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XDL-L7N Series User Manual

1. ee T a e 16 e Wem Ho E CNS eng Hj iim E S m N iam m O 5 vu Cel y i f N E V 1 m 7 y p y gt fl e 9 Wyte p 3 Z n a5 1 L
2. Y o MN T I CHARGE gt 4 E p aq EL fs L2 8 7 is lc Length of strip in E 7 10 mm ey alla LS SE E E 2 Te li ai 2 T al y al 0 4 0 5 N m Es A B T Ki C X Weidmueller s M4 1 2 N m i SD 0 6x3 5x100 1 Refer to the drawings above for wiring with BLF 5 08 or BLZ 7 62HP Series connector 2 Insert wire into wire hole when upper screw is untightened and then use appropriate shaped screwdriver with 0 4 0 5 N m torque to make tight completely 3 Cut by vibration malfunction or fire by short could be occurred if torque of screwing was not enough 4 Make tight completely by using hooks both sides when connectors are attached to servo drive after wiring 5 FG screw which is located the bottom of servo drive has to be M4 and put on the FG screw with 1 2 N m torque 6 Malfunction of drive could be occurred if torque of screwing was not enough 7 Recommended
3. ARA Zr O HR O 3 T 107 7 L 172 5 Weight 1kg r JUUUUUU D Bes C LS E z E Mg teh Re cR Nak Saad hoe Nube AL U CA FG R 197 Weight 1 5 kg including the cooling fan 10 Product Specifications B XDL L7NAO20B XDL L7NAO35B a qd Ds Js uc AA fj I CN5 YI ll TIOOCOOCOOC eo T E Zi 159 169 Df i
4. ji M4 1 2 N m XDL L7NAOO8B XDL L7NAO10B 7 p DE lm fio 1 clk JKO JUKO ill SQ TA mo gui a QUO Length of strip UI 7 10 mm KO ine E 7 0 4 0 5 N m gt gt 0 o EL gon Weidmueller s B SD 0 6x3 5x100 M4 1 2 N m 3 Wiring XDL L7NAO20B XDL L7NAO35B
5. shock Be sure to connect a grounding line to this terminal LES SERVO r Display E 7 a This displays numerical values 85 L3 such as the L7N state and alarm number CHARGE State LEDs These LED indicate the current EtherCAT state P USB communication port CN5 This port communicates with a L1 i E N personal computer L2 e flr EtherCAT communication port L3 amp A N Ca S EtherCAT IN CN4 PO ul EtherCAT communication port Pls i lt Deus AME 2 EtherCAT OUT CN3 Bal O Bl e 3 4 Safety connector CN6 Ciis j gt P This connector connects safety devices PI Y Note If you are not using any safety Ge Cie EEA devices be sure to install the safety jump A connector on the L7N Input output signal connector Li 2 CN1 Pd This connector is for E sequence input output E signals ue p Q E Vies a le Ib i wl Encoder connector CN2 h 2 E a This connects to the encoder E odd installed on the servo motor Oe Y J VL P M AS Nc i 1 Product Configuration B XDL L7NAO20B XDL L7
6. PO PI N Bt B BI Diode Thermiste m IGBT f e e o e e A Py tay a pena C ER ER d Three Phase Power Input Ac200 230V dd dup 1o dqeee9 E 4E o poes gl Current Sensor i e e cr Ee ly Let o e e e ATAN L3 e MA e Cn e ME Lamp E M L4 A A Ti T2 Ty 1h us e e e e e e e essen e o i A R ti 1 Control Power Failure Bia Main Power Internal Relay 0C Voltage rekina Temper atire PWM Signal U and V Current DB y ailure emperature i i I Cur SC Detect etect ion ati Detection Circuit oeste oaaae raton temer eration See Pre Peru Centum Single Phase Power Input AC200 230V e m Y ci 4 Main Controla POWER Circuit Access qm U and V Current C2 DC Voltage L A D Conversion M m Bi SS r3 CN3 CN4 eter D ESC al Jo DSP FPGA Communication NS ss P USB TO UART Encoder CN2 Commun i cat i on Input C P C Insulation I F l Safety Function Input Safety Function Output Contact Input Contact Output 2 Points Points 8 Points 4 Points Safety Device Connection CN6 Upper Controller Connect
7. a zm o C2 1 s Lp H E o I i v f O a 0 a B zm o W La WN NE NS NOE A SCA NGA OO Os Oe NGA SUE A A ON NGA SO Ye A Nu A ER O Ki a E E LIT Id and CI N CO Y 198 Weight 2 5 kg including the cooling fan Hu XDL L 7NAOSOB
8. i a zi O li Ir ili SH L AA IE E Jj 1 Jil aj Sale 222 237 250 le 7 N H pol i m ER ii Ui E ES HARGI i i as ETE FSA EIER FEES a la m ETE ITE va y U L L T T T L T E M m m x i U di JU 1B T 1925 105 l Weight 5 5 kg including the cooling fan LS is 10 51 10 Product Specifications 10 4 Options and Peripheral Devices sOption serial encoder cable Category scd Name Note 1 OE Specifications Drive connection CN2 Motor connection All models of Serial type XML SA For per XLCS E Coming signaling XML SB Small Driver Connection capacity and Po XML SC Motor connection Series a Cap specifications 9 positions 172161 1 AMP b Socket specifications 170361 1 AMP Drive connection CN2 a Case specifications 10314 52A0 008 3M b Connector specifications 10114 3000VE 3M 3 Cable specifications 3Px0 2SQ or 3Px24AWG Motor connection Drive connection CN2 Multiturn All models type of signaling Small E CS1 Coming capacity XML SB and XML SC Motor connection Genes a Cap specifications 9 positions 172161 1 AMP b Socket specifications 170361 1 AMP
9. E i i 2 OPE De CHARGE m Li a gn I i L2 9 Ir L3 a j A i PO a f ET es PI 7 9 Be a oe q O CJ LO B al 2 at Bl a E Ci c2 a E re acum LS ll em HL H4 O U a laa V a H zi W a a less y 1 e FOO as EE dE e E 5 gt 4 B XDL L7NAOOSB XDL L7NAO10B 29 Bite A e l c me i CHARGE OPEND j PO P Bt 8 A co Ela 0 LN i 1858 o s fn o u 1 Y a W a H El a b 9 L TN E Ny _ 42 6 FG 10 50 LS
10. Controlword Bit Command r Bit 7 Bit 3 Bit 2 Bit 1 Bit 0 Shutdown 0 1 1 0 Switch on 0 0 1 1 1 Switch on Enable operation E Disable voltage 0 0 Quick stop 0 0 1 Disable operation 0 0 1 1 1 Enable operation 0 1 1 1 1 Details on Bits 4 to 9 Bits 4 5 and 9 Applied in Profile position Pp mode Bit 9 Bit 5 Bit 4 Details 0 0 021 It proceeds to the next position when the operation at the current position is complete 1 0 1 It drives to the next position immediately It drives from the current position to the profile position at the 1 0 0 1 e profile speed before it applies the next position Bits 6 and 8 Applied in Profile position Pp mode Bit function Value Details 0 Sets the target position to an absolute value 6 Abs rel 1 Sets the target position to a relative value 0 Runs an operation or continues an operation 8 Halt 1 Halts the operation according to the Halt Option code 0x605D Bits 4 5 6 8 and 9 Applied in Homing mode 8 56 Bit function Value Details Homing 0 Does not perform the homing operation 4 operation start 1 Performs or is performing the homing operation 0 0 n 0 Runs the bit 4 command 8 Halt 1 Halts the operation according to the Halt Option code 0x605D 9 0 Reserved Bits 4 5 6 8 and 9 Applied in Cyclic s
11. Slave axis 1 Slave axis 2 Slave axis n LSis 3 21 3 Wiring 3 8 2 EtherCAT Connectors and the Pin Map 3 22 The XDL L7N drive uses CN4 and CN3 as I O Connector for EtherCAT Connector Function CN4 The EtherCAT input CN3 The EtherCAT output Pin Number Signal Name Line color 1 TX RXO White Orange 2 TX RXO Orange 3 TX RX1 White Green 4 TX RX2 Blue 5 TX RX2 White Blue 6 TX RX1 Green 7 TX RX3 White Brown 8 TX RX3 Brown Plate Shield Note 1 EtherCAT only uses signals from the No 1 2 3 and 6 wires Note 2 Recommended Connector STP CAT 5E RJ 45 8P8C Recommended Cable CAT 5 STP 3 Wiring 3 9 Example of connecting to PLC 3 9 1 XGT PLC XGF PN8B Power L7N Servo 1r o NY L1 a aa lie ee APM FBO4AMK sete APD L7NA004B Oc U ph uui Regenerative braking resistor CN Digital input Diaital output DC 24V igital outpu LL XGF PN8B Y er z CN6 LL DC 24V El r Digital Input vO 1 ENCL AY A Ja HE Jae T Bd ms pes paz i OCA GND F J ENC2 A A Epa spor be he Ethernet Cable CN 4 Connection to next servo drive LS 3 23 4 4 1 4 How to use the Loader How to use the Loader Name and Function of each parts APA n i XE A Ww I Display 5 digit FND Data DIGITS DIGIT4 DIGITS DIGITE DIGIT
12. Botton for moving Display decimal point FND Object P I c Ei Y Ex 123 4 Display State of EtherCAT Comm or Error 16Bit Display 32Bit Display dot Li i c 3 d Ex 123 4 Refer to 5 3 LED State for more information 4 How to use the Loader 4 2 Status Summary Display 1 Display Status Summary for CSP Mode D Example of state of Servo Off in CSP Mode DIGT3 1 Display Current state bb Servo Off run Servo On Pot CCW Limit not CW Limit DIGT4 Upper ZSPD DIGT4_ Middle INSPD or INPOS DIGT4 Lower Command Speed or Torque State DIGT4 DOT READY State DIGT5 Display current control mode P Profile Position Interpolated Position Cyclic Sync Position S Profile Velocity Cyclic Sync Velocity T Torque Profile Cyclic Sync Torque H Homing mode DIGIT5 Lower Init state DIGIT5 Middle Lower Pre Operational state DIGIT5 Upper Middle Lower Safe Operational state 2 Example of state of Servo On in CSP Mode 4 How to use the Loader 2 Chart of status summary for Servo operation Refer to chart below for status summary for Servo operation m Disconnect STO Connector LL A 0 Y a a MT E Li Pre Op state 2 O 0 DO ri 7 f Servo OFF state in PP IP or CSP Mode E 0 UN Peruano Servo ON state in PP IP or CSP Mode P Pok CCW Limit state in PP IP or CSP Mode B aab CW Limit state in PP IP or CSP Mode EE Servo
13. In order to prevent parameters from being incorrectly reset the Sub Index records loa when the parameter is reset 8 Object Dictionary Signature MSB 16 15 LSB ASCI Hex All parameters are reset when loa is written to Sub Index 1 Communication parameters are reset when loa is written to Sub Index 2 CiA402 parameters are reset when loa is written to Sub Index 3 XDL L7N parameters are reset when loa is written to Sub Index 4 Turn the power off and then back on to restore the default values x When using this function delay time will occur to reconnect communication to upper controller by EEPROM call and power on off O KS rant Diatinansar 8 Object Dictionary Ld y 0x1018 Identity Object The following table shows device information Index 0x1018 Identity Object Number of entries Sub Data PDO Setting Initial value Access Change Unit Index Type Mapping Range Vendor ID Sub Data PDO Setting Initial value Access Change Index Type Mapping Range Product code Sub Data PDO Setting Initial value Access Change Index Type Mapping Range Revision number Sub Data PDO Setting Initial value Access Change Index Type Mapping Range Serial number Sub Data PDO Setting Initial value Access Change Index Type Mapping Range 8 10 LS 8 Object Dictionary NEM 8 3 PDO Mapping Objects You can map objects to Process Data Objects PDO w
14. Controlword 0x6040 Homing Method 0x6098 Statusword 0x6041 Homing speed 0x6099 Homing method Position demand internal value Ox60FC Homing acceleration 0x609A or position demand value 0x6062 Home offset 0x607C Digital Input Home switch Positive limit switch Negative limit switch B Related Objects Index Sub Name Sata Access pue Units Type Mapping 0x6040 Controlword UNIT RW Yes 0x6041 Statusword UINT RO Yes 0x607C Home Offset DINT RW No Pos Units 0x6098 Homing Method SINT RW Yes Homing Velocity 0 Number of entries USINT RO No 0x6099 Switch search speed 1 UDINT RW Yes Vel Units Speed during search for switch Zero search speed 2 UDINT RW Yes Vel Units Speed during search for zero Software position limit Software Position Limit 0 Number of entries USINT HO No 0x607D 1 Minimum position limit Min position limit DINT RW No Pos Units 2 Maximum position limit Max position limit DINT RW No Pos Units 0x609A Homing Acceleration UDINT RW Yes Acc Units 0x200D i Basic function setting Function Select UINT RW No Switch Position scale numerator 0x200E i INT RW No Position Scale Numerator Position scale denominator 0x200F x INT RW No Position Scale Denominator LS 6 13 6 CiA402 Drive Profile 6 14 B Homing Method 0x6098 Value Details 0 No Homing 1 2 1 If the NOT switch is OF
15. 0x210D Conversion Mode 8 Object Dictionary Index 0x210D Conversion Mode Sub ex Data PDO Setting cane Initial value Type Access Mapping Range Change Unit 0x00 to 0 0x00 UINT RW OxFF Always 1 Set the gain transfer mode Details Bit function Elle Setting details Hex 0 Only uses gain 1 ZSPD auto gain transfer In case of zero speed transfer from 1 gain 1 to gain 2 In the opposite case transfer from gain 2 to gain 1 INPOS auto gain transfer 0to3 Gain 1 lt gt Gain 2 Conversion In case of IN position transfer from 2 Setting the P and PI Control Conversion Modes Setting gain 1 to gain 2 In the opposite case transfer from gain 2 to gain 1 Manual gain transfer When the gain 2 contact is on transfer from gain 1 to gain 2 In the opposite case transfer from gain 2 to gain 1 Details Bit function INE Setting details Hex 0 Only control Pl 1 Control P if the command torque is higher than the set torque 0x2114 o Control P if the command speed is 4107 Bora PePe higher than the set speed 0x2115 3 Control P if the current acceleration is higher than the set torque 0x2116 Control P if the current position error is 4 higher than the set position error 0x211 7 Note 1 Control P if the PCON contact is on highest priority e These functions allow you to improve position operation
16. cccccceeececcceesseeeeeeeeeeeeeaeeeeeeeeees 8 39 0x2117 P Control Conversion Position Error Following Error Switch Value oocccccccccccconccnnncccnnonncnnnos 8 39 0x2200 Taput Port Denne dias 8 40 0x22D3 Input I ortJjelirig 2 bos tt teles Cubes Let st sets i sedet eee seu te Cee eee UR ELE UU 8 40 Dx2202 Ouiput Port Delne aii EA aab vies aao Pr asd ed te io Fo dr Pa vada etait 8 40 0x2208 Quiput Por Dels d 8 40 0x2204 The INPpubroR LOGICS CE dotee ee eie e Eeee E e tacita tuli tnit Ri Re Re Ern 8 40 02205 The OUTPUT Port LOGICS irritar n oom Mut nai Rod dec de 8 41 0x2206 The Zero Speed Fane siu ioci dics tte duo dde u a cr ad oe cece PRG 8 41 0x2207 The Brea OUMU Speed iia 8 41 0x2208 The Break Output Delay ad 8 42 0x2300 The Index Z phase Pulse Detection Operation Speed Index Pulse Search Speed 8 42 0x2301 The Speed Command Acceleration Time coccccccccnccnnncccnononncnnnncnnnnnnncnnnnonnnnnnnnnnononnnnnnnnnnnonnnaneninnnos 8 42 LS xi Table of Contents xii 8 6 0x2302 The Speed Command Deceleration TiMe ccccccccccccccccccnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnos 8 43 0x2303 The Speed Command S Curnve TIMO e iii ra rt ert rt en tv expen been pepe pee en ue RA 8 43 0x2304 The Speed Operation Pattern Acceleration Pattern oocccccccccccccccccccccccccnnnnncnnnonnnnnnnnnnnononnnnnnnos 8 43 0x2305 The Manual JOG Operation Spee
17. 8 Object Dictionary Bits 10 12 and 13 Interpolated position lp mode Bit State Value Details 0 Halt 0x6040 8 0 Unable to reach the target position 1 Target Halt 0x6040 8 1 Deceleration reached Halt 0x6040 8 0 Reached the target position Halt 0x6040 8 1 Speed 0 0 Interpolation deactivated 12 lp mode active 1 Interpolation activated 13 0 10 Target 0 Halt 0x6040 8 0 Unable to reach the target position reached Halt 0x6040 8 1 Deceleration Bits 10 12 and 13 Profile velocity Pv mode Bit State Value Details 0 Halt 0x6040 8 0 Unable to reach the target position Tm Target Halt 0x6040 8 1 Deceleration reached Halt 0x6040 8 0 Reached the target position Halt 0x6040 8 1 Speed 0 0 Not in a zero speed state 12 Speed 1 In zero a speed state 13 0 Bits 10 12 and 13 Profile torque Pt mode Bit State Value Details 0 Halt 0x6040 8 0 Failed to reach the target position Halt 0x6040 8 1 Deceleration 10 Target reached i Halt 0x6040 8 0 Reached the target position Halt 0x6040 8 1 Speed 0 12 Reserved 13 Reserved LSS 8 61 8 Object Dictionary 8 62 0x605A The Quick Stop Option Code This sets the Quick Stop option code Index 0x605A Quick Stop Option Code Sub Index Initial value Data ACCRUE PDO Setting
18. CHARGE lamp This turns on when the main circuit power is on It remains turned on as long as an electric charge is in the L7N condenser even after the main circuit power is turned off Do not touch the power terminal while turning it on Doing so may result in an electric shock Main power connectors L1 L2 and L3 These terminals connect to the main circuit power input DC reactor connector PO and PI These terminals connect to the DC reactor to suppress high frequency power PO and PI Short circuit these when not in use Regenerative resistance connectors B B and BI These terminals connect to the external regenerative resistor Short B and BI for basic installations If you are using an external resistor connect it to the B and B terminals Control power terminals C1 and C2 These terminals are for the control power input Servo motor connecting terminals U V and W These terminals connect to the main circuit cable power cable of the servo motor Ground terminal The ground terminal prevents electric
19. Index pulse Note 0x6099 02 35 The starting point of the homing operation becomes the Home position Switch search speed 0x6099 01 h Zero search speed 6 5 Velocity Control Mode 6 5 1 Profile Velocity Mode In Profile Velocity Mode the XDL L7N accelerates to the target velocity Ox60FF at the profile acceleration speed 0x6083 and decelerates at the profile deceleration speed 0x6084 The max profile velocity limits the maximum velocity 0x607F B The Profile Velocity Mode block diagram OP Mode Profile Velocity Target velocity 0x60 Vel unit Speed scale numerator pulse s Max profile velocity 0x607F pir 1 Profile acceleration 0x6083 Required velocity Acceleration pulse s Velocity alue Profile deceleration 0x6084 Acc unit geceleration scale p trajectory o Quick Stop deceleration 0x6085 wo i JENES Quick Stop option code 0x605A OP Mode ame Au aoe Q Speed Torque Servo controller controller motor Torque actual value 0x6077 Velocity actual value 0x606C P Speed DPI numerator calculation 2 0x2011 0x2010 Velocity reached Position actual value Position scale Position actual internal value 0x6064 denominator 0x606 Position numerator calculation 0x200F 0x200E Velocity Reached Output of velocity limit function Target Reached in Velocity actual vdlug y Status word 0x606C E Window iti
20. ccccccccceseseeececeeeseeeeeeeeeeesaeeeceeeeessaeseeeeeeeeseeeeeeeeeeessaeeeeeeeessaeaeeeeeeessaaaaeeeees 7 5 Table of Contents 1 2 1 Thelnertia Ratio Setting 9x2 100 iiio add 7 5 22 THE ROS CONTONA ekea a AE 7 6 723 The peed Control Ganando da 7 7 7 2 4 The Torque Command Filter Time Constant Time 0x210C oocccccccccnccccccccconocoonnncnnnnnnnnnonnnononananononnns 7 8 T29 Gan d er Gan 2 TransteriVode Ox2 TOD io seiauo Laus dn Pea RERO a utc ata rb tu e neut 7 8 7 2 6 Gain 1 e Gain 2 Transfer Time 0x2100E ccoocccccccnccccnccccnccccnoconnnonnnnncnononnononononnnnnannnnnnnnnannnnaninnnnos 7 8 t2 A OA A LORD eR ODE CAR AU 7 8 7 2 8 Resonance Avoidance Operations 0x210F 0x2110 0x2111 oocoooonccncccccccnncoconccnnccnaconocnanonnos 7 9 7 3 Setting the Input Output Contact Point Parameters cccccccccceeeceeeseeeeeeeeeeeeeeeseeaaeaeaseeeeeeeeeeeeeeeeeaaaaaaasases 7 10 7 4 Setting Speed Operation Parameters ccccccccccccccssssesesseeeeeeeeeeeeceaaeesesceeeeeeeeeeeeeeeeesaeaesasseeeeeeeeeesessaaeaegasess 7 12 7 4 4 Acceleration Deceleration Time ccccccsseccccescecceeeecceescecsucecsauecessuecessueeeseueeensueeesseeeeseaeensueeessagss 7 12 5 42 Theo QOume Operation O23044 ies at ads 7 12 7 4 3 The Manual JOG Operation Speed Ox2305 000ooooccccccnnnncccccnccooooconnoncccnnnnncnnonononnnnnnnnnnnnnnnnnncnnnnnnnnnnnas 7 12 7 5 Setting Position Operation Parameters p uiepesq ou
21. EtherCAT communication port These terminals connect to the DC reactor EDS P EtherCAT OUT CN3 to suppress high frequency power PO z PO and PI bs Short circuit these when not in use PI E B j gl A Safety connector CN6 A q po This connector connects safety devices Regenerative resistance connectors B e Note If you are not using any safety B and BI gt ACA i devices be sure to install the safety jump These terminals connect to the external ei O connector on the L7N regenerative resistor Short B and BI for a lo LESS IER basic installations TUS ROSE ZEE NES If you are using an external resistor NES t i c J Input output signal connector CN1 connect it to the B and B terminals VE Y MESE This connector is for sequence input output ES B signals CI L Control power terminals C1 and C eee C2 IaH O These terminals are for the control US o powerimput a few Encoder connector CN2 o RES i This connects to the Servo motor connecting terminals U V e 3 S encoder installed on the and W o H El servo motor These terminals connect to the main circuit EL M0 V cable power cable of the servo motor y Ground terminal IS AS a The ground terminal prevents electric 1 WU ONU See f shock Be sure to connect a grounding line to this terminal 1 Product Configuration B XDL L7NAOS50B Operation keys These allow you to c
22. GH e Continuously used area continuously used area Continuously used area ay J Si Dor 50 zo Speed ninn Speed rman Speed r min Product Features Applicable drive L7G Aun L75A008 L75A010 L75A020 L75A035 L75A050 3 5 Rated torque kgf cm 29 23 55 21 84 44 110 42 97 43 162 38 Maximum N m 16 23 24 83 32 46 28 64 47 74 instantaneous torque kgf cm 87 69 165 63 253 32 331 26 292 29 487 15 Rated current 1000 1275 1670 2740 Rated rotation r min 1500 3000 speed Maximum rotation r min 3000 5000 speed kgm2x10 4 6 66 12 00 17 34 22 68 30 74 52 13 Inertia moment igf cm s2 12 24 17 69 23 14 31 37 53 19 Allowed load inertia Motor inertia x 10 Motor inertia x 5 Rated power rate KW s 12 32 24 40 39 49 91 63 29 66 48 58 Speed and Quadrature Type Incremental 3000 P R position detector Serial Type 19 bit Specifications ouod Fully closed self cooling IP65 excluding axis penetration and features 10 Product Specifications Ambient 0 40 C emperature Ambient a humidity 20 80 RH no condensation Atmosphere No direct sunlight corrosive gas or combustible gas Anti vibration Vibration acceleration 49 m s2 5G s ss 75 er we wa wz Rotation speed Torque Characteristics Torque Nm XM L SE05G Torque Mm XM L SE09G Torque Nm XM L SE1 3G Repeatedly used area Repeatedly used area Repeatedly used area _ __Q g
23. Infinite 4832 0 77312 210 1208 0 1932 8 220 536 9 858 8 230 302 0 483 2 240 154 0 246 4 250 100 0 160 0 260 85 0 136 0 2 0 70 0 112 0 280 61 0 97 6 290 52 0 83 2 300 10000 1000 100 11 Maintenance and Inspection o I ZINETI so nae e e of ts AL 21 Occurri ng Time sec 70 4 57 6 48 5 15 5 110 120 130 140 150 160 170 180 190 200 210 220 230 240 250 260 270 280 290 300 Load Factor 96 LS s 11 17 12 Appendix NEN 12 Appendix 12 1 Motor Types and IDs womens 5 wat we TA Www wma sms mmo wma ep sme mme sw sw em so rotos sew ACI sw w w s ft ooo sms te eo sm se soo sm i af seo s emo wp wo so so ew so 1 eo e oo sw m sw EC so m so sw w mo scm eo soo tr w w sum es 00 sw oe oo somo s s sm w w soos es aso ome w m sw a s sm w u sora m s m w m LI OL E sm sw se CT E sem wm ww w s sema s amo S sme we so sm s so sw w m suo s so sb w ww sm s mo sw pa oo seo e wo sew we m semp s ew ew w w sm s s sm tee ooo sm m so sew uw m sum m s seme wm w sem re fief ms w m sme rm ss w uo sme re aso sme w 6000 LSIs 12 1 12 Appe
24. Velocity actual value Ox606C Boa aene Speed numerator calculation 0x2011 0x2010 Position actual value Position scale Position actual internal XP denominator YU Position numerator calculation 0x200F 0x200E Following Error Position demand Position internal value demand value d 0x60FC Position scale 0x6062 e error actual value denominator numerator 0x200F 0x200E Position actual Following Error In Status word 0x6041 13 Following error time out 0x6066 window Following error window 0x6065 comparator LS 6 11 6 CiA402 Drive Profile B Related Objects Data PDO Index Sub Name Type Access Mapping Units a Pos 0x607A Target position DINT RW Yes Units Software position limit 0 Number of entries USINT RO No 0x607D n Pos 1 Minimum position limit DINT RW No Units Pos 2 Maximum position limit DINT RW No Units Acc 0x6084 Profile deceleration UDINT RW Yes nM l Acc 0x6085 Quick Stop deceleratio UDINT RW Yes inie l Vel 0x60B1 Velocity offset DINT RW Yes l units 0x60B2 Torque offset INT RW Yes 0 1 6 12 LSiIs 6 CiA402 Drive Profile a 6 4 Homing The following figure outlines the homing inputs and outputs You can specify the speed acceleration and homing method The Home offset allows you to input the origin of the use s coordinate system in the Home rather than its initial origin
25. Converts the difference between the position command and the current position into a speed command by multiplying it by the position proportional gain Recommended value speed proportional gain 0x2106 10 0x2103 The Position Command Filter Time Constant Index 0x2103 Position Command Filter Time Constant Sub ce Data PDO Setting EN Initial value Type Access Mapping Range Change Unit 0 0 UINT RW No O to 1000 Always ms 0x2104 Position Feed forward Gain Index 0x2104 Position Feed forward Gain Sub oe Data PDO Setting index Initial value Type Access Mapping Range Change Unit 0 0 UINT RW NO 0 to 100 Always 96 Feed forward gain 0x2104 Uses the differences in value to the position command to calculate the gradient Adds the speed command to the gradient to reduce the time needed to reach the target position If the value which results is too large then the position controller may overshoot or become unstable It is important to gradually increase the value from a small value while monitoring the test drive LS Q Ahiaat Nintinnar 8 Object Dictionary 0x2105 The Position Feed forward Filter Time Constant Index 0x2105 Position Feed forward Filter Time Constant Sub is Data PDO Setting Index Initial value Type Access Mapping Range Change Unit 0 0 UINT RW No O to 1000 Always ms The feed forward filter t
26. Note 1 Use DC power 24V to operate the brake B FF Series XML FF30A FF22D FF20G FF12M XML FF50A FF35D FF30G FF20M XML FF30M FF55D FF44G XML FF44M ine no Phone Bo 04 PAT u co OB Laly cf wi 4 ss toda ha Power Supply Connector Pins Multi Turn Encoder Connector Pins lt Standard gt Weight kg an ic tals ok r w U 2 Moa FF30A 22D 20G 12M 2575 1785 FF50A 35D 30G 20M 287 5 208 5 E a MIA LSis 10 41 10 Product Specifications 0 0 Pin ma Phase Pin No ohne to 8 o pA jul o Fe do o Le lv LE oks Lew F Jer OA A r ion Power Supply Connector Pins Multi Turn Encoder Connector Pins lt Brake gt eee topes Pee ee emo a a eT et eet X Note 1 FF30M or above models have eye bolts Note 2 Use DC power 24V to operate the brake B FG Series XML FG22D FG20G FG12M XML FG35D FG30G FG20M XML FG55D FG44G FG30M XML FG44M DO OA co OB 4 pole plug MS3102A22 22P Power S ic eet lt Standard gt LA 10 42 LSIs 10 Product Specifications Weight kg Sra se ra em FG22D FG20GFG12M 229 5 164 5 se 42 FG35D FG30GFG20M 250 5 185 5 22 22 FG44G FG30M 2825 217 5 2802 02 C rom jaws zms wo s s 2 5 s Muki Tum Encoder Connector Pins lt Brake gt uui tees rw ee Kg ss A Note 1 Use DC power 90V to operate the brake LSis 10 43 10 Product Specif
27. Ox606E The Velocity Window Time This sets the velocity window time Index 0x606D Velocity Window Sub ae Data PDO Setting index Initial value Type Access Mapping Range Change Unit 0 20000 UINT RW No 01065535 Always S If the difference between the target velocity and the actual velocity is retained within the velocity window range 0x606D for the duration of the velocity window time 0x606E then it sets bit 10 of Statusword 0x6041 to 1 Index 0x606E Velocity Window Time Sub X Data PDO Setting dex Initial value Type Access Mapping Range Change Unit 0 0 UINT HW No 0 to 65535 Always ms LSis 8 67 2 NKHkhiant Nintinnar 8 Object Dictionary y 8 68 0x6071 The Target Torque This displays the target torque for the motor in 0 196 increments of the rated torque 0x6072 Maximum Torque Index 0x6071 Target Torque Sub x Data PDO Setting Index Initial value Type Access Mapping Range Change Unit 932768 to o 0 0 INT RW Yes ce Always 0 1 This sets the maximum torque that the motor can output in 0 1 increments of the rated torque This is the default maximum motor torque when power is first supplied to the servo drive Index 0x6072 Max Torque ud Initial value e Access M dus g po Change Unit 0 3000 UINT RW Yes 0 to 65535 Always 0 196 0x6074 The Torque Demand
28. Table of Contents Table of Contents viii Product Configura lO iii 1 1 ul Produc venticalon tt ai A An SEES APRI ye 1 1 E A O 1 3 peo SENO MOr PAS A m er 1 3 122 GENO DINER S METRE 1 4 LS EC ee ee RE e UU mr 1 8 Staat ON ee e 2 1 7 MARII SSM OION rm rr A oat a Sak oat da 2 1 24 1 Operating Environment cere sia aree dria e Ub dria adi ue uta E neca T QURE RETE AERE CE EE T AE 2 1 22 Provontino IMPAC a ER 2 1 213 MoO COMMEC OM ss carnada 2 1 2 1 4 The Load Device Connection eesin a a e aa aaa aar E EAEEREN EE 2 2 210 CS acu oi o eo noe ca a EREE 2 2 22 MER A a A n a a a aai ia isei 2 3 221 Operalrg ENVIO Mus e 2 3 222 Wing neon a e o esos e c E N 2 4 223 POWER SUPPLY VVIEIFIO sioe ei ette to Eat e EEEN 2 5 WCIN O A A 3 1 SA Mtema Dias dorsal tubiera Laid cL EE Re 3 1 3 1 1 XDL L7N Drive Block Diagram XDL L7NA001B 7NAO04B ooccccccccccccccccccccooococoncnnnnnnnnnnnonnanannnnnnns 3 1 3 1 2 XDL L7N Drive Block Diagram XDL L7NAO008B 7NAO3B5B oooccccccccccccccccccccnoccncncncnonoccnonononnnnnnnnnos 3 2 3 1 3 XDL L7N Drive Block Diagram XDL L7NAO50B 0 ccccccccccceeeeeeceeeeeececeeeeeeeeeseseaaeeaeeeeeeeeeeeees 3 3 32 PPOWESP SUD IOLY WING cia ar ceca eL 3 4 3 2 1 XDL L7N Drive Wiring Diagram XDL L7NAO01B 7NAO035B eene 3 4 3 2 2 L7 Drive Wiring Diagram XDL L
29. Type Mapping Range Ship Unit 0 Details 2 INT RW No 0 to 4 Value Details 0 Not used transits into Switch On Disabled 1 Slowly decelerates and then stops the drive according to the quick stop deceleration 0x6085 setting Switch On Disabled Slowly decelerates and then stops the drive according to the quick stop deceleration 0x6085 setting Switch On Disabled Stops using the torque limit value Switch On Disabled 0x605B The Shutdown Option Code This specifies the operation to shutdown the servo drive Operation Enabled state gt Ready to Switch On state Index 0x605B Shutdown Option Code Sub a Data PDO Setting dex Initial value Type Access Mapping Range Change Unit 0 0 INT RW No 0 to 1 Always Details Value Details 0 Not used 1 LS Decelerates to a stop enters a Switch On Disabled state enters a Ready state 8 Object Dictionary 0x605C The Disable Operation Option Code This sets the Disable Operation state Operation Enabled state gt Switched On state option code Index 0x605C Disable Operation Option Code Sub ae Data PDO Setting das Initial value Type Access Mapping Range Change Unit 0 1 INT RW No Oto 1 Always Details Value Details 0 Does not use the drive function Decelerates to a stop moves to the Switch On Disa
30. numerator 0x201 1 0x2010 Velocity actual value 0x606C Position scale denominator numerator 0x200F 0x200E Position actual value 0x6p amp 4 2 j Following Error and Position reached Position Reached Output of position limit function Target Reached in window comparator Status word 0x6041 10 Position actual valug 0x6064 e Position window 0x6067 Position window time Pos unit Position actual internal value Position scale numerator denominator 0x200E 0x200F internal value Ox 60 FC Position trajectory generator Acceleration deceleration scale numerator denominator 0x2012 0x2013 pulse s Speed calculation Position calculation Following Error Position demand internal val Position demand value Following error actual value 0x6062 g window comparator Position scale 0x60F4 denominator numerator 0x200F 0x200E Following Error In Status Following error WOrd 0x6041 13 time out 0x6066 LS 6 CiA402 Drive Profile 6 10 Related Objects Data PDO Index Sub Name Type Access Mapping Units 0x6040 Controlword UNIT RW Yes 0x6041 Statusword UINT RO Yes Pos 0x60C1 1 Interpolation data record DINT RW Yes Units Software position limit 0 Number of entries USINT RO No 0x607D Pos 1 Minimum position limit DINT RW No Units l AN Pos 2 Maximum pos
31. or profile deceleration 0x6084 Quick Stop option code 0x605A Position actual value 0x6064 Speed scale denominator numerator 0x201 1 0x2010 Position scale denominator numerator 0x200F 0x200E 0x2010 0x2011 Acceleration deceleration scale numerator denominator 0x2012 0x2013 Torque offset 0x60B2 Q Speed i eS controller Position actual internal value 0x000 Velocity Reached Output of velocity limit function Actual velocity v tug 0x606C Velocity window 0x606D R V window oa time comparator 260 AD O Velocity pulse s trajectory generator Torque controller Speed calculation Position calculation Target Reached in Status word 0x6041 10 LS Servo motor 6 19 6 CiA402 Drive Profile 6 20 B Related Objects Data PDO Index Sub Name Type Access Mapping Units Ox60FF Target velocity DNIT RW Yes e nits 0x60B1 Velocity offset DINT RW Yes Vel units 0x60B2 Torque offset INT RW Yes 0 1 l E Acc 0x6084 Profile deceleration UDINT RW Yes ins 0x6085 Quick Stop deceleration UDINT RW Yes eo 0x606B Required velocity value DINT RO Yes e 0x606C Actual velocity valu DINT RO Yes bod Ox606D Velocity span UINT RW No Vel Units Ox606E Time to reach the target UINT RW No ma velocity 6 CIA402 Drive Profile 6 6 Torque Control Modes 6
32. 125000 n ns n 2 1 2 3 Range 3 0 to UDINT NO SyncO event cycle time 125000 Synchronization Sub Data PDO Setting Initial value Access Index Type Mapping Range Bit O 1 Free Run supported Bit 4 2 001 DC SyncO supported 4 UINT No Bit 6 5 01 Input Shift with local timer supported LS 8 23 O KS rant Diatinansar 8 Object Dictionary Ld y Minimum cycle time Sub Data PDO Setting Initial value Access Change Unit Index Type Mapping Range 5 sameasoricazos uor FO No Calc and copy time Sub Data PDO Setting Initial value Access Change Unit Index Type Mapping Range 6 62500 vont RO No Delay time Sub Data PDO Setting Initial value Access Change Index Type Mapping Range SyncO time Sub Data PDO Setting Initial value Access Change Index Type Mapping Range SM event missed count Sub Data PDO Setting Initial value Access Change Index Type Mapping Range Shift too short counter Sub Data PDO Setting Initial value Access Change Index Type Mapping Range Sync error Sub Data PDO Setting Initial value Access Change Index Type Mapping Range 824 LS O fl gsm i 0 INIA Tre FY ER O V Y D i c y L LJ Uy l IVICA pen pa uw LEN 5 Manufacturer Specific Objects 0x2000 Motor ID This specifies the motor ID Index 0x2000 Motor ID Sub Data PDO Setting Initial value Access Change Unit Index Type
33. 2 Drive connection CN2 a Case specifications 10314 52A0 008 3M or SM 14J Suntone b Connector specifications 10114 3000VE 3M or SM 14J Suntone 3 Cable specifications 4Px0 2SQ or 4Px24AWG Note 1 The in the name indicates the type and length of each cable Refer to the following table for this Serm Cable length m Robot cable Regular cable 10 2 LSis 10 Product Specifications Applicab Category pied aame E le Specifications Motors XLCS ES Front Flat motor XLCS All type EODOES models For encoder Load of signaling cable direction XML FB winter connerie small XML FC 4 1 Motor connection capacity Rear Series a Cap specifications 2201825 1 Tyco XLCS b Socket specifications 2174065 4 Tyco EOOOES R i R Drive connection CN2 ear PIN direction a Case specifications 10314 52A0 008 3M SM 14J Suntone b Connector specifications 10114 3000 VE 3M or SM 14J Suntone Cable specifications 3Px0 2SQ or 3Px24AWG or Motor comnaction XLCS ES1 Front All Multiturn XLCS models type EQUDES1 of For encoder Load mene A see XML FB th I9 5 ps6 funem Tua signaling cable direction XML FC mu aa e EEES small lt Motor connactor gt Thre c tor Usta comnactor capacity Series ie Motor connection EOODES1 R a Cap specifications 2
34. 3 ALARM Alarm Outputs a signal when an alarm occurs 4 ALARM 17 READY This signal is output when the main power Servo Ready is established and the preparations for 18 READY servo operation are complete 19 ZSPD Zero speed Outputs a signal when the current speed 20 ZSPD reached drops below the zero speed Allocated INPOS Location reached Outputs a signal when the device reaches the specified location Aldaia INSPD Speed reached Outputs a signal when the device reaches the specified speed Allocated WARN Warning Outputs warning signals 3 17 3 Wiring 3 7 3 Layout of the Input Output Signal Connectors ALMRST Alarm reset Transfer of gains 1 and 2 READY Servo ready il Brake output Brake 2 BREAK output ALRAM Alarm output 4 ALRAM Alarm output NC B 5 VAR External power input Reverse N OT rotation FOTO rohibited 8 P OT rotation P prohibited PROBE cr n 10 PrRoBe2 Pouch probe input 2 Zero speed achieved 11 HOME Origin sensor 13 PCON P control action 15 NC 17 READY Servo ready JE gehen 3 7 4 The Names and Functions of Safety Function Signals CN6 Pin Number Name function 3 HWBB1 HWBB1 HWBB2 HWBB2 For hard wired base block inputs Performs a base block block torque on signal off EDM 3 7 5 The Connector Layout of Safety Func
