/
1000[UU/s] Deceleration pattern
Acceleration Deceleration
= 10000[UU/s2] = 20000[UU/s2]
Time
Acceleration time Deceleration time
= 100[ms] = 50[ms]
4-2
4. Indexing Position Operation
When the index type is Registration Absolute or Registration Relative, you can change
operation velocity and movement distance according to REGT signal input from the
outside.
Registration Distance
Movement distance after REGT signal input from outside (Unit: UU)
Registration Velocity
Target velocity after REGT signal input from outside (Unit: UU/s)
Speed
Velocity
Registration Distance
Registration (Movement distance after
Velocity REGT signal input)
Time
REGT
INPOS
4-3
4. Indexing Position Operation
Repeat Count
The index operates repeatedly as many times as set for the Repeat Count value.
The setting value in Dwell Time is applied during a repeated operation of an index.
Speed
Time
START
INPOS
Dwell Time
You can set the waiting time period between index operations (Unit: ms).
The set Dwell Time is applied after generation of the index operation pattern is
completed as shown in the example in the figure below.
Speed
Time
100[ms] 150[ms]
START
INPOS
4-4
4. Indexing Position Operation
Next Index
When Action of the index is set to Next Index (setting value 2), you can set the number
of the index to be automatically run after the end of the current index operation.
Action
In the Indexing Position Mode, you can use the following three methods according to the
index operation Action.
STOP
When Action of the index is set to Stop (Setting Value 0), the entire sequence ends after the
end of the current index’s operation.
When START signal is input from outside, Indexing Position operation starts from the index
(0~63) set in Start Index (0x3008).
Speed
Index n1 Index n2
Index n3
Time
START
INPOS
EOS
4-5
4. Indexing Position Operation
When Action of the index is set to Wait for Start (Setting Value 1), the index after the current
one follows START signal input and starts to operate when the current index operation ends.
The index that operates when START signal is input is determined by ISEL0~5 (Index Select)
signal. Here, the value set in Next Index is irrelevant.
Speed
Time
START
ISEL0~5 n2 n3
INPOS
EOS
Next Index
When Action of the index is set to Next Index (Setting Value 2), the index set in Next Index
automatically operates after the end of the current index operation.
Operation can start automatically with the previously input index even if the digital input signal
(START, ISEL0~5) is not entered.
Speed
Index 1
Index 5
START
Index ...
INPOS
4-6
4. Indexing Position Operation
With a combination of Wait for Start and Next Index settings, the sectioned sequence shown in
the below figure can be structured.
X : Dont Care
Speed
Index 5
or
Index 1 Index 3 Index 7 Index 1
Index 1
Time
Index 3
START
INPOS
EOS
4-7
4. Indexing Position Operation
L7C drive supports 11 Index Types in total, which are described below.
Absolute Move
The movement distance is determined by subtracting the current position value from the
input Distance value. (=Distance - Current Position)
ex) Absolute Move is performed with current position value = 500 and Distance = 1000
Time
Relative Move
ex) Relative Move is performed with current position value = 500 and Distance = 1000
Time
4-8
4. Indexing Position Operation
This is a similar function to motion pattern generation in VP-3 (positioning after feeder
and sensor operation), a past drive model of the company.
Absolute Move is run with the value set for Distance. It operates with Distance and
Velocity values in Registration Distance/Velocity set after REGT signal input during
movement. Movement distance after REGT signal input is determined by the value set in
Registration Distance.
Relative Move is run with the value set for Distance. It operates with Distance and
Velocity values in Registration Distance/Velocity set after REGT signal input during
movement. Movement distance after REGT signal input is determined by the value set in
Registration Distance.
Speed
Velocity
Area:
Registration Movement distance after REGT
Velocity signal input
Time
REGT
INPOS
4-9
4. Indexing Position Operation
Each index does not stop to 0 velocity at its end, and the operation is passed on to the
next index.
Speed
Time
START
INPOS
Speed
Time
START
INPOS
4-10
4. Indexing Position Operation
This function is available only when the coordinate system is set to the rotary method.
The direction of rotation is determined by the relationship between the starting position
and the command position. If the starting position value is smaller than the command
position value, the rotation runs in the forward direction, and for the opposite case, it
runs in the reverse direction. Here, the movement is not necessarily made by the shortest
distance.
You can input a value greater than a revolution (Value set in Modulo Factor: 0x240C) or a
negative value (-90o equals 270o when Modulo Factor is 360o). In this case, the final
position is set in consideration of Modulo Factor. Putting in a negative value in such a
case is useful because the index can pass the 0 point in its reverse rotation.
The following figure shows an example of a forward rotation from 30 o to 240o and a
reverse rotation from 300o to 240o.
0°
30°
300°
270° 90°
240°
180°
4-11
4. Indexing Position Operation
This function is available only when the coordinate system is set to the rotary method.
If the command Distance value is positive (+), the index moves in the positive direction,
and if the value is negative (-), it moves in the negative direction. You can input a value
greater than a revolution (Value set in Modulo Factor: 0x240C) and rotation can exceed a
revolution depending on the command value.
The following figure shows an example of a +180o movement from 30o to 210o and a -
120o movement from 30o to -90o.
0°
30°
-90° 90°
210°
180°
The shorter of the forward and reverse directions becomes the movement direction.
Rotation runs only within a revolution (Value set in Modulo Factor: 0x240C) The Distance
value is treated as an absolute value.
0° 0°
30° 30°
310°
60° 60°
240° 240°
210° 210°
180° 180°
4-12
4. Indexing Position Operation
This function is available only when the coordinate system is set to the rotary method.
The index always moves in the positive (+) direction regardless of the starting position
and command position (Distance).
Rotation runs only within a revolution (Value set in Modulo Factor: 0x240C). The Distance
value is treated as an absolute value.
The following figure shows an example of movements in the forward rotation from 300o
to 30o and from 30o to 180o.
0°
30°
300°
270° 90°
180°
4-13
4. Indexing Position Operation
This function is available only when the coordinate system is set to the rotary method.
The index always moves in the negative (-) direction regardless of the starting position
and command position (Distance).
Rotation runs only within a revolution (Value set in Modulo Factor: 0x240C). The Distance
value is treated as an absolute value.
The following figure shows an example of reverse rotation from 60 o to 340o and from
340o to 180o.
0°
340°
60°
270° 90°
180°
4-14
4. Indexing Position Operation
PAUSE
PAUSE (Rising edge) input during index operation temporarily stops current index
operation.
Another input of PAUSE (Second rising edge) performs movement of the remaining
distance.
The INPOS signal is output when the value of Following Error is lower than that of
Following Error Window [0x301D].
The EOS signal will be set when movement for the remaining index distance is
completed after PAUSE is re-input.
Speed
Remaining
=
Distance after
Distance after
PAUSE release
PAUSE input
Time
START
SVON
PAUSE
EOS
INPOS
4-15
4. Indexing Position Operation
STOP
STOP (Rising edge) input stops the movement using the stop deceleration (0x6085) and
finish the index operation sequence.
Input of the START signal resumes the operation from the index set in Start Index
(0x3008).
However, if Start Index (0x3008) is 64, Start Index is set to the value from ISEL0~5.
Time
START
SVON
STOP
4-16
4. Indexing Position Operation
HSTART (Rising edge) input activates homing. Any HSTART input signal is ignored when
motor return to the original position
When the homing is completed, the ORG (Origin: homing complete) signal will be set to
1. When homing is initiated, the ORG signal is reset to 0.
Speed
Switch search
speed
CCW
CW Time
Zero search
speed
Switch search
speed
HSTART
POT
HOME
ORG
4-17
4. Indexing Position Operation
JSTART/JDIR
During machine adjustment, home position adjustment, etc., you can use JOG operation
for movement to a certain position. A JSTART signal input from outside starts JOG
operation, and a JDIR signal input from outside can change the direction of rotation to
run the servo motor. To stop operation, it is advisable to use the STOP signal input from
outside. When the JSTART signal is turned on, the index is in the Velocity Control Mode,
and when it is off, the mode switches to the past operation mode.
Speed
+Jog operation
Speed
Time
-Jog operation
Speed
JSTART
STOP
JIDR
TGON
Forward Reverse
4-18
4. Indexing Position Operation
When Action of the index is Stop or Wait for Start, the EOS (End of Sequence) signal is
displayed when the index operation ends. EOS signal is displayed based on Position
Demand Value. For example, EOS will be displayed if Position Demand Value reaches the
target position and Position Actual Value has not still reached the target position while
the motor is moving from 0 [UU] to 52428800 [UU].
Speed
Index n1 Index n2
Index nn
Time
START
INPOS
EOS
4-19
4. Indexing Position Operation
The number of the index in operation is output through IOUT0~5. The output status
operates according to the setting values of parameter 0x300A as shown below.
0 0 0 0 0 0 0 1
■ Setting Value: 0
Speed
Time
5 = 000101b 25 = 011001b 34 = 100010b 63 = 111111b
IOUT0 ON ON OFF ON
4-20
4. Indexing Position Operation
■ Setting Value: 1
Speed
Time
5 = 000101b 25 = 011001b 34 = 100010b 63 = 111111b
IOUT1 OFF ON
IOUT5 OFF ON
The current index position output signals are initialized when the operation mode is
changed or the SVON signal is turned off (Motor free-run state). The initialized output
state is identical to the operation status output of the number 0 index, which is why it is
advisable to start with Index 1 whenever possible.
4-21
4. Indexing Position Operation
As shown in the below figure, you can override the velocity of the index according to
analog input during Indexing Position operation. This function is applied when the
Analog Velocity Override Mode (0x220F) is enabled. You can enable the Analog Velocity
Override offset (0x2215) to adjust the offset of input voltage. The unit is [mV].
Index 00 ~ 63
Index 00~63
Velocity 0x3100:03 Velocity
[UU/s]
Analog Input1
...
...
12bit A/D
SPDCOM Analog Velocity
Velocity 0x313F:03
Override Trajectory
SPDCOM Mode 0x220F Generator
Offset 0x2215
Index 00 ~ 63
Index 00~63
Velocity 0x3100:03 Velocity
[UU/s]
Analog Input1
...
...
12bit A/D
SPDCOM Analog Velocity
Velocity 0x313F:03
Override Trajectory
SPDCOM Mode 0x221E Generator
Offset 0x221F
4-22
4. Indexing Position Operation
The Analog Velocity Override function is operated with the voltage versus velocity graph
as the example below, according to the setting value of Analog Velocity Override Mode
[0x220F]. For the operation velocity setting value, a 0 [%] velocity override is applied for a
-10 [V] input, a 100 [%] for a 0 [V] input, and a 200 [%] for a 10 [V] input.
0V
(100%) Override
-10V
(0%) 0V
(0%) Override
Related Objects
4-23
4. Indexing Position Operation
Digital input
Digital output
(DO1)
+24V IN 50 38 ALARM+
3.92kΩ
DC 24V 39 ALARM-
(DI1)
SVON 47 (DO2)
40 RDY+
(DI2)
ISEL0 23
41 RDY-
(DI3)
ISEL1 22
(DO3)
(DI4) 43 EOS
ISEL2 21
(DI5)
A-RST 17
(DI6) (DO4)
START 46 44 BRAKE
(DI7)
POT 20
(DI8)
NOT 19 (DO5)
45 INPOS1
EMG 18 (DI9)
(DIA)
STOP 48
note) (DO6)
16 ALO0
note) (DO7)
15 ALO1
INHIBIT **
ISEL3 ** note) (DO8)
14 ALO2
ISEL4 **
ISEL5 ** 25 GND24
PCON ** 24 GND24
GAIN2 **
PCL ** ** ORG
NCL ** ** ZSPD
H-START ** CN1 ** TGON
PAUSE ** ** TLMT
ABS_RQ ** ** VLMT
JSTART ** ** INSPD
JDIR ** ** WARN
PCLR ** ** INPOS2
AOVR ** ** IOUT0
EGEAR1 ** ** IOUT1
EGEAR2 ** ** IOUT2
LVSF1 ** ** IOUT3
LVSF2 ** ** IOUT4
ABS_RESET ** ** IOUT5
Encoder output
32 AO
Upper level controller
33 /AO
30 BO
31 /BO
4 ZO
5 /ZO
Open collector
RS-422
Analog input
2 TXD+
-10V~+10V
TRQCOM 1
3 TXD-
AGND 8
6 RXD+
-10V~+10V
SPDCOM 27
7 RXD-
AGND 8
4-24
5. Pulse Input Position Operation
Control operation of Pulse Input Position is possible using the upper level controller
which has the positioning function.
The internal block diagram of the Pulse Input Position Control Mode is as follows.
Servo Drive
Pulse Input Position Mode
Upper Level Controller Pulse Input
(A phase) 0x2629 0x2624
Position Dema nd Position Dema nd
Pulse Input Setup Val ue [UU] Inte rnal Value [pulse]
XGT C Encoder
PF+/PF-
1 Motor rev. +
Pulse Position
PR+/PR- Count Control Motor
2 Shaft rev. -
x4
Gear Ratio
Pulse Input
(B phase)
5-1
5. Pulse Input Position Operation
You can set the logic of the pulse train input from the upper level controller. The
following are the forms of input pulses and the rotation directions of the logic.
PULS PULS
CW L Level
+CCW (I/O-9) (I/O-9)
Positive 1
SIGN SIGN
logic L Level
(I/O-11) (I/O-11)
PULS PULS
Pulse
+Direction (I/O-9) (I/O-9)
Positive 2
SIGN SIGN L Level
logic H Level
(I/O-11) (I/O-11)
PULS PULS
CW H Level
+CCW (I/O-9) (I/O-9)
Negative 4
logic SIGN SIGN
H Level
(I/O-11) (I/O-11)
PULS PULS
Pulse
+Direction (I/O-9) (I/O-9)
Negative 5
SIGN SIGN
logic L Level H Level
(I/O-11) (I/O-11)
Related Objects
5-2
5. Pulse Input Position Operation
You can set the frequency band of the digital filter defined for the pulse input. You can use the
function for the purpose of reducing wiring noise.
The determination of the cutoff frequency bands is based on the input pulse width in
accordance with the digital filter's characteristics. Default value is 7 which is possible to filter
below 1.6[MHz]. If input frequency is over 1.6[MHz], input pulses should be blocked. So value of
setting details has to be changed.
Related Objects
5-3
5. Pulse Input Position Operation
Function of PCLR is possible to use in pulse input position operation mode. When the
PCLR signal is input, the position error will be reset to 0.
Related Objects
When the command pulse inhibit (INHIB) signal is input, the operation mode is set in I/O
Configuration (0x2200~). This function is only active in Pulse Input Position operation.
The input pulses generated after INHIB signal input do not count as command pulses.
Input pulse
command pulse
5-4
5. Pulse Input Position Operation
Digital input
Digital output
(DO1)
+24V IN 50 38 ALARM+
3.92kΩ
DC 24V 39 ALARM-
(DI1)
SVON 47 (DO2)
40 RDY+
(DI2)
PCLR 23
41 RDY-
(DI3)
EGEAR1 22
(DO3)
(DI4) 43 ZSPD
PCON 21
(DI5)
EGEAR2 17
(DI6) (DO4)
A-RST 46 44 BRAKE
(DI7)
POT 20
(DI8)
NOT 19 (DO5)
45 INPOS1
EMG 18 (DI9)
(DIA)
STOP 48
Note) (DO6)
16 ALO0
Note) (DO7)
15 ALO1
Note) (DO8)
14 ALO2
25 GND24
GAIN2 ** 24 GND24
PCL **
NCL ** ** ORG-
H-START ** ** TGON-
ABS_RQ ** CN1 ** TLMT-
JSTART ** ** INPOS2
LVSF1 ** ** VLMT
LVSF2 ** ** INSPD
INHIBIT ** ** WARN
ABS_RESET **
33 /AO
PF+ 9
PF- 10 30 BO
Upper Line drive
level PR+ 11 31 /BO
controller
PR- 12 4 ZO
5 /ZO
Open collector
RS-422
Analog input
2 TXD+
-10V~+10V
A-TLMT 1
Analog torque input 3 TXD-
(Command/limit)
AGND 8
6 RXD+
7 RXD-
5-5
5. Pulse Input Position Operation
+24V IN 50 Note 1)
(DO1)
PULCOM 49 38 ALARM+
24V 39
1.5K
39 ALARM-
P COM 40
(DO3)
43 ZSPD
FP+ 21 PF- 10 1.5K
(DO4)
44 BRAKE
FP- 22
(DO5)
45 INPOS
RP+ 23 PR- 12
16 ALO0
RP- 24 Encoder phase
Twisted
Z output 15 ALO1
Pair
HOME +5V 37 ZO 4
14 ALO2
HOME COM 38 /ZO 5
+24V IN 25 GND24
Digital input 3.3kΩ
+24V
24 GND24
OV+ 25 STOP 48 (DIA)
OV- 26 EMG 18 (DI9)
** TLMT
STOP 27 NOT 19 (DI8)
** VLMT
DOG 28 POT 20 (DI7)
** INSPD
VTP 29 DIR 46 (DI6)
** WARN
ECMD 30 A-RST 17 (DI5)
JOG- 31 EGEAR1 21 (DI4)
EGEAR2 22 (DI3)
COM 32 (DI2)
PCLR 23
SVON 47 (DI1)
5V
MPG A+ 1
A
MPG A- 2 PCON **
B
MPG B+ 3
0V
GAIN2 ** CN1 34 +12VA
MPG B- 4 35 -12VA
H-START **
Manual pulse ABS_RQ ** Encoder pulse output
generator
+24V JSTART **
LVSF1 ** 32 AO
CON 7 LVSF2 ** 33 /AO
EMG 8 PCL **
COM 10 NCL ** 30 BO
ABS_RESET ** 31 /BO
DR/INP COM 34
(DO2)
DR/INP 33 RDY+ 40
RDY- 41
-10V ~ +10V
Ana log
TRQCOM 1
torque limit
GND 8
F.G
This is an example of a wiring diagram for a single shaft. For wiring with 2 or 3 shafts, refer to the pin
arrangement for the positioning module.
5-6
5. Pulse Input Position Operation
+24V IN 50 Note 1)
(DO1)
Twisted 38 ALARM+
Pair
FP+ 21 PF+ 9 39 ALARM-
+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 NOT 19
(DI7) ** VLMT
DOG 28 POT 20
(DI6) ** INSPD
VTP 29 DIR 46
(DI5) ** WARN
ECMD 30 A-RST 17
JOG- 31 EGEAR1 21 (DI4)
EGEAR2 22 (DI3)
COM 32
PCLR 23 (DI2)
SVON 47 (DI1)
5V
MPG A+ 1
A
MPG A- 2 PCON **
B
MPG B+ 3
0V
GAIN2 ** CN1 34 +12VA
MPG B- 4 35 -12VA
H-START **
Manual pulse ABS_RQ ** Encoder pulse output
generator +24V
JSTART **
LVSF1 ** 32 AO
CON 7 LVSF2 ** 33 /AO
EMG 8 PCL **
COM 10 NCL ** 30 BO
ABS_RESET ** 31 /BO
DR/INP COM 34
(DO2)
DR/INP 33 RDY+ 40 36 SG
RDY- 41
-10V ~ +10V
Ana log
TRQCOM 1
torque limit
GND 8
F.G
This is an example of a wiring diagram for a single shaft. For wiring with 2 or 3 shafts, refer to the pin
arrangement for the positioning module.
5-7
5. Pulse Input Position Operation
+24V IN 50 Note 1)
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 Encoder phase
Twisted Z output 14 ALO2
Pair
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 NOT 19 (DI8)
EMG/STOP 11A POT 20 (DI7)
VTP 10A JDIR 46 (DI6)
A-RST 17 (DI5)
COM 9A (DI4)
EGEAR1 21
EGEAR2 22 (DI3)
5V PCLR 23 (DI2)
MPG A+ 20A
A SVON 47 (DI1)
MPG A- 20B
B
MPG B+ 19A PCON **
MPG B- 19B
0V
GAIN2 ** CN1 34 +12VA
35 -12VA
Manual pulse H-START **
generator ABS_RQ ** Encoder pulse output
JSTART **
32 AO
LVSF1 **
LVSF2 ** 33 /AO
+24V PCL **
30 BO
NCL **
DR/INP COM 6A ABS_RESET ** 31 /BO
(DO2)
DR 8A RDY+ 40
36 SG
RDY- 41
(DO5)
INP 7A INPOS 45
GND 24
-10V ~ +10V
Ana log
TRQCOM 1
torque limit
GND 8
F.G
This is an example of a wiring diagram for a single shaft. For wiring with 2, 3, or 4 shafts, refer to the pin
arrangement for the positioning module.
5-8
5. Pulse Input Position Operation
+24V IN ** TLMT
Digital input 3.3kΩ
** VLMT
+24V
OV+ 14A STOP 48 (DIA) ** INSPD
OV- 13A EMG 18 (DI9) ** WARN
DOG 12A NOT 19 (DI8)
EMG/STOP 11A POT 20 (DI7)
VTP 10A DIR 46 (DI6)
A-RST 17 (DI5)
COM 9A (DI4)
EGEAR1 21
EGEAR2 22 (DI3)
5V PCLR 23 (DI2)
MPG A+ 20A
A SVON 47 (DI1)
MPG A- 20B
B
MPG B+ 19A PCON **
MPG B- 19B
0V
GAIN2 ** CN1 34 +12VA
35 -12VA
Manual pulse H-START **
generator ABS_RQ ** Encoder pulse output
JSTART **
32 AO
LVSF1 **
LVSF2 ** 33 /AO
+24V PCL **
30 BO
NCL **
DR/INP COM 6A ABS_RESET ** 31 /BO
(DO2)
DR 8A RDY+ 40
36 SG
RDY- 41
(DO5)
INP 7A INPOS 45
GND24 24
-10V ~ +10V
Ana log
TRQCOM 1
torque limit
GND 8
(CN1 Case)
F.G
F.G
This is an example of a wiring diagram for a single shaft. For wiring with 2, 3, or 4 shafts, refer to the pin
arrangement for the positioning module.
