Lexium23A Installation Directions

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Lexium 23A
AC servo drive
Product manual
V1.03, 11.2010

www.schneider-electric.cn

Contents

Lexium 23A

Important information
This manual is part of the product.
Carefully read this manual and observe all instructions.
Keep this manual for future reference.
Hand this manual and all other pertinent product documentation over to all
users of the product.
Carefully read and observe all safety instructions and the chapter "2. Before
you begin - safety information".

Some products are not available in all countries.
For information on the availability of products, please consult the catalog.
Subject to technical modifications without notice.
All details provided are technical data which do not constitute warranted
qualities.
Most of the product designations are registered trademarks of their
respective owners, even if this is not explicitly indicated.
ii

AC servo drive

Contents

Important information.......................................................................................... ii
About this manual ................................................................................................ vii
Chapter 1

Introduction .............................................................................................................1

1.1

Unpacking Check ..............................................................................................................................2

1.2

Device overview ................................................................................................................................3

1.3

Components and interfaces .........................................................................................................4

1.4

Nameplate information ..................................................................................................................5

1.5

Type code............................................................................................................................................6

1.6

Servo Drive and Servo Motor Combinations............................................................................8

Chapter 2

Before you begin - safety information.............................................................. 9

2.1

Qualification of personnel ...........................................................................................................10

2.2

Intended use ....................................................................................................................................10

2.3

Hazard categories ...........................................................................................................................11

2.4

Basic information ........................................................................................................................... 12

2.5

DC bus voltage measurement....................................................................................................14

2.6

Standards and terminology ........................................................................................................14

Chapter 3

Technical Data....................................................................................................... 15

3.1

Ambient conditions........................................................................................................................16

3.2

Dimensions ......................................................................................................................................18

3.3

Electrical Data................................................................................................................................. 23

3.4

Certifications ...................................................................................................................................41

3.5

Declaration of conformity........................................................................................................... 42

AC servo drive

iii

Contents

Lexium 23A

Chapter 4

Engineering ........................................................................................................... 45

4.1

Electromagnetic compatibility, EMC ...................................................................................... 46

4.2

Residual current device .............................................................................................................. 49

4.3

Operation in an IT mains ............................................................................................................. 50

4.4

Rating the braking resistor.......................................................................................................... 51

4.5

Logic type ........................................................................................................................................ 59

4.6

Monitoring functions.................................................................................................................... 60

4.7

Configurable inputs and outputs.............................................................................................. 61

Chapter 5

Installation............................................................................................................. 63

5.1

Mechanical installation ................................................................................................................ 65

5.2

Electrical installation .................................................................................................................... 71

5.3

Standard Connection Example .............................................................................................. 107

Chapter 6

Commissioning.................................................................................................... 113

6.1

Basic information ......................................................................................................................... 114

6.2

Overview ..........................................................................................................................................117

6.3

Integrated HMI Digital Keypad ................................................................................................. 119

6.4

Commissioning software...........................................................................................................124

6.5

Commissioning procedure .......................................................................................................125

Chapter 7

Operation.............................................................................................................. 151

7.1

Access channels............................................................................................................................152

7.2

General Function Operation .....................................................................................................153

7.3

Control Modes of Operation. ....................................................................................................156

7.4

Other functions. ..........................................................................................................................202

Chapter 8

Motion Control Function ..................................................................................209

8.1

Available Motion Control Functions ...................................................................................... 210

8.2

Servo Drive Information............................................................................................................ 210

8.3

Motion Axis .....................................................................................................................................216

8.4

Pr Mode Introduction ..................................................................................................................217

8.5

Position Command Unit of Pr Mode........................................................................................218

AC servo drive

Lexium 23A

Contents

8.6

Registers of Pr Mode................................................................................................................... 219

8.7

Homing Function of Pr Mode ...................................................................................................220

8.8

DI and DO signals of Pr Mode ....................................................................................................221

8.9

Parameter Settings of Pr Mode ............................................................................................... 223

Chapter 9

Communication.................................................................................................. 229

9.1

RS-485 Communication Hardware Interface .....................................................................230

9.2

Communication Parameter Settings ....................................................................................232

9.3

MODBUS Communication Protocol ......................................................................................236

9.4

Communication Parameter Write-in and Read-out.........................................................245

Chapter 10

Diagnostic and troubleshooting ................................................................... 247

10.1

Status request/status indication............................................................................................248

10.2

Fault Messages Table.................................................................................................................249

10.3

Potential Cause and Corrective Actions...............................................................................254

10.4

Clearing Faults.............................................................................................................................. 273

Chapter 11

Servo Parameters.............................................................................................. 285

11.1

Representation of the parameters ........................................................................................282

11.2

Definition....................................................................................................................................... 283

11.3

Parameter Summary ................................................................................................................ 284

11.4

Detailed Parameter Listings ................................................................................................... 308

Chapter 12

Accessories and spare parts ...........................................................................441

Chapter 13

Service, maintenance and disposal................................................................451

13.1

Service address ........................................................................................................................... 454

13.2

Basic Inspection ...........................................................................................................................455

13.3

Maintenance................................................................................................................................. 456

13.4

Life of Replacement Components ........................................................................................ 456

13.5

Replacing devices........................................................................................................................457

13.6

Changing the motor ...................................................................................................................458

13.7

Shipping, storage, disposal ......................................................................................................458

AC servo drive

Contents

Lexium 23A

AC servo drive

About this manual

This manual is valid for LXM23A servo drives and corresponding BCH motors. It
describes the technical data, installation, commissioning and the operating modes
and functions. Chapter 1 "Introduction" lists the type code for these products.
Work steps

If work steps must be performed consecutively, this sequence of steps is represented
as follows:
b Special prerequisites for the following work steps
X Step 1
Y Specific response to this work Lexium 23Astep
X Step 2
If a response to a work step is indicated, this allows you to verify that the work step has
been performed correctly.
Unless otherwise stated, the individual steps must be performed in the specified
sequence.

Making work easier

SI units

AC servo drive

Information on making work easier is highlighted by this symbol:
Sections highlighted this way provide supplementary information on making work
easier.

SI units are the original values. Converted units are shown in brackets behind the
original value; they may be rounded.
Example:
Minimum conductor cross section: 1.5 mm2 (AWG 14)

About this manual

Lexium 23A

AC servo drive

Introduction

1
At a Glance
What's in this
Chapter?

This chapter contains the following topics:
Topic
Unpacking Check

AC servo drive

Page
2

Device overview

Components and interfaces

Nameplate information

Type code

Servo Drive and Servo Motor Combinations

1. Introduction

Lexium 23A

1.1 Unpacking Check
After receiving the AC servo drive, please check for the following:
z Ensure that the product is what you have ordered.
Verify the part number indicated on the nameplate corresponds with the part
number of your order (Please refer to Section1.5 for details about the model
explanation).
z Ensure that the servo motor shaft rotates freely.
Rotate the motor shaft by hand; a smooth rotation will indicate a good motor.
However, a servo motor with an electromagnetic brake can not be rotated
manually.
z Check for damage.
Inspect the unit to insure it was not damaged during shipment.
z Check for loose screws.
Ensure that all necessary screws are tight and secure.
If any items are damaged or incorrect, please inform the distributor whom you
purchased the product from or your local Schneider Electric sales representative.
A complete and workable AC servo system should include the following parts:
Part I : Schneider Electric standard supplied parts
(1) Servo drive Lexium 23A
(2) Servo motor Lexium BCH
(3) 5 PIN Terminal Block for L1, L2, R, S, T (available for 100W ~ 1.5kW models)
(4) 3 PIN Terminal Block "motor" for U,V,W (available for 100W ~ 1.5kW models)
(5) 4 PIN Terminal Block "CN5" for PA/+, PBi, PBe,PC/- (available for 100W ~ 1.5kW models)
(6) One operating lever (for wire to terminal block insertion) available for 100W ~1.5kW
models）
(7) One jumper bar (installed at CN5, pins PA/+ and PBi)
(8) Instruction Sheets (Traditional Chinese, Simplified Chinese and English version)
Part II : Optional parts (Refer to chapter 12)
(1) One power cable, which is used to connect servo motor to U, V, W terminals of servo
drive. This power cable includes a green grounding cable. Please connect the green
grounding cable to the ground terminal of the servo drive.
(2) One encoder cable, which is used to connect the encoder of servo motor to the CN2
terminal of servo drive.
(3) CN1 connector: 50 PIN connector, IO interface (3M type)
(4) CN2: 6 PIN connector (IEEE1394 type), motor encoder interface
(5) CN3: RJ45 connector, serial communication interface for drive set-up
(6) CN4: two RJ45 connectors, CANopen and CANmotion interface

AC servo drive

Lexium 23A

1. Introduction

1.2 Device overview
The Lexium 23 Plus product family consists of two servo drive models that cover
different application areas. Together with Lexium BCH servo motors as well as a
comprehensive range of options and accessories, the drives are ideally suited to
implement compact, high-performance drive solutions for a wide range of power
requirements.
Lexium servo
drive LXM23A

This product manual describes the LXM23A servo drive.

Overview of some of the features of the LXM23A servo drive:
CANopen and CANmotion field bus interface to access all parameters and to
control all operation modes of the servo drive
z The product is commissioned via the integrated HMI or a PC with commissioning
software.
z Operating modes Jog, Position control mode,Speed Control,Torque
control,Switching mode.
z

AC servo drive

1. Introduction

Lexium 23A

1.3 Components and interfaces

Heatsink
Used to secure servo drive and for
heat dissipation
Charge LED
A lit LED indicates that either power
is connected to the servo drive OR a
residual charge is present in the
drive's internal power components.
DO NOT TOUCH ANY ELECTRICAL
CONNECTIONS WHILE THIS LED IS
LIT. (Please refer to the Safety
Precautions in chapter 2).

LED Display
The 5 digit, 7 segment LED displays
the servo status or fault codes
Operation Panel
Used function keys to perform status
display, monitor and diagnostic,
function and parameter setting.
Function Keys:
M

: Press this key to select/
change mode

: Shift Key has several
functions:
moving the cursor and
indexing through the
parameter groups
Press this key to shift cursor
to the left

Control Circuit Terminal (L1, L2)
Used to connect 200~230Vac,
50/60Hz 1-phase/3-phase VAC
supply.
Main Circuit Terminal (R, S, T)
Used to connect 200~230V, 50/
60Hz commercial power supply

Servo Motor Output (U, V, W)
Used to connect servo motor,
Never connect the output
therminal to main circuit power.
The AC servo drive may be
destroyed beyond repair if
incorrect cables are connected
to the output terminals.
Internal/External Regenerative
Resistor Terminal
1) When using an external
regenerative resistor,
connect PA/+ and PBe to the
regenerative resistor and
ensure that the circuit
between PA/+ and PBi is open.
2) When using theinternal
regenerative resistor, ensure
that the circuit between PA/+
and PBi is closed and the
circuit between PA/+ and
PBe is open.

: Press this key to increase
values on the display
: Press this key to decrease
values on the display
ENT

: Press this key to store data

Field bus communication
interface CANopen and
CANmotion

I/O Interface
Used to connect Host Controller
(PLC) or control I/O signal
Encoder Interface
Used to connect Encoder of
Servo Motor
Serial Communication Interface
For RS-485/232 serial
communication for drive set-up.
Used to connect personal
computer or other controllers
Ground Terminal

AC servo drive

Lexium 23A

1. Introduction

1.4 Nameplate information
Lexium 23 Series Servo Drive
z Nameplate Explanation

BCH Series Servo Motor
z Nameplate Explanation

AC servo drive

1. Introduction

Lexium 23A

1.5 Type code
Lexium 23 Plus drive commercial reference
L

LXM = Lexium Servo Drive
23 = Product series
Interface
A = CANopen
D = I/O
Continuous Power
U01 = 0.1 KW
U02 = 0.2 KW
U04 = 0.4 KW
U07 = 0.75 KW
U10 = 1 KW
U15 = 1.5 KW
U20 = 2 KW
U30 = 3.0 kW
U45 = 4.5 kW
U55 = 5.5 kW
U75 = 7.5 kW
Mains voltage
M3X = 200/240VAC 3-phases (or single phase depending on caliber), no EMC filter

AC servo drive

Lexium 23A

1. Introduction

BCH motor commercial reference
B

BCH = BCH servo motor series
Flange size
040 = 40 mm Flange
060 = 60 mm Flange
080 = 80 mm Flange
100 = 100 mm Flange
130 = 130 mm Flange
180 = 180 mm Flange
Length ( Number of stacks)
1 = one stack
2 = two stacks
3 = three stacks
4 = four stacks
5 = five stacks
Speed type
M = Low Speed (1000/1500 rpm)
N = Medium Speed (2000 rpm)
O = High Speed (3000 rpm)
Shaft
0 = w/o key (smooth) :No Oil Seal (IP40 for shaft end)
1 = with key : No Oil Seal (IP40 for shaft end)
2 = w/o key (smooth) : With Oil seal (IP65 for shaft end)
3 = with key: Oil Seal (IP65 for shaft end)
Encoder
2 = High resolution incremental encoder 20 Bits
Brake
A = w/o brake
F = with brake
Connection System
1 = flying leeds (for BCH 040, 060, 080), military connector (for BCH 100, 130, 180)
Mount
C = mechanical mount: Asian standard

AC servo drive

1. Introduction

Lexium 23A

1.6 Servo Drive and Servo Motor Combinations
Lexium 23 Plus servo drive / BCH servo motor combination
BCH
servo
motor
output
power

BCH
Rated Peak
Maximum Rated Combination
servo
torque stall
speed
speed Servo drive
Servo motor
Motor
motor
torque
Reference
Reference
inertia
inertia
type
(without
brake)
kW
kgcm2
Nm
Nm
rpm
rpm
Single phase: 200...255 V a 50/60 Hz or three phase : 170...255 V a 50/60 Hz
0.1
0.037
0.32
0.96
5000
3000 LXM23pU01M3X BCH0401Op2p1C ultra low
0.2

0.177

0.64

1.92

5000

3000

LXM23pU02M3X

BCH0601Op2p1C

ultra low

0.3

8.17

2.86

8.59

2000

1000

LXM23pU04M3X

BCH1301Mp2p1C

medium

BCH0602Op2p1C ultra low

0.4

0.277

1.27

3.82

5000

3000

LXM23pU04M3X

0.4

0.68

1.27

3.82

5000

3000

LXM23pU04M3X

BCH0801Op2p1C

low

BCH1301Np2p1C

medium
medium

0.5

8.17

2.39

7.16

3000

2000

LXM23pU04M3X

0.6

8.41

5.73

17.19

2000

1000

LXM23pU07M3X

BCH1302Mp2p1C

BCH0802Op2p1C low

0.75

1.13

2.39

7.16

5000

3000

LXM23pU07M3X

0.9

11.18

8.59

25.78

2000

1000

LXM23pU10M3X

BCH1303Mp2p1C

medium

BCH1001Op2p1C

low

2.65

3.18

9.54

5000

3000

LXM23pU10M3X

11.18

4.77

14.32

3000

2000

LXM23pU10M3X

BCH1302Np2p1C

medium

2000

LXM23pU15M3X

BCH1303Np2p1C

medium

BCH1002Op2p1C

low

1.5

11.18

7.16

21.48

3000

Three phase : 170...255 V a 50/60 Hz
2

4.45

6.37

19.11

5000

3000

LXM23pU20M3X

14.59

9.55

26.65

3000

2000

LXM23pU20M3X

BCH1304Np2p1C

medium

BCH1801Np2p1C

high

34.68

9.55

26.65

3000

2000

LXM23pU20M3X

54.95

14.32

42.96

3000

2000

LXM23pU30M3X

BCH1802Np2p1C

high

BCH1802Mp2p1C

high

54.95

19.10

57.29

3000

1500

LXM23pU30M3X

3.5

54.8

16.71

50.31

3000

2000

LXM23pU45M3X

BCH1803Np2p1C

high

BCH1803Mp2p1C

high

4.5

77.75

28.65

71.62

3000

1500

LXM23pU45M3X

5.5

99.78

35.01

87.53

3000

1500

LXM23pU55M3X

BCH1804Mp2p1C

high

1500

LXM23pU75M3X

BCH1805Mp2p1C

high

7.5

142.7

47.74

119.36

3000

AC servo drive

Before you begin - safety
information

At a Glance
What's in this
Chapter?

AC servo drive

This chapter contains the following topics:
Topic

Page

Qualification of personnel

Intended use

Hazard categories

Basic information

DC bus voltage measurement

Standards and terminology

2. Before you begin - safety information

Lexium 23A

2.1 Qualification of personnel
Only appropriately trained persons who are familiar with and understand the
contents of this manual and all other pertinent product documentation are
authorized to work on and with this product. In addition, these persons must have
received safety training to recognize and avoid hazards involved. These persons
must have sufficient technical training, knowledge and experience and be able to
foresee and detect potential hazards that may be caused by using the product, by
changing the settings and by the mechanical, electrical and electronic equipment of
the entire system in which the product is used.
All persons working on and with the product must be fully familiar with all applicable
standards, directives, and accident prevention regulations when performing such work.

2.2 Intended use
This product is a drive for 3-phase servo motors and intended for industrial use
according to this manual.
The product may only be used in compliance with all applicable safety regulations and
directives, the specified requirements and the technical data.
Prior to using the product, you must perform a risk assessment in view of the planned
application. Based on the results, the appropriate safety measures must be
implemented.
Since the product is used as a component in an entire system, you must ensure the
safety of persons by means of the design of this entire system (for example, machine
design).
Operate the product only with the specified cables and accessories. Use only genuine
accessories and spare parts.
The product must NEVER be operated in explosive atmospheres (hazardous
locations, Ex areas).
Any use other than the use explicitly permitted is prohibited and can result in hazards.
Electrical equipment should be installed, operated, serviced, and maintained only by
qualified personnel.

AC servo drive

Lexium 23A

2. Before you begin - safety information

2.3 Hazard categories
Safety instructions to the user are highlighted by safety alert symbols in the manual.
In addition, labels with symbols and/or instructions are attached to the product that
alert you to potential hazards.
Depending on the seriousness of the hazard, the safety instructions are divided into
4 hazard categories.

DANGER
DANGER indicates an imminently hazardous situation, which, if not avoided, will
result in death or serious injury.

WARNING
WARNING indicates a potentially hazardous situation, which, if not avoided, can
result in death, serious injury, or equipment damage.

CAUTION
CAUTION indicates a potentially hazardous situation, which, if not avoided, can
result in injury or equipment damage.

CAUTION
CAUTION used without the safety alert symbol, is used to address practices not
related to personal injury (e.g. can result in equipment damage).

AC servo drive

2. Before you begin - safety information

Lexium 23A

2.4 Basic information

DANGER
HAZARD OF ELECTRIC SHOCK, EXPLOSION OR ARC FLASH
•

•

•
•
•
•
•

•

Only appropriately trained persons who are familiar with and understand the
contents of this manual and all other pertinent product documentation and
who have received safety training to recognize and avoid hazards involved
are authorized to work on and with this drive system. Installation,
adjustment, repair and maintenance must be performed by qualified
personnel.
The system integrator is responsible for compliance with all local and
national electrical code requirements as well as all other applicable
regulations with respect to grounding of all equipment.
Many components of the product, including the printed circuit board,
operate with mains voltage. Do not touch. Only use electrically insulated
tools.
Do not touch unshielded components or terminals with voltage present.
The motor generates voltage when the shaft is rotated. Prior to performing
any type of work on the drive system, block the motor shaft to prevent rotation.
AC voltage can couple voltage to unused conductors in the motor cable.
Insulate both ends of unused conductors in the motor cable.
Do not short across the DC bus terminals or the DC bus capacitors.
Before performing work on the drive system:
- Disconnect all power, including external control power that may be
present.
- Place a "DO NOT TURN ON" label on all power switches.
- Lock all power switches in the open position.
- Wait 10 minutes to allow the DC bus capacitors to discharge. Measure the
voltage on the DC bus as per chapter "DC bus voltage measurement" and
verify the voltage is < 42 Vdc. The DC bus LED is not an indicator of the
absence of DC bus voltage.
Install and close all covers before applying voltage.

Failure to follow these instructions will result in death or serious injury.

AC servo drive

Lexium 23A

2. Before you begin - safety information

WARNING
UNEXPECTED MOVEMENT
Drives may perform unexpected movements because of incorrect wiring, incorrect
settings, incorrect data or other errors.
Interference (EMC) may cause unpredictable responses in the system.
• Carefully install the wiring in accordance with the EMC requirements.
• Do NOT operate the product with unknown settings or data.
• Perform a comprehensive commissioning test.
Failure to follow these instructions can result in death or serious injury.

WARNING
LOSS OF CONTROL
•

•
•

The designer of any control scheme must consider the potential failure
modes of control paths and, for certain critical functions, provide a means to
achieve a safe state during and after a path failure. Examples of critical
control functions are EMERGENCY STOP, overtravel stop, power outage and
restart.
Separate or redundant control paths must be provided for critical functions.
System control paths may include communication links. Consideration must
be given to the implication of unanticipated transmission delays or failures
of the link.
Observe the accident prevention regulations and local safety guidelines. 1)
Each implementation of the product must be individually and thoroughly
tested for proper operation before being placed into service.

Failure to follow these instructions can result in death or serious injury.
1) For USA: Additional information, refer to NEMA ICS 1.1 (latest edition), Safety Guidelines for
the Application, Installation, and Maintenance of Solid State Control and to NEMA ICS 7.1
(latest edition), Safety Standards for Construction and Guide for Selection, Installation for
Construction and Operation of Adjustable-Speed Drive Systems.

AC servo drive

2. Before you begin - safety information

Lexium 23A

2.5 DC bus voltage measurement
Disconnect all power prior to starting work on the product.

DANGER
HAZARD OF ELECTRIC SHOCK, EXPLOSION OR ARC FLASH
•

Only appropriately trained persons who are familiar with and understand the
safety instructions in the chapter "Before you begin - safety information"
may perform the measurement.

Failure to follow these instructions will result in death or serious injury.
The DC bus voltage can exceed 800 Vdc. Use a properly rated voltagesensing device
for measuring. Procedure:
X Disconnect all power.
X Wait 10 minutes to allow the DC bus capacitors to discharge.
X Measure the DC bus voltage between the DC bus terminals to verify that the
voltage is < 42 Vdc.
X If the DC bus capacitors do not discharge properly, contact your local Schneider
Electric representative. Do not repair or operate the product.
The Charge LED (DC-bus) is not an indicator of the absence of DC bus voltage.

2.6 Standards and terminology

Technical terms, terminology and the corresponding descriptions in this manual are
intended to use the terms or definitions of the pertinent standards.
In the area of drive systems, this includes, but is not limited to, terms such as "safety
function", "safe state", "fault", "fault reset", "failure", "error", "error message",
"warning", "warning message", etc.
Among others, these standards include:
z IEC 61800 series: "Adjustable speed electrical power drive systems"
z IEC 61800-7 series: "Adjustable speed electrical power drive systems - Part 7-1:
Generic interface and use of profiles for power drive systems - Interface definition"
Also see the glossary at the end of this manual.

AC servo drive

Technical Data

3
At a Glance
Presentation

This chapter contains information on the ambient conditions and on the mechanical
and electrical properties of the product family and the accessories.

What's in this
Chapter?

This chapter contains the following topics:

AC servo drive

Topic

Page

Ambient conditions

Dimensions

Electrical Data

Certifications

Declaration of conformity

3. Technical Data

Lexium 23A

3.1 Ambient conditions
Ambient
conditions
transportation
and storage

The environment during transport and storage must be dry and free from dust. The
maximum vibration and shock load must be within the specified limits.
Temperature

[°C]

-25 ...65

The following relative humidity is permissible during transportation and storage:
Relative humidity (non-condensing)

Ambient
conditions for
operation

[%]

5 to 95

The maximum permissible ambient temperature during operation depends on the
mounting distances between the devices and the required power. Observe the
pertinent instructions in the chapter Installation.
Ambient temperature
(no icing, non-condensing)

[°C]

0 ...55 (if operating
temperature is above specified
range, forced cooling will be
required)

The following relative humidity is permissible during operation:
Relative humidity (non-condensing)

[%]

5 to 95% RH (without
condensation)

The following relative humidity is permissible during operation:
Atmospheric pressure

[kPA]

86~106

The installation altitude is defined as height above sea level.

Installation altitude above mean sea
level without derating

[m]

<1000

Installation altitude above mean sea
level when all of the following
conditions are met:

[m]

1000 ... 2000

45°C max. ambient temperature

Reduction of the continuous power
by 1% per 100m above 1000m

AC servo drive

Lexium 23A

Installation site
and connection

Pollution degree
and degree
ofprotection

3. Technical Data

For operation, the device must be mounted in a closed control cabinet. The device
may only be operated with a permanently installed connection.

Pollution degree

Degree of protection

IP 20

Vibration resistance

3 mm 5m/s2 [2..9 Hz] / 1g
[9..200 Hz] < 20kg
1,5 mm 10m/s2 [2..13 Hz] /
0,6g [13..200 Hz] 20kg ≤
Weight ≤ 100kg

Vibration

AC servo drive

3. Technical Data

Lexium 23A

3.2 Dimensions
3.2.1 Dimensions of Servo Drive
LXM23AU01M3X, LXM23AU02M3X, LXM23AU04M3X

LXM23AU07M3X, LXM23AU10M3X, LXM23AU15M3X

LXM23AU20M3X,LXM23AU30M3X

AC servo drive

Lexium 23A

3. Technical Data

LXM23AU45M3X

LXM23AU55M3X

LXM23AU75M3X

AC servo drive

3. Technical Data

Lexium 23A

3.2.2 Dimensions of Servo Motors
BCH040 (Servo motor/brake and Motor Power Connector 1 and Encoder Connector 2)
Key shaft (optional)

BCH0401

c (without
brake)
100.6

c (with
brake)
-136.6

weight (in kg)
(without brake)
0.5

weight (in kg)
(with brake)
0.8

BCH060 (Servo motor/brake and Motor Power Connector 1 and Encoder Connector 2)
Key shaft (optional)

BCH0601
BCH0602

c (without
brake)
105.5
130.7

c (with
brake)
141.6
166.8

weight (in kg)
(without brake)
1.2
1.6

weight (in kg)
(with brake)
1.5
2.0

AC servo drive

Lexium 23A

3. Technical Data

BCH080 (Servo motor/brake and Motor Power Connector 1 and Encoder Connector 2)
Key shaft (optional)

BCH0801
BCH0802

c (without
brake)
112.3
138.3

c (with
brake)
152.8
178.0

14
19

30
35

20
25

24.5
29.5

11
15.5

5
6

weight (in kg) weight (in kg)
(without brake) (with brake)
2.1
2.9
3.0
3.8

BCH100 (Servo motor/brake and Motor Power Connector 1 and Encoder Connector 2)
Key shaft (optional)

BCH1001
BCH1002

c (without
brake)
153.5
199.0

AC servo drive

c (with brake) weight (in kg)
(without brake)
192.5
4.3
226.0
6.2

weight (in kg)
(with brake)
4.7
7.2

3. Technical Data

Lexium 23A

BCH130 (Servo motor/brake and Motor Power Connector 1 and Encoder Connector 2)
Key shaft (optional)

BCH1301
BCH1302
BCH1303M
BCH1303N
BCH1304

c (without
brake)
147.5
147.5
163.5
167.5
187.5

c (with brake)
183.5
183.5
198.0
202.0
216.0

weight (in kg)
(without brake)
6.8
7
7.5
7.5
7.8

weight (in kg)
(with brake)
8.2
8.4
8.9
8.9
9.2

BCH180 (Servo motor/brake and Motor Power Connector 1 and Encoder Connector 2)
Key shaft (optional)

BCH1801
BCH1802N
BCH1802M

c (without
brake)
169.0
202.1
202.1

c (with
brake)
203.1
235.3
235.3

35
35
35

79
79
79

63
63
63

73
73
73

30
30
30

10
10
10

weight (in kg)
(without brake)
13.5
18.5
18.5

weight (in kg)
(with brake)
17.5
22.5
22.5

AC servo drive

Lexium 23A

3. Technical Data

3.3 Electrical Data
The products are intended for industrial use and may only be operated with a
permanently installed connection.

3.3.1 Specifications of Servo Drives (Lexium23 Plus Series)

Power supply

Lexium23 Plus Series
Phase / Voltage
Permissible Voltage Range
Continuous output current

Position Control Mode

Cooling System
Encoder Resolution /
Feedback Resolution
Control of Main Circuit
Tuning Modes
Dynamic Brake
Max. Input Pulse Frequency
Pulse Type
Command Source
Smoothing Strategy
Electronic Gear
Torque Limit Operation
Feed Forward Compensation

Speed Control Mode

Analog
Input
Command

Voltage Range
Input Resistance
Time Constant

Speed Control Range *1
Command Source
Smoothing Strategy
Torque Limit Operation
Frequency Response
Characteristic
Speed Accuracy *2
(at rated rotation speed)

AC servo drive

100W
01

200W
02

400W
04

750W
07

1kW
10

1.5kW
15

2kW
20

3kW
30

Three-phase or Single-phase: 220 VAC
170 ~ 255VAC Three-phase , 200 ~ 255VAC single phase
0.9
1.55
2.6
Arms
Arms
Arms
Natural Air Circulation

5.1
Arms

7.3
Arms

8.3
Arms

13.4
19.4
Arms Arms
Fan Cooling

4.5kW 5.5kW
45
55
Three-phase
220VAC,
170~255VAC
Three phase
32.5
40
Arms
Arms

7.5kW
75

47.5
Arms

20-bit (1 280 000 p/rev)
SVPWM (Space Vector Pulse Width Modulation) Control
Auto / Manual
Built-in
External
Max. 500Kpps (Line driver), Max. 200Kpps (Open collector)
Max. 4Mpps (Line receiver)
Pulse + Direction, A phase + B phase, CCW pulse + CW pulse
External pulse train (Pt mode) / Internal procedures (Pr mode)
Low-pass and P-curve filter
Electronic gear N/M multiple N: 1~32767, M: 1:32767 (1/50100MΩ, DC 500V

Insulation strength
Weight (kg) (without brake)

2.6

Class A (UL), Class B (CE)

Insulation resistance

AC servo drive

BCH
0802O

1500V AC, 60 seconds
0.5

1.2

1.6

2.1

3.0

Weight (kg) (with brake)

0.8

1.5

2.0

2.9

3.8

4.7

7.2

Max. radial shaft load (N)

78.4

196

245

490

Max. thrust shaft load (N)

39.2

Power rating (kW/s)
(with brake)

25.6

21.3

53.8

22.1

48.4

30.4

Rotor moment of inertia
(kg.cm2) (with brake)

0.04

0.192

0.30

0.73

1.18

3.33

4.953

3. Technical Data

Lexium 23A

BCH Series

BCH
0401O

BCH
0601O

BCH
BCH
0602O 0801O

BCH
0802O

BCH
1001O

BCH
1002O

Mechanical time constant (ms)
(with brake)

0.81

0.85

0.57

0.78

0.65

0.93

0.66

Brake holding torque
[Nm (min)]

0.3

1.3

2.5

Brake power consumption
(at 20°C) [W]

7.2

8.5

19.4

Brake release time [ms (Max)]

Brake pull-in time [ms (Max)]

Vibration grade (μm)

Operating temperature

0 °C to 40°C (32 °F to 104°F)

Storage temperature

-10 C to 80C (-14 °F to 176°F)

Operating humidity

20% to 90% RH (non-condensing)

Storage humidity

20% to 90% RH (non-condensing)

Vibration capacity
IP Rating

2.5G
IP65 (when waterproof connectors are used, or when an oil seal is
used to be fitted to the rotating shaft (an oil seal model is used))

Approvals

AC servo drive

Lexium 23A

Medium / High
Inertia Series

3. Technical Data

Medium / High Inertia Series

BCH
1301N

BCH
1302N

BCH
1303N

BCH
1801N

BCH
BCH
BCH
1802N 1802M 1301M

BCH
BCH
1302M 1303M

Rated output power (kW)

0.5

1.0

1.5

2.0

3.0

0.3

0.6

0.9

Rated torque (Nm)

2.39

4.77

7.16

9.55

14.32

19.10

2.86

5.73

8.59

Maximum torque (Nm)

7.16

14.3

21.48

28.65 28.65 42.97 57.29

8.59

17.19

21.4
8

Rated speed (rpm)

2000

Maximum speed (rpm)

1500

1000

3000

2000

Rated current (A)

2.9

5.6

8.3

11.01 11.22

16.1

19.4

2.5

4.8

7.5

Maximum current (A)

8.7

16.8

24.9

33.03 33.66 48.3

58.2

7.5

14.4

22.5

Power rating (kW/s)

7.0

27.1

45.9

62.5

37.3

66.4

10.0

39.0

66.0

Rotor moment of inertia
(kg.cm2) (without brake)

8.17

8.41

11.18

14.59 34.68 54.95

54.95

8.17

8.41

11.18

26.3

Mechanical time constant (ms)

1.91

1.51

1.10

0.96

1.62

1.28

1.84

1.40

1.06

Torque constant-KT (Nm/A)

0.83

0.85

0.87

0.85 0.89 0.98

1.15

1.19

1.15

Voltage constant-KE
(mV/(rpm))

30.9

31.9

31.8

31.4

42.5

43.8

41.6

Armature resistance (Ohm)

0.57

0.47

0.26 0.174 0.119 0.052 0.077

1.06

0.82

0.43

Armature inductance (mH)

7.39

5.99

4.01

2.76

2.84

1.38

1.27

14.29 11.12

6.97

Electrical time constant (ms)

12.96

12.88

15.31

15.86

23.87

26.39

16.51

13.55

16.06

Insulation class

1.06

13.50

Class A (UL), Class B (CE)

Insulation resistance

>100MΩ, DC 500V

Insulation strength

AC servo drive

BCH
1304N

1500V AC, 60 seconds

Weight (kg) (without brake)

6.8

7.5

7.8

13.5

18.5

6.8

7.5

Weight (kg) (with brake)

8.2

8.4

8.9

9.2

17.5

22.5

8.2

8.4

8.9

Max. radial shaft load (N)

490

1176

1470

490

Max. thrust shaft load (N)

490

Power rating (kW/s)
(with brake)

6.4

24.9

43.1

59.7

24.1

35.9

63.9

9.2

35.9

62.1

Rotor moment of inertia
(kg.cm2) (with brake)

8.94

9.14

11.90

15.88

37.86 57.06 57.06 8.94

9.14

11.9

Mechanical time constant
(ms) (with brake)

2.07

1.64

1.19

1.05

1.77

1.10

1.33

2.0

1.51

1.13

Brake holding torque
[Nm (min)]

16.5

3. Technical Data

Lexium 23A

Medium / High Inertia Series

BCH
1301N

BCH
BCH
1302N 1303N

BCH
1304N

BCH
1801N

BCH
BCH
1802N 1802M

BCH
1301M

BCH
1302M

BCH
1303M

Brake power consumption
(at 20°C) [W]

21.0

31.1

21.0

Brake release time [ms
(Max)]

5.0

Brake pull-in time [ms (Max)]

25.0

Vibration grade (μm)
Operating temperature
Storage temperature

15
0 °C to 40°C (32 °F to 104°F)
-10 °C to 80°C (-14 °F to 176°F)

Operating humidity

20% to 90% RH (non-condensing)

Storage humidity

20% to 90% RH (non-condensing)

Vibration capacity
IP Rating

2.5G
IP65 (when waterproof connectors are used, or when an oil seal is
used to be fitted to the rotating shaft (an oil seal model is used))

Approvals

AC servo drive

Lexium 23A

3. Technical Data

3.3.3 Servo Motor Speed-Torque Curves (T-N Curves)
BCH0401O servo motor
Control by LXM23pU01M3X servo drive
Single phase 220 V

BCH0601O servo motor
Control by LXM23pUO2M3X servo drive
Single phase 220 V

BCH0602O servo motor
Control by LXM23pU04M3X servo drive
Single phase 220 V

BCH0801O servo motor
Control by LXM23pU04M3X servo drive
Single phase 220 V

BCH0802O servo motor
Control by LXM23pU07M3X servo drive
Single phase 220 V

BCH1001O servo motor
Control by LXM23pU10M3X servo drive
Single phase 220 V

1 Peak torque
2 Continuous torque

AC servo drive

3. Technical Data

Lexium 23A

BCH1002O servo motor
Control by LXM23pU20M3X servo drive
Three phase 220 V

BCH1301N servo motor
Control by LXM23pU04M3X servo drive
Single phase 220 V

BCH1302N servo motor
Control by LXM23pU10M3X servo drive
Single phase 220 V

BCH1303N servo motor
Control by LXM23pU15M3X servo drive
Single phase 220 V

BCH1304N servo motor
Control by LXM23pU20M3X servo drive
Three phase 220 V

BCH1801N servo motor
Control by LXM23pU20M3X servo drive
Three phase 220 V

1 Peak torque
2 Continuous torque

AC servo drive

Lexium 23A

3. Technical Data

BCH1301M servo motor
Control by LXM23pU04M3X servo drive
Single phase 220 V

BCH1302M servo motor
Control by LXM23pU07M3X servo drive
Single phase 220 V

BCH1303M servo motor
Control by LXM23pU10M3X servo drive
Single phase 220 V

BCH1802M servo motor
Control by LXM23pU30M3X servo drive
Three phase 220 V

BCH1802N servo motor
Control by LXM23pU30M3X servo drive
Three phase 220 V

BCH1803M servo motor
Control by LXM23pU45M3X servo drive
Three phase 220 V

1 Peak torque
2 Continuous torque

AC servo drive

3. Technical Data

Lexium 23A

BCH1803N servo motor
Control by LXM23pU45M3X servo drive
Three phase 220 V

BCH1804M servo motor
Control by LXM23pU55M3X servo drive
Three phase 220 V

BCH1805M servo motor
Control by LXM23pU75M3X servo drive
Three phase 220 V

1 Peak torque
2 Continuous torque

AC servo drive

Lexium 23A

3. Technical Data

3.3.4 Overload Characteristics
Overload Protection Function
Overload protection is a built-in protective function to prevent a motor from
overheating.
Occasion of Overload
1. Motor was operated for several seconds under a torque exceeding 100% torque.
2. Motor had driven high inertia machine and had accelerated and decelerated at high
frequency.
3. Motor UVW cable or encoder cable was not connected correctly.
4. Servo gain was not set properly and caused motor hunting.
5. Motor holding brake was not released.
Chart of load and operating time
Ultra low/low Inertia Series (BCH0401O, BCH0601O, BCH0602O, BCH0801O,
BCH0802O, BCH1001O, BCH1002O)

AC servo drive

Load

Operating
Time

120%

263.8s

140%

35.2s

160%

17.6s

180%

11.2s

200%

220%

6.1s

240%

4.8s

260%

3.9s

280%

3.3s

300%

2.8s

3. Technical Data

Lexium 23A

Medium and Medium-High Inertia Series (BCH1301N, BCH1302N, BCH1303N,
BCH1304N, BCH1801N,BCH1802N, BCH1802M)

Load

Operating
Time

120%

527.6s

140%

70.4s

160%

35.2s

180%

22.4s

200%

16s

220%

12.2s

240%

9.6s

260%

7.8s

280%

6.6s

300%

5.6s

Load

Operating
Time

120%

527.6s

140%

70.4s

High Inertia Series (BCH1301M, BCH1302M, BCH1303M)

160%

35.2s

180%

22.4s

200%

16s

220%

12.2s

240%

9.6s

260%

7.8s

280%

6.6s

300%

5.6s

AC servo drive

Lexium 23A

3. Technical Data

3.3.5 DC Bus data
DC bus data for
single-phase
drives

LXM23A,LXM23D(1phase)

100W

200W

400W

759W

1KW

1.5KW

Nominal voltage 1 phase[VAC]

220

Nominal voltage DC bus[VDC]

311

Undervoltage limit[VDC]

P4-24*2 P4-24*2 P4-24*2 P4-24*2 P4-24*2 P4-24*2

Voltage limit:activation of error
Reaction in drive (quickstop)

410

Overvoltage limit[VDC]

410

Maximum continuous power
via DC BUS[kw]

0.1

0.2

0.4

0.75

1.5

Maximum continuous current
Via DC bus

LXM23A,LXM23D(3phase)

2kW

3kW

4.5W

5.5W

7.5KW

Nominal voltage 3 phase[VAC]

220

Nominal voltage DC bus[VDC]

311

DC bus data for
three-phase
drives

P4-24*2

Voltage limit:activation of error
Reaction in drive (quickstop)

410

Overvoltage limit[VDC]

410

Maximum continuous power via
DC BUS[kw]

4.5

5.5

7.5

Maximum continuous current
Via DC bus

Undervoltage limit[VDC]

AC servo drive

3. Technical Data

Lexium 23A

3.3.6 Additional EMC input filters
Applications

When combined with LXM 23pUppM3X servo drives, additional EMC fi lters can be
used to meet more stringent requirements and are designed to reduce conducted
emissions on the line supply below the limits of standard IEC 61800-3, edition 2,
categories C2 and C3.

Use according to
the type of line
supply

These additional fi lters can only be used on TN (neutral connection) and TT (neutral
to earth) type supplies.
The fi lters must not be used on IT (impedance or isolated neutral) type supplies.
Standard IEC/EN 61800-3, appendix D2.1, states that on IT (isolated or impedance
earthed neutral) type supplies, fi lters can adversely affect the operation of the
insulation monitors. In addition, the effectiveness of additional fi lters on this type of
line supply depends on the type of impedance between neutral and earth, and
therefore cannot be predicted.
Note: If a machine is to be installed on an IT supply, one solution is to insert an isolation
transformer in order to re-create a TT system on the secondary side.

AC servo drive

Lexium 23A

Characteristics of
servo drive/EMC
filter mounting

3. Technical Data

Conforming to standards

EN 133200

Degree of protection

IP 41 on the upper part with protective cover in place
IP 20 after removal of the protective cover

Relative humidity

According to IEC 60721-3-3, class 3K3, 5% to 85%,
without condensation or dripping water

Ambient air temperature
around the device

Operation

°C

Storage

°C -20 °C to 65 °C (-4°F to 149°F)

Altitude

AC servo drive

0 °C ~ 55 °C (If operating temperature is above 45 °C,
forced cooling will be required)

m 1000 m without derating
Up to 2000 m under the following conditions:
p Max. temperature 40°C
p Mounting distance between servo drives > 50 mm
p Protective cover removed

Vibration resistance

Conforming
to IEC
60068-2-6

10 Hz to 57 Hz: amplitude 0.075 mm
57 Hz to 150 Hz: 1 g

Shock resistance

Conforming
to IEC
60068-2-27

15 gn for 11 ms

Maximum nominal
voltage

Single-phase
50/60 Hz

120 + 10 %
240 + 10 %

Three-phase
50/60 Hz

240 + 10 %

Application, category:
EN 61800-3: 2001-02 ; IEC 61800-3, Ed.
2

Description

Category C2 in environment 1

Restricted distribution, for domestic use, sale
conditioned by the competence of the user and the
distributor on the subject of EMC compatibility

Category C3 in environment 2

Use in industrial premises

3. Technical Data

References

Lexium 23A

Additional EMC input fi lters
For
servo drive

Maximum servo motor cable length
conforming to
EN 55011
class A Gr1

EN 55011
class A Gr2

IEC/EN 61800-3
category C2
in environment 1

IEC/EN 61800-3
category C3
in environment 2

Reference

Weight

Single-phase supply voltage
LXM23pU07M3X
LXM23pU10M3X
LXM23pU15M3X

VW3 A31403

0.775

LXM23pU01M3X
LXM23pU02M3X
LXM23pU04M3X

VW3 A31401

0.600

VW3 A31404

0.900

VW3 A31406

1.350

VW3 A31407

3.150

Three-phase supply voltage
LXM23pU07M3X
LXM23pU10M3X
LXM23pU15M3X
LXM23pU20M3X
LXM23pU30M3X
LXM23pU45M3X
LXM23pU55M3X
LXM23pU75M3X

AC servo drive

Lexium 23A

3. Technical Data

3.3.7 Protection by circuit breaker
Application

The combinations listed below can be used to create a complete motor starter
unitcomprising a circuit breaker, a contactor and a Lexium 23 Plus servo drive.
The circuit breaker provides protection against accidental short-circuits,
disconnection and, if necessary, isolation.The contactor starts up and manages any
safety features, as well as isolating the servo motor on stopping.
The servo drive controls the servo motor, provides protection against short-circuits
between the servo drive and the servo motor and protects the motor cable against
overloads. The overload protection is provided by the motor thermal protection of
the servo drive.
Motor starters for Lexium 23 Plus servo drives
Reference

Rating

Single phase 220...255VAC/three phase:170...255VAC
LXM23pU01M3X

0.1

6.3

LXM23pU02M3X

0.2

6.3

LXM23pU04M3X

0.4

LXM23pU07M3X

0.7

LXM23pU10M3X

LXM23pU15M3X

1.5

LXM23pU20M3X

LXM23pU30M3X

LXM23pU45M3X

4.5

LXM23pU55M3X

5.5

LXM23pU75M3X

7.5

(1)Composition of contactors:

p LC1 K06: 3 poles + 1 "N/O" auxiliary contact
p LC1 D09: 3 poles + 1 "N/O" auxiliary contact + 1 "N/C" auxiliary contact
(2)Usual control circuit voltages, see table below:
AC control circuit
LC1-K
LC1-D

Volts a

110

220

230

240

50/60 Hz

Volts a

110

220/230

230

230/240

50 Hz

60 Hz

50/60 Hz

Note:
For other voltages between 24 V and 660 V, or for a DC control circuit, please consult
your Regional Sales Office.