35. 4 UINT NO DC SyncO supported Bit 6 5 00 No Output Shift sup ported Minimum cycle time Sub Data Setting Initial value Access Change Unit Index 3 Mapping EE 8 Object Dictionary Calc and copy time Sub Data PDO Setting Initial value Access Change Unit Index Type Mapping Range 62500 fns UDNT RO No Delay time Sub Data PDO Setting Initial value Access Change Index Type Mapping Range Sync0 time Sub Data PDO Setting Initial value Access Change Unit Index Type Mapping Range 10 sameas1caz02 UDNT RO No Cycle exceeded counter Data PDO Setting Initial value Access Change Type Mapping Range OC IA O ee Shift too short counter Data PDO Setting Initial value Access Change Type Mapping Range Sync error Sub Data PDO Setting Initial value Access Change Index Type Mapping Range 822 LS 8 Object Dictionary 0x1C33 Sync Manager 3 Synchronization Sync Manager 3 Process Data Input Synchronization Index 0x1C33 Sync Manager 3 Process Data Intput Synchronization Number of entries Sub Data PDO Setting Initial value Access Change Unit Index Type Mapping Range Synchronization modes Sub Data PDO Setting Initial value Access Index Type Mapping Range Cycle time Sub Data PDO Setting Initial value Access Index Type Mapping Range Shift time Sub Data PDO Setting Initial value Access Index Type Mapping Range
36. C or above for UL CSA Regulation Use approved wire for any other regulations Use equivalent or above components compare to components above for any special applications 3 Wiring XDL L7NAOO4B or below Ws d OPEND CHARGE EE BEOOR EO E ES E Length of strip Y 7 10 mn cel C OSs y 0 4 0 5 N m Jo 100 Weidmueller s SD 0 6x3 5x100 o O Yoo jo
37. Cyclic Synchronous Velocity Csv mode It also sets the offset value added to the torque reference Index 0x60B2 Torque Offset d Initial value in Access ruler g Pii Change Unit 0 0 INT RW Yes po Always 0 1 0x60B8 The Touch Probe Function This sets the touch probe function Index 0x60B8 Touch Probe Function bred Initial value at Access en g poa Change Unit 0 51 UINT RW Yes M Always LSis 8 73 8 Object Dictionary 8 74 Data Description Bit Value Definition 0 Do not use touch probe 1 j 1 Use touch probe 1 0 Single trigger mode latch at the first trigger event of the touch probe 1 1 Continuous trigger mode latch at the trigger event for each position of the touch probe E 0 Trigger the input of touch probe 1 1 Trigger the index pulse signal 3 Reserved j 0 Do not use sampling for the rising edge of touch probe 1 1 Use sampling for the rising edge of touch probe 1 0 Do not use sampling for the falling edge of touch probe 1 1 Use sampling for the falling edge of touch probe 1 6 to 7 Reserved 0 Do not use touch probe 2 1 Use touch probe 2 0 Single trigger mode latch at the first trigger event of the touch probe 9 1 Continuous trigger mode latch at the trigger event for each position of the touch probe i 0 Trigger the input of touch probe 2 1 Trigge
38. Ox60BB Position value of the falling edge of touch probe 1 Ox60BB Function Position value of the rising edge of touch probe 2 Ox60BB Position value of the falling edge of touch probe 2 Ox60BB Touch Probe Digital input Touch probe 1 Touch probe 2 Position feedback is latched to the following trigger events Touch probe 1 CN1 PROBE1 pin 9 Touch probe 2 CN1 PROBE pin 10 The encoder index pulse You can use the following two touch probe functions simultaneously B Touch probe 1 latch function For more information see Section 6 5 Bits related to latch control Ox60B8 0 7 Bits related to latch status 0x60B9 0 7 Position value of the rising edge of touch probe 1 Ox60BA Position value of the falling edge of touch probe 1 Ox60BB Trigger signal Encoder Z signal probe 1 signal B Touch probe 2 latch function For more information see Section 6 5 Bits related to latch control 0x60B8 8 15 Bits related to latch status Ox60B9 8 15 Position value of the rising edge of touch probe 2 Ox60BC Position value of the falling edge of touch probe 2 Ox60BD Trigger signal Probe 2 signal LS s 6 27 6 CiA402 Drive Profile 6 28 Related Objects Data PDO Index Sub Name Type Access Mapping Units 0x60B8 Touch probe function UINT RW Yes Ox60B9 Touch probe status UINT RO Yes Position value of the rising edge of touch probe 1 Pos Ox60BA
39. Sub Data PDO Setting Initial value Access Change Unit Index Type Mapping Range 0 to 1 0x60410010 UDINT RW No OxFFFFFFFF Mapping entry 2 Sub Data PDO Setting Initial value Access Unit Index Type Mapping Range 0 to 2 0x60770010 UDINT RW No Mapping entry 3 Sub Data PDO Setting Initial value Unit Index Type Mapping Range 0 to 3 0x60640020 UDINT RW NO OxFFFFFFFF Sub Data PDO Setting Initial value Unit Index Type Mapping Range 0 to 4 0x60F40020 UDINT RW No OxFFFFFFFF Mapping entry 5 Sub Data PDO Setting Initial value Access Unit Index Type Mapping Range 0 to 5 Ox60FD0020 UDINT RW No 8 14 LS 8 Object Dictionary Mapping entry 6 0 to 6 0x60610008 UDINT RW N OxFFFFFFFF Mapping entry 7 O Sub Data PDO Setting Initial value Access Unit Index Type Mapping Range 0 to 7 0x26010010 UDINT RW No OxFFFFFFFF Mapping entry 8 Sub Data PDO Setting Initial value Access Unit Index Type Mapping Range 0 to 8 0x26000010 UDINT RW NO OxFFFFFFF Mapping entry 9 Sub Data PDO Setting Initial value Access Unit Index Type Mapping Range 0 to 9 0x60B90010 UDINT RW No OxFFFFFFF Mapping entry 10 Sub Data PDO Setting Initial value Access Unit Index Type Mapping Range 0 to 10 0x60BA0020 UDINT RW NO OxFFFFFFF Sub Data PDO Setting Initial value Access Change Unit Index Type Mapping Range LS 8 15 8 Object Dictionary L rd q Transmit PDO Mapping
40. bit position detector X Protection l Fully closed self cooling IPe5 excluding axis penetration Lu Ambient Specifications 0 40 C and features nene mbien humidity 20 80 RH no condensation Atmosphere No direct sunlight corrosive gas or combustible gas Anti vibration Vibration acceleration 49 m s2 5G LS 10 19 10 Product Specifications APM I LUSG Trete imr Continuously used area Continuously used prea 1 000 2 000 so O i 2 000 puedo y 2 000 seo APM 11 30A APM 11 50A Torque Nm JorquelNm 3 000 4000 5 000 D 000 2 000 3 000 4000 5000 1 000 2 000 Speed t OUJ ZLO s Spwed mii A E Morin Spwed i min Product Features Applicable Drive L70An0 L7 A020 L75A035 L75A050 L70A020 L75A035 L70A050 TCITTMMMN e 10 50 16 70 26 25 11 45 18 46 28 00 Rated torque kgf cm 107 1 170 4 267 8 116 9 188 3 285 7 Maximum 31 50 50 10 78 76 34 35 55 38 84 03 instantaneous torque kgf cm 321 30 511 40 803 4 350 60 564 90 857 10 Rated current 13 07 16 48 28 78 12 16 15 98 30 70 39 21 49 44 86 34 36 48 47 94 92 10 speed Maximum kg m x10 27 96 46 56 73 85 27 96 46 56 7885 85 Inertia moment gf cm s 28 53 47 51 75 36 28 53 47 51 E Allowable load inertia Motor inertia x 5 Rated power rate kW s 39 43 59 89 93 27 46 92 73 14 106 15 Speed and Standard Serial Type 19 bit position detector X Protection method Specifications l Ambient o and fe
41. humidity Atmosphere No direct sunlight corrosive gas or combustible gas Anti vibration Vibration acceleration 49 m s2 5G Weight kg 124 7 263 124 177 263 Rotation speed Torque Characteristics E L Torque inm XM L S F22D Torque Hm XM L LF35D Torque Nm XM L S F55D Repeatedly used area Repeatedly used area Repeatedly used area Continuously used area Continuously used area Continuously used area pu 1 ZU JI Speed r min Speed r man Speed r min Tergue Hm XM L S F20G Torque Minn XM L LF30G Torque Nm XM L S F44G Repeatedly used area Repeatedly used area Repeatedly used area xz M Continuously used area 7 Continuously used area Continuously used area Speed r min i Li i LE Speed Er msn Speed Lamin Product Features Applicable drive L70An0 L75A020 L75A035 L72A050 mp i 9 1146 1910 2864 a201 Rated torque Lm 116 92 194 86 292 29 42869 Maximum Nm 3437 57 29 85 93 126 04 foo instantaneous torque kgom 35075 58458 evess 123808 o eed M uk speed SATIN r min 2000 1700 2000 rotation speed kom2x10 4 30 74 52 13 83 60 121 35 ff Inertia moment gf cm s2 31 37 53 19 85 31 1383 ff 10 10 LSis 10 Product Specifications Allowed load inertia Motor inertia x 5 pf Rated power rat
42. ms wm fd instantaneous Nm 430 645 788 93 J maximum torque kgf cm 43 84 65 77 80 38 94 99 BEEN Rated rotation r min 2000 speed Maximum rotation r min 3000 speed wama o we w 1 Inertia moment goms 06 tn 189 19 O Allowable load inertia Motor inertia x 15 S Rated power rate kW s 30 43 42 27 45 69 4197 Speed and Standard Quadrature Type Incremental 2500 P R pf Method of protection Ambient m Specifications temperature Fully closed self cooling IP65 excluding axis penetration and features i Ambient 20 80 RH no condensation humidity Atmosphere No direct sunlight corrosive gas or combustible gas Anti Vibration acceleration 49 m s2 5G vibration a o 25 32 o 10 Product Specifications Rotation Speed Torque Characteristics XM L SCO3D n Nm XM L SCO5D Targua Hm XM L SCO6D Repeatedly used area Repeatedly used area Repeatedly used area Continuously used area Continuously used area i Continuously used area rx l Speed Lr min Speed r min Speed rman mew XML SCO7D Repeatedly used area Continuously used area Speed r min Product Features Servo Motor Type XL SEA sera Sex sema seon SEHD mes wm os 15 22 a0 os t instantaneous torque kgf cm 87 69 146 15 214 35 292 29 87 69 160 76 14 85 24 69 35 94 51 48 11 91 18 84 Rated
43. r min Speed r min Speed r min gm Product Features servo motor Type carr roosa rema rosa twn Aeae oretta tronoa nA EA o o mew wp om om ws ww meaa Ie e Rated torque kgom 129 1949 mas me instantaneous torque kem 3898 ssa7 7 wa LS s 10 25 10 Product Specifications Rated current Rated current dMeseme rms current 1 speed vamm r min 5000 rotation speed kamamos 0590 om wm we gf cm s2 0 541 0 915 1 290 1 665 r min Inertia moment Allowed load inertia nr dd IkW s 30 60 40 66 45 09 62 08 Speed and Standard Serial Multi Turn Built in Type 19bit position MO M ARIES ARES detector Protection l Fully closed self cooling IP67 excluding axis penetration BENE Tmeming Cotos o o o 0 40 C NENNEN temperature Ambient 20 80 RH no condensation humidity Specifications and features Anti vibration Vibration acceleration 49 m s2 5G Atmosphere No direct sunlight corrosive gas or combustible gas a Torque Nm Torque Mim 1 50 APM FALRSA 0 50 1 00 Torque Nm APM FALOLA APM FALO15A Repeatedly used area Continuously used area 1 000 2 000 3 000 4 000 5 000 Speed r min 2 000 3 000 4 000 5 000 4 000 5 Speed r min Speed r min Torque Mm APM FBLO1LA 1 00 2 00 Torque Nm APM FBLO2A Torque Nm APM FBLO4A Repeatedly used ar
44. ro mum m w T To Cow me aw sumo me eue ms sso sum me oo LSIs 12 3 12 Appendix 12 2 Test Drive Procedure Thank you for purchasing our product Perform the following process to conduct the initial test drive After attaching the servo motor to your equipment perform the initial operation test and test drive without any load without any coupling or belt for safety Connect the load to the motor for the final test drive Order Details Product check Check the name tag to verify that the product received matches the model ordered refer to section 1 1 Check the name tag attached to the right side of the product to the right side of the shaft on the motor Main check point Check the product capacity and options Wire a single phase AC 220 V power supply to control power input C1 and C2 and a three phase AC 220 V power supply to main power input L1 L2 and L3 refer to Power section 3 2 connectivity The product can run on a single phase AC 220 V power supply but this reduces torque and the lifespan of the product Be sure to input a three phase AC 220 V power supply Connect the CN1 I O CN3 CN4 CN5 communication CN6 and CN2 encoder cables and motor power cable based on the operation mode refer to section 1 2 and chapter 3 Always use robot cables if the motor moves Signal line Use twist shield cables for the signal and encoder c
45. ta ee a s Mi M a a ee a a a a LE a na Mee rr ee 2228muumuux a a n a a PDL Tee CN Overload 11 The PWM Off delay time 0x200B This specifies the time span between the servo Off command and actual PWM Off This prevents the motor from slipping down the vertical axis while the servo Off command and brake command order the motor brake to engage Use a PWM off delay when operating a motor brake through the output contact point brake signal range 0 1000 ms initial value 10 12 The DB control mode 0x200C Specifies the DB control mode You can use the following four modes Refer to section 7 5 Mode Operation type Servo ON Off Hold after a DB stop de Velocity T L7 Drive Setup 7 4 Mode Operation type Helease after a DB stop Servo ON Off DB Velocity Helease after a free run stop Servo ON Off DB Velocity Hold after a free run stop Servo ON Off DB Velocity 13 The basic servo function setting bit Ox200D Specifies the drive function You can set it to move forward in reverse or to operate the servo lock function refer to section 8 5 LS 7 2 7 2 1 Configuring Control Parameters The control parameter setting sequence is as follows e Load the inertia ratio Ox2100 setting e Adjust the proportional gain with 0x2101 and 0x21
46. ws ws sa xe 16 26 o Load curve during rotation 100W or Lower SA Type 10000 0 1000 0 100 0 Time sec 0 1 110 120 130 140 150 160 170 180 190 200 210 220 230 240 250 260 270 280 290 300 Load rate 11 10 LSis 11 Maintenance and Inspection 2 Stoppage overload graph AL 21 AL 21 Load Occurri Occurri ng Time ng Time sec sec 100 or less we s ws ss se 16 26 o x ar us se me 15 24 o9 Load curve when stopped 100 W or Lower SA Type 10000 0 1000 0 LT L 100 0 EE M Time sec 0 1 LL 110 120 130 140 150 160 170 180 190 200 210 220 230 240 250 260 270 280 290 300 Load rate LS is 11 11 11 Maintenance and Inspection B Servo Drive Overload Graphs 800 W and 1 KW AL 21 Occurri ng Time sec 169280 0 210 12820 220 18808 0 230 10580 0 240 3590 4 250 DT 260 3954 270 T 260 i378 200 321 6 300 1 Rotation overload graph AL 21 Load Occurri 96 ng Time sec 100 or less 110 105800 0 119 0 190 4 89 2 142 7 49 3 78 9 38 8 62 1 T 2244 0 10736 6032 1136 2736 201 31 0 49 6 7 0 11 2 6 4 10 2 9 7 9 1 r O Q Q ud a oo N PN Load curve during rotation 1600000 0 100000 0 1000
47. 0x2614 The U Phase Current Offset Display oooooooonnncccnnnnnnnnccnonoconnonnnnnnnnnnnnnnnnnononnnnnnnnncnnnnnnnnnnnnnnnnnas 8 49 0x2615 The V Phase Current Offset Display cooooooooononncncnnnnnnnnncnonononnnnnncnnnnnnnnnnnnnnoonnnnnnnnncnnnnnnnnnnnnnnnnnas 8 50 0x2616 The FPGA Version DISDIG aae iua up tide dp ade ity eap tna naa adn xa d a ada Ra eR a PER RE PER RENS 8 50 0x26 17 External Encoder Position Fecal mode teda tod rto fete deett etas 8 50 0x2619 Extemal Encoderdollowillg EITOF 6 7 16 20 18a e ot asha toits vero oa a 8 50 0x2700 Read Clear me ATIS HIStory cs toute te aaa 8 50 0x2701 Auto Gain Tuning AUTO UNIMOG A a naaa 8 52 Dx2702 Reset Absolute EDncOGG utc o euer acc E eee pes A ages EE Le LEE 8 53 0x2 709r Calibrate Currenb ONS unta Lom Leste tt elle ue ala e et i ee ee ahs aD LEN LED LAU 8 53 CAS 02 OD Sara aaa 8 55 II 0 o AAA O A SS Se N AO 8 55 PABELL E NE it TER e ACA 8 55 petals Ol BIS Dro ataca 8 56 Detalls ON BIS4 koe 8 56 0x604 1 Status WOLCL ai ossia dst dee bubd bee stes s iO paesi ette P tb e dba oceans eva ea ete ae amt PU eas 8 58 0X605A The Quick SOP ONION Codec aei eese ees art a beal 8 62 Ox605B The Shutdown Option GOUG nenita 8 62 LS Table of Contents 0x605C The Disable Operation Option Code 2 51 ettet i aea eeu Eden rae deeded ee 8 63 0x605D THe Rat Omir COGS senti eee OAA 8 63 0x6
48. 0x606C Velocity Actual Value DINT SUB DATA Ly oe r INDEX TYPE 1byte 1byte 1 0x6041 0x00 UINT TxPDO 2 0x6064 0x00 DINT Ox1A09 5 0x6060 0x00 DINT to oxcooo oxoo 5 EtherCAT Communication The SyncManager can be composed of multiple PDOs SyncManager PDO Assign Object RxPD 0x1C12 TxPDO 0x1C13 indicates the relationship between the SyncManager and the PDO The following figure shows the SyncManager PDO mapping Object Dictionary Sync Manager Entity SUING Hier Index Object Contents 0x1C10 0x1C11 0x1C12 0x1C13 Assign Object 0x1C12 RxPDO Mailbox Mailbox RxPDO TxPDO Ox1C13 TxPDO Receive Send 0x1601 0x1A02 0x1600 1st RxPDO 0x1601 2nd RxPDO 0x1602 3 4 RxPDO 0x1603 4th RxPDO Mapping Object oaao 1st TxPDO 0x1A01 2nd TxPDO 0x1A02 3 4 TxPDO 0x1A03 4th TxPDO B XDL L7N PDO Mapping The following tables list the default PDO mapping set in the XDL L7N These settings are defined in the EtherCAT Slave Information file XML file 1 PDO Mapping oo eue soea Toven prose Postion value or uai r 0x1A00 2 PDO Mapping PDO Controlword 3 PDO Mapping CEA 4 PDO Mapping 56 LS s 5 EtherCAT Communication 5 6 Synchronization Using the DC Distributed Clock The Distributed Clock DC synchronizes EtherCA
49. 1 Sets the servo lock function 1 Use 0 Use the multi turn encoder as multi turn 4 Set the multi turn encoder 1 Use the multi turn encoder as single turn Ox200E Position Scale Numerator Index 0x200E Position Scale Numerator Sub S Data PDO Setting ib dex Initial value Type Access Mapping Range Change Unit 0 1 INT HW No 1 32767 SV OFF 0x200F Position Scale Denominator Index 0x200F Position Scale Denominator Sub ap Data PDO Setting dex Initial value Type Access Mapping Range Change Unit 0 1 INT RW No 1 32767 SV OFF 0x2010 Velocity Scale Numerator Index 0x2010 Velocity Scale Numerator Sub S Data PDO Setting index Initial value Type Access Mapping Range Change Unit 0 1 INT RW No 1 32767 SV OFF LS s 8 29 O Ahinant Niatinnar 8 Object Dictionar 8 30 lo lt a 0x2011 Velocity Scale Denominator Index 0x2011 Velocity Scale Denominator Sub e Data PDO Setting Index Initial value Type Access Mapping Range Change Unit 0 1 INT RW No 1 32767 SV OFF 0x2012 Acceleration Scale Numerator Index 0x2012 Acceleration Scale Numerator Sub Initial value PENE Access Pale Setting Change Unit Index Type Mapping Range 0 1 INT RW No 1 32767 SV OFF 0x2013 Acceleration Scale Denominator Index 0x2013 Acceleration Scale Denomin
50. 10 47 10 Product Specifications 10 2 The Servo Drive 10 2 1 Product Features XDL XDL XDL XDL XDL XDL XDL XDL L7NA L7NA L7NA L7NA L7NA L7NA L7NA L7NA 001B 002B 004B 008B 010B 020B 035B 050B 3 phase AC 200 230 V 15 10 50 60 Hz Input power Single phase AC 200 230 V 15 10 50 60 Hz L m lwlInIwiwIw w wie oom e sm mms es mw Encoder Type Serial 17 bit 19 bit 21 bit l SPEC UNIO Maximum 1 5000 range Frequency response Maximum 1 kHz or more when the 19 bit serial encoder is applied Control performance 0 01 or lower when the load changes between 0 and 100 Speed change rate A 0 1 or less temperature of 25 C 240 Torque control Within 1 repetition accuracy Profile Position Mode Profile Velocity Mode Profile Torque Mode Interpolated Position Mode Cyclic Synchronous Position Mode Cyclic Synchronous Velocity Mode Supported drive modes CiA402 Cyclic Synchronous Torque Mode Homing Mode Total 6 input channels allocable ee PCON GAIN2 ALMRST HOME P OT N OT Digital input Above 6 functions can be used selectively for assignment Signal can be set as positive logic or negative logic Digital There are 2 input channels input output Touch probe input Provides rising and falling edge detection functions for each channel Total 4 channels allocable ALARM READY ZSPD BRAKE INPOS INSPD WARN Above 7 outputs c
51. 20 80 RH no condensation humidity Atmosphere No direct sunlight corrosive gas or combustible gas i a Anti vibration Vibration acceleration 49 m s2 5G a ae Weign wo vus wa 22 se Rotation speed Torque Characteristics APM FF 12M Tarque Nm Tarque Nm 60 0 I T T 4 100 0 Repeatedly used area EDU OCK 5DD 500 1 000 1 501 000 1 500 Speed dl Speedii minl peana APM FF44M Forque Nm 150 000 A aedi gm Protect Features Applicable Drive L70A00 L75A020 L75A035 L75A050 L75A020 L75A035 L75A050 Reip 10 50 16 71 26 25 11 50 18 50 28 00 Rated torque m cm 107 1 170 4 116 9 188 4 285 8 Maximum Nm m 31 51 5042 5042 T7876 76 34 40 55 40 84 00 instantaneous torque kgf cm 321 30 511 30 803 4 350 80 565 1 857 4 Rated current TAL 10 25 14 67 29 74 11 18 16 21 31 72 30 75 44 01 89 22 33 54 48 63 95 16 ac E S 3000 2700 3000 3000 2700 3000 kg m x10 41 13 71 53 117 72 14 13 71 53 117 72 Inertia moment gf cm s 41 97 72 99 120 12 41 97 72 99 120 12 Allowable load inertia Motor inertia x 5 kW s 26 78 38 99 58 51 31 91 47 66 66 64 Speed and Standard Serial Type 19 bit position 1022 LSis 10 Product Specifications Protection method Fully closed self cooling IPe5 excluding axis penetration Time rating Time rating Cotos Ambient Specifications 0 40 C and features Ambient Ea 20 80 RH
52. 30 Load rate Time sec 11 14 LSS 11 Maintenance and Inspection I z s TINI cof s 2 Stoppage overload graph AL 21 Load proci sec 100 or less T 1208 036 9 202 164 0 1100 75 61 0 52 0 AL 21 Occurri ng Time sec E 210 1932 8 220 859 0 322 1333 230 2 112 240 noa 92a 250 760 aao 56 voo 45 e 36 200 921 s2 000 r Rg lt p 260 2 0 280 Load curve when stopped 16000 0 1600 0 100 0 Time sec 10 2 11 L f E 110 120 130 140 150 160 170 180 190 200 210 220 230 240 250 260 270 260 290 300 Load rate LSis 11 15 11 Maintenance and Inspection B Servo Drive Overload Graphs 5 0KW 1 Graph of Overload during Rotation AL 21 Occurri ng Time Load 100 or below 110 Infinite 4832 0 1208 0 536 9 10000 1000 100 Time sec 1 Load o E 7731 2 210 220 230 1932 8 859 0 483 2 240 411 2 250 366 4 260 320 0 270 209 6 164 8 Load Curve During Stop AL 21 Occurri ng Time sec t E ss 106 9 80 2 61 6 48 5 38 7 28 8 25 6 22 4 12 8 110 120 130 140 150 160 170 180 130 200 210 220 230 240 250 260 270 280 230 S00 11 16 LSis Load Factor Time sec 2 Graph of Overload during Stop AL 21 Load MAX Occurrin g Time 100 or below 2899 2 724 8 sec 110 322 08 181 2 E Load Curve During Stop Load
53. 51 42 80 35 135 11 Inertia moment gf cm s2 52 47 81 99 135 11 52 47 81 99 132 41 Allowed load inertia Motor inertia x 5 IkW s 25 53 42 41 21 45 34 75 52 07 Speed and Standard Quadrature Type Incremental 3000 P R position detector Serial Type 19 bil I Fully closed self cooling IPe5 excluding axis penetration Ambient Specifications 0 40 C and features PUTES mbien E humidity 20 80 RH no condensation Atmosphere No direct sunlight corrosive gas or combustible gas Anti vibration Vibration acceleration 49 m s2 5G Weight kg 170 220 sos 170 220 308 Rotation Speed Torque Characteristics XM L SG20G Torque hm XM L LG30G Torque Im XM L SG44G Torque Mm Repeatedly used area gt Repeatedly used area Repeatedly used area Continuously used area Continuously used area Continuously used area E Speed r man Speed rman l f Du uk Soemd 1 man u Torque Nm XM L SG22D Torque Nm XM L LG35D Toraue Him XM L SG55D Repeatedly used area Repeatedly used area Continuously used area f CS zs continuously used area Continuously used area iin Sood min Speed r min Speed rfme n Product Features Serve Motor Type OML Ser sczw icxw soam Maximum 34 37 57 29 85 93 126 04 instantaneous torque p cm 350 75 584 58 876 88 1286 08 NENNEN e kgf cm 116 92 194 86 292 29 428 9 10 12 LS7s 10 Product Specifications
54. 6 1 Profile Torque Mode In Profile Torque Mode the drive torque increases or decreases at the rate of the torque gradient 0x6087 up to the target torque 0x6071 The forward reverse torque limit value Ox60E0 0x60E1 limits the torque The max torque 0x6072 value indicates the maximum torque that can be applied to the motor regardless of the forward reverse direction B The Profile Torque Mode block diagram OP Mode Profile Torque Target torque 0x6071 Torque slope 0x6087 Required Torque torque value trajectory 0x60Z4 generator 1 Max torque 0x6072 Positive negative torque limit value Ox60E0 0x60 OPMode SOPORE TD Torque Servo controller motor Torque actual value 0x6077 Speed scale Velocity actual value 0x606C denominator Speed numerator calculation 0x2011 0x2010 Position actual value Position scale Potato valis 0x6064 denominator DES Position numerator calculation 0x200F 0x200E LS 6 21 6 CiA402 Drive Profile 6 22 B Related Objects Data PDO Index Sub Name Type Access Mapping Units 0x6071 Target torque INT RW Yes 0 1 0x6087 Torque gradient UDINT RW Yes 0 1 s 0x6074 Required torque value INT HO Yes 0 196 A 0x6077 NOME INT RO Yes 0 196 0x6072 Max torque UINT RW Yes 0 1 limit val Ox60EO doa AL d UINT RW Yes 0 1 Positive Torque Limit Value R limit val Ox60E1 bdo OIE NE UINT RW Yes 0 1 Negative Tor
55. Data PDO Setting Initial value Change Unit Index Type Mapping Range V Phase Current 10000 0 INT RW No SV OFF mA Offset 10000 0x2017 W Phase Current Offset oet value of W Phase current offset Value of current offset is already set in factory If you do not know the correct settings don t set manually Index 0x2016 W Phase Current Offset Sub Data PDO Setting Initial value Change Unit Index Type Mapping Range 10000 10000 0x2100 Inertia Ratio Setting This sets the inertia ratio by calculating the load inertia from the machine system and rotor inertia listed on the motor specification table LS 8 33 8 34 Index 0x2100 Inertia Ratio Sub im Data PDO Setting TEES Initial value Type Access Mapping Range Change Unit 0 100 UINT RW No Oto 20000 Always 96 The inertia load ratio is an important control parameter for the operation of the servo It is crucial to set the correct inertia ratio for optimal servo operation 0x2101 Position P Gain 1 Index 0x2101 Position P Gain 1 Sub ds Data PDO Setting day Initial value Type Access Mapping Range Change Unit 0 90 UINT RW No 0 to 500 Always Hz 0x2102 Position P Gain 2 Index 0x2102 Position P Gain 2 Sub e Data PDO Setting index Initial value Type Access Mapping Range Change Unit 0 70 UINT RW No 0 to 500 Always Hz Position proportional gain 0x2101 and 0x2102
56. Kg SF30A SF22D SF20G SF12M SF22D SF20G SF12M 261 5 312 9 182 5 233 9 133 132 7 12 4 19 2 CETE LF35D LF30G SF20M 295 5 346 9 216 5 267 9 167 166 7 17 7 24 9 SF55D SF44G LF30M 345 5 396 9 266 5 317 9 217 216 7 26 3 33 4 SF44M 405 5 456 9 326 5 377 9 277 276 7 35 6 42 8 Note 1 SF30M or above models have eye bolts Note 2 Use DC power 24 V to operate the brake Note 3 The sizes in parentheses apply when attached to the brakes Note 4 Option specification Serial M Turn Encoder PinMap lt Serial S turn Encoder Connector lt Serial M turn Encoder Connector Plug MS3102A20 29P Plug MS3102A20 29P LS s 10 35 10 Product Specifications B SG Series XML SG22D SG20G SG12M XML LG35D LG30G SG20M XML SG55D SG44G LG30M XML SG44M MS3102432 17P 1 32 Pame sesar Power connector pin layout l External Dimensions SG22D SG20G SG12M _ SG20G SG12M 236 5 302 7 171 5 237 7 122 121 2 16 95 30 76 ETT LG30G SG20M 256 5 322 7 191 5 257 7 142 142 2 21 95 35 7 SG55D SG44G LG30M 292 5 358 7 227 5 293 7 178 177 2 30 8 44 94 SG44M 320 5 386 7 255 5 321 7 206 205 2 37 52 50 94 Note 1 Use DC power 90 V to operate the brake Note 2 The sizes in parentheses apply when attached to the brakes Note 3 Option specification Serial M Turn Encoder PinMap lt Serial S turn Encod
57. Mapping Range In the case of Serial encoder automatically set But for multi turn encoder need to set manually 0x2001 Encoder Type This specifies the current encoder type Encoder Type Index 0x2001 Sub Data PDO Setting Initial value Access Change Unit Type Mapping Range Index value Encoder Type 3 Mult iturn serial encoder Value Encoder Type 1 Single turn serial encoder The encoder data is read to display the encoder type 0x2002 Encoder Resolution This specifies the encoder bits read for automatic display Index 0x2002 Encoder Resolution Sub Data PDO Setting Initial value Access Change Unit Index Type Mapping Range In the case of Serial encoder automatically set But for multi turn encoder need to set manually Q Ah O O IJ s 8 26 tant E ATL eu ject Dictionary 0x2003 Power Fail Mode This specifies the main power input mode and the processing mode to use if phase loss occurs Index 0x2003 Power Fail Mode Sub ee Data PDO Setting s index Initial value Type Access Mapping Range Change Unit 0 0b000 UINT RW NO Mind SV OFF to 0b11 Details Bit function ETE Setting details Hex 0 Set the main power input 0 Single phase power input type 1 Three phase power input 0 Display Error in case of phase loss on the How to handle phase loss on main power the main power 1 Display Warning in case of phase loss on the main p
58. ON state in PV or CSV Mode CE Lt ri n CCW Limit state in PV or CSV Mode ACFE E CW Limit state in PV or CSV Mode 2 not Servo OFF state in TQ or CST Mode MEM Servo ON state in TQ or CST Mode t run CCW Limit state in TQ or CST Mode t Pat CW Limit state in TQ or CST Mode t unagt Servo OFF state in Homing Mode EL L H c 0 CCW Limit state in Homing Mode H f Ll E APA bs L CW Limit state in Homing Mode ee LS 4 3 m Mm i P jme L L Lt L a m 4 How to use the Loader NN 4 3 Display FND Output Object 1 How to use the button on loader Holding down the button Move to state of FND default Click the button Move to next object Value of 2601 2615 Value of 2616 When clicking the button display of FND will move to next object and display value of that object If holding down the button while number of object is displayed it will move to state of FND default ex P bb Servo OFF state in Position control Mode Object address which is displayed on FND is from 2600 up to 2616 Those data cannot be modified by button 3 1 E Ch f AT a mm ina ie m EtherCAT Communication EtherCAT stands for Ethernet for Control Automation Technology It is a communication method for masters and slaves which uses Real Time Ethernet developed by the German company BECKHOff and managed by the EtherCAT Technology Group ETG The basic con
59. PDO Setting Initial value Access Change Unit Index Type Mapping Range XDL L7N offers calibration function for current offset LS s 3 53 8 Object Dictionary 8 54 Sifnature MSB 16 15 ASCII Current Offset will be calibrated by writing rset in Sub Index 1 LS s 9 6 8 Object Dictionary CiA402 Objects 0x603F Error Code This displays the most recent alarm warning code generated by the servo drive Index 0x603F Error Code Sub es Data PDO Setting nder Initial value Type Access Mapping Range Change Unit 0 0 UINT HO Yes 0x6040 Controlword This is composed of bits which control the drive state the operation mode and manufacturer specific options Index 0x6040 Controlword Sub ae Data PDO Setting index Initial value Type Access Mapping Range Change Unit 0 to 0 0 UINT RW Yes OxFFFF Always Controlword Bit Bit function Details 0 Switch on 1 Enable Voltage l l Refer to the section concerning bits O to 3 2 Quick stop 3 Enable operation Settings by operation 4 to 6 Refer to the section concerning bits 4 to 9 mode 7 Fault reset 0 gt 1 Alarm warning reset 8 Halt Settings by operation Refer to the section concerning bits 4 to 9 mode 10 11 to _ i 15 LS 8 55 8 Object Dictionary Details on Bits O to 3 Bits 0 to 3 Drive state control
60. Store the position value for the falling edge of touch probe 2 i 0 Do not store the position value for the falling edge of touch probe 2 1 Store the position value for the falling edge of touch probe 2 11 to 13 Reserved 14 Toggle whether to store all update values for the rising edge of touch probe 2 15 1 A uS to store all update values for the rising edge of touch 15 bits on the rising falling edge of the touch probe To disable bits 1 2 9 and 10 saving the position values on the rising falling edges of touch probes 1 and 2 of the touch probe state 0x60B9 disable bits 4 5 12 and 13 using sampling on the rising falling edges of touch probes 1 and 2 of the touch probe function 0x60B8 and enable them Ox60BA The Touch Probe 1 Positive Edge Position Value This displays the rising edge position value of touch probe 2 Index 0x60BA Touch Probe 1 Positive Edge Position Value Sub ii Data PDO Setting Index Initial value Type Access Mapping Range Change Unit 0 0 DINT RO Yes POS unit Ox60BB The Touch Probe 1 Negative Edge Position Value This displays the falling edge position value of touch probe 1 Index 0x60BB Touch Probe 1 Negative Edge Position Value Sub om Data PDO Setting index Initial value Type Access Mapping Range Change Unit 0 0 DINT RO Yes m ios unit LSis 8 75 2 Ahinaat Niatinnar 8 Object Dictionary y Ox60BC The Touch P
61. Value This displays the current torque demand value in 0 196 increments of the rated torque Index 0x6074 Torque Demand Value Sd Initial value ie Access ied g a Change Unit 0 0 INT RO Yes Always 0 1 0x6076 The Motor Rated Torque This displays the rated torque of the motor mNm Index 0x6076 Motor Rated Torque hind Initial value MK Access mind g Pid Change Unit 0 0 UDINT RO No Always mNm LS 8 Object Dictionary 0x6077 The Torque Actual Value This displays the actual torque value of the XDL L7N in 0 1 increments of the rated torque Index 0x6077 Torque Actual Value Sub Data PDO Setting index Initial value Type Access Mapping Range Change Unit 0 0 INT HO Yes 0 1 0x607A The Target Position This sets the target position in Profile Position Pp mode and Cyclic Synchronous Position Csp mode This position is applied as an abs rel flag of the Controlword in Profile Position Pp mode according to absolute relative value setting It is always applied as an absolute value in Csp mode Index 0x607A Target Position Sub Data PDO Setting index Initial value Type Access Mapping Range Change Unit 2147483648 0 1310720 DINT RW Yes to Always 12147483647 0x607C The Home Offset This sets the offset value for the origin of the absolute encoder or absolute external scale and the zero position of the actual position
62. bits O to 7 2 Operation enabled 3 Fault 4 Voltage enabled 5 Quick stop 6 Switch on disabled 7 Warning 8 Reserved 9 Remote Processed as a Controlword 0x6040 10 Operation mode specific Refer to the sections concerning bits 10 12 and 13 11 Internal limit active Refer to the section concerning bit 11 12to 13 Operation mode specific Refer to the sections concerning bits 10 12 and 13 14 Torque limit active 0 no torque limit active 1 torque limit active 15 Reserved 8 Object Dictionary B Details on Bits O to 7 Bits O to 7 Indicates the current state of the drive Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 BitO Drive State 0 0 0 0 0 Not ready to switch on 1 0 0 0 0 Switch on disabled 0 1 0 0 0 1 Ready to switch on 0 1 0 0 1 1 Switched on 0 1 0 1 1 1 Operation enabled 0 0 0 1 1 1 Quick stop active 0 1 1 1 1 Fault reaction active 0 1 0 0 0 Fault 1 Main Power On 1 Warning is occurred B Details about Bit 11 Bit 11 Indicates whether to use an internal limit Use of an internal limit Both the software position limit and internal limit are applied to the target position Use N OT P OT contacts This exceeds the interpolation speed only used for the interpolated position lp or the cycl
63. brake Note 3 The sizes in parentheses apply when attached to the brakes Except SA015A Note 4 Option specification Serial M Turn Encoder PinMap lt Serial M turn Encoder Connector Pin No Phase Pin No Phase 6 eno a M B 3 Sb 8 J o 4 SL 9 SHIELD 5 jvo 8 172169 1 AMP LSis 10 31 10 Product Specifications B SB Series XML SBO1A XML SBO2A XML SBO4A Flag cco 172187 1 AME Power cosmector pin External Dimensions SBO A 122062 52 5 52 3 59 5 99 5 0 82 1 4 EM 136 176 106 146 66 5 66 3 73 5 113 5 1 08 1 66 SB04A 1634 199 134 169 94 5 94 3 101 5 141 5 1 58 2 16 Note 1 Use DC power 24 V to operate the brake Note 2 The sizes in parentheses apply when attached to the brakes Note 3 Option specification Serial M Turn Encoder PinMap lt Serial S turn Encoder Connector Serial M turn Encoder Connector 172169 1 AMP Plug 172169 1 AMP 10 32 LSS 10 Product Specifications B SC Series XML SC04A 5C03D XML SCO6A SCO5D XML SC08A 5C06D XML SC10A SCO7D External Dimensions Weight ee kg EN Z nen renn mmn mean n rae E aene vene vun vn n rmm KM cl Ll Rd O a Note 1 Use DC power 24 V to operate the brake Note 2 The sizes in parentheses apply when attached to the brakes Note 3 Option specification Serial M Turn Encoder PinMap lt Serial S turn Encoder Connector lt Serial