5-9
5. Pulse Input Position Operation
+24V IN ** TLMT
Digital input 3.3kΩ
+24V ** VLMT
OV+ A14 STOP 48 (DIA) ** INSPD
OV- A13 EMG 18 (DI9) ** WARN
DOG A12 NOT 19 (DI8)
POT 20 (DI7)
JDIR 46 (DI6)
COM A9
A-RST 17 (DI5)
EGEAR1 21 (DI4)
EGEAR2 22 (DI3)
5V PCLR 23 (DI2)
MPG A+ B20
A SVON 47 (DI1)
MPG A- A20
B
MPG B+ B19 PCON **
MPG B- A19
0V
GAIN2 ** CN1 34 +12VA
35 -12VA
H-START **
Manual pulse
generator ABS_RQ ** Encoder pulse output
JSTART **
32 AO
LVSF1 **
LVSF2 ** 33 /AO
PCL **
30 BO
NCL **
ABS_RESET ** 31 /BO
+24V (DO2)
RDY+ 40
36 SG
INP A7 RDY- 41
(DO5)
INP COM A6 INPOS 45
GND24 24
-10V ~ +10V
Ana log
TRQCOM 1
torque limit
GND 8
(CN1 Case)
F.G
F.G
This is an example of a wiring diagram for a single shaft. For wiring with 2 shafts, refer to the pin
arrangement for the positioning module.
5-10
5. Pulse Input Position Operation
+24V IN 50
(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 phase
Z output 14 ALO2
ZO 4
25 GND24
/ZO 5
+24V IN ** TLMT
Digital input 3.3kΩ
** VLMT
HOME P05 STOP 48 (DIA) ** INSPD
DOG P04 EMG 18 (DI9) ** WARN
Limit L P01 NOT 19 (DI8)
JDIR 46 (DI6)
Input
Common
COM0
A-RST 17 (DI5)
EGEAR1 21 (DI4)
EGEAR2 22 (DI3)
PCLR 23 (DI2)
SVON 47 (DI1)
PCON **
GAIN2 ** CN1 34 +12VA
35 -12VA
H-START **
ABS_RQ ** Encoder pulse output
JSTART **
32 AO
LVSF1 **
LVSF2 ** 33 /AO
PCL **
30 BO
NCL **
ABS_RESET ** 31 /BO
(DO2)
RDY+ 40
36 SG
RDY- 41
(DO5)
INPOS 45
GND 24
-10V ~ +10V
Ana log
TRQCOM 1
torque limit
GND 8
F.G
This is an example of a wiring diagram for a single shaft. For wiring with 2 shafts, refer to the pin
arrangement for the positioning module.
5-11
5. Pulse Input Position Operation
+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 phase
Z output 14 ALO2
ZO 4
25 GND24
/ZO 5
+24V IN ** TLMT
Digital input 3.3kΩ
** VLMT
HOME P0D
STOP 48 (DIA) ** INSPD
%QX0.0.13
DOG
P0C
EMG 18 (DI9) ** WARN
%QX0.0.12
Limit H
P09
NOT 19 (DI8)
%QX0.0.9
Limit L
P08
POT 20 (DI7)
%QX0.0.8
JDIR 46 (DI6)
Input
Common
COM0
A-RST 17 (DI5)
EGEAR1 21 (DI4)
EGEAR2 22 (DI3)
PCLR 23 (DI2)
SVON 47 (DI1)
PCON **
GAIN2 ** CN1 34 +12VA
35 -12VA
H-START **
ABS_RQ ** Encoder pulse output
JSTART **
32 AO
LVSF1 **
LVSF2 ** 33 /AO
PCL **
30 BO
NCL **
ABS_RESET ** 31 /BO
(DO2)
RDY+ 40
36 SG
RDY- 41
(DO5)
INPOS 45
GND 24
-10V ~ +10V
Ana log
TRQCOM 1
torque limit
GND 8
F.G
This is an example of a wiring diagram for a single shaft. For wiring with 2 shafts, refer to the pin
arrangement for the positioning module.
5-12
6. Velocity Mode
6. Velocity Mode
2 Use SPD1, SPD2 and SPD3 contact and analog velocity commands
Analog velocity commands are used when the setting value is 1 and all applicable contacts are
turned on.
Input Devices
Velocity
SPD1 SPD2 SPD3
X X Don’t care Multi-velocity command 1 (Parameter 0x2312)
O X Don’t care Multi-velocity command 2 (Parameter 0x2313)
X O Don’t care Multi-velocity command 3 (Parameter 0x2314)
O O Don’t care Use analog velocity commands
ex) Apply an analog velocity command of 10 [V] when the setting value is 2 and SPD1, SPD2
contacts are turned on
Input Devices
Velocity
SPD1 SPD2 SPD3
X X X Multi-velocity command 1 (Parameter 0x2312)
O X X Multi-velocity command 2 (Parameter 0x2313)
X O X Multi-velocity command 3 (Parameter 0x2314)
O O X Multi-velocity command 4 (Parameter 0x2315)
X X O Multi-velocity command 5 (Parameter 0x2316)
O X O Multi-velocity command 6 (Parameter 0x2317)
X O O Multi-velocity command 7 (Parameter 0x2318)
O O O Use analog velocity commands
The motor rotation operates at 100[rpm] and analog input velocity commands are ignored.
The operation velocity is set to the multi-velocity command according to the setting of
parameter 0x2315.
6-1
6. Velocity Mode
When the setting values for velocity command switch select are 0, 1, and 2, you can
operate velocity control by analog voltage from outside.
To input commands, apply voltage of -10 [V]~+10 [V] to pins 27 and 8 of the CN1
connector.
-10V~+10V
SPDCOM 27
Analog velocity input Servo drive
(Command/override) AGND 8
Related Objects
6-2
6. Velocity Mode
The analog velocity command is set in the unit of [rpm] for each input of 1[V]. When the analog
input voltage is minus voltage, only the rotation direction needs to be changed from the (-) setting
value.
Velocity
+100rpm
-100rpm
There are cases where a certain level of voltage remains in the analog signal access circuit, even at
the 0 speed command. Here, the 0 velocity can be maintained for the voltage command for the
Velocity
Clamp Level
0 rpm
0V
Analog Input
Voltage[V]
6-3
6. Velocity Mode
When the setting values for velocity command switch select are 1, 2, and 3, you can
operate velocity control by using the internal multi-velocity of the servo drive.
To use the digital velocity command, assign digital input signals of SPD1, SPD2 and SPD3
to the CN1 connector or control the digital input signals of SPD1, SPD2 and SPD3 via
communication.
Input Devices
Velocity
SPD1 SPD2 SPD3
6-4
6. Velocity Mode
Digital input
Digital output
(DO1)
+24V IN 50 38 ALARM+
3.92kΩ
DC 24V 39 ALARM-
(DI1)
SVON 47 (DO2)
40 RDY+
(DI2)
SPD1 23
41 RDY-
(DI3)
SPD2 22
(DO3)
(DI4) 43 ZSPD
SPD3 21
(DI5)
A-RST 17
(DI6) (DO4)
JDIR 46 44 BRAKE
(DI7)
POT 20
(DI8)
NOT 19 (DO5)
45 INPOS1
EMG 18 (DI9)
(DIA)
STOP 48
note) (DO6)
16 ALO0
note) (DO7)
15 ALO1
note) (DO8)
14 ALO2
25 GND24
PCON ** 24 GND24
GAIN2 **
PCL **
NCL **
H-START ** CN1 ** TGON
MODE ** ** TLMT
ABS_RQ ** ** VLMT
JSTART ** ** INSPD
PCLR ** ** WARN
** INPOS2
AGND 8 33 /AO
-10V~+10V
SPDCOM 27 30 BO
Analog velocity input
(Command/override) AGND 8 31 /BO
4 ZO
5 /ZO
RS-422
2 TXD+
3 TXD-
6 RXD+
7 RXD-
6-5
7. Torque Operation
7. Torque Operation
The analog torque command is set in the unit of [0.1%] for each input of 1[V].
Torque
10%
Analog Input
+1V Voltage[V]
+1V
-10%
The related object is the 0x2210 analog torque input (Command/limit) scale, which consists
of two functions.
If the setting value of the torque limit function (0x2110) is 4 (analog torque limit), torque is
limited by the analog input torque limit. Here, set the scale of the analog input value.
For torque operation, the parameters are used as the analog torque command scale. The
setting value is set to the torque command value at the analog input voltage of ±10 [V] in
percentage of the rated torque.
7-1
7. Torque Operation
For torque operation, the motor speed is determined according to the 0x230D Speed
Limit Function Select.
For 0x230E torque control, the default speed limit is set to 1000 [rpm].
Related Objects
7-2
7. Torque Operation
Digital input
Digital output
(DO1)
+24V IN 50 38 ALARM+
3.92kΩ
DC 24V 39 ALARM-
(DI1)
SVON 47 (DO2)
40 RDY+
(DI2)
ABS_RQ 23
41 RDY-
(DI3)
JSTART 22
(DO3)
(DI4) 43 ZSPD
HSTART 21
(DI5)
A-RST 17
(DI6) (DO4)
JDIR 46 44 BRAKE
(DI7)
POT 20
(DI8)
NOT 19 (DO5)
45 INPOS1
EMG 18 (DI9)
(DIA)
STOP 48
note) (DO6)
16 ALO0
note) (DO7)
15 ALO1
note) (DO8)
14 ALO2
25 GND24
PCON ** 24 GND24
GAIN2 **
MODE ** ** ORG
CN1 ** TGON
** TLMT
** VLMT
** INSPD
** WARN
** INPOS2
Analog input
Encoder output
-10V~+10V
TRQCOM 1 32 AO
Analog torque input
Upper level controller
4 ZO
5 /ZO
RS-422
2 TXD+
3 TXD-
6 RXD+
7 RXD-
7-3
8. Operation Mode Switching
The device supports operation modes switching according to the setting value of L7C
drive control mode (0x3000) and digital input MODE signals.
You can switch the operation modes by using the setting value and the MODE signal.
For example, setting the value to 7 enables operation in the velocity mode with power
supply, and a MODE signal input switches the mode to torque operation mode.
8-1
8. Operation Mode Switching
Indexing Position
8 Operation Velocity Ope ration
Indexing Position
9 Operation To rque Operation
Pulse Input Position Operation is the basic operation, and a digital input MODE signal
switches the mode to Indexing Position Operation.
Pulse Input Position Operation is the basic operation, and a digital input MODE signal
switches the mode to Velocity Operation.
Pulse Input Position Operation is the basic operation, and a digital input MODE signal
switches the mode to Torque Operation.
Velocity Operation is the basic operation, and a digital input MODE signal switches the
mode to Torque Operation.
Indexing Position Operation is the basic operation, and a digital input MODE signal
switches the mode to Velocity Operation.
Indexing Position Operation is the basic operation, and a digital input MODE signal
switches the mode to Torque Operation.
8-2
9. Homing
9. Homing
This drive provides its own homing function(return to origin). The figure below represents
the relationship between the input and output parameters for the Homing Mode. You
can specify velocity, acceleration, offset, and homing method.
Homing Speeds(0x301A/0x301B)
Homing
Position Demand Internal Value(0x2624)
Homing Acceleration(0x301C) or Position Demand Value(0x2629)
Homing Offset(0x3019)
Digital Input
Home switch
Positive limit switch
Negative limit switch
As shown in the figure below, you can set the offset between the home position and the
zero position of the machine using the home offset function. The zero position
indicates the point whose Position Actual Value (0x262A) is zero (0).
Also, keep in mind that homing can be performed only if the HSTART signal is input
when the ZSPD (Zero Speed) output includes the High signal input.
Zero Position
9-1
9. Homing
Homing Methods
Descriptions
(0x3018)
The drive returns to the home position by the negative limit switch (NOT)
1
and the Index (Z) pulse while driving in the reverse direction.
The drive returns to the home position by the positive limit switch (POT) and
2
the Index (Z) pulse while driving in the forward direction.
The drive returns to the home position by the home switch (HOME) and the
7,8,9,10 Index (Z) pulse while driving in the forward direction. When the positive limit
switch (POT) is input during homing, the drive switches its driving direction.
The drive returns to the home position by the home switch (HOME) and the
11,12,13,14 Index (Z) pulse while driving in the reverse direction. When the negative limit
switch (NOT) is input during homing, the drive switches its driving direction.
The drive returns to the home position by the home switch (HOME) while
24 driving in the forward direction. When the positive limit switch (POT) is input
during homing, the drive switches its driving direction.
The drive returns to the home position by the home switch (HOME) while
28 driving in the reverse direction. When the negative limit switch (NOT) is input
during homing, the drive switches its driving direction.
The drive returns to the home position by the Index (Z) pulse while driving in
33
the reverse direction.
The drive returns to the home position by the Index (Z) pulse while driving in
34
the forward direction.
The drive returns to the home position by the negative stopper and the
-1
Index (Z) pulse while driving in the reverse direction.
The drive returns to the home position by the positive stopper and the Index
-2
(Z) pulse while driving in the forward direction.
The drive returns to the home position only by the negative stopper while
-3
driving in the reverse direction.
The drive returns to the home position only by the positive stopper while
-4
driving in the forward direction.
The drive returns to the home position only by the home switch (HOME) while driving
-5
in the reverse direction.
The drive returns to the home position only by the home switch (HOME) while driving
-6
in the forward direction.
9-2
9. Homing
Related Objects
1 2
Index pulse
For homing using the homing method 1, the velocity profile according to the sequence is
as follows. Refer to the description below.
9-3
9. Homing
Homing Method ①
Time
(A) The initial driving direction is reverse (CW), and the drive operates at the switch search speed.
(B) When the negative limit switch (NOT) is turned on, the drive switches its direction to the forward direction (CCW)
and decelerates to the zero search speed.
(C) While operating at the zero search speed, the drive detects the first index pulse to move to the index position
(Home).
Methods 7, 8, 9 and 10
10
8 9
7
7 10
8 9
7
8 9
10
Index pulse
Home switch
For homing using the homing method 7, the velocity profile according to the sequence is
as follows. The sequence varies depending on the relationship between the load position
and the home switch during homing, which is categorized into three cases as below. For
more information, see the details below.
9-4
9. Homing
(1) At the start of homing, the home switch is off and the limit is not met during operation
Homing Method ⑦
Speed
Positive home switch
Index Pulse
ON
(A) The initial driving direction is forward (CCW), and the drive operates at the switch search speed.
(B) When the positive home switch is turned on, the drive decelerates to the zero search speed and switches its
direction to the reverse direction (CW).
(C) While operating at the zero search speed, the drive detects the first index pulse to move to the index position
(Home).
Homing Method ⑦
Speed
Positive
Home switch Index Pulse
OFF
(A) Since the home signal is on, the drive operates at the switch search speed in the direction of the positive home
switch (CCW). It may not reach the switch search speed depending on the start position of homing.
(B) When the home switch is turned off, the drive decelerates to the zero search speed, then continues to operate.
(C) While operating at the zero search speed, the drive detects the first index pulse to move to the index position
(Home).
9-5
9. Homing
(3) At the start of homing, the home switch is off and the limit is met during operation
Homing Method ⑦
Speed
Positive Limit switch Positive home switch
Index Pulse
ON ON
Zero search speed
(0x301B)
(A) (B) (C) (D)
(A) The initial driving direction is forward (CCW), and the drive operates at the switch search speed.
(B) When the positive limit switch (POT) is turned on, the drive decelerates to a stop, then operates at the switch search
speed in the reverse direction (CW).
(C) When the positive home switch is turned off, the drive decelerates to the zero search speed, then continues to
operate.
(D) While operating at the zero search speed, the drive detects the first index pulse to move to the index position
(Home).
Methods 8, 9, and 10 are nearly identical to method 7 in terms of homing sequence. The only differences are the
The positive home switch is determined by the initial driving direction. The home switch
encountered in the initial driving direction becomes the positive home switch.
Positive Negative
Hom e Switch Hom e Switch
Hom e Switch
Negative Positive
Hom e Switch Hom e Switch
Hom e Switch
9-6
9. Homing
14
13 12
11
14 11
13 12
11
13 12
14
Index pulse
Home switch
For homing using homing method 14, the velocity profile according to the sequence is
as follows. The sequence varies depending on the relationship between the load position
and the home switch during homing, which is categorized into three cases as below. For
more information, see the details below.
(1) At the start of homing, the home switch is off and the limit is not met during operation
Homing Method ⑭
Speed
(A) The initial driving direction is reverse (CW), and the drive operates at the switch search speed.
(B) When the negative home switch is turned off, the drive decelerates to the zero search speed, then continues to
operate.
9-7
9. Homing
(C) While operating at the zero search speed, the drive detects the first index pulse to move to the index position
(Home).
Homing Method ⑭
Speed
Negative
Home switch
OFF Index Pulse
(A) Since the home signal is on, the drive operates at the switch search speed in the direction of the negative home
switch (CW). It may not reach the switch search speed depending on the start position of homing.
(B) When the home switch is turned off, the drive decelerates to the zero search speed, then continues to operate.
(C) While operating at the zero search speed, the drive detects the first index pulse to move to the index position
(Home).
(3) At the start of homing, the home switch is off and the limit is met during operation
Homing Method ⑭
Speed
Negative limit switch Negative home switch
Index Pulse
ON ON
(A) The initial driving direction is reverse (CW), and the drive operates at the switch search speed.
(B) When the negative limit switch (NOT) is turned on, the drive decelerates to a stop, then operates at the switch
search speed in the forward direction (CCW).
(C) When the negative home switch is turned on, the drive decelerates to the zero search speed, then switches its
direction to the reverse direction (CW).
(D) While operating at the zero search speed, the drive detects the first index pulse to move to the index position
(Home).
Methods 11, 12, and 13 are nearly identical to method 14 in terms of homing sequence. The only differences are the
initial driving direction and home switch polarity.
9-8
9. Homing
Method 24
24
24
24
Home switch
The initial driving direction is forward (CCW), and the point where the positive home switch is turned on
Method 28
28
28
28
Home switch
The initial driving direction is reverse (CW), and the point where the negative home switch is turned on
9-9
9. Homing
Method 33 and 34
33
34
Index pulse
The initial driving direction is reverse (CW) for method 33 and forward (CCW) for method 34. The drive detects
Method 35
35
Drive Control Input2
0x2120:bit3
0 1
The current position at start of homing operation becomes the home position. This method is used to make
the current position the home position according to the demand of the upper level controller.
The drive supports homing methods -1, -2, -3, and -4 apart from the standard ones.
These methods can only be used if the home switch is not used separately.
9-10
9. Homing
Method -1 and -2
Reverse (CW)
-1 -2
Index Pulse
Homing method -1 and -2 perform homing by using the stopper and index (Z) pulse.
The velocity profile according to sequence is as follows. For more information, see the
details below.
Homing Method -1
Speed
Index Pulse
Negative Stopper
Torque setting
(0x240 9) Time
(A) The initial driving direction is reverse (CW), and the drive operates at the switch search speed.
(B) When the drive hits the negative stopper, it stands by according to the torque limit value (0x2409) and the time
setting value (0x240A) during homing using the stopper, then switches the direction.
(C) While operating at the zero search speed, the drive detects the first index pulse to move to the index position
(Home).
9-11
9. Homing
Homing Method -2
Speed
Positive Stopper Index Pulse
Time settin g
Time
Zero search speed 0x240A
(0x301B)
(A) The initial driving direction is forward (CCW), and the drive operates at the switch search speed.
(B) When the drive hits the positive stopper, it stands by according to the torque limit value (0x2409) and the time
setting value (0x240A) during homing using the stopper, then switches the direction.
(C) While operating at the zero search speed, the drive detects the first index pulse to move to the index position
(Home).
Method -3 and -4
-3 -4
Homing methods -3 and -4 perform homing only by using the stopper. The velocity
profile according to sequence is as follows. For more information, see the details below.
9-12
9. Homing
Homing Method -3
Speed
Negative Stopper
Homing complete
(A) The initial driving direction is reverse (CW), and the drive operates at the switch search speed.
(B) When the drive hits the negative stopper, it stands by according to the torque limit value (0x2409) and the time
setting value (0x240A) during homing using the stopper, then completes homing.
Homing Method -4
Speed
Positive Stopper
(A) The initial driving direction is forward (CCW), and the drive operates at the switch search speed.
(B) When the drive hits the positive stopper, it stands by according to the torque limit value (0x2409) and the time
setting value (0x240A) during homing using the stopper, then completes homing.
9-13
9. Homing
Method -5 and -6
Reverse (CW) Forward (CCW)
-5 -6
Homing methods -5 and -6 perform homing only by using the stopper. The velocity profile according to
sequence is as follows. Homing is stopped when the drive meets the limit switch. For more information, see the
details below:
(1) At the start of homing, the home switch is off and the limit is not met during operation
Homing Method -5
Speed
Homing complete
(A) The initial driving direction is reverse (CW), and the drive operates at the switch search speed.
(B) If the positive home switch is turned on, the drive decelerates to a stop and completes homing.
(2) At the start of homing, the home switch is off and the limit is met during operation
Homing Method -5
Speed
Homing error
(A) The initial driving direction is reverse (CW), and the drive operates at the switch search speed.
(B) When the negative limit switch is turned on, the drive issues a homing error and decelerates to a stop.
9-14
9. Homing
Homing Method -6
Speed
Positive home switch ON
(A) (B)
Time
Homing complete
(A) The initial driving direction is forward (CCW), and the drive operates at the switch search speed.
(B) If the positive home switch is turned on, the drive decelerates to a stop and completes homing.
9-15
10. Drive Application Functions
ex) 123.4
For 16 Bits, the minus sign is used.
For 16 Bits, lights are shown in dots.
10-1
10. Drive Application Functions
Three digits from Digit 3~1 of the 7-Segment represent the drive status as described
below if no servo alarm occurs. In the event of a servo warning occurrence, the warning
status display takes precedence over other status.
Digit 4 displays the current operation status and servo ready status.
10-2
10. Drive Application Functions
Digit 5 displays the current control mode status and servo on status.
In the event of a servo alarm occurrence, Digit 5~1 blink with the below display. Digit 2
and Digit 1 represent the alarm code. The servo alarm display takes precedence over
other status.
10-3
10. Drive Application Functions
DIGIT3~1:
DIGIT3~1: Positive limit input W01 (Main power phase loss) +
W40 (Low voltage warning) occurred
DIGIT5: Position control mode, Servo ON DIGIT5: Velocity control mode, servo ON
DOWN
UP
Ope ration
status P21.00 P22.00 P23.00 P24.00 P25.00
summa ry St-00 P20.00 P30.00 Cn-00
display
MODE
At the start of operation with no alarm occurrence, the Pulse Input Position Operation
Mode [P-.bb] display is shown as the operation status indication.
10-4
10. Drive Application Functions
Editable parameters are [P020.00]~[Cn-15]. Press [SET] key when a parameter number
is displayed, then you can see and edit the parameter data.
In the initial parameter edit status, the number on the farthest right blinks (ON and
OFF for 0.5 seconds each) and becomes editable.
The parameter number displayed on the Loader window and the one displayed on
Drive CM are compatible as shown below.
(2) Example of changing the Velocity Mode to Pulse Input Position Operation Mode
10-5
10. Drive Application Functions
parameter is 00002.