AC servo drive

3. Technical Data

Lexium 23A

3.3.8 Protection using fuses
Protection using class fuses(UL standsrd)
Servo drive reference

Nominal power

Fuse to be placed upstream

Single phase:200...255/three phase:170...255VAC

LXM23pU01M3X

0.1

LXM23pU02M3X

0.2

LXM23pU04M3X

0.4

LXM23pU07M3X

0.7

LXM23pU10M3X

LXM23pU15M3X

1.5

LXM23pU20M3X

LXM23pU30M3X

LXM23pU45M3X

4.5

160

LXM23pU55M3X

5.5

160

LXM23pU75M3X

7.5

200

AC servo drive

Lexium 23A

3. Technical Data

3.4 Certifications
Product certifications:

AC servo drive

Assigned file number

Related products

Certified by

E198280

LXM23A servo drives,
LXM23D servo drives,
LXM23C servo drives,
LXM23M servo drives

E198273

BCH servo motors

3. Technical Data

Lexium 23A

3.5 Declaration of conformity
The following declaration of conformity is applicable if the product is used under the
specified conditions and with the cables listed in the Ac-cessories chapter.

SCHNEIDER ELECTRIC MOTION DEUTSCHLAND GmbH
Breslauer Str. 7 D-77933 Lahr

EC DECLARATION OF CONFORMITY
YEAR 2010
according to EC Directive on Machinery 98/37/EC
according to EC Directive EMC 2004/108/EC
according to EC Directive Low Voltage 2006/95/EC

We declare that the products listed below meet the requirements of the mentioned EC
Directives with respect to design, construction and version distributed by us. This
declaration becomes invalid with any modification on the products not authorized by us.
Designation:

AC Servo Drive

Type:

LXM23xx

Applied
harmonized
standards,
especially:

EN61800-5-1:2007
EN61800-3:2004

Applied
national standards
and technical
specifications,
especially:

UL 508C

Company stamp:

Date/ Signature:

January 29, 2010

Name/ Department: Dr. Björn Hagemann / VP Offer Implementation

AC servo drive

Lexium 23A

3. Technical Data

SCHNEIDER ELECTRIC MOTION DEUTSCHLAND GmbH
Breslauer Str. 7 D-77933 Lahr

EC DECLARATION OF CONFORMITY
YEAR 2010
according to EC Directive on Machinery 98/37/EC
according to EC Directive EMC 2004/108/EC
according to EC Directive Low Voltage 2006/95/EC

AC Servo Motor

Type:

BCHxx

Applied
harmonized
standards,
especially:

EN61800-5-1:2007
EN60034-1:2004-06
EN60034-5:2001-02;
EN60034-5/A1:2007-01

Applied
national standards
and technical
specifications,
especially:

UL 1004

Company stamp:

Date/ Signature:

January 29, 2010

Name/ Department: Dr. Björn Hagemann / VP Offer Implementation

AC servo drive

3. Technical Data

Lexium 23A

AC servo drive

Engineering

4
At a Glance
Presentation

This chapter contains information on the application of the product that is vital in the
design phase.

What's in
thisChapter?

This chapter contains the following topics:

AC servo drive

Subject

Page

Electromagnetic compatibility, EMC

Residual current device

Operation in an IT mains

Rating the braking resistor

Logic type

Monitoring functions

Configurable inputs and outputs

4. Engineering

Lexium 23A

4.1 Electromagnetic compatibility, EMC

WARNNG
SIGNAL AND DEVICE INTERFERENCE
Signal interference can cause unexpected responses of device.
z
Install the wiring in accordance with the EMC requirements.
z
Verify compliance with the EMC requirements.
Failure to follow these instructions can result in death, serious injury or
equipment damage.

Limit values

This product meets the EMC requirements according to the standard IEC61800-3, if
the measures described in this manual are implemented during installation.
If the selected composition is not designed for category C1, note the following:

WARNNG
HIGH-FREQUENCY INTERFERENCE
In a residential environment this product may cause high-frequency interference
that may require interference suppression.
Failure to follow these instructions can result in death or serious injury.
An EMC-compliant design is required to meet the specified limit values. Note the
following requirements:

AC servo drive

Lexium 23A

Control cabinet
design

Additional
measures for
EMC improvement

AC servo drive

4. Engineering

EMC measures

Objective

Use galvanised or chrome-plated mounting plates,
make large contact surface connections for metal
parts, remove paint from contact surfaces

Good conductivity due to
two-dimensional contacts

Ground the control cabinet, door and mounting plate
with ground straps or ground wires with a cross
section greater than 10mm2 (AWG6).

Reduces emissions.

Fit switching devices such as contactors, relays or
solenoid valves with interference suppression
assemblies or arc suppressors (for example, diodes,
varistors, RC circuits).

Reduces mutual
interference

Install power and control components separately.

Reduces mutual
interference

An EMC-compliant design is required to meet the specified limit values. Depending
on the application, better results can be achieved with the following measures:
EMC measures

Objective

Upstream mains reactors

Reduces mains
harmonics, prolongs
product service life.

Upstream external mains filters

Improves the EMC limit
values.

Particularly EMC-compliant design, e.g. in a closed control
cabinet with 15dB damping of radiated interference

Improves the EMC limit
values.

4. Engineering

Lexium 23A

Figure 4.1 EMC measures

AC servo drive

Lexium 23A

4. Engineering

4.2 Residual current device

WARNNG
THIS PRODUCT MAY CAUSE DIRECT CURRENT IN THE PROTECTIVE GROUND
CONDUCTOR
If a residual current device (RCD) is used, conditions must be observed.
Failure to follow these instructions can result in death or serious injury.

Conditions for use
of residualcurrent
device

Where the installation regulations require upstream protection against direct or
indirect contact by means of a residual current device (RCD) or a residual current
monitor (RCM), a residual current device of "type A" can be used for a singlephase
drive with connection between N and L. In other cases, a "type B" RCD must be used.
Note the following:
z Filtering of high-frequency currents.
z Delayed triggering to avoid triggering as a result of capacitance which may be
present when the unit is switched on. 30 mA residual current devices rarely have a
delay. Use residual current devices which are not sensitive to unintentional
triggering, for example residual current devices with increased immunity.
Use residual current devices that meet the following conditions:
For single-phase devices, type A: Residual current devices of series s.i
(superimmunized, Schneider Electric).
z For three-phase devices, type B: sensitive to all current types with approval for
frequency inverters
When using residual current devices, consider the leakage currents of connected
consumers.
z

AC servo drive

4. Engineering

Lexium 23A

4.3 Operation in an IT mains
The device is intended for operation in a TT/TN mains. The device is not suitable for
operation in an IT mains.
A transformer grounded at the output turns a TT/TN mains into an IT mains. The
device may be connected to this mains.

AC servo drive

Lexium 23A

4. Engineering

4.4 Rating the braking resistor

WARNNG
MOTOR WITHOUT BRAKING EFFECT
An insufficient braking resistor causes overvoltage on the DC bus and switches off
the power stage. The motor is no longer actively decelerated.
z Verify that the braking resistor has a sufficient rating.
z Check the parameter settings for the braking resistor.
z Check the I2t value under the most critical condition by performing a test run.
The device switches off at an I2t value of 100%.
z When performing the calculation and the test run, take into account the fact
that the DC bus capacitors can absorb less braking energy at higher mains
voltages.
Failure to follow these instructions can result in death, serious injury or
equipment damage.

WARNNG
HOT SURFACES
The braking resistor may heat up to over 250 C (480 F) during operation.
z Avoid contact with the hot braking resistor.
z Do not allow flammable or heat-sensitive parts in the immediate vicinity of
the braking resistor.
z Provide for good heat dissipation.
z Check the temperature of the braking resistor under the most critical
condition by performing a test run.
Failure to follow these instructions can result in death, serious injury or
equipment damage.

AC servo drive

4. Engineering

Lexium 23A

Braking resistors are required for dynamic applications. During deceleration, the
kinetic energy is transformed into electrical energy in the motor. The electrical
energy increases the DC bus voltage. The braking resistor is activated when the
defined threshold value is exceeded. The braking resistor transforms electrical
energy into heat. If highly dynamic deceleration is required, the braking resistor must
be well adapted to the system.
Built-in
Regenerative
Resistor

When the output torque of servo motor in reverse direction of motor rotation speed,
it indicates that there is a regenerative power returned from the load to the servo
drive. This power will be transmitted into the capacitance of DC Bus and result in
rising voltage. When the voltage has risen to some high voltage, the servo system
need to dissipate the extra energy by using a regenerative resistor. Lexium23 Plus
series servo drives provide a built-in regenerative resistor and the users also can
connect to external regenerative resistor if more regenerative capacity is needed.
The following table shows the specifications of the servo drive's built-in regenerative
resistor and the amount of regenerative power (average value) that it can process.
Built-in Regenerative Resistor Specifications
Servo
Drive (kW)

Resistance (Ohm)
(parameter
P1-52)

Capacity (Watt)
(parameter
P1-53)

Regenerative Power
processed by built-in
regenerative resistor
(Watt) *1

Min. Allowable
Resistance
(Ohm)

0.1

100

0.2

100

0.4

100

0.75

1.5

4.5

100

5.5

7.5

When the regenerative power exceeds the processing capacity of the servo drive,
install an external regenerative resistor. Please pay close attention on the following
notes when using a regenerative resistor.

AC servo drive

Lexium 23A

4. Engineering

1. Make sure that the settings of resistance (parameter P1-52) and capacity
(parameter P1-53) is set correctly.
2. When the users want to install an external regenerative resistor, ensure that its
resistance value is the same as the resistance of built-in regenerative resistor. If
combining multiple small-capacity regenerative resistors in parallel to increase the
regenerative resistor capacity, make sure that the resistance value of the regenerative
resistor should comply with the specifications listed in the above table.
3. In general, when the amount of regenerative power (average value) that can be
processed is used at or below the rated load ratio, the resistance temperature will
increase to 120 C or higher (on condition that when the regeneration continuously
occurred). For safety reasons, forced air cooling is good way that can be used to reduce
the temperature of the regenerative resistors. We also recommend the users to use
the regenerative resistors with thermal switches. As for the load characteristics of the
regenerative resistors, please check with the manufacturer.
External
Regenerative
Resistor

AC servo drive

When using external regenerative resistor, connect it to PA/+ and PBe, and make sure
the circuit between PA/+ and PBi is open. We recommend the users should use the
external regenerative resistor that the resistance value following the above table
(Built-in Regenerative Resistor Specifications). We ignore the dissipative power of
IGBT (Insulated Gate Bipolar Transistor) in order to let the users easily calculate the
capacity of regenerative resistor. In the following sections, we will describe
Regenerative Power Calculation Method and Simple Calculation Method for
calculating the regenerative power capacity of external regenerative resistors.

4. Engineering

Sizing the braking
resistor

Lexium 23A

(1) Without Load
When there is no external load torque, if the servo motor repeats operation, the
returned regenerative power generated when braking will transmitted into the
capacitance of DC bus. After the capacitance voltage exceeds some high value,
regenerative resistor can dissipate the remained regenerative power.
Use the table and procedure described below to calculate the regenerative power.

Servo Drive (kW)

0.1
0.2
Low
Inertia

0.4
0.75

Medium
Inertia

Regenerative
power from
empty load
3000rpm to stop
Eo (joule)

Max.
regenerative
power of
capacitance E
c (joule)

BCH0401O

0.037

0.15

3
4

BCH0601O

0.177

0.87

BCH0602O

0.277

1.37

BCH0801O

0.68

3.36

BCH0802O

1.13

5.59

1.0

BCH1001O

2.65

13.1

2.0

BCH1002O

4.45

22.0

0.4

BCH1301N

8.17

40.40

1.0

BCH1302N

8.41

41.59

18
18

1.5
2.0
3.0

High
Inertia

Servo Motor

Rotor
Inertia
J (kg.cm2)

BCH1303N

11.18

55.28

BCH1304N

14.59

72.15

BCH1801N

34.68

171.50

BCH1802N

54.95

217.73

21
28

0.4

BCH1301M

8.17

40.40

0.75

BCH1302M

8.41

41.59

1.0

BCH1303M

11.18

55.29

3.0

BCH1802M

54.95

217.73

Eo = J x wr2/182 (joule) , Wr : rpm

AC servo drive

Lexium 23A

4. Engineering

If the load inertia is N x motor inertia, the regenerative power will be (N+1) x E0 when
servo motor brakes from 3000 rpm to 0. Then, the regenerative resistor can
dissipate: (N+1) x E0 - Ec (joule). If the time of repeat operation cycle is T sec, then the
regenerative power = 2 x ((N+1) x E0 - Ec) / T. The calculating procedure is as follows:
Step

For example:

Procedure

Equation and Setting Method

Set the capacity of regenerative
resistor to the maximum

Set the operation cycle T

Input by the users

Set motor speed Wr

Input by the users or read via P0-02 Drive
State Display

Set load/motor inertia ratio N

Input by the users or read via P0-02 Drive
State Display

Calculate the max. regenerative
power Eo

Eo = Jxwr2/182

Set the regenerative power
Ec that can be absorbed

Refer to the table above

Calculate the required
regenerative power capacity

2 x (N+1) x Eo-Ec) / T

Change the value of P1-53 to maximum

If we use 400W servo drive, the time of repeat operation cycle is T = 0.4 sec, max.
motor speed is 3000 rpm, the load inertia = 7 x motor inertia, then the necessary the
power of regenerative resistor = 2 x ( (7+1) x 1.68 - 8) / 0.4 = 27.2W. If the calculation
result is smaller than regenerative power, we recommend the users to use the builtin 60W regenerative resistor. Usually the built-in regenerative resistor provided by
Lexium23 Plus series servo drives can meet the requirement of general application
when the external load inertia is not excessive.
The users can see when the capacity of regenerative resistor is too small, the
accumulated power will be larger and the temperature will also increase. The fault,
AL005 may occur if the temperature is over high. The following figure shows the
actual operation of regenerative resistor.

AC servo drive

4. Engineering

Lexium 23A

(2) With Load
When there is an external load torque, servo motor is in reverse rotation when
external load greater than motor torque. Servo motor is usually in forward rotation
and the motor torque output direction is the same as the rotation direction. However,
there is still some special condition. If the motor output torque is in the reverse
direction of rotation, the servo motor is also in the reverse direction of rotation. The
external power is input into the servo drive through servo motor. The Figure below is
an example. The users can see the motor is in forward rotation at constant speed
when a sudden external load torque change and great power is transmitted to
regenerative resistor rapidly.

External load torque in reverse direction: TL x Wr TL : External load torque
For the safety, we strongly recommend the users should select the proper resistance
value according to the load.

AC servo drive

Lexium 23A

4. Engineering

For example:
When external load torque is a +70% rated torque and rotation speed reaches
3000 rpm, if using 400W servo drive (rated torque: 1.27 Nm), then the users need to
connect a external regenerative resistor which power is 2 x (0.7 x 1.27) x (3000 x
2 x π / 60) = 560W, 40Ω.
p Simple Calculation Method W
The users can select the adequate regenerative resistors according to the allowable
frequency required by actual operation and the allowable frequency when the servo
motor runs without load. The allowable frequency when the servo motor run without
load is the maximum frequency that can be operated during continuous operation
when servo motor accelerate from 0 rpm to rated speed and decelerate from rated
speed down to 0 rpm. The allowable frequencies when the servo motor run without
load are summarized in the following table.
Allowable frequency when the servo motor run without load (times/min)
and uses built-in regenerative resistor
Motor Capacity 600W

750W

900W

1.0KW

1.5KW

2.0KW

3.0KW

BCH....O

312

137

BCH....N

24
(F130)

10
(F180)

BCH....M

Servo Motor

83 (F100)

When the servo motor runs with load, the allowable frequency will change according
to the changes of the load inertia and rotation speed. Use the following equation to
calculate the allowable frequency.
Allowable frequency

Allowable frequency when servo motor run without load
m+1

(

Rated speed
Operating speed

)

times
min.

m = load/motor inertia ratio
The users can select the adequate external regenerative resistors according to the
allowable frequency by referring to the table below:

AC servo drive

4. Engineering

Lexium 23A

Allowable frequency when the servo motor run without load(times/min) and uses
external regenerative resistor
Motor Capacity

BCH....O
200W

Recommended
Regenerative Resistor
Specifications

400W
(F60)

400W
(F80)

750W

1.0KW

2.0KW

400W 80Ω

13710

8761

3569

400W 40Ω

2147

500W 40Ω

1145

1KW 16Ω

1363

Allowable frequency when the servo motor run without load(times/min) and uses
external regenerative resistor
Motor Capacity
Recommended
Regenerative Resistor
Specifications

BCH....N
0.5KW

1KW

1.5Kw

2.0KW

3.0KW

400W 80Ω

291

400W 40Ω

289

217

1KW 16Ω

416

175

1.5KW 16Ω

166

Allowable frequency when the servo motor run without load(times/min) and uses
external regenerative resistor
Motor Capacity

BCH....M
400KW

750KW

1.0KW

3.0KW
(F180)

400W 80Ω

297

400W 40Ω

289

1KW 40Ω

543

1.5KW 16Ω

166

Recommended
Regenerative Resistor
Specifications

When the regenerative resistor capacity is not enough, the users can connect to
multiple the same capacity regenerative resistors in parallel to increase it.
NOTE: Regarding the selection of regenerative resistor, please refer to the table of
regenerative resistor specifications described in section 4.5.
58

AC servo drive

Lexium 23A

4. Engineering

4.5 Logic type

WARNNG
UNINTENDED OPERATION
If source is used, a ground fault of a signal is detected as an On state.
z
Use great care in wiring to exclude the possibility of ground faults.

Failure to follow these instructions can result in death, serious injury or
equipment damage.
The digital inputs and outputs of this product can be wired for sink or source. for
further information please refer to section 5.2.8.4 Wiring Diagrams of I/O Signals
(CN1).
Signal inputs are protected against reverse polarity, outputs are shortcircuit
protected. The inputs and outputs are galvanically isolated.

AC servo drive

4. Engineering

Lexium 23A

4.6 Monitoring functions
The monitoring functions in the product can help to guard the system and reduce the
risks involved in a system misoperation. These monitoring functions may not be used
to protect persons.
The following monitoring functions are available:
Monitoring
Data link
Limit switch signals
Following error
Motor overload
Overvoltage and
undervoltage
Overtemperature
I2t limitation

Task
Error response if the link becomes inoperative
Monitors for permissible range of travel
Monitors for difference between actual motor position and
reference position
Monitors for excessively high current in the motor phases
Monitors for overvoltage and undervoltage of the supply
voltage
Monitors the device for overtemperature
Power limitation in the case of overloads for the motor, the
output current, the output power and the braking resistor.

For a description of the monitoring functions, see chapter 8.2.1 "Monitor Variables".

AC servo drive

Lexium 23A

4. Engineering

4.7 Configurable inputs and outputs

WARNNG
LOSS OF CONTROL
The use of limit switches can provide some protection against hazards (for
example, collision with mechanical stop caused by incorrect reference values).
z If possible, use the limit switches.
z Verify correct connection of the limit switches.
z Verify the correct installation of the limit switches. The limit switches must be
mounted in a position far enough away from the mechanical stop to allow for an
adequate stopping distance.
z Before you can use the limit switches, you must enable them.
Failure to follow these instructions can result in death, serious injury or
equipment damage.
This product has digital inputs and outputs that can be configured. The inputs and
outputs have a defined standard assignment depending on the operating mode. This
assignment can be adapted to the requirements of the customer's installation. See
chapter 5.2.8 "Configuration of the digital signal inputs and signal outputs" for
additional information.

AC servo drive

4. Engineering

Lexium 23A

AC servo drive

Installation

5
At a Glance
Presentation

What's in this
Chapter?

An engineering phase is mandatory prior to mechanical and electrical installation. See
chapter4 "Engineering", for basic information.

This chapter contains the following topics:
Topic
Mechanical installation
Electrical installation
Standard Connection Example

AC servo drive

Page
65
71
107

5. Installation

Lexium 23A

WARNNG
LOSS OF CONTROL
z

z
z

Failure to follow these instructions can result in death or serious injury.
1) For USA: Additional information, refer to NEMA ICS 1.1 (latest edition), Safety Guidelines for the Application,
Installation, and Maintenance of Solid State Control and to NEMA ICS 7.1 (latest edition), Safety Standards
for Construction and Guide for Selection, Installation for Construction and Operation of Adjustable-Speed
Drive Systems.

AC servo drive

Lexium 23A

5. Installation

5.1 Mechanical installation

DANGER
ELECTRIC SHOCK CAUSED BY FOREIGN OBJECTS OR DAMAGE
Conductive foreign objects in the product or serious damage may cause parasitic
voltage.
• Do not use damaged products.
• Keep foreign objects such as chips, screws or wire clippings from getting into
the product.
• Do not use products that contain foreign objects.
Failure to follow these instructions will result in death or serious injury.

WARNNG
HOT SURFACES
The heat sink at the product may heat up to over 100 C (212 F) during operation.
z Avoid contact with the hot heat sink.
z Do not allow flammable or heat-sensitive parts in the immediate vicinity.
z Consider the measures for heat dissipation described.
Failure to follow these instructions can result in death or serious injury.

AC servo drive

5. Installation

Lexium 23A

5.1.1 Installation Notes
Please pay close attention on the following installation notes:
z Do not bend or strain the connection cables between servo drive and motor.
z When mounting the servo drive, make sure to tighten all screws to secure the drive
in place.
z If the servo motor shaft is coupled directly to a rotating device ensure that the
alignment specifications of the servo motor, coupling, and device are followed.
Failure to do so may cause unnecessary loads or premature failure to the servo
motor.
z If the length of cable connected between servo drive and motor is more than 20m,
please increase the wire gauge of the encoder cable and motor connection cable
(connected to U, V, W terminals).
z Make sure to tighten the screws for securing motor.

5.1.2 Storage Conditions
The product should be kept in the shipping carton before installation. In order to
retain the warranty coverage, the AC servo drive should be stored properly when it is
not to be used for an extended period of time. Some storage suggestions are:
z Store in a clean and dry location free from direct sunlight.
z Store within an ambient temperature range of -20 C to +65 C (-4 F to 149 F).
z Store within a relative humidity range of 0% to 90% and non-condensing.
z Do not store in a place subjected to corrosive gases and liquids.
z Correctly packaged and placed on a solid surface.

AC servo drive

Lexium 23A

5. Installation

5.1.3 Installation Conditions
Operating Temperature
Lexium23 Plus Series Servo Drive : 0•C to 55•C (32•F to 131•F)
BCH Series Servo Motor
: 0•C to 40•C (32•F to 104•F)
The ambient temperature of servo drive for long-term reliability should be under
45•C (113•F).
If the ambient temperature of servo drive is greater than 45•C (113•F), please install
the drive in a wellventilated location and do not obstruct the airflow for the cooling
fan.
Caution
The servo drive and motor will generate heat. If they are installed in a control panel,
please ensure sufficient space around the units for heat dissipation.
Pay particular attention to vibration of the units and check if the vibration has
impacted the electric devices in the control panel. Please observe the following
precautions when selecting a mounting location. Failure to observe the following
precautions may void the warranty!
z Do not mount the servo drive or motor adjacent to heat-radiating elements or in
direct sunlight.
z Do not mount the servo drive or motor in a location subjected to corrosive gases,
liquids, or airborne dust or metallic particles.
z Do not mount the servo drive or motor in a location where temperatures and
humidity will exceed specification.
z Do not mount the servo drive or motor in a location where vibration and shock will
exceed specification.
z Do not mount the servo drive or motor in a location where it will be subjected to
high levels of electromagnetic radiation.

AC servo drive

5. Installation

Lexium 23A

5.1.4 Installation Procedure and Minimum Clearances
Installation Procedure
Incorrect installation may result in a drive malfunction or premature failure of the drive
and or motor. Please follow the guidelines in this manual when installing the servo drive
and motor.
The Lexium23 Plus series servo drive should be mounted perpendicular to the wall or in
the control panel. In order to ensure the drive is well ventilated, ensure that the all
ventilation holes are not obstructed and sufficient free space is given to the servo drive.
Do not install the drive in a horizontal position or malfunction and damage will occur.

Correct

Incorrect

Drive Mounting
The Lexium23 Plus series Servo drives must be back mounted vertically on a dry and solid
surface such as a NEMA enclosure. A minimum spacing of two inches must be maintained
above and below the drive for ventilation and heat dissipation. Additional space may be
necessary for wiring and cable connections. Also, as the drive conducts heat away via the
mounting, the mounting plane or surface should not conduct heat into the drive from
external sources.
Motor Mounting
The BCH Servo motors should be mounted firmly to a dry and solid mounting surface to
ensure maximum heat transfer for maximum power output and to provide a good
ground.
For the dimensions and weights specifications of servo drive or motor, please refer to
Chapter 3.3.1 and 3.3.2 "Specifications".

AC servo drive

Lexium 23A

5. Installation

Minimum Clearances
Install a fan to increase ventilation to avoid ambient temperatures that exceed the
specification. When installing two or more drives adjacent to each other please follow
the clearances as shown in the following diagram.
z

Minimum Clearances

NOTE:
1) The scale of the clearances does not match the dimensions as shown in the drawing
above. In the event of any discrepancy between the clearances and the dimensions,
the dimensions shall prevail.

AC servo drive

5. Installation

Lexium 23A

z Side by Side Installation

AC servo drive

Lexium 23A

5. Installation

5.2 Electrical installation

5.2.1 Connecting to Peripheral Devices
Figure 5.1 Configuration

AC servo drive

5. Installation

Lexium 23A

5.2.2 Servo Drive Connectors and Terminals
Terminal
Identification

Terminal
Description

Notes

L1, L2

Control circuit
terminal

Used to connect single-phase AC control circuit power depending
on connecting servo drive model.

R, S, T

Main circuit
terminal

Used to connect three-phase AC main circuit power depending on
connecting servo drive model.
Used to connect servo motor

U, V, W
FG (

)

Servo motor
output

Terminal Symbol

Wire Color

Red

White

Black

Description
Connecting to
threephase motor main
circuit cable.
Connecting to ground

FG (

)

Green

terminal (

) of the

servo drive.

PA/+, PBi, PBe,
PC/-

two places
CN1

Internal resistor

Ensure the circuit is closed between PA/+ and PBi,
and the circuit is open between PA/+ and PBe.

External resistor

Connect regenerative resistor to PA/+ and PBe,
and ensure an open circuit between PA/+ and PBi.

External braking
unit

Connect braking unit to PA/+ and PC/-, and
ensure an open circuit between PA/+ and PBi,
and PA/+ and PBe.
(N terminal is built in L1, L2, PC/-, and R, S, T.)
PA/+: Connecting to (+) terminal of V_BUS voltage.
PC/-: Connecting to (-) terminal of V_BUS voltage.

Regenerative
resistor terminal or
braking unit

Ground terminal

Used to connect grounding wire of power supply and servo motor.

I/O connector
(Optional Part)

Used to connect external controllers. Please refer to chapter 5.2.8
for details.
Used to connect encoder of servo motor. Please refer to chapter
5.2.9 for details.

CN2

Encoder
connector
(Optional Part)

Terminal Symbol

Wire Color

T+

Blue

Pin No.
5

T-

Blue/Black

6
3

n.c.

+5V

Red & Red/White

GND

Black & Black/White

2,4

CN3

Communication
connector
(Optional Part)

Used for RS-485 or RS-232 communication connection.
Please refer to chapter 9 "Communication" for details.

CN4

Communication
connector

Used to connect field bus interface CANopen and CANmotion.
Please refer to chapter 5.2.11 for details.

AC servo drive

Lexium 23A

Wiring Notes

5. Installation

Please observe the following wiring notes while performing wiring and touching any
electrical connections on the servo drive or servo motor.
1. Ensure to check if the power supply and wiring of the "power" terminals (R, S, T, L1,
L2, U, V, W) is correct.
2. Please use shielded twisted-pair cables for wiring to prevent voltage coupling and
eliminate electrical noise and interference.
3. As a residual hazardous voltage may remain inside the drive, please do not
immediately touch any of the "power" terminals (R, S, T, L1, L2, U, V, & W) and/or the
cables connected to them after the power has been turned off and the charge LED
is lit. (Please refer to the Safety Precautions chapter 2 "Before you begin - safety
information").
4. The cables connected to R, S, T and U, V, W terminals should be placed in separate
conduits from the encoder or other signal cables. Separate them by at least 30cm
(11.8 inches).
5. If the encoder cable (CN2) is too short, please use a twisted-shield signal wire with
grounding conductor. The wire length should be 20m (65.62ft.) or less. For lengths
greater than 20m (65.62ft.), the wire gauge should be doubled in order to lessen
any signal attenuation.
6. As for motor cable selection, please use the 600V PTFE wire and the wire length
should be less than 98.4ft. (30m). If the wiring distance is longer than 30m (98.4ft.),
please choose the adequate wire size according to the voltage.
7. The shield of shielded twisted-pair cables should be connected to the SHIELD end
(terminal marked
) of the servo drive.
8. For the connectors and cables specifications.

AC servo drive

5. Installation

Lexium 23A

5.2.3 Wiring Methods
For servo drives from 200W to 1.5kW the input power can be either single or threephase. However, single -phase connections are for servo drives 1.5kW and below only.
In the wiring diagram figures 5.2 & 5.3:
Power ON : contact "a" (normally open)
Power OFF /ALRM_RY : contact "b" (normally closed)
MC : coil of electromagnetic contactor, self-holding power, contact of main circuit
power
Figure 5.2 Single-Phase Power Supply Connection (for 1.5kW and below models)

AC servo drive

Lexium 23A

5. Installation

Figure 5.3 Three-Phase Power Supply Connection (for 2kW and above models)

5.2.4 Motor Power Cable Connector Specifications
Motor Model Name

U, V, W / Electromagnetic Brake Connector

Terminal
Identification

BCH0401O (100W)
BCH0601O (200W)
BCH06020 (400W)

BCH0801O (400W)
BCH0802O (750W)

VW3M5111

BCH0401O (100W)
BCH0601O (200W)
BCH06020 (400W)

BCH0801O (400W)
BCH0801O (750W)
VW3M5112

AC servo drive

5. Installation

Lexium 23A

Motor Model Name

Terminal
Identification

U, V, W / Electromagnetic Brake Connector

BCH1301M (300W)
BCH1301N (500W)
BCH1302M (600W)
BCH1303M (900W)
BCH1001O (1000W)
BCH1302N (1000W)
BCH1303N (1500W)
BCH1002O (2000W)
BCH1304N (2000W)

VW3M5121

BCH1801N (2000W)
BCH1802N (3500W)
BCH1802M (3000W)

VW3M5131

Terminal
Identification

U
(Red)

V
(White)

W
(Black)

CASE GROUND
(Green)

BRAKE1
(Blue)

BRAKE2
(Brown)

NOTE:
1) The coil of brake has no polarity. The names of terminal identification are BRAKE1
(Yellow) and BRAKE2 (Blue).
2) The power supply for brake is DC24V. Never use it for VDD, the +24V source
voltage.

AC servo drive

Lexium 23A

5. Installation

5.2.5 Encoder Connector Specifications

Motor Model Name

Terminal
Identification

Encoder Connector

BCH0401O (100W)
BCH0601O (200W)
BCH06020 (400W)

BCH0801O (400W)
BCH0802O (750W)
VW3M8121
BCH1301M (300W)
BCH1301N (500W)
BCH1302M (600W)
BCH1303M (900W)
BCH1001O (1000W)
BCH1302N (1000W)
BCH1303N (1500W)
BCH1002O (2000W)
BCH1304N (2000W)
BCH1801N (2000W)
BCH1802N (3500W)
BCH1802M (3000W)

Terminal
Identification
A
B

AC servo drive

T+

VW3M8122

T-

4
1
(Blue/
(Blue)
Black)
A

Reserved Reserved Reserved Reserved

DC+5V

GND

7
8
(Red & (Black &
Red/
Black/
White) White)
S
R

BRAID
SHELD
9
L

5. Installation

Lexium 23A

5.2.6 Cable Specifications for Servo Drive
Power Cable
Servo Drive and Servo Motor
LXM23AU01M3X
LXM23AU02M3X
LXM23AU04M3X

LXM23AU07M3X
LXM23AU10M3X
LXM23AU15M3X
LXM23AU20M3X
LXM23AU30M3X
LXM23AU45M3X
LXM23AU55M3X
LXM23AU75M3X

BCH0401O

Power Cable - Wire Gauge mm2(AWG)
L1, L2
R, S, T
U, V, W
PA/+, PBe
1.3 (AWG16) 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)

BCH0601O

1.3 (AWG16)

2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)

BCH0602O
BCH0801O
BCH1301N
BCH1301M
BCH0802O
BCH1302M
BCH1001O
BCH1302N
BCH1303M
BCH1303N
BCH1002O
BCH1304N
BCH1801N
BCH1802N
BCH1802M
BCH1803M
BCH1804M
BCH1805M

1.3 (AWG16)
1.3 (AWG16)
1.3 (AWG16)
1.3 (AWG16)
1.3 (AWG16)
1.3 (AWG16)
1.3 (AWG16)
1.3 (AWG16)
1.3 (AWG16)
1.3 (AWG16)
1.3 (AWG16)
1.3 (AWG16)
1.3 (AWG16)
1.3 (AWG16)
1.3 (AWG16)
1.3 (AWG16)
1.3 (AWG16)
1.3 (AWG16)

2.1 (AWG14)
2.1 (AWG14)
2.1 (AWG14)
2.1 (AWG14)
2.1 (AWG14)
2.1 (AWG14)
2.1 (AWG14)
2.1 (AWG14)
2.1 (AWG14)
2.1 (AWG14)
2.1 (AWG14)
2.1 (AWG14)
2.1 (AWG14)
3.3 (AWG12)
3.3 (AWG12)
3.3 (AWG12)
3.3 (AWG12)
5.3 (AWG10)

0.82 (AWG18)
0.82 (AWG18)
0.82 (AWG18)
0.82 (AWG18)
0.82 (AWG18)
0.82 (AWG18)
1.3 (AWG16)
1.3 (AWG16)
1.3 (AWG16)
1.3 (AWG16)
2.1 (AWG14)
2.1 (AWG14)
3.3 (AWG12)
3.3 (AWG12)
3.3 (AWG12)
8.4 (AWG8)
13.3 (AWG6)
13.3 (AWG6)

Encoder Cable
Servo Drive
LXM23AU01M3X
LXM23AU02M3X
LXM23AU04M3X
LXM23AU07M3X
LXM23AU10M3X
LXM23AU15M3X
LXM23AU20M3X
LXM23AU30M3X
LXM23AU45M3X
LXM23AU55M3X
LXM23AU75M3X

Wire Size
0.13 (AWG26)
0.13 (AWG26)
0.13 (AWG26)
0.13 (AWG26)
0.13 (AWG26)
0.13 (AWG26)
0.13 (AWG26)
0.13 (AWG26)
0.13 (AWG26)
0.13 (AWG26)
0.13 (AWG26)

Encoder Cable - Wire Gauge mm2 (AWG)
Core Number
UL Rating
10 core (4 pair)
UL2464
10 core (4 pair)
UL2464
10 core (4 pair)
UL2464
10 core (4 pair)
UL2464
10 core (4 pair)
UL2464
10 core (4 pair)
UL2464
10 core (4 pair)
UL2464
10 core (4 pair)
UL2464
10 core (4 pair)
UL2464
10 core (4 pair)
UL2464
10 core (4 pair)
UL2464

Wire Length
3m (9.84ft.)
3m (9.84ft.)
3m (9.84ft.)
3m (9.84ft.)
3m (9.84ft.)
3m (9.84ft.)
3m (9.84ft.)
3m (9.84ft.)
3m (9.84ft.)
3m (9.84ft.)
3m (9.84ft.)

Note:
1) Please use shielded twisted-pair cables for wiring to prevent voltage coupling and
eliminate electrical noise and interference.
2) The shield of shielded twisted-pair cables should be connected to the SHIELD end
of the servo drive.
3) In order to prevent fire hazard and accidents, please form the wiring by following
the cable specifications outlined above.
78

AC servo drive

Lexium 23A

5. Installation

5.2.7 Basic Wiring
Figure 5.4 Basic Wiring Schematic of 400W and below models

AC servo drive

5. Installation

Lexium 23A

Figure 5.5 Basic Wiring Schematic of 750W and above models

AC servo drive

Lexium 23A

5. Installation

5.2.8 Input / Output Interface Connector -CN1
The CN1 Interface Connector provides access to three signal groups:
i General interface for the analog speed and torque control, encoder reference
signal from the motor, pulse / direction inputs, and reference voltages.
ii 8 programmable Digital Inputs (DI), can be set via parameters P2-10 ~ P2-17
iii 5 programmable Digital Outputs (DO), can be set via parameters P2-18 ~ P2-22
A detailed explanation of each group is available in Section 3.3.2, Tables 3.A, 3.B & 3.C.
5.2.8.1 CN1
Terminal
Identification

AC servo drive

Figure 5.6 The Layout of CN1 Drive Connector

5. Installation

Lexium 23A

1
3
5
7
9
11
13
15
17

DO4+
DO3+
DO2+
DO1+
DI1COM+
GND
MON2
VDD

GND

21
23
25
27
29

OA
/OB
OB
DO5/HPULSE

31
33
35

DI7DI5PULL HI
(SIGN)
SIGN

Digital output
Digital output
Digital output
Digital output
Digital input
Power input (12~24V)
Analog input signal ground
Analog monitor output 2
+24V power output (for
external I/O)
Analog input signal ground

2
4
6
8
10
12
14
16
18

DO3DO2DO1DI4DI2GND
NC
MON1
T_REF

20 VCC

Digital output
Digital output
Digital output
Digital input
Digital input
Analog input signal ground
No Connection
Analog monitor output 1
Analog torque Input
+12V power output
(for analog command)
Encoder /A pulse output
Encoder /Z pulse output
Digital output
Digital output
Digital input

Encoder A pulse output
Encoder /B pulse output
Encoder B pulse output
Digital output
High-speed
Pulse input (-)
Digital input
Digital input
Pulse applied power (SIGN)

22
24
26
28
30

32 DI634 DI336 /SIGN

Digital input
Digital input
Position sign (-)

Position sign (+)

38 HPULSE

High-speed
Pulse input (+)
High-speed
position sign (-)

/OA
/OZ
DO4DO5+
DI8-

39 PULL
HI_P
(PULSE)
41 PULSE
43 /PULSE
45 COM-

Pulse applied Power
(PULSE)

40 /HSIGN

Pulse input (+)
Pulse input (-)
VDD(24V) power ground

42 V_REF
44 GND
46 HSIGN

47 COM-

VDD(24V) power ground

48 OCZ

49 COM-

VDD(24V) power ground

50 OZ

Analog speed input (+)
Analog input signal ground
High-speed
position sign (+)
Encoder Z pulse
Open-collector output
Encoder Z pulse
Line-driver output

Note:
1) The terminal marked "NC" must be left unconnected (No Connection). The NC
terminal is used within the servo drive. Any outside connection to the NC terminal
will result in damage to the drive and void the warranty!

AC servo drive

Lexium 23A

5.2.8.2 Signals
Explanation of
Connector CN1

5. Installation

The Tables 5.A, 5.B, & 5.C detail the three groups of signals of the CN1 interface. Table
3.A details the general signals. Table 5.B details the Digital Output (DO) signals and
Table 5.C details the Digital Input (DI) signals. The General Signals are set by the
factory and can not be changed, reprogrammed or adjusted. Both the Digital Input
and Digital Output signals can be programmed by the users.
Table 5.A General Signals
Signal

V_REF

T_REF

MON1
MON2

16
15

/PULSE
PULSE
/SIGN
SIGN

43
41
36
37

PULL HI_P
PULL HI_S

39
35

Highspeed HSIGN
Position
/HSIGN
HPULSE
Pulse
/HPULSE
Input

46
40
38
29

Analog
Signal
Input

Analog
Monitor
Output

Position
Pulse
Input

AC servo drive

Pin No.

Details
1. Motor speed command: -10V to +10V,
corresponds to -3000 ~ +3000 rpm speed
command (Factory default setting).
2. Motor speed command: -10V to +10V,
corresponds to -3 ~ +3 rotations position
command (Factory default setting).
Motor torque command: -10V to +10V,
corresponds to -100% to +100% rated torque
command.
Monitor operation status: Motor characteristics
such as speed and current can be represented
by analog voltages. The drive provides two
channels which can be configured with the
parameter P0-03 to output the desired
characteristics.
Please reference the parameter P0-03 for
monitoring commands and P1-04 / P1-05 for
scaling factors.
Output voltage is reference to the power
ground.
The drive can accept two different types of
pulse inputs: Line-driver input (max. input
frequency is 500Kpps) and Open-collector
input (max. input frequency is 200Kpps).
Three different pulse commands can be
selected via parameter P1-00. They are A
phase + B phase (Quadrature), CW pulse +
CCW pulse, and Pulse + Direction.
When an Open-collector type of pulse is used,
this terminal must be connected to a pull-up
power supply.
The drive can accept two different types of
highspeed pulse inputs: +5V input and Linedriver input.
The max. input frequency is 4MHz.
Three different pulse commands can be
selected via parameter P1-00. They are A
phase + B phase (Quadrature), CW pulse +
CCW pulse, and Pulse + Direction.

Wiring Diagram
(Refer to
5.2.8.4)

C3/C4

C4-2

5. Installation

Lexium 23A

Signal

Position
Pulse
Output

Pin No.
OA
/OA
OB
/OB
OZ
/OZ
OCZ
VDD

Power

COM+
COM-

VCC
Power

GND

Other

21
22
25
23
50
24
48

Details

Encoder signal output A, B, Z (Line-driver
output).
The motor encoder signals are available
through these terminals.
Encoder signal output Z (Open-collector output).

VDD is the +24V source voltage provided by the
17
drive. Maximum permissible current 500mA.
COM+ is the common voltage rail of the Digital
Input (DI) and Digital Output (DO) signals.
When using VDD, VDD should be connected to
11
COM+. If not using VDD, the users should add an
45
external applied power (+12V to +24V). The
47
positive end of this applied power should be
49
connected to COM+ and the negative end of
this applied power should be connected to
COM-.
VCC is a +12V power rail provided by the drive. It
is used for providing simple analog command
20
(analog speed or analog torque command).
Maximum permissible current 100mA.
12, 13, 19, The polarity of VCC is with respect to Ground
44
(GND).
See previous note for NC terminal description
14
of CN1 connector on page 3-13.

Wiring Diagram
(Refer to
5.2.8.4)

C13/C14

The Digital Input (DI) and Digital Output (DO) have factory default settings which
correspond to the various servo drive control modes. (See section 6.1). However, both
the DI's and DO's can be programmed independently to meet the requirements of
the users.
Detailed in Tables 5.B and 5.C are the DO and DI functions with their corresponding
signal name and wiring schematic. The factory default settings of the DI and DO
signals are detailed in Table 5.G and 5.H.
All of the DI's and DO's and their corresponding pin numbers are factory set and nonchangeable, however, all of the assigned signals and control modes are user
changeable. For Example, the factory default setting of DO5 (pins 28/27) can be
assigned to DO1 (pins 7/6) and vise versa.
The following Tables 5.B and 5.C detail the functions, applicable operational modes,
signal name and relevant wiring schematic of the default DI and DO signals.

AC servo drive

Lexium 23A

5. Installation
Table 5.B DO Signals
Assigned
Control
Mode

SRDY

ALL

SON

Not
assigned

ZSPD

ALL

ALL
(except
Pt, Pr)

TPOS

Pt, Pr,
Pt-S,Pt-T,
Pr-S, Pr-T

TQL

Not
assigned

ALRM

ALL

TSPD

AC servo drive

Pin No.
(Default)
+
-

DO
Signal

Details

Wiring Diagram
(Refer to
5.2.8.4)

SRDY is activated when the servo drive is
ready to run. All fault and alarm conditions, if
present, have been cleared.
SON is activated when control power is
applied the servo drive. The drive may or may
not be ready to run as a fault / alarm condition
may exist.
Servo ON (SON) is "ON" with control power
applied to the servo drive, there may be a
fault condition or not. The servo is not ready
to run.
Servo ready (SRDY) is "ON" where the servo is
ready to run, NO fault / alarm exists.
ZSPD is activated when the drive senses the
motor is equal to or below the Zero Speed
Range setting as defined in parameter P1-38.
For Example, at factory default ZSPD will be
4
activated when the drive detects the motor
rotating at speed at or below 10 rpm, ZSPD
will remain activated until the motor speed
increases above 10 rpm.
TSPD is activated once the drive has detected
the motor has reached the Target Rotation
- Speed setting as defined in parameter P1-39.
TSPD will remain activated until the motor
C5/C6/C7/C8
speed drops below the Target Rotation
Speed.
1. When the drive is in Pt mode, TPOS will be
activated when the position error is equal
and below the setting value of P1-54.
2. When the drive is in Pr mode, TPOS will be
activated when the drive detects that the
position of the motor is in a -P1-54 to +P126
54 band of the target position. For
Example, at factory default TPOS will
activate once the motor is in -99 pulses
range of the target position, then
deactivate after it reaches +99 pulses
range of the desired position.
TQL is activated when the drive has detected
- that the motor has reached the torques limits
set by either the parameters P1-12 ~ P1-14 of
via an external analog voltage.
ALRM is activated when the drive has
detected a fault condition. (However, when
Reverse limit error, Forward limit error,
27
operational stop, Serial communication error,
and Undervoltage these fault occur, WARN is
activated first.)
6

5. Installation

Lexium 23A

DO Signal
BRKR
HOME

OLW

WARN

OVF
SNL
(SCWL)
SPL
(SCCWL)

CMD_OK

CAP_OK

MC_OK

SP_OK

Assigned Pin No.
Wiring Diagram
Control (Default)
(Refer to
Details(*1)
Mode
5.2.8.4)
+
ALL
1
26 BRKR is activated actuation of motor brake.
HOME is activated when the servo drive has
ALL
3
2 detected that the "HOME" sensor (ORGP,
digital input 0x24) has been detected.
OLW is activated when the servo drive has
ALL
- detected that the motor has reached the
output overload level set by the parameter
P1-56.
Servo warning output. WARN is activated
when the drive has detected Reverse limit
ALL
- error, Forward limit error, operational stop,
Serial communication error, and
Undervoltage these fault conditions.
Position command overflow. OVF is
ALL
- activated when the servo drive has
detected that a position command
overflows.
Reverse software limit. SNL is activated
Pr
- when the servo drive has detected that
reverse software limit is reached.
Forward software limit. SPL is activated
Pr
- when the servo drive has detected that
C5/C6/C7/C8
forward software limit is reached.
Internal position command completed
output.
Pr
- CMDOK is activated when the servo drive
has detected that the internal position
command has been completed.
Capture operation completed output.
Pr
- CAP_OK is activated when the servo drive
has detected that capture operation has
been completed.
Motion control completed output. MC_OK
is activated when CMD_OK and TPOS are
both ON.
It indicates MC_OK is activated only when
Pr
- the servo drive has detected that the
position command has been given and the
positioning has been completed also. If
only CMD_OK or TPOS is ON, MC_OK will not
be activated.
SP_OK will be activated when the speed
S, Sz
- error is equal and below the setting value of
P1-47.