64. eed Rotation Speed Torque Characteristics Torque Him XM L FCO8A Torque Mm XM L FC1 OA Tesque Mm XM L FCOSD a BE 40 ui Repeatedly HY area WN Repeatedly used area Repeatedly used E ETN Continuously used area Continuously used area Continuously used area N d Ir min Sapo r min 5pacd rimin Speed r min Tomus Mm XM L FCO5D Tormua Nm XM L FCO6D Torque Nm XM L FCO7D Repeatedly used area N Repeatedly used area MX Repeatedly used area I ee Continuously used area os Continuously used area Continuously used area Speed mir Speed r min Speed r min 10 16 LSis 10 Product Specifications Product Features Servo Motor Type XML 00000 Applicable Drive L7G Aun L70A010 L73A020 L735A035 L70A035 L7 3A008 L735A010 1 5 2 2 3 0 dopa m os i5 22 a0 o9 M Rated torque kgf cm 29 20 48 70 71 40 97 40 29 20 53 60 instantaneous torque kgf cm 87 70 146 10 214 30 292 20 87 70 160 70 Maximum current 19 35 27 45 39 72 48 27 13 68 19 41 Rated rotation r min 3000 2000 speed speed kg m2x10 4 10 18 14 62 19 04 10 18 Inertia moment gf cm s2 10 39 14 92 19 43 10 39 Allowable load inertia Motor inertia x 10 Rated power rate kW s 14 47 22 38 33 59 47 85 14 49 27 08 Speed and Standard Serial Type 19 bit position detector X Protection Fully closed self cooling IPe5 excluding axis penetration Ambi
65. i d ato All models of XML SF i ca Ne TES XML SG NA BO DEY Wire Standard XML FF For power power XML FG MS3108B22 22S cable Series F180 Series Standard above Motor connection MS Military Standard 3 9KW a Plug specifications MS3108B MS3106B 22 228 below Drive connection U V W FG nid a U V and W pin specifications 6012 b FG pin specifications 6 0 x 5 Ring Terminal 3 Cable specifications 4Cx6 0SQ or 4Cx10AWG Content Lead Wire Pin No U Motor connection Drive connection aa p k ED e sa Se Power Supply DC24V Content Lead Wire Pin No All models ho 6 od E zem Wire of F XML SF XML LF MS108B24 10S XML FF F180 Brake attachment Series above 3 5KW below 5KW For power 1 Motor connection a Plug specifications MS3108B24 10S MS 2 Drive connection a Cable specifications 4C x 2 55Q or 4C x 14AWG b pin specifications 2 5 x 4 Ring Terminal 3 Brake power connection a BK pin specifications 1 5 x 3 Ring Terminal 4 Cable specifications 2C x 0 75SQ or 2C x 18AW 10 58 LS 10 Product Specifications Product Name Applicable e Category Note 1 Specifications For power For power XLCS Drive connection SE Name gt SS Den a lt Driver connection gt Motor connection FS Front XLCS Content Signal Pin No
66. i ux Lu l TON A 3x C EI Speed r min Speed r min Speed r min 102 LS 10 Product Specifications Toque Hm XM L SARO1 5A Repeatedly used area Gontinuously used area Speed nmin Product Features Servo Drive Type XML 00000 SBO1A SB02A SBO4A CS 4 Applicable Drive L7G Aan L7L A002 L7L A004 DEBBIE reed omar mq 5 3m 29 mm sm a m Rated torque Men am instantaneous Rated rotation 3000 speed speed hamaca Inertia moment preme Allowed load inertia Motor inertia x 20 Rated power rate kW s 8 89 22 26 50 49 Speed and Standard Quad Type Incremental 3000 P H EE position detector Serial Type 19 Bit Protection l Fully closed self cooling IP65 excluding axis penetration Ambient Specifications and 0 40 C features Ambient 20 80 RH no condensation humidity Atmosphere No direct sunlight corrosive gas or combustible gas ion Anti vibration Vibration acceleration 49 m s2 5G MN i os tw e Rotation speed Torque Characteristics LS 10 3 10 Product Specifications Targa rmi XML SBO1A Tore tne XML SB02A i XML SB04A Torque Hm Repeatedly used area Repeatedly used area Continuously used area Continuously used area Speri rman Seed mim Product Features Servo Motor Type XML O0OO0 SCO4A SCOGA SCO8A SC10A ENEMY Applicable drive L70An0 L7 A004 L75A008 L7OA010 mp o
67. is written to the Sub Index 1 This should be performed when the servo is off When writing tune the function begins to operate and repeats three times based on the set speed and distance parameters Automatic gain tuning changes the inertia ratio 0x2100 speed proportional gain 1 0x2106 and speed integral time constant 1 0x2108 Set the automatic gain tuning speed in Sub Index 2 The default value is 8 in 100 RPM units Set the automatic gain tuning distance in Sub Index 3 It rotates 1 2 to 1 4 turns for motor shafts with a default value of 3 and about 25 of the distance increases or decreases when the setting value is increased or decreased by 1 852 LS 8 Object Dictionary It estimates the inertia based on the speed set in Sub Index 2 and the distance set in Sub Index 3 It stores the inertia ratio Ox2100 speed proportional gain 1 0x2106 and speed proportional gain 2 0x2108 Transfer distance x 3 times 0x2702 Reset Absolute Encoder Index 0x2702 Reset Absolute Encoder Reset Absolute Encoder Sub Data PDO Setting Initial value Access Change Unit Index Type Mapping Range Reset Encoder Sub Data PDO Setting Initial value Access Change Unit Index Type Mapping Range 0x2703 Calibrate Current Offset Index 0x2703 Calibrate Current Offset Calibrate Current Offset Sub Data PDO Setting Initial value Access Change Unit Index Type Mapping Range Calibrate Offset Sub Data
68. ms ms ms A watchdog error occurred during EtherCAT communication on Double Flash 200 200 1000 off On A serious problem occurred in the internal communication of the XDL L7N drive 5 4 Data Type The following table outlines the content and range of the data types used in this manual Name Description Range SINT Signed 8 bit 128 127 USINT Unsigned 8 bit 0 255 INT Signed 16 bit 32768 32767 UINT Unsigned 16 bit 0 65535 DINT Signed 32 bit 21247483648 21247483647 UDINT Unsigned 32 bit 0 4294967295 STRING The String Value 5 EtherCAT Communication NEN 5 5 PDO Mapping The EtherCAT uses the Process Data Object PDO to perform real time data transfers There are two types of PDOs RxPDO receives data transferred from the upper level controller and TxPDO sends the state from the drive to the upper level controller The XDL L7N uses 0x1600 to 0x1603 for RxPDO mapping and 0x1A00 to 0x1A03 for TxPDO mapping You can map up to 10 objects on each PDO The following figure shows an example of PDO mapping Index Sub Name Data Type 0x6040 Controlword UINT 0x607A Target Position DINT SUB DATA ee INDEX TYPE y 1byte 1byte 1 0x6040 Ox00 UINT Qeoo 2 OX6Q7A 0x00 DINT 10 ODO odo Index Sub Name Data Type 0x6041 Statusword UINT 0x6064 Position Actual Value DINT
69. naix User Manual Revision History 2012 09 10 Add contents 2012 11 19 Add Multi turn encoder contents parameters servo motor Added Motor specification sheet and option list 4 2013 07 20 1 4 Added AL 35 modified parameter range Added applied condition for 5 2013 11 07 Parameter Added Motor 15 specification sheet and option list Added option list for motor and drive 2014 03 10 a 1 6 Modified parameter range and contents Example of connecting to 7 2014 07 11 PLC PN8B Added FxL Motor 1 7 and the contents of 5kW Driver Green Management Product Disposal LSIS considers protecting the environment The LSIS servo drive is environmentally a high priority We work hard to protect the friendly Earth You can disassemble the drive and recycle the iron aluminum bronze and synthetic resin cover components 126 LS LSIS values every single customers Quality and service come first at LSIS Always at your service standing for our customers http www lsis com LS m HEAD OFFICE m LSIS Chengdu Office _ Chengdu China LS Tower 127 LS ro Dongan gu Anyang si Gyeonggi do 431 848 Address 12FL Guodong Buiding No 52 Jindun Korea http eng Isis com Road Chengdu 610041 P R China Tel 82 2 2034 4870 Fax 82 2 2034 4648 e mail cshwangOlsis com Tel 86 28 8612 9151 9226 Fax 86 28 8612 9236 e mail comysb Isis com m LSIS Tokyo Office Tokyo Japan m LSIS Qingdao Office _ Qingdao China Address 16
70. no condensation Atmosphere No direct sunlight corrosive gas or combustible gas Anti vibration Vibration acceleration 49 m s2 5G Wes a mx w4 mz o Rotation speed Torque Characteristics APM FG22D APM FG35D Torque Nm APM T G55D igne P aoe 100 0 Repeatedly used area 2 000 3 000 JOU UUU 3 000 2 000 3 0DU i DUC 3 UDU Speeatr aint Speed r min Speed r min APM FGALAG Torque Mm Torque Am 60 0 20 0 Repeatedly used area dad G ontinuously used 77 m e000 speeaLviaint o hd speeaLvitint o ave LN Product Features Applicable Drive L70Aon M L75A035 EE WE Rated torque Maximum OO NA m 34 40 57 30 85 90 126 00 Co o instantaneous torque kgf cm 350 8 584 6 876 9 128 61 Iu EN es komio Fl 41 13 71 53 117 72 149 40 Sd Inertia moment Allowable load inertia Motor inertia x 5 maeipwerae pr s s e970 noia A S LS s 10 23 10 Product Specifications Protection method Specifications Ambient 0 40 C and features temperature Ambient humidity 20 80 RH no condensation Atmosphere No direct sunlight corrosive gas or combustible gas Anti vibration Vibration acceleration 49 m s2 5G Fully closed self cooling IP65 excluding axis penetration APM TFGI2M Repeatedly used area 1 000 15 b i abis 00 SUO 1 000 1 5 U o abis 00 900 1 000 lve De abusi d n A Ju 1 000 1987 elsi UU gm Product Fea
71. shaped screwdriver Weidmueller s SD 0 6x3 5x100 38 LSis 3 Wiring XDL L7NAO50B E in Em a st et ee ETE HAS E A i CIAN mD lh ees ene 7 C TRU jl He E Sl us E ic sal ji pe NC Internal regenerative resistor Lead terminal binding screw 0 4 Malfunction of drive could be occurred if torque of screwing was not enough 3 Wiring 3 3 Timing Diagram 3 3 1 Timing Diagram During Power Input For the XDL L7N Series connect single phase power to the C1 and C2 terminals to supply power to the control circuit and three phase power to L1 L2 and L3 to supply power to the main circuit The servo signal becomes Ready after the maximum period of 120 ms that is required to reset the device elapses If you change the signal to ON the servo operates in 40 ms 200 ms Main power control power Control power established 5 V Control program reset Main power Alarm Normally On Servo Ready Servo On Clear the DB E 5 ms mA l I l I I M I PWM output A motor rotation aom fe 40 ms 2 MS Note 1 The Servo Ready turns on after the main power is established and the control program is reset Note 2 Servo On begins after the Servo Ready is on and the EtherCAT communication and the servo are synchronized 310 LSis 3 Wiring 3 3 2 Timing Diagram During an Alarm Trigger When an alarm is triggered in
72. the servo drive it blocks the PWM and stops the motor Reset the alarm after solving the problem that triggered the alarm and after changing the command signal Servo On to Off 200ms Fb gt Main power control power supply Control power m le established AM i 5V Control program reset Main power Poi ae Alarm triggered by an anomaly Remove the ERAN JE cd UE causes that Alarm triggered the Normally On alarm Servo RDY 10ms 4 Servo On Clear the DB 5 ms gt PWM gt 40 ms 2 ms le gt 30 ms Motor rotation RESET Jl LSis 3 11 3 Wiring NEN 3 4 Wiring the Control Signals 3 4 1 The Contact Input Signal 1 There are two input contacts based on the characteristics of the A and B contact signals Configure them in accordance with the input signal logic definition 0x2204 2 Change the signal definition for each contact in accordance with the input signal definition 0x2200 0x2201 Internal circuit R1 3 3 KO R2 680 Q 3 4 2 The Contact Output Signal There are two input contacts based on the characteristics of the A and B contact signals Configure them in accordance with the output signal logic definition 0x2205 Change the signal definition for each contact in accordance with the output signal definition 0x2202 0x2203 Overvoltage or over currents may damage the device because it
73. the speed error The speed error is the difference between the command speed and the current speed The speed integral time constant converts the speed error into a torque command by multiplying it by the integral time constant 0x210A The Speed Command Filter Time Constant Index 0x210A Speed Command Filter Time Constant Sub ae Data PDO Setting s index Initial value Type Access Mapping Range Change Unit 0 0 UINT RW No 0 to 1000 Always ms 0x210B The Speed Feedback Filter Time Constant Index 0x210B Speed Feedback Filter Time Constant Sub a Data PDO Setting Index Initial value Type Access Mapping Range Change Unit 0 5 UINT HW No 0 to 1000 Always 0 1ms Speed feedback filter time constant 0x210B Filters the speed feedback to control vibrations when the speed of the motor changes due to drive system vibrations or vibrations due to gain and too much load inertia 0x210C The Torque Command Filter Time Constant Use a digital filter for the analog torque command voltage to improve the stability of command signals will be reduced It is important to set a value that is appropriate for your system If the filter value is set too high responsiveness to torque commands LS Index 0x210C Torque Command Filter Time Constant Sub Data PDO Setting dex Initial value Type Access Mapping Range Change Unit 0 0 UINT RW No 0 to 1000 Always ms
74. uses an internal transistor switch e Rated voltage and current DC 24 V 10 150 mA Contact Contact Internal circuit Note 1 The alarm and READY output signals are separate in the GND24 terminal 3 12 LSS 3 Wiring 3 5 Connecting Serial Encoder Signals CN2 3 5 1 XLCS EoooCS Cable AWG24 4Pair Twist rvo motor rv i Servo moto TR Servo drive TITTLE ELL of Cable Connector CN2 Maker 3M Cable 10314 52A0 008 Connector 10114 3000VE Maker AMP 172161 1 170361 1 3 5 2 XLCS EoocoDS Cable AWG24 4Pair Twist Servo motor Servo drive Shield Wire BEXRERERSEEREENEEERRRERNTDPA d a Cable Connector CN2 Maker 3M 10314 52A0 008 10114 3000VE Cable Connector pa SHD Frame Pr APPS MS3108B20 295 LS 3 13 3 Wiring 3 5 3 XLCS EuccES Cable AWG24 4Pair Twist Servo motor Servo drive Shield Wire PITT of s Cable Connector CN2 Maker 3M 10314 52A0 008 10114 3000VE Connector Tyco Connector 7Ciruits 3 14 LS 3 Wiring 3 6 Connecting Multi turn Encoder Signals CN2 3 6 1 XLCS E CS1 Cable Servo motor a Shield Wire Servo drive Cable Connector CN2 Maker 3M 10314 52A0 008 10114 3000VE Cable Connector 172161 1 AMP 170361 1 AMP 3 6 2 XLCS E DS1 Cable AWG24 4Pair Twist servo motor Shield Wire Servo drive Cable Conn
75. value 0x6064 Index 0x607C Home Offset Sub w Data PDO Setting i index Initial value Type Access Mapping Range Change Unit 0 0 DINT RW No 936870912 Always POS to unit 0368 0911 e Incremental encoder If it finds the home position or it is at the home position then the position moved by the home offset value becomes the zero position e Absolute encoder If the absolute encoder is connected then the home offset value is added to the absolute position the actual position value Home Zero position position home offset T LS 8 69 8 Object Dictionary 8 70 0x607D The Software Position Limit This sets the software limit value It limits the range of the position demand value 0x6062 and position actual value 0x6064 and checks the new target positions for these ranges every time The software limit value is always relative to the mechanical origin The minimum software limit value is the reverse rotation limit The maximum software limit value is the forward rotation limit Index 0x607D Software Position Limit Number of entries Sub Data Setting Initial value Access Change Unit 1 4 3 Type Mapping EE HN Min position limit Sub Data PDO Setting Initial value Access Unit Index Type Mapping Range 536870912 Pos 1 2000000000 DINT RW NO to unit 536870911 Max position limit Sub Data PDO Setting Initial value Access Unit Ind
76. 0 0 OUO 0 Time sec 100 0 1 0 _ _ o _ _ o _ _ _ __ __ _ Q 110 120 130 140 150 160 170 180 190 200 210 220 230 240 250 260 270 280 290 300 Load rate 96 11 12 LS 11 Maintenance and Inspection 43507 2 210 149 4 10876 8 220 114 9 4834 14 230 85 9 2 19 2 240 2 5 1062 250 23 5 530 04 200 107 310 08 zm 2 Stoppage overload graph AL 21 Load 9 proci sec 100 or less AL 21 Occurri ng Time sec 116019 2 m Rg lt p 29004 8 12891 0 7251 2 45320 17700 598 4 521 8 334 1 2200 PT 2832 0 1437 4 834 9 034 6 200 46 280 361 6 135 6 290 N PN 214 4 80 4 300 Load curve when stopped 1600000 0 100000 0 10 0 1 0 Ee AA A _ _oO q3q0Rcqgun A AA A AA 116 120 130 140 150 160 170 180 190 200 210 220 230 240 250 260 2 0 280 290 300 Load rate LS is 11 13 11 Maintenance and Inspection B Servo Drive Overload Graphs 2 KW and 3 5 KW 7731 2 210 66 8 106 9 1932 8 220 50 1 80 2 859 0 230 38 5 61 6 483 2 240 30 3 48 5 411 2 250 24 2 38 7 366 4 137 4 260 6 7 264 0 1 Rotation overload graph AL 21 Load Occurri 96 ng Time sec 100 or less AL 21 Occurri ng Time sec 110 4832 0 3020 257 0 729 0 200 0 165 131 103 r O Q Q Pe rs CO Load curve during rotation 16000 0 m NEM PSS 10 0 110 120 130 140 150 160 170 180 190 200 210 220 230 240 250 260 270 250 290
77. 0 3 000 4 000 5 000 Speed r min Speed r min Speed r min LSis 10 27 10 Product Specifications Torque Nm APM FCLIOA 1000 y Repeatedly used area Continuously used area 1 000 2 000 3 000 4 000 5 Speed r min gm Product Features Servo Motor Type XML Couou FCLO3D FCLO5D FCLOGD FCLO7D O Applicable Drive L7 Aon L75A004 L7 A008 LT a ow Rated torque kgf cm 14 62 21 92 26 80 31 67 D Ff instantaneous torque kgf cm 43 85 65 77 80 39 95 01 a I M a a Maximum Inertia moment Allowed load inertia n UN m 38 73 51 47 54 56 59 03 Speed and Standard Serial Multi Turn Built in Type 19bit position Protection l l Fully closed self cooling IP67 excluding axis penetration a Eme ep Ambient and features Ambient 20 80 RH no condensation humidity Atmosphere No direct sunlight corrosive gas or combustible gas Anti vibration Vibration acceleration 49 m s2 5G OS ae Weight kg 126 22 26 27 Rotation speed Torque Characteristics e 10 28 LS 10 Product Specifications Torque Nm APM FCLO3D Torque Mm APM FCLOSD Torque Nm APM FCLO6D 8 00 Repeatedly used area Repeatedly used area e PHARA Continuously used area Continuously used area 1 000 2 000 000 3 000 Speed r min Speed r min Torque Nm APM FCLO7D 10 00 I 8 00 i R adl d 4 00 en VENG 2 00 0 00 3 Speed r min
78. 0 3000 INT RW No ae Always RPM 0x2308 J OG Operation Speed 3 Program J OG Speed 3 Index 0x2308 Program JOG Speed 3 bend Initial value ius Access os g peg Change Unit 0 0 INT RW No ut Always RPM 0x2309 J OG Operation Speed 4 Program J OG Speed 4 Index 0x2309 Program JOG Speed 4 hire Initial value ane Access rior g bb Change Unit 0 3000 INT RW No nn Always RPM 0x230A J OG Operation Time 1 Program J OG Time 1 Index 0x230A Program JOG Time 1 bord Initial value ds Access Tisi g Rad Change Unit 0 500 UINT RW No 0to 65535 Always ms 0x230B J OG Operation Time 2 Program J OG Time 2 Index 0x230B Program JOG Time 2 Md Initial value e Access sain g Pei Change Unit 0 5000 UINT RW No 0to 65535 Always ms 8 44 LS 0x230C J OG Operation Time 3 Program J OG Time 3 0x230D J OG Operation Time 4 Program J OG Time 4 A test drive repeats step 1 to 4 Index 0x230C Program JOG Time 3 Sub T Data PDO Setting index Initial value Type Access Mapping Range Change Unit 0 500 UINT RW No O to 65535 Always ms oet the operation speed 0x2306 0x2309 and operation time 0x230A 0x230D for each step Index 0x230D Program JOG Time 4 zu Name PENE Access HS feng Change Unit Index Type Mapping Range 0 5000 UINT RW No O to 65535 Always ms 0x2402 The Position Limit Function Ind
79. 018 ssa 0 56 1 3 FBLO2A 118 2 158 2 88 2 128 2 59 5 59 3 ES 0 018 ssia 0 74 1 48 FBLO4A 138 2 178 2 108 2 148 2 79 5 79 3 ET 0 018 sis s 1 06 1 8 NOTE 1 Use DC power 24V to operate the brake NOTE 2 The dimension of is for brake type motor B FCL Series XML FCLO4A FCLO3D FCLO6A FCLO5D FCLOS8A FCLO6D FCL10A FCLO7D u 2 e 4 T VLA Cross Section of Shaft Key S C 2 1 10 13 LL Oros s lt In the case that extraction direction of cable is on the opposite direction of Axis 10 46 L 5 10 Product Specifications Multi Tam M Multi Turm M pi M 68 MA L4 NW Saf H BASE ASSY 2108418 1 TyeolL_5 1 Shed TT 7 54 08 0048 Suntone gt Power connector pir arm HSG 2108422 1 Tyco Encoder conmector pin array lt INAATOPPN RyTyeo fpe corrector pin array CONTACT 2069591 2 Tyea gt Fin No Signal name External Dimensions Weight kg Poe me ARAS FCLO4A FCLO3D 138 7 179 5 98 7 139 5 70 69 8 0 018 IES 1 52 2 32 1 26 2 06 FCLO6A FCLOSD 156 7 197 5 116 7 157 5 88 87 8 0 021 616 3s 2 14 2 94 2 12 2 92 FCLO8A FCLO6D 174 7 215 5 134 7 175 5 106 105 8 0 021 po 6 35 2 68 3 48 2 66 3 46 FCLIOA FCLO7D 192 7 233 5 152 7 193 5 124 123 8 0 021 6 6 fas 3 30 4 10 2 78 3 58 NOTE 1 Use DC power 24V to operate the brake NOTE 2 The dimension of is for brake type motor LSis
80. 02 7 L7 Drive Setup Increase the gain so that the servo motor does not overshoot or lose control do not use during speed operations or torque operations e Adjust the speed proportional gain with 0x2106 and 0x21077 Increase the gain so that the servo motor does not vibrate e Adjust the speed integral time constant with 0x2108 and 0x2109 Refer to the following table and set it according to the speed proportional gain The Inertia Ratio Setting 0x2100 This sets the inertia ratio by calculating the load inertia from the machine system and rotor inertia listed on the motor specification table Inertia ratio load inertia motor rotor inertia x 100 The inertia load ratio is an important control parameter for the operation of the servo It is crucial to set the correct inertia ratio for optimal servo operation The following table outlines the recommended control gain for different inertia ratios Inertia ratio Gain Range Motor Position Speed Flange Categor uL Proportional Proportional dd y p Gain Gain Low a5 40 90 400 1000 10 40 Inertia a 7 Medium 5 20 20 70 200 500 20 60 80 Inertia High 20 50 10 40 100 300 50 100 Inertia You can tune the inertia ratio during a test drive if it is too hard to calculate the inertia ratio before operation 7 L7 Drive Setup 7 2 2 The Position Control Gain FF filter time Feed forward gt Diff
81. 03 is set to 1 nn i Check the emergency stop contact signal 0 00 a and the external 24 V power Sto STO connection error STO connection error b the operation and connection Ppt CCW Limit CCW Limit on setting Check the setting and point of contact nat CW Limit CW Limit on setting Check the setting and point of contact LS 11 7 11 Maintenance and Inspection B Servo Drive Overload Graphs 400 W or less 1 Rotation overload graph AL 21 Occurri Load Occurri i 96 ng Time sec 100 or less 240 Load curve during rotation 100000 0 10000 0 1000 0 100 0 Time sec 10 0 110 120 130 140 150 160 170 180 190 200 210 220 230 240 250 260 270 280 290 300 Load rate 96 11 8 LS 11 Maintenance and Inspection 2 Stoppage overload graph AL 21 Load proci sec 100 or less 110 37937 7 210 2 z Le se wes ms 99 100000 0 10000 0 1000 0 100 0 Time sec 110 120 130 140 0 0 Csa 2 so 5 43 5 AL 21 Occurri ng Time sec 9 7 8 3 3 8 3 4 3 1 2 2 5 E 5 4 4 3 as 4 15 Load curve when stopped 150 160 170 180 190 200 210 220 230 240 250 260 270 280 290 300 Load rate 96 LS 11 9 11 Maintenance and Inspection B Servo Drive Overload Graphs SA type 100 W or less 1 Rotation overload graph AL 21 AL 21 Occurrin Occurri Load 76 g Time ng Time Em mE 100 or less ERE NK NE AM MEN N N ae
82. 05E The Fault Reaction ObDIIOIT OG odorata at as da 8 64 0x6060 Modes ol Operation s eie a M RM RM MM ada e ccu cide des amen des sn doa an 8 64 0x6061 The Modes or Operation DISPIAY uisseki ui ee Ean Eae Ra Rd x PvP isis 8 65 0x6062 The Position Demand Value csessseseeen II mm I rnrn rnr nAn nrnrrnrn nr ise eese reser eere 8 65 0x6063 The Position Actual Internal Value eseeseenm Im Rem Immer nemen mener 8 65 0x6064 The Position Actual Value iere aout pose vwe paste vueueulskuR RE kx UE Ra Mk x OR P a kx rrna Annn E M RE RP ArHE PM MER RM E MERE 8 65 0x6065 The Position Error Range Following Error Window sese 8 66 0x6066 Position Error Timeout Following Error Time Out occcccccooonnccnnnccccnnncccnnnnnonnnnnccnnnnnonanccnnnnnnnnnaneninnnss 8 66 0x6067 The Position Reached Range Position WiNdOW ccccseeceeeeeeeeeeeeeeeeeeeeeeeeeeseeeessaeeesseeeeeseeeesaes 8 66 0x6068 The Position Reached Time Position Window Time cccconnncccnccnccnccncnnncnnnnnnononncnnnnacononannnononcnnnos 8 66 Ox606B he Velocity Demand Value auci ee ioca ll ied 8 67 Ox606C The Actual Velocity Value ooocccccccocconcnoconcnonoconcnnnonancnnnononcnnnnonancnnnnnnnnnnnnnnannnnnnnnnnnnnnnannnnnanonons 8 67 0x606D The Velocity Reached Range Velocity Window esee 8 67 0x606E The Velocity Window TIMO eae cci Eta nra mee ER exa Rea neo
83. 0x2111 Notch Filter Bandwidth Sub jm Data PDO Setting TOUR Initial value Type Access Mapping Range Change Unit 0 100 UINT RW No 0 to 1000 Always LS 0x2112 The Velocity Limit Switch Index 0x2112 Velocity Limit Switch Sub is Data PDO Setting Index Initial value Type Access Mapping Range Change Unit 0 0 UINT HW No 0 to 3 Always 0x2113 The Velocity Limit Value Index 0x2113 Velocity Limit Value Sue Initial value PENE Access nS SEL TE Change Unit Index Type Mapping Range 0 2000 UINT HW No Oto 10000 Always HPM 0x2114 P Control Conversion Torque Torque Switch Value Index 0x2114 Torque Switch Value Sub ne Data PDO Setting dex Initial value Type Access Mapping Range Change Unit 0 200 UINT RW No 0to300 Always 96 0x2115 The P Control Conversion Speed Speed Switch Value Index 0x2115 Speed Switch Value Sule Initial value PENE Access ANS SEL Te Change Unit Index Type Mapping Range 0 50 UINT RW No 0 to 6000 Always RPM 0x2116 P Control Conversion Acceleration Acceleration Switch Value Index 0x2116 Acceleration Switch Value Sub m Data PDO Setting dey Initial value Type Access Mapping Range Change Unit 0 100 UINT RW No 0to5000 Always rom s 0x2117 P Control Conversion Position Error Following Error Switch Val
84. 2 More than More than Te Pol e More than 10mm jJ 7 10 mm 10mm jas il C ee li 10mm cp Bre gt dle iz EA Fn B rm E i MES P y EN E Ta EP o BITS IA MERIT More than More than More than 40 mm 40 mm 2mm Ensure that during installation the heat from the external regenerative resistor does not affect the drive Ensure that the servo drive control panel is flat against the wall during installation Ensure that the metal powder from drilling does not enter the drive when assembling the control panel Ensure that oil water and metal dust do not enter the drive through gaps in the casing Protect the control panel by spraying compressed air in areas which accumulate harmful gases or dust 24 LSis 2 Installation 2 2 3 Power Supply Wiring Ensure that the input power voltage is within the acceptable range Overvoltage can damage the drive Connecting commercial power to the U V and W terminals of the drive may damage the drive Always supply power via the L1 L2 and L3 terminals Connect short circuit pins to the B and BI terminals For external regenerative resistors remove the short circuit pins and use standard resistors for the B and B terminals Resistance Standard Value Capacity nos Model XDL L7NAO01B XDL L7NA002B XDL L7NA004B 100 Q Built in 50 W A Caution XDL For information about resistance during L7NA008B rege
85. 2 Objects 9 Remote 10 Target reached 11 Internal limit active 12 Operation mode specific 13 14 Torque limit active 15 6 2 LS Related Objects Data PDO 6 CiA402 Drive Profile Index Sub Name Type Access Mapping Units 0x6040 Controlword UNIT RW Yes 0x6041 Statusword UINT RO Yes eosa Cuenca NT RW o ove recaen oes n D Be 9050 same Operation Option Code NT P No X Ox605D s E sad INT RW No E BE aranean Option ode NT PW No LS 6 3 6 CiA402 Drive Profile 6 2 Operation Modes The XDL L7N supports the following operation modes 0x6060 Profile Position Mode Homing Mode Interpolated Position Mode Profile Velocity Mode Profile Torque Mode Cyclic Synchronous Position Mode Cyclic Synchronous Velocity Mode Cyclic Synchronous Torque Mode B Related Objects Data PDO Index Sub Name Type Access Mapping Units Drive Mode 0x6060 SNIT RW Yes i Modes of Operation Display the operation mode 0x6061 SNIT RO Yes Modes of Operation Display 0x6502 i Supported drive modes UDINT RO No Supported Drive Modes B Dynamic Conversion of Operation Modes The 0x6060 object can change the operation mode The master simultaneously selects an operation mode and changes the related objects When the master switches to a new operation mode the XDL L7N instantly switch
86. 201825 1 Tyco Rear b Socket specifications 2174065 4 Tyco direction Drive connection CN2 a Case specifications 10314 52A0 008 3M or SM 14J Suntone b Connector specifications 10114 3000VE 3M or SM 14J Suntone 3 Cable specifications 4Px0 2SQ or 4Px24AWG Note 1 The in the name indicates the type and length of each cable Refer to the following table for this information Cable length m Robot cable 3 F03 LS is 10 53 10 Product Specifications Product Name Note Applicable T Motor connactiom Dawe connactiondc NJ T 4 ie 4 cer All models of Cah XML SE H Serial type XML SF E F r encoder XLCS XML SG signaling cable E DS d medium XML LG capacity XML FE lt Motor connactor gt lt Diva connector gt AML FF 4 Motor connection MS Military Standard mene a Plug specifications MS3108B MS3106B 20 295 Series 2 Drive connection CN2 a Case specifications 10314 52A0 008 3M or SM 14J Suntone b Connector specifications 10114 3000 VE 3M or SM 14J Suntone 3 Cable specifications 4Px0 2SQ or 4Px24AWG All models of XML SE E Multiturn XML SF i For XLCS pista encoder signaling cable EOOODS1 AUGEN XML LG istor connector Drive conmartor gt XML FE XML FF 1 Motor connection XML FG a Cap specifications 9 Position 172161 1 AMP
87. 2206 The Zero Speed Range Index 0x2206 Zero Speed Range Sub ee Data PDO Setting index Initial value Type Access Mapping Range Change Unit 0 10 UINT RW No 1 to 65535 Always RPM Spee Velocity span Command speed Ox606D Zero speed output range 0x2206 Time Zero speed ZSPD Speed reached INSPD Zero speed output range 0x2202 A zero speed signal is output if the current speed drops below the set speed Speed reached range 0x606D The speed reached signal is output 0x2207 The Break Output Speed Index 0x2207 Break Output Speed Sub n Data PDO Setting ndor Initial value Type Access Mapping Range Change Unit 0 100 UINT HW No 1 to 6000 Always RPM LSis 8 41 8 Object Dictionary 8 42 0x2208 The Break Output Delay Time Index 0x2208 Break Output Delay Time Sub e Data PDO Setting Index Initial value Type Access Mapping Range Change Unit 0 500 UINT RW No O to 1000 Always ms Speed MOOD opone In case of servo Off or d alarm trigger Brake signal output operation speed Voo e Time Servo On in ha lt Within 50 ms lt delay time 0x2208 The brake signal output operation speed 0x2207 and brake signal output delay time 0x2208 If an alarm occurs after the servo s built in brake is applied to the vertical axis for motor operation then this feature activates to prevent the load on the vertical axis fro
88. 3 RC IS FR La om pos o o9 Rated torque kgf cm 12 99 19 49 25 98 3248 instantaneous torque kgf cm 38 96 58 47 77 95 97 43 a 10 74 14 49 1641 Rated rotation 3000 mu speed speed Inertia moment gf cm s2 i Do D 4 Allowed load inertia Motor inertia x 15 a ae Rated power rate IkW s 24 05 33 39 43 02 52 57 BEEN Speed and Standard Quadrature Type Incremental 3000 P R D position detector Option Serial Type 19 bit Protection method Fully closed self cooling IP65 excluding axis penetration Time rating Continuous Ambient and features Ambient humidity 20 80 RH no condensation Atmosphere No direct sunlight corrosive gas or combustible gas Anti vibration Vibration acceleration 49 m s2 5G Rotation Speed Torque Characteristics Specifications temperature 0 40 C EE 104 LS 10 Product Specifications XML SC04A XML SCO6A Torque Mm Tongue Nm XML SC08A Torcue Nm Repeatedly used area l Repeatedly used area T Repeatedly used area Continuously used area 19 Continuously used area M Continuously used area 1 Speed rmn Speed mimin Speed r min XML SC10A Torque m Repeatedly used area lt Continuously used area lh nn 1 Speed r min Product Features Servo Motor Type XML SC03D SCO5D SCO6D SC07D A Applicable Drive L7GAno L7 A004 L7 A008 p weoma wm om os os 9m edeme Na a Med ws me
89. 4 P R PL MEA Ud Non existent None 130 Flange Inc 2048 P R A 180 Flange Inc 2500 P R nds 220 Flange Inc 3000 P R 1 Oil Seal attached 250 Flange A 3000 rpm Inc 5000 P R pid dd 280 Flange D 2000 rpm Inc 6000 P R 3 Oil Seal and Brake G 1500 rpm Serial BiSS allacnes M 1000 rpm communication type N 19bit S Turn Abs Non existent No gearbox G1 For general industrial purposes Floor Mounted c cTLoOnmooou M 19bit M Turn Abs 18bit SA M Turn Abs 1 2 1 2 Parts 1 2 1 Servo Motor Parts B 80 Flange or below Motor Power 1 Product Configuration Motor Cable Connector Encoder Connector M Encoder Cable O O o v Shaft e t F v it Encoder Bearing Cap Flange Frame Housing Cover B 80 Flange or below Flat Type Power Connector Encoder Connector Flange Frame Mold Housing Encoder Cover B 130 Flange or higher Motor Connector Bearing Cap Encoder Connector Encoder Cover Flange Frame Housing 1 Product Configuration 1 2 2 Servo Drive Parts B XDL L7NAOO1B XDL L7NAOO2B XDL L7NAOO4B Operation keys These allow you to check parameters S SERVO Display This disp
90. 614 U Phase Current Offset Sub EN Data PDO Setting dex Initial value Type Access Mapping Range Change Unit 0 0 INT HO No mA 0x2615 The V Phase Current Offset Display This displays the V phase current offset in mA Index 0x2615 V Phase Current Offset Sub o Data PDO Setting dex Initial value Type Access Mapping Range Change Unit 0 0 INT HO No mA 0x2616 The FPGA Version Display This displays the version of the FPGA Index 0x2616 FPGA Version Sub E Data PDO Setting index Initial value Type Access Mapping Range Change Unit 0 UINT RO No 0x2617 External Encoder Position Feedback Index 0x2617 External Encoder Position Feedback Sub Data PDO Setting Chan Initial value Access Unit Index Type Mapping Range ge 0x2618 External Encoder Following Error Display Following pulse difference between Internal and External encoder Index 0x2618 External Encoder Following Error Sub Data PDO Setting Chan Initial value Access Unit Index Type Mapping Range ge 0x2700 Read Clear the Alarm History Index 0x2700 Read Clear Alarm History Number of entries LS 8 Object Dictionary w No PDO Change Unit Mapping No PDO Setting Unit Mapping Range No The XDL L7N reads object entries to determine the alarm history of a parameter In order to prevent parameters from being incorrectly read the Sub Index records read when the parameter is read Signature MSB 16 15 LSB The XDL L7N reads object entries
91. 73 7777 Fax 86 411 8730 7560 e mail cuibx Isis com cn Tel 86 10 5825 6027 666 Fax 86 10 5825 6028 e mail xunmj Isis com cn m LSIS Guangzhou Office Guangzhou China Address Room 1403 14FL New Poly Tower 2 Zhongshan Liu Road Guangzhou P R China Tel 86 20 8328 6754 Fax 86 20 8326 6287 e mail chenxs Isis com cn X LSIS constantly endeavors to improve its product so that 2015 5 information in this manual is subject to change without notice LSIS Co Ltd 2012 All Rights Reserved
92. 7NO50B cccceccccseeeeeceeeeeeeeeeeeseeeesseeeeeseeeeeseaeeessaeeesseneeeseeeeesaaees 3 5 3 2 9 Power Circuit Electrical Comporients do 3 6 339 Nmn DIA a ias 3 10 3 3 1 Timing Diagram During Power InpUt micos cional iria 3 10 3 3 2 Timing Diagram During an Alarm Trigger ccccsssccccsseeecsescecseeeeceuecsseceeseueeeseueeessueeesseneeessneeenses 3 11 3 4 MWingng the Control Signale spese EE RR EeE mas NU DM EErePPDECU M DEEP ICI a EE CDM RA LCD CU M DLL DN DU DD MEL LE 3 12 24r The Comlact Impul olgEelssnsiussns delude ocu au me tO Dv Latona dub toos heave ch Drusai ra wd 3 12 3 4 2 The Contact Output Signal essssssssssssssssseeeeeeeeeeenee enne nnn nnn nennen nennen rrr nnne nennen 3 12 35 Connecting Serial Encoder Signals GNI as e a le asics 3 13 SW MED Ber camus Cae MR TP 3 13 tro ALCS je yl Bes CADE RTT ET RA 3 13 493 AUC SERGE S Gables A uere vasi qud vis sd aaa 3 14 36 Connecting Multi turn Encoder Signals GIN aiio dedu todut utes E ees aas vini cele ede 3 15 360 1 c SEM AAA Em 3 15 95 2 SA aa te tueur tun uu a ut ue Lis 3 15 309 SAA RU Dmm 3 16 3 7 Connecting the Input Output Signals estoit cece dona do dete aaa 3 17 3 7 4 The Names and Functions of the Input Signals CN1 ooocccncccccccnnccnncccnnccnoncnncnnnncnnnnnnnnononnoncnnnnnnnnos 3 17 LS Table of Contents 3 7 2 The Names and Functions of the Output Signals CN 1 ococccccocccnnccnoccnncccnoncnncnnonc