If you hold down [UP] or [DOWN] at the current cursor position in the parameter window,
(3) Example of changing the Speed Loop Integral Time Constant 2([P21.07]: 200 [Ms]->
500 [Ms])
Loader Displays
Orders Keys to Use What to Do
after Control
10-6
10. Drive Application Functions
Note2) If you hold down [UP] or [DOWN] at the current cursor position in the parameter
10-7
10. Drive Application Functions
10.1.3 Control
L7C Series provides the MODE, UP, DOWN, and SET buttons for editing parameters as
well as using the operation control parameters provided by L7S Series in the same way.
(1) Press [SET] in [Cn-00] and [JoG] is displayed. (However, only when EMG, NOT/POT
contacts are turned on in the external I/O)
(2) Press [SET] and [SV-on] is displayed and the servo is turned on for operation.
If an alarm occurs, check wiring and search for other possible causes before restarting.
The loader status display “ " means that the external I/O SVON contact is
turned on. Try again after turning off the SVON contact.
(3) While you press and hold [UP], the motor rotates in the forward direction (CCW) at
the JOG operation speed of [P23.00].
(4) While you press and hold [DOWN], the motor rotates in the reverse direction (CW)
at the JOG operation speed of [P23.00].
(5) Press [SET] again to finish the manual JOG operation and turn off the servo.
(6) Press and hold [MODE] to return to the control parameter screen [Cn-00].
10-8
10. Drive Application Functions
8 return to [Cn-00].
※ ” ” indicates blinking.
10-9
10. Drive Application Functions
(2) Press [SET] to display [run]. The program JOG operation starts after the servo is
turned on.
(If an alarm occurs at this moment, check the wiring of the servo and search for other
possible causes before restarting.)
(3) Press [SET] again to finish the program JOG operation and turn off the servo.
(4) Press and hold [MODE] to return to the control parameter screen [Cn-00].
(5) Four operation steps repeat continuously from 0 to 3. You can set the operation
velocity and time in the following parameters.
10-10
10. Drive Application Functions
Loader Displays
Orders Keys to Use What to Do
after Control
※ ” ” indicates blinking.
10-11
10. Drive Application Functions
(1) Contact alarm reset: If you turn on A-RST among input contacts, the alarm is reset and
the status becomes normal.
(2) Operation alarm reset: If you press [SET] in the alarm reset [Cn-02] parameter among
operation control parameters, [ALrst] is displayed. If you press [SET] again, the alarm is
reset and the status becomes normal.
※ If the alarm is maintained after the reset attempt, search for and remove possible
causes then repeat the process.
Loader Displays
Orders Keys to Use What to Do
after Control
※ ” ” indicates blinking.
10-12
10. Drive Application Functions
Loader Display
Order Keys to Use What to Do
after Control
10-13
10. Drive Application Functions
7 alarm history.
[Done] is displayed.
※ ” ” indicates blinking.
10-14
10. Drive Application Functions
Loader Displays
Orders Keys to Use What to Do
after Control
[Done] is displayed.
※ ” ” indicates blinking.
10-15
10. Drive Application Functions
(2) Press [SET] to display [run] and start automatic gain tuning.
If an alarm occurs at this moment, check the wiring of the servo and search for other
possible causes before restarting.
(3) Upon completion of gain adjustment, inertia ratio [%] is displayed, and [P121.00],
[P121.06] and [P121.08] are automatically changed and saved.
Related
Name Initial
Parameters
[P21.20] Auto gain tuning velocity [100 RPM] 8
[P21.21] Auto gain tuning distance 3
Loader Displays
Orders Keys to Use What to Do
after Control
10-16
10. Drive Application Functions
Loader Displays
Orders Keys to Use What to Do
after Control
※ ” ” indicates blinking.
10-17
10. Drive Application Functions
(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 in the reverse direction until it
finds the phase Z position of the encoder.
(5) Press [SET] to display [Done] and end the phase Z search.
※ This function is useful for assembly by a specific standard after finding the Z position.
Related
Name Initial
Parameter
[P30.07] Phase Z search operation velocity setting [RPM] 10
Loader Displays
Orders Keys to Use What to Do
after Control
Velocity Control Mode display with
1 the main power and control power
applied
Loader Displays
Orders Keys to Use What to Do
after Control
Press [SET] to end the phase Z
search operation mode.
7
The servo is turned off and [Done]
is displayed.
Press [MODE] for a second to
8
return to [Cn-06].
※ ” ” indicates blinking.
10-19
10. Drive Application Functions
The drive alone forcibly turns on/off the input contact without using an upper level
controller or I/O jig.
The positions of the 7-segment LEDs and CN1 contacts correspond as follows.
If an LED that corresponds to a contact is turned on/off, it indicates the ON/OFF state of
the contact.
Number (A) (9) (8) (7) (6) (5) (4) (3) (2) (1)
CN1
48 18 19 20 46 17 21 22 23 47
pin number
Default
allocated STOP EMG NOT POT DIR A-RST SPD3 SPD2 SPD1 SVON
signal name
Press [UP] on each digit to turn on/off the signals (A), (8), (6), (4) and (2) forcibly.
Press [DOWN] on each digit to turn on/off the signals (9), (7), (5), (3) and (1) forcibly.
10-20
10. Drive Application Functions
Loader Displays
Orders Keys to Use What to Do
after Control
※ ” ” indicates blinking.
10-21
10. Drive Application Functions
Without an upper level controller or I/O jig, the drive forcibly turns on/off the output
contact.
The positions of the 7-segment LEDs and CN1 contacts correspond as follows.
If an LED that corresponds to a contact is turned on/off, it indicates the ON/OFF state of
the contact.
Press [UP] on each digit to turn on/off forced output of the (4) and (2) signals.
Press [DOWN] on each digit to turn on/off forced output of the (5), (3) and (1) signals.
(BRAKE OFF)
10-22
10. Drive Application Functions
Loader Displays
Orders Keys to Use What to Do
after Control
※ ” ” indicates blinking.
10-23
10. Drive Application Functions
Loader Displays
Orders Keys to Use What to Do
after Control
Velocity Control Mode display
1 with the main power and
control power applied
Press [MODE] to move to [Cn-
2
00].
Press [UP] or [DOWN] to move
3
to [Cn-09].
Press [SET] to enter parameter
4
reset.
Press [SET] to reset data.
5
[Done] is displayed.
Press [MODE] for a second to
6
return to [Cn-09].
Use the default set in Object Dictionary of Drive CM to reset index parameters.
※ ” ” indicates blinking.
10-24
10. Drive Application Functions
The range of adjustable velocity command analog voltage is from +1V to -1V. If the
offset voltage is out of this range, [oVrnG] is displayed and no correction takes place.
The corrected offset value can be viewed in [P22.18] analog velocity offset.
Loader Displays
Orders Keys to Use What to Do
after Control
※ ” ” indicates blinking.
10-25
10. Drive Application Functions
The range of adjustable torque command analog voltage is from +1V to -1V. If the offset
voltage is out of this range, [oVrnG] is displayed and no correction takes place.
You can check the corrected offset value in analog torque offset [P20.21].
Loader Displays
Orders Keys to Use What to Do
after Control
※ ” ” indicates blinking.
10-26
10. Drive Application Functions
You can correct the offset value of analog velocity commands manually. Control example
(-10)
You can check the corrected offset value in the analog velocity offset [P20.18].
Loader Displays
Orders Keys to Use What to Do
after Control
※ ” ” indicates blinking.
10-27
10. Drive Application Functions
You can correct the offset value of analog torque commands manually.
The range of adjustable torque command analog voltage is from +1V to -1V. If the offset
voltage is out of this range, [oVrnG] is displayed and no correction takes place.
You can check the corrected offset value in the analog torque command offset [P20.21].
Loader Displays
Orders Keys to Use What to Do
after Control
※ ” ” indicates blinking.
10-28
10. Drive Application Functions
Loader Displays
Orders Keys to Use What to Do
after Control
※ ” ” indicates blinking.
※ After you reset the absolute encoder value, you can view the reset value in [st-18].
10-29
10. Drive Application Functions
Loader Displays
Orders Keys to Use What to Do
after Control
※ ” ” indicates blinking.
10-30
10. Drive Application Functions
Loader Displays
Orders Keys to Use What to Do
after Control
※ ” ” indicates blinking.
10-31
10. Drive Application Functions
Loader Displays
Orders Keys to Use What to Do
after Control
※ ” ” indicates blinking.
10-32
10. Drive Application Functions
10-33
10. Drive Application Functions
Related Objects
10-34
10. Drive Application Functions
Bit Setting details Set the functions of CN1 connector’s digital input
Signal input level settings signals and the input signal level. Select signals to
15
(0: contact A, 1: contact B) assign to bits 7~0, and set the signal level to bit 15.
14~8 Reserved
7~0 Assign input signal.
0 0 0 6 0x03 HOME
0x04 STOP
0x05 PCON
Contact A GAIN2 assigned
0x06 GAIN2
0x07 P_CL
0x08 N_CL
0x09 Reserved
Contact A: The default status is 1(High).Input 0 0x0A Reserved
10-35
10. Drive Application Functions
The following table shows an example of assigning input signals. See the setting values
for parameters 0x2200~0x2209.
DI 1 DI 2 DI 3 DI 4 DI 5 DI 6 DI 7 DI 8
DI 9 DI 0A
EMG STOP
(Contact A) (Contact A)
10-36
10. Drive Application Functions
Assigned CN1
function Details
BRAKE Brake
ALRAM Servo alarm
38 DO 1+
RDY Servo ready
ZSPD Reach zero speed 39 DO 1-
INPOS1 Complete Position Reach 1
ALO0 16 DO 6+
ALO1 15 DO 7+
14 DO 8+
ALO2
24,25 DOCOM
10-37
10. Drive Application Functions
Related Objects
PDO
Sub Variable Accessi
Index Names Assign Unit
Index Types bility
ment
0x220A - Digital Output Signal 1 Selection UINT RW -
Assign the functions of CN1 connector’s digital output signal Bit Setting Details
and set the output signal level. Select signals to assign with Signal output level settings
15
bits 7~0, and set the signal level to bit 15. (0: Contact A, 1: Contact B)
14~8 Reserved
7~0 Output signal assignment
10-38
10. Drive Application Functions
The following table shows an example of assigning output signals. See the setting values
for parameters 0x220A~0x220E.
10-39
10. Drive Application Functions
The electric gear function of the drive does not allow the user to utilize the highest
resolution of the encoder. If the upper level controller has the function of electric gear, it
is advisable to use it instead.
When using the electric gear and the STOP sign at the same time, adjust the value of
Quick Stop Deceleration [0x3024] to the method you desire to use.
- The electric gear makes it easy to convert values into user units [UU].
For example, assume that there is a ball screw which moves 1 [mm] for every one full
turn of the motor whose encoder has a resolution of 524288 [ppr]. To move the screw
by 1 [mm], you have to input 524288 [Pulses] into the servo. If you wish to move it by
27 [mm], addition calculations are necessary and you have to input the complex value
of 14155776 [Pulse].
However, if you use the gear ratio, you can avoid the inconvenience of having to input
the command value.
10-40
10. Drive Application Functions
For example, if you want to move the screw by 1 [mm] by inputting 1 [Pulses] into the
servo, you can set the gear ratio as follows. Since L7C is a multi-level gear, the example
includes only 0x300C and 0x3010.
If you input 524288 for the numerator and 1 for the denominator of the electric gear,
the movement ratio of the ball screw for a revolution of the motor is set internally. To
move the screw by 1 [mm], you only have to input the same value 1[UU] into User
Demand Pulse because the unit has been made the same, which provides convenience
in entering commands.
If you want to make the ball screw move by 0.0001 [mm] by inputting 1 [UU], the gear
ratio formula is as follows.
By applying the above gear ratio formula, the ball screw is made to move by 0.0001
[mm]/1 [UU] and by 0.001 [mm] when you input 10 [UU]. You can conveniently input
values in the desired unit [UU] into Distance of the index.
10-41
10. Drive Application Functions
- You can give commands based on the user unit, regardless of the encoder (motor)
type. The following example is for a movement of 12mm for the ball screw type with
a 10mm pitch.
If the electric gear Movements can be made under the same command of 12000 (12mm=
is used 12000*1um) regardless of the encoder (motor) used.
(2) When the output frequency of the upper level controller or input frequency of the
drive is limited for driving a high-resolution encoder at a high speed
- The output frequency of a general high-speed line drive pulse output unit is
approximately 500Kpps, and the possible input frequency of the drive is
approximately 4Mpps. For this reason, when driving a high-resolution encoder at a
high speed, it is necessary to use an electric gear for proper operation due to the
limitations on the output frequency of the upper level controller and the input
frequency of the drive.
10-42
10. Drive Application Functions
Apparatus specification
Turntable Load
Apparatus specification
Apparatus specification
10-43
10. Drive Application Functions
When the gear ratio is 1:1, the following proportional expression for velocity and
acceleration/deceleration applies.
To drive a 19-bit motor at 3000 [rpm], you can calculate the index velocity as follows.
If the gear ratio is other than 1:1, it affects the velocity. Thus, use the following formula
taking the gear ratio into consideration.
* Application example
Calculation of index velocity input value when you want to drive a 19 bit motor at 3000
[rpm] by applying the gear ratio of electric gear numerator 1 -> 524288 and electric gear
denominator 1 -> 20
10-44
10. Drive Application Functions
If you enter 1000 [UU/s] for index velocity, the motor runs at 3000 [rpm].
You can calculate acceleration and deceleration by the following formula using time of
concentration and index velocity.
Time of concentration is the time required to reach the target, that is, the time required
for the feedback speed to reach the registered velocity.
* Application example
When you want the feedback speed to reach 3000 [rpm] in 0.1 second for a 19 bit motor
with the gear ratio of electric gear numerator 1 : 524288/electric gear denomiator 1 : 20
10-45
10. Drive Application Functions
10-46
10. Drive Application Functions
Speed
Time
Speed
Speed command
Time
10-47
10. Drive Application Functions
Using the servo-lock function, you can internally control the positions based on the
position of 0 velocity command input. If you input a velocity command other than 0, the
mode switches to normal velocity control.
Speed
Motor speed
TGON output
range
ZSPD output
range
Time
ZSPD
TGON
In addition, if the difference between the command and the speed feedback (i.e., velocity
error) is below the INSPD output range (0x2406), an INSPD (velocity match) signal is
output.
Related Objects
10-48
10. Drive Application Functions
(2) When the acceleration/deceleration profile cannot be generated from the upper level
controller
Speed
Target spe ed
Target
speed*63% Comma nd before filterin g
Comma nd after filter ing
Target
speed*37%
Time
0x2109 0x2109
Position command filter using position command filter time constant (0x2109)
Speed
Command
before filtering
Command after
filtering
Time
0x210A 0x210A
Speed
Command
0x210A before filtering
Command after
0x210A filtering
Time
Position command filter using position command average filter time constant (0x210A)
10-49
10. Drive Application Functions
Related Objects
10-50
10. Drive Application Functions
Here, if the position error value goes below the INPOS2 output range (0x2403), the
INPOS2 (Positioning completed 2) signal is output regardless of whether or not the
position command has been renewed.
Speed
Command
Feedback
Time
Start time of position
Position command renewal End time of position
error command renewal
INPOS1/2
output range
Time
INPOS2
Related Objects
10-51
10. Drive Application Functions
This function is used to safely operate the drive within the movable range of the
apparatus using the positive/negative limit signals of the drive. Be sure to connect and
set the limit switch for safe operation. For more information about the settings, refer to
Section 10.2.1, “Digital Input Signal Assignment.”
NOT POT
When a positive/negative limit signal is input, the motor stops according to the
emergency stop setting (0x2013).
The motor stops according to the method set in Dynamic Brake Control
0 Mode (0x2012).
It stops using the dynamic brake and maintains the torque command at 0.
Related Objects
10-52
10. Drive Application Functions
If the motor stops due to the servo off state or servo alarm during rotation, you can set
the Break output speed (0x2407) and Break output delay time (0x2408) for brake signal
output in order to set the output timing.
The brake signal is output if the motor rotation velocity goes below the set value (0x2407)
or the output delay time (0x2408) has been reached after the servo off command.
Servo OFF or
alarm
Servo ON/OFF
<Timing diagram for signal output by the brake output speed (0x2407)>
Servo OFF or
alarm
Servo ON/OFF
<Timing diagram for signal output by the brake output delay time (0x2408)>
You can set the delay time until the actual PWM output goes off when the servo is
turned off or a servo alarm occurs.
10-53
10. Drive Application Functions
When using a motor with a brake installed on the vertical axis, you can output the brake
signal first and turn off PWM after the set time in order to prevent it from running down
along the axis.
Servo
ON/OFF Load
PWM
output Gravity
` direction
(1) When the brake signal is output before PWM output is turned off
You can output the brake signal first before PWM output is turned off to prevent the
drop along the vertical axis due to gravity.
Servo OFF or
alarm Motor
PWM output
turn-off time
PWM OFF
delay time
(0x2011)
PWM
output Gravity
` direction
(2) If PWM output is turned off before the brake signal output
PWM output is turned off before the brake signal output, allowing the drop along the
vertical axis due to gravity.
10-54
10. Drive Application Functions
You can limit the drive's output torque to protect the machine. You can set the limit on
torque output in torque limit function setting (0x2110). The setting unit of torque limit
value is [0.1%].
0x3022
Forward
torque limit
Torque
Internal Torque input
Torque
Limit 1 Ref.
Limits the torque value using positive/negative torque limits according to the driving direction
300 % l imit
Internal Torque
Limit 2
Torque
(Setting value 1) input
Torque
Ref.
0x2111
Forward
torque limit
External Torque
Limit Torque
input
Torque
(Setting value 2) Ref.
0x2112
Reverse
torque limit
10-55
10. Drive Application Functions
Limits the torque using external positive/negative torque limits according to the driving
direction.
OFF 0x3022
Forward
PCL torque limit
ON 0x2111
Exte rnal fo rwa rd
torque limit
Torque
input
Torque
Internal + External Ref.
Torque Limits
OFF 0x3023
Reverse
(Setting value 3) NCL torque limit
ON 0x2112
Exte rnal reverse
torque limit
Limits the torque value using internal and external torque limits according to the driving
direction and the torque limit signal.
0x2211
Ana log tor que
limit offset
Analog
torque
input Torque
Ref.
0x2210
Analog Torque
Ana log tor que
Limit limit scale
(Setting value 4) The torque limits are set according to analog input voltage
- The torque limit values in the forward and reverse directions are set in proportion to the
absolute values of input voltage, regardless of the signals of analog input voltage.
- The torque limit and the analog input voltage have the following relationship.
10-56
10. Drive Application Functions
ex) the command scaler is set to 100 and the offset is set to 0
The torque values in the forward and reverse directions are set up to 100 [%]. If you enter an
input voltage of 10 [V], the torque values in the forward and reverse directions are also set
up to 100 [%].
P-CL
N-CL
Torque
Feed-forw ard 0x3022
Forward
Gai n 0x210E torque limit
Filte r 0x210F
Torque Limit 0x2111
Velo city Function Exte rnal fo rwa rd
Limit Speed Control torque limit
Velo city Functio n
Ref. P Gain I Ga in
+ +
1 0x2102 0x2103
0x2112
Exte rnal reverse Sele ct 0x2110
0x262 5
torque limit
Position Actua l
Inte rnal Value
[UU] 0x3023
Reverse
torque limit
Ana log Inp ut1
12b it A/D
A-TLMT Ana log To rque Limit
Scale 0x2210
A-TLMT
Offset 0x2211
Related Objects
10-57
10. Drive Application Functions
This is one of the gain adjustment functions and is used to switch between Gain Groups
1 and 2. You can reduce the time required for positioning through gain conversion.
A gain group consists of position loop gain, speed loop gain, Speed Loop Integral Time
Constant, and torque command filter time constant. You can set the gain conversion
function (0x2119) as follows.
10-58
10. Drive Application Functions
Waiting time and switching time for gain conversion are as follows.
Gain Group 2
Related Objects
10-59
10. Drive Application Functions
The proportional gain determines the responsiveness of the entire controller, and the
integral gain is used to eliminate errors in the steady state. Too high of an integral gain
will result in an overshoot during acceleration or deceleration.
The PI/P control switch function is used to switch between the PI and P controls under
the condition of the parameters within the servo (torque, velocity, acceleration, position
deviation); specifically, they are used in the following situations.
You can accomplish similar effects by setting acceleration/deceleration of the upper level
controller, soft start of the servo drive, position command filter, etc.
Speed Overshoot
Motor speed
Speed command
Time
You make these settings in the P/PI control switch mode (0x2114). See the details below.
Switching to P control by PCON input takes precedence over this setting.
10-60
10. Drive Application Functions
Related Objects
When using PI control for all situations rather than using P/PI control switch for velocity
control, the integral term of acceleration/deceleration error is accumulated, which results
in an overshoot and an extended positioning time. Here, you can reduce overshoot and
positioning time using an appropriate P/PI switching mode. The figure below shows an
example of mode switching by torque commands.
Speed Speed
Overshoot
Overshoot
Time Time
+0x2115
Time
-0x2115
10-61
10. Drive Application Functions
The drive can apply short-circuits to only two phases or to all three phases depending
on the model type.
Drive
Servo motor
You can set various stop modes as shown below, in dynamic brake control mode setting
(0x2012).
Rotation speed
Rotation speed
Dynamic
Dynamic brake
brake
Setting Value: 1
Setting Value: 0
Dynamic Dynamic
brake brake
Release the dynamic brake after a free- Hold the dynamic brake after a free-
run stop run stop
10-62
10. Drive Application Functions
Related Objects
10-63
10. Drive Application Functions
Servo drive
Sudden
deceleration
Electric energy kinetic energy
VDC
voltage U/V/W
increase Motor
Load with
large inertia
Related Objects
10-64
10. Drive Application Functions
- Set regenerative resistance of the resistor installed separately outside the drive in
the unit of [Ω]
- This setting is required when you have set regenerative resistance (0x2009) to 1
- Initial value: 0
10-65
10. Drive Application Functions
- Set the capacity of the regenerative resistance installed separately outside the
drive in the unit of [W]
- This setting is required when you have set regenerative resistance (0x2009) to 1
- Initial value: 0
5. Setting the maximum capacity and allowed time for the regenerative resistance
(0x200D, 0x200E)
- Set the maximum capacity and use time at the capacity by using the data sheet
of the externally installed regenerative resistance
- If there are no specific values provided, set the maximum capacity to a value 5
times the regenerative resistance capacity(0x200C) and the allowed time to
5000[ms](The values may differ according to the general regenerative resistance
specifications or the resistance value)
Our company provides the following regenerative resistance specifications as options for
the use of external regenerative resistances.