AC servo drive

Lexium 23A

5. Installation

DO Signal
SDO_0
SDO_1
SDO_2
SDO_3
SDO_4
SDO_5
SDO_6
SDO_7
SDO_8
SDO_9
SDO_A
SDO_B
SDO_C
SDO_D
SDO_E
SDO_F

Pin No.
Assigned (Default)
Control
Mode
+
ALL
ALL
ALL
ALL
ALL
ALL
ALL
ALL
ALL
ALL
ALL
ALL
ALL
ALL
ALL
ALL

Details(*1)
Output the status of bit00 of P4-06.
Output the status of bit00 of P4-06.
Output the status of bit00 of P4-06.
Output the status of bit00 of P4-06.
Output the status of bit00 of P4-06.
Output the status of bit00 of P4-06.
Output the status of bit00 of P4-06.
Output the status of bit00 of P4-06.
Output the status of bit00 of P4-06.
Output the status of bit00 of P4-06.
Output the status of bit00 of P4-06.
Output the status of bit00 of P4-06.
Output the status of bit00 of P4-06.
Output the status of bit00 of P4-06.
Output the status of bit00 of P4-06.
Output the status of bit00 of P4-06.

Wiring
Diagram
(Refer to
5.2.8.4)

C5/C6/C7/C8

NOTE:
1) PINS 3 & 2 can either be TSPD or HOME dependent upon control mode selected.
2) The DO signals that do not have pin numbers in Tables 3.B are not default DO
signals. If the users want to use these non-default DO signals, the users need to
change the settings of parameters P2-18 ~ P2-22. The "state" of the output
function may be turned ON or OFF as it will be dependant on the settings of
parameters P2-18 ~ P2-22. Please refer to section 5.2.8.3 for details.

AC servo drive

5. Installation

Lexium 23A
Table 5.C DI Signals
DI
Signal

Assigned Pin No.
Control (Default)
Mode

SON

ALL

ARST

ALL

GAINUP

ALL

CCLR

Pt, Pr

ZCLAMP

ALL

CMDINV

T, S

CTRG

Pr, Pr-S,
Pr-T, S, Sz

Servo On. Switch servo to "Servo Ready".
A number of Faults (Alarms) can be cleared
by activating ARST. Please see table 10-3 for
applicable faults that can be cleared with the
ARST command. However, please
investigate Fault or Alarm if it does not clear
or the fault description warrants closer
inspection of the drive system.
Gain switching
When CCLR is activated, the setting
parameter P2-50 Pulse Clear Mode is
executed.
When this signal is On and the motor speed
value is lower than the setting value of P1-38,
it is used to lock the motor in the instant
position while ZCLAMP is On.
When this signal is On, the motor is in
reverse rotation.
When the drive is in Pr mode and CTRG is
activated, the drive will command the motor
to move the stored position which
correspond the POS 0 ~ POS 5 settings.
Activation is triggered on the rising edge of
the pulse.
ON indicates the torque limit command is
valid.
ON indicates the speed limit command is
valid.
When the Pr Control Mode is selected, the 64
stored positions are programmed via a
combination of the POS 0 ~ POS 5
commands.
See table 5.D.

Motor stop.

S, Sz, Pt-S,
Pr-S, S-T

TRQLM

S, Sz

SPDLM

T, Tz

POS0

Pr, Pr-S,
Pr-T

POS1

POS2
STOP
SPD0
SPD1
TCM0

Details(*2)

8
34

TCM1

Pt, T, Tz,
Pt-T, Pr-T,
S-T

S-P

Pt-S, Pr-S

S-T

T-P

Pt-T, Pr-T

Wiring
Diagram
(Refer to
5.2.8.4)

C9/C10/C11/
C12

Select the source of speed command:
See table 5.E.
Select the source of torque command:
See table 5.F.
Speed / Position mode switching
OFF: Speed, ON: Position
Speed / Torque mode switching
OFF: Speed, ON: Torque
Torque / Position mode switching
OFF: Torque, ON: Position "the next closer BSH
motor variant from stock":

AC servo drive

Lexium 23A

5. Installation

DI
Signal

Assigned Pin No.
Control (Default)
Mode

Pt-Pr

Pt, Pr

PTAS

PTCMS

EMGS

ALL

Pt, Pr, S,
T, Sz, Tz
Pt, Pr, S,
PL(CCWL)
T, Sz, Tz
NL(CWL)

ORGP
TLLM
TRLM
SHOM
JOGU
JOGD

AC servo drive

Pr
Not
assigned
Not
assigned
Pr
All modes
except
CAN
All modes
except
CAN

32
31
-

Details(*2)
Internal position (Pr) and external pulse (Pt)
mode switching.
OFF: Pt, ON: Pr
External command source selection: pulse and
analog voltage switching.
OFF: The command source is external pulse.
ON: The command source is external analog
voltage.
External command source selection: highspeed / low-speed pulse switching
OFF: The command source is low-speed pulse
(PULSE, /PULSE, SIGN, /SIGN).
ON: The command source is high-speed pulse
(HPULSE, /HPULSE, HSIGN, /HSIGN).
When high-speed pulse is selected, the users
can add an external manual pulse generator
and use this DI signal to switch the command
source.
It should be contact "b" and normally ON or a
fault (AL013) will display.
Reverse inhibit limit. It should be contact "b"
and normally ON or a fault (AL014) will display.
Forward inhibit limit. It should be contact "b"
and normally ON or a fault (AL015) will display.
When ORGP is activated, the drive will
command the motor to start to search the
reference "Home" sensor.
Reverse operation torque limit (Torque limit
function is valid only when P1-02 is enabled)
Forward operation torque limit (Torque limit
function is valid only when P1-02 is enabled)
When SHOM is activated, the drive will
command the motor to move to "Home".

Forward JOG input. When JOGU is activated, the
motor will JOG in forward direction. [see P4-05]

Reverse JOG input. When JOGD is activated, the
motor will JOG in reverse direction.
[see P4-05]

Wiring
Diagram
(Refer to
5.2.8.4)

C9/C10/C11/
C12

5. Installation

Lexium 23A

Details(*2)

Wiring
Diagram
(Refer to
5.2.8.4)

Electronic gear ratio (Numerator) selection
0. [See P2-60~P2-62]
Electronic gear ratio (Numerator) selection 1.
[See P2-60~P2-62]
Pulse inhibit input. When the drive is in
position mode, if INHP is activated, the
external pulse input command is not valid.

C9/C10/C11/
C12

Assigned Pin No.
Control (Default)
Mode

DI
Signal

GNUM1

Pt, Pr, Pt-S,
Pr-S
Pt, Pr, Pt-S,
Pr-S

INHP

Pt, Pt-S

GNUM0

NOTE:
1) The DI signals that do not have pin numbers in Tables 3.C are not default DI signals.
If the users want to use these non-default DI signals, the users need to change the
settings of parameters P2-10 ~ P2-17. The "state" of the output function may be
turned ON or OFF as it will be dependant on the settings of parameters P2-10 ~
P2-17. Please refer to section 5.2.8.3 for details.

Table 5.D Command source of Position (Pr) control mode
Position Command

POS2

POS1

POS0

P6
P7
P8

1
1
1

0
1
1

1
0
1

CTRG

K
K
K
K
K
K
K
K

Parameters
P6-02
P6-03
P6-04
P6-05
P6-06
P6-07
P6-08
P6-09
P6-10
P6-11
P6-12
P6-13
P6-14
P6-15
P6-16
P6-17

AC servo drive

Lexium 23A

5. Installation

Table 5.E Source of Speed Command
SPD0

Parameter

OFF

S mode: analog input
Sz mode: 0

OFF

P1-09

OFF

P1-10

P1-11

SPD1
OFF

Table 5.F Source of Torque Command
TCM1
OFF

TCM0

Parameter

OFF

T mode: analog input
Tz mode: 0

OFF

P1-12

OFF

P1-13

P1-14

The default DI and DO signals in different control mode are listed in the following
table 5.G and table 5.H. Although the content of the table 5.G and table 5.H do not
provide more information than the table 5.B and table 5.C above, as each control
mode is separated and listed in different row, it is easy for user to view and can avoid
confusion. However, the Pin number of each signal can not be displayed in the table
5.G and table 5.H.

AC servo drive

5. Installation

Lexium 23A

Table 5.G Default DI signals and Control modes
Signal
SON
ARST
GAINUP
CCLR

Function

Pt
S

Pt
T

Pr
S

Pr
T

S
T

DI1 DI1 DI1

DI1

DI2

DI3

0x01 Servo On

DI1

0x02 Alarm Reset

DI5

DI5 DI5 DI5 DI5 DI5

0x04 Pulse clear
0x05 Low speed CLAMP

CMDINV

input
0x06 Command
reverse control

DI2

DI2 DI2

0x07 Reserved

CTRG

0x08 Command triggered

TRQLM

0x09 Torque limit enabled

SPDLM

0x10

Speed limit enabled

POS0

0x11

Position command
selection 0 (1~8)

DI3

POS1

0x12

Position command
selection 1 (1~8)

DI4

DI4 DI4

POS2

0x13

Position command
selection 2 (1~8)

STOP

0x46

Motor stop

SPD0

0x14

Speed command
selection 0 (1~4)

DI3

DI5

DI3

SPD1

0x15

Speed command
selection 1 (1~4)

DI4

DI6

DI4

0x16

Torque command
selection 0 (1~4)

DI3

DI5 DI5

TCM1

0x17

Torque command
selection 0 (1~4)

DI4

DI6 DI6

S-P

0x18

Position / Speed
mode switching
(OFF: Speed, ON:
Position)

S-T

0x19

Speed / Torque
mode switching
(OFF: Speed, ON:
Torque)

T-P

0x20

Torque / Position
mode switching
(OFF: Torque, ON:
Position)

TCM0

CANopen

0x03 Gain switching

ZCLAMP

Reserved

DI
Code

DI2
DI2

DI2

DI7

AC servo drive

Lexium 23A

5. Installation

Signal

DI
Code

Function

Pt-Pr

0x2A

Internal position (Pr)
and external pulse
(Pt) mode switching
(OFF: Pt, ON: Pr)

PTAS

External command
source selection:
0x2B pulse and analog
voltage switching (in
Pt mode only)

PTCMS

OPST
CWL(NL)

Pt
T

Pr
S

DI8

DI8 DI8 DI8 DI8 DI8 DI8 DI8

DI8

DI6

DI6 DI6 DI6 DI6 DI6

DI6

DI7 DI7

DI7

Pt
S

Pr
T

S
T

CANopen

External command
source selection:
/ low0x2C highspeed
speed pulse
switching (in Pt
mode only)
0x21

Operational stop

0x22 Reverse inhibit limit

CCWL(PL) 0x23 Forward inhibit limit DI7
ORGP

"Home"
0x24 Reference
sensor

TLLM

Reverse operation
torque limit (torque
0x25 limit function is valid
only when P1-02 is
enabled)

TRLM

Forward operation
torque limit (torque
0x26 limit function is valid
only when P1-02 is
enabled)

SHOM

0x27

Move to "Home"

JOGU

0x37

Forward JOG input

JOGD

0x38

Reverse JOG input

GNUM0

0x43

Electronic gear ratio
Numerator)
selection 0

GNUM1

0x44

Electronic gear ratio
Numerator)
selection 1

INHP

0x45

Pulse inhibit input

DI7 DI7 DI7

DI8 DI8

DI8

DI5

NOTE:
1) For Pin numbers of DI1~DI8 signals, please refer to section 5.2.8.1

AC servo drive

5. Installation

Lexium 23A

Table 5.H Default DO signals and Control modes
Signal

DO
Code

SRDY

0x01 Servo ready

SON

0x02 Servo On

Function

ZSPD

0x03 At Zero speed

TSPD

0x04 At Speed reached

TPOS

Positioning
0x05 At
completed

TQL

0x06 At Torques limit

Pt
S

Pt
T

Pr
S

Pr
T

S
T

DO1 DO1 DO1 DO1 DO1 DO1 DO1

DO1 DO1 DO1 DO1

DO2 DO2 DO2 DO2 DO2 DO2 DO2

DO2 DO2 DO2 DO2

CANopen
DO1

DO3 DO3 DO3 DO3 DO3 DO3 DO3 DO3 DO3
DO4 DO4

DO4 DO4 DO4 DO4

ALRM

alarm (Servo DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5
0x07 Servo
fault) activated

BRKR

Electromagnetic
0x08 brake control

DO5

DO4 DO4 DO4 DO4

HOME 0x09 Homing completed DO3 DO3
OLW
WARN

overload
0x10 Output
warning
0x11

Servo warning
activated

OVF

Position command
0x12 overflow

SCWL
(SNL)

software
0x13 Reverse
limit

SCCWL 0x14 Forward software
(SPL)
limit
Internal position
Cmd_OK 0x15 command
completed output
operation
CAP_OK 0x16 Capture
completed output
Motion control
MC_OK 0x17 completed output
SP_OK

reached
0x19 Speed
output

SDO_0 0x30 Output the status
of bit00 of P4-06.
SDO_1

the status
0x31 Output
of bit01 of P4-06.

the status
SDO_2 0x32 Output
of bit02 of P4-06.
SDO_3 0x33 Output the status
of bit03 of P4-06.
the status
SDO_4 0x34 Output
of bit04 of P4-06.

AC servo drive

Lexium 23A

5. Installation

Signal

DO
Code

Function

SDO_5

0x35

Output the status of
bit05 of P4-06.

SDO_6

0x36

Output the status of
bit06 of P4-06.

SDO_7

Output the status of
0x37 bit07 of P4-06.

SDO_8

the status of
0x38 Output
bit08 of P4-06.

SDO_9

Output the status of
0x39 bit09 of P4-06.

SDO_A

the status of
0x3A Output
bit10 of P4-06.

SDO_B

the status of
0x3B Output
bit11 of P4-06.

SDO_C

Output the status of
0x3C bit12 of P4-06.

SDO_D

the status of
0x3D Output
bit13 of P4-06.

SDO_E

0x3E

Output the status of
bit14 of P4-06.

SDO_F

0x3F

Output the status of
bit15 of P4-06.

Pt
S

Pt
T

Pr
S

Pr
T

S
T

CANopen

Note:
1) For Pin numbers of DO1~DO5 signals, please refer to section 5.2.8.1.
5.2.8.3 Userdefined DI and DO
signals

If the default DI and DO signals could not be able to fulfill users' requirements, there
are still userdefined DI and DO signals. The setting method is easy and they are all
defined via parameters. The user-defined DI and DO signals are defined via
parameters P2-10 to P2-17 and P2-18 to P2-22.
Please refer to the following Table 5.I for the settings.
Table 5.I User-defined DI and DO signals
Signal Name

Standard
DI

AC servo drive

Pin No.

Parameter

DI1-

Pin 9 of CN1

P2-10

Signal Name
DO1+

Pin 7 of CN1

DI2-

Pin 10 of CN1

P2-11

DO1-

Pin 6 of CN1

DI3-

Pin 34 of CN1

P2-12

DO2+

Pin 5 of CN1

DI4-

Pin 8 of CN1

P2-13

DO2-

Pin 4 of CN1

DI5-

Pin 33 of CN1

P2-14

DO3+

Pin 3 of CN1

DI6-

Pin 32 of CN1

P2-15

DO3-

Pin 2 of CN1

DI7-

Pin 31 of CN1

P2-16

DO4+

Pin 1 of CN1

DI8-

Pin 30 of CN1

P2-17

DO4-

Pin 26 of CN1

DO5+

Pin 28 of CN1

DO5-

Pin 27 of CN1

Standard
DO

Pin No.

Parameter
P2-18
P2-19
P2-20
P2-21
P2-22

5. Installation

5.2.8.4 Wiring
Diagrams of I/O
Signals (CN1)

Lexium 23A

The valid voltage range of analog input command in speed and torque mode is
-10V ~+10V. The command value can be set via relevant parameters. The value of
input impedance is 10kΩ.

There are two kinds of pulse inputs, Line driver input and Open-collector input. Max.
input pulse frequency of Line-driver input is 500kpps and max. input pulse frequency
of Open-collector input is 200kpps.

Caution: Do not use dual power supply. Failure to observe this caution may result in
damage to the servo drive and servo motor.

AC servo drive

Lexium 23A

5. Installation

Caution: Ensure that the ground terminal of the controller and the servo drive should
be connected to each other.

AC servo drive

5. Installation

Lexium 23A

Be sure to connect a diode when the drive is applied to inductive load.
(Permissible current: 40mA, Instantaneous peak current: max. 100mA)

AC servo drive

Lexium 23A

5. Installation

Use a relay or open-collector transistor to input signal.
NPN transistor with multiple emitter fingers (SINK Mode)

PNP transistor with multiple emitter fingers (SOURCE Mode)

Caution: Do not use dual power supply. Failure to observe this caution may result in
damage to the servo drive and servo motor.

AC servo drive

5. Installation

100

Lexium 23A

AC servo drive

Lexium 23A

5. Installation

5.2.9 Encoder Connector CN2
Feedback to the amplifier of the UVW signals for commutation is via the ABZ encoder
signal wires. Following rotor position sensing the amplifier automatically switches to
encoding for commutation control.
The 20-bit encoder is automatically multiplied to 1280000ppr for increased control
accuracy.
Figure 5.7 The layout of CN2 Drive Connector

CN2

Figure 5.8 The layout of CN2 Motor Connector

AC servo drive

101

5. Installation

Lexium 23A

CN2 Terminal Signal Identification
Drive Connector

Motor Connector

PIN No.

Terminal
Identification

Description

Military
Quick
Connector Connector

T+

Serial communication signal
input / output (+)

Blue

T-

Serial communication signal
input / output (-)

Blue/Black

+5V

+5V power supply

Red & Red/
White

2, 4

GND

Ground

Black & Black/
White

Shielding

Color

5.2.10 Serial Communication Connector CN3
CN3 Terminal
Layout and
Identification

The servo drive can be connected to a PC or controller via this serial communication
connector CN3.
The communication connector CN3 of Schneider Electric servo drive can provides
two serial communication interfaces: RS-232 and RS-485 connection. RS-232 is used
for the drive commissioning with the software tool "Lexium23 Plus CT". The
maximum cable length for an RS-232 connection is 15 meters (50 feet). RS-485
connection can be used as host interface, for example to connect a machine
controller or personal computer with one or multiple LXM23 Plus servo drives to be
connected simultaneously.
Figure 5.9 The layout of CN3 Drive Connector

102

AC servo drive

Lexium 23A

5. Installation

CN3 Terminal Signal Identification
Pin No.
1
2
3, 6, 7
4

Signal Name
RS-232 data transmission

Terminal
Identification
RS-232_TX

RS-232 data receiving

RS-232_RX

RS-485 data transmission

RS-485(+)

RS-485 data transmission

RS-485(-)

Grounding

GND

Description
For data transmission of the servo drive.
Connected to the RS-232 interface of PC.
For data receiving of the servo drive.
Connected to the RS-232 interface of PC.
Reserved
For data transmission of the servo drive
(differential line driver + end)
For data transmission of the servo drive
(differential line driver - end)
Ground

NOTE:
1) For the connection of RS-485, please refer to chapter 9 "Communication".

Connection
between PC and
Connector CN3

To connect a personal computer with the CN3 interface of LXM23 Plus servo drives,
the USB to RJ45 (RS232) interface connector "VW3M8131" and RJ45 cable
"490NTW00002" can be used.

5.2.11 CANopen and CANmotion Communication Interface CN4
Function
The LXM23A device is suitable for connection to CANopen and CANmotion through
interface connector CN4.
A CAN bus connects multiple devices via a bus cable. Each network device can transmit
and receive messages. Data between network devices is transmitted serially.
Each network device must be configured before it can be operated on the network.
The device is assigned a unique node address (node ID) between 1 (0x01) and 127
(0x7F). The node address of a LXM23A device is determined by parameter P3-05
during commissioning. The baud rate must be the same for all devices in the field bus.
For further information on the field bus, see the LXM23A CANopen field bus manual.
There are two communication ports of connector CN4, one is for transmission
(CAN-out) and the other is for receiving (CAN-In), convenient for connecting to more
than one servo drives in serial. Ensure to connect a termination resistor to the last
connected servo drive.

AC servo drive

103

5. Installation

Lexium 23A

Figure 5.10 The layout of CN4 Connector

CN4 Interface Signal Identification
Pin No.
1.9
2.10
3.11
4.12
5.13
6.14
7.15
8.16

Signal Name
CAN_H
CAN_L
CAN_GND
CAN_GND
-

Description
CAN_H bus line (dominant high)
CAN_H bus line (dominant low)
Ground / OV/VReserved
Reserved
Reserved
Ground / OV/VReserved

Connecting CANopen
p Connect the CANopen cable to CN4 (pins 1, 2 and 3) with an RJ45 connector. Note
the information on using cables with RJ45 connectors.
p Verify that the connector locks snap in properly at the housing.

104

AC servo drive

Lexium 23A

5. Installation

Cable specifications
Shield:

Required, both ends grounded

Twisted Pair:

Required

PELV:

Required

Cable composition:

2*0.25 mm2, 2* 0.20 mm2,
(2*AWG 22,2* AWG 24)

Max. cable length:

See Table 6.3
Maximum length depends on the number of
devices, baud rate, connectors and signal
propagation delay. The higher the baud rate, the
shorter the bus cable needs to be.

Special features:

The cable composition relates to cables with D-SUB
connectors. ln the case of cables with RJ45
connectors, the conductor cross section is reduced;
therefore, the maximum bus length is only half as
long as in the case of cables with D-SUB connectors.
Cables with RJ45 connectors may only be used
inside of control cabinets.Multiple-port taps for
trunk lines are available as accessories.

p se equipotential bonding conductors.
p se pre-assembled cables (see chapter 12 Accessories and spare parts) to reduce
the risk of wiring errors.

Connectors
D-SUB and RJ45

Usually, a cable with D-Sub connectors is used for CAN field bus connection in the
field. Inside control cabinets, connections with RJ45 cables have the benefit of easier
and faster wiring. In the case of CAN cables with RJ45 connectors, the maximum
permissible bus length is reduced by 50%.
Multiple-port taps can be used to connect an RJ45 system inside the control cabinet
to a D-SUB system in the field. The trunk line is connected to the multiple-port tap by
means of screw terminals; the devices are connected by means of pre-assembled
cables. See chapter 12 CANopen cable with connectors, CANopen connectors,
distributors, terminating resistors", multiple-port taps.

AC servo drive

105

5. Installation

Maximum bus
length CAN

Lexium 23A

The maximum bus length depends on the selected baud rate. Table x.x shows the
maximum recommended overall length of the CAN bus in the case of cables with DSUB connectors.
Baud rate [kblt/s]

Maxlmum bus length [m]

1000

125

500

250

500

100

1000

201)

1) According to the CANopen specification,the maximum bus length is 4 m. However,
in practice, 20 m have been possible in most cases. External interference may
reduce this length.
Table x.x Maximum bus length for CAN with D-SUB connection
NOTE: If you use cables with RJ45 connectors, the maximum bus length is reduced by 50%.
At a baud rate of 1 Mbit/s, the drop lines are limited to 0.3m. Terminating resistors
Both ends of a CAN bus line must be terminated. A 120 ohm terminating resistor
between CAN_L and CAN_H is used for this purpose. Connectors with integrated
terminating resistors are available as accessories, see chapter 12 "CANopen
connectors, distributors, terminating resistors".

106

AC servo drive

Lexium 23A

5. Installation

5.3 Standard Connection Example
5.3.1 Position control mode wiring diagram (pulse control)

AC servo drive

107

5. Installation

Lexium 23A

5.3.2 Position control mode wiring diagram (build-in motion sequence)

108

AC servo drive

Lexium 23A

5. Installation

5.3.3 Speed control mode wiring diagram

AC servo drive

109

5. Installation

Lexium 23A

5.3.4 Torque control mode wiring diagram

110

AC servo drive

Lexium 23A

5. Installation

5.3.5 CANopen control mode wiring diagram

AC servo drive

111

5. Installation

112

Lexium 23A

AC servo drive

Commissioning

6
At a Glance
Presentation

What's in this
Chapter?

This chapter describes the basic operation of the Integrated HMI and the features it
offers.

This chapter contains the following topics:
Topic

AC servo drive

Page

Basic information

114

Overview

117

Integrated HMI Digital Keypad

119

Commissioning software

124

Commissioning procedure

125

113

6. Commissioning

Lexium 23A

6.1 Basic information
An overview of the parameters can be found in the chapter "Parameters". The use and
the function of some parameters are explained in more detail in this chapter.

DANGER
ELECTRIC SHOCK CAUSED BY INCORRECT USE
The DC bus voltage is still present.
• Turn off the mains voltage using an appropriate switch to achieve a voltagefree condition.
Failure to follow these instructions will result in death or serious injury.

DANGER
UNINTENDED CONSEQUENCES OF EQUIPMENT OPERATION
When the system is started, the drives are usually out of the opera-tor's view and
cannot be visually monitored.
• Only start the system if there are no persons in the hazardous area.
Failure to follow these instructions will result in death or serious injury.

WARNING
UNINTENDED BEHAVIOR
The behavior of the drive system is governed by numerous stored data or settings.
Unsuitable settings or data may trigger unexpected movements or responses to
signals and disable monitoring functions.
• Do NOT operate the drive system with unknown settings or data.
• Verify that the stored data and settings are correct.
• When commissioning, carefully run tests for all operating states and
potential error situations.
• Verify the functions after replacing the product and also after making
changes to the settings or data.
• Only start the system if there are no persons or obstructions in the
hazardous area.
Failure to follow these instructions can result in death, serious injury or
equipment damage.
114

AC servo drive

Lexium 23A

6. Commissioning

WARNING
MOTOR WITHOUT BRAKING EFFECT
If power outage and faults cause the power stage to be switched off, the motor is no
longer stopped by the brake and may increase its speed even more until it reaches a
mechanical stop.
• Verify the mechanical situation.
• If necessary, use a cushioned mechanical stop or a suitable hold-ing brake.
Failure to follow these instructions can result in death, serious injury or
equipment damage.

AC servo drive

115

6. Commissioning

Lexium 23A

WARNING
UNEXPECTED MOVEMENT
When the drive is operated for the first time, there is a risk of unex-pected
movements caused by possible wiring errors or unsuitable pa-rameters.
• Perform the first test run without coupled loads.
• Verify that a functioning button for EMERGENCY STOP is within reach.
• Anticipate movements in the incorrect direction or oscillation of the drive.
• Only start the system if there are no persons or obstructions in the
hazardous area.
Failure to follow these instructions can result in death, serious injury or
equipment damage.

WARNING
HOT SURFACES
The heat sink at the product may heat up to over 100 C (212 F) during operation.
• Avoid contact with the hot heat sink.
• Do not allow flammable or heat-sensitive parts in the immediate vicinity.
• Consider the measures for heat dissipation described.
Failure to follow these instructions can result in death or serious injury.

116

AC servo drive

Lexium 23A

6. Commissioning

6.2 Overview
6.2.1 Commissioning steps
You must also recommission an already configured device if you want to use it under
changed operating conditions.
To be done
To be done ...

AC servo drive

Info

Checking the installation

Page120

Switching on the device for the first time

Page131

Setting basic parameters and limit values

Page133

Setting, scaling and checking analog signals

Page137

Setting and testing digital signals

Page139

Checking the holding brake

Page144

Checking the direction of movement of the motor

Page145

Setting the braking resistor parameters

Page150

Autotuning the device

Page152

Manually optimizing the controller settings
- Velocity controller
- Position controller

Page157
Page158
Page164

117

6. Commissioning

Lexium 23A

6.2.2 Commissioning tools

Overview

The following tools can be used for commissioning, parameterization and
diagnostics:

Figure 6.1 Commissioning tools

(1) Integrated HMI
(2) PC with commissioning software
Access to all parameters is possible with the digital keypad or the commissioning
software.
Device settings can be duplicated. Stored device settings can be transferred to a
device of the same type. Duplicating the device settings can be used if multiple
devices are to have the same settings, for example, when devices are replaced.

118

AC servo drive

Lexium 23A

6. Commissioning

6.3 Integrated HMI Digital Keypad
6.3.1 Description of the Integrated HMI
The Integrated HMI includes the display panel and function keys. The Figure 6.2
shows all of the features of the Integrated HMI and an overview of their functions.
Figure 6.2 Keypad Features

Charge LED

Name
LCD Display
Charge LED
M

Function
The LCD Display (5-digit, 7-step display panel) shows the monitor codes,
parameter settings and operation values of the AC servo drive.
The Charge LED lights to indicate the power is applied to the circuit.
M

Key

Key. Pressing

key can enter or exit different parameter groups,

and switch between Monitor mode and Parameter mode.
S
S

Key. Pressing

key can scrolls through parameter groups. After a

parameter is selected and its value displayed, pressing

Key

key can move

the cursor to the left and then change parameter settings (blinking digits) by
using arrow keys.
and

Key

and
key. Pressing the
and
key can scroll through and
change monitor codes, parameter groups and various parameter settings.
ENT

key. Pressing the

ENT

key can display and save the parameter groups,

the various parameter settings. In monitor mode, pressing
ENT

Key

key can

switch decimal or hexadecimal display. In parameter mode, pressing

ENT

key can enter into parameter setting mode. During diagnosis operation,
pressing

ENT

key can execute the function in the last step. (The parameter

settings changes are not effective until the

AC servo drive

ENT

key is pressed.)

119

6. Commissioning

Lexium 23A

6.3.2 Display Flowchart
Figure 6.3 Keypad Operation

1. When the power is applied to the AC servo drive, the LCD display will show the monitor
function codes for approximately one second, then enter into the monitor mode.
2. In monitor mode, pressing

key can enter into parameter mode. In parameter mode,

pressing M key can return to monitor mode.
3. No matter working in which mode, when an alarm occurs, the system will enter into fault
mode immediately. In fault mode, pressing M key can switch to other modes. In other
modes, if no key is pressed for over 20 seconds, the system will return to fault mode
automatically.
4. In monitor mode, pressing
or
arrow key can switch monitor parameter code. At
this time, monitor display symbol will display for approximately one second.
5. In monitor mode, pressing

key can enter into parameter mode. In parameter mode,

pressing S key can switch parameter group and pressing
or
arrow key can
change parameter group code.
6. In parameter mode, the system will enter into the setting mode immediately after the
ENT

key is pressed. The LCD display will display the corresponding setting value of this

parameter simultaneously. Then, users can use
parameter value or press

arrow key to change

key to exit and return back to the parameter mode.

7. In parameter setting mode, the users can move the cursor to left by pressing
key and change the parameter settings (blinking digits) by pressing the
arrow key.

8. After the setting value change is completed, press ENT key to save parameter
settings or execute command.
9. When the parameter setting is completed, LCD display will show the end code
"SAVED" and automatically return back to parameter mode.

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6. Commissioning

6.3.3 Status Display
6.3.3.1 Save
Setting Display

6.3.3.2 Decimal
Point Display

After the ENT key is pressed, LCD display will show the following display messages for
approx. one second according to different status.
Display
Message

Description

;-J1@
H!97=
7EcK.@
9JI!H
;HJ9D
FE!#D

The setting value is saved correctly. [Saved)
This parameter is read only. Write-protected. (Read-Only)
Invalid password or no password was input. (Locked)
The setting value is error or invalid. (Out of Range)
The servo system is running and it is unable to accept this setting value to be
changed. (Servo On)
This parameter is valid after restarting the drive. (Power On)

Display
Message

Description
High/Low byte display. When the data is a decimal 32-bit data, these two
digits are used to show if the display is high byte or low byte.
Negative value display. When the data is displayed in decimal format, the
most left two digits represent negative sign no matter it is a 16-bit or 32-bit
data. If the data is displayed in hexadecimal format, it is a positive value
always and no negative sign is displayed.

6.3.3.3 Fault
Message Display

6.3.3.4 Polarity
Setting Display

Display
Message

Description

-7.DDD

When the AC servo drive has a fault, LCD display will display "ALnnn". "AL"
indicates the alarm and "nnn" indicates the drive fault code. For the list of drive
fault code, please refer to parameter P0-01 in Chapter 11 (Servo Parameters) or
refer to Chapter 10 (Troubleshooting).

Display
Message

Description
Positive value display. When entering into parameter setting mode, pressing

#%')+

%.'.)+#

AC servo drive

or
arrow key can increase or decrease the display value.
used to change the selected digit (The selected digit will blink).

key is

Negative value display. Continuously press S key for two seconds and
then the positive(+) or negative(-) sign can be switched. When the setting
value exceeds its setting range, the positive(+) and negative(-) sign can not
be switched. (The negative value display is for a decimal negative value
only. There is no negative value display for a hexadecimal negative value.)

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6.3.3.5 Monitor
Setting Display

Lexium 23A

When the AC servo drive is applied to power, the LCD display will show the monitor
function codes for approximately one second and then enter into the monitor mode.
In monitor mode, in order to change the monitor status, the users can press

arrow key or change parameter P0-02 directly to specify the monitor status.
When the power is applied, the monitor status depends on the setting value of P0-02.
For example, if the setting value of P0-02 is 4 when the power is applied, the monitor
function will be input pulse number of pulse command, the C-PLS monitor codes will
first display and then the pulse number will display after.
P0-02 Setting Display Message

Unit

2>.:<<

/!:<<

Input pulse number of pulse command (after
electronic gear ratio is set)

[user unit]

1H.:<<

Position error counts between control
command pulse and feedback pulse

[user unit]

2>.:7;

Motor feedback pulse number (encoder unit,
1280000 pulse/rev)

[pulse]

/!:7;

Input pulse number of pulse command
(before electronic gear ratio is set)

[pulse]

Position error counts

[pulse]

Input frequency of pulse command

[Kpps]

Motor rotation speed

[rpm]

Speed input command

[Volt]

Speed input command

[rpm]

Torque input command

[Volt]

Torque input command

[%]

Average load

[%]

1H.:7;
/:!2H
;:11@
/;:@5
/;:@%
/!IG5
/!IG%
-J3!7
:1!7
< >J;

6!7

53>I.I

IGBT temperature

[oC]

H;D.2H

Resonance frequency (The low byte is the first
resonance point and the high byte is the
second resonance point.)

[Hz]

6
7
8
9
10
11
12
13

@522.%
18

122

Description
Motor feedback pulse number (after
electronic gear ratio is set)

Peak load
Main circuit voltage
Ratio of load inertia to Motor inertia (Please
note that if the display is 130, it indicates that
the actual inertia is 13.0)

Absolute pulse number relative to encoder
(use Z phase as home). The value of Z phase
home point is 0, and it can be the value from
-5000 to +5000 pulses.

[user unit]

[%]
[Volt]
[0.1 times]

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6. Commissioning

P0-02 Setting Display Message
19

88-:$

88-:%

88-:&

88-:'

<-H!$

<-H!%

<-H!&

<-H!'

Description
Mapping Parameter 1: Display the content of
parameter P0-25 (mapping target is specified
by parameter P0-35)
Mapping Parameter 2: Display the content of
parameter P0-26 (mapping target is specified
by parameter P0-36)
Mapping Parameter 3: Display the content of
parameter P0-27 (mapping target is specified
by parameter P0-37)
Mapping Parameter 4: Display the content of
parameter P0-28 (mapping target is specified
by parameter P0-38)
Status Monitor 1: Display the content of
parameter P0-09 (the monitor status is
specified by parameter P0-17)
Status Monitor 2: Display the content of
parameter P0-10 (the monitor status is
specified by parameter P0-18)
Status Monitor 3: Display the content of
parameter P0-11 (the monitor status is
specified by parameter P0-19)
Status Monitor 4: Display the content of
parameter P0-12 (the monitor status is
specified by parameter P0-20)

Unit
-

The following table lists the display examples of monitor value:
Display Message

#$%&' (Dec.)
$%&'
$%&'.(
)*+,#.
A$%&'
7()*+
$.%.&.'.(.

(Hex.)
(Dec. High Byte)
(Dec. Low Byte)
(Hex. High Byte)
(Hex. Low Byte)

Description
Decimal display. When the actual value is 1234, the
16-bit display is 01234.
Data Hexadecimal display. When the actual value is
0x1234, the display is 1234.
Decimal display. When the actual value is
1234567890, the display of high byte is 1234.5 and
32-bit the display of low byte is 67890.
Data Hexadecimal display. When the actual value is
0x12345678, the display of high byte is h1234 and
the display of low byte is L5678.
Negative value display. When the actual value is -12345,
the display is 1.2.345. (The negative value display is
displayed to indicate a decimal negative value. There is no
negative value display for a hexadecimal negative value.)

Note:
1) Dec. represents Decimal display and Hex. represents Hexadecimal display.
2) The above display methods are both available in monitor mode and parameter
setting mode.
3) All monitor variables are 32-bit data. The users can switch to high byte or low byte
and display format (Dec. or Hex.) freely. Regarding the parameters listed in
Chapter 8, for each parameter, only one kind of display format is available and
cannot be changed.

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Lexium 23A

6.4 Commissioning software

The commissioning software has a graphic user interface and is used for
commissioning, diagnostics and testing settings.
• Tuning of the controller parameters via a graphical user interface
• Comprehensive set of diagnostics tools for optimization and manntenance
• Long-term recording for evaluation of the performance
• Testing the input and output signals
• Tracking signals on the screen
• Archiving of device settings and recordings with export function for further
processing in other applications
See page 256 for details on connecting a PC to the device.
Online help

124

The commissioning software offers help functions, which can be accessed via
"?-Help Topics" or by pressing theF1key.

AC servo drive

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6. Commissioning

6.5 Commissioning procedure

WARNING
LOSS OF CONTROL DUE TO UNSUITABLE PARAMETER VALUES
Unsuitable parameter values may disable monitoring functions and trigger
unexpected movements or responses of signals.
• Prepare a list with the parameters required for the functions used.
• Check the parameters before operation.
• Only start the system if there are no persons or obstructions in the
hazardous area.
Failure to follow these instructions can result in death, serious injury or
equipment damage.

6.5.1 Switching on the device for the first time
Duplicating device
settings

The commissioning software allows you duplicate device settings.

Automatic reading
of the motor data

When the servo drive is switched on and if a BCH motor is connected, the device
automatically reads the motor data from the motor encoder. The data record is
checked by the servo drive. With this data, the BCH motor type is identified by the
LXM23 Plus servo drive.
The record contains motor specific information. The record cannot be changed by
the user.

Preparation

Switching on the
device

If the device is not to be commissioned exclusively via the Integrated HMI, a PC with
the commissioning software must be connected.
b The power stage supply voltage is switched off.
X Switch on the controller supply voltage.
Y The device goes through an initialization routine, all LEDs are tested, all segments
of the 7-segment display and the LEDs light up.
After the initialization, the device is ready for operation. The device is in the Pt operating
mode. See chapter 8.3 "Operating modes", page 160 for changing operating modes.

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Lexium 23A

6.5.2 DI Diagnosis Operation
Following the setting method in Figure 6.4 can perform DI diagnosis operation
(parameter P4-07, Input Status). According to the ON and OFF status of the digital
inputs DI1 to DI8, the corresponding status will display on the servo drive LED display.
When the Bit is set to "1", it means that the corresponding digital input signal is ON.
(Please also refer to Figure 6.4)
For example:
Suppose that the servo drive LED display is "3FE1".
"E" is hexadecimal, which is equal to "1110" in binary system, and it means that the
digital inputs DI6 ~ DI8 are ON.
Figure 6.4

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6.5.3 DO Diagnosis Operation
Following the setting method in Figure 6.5 can perform DO diagnosis operation
(parameter P4-09, Output Status Display). According to the ON and OFF status of the
digital outputs DO1 to DO5, the corresponding status will display on the servo drive
LED display. When the Bit is set to "1", it means that the corresponding digital output
signal is ON. (Please also refer to Figure 6.5)
For example:
Suppose that the servo drive LED display is "1F".
"F" is hexadecimal, which is equal to "1111" in binary system, and it means that the
digital outputs DO1 ~ DO4 are ON.
Figure 6.5

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Lexium 23A

6.5.4 Trial Run and Tuning Procedure
This part, which is divided into two parts, describes trial run for servo drive and motor.
One part is to introduce the trial run without load, and the other part is to introduce
trial run with load. Ensure to complete the trial run without load first before
performing the trial run with load.

6.5.4.1 Inspection
without Load

In order to prevent accidents and avoid damaging the servo drive and mechanical
system, the trial run should be performed under no load condition (no load
connected, including disconnecting all couplings and belts). Do not run servo motor
while it is connected to load or mechanical system because the unassembled parts on
motor shaft may easily disassemble during running and it may damage mechanical
system or even result in personnel injury. After removing the load or mechanical
system from the servo motor, if the servo motor can runs normally following up the
normal operation procedure (when trial run without load is completed), then the
users can connect to the load and mechanical system to run the servo motor.

DANGER
In order to prevent accidents, the initial trial run for servo motor should be conducted
under no load conditions (separate the motor from its couplings and belts).
Caution: Please perform trial run without load first and then perform trial run with load
connected. After the servo motor is running normally and regularly without load, then
run servo motor with load connected. Ensure to perform trial run in this order to
prevent unnecessary danger.

After power in connected to AC servo drive, the charge LED will light and it indicates
that AC servo drive is ready. Please check the followings before trial run:
1. Inspection before operation (Control power is not applied)
z Inspect the servo drive and servo motor to insure they were not damaged.
z Ensure that all wiring terminals are correctly insulated.
z Ensure that all wiring is correct or damage and or malfunction may result.
z Visually check to ensure that there are not any unused screws, metal strips, or any
conductive or inflammable materials inside the drive.
z Make sure control switch is OFF.
z Never put inflammable objects on servo drive or close to the external regenerative
resistor.
z If the electromagnetic brake is being used, ensure that it is correctly wired.
z If required, use an appropriate electrical filter to eliminate noise to the servo drive.
z Ensure that the external applied voltage to the drive is correct and matched to the
controller.

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2. Inspection during operation (Control power is applied)
z Ensure that the cables are not damaged, stressed excessively or loaded heavily.
When the motor is running, pay close attention on the connection of the cables
and notice that if they are damaged, frayed or over extended.
z Check for abnormal vibrations and sounds during operation. If the servo motor is
vibrating or there are unusual noises while the motor is running, please contact the
dealer or manufacturer for assistance.
z Ensure that all user-defined parameters are set correctly. Since the characteristics
of different machinery equipment are not the same, in order to avoid accident or
cause damage, do not adjust the parameter abnormally and ensure the parameter
setting is not an excessive value.
z Ensure to reset some parameters when the servo drive is off (Please refer to
Chapter 11). Otherwise, it may result in malfunction.
z If there is no contact sound or there be any unusual noises when the relay of the
servo drive is operating, please contact your distributor for assistance or contact
with Schneider Electric.
z Check for abnormal conditions of the power indicators and LED display. If there is
any abnormal condition of the power indicators and LED display, please contact
your distributor for assistance or contact with Schneider Electric.

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6.5.4.2 Applying
Power to the Drive

Lexium 23A

The users please observe the following steps when applying power supply to the
servo drive.
1. Please check and confirm the wiring connection between the drive and motor is
correct.
1) Terminal U, V, W and FG (frame ground) must connect to Red, White, Black and
Green cables separately (U: Red, V: White, W: Black, FG: Green). If not connect to
the specified cable and terminal, then the drive cannot control motor. The
motor grounding lead, FG must connect to grounding terminal. For more
information of cables, please refer to section 5.2.
2) Ensure to connect encoder cable to CN2 connector correctly. If the users only
desire to execute JOG operation, it is not necessary to make any connection to
CN1 and CN3 connector. For more information of the connection of CN2
connector, please refer to Section 5.2.

DANGER
Do not connect the AC input power (R, S, T) to the (U, V, W) output terminals. This will
damage the AC servo drive.

2. Main circuit wiring
Connect power to the AC servo. For three-phase input power connection and
single-phase input power connection, please refer to Section 5.2.3.
3. Turn the Power On
The Power includes control circuit power (L1, L2) and main circuit power (R, S, T).
When the power is on, the normal display should be shown as the following figure:
As the default settings of digital input signal, DI6, DI7 and DI8 are Reverse Inhibit
Limit (NL), Forward Inhibit Limit (PL) and Operational Stop (OPST) respectively, if
the users do not want to use the default settings of DI6 ~ DI8, the users can change
their settings by using parameters P2-15 to P2-17 freely.
When the setting value of parameters P2-15 to P2-17 is 0, it indicates the function of
this DI signal is disabled. For more information of parameters P2-15 to P2-17, please
refer to Chapter 11 "Parameters".
If the parameter P0-02 is set as motor speed (06), the normal display should be
shown as the following figure:

If there is no text or character displayed on the LED display, please check if the
voltage of the control circuit terminal ((L1, L2) is over low.

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1) When display shows:

Overvoltage:
The main circuit voltage has exceeded its maximum allowable value or input power is
error (Incorrect power input).
Corrective Actions:
z Use voltmeter to check whether the main circuit input voltage falls within the rated
input voltage.
z Use voltmeter to check whether the input voltage is within the specified limit.
2) When display shows:

Encoder error:
Check if the wiring is correct. Check if the encoder wiring (CN2) of servo motor is loose
or incorrect.
Corrective Actions:
z Check if the users perform wiring recommended in the user manual.
z Examine the encoder connector and cable.
z Inspect whether wire is loose or not.
z Check if the encoder is damaged.
3) When display shows:

Operational stop activated:
Please check if any of digital inputs DI1 ~ DI8 signal is set to "Operational Stop" (OPST).
Corrective Actions:
z If it does not need to use "Operational Stop (OPST)" as input signal, the users only
need to confirm that if all of the digital inputs DI1 ~ DI8 are not set to "Operational
Stop (OPST)". (The setting value of parameter P2-10 to P2-17 is not set to 21.)
z If it is necessary to use "Operational Stop (OPST)" as input signal, the users only
need to confirm that which of digital inputs DI1 ~ DI8 is set to "Operational Stop
(OPST)" and check if the digital input signal is ON (It should be activated).