93. 9 POO Map pind CODIGOS 5 095 0 09 1 89 69 6 0 0816 2 eos 259 PEOR IE QU TEM CORR E E D ue aic cn ERU DOUG M BUT UU EE E E 8 11 OxT600 to OxT603 Recalve PDO Mapping ia ciiweiresenarsdewinevecaniwevedewbaigws poor 8 11 OXTAOQ09 0XTAO03 Transmib EDO MIONO dado dnd iota esa ind 8 14 8 4 Sync Manager Communication ObjectS cccccooccnncccnnccccnonnncnnnnonononnnnnnnonnnnnnnnnnnnonnnnnnnnnnnnnnnnnnennnnnnnnaneninnnnnnnos 8 18 0x1C00 Sync Manager COMMUNITY ts 8 18 0x1C10 to 0x1C13 Sync Manager PDO Assignment eeeeessssssssssseeeseeeneen nennen nennen nennen nnns 8 19 0x1C32 Sync Manager 2 Synchronization 2552225222024 0 05 e oras Mnt Rao Manatee anwar Ea udaa iB at udua Eau d saute 8 21 9x1C335 Syne Manager s Synchronization Ad 8 23 8 5 Mant raciurer pecliic ODECIS uta coda una anid 8 25 cole 09 oio ud D eec EE 8 25 OXx2001 Encoder TYPE id dato 8 25 0x2002 Encoder Resolutio scias AAAA A dalla ita dada ladra 8 25 0x2003 Powet Fall MOoOGzG coru e aio E AE 8 26 0x2004 RST P wer FailCheck Tis ritos 8 26 02005 SEU Display OBJECT ien dio dean 8 26 0x2006 Regenerative Resistor De rating Factor cccccccssscccceseeccesececseececsueeeseeeesseueeesegeeesseeesseneeeseneeenes 8 27 LS Table of Contents 0x2007 Regeneralive Resistor Valle iati ee T ee 8 27 0x2009 RHiegetierauve Flesislor Cabaellys eite uet reto il n e A on E bau 8 27 0x2009 Overload Check Baste a e e aa 8 27 0x200A Overload War
94. Best choice for greatest benefit LSIS always tries its best to bring the greatest benefit to its customers XGT Servo XDL L7N Series User Manual EtherCAT Conformance tested 1 Safety Precautions Be sure to read the safety precautions e before use and use the product accordingly LS jj After reading this user manual keep it in a place where users can always see il www lsis com Introduction Introduction Hello Thank you for choosing the LSIS XDL L7N Series AC Servo This user manual describes how to use this product safely and efficiently 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 without notice The 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 LSIS e LSIS retains all patents trademarks copyrights and other intellectual property rights to the material in this manual The information contained in this manual is only intended for use with LSIS products e EtherCATQ is registered trademark and patented technology licensed by Beckhoff Automation Gmbh Germany Safety Precautions Safety Precautions Safety precautions are catego
95. Color 1 Color 2 J ust x Red blue U All models Brown White Black Black P FS of ront Direction R 2gl rect on 1 ine lt J VII 1G TT Load XML FB direction Rear XLCS P Rear direction Yellow KN5FT04S JI gt XML FC Series Motor connection 1 Motor connection a Plug specifications KN5FT04SJ1 JAE b Plug specifications ST KN S C1B 3500 JAE 2 Drive connection U V W FG a U V and W pin specifications 1512 b FG pin specifications 1 5x4 Ring Terminal 3 Cable specifications 4Cx0 75SQ or 4Cx18AWG FS R Motor connection Drive connection ED arro MENS E lt Brake connection gt XLCS B QS Front T3 Fn e SZ Content Signal XLCS All models Pin No QS of Front Direction Rear Direction B Load XML FB direction lt KNSFT02SJ1 gt Motor connection XML FC Series Rear XLCS 1 Motor connection B QS R a Plug specifications KN5FTO2SJ1 JAE Rear direction b Socket specifications ST KN S C1B 3500 JAE 2 Brake power connection a connection terminal specifications 1 5x3 Ring Terminal 3 Cable specifications 2Cx0 75SQ or 2Cx18AWG LS is 10 59 10 Product Specifications Product Name Applicable T Category Not
96. DINT RO Y i Touch Probe 1 Positive Edge is units Position Value Position value of the falling edge of touch probe 1 Pos Ox60BB DINT RO Yes Touch Probe 1 Negative Edge units Position Value Position value of the rising edge of touch probe 2 Pos B DINT RO Y SPEM Touch Probe 1 Positive Edge zm units Position Value Position value of the falling edge of touch probe 2 Pos Ox60BD DINT RO Yes Touch Probe 1 Negative Edge units Position Value 6 CIA402 Drive Profile B Touch Probe Timing Diagrams Single Trigger Mode 0x60B8 1 0 0x60B8 9 0 0x60B8 0 0x60B8 8 0x60B8 4 0x6088 12 ELLE A o EL N N N Latch start x Latch start 0x60B9 0 i 0x60B9 8 l 0x6089 1 x 0x60B9 9 P 0x60BA Latched position 3 0x60BC 1 Latched position 1 Probe input Continuous Trigger Mode 0x60B8 1 0 0x60B8 9 0 0x60B8 0 0x60B8 8 d L 0x60B8 4 i 0x6088 12 N Latch start amp N 0x60B9 0 0x6089 8 T 0x60B9 1 EN 0x60B9 9 K 3 0x60BA T i MC Latched t 1 gt Latched position2 gt Latched position 3 i j i 0x60B9 7 l j l I 7a 1774 I Ox60B9 15 ul ly 1 I Y 1 j Probe input LS 6 29 6 CiA402 Drive Profile 0x60B8 0 0x60B8 8 0x60B9 0 0x60B9 8 Probe Input Index Pulse Z Phase Pulse 0x60B8 1 or 2 0x60B8 9 or 10 60BA 60BC 630 LS Z P
97. Disabled state Index 0x60C2 Interpolation time period Number of entries PDO Setting Sub Data Initial value Access Change Unit Index Type Mapping Range Interpolation time period PDO Sub Data Setting Initial value Access Change Index Type Mapping Range Interpolation time index PDO Always Sub Data Setting Initial value Access Change Mapping Range Type Ox60E0 The Positive Torque Limit Value Index Always This sets the torque limit value for forward driving in 0 1 increments of the rated torque Ox60E1 The Negative Torque Limit Value Index 0x60E0 Positive Torque Limit Value Sub m Data PDO Setting mca Initial value Type Access Mapping Range Change Unit 0 3000 UINT RW Yes 0 to 65535 Always 0 1 This sets the torque limit value for reverse driving in 0 1 increments of the rated torque Index 0x60E1 Negative Torque Limit Value Sub ae Data PDO Setting index Initial value Type Access Mapping Range Change Unit 0 3000 UINT RW Yes 0 to 65535 Always 0 1 LS 8 77 Q Ah O O IJ 8 78 s ject Dictionary B Ox60F4 The Following Error Actual Value The following error actual value appears if a following error occurs Ox60FC The Position Demand Internal Value Index 0x60F4 Following Error Actual Value Sub ne Data PDO Setting k Index Initial value Type Access Ma
98. Do not touch the power terminal while turning it on Doing so may result in an electric shock Ground terminal The ground terminal prevents electric shock Be sure to connect a grounding line to this terminal Servo motor connecting terminals U V and W These terminals connect to the main circuit cable power cable of the servo motor 1 Product Configuration 1 3 Connector Diagram Digital input I win 3 3kQ EI PCON fii ar r HE am Ion Digital input 3 3kQ Tweety 3 E Em mE 3 oe 5 mem e cnt Note 1 Digital output POT V reps up oe PAS 250 7 20 zo ert Note 2 INPOS wes 7 ENNIO T WARN Digital output rpws 8 com Note 1 The input signals DI4 DI8 output signals DO1 DO4 are the factory default signals Note 2 is unallocated signals You can allocate those signals by setting I O signal allocation Refer to 6 3 I O Contacts parameter setting for more information Note 3 Input signal DI7 and DI8 are always allocated as PROBE1 PROBE2 regardless of the input signal allocation setting 2 Installation 2 Installation 2 1 The Servo Motor 2 1 1 Operating Environment Item Requirements Notes Consult with our technical support team to customize the Ambient 0 40 C product if temperatures in the installation environment are temperature l l outside this range AHE 80 RH or lo
99. F then the initial direction of rotation is CW The direction is diverted if the NOT switch is ON After the NOT switch is turned on the position that the first index pulse encounters while driving in the CCW direction becomes the Home position 2 If the POT switch is OFF then the initial direction of rotation is CCW The direction is diverted if the POT switch is ON After the POT switch is turned on the position that the first index pulse encounters while driving in the CW direction becomes the Home position Positive limit switch POT to 10 The methods described for 7 to 10 determine the Home position using the Home switch and the POT switch 7 Upper figure If the POT switch is OFF then the drive operates at switch search speed and the initial direction of rotation is CCW The direction is diverted if the Home switch is ON After the Home switch is turned on the position that the first index pulse encounters while driving in the CW direction becomes the Home position and it drives at zero search speed 7 Middle figure If the POT switch is OFF and the Home switch is ON then the drive operates at switch search speed and the initial direction of rotation is CW If the Home switch is turned off at this time it transfers to zero search speed After the Home switch is turned off the position that the first index pulse encounters while driving in the CW direction becomes the Home position 7 Lower figure If the P
100. FL Higashi Kan Akasaka Twin Tower 17 22 Address YinHe Bldg 402 Room No 2P Shandong Road Akasaka Monato ku Tokyo 107 8470 Japan Qingdao City Shandong province 266071 P R China Tel 81 3 3582 9128 Fax 81 3 3582 2667 e mail jschuna lsis com Tel 86 532 8501 6068 Fax 86 532 8501 6057 e mail wangzyOlsis com cn m LSIS ME FZE Dubai U A E m LSIS Europe B V Netherlands Address Jafza View Tower Lob 19 Room 205 Along Sheikh Zayed Address 1st Floor Tupolevlaan 48 1119NZ Schiphol Rijk The Netherlands Road Jebel Aali Free Zone Dubai United Arab Emirates Tel 31 0 20 654 1420 Fax 31 0 20 654 1429 e mail junshicko Ilsis com Tel 971 4 886 5360 Fax 971 4 886 5361 e mail jungyongl lsis com m Wuxi LSIS Co Ltd _ Wuxi China m LSIS Shanghai Office Shanghai China Address 102 A National High amp New Tech Industrial Development Area Address Room E G 12FL Hiamin Empire Plaza No 726 West Wuxi Jiangsu 214028 P R China Yan an Road Shanghai 200050 P R China e mail liyong lsis com cn Tel 86 510 8534 6666 Fax 86 510 8534 4078 e mail caidx Isis com cn Tel 86 21 5237 9977 609 Fax 89 21 5237 7189 m Dalian LSIS Co Ltd Dalian China m LSIS Beijing Office Beijing China Address No 15 Liaohexi 3 Road Economic and Technical Development zone Address B Tower 17FL Beijing Global Trade Center B D No 36 Dalian 116600 China East BeisanHuan Road DongCheng District Beijing 100013 P R China Tel 86 411 2
101. Index 0x1A01 2nd Transmit PDO Mapping Number of entries Sub Data PDO Setting Initial value Access Change Unit Index Type Mapping Range Mapping entry 1 Sub Data PDO Setting Initial value Access Change Unit Index Type Mapping Range 0 to 1 0x60410010 UDINT RW No OxFFFFFFFF Mapping entry 2 Sub Data PDO Setting Initial value Access Change Unit Index Type Mapping Range 0 to 2 0x60640020 UDINT RW No OxFFFFFFFF d Transmit PDO Mapping Index 0x1A02 3rd Transmit PDO Mapping Number of entries Sub Data PDO Setting Initial value Access Change Unit Index Type Mapping Range Mapping entry 1 0 to 1 0x60410010 UDINT RW N 5 OxFFFFFFFF Mapping entry 2 O Sub Data PDO Setting Initial value Access Change Unit Index Type Mapping Range 0 to 2 0x60640020 UDINT RW No OxFFFFFFFF Sub Data PDO Setting Initial value Access Change Unit Index Type Mapping Range 8 16 LS 8 Object Dictionary d Transmit PDO Mapping Index Ox1A03 4th Transmit PDO Mapping Number of entries Sub Data PDO Setting Initial value Access Change Unit Index Type Mapping Range Mapping entry 1 Sub Data PDO Initial value Access Unit Index Type Mapping 0 to 1 0x60410010 UDINT RW No OxFFFFFFFF Mapping entry 2 Sub Data PDO Setting Initial value Access Change Unit Index Type Mapping Range 0 to 2 0x60640020 UDINT RW No OxFFFFFFFF LS 8 17 2 MihiantMintinmnar 8 Object Dictionary 8 4
102. L A OUT RUN ERR B The L A IN and L A OUT Link Activity LEDs The L A IN LED and L A OUT LEDs indicate the status of the CN4 and CN3 communication ports respectively The following table outlines what each LED state indicates Link Activity LED Description Off Not connected for communication Connected and communication is enabled on Flickering J 200 1 200 a ms ms On Connected but communication is disabled B RUN LED Indicates the status of the XDL L7N in the EtherCAT State Machine RUN LED Description Off The XDL L7N is in the INIT state The XDL L7N is in the Pre Operational state Blinking aoo 200 a ms ms The XDL L7N is in the Safe Operational state Single Flash Tao 1000 200 ms dy ms ms off On The XDL L7N is in the Operational state 5 EtherCAT Communication B The ERR Error LED The ERR LED indicates the EtherCAT communication status The following table outlines what each LED state indicates ERROR LED Description Off EtherCAT communication is normal A booting error occurred Li 50 Flickering on yc A AU UU LUV UU UU U DU UL The object setup command received from the EtherCAT master cannot be performed in the current state Blinking on 200 200 4 gt gt ms ms off The state has changed without a command from the EtherCAT master due to a XDL L7N drive sync error Single Flash on 200 1000
103. LS is 10 29 10 Product Specifications m Electric Brake Specifications m XML SA XML SB XML SC XML SE XML SF XML SG Purpose Maintenance of stop Refer to Note 2 below Input voltage V Static friction torque Nem Capacity W Braking mechanism Spring brake Insulation grade Insulation grade Grade F Series Maintenance of stop Refer to Note 2 below input voltage V voltage V DC 24V Static friction torque Nem ETN Capacity W Lew r A e a AA E E MS ES O es OOOO Note 1 The same specifications apply to all electric brakes installed in our servo motors Note 2 Electric brakes are designed to maintain a stop Never use them for absolute braking Note 3 The characteristics of the electric brakes were measured at 20 C Note 4 These brake specifications are subject to change Check the voltage specifications on your specific motor 10 30 LSis 10 Product Specifications f 10 1 3 Outline Diagram For the drawing of Oilseal Type it is available on request B SA Series XML SAR3A XML SAR5A XML SAO1A XML SAO15A AA ATI1ESHAMP RAKE commedo pin 47 7471 1 AMIP AT DIETALAMES External Dimensions Weight kg SAR5A 108 3 144 6 83 3 119 6 49 5 49 4 73 3 109 3 0 38 0 73 SA01A 125 3 161 6 100 3 66 4 66 5 66 4 90 3 126 3 0 5 0 85 Note 1 The standard shaft end for 40 flange model is a straight shaft end Note 2 Use DC power 24 V to operate the
104. M turn Encoder Connector 172169 1 AMP 172169 1 AMP LS is 10 33 10 Product Specifications B SE Series XML SEO9A SEO6D SE05G SEO3M XML SE15A SE11D SEO9G SEO6M XML SE22A SE16D SE13G SEO9M XML SE30A SE22D SE17G SE12M PIO spec J m Bm MS3102AIDHSR Key Dimensions Weight Kg ease SE09A SE06D SE05G SE03M SE06D SE05G SE03M bd 3 239 3 143 3 181 3 93 8 93 6 19 55 3 5 5 7 04 Paca SE11D SE09G SE06M 225 3 263 3 3 263 3 167 3 205 3 117 8 117 6 19 5 5 83 7 54 9 08 SE22A SE16D SE13G SE09M 249 3 287 3 191 3 229 3 141 8 141 6 e ol 2 9 68 11 22 SE30A SE22D SE17G SE12M 273 3 311 3 215 3 253 3 165 8 165 6 ee 6 e 11 78 13 32 Note 1 Use DC power 24 V to operate the brake Extemal Dimensions Dimensions Note 2 The sizes in parentheses apply when attached to the brakes Note 3 Option specification Serial M Turn Encoder PinMap lt Serial S turn Encoder Connector Serial M turn Encoder Connector pt MA 6 2 MA 7 5v Pin No Phase Pin No Phase 1 ma 6 mo 3 SL 8 Ov 4 s 9 SHIELD OOO 51 1 gt 172169 1 AMP 3 SL 8 OV 4 SL 9 SHIELD 5 voo s 172169 1 AMP 10 34 LSis 10 Product Specifications B SF Series XML SF30A SF22D SF20G SF12M XML SF50A LF35D LF30G SF20M XML SF55D SF44G LF30M XML SF44M Weight we
105. Maximum Rated rotation r min 1000 speed EM r min 2000 1700 2000 rotation speed kg m2x10 4 51 42 80 35 132 41 17291 Inertia moment Igf cm s2 52 47 81 99 135 11 176 44 Allowed load inertia Motor inertia x 5 ne Ue IkW s 25 53 45 39 61 97 102 08 o Speed and Quadrature is Incremental 3000 P R Protection Fully closed self cooling IPe5 excluding axis penetration BP A A MM MM Ambient and features PEN mbien a humidity 20 80 RH no condensation b Atmosphere No direct sunlight corrosive gas or combustible gas fe Anti vibration Vibration acceleration 49 m s2 5G a ee Weight kg 170 220 308 8375 wo 20 Rotation Speed Torque Characteristics XML SG12M XML SG20M XML LG30M Torque im Torque Mm Torque Km Repeatedly used area Lo Repeatedly used area Repeatedly used area Continuously used area__ kar Moiese SS ee B i Continuously used area 0 Continuously used area n i i 1 i Speed r n Speed irman ot 5o 1c 1506 ex l Speed r min XML SG44M Torque Hm Repeatedly used area eet I Continuously sada area Speed r min Product Features Applicable Drive L70Aqq L75A002A L7GA004A L7GA008A L7cA020h meu Wm w s e es 35 N m Rated torque kgf cm 12 99 29 23 48 72 LS s 10 13 10 Product Specifications Instantaneous maximum torque gf cm s2 0 274 Allowable load inertia Mo
106. NAO35B Operation keys These allow you to check parameters Display This displays numerical values a such as the L7N state and alarm number CHARGE lamp LS TT This turns on when the main circuit power is on It remains turned on as long as an electric charge is State LEDs in the L7N condenser even after the main circuit These LED indicate the current power is turned off Do not touch the power terminal EtherCAT state while turning it on Doing so may result in an electric gt shock 9 Ei USB communication port CN5 Main power connectors L1 L2 and Li This port communicates with a L3 p pu E personal computer These terminals connect to the main L2 FUN circuit power input prar i 4 EtherCAT communication pori EtherCAT IN CN4 DC reactor connectors n 4 amp
107. OT switch is OFF and the Home switch is ON then the drive operates at switch search speed and the initial direction of rotation is CCW The direction is diverted if the POT switch is ON If the Home switch is turned from ON to OFF at this time it drives at zero search speed and the position that the first index pulse encounters while driving in the CW direction becomes the Home position The methods from 8 to 10 are identical to the methods for 7 in terms of how they determine the Home position The only differences are the initial driving direction and Home switch polarity Refer to the following figure Index pulse Home switch Positive limit switch Value 6 CiA402 Drive Profile Details 11 to 14 The methods described for 11 to 14 determine the Home position using the Home switch and the NOT switch 11 Upper figure If the NOT switch is OFF then the drive operates at switch search speed and rotates CW If the Home switch is turned on at this time it changes the direction of rotation and the position that the first index pulse encounters while driving CCW at zero search speed becomes the Home position 11 Middle figure If the NOT switch is OFF and the Home switch is ON then the drive operates at switch search speed and rotates CCW If the Home switch is turned off at this time it transfers to zero search speed After the Home switch is turned off the position that the first index pulse encounters wh
108. Product Specifications Classification Classification Standard mm AP04 250x250x6 APO6 250x250x6 AP08 250x250x12 AP13 350x350x20 AP18 550x550x30 AP22 650x650x35 Aluminum Note 1 The data on the product features is measured when those heat sinks were applied 10 1 10 Product Specifications 10 1 1 Product Features 10 1 2 Serve moror Type Omang sarsa sansa sama SANSA Applicable Drive L75Aaan L7 A001 L7 A002 Rated ouput KW Nm I Rated torque eem instantaneous Mommo w sm ume s se Rated rotation 3000 speed speed Inertia moment ea Allowed load inertia Motor inertia x 30 Motor inertia x 20 Rated power rate IkW s 10 55 23 78 35 34 Speed and i s a Quad Type Incremental 2048 P R detector Option Serial Type comingsoon Serial Type comingsoon coming soon Protection Fully closed self cooling IP55 excluding axis penetration Ambient Specifications and 0 40 C features Au 20 80 RH no condensation E F Atmosphere _ No direct sunlight corrosive gas or combustible gas Anti vibration Vibration acceleration of 49 m s2 5G weigh a Rotation Speed Torque Characteristics Tesque Nm XM L SAR3A Torque Nm XM L SAR5A Tesque Hia XM L SA01 A Repeatedly used area Repeatedly used area Repeatedly used area Continuously used area Continuously used area l Continuously used area SU ACC BEC 100 eut
109. Series b Socket specifications 170361 1 AMP 2 Drive connection CN2 a Case specifications 10314 52A0 008 3M or SM 14J Suntone b Connector specifications 10114 3000 VE 3M or SM 14J Suntone 3 Cable specifications 4Px0 2SQ or 4Px24AWG medium capacity Note 1 The in the name indicates the type and length of each cable Refer to the following table for this information Cable nah m Regular cable NO3 10 54 LS 10 Product Specifications Optional power cable Product Name Applicable Category Note 1 Jb Specifications Motor connection Drive connection A Produc EE ADD Name ASIS gt Wy F IO nc Content Signal Pin No All models lloll U of DIO wine Y Standard XML SA d Line Ground power XLCS XML SB Groun For power cable Small capacity P GS XML SC lt Motor Connector gt and XML HB Motor connection Series a Cap specifications 4 positions 172159 1 AMP b Socket specifications 170362 1 AMP Drive connection U V W and FG a 1 U Vand W pin specifications UA F1512 SEOIL b 2 FG pin specifications 1 5 4 Ring terminal Cable specifications 4Cx0 75SQ or 4Cx18 AWG18 Motor connection Power Supply DC24V a ame ESO EN XY a lt Motor Connector gt TO AAA lt Braking Power gt Or Content Pin No All model
110. Sync Manager Communication Objects 8 18 0x1C00 Sync Manager Communication Type Number of entries Sub Data PDO Setting Initial value Access Change Unit Index Type Mapping Range Communication type sync manager 0 Sub Data PDO Setting Initial value Access Change Unit Index Type Mapping Range 1 mailbox receive 1 USINT No Master to slave Communication type sync manager 1 Sub Data PDO Setting Name Access Change Unit Index Type Mapping Range 2 mailbox send 2 USINT No Slave to master Communication type sync manager 2 Sub Data PDO Setting Name Access Change Unit Index Type Mapping Range 3 process data 3 output USINT No Master to slave Communication type sync manager 3 Sub Data PDO Setting Initial value Access Change Unit Index Type Mapping Range 4 process data input 4 USINT No Slave to master O AlL a mad IE m n m man y gt lt maiiar pig Ana rr O UDJect Dictionary J J Ox1C10 to 0x1C13 Sync Manager PDO Assignment This assigns the Sync Manager PDO when the PDO is transmitted through the data communication process Index 0x1C10 Sync Manager 0 PDO Assignment Sub Data PDO Setting Initial value Access Change Unit Index Type Mapping Range Index 0x1C11 Sync Manager 1 PDO Assignment Sub Data PDO Setting Initial value Access Change Unit Index Type Mapping Range Index 0x1C12 Sync Manager 2 PDO Assignment Number of entries Data PDO Setting Initial value Access C
111. T RO Yes Degrees 0x260F The Multi turn Data Display This displays the multi turn data for the encoder Index 0x260F Multi turn Data S Initial value Access mise io P Change Unit 0 0 INT HO Yes rev 0x2610 The Room Temperature Display This displays the temperature sensor value of the servo drive in C Index 0x2610 Room temperature nud Initial value sate Access oic g psi Change Unit 0 0 UINT RO No C 0x2611 The Motor Rated Speed Display This displays the rated speed of the motor in RPM Index 0x2611 Motor Rated Speed md Initial value ims Access Menon g ps Change Unit 0 0 UINT RO No RPM 0x2612 The Motor Maximum Speed Display This displays the peak speed of the motor in RPM Index 0x2612 Motor Maximum Speed rd Initial value Tie Access sid g x Change Unit 0 0 UINT RO No RPM 0x2613 The Motor Rated Current Display This displays the rated current of the motor in A Index 0x2613 Motor Rated Current id Initial value as Access ce g Peso Change Unit 0 0 UINT HO No A 0x2614 The U Phase Current Offset Display This displays the U phase current offset in mA LS 8 49 8 50 Q mM kh 7 at ry H gut n AAA KV O UDIECT DICUONary Index 0x2
112. T communication The master and slave share a reference clock system time for synchronization and the slave synchronizes its applications with the SyncO event generated by the reference clock The following synchronization modes exist in the XDL L7N You can change the mode with the sync control register Free run mode In free run mode the XDL L7N operates each cycle independently from the communication cycle and master cycle DC Synchronous Mode In DC Synchronous mode the SyncO event from the EtherCAT master synchronizes the drive Master Master Application Master Application Master user shift time Sync shift time rS Slave Cycle time 0x1032 02 Cycle time 0x10732 02 Shift time 0x1033 D3 Shift time Dx1032 03 Calc Copy time 0x1C33 D8 7 Calc Copy time 0163206 syni Um Event Sync Event T Outputs Latch Inputs Latch E CtharfAT Cammiininatinn 5 EtherCAT Communication Index 0x1C32 Sync Manager 2 Process Data Output Synchronization Number of entries Sub Data PDO Setting Initial value Access Change Unit Index Type Mapping Range Synchronization modes Sub Data PDO Setting Initial value Access Change Unit Index Type Mapping Range Cycle time Sub Unit Index Time between SyncO events ns Shift time Sub Data PDO Setting Initial value Access Change Unit Index Type Mapping Range Synchronization modes supported Sub Data PDO Initial va
113. a AAA en RARUS 10 2 10 1 2 10 2 10 1 3 Outline Diagram For the drawing of Oilseal Type it is available on request 10 31 10 2 The Seno DIVE A 10 48 10 21 Product Features io 10 48 10 3 OQUUING Diada Mitad dada dada Mt ide dd HIDE dei AU 10 50 10 4 Options and Peripheral DEVICES vss iirkiur i aias Auk nd vix ute dti deut rdv uta cut uua di apad anie 10 52 Maintenance and INSPOCTION i i oae rco lore uie man pe eoa A A aa N aA aa 11 1 MET Maintenance amd IMSPCCHION Sissi dus tend uie OOO 11 1 zi Pio A RN 11 1 TIS T 2 WaN DOO A a 11 1 TIAS AG BIACING PaE e T T H U aeatee 11 3 11 2 Diagnosing and Troubleshooting Abnormalities ccccoonccnnccoonnnncnnonncnnconaconcnnoncnnnnonancnnnonnnrnnnnnnnennnonanenns 11 4 11 2 1 TRS Ser vO Mol A AN 11 4 11222 TESS TV DIV tsa takes m m ms 11 5 ADENIN iisen em 12 1 1241 Motor Types anal Std A EE EEEE ees oak 12 1 122 Test DINE FOCU E daa 12 4 1 Product Configuration l Product Configuration 1 1 Product Verification 1 Check the name tag to verify that the product received matches the model ordered e Does the servo drive s name plate match Does the servo motor s name plate match 2 Check the product components and options e Are the type and length of cables correct e Does the regenerative resistor conform to the required standard Is the shape of the shaft correct A
114. ables wiring Tighten the bolts after locking the encoder cable connector drive direction Do not modify the U V and W wiring of the motor power cable Do not confuse the CN3 EtherCAT communication port input and the CN4 EtherCAT communication port output cables during wiring Install a safety jump cable when you are not using a CN6 safety connector Control power Supply single phase AC 220 V power to C1 and C2 Check the external input voltage before turning on the servo drive on Check whether the display operates normally there should not be any broken 7 segments or alarms Supply three phase AC 220 V power to L1 L2 and L3 Check the external input voltage before turning on the servo drive The red charge LED at the bottom of the loader window turns on when the drive Main power receives power on fan alarm appears it indicates that there is an error in the power circuit servo motor wiring or encoder wiring Turn off the power and fix the error using the information in Alarm Codes and Descriptions Set the PDO mapping ex CSP Mode Define the Status Word 0x6041 the Position Actual Value 0x6064 and the Mode of Operation 0x6060 in 2nd Transmit PDO mapping Define the Control Word 0x6040 and the Target Position 0x607A in 2nd PDO Mapping Receive PDO mapping X The content above is the built in PDO mapping of the XDL L7N These settings are defined in the EtherCAT Slave Inform
115. acklash Compensation 0x2403 If the position operation causes backlashes which change the position then this setting converts backlash amount into a number of pulses to compensate for the backlash 712 LS 7 L7 Drive Setup 7 6 Setting Parameters for XDL L7N Built in Functions Configure the default parameters that the XDL L7N provides 7 6 1 Checking Deleting the Alarm History 0x2700 You can check and delete the alarm history Delete the Alarm History 0x2700 1 This allows you to delete the alarm history Check the Alarm History 0x2700 2 to 21 This allows you to check the last 20 alarm history items in sequence the most recent appear first 7 6 2 Auto Gain Tuning 0x2701 Start Auto Gain Tuning 0x2701 1 Starts auto gain tuning Auto Gain Tuning Speed 0x2701 2 Specifies the auto gain tuning speed in 100 RPM increments Auto Gain Tuning Distance 0x2701 3 Specifies the auto gain tuning distance 7 6 3 Absolute Encoder Reset 0x2702 Reset encoder 0x2702 1 Type rse 72 73 65 74 to save the offset in the EEPROM inside the drive The absolute encoder resets after a few milliseconds When the absolute encoder reset is complete the multi turn data Ox260F and single turn data 0x260D resets to O Check whether the actual position value 0x6064 becomes 0 to confirm the reset After resupplying power to the machine read the absolute encoder position and appl
116. al output state Sub Index 2 defines the logic of the Sub Index 1 activated Index Ox60FE Digital Outputs Number of entries Sub Data PDO Setting Initial value Access Change Unit Index Type Mapping Range Physical outputs Sub Data PDO Setting Initial value Access Change Unit Index Type Mapping Range S O to 1 UDINT RW Y OxFFFFFFF Always F Bit mask e Sub Data PDO Setting Initial value Access Change Unit Index Type Mapping Range 0 to 2 UDINT RW No OxFFFFFFF Always F Description of physical outputs Bit Output Details 0 to 15 Reserved 16 DO 1 CN1 03 04 pin Forced output 0 off 1 on Provided that Ox60FE 02 16 is set to 1 17 DO 2 CN1 23 24 pin Forced output 0 off 1 on Provided that Ox60FE 02 17 is set to 1 18 DO 3 CN1 25 26 pin Forced output 0 off 1 on Provided that Ox60FE 02 18 is set to 1 19 DO 4 CN1 01 02 pin Forced output 0 off 1 on Provided that Ox60FE 02 19 is set to 1 20 to 23 Reserved 24 DO 1 CN1 03 04 pin Hardware output state 0 off 1 on 25 DO 2 CN1 23 24 pin Hardware output state 0 off 1 on 26 DO 3 CN1 25 26 pin Hardware output state 0 off 1 on 27 DO 4 CN1 01 02 pin Hardware output state 0 off 1 on 28 to 31 Reserved LS 8 79 8 80 8 Object Dictionary Description of the output mask Bit Output Details 0 to 15 Reserved 16 DO 1 CN1 03 04 pin DO 1 Forced outpu
117. an be used selectively for assignment Signal can be set as positive logic or negative logic Digital output Additional communication Program download is available with USB Communication 10 48 LS 10 Product Specifications XDL XDL XDL XDL XDL XDL XDL XDL L7NA L7NA L7NA L7NA L7NA L7NA L7NA L7NA 001B 002B 004B 008B 010B 020B 035B 050B Dynamic Standard built in brake activated when the servo alarm goes off or when the servo O is off Both the default built in brake and an externally installed brake are possible Seven segments 5 DIGIT function Built in functions The Mode key changes the content displayed in the 7 segments Additional function Overcurrent overload overvoltage low voltage main power input error control Protection power input error overspeed motor cable heating error power module heating function drive temperature error encoder error excessive regeneration sensor error communication error Environment Humidity 9096 RH or less no condensation Environment Indoors in an area free from corrosive or combustible gases liquids or dust LS 10 49 10 Product Specifications 10 3 Outline Diagram B XDL L7NAOOIB XDL L7NA004B
118. ass Connector 1971153 TE C CN3 4 Connector CN4NNA 1 Connector specifications 44915 0021 MOLEX 2 Plug Housing specifications WRJ 45 Wlztek Pa wma rus she a e m XLCS XDL L7N MU ein Series LS is 10 63 10 Product Specifications Note 1 The OUL in the name indicates the length of each cable Refer to the following table for this information Cable length m Optional braking resistance Product Applicable XDL L7NA001B Resistance Braking XLCS XDL resistance 140R50 L7NAO02B XDL L7NA004B XDL Resistance Braking XLOS L7NA008B resistance 300R30 XDL L7NAO10B XDL L7NAO20B Braking XLC 2P Resistance esislanc 600R30 XDL L7NA035B SP 10 64 LSis 10 Product Specifications XDL L7NAO50B 4P Braking XLC resistance 600R28 Resistance LS 10 65 11 Maintenance and Inspection 11 Maintenance and Inspection 11 1 Maintenance and Inspection This chapter explains how to perform basic maintenance and inspection tasks as well as diagnose and troubleshoot the servo motor and drive 11 1 1 Precautions 1 Measuring the motor voltage The PWM controls the voltage output from the servo amp to the motor Because of this the waves take the form of pulses Use a rectifier voltmeter for accurate measurements because different meters may pr
119. ated power rate kW s 39 89 57 90 14 49 32 22 50 48 68 91 m Serial Type 19 bit position detector X Protection Fully closed self cooling IPe5 excluding axis penetration Ambient Specifications 0 40 C and features Ambient 20 80 RH no condensation _ humidity Atmosphere No direct sunlight corrosive gas or combustible gas Anti vibration Vibration acceleration 49 m s2 5G Weign Tm Rotation speed Torque Characteristics 10 18 LSS 10 Product Specifications Torque Ma APM FLT6D APM IL22D APM I LU3M Tarqua Nm 5 0 Jn L CI 20 0 i i m Repeatedly used area T used area Continuously used area 2 000 seo 2 000 Spuud ym 300 1 000 O vatis APM FLOM APM FLIM T Hm Torque Hm 30 T l 400 i m Repeatedly used area LT 99 100 uki BO 10 uki Product Features Applicable Drive L7GAon L70A008 L7cA010 L70A020 L70A035 L75A050 aoup BW Rated torque kgf cm 29 22 55 19 84 41 110 38 97 40 162 30 Maximum 16 23 24 82 32 46 28 65 47 74 instantaneous torque kgf cm 87 66 165 57 253 23 331 14 292 3 487 00 Rated current meo 1336 1526 2647 Rated rotation r min 1500 3000 speed speed kg m2x10 4 10 18 14 62 19 04 27 96 46 56 Inertia moment gf cm s2 10 39 14 92 19 43 28 53 47 51 Allowable load inertia Motor inertia x 10 Motor inertia x 5 Rated power rate kW s 14 49 28 74 46 81 61 46 32 59 54 33 Speed and Standard Serial Type 19
120. ation file XML file In addition the user can change the PDO mapping however PDO mapping can be done for up to 8 variables 124 LS 12 Appendix Order Details Convert the state machine to operational status refer to section 4 3 Perform the conversion in the following order Init Pre Op Safe Op Op The L AO and the L A1 LEDs blink and the Run LED turns on when the state machine is operational State Machine Chace Read the motor ID 0x2000 the encoder type 0x2001 and the encoder resolution 0x2002 from the EtherCAT master to check whether they match the motor ID and mote encoder type on the product name plate attached to the right side of the motor Change the Mode of Operation 0x6060 to CSP Set the Write Dec 8 in the Mode of Operation 0x6060 Activate the Controlword bit according to the control mode to drive the XDL L7N Operation 1 to the target position refer to section 7 6 CiA402 Objects 11 Adjust the following parameter data to perform the Csv mode operation with the upper level controller Target Velocity Ox60FF Velocity Offset Ox60B1 Torque Offset Ox60B2 Operation 2 Profile Deceleration Time 0x6084 Quick Stop Deceleration Time 0x6085 Velocity Demand Value 0x606B Velocity Actual Value 0x606C Velocity Window 0x606D Velocity Window Time Ox606E LSis 12 5 1 n A nnan N iv ia AV pe