100W
400W
When it is derated for use (value set to 100 or lower), the less the set value of the the
regeneration overload alarm (AL-23), the faster its trigger.
When you wish to set the derating factor to 100% or higher, be sure to fully consider the
heat radiation condition of the drive installed.
10-66
10. Drive Application Functions
The drive internally processes the encoder signals and outputs them in the form of a
pulse. It outputs the signals in the line drive method through the pins assigned to the
CN1 connector by default.
You can set the count of the encoder pulse output per revolution of the motor by the
encoder output pulse [0x3006] value.
Encoder output
Upper level controller Servo drive
The encoder signal output frequency of the drive is 4 [Mpps] at the maximum for the
line drive method.
1 AO -
Encoder Signal A
2 /AO - Outputs divided encoder
signals in A, B, and Z phases
3 BO -
Encoder Signal B by the line drive method.
4 /BO -
Output divided can be set in
5 ZO - [0x3006].
Encoder Signal Z
6 /ZO -
Related Objects
10-67
10. Drive Application Functions
Upon request, the absolute encoder's data are transmitted to the upper level controller in
the form of quadrature pulses through AO, BO outputs, which are the encoder’s output
signals.
The drive transmits multi-turn data first among the absolute data upon ABSRQ signal
input, then transmits single-turn data within a single revolution.
(For assignment of sequence input signal ABSRQ, refer to Section 7.2, “Input/Output
Signals.”
Here, you can input the ABSRQ signals through the ABSRQ bits of digital input or drive control input 2
[0x2120].
(Refer to Section 15.4, “L7C Indexer Servo Drive Transmission Address Table” for the Modbus RTU
transmission address.)
When the drive receives an ABSRQ signal input, it prepares for transmission of the encoder data after a
delay time of 100 [ms].
The drive transmits multi-turn data for up to 200 [ms]. The drive prepares for transmission of single-
turn data for 200 [ms] from the start of multi-turn data transmission.
The drive transmits single-turn data within one revolution for up to 1200 [ms]. Here, the output data
take into account the encoder output pulse count (demultiplication ratio). The data operate as normal
encoder output signals 1200 [ms] after the starting point of data transmission within one revolution.
ABSRQ
Absolute value data output Divided pulse output
Phase A(AO)
Multi-Turn Data Single-Turn Data
Phase B(BO)
10-68
11. Tuning
11. Tuning
Current feedback
Position feedback
The drive is set to the torque control, velocity control, or position control mode for use,
depending on the method of connecting with the upper level controller. This drive has a
control structure where position control is located at the outermost part and current
control at the innermost, forming a cascade. You can tune the operation according to the
purpose by setting gain parameters for the torque controller, velocity controller, and
position controller for the drive’s operation modes.
You can automatically set gain according to the load conditions by using the commands
generated by the drive itself. The following gain parameters are changed.
Inertia ratio, position loop gain, speed loop gain, speed integral time constant, torque
command filter time constant, notch filter 3 frequency, and notch filter 4 frequency
The entire gains are set higher or lower depending on the system rigidity setting (0x250E)
during gain tuning. Set the appropriate value depending on the rigidity of the load
driven.
As shown in the figure below, sinusoidal type commands are generated in the forward or
reverse direction according to the off-line gain tuning direction (0x2510) setting. You can
set the movement distance for tuning by the off-line gain tuning distance (0x2511). Since
the movement distance becomes higher as the setting value increases, it is necessary to
set the distance appropriately for the situation. Make sure to secure an enough distance
(higher than one revolution of the motor) prior to gain tuning.
11-1
11. Tuning
Time
Command
Response
Distance
Notch Filter
Adaptive Filter
function Select
0x2500
Position Control Velocity Control Frequency Width Depth Torque Filter
+ + Time
Ref. P Gain P Gain I Gain 1 0x2501 0x2502 0x2503
1 0x2104
1 0x2101 1 0x2102 0x2103
2 0x2504 0x2505 0x2506
- - 2 0x2108
2 0x2105 2 0x2106 0x2107
3 0x2507 0x2508 0x2509
Torque Command
Resonance
Frequency Current Control
Estimation
Space
PWM
Load Inertia Gain 0x2514 Vector
Control
Motor
Estimation Control
Inertia 0x2100
Load
Current Feedback
Velocity Feedback
Velocity
Calculation
Position Feedback
Velocity
Calculation
Encoder
Related Objects
11-2
11. Tuning
Inertia ratio, position loop gain, speed loop gain, speed integral time constant, torque
command filter time constant
The function performs on-line tuning by referring to the values in the gain table in 20
levels of rigidity, regularly reflects the tuning results, and saves changed gain values every
2 minutes in EEPROM.
It can reflect the estimation values either slowly or fast according to the adaptation
speed setting value, and determine the overall responsiveness of the system by using
only a single rigidity setting parameter.
In the below cases, inertia ratio estimation may be incorrect by on-line auto tuning.
Load is too small (lower than x3) or too big (higher than x20)
In the above conditions or when auto-tuning does not improve operation, perform off-
line gain tuning.
11-3
11. Tuning
- Inertia ratio (0x2100), position loop gain 1 (0x2001), speed loop gain 1 (0x2102),
speed integral time constant 1 (0x2103), torque command filter time constant 1
(0x2104)
Notch Filter
Adaptive Filter
function Select
0x2500
Position Control Velocity Control Frequency Width Depth Torque Filter
+ + Time
Ref. P Gain P Gain I Gain 1 0x2501 0x2502 0x2503
1 0x2104
1 0x2101 1 0x2102 0x2103
2 0x2504 0x2505 0x2506
- - 2 0x2108
2 0x2105 2 0x2106 0x2107
3 0x2507 0x2508 0x2509
Torque Command
Resonance
Frequency Current Control
Estimation
Space
PWM
Load Inertia Gain 0x2514 Vector
Control
Motor
Estimation Control
Inertia 0x2100
Load
Current Feedback
Velocity Feedback
Velocity
Calculation
Position Feedback
Velocity
Calculation
Encoder
The factory setting is 0, which is selected when on-line automatic tuning is impossible or
the gain values are already known. If you set the setting value to 1, on-line automatic
tuning starts. Select this option when load inertia variation is small or when the inertia
ratio is unknown. The estimated gain values from on-line automatic tuning are saved in
EEPROM every 2 minutes.
11-4
11. Tuning
PDO
Sub Variable Accessi
Index Name Assign Unit
Index Type bility
ment
0x250E - System Rigidity for Gain Tuning UINT RW No -
There are 20 different settings for on-line automatic tuning system’s rigidity, which are
shown below.
If you select a system rigidity setting value, gain values (Position Loop Gain 1, Speed
Loop Gain2, Speed Loop Integral Time Constant 1, Torque Command Filter Time Constant
1) are automatically determined. The factory setting value of system rigidity is 5.
Increasing the system rigidity setting value increases the gain values and shortens the
positioning time. However, if the setting value is too high, vibrations may occur
depending on the machine configuration. The system rigidity values need to be set from
low to high values within the range in which there is no vibration.
[0x2101] Position Loop Gain 1 87 100 117 133 160 173 200 220 240 267
[0x2102] Speed Loop Gain 1 130 150 175 200 240 260 300 330 360 400
PDO
Sub Variable Accessi
Index Name Assign Unit
Index Type bility
ment
0x250F - On-line Tuning Adaptation Speed UINT RW No -
This specifies the speed of reflecting gain changes from on-line automatic tuning. The
larger the setting value is, the faster the gain changes are reflected.
11-5
11. Tuning
In other words, perform tuning in the order of proportional gain integral gain
feedforward gain.
- Integral gain: Determines error of the steady state and generates an overshoot
- Differential gain: Plays the role of a damper for the system (not provided)
Torque Feed-Forward
Torque Feed-forward
Gain[0x210E]
Torque Feed-forward
Filter[0x210F] P/PI Conversion
P/PI Control
Velocity Control Conversion[0x2114] Current
Limit Speed Loop + + Control
+ Gain1[0x2102] P Control Switch +
- Torque[0x2115] Loop
Speed Loop I ntegralTime
[0x2103] P Control Switch Disturbance Observer
Speed[0x2116] Disturbance Observer
Gain[0x2512]
P control Switch
Following Error[0x2118] Disturbance Observer
Filter[0x2513]
Filter
Velocity
Speed Feedback filter Encoder
Time[0x210B] calculation
- Use the automatic inertia estimation function or carry out manual setting
11-6
11. Tuning
Speed
Command
Low gain
Middle gain
High gain
Time
- The higher the speed proportional gain value, the feedback speed’s
responsiveness to the command speed becomes better. However, if the value
is too high, an overshoot or ringing may occur. In contrast, if the value is too
low, the responding speed becomes low, which slows down system operation.
Speed
Command
High gain
Middle gain
Low gain
Time
11-7
11. Tuning
Velocity FeedForward
Velocity Feed-forward
Gain[0x210C]
Velocity Feed-forward
Filter Time Constant
[0x2100]
Velocity Command
Command Filter
Encoder
Speed
Command
Feedback
Time
When gain is low
Speed
Command
Feedback
Time
When gain is moderate
Speed
Command
Feedback
Time
When gain is high
- The error between the position command and the current position is multiplied by
the proportional gain, and the result is converted to a velocity command. The higher
the gain, the better the responsiveness of position control. In many cases, a value
that is 0.2~0.5 times of the speed proportional gain is applied for a stable structure.
- Set the filter if you want to increase the feedforward value but noise occurs.
- You can set feedforward to a value from 0% to 100%, which is the deviation ratio of
the position command value being entered currently.
- You can smooth a position command. As the value increases, the position operation
is shaped into an S curve and reduces shock waves such as Jerk.
11-8
11. Tuning
This drive provides notch filters in 4 levels, and you can set frequency, width, and depth
for each filter. You can use one or two notch filters as adaptive filters, which set the
frequency and width automatically through real-time frequency analysis (FFT).
Size Width
-3dB
Depth
Related Objects
11-9
11. Tuning
Ref. + Space
Position Control Current PWM
Adaptive Filter Vector
Control
Motor
Velocity Control Control Control
-
Vibration Encoder
Frequency
Measurement
Position Feedback
Related Objects
11-10
11. Tuning
It measures the vibration frequency in the load side using an external sensor, and uses
the measurement as object data for the filter. This drive provides a vibration control filter
in two levels, and you can set the frequency and fluctuation for each filter.
It controls the lower frequency range, i.e. 1 [Hz]~100 [Hz], from the upper part of the
device or the entire system, and operates only in the position control mode.
Sensor
Servo drive
x2
Vibration
진동억제필터
suppression filter
Position
command PWM output
Encoder Motor
x4
Notch
노치필터 filter
노치필터
노치필터
Speed
Time
Remaining vibration
frequency measurement
Related Objects
Sub Variable PDO
Index Names Accessibility Unit
Index Type assignment
Calibrate Phase Current Offset 0x0008 Performs phase current offset tuning
Jog operation is a function that verifies servo motor operation by velocity control without
an upper level controller.
No alarm is active
Related Objects
12-1
12. Procedure Function
Program jog operation is a function that verifies servo motor operation by velocity
control at predefined operation velocity and time without an upper level controller.
No alarm is active
Velocity and time are set in consideration of the state and operation range of the apparatus
Speed
0x2304
0[rpm]
0x2305
500[rpm]
0x2306
0[rpm]
0x2307
-500[rpm]
0x2304
0[rpm]
500
Motor speed Motor speed
0 t1 t2 t3 t4 t5 Time
Motor speed
-500
0x2308
500[ms]
0x2309
5000[ms]
0x230A
500[ms]
0x230B
5000[ms]
0x2308
500[ms]
Zero speed Forward Zero speed Reverse Zero speed Forward
12-2
12. Procedure Function
Related Objects
12-3
12. Procedure Function
This function deletes all the alarm code histories stored in the drive. Alarm histories
including the latest alarm history up to the 16th previous alarm are stored.
You can check the histories as shown below (0x2702:01~16). The latest alarm is listed in
0x2702:01.
Related Objects
12-4
12. Procedure Function
Index pulse search is a function used to find the index (Z) pulse position of the encoder
and bring the index to a stop. You can use this function to roughly locate a position
since it searches for a position using the Velocity Mode. To locate exact positions of the
index pulse, use homing operation.
You can set the velocity used to search for index pulses in 0x230C [rpm].
No alarm is active
Rotor
Servo motor
Coupling
Origin
Intends to align the motor
shaft with the origin of the
machine.
12-5
12. Procedure Function
Related Objects
This function resets the absolute encoder. The following are the situations where you
need to reset the absolute encoder.
When the absolute encoder reset is completed, the multi-turn data (0x260A) and the
single-turn data (0x2607) are reset to 0. After the reset, turn on the power again to
change the position actual value (0x262A) to the reset value.
When the power is turned on again, the position actual value (0x262A) reads the position
of the absolute encoder and displays the value by applying the home offset (0x3019).
Here, even if the home offset (0x3019) is changed during operation, the position actual
value (0x262A) remains unchanged.
Related Objects
This function resets the instantaneous maximum overload rate (0x2604) to 0. The
instantaneous maximum operation overload rate represents the maximum value of the
operation overload rate output instantaneously from the drive.
12-6
12. Procedure Function
It displays the maximum (peak) load between the time when the servo is turned on and
the current time in percentage in relation to the rated output. The unit is [0.1%]. Turning
on the power again resets the value to 0.
Not renewed
0 t
Related Objects
This function automatically tunes the current offset of the U/V/W phases. You can tune
the phase current offset according to the environmental condition for use. The device is
shipped with its factory default setting.
The measured U/V/W-phase offsets are individually stored in 0x2013, 0x2014, and 0x2015.
If an offset value is abnormally large, AL-15 is generated.
Related Objects
12-7
12. Procedure Function
This function is used to reset the servo drive by means of software. Software reset means
a restart of the drive program, which results in an effect similar to re-applying the power.
Parameter settings which require re-application of the power have been changed
12.10 Commutation
The commutation function is to used get the information of the initial angle of the motor.
When using a motor with the hall sensor not installed, you have to get the information
on the initial angle through commutation prior to operation, in order to carry out normal
operation.
Related Objects
12-8
13. Object Dictionary
Object is a data structure which includes parameters, state variables, run commands
(procedures), etc. of the drive.
This is the setting range of parameters This is the default Always: Immediately apply the changed value
that can be input. setting value Power re-input: Applied after re-booting
Values that are out of the range cannot during shipping.
be input or output.
RW: Readable/writable
RO: Readable only
This is the unit of parameters. Yes: PDO mapping possible
Pulse means 1[pulse] of the encoder. No: PDO mapping impossible
Parameters are categorized into immediately applied ones and ones that can be applied only if the
servo power is turned on/off. The above table provides an example of the variable attributes.
<Caution>
When turning off the power in order to change parameters, L7C takes a long time to
completely block the power source (to turn off the segment display).
Here, to apply the changed parameters, do not wait until the power source is completely
blocked, but simply turn on the power again for a reboot after the setting time in Main
Power Fail Check Time[0x2007]+1.5 seconds.
If you change the parameters which are over 0x3000 by using DriveCM. please change the
value after 6[sec] at index of object dictionary.(DriveCM need more time due to reading
parameters over 0x3000 at object dictionary)
13-1
13. Object Dictionary
The following table outlines the data types and ranges used in this manual.
13-2
13. Object Dictionary
Power
UINT 1 to 9999 13 - RW No Yes
resupply
This is a parameter for resetting the motor ID. The company supplies a motor with a default ID and
ID input is also possible.
For a motor supplied by the company, you can enable automatic recognition or input a motor ID
into the parameter. Motor IDs are provided on the sticker attached on a side of the motor.
Keep in mind that you need to re-supply the power after ID registration. When connecting a motor
of another brand, you have to input 9999 and make the setting to 3rd party.
Power
UINT 0 to 2 1 - RW No Yes
re-input
You can set the encoder type. Set it correctly by referencing the table below. Here, the serial
encoder provided by our company(3 in the table below) is automatically recognized and set
regardless of these settings. You can view the type of the encoder automatically recognized.
13-3
13. Object Dictionary
You can view the encoder type on the name plate attached on the motor. Refer to Section 1.1,
“Product Specifications” for the product type of the servo motor.
Power
UDINT 1 to 1073741824 524288 pulse RW No Yes
re-input
This is a parameter for setting the resolution of the encoder. Set the encoder resolution in the
unit of pulse (count) and in multiples of 4. The absolute encoder and single-turn encoder
provided by the company recognize the values automatically. However, for the incremental
encoder, you need to input the values yourself.
The encoder resolution values are provided on the sticker on a side of the motor. Refer to the
figures above.
Input
Encoder Types Input Examples
Methods
13-4
13. Object Dictionary
Power re-
UINT 1 to 99 1 - RW No Yes
input
You can set the node ID of the driver. Any setting value modified after node setting is reflected
only when the power is turned on again.
Power re-
UINT 0 to 1 0 - RW No Yes
input
You can set the rotation direction of the motor. You can change the rotation direction with this
setting between the positive and negative relative to the user in the final apparatus section.
Setting
Description
Values
With a command for the positive direction, the motor rotates counterclockwise.
0
Here, the position feedback value increases.
With a command for the positive direction, the motor rotates clockwise.
1
Here, the position feedback value increases.
Power
UINT 0 to 2 1 - RW No Yes
re-input
13-5
13. Object Dictionary
This is parameter for deciding whether or not to use multi-turn data when using the absolute
multi-turn encoder.
Setting
Description
Values
When you set the parameter to 0, the values of multiturn and the current position are
maintained even when the power is turned off and on. However, if you set it to 1, the values of
multiturn and the current position are all reset when the power is re-supplied.
13-6
13. Object Dictionary
When you set the value to 2, power re-supply resets the multiturn value to 0[revolution] but
brings the encoder’s singleturn value for the current position and displays it.
You can set the main power input mode and the processing method for phase loss.
X X X X X X X X
The 4th bit determines the servo’s state in the event of a phase loss of the main power.
13-7
13. Object Dictionary
For example, if you input ‘0x10’ for the parameter, apply the single-phase power, and input a
servo on command, the servo is turned on. When the main power is disconnected, the motor
issues a Warn-01 and stops.
However, if you apply the main power within Main Power Fail Check Time [0x2007] + 1.5
[sec] (approx. 2 [sec]), it is possible to switch the state from Warning to Servo On.
Inputting another command brings back the normal operation.
If you input 0x00, disconnecting the power after Servo On immediately causes AL-42 to occur.
You can set the checking time for main power phase loss. This function detects instantaneous
voltage drop, which may occur depending on the condition of external power input, to check
for the main power’s phase loss. Set this function properly according to the condition of
external power input.
0 Operation status -
rpm,
1 Speed feedback
mm/s
rpm,
2 Velocity command
mm/s
13-8
13. Object Dictionary
Accumulated operation
5 0.1%
overload
6 DC link voltage V
Accumulated
7 0.1%
regeneration overload
10 Inertia ratio %
14 Node ID -
You can set the following resistance capacity and resistance values
according to drive capacity.
0
400W or lower: 80W/40Ω
13-9
13. Object Dictionary
You can set the derating factor for regenerative resistance overload checkups. When the derating
factor is set to a value of 100 [%] or lower, the regeneration overload alarm (AL-23) is triggered
quickly. When it is set to a value higher than 100 [%], the alarm is triggered slowly. Change the
setting values according to the heat radiation condition of the regenerative resistance used. You
must consider the heat radiation condition with more care when you set the derating factor to a
value higher than 100%.
When using an external regenerative resistance (0x2009=1), set regenerative resistance in the
unit of ohm. When using an internal regenerative resistance (0x2009= 0), the setting value does
not apply.
When using an external regenerative resistance (0x2009=1), set regenerative resistance capacity
in the unit of watt. When using an internal regenerative resistance (0x2009= 0), the setting
value does not apply.
When using an external regenerative resistance (0x2009=1), set maximum allowable capacity of
regenerative resistance in the unit of watt. When using an internal regenerative resistance
13-10
13. Object Dictionary
(0x2009= 0), the setting value does not apply. Unless specified otherwise, set the value to be 5
times of regenerative resistance capacity [0x200C].
When using an external regenerative resistance (0x2009=1), set the allowed time for maximum
regenerative resistance capacity in the unit of watt. When using an internal regenerative
resistance (0x2009= 0), the setting value does not apply.
This is a parameter for adjusting the load factor for accumulation of continuous accumulated
overload.
Continual
Time
Accumulate overload
Continual ov erload alarm
increas e point AL-21
d overload
0x200F : 50 50%
Time
Torque feedback
100%
50%
Time
13-11
13. Object Dictionary
The default value is 100. If torque feedback exceeds 100 [%], accumulated overload keeps
accumulating, causing an occurrence of the continuous overload alarm (AL-21). If you set the
parameter value to 50 and 100, accumulated overload is activated when torque feedback
exceeds 50 [%] and 100 [%], respectively. Therefore, for any given time period, the setting with
50 causes accumulation quicker than one with 100, causing AL-21 to occur earlier.
If the heat radiation condition of the drive is poor, set the value to be 100% or lower to trigger
an overload alarm more quickly.
This is a parameter for adjusting the output level of the accumulated operation overload
warning (W10). When the accumulated operation overload rate (0x2603) reaches the set value, a
warning is output. With this setting, you can find out the time point when you need to take an
appropriate action before an accumulated operation overload alarm occurs.
Accumulated
overload Continual overload alarm
AL-21
0x2010 : 50 50%
Time
Accumulated
overload Continual overload alarm
AL-21
W10 occurr ence
0x2010 : 90 90%
Time
For example, when you input 50, W10 starts to occur at the point when accumulated overload
becomes 50 [%]. If you input 90, it starts to occur at the 90 [%] mark. If accumulated overload
becomes 100%, W10 is changed into AL-21.
13-12
13. Object Dictionary
You can set the delay time until PWM is actually turned off after the servo off command. When
using a motor with a brake installed on the vertical axis, you can make the brake signal output
to come out first then PWM be turned off after the set time, in order to prevent the axis from
flowing down vertically.
Shaft
For 0x2011: 70 [msec]
flow-down
150[ms]
Motor Brake
A1
PWM output Thump
Time
70[ms]
SV-OFF command
The shaft gets
For 0x2011: 200 [msec]
fixed
150[ms] Maintained
Motor Brake
A2
PWM output
200[ms] Time
SV-OFF command
For example, assume that you have set the brake to operate 150 [msec] after a servo off
command during operation of a motor with a brake installed on its vertical axis. If you set the
parameter to 50 [msec], PWM is turned off in 50 [msec] after a servo off command, causing A1
to occur in which the brake cannot be held. In this case, the axis flows down because of gravity.
However, if you set the parameter to 200 [msec], an overlapped section (green) appears in
which PWM is output and the brake can be held, which can maintain the vertical axis.