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Lexium 23A

4) When display shows:

Reverse limit switch error:
Please check if any of digital inputs DI1 ~ DI8 signal is set to "Reverse inhibit limit (NL)"
and check if the signal is ON or not.
Corrective Actions:
z If it does not need to use "Reverse inhibit limit (NL)" as input signal, the users only
need to confirm that if all of the digital inputs DI1 ~ DI8 are not set to "Reverse inhibit
limit (NL)". (The setting value of parameter P2-10 to P2-17 is not set to 22.)
z If it is necessary to use "Reverse inhibit limit (NL)" as input signal, the users only
need to confirm that which of digital inputs DI1 ~ DI8 is set to "Reverse inhibit limit
(NL)" and check if the digital input signal is ON (It should be activated).
5) When display shows:

Forward limit switch error:
Please check if any of digital inputs DI1 ~ DI8 signal is set to "Forward inhibit limit (PL)"
and check if the signal is ON or not.
Corrective Actions:
If it is no need to use "Forward inhibit limit (PL)" as input signal, the users only need
to confirm that if all of the digital inputs DI1 ~ DI8 are not set to "Forward inhibit limit
(PL)". (The setting value of parameter P2-10 to P2-17 is not set to 23.)
z If it is necessary to use "Forward inhibit limit (PL)" as input signal, the users only
need to confirm that which of digital inputs DI1 ~ DI8 is set to "Forward inhibit limit
(PL)" and check if the digital input signal is ON (It should be activated).
z

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When "Digital Input 1 (DI1)" is set to Servo On (SON), if DI1 is set to ON (it indicates that
Servo On (SON) function is enabled) and the following fault message shows on the
display:
6) When display shows:

Overcurrent:
Corrective Actions:
z Check the wiring connections between the servo drive and motor.
z Check if the circuit of the wiring is closed.
z Remove the short-circuited condition and avoid metal conductor being exposed.
7) When display shows:

Undervoltage:
Corrective Actions:
z Check whether the wiring of main circuit input voltage is normal.
z Use voltmeter to check whether input voltage of main circuit is normal.
z Use voltmeter to check whether the input voltage is within the specified limit.
NOTE:
1) If there are any unknown fault codes and abnormal display when applying power to
the drive or servo on is activated (without giving any command), please inform the
distributor or contact with Schneider Electric for assistance.

AC servo drive

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6. Commissioning

6.5.4.3 JOG Trial
Run without Load

Lexium 23A

It is very convenient to use JOG trial run without load to test the servo drive and motor
as it can save the wiring. The external wiring is not necessary and the users only need
to connect the Integrated HMI to the servo drive. For safety, it is recommended to set
JOG speed at low speed. Please refer to the following steps to perform JOG trial run
without load.
STEP 1: Turn the drive ON through software. Ensure that the setting value of
parameter P2-30 should be set to 1 (Servo On).
STEP 2: Set parameter P4-05 as JOG speed (unit: rpm). After the desired JOG speed
is set, and then press
automatically.

ENT

key, the drive will enter into JOG operation mode

STEP 3: The users can press
and
key to change JOG speed and press
to adjust the digit number of the displayed value.
STEP 4: Pressing

ENT

STEP 5: Pressing
releasing
STEP 6: Pressing

key

key can determine the speed of JOG operation.
key and the servo motor will run in P(CCW) direction. After
key, the motor will stop running.
key and the servo motor will run in N(CW) direction. After

releasing
key, the motor will stop running.
N (CW) and P(CCW) Definition:
P (CCW, Counterclockwise): when facing the servo motor shaft, P is running
in counterclockwise direction.
N (CW, Clockwise): when facing the servo motor shaft, N is running in
clockwise direction.
STEP 7: When pressing

134

key, it can exit JOG operation mode.

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6. Commissioning

In the example below, the JOG speed is adjusted from 20rpm (Default setting) to
100 rpm.

If the servo motor does not rotate, please check if the wiring of U, V, W terminals and encoder
is correct or not.
If the servo motor does not rotate properly, please check if the phase of U, V, W cables is
connected correctly.

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6. Commissioning

6.5.4.4 Speed Trial
Run without Load

Lexium 23A

Before speed trial run, fix and secure the motor as possible to avoid the danger from
the reacting force when motor speed changes.
STEP 1:
Set the value of parameter P1-01 to 02 and it is speed (S) control mode. After
selecting the operation mode as speed (S) control mode, please restart the drive as
P1-01 is effective only after the servo drive is restarted (after switching power off and
on).
STEP 2:
In speed control mode, the necessary Digital Inputs are listed as follows:
Digital Input

Parameter Setting
Value

Sign

Function Description

CN1 Pin No.

DI1

P2-10=101

SON

Servo On

DI1-=9

DI2

P2-11=109

TRQLM

Torque limit enabled

DI2-=10
DI3-=34

DI3

P2-12=114

SPD0

Speed command selection

DI4

P2-13=115

SPD1

Speed command selection

DI4-=8

DI5

P2-14=102

ARST

Reset

DI5-=33

DI6

P2-15=0

Disabled

This DI function is disabled

DI7

P2-16=0

Disabled

This DI function is disabled

DI8

P2-17=0

Disabled

This DI function is disabled

By default, DI6 is the function of reverse inhibit limit, DI7 is the function of forward
inhibit limit and DI6 is the function of operational stop (DI8), if the users do not set the
setting value of parameters P2-15 to P2-17 and P2-36 to P2-41 to 0 (Disabled), the
faults (AL013, 14 and 15) will occur (For the information of fault messages, please
refer to Chapter 10). Therefore, if the users do not need to use these three digit
inputs, please set the setting value of parameters P2-15 to P2-17 and P2-36 to P2-41
to 0 (Disabled) in advance.
All the digital inputs of Lexium23 Plus servo drives are user-defined, and the users
can set the DI signals freely.
Ensure to refer to the definitions of DI signals before defining them (For the
description of DI signals, please refer to Table 11.A in Chapter 11). If any alarm code
displays after the setting is completed, the users can restart the drive or set DI5 to be
activated to clear the fault. Please refer to section 6.5.4.2.

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The speed command is selected by SPD0, SPD1. Please refer to the following table:
DI signal of CN1
Speed
Command No. SPD1
SPD0
S1

Command
Source

Content

Range

External analog
command

Voltage between
V-REF and GND

-10V ~ +10V

Internal
parameter

P1-09

-60000 ~ 60000

P1-10

-60000 ~ 60000

P1-11

-60000 ~ 60000

0: indicates OFF (Normally Open); 1: indicates ON (Normally Closed)
The range of internal parameter is from -60000 to 60000.
Setting value of speed command = Setting range x unit (0.1 rpm).
For example:
If P1-09 is set to +30000, the setting value of speed command =
+30000 x 0.1 rpm = +3000 rpm.
The settings of speed command:
Input value command

Rotation direction

P1-10 is set to +1000

N(CW)

P1-11 is set to -30000

P(CCW)

P1-09 is set to +30000

STEP 3:
1. The users can use DI1 to enable the servo drive (Servo On).
2. If DI3 (SPD0) and DI4 (SPD1) are OFF both, it indicates S1 command is selected. At
this time, the motor is operating according to external analog command.
3. If only DI3 is ON (SPD0), it indicates S2 command (P1-09 is set to +30000) is
selected, and the motor speed is 3000rpm at this time.
4. If only DI4 is ON (SPD1), it indicates S3 command (P1-10 is set to +1000) is selected,
and the motor speed is 100 rpm at this time.
5. If DI3 (SPD0) and DI4 (SPD1) are ON both, it indicates S4 command (P1-11 is set to 30000) is selected, and the motor speed is -3000rpm at this time.
6. Repeat the action of (3), (4), (5) freely.
7. When the users want to stop the speed trial run, use DI1 to disable the servo drive
(Servo Off).

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6. Commissioning

6.5.4.5 Position
Trial Run without
Load

Lexium 23A

Before position trial run, fix and secure the motor as possible to avoid the danger
from the reacting force when the motor speed changes.
STEP 1:
Set the value of parameter P1-01 to 01 and it is position (Pr) control mode. After
selecting the operation mode as position (Pr) control mode, please restart the drive
and the setting would be valid.
STEP 2:
In position control mode, the necessary DI setting is listed as follows:
Digital Input

Parameter
Setting
Value

DI1

P2-10=101

SON

Servo On

DI1-=9

DI2

P2-11=108

CTRG

Command trigged

DI2-=10
DI3-=34

Sign

CN1 Pin
No.

Function Description

DI3

P2-12=111

POS0

Position command selection

DI4

P2-13=112

POS1

Position command selection

DI4-=8

DI5

P2-14=102

ARST

Reset

DI5-=33

DI6

P2-15=0

Disabled

This DI function is disabled

DI7

P2-16=0

Disabled

This DI function is disabled

DI8

P2-17=0

Disabled

This DI function is disabled

By default, DI6 is the function of reverse inhibit limit, DI7 is the function of forward
inhibit limit and DI6 is the function of operational stop (DI8), if the users do not set the
setting value of parameters P2-15 to P2-17 and P2-36 to P2-41 to 0 (Disabled), the
faults (AL013, 14 and 15) will occur (For the information of fault messages, please
refer to Chapter 10). Therefore, if the users do not need to use these three digit
inputs, please set the setting value of parameters P2-15 to P2-17 and P2-36 to P2-41
to 0 (Disabled) in advance.
All the digital inputs of Schneider Electric Lexium23 Plus servo drives are userdefined, and the users can set the DI signals freely.
Ensure to refer to the definitions of DI signals before defining them (For the
description of DI signals, please refer to Table 11.A in Chapter 11). If any alarm code
displays after the setting is completed, the users can restart the drive or set DI5 to be
activated to clear the fault. Please refer to section 6.5.4.2.
For the information of wiring diagram, please refer to Section 5.3.2 (Wiring of position
(Pr) control mode).
Because POS2 is not the default DI, the users need to change the value of parameter
P2-14 to 113.

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6. Commissioning

Please refer to the following table for 8 groups of position commands and position
command selection from POS0 to POS2.
Position Command

POS2

POS1

POS0

CTRG

Parameters

P6-02

P6-04

P6-06

P6-08

P6-10

P6-12

P6-14

P6-16

P6-03

P6-05

P6-07

P6-09

P6-11

P6-13

P6-15

P6-17

0: indicates OFF (Normally Open); 1: indicates ON (Normally Closed)
The users can set the value of these 8 groups of commands (P6-00 ~p6-17) freely.
The command can be absolute position command as well.

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6. Commissioning

6.5.4.6 Tuning
Procedure

Lexium 23A

Table 5.A Estimate the ratio of Load Inertia to Servo Motor Inertia (J_load /J_motor):
JOG Mode
1. After wiring is completed, when power in connected to the AC servo drive, the
right side display will show on the LCD display.

-71$'

2. Press

key to enter into parameter mode.

:#!##

3. Press

key twice to select parameter group.

:%!##

key to view each parameter and select parameter P2-17.

:%!$*

4. Press
5. Press

ENT

6. Press

key twice to change the parameter values. Use

through the available settings and then press
parameter settings.
7. Press
8. Press

key to display the parameter value as shown on the right side.

ENT

key to cycle

$%$

key to determine the

:%!&#

key to view each parameter and select parameter P2-30.
ENT

key to display the parameter value as shown on the right side.
key to cycle through the available settings.

10. At this time, the servo drive is ON and the right side display will appear next.

9. Select parameter value 1. Use

11. Press
key three times to select the ratio of Load Inertia to Servo Motor
Inertia (J_load /J_motor).
12. Display the current ratio of Load Inertia to Servo Motor Inertia (J_load /
J_motor). (5.0 is default setting.)

67
(.#

13. Press

key to select parameter mode.

:%!&#

14. Press

key twice to select parameter group.

:'!##

key to select user parameter P4-05.

:'!#(
%#

15. Press
16. Press

ENT

key and JOG speed 20 rpm will be displayed. Press

to increase and decrease JOG speed. To press
digit number.
17. Select desired JOG speed, press

ENT

and

key

key one time can add one

key and it will show the right side display.

%##
!69,!

18. Pressing
key is forward rotation and pressing
key is reverse rotation.
19. Execute JOG operation in low speed first. After the machine is running smoothly, then execute
JOG operation in high speed.
20. The ratio of Load Inertia to Servo Motor Inertia (J_load /J_motor) cannot be shown in the display
of JOG parameter P4-05 operation. Please press M key twice continuously and the users can
see the ratio of Load Inertia to Servo Motor Inertia (J_load /J_motor). Then, execute JOG
operation again, press

key once and press

ENT

key twice to view the display on the keypad.

Check if the value of J_load /J_motor is adjusted to a fixed value and displayed on the keypad
after acceleration and deceleration repeatedly.

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6. Commissioning

(1) Tuning Flowchart

AC servo drive

141

6. Commissioning

Lexium 23A

(2) Load Inertia Estimation Flowchart

142

AC servo drive

Lexium 23A

6. Commissioning

(3) Auto Mode Tuning Flowchart
Set P2-32 to 1 (1: Auto Mode [Continuous adjustment] )
The servo drive will continuously estimate the system inertia, save the measured load
inertia value automatically and memorized in P1-37 every 30 minutes by referring to
the frequency response settings of P2-31.
P2-31 : Auto Mode Stiffness Setting (Default setting: 80)
In Auto mode and Semi-Auto mode, the speed loop frequency response settings are
as follows:
1 ~ 50Hz : Low stiffness and low frequency response
51 ~ 250Hz : Medium stiffness and medium frequency response
251 ~ 850Hz : High stiffness and high frequency response
851 ~ 1000Hz : Extremely high stiffness and extremely high frequency response
Adjust P2-31: Increase the setting value of P2-31 to enhance the stiffness or reduce
the noise.
Continuously perform the adjustment until the satisfactory performance is achieved.

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Lexium 23A

(4) Semi-Auto Mode Tuning Flowchart
Set P2-32 to 2 (2: Semi-Auto Mode [Non-continuous adjustment] )
The servo drive will continuously perform the adjustment for a period of time. After
the system inertia becomes stable, it will stop estimating the system inertia, save the
measured load inertia value automatically, and memorized in P1-37. When switching
from other modes, such as Manual Mode or Auto Mode, to Semi-Auto Mode, the servo
drive will perform continuous adjustment for estimating the load inertia (P1-37)
again. The servo drive will refer to the frequency response settings of P2-31 when
estimating the system inertia.
P2-31 : Auto Mode Stiffness Setting (Default setting: 80)
In Auto mode and Semi-Auto mode, the speed loop frequency response settings are
as follows:
1 ~ 50Hz : Low stiffness and low frequency response
51 ~ 250Hz : Medium stiffness and medium frequency response
251 ~ 850Hz : High stiffness and high frequency response
851 ~ 1000Hz : Extremely high stiffness and extremely high frequency response
Adjust P2-31: Increase the setting value of P2-31 to enhance the frequency response
or reduce the noise.
Continuously perform the adjustment until the satisfactory performance is achieved.

NOTE:
1) When bit0 of P2-33 is set to 1, it indicates that the system inertia estimation of semiauto mode has been completed and the measured load inertia value is saved and
memorized in P1-37 automatically.
2) If reset bit0 of P2-33 to 0, it will start estimating the system inertia again.
144

AC servo drive

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6. Commissioning

(5) Limit of Load Inertia Estimation
The accel. / decel. time for reaching 2000 rpm must be below 1 second. The rotation
speed must be above 200 rpm. The load inertia must be 100 multiple or less of motor
inertia. The change of external force and the inertia ratio can not be too much. In Auto
Mode (P2-32 is set to 1), the measured load inertia value will be saved automatically
and memorized in P1-37 every 30 minutes. In Semi-Auto Mode, it will stop estimating
the load inertia after a period of continuous adjustment time when the system inertia
becomes stable. The measured load inertia value will be saved automatically and
memorized in P1-37 when load inertia estimation is stopped.

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Lexium 23A

NOTE:
1) Parameters P2-44 and P2-46 are used to set notch filter attenuation rate. If the
resonance can not be suppressed when the setting values of P2-44 and P2-46 are
set to 32bB (the maximum value), please decrease the speed loop frequency
response. After setting P2-47, the users can check the setting values of P2-44 and
P2-46. If the setting value of P2-44 is not 0, it indicates that one resonance
frequency exists in the system and then the users can read P2-43, i.e. the frequency
(unit is Hz) of the resonance point. When there is any resonance point in the
system, its information will be shown in P2-45 and P2-46 as P2-43 and P2-44.
2) If the resonance conditions are not improved when P2-47 is set to 1 for over three
times, please adjust notch filters (resonance suppression parameters) manually to
or eliminate the resonance.

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6. Commissioning

(6) Mechanical Resonance Suppression Method
In order to suppress the high frequency resonance of the mechanical system,
Lexium23 Plus servo drive provides two notch filters (resonance suppression
parameters) for resonance suppression. This notch filters can be set to suppress the
resonance automatically. If the users do not want to suppress the resonance
automatically, these two notch filter can also be set to or eliminate the resonance
manually.
Please refer to the following flowchart for manual adjustment.

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Lexium 23A

(7) Relationship between Tuning Modes and Parameters
Tuning Mode

Manual Mode

Auto Mode
[Continuous
Adjustment]

Semi-Auto Mode
[Non-continuous
Adjustment]

AutoSet
Parameter

User-defined Parameter

Gain Value

0
(Default
setting)

None

P1-37 (Ratio of Load Inertia to Servo Motor
Inertia [J_load / J_motor])
P2-00 (Proportional Position Loop Gain)
P2-04 (Proportional Speed Loop Gain)
P2-06 (Speed Integral Compensation)
P2-25 (Low-pass Filter Time Constant of
Resonance Suppression)
P2-26 (External Anti-Interference Gain)

Fixed

P1-37
P2-00
P2-02
P2-04
P2-06
P2-25
P2-26
P2-49

P2-31 (Auto Stiffness and Frequency
response Level)

Continuous
Adjusting
(every 30
minutes)

P1-37
P2-00
P2-02
P2-04
P2-06
P2-25
P2-26
P2-49

P2-31 (Auto Stiffness and Frequency
response Level)

Noncontinuous
Adjusting
(stop after a
period of
time)

P2-32

When switching mode #1 to #0, the setting value of P2-00, P2-02, P2-04, P2-06, P225, P2-26 and P2-49 will change to the value that measured in #1 auto-tuning mode.
When switching mode #2 to #0, the setting value of P2-00, P2-02, P2-04, P2-06, P225, P2-26 and P2-49 will change to the value that measured in #2 semi-auto tuning
mode.

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6. Commissioning

(8) Gain Adjustment in Manual Mode
The position and speed frequency response selection is depending on and
determined by the the control stiffness of machinery and conditions of applications.
Generally, high reponsiveness is essential for the high frequency positioning control
of mechanical facilities and the applications of high precision process system.
However, the higher frequency response may easily result in the resonance of
machinery system. Therefore, for the applications of high frequency response, the
machinery system with control stiffness is needed to avoid the resonance. Especially
when adjusting the frequency response of unfamiliar machinery system, the users
can gradually increase the gain setting value to improve frequency response untill
the resonance occurs, and then decrease the gain setting value. The relevant
parameters and gain adjusting methods are described as follows:
z

KPP, Parameter P2-00 Proportional Position Loop Gain
This parameter is used to determine the frequency response of position loop
(position loop gain). It could be used to increase stiffness, expedite position loop
response and reduce position error.
When the setting value of KPP is higher, the response to the position command is
quicker, the position error is less and the settling time is also shorter. However, if
the setting value is over high, the machinery system may generate vibration or
noise, or even overshoot during positioning. The position loop frequency response
is calculated as follows:
Position Loop Frequency Response (Hz) =

KVP, Parameter P2-04 Proportional Speed Loop Gain
This parameter is used to determine the frequency response of speed loop (speed
loop gain). It could be used to expedite speed loop response. When the setting
value of KVP is higher, the response to the speed command is quicker. However, if
the setting value is over high, it may result in the resonance of machinery system.
The frequency response of speed loop must be higher than the 4~6 times of the
frequency response of position loop. If frequency response of position loop is
higher than the frequency response of speed loop, the machinery system may
generate vibration or noise, or even overshoot during positioning. The speed loop
frequency response is calculated as follows:
Speed Loop Frequency Response
When the value of P1-37 (no matter it is the measured load inertia value or the set
load inertia value) is equal to the actual load inertia value, the actual speed loop
frequency response will be:

AC servo drive

149

6. Commissioning

150

Lexium 23A
z

KVI, Parameter P2-06 Speed Integral Compensation
If the setting value of KVI is higher, the capability of decreasing the speed control
deviation is better. However, if the setting value is over high, it may easily result in
the vibration of machinery system. The recommended setting value is as follows:
KVI (Parameter P2-06) y 1.5 x Speed Loop Frequency Response

NLP, Parameter P2-25 Low-pass Filter Time Constant of Resonance Suppression
When the value of (J_load / J_motor) is high, the frequency response of speed loop
may decrease. At this time, the users can increase the setting value of KVP (P2-04)
to keep the frequency response of speed loop. However, when increasing the
setting value of KVP (P2-04), it may easily result in the vibration of machinery
system. Please use this parameter to suppress or eliminate the noise of resonance.
If the setting value of NLP is higher, the capability of improving the noise of
resonance is better. However, if the setting value is over high, it may easily lead to
the instability of speed loop and overshoot of machinery system.
The recommended setting value is as follows:

DST, Parameter P2-26 External Anti-Interference Gain
This parameter is used to enhance the anti-interference capability and reduce the
occurrence of overshoot. The default setting is 0 (Disabled). It is not recommended
to use it in manual mode only when performing a few tuning on the value gotten
through P2-32 Auto Mode.

PFG, Parameter P2-02 Position Feed Forward Gain
This parameter is used to reduce position error and shorten the positioning settling
time. However, if the setting value is over high, it may easily lead to the overshoot of
machinery system. If the value of electronic gear ratio (P1-44/P1-45) is over than 10,
the machinery system may also easily generate vibration or noise.

AC servo drive

Operation

7
At a Glance
What's in this
Chapter?

This chapter contains the following topics:
Topic

AC servo drive

Page

Access channels

152

General Function Operation

153

Control Modes of Operation

156

Other functions

202

151

7. Operation

Lexium 23A

The chapter "Operation" describes the basic operating states, operating modes and
functions of the device.

WARNNG
UNINTENDED BEHAVIOR
The behavior of the drive system is governed by numerous stored data or settings.
Unsuitable settings or data may trigger unexpected movements or responses to
signals and disable monitoring functions.
z Do NOT operate the drive system with unknown settings or data.
z Verify that the stored data and settings are correct.
z When commissioning, carefully run tests for all operating states and
potential error situations.
z Verify the functions after replacing the product and also after making
changes to the settings or data.
z Only start the system if there are no persons or obstructions in the
hazardous area.
Failure to follow these instructions can result in death, serious injury or
equipment damage.

7.1 Access channels

WARNNG
UNEXPECTED BEHAVIOR CAUSED BY UNSUITABLE ACCESS CONTROL
By means of unsuitable use of access channels, for example, commands could be
unintendedly released or locked.
z Verify that incorrect accesses are locked.
z Verify that required accesses are available.
Failure to follow these instructions can result in death, serious injury or
equipment damage.
The product can be addressed via different access channels. Access channels are:
z Integrated HMI
z Commissioning software
z Digital input signals

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AC servo drive

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7. Operation

7.2 General Function Operation
7.2.1 Fault Code Display Operation
After entering the parameter mode P4-00 to P4-04 (Fault Record), press ENT key to
display the corresponding fault code history for the parameter. Please refer to the Figure 7.1
Figure 7.1

7.2.2 JOG Operation
After entering parameter mode P4-05, the users can follow the following steps to
perform JOG operation. (Please also refer to Figure 7.2).
Step1. Press the ENT key to display the JOG rpm speed. (The default value is 20 rpm).
Step2. Press the UP or DOWN arrow keys to increase or decrease the desired JOG
speed. (This also can be undertaken by using the SHIFT key to move the cursor
to the desired unit column (the effected number will blink) then changed using
the UP and DOWN arrow keys. The example display in Figure 7.2 is adjusted as
100 rpm).
Step3. Press the ENT key when the desired JOG speed is set. The Servo Drive will
display "JOG".
Step4. Press the UP or DOWN arrow keys to jog the motor either N(CW) and P(CCW)
direction. The motor will only rotate while the arrow key is activated.
Step5. To change JOG speed again, press the MODE key. The servo Drive will display
"P4 - 05". Press the ENT key and the JOG rpm speed will displayed again. Refer
back to #2 and #3 to change speed.
NOTE:
1) JOG operation is effective only when Servo On (when the servo drive is enabled).

AC servo drive

153

7. Operation

Lexium 23A

Figure 7.2

7.2.3 Force Output Control Operation
For testing, the digital outputs can be forced to be activated (ON) or inactivated
(OFF) by using parameter P2-08 and P4-06. First, set P2-08 to 406 to enable the
force output control function and then using P4-06 to force the digital outputs to be
activated. Follow the setting method in Figure 7.3 to enter into Force Output Control
operation mode. When P4-06 is set to 2, the digital output, DO2 is activated. When
P4-06 is set to 5, the digital outputs, DO1 and DO3 are both activated. The parameter
setting value of P4-06 is not retained when power is off. After re-power the servo
drive, all digital outputs will return to the normal status. If P2-08 is set to 400, it also
can switch the Force Output Control operation mode to normal Digital Output (DO)
Control operation mode.
The DO function and status is determined by P2-18 to P2-22. This function is enabled
only when Servo Off (the servo drive is disabled).

154

AC servo drive

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7. Operation

Figure 7.3

NOTE: As the display of P4-06 is hexadecimal, 0(zero) of the fifth digit will not show
on the LED display.

AC servo drive

155

7. Operation

Lexium 23A

7.3. Control Modes of Operation

7.3.1 Control Modes of Operation
The Lexium23 Plus series can be programmed to provide six single, eight dual modes
and two multiple modes of operation. Their operation and description is listed in the
following table.
Mode
External Position
Control
Internal Position
Control

Code

Description

Position control for the servo motor is achieved via an
external pulse command.

Position control for the servo motor is achieved via by
internal position commands stored within the servo
controller. Execution of the 8 positions is via Digital Input
(DI) signals.

Speed Control

Speed control for the servo motor can be achieved via
parameters set within the controller or from an external
analog -10 ~ +10 Vdc command. Control of the internal
speed parameters is via the Digital Inputs (DI). (A
maximum of three speeds can be stored internally).

Single Internal Speed
Mode
Control

Speed control for the servo motor is only achieved via
parameters set within the controller. Control of the
internal speed parameters is via the Digital Inputs (DI).
(A maximum of three speeds can be stored internally).

Torque control for the servo motor can be achieved via
parameters set within the controller or from an external
analog -10 ~ +10 Vdc command. Control of the internal
torque parameters is via the Digital Inputs (DI). (A
maximum of three torque levels can be stored
internally).

Torque control for the servo motor is only achieved via
parameters set within the controller. Control of the
internal torque parameters is via the Digital Inputs (DI).
(A maximum of three torque levels can be stored
internally).

Pt-S

Either Pt or S control mode can be selected via the Digital
Inputs (DI)

Pt-T

Either Pt or T control mode can be selected via the Digital
Inputs (DI).

Pr-S

Either Pr or S control mode can be selected via the Digital
Inputs (DI).

Pr-T

Either Pr or T control mode can be selected via the Digital
Inputs (DI).

S-T

Either S or T control mode can be selected via the Digital
Inputs (DI).

Torque Control

Internal Torque
Control

Dual Mode

156

Mode

AC servo drive

Lexium 23A

7. Operation

Mode

Mode
canopen

Code
0B

Reserved 0C

Multiple Mode

Description
CAN communication control is achieved via the
commands from the host (external) controller.
Reserved

Pt-Pr

Either Pt or Pr control mode can be selected via the
Digital Inputs (DI).

Pt-Pr-S

Either Pt or Pr or S control mode can be selected via the
Digital Inputs (DI).

Pt-Pr-T

Either Pt or Pr or T control mode can be selected via the
Digital Inputs (DI).

The steps of changing mode:
(1) Switching the servo drive to Servo Off status. Turning SON signal of digit input to
be off can completethis action.
(2) Using parameter P1-01. (Refer to chapter 11).
(3) After the setting is completed, cut the power off and restart the drive again.
The following sections describe the operation of each control mode, including control
structure, command source and loop gain adjustment, etc.

7.3.2 Position Control Mode
The position control mode (Pt or Pr mode) is usually used for the applications
requiring precision positioning, such as industry positioning machine, indexing table
etc. Lexium23 Plus series servo drives support two kinds of command sources in
position control mode. One is an external pulse train (Pt: Position Terminals,
External Position Control) and the other is internal parameter (Pr: Position Register,
i.e. internal parameters P6-00 to P6-17, Internal Position Control). The external pulse
train with direction which can control the rotation angle of servo motor. The max.
input frequency for the external pulse command is 4MKpps.
In order to provide a convenient position control function, Lexium23 Plus servo drive
provides 8 internal preset parameters for position control. There are two setting
methods of internal parameters, one is to set different position command into these
8 internal parameters before operation and then use POS0~POS2 of DI signals of CN1
to perform positioning control. The other setting method is to use serial
communication to change the setting value of these eight internal parameters.
To make the servo motor and load operate more smoothly, Lexium23 Plus servo drive
also provide complete Position Spine Line (P-curve) profile for position control mode.
For the closed-loop positioning, speed control loop is the principal part and the
auxiliary parameters are position loop gain and feed forward compensation. The
users can also select two kinds of tuning mode (Manual/Auto modes) to perform gain
adjustment. This Section 7.3.2 mainly describes the applicability of loop gain
adjustment and feed forward compensation of Lexium23 Plus servo system.

AC servo drive

157

7. Operation

7.3.2.1 Command
Source of Position
(Pt) Control Mode

Lexium 23A

The command source of P mode is external pulse train input form terminals. There
are three types of pulse input and each pulse type is with logic type (positive (+),
negative (-)). They all can be set in parameter P1-00. Please refer to the following
relevant parameters:
Relevant Parameter:
P1-00r

PTT

External Pulse Input Type

Address: 0100H, 0101H

Default: 0x2

Related Section:

Applicable Control Mode: Pt

Section 7.3.2.1

Unit: N/A
Range: 0 ~ 1132
Data Size: 16-bit
Display Format: Hexadecimal
Settings:
A: Input pulse type
0: AB phase pulse (4x)
(Quadrature Input)
1: Clockwise (CW) +
Counterclockwise(CCW) pulse
2: Pulse + Direction

B: Input pulse filter
This setting is used to suppress or reduce the chatter caused by the noise, etc.
However, if the instant input pulse filter frequency is over high, the frequency that
exceeds the setting value will be regarded as noise and filtered.

158

Low Filter

Setting Value

High Filter

1.66Mpps

6.66Mpps

416Kpps

1.66Mpps

208Kpps

833Kpps

104Kpps

416Kpps

AC servo drive

Lexium 23A

7. Operation

C: Input polarity
Pulse Type

0=Positive Logic
Forward

1=Negative Logic

Reverse

Forward

Reverse

AB phase pulse
(Quadrature)

CW + CCW pulse

Pulse + Direction

Input pulse interface

Max. input pulse frequency

Line driver/Line receiver

500Kpps/4Mpps

Open collector

200Kpps

D: Source of pulse command
Setting
value

Input pulse interface

Remark

Low-speed pulse

CN1 Terminal Identification:
PULSE, SIGN

High-speed puls

CN1 Terminal Identification:
HPULSE, HSIGN

Note: The source of pulse command can also be determined by digital input, PTCMS. When the
digital input function is used, the source of pulse command is from digital input.

Position pulse can be input from these terminals, PULSE (43), /PULSE (41), HPULSE
(38), /HPULSE (29), SIGN (36), /SIGN (37) and HSIGN (46), /HSIGN (40). It can be an
open-collector circuit or line driver circuit. For the detail wiring, please refer to 5.3.1.

AC servo drive

159

7. Operation

7.3.2.2 Command
Source of Position
(Pr) Control Mode

Lexium 23A

The command sources of Pr mode are (P6-00, P6-01) ~ (P6-16, P6-17) these 8 built-in
parameters. Using with external I/O signals (CN1, POS 0 to POS 5 and CTRG) can select one
of the 8 built-in parameters to be position command. Please refer to the table below:
Position Command

POS2

POS1

POS0

CTRG

Parameters

P6-03

P6-04

P6-06

P6-08

P6-10

P6-14

P6-16

P6-02

P6-05

P6-07

P6-09

P6-11
P6-12
P6-13

P6-15

P6-17

State of POS0~5: 0 indicates the contact is OFF (Normally Open)
1 indicates the contact is ON (Normally Closed)
CTRGA: the instant time when the contact changes from 0 (open) to 1 (closed).
The application of absolute and incremental position control is various and multiple.
This kind of position control is equal to a simple sequence control. Users can easily
complete the cycle running by using the above table. For example, the position
command, P1 is 10 turns and P2 is 20 turns. Give the position command P1 first and
then give the position command P2. The difference between absolute and
incremental position control is shown as the figure below:

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AC servo drive

Lexium 23A

7.3.2.3 Structure
of Position Control
Mode

7. Operation

Basic Structure:

In order to pursue the goal of perfection in position control, the pulse signal should be
modified through position command processing and the structure is shown as the
figure below:
Lexium23 Plus Series:

Using parameter can select Pr mode and Pt mode. Electronic gear ratio can be set
in both two modes to set proper position revolution. Lexium23 Plus series servo
drives also provide S-curve and low-pass filter, which are used whenever the
motor and load need to be operated more smoothly. As for the information of
electronic gear ratio, S-curve and low-pass filter, please refer to the following
sections 7.3.2.4, 7.3.2.5 and 7.3.2.6.

AC servo drive

161

7. Operation

Lexium 23A

Pulse Inhibit Input Function (INHIBIT)
This function is activated via digital inputs (Please refer to parameter P2-10 ~ P2-17
and DI INHP in Table 11.A).When the drive is in position mode, if INHP is activated, the
external pulse input command is not valid and the motor will stop (Please note that
only DI8 supports this function).

7.3.2.4 S-curve
Filter for Position
Control

162

The S-curve filter is for the position smoothing of motion command. Using S-curve filter
can run the servo motor more smoothly in response to a sudden position command.
Since the speed and acceleration curve are both continuous and the time for the servo
motor to accelerate is short, using Scurve filter not only can improve the performance
when servo motor accelerate or decelerate but also can make motor to operate more
smoothly (from mechanical view). When the load is change, the motor usually run not
smoothly when starts to run and stop due to the friction and inertia change. At this
moment, users can increase Accel/Decel S-curve constant (TSL), Accel time constant
(TACC) and Decel time constant (TDEC) to improve the performance. Because the
speed and angle acceleration are continuous when position command is changed to
pulse signal input, so it is not needed to use Scurve filter.

AC servo drive

Lexium 23A

7. Operation

Relevant Parameters:
P1-34

TACC

Acceleration Time

Address: 0144H, 0145H

Default: 200

Related Section:

Applicable Control Mode: S

Section 7.3.3.3

Unit: msec
Range: 1 ~ 65500
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to determine the acceleration time to accelerate from 0 to its
rated motor speed. The functions of parameters P1-34, P1-35 and P1-36 are each
individual. When P1-36 is set to 0 (Disabled), the settings of P1-34, P1-35 are still
effective. It indicates that the parameters P1-34 and P1-35 will not become disabled
even when P1-36 is disabled.
Please note:
1) When the source of speed command is analog command, the maximum setting
value of P1-36 is set to 0, the acceleration and deceleration function will be
disabled.
2) When the source of speed command is analog command, the maximum setting
value of P1-34 is limited to 20000 automatically.

AC servo drive

163

7. Operation

Lexium 23A

P1-35

TDEC
Deceleration Time
Address: 0146H, 0147H
Default: 200
Related Section:
Applicable Control Mode: S
Section 7.3.3.3
Unit: msec
Range: 1 ~ 65500
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to determine the acceleration time to accelerate from 0 to its
rated motor speed. The functions of parameters P1-34, P1-35 and P1-36 are each
individual. When P1-36 is set to 0 (Disabled), the settings of P1-34, P1-35 are still
effective. It indicates that the parameters P1-34 and P1-35 will not become disabled
even when P1-36 is disabled.
Please note:
1 When the source of speed command is analog command, the maximum setting value of
P1-36 is set to 0, the acceleration and deceleration function will be disabled.
2 When the source of speed command is analog command, the maximum setting
value of P1-35 is limited to 20000 automatically.

P1-36

TSL
Accel /Decel S-curve
Communication Addr.: 0124H
Default: 0
Related Section:
Unit: msec
Section 7.3.3.3
Applicable Control Mode: S, Pr
Unit: msec
Range: 0 ~ 65500 (0: Disabled)
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to make the motor run more smoothly when startup and windup.
Using this parameter can improve the motor running stability.

TACC: P1-34, Acceleration time
TDEC: P1-35, Deceleration time
TSL: P1-36, Accel /Decel S-curve
Total acceleration time = TACC + TSL
Total deceleration time = TDEC + TSL
The functions of parameters P1-34, P1-35 and P1-36 are each individual. When P1-36 is set
to 0 (Disabled), the settings of P1-34, P1-35 are still effective. It indicates that the
parameters P1-34 and P1-35 will not become disabled even when P1-36 is disabled.
Please note:
1 When the source of speed command is analog command, the maximum setting value of
P1-36 is set to 0, the acceleration and deceleration function will be disabled.
2 When the source of speed command is analog command, the maximum setting
value of P1-36 is limited to 10000 automatically.

164

AC servo drive

Lexium 23A

7.3.2.5 Electronic
Gear Ratio

7. Operation

Relevant parameters:
P1-44r GR1

Electronic Gear Ratio (1st
Numerator) (N1)

Address: 0158H, 0159H

Default: 128

Related Section:

Applicable Control Mode: Pt, Pr

Section 7.3.2.5

Unit: pulse
Range: 1 ~ (229-1)
Data Size: 32-bit
Display Format: Decimal
Settings:
This parameter is used to set the numerator of the electronic gear ratio. The
denominator of the electronic gear ratio is set by P1-45. P2-60 ~ P2-62 are used to
set the additional numberators. Please note:
1 In Pt mode, the setting value of P1-44 can be changed only when the servo drive is
enabled (Servo On).
2 In Pr mode, the setting value of P1-44 can be changed only when the servo drive is
disabled (Servo Off).
P1-45r GR2

Electronic Gear Ratio
(Denominator) (M)

Address: 015AH, 015BH

Default: 10

Related Section:

Applicable Control Mode: Pt, Pr

Section 7.3.3.6

Unit: pulse
Range: 1 ~ (231-1)
Data Size: 32-bit
Display Format: Decimal
Settings:
This parameter is used to set the denominator of the electronic gear ratio. The
numerator of the electronic gear ratio is set by P1-44. P2-60 ~ P2-62 are used to set
the additional numberators.
As the wrong setting may cause motor to run chaotically (out of control) and it may lead
to personnel injury, therefore, ensure to observe the following rule when setting P1-44,
P1-45. The electronic gear ratio setting (Please also see P1-44, P2-60 ~ P2-62):

The electronic gear ratio setting range must be within: 1/50
Cmd_E = command data
Absolute
(absolute)
position
Cmd_O retain unchanged
command
DO signal: CMD_OK is OFF
Cmd_E+= command data
Incremental
(incremental)
position
Cmd_O retain unchanged
command
DO signal: CMD_OK is OFF
Cmd_E retain unchanged
Stop
Cmd_O continuously
command
output
DI signal,
DO: CMD_OK output retain
STP
unchanged

Homing
command

Cmd_E retain unchanged
Cmd_O retain unchanged
DO signal: CMD_OK is OFF
DO signal: HOME is OFF

=> When position
command is executing=>
Cmd_E retain unchanged
Cmd_O continuously
output
...
Cmd_E retain unchanged
Cmd_O continuously
output
...

=> When position
command is completed
Cmd_E retain unchanged
Cmd_O = Cmd_E
DO signal: CMD_OK is ON
Cmd_E retain unchanged
Cmd_O = Cmd_E
DO signal: CMD_OK is ON

Cmd_E retain unchanged
Cmd_O stop in
accordance
with deceleration curve

Cmd_E retain unchanged
Cmd_O = position at stop
DO signal: CMD_OK is ON

Cmd_E continuously
output
Cmd_O continuously
output
...
...

Cmd_E = Z pulse (absolute
position)
Cmd_O = position at stop
DO signal: CMD_OK is ON
DO signal: HOME is ON

Cmd_E continuously output
Cmd_O continuously output. After speed command is completed, it indicates that the
speed reaches the setting value and the motor will not stop.
DO signal: CMD_OK is OFF
Enter Pr at the first time ( Servo Off ->
Servo On
Cmd_O = Cmd_E = current motor feedback position
or other mode for entering Pr mode)
Note: The incremental position command performs accumulation according to the end of the
position command (Cmd_E). It is irrelevant to current motor position and command timing as well.
Speed
command

AC servo drive

219

8. Motion Control Function

Lexium 23A

8.7 Homing Function of Pr Mode
The homing function determines the homing characteristics of servo motors. The
purpose of homing function is used to connect the position of Z pulse of motor
encoder to the internal coordinate of the servo drive. The coordinate value
corresponds to Z pulse can be specified.
After homing operation is completed, the stop position will not locate at the position
of Z pulse. This is
because the motor must accelerate to stop when Z pulse is found. Generally, the
motor stop position will be a little ahead of the position of Z pulse. At this time, Z pulse
is set correctly so it will not affect the position precision.
For example, if the coordinate corresponds to Z pulse is set to 100, after homing
operation is completed, Cmd=300. It indicates that the acceleration distance is equal
to 300-100=200(PUU). Since Cmd_E=100 (absolute position of Z pulse), if the users
want to command the motor to return to the position of Z pulse, just set absolute
position command to 100 or incremental position command to 0.
In Pr mode of Lexium23 Plus servo drives series, after homing operation, it can
execute the specified path and command the motor to return to the position of Z
pulse automatically.
When homing function is executed, the software limit function is disabled.

220

AC servo drive

Lexium 23A

8. Motion Control Function

8.8 DI and DO signals of Pr Mode
DI signals:
CTRG, SHOM, STP, POS0 ~ POS2, ORG, PL(CCWL), NL(CWL)
DO signals:
CMD_OK, MC_OK, TPOS, ALRM, CAP_OK

AC servo drive

221

8. Motion Control Function

Lexium 23A

Trigger method of Pr command:
There are 8 position settings in Pr mode. Path 0 is homing mode and the others (Path
1 ~ 8) can be userdefined. For the trigger method of Pr command, please refer to the
table below:
Command Source
Standard DI signals:
Method CTRG + POS0 ~ 2

Special
Method

Software
Setting

222

DI signals: STP,SHM

P5-07

Explanation
Use DI signals, POS0 ~ 5 to specify the desired trigger path
number, and then use the rising-edge of DI signal, CTRG to
trigger Pr command.
Suitable application: PC or PLC commands the servo drive by
using DI signals
DI signal: Set STP from OFF V ON, and the command will stop.
DI signal: Set SHOM from OFF V ON, and the servo drive will
start to perform homing operation.
Set P5-07 to the desired trigger path number and it will
trigger the dedicated position command immediately.
P5-07 can be set through the keypad / communication
(RS-485 and CANopen).
Suitable application: PC or PLC commands the servo drive by
using the communication.

AC servo drive

Lexium 23A

8. Motion Control Function

8.9 Parameter Settings of Pr Mode
1) Target speed: P5-60 ~ P5-75 (Moving Speed Setting of Position 0 ~ 15), total 16
groups
Bit
W0

15 ~ 0
TARGET_SPEED：0.1 ~ 6000.0(rpm)

2) Accel / Decel time: P5-20 ~ P5-35 (Accel / Decel Time 0 ~ 15), total 16 parameters
Bit
W0

15 ~ 0
T_ACC / T_DEC：1 ~ 65500(msec)

Note: The acceleration time is used for DO signals, STP/EMS/NL(CWL)/PL(CCWL)
when the users want to stop the motor. The function of P5-07 will refer to this setting
when perform stop positioning as well.
3) Delay time: P5-40 ~ P5-55 (Delay Time 0 ~ 15), total 16 groups.
Bit
W0

15 ~ 0
IDLE：0 ~ 32767(msec)

4) Path parameters: P5-00 ~ P5-09, P6-00 ~ P6-01, total 12 DWORD.
P5-00
P5-01
P5-02
P5-03
P5-04
P5-05
P5-06
P5-07
P5-08
P5-09
P6-00
P6-01

AC servo drive

32 BIT
Reserved
Reserved (for internal testing, do not use it)
Reserved (for internal testing, do not use it)
Deceleration Time of Protectin Function
Homing Mode
1st Speed Setting of High Speed Homing
2nd Speed Setting of Low Speed Homing
Trigger Position Command (Pr mode only)
Forward Software Limit
Reverse Software Limit
Homing Definition
Homing Definition Value (Z pulse position)

223

8. Motion Control Function

Lexium 23A

5) Path Definition: P6-02 ~ P6-17 (64 BIT), total 8 groups (2N).
Each path occupies two parameters.
BIT
DW0
DW1

31 ~ 28
-

27 ~ 24
23 ~ 20
19 ~ 16
15 ~ 12
11 ~ 8
7~4
DLY
SPD
DEC
ACC
OPT
DATA (32 bit): Target Position. Unit: Pulse of User Unit

3~0
0

OPT:
OPT
Bit 7

Bit 6
CMD

0
1

Bit 5
-

Bit 4
INS

Explanation

Absolute position command: Cmd_E = DATA (Note 1)
Incremental position command: Cmd_E = Cmd_E +
DATA (Note 2)

0
0

* It can accept DI signals, STP (Motor Stop), SNL(SCWL, Reverse Software Limit),
SPL(SCCWL, Forward Software Limit).
INS: Interrupt the previous path.
CMD: The calculation method for Cmd_E (End of position command) is described in
the notes below:
Note 1: The end of position command is an absolute position command which is equal
to DATA directly.
Note 2: The end of the position command is an incremental position command which
is equal to the end of the position command (Cmd_E, monitor variable 40h) plus a
designated DATA.
ACC: Acceleration time
DEC1 / DEC2: 1st deceleration time / 2nd deceleration time.
DLY: Delay time

224

AC servo drive

Lexium 23A

8. Motion Control Function

6) Homing Definition: P6-00 ~ P6-01, (64 bits), total 1 group.
Bit
DW0
DW1

31 ~ 28
BOOT

27 ~ 24
-

23 ~ 20
DLY

19 ~ 16
15 ~ 12
DEC2
DEC1
ORG_DEF (32 bit)

11 ~ 8
ACC

7~4
PATH

3~0
BOOT

PATH: 0 ~8. Path style (4 bits)
0: Stop mode. Motor stops after homing is completed.
1~8: Auto mode. Motor goes the dedicated path 1 ~ 8 after homing is completed.
ACC: Acceleration time
DEC1 / DEC2: 1st deceleration time / 2nd deceleration time..
DLY: Delay time
BOOT: Boot mode. Disable or enable homing function when the servo drive is applied
to power (power on).
0: Disable homing function
1: Enable homing function (when the servo drive is applied to power, first time Servo On)
ORG_DEF: Homing definition value which is determined by the parameter P6-01. The
homing definition value does not necessarily have to be 0.
A. Lexium23 Plus servo drives does not provide the functions that find Z pulse and
regard Z pulse as "Home".
Therefore, it needs to decide if the motor return to Z pulse position when homing
operation is completed.
After home sensor or Z pulse is found, the motor must accelerate to stop. Generally,
the motor stop position will be a little ahead of the position of Z pulse.