121. ator Sub P Data PDO Setting Index Initial value Type Access Mapping Range Change Unit 0 1 INT RW No 1 32767 SV OFF LS eo Alim akt Frias h lt A is I APFST H MTIMnNAAaK 8 Object Dictionary m A m B 0x2014 DAC Output Index 0x2014 DAC Output Number of entries Sub Data PDO Setting Initial value Access Change Unit Index Type Mapping Range Output Mode Sub PDO Setting Initial value Access Change Unit Index Mapping Range 0x0000 to 1 0x3210 RW No Always OxFFFF Channel 1 offset Sub Data PDO Setting Initial value Access Change Unit Index Type Mapping Range 32768 to 2 INT RW No Always Unit V 32767 Channel 2 offset Sub Data PDO Setting Initial value Access Unit Index Type Mapping Range 32768 to 3 INT RW No Unit V 32767 Channel 3 offset Sub Data PDO Setting Initial value Access Unit Index Type Mapping Range 32768 to 4 INT RW No Unit V 32767 Channel 4 offset Sub Data PDO Setting Initial value Access Unit Index Type Mapping Range 32768 to 5 INT RW No Unit V 32767 Channel 1 Scale Sub Data PDO Setting Initial value Access Change Unit Index Type Mapping Range 0 6 UINT RW No Always Unit V to 65535 LS 8 31 8 32 Channel 2 Scale Sub PDO Setting Initial value Access Change Unit Index Mapping Range 0 7 500 Always Unit V to 65535 Sub Setting Initial value Change Unit Index Range 0 8 50 Alway
122. atures 0 40 C Ambient humidity 20 80 RH no condensation Atmosphere No direct sunlight corrosive gas or combustible gas Fully closed self cooling IPe5 excluding axis penetration 1020 L S s 10 Product Specifications i Anti vibration Vibration acceleration 49 m s2 5G Weigh ia 25 Rotation speed Torque Characteristics APM FF22D APM FF3DD APM FFADD I proue Ne Farque Nm Torayalna Jo VU T T 1 T WU Repeatedly used area 2 000 3 000 000 e 000 3 0 Speed r min Speed r min APM FF20G y APM FF44G anne D 40 0 30 0 20 0 Jaa 10 0 2 000 3 000 1 000 2 0010 000 ie M E Speedi min m 0 gm Protect Features Applicable Drive mE L7 A020 CA CA L75A050 Uum Rated torque n E mes 14a coca m Maximum O Nma m 34 38 57 29 85 94 126 1 LT instantaneous loque kotem 96070 sudo woo ves Rated current mov s iss soo Maximum Rated rotation speed r min 1000 Masia 2000 1700 2000 rotation speed rambo 2796 45 m we Inertia moment toms 2855 ars 7595 1089 E Allowable load inertia Motor inertia x 5 ees kW s 46 94 78 27 111 04 165 38 E Speed and Standard Serial Type 19 bit position Specifications m Fully closed self cooling IP65 excluding axis penetration TA and features Time Time rating p Cows LS s 1021 10 Product Specifications emperature Ambient
123. bled state moves to the Not Ready state 0x605D The Halt Option Code The Halt option code sets the operation method used to move from the Operation Enabled state to the Switched On state Index 0x605D Halt Option Code Sub m Data PDO Setting index Initial value Type Access Mapping Range Change Unit 0 0 INT RW No 0 to 4 Always Details Value Details 1 Decelerates to a stop moves to the Operation Enabled state o Decelerates to a stop based on the quick stop deceleration time move to the Operation Enabled state 3 Decelerates to a stop based on the torque limit moves to the Operation Enabled state LSis 8 63 8 Object Dictionary 8 64 0Ox605E The Fault Reaction Option Code This sets the operation method which protects the XDL L7N drive system during fault reactions Index 0x605D Fault Reaction Option Code Sub Er Data PDO Setting index Initial value Type Access Mapping Range Change Unit 0 0 INT RW No 0 Always Details Value Details 0 Does not use the servo drive function The motor maintains the free run state turns the servo Off 0x6060 Modes of Operation This sets the servo drive operation mode The master sets the operation mode when the power is turned on The XDL L7N provides the following operation modes Index 0x6060 Modes of Op
124. ccococnncnnnncconononcnnnononanncnnnnnnononnnnnnnnnonononnncnnnnnnnnos 5 7 57 Emergency MESS AOS ceric aerie an Mt aw atat kivibvip im a tek reru v teo Sof ag age add tasa aiaiai aai 5 11 GIAdT02 Drive Profile nisi eoi a e suat de DE e e ILLA err OL ILLO aA 6 1 29 ES ssc Fe 1210s Fe 001 eem erp 6 1 6 2 Operation Modest fas er Veo ev Mosa eus Mosa up PUE Icon 6 4 6 3 POSITION COMO Modes escasa tdi dos qe Dub d ud 6 5 6 31 Frofile POSINOM MOG M caus E dau vane unos gasuanon pane ane acadnce dua ance ue daceteat dacs 6 5 6 3 2 InterpOlated POSiiOm MOS doped dou dui usu adams eei dora eae e antice E 6 9 6 3 3 Cyclic Synchronous Position Mode oooocccccncccccconccnnnnccononnccnnnnonnannnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnos 6 11 Dd HOMINO scatter hae a a e faci Facius aci dae eoo E Ue hu Ma getto Caco icc E cS MD 6 13 6 5 Velocity Control Modeste eiie lla HQ feo aT 6 17 6 5 1 Frohlle Velocity Mods iust ne tavensts epesas du rae eticu is tuvcc ves did 6 17 6 5 2 Cyclic Synchronous Velocity Modenese e he a a lb acacia 6 19 66 Torgus Control MOSS HE 6 21 0 6 1 Prone Torque MOGOO uses avait oe NAAA 6 21 6 6 2 Cyclic Synchronous Torque MOGG 9 io P Eu Ea a a Du Udo ttt ae eae ais 6 23 677 Ine Toques UNG HON ia 6 25 gt ME ec Mee a ede TTE 6 26 6 9 ouctY Probe BHO cot oto a a Ded dened 6 27 EXDAVO SQUID sr caaia 7 1 Tel SetngsSysiem ea 7 1 7 2 Configuring Control Parameters
125. cept of the EtherCAT communication is that when a DataFrame sent from a master passes through a slave the slave inputs the received data to the DataFrame as soon as it receives the data EtherCAT uses a standard Ethernet frame compliant with IEEE802 3 oince it is based on a 100BASE TX Ethernet cable lengths of up to 100 meters are possible and the maximum number of connected slaves is 65 535 so it is possible to configure a nearly unlimited network size In addition to this when using a separate Ethernet switch you can interconnect it to common TCP IP The Structure of CANopen over EtherCAT Servo Application Object Dictionary EtherCAT otate Machine SDO PDO Mapping Hegisters Mailbox Process Data FMMUO FMMU1 Sync Sync Sync Sync ManagerO Managerl Manager2 Managers EtherCAT Physical Layer Application Layer Data Link Layer The XDL L7N drive uses a CiA 402 drive profile The Object Dictionary in the application layer includes application data and PDO mapping information from the process data interface and application data The Process Data Object PDO consists of an Object Dictionary that can be mapped to the PDO and the content of the process data is defined by PDO mapping The process data communication is able to periodically read and write the PDO Mailbox communicat
126. d JOG Speed occcccccccccccccccccononononononononononononcnnnonnnnnnnnnnnnnnnnnnnnnnos 8 43 0x2306 JOG Operation Speed 1 Program JOG Speed 1 oooocccnnccccccccnccnnnccccnooncnononononononnnnnnonnnnnnnnnnnnnnonaness 8 44 0x2307 JOG Operation Speed 2 Program JOG Speed 2 ooooocccnncccccconcccnnnconononnccnnnnonononnnnnnononnnnnnnnnnnnnnnnannos 8 44 0x2308 JOG Operation Speed 3 Program JOG Speed 3 oooccccccccccccccocooooocccconononoconononnnnnnnncnnnnnnncnnnnnnnnnnnnnas 8 44 0x2309 JOG Operation Speed 4 Program JOG Speed 4 oooocccccccccccocnccnnncccnononoconononononnnnnnononnnnnnnnnnnnnnanonos 8 44 0x230A JOG Operation Time 1 Program JOG Time 1 nennen nnns 8 44 0x230B JOG Operation Time 2 Program JOG Time 2 occcoccncnnnnncccncnnnnccnnnnnnnnnnnncnnnnnnnannnnnnnnnonnannnnnnnnnnnnnnnnos 8 44 0x230C JOG Operation Time 3 Program JOG Time 3 cccccccccccncccnnnnnnnnononnnnnnnnnononnnnnnnnnnnnnnnnnnnnnnnnennnes 8 45 0x230D JOG Operation Time 4 Program JOG Time 4 ocooooiccccinnncccccncconononnnnnncnnnnnnnnnnononnnnnnnnnnnnnnnnnnonononnnnnnnas 8 45 0x2402 The POSITION Limit FO A cit 8 45 0x2403 Backlash Compensation sies rit aea n Pit ea Patna ur te dic aca tesi RR n ERR DER nea eR aea DO BER TR o nS RED U ERR RUE H 8 45 Ox2600 The CurtentSbeed RISM ene ante Paco 8 45 0x2601 The Command Speed RP Misas 8 46 0x2602 The Tracking Position Pulse Feedback Puls8 ooccccccccnnccncccocccnnconononnnnnnconnnonanco
127. drives to the new position regardless of the existing target Set of Set point After receiving a new position command while driving to the target position it subsequently drives to the new target after reaching the existing target This mode retains the previous velocity The two methods mentioned above are controlled by the New setpoint bit Controlword 0x6040 4 the Change set immediately bit Controlword 0x6040 5 and the Change setpoint bit Controlword 0x6040 9 6 CiA402 Drive Profile B The single setpoint procedure Velocity New Set point t Change immediately t Change of Set point t 1 Specify the target position 0x607A 2 Set the New setpoint bit to 1 and the Change set immediately bit to O to request the position operation 3 The drive notifies the operator of its arrival at the target position with the Target reached bit Statusword 0x6041 10 The drive can stay where it is or perform a new position operation if it receives the New set point bit B The change immediately procedure Velocity New Set point t Change immediately t Change of Set point t 1 Specify the target position 0x607A 2 Set the New setpoint bit to 1 and the Change set immediately bit to 1 to request the position operation 3 You can begin a new position operation New setpoint regardless of the previous target position 4 The drive immediately moves to the new position 5 The drive no
128. e B B be fore using because XDL L7NA050L 1 120 W 6 8 9 has internal regenerative resistance If the vaule of regenerative voltage is too high by frequent deceleration and acceleration install external regenerative resistance on B and B B to NC hole on the case 3 Wiring 3 2 3 Power Circuit Electrical Components N XDL XDL XDL XDL XDL XDL XDL XDL L7NA050B ame L7NA001B L7NA002B L7NA004B L7NA008B L7NA010B L7NA020B L7NA035B 30A Frame 50A Frame 30A Frame 5A 30A Frame 15A 30A Frame 30A MCCB NFB 10A 40A ABE53b 40 ABE33b 5 ABE33b 10 ABE33b 15 ABE33b 30 E TB6 Noise Filter NF TB6 BO10LBEI 10A TB6 BOSONBDC 30A BO40A 40A HFN 15 15A HFN 30 30A HFN 40 40A DC reactor HFN 10 10A MC 11A 240V 18A 240V 32A 240V 50A 240V GMa 9 GMo 18 GMo 32 GMo 50 L1 L2 MESA PO PI N B AWG14 2 5 m AWG14 2 5 m AWG12 4 0 m AWG10 6 0 mr Wire A Note1 W pS AWG14 2 5 m AWG14 2 5 m AWG14 2 5 m AWG14 2 5 m e UA F1510 SEOIL UA F2010 SEOIL UA F4010 SEOIL GP 110026 p 10mm Strip amp Twist 10mm Strip amp Twist 10mm Strip amp Twist SET Regenerative 50 W 100 W 150 W 120 W resistor 1000 1400 130 6 80 Default BLZ7 62HP 03 180LR Connector e BLF 5 08 03 180F SN BK BX SN BK BX SO L1 L2 1V W BLF 5 08 11 180F SN BK BX lt BLZ7 62HP 11 180LR SN BK BX SO Note1 Use 600V PVC Insulated wire for wiring Use approved UL wire Temp 75
129. e kW s 42 71 69 95 98 15 4545 Speed and Quadrature Type Incremental 3000 P R a Protection Fully closed self cooling IPe5 excluding axis method penetration Time rating Continuous Ambient Specifications temperature 0 40 C and features Ambient o humidity 20 80 RH no condensation Atmosphere No direct sunlight corrosive gas or combustible gas Anti vibration Vibration acceleration 49 m s2 5G Rotation Speed Torque Characteristics XML SF12M meets XML SF20M exta XML LF30M Repeatedly used area m Repeatedly used area Repeatedly used area Continuously used area Continuously used area ff Continuously used area Speed r mn B B B Speed rrin B B i Speed rmn Torque Mm XM L SF44M Repeatedly used area im Continuously used area o Speed r min i Product Features Servo Motor Type XML OO00 SG20G LG30G sesa SG22D LG35D Applicable drive L70Ano L7GA020 L7oA035 L75A050 L7GA020 L75A035 L72A050 11 46 11 46 18 46 28 01 10 50 16 71 26 26 Rated torque 116 92 116 92 188 37 285 80 107 20 170 52 267 9 Maximum 34 47 34 47 99 38 84 02 31 51 90 13 18 17 instantaneous torque 350 80 350 80 565 10 857 39 321 52 511 51 803 8 Rated current 13 10 16 19 31 50 12 30 16 05 30 25 Rated rotation odio 1500 2000 speed LSis 10 11 10 Product Specifications Mamu r min 3000 2700 3000 3000 rotation speed kg m2x1 0 4 51 42 80 35 132 41
130. e 1 Specifications Motor connection Drive connection All models FE zm N Content Signal of E B Brake y XML SG No J we XML LG md XML FG Series For power Brake connection 1 Motor connection a Plug specifications MS3108B14 7S MS 2 Brake power connection a connection terminal specifications 1 5x3 Ring Terminal 3 Cable specifications 2Cx0 75SQ or 2Cx19AWG Note 1 The in the name indicates the type and length of each cable Refer to the following table for this information Cable length m 3 10 60 LSis 10 Product Specifications NW Optional cables Category Product Type Applicable BEEN t Name e Drive Specifications Motor Side Connector Drive Side Conneetor XLCS 1 Motor side connector LS Front Minds a PLUG SM JN8FTO4 SuntoneA Power cable for L Direction XML b Socket SMS 201 SuntoneAJ For power series 2 Drive side connector U V W FG AERE UE a U VW pin connection 1512 small capacitor Series b FG pin 1 5x4 Ring Terminal 3 Cable 4Cx0 75SQ or 4Cx18AWG Direction 4 Remark For FAL motor after connect power cable first connect Encoder cable Front Direction Rear Direction LS 10 61 10 Product Specifications Optional cables Product Name Applicable T Category Note 1 Specifications Upper contr
131. e Type Access Mapping Range Change Unit 0 INT RO No 96 The normal DC link voltage of a 220 V standard drive is approximately 300 V The maximum allowable DC link voltage is 405 V The overvoltage alarm AL 41 goes off when the DC link voltage threshold is exceeded because there is either too much or too little regenerative resistance The normal DC link voltage in the regenerative section is 385 V or below Index 0x260B DC Link Voltage Sub Data PDO Setting ID dex Initial value Type Access Mapping Range Change Unit 0 0 UINT HO Yes V 0x260C Regenerative Overload This displays the overload rate relative to the regenerative capacity of the servo drive Index 0x260C Regenerative Overload Sub mP Data PDO Setting l Index Initial value Type Access Mapping Range Change Unit 0 0 UINT HO Yes 96 0x260D The Single turn Data Pulse Display Single turn Data This displays the single turn data of the encoder in pulses Index 0x260D Single turn Data Sub e Data PDO Setting index Initial value Type Access Mapping Range Change Unit 0 0 DINT RO Yes Pulse 0x260E The Single turn Data Degree Display Single turn Data deg This displays the single turn data of the encoder in degrees 8 48 LS Index 0x260E Single turn Data deg Sub eT Data PDO Setting index Initial value Type Access Mapping Range Change Unit 0 0 UIN
132. ea 4 000 5 000 Speed r min 1026 LSis TEN Continuously used area 1 000 2 000 3 000 4 000 5 000 Speed r min Continuously used area 1 000 2 000 3 000 4 000 5 000 Speed r min 10 Product Specifications gm Product Features Servo Motor Type XML 00000 FCLO4A FCLOGA FCLO8A FCL10A D Applicable Drive L70Acc L72A004 L72A008 L72A010 BENE ee oe ee ae oe Rated torque A cm 12 99 19 49 24 36 32 48 a Maximum INm 38 57 73 ess instantaneous torque kgf cm 38 98 a 47 zm 08 97 44 O i speed iai y NEN r min 5000 rotation speed komzo oso os 124 wm Inertia moment pios os oss 1200 1068 R Allowed load inertia MM kW s 30 60 40 66 45 09 62 08 LI Speed and Standard Serial Multi Turn Built in Type 19bit position Protection l l l l Fully closed self cooling IP67 excluding axis penetration O raw e E A Ambient and features pus mbien E 20 80 RH no condensation A Atmosphere No direct sunlight corrosive gas or combustible gas Anti vibration Vibration acceleration 49 m s2 5G weigh a a CR MEAR E a ARRE Rotation speed Torque Characteristics e Torque Nm APM FCLO4A Torque Nm APM FCLO6A Torque Nm APM FCLOBA 8 00 Repeatedly used are Repeatedly used area Repeatedly used area Continuously used area Continuously used area Continuously used area 1 000 f 3 000 4 000 5 000 1 4 000 5 000 1 000 2 00
133. ector CN2 Maker 3M 10314 52A0 008 10114 3000VE Cable Connector MS3108S20 29S LS 3 15 3 Wiring 3 6 3 XLCS E ES1 Cable AWG24 4Pair Twist Servo motor Servo drive Shield Wire ble Ca Connector CN2 Maker 3M 10314 52A0 008 10114 3000VE Connector i SHD Frame Tyco Connector i 7Ciruits 3 16 LS 3 7 3 Wiring Connecting the Input Output Signals 3 7 1 The Names and Functions of the Input Signals CN1 Pin Number Name Details Function Reverse CW 7 N OT rotation UM The actuator stops the servo motor to E d CCW prevent it from moving beyond the motion orwar range Mes rotation prohibited j 11 HOME Origin sensor Connects the origin sensor to return to the origin 12 ALMRST Alarm reset Deactivates the servo alarm When the contact is on the speed control T8 PCON P control action loop transfers the mode from PI control to P control Transfer of the When gain 2 contact is ON it transfers from 14 GAIN2 gain 1 and gain 2 gain 1 to gain 2 N 1 te PROBE1 Touch probe 1 The probe signal to rapidly store the 10970 PROBE2 Touch probe 2 Position value Note 1 You cannot map touch probe signals 3 7 2 The Names and Functions of the Output Signals CN1 Pin Number Name Details Function 1 BRAKE Outputs signals to control the brake when Brake 2 BRAKE the servo is turned on or off
134. ed Time Position Window Time This sets the time it takes to reach the target position If the XDL L7N reaches the position window 0x6067 within the position window time 0x6068 then it sets bit 10 of the Statusword 0x6041 to 1 LS Index 0x6068 Position Window Time Sub rm Data PDO Setting index Initial value Type Access Mapping Range Change Unit 0 0 UINT RW No 0 to 65535 Always ms 0x606B The Velocity Demand Value 8 Object Dictionary This displays the position controller output or the trajectory generator output speed J Index 0x606B Velocity Demand Value Sub Data PDO Setting ides Initial value Type Access Mapping Range Change Unit 0 0 DINT HO Yes Vel unit 0x606 The Actual Velocity Value This displays the actual velocity value in user defined position units Index 0x606C Actual Velocity Value Sub i Data PDO Setting index Initial value Type Access Mapping Range Change Unit 0 0 DINT HO Yes Vel unit 0x606D The Velocity Reached Range Velocity Window This sets the range of the velocity window If the difference between the target velocity and the actual velocity is retained within the velocity window range 0x606D for the duration of the velocity window time Ox606E then it sets bit 10 of Statusword 0x6041 to 1 This displays the window in user defined units
135. elerator Do not touch the rotating unit of the servo motor during operation Do not apply excessive force when connecting the couplings to the servo motor shaft Do not place loads on the servo motor shaft that exceed the specified amount Safety Precautions B Wiring Precautions Always use an AC 200 230 V power input for the servo drive Always connect the servo drive to a ground terminal Do not connect commercial power directly to the servo motor Do not connect commercial power directly to the U V W output terminals of the servo drive Connect the U V W output terminals of the servo drive directly to the U V W input terminals of the servo motor but do not install magnetic contactors between the wires Always use pressurized terminals with insulation tubes when connecting the servo drive power terminal Always separate the U V and W cables for the servo motor power and encoder cable during wiring Always use the robot cable if the motor moves Before performing power line wiring turn off the input power to the servo drive and then wait until the CHARGE lamp turns off B Startup Precautions Check the input voltage AC 200 230 V and power unit wiring before supplying power to the device The servo must be off before you turn on the power B Handling and Operating Precautions Check and adjust each parameter before operation Do not touch the rotating unit of the motor during operation Do no
136. ence between 2 internal and external encoder or L encoders external encoder when Full Closed control Difference EtherCAT Check the CN3 and CN4 connectors EtherCAT S D Err communication and the EtherCAT communication malfunction cable Replace the drive Edd Comm Err Invalid factory setting Invalid factory settings rester our Parameters 0x1011 feo Output contact point Restore the default parameters mm 0x101 11 6 LSis 11 Maintenance and Inspection A warning code appears in the current operation status St 00 if the servo drive is operating abnormally Check the warning code to determine what you need to inspect For EMG W 80 errors however the dynamic brake stops the motor Warning State Details and causes CODE The equipment does not receive main RST_PFAIL Main power phase loss power when the handling method for the main power phase loss 0x2003 is set to 1 The output voltage of the encoder backup Hp LOW_BATT Low battery battery is insufficient when applying an absolute encoder E Excessive Torque You have exceeded the maximum number u ng OV VCMD Excessive speed You have exceeded the maximum number command of speed commands The accumulated overload has reached the A AEAN Wand overload warning level 0x200A The electric current capacity of the motor is a H SENE Capacity settings larger than that of the drive u l The DC link voltage is 190V or below when g Uu vea EON NORE weg second bit of 0x20
137. ent Specifications 0 40 C and features Raa mbien humidity 20 80 RH no condensation Atmosphere No direct sunlight corrosive gas or combustible gas Anti vibration Vibration acceleration 49 m s2 5G 6 7 Rotation speed Torque Characteristics Torque Nm APM IL 09A Torque Mm APM I LISA Torque Nm APM L22A 10 0 A po 5 0 25 0 2 0 i 20 0 Ld LN T DNE NON Oe a Repeatedly used area Repeatedly used area i H EL ann Le i MOD TM dee dl pM Continuously used area 4000 rf aii 00 0 1 000 2000 3 000 O te poo 1 000 2 000 3 000 A DOO tmi poo LSis 10 17 10 Product Specifications APM EL30A Torque Nn APM T LOED Torque lim APM TETID a 0 0 ao N Continuously used are 1000 2000 3000 4000 5000 2000 usd 2 000 spooning m Product Features Servo Motor Type XML 00000 Applicable Drive L7oAnn L75A020 L75A035 L7GA004 L75A008 L7GA010 L75A020 mess dep 16 22 os os os 1 Rated torque kgf cm 77 90 107 10 29 22 116 9 Maximum 22 92 31 51 17 18 25 77 34 22 instantaneous torque kgf cm 233 80 321 40 87 66 175 3 262 9 349 1 Maximum current 32 94 38 91 13 68 18 54 32 01 Rated rotation 2000 1000 speed Maximum rotation 3000 2000 speed kg m2x10 4 14 62 19 04 10 18 14 62 19 04 Inertia moment Igf cm s2 14 92 19 43 10 39 14 92 19 43 Allowable load inertia Motor inertia x 10 R
138. er Connector lt Serial M turn Encoder Connector Plug MS3102A20 29P Plug MS3102A20 29P 10 36 LSis 10 Product Specifications B XML HBO1A Hollow Shaft XML HBO2A Hollow Shaft XML HBO4A Hollow Shaft External Dimensions Dimensions MM ILS MN Weiaht k Shaft ght kg Diameter BH XML HEOO9A Hollow Shaft XML HE15A Hollow Shaft External Dimensions Hollow Weiaht k L LM LC Shaft ght kg Diameter LS s 10 37 10 Product Specifications B FB Series XML FBO1A XML FBO2A XML FBO4A For the drawing of Rear Type cable it is available on request 530 wn AL Sy as lt Cross section of shaft key gt S C 2 1 Power Supply Connector Brake Connector Encoder Connector Single Turn N Pin No Signal Name oo va la 37 os lu ls Shinty le mw Signal Name Brake connector pin layout Power connector pin layout Encoder connector pin layout External Dimensions ExemaDimensons a EE FBO1A 109 149 2 79 119 2 43 5 43 0 72 1 3 10 38 LSiIs 10 Product Specifications FBO2A 120 160 2 90 130 2 54 5 54 0 94 1 49 FB04A 140 150 2 110 150 2 74 5 74 1 32 1 87 Note 1 Use DC power 24V to operate the brake Note 2 The sizes in parentheses apply when attached to the brakes B FC Series XML FC04A FC03D XML FCOGA FCO5D XML FCO8A FCO6D XML FC10A FCO7D lt Cross sectio
139. er turning on the main power Accordingly press and hold the main power ON switch for at least two seconds Note 4 Check the B and BI short circuit terminals and the XDL L7NA001B XDL L7NAO04B 50 W 100 Q XDL L7NAOO08B XDL L7NA010B 100 W 40 Q and XDL L7NA020B XDL L7NA035B 150 W 13 Q regenerative resistors before use If the regenerative capacity is high because of frequent acceleration and deceleration open the short circuit pins B Bl and connect an external regenerative resistor to B and B Note 5 Remove approximately 7 10 mm of the sheathing from the cables for the main circuit power and attach crimp terminals Refer to Section 3 2 2 P wer Circuit Electrical Components Note 6 Press the button on the XDL L7NA001B XDL L7NA010B drive terminal to attach or remove wires to the main circuit power unit For the XDL L7NAO20B XDL L7NA035B drive use a flathead screwdriver to attach or remove the wires 3 Wiring 3 2 2 L7 Drive Wiring Diagram XDL L7NO50B EDO ESON EST T cervo Dr ve d d Main Main eer Jo gro ved E mm m r I Extemal Fegenerat ive Hes istance Ry Relay SK Spark Killer MC Circuit Breaker Note 1 It takes approximately one to two seconds to output an alarm signal after turning on the main power Accordingly press and hold the main power ON swithch for at least two seconds Note 2 Check the status of connection of internal regenerative resistanc
140. eration iut Initial value o Access tied g peii Change Unit 0 0 SINT RW Yes 0 to 10 Always Details Value Name Details 0 No mode change no mode assigned 1 Pp Profile Position mode 2 Reserved keep last mode 3 Pv Profile Velocity mode 4 Tq Profile Torque mode 6 Hm Homing mode 7 Ip Interpolated Position mode 8 Csp Cyclic Sync Position mode 9 Csv Cyclic Sync Velocity mode 10 Cst Cyclic Sync Torque mode Other Reserved keep last mode LS 0x6061 The Modes of Operation Display This displays the current mode of operation The value displayed is identical to the operation mode 0x6060 O KMkinant Miatanar 8 Object Dictionary y vu J Index 0x6061 Modes of Operation Display Sub T Data PDO Setting l index Initial value Type Access Mapping Range Change Unit 0 0 SINT HO Yes 0 to 10 0x6062 The Position Demand Value This displays the position demand value in the position units specified by the user Index 0x6062 Position Demand Value Sub Data PDO Setting index Initial value Type Access Mapping Range Change Unit 0 0 DINT RO Yes ae unit 0x6063 The Position Actual Internal Value This displays the actual internal position value in encoder pulses Index 0x6063 Position Actual Internal Value Sub x Data PDO Setting I dex Initial value Type Access Mapping Range Change Unit 0 0 DINT HO Y
141. erentiation constant gain 0x2105 0x2104 Following Speed Position ok ee error Proportional command d gain comman 4 0x2101 Current position Position command Counts the position command pulses entering from outside and converts them into position commands It uses them as internal position commands after initial filtering Current position Counts the pulse signals received from the encoder and uses the electronic gear ratio settings to convert them to the current position Position proportional gain 0x2101 and 0x2102 Converts the difference between the position command and the current position into a speed command by multiplying it by the position proportional gain e Recommended value speed proportional gain 0x2106 10 Feed forward gain 0x2104 Uses the differences in value to the position command to calculate the gradient Adds the speed command to the gradient to reduce the time needed to reach the target position If the value which results is too large then the position controller may overshoot or become unstable It is important to gradually increase the value from a small value while monitoring the test drive Feed forward filter 0x2105 The feed forward control filter vibrates if the position command changes too drastically If this occurs configure the filter value until the vibrations disappear 7 L7 D
142. es Pulse 0x6064 The Position Actual Value This displays the actual position value in user defined units Index 0x6064 Position Actual Value Sub d Data PDO Setting inday Initial value Type Access Mapping Range Change Unit 0 0 DINT RO Yes ro unit LS 8 65 2 Ahinaat Niatinnar 8 Object Dictionary y 8 66 1 y 0x6065 The Position Error Range Following Error Window This sets the position error range for the Following Error Statusword 0x6041 13 Index 0x6065 Following Error Window Sub PDO a Data Acces Setting Uni moe Initial value Type add Range Change t UDIN 0 to Pos 0 2000000 T RW No 1073741823 Always anit 0x6066 Position Error Timeout Following Error Time Out This sets the position error timeout period Index 0x6066 Following Error Time Out Sub ae Data PDO Setting Index Initial value Type Access Mapping Range Change Unit 0 0 UINT RW No 0 to 65535 Always ms 0x6067 The Position Reached Range Position Window This sets the position reached range for the target If the XDL L7N reaches the position window 0x6067 within the position window time 0x6068 then it sets bit 10 of the Statusword 0x6041 to 1 Index 0x6067 Position Window Sub Ze Data PDO Setting l index Initial value Type Access Mapping Range Change Unit 0 to Pos 0 100 UDINT HW No 1073741823 Always nit Ox6068 The Position Reach
143. es to that mode 6 3 6 3 1 Position Control Modes Profile Position Mode Profile Position Mode drives to a target position using the profile speed 0x6081 and profile acceleration 0x6083 0x6084 The Profile Position Mode Block Diagram OP Mode Profile Position Target position 0x607A Software position limit 0x607D Profile velocity 0x6081 Max profile velocity 0x607F Profile acceleration 0x6083 Profile deceleration 0x6084 Quick Stop deceleration 0x6085 Controlword 0x6040 Quick Stop option code 0x605A Position controller Torque actual value 0x6077 Speed scale denominator numerator 0x201 1 0x2010 Velocity actual value 0x606C Position actual value 0x6P 4 2 denominator numerator 0x200F 0x200E l Following Error i and Position reached Position Reached Output of position limit function Target Reached in window comparator Status word 0x6041 10 Position actual yalue 0x6064 Position window time Ox6068 AQUOO Position window 0x6067 Pos unit Vel unit Acc unit Position scale numerator denominator 0x200E 0x200F Position Speed scale numerator denominator 0x2010 0x201 1 pulse s internal value Position Ox60FC trajectory Acceleration generator deceleration scale numerator denominator 0x2012 0x2013 pulse s Torque controller Speed controller Speed calculation Position ac
144. es window 0x6041 10 2 comparator zs Ox606E Velocity window Ox606D LS 6 17 6 CiA402 Drive Profile 6 18 Related Objects Data PDO Index Sub Name Type Access Mapping Units Vel Ox60FF Target velocity DNIT RW Yes Units Vel 0x607F Maximum profile velocity UDINT RW Yes Units Acc 0x6083 Profile acceleration UDINT RW Yes a Acc 0x6084 Profile deceleration UDINT RW Yes nue l Acc 0x6085 Quick UDINT RW Yes units Required velocity value Vel B DINT RO Yes HERO Velocity Demand Value Units Actual velocity value Vel 0x606C DINT RO Yes Velocity Actual Value Units Velocity span Vel D UINT RW N RS Velocity Window i Units Time to reach the target velocity E UINT RW N PUR Velocity Window Time m A 6 5 2 Cyclic Synchronous Velocity Mode r5 Ea AT A Fata m iz gt a T MANO iva Dro 6 CiA402 Drive Prof ile In Cyclic Synchronous Velocity Mode the master orders the target velocity Ox60FF for the drive and performs velocity control This mode allows you to add the torque offset Ox60B2 to the master B The Cyclic Synchronous Velocity Mode block diagram Torque actual value 0x6077 Velocity actual value 0x606C OP Mode Cyclic Syncronous Velocity Torque offset 0x60B2 Velocity offset 0x60B1 Target velocity Ox60FF i Vel unit Ded Scale numerator enominator Quick Stop deceleration 0x6085
145. etween the forward Ox60E0 reverse Ox60E1 and max torque 0x6072 determines the torque limit B The Torque Limit Function block diagram Torque offset Ox60E0h Ox60E1h 0x6072h Forward torque limit Reverse torque limit Max torque value value Y Position control Velocity control Torque control Position demand value B Related Objects Data PDO Index Sub Name Type Access Mapping Units oxeo72 Max torque UINT RW Yes 0 1 Max Torque E limit val Nr la coal ee UINT RW Yes 0 1 Positive Torque Limit Value R limit val seen e jee wee Cae vere UINT RW Yes 0 1 Negative Torque Limit Value LS s 6 25 6 CiA402 Drive Profile 6 8 6 26 Digital Input Output Digital input output controls the input output signal of the CN1 connector on the XDL L7N For more information refer to 7 6 Ox60FD Digital Input and Ox60FE Digital Output of the CiA402 Objects B Related Objects Index Sub Name Data Type Access PDO Mapping Units Ox60FD EM UDINT RO Yes Digital Inputs Digital output Digital Outputs 0 Number of ai USINT RO No Number of entries Ox60FE TUUM d UE UDINT RW Yes Physical outputs Meus UDINT RW No Bit mask 6 CiA402 Drive Profile 6 9 Touch Probe Function Touch Probe Function 0x60B8 Touch probe state Ox60B9 Position value of the rising edge of touch probe 1
146. ex 0x2402 Position Limit Function Sub ae Data PDO Setting ind x Initial value Type Access Mapping Range Change Unit 0 0 UINT RW No 0 to 1 Always e Details Value Hex Setting details 0 Checking Software Position Limit value of forward direction 1 Checking Software Position Limit value of reverse direction 0x2403 Backlash Compensation If the position operation causes backlashes which change the position then this setting converts backlash amount into a number of pulses to compensate for the backlash Index 0x2403 Backlash Compensation Sub e Data PDO Setting Indes Initial value Type Access Mapping Range Change Unit 0 0 UINT RW No Oto 10000 Always 0x2600 The Current Speed RPM This displays the current operation speed in RPM Index 0x2600 Current Speed RPM Sub Initial value Data Access PDO Setting Change Unit LS s 8 45 CNE EIAS AI meam mi IarenTt l APTIANNArV UJDICCL DICUO Nal Y Index 0x2600 Current Speed RPM Index Type Mapping Range 0 INT RO Yes RPM 0x2601 The Command Speed RPM This displays the current command speed in RPM Index 0x2601 Command Speed RPM Sub me Data PDO Setting Index Initial value Type Access Mapping Range Change Unit 0 INT RO Yes RPM 0x2602 The Tracking Position Pulse Feedback Pulse This displays the accumu
147. ex Type Mapping Range 536870912 Pos 2 2000000000 DINT RW No to unit 53687091 1 0x607F Maximum Profile Velocity This sets the maximum profile velocity in profile mode Index 0x607F Max Profile Velocity Sub ae Data PDO Setting index Initial value Type Access Mapping Range Change Unit 0 to Vel 0 2147483647 UDINT HW Yes 4294967295 Always nik LS B Ox6081 The Profile Velocity This sets the profile velocity in profile mode SAL xod js 4 AR 5 AIAAT TDIPTINMNAAaKY 24 I Nn Lf e a y O UDJect Dictionary A Index 0x6081 Profile Velocity Ree Initial value ta Access Mid g Pep Change Unit 0 10000 UDINT RW Nes lanne aa AMS e 0x6083 Profile Acceleration This sets the acceleration in profile mode Index 0x6083 Profile Acceleration ind Initial value qam Access ced g ae Change Unit 0 20000 UDINT RW Nos lage geen Alas eres 0x6084 Profile Deceleration This sets the deceleration in profile mode Index 0x6084 Profile Deceleration Ned Initial value a Access M pri Change Unit 0 20000 UDINT RW No EE UT ad 0x6085 Quick Stop Deceleration The system uses quick stop deceleration if the quick stop option code Ox605A is set to 2 0x6087 The Torque Slope Index 0x6085 Quick Stop Deceleration Sub P Data PDO Setting i Index In
148. for your system Gain 1 gt Gain 2 Transfer Mode 0x210D oet the gain transfer mode You can set the transfer method with the zero speed conditions position reached status contact input status etc refer to section 8 5 Gain 1 gt Gain 2 Transfer Time 0x210E Configure the gain transfer time during operation When converting gain 1 to gain 2 or gain 2 to gain 1 the conversion occurs according to the set time P PI Transfer Mode 0x210D Configure the P and PI transfer modes You can configure the set conditions set speed set acceleration set position error etc for the transfer method refer to section 7 5 7 L7 Drive Setup 7 2 8 Resonance Avoidance Operations 0x210F 0x2110 0x2111 Torque output Resonance avoidance frequency 0x2110 cM Torque output frequency Resonance avoidance range BW 0x2111 Mechanical resonance causes vibrations to occur at certain frequencies in certain systems You can control the vibrations by controlling the torque output for specific frequencies The resonance avoidance operation 0x210F refer to section 8 5 7 L7 Drive Setup 7 3 7 10 Setting the Input Output Contact Point Parameters There are 6 points for digital inputs totaling 8 functions PROBE1 PROBE2 PCON GAIN2 ALMRST HOME P OT N OT There are 4 points for digital outputs totaling 7 functions ALARM READY ZSPD BRAKE INPOS INSPD WARN You can assig