13-13
13. Object Dictionary
You can set the control mode of the dynamic brake in servo off.
0 Stops the motor using the dynamic brake and holds the brake
1 Stops the motor using the dynamic brake and releases the brake
Time Time
Hold after a DB Stop Hold after a Free Run Stop
Time Time
Release after a DB Stop Release after a Free Run
Stop
You can set the method of emergency stop (for POT, NOT, or ESTOP input). In torque control
mode, the deceleration stop mode which uses emergency stop torque is not applied.
13-14
13. Object Dictionary
Stops according to the method set in the dynamic brake control mode (0x2012).
0
It stops using the dynamic brake and maintains the torque command at 0
3 W08 DB overcurrent
13-15
13. Object Dictionary
You can manually set the current offset for each phase. The set offset value is subtracted from
the measured current value, then applied as an actual current value. Do not manually set the
offset if you do not know the exact setting value. You can view the automatically-tuned value if
you tune the current offset through the procedure function Refer to the description of 0x2700).
For a drive with a small to medium capacity (7.5KW or lower), this parameter is not used since
the W phase current is not separately measured.
Power
UINT 1 to 65535 2400 .01mm RW No Yes
re-input
You can set the pitch between the magnetic poles of the linear motor. Pole pitch refers to the
distance between the north poles or the south poles of magnets, which corresponds to an
electrical angle of 360˚.
Power
UINT 1 to 65535 1000 Nm RW No Yes
re-input
You can set linear scale resolution in the unit of nm. For a linear scale with a resolution of 1um,
set it to 1000 (= 1um/1nm).
Power
UINT 0 to 2 0 - RW No Yes
re-input
You can set the commutation method used to get information on the initial angle of the motor.
13-16
13. Object Dictionary
1 Carries out commutation when the servo is turned on for the first time
2 Reserved
You can set the commutation current used to get information on the initial angle of the motor.
You can set the commutation time used to get information on the initial angle of the motor.
Power
UINT 1 to 65535 40 um RW No Yes
re-input
You can set the grid size of the sine wave encoder.
You can set whether or not to move to Zero Position by home offset [0x3019] after homing is
complete.
13-17
13. Object Dictionary
Setting
Descriptions
Values
You can select the calculation method of feedback speed when the encoder type is Quadrature.
1 MT Method
2 M Method
Power
UINT 0 to 65535 0 - RW No Yes
re-input
For a 3rd party motor, you can set the motor’s rotation direction, the polarity of the hall sensor
signal, and the sequence of the hall sensor’s UVW by examining wiring of the motor and the
hall sensor.
Bits Descriptions
1~7 Reserved
11 Reserved
13-18
13. Object Dictionary
13-19
13. Object Dictionary
You can set the ratio of load inertia to the motor's rotor inertia in %.
This inertia ratio setting is an important control parameter for operation of the servo. Therefore it is
crucial to set the inertia ratio accurately for optimal servo operation. You can estimate the inertia
ratio value by automatic gain tuning. The ratio is continuously estimated during operation if you
carry out On-line gain tuning.
You can set the overall responsiveness of the position controller. The larger the setting value is, the
higher the responsiveness is. Too large of a setting value may cause vibration depending on the load.
You can set the overall responsiveness of the velocity controller. To raise the overall responsiveness of
the system, you have to set Speed Loop Gain as well as position loop gain to a large value. However,
too large a setting value may cause vibration depending on the load.
13-20
13. Object Dictionary
You can set integral time constant of the velocity controller. If you set it to a large value, error is
reduced in the steady state (stopped or driving at a constant velocity), but vibration may occur at a
transitional state (while accelerating or decelerating).
You can apply a low pass filter for torque command. You can improve the system’s stability by
setting an appropriate value to smoothen the torque command. If you set the value to be too large,
the delay for the torque command is extended, reducing the system responsiveness.
You can set position loop gain used as Gain Group 2 for gain conversion. For more information, refer
to the description of position loop gain 1 (0x2101).
You can set Speed Loop Gain used as Gain Group 2 for gain conversion. For more information, refer
to the description of the Speed Loop Gain 1 (0x2102).
You can set the integral time constant of the speed loop used as Gain Group 2 for gain conversion.
For more information, refer to the description of Speed Loop Integral Time Constant 1 (0x2103).
13-21
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You can set time constant of the torque command filter time constant used as Gain Group 2 for gain
conversion. For more information, refer to the description of torque command filter time constant 1
(0x2104).
You can apply a low pass filter for position command to smoothen the position command. Especially,
this can be used for setting a higher gear ratio. This does not apply when the setting value is 0.
You can apply a movement average filter for position command to smoothen the position command.
The setting value of position command filter time constant (0x2109) is first applied as a priority. This
function is applicable only when the position command filter time constant value is 0.
You can apply a low pass filter to the speed feedback signal calculated in the encoder. When system
vibration occurs or vibration occurs due to a gain load with an excessive inertia is applied, you can
suppress vibration by setting an appropriate value.
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You can set feedforward gain for the velocity command during position control. The larger the
setting value is, the lower the positional error is. If you set too large a value for the load, vibration or
an overshoot may occur. For gain tuning, increase the setting value gradually.
You can apply a low pass filter to the compensation amount added to the velocity command by
velocity feedforward gain. You can enhance the system’s stability by using it when you have set a
large velocity feedforward gain or when there is an excessive change in position command.
You can set feedforward gain for the torque command during velocity control.
You can apply a low pass filter to the compensation amount added to the torque command by
torque feedforward gain.
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You can set the function used to limit output torque of the drive.
Setting Description
Limits the torque value using internal and external torque limits
- reverse: 0x3023 (N_CL signal not input), 0x2112 (N_CL signal input)
You can set the external forward direction torque limit according to the torque limit function setting
(0x2110).
You can set the external reverse direction torque limit according to the torque limit function setting
(0x2110).
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You can set torque stop during emergency stop (POT, NOT, ESTOP input).
You can set the switch mode between PI control and P control. Using this function, you can improve
the velocity control characteristic to reduce overshoot during velocity operation and positioning time
during position operation.
You can enhance the performance of the entire system by switching between two gain groups.
According to the switching mode, you can perform manual switch by external input or automatic
switch by output signals.
Speed Loop Integral Time Constant Speed Loop Integral Time Constant
1 (x2103) 2 (x2107)
You can set the time to switch from Gain Group 1 to Gain Group 2.
You can set the time to switch from Gain Group 2 to Gain Group 1.
You can set the waiting time before switching from Gain Group 1 to Gain Group 2.
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You can set the waiting time before switching from Gain Group 2 to Gain Group 1.
The position controller output becomes 0 if positional error for position control is below the setting.
For the signal for the input contact of the drive, you can set the bit for the input value in this setting
other than using the signals input through the CN1 connector. Also, you can perform a logical OR
computation of the signals input through the CN1 connector and the bit value of this setting to
operate the function.
For the input contacts that can be set, refer to the table below.
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This is the same function as [0x211F], and only the settable elements are different. For the input
contacts that can be set, refer to the table below.
You can assign the drive output signal status to CN1 output signal in order to view the applicable bit
of this output value in addition to performing actual output.
You can assign the drive output signal status to CN1 output signal in order to view the applicable bit
of this output value in addition to performing actual output.
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You can set the functions of Digital Input Signal 1 of CN1 connector and the input signal level.
0 0 0 6
8 0 0 2
You can set the functions of Digital Input Signal 2 of CN1 connector and the input signal level.
For more information, refer to the description of 0x2200.
You can set the functions of Digital Input Signal 3 of CN1 connector and the input signal level.
For more information, refer to the description of 0x2200.
You can set the functions of Digital Input Signal 4 of CN1 connector and the input signal level.
For more information, refer to the description of 0x2200.
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You can set the functions of Digital Input Signal 5 of CN1 connector and the input signal level.
For more information, refer to the description of 0x2200.
You can set the functions of Digital Input Signal 6 of CN1 connector and the input signal level.
For more information, refer to the description of 0x2200.
You can set the functions of Digital Input Signal 7 of CN1 connector and the input signal level.
For more information, refer to the description of 0x2200.
You can set the functions of Digital Input Signal 8 of CN1 connector and the input signal level.
For more information, refer to the description of 0x2200.
You can set the functions of Digital Input Signal 9 of CN1 connector and the input signal level.
For more information, refer to the description of 0x2200.
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You can set the functions of Digital Input Signal 10 of CN1 connector and the input signal level.
For more information, refer to the description of 0x2200.
You can assign functions to digital output signal 1 and set the output signal level.
15Bit 14Bit 13Bit 12Bit 11Bit 10Bit 9Bit 8Bit 7Bit 6Bit 5Bit 4Bit 3Bit 2Bit 1Bit 0Bit
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
15Bit 14Bit 13Bit 12Bit 11Bit 10Bit 9Bit 8Bit 7Bit 6Bit 5Bit 4Bit 3Bit 2Bit 1Bit 0Bit
0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0
0 0 0 2 0x0002
15Bit 14Bit 13Bit 12Bit 11Bit 10Bit 9Bit 8Bit 7Bit 6Bit 5Bit 4Bit 3Bit 2Bit 1Bit 0Bit
1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0
8 0 0 2 0x8002
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15Bit 14Bit 13Bit 12Bit 11Bit 10Bit 9Bit 8Bit 7Bit 6Bit 5Bit 4Bit 3Bit 2Bit 1Bit 0Bit
1 0 0 0 0 0 0 0 0 0 0 1 0 1 1 1
8 0 1 7 0x8017
You can assign functions to digital output signal 2 of CN1 connector and set the output signal
level. For more information, refer to the description of 0x220A.
You can assign functions to digital output signal 3 of CN1 connector and set the output signal
level. For more information, refer to the description of 0x220A.
You can assign functions to digital output signal 4 of CN1 connector and set the output signal
level. For more information, refer to the description of 0x220A.
You can assign functions to digital output signal 5 of CN1 connector and set the output
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You can specify whether or not to use the function that uses analogue voltage to override
the velocity.
2 100% for a 0[V] input and 200% for +10[V] are applied. (-) voltages
For non-torque operation, if the setting value of the torque limit function (0x2110) is 4 (analog
torque limit), torque is limited by the analog input torque limit. Here, set the scale of the
analog input value.
For torque operation, the parameter is used as the analog torque command scale. The setting
value is set to the torque command value at the analog input voltage of ±10[V] in percentage
of the rated torque.
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You can set the analogue voltage offset input by analogue torque limit for non-torque
operation.
For torque operation, the parameter is used as the analog torque command offset.
For analog torque control, there are cases where certain voltage remains in the analog signal
connection circuit upon a 0 torque command. Here, 0 torque can be maintained for as much as
the command voltage.
You can improve the stability of command signals by setting the digital filter for analog torque
command voltage. If the filter value is set too high, responsiveness to torque commands will be
reduced. It is important to set a value that is appropriate for your system.
When controlling velocity by analog voltage during velocity operation, you can set the analog
velocity command value at ±10[V] in the unit of [rpm]. When the setting value is 100, you can
control 100[rpm] per command voltage of 1[V].
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For Indexing Position operation, you can set the analog voltage offset input through analog
velocity override. For velocity operation, you can set the analog voltage offset input through
analog velocity commands.
When controlling velocity by analog voltage in velocity operation, there are cases where certain
voltage remains in the analog signal connection circuit upon a 0 velocity command.
Here, the 0 velocity can be maintained as much as the set voltage command.
You can set the digital filter for analog velocity command voltage to improve the stability of the
command signals. Here, if the value is set to be too high, responsiveness to velocity commands
is reduced. It is important to set a value that is appropriate for your system.
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You can set the time required for the motor to reach the rated motor speed from a stop in the unit
of ms.
You can set the time required for the motor to decelerate from the rated motor speed to a stop in
the unit of ms.
You can set the velocity command to operate in an S-curve pattern for smooth
acceleration/deceleration. If it is set to 0, the drive operates in a trapezoidal pattern by default.
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For program jog operation, you can set operation velocity 1 to 4 and operation time 1 to 4 as
follows.
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You can set the speed limit function for torque control.
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You can set the speed limit value at torque control. This setting is applied only when the Speed Limit
Function Select (0x230D) is set to 0.
You can set the level of detecting overspeed alarms (AL-50). If the setting value is larger than the
maximum motor speed, the detection level is set by the maximum motor speed.
You can set the level of detecting excessive speed error alarms (AL-53). If the difference between the
velocity command and the speed feedback exceeds the setting value, an excessive speed error alarm
is generated.
You can set the servo-lock function to fix the motor position with a position value when the velocity
command of 0 is for velocity control.
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You can set the velocity for multi-step operation velocity 1 in Velocity Mode. This is the
velocity when SPD1, SPD2 and SPD3 input contacts are off.
You can set the velocity for multi-step operation velocity 2 in Velocity Mode. This is the
velocity when SPD1 input contact is on and SPD2 and SPD3 input contacts are off.
You can set the velocity for multi-step operation velocity 3 in Velocity Mode. This is the
velocity when SPD2 input contact is on and SPD1 and SPD3 input contacts are off.
You can set the velocity for multi-step operation velocity 4 in Velocity Mode. This is the
velocity when SPD1 and SPD2 input contacts are on and SPD3 input contact is off.
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You can set the velocity for multi-step operation velocity 5 in Velocity Mode. This is the
velocity when SPD3 input contact is on and SPD1 and SPD2 input contacts are off.
You can set the velocity for multi-step operation velocity 6 in Velocity Mode. This is the
velocity when SPD1 and SPD3 input contacts are on and SPD2 input contact is off.
You can set the velocity for multi-step operation velocity 7 in Velocity Mode. This is the
velocity when SPD2 and SPD3 input contacts are on and SPD1 input contact is off.
You can set the velocity for multi-step operation velocity 8 in Velocity Mode. This is the
velocity when SPD1, SPD2 and SPD3 input contacts are on.
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You can select the velocity command method for Velocity Mode.
2 Use SPD1, SPD2 and SPD3 contacts and analog velocity commands
Analog velocity commands are used when the setting value is 1 and 2 and all applicable
contacts are turned on.
ex) apply an analog velocity command of 10[V] when the setting value is 2 and SPD1, SPD2
contacts are turned on
Motor rotation operates at 100[rpm] and analog input velocity commands are ignored.
ex) apply an analog velocity command of 10[V] when the setting value is 2 and SPD1, SPD2
and SPD3 contacts are turned on
Motor rotation operates at 1000[rpm] and digital input/output contact velocity commands
are ignored.
Operation velocity is set to the analog velocity command voltage according to the setting
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You can set the software position limit function for position control. When using the position limit
function, the upper and the lower limits in (0x670D:02) and (0x670D:01) are used.
Incremental encoder
1. Homing must be performed once after a power input.
2. Functions can be used after homing is completed.
Absolute single-turn encoder
(BissB)
The software position limit function can be used in the incremental and singleturn encoders only
when the main power is applied and homing is completed. In multiturn encoders, homing is
unnecessary when using a multiturn that has a 0 Absolute Encoder Configuration [0x2005]. Also, be
aware that this function does not operate when the upper limit is smaller than the lower limit.
The position limit function can be limitedly used in Jog Operation Mode. When using index, Jog
Operation Mode is used for movement of remaining pulses. The function is usable by using the 5th
bit of the below parameters.
0 0 0 0 0 0 0 0
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With the position command not newly updated, if the positional error is retained within the
INPOS1 output range for the INPOS1 output time, the INPOS1 signal is output.
This parameter outputs the INPOS2 signal when the positional error is lower than the setting
value. Unlike INPOS1, the INPOS2 signal is output by calculating only the positional error value.
When the current velocity is lower than the setting value, the parameter outputs the ZSPD signal.
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When the current velocity is higher than the setting value, the parameter outputs the TGON
signal.
When the velocity error is lower than the setting value, the parameter outputs the INSPD signal.
If the motor stops due to the servo off state or servo alarm during rotation, you can set the
velocity (0x2407) and delay time (0x2408) for brake signal output in order to set the output
timing. The brake signal is output if the motor rotation velocity goes below the set value
(0x2407) or the output delay time (0x2408) has been reached after the servo off command.
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You can set torque limits for homing using the stopper. If you set the value to be too large, the
stopper may cause an impact on the machine by collision. So be careful.
You can set the time to detect the stopper during homing. Set an appropriate value for the
machine.
Power
UINT 0 to 5 0 - RW No Yes
re-input
This address value is reserved for L7C, and the value is usable when you set the operation
mode [0x3000] to 0 and the coordinate system setting [0x3001] to number 1 coordinate system
when using the Modulo function.
Power
DINT 1 to 0x40000000 3600 UU RW No Yes
re-input
You can set the factor for using the Modulo function. You can set the position value that
corresponds to one revolution when a user drives the motor.
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200 0[UU]
0x2040C : 2000
100 0[UU]
0x2040C : 1000
200 0[UU]
100 0[UU]
In general, when you do not use the Modulo factor, the current position keeps increasing when
the motor rotates in one direction.
If you use Modular factor and input 1000, the current position (Position Actual Value) increases
only up to 1000 [UU] is reset to 0 [UU]. Similarly, when you input 2000, it increases only up to
2000 [UU] and is reset. In other words, the remainder value from dividing Position Actual Value
by Modulo factor is applied.
X5[turn] X1[turn]
When the machine’s apparatus makes 1 [turn], the total pulse required for the machine’s 1
[turn] for the installed L7 19 [bit] motor’s 5 [turn] is as follows.
If you want to control the machine’s 1 [turn] within the range of 0~9961472 [UU],
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you can input 9961472 [UU] to make the machine have 1~9961472 [UU] for Position Actual
Value within 1 [turn] and restart from 1 [UU] when it exceeds 1 [turn].
For L7C, it is applicable if you set the address 0x3000 to operation mode 0 and the address
0x3001 to the rotary coordinate system 1.
To rotate the axis of the machine to the 30 degree mark in Index Operation Mode,
If you input 1529173 [UU], moving to the 210 degree mark is possible.
30°≒
30° ≒ 218453[UU]
218453[UU]
Suppose that a 19-bit motor performs a 60-degree rotation 10,000 times in one direction. If the
motor runs in the relative Indexing Position Mode, the error values after the decimal point
continue to accumulate to cause a deviation of about 3 degrees after 10,000 rotations.
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In contrast, if the motor runs in the absolute Indexing Position Mode, the error values after the
decimal point do not accumulate, and therefore, do not cause any deviation after 10,000
rotations.
You can customize the drive name. You can use up to 16 characters to set the name.
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UINT 0 to 1 0 - RW No Always No
You can set whether or not to immediately save individual parameters. This parameter is not
saved and reset to 0 during power turn-on.
You can set the time to calculate RMS operation overload (0x2619).
0 to
UDINT 0 - RW No Always Yes
0xFFFFFFFF
0 to
UDINT 1507585 - RW No Always Yes
0xFFFFFFFF
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This specifies the system rigidity applied for gain tuning. After the gain tuning according to the
setting, the overall gain will be set higher or lower. If the gain of the maximum setting value is
not enough, carry out the tuning manually. After the gain tuning, the following gains will be
automatically changed:
Inertia ratio (0x2100), position loop gain 1 (0x2001), speed loop gain 1 (0x2102), speed integral
time constant 1 (0x2103), torque command filter time constant 1 (0x2104), notch filter 3
frequency (0x2507, TBD), and notch filter 4 frequency (0x250A, TBD).
You can the speed of reflecting the change in gain when performing On-line gain tuning. The
larger the setting value is, the faster the change in gain is reflected.
You can set the movement direction when performing offline gain tuning. Set the function
properly according to the conditions of the apparatus.
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You can set the distance when performing off-line gain tuning. The larger the setting value is,
the longer the movement distance becomes. Set the distance properly according to the
condition of the apparatus. Make sure to secure an enough distance(more than one revolution
of the motor) prior to gain tuning.
You can set gain of the current controller. Lowering the setting value can reduce the noise, but
the drive's responsiveness decreases at the same time.
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Reserved
Reserved
Reserved
Reserved
Reserved
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This parameter represents the velocity command input to the velocity control loop of the drive.
INT - - 0.1% RO No - No
This parameter represents the accumulated operation overload rate. When the accumulated
operation overload rate reaches the overload warning level setting value (0x2010), an operation
overload warning (W10) occurs; when it reaches 100%, an operation overload alarm (AL-21)
occurs.
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This parameter represents the maximum value of operation overload rate output
instantaneously from the drive. This value can be initialized by instantaneous maximum
operation overload reset.
INT - - 0.1% RO No - No
This parameter represents the accumulated overload rate of the regenerative resistance from
regenerative operation. When the accumulated regenerative overload rate reaches 100%, a
regenerative overload alarm (AL-23) is generated.
This parameter represents the data for one revolution of the motor. A value ranging from 0 to
(encoder resolution-1) is displayed.
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This parameter represents the single-turn data of the motor in the range of 0.0~359.9.
This parameter represents the electrical angle of the motor in the range of -180.0~180.0.
INT - - oC RO No - No
This is the temperature measured by the temperature sensor integrated into the drive power
board. If the measurement is higher 95℃ or higher, a drive overheat alarm 1 (AL-22) is
generated.
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INT - - oC RO No - No
This parameter represents the temperature measured by the temperature sensor integrated into
the drive control board. If the measured temperature is 90℃ or higher, a drive overheat alarm 2
(AL-25) is generated.
INT - - oC RO No - No
This parameter represents the temperature measured by the temperature sensor integrated into
the serial encoder provided by our company(if the setting value of the encoder type (0x2001) is
4). If the measured temperature 90℃ or higher, an encoder overheat alarm (AL-26) is generated.
UINT - - rpm RO No - No
UINT - - rpm RO No - No
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UINT - - 0.1A RO No - No
STRING - - - RO No - No
UINT - - - RO No - No
This parameter represents the signal of the hall sensor installed in the encoder (or motor). You
can use this to verify the connection status of the hall sensor signal or compare the U/V/W-
phases of the motor with the direction of the hall sensor signal.
The signal value is repeated in the order of 546231 for a forward movement, and it is
repeated in the order of 132645 for a reverse movement.
STRING - - - RO No - No
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UINT - - - RO Yes - No
INT - - mV RO Yes - No
This parameter represents the input voltage of an analog torque command in mV.
INT - - mV RO Yes - No
This parameter represents the input voltage of an analog velocity override in mV.
INT - - 0.1% RO No - No
This parameter represents the RMS load factor for 15 seconds in the unit of 0.1%.
STRING - - - RO No - No
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INT - - Kpps RO No - No
This parameter displays the frequency of a pulse input during Pulse Input Position.
DINT - - 0.1% RO No - -
UINT - - - RO No - No
This parameter displays the input contact status that the servo drive recognizes.