Do not return to Z pulse: Set PATH=O
Return to Z pulse: Set PATH= a non-zero value and set absolute position
command=ORG_DEF.
CMD_O：Command Output Position
CMD_E：Command End Position
B. Position offset values are not defined when performing homing operation. After
homing operation, the position offset values can be set as a dedicated Pr path.
For example, if the users want the motor to move a distance S (relative to home senor
or Z pulse), and defined the position coordinate as P, set Pr path as a non-zero value
and set ORG_DEF=P - S.
(P is the absolute position command and S is the incremental position command)

AC servo drive

225

8. Motion Control Function

Lexium 23A

8.9.1 Path Order
1) Each path can set to interrupt the previous path (INS) or overlap the next path
(OVLP).

2) The priority of INS is higher than OVLP.
PATH 1

PATH 2

Path Order

OVLP=0

INS=0

In order

OVLP=1

INS=0

Overlap

OVLP=0
OVLP=1

INS=1

Interrupt

Output

Note
PATH1 and PATH2 can be speed or position
DLY 1
command
When PATH 2 is a speed command, OVLP
NO DLY
function is disabled,
PATH1 and PATH2 can be speed or position
N/A
command

8.9.2 Pr Path
1) Path In Order
Path 1: AUTO, DLY is set
Path 2: INS is not set
(DLY: Delay time is calculated from the time
when the position command is completed)

Path 1: Speed command, DLY is set
Path 2: Position command
(DLY: Delay time is calculated from the time
when the position command is completed)

2) Path Overlap
Path 1: OVLP is set, DLY can not be set.
Path 2: INS is not set

226

AC servo drive

Lexium 23A

8. Motion Control Function

3) Internal Interrupt
Path 1: AUTO, DLY is set
Path 2: INS is set
(DLY is effective for internal interrupt)
This path setting can be used to create
complicated position profile.

4) External Interrupt
Path 1: AUTO or SINGLE, no matter DLY is set
or not.
Path 2: INS is set
(DLY is effective for external interrupt)
This path setting can be used to change
position profile freely.

AC servo drive

227

8. Motion Control Function

228

Lexium 23A

AC servo drive

Communication

9
At a Glance
What's in this
Chapter?

AC servo drive

This chapter contains the following topics:
Topic

Page

RS-485 Communication Hardware Interface

230

Communication Parameter Settings

232

MODBUS Communication Protocol

236

Communication Parameter Write-in and Read-out

245

229

9. Communication

Lexium 23A

9.1 RS-485 Communication Hardware Interface
The Lexium23 Plus series servo drives support RS-485 serial communication to
connect a host system such as a PLC or machine controller. All aspects of control,
operation and monitoring as well as programming of the controller can be achieved
via communication.

RS-485

230

Configuration

Cable Connection

AC servo drive

Lexium 23A

9. Communication

NOTE:
1) The maximum cable length is 100m (39.37inches) when the servo drive is installed
in a location where there are only a few interferences. Please note, RFI / EME noise
should be kept to a minimum, communication cable should kept apart from high
voltage wires. If a transmission speed of 38400 bps or greater is required, the
maximum length of the communication cable is 15m (50ft.) which will ensure the
correct and desired baud rate.
2) The number shown in the pervious figure indicates the terminal number of each
connector.
3) The power supply should provide a +12V and higher DC voltage.
4) Please use a REPEATER if more than 32 synchronous axes are required. Maximum
254 servo drives can be connected.
5) For the terminal identification of CN3, please refer to Section 5.2.10.

AC servo drive

231

9. Communication

Lexium 23A

9.2 Communication Parameter Settings
The following describes the communication addresses for the communication
parameters.
For communication parameters, please refer to the Chapter 9.
0300H
0301H
Communication
Address Setting

Default: 0x7F
Range: 0x01 ~ 0x7F
Settings (Hexadecimal):
Display

Range

0~7

0~F

When using RS-485 communication, this parameter is used set the communication
address in hexadecimal format. If the AC servo drive is controlled by RS-485
communication, each drive (or device) must be uniquely identified. One servo drive
only can set one address. If the address is duplicate, there will be a communication
fault. This address is an absolute address which represents the servo drive on a RS485 network. When the address of host (external) controller is set to 0xFF, it is with
auto-respond function. Then, the servo drive will receive from and respond to host
(external) controller both no matter the address is matching or not. However, the
parameter P3-00 cannot be set to 0xFF.

232

AC servo drive

Lexium 23A

9. Communication

0302H
0303H
Transmission
Speed

Default: 0x0203
Range: 0x0000 ~ 0x0405
Settings (Hexadecimal):
Display

COM Port

CAN

RS-485

Range

0~4

0~5

X: Baud rate setting
0: Baud rate 4800
1: Baud rate 9600
2: Baud rate 19200
3: Baud rate 38400
4: Baud rate 57600
5: Baud rate 115200
Y: Reserved. Must be set to 0.
Z: CANopen Data transmission speed setting.
0: 125K bits / second
1: 250K bits / second
2: 500K bits / second
3: 750K bits / second
4: 1.0M bits / second
Please note:
1. When setting this parameter via CANopen communication, only the
setting of Z (data transmission speed setting) can be configured.

This parameter is used to set the desired transmission speed between the computer
and AC servo drive.
Users can set this parameter and control transmission speed to reach the maximum
baud rate of 115200 bps.
0304H
0305H
Communication
Protocol

Default: 6
Range: 0~8
Settings:
0: Modbus ASCII mode, <7,N,2>
1: Modbus ASCII mode, <7,E,1 >
2: Modbus ASCII mode, <7,O,1>
3: Modbus ASCII mode, <8,N,2 >
4: Modbus ASCII mode, <8,E,1>
5: Modbus ASCII mode, <8,O,1>
6: Modbus RTU mode, <8,N,2>
7: Modbus RTU mode, <8,E,1>
8: Modbus RTU mode, <8,O,1>

This parameter is used to set the communication protocol. The alphanumeric
characters represent the following: 7 or 8 is the number of data bits; N, E or O refers to
the parity bit, Non, Even or Odd; the 1 or 2 is the numbers of stop bits.

AC servo drive

233

9. Communication

Lexium 23A

0306H
0307H
Transmission Fault
Treatment

Default: 0
Range: 0~1
Settings:
0: Display fault and continue operating
1: Display fault and decelerate to stop operating
(deceleration time is determined by parameter P5-03)

This parameter is used to determine the operating sequence once a communication
fault has been detected. If '1' is selected the drive will stop operating upon detection
the communication fault. The mode of stopping is set by parameter P1-32.
0308H
0309H
Communication Time
Out Detection

Watch Dog Timer (It is not recommended to change the factory
default setting if not necessary)
Default: 0
Range: 0~20
The factory default setting is set to 0 and it indicates this function is
disabled.

When this parameter is set to any value over 0, it indicates that the timer is enabled.
The value set in this parameter is the communication time and the communication
time out detection should be completed within the time. Otherwise, a communication
error will occur.
For example, if the value set in this parameter is 5, it indicates that the communication
time out detection will be activated once in five seconds or a communication error will
occur.

234

AC servo drive

Lexium 23A

9. Communication

030CH
030DH
Digital Input
Communication
Function

Digital Input Control:
Default: 0
Range: 0x0000 ~ 0x3FFF
Bit0 ~ Bit 7 corresponds with DI1 ~ DI8. The least significant bit (Bit0)
shows DI1 status and the most significant bit (Bit7) shows DI8 status.
Bit settings:
0: Digital input is controlled by external command (via CN1)
1: Digital input is controlled by parameter P4-07
For the settings of DI1 ~ DI8, please refer to P2-10 ~ P2-17.

The setting of this parameter determines how the Digital Inputs (DI) accept
commands and signals.
Input commands or signals through the DI can be either from an external source,
through the CN1 interface connector, or via communication (upon software). If this
parameter is set to "0", all commands are external and via CN1; if this parameter is set
to "FFFF"(hexadecimal), all the DI signals are via communication (upon software).
For example, if P3-06 is set to 55 ("binary" display is 01010101), it indicates that Digital
Inputs 1, 3, 5, & 7 are controlled by external commands and Digital Inputs 2, 4, 6, & 8 are
controlled by communication (upon software).
Please see Chapter 4.4.5 DI Signal Display Diagnosis Operation for display layout of
the Digital Signal selection.
The Digital Input Control parameter, P3-06 also works in conjunction with the Digital
Input Status parameter P4-07 which has several functions.
The contents of P4-07 is "read only" via the drive keypad and will display the state on
or off of the eight Digital Inputs which have been set in accordance to P3-06. For E
xample; if P3-06 has been set to "FFFF" (All digital inputs are via communication
(upon software)) and the P4-07 display is 11 ("binary" display is 00010001), it
indicates that the state of Digital Inputs 1 & 5 are on and the state of Digital Inputs 2, 3,
4, 6, 7 & 8 are off.
030EH
030FH
Communication
Response Delay
Time

Default: 0
Range: 0~1000

This parameter is used to delay the communication time that servo drive responds to
host controller (external controller).
When this parameter is set to 0, it indicates that the communication time that servo
drive responds to host controller (external controller) will no be delayed.

AC servo drive

235

9. Communication

Lexium 23A

9.3 MODBUS Communication Protocol
When using RS-485 serial communication interface, each Lexium23 Plus servo drive
has a preassigned communication address specified by parameter "P3-00". The
computer then controls each AC servo drive according to its communication address.
Lexium23 Plus servo drives can be set up to communicate on a MODBUS networks
using on of the following modes: ASCII (American Standard Code for Information
Interchange) or RTU (Remote Terminal Unit). Users can select the desired mode
along with the serial port communication protocol in parameter "P3-02".
Code Description:

ASCII Mode:
Each 8-bit data is the combination of two ASCII characters. For example, a 1-byte
data: 64 Hex, shown as '64' in ASCII, consists of '6' (36Hex) and '4' (34Hex).
The following table shows the available hexadecimal characters and their
corresponding ASCII codes.
Character

‘0’

‘1’

‘2’

‘3’

‘4’

‘5’

‘6’

ASCII code

30H

31H

32H

33H

34H

35H

36H

‘7’
37H

Character

‘8’

‘9’

‘A’

‘B’

‘C’

‘D’

‘E’

‘F’

ASCII code

38H

39H

41H

42H

43H

44H

45H

46H

RTU Mode:
Each 8-bit data is the combination of two 4-bit hexadecimal characters. For example,
a 1-byte data: 64 Hex.

236

AC servo drive

Lexium 23A

Data Format:

9. Communication

10-bit character frame (For 7-bit character)

11-bit character frame (For 8-bit character)

AC servo drive

237

9. Communication

Communication
Protocol:

Lexium 23A

ASCII Mode:
STX
ADR
CMD
DATA (n-1)
……
DATA (0)
LRC
End 1
End 0

Start character ': ' (3AH)
Communication address: 1-byte consists of 2 ASCII codes
Command code: 1-byte consists of 2 ASCII codes
Contents of data: n word = n x 2-byte consists of n x 4 ASCII codes, n ≤ 12
Command code: 1-byte consists of 2 ASCII codes
End code 1: (0DH)(CR)
End code 0: (0AH)(LF)

RTU Mode:
STX
ADR
CMD
DATA(n-1)
……
DATA(0)
CRC
End 1

238

A silent interval of more than 10ms
Communication address: 1-byte
Command code: 1-byte
Contents of data: n word = n x 2-byte, n ≤ 12
Command code: 1-byte
A silent interval of more than 10ms

AC servo drive

Lexium 23A

9. Communication

STX (Communication Start)
ASCII Mode: ':' character
RTU Mode: A silent interval of more than 10ms
ADR (Communication Address)
The valid communication addresses are in the range of 1 to 254.
For example, communication to AC servo drive with address 16 decimal:
ASCII Mode: ADR='1', '0'=> '1'=31H, '0'=30H
RTU Mode: ADR = 10H
CMD (Command Codes) and DATA (Data Characters)
The format of data characters depends on the command code. The available
command codes and examples for AC servo drive are described as follows:
Command code: 03H, read N words. The maximum value of N is 10.
For example, reading continuous 2 words from starting address 0200H of AC servo
drive with address 01H.
ASCII Mode:
Command message:
STX
ADR
CMD

Response message:
‘:’
‘0’
‘1’
‘0’
‘3’
‘0’

Starting data
address

‘2’
‘0’
‘0’
‘0’

Number of data

‘0’
‘0’
‘2’

LRC Check
End 1
End 0

‘F’
‘8’
(0DH) (CR)
(0AH) (LF)

STX
ADR
CMD

‘1’
‘0’
‘3’

Number of data
(Count by byte)

‘0’

Contents of
starting
data address
0200H

‘0’

Contents of
second
data address
0201H
LRC Check
End 1
End 0

AC servo drive

‘:’
‘0’

‘4’
‘0’
‘B’
‘1’
‘1’
‘F’
‘4’
‘0’
‘E’
‘8’
(0DH) (CR)
(0AH) (LF)

239

9. Communication

Lexium 23A

RTU Mode:
Command message:
ADR
CMD
Starting data
address
Number of data
(Count by word)
CRC Check Low
CRC Check High

Response message:

01H
03H
02H (Upper bytes)
00H (Lower bytes)
00H
02H
C5H (Lower bytes)
B3H (Upper bytes)

ADR
01H
CMD
03H
Number of data
04H
(Count by byte)
Contents of starting 00H (Upper bytes)
data address
B1H (Lower bytes)
0200H
Contents of second
data address
0201H
CRC Check Low
CRC Check High

1FH (Upper bytes)
40H (Lower bytes)
A3H (Lower bytes)
D4H (Upper bytes)

Command code: 06H, write 1 word
For example, writing 100 (0064H) to starting data address 0200H of Lexium23 Plus
servo drives with address 01H.
ASCII Mode:
Command message:
STX
ADR
CMD

Response message:
‘:’
‘0’
‘1’
‘0’
‘6’

STX
ADR
CMD

‘0’
Starting data
address

Content of data

‘2’
‘0’

End 1
End 0

240

‘1’
‘0’
‘6’
‘0’

Starting data
address

‘2’
‘0’

‘0’

‘0’
‘6’

Content of data

‘4’
LRC Check

‘:’
‘0’

‘9’
‘3’
(0DH) (CR)
(0AH) (LF)

‘0’
‘6’
‘4’

LRC Check
End 1
End 0

‘9’
‘3’
(0DH) (CR)
(0AH) (LF)

AC servo drive

Lexium 23A

9. Communication

RTU Mode:
Command message:
ADR
CMD
Starting data
address
Content of data
CRC Check Low
CRC Check High

Response message:

01H
06H
02H (Upper bytes)
00H (Lower bytes)
00H (Upper bytes)
64H (Lower bytes)
89H (Lower bytes)
99H (Upper bytes)

ADR
CMD
Starting data
address
Content of data
CRC Check Low
CRC Check High

01H
06H
02H (Upper bytes)
00H (Lower bytes)
00H (Upper bytes)
64H (Lower bytes)
89H (Lower bytes)
99H (Upper bytes)

LRC (ASCII Mode):
LRC (Longitudinal Redundancy Check) is calculated by summing up, module 256, the
values of the bytes from ADR to last data character then calculating the hexadecimal
representation of the 2's-complement negation of the sum.
For example, reading 1 word from address 0201H of the Lexium23 Plus servo drive
with address 01H.
STX
ADR
CMD

‘:’
‘0’
‘1’
‘0’
‘3’
‘0’

Starting data
address

‘2’
‘0’
‘1’
‘0’

Number of data

‘0’
‘0’
‘1’

LRC Check
End 1
End 0

‘F’
‘8’
(0DH) (CR)
(0AH) (LF)

01H+03H+02H+01H+00H+01H = 08H, the 2's complement negation of 08H is F8H.
Hence, we can know that LRC CHK is 'F', '8'.

AC servo drive

241

9. Communication

Lexium 23A

CRC (RTU Mode):
CRC (Cyclical Redundancy Check) is calculated by the following steps:
Step 1: Load a 16-bit register (called CRC register) with FFFFH.
Step 2: Exclusive OR the first 8-bit byte of the command message with the low order
byte of the 16-bit CRC register, putting the result in the CRC register.
Step 3: Extract and examine the LSB. If the LSB of CRC register is 0, shift the CRC
register one bit to the right. If the LSB of CRC register is 1, shift the CRC
register one bit to the right, then Exclusive OR the CRC register with the
polynomial value A001H.
Step 4: Repeat step 3 until eight shifts have been performed. When this is done, a
complete 8-bit byte will have been processed, then perform step 5.
Step 5: Repeat step 2 to step 4 for the next 8-bit byte of the command message.
Continue doing this until all bytes have been processed. The final contents of
the CRC register are the CRC value.
NOTE:
1) When transmitting the CRC value in the message, the upper and lower bytes of the
CRC value must be swapped, i.e. the lower order byte will be transmitted first.
2) For example, reading 2 words from address 0101H of the AC servo drive with
address 01H. The final content of the CRC register from ADR to last data character
is 3794H, then the command message is shown as follows. What should be noticed
is that 94H have to be transmitted before 37H.
ARD
CMD
Starting data
address
Number of data
(Count by word)
CRC Check Low
CRC Check High

01H
03H
01H (Upper byte)
01H (Lower bytes)
00H (Upper bytes)
02H (Lower bytes)
94H (Lower bytes)
37H (Upper bytes)

End1, End0 (Communication End)
ASCII Mode:
In ASCII mode, (0DH) stands for character '\r' (carriage return) and (0AH) stands for
character '\n' (new line), they indicate communication end.
RTU Mode:
In RTU mode, a silent interval of more than 10ms indicates communication end.

242

AC servo drive

Lexium 23A

9. Communication

The following is an example of CRC generation using C language. The function takes
two arguments:
unsigned char* data;
unsigned char length
The function returns the CRC value as a type of unsigned integer.
unsigned int crc_chk(unsigned char* data, unsigned char length) {
int j;
unsigned int reg_crc=0xFFFF;
while( length-- ) {
reg_crc^= *data++;
for (j=0; j<8; j++ ) {
if( reg_crc & 0x01 ) { /*LSB(bit 0 ) = 1 */
reg_crc = (reg_crc >> 1)^0xA001;
} else {
reg_crc = (reg_crc>>1);
}
}
}
return reg_crc;
}
PC communication program example:
#include
#include
#include
#include
#define PORT 0x03F8
/* the address of COM 1 */
#define THR 0x0000
#define RDR 0x0000
#define BRDL 0x0000
#define IER 0x0001
#define BRDH 0x0001
#define LCR 0x0003
#define MCR 0x0004
#define LSR 0x0005
#define MSR 0x0006
unsigned char rdat[60];
/* read 2 data from address 0200H of LXM23 with address 1 */
unsigned char tdat[60]={':', '0', '1', '0', '3', '0', '2', '0', '0', '0', '0', '0', '2', 'F', '8', '\r', '\n'};
void main() {

AC servo drive

243

9. Communication

Lexium 23A

int I;
outportb(PORT+MCR,0x08);
/* interrupt enable */
outportb(PORT+IER,0x01);
/* interrupt as data in */
outportb(PORT+LCR,( inportb(PORT+LCR) | 0x80 ) );
/* the BRDL/BRDH can be access as LCR.b7 == 1 */
outportb(PORT+BRDL,12);
outportb(PORT+BRDH,0x00);
outportb(PORT+LCR,0x06);
/* set prorocol
<7,E,1> = 1AH,
<7,O,1> = 0AH
<8,N,2> = 07H
<8,E,1> = 1BH
<8,O,1> = 0BH

for( I = 0; I<=16; I++ ) {
while( !(inportb(PORT+LSR) & 0x20) ); /* wait until THR empty */
outportb(PORT+THR,tdat[I]);
/* send data to THR */
}
I = 0;
while( !kbhit() ) {
if( inportb(PORT+LSR)&0x01 ) { /* b0==1, read data ready */
rdat[I++] = inportb(PORT+RDR); /* read data from RDR */
}
}
}

244

AC servo drive

Lexium 23A

9. Communication

9.4 Communication Parameter Write-in and Read-out
There are following 7 groups for parameters:
Group 0: Monitor parameters
(example: P0-xx)
Group 1: Basic parameters
(example: P1-xx)
Group 2: Extension parameters
(example: P2-xx)
Group 3: Communication parameters
(example: P3-xx)
Group 4: Diagnosis parameters
(example: P4-xx)
Group 5: Motion control parameters
(example: P5-xx)
Group 6: Pr path definition parameters
(example: P6-xx)
For a complete listing and description of all parameters, refer to Chapter 11.
Communication write-in parameters for Lexium23 Plus servo drives are including:
Group 0: All parameters except P0-00 ~ P0-01, P0-08 ~ P0-13 and P0-46
Group 1: P1-00 ~ P1-76
Group 2: P2-00 ~ P2-67
Group 3: P3-00 ~ P3-11
Group 4: All parameters except P4-00 ~ P4-04 and P4-08 ~ P4-09
Group 5: All parameters except P5-10, P5-16 and P5-76
Group 6: P6-00 ~ P6-17
NOTE:
1) P3-01 After the new transmission speed is set, the next data will be written in new
transmission speed.
2) P3-02 After the new communication protocol is set, the next data will be written
in new communication protocol.
3) P4-05 JOG control of servo motor. For the description, refer to Chapter 11.
4) P4-06 Force output contact control. This parameter is for the users to test if DO
(Digit output) is normal. User can set 1, 2, 4, 8, 16 to test DO1, DO2, DO3,
DO4, DO5, respectively. After the test has been completed, please set this
parameter to 0 to inform the drive that the test has been completed.
5) P4-10 Adjustment function selection. If user desires to change the settings of this
parameter, user has to set the value of the parameter P2-08 to 20
(hexadecimal: 14H) first and then restart. After restarting, the settings of
parameter P4-10 can become modified.

AC servo drive

245

9. Communication

Lexium 23A

6) P4-11 ~ P4-21 These parameters are for offset adjustment. Do not change the
factory default setting if not necessary. If the user desires to change
the settings of these parameters, the user has to set the value of the
parameter P2-08 to 22 (hexadecimal: 16H) first and then restart.
After restarting, the settings of parameters P4-11 to P4-21 can
become modified.
Communication read-out parameters for Lexium23 Plus servo drives are
including:
Group 0: P0-00 ~ P0-46
Group 1: P1-00 ~ P1-76
Group 2: P2-00 ~ P2-67
Group 3: P3-00 ~ P3-11
Group 4: P4-00 ~ P4-23
Group 5: P5-00 ~ P5-76
Group 6: P6-00 ~ P6-17

246

AC servo drive

Diagnostic and troubleshooting

10
At a Glance
Presentation

What's in this
Chapter?

AC servo drive

This chapter describes the various types of diagnostics and provides
troubleshooting assistance.

This chapter contains the following topics:
Topic

Page

Status request/status indication

248

Fault Messages Table

249

Potential Cause and Corrective Actions

254

Clearing Faults

273

247

10. Diagnostic and troubleshooting

Lexium 23A

10.1 Status request/status indication
Information on the product status are provided by:
z Integrated HMI
See chapter Fault Message Display
z Commissioning software
For details on how to display the device state see the information provided in the
commissioning software "Lexium23 Plus CT".
z The error memory also contains a history of the last 5 errors.
The error memory can be found in the Diagnosis Parameter section (P4-00 to P404).The five most recent errors are stored.
See the information provided with the commissioning software for details on how
to read the error memory using the commissioning software.

248

AC servo drive

Lexium 23A

10. Diagnostic and troubleshooting

10.2 Fault Messages Table
Servo Drive Fault
Messages

Fault Messages
Display

Fault Name

AL001 Overcurrent
AL002 Overvoltage
AL003 Undervoltage
AL004 Motor error
AL005 Regeneration error
AL006 Overload
AL007 Overspeed
pulse
AL008 Abnormal
control command
AL009 Excessive deviation
AL011 Encoder error
AL012 Adjustment error
stop
AL013 Operational
activated
limit switch
AL014 Reverse
error
limit switch
AL015 Forward
error
temperature
AL016 IGBT
error
AL017 Memory error
AL018 Encoder output error

Fault Description
Main circuit current is higher than 1.5 multiple of
motor's instantaneous maximum current value.
Main circuit voltage has exceeded its maximum
allowable value.
Main circuit voltage is below its minimum
specified value.
The motor does not match the drive. They are
not correctly matched for size (power rating).
Regeneration control operation is in error.
Servo motor and drive is overload.
Motor's control speed exceeds the limit of
normal speed.
Input frequency of pulse command exceeds the
limit of its allowable setting value.
Position control deviation value exceeds the
limit of its allowable setting value.
Pulse signal is in error.
Adjusted value exceeds the limit of its allowable
setting value when perform electrical adjustment.
Operational stop switch is activated.
Reverse limit switch is activated.
Forward limit switch is activated.
The temperature of IGBT is over high.
EE-PROM write-in and read-out is in error.
The encoder output exceeds the rated output
frequency.

communication RS-485 communication time out.
AL020 Serial
time out
power phase
AL022 Input
One phase of the input power is loss.
loss

AC servo drive

249

10. Diagnostic and troubleshooting

Lexium 23A

Fault Messages
Display

Fault Name

AL023 Pre-overload
warning

initial
AL024 Encoder
magnetic field error
internal
AL025 Encoder
error
AL026 Encoder data error
AL027 Encoder reset error
protection
AL030 Motor
error
AL031 U,V,W wiring error
closed-loop
AL040 Full
excessive deviation
firmware
AL099 DSP
upgrade

250

Fault Description
To warn that the servo motor and drive is going
to overload. This alarm will display before
ALM06. When the servo motor reach the
setting value of P1-56, the motor will send a
warning to the drive. After the drive has
detected the warning, the DO signal OLW will be
activated and this fault message will display.
The magnetic field of the encoder U, V, W signal
is in error.
The internal memory of the encoder is in error.
An internal counter error is detected.
An encoder data error is detected for three times.
An encoder reset error is detected. The
communication between the encoder and the
servo drive are in error.
In order to protect the motor, this alarm will be
activated when the setting value of P1-57 is
reached after a period of time set by P1-58.
The wiring connections of U, V, W (for servo motor
output) and GND (for grounding) are in error.
The position control deviation value of full
closed-loop exceeds the specified limit.
EE-PROM is not reset after the firmware version
is upgraded.
This fault can be cleared after setting P2-08 to
30 first, and then setting P2-08 to 28 next and
restarting the servo drive.

AC servo drive

Lexium 23A

CANopen
Communication
Fault Messages

10. Diagnostic and troubleshooting

Fault Messages
Display
AL111
AL112
AL121

AL122

AL123

AL124

AL125

AL126
AL127

AL128

AL129

Fault Name
CANopen SDO
receive buffer
overrun
CANopen PDO
receive buffer
overrun
Index error occurs
when accessing
CANopen PDO object.
Sub-index error
occurs when
accessing CANopen
PDO object.
Data type (size) error
occurs when
accessing CANopen
PDO object.
Data range error
occurs when
accessing CANopen
PDO object.
CANopen PDO
object is read-only
and writeprotected.
CANopen PDO
object does not
support PDO.
CANopen PDO object
is write-protected
when Servo On.
Error occurs when
reading CANopen
PDO object from EEPROM.
Error occurs when
writing CANopen
PDO object into EEPROM.

invalid
AL130 EE-PROM
address range

AC servo drive

Fault Description
SDO Rx buffer overrun is detected (receive two
or more SDO packets in 1ms).
PDO Rx buffer overrun is detected (receive two
or more PDO (same COBID) packets in 1ms).
The specified Index in the message does not
exist.
The specified Sub-index in the message does
not exist.
The data length in the message does not match
the specified object.
The data in the message has exceeded the data
range of the specified object.
The specified object in the message is readonly and write-protected (cannot be changed).
The specified object in the message does not
support PDO.
The specified object in the message is writeprotected (cannot be changed) when Servo On.
An error occurs when loading the default
settings from EE-PROM at start-up. All
CANopen objects return to their default
settings automatically.
An error occurs when writing the current
settings into EE-PROM.
The amount of the data saved in EE-PROM has
exceeded the space determined by the firmware.
Maybe the firmware version has been upgraded,
and it causes that the data of old firmware version
saved in EE-PROM cannot be used.

251

10. Diagnostic and troubleshooting

Lexium 23A

Fault Messages
Display

Fault Name

checksum
AL131 EE-PROM
error
AL132 Password error
guard error or
AL180 Life
heartbeat error
AL185 CANbus error
data initial
AL201 CANopen
error
AL235 Command overflow
Index error occurs
AL261 when accessing
CANopen object.
Sub-index error
when
AL263 occurs
accessing CANopen
object.
Data type (size)
occurs when
AL265 error
accessing CANopen
object.
Data range error
when
AL267 occurs
accessing CANopen
object.
CANopen object is
AL269 read-only and writeprotected.
CANopen object
AL26b does not support
PDO.
CANopen object is
AL26d write-protected
when Servo On.

252

Fault Description
The data saved in EE-PROM has been damaged
and all CANopen objects return to their default
settings automatically.
The parameter is password protected when
using CANopen communication to access the
parameter. The users must enter the valid
password to unlock the parameter.
Receive node guarding or heartbeat message or
heartbeat error has timed out.
CANbus off or Error Rx/Tx Counter exceeds 128.
An error occurs when loading data from EEPROM.
This fault occurs when position command
counter register overflowed and at this time an
absolute position command is executed.
The specified Index in the message does not
exist.
The specified Sub-index in the message does not
exist.
The data length in the message does not match
the specified object.
The data in the message has exceeded the data
range of the specified object.
The specified object in the message is read-only
and write-protected (cannot be changed).
The specified object in the message does not
support PDO.
The specified object in the message is writeprotected (cannot be changed) when Servo On.

AC servo drive

Lexium 23A

10. Diagnostic and troubleshooting

Fault Messages
Display

Fault Name

AL277 Password error
software
AL283 Forward
limit
software
AL285 Reverse
limit
AL3E1 CANopen SYNC failed
SYNC
AL3E2 CANopen
signal error
SYNC time
AL3E3 CANopen
out
IP
AL3E4 CANopen
command failed
AL3E5 SYNC period error
Position deviation
AL380 alarm for digital
output, MC_OK
AL401 CAN bus error

Fault Description
The parameter is password protected when
using CANopen communication to access the
parameter. The users must enter the valid
password to unlock the parameter.
Position command is equal to or more than
forward software limit.
Position command is equal to or less than
forward software limit.
The synchronous communication with the
external controller has failed.
The CANopen SYNC signal is received too early.
The CANopen SYNC signal is not received within
the specified time.
Internal command of CANopen IP mode cannot
be sent and received.
Object 0x1006 data error. SYNC period 1006h
value is invalid.
After MC_OK is activated, when the digital
output, TPOS is Off, the digital output, MC_OK
becomes Off.
For more detailed explanation, please refer to
parameter P1-48 in Chapter 8.
NMT reset or NMT stop command is received
when the servo drive is enabled.

NOTE:
1) If there is any unknown fault code that is not listed on the above table, please inform
the distributor or contact with Schneider Electric for assistance.
2) For more information about the CANopen objects, please refer to CANopen
Instruction Manual.

AC servo drive

253

10. Diagnostic and troubleshooting

Lexium 23A

10.3 Potential Cause and Corrective Actions
Servo Drive Fault
Messages

-7##$ : Overcurrent
Potential Cause

Corrective Actions

1. Check the wiring connections
between drive and motor.
2. Check if the wire is shortcircuited.

Repair the short-circuited and
avoid metal conductor being
exposed.

Motor wiring error

Check if the wiring steps are all
correct when connecting motor
to drive.

Follow the wiring steps in the
user manual to reconnect
wiring.

IGBT error

Heat sink overheated

Please contact your distributor
for assistance or contact with
Schneider Electric.

Control parameter
setting error

Check if the setting value
exceeds the factory default
setting.

Set the setting back to factory
default setting and then reset
and adjust the parameter
setting again.

Control command
setting error

Check if the control input
command is unstable
(too much fluctuation).

1. Ensure that input command
frequency is stable (too much
fluctuation).
2. Activate filter function.

-7##%

: Overvoltage

Potential Cause

254

Checking Method

Short-circuit at drive
output (U, V, W)

Checking Method

Corrective Actions

The main circuit voltage
has exceeded its
maximum allowable
value.

Use voltmeter to check whether
the input voltage falls within the
rated input voltage. (For voltage
specification, please refer to
section 3.3.1 in Chapter 3.)

Use correct power supply or
stabilizing power or using series
transformer.

Input power error
(Incorrect power input)

Use voltmeter to check whether
the input voltage is within the
specified limit.

Use correct power supply or
stabilizing power or using series
transformer.

The hardware of the
servo drive is damaged.

Use voltmeter to ensure that the
main circuit input voltage falls
within the specified limit,

If the error does not clear even if
the main circuit input voltage
falls within the specified limit,
please contact your distributor
for assistance or contact with
Schneider Electric.

AC servo drive

Lexium 23A

10. Diagnostic and troubleshooting

-7##&

: Undervoltage

Potential Cause

Corrective Actions

The main circuit voltage
is below its minimum
specified value.

Check whether the wiring of
main circuit input voltage is
normal.

Reconfirm voltage wiring.

No input voltage at
main circuit.

Use voltmeter to check whether
input voltage at main circuit is
normal.

Reconfirm power switch.

Input power error
(Incorrect power input)

Use voltmeter to check whether
the input voltage is within the
specified limit.

Use correct power supply or
stabilizing power or using series
transformer.

-7##'

: Motor error

Potential Cause

Checking Method

Encoder is damaged.

Check the encoder for the
damage.

Replace the motor.

Encoder is loose.

Examine the encoder connector.

Install the motor again.

The type of the servo
motor is incorrect.

Check if the servo drive and
servo motor are not correctly
matched for size (power rating).

Replace the motor.

-7##(

Corrective Actions

: Regeneration error

Potential Cause

AC servo drive

Checking Method

Corrective Actions

Regenerative resistor is
Check the wiring connection of
not connected or the
regenerative resistor.
value of the regenerative
resistor is too low.

Reconnect regenerative
resistor or calculate the value of
the regenerative resistor.

Regenerative switch
transistor fault

Check if regenerative switch
transistor is shortcircuited.

Please contact your distributor
for assistance or contact with
Schneider Electric.

Parameter setting is in
error

Confirm the parameter settings
of P1-52 and P1-53, and
specifications of regenerative
resistor.

Correctly reset parameter
settings and the specifications
of regenerative resistor again.

255

10. Diagnostic and troubleshooting

-7##)

Lexium 23A

: Overload

Potential Cause

Corrective Actions

The drive has exceeded
its rated load during
continuous operation.

Check if the drive is overloaded.
The users can set parameter P002 (Drive Fault Code) to 11 and
monitor if the value of the
average torque [%] exceeds
100% always.

Increase motor capacity or
reduce load.

Control system
parameter setting is
incorrect.

1. Check if there is mechanical
vibration
2. Accel/Decel time setting is too
fast.

1. Adjust gain value of control
circuit.
2. Decrease Accel/Decel time
setting.

The wiring of drive and
encoder is in error.

Check the wiring of U, V, W and
encoder.

Ensure all wiring is correct.

The encoder of the
motor is damaged.

Please contact your distributor for assistance or contact with
Schneider Electric.

-7##*

: Overspeed

Potential Cause

Checking Method

Corrective Actions

Speed input command is Use signal detector to detect if
not stable (too much
input signal is abnormal.
fluctuation).

Ensure that input command
frequency is stable (not
fluctuate too much) and
activate filter function.

Over-speed parameter
setting is defective

Correctly set over-speed
parameter setting
(P2-34).

-7##+

Check if over-speed parameter
setting value is too low.

: Abnormal pulse control command

Potential Cause
Pulse command
frequency is higher
than rated input
frequency.

256

Checking Method

Checking Method
Use pulse frequency detector to
measure input frequency.

Corrective Actions
Correctly set the input pulse
frequency.

AC servo drive

Lexium 23A

10. Diagnostic and troubleshooting

-7##,

: Excessive deviation

Potential Cause

Checking Method

Corrective Actions

Maximum deviation
parameter setting is too
small.

Check the maximum deviation
parameter setting and observe
the position error value when the
motor is running.

Increases the parameter setting
value of P2-35.

Gain value is too small.

Check for proper gain value.

Correctly adjust gain value.

Torque limit is too low.

Check torque limit value.

Correctly adjust torque limit
value.

There is an overload.

Check for overload condition.

Reduce external applied load or
reestimate the motor capacity.

-7#$$

: Encoder error (Position detector fault)

Potential Cause

Corrective Actions
Ensure all wiring is correct.

Encoder is loose

Examine the encoder connector
(CN2).

Install the motor again.

The wiring of encoder is
defective.

Check if all connections are tight.

Conduct the wiring again.

Encoder is damage

Check the motor for the damage.

Replace the motor.

-7#$%

: Adjustment error

Potential Cause

AC servo drive

Checking Method

The wiring of encoder is in 1. Check if all wiring is correct.
error.
2. Check if the users conduct the
wiring by the wiring
information in the user
manual.

Checking Method

Corrective Actions

The analog input
contact does not go
back to zero.

Measure if the voltage of the
analog input contact is the same
as the voltage of the ground.

Correctly ground the analog
input contact.

The detection device is
damaged.

damaged. Reset the power
supply.

If the error does not clear after
resetting the power supply,
please contact your distributor
for assistance or contact with
Schneider Electric.

257

10. Diagnostic and troubleshooting

-7#$&

Lexium 23A

: Operational stop activated

Potential Cause
Operational stop switch
is activated.

-7#$'

Check if operational stop switch
is On or Off.

Corrective Actions
Activate operational stop
switch.

: Reverse (CWL) limit switch error

Potential Cause

Checking Method

Corrective Actions

Reverse limit switch is
activated.

Check if reverse limit switch is On
or Off.

Activate reverse limit switch.

Servo system is not
stable.

Check the value of control
parameter setting
and load inertia.

Modify parameter setting and
reestimate
motor capacity.

-7#$(

: Forward (CCWL) limit switch error

Potential Cause

Checking Method

Corrective Actions

Forward limit switch is
activated.

Check if forward limit switch is
On or Off.

Activate forward limit switch.

Servo system is not
stable.

Check the value of control
parameter setting
and load inertia.

Modify parameter setting and
reestimate
motor capacity.

-7#$)

: IGBT temperature error

Potential Cause

258

Checking Method

Corrective Actions

The drive has
exceeded its rated load
during continuous
operation.

Check if there is overload or the
motor current is too high.

Increase motor capacity or
reduce load.

Short-circuit at drive
output.

Check the drive input wiring.

Ensure all wiring is correct.

AC servo drive

Lexium 23A

10. Diagnostic and troubleshooting

-7#$*

: Memory error

Potential Cause

AC servo drive

Checking Method

Corrective Actions

Parameter data error
when writing into EE
PROM.

Examine the parameter settings.
Please do the following steps:
1. Press SHIFT key on the drive
keypad, and examine the
parameter shown on LED
display.
2. If E320A is displayed (in
hexadecimal format), it
indicates it is parameter P2-10.
Please examine the parameter
settings of P2-10.
3. If E3610 is displayed (in
hexadecimal format), it
indicates it is parameter P6-16.
Please examine the parameter
settings of P6-16.

1. If this fault occurs when power
is applied to the drive, it
indicates that the setting
value of one parameter has
exceeded the specified range.
Correct the setting value of
the parameter to clear the
fault and restart the servo
drive.
2. If this fault occurs during
normal operation, it indicates
that the error occurs when
writing data into EE-PROM.
Turn ARST (DI signal) ON to
clear the fault or restart the
servo drive.

The setting value of
hidden parameter is in
error.

Press SHIFT key on the drive
keypad and examine if E100X is
displayed on LED display.

If this fault occurs when
resetting the parameter
settings, it indicates that the
servo drive type is not set
correctly. Correctly set the
servo drive type again.

Data in EE-PROM is
damaged.

Press SHIFT key on the drive
keypad and examine if E0001 is
displayed on LED display.

If this fault occurs when power is
applied to the drive, it indicates
that the data in EE-RPM is
damaged or there is no data in E
E-PROM.
Please contact your distributor
for assistance or contact with
Schneider Electric.

259

10. Diagnostic and troubleshooting

-7#$+

Lexium 23A

: Encoder output error

Potential Cause

Checking Method

Corrective Actions

Encoder itself or the
wiring of encoder is in
error.

Check if the recent fault records
(P4-00 ~ P4-05) display on the
drive keypad in accordance with
the fault codes AL011, AL024,
AL025 and AL026.

Perform the corrective actions
as described in AL011, AL024,
AL025 and AL026.

The output frequency
for pulse output may
exceed the limit of its
allowable setting value.

Check if the following conditions
occur:
Condition 1: Motor speed is
above the value set by P1-76.
Condition 2:
Motor Speed
P1- 46 x 4 >19.8 x 106
60

Correctly set P1-76 and P1-46.
1. Ensure that the motor speed is
below the value set by P1-76.
2.
Motor Speed
P1- 46 x 4 <19.8 x106
60

-7#%#

: Serial communication time out

Potential Cause

Checking Method
Check communication time out
parameter setting.

Correctly set P3-07.

Not receiving
communication
command for a long
time.

Check whether communication
cable is loose or broken.

Tighten the communication
cable, make sure the
communication cable is not
damaged and ensure all wiring is
correct.

-7#%%

: Input power phase loss

Potential Cause

Checking Method

Control power supply is in Check the power cable and
error.
connections of R, S, T. Check
whether the power cable is loose
or the possible loss of phase on
input power.

-7#%&

Corrective Actions
If the fault does not clear even
when the three-phase power is
connected correctly, please
contact your distributor for
assistance or contact with
Schneider Electric.

: Pre-overload warning

Potential Cause
The drive is going to
overload.

260

Corrective Actions

Setting value in time
out parameter is not
correct.

Checking Method

Corrective Actions

1. Check the load condition of the
servo motor and drive.
2. Check the setting value of P156. Check whether the setting
value of P1-56 is to small.

1. Please refer to the correction
actions of AL006.
2. Increase the setting value of
P1-56 or set P1-56 to 100 and
above.

AC servo drive

Lexium 23A

10. Diagnostic and troubleshooting

-7#%'

: Encoder initial magnetic field error

Potential Cause
The magnetic field of
the encoder U, V, W
signal is in error.

-7#%(

Corrective Actions

1. Check if the servo motor is
properly grounded.
2. Check if the encoder signal
cables are placed in separate
conduits from the cables
connected to R, S, T and U, V, W
terminals to prevent the
interference.
3. Check if the shielded cables
are used when performing
encoder wiring.

If the error does not clear after
each checking is done, please
contact your distributor for
assistance or contact with
Schneider Electric.

: Encoder internal error

Potential Cause
The internal memory of
the encoder is in error.
An encoder counter
error occurs.

AC servo drive

Checking Method

Corrective Actions

1. Please connect the grounding
(green color) of U, V, W
terminal to the heatsink of the
servo drive.
2. Ensure that the encoder
signal cables are placed in
separate conduits from the
cables connected to R, S, T and
U, V, W terminals to prevent
the interference.
3. Please use shielded cables for
Encoder wiring.
4. If the error does not clear
after all the above actions are
done, please contact your
distributor for assistance or
contact with Schneider Electric.

261

10. Diagnostic and troubleshooting

-7#%)

Lexium 23A

: Encoder data error

Potential Cause
An encoder data error
occurs for three times

-7#%*

Checking Method

Corrective Actions

: Encoder reset error

Potential Cause

Checking Method

An encoder reset error is 1. Check if the servo motor is
detected. The
properly grounded.
communication between 2. Check if the encoder signal
the encoder and the servo
cables are placed in separate
drive are in error.
conduits from the cables
connected to R, S, T and U, V, W
terminals to prevent the
interference.
3. Check if the shielded cables
are used when performing
encoder wiring.

262

Corrective Actions
1. Please connect the grounding
(green color) of U, V, W
terminal to the heatsink of the
servo drive.
2. Ensure that the encoder
signal cables are placed in
separate conduits from the
cables connected to R, S, T and
U, V, W terminals to prevent
the interference.
3. Please use shielded cables for
Encoder wiring.
4. If the error does not clear after
all the above actions are done,
please contact your distributor
for assistance or contact with
Schneider Electric.

AC servo drive

Lexium 23A

10. Diagnostic and troubleshooting

-7#&#

: Motor protection error

Potential Cause
The setting value of
parameter P1-57 is
reached after a period of
time set by parameter
P1-58.