149. frequency power N fH i PO and PI NA EtherCAT communication port Short circuit these when not in Polla 1 e a use Pe qu cs jS EtherCAT OUT CN3 PI 9 B e f P Safety connector CN6 Regenerative resistance connectors B lif a Hh E inte lt This connector connects safety B B and Bl gt IS l li B O These terminals connect to the El le hl q ih GeviCss external regenerative resistor SE N PH mm Note If you are not using any Short B and BI for ill safety devices be sure to install basic installations y the safety jump connector on the If you are using an external resistor Colf m a 4 L7N connect it to the B and B terminals 1 Wie il i o eS Input output signal connector Control power terminals C1 and C2 l Pal fs lt CN1 These terminals are for the control SERING This connector is for sequence power input E input output signals LI L4 mc Servo motor connecting terminals U U oa NI V and W No ee These terminals connect to the main V a f E Encoder connector CN2 circuit cable power cable of the servo Ha lah i ze This connects to the encoder motor vo My EN installed on the servo motor Ground terminal f O The ground terminal prevents electric shock Be sure to connect a grounding line to this gt Se ei FTN terminal oe XE y Gp l Wee Ee A 1 4 1 Product Configuration B XDL L7NAOOSB XDL L7NAO10B Operation keys These allow you to check parameters
150. hange Unit Index Type Mapping Range Index of assigned RxPDO 1 Sub Data PDO Setting Initial value Access Change Unit Index Type Mapping Range 0x1600 to 1 0x1601 UINT RW No 0x1603 Sub LS 8 19 8 Object Dictionary Index 0x1C13 Sync Manager 3 PDO Assignment Number of entries Sub Data Setting Initial value Access Change Unit Index ac Mapping ux mE of assigned TxPDO 1 Sub Data PDO Setting Initial value Access Change Unit Index Type Mapping Range 0x1A00 to 1 0x1A01 UINT RW No 0x1A03 You can change 0x1C12 and 0x1C13 in the EtherCAT Pre Operational state Set Sub Index 1 after Sub Index 0 is registered as 0 820 LS O f 3l i m Niatianarp 8 Object Dictionary 0x1C32 Sync Manager 2 Synchronization Sync Manager 2 Process Data Output Synchronization Index 0x1C32 Sync Manager 2 Process Data Output Synchronization Number of entries Sub Data Setting Initial value Access Change Unit Index a Mapping sar f modes Sub Data PDO Setting Initial value Access Change Index Type Mapping Range Cycle time Sub Data PDO Setting Initial value Access Change Unit Index Type Mapping Range Time between 2 UDINT No SyncO events ns Shift time Sub Data Setting Initial value Access Change Unit Index Type Mapping Range MESE modes supported Sub Data PDO Setting Initial value Access Change Unit Index Type Mapping Range Bit O 1 Free Run supported Bit 4 2 001
151. hase signal Trigger mode 60B8h bit2 1 or bit10 1 X Latched Position 7 L7 Drive Setup 7 1 Setting System Parameters 1 The motor ID setting 0x2000 Serial encoder Reads the motor ID from the encoder and configures it 2 Encoder settings 7 L7 Drive Setup When connecting Motor with single turn encoder it is automatically set motorlD 0x2000 encoder pulse 0x2002 value In case of Multiturn serial encoder Set the encorder type Encoder type 0x2001 Number Encoder Type Number Encoder Type 1 Singleturn serial encoder Multiturn serial encoder Encoder pulse 0x2002 Indicates the pulses per revolution in a bit for the encoder type 2 9 3 Main power input mode 0x2003 Specifies the main power input mode and the processing mode if phase loss occurs You can specify the handling methods for three phase and single phase power inputs and the power phase loss Refer to section 7 5 4 The main power phase loss monitoring interval 0x2004 Specifies the monitoring interval for main power phase losses 5 The 7SEG display object setting 0x2005 e Specifies the objects applied when the servo turns on e The setting values range from 0x2600 to 0x2616 Choose a number from 2600 2616 and use that number to set the corresponding parameter You can display the number and value of the variable every time you press the panel operator switch For 32 bit variables press a
152. heck parameters tl Control power terminals C1 and C2 These terminals are for the control power input DC reactor PO and PI These terminals connect to the DC reactor to suppress high frequency power PO and PI Short circuit these when not in use M Main power connectors L1 L2 and L3 These terminals connect to the main circuit power input Regenerative resistance connectors B B and BI These terminals connect to the external m e regenerative resistor Short B and BI for basic installations If you are using an external resistor connect it to the B and B terminals Display This displays numerical values such as the L7N state and alarm number State LEDs These LED indicate the current EtherCAT state USB communication port CN5 This port communicates with a personal computer EtherCAT communication port input CN4 EtherCAT communication port output CN3 Safety connector CN6 This connector connects safety devices Note If you are not using any safety devices be sure to install the safety jump connector on the L7N Input Out signal connector CN1 This connector is for sequence input output signals Encoder connector CN2 This connects to the encoder installed on the servo motor CHARGE lamp This turns on when the main circuit power is on It remains turned on as long as an electric charge is on the L7N condenser even after the main circuit power is turned off
153. hen performing real time data transfers through the CANopen over the EtherCAT protocol These objects configure the incoming PDO mapping and outgoing PDO mapping Information about the mapped application object appears MSB 16 15 8 7 LSB Object index Sub Index Length Bits 0 7 Bit lengths of mapped objects ex 32 bit is displayed as 0x20 Bits 8 15 Sub Indexes of mapped objects Bits 16 31 Indexes of mapped objects 0x1600 to 0x1603 Receive PDO Mapping t Receive PDO Mapping Index 0x1600 1st Receive PDO Mapping Number of entries Sub Data PDO Setting Initial value Access Index Type Mapping Range Mapping entry 1 Sub Data PDO Setting Initial value Access Unit Index Type Mapping Range 1 0x60400010 UDINT RW NO OxFFFFFFFF Mapping entry 2 Sub PDO Setting Initial value Unit Index Mapping Range 2 0x60710010 No OxFFFFFFFF Sub PDO Setting Initial value Unit Index Mapping Range 3 0x607A0020 OxFFFFFFFF LS 8 11 8 Object Dictionary Mapping entry 4 Sub Data PDO Setting Initial value Access Index Type Mapping Range 4 0x60600008 UDINT RW NO OxFFFFFFFF Mapping entry 5 Sub Data PDO Setting Initial value Access Index Type Mapping Range 5 0x60B80010 UDINT RW No OxFFFFFFFF dq Receive PDO Mapping Index 0x1601 2nd Receive PDO Mapping Number of entries Sub Index Mapping entry 1 Sub Data PDO Setting Initial value Access Unit Index Type Mappi
154. his specifies the current capacity for regenerative resistance If it is set to 0 then it uses the default resistance capacity embedded in the drive Index 0x2007 Regenerative Resistor Value Sub FER Data PDO Setting index Initial value Type Access Mapping Range Change Unit 0 0 0 UINT RW No ian PRECYC ohm 0x2009 Overload Check Base This indicates the load factor which triggers a continuous overload check If it is set to 100 or less then the overload check starts early and the overload alarm triggers early Index 0x2008 Regenerative Resistor Capacity Sub E Data PDO Setting index Initial value Type Access Mapping Range Change Unit 0 0 0 UINT RW No to 30000 PRECYC Watt Index 0x2009 Overload Check Base Sub ae Data PDO Setting das Initial value Type Access Mapping Range Change Unit 10 0 100 UINT RW No aside PORE 96 LS 8 27 2 NKHkhiant Nintinnar 8 Object Dictionary y 8 28 0x200A Overload Warning Level This specifies the level for the continuous overload warning signal output The warning signal is issued when it reaches the percentage value set relative to the alarm trigger value Index 0x200A Overload Warning Level Sub t Data PDO Setting des Initial value Type Access Mapping Range Change Unit 10 0 50 UINT RW Yes to 100 SV_OFF 96 0x200B PWM Off Delay This specifies the time span be
155. ial DEZ Enodsrcableoben Encoder cable Check whether the encoder cable is E nir e P disconnection disconnected LS 11 5 11 Maintenance and Inspection E m Encoder data error Encoder data error Check the encoder settings and po NN Motor setting error Motor ID setting error Replace the encoder the encoder Low voltage of Back Up battery when Absolute encoder is applied Low Battery Error Low voltage error x Reset the operation after changing battery Applied after S W Ver 1 3 NAT Under voltage Low voltage bah input voltage and power unit Check the input voltage and wiring Check the braking resistance for Overvoltage Overvoltage Sande Check for excessive regenerative operation Check the regenerative resistance Check the power unit wiring and L Li AL 42 RST power fail Main power failure power clinely Check the power unit wiring and too HL 44 Control power fail Control power failure O Check the encoder encoder settings encoder wiring gain settings motor wiring motor ID electric gear ratio and speed command scale RESSE Over speed limit Overspeed Check the Following Error Window 0x6065 wiring and limit contacts gain setting values encoder settings Excessive position error and electric gear ratio settings Check the load on the equipment and whether there is binding on the REESE Position following equipment Check value of difference between Bi Cu Encoder Position Differ
156. ic synchronous position Csp LS 8 59 8 Object Dictionary 8 60 B Details on Bits 10 12 and 13 Bits 10 12 and13 Profile position Pp Mode Bits 10 12 and 13 Homing Mode Bit State Value Details 0 Halt 0x6040 8 0 Failed to reach the target position Halt 0x6040 8 1 Deceleration 10 Target reached i Halt 0x6040 8 0 Reached the target position Halt 0x6040 8 1 Speed 0 Prepares the previous set point and waits for a new set acknowledge 1 Changed from the previous set point to the new set point 0 No following error 13 Following error Following error Bit 13 Bit 12 Bit 10 Homing Homing Target Details error attained reached 0 0 0 Homing in progress 0 0 1 Homing stopped or not started 0 1 0 Performed homing operation but the not reach the target 0 1 1 Homing completed 1 0 0 Homing error speed not equal to O 1 0 1 Homing error speed equal to 0 Bits 10 12 and 13 Cyclic synchronous position Csp velocity mode torque mode LS Bit State Value Details us Target 0 Unable to reach the target position velocity torque reached 1 Reached the target position velocity torque Target value 0 Ignores the target value position velocity torque ignored 1 Uses the target value as the position control input 0 No following error 0 in Csv constant in torque mode 13 Following error 1 Following error
157. ications B FAL Series XML FALRA FALO1A FALO15A Multi Turn M Multi Turn M Se CA Se L4 Wo 19g CHASE ASSY 2108418 tithes o 5 Shield 54 08 0048 Suntone gt Power connector pir arm HSG 2108422 1 Tyco Encoder cerpector pin array lt INAATOPPN RyTyeo fpe corrector pin array CONTACT 2069591 2 Tyea gt ee ee External Dimensions Weight Se eee musa 10320296 monas s 2 03w0s0 wma 202500 9520319 eC 0450020 NOTE 1 Use DC power 24V to operate the brake NOTE 2 The dimension of is for brake type motor NOTE 3 To connect FAL motor connect power cable first 10 44 LS s 10 Product Specifications B FBL Series XML FBLO1A FBLO2A FBLO4A W 4 L Cross Section of Shaft Key S C 2 12 Posa Supply Comer 28 21 4 23 4 1 Fill Ercsder Corrector ln the case that extraction direction of cable is on the opposite direction of Axis Multi Turm M Multi Turn M ANA Ts Ga EE Fu u cap E BASE ASSY 2108418 1 Tyco 8 Shell TL lt SW N3 O48 Suntone gt Power conector pir arm HSG 2108422 Tyco Encoder connector pin array lt INAATOPPN RyTyeo fpe corrector pin array CONTACT 2069391 2 Tyea gt LSis 10 45 10 Product Specifications Key External Dimensions Dimensions Weight kg LORI ee eS FBLOLA 107 10720422 2 77 2 117 2 48 5 48 3 ES 0
158. ile driving in the CCW direction becomes the Home position 11 Lower figure If the NOT switch is OFF then the drive operates at switch search speed and rotates CW If the NOT switch is turned on at this time it changes the direction and continues to drive CCW at switch search speed If the Home switch is then changed from ON to OFF then it transfers to zero search speed and the position that the first index pulse encounters becomes the Home position The methods from 12 to 14 are identical to the methods for 11 in terms of how they determine the Home position The only differences are the initial driving direction and Home switch polarity Refer to the following figure Index pulse Home switch Negative limit switch NOT 24 It determines the Home position in the same manner as method 8 but it does not use an index pulse The point where the Home switch is turned on or off becomes the Home position Home switch HEU Positive limit switch POT LS s 6 15 6 CiA402 Drive Profile 6 16 Value Details 28 It determines the Home position in the same manner as method 12 but it does not use an index pulse The point where the Home switch is turned on or off becomes the Home position A Home switch J P D Negative limit switch 33 34 The position that the first index pulse encounters while driving in a CCW CW direction becomes the Home position
159. ime constant 0x2105 The feed forward control filter vibrates if the position command changes too drastically If this occurs configure the filter value until the vibrations disappear 0x2106 Speed P Gain 1 Index 0x2106 Speed P Gain 1 Sub us Data PDO Setting index Initial value Type Access Mapping Range Change Unit 0 400 UINT RW No 0 to 5000 Always rad s 0x2107 Speed P Gain 2 Index 0x2107 Speed P Gain 2 Sub rr Data PDO Setting index Initial value Type Access Mapping Range Change Unit 0 700 UINT RW No 0 to 5000 Always rad s Speed proportional gain 0x2106 and 0x2107 by multiplying it by the proportional gain Converts the speed error into a torque command 0x2108 Speed Integral Time Constant 1 Speed I Gain 1 Time Constant Index 0x2108 Speed Gain 1 Time Constant Sub e Data PDO Setting dex Initial value Type Access Mapping Range Change Unit 0 50 UINT RW No 1 to 1000 Always ms LSis 8 35 8 36 E Y y O Su ha ing Diintinmva gt Ay 3 Object Dictionary d 0x2109 Speed Integral Time Constant 2 Speed I Gain 2 Time Constant Index 0x2109 Speed Gain 2 Time Constant Sub Me Data PDO Setting index Initial value Type Access Mapping Range Change Unit 0 15 UINT RW No 1 to 1000 Always ms Speed integral time constants 0x2108 and 0x2109 Calculates the integral value of
160. ing humidity Below 80 RH a Below 90 RH no condensation Storage humidity Below 90 RH Altitude 1000m or less When installing 1 unit More than 40 mm at the top and bottom of the control panel e More than 10 mm on the left and right sides of the control panel When installing 2 or more units e More than 100 mm at the top of Spacing the control panel e More than 40 mm at the bottom of the control panel e More than 30 mm on the left and right sides of the control panel e More than 2 mm between units e Refer to Section 2 2 2 Wiring the Control Panel Ensure the installation location is free from dust iron corrosive gas and combustible gas Ensure the installation location is free from vibrations or the potential for hard impacts Other variables Install the product with the correct orientation Do not drop the product or expose it to hard impact Install this product in a location that is free from water corrosive gas combustible gas or flammable materials Install this product in a location capable of supporting the weight of this product Do not stand on the product or place heavy objects on top of it Always maintain the specified spacing when installing the servo drive Ensure that there are no conductive or flammable debris inside the servo drive or the servo motor Firmly attach the servo motor to the machine Install the servo motor with a correctly oriented dec
161. ing the test drive to prevent injuries or damage to the servo motor 9 1 1 Wiring Checklist 1 Is the voltage AC 200 V appropriate for the power input terminals 2 Are the power cables U V W and FG between the drive and the motor connected correctly 3 Is the voltage 24 V connected to the control signal correctly 4 Is the regenerative resistance appropriate for the capacity and correctly connected 5 Are the wiring cables free from bends or kinks 6 Is the ground and wire insulation free from defects 9 1 2 Drive Signal CN1 Wiring Checklist Confirm that the wire and contacts for the drive signals are in the state listed on the following table State of State of Pin Number Pin Name Contact Pin Number Pin Name Contaci 16 PCON Off 14 HOME On 17 GAIN2 Off P OT On 15 ALMRST Off N OT On 9 1 3 9 1 4 The previous table lists the factory default settings You can allocate different values according to the setting value of the input signal allocations 0x2200 and 0x2201 and input signal logic definition 0x2204 Surrounding Environment Checklist Are there any metal filings or water around the wires Machine Status Checklist 1 Is the servo motor coupling in good condition 2 Are the locking bolts fastened tightly 3 Are there any obstacles that may prohibit operation of the machine 9 1 10 Product Specifications 10 1 The Servo Motor m Heat Sink specification 10
162. integral time constant is too large an excessive response drop occurs and proportional control takes over e Recommended value 10000 speed proportional gain 0x2106 Low Speed Pd High Command speed A gt E Tracking speed Time Speed proportional gain 0x2106 Converts the speed error into a torque command by multiplying it by the proportional gain If the resulting value is large then the speed response accelerates and speed tracking increases However vibrations occur if the value is too large If the value is too small then speed response slows down and speed tracking decreases This may cause the servo to lose power LSis 7 7 7 L7 Drive Setup 7 2 4 7 2 5 7 2 6 7 2 7 Speed Command speed D Time Speed feedback filter time constant 0x210B Filters the speed feedback to control vibrations when the speed of the motor changes due to drive system vibrations or vibrations due to gain and too much load inertia If the value is too high it reduces speed responsiveness and control power may be compromised e Recommended value 0 to speed integral time constant 0x2108 10 The Torque Command Filter Time Constant Time 0x210C Use a digital filter for the analog torque command voltage to improve the stability of command signals If the filter value is set too high responsiveness to torque commands will be reduced It is important to set an appropriate value
163. ion CN1 Note 1 If using a DC reactor connect the PO and PI pins Note 2 If using an external regenerative resistor remove the B and BI short circuit pins and connect the B and B pins Note 3 The XDL L7NA008B XDL L7NA035B modes are cooled by a DC 24V cooling fan 32 LSi s 3 Wiring 3 1 3 XDL L7N Drive Block Diagram XDL L7NAO50B Note 2 Note 1 Es Note 3 n RR Cooling Fan PO PI IN B B BI Diode Thermiste NM IGBT f e e 1 d e 9 1 e o e e Sel A A A Regenerative IN N N Three Phase Power Input j i i i AC200 230V L1 NET UEM m c dde p a y Current Sensor r 9 A e e AN Thermister e e e e TR ONCE W SM TE e e ieu amp sls Y k id i rege dx A Y e e e e e e e ee ets MEE l ER R i 1 Main Power Internal R DC Volt egener at ive PWM Signal U and V curren OB Control Power Failure zE Failure Temperature TNAM De UNA d eiie SC Detection Deci l Operation Detection Circuit ive Detection Circuit Detection Ci
164. ion can aperiodically read and write all of the Object Dictionaries LS 5 EtherCAT Communication 5 2 The EtherCAT State Machine 5 2 State Init e wo Pre Operational SI 01 es el Safe Operational so os Operational Details Init Resets a device Unable to perform mailbox or process data communication Pre Operational Able to perform mailbox communication Safe Operational Able to read the PDO input data TxPDO Unable to receive PDO output data RxPDO Operational Performs periodical I O communication and it is possible to process PDO output data RxPDO Transition State Details IP Begins mailbox communication PI Stops mailbox communication PS Begins input data updates SP Stops input data updates SO Begins output data updates OS Stops output data updates OP Stops input output data updates SI Stops input data updates and mailbox communication Ol Stops both input output data updates and mailbox communication 5 EtherCAT Communication 9 3 LED State The LEDs on the operating panel of the XDL L7N drive indicates EtherCAT communication and error statuses as shown in the following figure f I ft wt WM MU kj y A lt A A mM Hd OH M l o ALA A Eg n E E Eg E Ey ah js ry of JH i lH E d HH ILI Uu EY Wu UY UY ULL L A IN
165. itial value Type Access Mapping Range Change Unit 0 to Acc 0 100000 UDINT RW No 21474836474 Always Uit This sets the torque slope in profile torque mode It adjusts the rated torque per second in 0 196 increments Index 0x6087 Torque Slope Sub T Data PDO Setting Inde Initial value Type Access Mapping Range Change Unit 0 to 5 0 1000 UDINT RW Yes 21474836474 Always 0 1 s LS s 8 71 8 Object Dictionary 0x6098 The Homing Method This sets the homing method Refer to section 5 4 Homing Index 0x6098 Homing Method Sub oe Data PDO Setting I qux Initial value Type Access Eme Range Change Unit 0 34 SINT RW Yes 0 to 35 Always Details Value Details 0 Disabled 1 Homing using the index pulse and reverse limit contact 2 Homing using the index pulse and forward limit contact to 14 Homing using the index pulse and home contact 24 Same as method 8 does not use the index pulse 28 Same as method 12 does not use the index pulse 33 34 Homing to the index pulse 35 Homing to the current position 0x6099 Homing Speeds This sets the homing speed in user defined units Index 0x6099 Homing Speeds Number of entries Sub Data PDO Setting Initial value Access Change Unit Index Type Mapping Range Speed during search for switch Sub Data PDO Setting Initial value Access Change Unit Index T
166. ition limit DINT RW No Units l Acc 0x6084 Profile deceleration UDINT RW Yes fe l Acc 0x6085 Quick Stop deceleration UDINT RW Yes e i Interpolation cycle i Interpolation Time Period 0 Number of entries USINT HO NO 0x60C2 i um i ieee ee USINT RW No Interpolation time period 2 Interpolation time index SINT RW No 6 3 3 Cyclic Synchronous Position Mode Cyclic Synchronous Position Mode drives the XDL L7N by receiving updated target positions 0x607A with each POD update cycle from the master You can use this mode to drive the XDL L7N by adding a torque offset Ox60B2 and speed offset 0x60B1 The Cyclic Synchronous Position Mode diagram OP Mode Cyclic Syncronous Position Torque offset 0x60B2 Velocity offset 0x60B1 Vel unit Speed scale numerator 5ulse s denominator 0x2010 0x201 1 Target position 0x607A Pos unit Position scale pulse A Su numerator denominator Software position limit 0x607D 0x200E 0x200F Quick Stop decel 0x6085 Se uick Stop deceleration 0x Acceleration 2 trajectory or profile deceleration 0x6084 Acc unit deceleration scale pulse s generator Ox60EC numerator denominator 3 0x2012 0x2013 Quick Stop option code 0x605A Halt option code 0x605D Velocity offset 0x60B1 Torque offset 0x60B2 DAS Position Speed Torque Servo controller controller controller motor Torque actual value 0x6077
167. lated number of position command pulses that result from servo motor rotations when the servo turned on Index 0x2602 Feedback Pulse Sub He Data PDO Setting Index Initial value Type Access Mapping Range Change Unit 0 DINT RO No Pulse 0x2603 The Position Command Pulse This displays the accumulated number of position command pulses entered since the servo turned on Index 0x2603 Command Pulse Sub 2 Data PDO Setting index Initial value Type Access Mapping Range Change Unit 0 DINT HO No Pulse 0x2604 The Remaining Position Pulse Following Error This displays the difference between command pulses and tracking pulses and the remaining position pulses for the servo to run It ignores the remaining position pulses when a servo that is off is turned back on Index 0x2604 Following Error Sub o Data PDO Setting l index Initial value Type Access Mapping Range Change Unit 0 0 DINT HO Yes Pulse 0x2605 The Input Command Frequency This displays the input pulse frequency 8 46 LS 0x2606 Current Operation Torque Index 0x2605 Input Command Frequency Sub i Data PDO Setting index Initial value Type Access Mapping Range Change Unit 0 0 INT HO No KHz This displays the energy load output by the servo motor as a percentage of the rated output 0x2607 Curre
168. lays numerical values such as the L7N state and alarm CHARGE lamp This turns on when the main circuit power is on It remains turned on as long as an electric charge number is in the L7N condenser even after the main MOLE ate S circuit nd is turned off E not touch the iiid These LED mdi ne cument terminal while turning it on Doing so may resu EtherCAT state in an electric shock USB communication port CN5 This port communicates with a personal computer Main power connectors L1 L2 and L3 ie These terminals connect to Ne M the main circuit power input Li e Dr i EtherCAT communication port DC reactor connectors Le ES s EtherCAT IN CN4 These terminals connect to the 13 E DC reactor to suppress high Lo qu 5
169. lowable load inertia Motor inertia x 20 Motor inertia x 10 Rated power rate kW s 11 38 27 95 65 90 32 62 41 69 ME E MEE ME MM and features pill aia 20 Bop RH no condensation E ae E Anti vibration Vibration acceleration 49 m s2 5G EE ky or 09 13 te 22 Rotation Speed Torque Characteristics Torque Hm XM L FBO1 A TOR ue Mm XM L FB02A Torque Mm XM L FBO4A Repeatedly used area E Repeatedly used area AN Repbatedly used area N Ji Continuously used area Continuously used area Continuously used area uL ELI n 2n vn am Speed rman HI d Speed min Speed r imirn Tace Hm XML FC04A Torque Hm XML FCO6A _ Repeatedly usedareay ia Repeatedly used area N a Continuously used area Continuously used area Au HN peed Amen LSis 10 15 10 Product Specifications Product Features DO AA CN Rated torque Rated rotation speed r min 3000 2000 Maximum rotation speed r min 5000 4500 3000 orman 15 Inertia moment tens Allowable load inertia Motor inertia x 5 Rated power rate kW s 45 78 62 74 41 28 52 76 55 39 59 64 Speed and Standard position detector Fully closed self cooling IP65 excluding axis penetration Method of i DAoC Specifications AMDIENI 20 80 RH no condensation and features dle Ambient humidity No direct sunlight corrosive gas or combustible gas duis Vibration acceleration 49 m s2 5G we wo x aed
170. lue Access Index Type Mapping Synchronization mode Bit 0 1 Free Run supported Bit 4 2 001 4 DC SyncO supported Bit UINT No 6 5 00 No Output Shift sup ported Minimum cycle time Sub Data PDO Setting Initial value Access Index Type Mapping Range Calc and copy time Sub Data PDO Setting Initial value Access Unit Index Type Mapping Range No l emo vr m m 5 EtherCAT Communication Delay time Sub Data PDO Setting Initial value Access Change Unit Index Type Mapping Range me gt E CtharfAT Pammiininatian 5 EtherCAT Communication Index 0x1C33 Sync Manager 3 Process Data Intput Synchronization Number of entries Sub Data Setting Initial value Access Change Unit Index E Mapping E EIN modes Sub Data Setting Initial value Access Change Unit Index Type Mapping Range 1 same as same as 0x1C32 01 same as 0x1C32 01 UINT uv RO No Cycle time Sub Data PDO Setting Initial value Access Change Unit Index Type Mapping Range Shift time Sub Data PDO Setting Initial value Access Unit Index Type Mapping Range 125000 n ns n 1 2 3 Range 0 to 3 UDINT No SyncO event cycle time 125000 Synchronization modes supported Sub Data PDO Setting Initial value Access Unit Index Type Mapping Range Bit O 1 Free Run supported Bit 4 2 001 4 DC SyncO supported UINT No Bit 6 5 01 Input Shift with local timer su
171. ly authorized personnel may repair and inspect the device or replace its parts Do not modify this device in any way BH General Precautions 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 B Product Application This product is not designed or manufactured for machines or systems intended to sustain human life This product is manufactured under strict quality control conditions Nevertheless install safety devices if installing the device in a facility where product malfunctions may result in a major accident or a significant loss B EEPROM Lifespan The EEPROM is rewritable up to 1 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 1 million depending on the lifespan of the EEPROM e EEPROM recording as a result of parameter changes e EEPROM recording as a result of an alarm Safety Precautions B Responding to international regulations L7 Series responds to international regulations with standard models XDL L7NA001B XDL L7NA002B XDL L7NA004B XDL L7NA008B EN61800 5 1 EN61800 3 XDL L7NA010B XDL L7NAO20B XDL L7NA035B XDL L7NAO50B x1 For more information please feel free to ask LSIS x2 Please follow the regulations of destination when exporting LS s vii
172. m falling to the motor brake This may occur as a result of the brake signal turning off because of the brake signal output operation speed 0x2206 or the brake signal output delay time 0x2207 0x2300 The Index Z phase Pulse Detection Operation Speed Index Pulse Search Speed Index 0x2300 Index Pulse Search Speed Sub ra Data PDO Setting Index Initial value Type Access Mapping Range Change Unit 0 10 UINT HW No 1 to 300 Always HPM 0x2301 The Speed Command Acceleration Time Index 0x2301 Speed Command Acceleration Time Sub js Data PDO Setting dey Initial value Type Access Mapping Range Change Unit 0 0 UINT RW No Oto 10000 Always ms Acceleration time 0x2301 Specifies the time required in ms for the motor to reach the rated motor speed from zero speed LS Oo frliinnmnti FAT dom pm mm man y 24 INIA Ife Anar O UDIeCCt DICUONAal Y 0x2302 The Speed Command Deceleration Time Index 0x2302 Speed Command Deceleration Time Sub e Data PDO Setting Index Initial value Type Access Mapping Range Change Unit 0 0 UINT RW No Oto 10000 Always ms Deceleration time 0x2302 Specifies the time in ms required for the motor to stop after running at the rated motor speed 0x2303 The Speed Command S curve Time Index 0x2303 Speed Command S curve Time Sub SES Data PDO Setting index Initial value Type Acces
173. miste T L2 e Dad V M E e Ld pL e 0 cyan Di y e Lue e amp E D t i A E A ACA IA p es ee e e e e e Thermistor A 1 4 Main P Regenerative IGBT Control Power Failure Ec ees ees eee seer Braking Temperature PWM Signal E TESCO Detection Circuit Qu Detection Circuit Detection Circuit Circuit Circuit nr oed se PetecHon clcur Circuit Circuit Single Phase Power Input AC200 230V e 01 S one al E M Main Power Power Circuit Access e P U and V Current C2 9 DC Voltage E A D Conversion me BISS rs CN3 CNA gt EtherCAT t p ESC gt DSP FPGA Communication CN5 S e us USB TO UART Encoder GN Communication Input P C Insulation d D Safety function input Safety function output Contact input Contact output 2 points 1 points 8 points 4 points i i Safety device connection CN6 Upper controller connection CN1 Note 1 If using a DC reactor connect the PO and PI pins Note 2 If using an external regenerative resistor remove the B and BI short circuit pins and connect the B and B pins LS 3 1 3 Wiring 3 1 2 XDL L7N Drive Block Diagram XDL L7NAOOSB 7NAO35B Note 3 y po Cooling Fan
174. n input output signals by parameter and set the input output contact logic A B contacts Input signal definition 0x2200 0x2201 Output signal definition 0x2202 0x2203 Input signal logic setting 0x2204 Output signal setting 0x2205 For PROBE CN1 9 PROBE2 CN1 10 the pins are assigned separately and interrupted for the inputs Basic settings for input signal definitions Ta CN1 Pin Default Allocation Number pL LL tf 1 1 1 1 1 l1 LS Default Setting Value 0x4000 0x0065 N r N Logic definitions for input signals 0x2204 logic settings for DI 1 to DI 6 by bit 7 Drive Setup Note 1 The default setting value Basic settings for the output signal definitions PI au reae recs we JT a Fans wes meos a 2 gt Poseo er woo 4 a 2 gt Pene sew ww o 2 7 oaa 21015 neserueo e Bit function en Setting details 0 Contact B 0 DI 1 input logic setting Contact AN ontac 0 Contact B 1 DIz2 input logic setting Contact AN ontac 0 Contact B 2 DI 3 input logic setting Contact AN ontac 0 Contact B 3 DI 4 input logic setting Contact AN ontac 0 Contact B 4 DI 5 input logic setting Contact AN ontac 0 Contact B 5 DI 6 input logic setting Contact AN ontac CN1 Pin Default Allocation Number DO 4 DO S3 DO 2 DO 1 1 2 19 20 17 18 3 4 Defa
175. n of shaft key gt S C 2 1 Connector je Brake connector pin layout Vd Power connector pin layout Encoder connector pin layout External Dimensions Key Dimensions Weight kg to m te s H T wu FCO4A FCOSD 136 5 177 96 5 137 61 60 5 0 018 1 56 2 6 LS s 10 39 10 Product Specifications 154 5 195 114 5 155 79 78 5 0 021 6 6135 2 18 3 22 172 5 213 132 5 173 97 96 5 0 021 616 35 2 72 3 76 190 5 231 150 5 191 115 114 5 0 021 616135 3 30 4 34 Note 1 Use DC power 24V to operate the brake Note 2 The sizes in parentheses apply when attached to the brakes B FE Series XML FEO9A FEO6D FEO5G FEO3M XML FE15A FE11D FEO9G FEO6M XML FE22A FE16D FE13G FEO9M XML FE30A FE22D FE17G FE12M Standard External Dimensions Dimensions External Dimensions Key Dimensions MCN MECHEL ILIO TUM ae NEIN EET 3 FEISAFEND FE0SGFE0SM 2173 1593 wes w 2 s s s em gt Feza FED FEGE 2979 1780 1098 2 2 fefe os ne rEwrempremaremw asso 1973 vera 20 99 7 0 4 1005 lt Brake gt 10 40 LSis 10 Product Specifications External Dimensions Dimensions Key Dimensions Weight kg Lo HM te S aW TW U rtoreDrEarEo 2369 1773 699 zs s s a es FE15A FE11D FEO9G FEO6M 255 3 197 3 109 6 FE22A FE16D FE13GFEO09M 2753 2173 129 6 22 25 e 6 35 10 02 arar ze me we uw v s
176. nd hold the switch to indicate the upper middle lower locations in 4 figures 6 The regenerative overload derating factor 0x2006 This specifies the derating factor which checks for regenerative resistance overloads If the derating value is 100 or less then the overload alarm trigger time is proportional to the set value 7 The regenerative resistance value 0x2007 This specifies the resistance value for regenerative braking resistance If it is set to 0 then it uses the default resistance capacity embedded in the drive 7 1 7 L7 Drive Setup 7 2 The regenerative resistance capacity 0x2008 This specifies the current capacity for regenerative resistance If it is set to 0 then it uses the default resistance capacity embedded in the drive The overload check default load factor 0x2009 This indicates the load factor which triggers a continuous overload check If it is set to 100 or less then the overload check starts early and the overload alarm triggers early Time Alarm Check Level Overload 10 The overload warning level 0x200A This specifies the level for the continuous overload warning signal output The warning signal is issued when it reaches the setting of the percentage value relative to the alarm trigger value 7 L7 Drive Setup Time B E EEEE A eoeossecesssesessecoseseseseesesceccosessesseeses Overload e ee
177. ndix SG110G SG150G FBO1A FBO2A FBO4A FCO4A FCO6A FCO8A FC10A FCOSD FCOSD FCO6D FCO7D FEO9A FE15A FE22A FE30A FEO6D FE11D FE16D FE22D FEOSM FEO6M FEO9M FE12M FE05G FE09G FE13G FE17G a 711 100 712 200 713 400 721 400 122 723 800 724 100 200 400 EN 400 600 800 1000 NN 725 726 727 600 728 PA 761 900 762 763 764 765 600 766 767 768 300 600 900 1200 450 769 300 770 772 1200 773 450 FF50A FF22D FF35D FF55D FF75D FF12M FF20M FF30M FF44M FF20G FF30G FF44G FF60G FF75G FG22D FG35D FG55D FG75D FG12M FG20M FG30M FG44M FG20G FG30G 7 7 7 7 7 7 7 8 8 8 8 8 8 9 2 5 6 r 8 9 0 791 7 7 7 7 7 8 8 8 9 9 9 9 9 0 1 1 2 3 4 5 6 4 1 2 813 8 8 8 8 8 1 2 2 2 2 4 1 2 3 4 831 8 3 2 5000 2200 3500 9900 7500 1200 2000 3000 4000 1800 2900 4400 6000 7500 2200 3500 9900 7500 1200 2000 3000 4400 1800 2900 Teasers 6 wat wm eas e e mmo mw mmo m w wwo on we ww oe fa ww oe fer ww fee far mm ewe far we few fre eso ew few mmo ew vase wwe CAE weirs 6 wat Wee mw 702 oo mw re oo mum mw IL a a mw ma ram ns am mw ne ao ee II IIS IES Croom mae om sm mo ow rosa re