UINT - - - RO No - No
This parameter displays the output contact status that the servo drive recognizes.
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DINT - - pulse RO No - No
This parameter represents the value input as a command during position control.
DINT - - pulse RO No - No
This parameter displays the position actual internal value in the unit of encoder pulse.
UDINT - - Hour RO No - No
This parameter displays the inrush current generated during power ON/OFF in a counter.
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DINT - - - RO No - Yes
DINT - - UU RO No - No
This parameter displays the position demand value in the position unit (UU) specified by the
user.
DINT - - UU RO No - No
This parameter displays the actual position value in a user-defined position unit (UU).
DINT - - UU RO No - No
This parameter displays the actual position error during position control.
INT - - 0.1% RO No - No
This parameter displays the current torque demand value in the unit of 0.1% of the motor’s
rated torque.
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INT - - 0.1% RO No - No
This parameter displays the actual torque value generated by the drive in increments of 0.1% of
the rated torque.
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UINT 0 to 0xFFFF 0 - RW No - No
You can run various procedures with the following procedure command codes and command
arguments. Make sure to enter correct a command argument value prior to entering a
command code because the drive refers to the command argument for the command code
input.
Command
Command Codes Run Procedures
Arguments
1 Servo on
2 Servo off
Manual Jog
3 Positive (+) driving (0x2300)
(0x0001)
4 Negative (-) driving (0x2300)
1 Servo on
1 Servo on
2 Servo off
Index Pulse Search
3 Positive (+) search (0x230C)
(0x0005)
4 Negative (-) search (0x230C)
Instantaneous Maximum
Resets the instantaneous maximum
Operation Overload Reset 1
operation overload (0x2604) value
(0x0007)
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Software reset
1 Software reset
(0x0009)
Commutation
1 Perform commutation
(0x000A)
UINT 0 to FFFFhex 0 - RW No - No
STRING - 16 - RO No - No
STRING - - - RO No - No
STRING - - - RO No - No
STRING - - - RO No - No
STRING - - - RO No - No
STRING - - - RO No - No
STRING - - - RO No - No
STRING - - - RO No - No
STRING - - - RO No - No
STRING - - - RO No - No
STRING - - - RO No - No
STRING - - - RO No - No
STRING - - - RO No - No
STRING - - - RO No - No
STRING - - - RO No - No
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STRING - - - RO No - No
STRING - - - RO No - No
This parameter represents the history of servo alarms generated in the drive. You can store up
to 16 recently generated servo alarms. Sub-Index 1 is the latest alarm while the Sub-Index 16 is
the oldest of the recently generated alarms. You can reset the servo alarm history by procedure
commands.
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The following motor parameters are provided for driving motors manufactured by a third party in
addition to our motor. To drive a third party's motor with our drive, you have to enter correct
parameters. In this case, however, our company neither has performed any test for combinations of
our drive and a third party motor nor provides any warranty for the motors’ characteristics.
Power
UINT 0 to 1 0 - RW No Yes
re-input
Power
UINT 2 to 1000 8 - RW No Yes
re-input
You can set the number of motor poles. For a linear motor, set the value to 2.
Power
FP32 - 2.89 Arms RW No Yes
re-input
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Power
FP32 - 8.67 Arms RW No Yes
re-input
Power
UINT 1 to 60000 3000 rpm RW No Yes
re-input
You can set the rated speed of the motor. For a linear motor, the unit is mm/s.
Power
UINT 1 to 60000 5000 rpm RW No Yes
re-input
You can set the maximum speed of the motor. For a linear motor, the unit is mm/s.
Kg.m2. Power
FP32 - 0.321 RW No Yes
10-4 re-input
You can set the motor inertia. For a linear motor, set the weight of the rotor. The unit is kg.
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Power
FP32 - 0.46 Nm/A RW No Yes
re-input
You can set the torque constant of the motor. For a linear motor, set a force constant. The unit
is N/A.
Power
FP32 - 0.82 ohm RW No Yes
re-input
You can set the phase resistance (= resistance between lines ÷ 2) of the motor.
Power
FP32 - 3.66 mH RW No Yes
re-input
You can set the phase inductance (= inductance between lines ÷ 2) of the motor.
Power
UINT 1 to 60000 3000 rpm RW No Yes
re-input
You can set the data of the motor speed/torque curve. Enter the maximum speed for when the
maximum torque(for a linear motor, the maximum thrust) is output. For a linear motor, the unit
is mm/s.
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Torque
(Force)
Max torque
Speed
Max speed
0x280A
Power
FP32 - 100.0 % RW No Yes
re-input
You can set the data of the motor speed/torque curve. Enter a torque (thrust for a linear motor)
which can be output at the maximum speed in percentage (%) relative to the maximum torque.
Torque
(Force)
Max torque
0x280B
= Torque @Max torque / Max torque x 100
Torque
@Max speed
Speed
Max speed
Power
UINT 0 to 360 0 deg RW No Yes
re-input
The offset of the hall sensor set for the initial angle of a 3rd party motor may vary depending
on manufacturer. For this, you must check the hall sensor offset and make a correct setting.
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Power
UINT 0 to 9 1 - RW Yes
re-input
Power
UINT 0 to 1 0 - RW Yes
re-input
You can set the coordinate system to be used for indexing position control of the drive.
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Power
UINT 0 to 3 3 - RW No Yes
re-input
You can set the RS-422 serial communication speed between the upper level controller and the
drive.
Power
UINT 0 to 5 0 - RW No Yes
re-input
You can set the logic of the pulse train input from the upper level controller. The following are
the forms of input pulses and the rotation directions of the logic.
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Power
UINT 0 to 4 7 - RW No Yes
re-input
You can set the frequency band of the digital filter set for the pulse input.
The frequency bands are determined based on the input pulse width in accordance with the
digital filter's characteristics.
You can set the operation mode for input of position pulse clear (PCLR) signals.
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0 to Power
UDINT 10000 pulse RW No Yes
2147483647 re-input
You can set the count of pulses to be output per motor revolution while the encoder signal is
sent from the drive to outside. Maximum frequency of encoder output pulse is 1[MHz] . So if
you set the value of encoder output pulse. You should apply below the formula to get
appropriate value. For example, maximum speed of some machine is 2000[rpm]. You can set the
parameter value until 3000.
Power
UINT 0 to 1 0 - RW No Yes
re-input
L7C Series does not provide this function. Only the line drive method supports the encoder
output mode.
You can set the index number (0-63) to start index position operation.
If the setting value is 64, the index number is determined by ISEL0~ISEL5 of digital input.
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You can set how many times the START (operation start) signal is remembered during indexing
position operation.
You can set different functions in input/output ports by selecting different bits.
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13. Object Dictionary
You can set the operation of the JSTART and JDIR signals.
When you set the value to 0, operation is based on the JSTART and JDIR signals.
2
When you set the value to 1, operation is based on the PJOG and NJOG signals.
Refer to Section 4.3, “Functions of Index Input Signals”
You can set the operation of velocity override used in indexing position operation.
3 When you set the value to 0, velocity override is applied for index ranges.
When you set the value to 1, velocity override is applied real-time.
You can set the registration operation in indexing position operation.
When you set the value to 0, absolute/relative operation is performed according to
4 the registration type of the index during indexing position operation.
When you set the value to 1, absolute/relative operation is performed by the REGT
Configuration [0x300B] value.
You can set the operation of the Software Position Limit function in jog operation.
5 When you set the value to 0, the Software Position Limit function in jog operation is
deactivated. When you set the value to 1, the function in jog mode is activated.
You can set the operation of ORG signal output during homing.
When you set the value to 0, the ORG signal after homing operation and servo off is
6
maintained. When you set the value to 1, the ORG signal output is turned off after
homing operation and servo off.
You can set the operation for REGT signals in Registration Relative Move.
The user can adjust the setting value to perform the movement with absolute or relative operation
for REG signal input.
13-82
13. Object Dictionary
0 0 0 1 0 0 0 0
Be aware that this function only operates when the 4th bit of 0x300A is SET. For example, when you
set the index type of index 0 to Registration Absolute and 0x300B to 0 and if the 4th bit of 0x300A is
1 (Set), a movement of 20000 [UU] is made by relative operation. If the bit is 0(Reset) absolute
operation performs a movement to the 20000 [UU] position.
1 to Power
UDINT 1 - RW No Yes
2147483647 re-input
1 to Power
UDINT 1 - RW No Yes
2147483647 re-input
13-83
13. Object Dictionary
1 to Power
UDINT 1 - RW No Yes
2147483647 re-input
1 to Power
UDINT 1 - RW No Yes
2147483647 re-input
1 to Power
UDINT 1 - RW No Yes
2147483647 re-input
1 to Power
UDINT 1 - RW No Yes
2147483647 re-input
13-84
13. Object Dictionary
1 to Power
UDINT 1 - RW No Yes
2147483647 re-input
1 to Power
UDINT 1 - RW No Yes
2147483647 re-input
Power re-
UINT 0 to 1 0 - RW No Yes
input
You can select the electric gear mode in Pulse Input Position Mode to use the electric gear
offset function.
When you set the value to 0, you can select among Electric Gear Ratio 1~4 to use it. When
you set the value to 1, you can apply offset [0x3015] to Electric Gear Numerator 1.
You can set the electric gear offset value. When you set [0x3014] Electric Gear Mode to 1, the
offset is applied to the numerator of Electric Gear Ratio 1 by EGEAR1 and EGEAR2.
- EGEAR1 contact LOW->HIGH: [0x3015] setting value increases. The numerator value of
13-85
13. Object Dictionary
- EGEAR2 contact LOW->HIGH: [0x3015] setting value decreases. The numerator value of
ex) If you input “12000” for the numerator and “5000” for the denominator and turn on
the ‘EGEAR1’ contact, the [0x300C] setting value increases by 1. If you turn on the ‘EGEAR2’
contact, the [0x300C] setting value decreases by 1 and is stored in the [0x300C] parameter.
If the offset is 2, the electronic gear ratio for operation changes from 12000/5000 to
12002/5000. If the offset is -2, the electronic gear ratio for operation changes from
12000/5000 to 11998/5000.
Power re-
UINT 0 to 1 0 - RW No Yes
input
You can select the clear operation type of position command pulse for NOT and POT contacts.
When you set the value to 1, the input pulse keeps accumulating while the contact is turning
on, often leading to occurrence of a position error alarm. However, if you set a large value for
Following Error Window [0x6065], the motor can move as much as the accumulated position
error value at the maximum speed while the contact is turning off. Be aware of this when you
use the parameter.
Power re-
UINT 0 to 1000 0 - RW No Yes
input
You can set the backlash compensation during pulse input operation.
13-86
13. Object Dictionary
확대
Enlargement
A B
Backlash
Gap
B
Generally, mechanical backlash gaps occur in a toothed wheel type. If this is ignored
during operation, noise or vibration may occur. [0X3017] sets backlash
compensation by converting the amount of backlashes to number of pulses if the
positioning is interrupted by mechanical backlashes during position operation.
When you input a setting value and turn on the servo, the backlash compensation
value is applied in the initial movement direction (set for the opposite direction as
much as the backlash).
You can set the homing method. For more information, refer to Section 9.1, “Homing.”
0 Disabled
13-87
13. Object Dictionary
-2147483648
DINT 0 UU RW No Always Yes
to 2147483647
You can set the offset value for the origin of the absolute encoder or absolute external scale and
the zero position of the actual position value (0x262A).
• Incremental Encoder
If the home position is found or at the home position, the position reached by the home offset
value becomes the zero position.
• Absolute Encoder
If the absolute encoder is connected, the home offset value is added to the absolute position
(actual position value).
13-88
13. Object Dictionary
You can set the positional error range for checking Following Error(AL-51).
Check the encoder resolution of the motor before operation and set an appropriate value.
ex) if the setting value of encoder pulse[0x2002] per revolution of the parameter is 12000 and the
positional error range is set to 3 motor revolutions, the result value is 36000.
You can set the timeout value for Following Error(AL-51) check.
You can set the velocity window time. If the difference between the target velocity and actual
velocity is maintained within the INSPD output range (0x2406) for the duration of the velocity
window time (0x301F), an INSPD signal is output.
13-89
13. Object Dictionary
-1073741824
DINT -1000000000 - RW No Always Yes
to 1073741823
-1073741824
DINT 1000000000 - RW No Always Yes
to 1073741823
You can set the software position limit. The parameter limits the ranges of the position demand
value (0x2629) and the actual position value (0x262A) and checks the new target positions for the
setting values during every cycle.
The minimum software limit value is the reverse rotation limit. The maximum software limit value is
the forward rotation limit.
13-90
13. Object Dictionary
When you input STOP signal of digital input, the motor decelerates according to Quick Stop
deceleration value. The parameter calculates the positions of STOP signal input and stop target and
decelerates to a stop at the exact position. In adjusting the gear ratio, you need to adjust the
Quick Stop value that is appropriate for the gear ratio. Since an accurate deceleration and stop are
carried out when you input a value of 32 [Bit] of lower, make sure to input a value within that
range.
The following formula is used to calculate the target position of Quick Stop Deceleration.
The following is the formula for the target position value when you run index 0 at 300 [rpm] and
input 2000000 [ ] for the [0x3024] address and input a STOP signal.
26214402
Target Position[UU] = = 1717986[𝑈𝑈]
2×2000000
Distance
The target position is equal to the area of the distance shown in the figure above. If you want to
stop the motor for approximately 2 seconds after inputting STOP signal while the motor is running
at 300 rpm in index mode, you can calculate Quick Stop Deceleration as follows.
1
𝑇𝑎𝑟𝑔𝑒𝑡 𝑃𝑜𝑠𝑖𝑡𝑖𝑜𝑛 = (2621440[𝑈𝑈/𝑠𝑒𝑐] × 2[𝑠𝑒𝑐]) × = 2621440[𝑈𝑈]
2
13-91
13. Object Dictionary
In other words, Quick Stop Deceleration function enables you to stop the motor exactly at the
specified position or time when you input the STOP signal.
■ The following parameters can be controlled in the loader window, but you can edit the
parameters more conveniently if you use Drive CM (PC program).
0x3100
~ Index00~Index63
0x313F
USINT - 11 - RO No - No
SubIndex 2 Distance
-2147483648 to
DINT 100000 UU RW No Always Yes
2147483647
SubIndex 3 Velocity
SubIndex 4 Acceleration
SubIndex 5 Deceleration
13-92
13. Object Dictionary
-2147483648 to
DINT 100000 UU RW No Always Yes
2147483647
SubIndex 11 Action
13-93
14. Maintenance and Inspection
14.2 Precautions
1. When measuring the motor voltage: PWM controls the voltage output from the servo to the
motor. Because of this, waves are output in the form of pulses. Use a rectifier voltmeter for
accurate measurements because different meters may produce largely different results.
2. When measuring the motor current: Connect and use a moving-iron-type ampere meter
because the motor's reactance smooths the pulse waveform to produce partial sine waves.
3. When measuring the electric power: Use an electrodynamo-meter and measure based on the 3
power meter method.
4. Other gauges: When using an oscilloscope or digital voltmeter, do not allow them to touch the
ground. Use an input current gauge of 1mA or lower.
Be sure to start inspection approximately 10 minutes after power is turned off because
the voltage charge left in the internal smoothing condenser may cause an accident.
Caution
Be sure to start inspection approximately 10 minutes after power is turned off because the
voltage charge left in the internal smoothing condenser may cause an accident.
When inspecting the servo, be sure to wait until the “charge” light completely goes off since
some current remains in the main electrolytic condenser.
14-1
14. Maintenance and Inspection
Inspection
Inspection Time Inspection and Handling Notes
Items
Oil seal At least once Remove the oil seal from the Only applies to motors
replacement every 5,000 hours motor and replace it. with an oil seal.
Note1) Measure the resistance between PE and one of the U, V and W power cables in the servo
motor.
Main body
At least once Clean it with air or
and boards There must be no dust or oil.
a year a cloth.
cleaning
Defective
parts of the At least once Check for discoloration, damage or Contact our
main body or a year disconnection caused by heat. company.
control board
14-2
14. Maintenance and Inspection
1. Smoothing condenser: Ripple currents and other factors can cause this part to wear down.
The lifespan of the condenser depends on the operating temperature and environmental
conditions. It normally lasts for 10 years if used continuously in a normal air-conditioned
environment. Inspect the condenser at least once each year because it can rapidly age over
certain short periods of time (inspect at least once half a year as it approaches its end of life).
a. The condition of the case: Check for enlargement of the sides and bottom.
b. The condition of the lid: Check for notable enlargement, severe cracks, or broken parts.
c. The condition of the explosion valve: Check for notable valve enlargement and check the
operation status.
d. Also, regularly check whether the exterior is cracked, discolored, or leaking and whether
there are any broken parts. The condenser is obsolete when its rated capacity degrades to
85% or lower.
2. Relays: Check for bad connection and wear and tear of the contacts caused by switching
currents. A relay is obsolete when its accumulated number of switches reaches around 100,000
times, depending on the power capacity.
3. Motor bearings: Replace the bearings after 20,000 to 30,000 hours of operation at the rated
speed under the rated load. Replace the bearings if abnormal sounds or vibrations are
detected during inspection, depending on the operating conditions.
14-3
14. Maintenance and Inspection
If the drive detects a problem, it triggers a servo alarm and transition to the servo off
state for a stop. In this case, the setting value of emergency stop (0x2013) is used to stop
the drive.
Encoder cable Check for abnormal wiring and Replace the encoder
abnormality short circuit. cable.
14-4
14. Maintenance and Inspection
If alarms occur
continuously after power
Drive abnormality re-input, replace the drive
since there may be
abnormalities in the drive.
with a load exceeding velocity operation or pause by the motor and drive.
14-5
14. Maintenance and Inspection
Encoder cable Check for abnormal wiring and Replace the encoder
abnormality short circuit. cable.
overload Main power input Check if the main power Re-inspect the main
voltage abnormality voltage is AC253 [V] or higher. power source.
Motor cable abnormality Check for cable disconnection. Replace the motor cable.
Encoder
Reserved
temperature
(Encoder overheat)
14-6
14. Maintenance and Inspection
there may be
Motor ID setting must match the applied label. This alarm can be
14-7
14. Maintenance and Inspection
there may be
To use an incremental
Parameter setting Check the setting value of type absolute encoder, set
alarms.
Low battery
Defective battery
(Encoder battery Check the battery connection Connect the battery
connection, non-
low voltage)
status. accurately.
connection
14-8
14. Maintenance and Inspection
the load.
there may be
Main power input Check if the voltage between L1 Re-inspect the main
there may be
Reserved .
Control power fail
Over speed limit values of [0x2000], [0x2001] and that they match the
14-9
14. Maintenance and Inspection
abnormalities in the
motor.
in the drive.
Reserved
Emergency stop
14-10
14. Maintenance and Inspection
Encoder2 POS
difference (Excessive Reserved
position error of
external encoder)
USB communication
(USB Reserved
communication
error)
Reserved
Reserved
Reserved
Reserved
14-11
14. Maintenance and Inspection
Parameter range
Reserved
(Parameter range
error)
Drive motor
combination (Drive Reserved
motor combination
error)
GPIO setting
(Input/Output Reserved
contact point
setting error)
14-12
14. Maintenance and Inspection
Note that warnings are displayed in the shape of ‘ㅂ’ on the servo display window.
3 W08 DB overcurrent
0 0 0 0 0 1 1 0 0x06 W-06
Software position limit
+
Low voltage of
encoder batteries
If two warnings occur at the same time, each corresponding bit is set to 1. For example,
when a software position limit warning is triggered, the second bit is set. Also, when an
encoder battery low voltage warning is triggered, the first bit is set. The two warnings are
combined into ‘0x06,’ and you can view the alarm in the display of ‘W06’ on the segment
window.
14-13
14. Maintenance and Inspection
Main power
abnormality
in the drive.
Defective
external
14-14
14. Maintenance and Inspection
the load.
Encoder
Check for abnormal wiring and
cable Replace the encoder cable.
short circuit.
abnormality
Abnormal Check if the current capacity of the Lower the torque limit value or replace
drive-motor applied motor exceeds that of the the motor with one that has a lower
drive. current capacity than that of the drive.
combination
SETUP (Setting
Check if there are repeated signal
abnormality) IO setting assignments in digital input signal Set the parameter appropriately for the
14-15
14. Maintenance and Inspection
operation
14-16
14. Maintenance and Inspection
When AL-35 (low voltage of encoder battery (Low battery)) or W02 (low voltage of encoder battery
(LOW_BATT)) occurs, you have to replace the encoder battery.
(1) Maintain the control power of the drive in its on state and turn off the main power.
(2) Separate the battery connector and remove the battery from the battery case.
(3) Insert a newly prepared battery in the battery case and connect the battery connector.
Here, use the following battery product.
(4) To release the AL-35 or W02 signal after battery replacement, turn off the control
power and turn on the control power and the main power again.
(5) Check if AL-35 and W02 have been released and operation is normal.
<Caution>
While replacing the battery, leave the control power on and the main power off. If you
replace the battery with all powers off, the multiturn data may be lost.
If you replace the battery after warning 02 is triggered, the warning is immediately
released.
After replacing the battery when alarm 35 has occurred, make sure to perform homing.
Make sure that the voltage of the newly prepared battery is normal before replacement.
Confirm “+” and “-” of the battery and connect the battery connector.
Do not disassemble or charge the battery.
Make sure that the poles are not short-circuited. Doing so may shorten the lifespan of the
battery or generate heat.
14-17
14. Maintenance and Inspection
10000
1000
Time (s)
100
회전
Turn
정지
Stop
10
1
100 110 120 130 140 150 160 170 180 190 200 210 220 230 240 250 260 270 280 290 300 310
14-18
14. Maintenance and Inspection
200 92 66
100000
10000
1000
Time (s)
회전
(s)
Turn
100 정지
Stop
10
1
100 110 120 130 140 150 160 170 180 190 200 210 220 230 240 250 260 270 280 290 300 310
Load factor
(%)
14-19
14. Maintenance and Inspection
200 201 66
250 31 8.3
1000000
100000
10000
Time(s)
1000
회전
Turn
정지
Stop
Stop
100
10
1
100 110 120 130 140 150 160 170 180 190 200 210 220 230 240 250 260 270 280 290 300 310
Load factor
(%)
14-20
14. Maintenance and Inspection
Model Names IDs Watts Notes Model Names IDs Watts Notes
SF75D 88 7500
14-21
14. Maintenance and Inspection
14-22
14. Maintenance and Inspection
14-23
14. Maintenance and Inspection
14-24
14. Maintenance and Inspection
SF75D 88 7500
14-25
14. Maintenance and Inspection
Model Names IDs Watts Notes Model Names IDs Watts Notes
14-26
14. Maintenance and Inspection
Model Names IDs Watts Notes Model Names IDs Watts Notes
14-27
14. Maintenance and Inspection
14-28
15. Communication Protocol
15.1.1 Overview
L7C drive is for RS-422 serial communication. By connecting it an upper level controller such as
HMI, PLC and PC, you can use functions such as test-driving, gain tuning, parameter change and
index operation.