-7#&$

Corrective Actions
1. Set P1-57 to 0.
2. Correctly set P1-57 and P1-58.
Please note that the over-low
setting may results in
malfunction, but over-high
setting may let the motor
protection function not
operate.

: U,V,W wiring error

Potential Cause
The wiring connections
of U, V, W (for servo
motor output) and GND
(for grounding) are in
error.

-7#'#

Checking Method
1. Check if P1-57 is enabled.
2. Check if the setting values of
P1-57 and P1-58 are both too
small.

Checking Method
Check if wiring connections of U,
V, W are not correct.

Corrective Actions
Follow the wiring steps in the
user manual to reconnect the
wiring and ground the servo
drive and motor properly.

: Full closed-loop excessive deviation

Potential Cause
The position control
deviation value of
fullclosed loop exceeds
the specified limit.
Maximum deviation
parameter setting is too
small.

Checking Method

Corrective Actions

1. Check if the setting value of P1- 1. Increases the parameter
73 is too small.
setting value of P1-73.
2. Check if all connections are
2. Ensure all connections are
tight and wellconnected to the
tight and well-connected to
mechanical equipment.
the mechanical

-7#,, : DSP firmware upgrade
Potential Cause
EE-PROM is not reset
after the firmware
version is upgraded.

AC servo drive

Checking Method
Check if EE-PROM is reset after
the firmware version is
upgraded.

Corrective Actions
Set P2-08 to 30 first, and then
28 next, and restart the servo
drive.

263

10. Diagnostic and troubleshooting

CANopen
Communication
Fault Messages

Lexium 23A

-7$$$ : CANopen SDO receive buffer overrun
Potential Cause

Checking Method

Corrective Actions

SDO Rx buffer overrun is
detected (receive two or
more SDO packets in
1ms).

Check if the servo drive (Master)
receives two or more SDO
packets in 1ms.

NMT Maser send "Reset node"
command to its slave or reset
the fault by sending the control
word (0x6040) through CAN
communication (the value of
CANopen object 0x6040 should
be reset)

-7$$% : CANopen PDO receive buffer overrun
Potential Cause

Checking Method

Corrective Actions

PDO Rx buffer overrun is
detected (receive two or
more PDO packets in
1ms).

Check if the servo drive (Master)
receives two or more PDO (same
COB-ID) packets in 1ms.

NMT Maser send "Reset node"
command to its slave or reset
the fault by sending the control
word (0x6040) through CAN
communication (the value of
CANopen object 0x6040 should
be reset)

-7$%$ : Index error occurs when accessing PDO object
Potential Cause

Checking Method

The specified Index in the Check if the Entry index value in
message does not exist. PDO mapping is changed when
accessing PDO object.

Corrective Actions
NMT Maser send "Reset node"
command to its slave or reset
the fault by sending the control
word (0x6040) through CAN
communication (the value of
CANopen object 0x6040 should
be reset)

-7$%% : Sub-index error occurs when accessing PDO object
Potential Cause
The specified Sub-index
in the message does not
exist.

264

Checking Method
Check if the Entry Sub-index
value in PDO mapping is
changed when accessing PDO
object.

AC servo drive

Lexium 23A

10. Diagnostic and troubleshooting

-7$%& : Data type (size) error occurs when accessing PDO object
Potential Cause

Checking Method

The data length in the
Check if the Entry data length in
message does not match PDO mapping is changed when
the specified object.
accessing PDO object.

-7$%' : Data range error occurs when accessing PDO object
Potential Cause
The data in the message
has exceeded the data
range of the specified
object.

Checking Method
Check if the write-in data range
in PDO mapping is not correct
when accessing PDO object.

-7$%( : Object is read-only and write-protected
Potential Cause

Checking Method

Corrective Actions

The specified object in
the message is read-only
and write-protected
(cannot be changed).

Check if the specified object is
set to read-only write-protected
(cannot be changed) when
accessing PDO object.

NMT Maser send "Reset node"
command to its slave or reset
the fault by sending the control
word (0x6040) through CAN
communication (the value of
CANopen object 0x6040 should
be reset)

-7$%) : CANopen PDO object does not support PDO
Potential Cause
The specified object in
the message cannot
support PDO.

AC servo drive

Checking Method
Check if the specified object
cannot support PDO when
accessing PDO object.

265

10. Diagnostic and troubleshooting

Lexium 23A

-7$%* : CANopen PDO object is write-protected when Servo On
Potential Cause

Checking Method

Corrective Actions

The specified object in
the message is writeprotected (cannot be
changed) when Servo On.

Check if the specified object in
the message is write-protected
(cannot be changed) while the
servo drive is enabled (Servo On)
when accessing PDO object.

NMT Maser send "Reset node"
command to its slave or reset
the fault by sending the control
word (0x6040) through CAN
communication (the value of
CANopen object 0x6040 should
be reset)

-7$%+ : Error occurs when reading CANopen PDO object from EE-PROM
Potential Cause

Checking Method

Corrective Actions

An error occurs when
loading the default
settings from EE-PROM
at start-up. All CANopen
objects return to their
default settings
automatically.

Check if it causes an error when
the specified object reads EEPROM when accessing PDO
object.

NMT Maser send "Reset node"
command to its slave or reset
the fault by sending the control
word (0x6040) through CAN
communication (the value of
CANopen object 0x6040 should
be reset)

-7$%, : Error occurs when writing CANopen PDO object into EE-PROM
Potential Cause
An error occurs when
writing the current
settings into EE-PROM.

Checking Method

Corrective Actions

Check if it causes an error when
the specified object writes EEPROM when accessing PDO
object.

NMT Maser send "Reset node"
command to its slave or reset
the fault by sending the control
word (0x6040) through CAN
communication (the value of
CANopen object 0x6040 should
be reset)

-7$&# : EE-PROM invalid address range
Potential Cause
The amount of the data
saved in EE-PROM has
exceeded the space
determined by the
firmware. Maybe the
firmware version has
been upgraded, and it
causes that the data of
old firmware version
saved in EE-PROM
cannot be used.

266

Checking Method

Corrective Actions

Check if the specified object lets
the address range of EE-PROM
exceed the specification when
accessing PDO object.

NMT Maser send "Reset node"
command to its slave or reset
the fault by sending the control
word (0x6040) through CAN
communication (the value of
CANopen object 0x6040 should
be reset)

AC servo drive

Lexium 23A

10. Diagnostic and troubleshooting

-7$&$ : EE-PROM checksum error
Potential Cause

Checking Method

Corrective Actions

The data saved in EEPROM has been
damaged and all
CANopen objects return
to their default settings
automatically.

Check if the specified object
results in the checksum error of E
E-PROM when accessing PDO
object.

NMT Maser send "Reset node"
command to its slave or reset
the fault by sending the control
word (0x6040) through CAN
communication (the value of
CANopen object 0x6040 should
be reset)

-7$&% : Password error
Potential Cause

Checking Method

The parameter is
Check if the password for the
password protected
specified object is invalid when
when using CANopen
accessing PDO object.
communication to access
the parameter.

-7$+# : Life guard error or heartbeat error
Potential Cause

Checking Method

Receive node guarding or Check the settings of node
heartbeat message has guarding or heartbeat function.
timed out.

Corrective Actions
NMT Maser send "Reset node"
command to its slave. be reset)

-7$+( : CANbus error
Potential Cause

Checking Method

CANbus off or Error Rx/Tx 1. Examine CANbus
Counter exceeds 128.
communication cable.
2. Check if the communication
quality is good quality state.
(It is recommended to use
shielded cables and use
common grounding.)

AC servo drive

Corrective Actions
NMT Maser send "Reset node"
command to its slave or restart
the servo drive.

267

10. Diagnostic and troubleshooting

Lexium 23A

-7%#$ : CANopen data initial error
Potential Cause
An error occurs when
loading data from EEPROM.

Checking Method

Corrective Actions

1. Restart the servo drive to
check if the error can be
cleared.
2. If the error cannot be cleared
after restarting the servo
drive, it indicates that the data
in EE-PROM is damaged and
the users must do the
following actions:
a. If the users want to write
default setting values, set P208 to 30 first and then 28 next,
or use CANopen "0x1011"
object to restore parameters
from non-volatile memory.
b. If the users want to write
current setting values, use
CANopen "0x1010" object to
save parameters in nonvolatile memory.

1. Turn ARST (DI signal) ON to
clear the fault.
2. Use CANopen "0x1011" object
to restore default
parameters.

-7%&( :command overflow
Potential Cause

Checking Method

This fault occurs when
1. Check if the position command
position command
is executing continuously
counter register
toward single direction and
overflowed and at this
make the feedback position
time an absolute position
command counter overflow.
command is executed.
2. Check if the above situation
causes that the correct
position cannot be gauged.
3. Check if an absolute position
command is executed after
the position command counter
register overflowed.

-7%)$ : Index error occurs when accessing CANopen object
Potential Cause

Checking Method

The specified Index in the If this fault occurs, please
message does not exist. contact your distributor for
assistance or contact with
Schneider Electric.

268

Corrective Actions
NMT Maser send "Reset
node"command to its slave or
reset the fault by sending the
control word (0x6040) through
CAN communication (the value
of CANopen object 0x6040
should be reset)

AC servo drive

Lexium 23A

10. Diagnostic and troubleshooting

-7%)& : Sub-index error occurs when accessing CANopen object
Potential Cause
The specified Sub-index
in the message does not
exist.

Checking Method
If this fault occurs, please
contact your distributor for
assistance or contact with
Schneider Electric.

-7%)( : Data type (size) error occurs when accessing CANopen object
Potential Cause

Checking Method

The data length in the
If this fault occurs, please
message does not match contact your distributor for
the specified object.
assistance or contact with
Schneider Electric.

-7%)* : Data range error occurs when accessing CANopen object
Potential Cause
The data in the message
has exceeded the data
range of the specified
object.

Checking Method
If this fault occurs, please
contact your distributor for
assistance or contact with
Schneider Electric.

-7%), : Object is read-only and write-protected
Potential Cause
The specified object in
the message is read-only
and write-protected
(cannot be changed).

AC servo drive

Checking Method
If this fault occurs, please
contact your distributor for
assistance or contact with
Schneider Electric.

269

10. Diagnostic and troubleshooting

Lexium 23A

-7%)> : CANopen object does not support PDO
Potential Cause
The specified object in
the message does not
support PDO.

Checking Method
If this fault occurs, please
contact your distributor for
assistance or contact with
Schneider Electric.

-7%)@ : Object is write-protected when Servo On
Potential Cause
The specified object in
the message is writeprotected (cannot be
changed) when Servo On.

Checking Method
If this fault occurs, please
contact your distributor for
assistance or contact with
Schneider Electric.

-7%** : Password error
Potential Cause
The parameter is
password protected
when using CANopen
communication to access
the parameter.

Checking Method
If this fault occurs, please
contact your distributor for
assistance or contact with
Schneider Electric.

-7%+& : Forward software limit
Potential Cause
Position command is
equal to or more than
forward software limit.

270

Checking Method

Corrective Actions

This software limit is determined
according to position command,
not actual feedback position. It
indicates that when this fault is
activated, the actual position
may not exceed the limit. Setting
the proper deceleration time is
able to solve this problem. Please
refer to parameter P5-03.

NMT Maser send "Reset node"
command to its slave or reset
the fault by sending the control
word (0x6040) through CAN
communication (the value of
CANopen object 0x6040 should
be reset)

AC servo drive

Lexium 23A

10. Diagnostic and troubleshooting

-7%+( : Reverse software limit
Potential Cause
Position command is
equal to or less than
forward software limit.

Checking Method

Corrective Actions

NMT Maser send "Reset node"
command to its slave or reset
the fault by sending the control
word (0x6040) through CAN
communication (the value of
CANopen object 0x6040 should
be reset)

-7&1$ : CANopen SYNC failed
Potential Cause

Checking Method

Corrective Actions

CAN IP mode error. The
synchronous
communication with the
external controller has
failed.

1. Check if the communication
quality is good quality state.
2. Check if the host (external)
controller has sent SYNC signal.
3. Check if the setting value of
parameter P3-09 is a proper
value (It is recommended to
use default setting).

NMT Maser send "Reset node"
command to its slave or reset
the fault by sending the control
word (0x6040) through CAN
communication (the value of
CANopen object 0x6040 should
be reset)

-7&1% : CANopen SYNC error
Potential Cause
CAN IP mode error. The
SYNC signal is received
too early.

Checking Method

Corrective Actions

1. Check if the setting of 0x1006
(communication cycle period)
is the same as the setting in
host (external) controller.
2. Check if the setting value of
parameter P3-09 is a proper
value (It is recommended to
use default setting).
3. Check if the procedure of host
(external) controller is not correct.

NMT Maser send "Reset node"
command to its slave or reset
the fault by sending the control
word (0x6040) through CAN
communication (the value of
CANopen object 0x6040 should
be reset)

-7&1& : CANopen SYNC time out
Potential Cause
CAN IP mode error. The
SYNC signal is not
received with the
specified time.

AC servo drive

Checking Method

Corrective Actions

1. Check if the communication
quality is good quality state.
2. Check if the setting of 0x1006
(communication cycle period)
is the same as the setting in
host (external) controller.
3. Check if the setting value of
parameter P3-09 is a proper
value (It is recommended to
use default setting).
4. Check if the procedure of host
(external) controller is not correct.

NMT Maser send "Reset node"
command to its slave or reset
the fault by sending the control
word (0x6040) through CAN
communication (the value of
CANopen object 0x6040 should
be reset)

271

10. Diagnostic and troubleshooting

Lexium 23A

-7&1' : CANopen IP command failed
Potential Cause
CAN IP mode error.
Internal command
cannot be sent and
received.

Checking Method

Corrective Actions

The calculation time of IP mode
is too long. Please disable USB
monitor function.

NMT Maser send "Reset node"
command to its slave or reset
the fault by sending the control
word (0x6040) through CAN
communication (the value of
CANopen object 0x6040 should
be reset)

-7&1( : SYNC period error
Potential Cause

Checking Method

Corrective Actions

Object 0x1006 Data E
rror. SYNC period 1006h
value is invalid.

Examine the data of 0x1006. The
SYNC period 1006h value should
not be equal to or less than 0 or
this fault will occur.

NMT Maser send "Reset node"
command to its slave or reset
the fault by sending the control
word (0x6040) through CAN
communication (the value of
CANopen object 0x6040 should
be reset)

-7&+# : Position deviation alarm for digital output, MC_OK
Potential Cause

Checking Method

After MC_OK is activated,
when the digital output,
TPOS is Off, the digital
output, MC_OK becomes
Off.

Check if the motor position
changes by external force after
the positioning is completed.
This alarm can be disabled by the
setting of P1-48. Please refer to
the descriptions of parameter
P1-48 for more
detailedexplanation.

Corrective Actions
1. Turn ARST (DI signal) ON to
clear the fault.
2. Set P0-01 to 0.

-7'#$ : CANopen state error
Potential Cause
NMT reset or NMT stop
command is received
when the servo drive is
enabled.

272

Checking Method
Check if NMT reset or NMT stop
command is sent when drive is
enabled.

Corrective Actions
1.Reset the fault by sending the
control word (0x6040)
through CAN communication
(the value of CANopen object
0x6040 should be reset).
2. Reset the fault by triggering
FR of driveCtrl of dmControl
(control data of PLCopen
Profile).

AC servo drive

Lexium 23A

10. Diagnostic and troubleshooting

10.4 Clearing Faults
Servo Drive Fault
Messages

Display

Clearing Method

AL001

Overcurrent

Turn ARST (DI signal) ON to clear the fault.

AL002

Overvoltage

Turn ARST (DI signal) ON to clear the fault.

AL003

Undervoltage

This fault message can be removed
automatically after the voltage has returned
within its specification.

AL004

Motor error

This fault message can be removed by
restarting the servo drive.

AL005

Regeneration error

Turn ARST (DI signal) ON to clear the fault.

AL006

Overload

Turn ARST (DI signal) ON to clear the fault.

AL007

Overspeed

Turn ARST (DI signal) ON to clear the fault.

AL008

Abnormal pulse
control command

Turn ARST (DI signal) ON to clear the fault.

AL009

Excessive deviation

Turn ARST (DI signal) ON to clear the fault.

AL011

Encoder error

This fault message can be removed by
restarting the servo drive.

AL012

Adjustment error

This fault message can be removed after the
wiring of CN1 connector (I/O signal
connector) is removed and auto adjustment
function is executed.

AL013

Operational stop
activated

This fault message can be removed
automatically by turning off OPST (DI
signal).

Reverse limit switch
error

1. Turn ARST (DI signal) ON to clear the fault.
2. This fault message can be removed when
the servo drive is Off (Servo Off).
3. When the servo drive does not reach the
limit, this fault message can be removed
automatically

Forward limit switch
error

AL014

AL015

AC servo drive

Fault Name

273

10. Diagnostic and troubleshooting

Display

Fault Name

Clearing Method

IGBT temperature
error

Turn ARST (DI signal) ON to clear the fault.

AL017

Memory error

1. If this fault occurs when power is applied
to the drive, correct the setting value of
the parameter to clear the fault and
restart the servo drive.
2. If this fault occurs during normal
operation, turn ARST (DI signal) ON to
clear the fault.

AL018

Encoder output error

Turn ARST (DI signal) ON to clear the fault.

AL020

Serial communication
time out

Turn ARST (DI signal) ON to clear the fault.

AL022

Input power phase
loss

Turn ARST (DI signal) ON to clear the fault.
This fault message can be removed
automatically after input power phase lost
problem is solved.

AL023

Pre-overload warning

Turn ARST (DI signal) ON to clear the fault.

AL024

Encoder initial
magnetic field error

This fault message can be removed by
restarting the servo drive.

AL025

Encoder internal error

This fault message can be removed by
restarting the servo drive.

AL026

Encoder data error

This fault message can be removed by
restarting the servo drive.

AL027

Encoder reset error

This fault message can be removed by
restarting the servo drive.

AL030

Motor protection error Turn ARST (DI signal) ON to clear the fault.

AL031

U,V,W wiring error

This fault message can be removed by
restarting the servo drive.

AL040

Full closed-loop
excessive deviation

Turn ARST (DI signal) ON to clear the fault.

AL099

This fault message can be removed after
DSP firmware upgrade setting P2-08 to 30 first, and then 28 next
and restarting the servo drive.

AL016

274

Lexium 23A

AC servo drive

Lexium 23A

CANopen
Communication
Fault Messages

AC servo drive

10. Diagnostic and troubleshooting

Display

Fault Name

Clearing Method

AL111

CANopen SDO receive
buffer overrun

When servo drive is starting in CAN mode,
verify that the CAN master is already active.
NMT Master send "Reset node" command to
its slave or reset the fault by sending the
control word (0x6040) through CAN
communication (the value of CANopen
object 0x6040 should be reset).

AL112

CANopen PDO receive
buffer overrun

NMT Master send "Reset node" command to
its slave or reset the fault by sending the
control word (0x6040) through CAN
communication (the value of CANopen
object 0x6040 should be reset).

AL121

Index error occurs
when accessing
CANopen PDO object.

NMT Master send "Reset node" command to
its slave or reset the fault by sending the
control word (0x6040) through CAN
communication (the value of CANopen
object 0x6040 should be reset).

AL122

Sub-index error
occurs when
accessing CANopen
PDO object.

NMT Master send "Reset node" command to
its slave or reset the fault by sending the
control word (0x6040) through CAN
communication (the value of CANopen
object 0x6040 should be reset).

AL123

Data type (size) error
occurs when
accessing CANopen
PDO object.

NMT Master send "Reset node" command to
its slave or reset the fault by sending the
control word (0x6040) through CAN
communication (the value of CANopen
object 0x6040 should be reset).

AL124

Data range error
occurs when
accessing CANopen
PDO object.

NMT Master send "Reset node" command to
its slave or reset the fault by sending the
control word (0x6040) through CAN
communication (the value of CANopen
object 0x6040 should be reset).

AL125

NMT Master send "Reset node" command to
CANopen PDO object its slave or reset the fault by sending the
is read-only and write- control word (0x6040) through CAN
protected.
communication (the value of CANopen
object 0x6040 should be reset).

AL126

CANopen PDO object
does not support PDO.

NMT Master send "Reset node" command to
its slave or reset the fault by sending the
control word (0x6040) through CAN
communication (the value of CANopen
object 0x6040 should be reset).

275

10. Diagnostic and troubleshooting

Display

Fault Name

Clearing Method

AL127

CANopen PDO object
is write-protected
when Servo On.

NMT Master send "Reset node" command to
its slave or reset the fault by sending the
control word (0x6040) through CAN
communication (the value of CANopen
object 0x6040 should be reset).

AL128

Error occurs when
reading CANopen
PDO object from EEPROM.

NMT Master send "Reset node" command to
its slave or reset the fault by sending the
control word (0x6040) through CAN
communication (the value of CANopen
object 0x6040 should be reset).

AL129

Error occurs when
writing CANopen PDO
object into EE-PROM.

NMT Master send "Reset node" command to
its slave or reset the fault by sending the
control word (0x6040) through CAN
communication (the value of CANopen
object 0x6040 should be reset).

AL130

EE-PROM invalid
address range.

NMT Master send "Reset node"command to
its slave or reset the fault by sending the
control word (0x6040) through CAN
communication (the value of CANopen
object 0x6040 should be reset).

EE-PROM checksum
error.

NMT Master send ""Reset node" command
to its slave or reset the fault by sending the
control word (0x6040) through CAN
communication (the value of CANopen
object 0x6040 should be reset).

AL132

Password error

NMT Master send "Reset node" command to
its slave or reset the fault by sending the
control word (0x6040) through CAN
communication (the value of CANopen
object 0x6040 should be reset).

AL180

Life guard error or
heartbeat error

NMT Maser send "Reset node"command to
its slave.

AL185

CANbus error

NMT Master send "Reset node"command to
its slave or restart the servo drive.

AL201

1. Turn ARST (DI signal) ON to clear the fault.
CANopen Data Initial E
2. Use CANopen "0x1011”object to restore
rror
default parameters.

AL201

1. Turn ARST (DI signal) ON to clear the fault.
CANopen Data Initial E
2. Use CANopen "0x1011”object to restore
rror
default parameters.

AL131

276

Lexium 23A

AC servo drive

Lexium 23A

10. Diagnostic and troubleshooting

Display

Clearing Method

Command Overflow

NMT Maser send "Reset node"
command to its slave or reset the fault
by sending the control word (0x6040)
through CAN communication (the
value of CANopen object 0x6040
should be reset).

Pr Positioning Time out

NMT Maser send "Reset node"
command to its slave or reset the fault
by sending the control word (0x6040)
through CAN communication (the
value of CANopen object 0x6040
should be reset).

AL249

Invalid Pr Path Number

NMT Maser send "Reset node"
command to its slave or reset the fault
by sending the control word (0x6040)
through CAN communication (the
value of CANopen object 0x6040
should be reset).

AL261

Index error occurs when
accessing CANopen
object.

NMT Maser send "Reset node"
command to its slave or reset the fault
by sending the control word (0x6040)
through CAN communication (the
value of CANopen object 0x6040
should be reset).

AL263

Sub-index error occurs
when accessing CANopen
object.

NMT Maser send "Reset node"
command to its slave or reset the fault
by sending the control word (0x6040)
through CAN communication (the
value of CANopen object 0x6040
should be reset).

AL265

Data type (size) error
occurs when accessing
CANopen object.

NMT Maser send "Reset node"
command to its slave or reset the fault
by sending the control word (0x6040)
through CAN communication (the
value of CANopen object 0x6040
should be reset).

AL267

Data range error occurs
when accessing CANopen
object.

NMT Maser send "Reset node"
command to its slave or reset the fault
by sending the control word (0x6040)
through CAN communication (the
value of CANopen object 0x6040
should be reset).

AL235

AL245

AC servo drive

Fault Name

277

10. Diagnostic and troubleshooting

Display

Fault Name

Clearing Method

Object is read-only and
write-protected.

NMT Maser send "Reset node"
command to its slave or reset the fault
by sending the control word (0x6040)
through CAN communication (the
value of CANopen object 0x6040
should be reset).

AL26b

CANopen object does not
support PDO.

NMT Maser send "Reset node"
command to its slave or reset the fault
by sending the control word (0x6040)
through CAN communication (the
value of CANopen object 0x6040
should be reset).

AL26d

CANopen object is writeprotected when Servo
On.

NMT Maser send "Reset node"
command to its slave or reset the fault
by sending the control word (0x6040)
through CAN communication (the
value of CANopen object 0x6040
should be reset).

Password error

NMT Maser send "Reset node"
command to its slave or reset the fault
by sending the control word (0x6040)
through CAN communication (the
value of CANopen object 0x6040
should be reset).

Forward software limit

When the servo drive does not reach
the limit, i.e. the position command is
less than forward software limit, this
fault message can be removed
automatically

Reverse software limit

When the servo drive does not reach
the limit, i.e. the position command is
more than reverse software limit, this
fault message can be removed
automatically

Forward software limit

When the servo drive does not reach
the limit, i.e. the position command is
less than forward software limit, this
fault message can be removed
automatically

Reverse software limit

When the servo drive does not reach
the limit, i.e. the position command is
more than reverse software limit, this
fault message can be removed
automatically

AL269

AL277

AL283

AL285

AL283

AL285

278

Lexium 23A

AC servo drive

Lexium 23A

10. Diagnostic and troubleshooting

Display

Clearing Method

CANopen SYNC failed

NMT Maser send "Reset node"
command to its slave or reset the fault
by sending the control word (0x6040)
through CAN communication (the
value of CANopen object 0x6040
should be reset).

CANopen SYNC signal
error

NMT Maser send "Reset node"
command to its slave or reset the fault
by sending the control word (0x6040)
through CAN communication (the
value of CANopen object 0x6040
should be reset).

CANopen SYNC time out

NMT Maser send "Reset node"
command to its slave or reset the fault
by sending the control word (0x6040)
through CAN communication (the
value of CANopen object 0x6040
should be reset).

CANopen IP command
failed

NMT Maser send :Reset node:
command to its slave or reset the fault
by sending the control word (0x6040)
through CAN communication (the
value of CANopen object 0x6040
should be reset).

AL3E5

SYNC period error

NMT Maser send "Reset node"
command to its slave or reset the fault
by sending the control word (0x6040)
through CAN communication (the
value of CANopen object 0x6040
should be reset).

AL380

Position deviation alarm

1. Turn ARST (DI signal) ON to clear the
fault.
2. Set P0-01 to 0.

CANopen state error

1. Reset the fault by sending the
control word (0x6040) through CAN
communication (the value of
CANopen object 0x6040 should be
reset).
2. Reset the fault by triggering FR of
driveCtrl of dmControl (control data
of PLCopen Profile).

AL3E1

AL3E2

AL3E3

AL3E4

AL401

AC servo drive

Fault Name

279

10. Diagnostic and troubleshooting

280

Lexium 23A

AC servo drive

Servo Parameters

11
At a Glance
Presentation

What's in this
Chapter?

This chapter provides an overview of the parameters which can be used for operating
the product.

This chapter contains the following topics:
Topic

Page

Representation of the parameters

282

Definition

283

Parameter Summary

284

Detailed Parameter Listings

308

WARNING
UNINTENDED BEHAVIOR CAUSED BY PARAMETERS
The behavior of the drive system is governed by numerous parame-ters. Unsuitable
parameter values can trigger unintended movements or signals or deactivate
monitoring functions.
• Never change a parameter unless you understand its meaning.
• Only start the system if there are no persons or obstructions in the hazardous area.
• When commissioning, carefully run tests for all operating states and potential
fault situations.
Failure to follow these instructions can result in death, serious injury or
equipment damage.

AC servo drive

281

11. Servo Parameters

Lexium 23A

11.1 Representation of the parameters
The way parameters are shown provides information required for unique
identification of a parameter. In addition, information is provided on possible
settings, defaults and parameter properties.
Parameter name
Description

Unit
Value range
Default value

The parameter name uniquely identifies a parameter.
Short description
The short description contains information on the parameter and a cross reference
to the page that describes the use of the parameter.
Selection values
In the case of parameters which offer a selection of settings, the value to be entered
via commissioning software or the embedded HMI.
Further description and details:
Provides further information on the parameter.
The unit of the value.
The value range between minimum value and maximum value which can be entered.
Factory settings when the product is shipped

Explanation of symbols
(g) Read-only register.
(r) Parameters cannot be changed while Servo On (when the servo drive enabled).
(p) Parameters are effective only after the servo drive is restarted (after switching
power off and on).
(b) Parameters will be restored to their default values when power is off.

282

AC servo drive

Lexium 23A

11. Servo Parameters

11.2 Definition
There are seven groups of drive parameters, which are composed with three parts
and they are the P that stands for Parameter, a single-digit number that represents
for the group number, and a tow-digits number that is the ID code for this parameter.
Group 0: Monitor parameters
Group 1: Basic parameters
Group 2: Extension parameters
Group 3: Communication parameters
Group 4: Diagnosis parameters
Group 5: Motion control parameters
Group 6: Pr path definition parameters

(example: P0-xx)
(example: P1-xx)
(example: P2-xx)
(example: P3-xx)
(example: P4-xx)
(example: P5-xx)
(example: P6-xx)

Abbreviation of control modes:
Pt: Position control mode (pulse command from external signal)
Pr: Position control mode (position command from internal profile)
S: Speed control mode
T: Torque control mode
Explanation of symbols (marked after parameters)
(g) Read-only registers, such as P0-00, P0-01 and P4-00.
(r) Parameters cannot be changed while Servo On (when the servo drive is enabled),
such as P1-00, P1-46 and P2-33.
(p) Parameters are effective only after the servo drive is restarted (after switching
power off and on), such as P1-01 and P3-00.
(b) Parameters will be restored to their default values when power is off, such as P230 and P3-06.

AC servo drive

283

11. Servo Parameters

Lexium 23A

11.3 Parameter Summary
11.3.1 Parameters
Listed by Group

Group 0: P0-xx
Monitor Parameters
Parameter Name

Default Unit

Control Mode
Pt Pr S

P0-00g

VER

Firmware Version

Factory
setting

P0-01b

ALE

Drive Fault Code

N/A

O O O O

P0-02

STS

Drive Status (Front Panel Display)

N/A

O O O O

P0-03

MON

Analog Monitor Output

N/A

O O O O

Hour O O O O

P0-04 ~
P0-07

Reserved (Do Not Use)

N/A

O O O O

P0-08g

TSON

P0-09g

CM1

Status Monitor 1

N/A

P0-10g

CM2

Status Monitor 2

N/A

O O O O

P0-11g

CM3

Status Monitor 3

N/A

O O O O

P0-12g

CM4

Status Monitor 4

N/A

O O O O

P0-13g

CM5

Status Monitor 5

N/A

O O O O

P0-14 ~
P0-16

Servo Startup Timer

O O O O

Reserved (Do Not Use)

P0-17

CM1A

Status Monitor Selection 1

N/A

P0-18

CM2A

Status Monitor Selection 2

N/A

O O O O

P0-19

CM3A

Status Monitor Selection 3

N/A

O O O O

P0-20

CM4A Status Monitor Selection 4

N/A

O O O O

P0-21

CM5A

N/A

O O O O

P0-22 ~
P0-24

Status Monitor Selection 5

Reserved (Do Not Use)

P0-25

MAP0

Mapping Parameter 1

N/A

O O O O

P0-26

MAP1

Mapping Parameter 2

N/A

O O O O

P0-27

MAP2

Mapping Parameter 3

N/A

O O O O

P0-28

MAP3

Mapping Parameter 4

N/A

O O O O

P0-29

MAP4

Mapping Parameter 5

N/A

O O O O

P0-30

MAP5

Mapping Parameter 6

N/A

O O O O

P0-31

MAP6

Mapping Parameter 7

N/A

O O O O

P0-32

MAP7

Mapping Parameter 8

N/A

O O O O

P0-33 ~
P0-34

284

Function

Reserved (Do Not Use)

AC servo drive

Lexium 23A

11. Servo Parameters

Monitor Parameters
Parameter

Name

Function

Default Unit

Control Mode
Pt Pr S

P0-35

Block Data Read / Write Register 1
MAP1A
(for P0-25)

0x0

N/A

O O O O

P0-36

MAP2A

Block Data Read / Write Register 2
(for P0-26)

0x0

N/A

O O O O

P0-37

MAP3A

Block Data Read / Write Register 3
(for P0-27)

0x0

N/A

O O O O

P0-38

MAP4A

Block Data Read / Write Register 4
(for P0-28)

0x0

N/A

O O O O

P0-39

MAP5A

Block Data Read / Write Register 5
(for P0-29)

0x0

N/A

O O O O

P0-40

MAP6A

Block Data Read / Write Register 6
(for P0-30)

0x0

N/A

O O O O

P0-41

MAP7A

Block Data Read / Write Register 7
(for P0-31)

0x0

N/A

O O O O

P0-42

MAP8A

Block Data Read / Write Register 8
(for P0-32)

0x0

N/A

O O O O

P0-43

Reserved (Do Not Use)
Status Monitor Register
(PC Software Setting)

0x0

N/A

O O O O

Status Monitor Register Selection
(PC Software Setting)

0x0

N/A

O O O O

N/A

O O O O

P0-44

PCMN

P0-45

PCMNA

P0-46g

SVSTS Servo Output Status Display

Explanation of symbols (marked after parameters)
(g) Read-only register.
(r) Parameters cannot be changed while Servo On (when the servo drive enabled).
(p) Parameters are effective only after the servo drive is restarted (after switching
power off and on).
(b) Parameters will be restored to their default values when power is off.

AC servo drive

285

11. Servo Parameters

Lexium 23A

Group 1: P1-xx
Basic Parameters
Parameter

Name

P1-00 r

PTT

External Pulse Input Type

P1-01 p

CTL

Control Mode and Output Direction

Default Unit
0x2
0

N/A

Control Mode
Pt Pr S

pulse
rpm O O O O
Nm

P1-02 r

PSTL

Speed and Torque Limit

N/A

P1-03

AOUT

Pulse Output Polarity Setting

N/A

P1-04

MON1

Analog Monitor Output Proportion 1
(CH1)

100

% (full
O O O O
scale)

P1-05

MON2

Analog Monitor Output Proportion 2
(CH2)

100

% (full
O O O O
scale)

P1-06

SFLT

Accel / Decel Smooth Constant of Analog
Speed Command (Low-pass Filter)

Msec

P1-07

TFLT

Smooth Constant of Analog Torque
Command (Low-pass Filter)

Msec

P1-08

PFLT

Smooth Constant of Position Command
(Low-pass Filter)

msec O

P1-09~
P1-11

SP1~ 3

P1-12 ~
P1-14

TQ1 ~ 3

P1-15 ~
P1-24

Reserved (Do Not Use)

1st ~ 3rd Speed Command
1st ~ 3rd Speed Limit
1st ~ 3rd Torque Command

O O O O

O
O

-60000
~
rpm
+60000

O O

-300 ~
+300

VSF1

Low-frequency Vibration Suppression (1) 100.0

O O

P1-26

VSG1

Low-frequency Vibration Suppression
Gain (1)

N/A

O O

P1-27

VSF2

Low-frequency Vibration Suppression (2) 100.0

O O

N/A

O O

N/A

O O

P1-25

1st ~ 3rd Torque Limit

P1-28

VSG2

Low-frequency Vibration Suppression
Gain (2)

P1-29

AVSM

Auto Low-frequency Vibration
Suppression Mode Selection

P1-30
P1-31
P1-32

286

Function

VCL

Low-frequency Vibration Detection Level

500

O O

pulse O O

Reserved (Do Not Use)
LSTP

Motor Stop Mode Selection

N/A

O O O O

P1-33

Reserved (Do Not Use)

P1-34

TACC

Acceleration Time

200

msec

P1-35

TDEC

Deceleration Time

200

msec

AC servo drive

Lexium 23A

11. Servo Parameters

Basic Parameters
Name

P1-36

TSL

Accel /Decel S-curve

msec

P1-37

GDR

Ratio of Load Inertia to Servo Motor
Inertia

0.1
O O O O
times

P1-38

ZSPD

Zero Speed Range Setting

Default Unit

P1-39

SSPD

Pt Pr S

O O

100

0.1
rpm

O O O O

Target Motor Speed

3000

rpm

O O O O

VCM

Max. Analog Speed Command or Limit

rated
speed

rpm

O O

P1-41 r

TCM

Max. Analog Torque Command or Limit

100

P1-42

MBT1

On Delay Time of Electromagnetic Brake

P1-43

MBT2

OFF Delay Time of Electromagnetic Brake

P1-40 r

O O O O

msec O O O O

-1000 ~
msec O O O O
+1000

P1-44 r

GR1

Electronic Gear Ratio (1st Numerator) (N1)

128

pulse O O

P1-45

GR2

Electronic Gear Ratio (Denominator) (M)

pulse O O

P1-46 r

GR3

Encoder Output Pulse Number

P1-47

SPOK

Speed Reached Output Range

P1-48

Motion Control Completed Output
MCOK
Selection

P1-49 ~
P1-51

2500 pulse O O O O
10

N/A

0x0000 N/A

O
O

Reserved (Do Not Use)

P1-52

RES1

Regenerative Resistor Value

Ohm O O O O

P1-53

RES2

Regenerative Resistor Capacity

Watt O O O O

P1-54

PER

Positioning Completed Width

12800 pulse O O

P1-55

MSPD

Maximum Speed Limit

rated
speed

rpm

O O O O

P1-56

OVW

Output Overload Warning Time

120

O O O O

P1-57

CRSHA Motor Protection Percentage

O O O O

P1-58

CRSHT

Motor Protection Time

msec O O O O

P1-59

MFLT

Analog Speed Linear Filter (Moving Filter)

0.1
msec

P1-60 ~
P1-61

Reserved (Do Not Use)

P1-62

FRCL

Friction Compensation Percentage

P1-63

FRCT

Friction Compensation Smooth Constant

msec O O O

0.1
O
rotation

P1-64 ~
P1-65
P1-66

AC servo drive

Function

Control Mode

Parameter

O O O

Reserved (Do Not Use)
PCM

Max. Rotation Number of Analog Position
Command (will be available soon)

287

11. Servo Parameters

Lexium 23A

Basic Parameters
Parameter
P1-67
P1-68
P1-69 ~
P1-75
P1-76

Name

Function

Default Unit

Control Mode
Pt Pr S

Reserved (Do Not Use)
PFLT2 Position Command Moving Filter

msec O O

Reserved (Do Not Use)
AMSPD Max. Rotation Speed of Encoder Output

5500

rpm

O O O O

288

AC servo drive

Lexium 23A

11. Servo Parameters

Group 2: P2-xx
Extension Parameters
Parameter Name
P2-00
P2-01
P2-02

P2-26
P2-27
P2-28

Proportional Position Loop Gain
Position Loop Gain Switching Rate
Position Feed Forward Gain
Smooth Constant of Position Feed
PFF
Forward Gain
KVP Proportional Speed Loop Gain
SPR Speed Loop Gain Switching Rate
KVI Speed Integral Compensation
KVF Speed Feed Forward Gain
PCTL Special Factory Setting
DRT Bounce Filter
DI1 Digital Input Terminal 1 (DI1)
DI2 Digital Input Terminal 2 (DI2)
DI3 Digital Input Terminal 3 (DI3)
DI4 Digital Input Terminal 4 (DI4)
DI5 Digital Input Terminal 5 (DI5)
DI6 Digital Input Terminal 6 (DI6)
DI7 Digital Input Terminal 7 (DI7)
DI8 Digital Input Terminal 8 (DI8)
DO1 Digital Output Terminal 1 (DO1)
DO2 Digital Output Terminal 2 (DO2)
DO3 Digital Output Terminal 3 (DO3)
DO4 Digital Output Terminal 4 (DO4)
DO5 Digital Output Terminal 5 (DO5)
Low-pass Filter Time Constant
NLP
(Resonance Suppression)
DST External Anti-Interference Gain
GCC Gain Switching Control Selection
GUT Gain Switching Time Constant

P2-29

GPE

P2-30 b

INH

P2-03
P2-04
P2-05
P2-06
P2-07
P2-08 b
P2-09
P2-10
P2-11
P2-12
P2-13
P2-14
P2-15
P2-16
P2-17
P2-18
P2-19
P2-20
P2-21
P2-22
P2-25

P2-31
P2-32 r
P2-33 r

AC servo drive

Function

KPP
PPR
PFG

Gain Switching Condition

Auxiliary Function
Speed Frequency Response Level in Auto
AUT1
and Semi-Auto Mode
AUT2 Tuning Mode Selection
Semi-Auto Mode Inertia Adjustment
INF
Selection

Default

Unit

35
100
50

rad/s
%
%

Control Mode
Pt Pr S T
O O
O O
O O

msec

O
O
O
O
O
O
O
O
O
O
O
O
O
O
O
O
O
O
O

O
O
O

500
100
100
0
0
2
101
104
116
117
102
22
23
21
101
103
109
105
7

rad/s
%
rad/s
%
N/A
msec
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
N/A
0.1
2 or 5
msec
0
0.001
0
N/A
10
10msec
pulse
1280000 Kpps
rpm
0
N/A
80

N/A

289

11. Servo Parameters

Lexium 23A

Extension Parameters
Parameter

Name

P2-34
P2-35
P2-36~
P2-42
P2-43

SDEV
PDEV

Overspeed Warning Condition
Excessive Error Warning Condition

Control Mode
Pt Pr S T
5000
rpm
O
3840000 pulse O O
Default

Unit

Reserved (Do Not Use)
NCF1

P2-44

DPH1

P2-45

NCF2

P2-46

DPH2

P2-47

PED

P2-48

BLAS

P2-49

SJIT

P2-50
P2-51 ~
P2-52
P2-53
P2-54 ~
P2-59

DCLR

Notch Filter 1 (Resonance Suppression) 1000
Notch Filter Attenuation Rate 1
0
(Resonance Suppression)
Notch Filter 2 (Resonance
1000
Suppression)
Notch Filter Attenuation Rate 2
0
(Resonance Suppression)
Auto Resonance Suppression Mode
1
Selection
Auto Resonance Suppression
100
Detection Level
Speed Detection Filter and Jitter
0
Suppression
Pulse Deviation Clear Mode
0

N/A

sec

N/A

rad/s

128

pulse

128

pulse

128

pulse

0
0

N/A
N/A
0.1
times

O
O

N/A

Reserved (Do Not Use)
KPI

Position Integral Compensation

Reserved (Do Not Use)

P2-60

GR4

P2-61

GR5

P2-62

GR6

P2-63 ~
P2-64
P2-65
P2-66

Function

Electronic Gear Ratio (2nd
Numerator) (N2)
Electronic Gear Ratio (3rd
Numerator) (N3)
Electronic Gear Ratio (4th
Numerator) (N4)

Reserved (Do Not Use)
GBIT Special Function 1
GBIT2 Special Function 2

P2-67

JSL

P2-68

AEAL
140H

Stable Inertia Estimating Time
Auto Enable and Auto Limit Enable

1.5
0x0000

290

AC servo drive

Lexium 23A

11. Servo Parameters

Group 3: P3-xx
Communication Parameters
Parameter Name
P3-00 p

ADR

Function
Modbus Communication Address
Setting

Default

Unit

Control Mode
Pt Pr

N/A

P3-01

BRT

Transmission Speed

0x0203

bps

P3-02

PTL

Communication Protocol

N/A

P3-03

FLT

Transmission Fault Treatment

N/A

P3-04

CWD

Communication Time Out Detection

sec

P3-05

CADR

CANopen Communicaton Address
Setting

0x0000

N/A

P3-06 b

SDI

Digital Input Communication
Function

N/A

P3-07

CDT

Communication Response Delay
Time

P3-08
P3-09

CANopen mode
O

1 msec O

Reserved (Do not use)
0x57A1

N/A

P3-10

PLCEN PLCopen Function Switch

SYC

CANopen Synchronization Setting

0x0000

N/A

CANopen mode
CANopen mode

P3-11g

PLCTX1 PLCopen TX Packet #1

0x0000

N/A

CANopen mode

P3-12g

PLCTX2 PLCopen TX Packet #2

0x0000

N/A

CANopen mode

P3-13g

PLCTX3 PLCopen TX Packet #3

0x0000

N/A

CANopen mode

P3-14g

PLCTX4 PLCopen TX Packet #4

0x0000

N/A

CANopen mode

P3-15g

PLCRX1 PLCopen RX Packet #1

0x0000

N/A

CANopen mode

P3-16g

PLCRX2 PLCopen RX Packet #2

0x0000

N/A

CANopen mode

P3-17g

PLCRX3 PLCopen RX Packet #3

0x0000
0000

N/A

CANopen mode

AC servo drive

291

11. Servo Parameters

Lexium 23A

Group 4: P4-xx
Diagnosis Parameters
Parameter Name
P4-00 g

292

ASH1

Function
Fault Record (N)

Control Mode

Default

Unit

N/A

O O O O

Pt Pr S

P4-01 g

ASH2 Fault Record (N-1)

N/A

O O O O

P4-02 g

ASH3 Fault Record (N-2)

N/A

O O O O

P4-03 g

ASH4 Fault Record (N-3)

N/A

O O O O

P4-04 g

ASH5 Fault Record (N-4)

N/A

O O O O

P4-05

JOG

JOG Operation

rpm

O O O O

P4-06 rb

FOT

Force Output Contact Control

N/A

O O O O

Input Status

O O O O

P4-07 b

ITST

N/A

P4-08 g

PKEY Digital Keypad Input of Servo Drive

N/A

O O O O

P4-09 g

MOT

Output Status

N/A

O O O O

P4-10 b

CEN

Adjustment Function

N/A

O O O O

P4-11

SOF1

Factory
Analog Speed Input Drift Adjustment 1
setting

N/A

O O O O

P4-12

SOF2 Analog Speed Input Drift Adjustment 2

Factory
setting

N/A

O O O O

P4-13

TOF1

Analog Torque Drift Adjustment 1

Factory
setting

N/A

O O O O

P4-14

TOF2 Analog Torque Drift Adjustment 2

Factory
setting

N/A

O O O O

P4-15

COF1

Current Detector Drift Adjustment (V1 Factory
phase)
setting

N/A

O O O O

P4-16

COF2

Current Detector Drift Adjustment (V2 Factory
phase)
setting

N/A

O O O O

P4-17

COF3

Current Detector Drift Adjustment
(W1 phase)