178. nerative capacity expansion refer to XDL 35M Edd Section 9 3 O tional and Peripheral Devices L7NAO10B XDL L7NAO20B XDL L7NA035B 13 0 Built in 150 W Configure the system so that the main power L1 L2 L3 is supplied after the control power C1 C2 Refer to Chapter 3 W ring High voltages may remain in the device for sometime even after the main power is disconnected After disconnecting the main power ensure that the charge lamp is off before you start wiring Failure to do so may result in electric shock Always ground the device over the shortest possible distance Long ground wires are susceptible to noise which may cause the device to malfunction 3 Wiring na 3 Wiring 3 1 Internal Diagram 3 1 1 XDL L7N Drive Block Diagram XDL L7NAOOLB 7NAOO4B Note 1 Note 2 PO Pl B Bt BI Diode Thermistor IGBT oe Ho lg te Ht e e e e i A Kadkad a Three Phase Power Input Regenerative AC200 230V L1 E CL OT Current Sensor ER Ther
179. ng Range 1 0x60400010 UDINT RW NO OxFFFFFFFF Mapping entry 2 Sub Data PDO Setting Initial value Access Unit Index Type Mapping Range 2 0x607A0020 UDINT RW No OxFFFFFFFF 8 12 LS Q Ahiaat Nintinnar 8 Object Dictionary q Receive PDO Mapping Index 0x1602 3rd Receive PDO Mapping Number of entries Sub Data Initial value Access Setting Range Change Unit Index 73 Mapping EIN entry 1 Sub Data PDO Initial value Access Setting Range Change Unit Index Type Mapping 0 to 1 0x60400010 UDINT RW No OxFFFFFFFF Mapping entry 2 Sub Data PDO Initial value Access Setting Range Change Unit Index Type Mapping 0 to 2 Ox60FF0020 UDINT RW No OxFFFFFFFF h Receive PDO Mapping Index 0x1603 4th Receive PDO Mapping Number of entries Sub Data Setting Initial value Access Change Unit Index Type E m Mapping entry mE Sub Data Setting Initial value Access Initial value Change Unit Index Type Range 0 to 1 0x60400010 UDINT RW 0x60400010 OxFFFFFFFF Mapping entry 2 Sub Data PDO Setting Initial value Access Change Unit Index Type Mapping Range 0 to 2 0x60710010 UDINT RW No OxFFFFFFFF LS 8 13 O KS rant Diatinansar 8 Object Dictionary Ld y 0x1A00 to 0x1A03 Transmit PDO Mapping St Transmit PDO Mapping Index 0x1A00 1st Transmit PDO Mapping Number of entries Sub Data PDO Setting Initial value Access Change Unit Index Type Mapping Range Mapping entry 1
180. ning Level tee e Ht i eh E PEU MR PO Doi uie uid fedus 8 28 er Ce SM S NORD APT 8 28 0x200C Dynamic Brake Control MOCB oi BER act 8 28 0x200D Basic Function Configuratio oe 8 29 0x200E Position Scale Numerator aida 8 29 0x200E Position Scale DENIA Maia 8 29 0x2010 Velocity Scale UN aaa 8 29 Ox20 T1 Velocity Scale Denominator sis isasi Sarasa lr iania ed e n a aii 8 30 0x2012 Acceleration Scale das 8 30 0x2013 Acceleration Scale Denonmlhnalor cec exten cuc tree a al dd aia 8 30 0x2015 U Phase Current O Oi verd etait dr en RE mat uro e oa a av ne ee 8 33 0x2016 V Phase Gutrent OllsBb o edet mte nete eee eno iieisuriissiseniistise Meise cel rb eer Pic c ELLA I AEn Ad 8 33 0x2017 W Phase Current O FSOL usi dd 8 33 Ox2 100 nena Raio o a aestu daas aee ts do dE 8 33 ON OTe POSON PAA UNT TEE 8 34 xa 102 POSO Cs fe aaa ne rR ole Co la ceo leo cr de o e Oe ee ee ene eee ee 8 34 0x2103 The Position Command Filter Time Constant esesee mem emere 8 34 0x2104 Poslion Eeecd4domwata Gall ssesessocethuc inae eb esee he ou let ans 8 34 0x2105 The Position Feed forward Filter Time Constant eeseseeee mee nnne nenne 8 35 LAA A e OEE 8 35 OxX2 107 peso PM Mm a ee a a aN 8 35 0x2108 Speed Integral Time Constant 1 Speed Gain 1 Time Constant oooncccnccccncnonccnnnccnnnnnnccnnnnnnnnnancnnnos 8 35 0x2109 Speed Integral Time Constant 2 Speed Gain 2 Time Constant oooncccccccccnnocccnnnccnnnnnnncnnnn
181. nnnnnannnnnos 8 36 0x210A The Speed Command Filter Time ConstaMt ooooooooccccocccccccccccnnnnnnnnnnnnncnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnss 8 36 0x210B The Speed Feedback Filter Time Constant ccccccccccccccccccnnccnnnnnnnnnnnnnononononnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnos 8 36 0x210C The Torque Command Filter Time ConstaMt cocccccccccccncnnnnnnnnnnnnnnnnnnnnonononnnnnnnononnnnnnnnnnnnnnnnnonnnnnos 8 36 Ox2TOD Convencion Mode a a Pe aD ge acis aci nip Rr nnd 8 37 0x2 10E The Gain Conversion Time ueteres pus neue n Pie ex EP eb tpud co ES 8 38 0x210F The Resonance Avoidance Operation Notch Filter Use oooooocccnccccoccnncoconccnncconnnncononcnnnnnnanos 8 38 0x2110 The Resonance Avoidance Frequency Notch Filter FreQquency ccccccsseeeeeeeeeseeeeeeseeeeeseeeesaes 8 38 0x2111 The Resonance Avoidance Range Notch Filter Bandwidth ooccccconcccccocnncconcncnnncnnnnnonononcnnnns 8 38 0x2112 The Velociy EMIT SWIC Is ert 8 39 0x2113 The Velocity LAM Valles susct ea eta denies date ullo leat Stace a a a E EE 8 39 0x2114 P Control Conversion Torque Torque Switch Value oocccccccccccconncnnnnccnnnonncnnnnnnnannnnnnnnnononanennnnos 8 39 0x2115 The P Control Conversion Speed Speed Switch Value oooooooonnncccccnnnnncnncnononnnnananncnnnnnnononnnnonnnnos 8 39 0x2116 P Control Conversion Acceleration Acceleration Switch Value
182. nnnnnnnnonoonancnnnnnnanos 3 17 3 7 3 Layout of the Input Output Signal Connectors ssseessessesesssseeeeeeennnn nnne hne nnns 3 18 3 7 4 The Names and Functions of Safety Function Signals UN6 o o ooooooocccnnccccnnnncccnncnonononcccnnnonnnancnnnnnos 3 18 3 7 5 The Connector Layout of Safety Function Signals CN6 ooccccncccccccnnccnncccconoonccnnnnonononcnnnnonnnonnnnnnnoos 3 18 3 7 6 Operation Method of Safety Function Signals CNG ooooonnccnncccccconnccnnnnocononnccnnnnnnnnnnnnnnnnnnnnanennnnnos 3 19 3 8 EtherCAT Conneccion Example n 3 21 3 91 Example COMICS UO IM cats dtc ua OOO 3 21 3 8 2 EtherCAT Connectors and the Pin Map cccccccccccccccsssessseeeeeeeeeeeeseeaaeaeaaceeeseeeeeeeeeesseaaaaaggseeeeeess 3 22 39 Example Of COMMECIAG to PEG aida 3 23 USES Il 3 23 How touse INE LOAGGN gem 4 1 AAA Name and unctione CaCI pablo ue e te te cslnte iria 4 1 4 2 Status Summa DSO hy cunc a ae CO a PER dsd E EAA AAE utendo a aae 4 2 4 3 JDisplay END Oulput ODIBOUsssfutscofutoia id 4 4 EtherC AT Communicator a 5 1 5 1 The Structure or CANopen over Eth er CAT cti 5 1 5 2 The Eme AT Stale Machine cet tete it oe fae E avs Mee eo neon 5 2 59 MEE UIDETUR T ELE 5 9 Sr MER UNI an N a Ri 5 4 A II elt dou Lena ud tuo cC Mela Sax A La OS Leu oU GaU Gali lus inh 5 5 5 6 Synchronization Using the DC Distributed ClOCk occccocc
183. nonnnaronnnonancnnnnnos 8 46 0x2605 The A PULSG ioco esce see bec enec mec uuo ies Ge pe eve e pet ees onte netu eese eeeu esu eee verbu ausu ed 8 46 0x2604 The Remaining Position Pulse Following Error ooonccccoonnncconnnccnncnnnnnconcnncncnoncnnnnnrnnonnncnnnnnrnnnos 8 46 0x2605 Th Input Command Pre quen AA 8 46 0X2606 Current Operation Torque ad 8 47 Ox2607 Current Command TU dial 8 47 0x2608 Accumulated Overload 2 0 0 e cee eecceccecceeceeceeceeeeeeeeceececeeeaeseeeaeseeeeeeaeseeeeesesseseeeseesenenseeneeneeseeseesennes 8 47 0x2609 The Maximum Instantaneous Load sche ek ak a a 8 47 0Xx260A The Torque LETTO cedet nien deu Deae dune extunc ai catus cae aoctor Odes 8 47 0x260B The DE Link Volta buc iita tatcm osd ad t E cana 8 48 UXx2606 Regenerative OV Cll Oa este cas Ed 8 48 0x260D The Single turn Data Pulse Display Single turn Data ooooooconnnccccccnncccccccnnnnnncnnnnnnannncncnnnononnnnnas 8 48 0x260E The Single turn Data Degree Display Single turn Data deg ccccococccncccconconcnonancnncnnonononnos 8 48 0x2610 The Room Temperature Display daa 8 49 0x2611 The Motor Rated Speed Display ccccccccccccccccnnnccnnncnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnss 8 49 0x2612 The Motor Maximum Speed Display cccccccccccccccnccononnnnnnnnnnnnnnnononononnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnncnnnnennss 8 49 0x2619 The Motor Rated G rrent DISDIaycs ete cinta 8 49
184. nt Command Torque Index 0x2606 Current Torque Sub x Data PDO Setting index Initial value Type Access Mapping Range Change Unit 0 0 INT RO No 96 This uses the serv s control algorithm to calculate the internal torque command and display it as a percentage of the rated torque 0x2608 Accumulated Overload Index 0x2607 Command Torque Sub f Data PDO Setting dex Initial value Type Access Mapping Range Change Unit 0 0 INT RO No 96 This displays the current energy load as a percentage of the rated energy load of the servo motor 0x2609 The Maximum Instantaneous Load Index 0x2608 Accumulated Overload Sub E Data PDO Setting Ind x Initial value Type Access Mapping Range Change Unit 0 0 INT RO Yes 96 This displays the maximum peak load between the current time and the start of control after the servo turns on as a percentage of the rated output 0x260A The Torque Limit Index 0x2609 Maximum Load Sub Un Data PDO Setting index Initial value Type Access Mapping Range Change Unit 0 0 INT RO No 96 This displays the maximum torque that the servo motor can output as a percentage of the rated torque LS 8 47 0x260B The DC Link Voltage This displays the current DC link value of the main power Index 0x260A Torque Limit Sub bee Data PDO Setting TREES Initial valu
185. oduce different results 2 Measuring the motor current Use a moving iron ammeter and wait for the motor s reactance to smooth the pulse waveform into sine waves 3 Measuring the electric power Use an electrodynamometer 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 a 1 mA or less input current gauge 11 1 2 What to Inspect Wait at least 10 minutes after turning off the power before beginning the inspection because the condenser can hold enough voltage to cause an electrical accident 2 Inspecting the Servo Motor Wait at least 10 minutes after turning off the power before beginning the inspection because the condenser can hold enough voltage to cause an electrical accident Inspection and Inspection Item Inspection Period Handling Notes o The feel and sounds should be the same as usual Vibration and Month Touch the motor and sound check y listen for sounds Depends on the amount of contamination or damage Clean the motor with a cloth or air pressure Inspect the exterior of the motor Disconnect the motor from the drive and Measure the measure the insulation Contact our service insulation At least once a year resistance center if the resistance resistance A normal resistance is lower than 10 MQ level is 10 MQ or higher Note 1 Remove the oil seal from the motor and replace it Replace the oil At leas
186. oi sa aede xus n ad aen eG duo ae ust au redd bere cd ote 8 67 0X607 The Target TORQUES ROI T ini iria 8 68 ONGO7Z MAXIMO TOUS oia rr TO 8 68 0x6074 The Torque Demand Valle eeu etui erret e ditor eine ze auo utra d os 8 68 OxpO 65 The Motor Rated TOGU tai 8 68 Ox60 77 The Torque Actllal Valle a5 552009 0050 9 029002 90090 0 iia 8 69 OX607A The Ta SRA en dois 8 69 0x607C The Home Offset sssssssssessese I HI e me me mne rr 8 69 0x607D The Software Position aa 8 70 0x60 7 Maximi Prole Velo6lly s uma ddonex ext deu an deua d a ded basati rod 8 70 0x6083 Prone AcceleratiOr s xt sis ek IA ete Rare Nc seve wba ee reo e roe e Eo Ede deed 8 71 06094 Profile DECelEr aon E ELEME 8 71 MP dsl SE Oe Siwile ABIT IUIS RTT DL E 8 71 Ox608 7 2 TGs TOGUE SIO tiva 8 71 0x6099 ThedHoipddviettiOQ su ditio diuue udi qies A Ron 8 72 0x6099 Homing SOC COS ari LU 8 72 0x609A Honig ACCETTANO en and Gon Suo a TES 8 73 0x60B1 The Velocidad 8 73 0x60B2 The Torque Onset a 2eio oio deii tela neis Haee a diat ca 8 73 OXGOBS The Touch Probe EBDOHlIOE ds 8 73 0x60B9 The Touch Probe SAUS eese eee ha exten euet ea ede entrate e n a e e E ERE Ee RR ERES 8 74 Ox60BA The Touch Probe 1 Positive Edge Position Value ccococccccconcncconnnnocononononnnonnnnnonanononononononcnonos 8 75 Ox60BB The Touch Probe 1 Negative Edge Position Value cccocoocccncccccccnccononcnnnononcnnonnnncnnonnnanonnnnnanos 8 75 Ox60BC The Touch Probe 2 Posi
187. oller Servo drive CN1 Indicates Pin no For XLCS XDL L7N signaling VN Cable onic Series 1 Drive connection CN1 a Case specifications 10320 52A0 008 3M b Connector specifications 10120 3000PE 3M 2 Cable specifications ROW SBO 1Cx20C AWG28 Terminal block connection Drive connection 7 a Gages t 1 Drive connection CN1 XLCS XDL a CASE specification 10320 52A0 008 3M XDL L7N EN T B CN1 T B L7NCN1T SERIES b CONNECTOR specification 10120 3000PE 3M c CABLE specification AWG28 x 10P 2 Terminal block connection a CONNECTOR specification HIF3BA 20D 2 54R Hirose b Terminal block specification XTB 20H Samwon Act 3 Cable length 10 62 LSis 10 Product Specifications PC USB port Servo drive CN5 pep 1 PC connection USB A plug 2 Drive connection CN5 Mini USB 5P plug EE 3 Electrical requirements For Communicati dA L7 Series Double shielded twisted pair EMI filter installation signaling on cable CN5L7U an similar product KU AMB518 by SANWA EN CN XLC XDL L7N Hi Connector CN2NNA Series 1 Case specifications 10320 52A20 008 3M 2 Connector specifications 10120 3000PE 3M CN CN N CN6 XLCS CN6J XDL L7N Connector Series 1 CN6 XDL L7N 08517 PEN Connector XLOS CN6K SERIES i Wireing Schematic 1 MINI I O By P
188. ons 4C x 2 5SQ or 4C x 12AWG c FG pin specifications 2 5 x 4 Ring Terminal Brake power connection a BK pin specifications 1 5 x 3 Ring Terminal Cable specifications 2C x 0 75SQ or 2C x 18AWG 10 56 LS 10 Product Specifications Product Name Applicable e Category Note 1 Specifications Motor connait Drea comnartimn Corer Lasd Wira Pin Mal All models of Motor XML SF Wira Standard XLCS XML SG men For power power Pons XML FF cable XML FG Motor connector Series Motor connection MS Military Standard Below a Plug specifications MS3108B MS3106B 22 22S 3 5KW Drive connection U V W FG a U V and W pin specifications F2512 b FG pin specifications 2 5x4 Ring Terminal Cable specifications 4Cx2 5SQ or 4Cx14AWG Motor connection Drive connection Qe M53108820 155 All models F130 Brake Attachment of lt Motor connection gt XLCS XML SF 1 Motor connection For power PLC PB iind a Plug specifications MS3108B24 10S MS At XML FF 2 Drive connection Series a Cable specifications 4C x 2 55Q or 4C x 14AWG Below b pin specifications 2 5 x 4 Ring Terminal 3 5KW 3 Brake power connection a BK pin specifications 1 5 x 3 Ring Terminal b pin specifications 2C x 0 75SQ or 2C x 18AW LSis 10 57 10 Product Specifications Product Name Applicable T Category Note 1 Specifications Motor connection Drive connection H Ji f aaa pee
189. or ID drive ID and encoder settings Determine whether there is a conflict or binding in the equipment Check for incorrect wiring in the drive output and encoder Check the motor ID drive ID and i A l Overcurrent Overcurrent SW a aiinge Determine whether there is a conflict or binding in the equipment REZA u Check whether the U phase current offset 0x2614 and V phase current 5 Current offset Abnormal current offset 4 l0x2615 are 5 of the rated current or higher Replace the drive i IPM temperature IPM overheat Check for incorrect wiring in the drive output and encoder Check the motor ID drive ID and encoder settings Determine whether there is a conflict or binding in the equipment b Overcurrent CL Overcurrent H W L Determine whether there is a conflict or binding in the equipment Check the load and the condition of the brake Check for incorrect wiring in the drive output and encoder Check the motor ID and encoder settings Check the temperature inside the drive 0x2610 R t D heat A cc OODE ENRETA NE 1 RURTROS Install a cooling fan and check the load Check the input voltage regenerative Continuous overload Continuous overload HER Regen Overload Regenerative overload braking resistance and wiring Replace the drive Motor cable open Motor disconnection Check the wiring of the motor FRAN Serial encoder Check for incorrect wiring of the ser
190. ower 0x2004 RST Power Fail Check Time This specifies the monitoring interval when main power phase loss occurs Index 0x2004 RST Power Fail Check Time Sub S Data PDO Setting den Initial value Type Access Mapping Range Change Unit 0 0 20 UINT RW No to 5000 Always ms 0x2005 7SEG Display Object This specifies the 7SEG display objects Index 0x2005 7SEG Display Object Sub Sm Data PDO Setting Index Initial value Type Access Mapping Range Change Unit 2600 0 0 UINT RW Yes to 2616 Always Can specify the objects applied when the servo turns on There are 617 values available from Index 0x2600 to 0x2616 Choose one for the specific parameter O Ahinaat NIntinnar 8 Object Dictionary 0x2006 Regenerative Resistor De rating Factor This specifies the derating factor which checks for regenerative resistance overloads If the derating value is 100 or less then the overload alarm trigger time is proportional to the set value Index 0x2006 Regenerative Resistor De rating Factor acd Initial value ii Access Mibi g riu Change Unit 0 100 UINT RW No Em SV OFF 96 0x2007 Regenerative Resistor Value This specifies the resistance value for regenerative braking resistance If it is set to O then it uses the default resistance capacity embedded in the drive 0x2008 Regenerative Resistor Capacity T
191. pping Range Change Unit 0 0 DINT RO Yes ro unit This displays the values output by the trajectory generator in position mode These values appear as encoder increments Index 0x60FC Position Demand Internal Value Sub a Data PDO Setting index Initial value Type Access Mapping Range Change Unit 0 0 DINT HO Yes Pulse Ox60FD The Digital Input This indicates the digital input state of the XDL L7N s CN1 Index 0x60FD Digital Inputs Sub e Data PDO Setting index Initial value Type Access Mapping Range Change Unit 0 0 UDINT HO Yes Details Bit Input Details 0 N OT The reverse limit 0 Off 1 On switch 1 P OT The forward limit 0 Off 1 On switch 2 Home switch 0 Off 1 On 3 to 15 Reserved 16 DI 1 CN1 13pin 0 Switched off Open 1 Switched on Close 17 DI 2 CN1 14pin 0 Switched off Open 1 Switched on Close 18 DIZ3 CN1 12pin 0 Switched off Open 1 Switched on Close 19 DI 4 CN1 11pin 0 Switched off Open 1 Switched on Close 20 DI 5 CN1 08pin 0 Switched off Open 1 Switched on Close 21 DI 6 CN1 07pin 0 Switched off Open 1 Switched on Close 22 HWBB Hardwired base block signal input 0 Open 1 Close 23 to 31 Reserved LS 8 Object Dictionary Ox60FE The Digital Output This indicates the digital output state of the XDL L7N s CN1 Sub Index 1 controls the actu
192. pported Minimum cycle time Sub Data PDO Setting Initial value Access Change Unit Index Type Mapping Range 5 10 LS 9 7 5 EtherCAT Communication Emergency Messages Emergency messages appear as a XDL L7N alarm or a warning passed to the master via mailbox communication Emergency messages may not be sent in the event of communication failure Emergency messages consist of 8 byte data Byte 0 1 2 3 4 5 6 7 Unique field for each manufacturer Emergency Error register 4 Details error code Heserved OxFFOO 0x1001 ninia lll Reserved LS s 5 11 6 CiA402 Drive Profile 6 1 The State Machine Additional state State changed by the slave State that can be checked by the master State Start Power off or reset O 0 1 15 Swichon Disabled Switch on Disabled d Disabled Details Ready to Switch on 14 3 B High level power Switched on Switched on dcus 4 Fault reaction active reaction active E Operation enabled Operation enabled rror occures A Low level power Control power is on The main Not ready to Switch on power can be turned on Both control power and main power are on Torque cannot be applied to the C Torque eee can be applied to the motor Not ready to switch on Reset is in progress by control power on Switch on disabled Reset is complete You can set servo parameters Howe
193. que Limit Value 6 CIA402 Drive Profile 6 6 2 Cyclic Synchronous Torque Mode In Cyclic Synchronous Torque Mode the master orders the target torque 0x6071 for the drive and performs torque control B The Cyclic Synchronous Torque Mode block diagram OP Mode Cyclic Syncronous Torque Torque offset 0x60B2 Target torque 0x6071 Vel unit Required torque value Torque Ox6024 trajectory A generator Max torque 0x6072 Positive negative torque limit value Ox60E0 0x60 OP Mod proce noe TD Torque Servo controller motor Torque actual value 0x6077 cj Speed Velocity actual value 0x606C RUNG M Speed numerator calculation 0x201 1 0x2010 Position actual value Position scale Position actual internal value d 0x6064 id xene ied calculation 0x200F 0x200E LS 6 23 6 CiA402 Drive Profile 6 24 Related Objects Data PDO Index Sub Name Access Units Type Mapping 0x6071 Target torque INT RW Yes 0 1 0x6074 Required torque value INT RO Yes 0 1 0x6077 Actual torque value INT HO Yes 0 196 0x60B2 Torque offset INT RW Yes 0 1 Ox6072 Max torque UINT RW Yes 0 1 limit val geed eee nae UINT RW Yes 0 196 Positive Torque Limit Value R limit val poet x PA UINT RW Yes 0 1 Negative Torque Limit Value 6 CiA402 Drive Profile NEM 6 7 The Torque Limit Function The minimum torque limit value b
194. r the index pulse signal 11 Reserved a 0 Do not use sampling for the rising edge of touch probe 2 1 Use sampling for the rising edge of touch probe 2 i 0 Do not use sampling for the rising edge of touch probe 2 1 Use sampling for the rising edge of touch probe 2 14 to 15 Reserved Ox60B9 The Touch Probe Status This displays the status of the touch probe Index 0x60B8 Touch Probe Status Sub ae Data PDO Setting des Initial value Type Access Mapping Range Change Unit 0 0 UINT HO Yes Data Description Bit Value Definition 6 0 Do not use touch probe 1 1 Use touch probe 1 0 Do not store the position value of the rising edge of touch probe 1 1 Store the position value of the rising edge of touch probe 1 2 0 Do not store the position value for the falling edge of touch probe 1 LS 8 Object Dictionary In continuous trigger mode you can toggle whether to save all update values for 6 7 14 and Bit Value Definition 1 Store the position value for the falling edge of touch probe 1 3 to 5 Reserved 6 O 1 Toggle whether to store all update values for the rising edge of touch probe 1 7 O 1 Toggle whether to store all update values for the falling edge of touch i probe 1 0 Do not use touch probe 2 1 Use touch probe 2 0 Do not store the position value for the falling edge of touch probe 2 1
195. rcuit Circuit Circuit Circuit Circuit Circuit Circuit Circuit Single Phase Power Input AC200 230V Y C1 e Y Main Control POWER Circuit Access dE e U and V Current C2 DC Voltage L w A D Conversion C B BiSS mE CN3 CNA EtNBTCAT m ESC A DSP FPGA Communication NS 8 USB TO UART Encoder CN2 Communication Inout m C P C Insulation I F D Safety Function Input Safety Function Output Contact Input Contact Output 2 Points Points 8 Points 4 Points Safety Device Connection CN6 Upper Controller Connection CN1 Note 1 lf using a DC reactor connect the PO and PI pins Note 2 If using an external regenerative resistor remove the B and BI short circuit pins and connect the B and B pins Note 3 The XDL L7NAO50B model is cooled by a DC 24V cooling fan 3 Wiring NEN 3 2 Power Supply Wiring 3 2 1 XDL L7N Drive Wiring Diagram XDL L7NAOOLE 7NAO35B 200 230V f ST servo Drive Note1 H b dcs Main Main n DC Reactor CI i PO P q MC sk iMC D OLLI V D M AN i i d bo D 1 IE dU G2 T Encoder IR m T nm Alarm 3 Bt E B on eee i Note2 P ARIS BS eZ Bl y Externa ne SK Spark Killer CN Regenerative Resistance MC Circuit Breaker It takes approximately one to two seconds to output an alarm signal aft
196. re that the motor shaft and load shaft are aligned within the tolerance range 0 03 mm or below peak to peak Load shaft En F Motor shaft H 0 03 mm or below peak to peak B For pulley connections Lateral Load Axial Load Flange Notes N kgf N kgf 4 14 1 4 6 gt X Nr 30 mm or below 60 206 21 69 7 80 255 26 98 10 Lateral load 130 725 14 362 3 180 1548 158 519 53 lt gt 220 1850 189 781 90 l Axial load 2 1 5 Cable Installation For vertical installations make sure that no oil or water flows into the connecting parts Do not apply pressure to or damage the cables Use robot cables to prevent swaying when the motor moves 2 2 LS 2 Installation 2 2 The Servo Drive 2 2 1 Operating Environment Item Requirements Notes A Caution Ambient temperature 0 00 A Install a cooling fan on the control panel to maintain an appropriate temperature A Caution Ambient Condensation or moisture may develop inside the drive during humidity 90 RH or lower prolonged periods of inactivity and damage it Remove all moisture before operating the drive after a prolonged period of inactivity External Ero Excessive vibration reduces the lifespan of the machine and er acceleration 4 9 vibra
197. re there any abnormalities after mounting the oil seal or brake Are the gearbox and the gear ratios correct Is the encoder format correct 3 Check the exterior of the device e Are there any foreign substances or humidity in the device e sthere any discoloration contaminant damage or disconnected wire e Are the bolts tightly fastened to the joints e Is there any abnormal sound or excessive friction during operation B The Servo Drive Product Format XDL L7 N A 004 B Communication Input Ca 001 002 B Serial 004 communication S Standard I O 008 type Standard The Servo type produ 010 Series oe Marking N Network type Exclusive 035 Option 050 1 Product Configuration BH Servo Motor Product Format XML SBOAAEK 1 G1 03 Motor Capacit 30 W Shaft Cross section classification D 03 1 3 N Straight 10 1 10 100 W Motor Shape 200 W K One sided round S Real Axis key standard 300 W Gearbox Specificati pecifications H Bin 400 W D D sl a A50 W T Tapering i Si B Assembly 550 600 W R Double sided round F Flat Type 650 W key L L7 Only 750 800 W H Hollow Shaft 850 900 W G2 For general industrial 1 0 kW Encoder Type purposes Flange Mounted i G3 Precise Gearbox Flange Size 15 0 kW 22 0 kW 40 Flange 30 0 kW Quadrature pulse 37 0 kW 60 Flange w type Oil Seal and Brake 80 Flange Inc 102
198. rive Setup 7 2 3 The Speed Control Gain command Speed integral time constant 0x2108 Speed T Torque Speed command 4 Speed error Speed command filter time constant proportional gain p a 0x2106 Encoder signal 0x210A Speed feedback filter time constant 0x210B Current speed 8 Speed calculation lt Current torque Speed command Operates the speed command through the speed command filter 0x210A Current speed Calculates the speed by counting the number of encoder signals as time progresses Filters the speed to calculate the current speed The algorithm uses the current torque and inertia to project the speed and compensate for errors which occur when calculating the speed at very low speeds Therefore an accurate motor constant and inertia ratio are closely related to the stability of the motor speed control Speed integral time constant 0x2108 Calculates the integral value of the speed error The speed error is the difference between the command speed and the current speed The speed integral time constant converts the speed error into a torque command by multiplying it by the integral time constant A decreased integral time constant solves transient response issues and improves speed tracking If the integral time constant is too small however an overshoot occurs On the other hand if the
199. rized as either Warnings or Cautions depending on the severity of the precaution Precautions Definition e Warnings Failure to comply with these guidelines may cause serious injury or death Failure to comply with these guidelines may cause personal injury or property A Caution damage Precautions listed as Cautions may also result in serious injury B Electric Safety Precautions Before wiring or inspecting the device turn off the power wait 15 minutes ensure that the charge lamp is off and then check the voltage Ground both the servo drive and the servo motor Only specially trained technicians may perform wiring on this product Install both the servo drive and 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 B Fire Safety Precautions Install the servo drive the servo motor and the regenerative resistor on non combustible materials Disconnect the input power if the servo drive malfunctions Safety Precautions B installation Precautions otore and operate this product under the following environmental conditions Conditions Environment The Servo Drive The Servo Motor Operating temp 0 450 C 0 40 Storage temp 20 65 C 20 60 C Operat
200. robe 2 Positive Edge Position Value This displays the rising edge position value of touch probe 2 Index 0x60BC Touch Probe 2 Positive Edge Position Value Sub a Data PDO Setting Index Initial value Type Access Mapping Range Change Unit 0 0 DINT RO Yes E diu unit 0x60BD The Touch Probe 2 Negative Edge Position Value This displays the falling edge position value of touch probe 2 Index 0x60BD Touch Probe 2 Negative Edge Position Value Sub ie Data PDO Setting index Initial value Type Access Mapping Range Change Unit 0 0 DINT RO Yes E z ro unit 0x60C1 The Interpolation Data Record This records the interpolation data in Interpolated Position lp mode Index 0x60C1 Interpolation Data Record Number of entries Sub Data PDO Initial value Access Index Type Mapping Interpolation data record Sub Data PDO Initial value Access Setting Range Change Unit Index Type Mapping 2147483648 Pos 1 DINT RW Yes to unit 2147483647 8 76 LS O f 3l i m Niatianarp 8 Object Dictionary 0x60C2 The Interpolation Time Period This sets the update interval for the interpolated position In the DC SyncO mode the interpolation time period is automatically set to the SyncO cycle time In the DC Free run mode the interpolation time period is set to the application cycle time of the master The interpolation time period can be changed in a Switch on
201. robe Status Touch Probe Function Ox60BA Touch Probe 1 Position Value Ox60BC Touch Probe 2 Position Value Ox60FD Digital Inputs Digital Inputs Outputs Ox60FE Digital Outputs 2 NKHkhiant Nintinnar 8 Object Dictionary y 9 2 General Objects 0x1000 Device Type The following table lists device types and their functions Index 0x1000 Device Type und Initial value NS Access Vici pti Change Unit 0 0x00020192 UDINT RO No z B Details MSB 16 15 LSB Additional information Device profile number e Additional information 0x0002 Servo drive e Device profile number 0x0192 DS402 0x1001 Error Register The following table shows the error register values for each device This value is stored in the emergency message Index 0x1001 Error Register Sub o Data PDO Setting Index Initial value Type Access Mapping Range Change Unit 0 0x0 USINT RO No Details Bit function Ele Setting details Hex 0 No error 0 General error 1 Error 1 to 7 Reserved 0 Always 0x1008 Manufacturer Device Name The following table shows the device model name Index 0x1008 Manufacturer Device Name Sub i Data PDO Setting ndek Initial value Type Access Mapping Range Change Unit 0 0x0 STRING RO No 0x1009 Hardware Version The following table shows the hardware version of the de
202. rotation r min 3000 2000 speed Maximum rotation r min 5000 3000 speed kg m2x10 4 12 00 17 34 2268 666 12 00 ae 666 ELM gf cm s2 12 24 17 69 23 14 12 24 Allowed load inertia Motor inertia x 10 Rated power rate KW s 12 32 18 99 28 28 40 20 12 32 22 98 Speed and Quadrature Type Incremental 3000 P R position detector Serial Type 19 bit Protection Fully closed self cooling IPe5 excluding axis penetration Ambient Specifications 0 40 C and features Nu mbien humidity 20 80 RH no condensation Atmosphere No direct sunlight corrosive gas or combustible gas Anti vibration Vibration acceleration 49 m s2 5G 10 Product Specifications Rotation speed Torque Characteristics XML SE09A Torque hm Torque Nm XML SE15A XML SE22A Repeatedly used area Repeatedly used area Repeatedly used area Continuously used area MINE Continuously used area Continuously used area ay En i 4000 ECON 40 FO Speed rmn Spred rman Speed r min Torcue Mm XML SE30A Torque Nm XML SE06D Torque Nm XML SE11D Repeatedly used area Repeatedly used area gt Repeatedly used area 60 Continuously used area Continuously used area Continuously used area E Cy y Speed r man Speed r mn Speed t min g Product Features Applicable drive L70Ao0 L7 A020 L7GA004 L7GA008 L75A010 L75A020 ees mm is 22 es o5 9 12 Rated
203. rs from being incorrectly stored the Sub Index records a e wW specific sav when storing a parameter signature MSB 16 15 LSB ASCI Hex cou 3 91 is written to Sub Index 1 All parameters are stored when sav cou is written to Sub Index 2 Communications are stored when sav CiA402 parameters are stored when sav is written to Sub Index 3 XDL L7N parameters are stored when sav is written to Sub Index 4 xX When using this function delay time will occur by EEPROM save 0x1011 Restore Default Parameters The following table shows the parameters you can reset 8 Object Dictionary Index 0x1010 Store Parameters Number of entries Sub Data Setting Initial value Access Change Unit Index Ca Mapping p et ve default NEN Sub Data PDO Setting Initial value Access Unit Index Type Mapping Range 0x00000000 to 1 0x0 UDINT RW No OxFFFFFFF F Restore communication default parameters Sub Data PDO Setting Initial value Access Unit Index Type Mapping Range 0x00000000 to 2 UDINT RW No OxFFFFFFF F Restore CiA402 parameters Sub Data PDO Setting Initial value Access Unit Index Type Mapping Range 0x00000000 to 3 UDINT RW No OxFFFFFFF F Restore L7 Specific parameters Sub Data PDO Setting Initial value Access Unit Index Type Mapping Range 0x00000000 to 4 UDINT RW No OxFFFFFFF F The XDL L7N reads object entries to reset parameters
204. s e BRAKE Brake of u D WIRE eid XLCS XML SA For power cable Small capacity PODOKB XML SB XML SC 1 Motor connection Series a Cap specifications 6 positions 172157 1 AMP b Socket specifications 170362 1 AMP 2 For braking power a Connection terminal specifications 1 5x3 Ring Terminal b Cable specifications 2Cx0 75SQ or 2Cx18 AWG18 LS is 10 55 10 Product Specifications Product Name Applicable T Category Note 1 Specifications Motor connection Drive connection r m I jl rodut E U een TIT Drive Connector Content Signal Name Pin No All models U Standard el anaar XLCS XML SE T For power power P HS XML FE XML HE Series Ground cable lt Motor Connector gt 1 Motor connection MS Military Standard a Plug specifications MS3108B MS3106B 20 4S 2 Drive connection U V W FG a U V and W pin specifications 2512 b FG pin specifications 2 5x4 Ring Terminal 3 Cable specifications 4Cx2 5SQ or 4Cx14AWG Motor connection Drive connection s ceeded Lese Wie Fir bk ap a XLCS me P NB All models of 531008 20 155 XML SE F134 Brako Attachment bv connection XML FE Series For power Ee 1 Motor connection a Plug specifications MS3108B20 15S MS At Drive connection a U V and W pin specifications 2012 b Cable specificati
205. s Mapping Range Change Unit 0 10 UINT RW No 1 to 100 Always ms 0x2304 The Speed Operation Pattern Acceleration Pattern Index 0x2304 Acceleration Pattern Sub ot Data PDO Setting Index Initial value Type Access Mapping Range Change Unit 0 0 UINT RW No 0 to 1 Always You can configure the acceleration deceleration operation in an S curve pattern for smooth acceleration deceleration e Details Value Setting details 0 Trapezoidal gt Configure the acceleration deceleration time in 0x2301 and 0x2302 Sinusoidal 1 gt Configure the acceleration deceleration time 0x2301 and 0x2302 S curve time 0x2303 0x2305 The Manual J OG Operation Speed J OG Speed Index 0x2305 JOG Speed Sub t Data PDO Setting day Initial value Type Access Mapping Range Change Unit 6000 to 0 900 INT RW No 6000 Always RPM LS 8 43 Q mM kh 7 at ry H Siria vu O UDJECT DICUONaTYy 0x2306 J OG Operation Speed 1 Program J OG Speed 1 Index 0x2306 Program JOG Speed 1 Mind Initial value rin Access M uted g x Change Unit 0 0 INT RW No nn Always RPM 0x2307 J OG Operation Speed 2 Program J OG Speed 2 Index 0x2307 Program JOG Speed 2 und Initial value rie Access med g peii Change Unit