You can also operate or control communication of up to 99 shafts by connecting multiple L7C
drives via the multi-drop method.
Servo
PC drive
USB Port
USB to RS-422
Communication
I/O
converter
USB Port
USB to RS-422
Communication
converter
Note1) When using a PC as the upper level controller, you have to use the USB-to-RS-422
communication converter.
15-1
15. Communication Protocol
Communication Specifications
Item Specifications
Synchronization Asynchronous
9600/19200/38400/57600 [bps]
Transmission Rate
Communication speed setting possible in [0x3002]
6 RXD+
7 RXD-
2 TXD+
3 TXD-
Terminating resistance
28
connection
For RS-422 communication, you must connect signal lines to the CN1 connector. For stability of the
product, it is recommended to use STP cables and connectors and connect TXD+ and TXD- as well
15-2
15. Communication Protocol
as RXD+ and RXD- as twisted pairs. Connect 7 and 28 for the terminating resistance. A resistance
of 120Ω is charged inside the driver.
<Caution>
Do not use APC-VSCN1T or APC-VPCN1T during communication wiring. Communication may be
disconnected due to disconnection in cable shields. Also, build the structure of a single connector
holding individual lines of RS-422 communication cables and input/output cables. Make sure to use
shielded twisted cables (Twisted Pair Wire) as the RS-422 communication cables.
To frequently write data, make sure to set the value of Individual Parameter Save[0X240E] to 0. Frequent
15-3
15. Communication Protocol
In principle, communication of L7C drive complies with the MODBUS-RTU protocol. For information
about items not covered in this manual, refer to the following standard. (Related standard:
Modbus Application Protocol Specification 1.1b, 2006.12.28)
Also, the concepts of sending (Tx) and receiving (Rx) are for the Host in this manual.
The MODBUS-RTU communication mode requires space of at least 3.5 char between the ends of
packets to distinguish the packets as shown in the following image.
to
Additional Function
Data Error Check
Address Code
Bytes 0 1 2 . . n-1 n
[Normal Response]
Additional Function
Data Error Check
Address Code
Bytes 0 1 2 . . n-1 n
[Abnormal Response]
15-4
15. Communication Protocol
Address Code
Bytes 0 1 2 3 4
Function
Details Node ID Exception code CRC (MSB) CRC (LSB)
+0x80
Node ID
It shows the identification number of the servo drive for sending and receiving.
You can set the identification number of the servo drive in parameter [0x2003]. Turn on/off the
power of the drive after setting.
Function Code
The following are the Modbus-RTU standard function codes supported by L7C drive.
Command Purpose
Category Descriptions
Codes Read Write
Data
[Sending]: For a read register command, it is necessary to set the Modbus address and
numbers of registers and bytes. For a write register, it is necessary to set the Modbus address,
number of bytes and setting value.
[Receiving]: For a normal response of a read register, the node ID and function code in
receiving have the same number as in sending. Data are received with register values according
to the register order during sending.
15-5
15. Communication Protocol
For the write single register command, the transmitted data are received without change. For
the write multi registers command, the start address of the register for which to write data
using the command as well as the number of registers are received.
An abnormal response consists of node ID, error code and exception code. All abnormal
responses have the same packet structure regardless of their function codes.
CRC
You can input the 16 bit CRC value. 1 byte each of MSB and LSB is sent.
Exception Code
The followings are the exception codes for all abnormal responses of all function codes
supported in L7C drive.
Note1) If the setting range of the parameter is the same as that of the data type and a value out of
the range is input, no response is made using the exception code, but the maximum and minimum
15-6
15. Communication Protocol
It reads individual bit outputs as well as continual bit output block values.
Request
Request OK
Response not OK
The command code Read Coils can read the status of contacts that correspond to drive
status input 1, 2 and drive status output 1, 2. The following are the addresses that
correspond to drive status input 1, 2 and drive status output 1, 2.
15-7
15. Communication Protocol
Communication Communication
Address Address
Output Accessi Output Accessi
Hexadeci
Decimal Contacts bility Decimal Hexadecimal Contacts bility
mal
Numbers Numbers Numbers
Numbers
15-8
15. Communication Protocol
Communication Communication
Address Address
Output Access Output Accessi
Hexadeci
Decimal Contacts ibility Decimal Hexadecimal Contacts bility
mal
Numbers Numbers Numbers
Numbers
15-9
15. Communication Protocol
Request
Request OK
Outputs
Node ID Function Byte Count CRC Hi CRC Lo
Status
Response not OK
You can write the start address setting for protocol use in Start Address. Keep in mind while writing
that there are upper and lower parts. Quantity of Output is where you can set how many status of
input/output address to request from the start address. If you input 01, you can receive 1 status value.
If you input 03, you can receive 3 consecutive status values.
15-10
15. Communication Protocol
The following is an example of protocols for sending and receiving status input/output during servo
off.
15-11
15. Communication Protocol
The following table shows an example of 2 status values being received from the start address of
0x0020 during servo off.
01 01 01 01 D0 49
0 1
BRAKE : ON
ALARM : OFF
If you set Quantity of Output to 02 for the start address of 0x0020 in the sending protocol, a total of
2 input status values from 0020~0021 are requested. Since Outputs Status Bits of the received
protocol is 01, BRAKE is ON and ALARM is OFF.
01 01 01 05 91 8B
1 0 1
BRAKE : ON
ALARM : OFF
READY : ON
If you set Quantity of Output to 03, you an receive the status values from 0020~0022.
15-12
15. Communication Protocol
01 01 01 0D 90 4D
1 1 0 1
BRAKE : ON
ALARM : OFF
READY : ON
ZSPD : ON
If you set Quantity of Output to 04, you an receive the status values from 0020~0023.
01 01 01 1D 91 81
1 1 1 0 1
BRAKE : ON
ALARM : OFF
READY : ON
ZSPD : ON
IPOS1 : ON
If you set Quantity of Output to 05, you an receive the status values from 0020~0024.
15-13
15. Communication Protocol
It reads individual bit outputs as well as continual bit input block values.
Request
Request OK
Response not OK
The command code Read Discrete Inputs can read the status of contacts that correspond to
drive status input 1, 2 and drive status output 1, 2. The following are the addresses that
correspond to drive status input 1, 2 and drive status output 1, 2.
15-14
15. Communication Protocol
Communication Communication
Address Address
Output Acces Output Accessi
Hexadeci
Decimal Contacts sibility Decimal Hexadecimal Contacts bility
mal
Numbers Numbers Numbers
Numbers
15-15
15. Communication Protocol
Communication Communication
Request
Request OK
Node Input
Function Byte Count CRC Hi CRC Lo
ID Status
15-16
15. Communication Protocol
Response not OK
The following is an example of protocol for a request of 2 status values from the start address 0x0020.
15-17
15. Communication Protocol
01 02 01 01 60 48
0 1
BRAKE : ON
ALARM : OFF
01 02 01 05 61 8B
1 0 1
BRAKE : ON
ALARM : OFF
READY : ON
15-18
15. Communication Protocol
01 02 01 0D 60 4D
1 1 0 1
BRAKE : ON
ALARM : OFF
READY : ON
ZSPD : ON
01 02 01 1D 61 81
1 1 1 0 1
BRAKE : ON
ALARM : OFF
READY : ON
ZSPD : ON
IPOS1 : ON
15-19
15. Communication Protocol
It reads single registers (16-bit data) and continuous register block (16 bit data) values.
Request
Request OK
Response not OK
ex 1) when reading only the parameter for the current velocity (Address: 0x2600)
Request
Request OK
15-20
15. Communication Protocol
Response not OK
ex 2) when reading several parameters including motor ID (Address: 0x2000), encoder type (Address:
0x2000) encoder pulse count per revolution (Address: 0x2002~0x2003 )
Request
Request OK
Register Register
CRC Hi CRC Lo
Value Hi Value Lo
- The motor ID (Address: 0x2000) value is 13 (or 0x000D) and the encoder type (Address: 0x2001)
value is 2 (or 0x0002). Since the encoder pulse count per revolution (Address: 0X2002~0x2003) is
32-bit data, the data that has been read must be swapped. The currently displayed value is
524288 (or 0x00080000).
Response not OK
01 03 04 2E E0 00 00 F2 ED
SWAP
00 00 2E E0 12000
15-21
15. Communication Protocol
Be cautious with parsing for a 2 byte register since 1 byte for each of the upper and lower parts is
swapped. For example, ‘2E E0 00 00’ is swapped and converted into a decimal number, 12000.
It reads single registers (16-bit data) and continuous register binary (16 bit data) values.
Request
Request OK
Response not OK
ex1) When reading the parameter value of drive status output 1 (Address: 0x2121)
Request
Request OK
- Drive status output 1 (Address: 0X2121) is 0b10010011001 (0x0499), BRAKE, ZSPD, INPOS1,
INSPD, INPOS2 contacts in High (Status 1) are output.
15-22
15. Communication Protocol
Response not OK
Request
Request OK
Response not OK
The command code Write Single Coil can control input of individual bits that correspond to
drive status input 1, 2. The following are the addresses that correspond to drive status input
1, 2.
15-23
15. Communication Protocol
Communication Communication
Address Address
Output Acces Output Accessi
Hexadeci
Decimal Contacts sibility Decimal Hexadecimal Contacts bility
mal
Numbers Numbers Numbers
Numbers
Request
15-24
15. Communication Protocol
Request OK
Response not OK
Request
Request OK
Response not OK
15-25
15. Communication Protocol
15-26
15. Communication Protocol
Request
Request OK
Response not OK
Request
Request OK
- It changes the inertia ratio value (Address: 0x2100) to 200 (or 0x00C8).
Response not OK
15-27
15. Communication Protocol
Request
Request OK
Response not OK
The command code Write Multiple Coil can control continual input of bits that correspond
to drive status input 1, 2. The following are the addresses that correspond to drive status
input 1, 2.
Communication Communication
Address Address
Output Acces Output Accessi
Hexadeci
Decimal Contacts sibility Decimal Hexadecimal Contacts bility
mal
Numbers Numbers Numbers
Numbers
15-28
15. Communication Protocol
Request
Outputs Output
CRC Hi CRC Lo
Value Hi Value Lo
Request OK
15-29
15. Communication Protocol
Response not OK
Quantity of Byte
ID Function Start Address Output Value CRC
Outputs Count
01 0F 00 00 00 0F 02 01 04 E4 97
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16
ISEL4 START
ISEL5 PAUSE
ABSRQ REGT
JSTART HSTART
JDIR ISEL0
PCLEAR ISEL1
AVOR ISEL2
Reserved ISEL3 Start Address
0 4 0 1
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
MODE POT
Reserved NOT
EMG HOME
A_RST STOP
SV_ON PCON
GAIN2
SPD1/LVSF1
P_CL
SPD2/LVSF2 N_CL
SPD3
0x0F = 15 2
When you assign 15 Quantity Of Outputs while starting from 0x00 for the starting address, you can control the
input up to 0x14. As the upper and lower Output Values are swapped, please be careful when you input them.
When you input ’01 04’, for example, they will be swapped into ’04 01’. 04 will turn on EMG, the 10th bit, and
‘01’ will turn on POT, the Oth Bit.
15-30
15. Communication Protocol
SV_ON signal ON
Quantity of Byte
ID Function Start Address Output Value CRC
Outputs Count
01 0F 00 00 00 0F 02 00 10 E4 38
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16
ISEL4 START
ISEL5 PAUSE
ABSRQ REGT
JSTART HSTART
JDIR ISEL0
PCLEAR ISEL1
AVOR ISEL2
Reserved ISEL3 Start Address
1 0 0 0
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
MODE POT
Reserved NOT
EMG HOME
A_RST STOP
SV_ON PCON
GAIN2
SPD1/LVSF1
P_CL
SPD2/LVSF2 N_CL
SPD3
0x0F = 15 2
15-31
15. Communication Protocol
Request
Request OK
Response not OK
ex 1) When using multiple parameters including jog speed (Address: 0x2300), speed command
acceleration time (Address: 0x2301), speed command deceleration time (Address: 0x2302)
15-32
15. Communication Protocol
Request
- Jog speed (Address: 0X2300) is changed to -3000 (or 0xF448) and speed command acceleration time
(Address: 0X2301) and speed command deceleration time (Address: 0x2302) is changed to 100 (or 0x0064).
Request OK
Response not OK
15-33
15. Communication Protocol
*Protocol example*
Quantity of Byte
ID Function Start Address
Register Count
01 10 23 00 00 03 06
Communication Number of
Parameter name address Value registers
Jog Operation Speed 0x2300 -3000 1
Speed Command Acceleration Time 0x2301 100 1
Speed Command Deceleration Time 0x2302 100 1
F4 48 00 64 00 64 F7 4A
When you input -3000, “F4 48” is input in the register. The following example shows the
conversion process. Refer to the example.
15-34
15. Communication Protocol
3000
텍스트
0 B B 8
0 0 0 0 1 0 1 1 1 0 1 1 1 0 0 0
Maintenance Maintenance
1 1 1 1 0 1 0 0 0 1 0 0 0 1 1 1
+1
1 1 1 1 0 1 0 0 0 1 0 0 1 0 0 0
F 4 4 8
텍스트
F4 48
F4 48 00 64 00 64 F7 4A
When you input -3000, 3000 is converted into a hexadecimal number first. The complement is taken
and 1 is added to the 0th bit.
When the complement is taken, the value is F4 48. If you input the value in the register, -3000 is
input. For reading, follow the opposite order to see the result value.
15-35
15. Communication Protocol
*Protocol example*
Quantity of Byte
ID Function Start Address
Register Count
01 10 21 01 00 03 06
Communication Number of
Parameter name Value
address registers
Position Loop Gain 1 0x2101 25 1
Speed Loop Gain 1 0x2102 65 1
Speed Loop Integral Time Constant 1 0x2103 150 1
00 19 00 41 00 96 D5 C1
15-36
15. Communication Protocol
*Protocol example*
Index0.IndexType[0x3101] : 0
Index0.Distance[0x3102] : 51200000
Index0.Velocity[0x3104] : 87381
Quantity of Byte
ID Function Start Address
Register Count
01 10 31 01 00 05 0A
Communication Number of
Parameter name address Value registers
Index0.IndexType 0x3101 0 1
Index0.Distance 0x3102 51200000 2
Index0.Velocity 0x3104 87381 2
00 00 40 00 03 0D 55 55 00 01 19 F3
The number of registers differ for each parameter. To determine the value of Quantity of
Register, find out the variable format on the communication address table. The register
quantity is 1 for 16 [bit] and 2 for 32 [bit]. Add the values and input the result value.
Input the value twice Quantity of Register for Byte Count.
15-37
15. Communication Protocol
Apart from saving individual parameters [0x240E], you can save or reset parameters using below
commands.
- Parameter Saving
Request
Request OK
15-38
15. Communication Protocol
- Parameter Restoration
Request
Request OK
15-39
15. Communication Protocol
8194 0x2002 Encoder Pulse per Revolution 0x2002 UDINT 524288 0 1073741824 pulse RW
8199 0x2007 Main Power Fail Check Mode 0x2006 UINT 0 0 255 - RW
8200 0x2008 Main Power Fail Check Time 0x2007 UINT 20 0 5000 ms RW
Regeneration Brake
8202 0x200A 0x2009 UINT 1 0 1 - RW
Resistor Configuration
Regeneration Brake
8203 0x200B 0x200A UINT 100 0 200 % RW
Resistor Derating Factor
Regeneration Brake
8204 0x200C 0x200B UINT 0 0 1000 ohm RW
Resistor Value
Regeneration Brake
8205 0x200D 0x200C UINT 0 0 30000 watt RW
Resistor Power
8214 0x2016 U Phase Current Offset 0x2015 INT 0 -1000 1000 0.10% RW
8215 0x2017 V Phase Current Offset 0x2016 INT 0 -1000 1000 0.10% RW
15-40
15. Communication Protocol
8216 0x2018 W Phase Current Offset 0x2017 INT 0 -1000 1000 0.10% RW
8217 0x2019 Magnetic Pole Pitch 0x2018 UINT 2400 1 65535 0.01mm RW
15-41
15. Communication Protocol
8467 0x2113 Emergency Stop Torque 0x2113 UINT 1000 0 5000 0.1% RW
15-42
15. Communication Protocol
8469 0x2115 P Control Switch Torque 0x2115 UINT 500 0 5000 0.1% RW
8470 0x2116 P Control Switch Speed 0x2116 UINT 100 0 6000 rpm RW
8471 0x2117 P Control Switch Acceleration 0x2117 UINT 1000 0 60000 rpm/s RW
8472 0x2118 P Control Switch Following Error 0x2118 UINT 100 0 60000 pulse RW
8478 0x211E Dead Band for Position Control 0x211E UINT 0 0 1000 UU RW
15-43
15. Communication Protocol
8704 0x2200 Digital Input Signal 1 Selection 0x2200 UINT 0x000F 0 0xFFFF - RW
8705 0x2201 Digital Input Signal 2 Selection 0x2201 UINT 0x0020 0 0xFFFF - RW
8706 0x2202 Digital Input Signal 3 Selection 0x2202 UINT 0x0021 0 0xFFFF - RW
8707 0x2203 Digital Input Signal 4 Selection 0x2203 UINT 0x0022 0 0xFFFF - RW
8708 0x2204 Digital Input Signal 5 Selection 0x2204 UINT 0x000C 0 0xFFFF - RW
8709 0x2205 Digital Input Signal 6 Selection 0x2205 UINT 0x001C 0 0xFFFF - RW
8710 0x2206 Digital Input Signal 7 Selection 0x2206 UINT 0x0001 0 0xFFFF - RW
8711 0x2207 Digital Input Signal 8 Selection 0x2207 UINT 0x0002 0 0xFFFF - RW
8712 0x2208 Digital Input Signal 9 Selection 0x2208 UINT 0x000B 0 0xFFFF - RW
8713 0x2209 Digital Input Signal 10 Selection 0x2209 UINT 0x0004 0 0xFFFF - RW
8714 0x220A Digital Output Signal 1 Selection 0x220A UINT 0x8002 0 0xFFFF - RW
8715 0x220B Digital Output Signal 2 Selection 0x220B UINT 0x0003 0 0xFFFF - RW
8716 0x220C Digital Output Signal 3 Selection 0x220C UINT 0x0004 0 0xFFFF - RW
8717 0x220D Digital Output Signal 4 Selection 0x220D UINT 0x8001 0 0xFFFF - RW
8718 0x220E Digital Output Signal 5 Selection 0x220E UINT 0x0005 0 0xFFFF - RW
8724 0x22174 Analog Velocity Command Scale 0x2214 INT 100 -1000 1000 - RW
15-44
15. Communication Protocol
Communication
Numbers l Numbers
8960 0x2300 Jog Operation Speed 0x2300 INT 500 -6000 6000 rpm RW
8961 0x2301 Speed Command Acceleration Time 0x2301 UINT 200 0 10000 ms RW
8962 0x2302 Speed Command Deceleration Time 0x2302 UINT 200 0 10000 ms RW
8964 0x2304 Program Jog Operation Speed 1 0x2304 INT 0 -6000 6000 rpm RW
8965 0x2305 Program Jog Operation Speed 2 0x2305 INT 500 -6000 6000 rpm RW
8966 0x2306 Program Jog Operation Speed 3 0x2306 INT 0 -6000 6000 rpm RW
8967 0x2307 Program Jog Operation Speed 4 0x2307 INT -500 -6000 6000 rpm RW
8968 0x2308 Program Jog Operation Time 1 0x2308 UINT 500 0 10000 ms RW
8969 0x2309 Program Jog Operation Time 2 0x2309 UINT 5000 0 10000 ms RW
8970 0x230A Program Jog Operation Time 3 0x230A UINT 500 0 10000 ms RW
8971 0x230B Program Jog Operation Time 4 0x230B UINT 5000 0 10000 ms RW
8972 0x230C Index Pulse Search Speed 0x230C INT 20 -1000 1000 rpm RW
8975 0x230F Over Speed Detection Level 0x230F UINT 6000 0 10000 rpm RW
8976 0x2310 Excessive Speed Error Detection Level 0x2310 UINT 5000 0 10000 rpm RW
8978 0x2312 Multi-Step Operation Velocity 1 0x2312 INT 0 -32768 32767 rpm RW
8979 0x2313 Multi-Step Operation Velocity 2 0x2313 INT 10 -32768 32767 rpm RW
8980 0x2314 Multi-Step Operation Velocity 3 0x2314 INT 50 -32768 32767 rpm RW
8981 0x2315 Multi-Step Operation Velocity 4 0x2315 INT 100 -32768 32767 rpm RW
8982 0x2316 Multi-Step Operation Velocity 5 0x2316 INT 200 -32768 32767 rpm RW
8983 0x2317 Multi-Step Operation Velocity 6 0x2317 INT 500 -32768 32767 rpm RW
8984 0x2318 Multi-Step Operation Velocity 7 0x2318 INT 1000 -32768 32767 rpm RW
8985 0x2319 Multi-Step Operation Velocity 8 0x2319 INT 1500 -32768 32767 rpm RW
15-45
15. Communication Protocol
9221 0x2405 TGON Output Range 0x2405 UINT 100 0 6000 rpm RW
9222 0x2406 INSPD Output Range 0x2406 UINT 100 0 6000 rpm RW
9223 0x2407 BRAKE Output Speed 0x2407 UINT 100 0 6000 rpm RW
9224 0x2408 BRAKE Output Delay Time 0x2408 UINT 100 0 1000 ms RW
9225 0x2409 Torque Limit at Homing Using Stopper 0x2409 UINT 250 0 2000 0.10% RW
9239 0x2417 RMS Overload Calculation Time 0x240F UINT 100 60000 ms RW
15000
Address
Parameter Variable Initial Minimum Maximum
Hexadeci Parameter Names Units Accessibility
Decimal Numbers Types Values Values Values
mal
Numbers
Numbers
15-46
15. Communication Protocol
9494 0x2516 Vibration Suppression Filter 1 Frequency 0x2516 UINT 0 0 2000 0.1Hz RW
9496 0x2518 Vibration Suppression Filter 2 Frequency 0x2518 UINT 0 0 2000 0.1Hz RW
Numbers l Numbers
15-47
15. Communication Protocol
9770 0x262A Pulse Input Frequency 0x261E DINT - -32768 32767 Kpps RO
9772 0x262C Torque Limit Value 0x261F INT - -32768 32767 0.1% RO
9780 0x2634 Position Demand Internal Value 0x2624 DINT - -2147483648 2147483647 pulse RO
9782 0x2636 Position Actual Internal Value 0x2625 DINT - -2147483648 2147483647 RO
9788 0x263C Number of Dynamic Brake Switching 0x2628 DINT - -2147483648 2147483647 RO
15-48
15. Communication Protocol
9794 0x2642 Following Error Actual Value 0x262B DINT - -2147483648 2147483647 UU RO
9796 0x2644 Torque Demand Value 0x262C INT - -32768 32767 0.1% RO
9797 0x2645 Torque Actual Value 0x262D INT - -32768 32767 0.1% RO
15-49
15. Communication Protocol
10241 0x2801 [Third Party Motor] Number of Poles 0x2801 UINT 8 2 1000 - RW
10242 0x2802 [Third Party Motor] Rated Current 0x2802 FP32 2.89 - - Arms RW
10246 0x2806 [Third Party Motor] Rated Speed 0x2804 UINT 3000 1 60000 rpm RW
10247 0x2807 [Third Party Motor] Maximum Speed 0x2805 UINT 5000 1 60000 rpm RW
Kg.m2.10
10250 0x280A [Third Party Motor] Torque Constant 0x2807 FP32 0.46 - - RW
-4
10252 0x280C [Third Party Motor] Phase Resistance 0x2808 FP32 0.82 - - ohm RW
10254 0x280E [Third Party Motor] Phase Inductance 0x2809 FP32 3.66 - - mH RW
10256 0x2810 [Third Party Motor] TN Curve Data 1 0x280A UINT 3000 1 60000 rpm RW
10258 0x2812 [Third Party Motor] TN Curve Data 2 0x280B FP32 100 - - % RW
10260 0x2814 [Third Party Motor] Hall Offset 0x280C UINT 0 0 360 deg RW
15-50
15. Communication Protocol
Address
Parameter Variabl Initial Minimum Maximum Accessibilit
Decimal Hexadecim Parameter Names Units
Numbers e Types Values Values Values y
Number al
s Numbers
214748364
12294 0x3006 Encoder Output Pulse 0x3006 UDINT 10000 0 - RW
7
UDINT 214748364 RW
12302 0x300E Electric Gear Numerator 1 0x300C 1 1
7
UDINT 214748364 RW
12304 0x3010 Electric Gear Numerator 2 0x300D 1 1
7
UDINT 214748364 RW
12306 0x3012 Electric Gear Numerator 3 0x300E 1 1
7
UDINT 214748364 RW
12308 0x3014 Electric Gear Numerator 4 0x300F 1 1
7
UDINT 214748364 RW
12310 0x3016 Electric Gear Denomiator 1 0x3010 1 1
7
UDINT 214748364 RW
12312 0x3018 Electric Gear Denomiator 1 0x3011 1 1
7
UDINT 214748364 RW
12314 0x301A Electric Gear Denomiator 1 0x3012 1 1
7
UDINT 214748364 RW
12316 0x301C Electric Gear Denomiator 1 0x3013 1 1
7
15-51
15. Communication Protocol
DINT - 214748364 RW
12324 0x3024 Home Offset 0x3019 0
2147483648 7
UDINT 107374182 RW
12328 0x3028 Homing Speed during Search for Zero 0x301B 100000 0
4
UDINT 107374182 RW
12330 0x302A Homing Acceleration 0x301C 200000 0
4
UDINT 107374182 RW
12332 0x302C Following Error Window 0x301D 600000 0
3
- - 107374182 RW
12336 0x3030 Software Position Min. Limit 0x3020 DINT
1000000000 1073741824 3
- 107374182 RW
12338 0x3032 Software Position Max. Limit 0x3021 DINT 1000000000
1073741824 3
214748364
12342 0x3036 Quick Stop Deceleration 0x3024 UDINT 2000 0 RW
7
15-52
15. Communication Protocol
15-53
15. Communication Protocol
Communication Address
Minimum Maximum
Decimal Hexadecimal Parameter Names Variable Types Units Accessibility
Values Values
Numbers Numbers
15-54
15. Communication Protocol
Communication Address
Minimum Maximum
Decimal Hexadecimal Parameter Names Variable Types Units Accessibility
Values Values
Numbers Numbers
15-55
16. Product Features
AP04 250x250x6
AP08 250x250x12
※ The product specifications are based on the measurement data obtained after mounting the heat sink.