Factory
setting

N/A

O O O O

P4-18

COF4

Current Detector Drift Adjustment
(W2 phase)

Factory
setting

N/A

O O O O

P4-19

TIGB

IGBT NTC Calibration

Factory
setting

N/A

O O O O

P4-20

DOF1

Analog Monitor Output Drift
Adjustment (CH1)

O O O O

P4-21

DOF2

Analog Monitor Output Drift
Adjustment (CH2)

O O O O

P4-22

SAO

Analog Speed Input Offset

O O O O

P4-23

TAO

Analog Torque Input Offset

O O O O

P4-24

LVL

Undervoltage Error Level

160

V(rms)

O O O O

AC servo drive

Lexium 23A

11. Servo Parameters

Group 5: P5-xx
Diagnosis Parameters
Parameter Name
P5-00 ~
P5-02

Default

Unit

0XE0E
FEEFF

N/A

Control Mode
Pt Pr S

Reserved (Do Not Use)
Deceleration Time of Protectin
Function

P5-03

PDEC

P5-04

HMOV Homing Mode

N/A

P5-05

1st Speed Setting of High Speed
HSPD1
Homing

100.0

0.1
rpm

O O O O

P5-06

HSPD2

2nd Speed Setting of Low Speed
Homing

20.0

0.1
rpm

O O O O

P5-07 b

PRCM

Trigger Position Command
(Pr mode only)

N/A

O O O O
O

P5-08

SWLP Forward Software Limit

214748
3647

PUU

P5-09

SWLN Reverse Software Limit

-21474
83648

PUU

P5-10~
P5-14

Reserved (Do Not Use)

P5-15 b

PMEM

0x0

N/A

O O O O

N/A

O O O O

N/A

N/A^

O O O O

200 ~
8000

msec

P5-16 b
P5-17
P5-18
P5-19
P5-20 ~
P5-33

AC servo drive

Function

PATH 1 ~ PATH 2 Data Not Retained
Setting

AXEN Axis Position: Motor Encoder
Reserved (Do Not Use)
AXPC Axis Position: Pulse Command
Reserved (Do Not Use)
AC0 ~
Accel / Decel Time 0 ~ 13
AC13

293

11. Servo Parameters

Lexium 23A

Diagnosis Parameters
Parameter Name
P5-34

Function

Default

Unit

Control Mode
Pt Pr S

AC14

Accel / Decel Time 14

msec

P5-35

AC15

Accel / Decel Time 15

msec

P5-36

Reserved (Do Not Use)

P5-37 b

CAAX CAPTURE: Axis Position CNT

PUU

O O O O

P5-38 b

CANO CAPTURE: Capture Amount

N/A

O O O O
O O O O

P5-39 b

CACT CAPTURE: Capture Source Setting

0x0000

N/A

P5-40 ~
P5-55

DLY0 ~
Delay Time 0 ~ 15
DLY15

0 ~ 5500

msec

P5-56~
P5-57

Reserved (Do Not Use)

P5-58 b

CMNO COMPARE: Compare Amount

N/A

O O O O

P5-59

CMCT COMPARE: Compare Source Setting

0x0000

N/A

O O O O

P5-60 ~
P5-75

POV0 ~
Moving Speed Setting of Position 0 ~ 15
POV15

20.0 ~
0.1 rpm
3000.0

P5-76 g

CPRS Capture 1st Position Reset Data

N/A

O
O O O O

294

AC servo drive

Lexium 23A

11. Servo Parameters
Group 6: P6-xx
Pr Path Definition Parameters
Parameter Name

Function

P6-00

PDEC Homing Definition

P6-01

ODAT Homing Definition Value

P6-02,
04,… ~
P6-16

PDEF1
~
Definition of Path 1 ~ 8
PDEF8

P6-03,
05,… ~
P6-17

PDAT1 ~
Data of Path 1 ~ 8
PDEF8

Control Mode

Default

Unit

0x0000
0000

N/A

0x0000
0000

N/A

Pt Pr S

AC servo drive

295

11. Servo Parameters

Lexium 23A

11.3.2 Parameters
Listed by Function

Monitor and General Use
Parameter Name

Default Unit

Control Mode
Pt Pr S

Factory
N/A O O O O
Setting

Related
Section

P0-00 g

VER

Firmware Version

P0-01 b

ALE

Drive Fault Code

N/A

N/A O O O O

10.2
10.3
10.4

P0-02

STS

Drive Status
(Front Panel Display)

N/A O O O O

8.2
6.3.3.5

P0-03
P0-08 g
P0-09 g

296

Function

MON Analog Monitor Output

N/A O O O O

TSON Servo Startup Time

Hour

CM1

Status Monitor 1

N/A

N/A O O O O

6.3.3.5

P0-10 g

CM2

Status Monitor 2

N/A

N/A O O O O

6.3.3.5

P0-11g

CM3

Status Monitor 3

N/A

N/A O O O O

6.3.3.5

P0-12 g

CM4

Status Monitor 4

N/A

N/A O O O O

6.3.3.5

P0-13 g

CM5

Status Monitor 5

N/A

N/A O O O O

6.3.3.5

P0-17

CM1A Status Monitor Selection 1

N/A

P0-18

CM2A Status Monitor Selection 2

N/A

P0-19

CM3A Status Monitor Selection 3

N/A

P0-20

CM4A Status Monitor Selection 4

N/A

P0-21

CM5A Status Monitor Selection 5

P0-25

MAP1 Mapping Parameter 1

N/A

N/A O O O O

P0-26

MAP2 Mapping Parameter 2

N/A

N/A O O O O

6.3.3.5

P0-27

MAP3 Mapping Parameter 3

N/A

N/A O O O O

6.3.3.5

P0-28

MAP4 Mapping Parameter 4

N/A

N/A O O O O

6.3.3.5

P0-29

MAP5 Mapping Parameter 5

N/A

N/A O O O O

6.3.3.5

P0-30

MAP6 Mapping Parameter 6

N/A

N/A O O O O

6.3.3.5

P0-31

MAP7 Mapping Parameter 7

N/A

N/A O O O O

6.3.3.5

P0-32

MAP8 Mapping Parameter 8

N/A

N/A O O O O

6.3.3.5

P0-35

Block Data Read / Write Register
MAP1A
1 (for P0-25)

0x0

N/A O O O O

6.3.3.5

P0-36

MAP2A

Block Data Read / Write Register
2 (for P0-26)

0x0

N/A O O O O

6.3.3.5

P0-37

MAP3A

Block Data Read / Write Register
3 (for P0-27)

0x0

N/A O O O O

6.3.3.5

P0-38

MAP4A

Block Data Read / Write Register
4 (for P0-28)

0x0

N/A O O O O

6.3.3.5

AC servo drive

Lexium 23A

11. Servo Parameters

Monitor and General Use
Parameter Name

Function

Default

Unit

Control Mode Related
T Section

Pt Pr S

P0-39

MAP5A

Block Data Read / Write Register
5 (for P0-29)

0x0

N/A

O O O O

6.3.3.5

P0-40

MAP6A

Block Data Read / Write Register
6 (for P0-30)

0x0

N/A

O O O O

6.3.3.5

P0-41

MAP7A

Block Data Read / Write Register
7 (for P0-31)

0x0

N/A

O O O O

6.3.3.5

P0-42

MAP8A

Block Data Read / Write Register
8 (for P0-32)

0x0

N/A

O O O O

6.3.3.5

N/A

O O O O

P0-46 g

SVSTS Servo Output Status Display

P1-04

Analog Monitor Output
MON1
Proportion 1 (CH1)

P1-05

MON2

Analog Monitor Output
Proportion 2 (CH2)

0
100

% (full
O O O O
scale)

7.3.4.4

100

% (full
O O O O
scale)

7.3.4.4

AC servo drive

297

11. Servo Parameters

Lexium 23A

Smooth Filter and Resonance Suppression
Parameter Name

298

Function

Default Unit

Control Mode
Pt Pr S

Related
Section

P1-06

Accel / Decel Smooth Constant
SFLT of Analog Speed Command
(Low-pass Filter)

msec

7.3.3.3

P1-07

Smooth Constant of Analog
TFLT Torque Command (Low-pass
Filter)

msec

7.3.4.3

P1-08

PFLT

Smooth Constant of Position
Command (Low-pass Filter)

10
O O
msec

P1-25

VSF1

Low-frequency Vibration
Suppression (1)

100.0

O O

7.3.2.9

P1-26

VSG1

Low-frequency Vibration
Suppression Gain (1)

N/A

O O

7.3.2.9

P1-27

VSF2

Low-frequency Vibration
Suppression (2)

100.0

O O

7.3.2.9

P1-28

VSG2

Low-frequency Vibration
Suppression Gain (2)

N/A

O O

7.3.2.9

P1-29

AVSM

Auto Low-frequency Vibration
Suppression Mode Selection

N/A

O O

7.3.2.9

P1-30

VCL

500

pulse O O

7.3.2.9
7.3.3.3

Low-frequency Vibration
Detection Level

7.3.2.6

P1-34

TACC Acceleration Time

200

msec

O O

P1-35

TDEC Deceleration Time

200

msec

O O

7.3.3.3

Accel /Decel S-curve

msec

O O

7.3.3.3

P1-36

TSL

P1-59

MFLT

Analog Speed Linear Filter
(Moving Filter)

0.1
msec

P1-62

FRCL

Friction Compensation
Percentage

P1-63

FRCT

Friction Compensation
Smooth Constant

P1-68

PFLT2

P1-75

FELP

O O O O

msec O O O O

Position Command Moving
Filter

msec O O

Full-closed Loop Low-pass
Filter Time Constant

100

msec O O

AC servo drive

Lexium 23A

11. Servo Parameters

Smooth Filter and Resonance Suppression
Parameter Name

Function

Related
Section

O O O O

7.3.3.7

O O O O

7.3.3.7

1000

O O O O

7.3.3.7

Default

Unit

1000

Control Mode
Pt Pr S

P2-43

NCF1

Notch Filter 1 (Resonance
Suppression)

P2-44

DPH1

Notch Filter Attenuation Rate 1
(Resonance Suppression)

P2-45

NCF2

Notch Filter 2 (Resonance
Suppression)

P2-46

DPH2

Notch Filter Attenuation Rate 2
(Resonance Suppression)

O O O O

7.3.3.7

P2-47

ANCF

Auto Resonance Suppression
Mode Selection

N/A

O O O O

P2-48

ANCL

Auto Resonance Suppression
Detection Level

100

N/A

O O O O

P2-25

NLP

Low-pass Filter Time Constant
(Resonance Suppression)

2 or 5

0.1
msec

O O O O

7.3.3.7

P2-33 r

INF

Semi-Auto Mode Inertia
Adjustment Selection

N/A

O O O O

7.3.3.6

P2-49

SJIT

Speed Detection Filter and
Jitter Suppression

sec

O O O O

AC servo drive

299

11. Servo Parameters

Lexium 23A

Gain and Switch
Parameter Name

Function

Default

Unit

Control Mode
Pt Pr S

Related
Section

P2-00

KPP

Proportional Position Loop
Gain

P2-01

PPR

Position Loop Gain Switching
Rate

100

O O

7.3.2.8

P2-02

PFG

Position Feed Forward Gain

O O

7.3.2.8

P2-03

PFF

Smooth Constant of Position
Feed Forward Gain

P2-04

KVP

Proportional Speed Loop Gain

500

P2-05

SPR

Speed Loop Gain Switching
Rate

100

P2-06

KVI

Speed Integral Compensation

100

P2-07

KVF

Speed Feed Forward Gain

P2-26

DST

External Anti-Interference Gain

P2-27

GCC Gain Switching Control Selection

P2-28

GUT Gain Switching Time Constant

P2-29

GPE

Gain Switching Condition

rad/s O O

7.3.2.8

msec O O

rad/s O O O O
%

O O O O

rad/s O O O O
%

O O O O

0.001 O O O O
N/A

7.3.3.6
7.3.3.6
7.3.3.6
-

O O O O

10
O O O O
msec

pulse
1280000 Kpps O O O O
rpm

P2-31 b

Speed Frequency Response
AUT1 Level in Auto and Semi-Auto
Mode

O O O O

6.5.4.6

P2-32 r

AUT2 Tuning Mode Selection

N/A

O O O O

7.3.3.6
6.5.4.6
7.3.3.6

300

AC servo drive

Lexium 23A

11. Servo Parameters

Position Control
Parameter Name

Function

Default Unit

Control Mode
Pt Pr S

pulse
rpm O O O O
Nm

Related
Section

P1-01 p

CTL

Control Mode and Output
Direction

P1-02 r

PSTL

Speed and Torque Limit

N/A

O O O O

7.4

TQ1 ~ 3 1st ~ 3rd Torque Limit

-300 ~
+300

O O O O

7.3.4.1

P1-12 ~
P1-14

7.3.1

P1-46 r

GR3

Encoder Output Pulse
Number

2500

pulse O O O O

P1-55

MSPD

Maximum Speed Limit

rated
speed

rpm

O O O O

P2-50

DCLR

Pulse Deviation Clear Mode

N/A

O O

P1-00 r

PTT

External Pulse Type

0x2

P1-44 r

GR1

Electronic Gear Ratio (1st
Numerator) (N1)

128

pulse O O

7.3.2.5

P1-45 r

GR2

Electronic Gear Ratio
(Denominator) (M)

pulse O O

7.3.2.5

P2-60 r

GR4

Electronic Gear Ratio (2nd
Numerator) (N2)

128

pulse O O

P2-61 r

GR5

Electronic Gear Ratio (3rd
Numerator) (N3)

128

pulse O O

P2-62 r

GR6

Electronic Gear Ratio (4th
Numerator) (N4)

128

pulse O O

External Pulse Control Command (Pt mode)
N/A

7.3.2.1

Internal Pulse Control Command (Pr mode)

AC servo drive

P6-02 ~
P6-17

PO1 ~
PO8

Definition of Path 1 ~ 8
Data of Path 1 ~ 8

P5-03

PDEC

Deceleration Time of
Protectin Function

P5-04

HMOV Homing Mode

N/A

0XF00F
N/A
FFFF
0

N/A

8.10

O O O O
O

301

11. Servo Parameters

Lexium 23A

Position Control
Parameter Name

Function

Default Unit

Control Mode
Pt Pr S

Related
Section

100

0.1
rpm

O O O O

2nd Speed Setting of Low
Speed Homing

0.1
rpm

O O O O

Trigger Position Command (Pr
mode only)

N/A

AC0 ~
Accel / Decel Time 0 ~ 13
AC15

200 ~
30

8.10

P5-40 ~
P5-55

DLY0 ~
Delay Time 0 ~ 15
DLY15

0~
5500

8.10

P5-15 b

PMEM

0x0

N/A

O O O O

P5-16 b

AXEN Axis Position: Motor Encoder

N/A

O O O O

8.3
8.3

P5-05

1st Speed Setting of High
HSPD1
Speed Homing

P5-06

HSPD2

P5-07 b

PRCM

P5-20 ~
P5-35

PATH 1 ~ PATH 2 Data Not
Retained Setting

P5-18

AXPC Axis Position: Pulse Command

N/A

O O O O

P5-08

SWLP Forward Software Limit

+231

PUU

P5-09

SWLN Reverse Software Limit

-231

PUU

302

AC servo drive

Lexium 23A

11. Servo Parameters

Speed Control
Parameter Name

Function
Control Mode and Output
Direction

P1-01 p

CTL

P1-02 r

PSTL Speed and Torque Limit

P1-46 r

GR3

P1-55

Encoder Output Pulse Number

MSPD Maximum Speed Limit

P1-09 ~
P1-11

SP1 ~ 3 1st ~ 3rd Speed Command

P1-12 ~
P1-14

TQ1 ~
1st ~ 3rd Torque Limit
3

Default

0
0

Unit

Control Mode
Pt Pr

pulse
rpm O
Nm
N/A

Related
Section

7.3.1

7.4

2500

pulse O

rated
speed

rpm

7.3.3.1

7.4.2

7.3.3.4

-60000
0.1
~
rpm
+60000
-300 ~
+300

P1-40 r

VCM

Max. Analog Speed
Command or Limit

rated
speed

rpm

P1-41 r

TCM

Max. Analog Torque
Command or Limit

100

P1-76

AMSPD

5500

rpm

Max. Rotation Speed of E
ncoder Output

AC servo drive

303

11. Servo Parameters

Lexium 23A

Torque Control
Parameter Name

Function
Control Mode and Output
Direction

P1-01 p

CTL

P1-02 r

PSTL Speed and Torque Limit

P1-46 r

GR3

Default

0
0

Unit

Control Mode
S

Related
Section

7.3.1

7.4

Pt Pr

pulse
rpm O
Nm
N/A

Encoder Output Pulse
Number

2500

pulse O

P1-55

MSPD Maximum Speed Limit

rated
speed

rpm

P1-09
~
P1-11

SP1~3 1st ~ 3rd Speed Limit

7.4.1

P1-12
~
P1-14

TQ1~3 1st ~ 3rd Torque Command

-300 ~
+300

7.3.4.1

7.3.4.4

-60000
~
rpm
+60000

P1-40 r

VCM

Max. Analog Speed
Command or Limit

rated
speed

rpm

P1-41 r

TCM

Max. Analog Torque
Command or Limit

100

304

AC servo drive

Lexium 23A

11. Servo Parameters

Digital I/O and Relative Input Output Setting
Parameter Name
P2-09

AC servo drive

DRT

Function
Bounce Filter

Default Unit
2

Control Mode
Pt Pr S

msec O O O O

Related
Section
-

P2-10

DI1

Digital Input Terminal 1 (DI1)

101

N/A

O O O O Table 11.A

P2-11

DI2

Digital Input Terminal 2 (DI2)

104

N/A

O O O O Table 11.A

P2-12

DI3

Digital Input Terminal 3 (DI3)

116

N/A

O O O O Table 11.A

P2-13

DI4

Digital Input Terminal 4 (DI4)

117

N/A

O O O O Table 11.A

P2-14

DI5

Digital Input Terminal 5 (DI5)

102

N/A

O O O O Table 11.A

P2-15

DI6

Digital Input Terminal 6 (DI6)

N/A

O O O O Table 11.A

P2-16

DI7

Digital Input Terminal 7 (DI7)

N/A

O O O O Table 11.A

P2-17

DI8

Digital Input Terminal 8 (DI8)

N/A

O O O O Table 11.A

P2-18

DO1

Digital Output Terminal 1 (DO1)

101

N/A

O O O O Table 11.B

P2-19

DO2

Digital Output Terminal 2 (DO2)

103

N/A

O O O O Table 11.B

P2-20

DO3

Digital Output Terminal 3 (DO3)

109

N/A

O O O O Table 11.B

P2-21

DO4

Digital Output Terminal 4 (DO4)

105

N/A

O O O O Table 11.B

P2-22

DO5

Digital Output Terminal 5 (DO5)

N/A

O O O O Table 11.B

100

0.1
O O O O Table 11.B
rpm

3000

rpm O O O O Table 11.B

P1-38

ZSPD Zero Speed Range Setting

P1-39

SSPD Target Motor Speed

P1-42

MBT1

On Delay Time of Electromagnetic
Brake

msec O O O O

7.4.4

P1-43

MBT2

OFF Delay Time of E
lectromagnetic Brake

msec O O O O

7.4.4

P1-47

SCPD Speed Reached Output Range

P1-54

PER

P1-56

OVW Output Overload Warning Time

Positioning Completed Width

N/A

12800 pulse O O
120

Table 11.B
Table 11.B

O O O O Table 11.B

305

11. Servo Parameters

Lexium 23A

Communication
Parameter Name
P3-00 p

ADR

Function
Modbus Communication
Address Setting

Default

Unit

N/A

Pt Pr

Control Mode
S

Related
Section

9.2

P3-01

BRT

Transmission Speed

0x0203

bps

9.2

P3-02

PTL

Communication Protocol

N/A

9.2

P3-03

FLT

Transmission Fault
Treatment

N/A

9.2

P3-04

CWD

Communication Time Out
Detection

sec

9.2

P3-05

CADR

CANopen Communication
Address Setting

0x0000

N/A

P3-06 b

SDI

Digital Input
Communication Function

N/A

P3-07

CDT

Communication Response
Delay Time

P3-08
P3-09

CANopen mode
O

9.2

1msec O

9.2

Reserved (do not use)
SYC

CANopen Synchronization
Setting

0x57A1

N/A

CANopen mode

P3-10

PLCEN PLCopen Function Switch

0x0000

N/A

CANopen mode

P3-11g

PLCTX1 PLCopen TX Packet #1

0x0000

N/A

CANopen mode

P3-12g

PLCTX2 PLCopen TX Packet #2

0x0000

N/A

CANopen mode

P3-13g

PLCTX3 PLCopen TX Packet #3

0x0000

N/A

CANopen mode

P3-14g

PLCTX4 PLCopen TX Packet #4

0x0000

N/A

CANopen mode

P3-15g

PLCRX1 PLCopen RX Packet #1

0x0000

N/A

CANopen mode

P3-16g

PLCRX2 PLCopen RX Packet #2

0x0000

N/A

CANopen mode

PLCRX3 PLCopen RX Packet #3

0x0000
0000

N/A

CANopen mode

P3-17g

9.2

306

AC servo drive

Lexium 23A

11. Servo Parameters

Diagnosis
Parameter Name
P4-00 g
P4-01 g
P4-02g
P4-03g
P4-04 g
P4-05
P4-06 r b

ASH1
ASH2
ASH3
ASH4
ASH5
JOG
FOT

P4-07

ITST

P4-08 g

PKEY

P4-09 g
P4-10 r

MOT
CEN

P4-11

SOF1

P4-12

SOF2

P4-13

TOF1

P4-14

TOF2

P4-15

COF1

P4-16

COF2

P4-17

COF3

P4-18

COF4

P4-19

TIGB

P4-20
P4-21
P4-22
P4-23
P4-24

Function

Default

Unit

Fault Record (N)
Fault Record (N-1)
Fault Record (N-2)
Fault Record (N-3)
Fault Record (N-4)
JOG Operation
Force Output Contact Control

0
0
0
0
0
20
0

N/A
N/A
N/A
N/A
N/A
rpm
N/A

Control Mode
Pt Pr S T
O O O O
O O O O
O O O O
O O O O
O O O O
O O O O
O O O O

Input Status

N/A

O O O O

N/A

O O O O

N/A
0
Factory
Setting
Factory
Setting
Factory
Setting
Factory
Setting
Factory
Setting
Factory
Setting
Factory
Setting
Factory
Setting
Factory
Setting

N/A
N/A

O O O O
O O O O

6.5.3
-

N/A

O O O O

N/A

O O O O

N/A

O O O O

N/A

O O O O

N/A

O O O O

N/A

O O O O

N/A

O O O O

N/A

O O O O

N/A

O O O O

7.3.4.4

O O O O

7.3.4.4

Digital Keypad Input of Servo
Drive
Output Status
Adjustment Function
Analog Speed Input Drift
Adjustment 1
Analog Speed Input Drift
Adjustment 2
Analog Torque Drift
Adjustment 1
Analog Torque Drift
Adjustment 2
Current Detector Drift
Adjustment (V1 phase)
Current Detector Drift
Adjustment (V2 phase)
Current Detector Drift
Adjustment (W1 phase)
Current Detector Drift
Adjustment (W2 phase)
IGBT NTC Calibration

Analog Monitor Output Drift
Adjustment (CH1)
Analog Monitor Output Drift
DOF2
Adjustment (CH2)
SAO Analog Speed Input Offset
TAO Analog Torque Input Offset
LVL Undervoltage Error Level
DOF1

0
0
160

mV
O
mV
O
V(rms) O O O O

Related
Section
7.2.1
7.2.1
7.2.1
7.2.1
7.2.1
7.2.2
7.2.3
6.5.2
9.2

AC servo drive

307

11. Servo Parameters

Lexium 23A

11.4 Detailed Parameter Listings
Group 0: P0-xx Monitor Parameterss
P0-00 g

P0-01 b

VER

Firmware Version

Address: 0000H, 0001H

Default: Factory setting
Applicable Control Mode: ALL
Unit: N/A
Range: N/A
Data Size: 16-bit
Display Format: Decimal

Related Section: N/A

ALE

Address: 0002H, 0003H

Drive Fault Code

Default: N/A
Unit: N/A
Range:001 ~ 380
Data Size: 16-bit
Display Format: BCD

Related Section: Chapter 10

Settings:
This parameter shows the current servo drive fault if the servo drive is currently faulted.
The fault code is hexadecimal data but displayed in BCD format (Binary coded decimal).
Servo Drive Fault Codes:
001: Overcurrent
002: Overvoltage
003: Undervoltage (This fault code shows when main circuit voltage is below its minimum
specified value while Servo On, and it will not show while Servo Off. This fault code
can be cleared automatically after the voltage has returned within its specification.)
004: Motor error (The drive and motor are not correctly matched for size (power rating).
005: Regeneration error
006: Overload
007: Overspeed
008: Abnormal pulse control command
009: Excessive deviation
011: Encoder error (The wiring of the encoder is in error and this causes the
communication error between the servo drive and the encoder.)
012: Adjustment error
013: Operational stop activated
014: Reverse limit switch error
015: Forward limit switch error
016: IGBT temperature error
017: Memory error
018: Encoder output error
020: Serial communication time out
022: Input power phase loss
023: Pre-overload warning
024: Encoder initial magnetic field error

308

AC servo drive

Lexium 23A

11. Servo Parameters

025: Encoder internal error
026: Encoder data error
027: Encoder reset error
030: Motor protection error
031: U, V, W wiring error
040: Full-closed loop excessive deviation
099: DSP firmware upgrade
CANopen Communication Fault Codes
111: CANopen SDO receive buffer overrun
112: CANopen PDO receive buffer overrun
121: Index error occurs when accessing CANopen PDO object.
122: Sub-index error occurs when accessing CANopen PDO object.
123: Data type (size) error occurs when accessing CANopen PDO object.
124: Data range error occurs when accessing CANopen PDO object.
125: CANopen PDO object is read-only and write-protected.
126: CANopen PDO object does not support PDO.
127: CANopen PDO object is write-protected when Servo On.
128: Error occurs when reading CANopen PDO object from EE-PROM.
129: Error occurs when writing CANopen PDO object into EE-PROM.
130: EE-PROM invalid address range
131: EE-PROM checksum error
132: Password error
180: Life guard error or heart beat error
185: CANbus error
Motion Control Fault Codes:
201: CANopen data initial error
235: Pr command overflow
261: Index error occurs when accessing CANopen object.
263: Sub-index error occurs when accessing CANopen object.
265: Data type (size) error occurs when accessing CANopen object.
267: Data range error occurs when accessing CANopen object.
269: CANopen object is read-only and write-protected.
26b: CANopen object does not support PDO.
26d: CANopen object is write-protected when Servo On.
277: Password error
283: Forward software limit
285: Reverse software limit
289: Position counter overflow
291: Servo Off error
3E1: CANopen SYNC failed
3E2: CANopen SYNC signal error
3E3: CANopen SYNC time out
3E4: CANopen IP command failed
3E5: SYNC period error
380: Position deviation alarm for digital output, MC_OK (Please refer to P1-48.)
401: NMT reset or NMT stop is received when drive is enabled.

AC servo drive

309

11. Servo Parameters

310

Lexium 23A

AC servo drive

Lexium 23A

11. Servo Parameters

P0-02

STS

Drive Status (Front Panel Display)

Default: 00
Applicable Control Mode: ALL
Unit: N/A
Range:00 ~ 127
Data Size: 16-bit
Display Format: Decimal

Address: 0004H, 0005H
Related Section: Section 6.3.3.5,
Section 8.2

Settings:
This parameter shows the servo drive status.
00: Motor feedback pulse number (after electronic gear ratio is set) [user unit]
01: Input pulse number of pulse command (after electronic gear ratio is set) [user unit]
02: Position error counts between control command pulse and feedback pulse [user unit]
03: Motor feedback pulse number (encoder unit, 1280000 pulse/rev) [pulse]
04: Input pulse number of pulse command (before electronic gear ratio is set) [pulse]
05: Position error counts [pulse]
06: Input frequency of pulse command [Kpps]
07: Motor rotation speed [rpm]
08: Speed input command [Volt]
09: Speed input command [rpm]
10: Torque input command [Volt]
11: Torque input command [%]
12: Average load [%]
13: Peak load [%]
14: Main circuit voltage [Volt]
15: Ratio of load inertia to Motor inertia [0.1times]
16: IGBT temperature
17: Resonance frequency [Hz]
18: Absolute pulse number relative to encoder (use Z phase as home). The value of Z
phase home point is 0, and it can be the value from -5000 to +5000 pulses.

19: Mapping Parameter 1: Display the content of parameter P0-25 (mapping target is
specified by parameter P0-35)
20: Mapping Parameter 2: Display the content of parameter P0-26 (mapping target is
specified by parameter P0-36)
21: Mapping Parameter 3: Display the content of parameter P0-27 (mapping target is
specified by parameter P0-37)
22: Mapping Parameter 4: Display the content of parameter P0-28 (mapping target is
specified by parameter P0-38)
23: Status Monitor 1: Display the content of parameter P0-09 (the monitor status is
specified by parameter P0-17)
24: Status Monitor 2: Display the content of parameter P0-10 (the monitor status is
specified by parameter P0-18)
25: Status Monitor 3: Display the content of parameter P0-11 (the monitor status is
specified by parameter P0-19)
26: Status Monitor 4: Display the content of parameter P0-12 (the monitor status is
specified by parameter P0-20)

AC servo drive

311

11. Servo Parameters

Lexium 23A

P0-03

MON

Analog Monitor Output

Address: 0006H, 0007H

Related Section: Section 6.3.3.5
Default: 01
Unit: N/A
Range: 00 ~ 77
Data Size: 16-bit
Display Format: Hexadecimal
Settings:
This parameter determines the functions of the
analog monitor outputs.

XY: (X: CH1; Y: CH2)
0: Motor speed (+/-8V / maximum motor speed)
1: Motor torque (+/-8V / maximum torque)
2: Pulse command frequency (+8Volts / 4.5Mpps)
3: Speed command (+/-8Volts / maximum speed command)
4: Torque command (+/-8Volts / maximum torque command)
5: V_BUS voltage (+/-8Volts / 450V)
6: Reserved
7: Reserved
Please note: For the setting of analog output voltage proportion, refer to the P104 and P1-05.
Example:
P0-03 = 01(CH1 is speed analog output)
Motor speed = (Max. motor speed × V1/8) × P1-04/100, when the output voltage
value of CH1 is V1.

312

P0-04

Reserved (Do Not Use)

P0-05

Reserved (Do Not Use)

P0-06

Reserved (Do Not Use)

P0-07

Reserved (Do Not Use)

AC servo drive

Lexium 23A

11. Servo Parameters

P0 - 08g

P0 - 09g

TSON

Servo Startup Time

Address: 0010H, 0011H

Default: 0
Applicable Control Mode: ALL
Unit: Hour
Range: 0 ~ 65535
Data Size: 16-bit
Display Format: Decimal

Related Section: N/A

CM1

Address: 0012H, 0013H

Status Monitor 1

Default: N/A
Applicable Control Mode: ALL
Unit: N/A
Range: N/A
Data Size: 32-bit
Display Format: Decimal

Related Section: Section 6.3.3.5

Settings:
This parameter is used to provide the value of one of the status monitoring
functions found in P0-02. The value of P0-09 is determined by P0-17 (desired drive
status) through communication setting or the keypad. The drive status can be read
from the communication address of this parameter via communication port.
For example:
Set P0-17 to 3, then all consequent reads of P0-09 will return the motor feedback
pulse number in pulse.
When reading the drive status through Modbus communication, the system
should read two 16-bit data stored in the addresses of 0012H and 0013H to form a
32-bit data.
(0013H : 0012H) = (high byte : low byte)
When reading the drive ststus through the keypad, if P0-02 is set to 23, VAR-1 will quickly
show for about two seconds and then the value of P0-09 will display on the display.
P0 - 10g

CM2

Status Monitor 2

Default: N/A
Applicable Control Mode: ALL
Unit: N/A
Range: N/A
Data Size: 32-bit
Display Format: Decimal

Address: 0014H, 0015H
Related Section: Section 6.3.3.5

Settings:
This parameter is used to provide the value of one of the status monitoring functions
found in P0-02. The value of P0-10 is determined by P0-18 (desired drive status)
through communication setting or the keypad. The drive status can be read from the
communication address of this parameter via communication port.
When reading the drive status through the keypad, if P0-02 is set to 24, VAR-2 will quickly
show for about two seconds and then the value of P0-10 will display on the display.

AC servo drive

313

11. Servo Parameters

Lexium 23A

P0 - 11 g

CM3

Status Monitor 3

Default: N/A
Applicable Control Mode: ALL
Unit: N/A
Range: N/A
Data Size: 32-bit
Display Format: Decimal

Address: 0016H, 0017H
Related Section: Section 6.3.3.5

Settings:
This parameter is used to provide the value of one of the status monitoring
functions found in P0-02. The value of P0-11 is determined by P0-19 (desired drive
status) through communication setting or the keypad. The drive status can be
read from the communication address of this parameter via communication port.
When reading the drive status through the keypad, if P0-02 is set to 25, VAR-3 will quickly
show for about two seconds and then the value of P0-11 will display on the display.
P0 - 12 g

CM4

Status Monitor 4

Default: N/A
Applicable Control Mode: ALL
Unit: N/A
Range: N/A
Data Size: 32-bit
Display Format: Decimal

Address: 0018H, 0019H
Related Section: Section 6.3.3.5

Settings:
This parameter is used to provide the value of one of the status monitoring
functions found in P0-02. The value of P0-12 is determined by P0-20 (desired drive
status) through communication setting or the keypad. The drive status can be read
from the communication address of this parameter via communication port.
When reading the drive status through the keypad, if P0-02 is set to 26, VAR-4 will quickly
show for about two seconds and then the value of P0-12 will display on the display.
P0 - 13 g

CM5

Status Monitor 5

Default: N/A
Applicable Control Mode: ALL
Unit: N/A
Range: N/A
Data Size: 32-bit
Display Format: Decimal

Address: 001AH, 001BH
Related Section: Section 6.3.3.5

314

AC servo drive

Lexium 23A

11. Servo Parameters

P0 - 14

Reserved (Do Not Use)

P0 - 15

Reserved (Do Not Use)

P0 - 16

Reserved (Do Not Use)

P0 - 17

CM1A

Status Monitor Selection 1

Default: 0
Applicable Control Mode: ALL
Unit: N/A
Range: 0 ~ 127
Data Size: 16-bit
Display Format: Decimal

Address: 0022H, 0023H
Related Section: N/A

Settings:
This parameter is used to determine the drive status found in P0-02. The selected
drive status will be displayed by P0-09.
For example:
Set P0-17 to 7, then all consequent reads of P0-09 will return the motor rotation
speed in rpm.
P0 - 18

CM2A

Status Monitor Selection 2

Default: 0
Applicable Control Mode: ALL
Unit: N/A
Range: 0 ~ 127
Data Size: 16-bit
Display Format: Decimal

Address: 0024H, 0025H
Related Section: N/A

Settings:
This parameter is used to determine the drive status found in P0-02. The selected
drive status will be displayed by P0-10. Refer to P0-17 for explanation.
P0 - 19

CM3A

Status Monitor Selection 3

Default: 0
Applicable Control Mode: ALL
Unit: N/A
Range: 0 ~ 127
Data Size: 16-bit
Display Format: Decimal

Address: 0026H, 0027H
Related Section: N/A

Settings:
This parameter is used to determine the drive status found in P0-02. The selected
drive status will be displayed by P0-11. Refer to P0-17 for explanation.

AC servo drive

315

11. Servo Parameters

Lexium 23A

P0 - 20

CM4A

Status Monitor Selection 4

Default: 0
Applicable Control Mode: ALL
Unit: N/A
Range: 0 ~ 127
Data Size: 16-bit
Display Format: Decimal

Address: 0028H, 0029H
Related Section: N/A

Settings:
This parameter is used to determine the drive status found in P0-02. The selected
drive status will be displayed by P0-12. Refer to P0-17 for explanation.
P0 - 21

CM5A

Status Monitor Selection 5

Default: 0
Applicable Control Mode: ALL
Unit: N/A
Range: 0 ~ 127
Data Size: 16-bit
Display Format: Decimal

Address: 002AH, 002BH
Related Section: N/A

Settings:
This parameter is used to determine the drive status found in P0-02. The selected
drive status will be displayed by P0-13. Refer to P0-17 for explanation.
P0 - 22

Reserved (Do Not Use)

P0 - 23

Reserved (Do Not Use)

P0 - 24

Reserved (Do Not Use)

P0 - 25

MAP1

Mapping Parameter 1

Default: N/A

Address: 0032H, 0033H
Related Section: Section 6.3.3.5

Applicable Control Mode: ALL
Unit: N/A
Range: determined by the parameter specified by P0-35
Data Size: 32-bit
Display Format: Hexadecimal
Settings:
The parameters from P0-25 to P0-32 are used to read and write the values of the
parameters those communication addresses are not consecutive. The users can
set P0-35 ~ P0-42 as the desired read and write mapping parameter numbers
through communication setting or the keypad. When reading or writing P0-25 ~
P0-32, the read or write values are equivalent to the values of the parameters
specified by P0-35 ~ P0-42, and vise versa. Refer to P0-35 for explanation.

316

AC servo drive

Lexium 23A

11. Servo Parameters

P0 - 26

MAP2

Mapping Parameter 2

Default: N/A

Address: 0034H, 0035H
Related Section: Section 6.3.3.5

Applicable Control Mode: ALL
Unit: N/A
Range: determined by the parameter specified by P0-36
Data Size: 32-bit
Display Format: Hexadecimal
Settings:
Refer to P0-25 and P0-36 for explanation.
P0 - 27

MAP3

Mapping Parameter 3

Default: N/A

Address: 0036H, 0037H
Related Section: Section 6.3.3.5

Applicable Control Mode: ALL
Unit: N/A
Range: determined by the parameter specified by P0-37
Data Size: 32-bit
Display Format: Hexadecimal
Settings:
Refer to to P0-25 and P0-37 for explanation.
P0 - 28

MAP4

Mapping Parameter 4

Default: N/A

Address: 0038H, 0039H
Related Section: Section 6.3.3.5

Applicable Control Mode: ALL
Unit: N/A
Range: determined by the parameter specified by P0-38
Data Size: 32-bit
Display Format: Hexadecimal
Settings:
Refer to P0-25 and P0-38 for explanation.
P0 - 29

MAP5

Mapping Parameter 5

Default: N/A

Address: 003AH, 003BH
Related Section: Section 6.3.3.5

Applicable Control Mode: ALL
Unit: N/A
Range: determined by the parameter specified by P0-39
Data Size: 32-bit
Display Format: Hexadecimal
Settings:
Refer to P0-25 and P0-39 for explanation.

AC servo drive

317

11. Servo Parameters

Lexium 23A

P0 - 30

MAP6

Mapping Parameter 6

Default: N/A

Address: 003CH, 003DH
Related Section: Section 6.3.3.5

Applicable Control Mode: ALL
Unit: N/A
Range: determined by the parameter specified by P0-40
Data Size: 32-bit
Display Format: Hexadecimal
Settings:
Refer to P0-25 and P0-40 for explanation.
P0 - 31

MAP7

Mapping Parameter 7

Default: N/A

Address: 003EH, 003FH
Related Section: Section 6.3.3.5

Applicable Control Mode: ALL
Unit: N/A
Range: determined by the parameter specified by P0-41
Data Size: 32-bit
Display Format: Hexadecimal
Settings:
Refer to P0-25 and P0-41 for explanation.
P0 - 32

MAP8

Mapping Parameter 8

Default: N/A

Address: 0040H, 0041H
Related Section: Section 6.3.3.5

Applicable Control Mode: ALL
Unit: N/A
Range: determined by the parameter specified by P0-42
Data Size: 32-bit
Display Format: Hexadecimal
Settings:
Refer to P0-25 and P0-42 for explanation.

318

P0 - 33

Reserved (Do Not Use)

P0 - 34

Reserved (Do Not Use)

AC servo drive

Lexium 23A

11. Servo Parameters

P0 - 35

MAP1A

Block Data Read / Write Register 1
(for P0-25)

Default: 0x0

Address: 0046H, 0047H
Related Section: Section 6.3.3.5

Applicable Control Mode: ALL
Unit: N/A
Range: determined by the communication address of the designated parameter
Data Size: 32-bit
Display Format: Hexadecimal
Settings:
The parameters from P0-35 to P0-42 are used to designate the desired read and
write parameter numbers for P0-25 to P0-32, and read and write the values of the
parameters those communication addresses are not consecutive through
communication setting or the keypad more efficiently.
The read / write parameter could be one 32-bit parameter or two 16-bit parameters.
The operation of parameter P0-35 is described as follows:

When PH ≠ PL, it indicates that P0-25 includes two 16-bit parameters.

When PH = PL = P, it indicates that the content of P0-25 is one 32-bit parameter.
V32 = *(P). If P = 060Ah (parameter P6-10), the value of V32 is the value of P6-10.

A: Parameter group code in hexadecimal format
B: Parameter number in hexadecimal format
For example:
If the desired read and write parameter number is P2-06, please set P0-35 to
0206. If the desired read and write parameter number is P5-42, please set P0-35
to 052A, and vise versa.
When the users want to read and write the value of the parameter P1-44 (32-bit
parameter) via P0-25, please set P0-35 to 0x012C012C through communication
setting or the keypad. The the value of the parameter P1-44 will be displayed by P0-25.
When the users want to read and write the values of the parameters P2-02
(Position Feed Forward Gain, 16-bit parameter) and P2-04 (Proportional Speed
Loop Gain, 16-bit parameter) via P0-25, please set P0-35 to 0x02040202 through
communication setting or the keypad. The the values of the parameters P2-02 and
P2-04 will be displayed by P0-25.

AC servo drive

319

11. Servo Parameters

Lexium 23A

P0 - 36

MAP2A

Block Data Read / Write Register 2
(for P0-26)

Default: 0x0

Address: 0048H, 0049H
Related Section: Section 6.3.3.5

Applicable Control Mode: ALL
Unit: N/A
Range: determined by the communication address of the designated parameter
Data Size: 32-bit
Display Format: Hexadecimal
Settings:

Refer to P0-35 for explanation.

P0 - 37

MAP3A

Block Data Read / Write Register 3
(for P0-27)

Default: 0x0

Address: 004AH, 004BH
Related Section: Section 6.3.3.5

Applicable Control Mode: ALL
Unit: N/A
Range: determined by the communication address of the designated parameter
Data Size: 32-bit
Display Format: Hexadecimal
Settings:

Refer to P0-35 for explanation.

P0 - 38

MAP4A

Block Data Read / Write Register 4
(for P0-28)

Default: 0x0

Address: 004CH, 004DH
Related Section: Section 6.3.3.5

Applicable Control Mode: ALL
Unit: N/A
Range: determined by the communication address of the designated parameter
Data Size: 32-bit
Display Format: Hexadecimal
Settings:

Refer to P0-35 for explanation.

320

AC servo drive

Lexium 23A

11. Servo Parameters

P0 - 39

MAP5A

Block Data Read / Write Register 5
(for P0-29)

Default: 0x0

Address: 004EH, 004FH
Related Section: Section 6.3.3.5

Applicable Control Mode: ALL
Unit: N/A
Range: determined by the communication address of the designated parameter
Data Size: 32-bit
Display Format: Hexadecimal
Settings:

Refer to P0-35 for explanation.

P0 - 40

MAP6A

Block Data Read / Write Register 6
(for P0-30)

Default: 0x0

Address: 0050H, 0051H
Related Section: Section 6.3.3.5

Applicable Control Mode: ALL
Unit: N/A
Range: determined by the communication address of the designated parameter
Data Size: 32-bit
Display Format: Hexadecimal
Settings:

Refer to P0-35 for explanation.

P0 - 41

MAP7A

Block Data Read / Write Register 7
(for P0-31)

Default: 0x0

Address: 0052H, 0053H
Related Section: Section 6.3.3.5

Applicable Control Mode: ALL
Unit: N/A
Range: determined by the communication address of the designated parameter
Data Size: 32-bit
Display Format: Hexadecimal
Settings:

Refer to P0-35 for explanation.

AC servo drive

321

11. Servo Parameters

Lexium 23A

P0 - 42

MAP8A

Block Data Read / Write Register 8
(for P0-32)

Default: 0x0

Address: 0054H, 0055H
Related Section: Section 6.3.3.5

Applicable Control Mode: ALL
Unit: N/A
Range: determined by the communication address of the designated parameter
Data Size: 32-bit
Display Format: Hexadecimal
Settings:

Refer to P0-35 for explanation.
P0 - 43

Reserved (Do Not Use)

P0 - 44

PCMN

Status Monitor Register (PC
Software Setting)

Default: 0x0

Address: 0058H, 0059H
Related Section: Section 6.3.3.5

Applicable Control Mode: ALL
Unit: N/A
Range: determined by the communication address of the designated parameter
Data Size: 32-bit
Display Format: Decimal
Settings:
The function of this parameter is the same as P0-09 (Please refer to P0-09).
Please note that this pamameter can be set through communication setting only.

P0 - 45 b

PCMNA

Status Monitor Register Selection
(PC Software Setting)

Default: 0x0

Address: 005AH, 005BH
Related Section: Section 6.3.3.5

Applicable Control Mode: ALL
Unit: N/A
Range: 0 ~ 127
Data Size: 16-bit
Display Format: Decimal
Settings:
The function of this parameter is the same as P0-17 (Please refer to P0-17). Please
note that this pamameter can be set through communication setting only.