206. s Unit V to 65535 Sub Setting Initial value Access Change Unit Index Mapping Range 0 9 50 RW No Always Unit V to 65535 Details There are 4 DAC Output available and send out data according to setting with 200 usec cycle time DAC Output Type 0 Following Error pulse 2 TomueFeebakpd D Speed Command User RPM 3 Torque Command User RPM Position Command Frequency 0 1 kpps DAC Output Offset Set Offset Unit V for analog output channel 4 Speed RPM Torque Position Command Frequency 0 1kpps Position pulse DC Link V DAC Output Scale If value of output is too low or high output rate can be adjusted to high or low Set scale Unit V of analog output channel1 4 Speed RPM Torque Position Command Frequency 0 1kpps Position pulse DC Link V Ex 1channel scale 100 gt Output 1 V when 100 RPM LS 0x2015 U Phase Current Offset oet value of U Phase current offset Value of current offset is already set in factory If you do not know the correct settings don t set manually Index 0x2015 U Phase Current Offset Sub Data PDO Setting l Initial value Change Unit Index Type Mapping Range 10000 0 INT RW No SV OFF mA 10000 0x2016 V Phase Current Offset oet value of V Phase current offset Value of current offset is already set in factory If you do not know the correct settings don t set manually Index 0x2016 V Phase Current Offset Sub
207. s by applying the P control operation stop function after Pl control operation LS 8 37 8 38 AlL a ml MM 15 mom Obiect Dictionarv Y NIC WE LDIGVLUWVI COI Y E J Ox210E The Gain Conversion Time This sets the gain conversion time during gain conversion operation Index 0x210E Gain Conversion Time Sub s Data PDO Setting dey Initial value Type Access Mapping Range Change Unit 0 1 UINT HW No 1 to 100 Always ms When converting gain 1 to gain 2 or gain 2 to gain 1 the conversion occurs according to the set time 0x210F The Resonance Avoidance Operation Notch Filter Use Index 0x210F Notch Filter Use Sub Initial value peus Access Peale Setting Change Unit Index Type Mapping Range 0 0 UINT RW No 0 to 1 Always Mechanical resonance causes vibrations to occur at certain frequencies in certain systems You can control the vibrations by controlling the torque output for specific frequencies Details Bit function vnus Setting details Hex 0 to 3 Resonance avoidance 0 Do not use operation 1 Use 0x2110 The Resonance Avoidance Frequency Notch Filter Frequency Index 0x2110 Notch Filter Frequency Sub E Data PDO Setting Index Initial value Type Access Mapping Range Change Unit 0 300 UINT RW No 0 to 1000 Always 0x2111 The Resonance Avoidance Range Notch Filter Bandwidth Index
208. t Continuously used area Continuously used area Continuously used area y Lo Lil i i Ji oe HAN A Speed r men Speed Irman Speed r men Torque Nm XM L SE1 7G Torgua Hm XM L SF30A Torque 4m XM L SF50A Repeatedly used area Repeatedly used area Repeatedly used area Continuously used area Continuously used area li Continuously used area a ai nk UU eU 3 UL 4001 EO Speed rfmin Speed r min Speed rman g Product Features Servo Motor Type XML 00000 SF22D LF35D LF30G Applicable drive L7oAnn L75A020 L75A035 L75A050 L75A035 L7GA050 aia TW 10 50 16 71 26 26 11 46 18 46 28 01 Rated torque kgf cm 107 17 170 50 267 93 116 92 188 37 285 80 Maximum 31 51 50 13 78 77 34 37 55 38 84 02 A A instantaneous torque kgf cm 321 52 511 51 803 80 350 75 565 10 857 39 Rated current O N 13 50 15 85 30 25 15 92 31 75 Rated rotation 2000 1500 speed Maximum rotation 3000 3000 2 00 3000 speed kg m2x1 0 4 30 74 52 13 85 31 30 74 52 13 83 60 Inertia moment gf cm s2 31 35 53 16 83 60 91 97 53 19 85 31 Allowed load inertia Motor inertia x 5 Rated power rate kW s 35 88 53 56 82 47 42 71 65 37 93 83 Speed and Quadrature Type Incremental 3000 P R position detector Serial Type 19 bit LS 10 9 10 Product Specifications Protection l i Fully closed self cooling IPe5 excluding axis penetration Ambient Specifications 0 40 C and features Ambient 20 80 RH no condensation
209. t enabled 17 DO 2 CN1 23 24 pin DO 2 Forced output enabled 18 DO 3 CN1 25 26 pin DO 3 Forced output enabled 19 DO 4 CN1 01 02 pin DO 4 Forced output enabled 20 to 31 Reserved Ox60FF The Target Velocity This sets the target velocity in user defined units Vel unit in Profile Velocity Pv mode and Cyclic Synchronous Velocity Csv mode Index Ox60FF Target Velocity Sub MA Data PDO Setting I dex Initial value Type Access Mapping Range Change Unit 2147483648 Vel 0 0 DINT RW Yes to Always it 2147483647 0x6502 Supported Drive Modes This displays the drive modes that the XDL L7N supports Index 0x6502 Supported Drive Modes Sub T Data PDO Setting Index Initial value Type Access Mapping Range Change Unit 0 1005 UDINT RO NO Details Bit Supported modes Details 0 Pp Profile Position mode 1 Supported 1 VI Velocity mode 0 Not supported 2 Pv Profile Velocity mode 1 Supported 3 Tq Profile Torque mode 1 Supported 4 Reserved 0 5 Hm Homing mode 1 Supported 6 Ip Interpolated Position mode 1 Supported 7 Csp Cyclic Sync Position mode 1 Supported 8 Csv Cyclic Sync Velocity mode 1 Supported 9 Cst Cyclic Sync Torque mode 1 Supported 10 to 31 Reserved 0 LS 9 Handling and Operation NEN 9 Handling and Operation 9 1 Operation Checklist Thoroughly check the following items dur
210. t once seal every 5 000 hours This only applies to motors with an oil seal 11 Maintenance and Inspection Inspection and Inspection Item Inspection Period Handling Notes At least once every General inspection 20 000 hours or after 5 years Contact our service Do not disassemble the center servo motor yourself Note 1 Measure the resistance between the FG and one of the U V and W power lines on the servo motor 3 Inspecting the Servo Drive Inspection Inspection What to do if you find an Clean the main body Atleast once Check if there is any dust or Clean it with air pressure or and control a year oil on the components a cloth board Check for Atjsasto8 Check whether the screws are loose screws a year loose on the terminals and Tighten the screws connectors Check for defective parts onthe At least once main body or a year the control board Check for discoloration damage or disconnection Contact our company caused by heat 112 LS s 11 Maintenance and Inspection 11 1 3 Replacing Parts Mechanical friction and aging may deteriorate the following parts or even cause them to malfunction This makes it important to conduct regular maintenance checks and replace worn parts 1 The smoothing condenser Ripple currents and other factors can cause this part to wear The lifespan of this part depends on the operating temperature and environment It normally lasts for 10 years if
211. t touch the heat sink during operation B Usage Precautions Install an emergency cut off switch which immediately stops operation in an emergency Reset the alarm when the servo is off The system immediately restarts if the alarm is reset while the servo is ON Use a noise filter or DC reactor to minimize electromagnetic interference This prevents nearby electrical devices from malfunctioning due to interference Only use approved servo drive and servo motor combinations The electric brake on the servo motor stops 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 vi Safety Precautions B Malfunction Precautions Install a servo motor with an electric brake or separate the brake system for use during emergencies or device malfunctions If an alarm occurs solve the underlying cause of the problem After solving the problem and ensuring safe operation deactivate the alarm and resume operation Do not approach the machine until the problem is solved Before wiring or inspecting the device turn off the power wait 15 minutes ensure that the CHARGE lamp is off and then check the voltage Enough voltage may remain in the condenser after the power is off to cause an electric shock On
212. termined after inspection LS 11 3 11 Maintenance and Inspection 11 2 Diagnosing and Troubleshooting Abnormalities AL appears if a problem occurs during operation If this happens try to solve the problem by following the troubleshooting advice given in this section If the problem persists contact our service center 11 2 1 The Servo Motor Cause of abnormalities inspection procedure and troubleshooting methods Symptoms Causes Causes Inspection process The P OT and N OT inputs Refer to section 3 6 Signals Turn on the P OT and N OT are off inputs Use a resistance tester to measure the resistance to the motor lead terminal resistance between phases The motor several ohms oe The locking screws are loose Check the locking screws Tighten any loose screws The external wiring is Check the wires to the motor and the Redo the wiring incorrect or the cables are Replace the cables disconnected Replace the encoder The encoder has defects Check the output waves P Contact our service center The connection is bad Co the Connection oF the molor Fix any bad connections lead terminal Motor rotation The input voltage is low Check the input voltage of the drive Change the power source is unstable Remove any foreign substances Overloads occur Check the condition of the machine from the rotating unit and grease or lubricate it The ambient temperature is Check the tempera
213. tifies the operator of its arrival at the target position with the Target reached bit Statusword 0x6041 10 6 CiA402 Drive Profile B The set of set point procedure Velocity New Set point t Change immediately t Change of Set point t Specify the target position 0x607A Set the New setpoint bit to 1 and the Change of Set point bit to 1 to request the position operation After reaching the previous target position the drive begins to move to the new position New setpoint The drive retains the previous velocity The drive notifies the operator of its arrival at the target position with the Target reached bit Statusword 0x6041 10 6 3 2 Interpolated Position Mode Interpolated Position Mode controls multiple axes or a single axis This mode necessitates time interpolation of the Set point It can adjust the time of any drive unit associated via the time sync technology The interpolation cycle is defined by 0x60C2 and the interpolation data can be entered via 0x60C1 B The Interpolated Position Mode diagram OP Mode Interpolated Position Interpolation data record 0x60C1 Interpolation time period Input Ox buffer Software position limit 0x607D Controlword 0x6040 Quick Stop deceleration 0x6085 or profile deceleration 0x6084 Acc unit Quick Stop option code 0x605A Position d Torque actual value 0x6077 Speed scale denominator
214. tion co O0 C EDM Signals CN6 Outputs the pilot circuit status Pilot circuit Hard wired Hard wired state HWBB2 base block 4 HWBB1 base block Note 1 output signal input 2 signal input 1 Pilot circuit Hard wired Hard wired 7 EDM state HWBB2 base block 3 HWBB1 base block 1 NC Note 1 output signal input 2 signal input 1 Note 1 Never use this on a blank terminal because it is connected to an internal circuit 33138 LS 3 Wiring 3 7 6 Operation Method of Safety Function Signals CN6 1 How to use XDL L7N STO Plug Dummy Plug Connector Kit 2040008 1 TE Name of product APC CN6J 2 How to use EMG Signal on MAIN Seming mwas wee em sTO State OFF STO STO Ei lo 3 ee ni LS s 3 19 3 Wiring oc 24 Digital input QE JEU E ala 3 e i HHRHH E JEO2OE0 320 LSS 3 Wiring 3 8 EtherCAT Connection Example 3 8 1 Example Connection The following figure shows the connection between a master and slave using EtherCAT communication EtherCAT master
215. tion i or lower may cause malfunctions Do not expose the device to direct sunlight Ambient Do not expose the device to corrosive or combustible gases conditions Do not expose the device to oil or dust Ensure that the device receives sufficient ventilation 2 Installation 2 2 2 Wiring the Control Panel Comply with the spacing specified in the following figures when installing the control panel More than More than 40 mm 100 mm E T T B PERE 07 Holz CHAF pe js ae Il rik e s E Loss M s D p e hh i i H More than
216. tive Edge Position Value oocccccooncncconcncccononoconnnoonnnnonannnonancnononcnonos 8 76 Ox60BD The Touch Probe 2 Negative Edge Position Value cccocoonccncccocccnncononcnncnnoncnnonnnnnononnnnnononnnanos 8 76 0x60C 1 Th e Interpolation Data RECO ioco cae Edo tae rd s edo d deseo pedore cee 8 76 0x6062 PHS Interpolation me REO sa essentiae hon tust leida 8 77 Ox60E0 The Positive Torque Umit Valle iio docui dede ar sd da Eod abit a Pee e daa 8 77 Ox60E1 The Negative Torque Limit Value ooocccooocccccocnnnonccnconoconcnnnnoconcncnnncononannnononnncnnnrnronannnnnnnncnnnos 8 77 Ox60FC The Position Demand Internal Value esese Hmmm meer 8 78 Ox60F Ds The A 8 78 OXG ORE The Digital GO a sos ss E 8 79 OX6OF E CAS Targer Vel Varroa lola va eras T De iuro afr aad 8 80 Ox6502 Supported Drive MoOdES RET 8 80 9 Handlind and O peral roe ici 9 1 LSis xiii Table of Contents 10 11 12 xiv 91 Operator aq tele 4 ITE 9 1 LET Wind OheckliS E contenere oae a etate eve biet siu lava dadas 9 1 9 1 2 Drive Signal CN1 Wiring Checklist 11sseeeeeeeeeeeeeeee nennen nennen nennen nnne nnne nnne nnns 9 1 9 1 3 Surrounding Environment EAS acabas 9 1 91 4 Machine Staus neck sssaaa A E EEO 9 1 Product Specification t 10 1 1041 The Servo MOON A E E E A teeta ae amnesia Eaaee 10 1 TOTT Product TOS f OS aiiud ditas iutd dt qi tact
217. to delete the alarm history of a parameter In order to prevent parameters from being incorrectly deleted record rset in the Sub Index and an alarm history is deleted Signature MSB 16 15 LSB ASCII When read is written to Sub Index 1 all 20 alarm histories are read When rset is written to Sub Index 1 all 20 alarm histories are deleted Alarm codes 1 to 20 is from 0x2700 02 to 0x2700 21 The first alarm code is the most recent alarm You can check the past 20 alarm codes in sequence the most recent first by reading Sub Indexes 2 to 21 LS 8 51 8 Object Dictionary 0x2701 Auto Gain Tuning Auto tuning Index 0x2701 Auto tuning Number of entries Sub Data PDO Setting Initial value Access Change Unit Index Type Mapping Range Start tuning Sub Data PDO Setting Initial value Access Change Unit Index Type Mapping Range Tuning speed Sub Data P Setting Initial value Access Unit Index Type Mapping Range 100 2 UINT RW 1 to 10 RPM P DO No Tuning distance DO No Sub Data Setting Initial value Access Change Unit Index Type Mapping Range The XDL L7N reads object entries to automatically tune the gain In order to prevent parameters from being incorrectly tuned the parameter is only tuned when the Sub Index records tune Sifnature MSB 16 15 LSB ASCII e n u t hex 0x65 Ox6E 0x75 0x74 Automatic tuning is conducted when tune
218. tor inertia x 20 Rated power rate KW s 11 98 34 47 4 10 Speed and Standard Quadrature Type Incremental 1024P R 2048 P R bia Fully closed self cooling IP65 excluding axis penetration Ambient o Specifications temperature 0 40 C and features Ambient humidity 20 80 RH no condensation Atmosphere No direct sunlight corrosive gas or combustible gas Anti vibration Vibration acceleration 49 m s2 5G Wei wi o 2 w s 74 Rotation Speed Torque Characteristics Torque Nm XM L HBO1 A Torque Hm XML HB02A Taan Nm XML HB04A Repeatedly used area 12 Repeatedly used area Repeatedly used area Continuously used area Continuously used area Continuously used area Speed t min Speed pimin Speed 1 min Torque Nm XM L HE09A Torque Nm XM L HE1 5A Repeatedly used area Repeatedly used area Continuously used area Continuously used area 3 YA I i Speed tmin Speed nmin Product Features Servo Motor Type XML FBO1A FB02A FB04A FC04A FCO6A Applicable Drive L70Aon L7 A001 L75A002 L7 A004 L75A008 EE raed Qua wm o om ow ow om 10 14 LSis 10 Product Specifications C ow pu pax po o amp Rated torque ates kgf cm 19 49 38 98 38 98 58 47 e m wo 3 s Ja Rated rotation r min 3000 speed Maximum komio 00 os 025 os f os Inertia moment teme E PERNE TE NE EEN Al
219. torque kgf cm 77 94 107 17 29 23 58 46 87 69 116 92 Maximum N m 22 92 31 51 17 19 25 78 34 37 instantaneous torque kgf cm 233 83 321 52 87 69 175 30 263 06 350 75 A 27 69 37 11 12 45 17 34 22 89 Rated rotation l Maximum rotation r min 3000 2000 speed Ikg m2x10 4 17 34 22 68 666 12 00 17 34 22 68 Inertia moment gf cm s2 17 69 23 14 12 24 17 69 23 14 Allowed load inertia Motor inertia x 10 Rated power rate kW s 33 65 48 64 12 32 27 35 42 59 57 89 Speed and Quadrature Type Incremental 3000 P R position detector Option Serial Type 19 bit Protection Method Fully closed self cooling IPe5 excluding axis penetration Specifications and features Ambient 0 40 C temperature Ambient humidity 20 80 RH no condensation LS 10 7 10 Product Specifications Atmosphere No direct sunlight corrosive gas or combustible gas Anti vibration Vibration acceleration 49 m s2 5G ep er ws ss 75 7 na Rotation speed Torque Characteristics XML SE16D XML SE22D Tesque Mm Torque Hm az XML SE03M Torque Hm Repeatedly used area la _Repeatedly used area T Repeatedly used area Continuously used area Continuously used area Continuously used area Speed r min Speed r min Speed rmn Toroa inmi XML SE06M Torque Hm XML SE09M bos Hm XM L SE1 2M Repeatedly used area Repeatedly used area i Repeatedly used area A e
220. tual internal value 0x6063 Position calculation Following Error Position demand internal value Ox60FC Position demand Following error actual value 0x60F4 Position scale denominator numerator 0x200F 0x200E Position actual Following Error In Status Following error word 0x6041 13 time out Following error window 0x6065 0x6066 X window comparator LS 6 CiA402 Drive Profile Related Objects Data PDO Index Sub Name Access Units Type Mapping 0x6040 Controlword UNIT RW Yes 0x6041 Statusword UINT RO Yes e Pos 0x607A Target position DINT RW Yes Units Software position limit 0 Number of entries USINT RO No 0x607D Pos 1 Minimum position limit DINT RW No Units l ls Pos 2 Maximum position limit DINT RW No Units l Vel 0x607F Maximum profile velocity UDINT RW No ane l Vel 0x6081 Profile velocity UDINT RW Yes l Units l E Acc 0x6083 Profile acceleration UDINT RW Yes d l Acc 0x6084 Profile deceleration UDINT RW Yes Te l Acc 0x6085 Quick Stop deceleration UDINT RW Yes aes You can use the following three position commands in Profile Position Mode Single set point After reaching the target position the drive sends a completion signal to the master and receives a new command Change immediately After receiving a new position command while driving to the target position it
221. ture around the Change heat transfer structure too high motor 40 C or lower Install a cooling fan Check whether there are any foreign substances on the surface of the Clean the surface of the motor motor The motor has defects Replace the motor The surface of the motor is contaminated The motor overheats Check the load on the drive Overloads occur Check the acceleration deceleration acceleration deceleration time time Use a motor with a greater capacity The magnetic power of the Check the counter voltage and pena bots magnets is reduced voltage waveforms p Tighten the coupling screws and measure the concentricity of the Readjust the coupling T connection The device is makinga trhe bearings are abnormal Check the bearings for vibrations and strange sounds oon The parameters are set incorrectly the inertia gain Check the parameters bees Pn 6 Object and time constants 114 LS 11 Maintenance and Inspection 11 2 2 The Servo Drive If an alarm occurs then the malfunction signal output contact ALARM goes off and the dynamic brake stops the motor Check for incorrect wiring in the drive output and encoder Check the motor ID drive ID and Hoo oo HL DL IPM Fault Overcurrent H W bine oder etiigs Determine whether there is a conflict or binding in the equipment Check for incorrect wiring in the drive output and encoder Check the mot
222. tures Servo Motor Type XML d0000 FALR5A FALO1A FALO15A FBLO1A FBLO2A FBLO4A Applicable Drive L70Ao0 L7535A001 L70A002 L70A001 L75A002 L735A004 Rated torque instantaneous E Maximum r min 5000 rotation speed 1024 L S 10 Product Specifications kg m2x1 0 4 0 023 0 042 0 063 0 091 0 147 0 248 Inertia moment gf cm s2 0 024 0 043 0 065 0 093 0 150 0 253 Allowed load inertia Motor inertia x 30 Motor inertia Motor inertia x 20 de cd IkW s 10 55 23 78 35 34 11 09 27 60 27 07 Speed and a Serial Multi Turn Built in 18bit Serial Multi Turn Built in Type 19bit position detector a Protection E Fully closed self cooling IP67 excluding axis LM Time Time rating o Contios Ambient Specifications iid and features aieo 20 80 RH no condensation EA Atmosphere No direct sunlight corrosive gas or combustible gas Anti vibration Vibration acceleration 49 m s2 5G Torque Nm APM FALRSA Torque Nm APM FALO1A Torque Nm APM FALO15A 0 50 1 00 1 50 Repeatedly used area i Repeatedly used area Continuously used area l Continuously used area 1 000 2 000 3 000 4 000 5 000 0 2 000 3 000 4 000 5 000 1 000 2 000 3 000 4 000 5 000 Speed r min Speed r min Speed r min Torque Mm APM FBLO1A Torque Mm APM FBLOZA Torque Mm APM FBLOAA 1 00 2 00 4 00 Repeatedly used area Continuously used area 3 000 4 000 5 000 i 4 000 5 000 o 1 000 2 000 3 000 4 000 5 000 Speed
223. tween the servo Off command and actual PWM Off This prevents the motor from slipping down the vertical axis while the servo Off command and brake command order the motor brake to engage Use a PWM off delay when operating a motor brake through the output contact point brake signal range 0 1000 ms initial value 10 Index 0x200B PWM Off Delay Sub e Data PDO Setting dex Initial value Type Access Mapping Range Change Unit 0 0 10 UINT RW No aao 10 ms 0x200C Dynamic Brake Control Mode This specifies the Dynamic Brake DB control mode Index 0x200C Dynamic Brake Control Mode Sub F Data PDO Setting aay Initial value Type Access Mapping Range Change Unit 0 0x0 UINT RW No 0x0 l Sv oFF to 0x3 Details Value Setting details 0 Hold after a DB stop 1 Release after a DB stop 2 Release after free run stop 3 Hold after a free run stop 0x200D Basic Function Configuration This specifies the basic drive function a l S DM AtaAnarKrU ha IJICUL DIC uona y P Index 0x200D Basic Function Configuration Sub EN Data PDO Setting index Initial value Type Access Mapping Range Change Unit 0 0x00 UINT RW No COTO dieu OxFF Details Bit function AUN Setting details Hex a 0 CCW Clockwise CW Counterclockwise 0 Sets the servo drive direction 1 CW Clockwise CCW Counterclockwise 0 Do not use
224. ue Index 0x2117 Following Error Switch Value Sub E Data PDO Setting index Initial value Type Access Mapping Range Change Unit 0 2000 UINT HW No Oto 10000 Always Pulse LS 8 39 0x2200 Input Port Define 1 Index 0x2200 Input Port Define 1 tud Initial value ie Access M ia g Pai Change Unit 0 0x4000 UINT RW No rper PRECYC 0x2201 Input Port Define 2 Index 0x2201 Input Port Define 2 dd Initial value sie Access ino g je Change Unit 0 0x0065 UINT RW No Fr PRECYC 0x2202 Output Port Define 1 Index 0x2202 Output Port Define 1 Syd Initial value m Access Pera g d Change Unit 0 0x4321 UINT RW No eos RREGNC 0x2203 Output Port Define 2 Index 0x2203 Output Port Define 2 nad Initial value a Access Pa g Pini Change Unit 0 0x0 UINT RW No ee PREGYC 0x2204 The Input Port Logic Set Index 0x2204 Input Port Logic Set frie Initial value a Access Pesa g PS Change Unit 0b0000000000 0 OD Td ai UINT RW No to PRECYC 0b1111111111 LS 8 Object Dictionary 0x2205 The Output Port Logic Set Index 0x2205 Output Port Logic Set Sub Initial Data PDO Setting Index value Type BEES Mapping Range Sube dt 0b0000000000 0 0b0110 UINT RW No to PRECYC 001111111111 0x
225. ult Setting Value Logic definitions for output signals 0x2205 output logic settings for DO 1 to DO 4 by bit Note 1 The default setting value Bit function Ep Setting details 0 Contact B 0 DO 1 input logic setting anise ontact A 0 Contact B 1 DO 2 input logic setting Contact AN 1 ontac 0 Contact B 2 DOst3 input logic setting F Contact ANo 1 ontac 0 Contact BY 3 DO 4 input logic setting FLA ontac 7 11 T L7 Drive Setup 7 4 7 4 1 7 4 2 7 4 3 7 5 7 5 1 Setting Speed Operation Parameters Acceleration Deceleration Time Acceleration time 0x2301 Specifies the time required in ms for the motor to reach the rated motor speed from zero speed Deceleration time 0x2302 Specifies the time in ms required for the motor to stop after running at the rated motor speed The S Curve Operation 0x2304 You can configure the acceleration deceleration operation in an S curve pattern for smooth acceleration deceleration 0 Trapezoidal gt Configure the acceleration deceleration time in 0x2301 and 0x2302 1 Sinusoidal gt Configure the acceleration deceleration time in 0x2301 and 0x2302 S curve time in 0x2303 The Manual J OG Operation Speed 0x2305 Drive the forward reverse rotation at the JOG operation speed This ignores the CN1 contact point input status Setting Position Operation Parameters B
226. uoo a aoi tai Feed cwn ined a duco dean aed web niente 7 12 45 Backlasn Compensation OX240 8 ui tu ehe tn pasa EE nth e nte on dads 7 12 7 6 Setting Parameters for XDL L7N Built in FUNCHIONS ooocccccnccconocnnccnnnnonononncnnnnnononnnnonnnononnnnnnnnnnnnnnnanenennnss 7 13 7 6 14 X Checking Deleting the Alarm History OX2700 cccccsseeccccseseeeeceeeeeeeeeeeeeeeseeeseeeeseaeeeeesaaeeeeessaaeees 7 13 6 2 AMO Gain Tuning 0x270 7 ans 7 13 726 3 Absolute Encoder Reset 0x2702 5 s ceca co eise oo veas qoo atas oc site inco uim Susa tec dus ied oon eo es 7 13 Oblect BICUOBOEU cieccit inpr dci noia E 8 1 e1 The 8 0 216 a B Ce Lc a 1g ds cio NN ee ere 8 1 82 General OBJEC gt a ne ei rmm 8 4 Ox TOO DEVICE TYDE eR e RR ATEA 8 4 OX TOOT EMOS GE sacs clases ers iu e e fcd rfc eati olo esten Cus ule ean e oue A n eee 8 4 0x1005 Manutaeturer Device Name oiouotei etti lolo cinto cioiolo aliado AOA ceo co ico det o ode ad base RIDE 8 4 0x1009 Hardware VerSlOFP noniin ite t desesso Mese seo Miete sees deoi diee darias 8 5 NO OAs OL AL VON SI ON Mate case cece quete eU D EE DEM I d DI ang bese loa len LAM ak heen CC 8 5 OX TOMO Store Parana cidos 8 6 x When using this function delay time will occur by EEPROM Save csececececeeeeeeeeeeeeeeeaeeeeeeeeeeaaneeeees 8 7 0x1011 Restore Default Parameters ssssseese I m n eneren nm memre rr r rre ense resins se re ese rennen 8 7 OxT019 dentro 8 10 8
227. used continuously in a normal air conditioned environment Inspect the condenser at least once each year because it can rapidly age over a short period of time once it starts to deteriorate inspect it more frequently as it approaches obsolescence X Visual inspection criteria a he condition of the case Check for deformations on the sides and bottom b The condition of the lid Check for notable expansion severe cracks or broken parts c The relief valve Check for notable valve expansion and operation 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 capacity degrades to less than 8596 of the rated capacity 2 The relays Check for bad connections and wear and tear on the contacts caused by switching currents Arelay is obsolete when its accumulated number of switches reaches 100 000 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 The Standard Part Replacement Cycle Smoothing condenser 7 8 years Replace determine after inspection Determine after inspection Aluminum electrolytic condensers on printed 5 years boards Motor bearings Determine after inspection Replace with new boards de
228. ver you cannot supply main power at this time Ready to switch on Main power may be turned on You can set servo parameters Drive function is disabled Switched on Main power is on You can set servo parameters Drive function is disabled Operation enabled Unless in a fault state the drive functions correctly and torque can be applied to the motor You can also set servo parameters Quick Stop active A quick stop function has been performed You can set servo parameters Fault reaction active In a Quick Stop or a fault state due to the servo You can set servo parameters Fault A fault reaction has been processed Drive function is deactivated You can set servo parameters LS 6 1 6 CiA402 Drive Profile B State Machine Control Commands Cod Controlword bits 0x6040 State Machine Bit 7 Bit 3 Bit 2 Bit 1 Bit 0 Movement Shutdown 0 1 1 0 2 6 8 Switch on 0 0 1 1 1 3 witch on is 1 3 4 Disable voltage 0 0 7 9 10 12 Quick stop 0 g 0 1 7 10 11 Disable operation 0 0 1 1 1 5 Enable operation 1 1 1 1 1 4 16 Fault reset 01 15 E Statusword Bit Names 0x6041 Bit No Data Description Note 0 Ready to switch on 1 Switched on 2 Operation enabled 3 Fault 4 Voltage enabled 5 Quick stop 6 Switch on disabled 7 Warning z i For more information refer to 7 6 CiA 40
229. vice 8 Object Dictionary Index 0x1009 Hardware Version Sub a Data PDO Setting Index Initial value Type Access Mapping Range Change Unit 0 STRING RO No 0x100A Software Version The following table shows the software version included with the device Index 0x100A Software Version Sub ie Data PDO Setting indez Initial value Type Access py apping Range Change Unit 0 STRING RO No LS 8 5 8 Object Dictionary 0x1010 Store Parameters The following table shows the parameter settings that you can store in the memory Index 0x1010 Store Parameters Number of entries Sub Data Setting Initial value Access Change Index uu Mapping A ME El all parameters Sub Data PDO Setting Initial value Access Change Index Type Mapping Range 0x00000000 to 1 UDINT RW No OxFFFFFFF F Store communication parameters Sub Data PDO Setting Initial value Access Index Type Mapping Range 0x00000000 to 2 UDINT RW No OxFFFFFFF F Store CiA402 parameters Sub Data PDO Setting Initial value Access Index Type Mapping Range 0x00000000 to 3 UDINT RW No OxFFFFFFF F Store L7 specific parameters Sub Data PDO Setting Initial value Access Index Type Mapping Range 0x00000000 to 4 UDINT RW No OxFFFFFFF F Unit Unit The XDL L7N reads object entries to store parameters 8 Object Dictionary In order to prevent paramete
230. wer Do not operate this device in an environment with steam Ext Vibration acceleration VIDEOR 19 6 ms or below on Excessive vibrations reduce the lifespan of the bearings both the X and Y axis 2 1 2 Preventing Impact Impact to the motor during installation or handling may damage the encoder 2 1 3 Motor Connection The motor might burn out if it is connected directly to commercial power Always connect the motor via the specified drive Connect the ground terminals of the motor to either of the two ground terminals inside the drive and attach the remaining terminal to the type 3 ground 88888 opus U U 3 54 8 ri ud V V eme T aa W W AM 4 cd amp F G ano 2 o QT aet o U Connect the U V and W terminals of the motor in the same way as the U V and W terminals of the drive Ensure that the pins on the motor connector are securely attached In order to protect against moisture or condensation in the motor make sure that insulation resistance is 10 M 500 V or higher before installation LS 2 1 2 Installation 2 1 4 The Load Device Connection For coupling connections Ensu
231. x6063 0x6064 Ox60FC 0x6065 0x6066 Ox60F4 0x6067 0x6068 Error Code Controlword Statusword Quick Stop Option Code Shutdown Option Code Disable Operation Option Code Halt Option Code Fault Reaction Option Code Modes of Operation Modes of Operation Display Supported Drive Modes Target Position Software Position Limit Max Profile Velocity Profile Velocity Profile Acceleration Profile Deceleration Quick Stop Deceleration Home Offset Homing Method Homing Speeds Homing Acceleration Position Demand Value Position Actual Internal Value Position Actual Value Position Demand Internal Value Following Error Window Following Error Time Out Following Error Actual Value Position Window Position Window Time 8 Object Dictionary 0x60C1 Interpolation Data Record Interpolated Position Mode 0x60C2 Interpolation Time Period Cyclic Synchronous 0x60B1 Velocity Offset Position Mode 0x60B2 Torque Offset 0x606B Velocity Demand Value 0x606C Velocity Actual Value Profile Velocity Cyclic Synchronous Velocity Mode Mab verge Minow Ox606E Velocity Window Time Ox60FF Target Velocity 0x6071 Target Torque 0x6074 Torque Demand Value Profile Torque Cyclic 0x6087 Torque Slope Synchronous Velocity Mode 0x6076 Motor Rated Torque 0x6077 Torque Actual Value 0x6072 Max Torque Torque Limit Function Ox60E0 Positive Torque Limit Value Ox60E1 Negative Torque Limit Value Ox60B8 Touch Probe Function Ox60B9 Touch P
232. y the home offset 0x607C to display the actual position value 0x6064 At this time the actual position value 0x6064 does not change even if you change the home offset 0x607C while driving LS 7 13 8 Object Dictionary NEN 8 Object Dictionary 8 1 The Object Dictionary List The following table shows the Object Dictionary List 0x1000 Device Type 0x1001 Error Register 0x1008 Manufacturer Device Name 0x1009 Hardware Version ene aes 0x100A Software Version 0x1010 Store Parameters 0x1011 Restore Default Parameters 0x1018 Identity Object 0x1600 Receive PDO Mapping 0x1603 PDO Mapping Objects 0x1A00 0x1A03 Transmit PDO Mapping 0x1C00 Sync Manager Communication Type 0x1C10 0x1C13 Sync Manager Sync Manager PDO Assignment Communication Objects 0x1C32 0x1C33 Sync Manager Synchronization 0x2000 XDL L7N Parameters 0x26FF 0x2000 Control Setting Parameter 0x2013 0x200E Position User Unit Manufacturer 0x200F Specific Objects 0x2010 Velocity User Unit 0x2011 0x2012 Acceleration User Unit 0x2013 0x2700 Driving Operation Parameter 0x2701 8 Object Dictionary Device Control Profile Position Mode Homing Mode Position Control Function 8 2 Ox603F 0x6040 0x6041 0x605A 0x605B 0x605C 0x605D 0x605E 0x6060 0x6061 0x6502 0x607A 0x607D 0x607F 0x6081 0x6083 0x6084 0x6085 0x607C 0x6098 0x6099 0x609A 0x6062 0
233. ynchronous position Csp mode velocity mode or torque 8 Object Dictionary mode Bit function Value Details 4 0 0 A 0 A 0 Continues to perform the operation 8 Halt 1 Halts the operation according to the Halt Option code 0x605D 9 0 Bits 4 5 6 8 and 9 Applied at the Interpolated position lp Bit Function Value Details i Interpolation 0 Interpolation disabled enabled 1 Interpolation enabled 0 a 0 Halt 0 Runs the bit 4 command 1 Halts the operation according to the Halt Option code 0x605D 9 0 Reserved Bits 4 5 6 8 and 9 Applied in Profile velocity Pv mode or torque mode Bit function Value Details 4 0 Reserved 0 Reserved 0 Reserved 0 Continues to perform the operation 8 Halt 1 Halts the operation according to the Halt Option code 0x605D 9 0 Reserved 8 57 8 Object Dictionary 8 58 0x6041 Statusword The Statusword indicates the current state of the drive It consists of bits that indicate the state according to the drive and operation mode Index 0x6041 Statusword alle Initial value male Access AOS SKU Gun Unit Index Type Mapping Range ge 0 0 UINT RO Yes eee Statusword Bits Bit Function Details 0 Ready to switch on 1 Switched on Refer to the section concerning
234. ype Mapping Range 0 to Vel 1 100000 UDINT RW Always 4294967295 unit Speed during search for zero Yes Sub Data PDO Setting Initial value Access Change Unit Index Type Mapping Range 0 to Vel 2 20000 UDINT RW Yes Always 4294967295 unit Setting value equation X Pulses per revolution Setting soeed RPM 60 Ex 19bit motor 3000 RPM setting X 2 3000 60 X 26214400 8 72 LS 0x609A Homing Acceleration This sets the homing acceleration in user defined units O lhkhianat Niatinnar 3 Object Dictionary J Index 0x609A Homing Acceleration Sub e Data PDO Setting Index Initial value Type Access Mapping Range Change Unit 0 to Acc 0 50000 UDINT RW No 4294967295 Always unit Setting value equation X Pulses per revolution Setting acceleration speed 60 Ex 19bit motor acceleration 3000 setting X 2 3000 60 X 26214400 0x60B1 The Velocity Offset This sets the speed feed forward value in Cyclic Synchronous Position Csp mode This also sets the offset value added to the speed reference in Cyclic Synchronous Position Csp mode Index 0x60B1 Velocity Offset Sub s Data PDO Setting index Initial value Type Access Mapping Range Change Unit 2147483648 Vel 0 0 DINT RW Yes to Always ni t 12147483647 E 0x60B2 The Torque Offset This sets the torque feed forward value in Cyclic Synchronous Position Csp mode and

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