※ When a cable is bent by more than the specified bending rate, it may not qualify for the specified IP grade.
※ Use only the dedicated heat sink cables to satisfy the specified IP grade conditions.
16-1
16. Product Features
Rated power rate [kW/s] 10.55 23.78 36.19 11.09 27.60 27.07
Specifications and Ambient Use temperature: 0~40 [°C], maintenance temperature: -10~60 [°C]
features temperature
Ambient humidity Use humidity: 80 [%]RH, maintenance humidity: 90 [%]RH or lower (no condensation)
16-2
16. Product Features
Specifications and Ambient Use temperature: 0~40 [°C], maintenance temperature: -10~60 [°C]
features temperature
Ambient humidity Use humidity: 80[%]RH, maintenance humidity: 90[%]RH or lower (no condensation)
16-3
16. Product Features
Specifications and Ambient Use temperature: 0~40 [°C], maintenance temperature: -10~60 [°C]
features temperature
Ambient humidity Use humidity: 80 [%] RH, maintenance humidity: 90 [%] RH or lower(no condensation)
16-4
16. Product Features
Note1) The same specifications apply to all electric brakes installed in our servo motors.
Note2) Electric brakes are designed to maintain a stop. Never use them for absolute braking.
Note4) These brake specifications are subject to change. Check the voltage specifications shown on your specific motor.
16-5
16. Product Features
APM – FAL01A
APM – FAL015A
19.7
0.04 A
20
18
Ø30-0.021
0
40
Ø8-0.009
0
40 2.5 5 "LA"
A
0.04 "LC" 36.4
0.04 A
25 "LM±0.5"
"L±0.5"
<Power connector pin arrangement> <Encoder connector pin arrangement> <Brake connector pin arrangement>
External Dimensions
Model Name Weight (kg)
L LM LC LA
Note3) Connect the power cable first when connecting an FAL product.
16-6
16. Product Features
■ FBL Series | APM – FBL01A, FBL02A, FBL04A (17 bit magnetic encoder), FBL02A, FBL04A (17 bit
magnetic encoder)
"W"
"U"
"T"
(Detail diagram of shaft end)
22.5
Ø50 -0.025
0
62
Ø14 -0.018
0
A 3 6
62
0.02 "LC" 40.2
0.04 A
30 "LM"±0.5
"L"±0.5
<Power connector pin arrangement> <Encoder connector pin arrangement> <Brake connector pin arrangement>
Key
Model External Dimensions
Dimensions Weight (kg)
Name
L LM LC S H T W U
FBL01A 101.2 (141.2) 71.2 (111.2) 48.5 (48.3) 14 -0.018 5 5 3 0.54 (1.28)
FBL02A 112.2 (152.2) 82.2 (122.2) 59.5 (59.3) 14 -0.018 5 5 3 0.72 (1.46)
FBL04A 132.2 (172.2) 102.2 (142.2) 79.5 (79.3) 14 -0.018 5 5 3 1.04 (1.78)
16-7
16. Product Features
■ FCL Series | APM - FCL04A, FCL03D, FCL06A, FCL05D, FCL08A, FCL06D,APM - FCL10A, FCL07D
"W"
"U"
"T"
4-6.6
Power Connector Brake Connector Encoder Connector
penetration
PCD 90±0.12
0.04 A
36
25
Ø70 -0.030
0
80
ØS "H"
0
A 3 10
80 0.02
"LC" 40.5
0.04 A
40 "LM"±0.5
"L"±0.5
<Power connector pin arrangement> <Encoder connector pin arrangement> <Brake connector pin arrangement>
16-8
16. Product Features
Model Name
L7CA001U L7CA002U L7CA004U L7CA008U L7CA010U
Item
Communication MODBUS-RTU
Protocol
RS422
Synchronization Asynchronous
Communication
9600/19200/38400/57600[bps]
Specifications Transmission Rate
Possible to set in [0x3002]
Terminating Resistance External connector connected (CN1 7Pin, 28Pin), Built-in 120Ω
*STOP, START, REGT, HOME, HSTART, ISEL0, ISEL1, ISEL2, ISEL3, ISEL4, ISEL5,
PCON, GAIN2, P_CL, N_CL, MODE, PAUSE, ABSRQ, JSTART , PCLR, AOVR, INHIBIT,
16-9
16. Product Features
signals.
(*ALARM, *READY, *ZSPD±, *BRAKE, *INPOS1, ORG, EOS, TGON, TLMT, VLMT,
Temperature
Use
Use Humidity 80[%]RH or lower (No condensation)
Environment
/Maintenance Humidity /90[%]RH or lower (No condensation)
16-10
16. Product Features
L7CA001□~L7CA004□
★ Weight: 1.0[kg]
L7□A008□ / L7□A010□
16-11
16. Product Features
Product
Classification For Signals Low capacity serial encoder cable for flat motor (single-turn)
Name
14
2 7 9 4
3 8 8 3
2 SLO 7 /SLO 3 MA 10 -
4 9 7 2
5 6 1 4 /MA 11 -
3 - 8 -
5 SLO 12 -
8
Specification Front Rear
4 0V 9 +5V 6 /SLO 13 -
5 SHIELD 7 0V 14 +5V
Direction Direction
Plate SHIELD
1. Motor Connection 1 6 5
a. CAP Model: 2201825-1 (Tyco) 2 7 9 4
3 8 8 3
b. SOCKET Model: 2174065-4 (Tyco) 4 9 7 2
2. Drive Connection (CN2) 5 6 1
a. CASE Model: 10314-52A0-008 (3M) or SM-14J (Suntone) Fro nt Rear
b. CONNECTOR Model:10114-3000VE (3M) or SM-14J (Suntone) Directio n Directio n
Note1) in the model name indicates the type and length of the cable. Refer to the following table for the
information.
16-12
16. Product Features
Product
Classification For main power Low capacity L Series power cable
Name
Pr oduct
Model Name
FG 3 2 1
FG 3 2 1
U 1
LEAD
V 2
WIRE
W 3
FG FG 4
1. Motor connection
a. PLUG model: SM-JN8FT04 (Suntone)
b. Socket model: SMS-201 (Suntone)
2. Drive connection (U, V, W, PE)
a. U, V and W pin model: 1506
b. PE pin model: 1.5x4 (Ring Terminal)
3. Cable model: 4Cx0.75SQ or 4Cx18AWG
4. Other: FAL products require encoder cable installation after power cable installation.
Note1) in the model name indicates the type and length of the cable. Refer to the following table for the
information.
16-13
16. Product Features
For Communication
APCS-CN5L7U L7 SERIES
signals cable 1. PC Connection: USB A plug
b. Electrical requirements:
Note1) in the model name indicates the cable length. Refer to the table below for how the lengths are
represented.
Designation 01 02 03 05
16-14
16. Product Features
■ Option (Connector)
26 1 1
CN1
CN APC-CN1NNA L7 SERIES
Connector
50 25
8 1
ENCODER
CN APC-CN3NNA L7 SERIES 14
Connector 7
L7□A001□
Braking APCS-
Resistance L7□A002□
Resistance 140R50
L7□A004□
16-15
17. Test Drive
For a safe and proper test drive, make sure to check the following prior to a test drive. If
there is a problem, take appropriate measures before the test drive.
For motors with oil seal, is there any damage on the oil seal?
To perform a test drive of a servo motor that has been stored for an extended period, make
sure to check the motor according to the maintenance and inspection method for the motor.
For more information on maintenance and inspection, refer to Section 14. “Maintenance and
Inspection.”
17-1
17. Test Drive
For indexing position For pulse input position For speed For torque
operation operation operation operation
Perform test drive after combining the machine and servo motor.
Actual operation
Before a test drive, make sure that wiring between the upper device and servo drive as well
as the parameter settings of the servo drive are proper.
To use a Quadrature (Incremental) type motor or another company’s motor, set parameter
motor ID [0x2000], encoder type [0x2001], encoder pulse count per revolution [0x2002] and
position error range [0x301D] before the test drive.
17-2
17. Test Drive
Re-check the power and the input signal circuit and turn on the
1
control power of the servo drive.
2 Set the value of Index 00~Index 63 for the index to operate. 3.2 Indexing Position Operation
For safety, enter a 1/10 of the intended value for Velocity and
3
Registration Velocity.
Set electric gear ratio according to the upper device. Also adjust
10.3 Electric Gear Setup
4 the value of Quick Stop Deceleration[0x3024]
15.4.10 Index Related Parameters
when using the electric gear and the STOP signal together.
Turn off the SVON input signal, change Velocity and Registration
11
Velocity to intended values and re-perform order 6 to order 11.
13
17-3
17. Test Drive
17-4
17. Test Drive
- - - - - - -
2 Distance DINT RW No UU
11 Action UINT RW No -
0x3101 - Index01 - - - -
0x313F - Index 63 - - - -
17-5
17. Test Drive
Re-check the power and the input signal circuit and turn on
1
the control power of the servo drive.
Set the command unit, then set the electric gear ratio
according to the upper device. 10.3 Electric Gear Setup
3
When using the electric gear and the STOP signal at the same 15.4.10 Index Related Parameters
12 Pause the pulse commands and turn off the SVON input signal.
13
17-6
17. Test Drive
17-7
17. Test Drive
PDO
Sub Variable Accessi
Index Name Assign Unit
Index Type bility
ment
0x220D - Digital Output Signal 3 Selection UINT RW No -
- - - - - - -
17-8
17. Test Drive
Re-check the power and the input signal circuit and turn on the control
1
power of the servo drive.
Set the [0x231A] velocity command switch select function according to the 13.3 Manufacturer Specific
2
control method. Objects.
Set the parameters for multi-step operation velocity and digital input
signal setting for control using digital input signals.
3 Set parameters for [0x2229] analog velocity command scale and [0x222A]
analog velocity command clamp level for analog velocity operation.
Give a command signal to the servo drive and compare the actual
6
operation velocity and the command speed.
7 Check if the servo motor has performed index operation in the requested direction.
8 Output from the upper device at the speed requested by the device.
10 Pause the commands and turn off the SVON input signal.
17-9
17. Test Drive
17-10
17. Test Drive
- - - - - - -
17-11
17. Test Drive
1 Re-check the power and the input signal circuit and turn on the control power of the servo drive.
6 Apply analog voltage to the servo drive and check the velocity and command torque.
7 Check if the servo motor has performed index operation in the requested direction.
8 Output from the upper device at the speed requested by the device.
9 Check the velocity and command torque value of the servo motor.
10 Pause the commands and turn off the SVON input signal.
17-12
17. Test Drive
- - - - - - -
17-13
18. Appendix
18. Appendix
From the top menu, select the “Setup”->"FIRMWARE UPGRADE”"OS Download" buttons.
Do not unplug the USB cable or close the firmware program during transmission.
Since the parameter (object) setting values in the drive may be reset, save the drive
parameter (object) setting values before upgrade.
18-1
18. Appendix
Firmware Download
(3) An upgrade pop-up window is generated and the applied version of the servo is displayed.
18-2
18. Appendix
(6) To load the appropriate firmware file, click the "Load" button.
(7) Select the BIN file of the firmware to transmit and press the Open button.
(8) "Total Length" and "Total Packet" of the loaded firmware are displayed.
18-3
18. Appendix
(9) Press the "Start" button to start transmission. A count-down of 10 seconds is activated to clear the
internal memory in the drive. (Here, “Flash” is displayed for 7 segments for L7C.)
(10) After clearing, the firmware is transmitted automatically and the progress bar and "Current Packet" display
the current transmission status. (The transmission time depends on the PC performance, but it usually
(11) When the transmission is completed, a pop-up saying "Transmission completed" is displayed.
(12) After completion of PC transmission, make sure to reboot the drive by turning off and on the power of
the drive.
In L7C, when the power is turned off then on again after Main Power Fail Check Time[0x2007] +
1.0[sec](approx. 1[Sec]), an auto update is performed. You can view the update progress details on the
segment window.
18-4
18. Appendix
(1) If the download cable is pulled off during servo firmware update, the update may be
stopped.
(2) Turn off and on the drive power and repeat the above process from (2) to (12).
(3) If a pop-up window with the above warning phrase is displayed, check the type of the
drive.
18-5
18. Appendix
0x2002 Encoder Pulse per Revolution 524288 UDINT RW pulse 0 1073741824 Power re-input
0x200A Regeneration Brake Resistor Derating Factor 100 UINT RW % 0 200 Always
0x200D Peak Power of Regeneration Brake Resistor 100 UINT RW watt 1 50000 Always
18-6
18. Appendix
0x2104 Torque Command Filter Time Constant 1 5 UINT RW 0.1ms 0 1000 Always
0x2108 Torque Command Filter Time Constant 2 5 UINT RW 0.1ms 0 1000 Always
0x2109 Position Command Filter Time Constant 0 UINT RW 0.1ms 0 10000 Always
0x210A Position Command Average Filter Time Constant 0 UINT RW 0.1ms 0 10000 Always
0x210B Speed Feedback Filter Time Constant 5 UINT RW 0.1ms 0 10000 Always
0x210D Velocity Feed-forward Filter Time Constant 10 UINT RW 0.1ms 0 1000 Always
0x210F Torque Feed-forward Filter Time Constant 10 UINT RW 0.1ms 0 1000 Always
0x2111 External Positive Torque Limit Value 3000 UINT RW 0.1% 0 5000 Always
0x2112 External Negative Torque Limit Value 3000 UINT RW 0.1% 0 5000 Always
18-7
18. Appendix
0x2118 P Control Switch Following Error 100 UINT RW pulse 0 60000 Always
0x2210 Analog Torque Input (Command/Limit) Scale 100 UINT RW 0.1%/V -1000 1000 Always
0x2211 Analog Torque Input (Command/Limit) Offset 0 INT RW mV -1000 1000 Always
0x2212 Analog Torque Command Clamp Level 0 UINT RW Rpm 0 1000 Always
0x2213 Analog Torque Command Filter Time Constant 2 UINT RW 0.1ms 0 1000 Always
0x2214 Analog Velocity Command Scale 100 INT RW rpm/V -1000 1000 Always
0x2215 Analog Velocity Input (Command/Override) Offset 0 INT RW mV -1000 1000 Always
18-8
18. Appendix
0x2216 Analog Velocity Command Clamp Level 0 UINT RW Rpm 0 1000 Always
0x2217 Analog Velocity Command Filter Time Constant 2 UINT RW 0.1ms 0 1000 Always
0x2300 Jog Operation Speed 500 INT RW rpm -6000 6000 Always
0x2304 Program Jog Operation Speed 1 0 INT RW rpm -6000 6000 Always
0x2305 Program Jog Operation Speed 2 500 INT RW rpm -6000 6000 Always
0x2306 Program Jog Operation Speed 3 0 INT RW rpm -6000 6000 Always
0x2307 Program Jog Operation Speed 4 -500 INT RW rpm -6000 6000 Always
0x230C Index Pulse Search Speed 20 INT RW rpm -1000 1000 Always
0x230E Velocity Limit Value at Torque Control Mode 1000 UINT RW rpm 0 6000 Always
0x230F Over Speed Detection Level 6000 UINT RW rpm 0 10000 Always
0x2310 Excessive Speed Error Detection Level 5000 UINT RW rpm 0 10000 Always
0x2315 Multi-Step Operation Velocity 4 100 INT RW rpm -6000 6000 Always
0x2316 Multi-Step Operation Velocity 5 200 INT RW rpm -6000 6000 Always
0x2317 Multi-Step Operation Velocity 6 500 INT RW rpm -6000 6000 Always
0x2318 Multi-Step Operation Velocity 7 1000 INT RW rpm -6000 6000 Always
0x2319 Multi-Step Operation Velocity 8 1500 INT RW rpm -6000 6000 Always
18-9
18. Appendix
0x2409 Torque Limit at Homing Using Stopper 250 UINT RW 0.10% 0 2000 Always
0x240F RMS Overload Calculation Time 15000 UINT RW ms 100 60000 Power re-input
18-10
18. Appendix
0x2513 Disturbance Observer Filter Time Constant 10 UINT RW 0.1ms 0 1000 Always
■ Monitoring (0x2600~)
Parameter Initial Variable Accessib Minimum Maximum
Parameter Names Units Notes
Numbers Values Types ility Values Values
18-11
18. Appendix
0x261A Reserved -
0x261B Reserved -
0x261C Reserved -
Power re-
0x2800 [Third Party Motor] Type 0 UINT RW - 0 1
input
0x2805 Power
[Third Party Motor] Maximum Speed 5000 UINT RW rpm 1 60000
recycling
18-12
18. Appendix
0x2808 Power
[Third Party Motor] Phase Resistance 0.82 FP32 RW ohm - -
recycling
18-13
18. Appendix
0x301A Homing Speed during Search for Switch 500000 UDINT RW 0 1073741824 Always
0x301B Homing Speed during Search for Zero 100000 UDINT RW - 0 1073741824 Always
0x3020 Software Position Min. Limit -1000000000 DINT RW - -1073741824 1073741823 Always
0x3021 Software Position Max. Limit 1000000000 DINT RW - -1073741824 1073741823 Always
18-14
18. Appendix
Revision History
18-15
18. Appendix
Product Warranty
L7C Series was produced using the strict quality control guidelines and testing procedures developed by technicians
of our company.
The warranty applies for 12 months after the date of installation. If the installation date is not specified, the warranty
is valid for 18 months after the date of manufacture. However, the terms of this warranty may change depending on
the terms of the contract. Be aware during purchase that the products in this manual are subject to discontinuation
or modifications without notice.
If the drive malfunctions under proper usage conditions and the product warranty is still valid, contact one of our
agencies or the designated service center. We will repair the product free of charge.
The malfunction is a result of inappropriate voltage or defects in the machines connected to the product.
The product was modified or repaired by someone other than our agency or service center worker.
※ After installing the servo, fill out this quality assurance form and send it to our quality assurance
department(technical support).
18-16
We greatly value all our relationships with customers!
Having customer service as well as product quality as its top priority, LS firmly pledges to be a
company for and by customers and to always put its best efforts for customers’ satisfaction.
www.lsis.com
LS IS www.lsis.com
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Tel : 84-4-6275-8055 Fax : 86-21-5237-7189
● Be aware during purchase that the products in this manual are subject to discontinuation or modifications without notice. 2018. 7
● Submit an A/S inquiry for a product malfunction during use or any inconvenience.
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