322

AC servo drive

Lexium 23A

11. Servo Parameters

P0 - 46g

SVSTS

Servo Output Status Display

Default: 0
Applicable Control Mode: ALL
Unit: N/A
Range: 0x00 ~ 0xFF
Data Size: 16-bit
Display Format: Hexadecimal
Settings:

Address: 005CH, 005DH
Related Section: -

This parameter is used to display the digital output signal of the servo drive. The
servo output status display will show in hexadecimal format.
Bit0: SRDY (Servo ready)
Bit1: SON (Servo On)
Bit2: ZSPD (At Zero speed)
Bit3: TSPD (At Speed reached)
Bit4: TPOS (At Positioning completed)
Bit5: TQL (At Torque limit)
Bit6: ALRM (Servo alarm activated)
Bit7: BRKR (Electromagnetic brake control)
Bit8: HOME (Homing completed)
Bit9: OLW (Output overload warning)
Bit10: WARN (Servo warning activated. WARN is activated when the drive has
detected reverse limit error; forward limit error, Operational stop, serial
communication error, and undervoltage these fault conditions.)
Bit11: Reserved
Bit12: Reserved
Bit13: Reserved
Bit14: Reserved
Bit15: Reserved
The servo output status display can be monitored through communication also.

AC servo drive

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11. Servo Parameters

Lexium 23A

Group 1: P1-xx Basic Parameters
P1 - 00r

PTT

External Pulse Input Type

Address: 0100H, 0101H
Related Section: Section 7.3.2.1

Default: 0x2
Applicable Control Mode: Pt
Unit: N/A
Range: 0 ~ 1132
Data Size: 16-bit
Display Format: Hexadecimal
Settings:

A: Input pulse type
0: AB phase pulse (4x)
(Quadrature Input)
1: Clockwise (CW) +
Counterclockwise
(CCW) pulse
2: Pulse + Direction
B: Input pulse filter
This setting is used to suppress or reduce the chatter caused by the noise, etc.
However, if the instant input pulse filter frequency is over high, the frequency
that exceeds the setting value will be regarded as noise and filtered.

324

Low Filter

Setting Value

High Filter

1.66Mpps

6.66Mpps

416Kpps

1.66Mpps

208Kpps

833Kpps

104Kpps

416Kpps

AC servo drive

Lexium 23A

11. Servo Parameters

C: Input polarity
0=Positive Logic

Pulse Type

Forward

1=Negative Logic

Reverse

Forward

Reverse

AB phase pulse
(Quadrature)

CW + CCW pulse

Pulse + Direction

Input pulse interface

Max. input pulse frequency

Line driver/Line receiver

500Kpps/4Mpps

Open collector

200Kpps

D: Source of pulse command
Setting value

Input pulse interface

Remark

Low-speed pulse

CN1 Terminal Identification:
PULSE, SIGN

High-speed pulse

CN1 Terminal Identification:
HPULSE, HSIGN

The source of pulse command can also be determined by digital input, PTCMS.
When the digital input function is used, the source of pulse command is from digital
input.

AC servo drive

325

11. Servo Parameters

Lexium 23A

P1 - 01p

CTL

Control Mode and Output Direction

Address: 0102H, 0103H

Default: 0
pplicable Control Mode: ALL

Related Section: Section 7.3.1 ,
Table 11.A

Unit: pulse (P mode), rpm (S mode), Nm (T mode)
Range: 00 ~ 110F
Data Size: 16-bit
Display Format: Hexadecimal
Settings:

A/B: Control mode settings
Pt
00
01
02
03
04
05

r
r
r
r
r

Multiple Mode
OE
OF

Pt
06
07
08
09
0A
OB
OC
OD

r
r

CANopen Mode
Reserved
r

Pt: Position control mode. The command is from external pulse or analog voltage
(external analog voltage will be available soon). Execution of the command
selection is via DI signal, PTAS.
Pr: Position control mode. The command is from internal signal. Execution of 64
positions is via DI signals (POS0 ~ POS2). A variety of homing control is also
provided.
S: Speed control mode. The command is from external signal or internal signal.
Execution of the command selection is via DI signals, SPD0 and SPD1.
T: Torque control mode. The command is from external signal or internal signal.
Execution of the command selection is via DI signals, TCM0 and TCM1.
Sz: Zero speed / internal speed command
Tz: Zero torque / internal torque command

326

AC servo drive

Lexium 23A

11. Servo Parameters

Dual Mode: Control of the mode selection is via DI signals. For example, either Pt or
S control mode can be selected via DI signal, S-P (see Table 11.A).
Multiple Mode: Control of the mode selection is via DI signals. For example, either
Pt or Pr or S control mode can be selected via DI signals, S-P and PtPr (see Table 11.A).
C: Torque output direction settings
Direction

Forward

Reverse

D: Discrete I/O Setting
1: When switching to different mode, digital inputs/outputs (P2-10 ~ P2-22) can
be reset to be the default value of the mode you switch to.
0: When switching to different mode, the setting value of digital inputs/outputs
(P2-10 ~ P2-22) will remain the same and will not be changed.

AC servo drive

327

11. Servo Parameters

Lexium 23A

P1 - 02r

PSTL

Speed and Torque Limit

Default: 0
Applicable Control Mode: ALL

Address: 0104H, 0105H
Related Section: Section 7.4,
Table 11.A

Unit: N/A
Range: 00 ~ 11
Data Size: 16-bit
Display Format: Hexadecimal
Settings:
This parameter is used to determine that the speed and torque limit functions are
enabled or disabled. If P1-02 is set to 11, it indicates that the speed and torque limit
functions are enabled always. The users can also use DI signals, SPDLM and TRQLM to
enable the speed and torque limit functions. Please note that DI signals, SPD0, SPD1,
TCM0, and TCM1 are used to select the command source of the speed and torque limit.

A: Disable or Enable speed limit function
0: Disable speed limit function
1: Enable speed limit function (It is available in torque mode)

B: Disable or Enable torque limit function
0: Disable torque limit function
1: Enable torque limit function (It is available in position and speed mode)

328

AC servo drive

Lexium 23A

11. Servo Parameters

P1 - 03

AOUT

Pulse Output Polarity Setting

Default: 0
Applicable Control Mode: ALL
Unit: N/A
Range: 0 ~ 13
Data Size: 16-bit
Display Format: Hexadecimal
Settings:

Address: 0106H, 0107H
Related Section: Section 5.2.8.3

his parameter is used to determine the polarity of analog monitor outputs and
position pulse outputs. The analog monitor outputs can be configured with
different polarity individually, but the position pulse outputs have to be each with
the same polarity.
A: Analog monitor outputs polarity
0: MON1(+), MON2(+)
1: MON1(+), MON2(-)
2: MON1(-), MON2(+)
3: MON1(-), MON2(-)
B: Position pulse outputs polarity
0: Forward output
1: Reverse output
P1 - 04

MON1

Analog Monitor Output Proportion 1
Address: 0108H, 0109H
(CH1)

Default: 100
Applicable Control Mode: ALL
Unit: % (full scale)
Range: 0 ~ 100
Data Size: 16-bit
Display Format: Decimal
P1 - 05

MON2

Analog Monitor Output Proportion 2
Address: 010AH, 010BH
(CH2)

Default: 100
Applicable Control Mode: ALL
Unit: % (full scale)
Range: 0 ~ 100
Data Size: 16-bit
Display Format: Decimal

AC servo drive

Related Section: Section 7.3.4.4

329

11. Servo Parameters

Lexium 23A

P1 - 06

SFLT

Accel / Decel Smooth Constant of
Analog Speed Command (Low-pass Address: 010CH, 010DH
Filter)

Default: 0
Applicable Control Mode: S
Unit: msec
Range: 0 ~ 1000 (0: Disabled)
Data Size: 16-bit
Display Format: Decimal

P1 - 07

TFLT

Smooth Constant of Analog Torque
Command (Low-pass Filter)

Default: 0
Applicable Control Mode: T
Unit: msec
Range: 0 ~ 1000 (0: Disabled)
Data Size: 16-bit
Display Format: Decimal

P1 - 08

P1 - 09

PFLT

Smooth Constant of Position
Command (Low-pass Filter)

Related Section: Section 7.3.3.3

Address: 010EH, 010FH
Related Section: Section 7.3.4.3

Address: 0110H, 0111H

Default: 0
Applicable Control Mode: Pt/Pr
Unit: msec
Range: 0 ~ 1000 (0: Disabled)
Data Size: 16-bit
Display Format: Decimal

Related Section: Section 7.3.2.6

SP1

Address: 0112H, 0113H

1st Speed Command or Limit

Default: 1000
Applicable Control Mode: S, T
Unit: 0.1rpm
Range: -60000 ~ +60000
Data Size: 32-bit
Display Format: Decimal
Settings:

Related Section: Section 7.3.3.1

1 st Speed Command
In Speed mode, this parameter is used to set speed 1 of internal speed command.
1st Speed Limit
In Torque mode, this parameter is used to set speed limit 1 of internal speed
command.

330

AC servo drive

Lexium 23A

11. Servo Parameters

P1 - 10

SP2

2nd Speed Command or Limit

Default: 2000
Applicable Control Mode: S, T
Unit: 0.1 rpm
Range: -60000 ~ +60000
Data Size: 32-bit
Display Format: Decimal
Settings:

Address: 0114H, 0115H
Related Section: Section 7.3.3.1

2nd Speed Command
In Speed mode, this parameter is used to set speed 2 of internal speed command.
2nd Speed Limit
In Torque mode, this parameter is used to set speed limit 2 of internal speed
command.
P1 - 11

SP3

3rd Speed Command or Limit

Default: 3000
Applicable Control Mode: S, T
Unit: 0.1rpm
Range: -60000 ~ +60000
Data Size: 32-bit
Display Format: Decimal
Settings:

Address: 0116H, 0117H
Related Section: Section 7.3.3.1

3rd Speed Command
In Speed mode, this parameter is used to set speed 3 of internal speed command.
3rd Speed Limit
In Torque mode, this parameter is used to set speed limit 3 of internal speed
command.
P1 - 12

TQ1

1st Torque Command or Limit

Default: -300 ~ +300
Applicable Control Mode: T, P&S
Unit: %
Range: -300 ~ +300
Data Size: 16-bit
Display Format: Decimal

Address: 0118H, 0119H
Related Section: Section 7.3.4.1

Settings:
1st Torque Command
In Torque mode, this parameter is used to set torque 1 of internal torque
command.
1st Torque Limit
In Position and Speed mode, this parameter is used to set torque limit 1 of internal
torque command.
Digital output signal TQL is activated when the drive has detected that the motor
has reached the torques limits set by either the parameters P1-12 ~ P1-14 of via an
external analog voltage.

AC servo drive

331

11. Servo Parameters

Lexium 23A

P1 - 13

TQ2

2nd Torque Command or Limit

Default: -300 ~ +300
Applicable Control Mode: T, P&S
Unit: %
Range: -300 ~ +300
Data Size: 16-bit
Display Format: Decimal

Address: 011AH, 011BH
Related Section: Section 7.3.4.1

Settings:
2nd Torque Command
In Torque mode, this parameter is used to set torque 2 of internal torque
command.
2nd Torque Limit
In Position and Speed mode, this parameter is used to set torque limit 2 of internal
torque command.
Digital output signal TQL is activated when the drive has detected that the motor
has reached the torques limits set by either the parameters P1-12 ~ P1-14 of via an
external analog voltage.
P1 - 14

TQ3

3rd Torque Command or Limit

Default: -300 ~ +300
Applicable Control Mode: T, P&S
Unit: %
Range: -300 ~ +300
Data Size: 16-bit
Display Format: Decimal

Address: 011CH, 011DH
Related Section: Section 7.3.4.1

Settings:
3 rd Speed Command
In Torque mode, this parameter is used to set torque 3 of internal torque command.
3 rd Speed Limit
In Position and Speed mode, this parameter is used to set torque limit 3 of internal
torque command.
Digital output signal TQL is activated when the drive has detected that the motor has
reached the torques limits set by either the parameters P1-12 ~ P1-14 of via an external
analog voltage.

332

P1 - 15

Reserved (Do Not Use)

P1 - 16

Reserved (Do Not Use)

P1 - 17

Reserved (Do Not Use)

P1 - 18

Reserved (Do Not Use)

AC servo drive

Lexium 23A

11. Servo Parameters

P1 - 19

Reserved (Do Not Use)

P1 - 20

Reserved (Do Not Use)

P1 - 21

Reserved (Do Not Use)

P1 - 22

Reserved (Do Not Use)

P1 - 23

Reserved (Do Not Use)

P1 - 24

Reserved (Do Not Use)

P1 - 25

VSF1

Low-frequency Vibration
Suppression (1)

Default: 100.0
Applicable Control Mode: Pt/Pr
Unit: Hz
Range: 1.0 ~ 100.0
Data Size: 16-bit
Display Format: Decimal

Address: 0132H, 0133H
Related Section: Section 7.3.2.9

Settings:
This parameter is used to set the first group of the low-frequency of mechanical
system. It can be used to suppress the low-frequency vibration of mechanical
system. If P1-26 is set to 0, this parameter is disabled.

P1 - 26

VSG1

Low-frequency Vibration
Suppression Gain (1)

Default: 0
Applicable Control Mode: Pt/Pr
Unit: N/A
Range: 0 ~ 9 (0: Disable the function of P1-25)
Data Size: 16-bit
Display Format: Decimal

Address: 0134H, 0135H
Related Section: Section 7.3.2.9

Settings:
This parameter is used to set the vibration suppression gain for P1-25. When the
setting value is higher, the position response is quicker. However, if the setting value is
over high, it may addect the normal operation of servo motor. It is recommended to
set P1-26 as 1.

AC servo drive

333

11. Servo Parameters

Lexium 23A

P1 - 27

VSF2

Low-frequency Vibration
Suppression (2)

Default: 100.0
Applicable Control Mode: Pt/Pr
Unit: Hz
Range: 1.0 ~ 100.0
Data Size: 16-bit
Display Format: Decimal

Address: 0136H, 0137H
Related Section: Section 7.3.2.9

Settings:
This parameter is used to set the second group of the low-frequency of mechanical
system. It can be used to suppress the low-frequency vibration of mechanical system.
If P1-28 is set to 0, this parameter is disabled.

P1 - 28

VSG2

Low-frequency Vibration
Suppression Gain (2)

Default: 0
Applicable Control Mode: Pt/Pr
Unit: N/A
Range: 0 ~ 9 (0: Disable the function of P1-27)
Data Size: 16-bit
Display Format: Decimal

Address: 0138H, 0139H
Related Section: Section 7.3.2.9

Settings:
This parameter is used to set the vibration suppression gain for P1-27. When the
setting value is higher, the position response is quicker. However, if the setting
value is over high, it may addect the normal operation of servo motor. It is
recommended to set P1-28 as 1.

P1 - 29

AVSM

Auto Low-frequency Vibration
Suppression Mode Selection

Default: 0
Applicable Control Mode: Pt/Pr
Unit: N/A
Range: 0 ~ 1
Data Size: 16-bit
Display Format: Decimal

Address: 013AH, 013BH
Related Section: Section 7.3.2.9

Settings:
0: Normal mode (Disable Auto Low-frequency Vibration Suppression Mode).
1: Auto mode (Enable Auto Low-frequency Vibration Suppression Mode).
Explanation:
If P1-29 is set to 0, the setting of low-frequency vibration suppression is fixed and will
not change automatically.
If P1-29 is set to 1, when there is no low-frequency vibration or the low-frequency
vibration becomes less and stable, the system will set P1-29 to 0, save the measured
low-frequency value automatically and memorize it in P1-25.

334

AC servo drive

Lexium 23A

11. Servo Parameters

P1 - 30

VCL

Low-frequency Vibration Detection
Address: 013CH, 013DH
Level

Default: 500
Applicable Control Mode: Pt/Pr
Unit: pulse
Range: 1 ~ 8000
Data Size: 16-bit
Display Format: Decimal

Related Section: Section 7.3.2.9

Settings:
When P1-29 is set to 1, the system will search this detection level automatically. If the
setting value of P1-30 is too low, the dectection of frequency will become sensitive and
result in erroneous measurement. If the setting value of P1-30 is too high, although the
probability of erroneous measurement will decrease, the frequency will become
difficult to be found especially when the vibration of mechanical system is less.
P1 - 31

Reserved (Do Not Use)

P1 - 32

LSTP

Motor Stop Mode Selection

Default: 0
Applicable Control Mode: ALL
Unit: N/A
Range: 0 ~ 20
Data Size: 16-bit
Display Format: Hexadecimal

Address: 0140H, 0141H
Related Section: N/A

Settings:
This parameter is used to select servo motor stop mode when Servo Off or a fault
(servo alarm, includes OPST (Operational stop)) occurs.

Fault Stop Mode
0: Use dynamic brake
1: Allow servo motor to coast to stop
2: Use dynamic brake first, after the motor speed is below than P1-38, allow servo
motor to coast to stop
When the fault NL(CWL) or PL(CCWL) occurs, please refer to the settings of
parameter P5-03 to determine the deceleration time. If the deceleration time is set to
1msec, the motor will stop instantly.

AC servo drive

335

11. Servo Parameters

Lexium 23A

P1 - 33

Reserved (Do Not Use)

P1 - 34

TACC

Acceleration Time

Default: 200
Applicable Control Mode: S
Unit: msec
Range: 1 ~ 65500
Data Size: 16-bit
Display Format: Decimal

Address: 0144H, 0145H
Related Section: Section 7.3.3.3

Settings:
This parameter is used to determine the acceleration time to accelerate from 0 to
its rated motor speed. The functions of parameters P1-34, P1-35 and P1-36 are
each individual. When P1-36 is set to 0 (Disabled), the settings of P1-34, P1-35 are
still effective. It indicates that the parameters P1-34 and P1-35 will not become
disabled even when P1-36 is disabled.
Please note:
1. When the source of speed command is analog command, the maximum setting
value of P1-36 is set to 0, the acceleration and deceleration function will be
disabled.
2. When the source of speed command is analog command, the maximum setting
value of P1-34 is limited to 20000 automatically.
P1 - 35

TDEC

Deceleration Time

Default: 200
Applicable Control Mode: S
Unit: msec
Range: 1 ~ 65500
Data Size: 16-bit
Display Format: Decimal

Address: 0146H, 0147H
Related Section: Section 7.3.3.3

Settings:
This parameter is used to determine the acceleration time to accelerate from 0 to its
rated motor speed. The functions of parameters P1-34, P1-35 and P1-36 are each
individual. When P1-36 is set to 0 (Disabled), the settings of P1-34, P1-35 are still
effective. It indicates that the parameters P1-34 and P1-35 will not become disabled
even when P1-36 is disabled.
Please note:
1. When the source of speed command is analog command, the maximum setting
value of P1-36 is set to 0, the acceleration and deceleration function will be disabled.
2. When the source of speed command is analog command, the maximum setting
value of P1-35 is limited to 20000 automatically.

336

AC servo drive

Lexium 23A

11. Servo Parameters

P1 - 36

TSL

Accel /Decel S-curve

Default: 0
Applicable Control Mode: S, Pr
Unit: msec
Range: 0 ~ 65500 (0: Disabled)
Data Size: 16-bit
Display Format: Decimal

Address: 0148H, 0149H
Related Section: Section 7.3.3.3

Settings:
This parameter is used to make the motor run more smoothly when startup and
windup. Using this parameter can improve the motor running stability.

TACC: P1-34, Acceleration time
TDEC: P1-35, Deceleration time
TSL: P1-36, Accel /Decel S-curve
Total acceleration time = TACC + TSL
Total deceleration time = TDEC + TSL
The functions of parameters P1-34, P1-35 and P1-36 are each individual. When P1-36 is
set to 0 (Disabled), the settings of P1-34, P1-35 are still effective. It indicates that the
parameters P1-34 and P1-35 will not become disabled even when P1-36 is disabled.
Please note:
1. When the source of speed command is analog command, the maximum setting
value of P1-36 is set to 0, the acceleration and deceleration function will be disabled.
2. When the source of speed command is analog command, the maximum setting
value of P1-36 is limited to 10000 automatically.
P1 - 37

GDR

Ratio of Load Inertia to Servo Motor
Inertia

Default: 10
Applicable Control Mode: ALL
Unit: 0.1 times
Range: 0 ~ 2000
Data Size: 16-bit
Display Format: Decimal

Address: 014AH, 014BH
Related Section: N/A

Settings:
Ratio of load inertia to servo motor inertia (for Rotation Motor): (J_load /J_motor)
J_load: Total equivalent moment of inertia of external mechanical load
J_motor: Moment of inertia of servo motor
Ratio of load weight to servo motor weight (for Linear Motor): (M_load /
M_motor)(not available now but will be available soon)
M_load: Total equivalent weight of external mechanical load
M_motor: Weight of servo motor

AC servo drive

337

11. Servo Parameters

Lexium 23A

P1 - 38

ZSPD

Zero Speed Range Setting

Default: 100
Applicable Control Mode: ALL
Unit: 0.1 rpm
Range: 0 ~ 2000
Data Size: 16-bit
Display Format: Decimal

Address: 014CH, 014DH
Related Section: Table 11.A

Settings:
This parameter is used to set output range of zero speed signal (ZSPD) and
determine whrn zero speed signal (ZSPD) becomes activated. ZSPD is activated
when the drive senses the motor is equal to or below the Zero Speed Range setting
as defined in parameter P1-38.
For Example, at default ZSPD will be activated when the drive detects the motor
rotating at speed at or below 100 rpm. ZSPD will remain activated until the motor
speed increases above 100 rpm.
P1 - 39

SSPD

Target Motor Speed

Default: 3000
Applicable Control Mode: ALL
Unit: rpm
Range: 0 ~ 5000
Data Size: 16-bit
Display Format: Decimal

Address: 014EH, 014FH
Related Section: Table11.A

Settings:
When target motor speed reaches its preset value, digital output (TSPD) is enabled.
When the forward and reverse speed of servo motor is equal and higher than the setting
value, the motor will reach the target motor speed, and then TSPD signal will output.
TSPD is activated once the drive has detected the motor has reached the Target Motor
Speed setting as defined in parameter P1-39. TSPD will remain activated until the motor
speed drops below the Target Motor Speed.

338

AC servo drive

Lexium 23A

11. Servo Parameters

P1 - 40r

VCM

Max. Analog Speed Command or
Limit

Default: rated speed
Applicable Control Mode: S, T
Unit: rpm
Range: 0 ~ 10000
Data Size: 16-bit
Display Format: Decimal

Address: 0150H, 0151H
Related Section: Section 7.3.3.4

Settings:
In Speed mode, this parameter is used to set the maximum analog speed
command based on the maximum input voltage (10V).
In Torque mode, this parameter is used to set the maximum analog speed limit
based on the maximum input voltage (10V).
For example, in speed mode, if P1-40 is set to 3000 and the input voltage is 10V, it
indicates that the speed command is 3000 rpm. If P1-40 is set to 3000, but the
input voltage is changed to 5V, then the speed command is changed to 1500 rpm.
Speed Command / Limit = Input Voltage Value x Setting value of P1-40 / 10
P1 - 41r

TCM

Max. Analog Torque Command or
Limit

Default: 100
Applicable Control Mode: ALL
Unit: %
Range: 0 ~ 1000
Data Size: 16-bit
Display Format: Decimal

Address: 0152H, 0153H
Related Section: Section 7.3.4.4

Settings:
In Torque mode, this parameter is used to set the maximum analog torque
command based on the maximum input voltage (10V).
In Position (Pt, Pr) and Speed mode, this parameter is used to set the maximum
analog torque limit based on the maximum input voltage (10V).
For example, in torque mode, if P1-41 is set to 100 and the input voltage is 10V, it
indicates that the torque command is 100% rated torque. If P1-41 is set to 100, but
the input voltage is changed to 5V, then the torque command is changed to 50%
rated torque.
Torque Command / Limit = Input Voltage Value x Setting value of P1-41 / 10

AC servo drive

339

11. Servo Parameters

Lexium 23A

P1 - 42

MBT1

On Delay Time of Electromagnetic
Brake

Address: 0154H, 0155H

Related Section: Section 7.4.4,
Default: 0
Table 11.B
Applicable Control Mode: ALL
Unit: msec
Range: 0 ~ 1000
Data Size: 16-bit
Display Format: Decimal
Settings:
Used to set the period of time between when the servo drive is On (Servo On) and
when electromagnetic brake output signal (BRKR) is activated.
P1 - 43

MBT2

OFF Delay Time of Electromagnetic
Address: 0156H, 0157H
Brake

efault: -1000 ~ +1000
Applicable Control Mode: ALL
Unit: msec
Range: -1000 ~ +1000
Data Size: 16-bit
Display Format: Decimal

Related Section: Section 7.4.4
Table 11.B

Settings:
Used to set the period of time between when the servo drive is Off (Servo
Off) and when electromagnetic brake output signal (BRKR) is inactivated.

Please note:
1. When servo is commanded off and the off delay time set by P1-43 has not
elapsed, if the motor speed is lower than the setting value of P1-38, the
electromagnetic brake will be engaged regardless of the off delay time set by
P1-43.
2. When servo is commanded off and the off delay time set by P1-43 has elapsed, if
the motor speed is higher than the setting value of P1-38, electromagnetic brake
will be engaged regardless of the current motor speed.
3. When the servo drive is disabled (Servo Off) due to a fault (except AL022) or by
OPST (Operational stop)) being activated, if the off delay time set by P1-43 is a
negative value, it will not affect the operation of the motor. A negative value of
the off delay time is equivalent to one with a zero value.

340

AC servo drive

Lexium 23A

11. Servo Parameters

P1 - 44r

GR1

Electronic Gear Ratio (1st
Numerator) (N1)

Default: 128
Applicable Control Mode: Pt, Pr
Unit: pulse
Range: 1 ~ (229-1)
Data Size: 32-bit
Display Format: Decimal

Address: 0158H, 0159H
Related Section: Section 7.3.2.5

Settings:
This parameter is used to set the numerator of the electronic gear ratio. The
denominator of the electronic gear ratio is set by P1-45. P2-60 ~ P2-62 are used to set
the additional numberators.
Please note:
1. In Pt mode, the setting value of P1-44 can be changed only when the servo drive is
enabled (Servo On).
2. In Pr mode, the setting value of P1-44 can be changed only when the servo drive is
disabled (Servo Off).

P1 - 45r

GR2

Electronic Gear Ratio
(Denominator) (M)

Default: 10
Applicable Control Mode: Pt, Pr
Unit: pulse
Range: 1 ~ (231-1)
Data Size: 32-bit
Display Format: Decimal

Address: 015AH, 015BH
Related Section: Section 7.3.2.5

Settings:
This parameter is used to set the denominator of the electronic gear ratio. The
numerator of the electronic gear ratio is set by P1-44. P2-60 ~ P2-62 are used to
set the additional numberators.
As the wrong setting may cause motor to run chaotically (out of control) and it may
lead to personnel injury, therefore, ensure to observe the following rule when
setting P1-44, P1-45.
The electronic gear ratio setting (Please also see P1-44, P2-60 ~ P2-62):

The electronic gear ratio setting range must be within: 1/50
1: Modbus ASCII mode, <7,E,1 >
2: Modbus ASCII mode, <7,O,1>
3: Modbus ASCII mode, <8,N,2 >
4: Modbus ASCII mode, <8,E,1>
5: Modbus ASCII mode, <8,O,1>
6: Modbus RTU mode, <8,N,2>
7: Modbus RTU mode, <8,E,1>
8: Modbus RTU mode, <8,O,1>
P3 - 03

FLT
Default: 0

Transmission Fault Treatment

Address: 0306H, 0307H
Related Section: Section 9.2

Applicable Control Mode: ALL
Unit: N/A
Range: 0 ~ 1
Data Size: 16-bit
Display Format: Hexadecimal
Settings:
This parameter is used to determine the operating sequence once a
communication fault has been detected. If '1' is selected, the drive will stop
operating upon detection the communication fault. The mode of stopping is set by
parameter P1-32.
0: Display fault and continue operating
1: Display fault and decelerate to stop operating (deceleration time is determined
by parameter P5-03)

AC servo drive

381

11. Servo Parameters

Lexium 23A

P3 - 04

CWD

Communication Time Out Detection Address: 0308H, 0309H

Default: 0

Related Section: Section 9.2

Applicable Control Mode: ALL
Unit: sec
Range: 0 ~ 20
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to set the maximum permissible time before detecting a
fault due to communication time out. When P3-04 is set to a value over than 0, it
indicates this parameter is enabled. However, if not communicating with the servo
in this period of time, the servo drive will assume the communication has failed
and show the communication error fault message.
When P3-04 is set to 0, this parameter is disabled.
P3 - 05

CADR

CANopen Communication Address Setting Address: 030AH, 030BH

Default: 0x0000

Related Section: Section 9.2

Applicable Control Mode: ALL
Unit: N/A
Range: 0 x00~0x7F
Data Size: 16-bit
Display Format: Hexadecimal
Settings:
This parameter is used to set the CAN communication slave address in
hexadecimal format.
This address is an absolute address whlch represents the servo drive on a CAN bus
network and must be defined uniquely. Duplicate address will cause
communication faults.
This parameter is relevant for LXM23A servo drives only.
This parameter will be effective only after restarting drive or NMT Reset_Node
indication. To change this parameter from default (0), restarting drive is
necessary.

382

AC servo drive

Lexium 23A

11. Servo Parameters

P3 - 06b

SDI

Digital Input Communication Function Address: 030CH, 030DH

Default: 0

Related Section: Section 9.2

Applicable Control Mode: ALL
Unit: N/A
Range: 0x0000 ~ 0x3FFF
Data Size: 16-bit
Display Format: Hexadecimal
The setting of this parameter determines how the Digital Inputs (DI) accept
commands and signals.
Bit0 ~ Bit 7 corresponds with DI1 ~ DI8. The least significant bit (Bit0) shows DI1
status and the most significant bit (Bit7) shows DI8 status.
Bit settings:
0: Digital input is controlled by external command (via CN1)
1: Digital input is controlled by parameter P4-07
For the settings of DI1 ~ DI8, please refer to P2-10 ~ P2-17.
This parameter P3-06 also works in conjunction with the parameter P4-07 which
has several functions. Please see section 9.2 for details.
P3 - 07

CDT

Communication Response Delay Time Address: 030EH, 030FH

Default: 0

Related Section: Section 9.2

Applicable Control Mode: ALL
Unit: 1msec
Range: 0 ~ 1000
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to delay the communication time that servo drive responds
to host controller (external controller via Modbus).
P3 - 08

AC servo drive

Reserved (Do Not Use)

383

11. Servo Parameters

Lexium 23A

P3-09

SYC

CANopen Synchronization Setting

Default: 0x57A1

Address: 0312H, 0313H
Related Section: Section 9.2

Applicable Control Mode: CANopen
Unit: N/A
Range: refer to the description of Settings
Data Size: 16-bit
Display Format: Hexadecimal
Settings:
This parameter is used to set the CANopen slave to be synchronized with the
CANopen master through synchronization signal. Although this parameter allows
the users to execute manual adjustment, if not necessary, we do not recommend
users to change the default setting manually.
Display

Function

SYNC error
range

Target
value

Dead zone
range

Clock correction
setting

Range

1~9

0~9

0~F

1~F

M: Clock correction setting, the value must be within the range from 1 through F,
and the unit is usec.
When setting the CANopen slave to be synchronized with the CANopen master,
the clock of the servo drive must be corrected. This function is used to set the
maximum correction every time.
D: Dead zone range, the value must be within the range from 0 through F, and the
unit is usec.
When the difference between actual value and target value of SYNC signal
reach time does not exceed the dead zone range, the clock correction does not
need to be changed.
T: Target value of SYNC signal reach time, the value must be within the range from
0 through 9, and the standard value of SYNC signal reach time is 500 usec.
Target reach time of synchronization signal = 400 + 10 x setting value of T.
For example:
When T is set to 5, the target reach time of synchronization signal = 400 + 10
x 5 = 450
There should be a buffer between the target value and the standard value. The
target value should be less than the standard value. If the target value is above
than the standard value, an error may occur.
E: SYNC error range, the value must be within the range from 1 through 9, and the
unit is 10 usec.
When the difference between actual value and target value of SYNC signal
reach time is below this range, it indicates that the CANopen slave synchronize
with the CANopen master through synchronization signal.

384

AC servo drive

Lexium 23A

11. Servo Parameters

P3 - 10

PLCEN

PLCopen Function Switch

Address: 0314H, 0315H

Default: 0x0000

Related Section: N/A

Applicable Control Mode: CANopen Mode
Unit: N/A
Range: 0x0000 ~ 0x0001
Data Size: 16-bit
Display Format: Hexadecimal
Settings:
0: PLCopen Function Disabled
1: PLCopen Function Enabled
P3 - 11g

PLCTX1

PLCopen TX Packet #1

Address: 0316H, 0317H

Default: 0x0000

Related Section: N/A

Applicable Control Mode: CANopen Mode
Unit: N/A
Range: Read Only
Data Size: 16-bit
Display Format: Hexadecimal
Settings:
The PLCopen TX Packet (Status Data) consists of 4 words and POTX1 ~ POTX4
represent the following fields:

P3 - 12g

Word

Function

driveStat

mfStat

motionSt

driveInput

Parameter

POTX1

POTX2

POTX3

POTX4

PLCTX2

PLCopen TX Packet #2

Default: 0x0000

Address: 0318H, 0319H
Related Section: N/A

Applicable Control Mode: CANopen Mode
Unit: N/A
Range: Read Only
Data Size: 16-bit
Display Format: Hexadecimal
Settings:
Refer to P5-11 for explanation.

AC servo drive

385

11. Servo Parameters

Lexium 23A

P3 - 13g

PLCTX3

PLCopen TX Packet #3

Address: 031AH, 031BH

Default: 0x0000

Related Section: N/A

Applicable Control Mode: CANopen Mode
Unit: N/A
Range: Read Only
Data Size: 16-bit
Display Format: Hexadecimal
Settings:
Refer to P5-11 for explanation.
P3 - 14g

PLCTX4

PLCopen TX Packet #4

Address: 031CH, 031DH

Default: 0x0000

Related Section: N/A

Applicable Control Mode: CANopen Mode
Unit: N/A
Range: Read Only
Data Size: 16-bit
Display Format: Hexadecimal
Settings:
Refer to P5-11 for explanation.
P3 - 15

PLCRX1

PLCopen RX Packet #1

Address: 031EH, 031FH

Default: 0x0000

Related Section: N/A

Applicable Control Mode: CANopen Mode
Unit: N/A
Range: 0x0000 ~ 0xFFFF
Data Size: 16-bit
Display Format: Hexadecimal
Settings:
The PLCopen RX Packet (Control Data) consists of 4 words and PORX1 ~ PORX3
represent the following fields:

386

Word

Function

dmCtrl

refA16

3
refB32

Parameter

POTX1

POTX2

PORX3

AC servo drive

Lexium 23A

11. Servo Parameters

P3 - 16

PLCRX2

PLCopen RX Packet #2

Default: 0x0000

Address: 0320H, 0321H
Related Section: N/A

Applicable Control Mode: CANopen Mode
Unit: N/A
Range:-32768 ~ 32767
Data Size: 16-bit
Display Format: Hexadecimal
Settings:
Refer to P5-15 for explanation.
P3 - 17

PLCRX3

PLCopen RX Packet #3

Default: 0x00000000

Address: 0322H, 0323H
Related Section: N/A

Applicable Control Mode: CANopen Mode
Unit: N/A
Range: -2147483648 ~ +2147483647
Data Size: 32-bit
Display Format: Hexadecimal
Settings:
Refer to P5-15 for explanation.

AC servo drive

387

11. Servo Parameters

Lexium 23A

Group 4: P4-xx Diagnosis Parameters
P4 - 00g

ASH1

Fault Record (N)

Default: 0

Address: 0400H, 0401H
Related Section: Section 7.2.1

Applicable Control Mode: ALL
Unit: N/A
Range: N/A
Data Size: 32-bit
Display Format: Hexadecimal
Settings:
This parameter is used to set the most recent fault record.
Display of Low Byte: LXXXX: It indicates the fault code, i.e. alarm code
Display of High Byte: hYYYY: It indicates the corresponding CANopen error code.
P4 - 01g

ASH2

Fault Record (N-1)

Default: 0

Address: 0402H, 0403H
Related Section: Section 7.2.1

Applicable Control Mode: ALL
Unit: N/A
Range: N/A
Data Size: 32-bit
Display Format: Hexadecimal
Settings:
This parameter is used to set the second most recent fault record.
P4 - 02g

ASH3
Default: 0

Fault Record (N-2)

Address: 0404H, 0405H
Related Section: Section 7.2.1

Applicable Control Mode: ALL
Unit: N/A
Range: N/A
Data Size: 32-bit
Display Format: Hexadecimal
Settings:
This parameter is used to set the third most recent fault record.

388

AC servo drive

Lexium 23A

11. Servo Parameters

P4 - 03g

ASH4

Fault Record (N-3)

Default: 0

Address: 0406H, 0407H
Related Section: Section 7.2.1

Applicable Control Mode: ALL
Unit: N/A
Range: N/A
Data Size: 32-bit
Display Format: Hexadecimal
Settings:
This parameter is used to set the fourth most recent fault record.
P4 - 04g

ASH5
Default: 0

Fault Record (N-4)

Address: 0408H, 0409H
Related Section: Section 7.2.1

Applicable Control Mode: ALL
Unit: N/A
Range: N/A
Data Size: 32-bit
Display Format: Hexadecimal
Settings:
This parameter is used to set the fifth most recent fault record.

AC servo drive

389

11. Servo Parameters

Lexium 23A

P4 - 05

JOG
Default: 20

JOG Operation

Address: 040AH, 040BH
Related Section: Section 7.2.2

Applicable Control Mode: ALL
Unit: rpm
Range: 0 ~ 5000
Data Size: 16-bit
Display Format: Decimal
Settings:
JOG operation command:
1. Operation Test
(1)Press the ENT key to display the JOG speed. (The default value is 20 rpm).
(2)Press the UP or DOWN arrow keys to increase or decrease the desired JOG
speed. (This also can be undertaken by using the SHIFT key to move the cursor
to the desired unit column (the effected number will flash) then changed using
the UP and DOWN arrow keys).
(3)Press the SET when the desired JOG speed is displayed. The Servo Drive will
display "JOG".
(4)Press the UP or DOWN arrow keys to jog the motor either P(CCW) or N(CW)
direction. The motor will only rotation while the arrow key is activated.
(5)To change JOG speed again, press the MODE key. The servo Drive will display
"P4 - 05". Press the ENT key and the JOG speed will displayed again. Refer back
to #(2) and #(3) to change speed.
(6)In JOG operation mode, if any fault occurs, the motor will stop running. The
maximum JOG speed is the rated speed of the servo motor.
2.DI Signal Control
Set the value of DI signal as JOGU and JOGD (refer to Table 11.A).
Users can perform JOG run forward and run reverse control.
3. Communication Control
To perform a JOG Operation via communication command, use communication
addresses 040AH and 040BH.
(1)Enter 1 ~ 5000 for the desired JOG speed
(2)Enter 4998 to JOG in the P(CCW) direction
(3)Enter 4999 to JOG in the N(CW) direction
(4)Enter 0 to stop the JOG operation
Please note that when using communication control, please set P2-30 to 5 to
avoid that there are excessive writes to the system flash memory.

390

AC servo drive

Lexium 23A

11. Servo Parameters

P4 - 06
rb

FOT
Default: 0

Force Output Contact Control

Address: 040CH, 040DH
Related Section: Section 7.2.3

Applicable Control Mode: ALL
Unit: N/A
Range: 0 ~ 0xFF
Data Size: 16-bit
Display Format: Hexadecimal
Settings:
The function of Digital Outout (DO) is determined by the DO setting value. The
user can set DO setting value (0x30 ~ 0x3F) via communication and then write the
values into P4-06 to complete the settings.
Bit00 corresponds with DO setting value 0x30
Bit01 corresponds with DO setting value 0x31
Bit02 corresponds with DO setting value 0x32
Bit03 corresponds with DO setting value 0x33
Bit04 corresponds with DO setting value 0x34
Bit05 corresponds with DO setting value 0x35
Bit06 corresponds with DO setting value 0x36
Bit07 corresponds with DO setting value 0x37
Bit08 corresponds with DO setting value 0x38
Bit09 corresponds with DO setting value 0x39
Bit10 corresponds with DO setting value 0x3A
Bit11 corresponds with DO setting value 0x3B
Bit12 corresponds with DO setting value 0x3C
Bit13 corresponds with DO setting value 0x3D
Bit14 corresponds with DO setting value 0x3E
Bit15 corresponds with DO setting value 0x3F
For example:
When P2-18 is set to 0x0130, it indicates that the state of DO1 is the Bit00 state of
P4-06.
This parameter can also be used to force the state of DO signal. Please refer to
P2-18 ~ P2-22 to assign the functions of digital outouts (DO signals) and section
7.2.3 for the Force Outputs Operation.

AC servo drive

391

11. Servo Parameters

Lexium 23A

P4 - 07b

ITST

Input Status

Default: 0
Applicable Control Mode: ALL

Address: 040EH, 040FH
Related Section: Section 6.5.2
Section 9.2

Unit: N/A
Range: 0 ~ 3FFF
Data Size: 16-bit
Display Format: Hexadecimal
Settings:
The control of digital inputs can be determined by the external terminals (DI1 ~
DI8) or by the internal software digital inputs SDI1 ~ SDI8(corresponds to Bit0 ~
Bit13 of P1-47) via communication (upon software). Please refer to P3-06 and
section 9.2 for the setting method.

Read P4-07: Display the final status of DI input signal.
Write P4-07: Write the status of software digital inputs SDI1 ~ SDI8
(No matter the servo drive is controller through Integrated HMI or communication
control, the function of this parameter is the same.)
For example:
External Control: Display the final status of DI input signal
When the read value of P4-07 is 0x0011, it indicates that DI1 and DI5 are ON.
Communication Control (Internal DIs): Read the status of input signal (upon
software).
For example:
When the write value of P4-07 is 0x0011, it indicates that software digital inputs
SDI1 and SDI5 are ON.
Bit0 ~ Bit7 corresponds with DI1 ~ DI8.
For the settings of DI1 ~ DI8, please refer to P2-10 ~ P2-17.

392

AC servo drive

Lexium 23A

11. Servo Parameters

P4 - 08g

PKEY

Digital Keypad Input of Servo Drive

Default: N/A

Address: 0410H, 0411H
Related Section: N/A

Applicable Control Mode: ALL
Unit: N/A
Range: Read only
Data Size: 16-bit
Display Format: Hexadecimal
Settings:
This parameter is used to check if MODE, UP, DOWN, SHIFT and ENT keys on the
drive keypad being pressed or not. It is used to examine if these five keys work
normally via communication during production.
P4 - 09g

MOT

Output Status

Default: N/A

Address: 0412H, 0413H
Related Section: Section 6.5.3

Applicable Control Mode: ALL
Unit: N/A
Range: 0 ~ 0x1F
Data Size: 16-bit
Display Format: Hexadecimal
Settings:
There is no difference when reading DO output signal via the drive keypad or the
communication. For the status of DO output signal, please refer to P2-18 ~ P2-22.
P4 - 10b

CEN
Default: 0

Adjustment Function

Address: 0414H, 0415H
Related Section: N/A

Applicable Control Mode: ALL
Unit: N/A
Range: 0 ~ 6
Data Size: 16-bit
Display Format: Decimal
Settings:
0: Reserved
1: Execute analog speed input drift adjustment
2: Execute analog torque input drift adjustment
3: Execute current detector (V phase) drift adjustment
4: Execute current detector (W phase) drift adjustment
5: Execute drift adjustment of the above 1~4
6: Execute IGBT NTC calibration
Please note:
1.This adjustment function is enabled after parameter P2-08 is set to 20.
2.When executing any adjustment, the external wiring connected to analog speed
or torque must be removed and the servo system should be off (Servo off).

AC servo drive

393

11. Servo Parameters

Lexium 23A

P4 - 11

SOF1

Analog Speed Input Drift Adjustment 1 Address: 0416H, 0417H

Default: Factory setting

Related Section: N/A

Applicable Control Mode: ALL
Unit: N/A
Range: 0 ~ 32767
Data Size: 16-bit
Display Format: Decimal
Settings:
The adjustment functions from P4-11 through P4-19 are enabled after parameter
P2-08 is set to 22. Although these parameters allow the users to execute manual
adjustment, we still do not recommend the users to change the default setting
value of these parameters (P4-11 ~ P4-19) manually.
Please note that when P2-08 is set to 10, the users cannot reset this parameter.
P4 - 12

SOF2

Analog Speed Input Drift Adjustment 2 Address: 0418H, 0419H

Default: Factory setting

Related Section: N/A

Applicable Control Mode: ALL
Unit: N/A
Range: 0 ~ 32767
Data Size: 16-bit
Display Format: Decimal
Settings:
Refer to P4-11 for explanation.
Please note that when P2-08 is set to 10, the users cannot reset this parameter.
P4 - 13

TOF1

Analog Torque Drift Adjustment 1

Default: Factory setting

Address: 041AH, 041BH
Related Section: N/A

394

AC servo drive

Lexium 23A

11. Servo Parameters

P4 - 14

TOF2

Analog Torque Drift Adjustment 2

Default: Factory setting

Address: 041CH, 041DH
Related Section: N/A

P4 - 15

COF1

Current Detector Drift Adjustment
Address: 041EH, 041FH
(V1 phase)

Default: Factory setting

Related Section: N/A

P4 - 16

COF2

Current Detector Drift Adjustment
Address: 0420H, 0421H
(V2 phase)

Default: Factory setting

Related Section: N/A

AC servo drive

395

11. Servo Parameters

Lexium 23A

P4 - 17

COF3

Current Detector Drift
Adjustment (W1 phase)

Default: Factory setting

Address: 0422H, 0423H
Related Section: N/A

P4 - 18

COF4

Current Detector Drift Adjustment
Address: 0424H, 0425H
(W2 phase)

Default: Factory setting

Related Section: N/A

TIGB

IGBT NTC Calibration

Default: Factory setting

Address: 0426H, 0427H
Related Section: N/A

Applicable Control Mode: ALL
Unit: N/A
Range: 1 ~ 4
Data Size: 16-bit
Display Format: Decimal
Settings:
Refer to P4-11 for explanation.
When executing this auto adjustment, please ensure to cool the servo drive to 25 C.
Please note that when P2-08 is set to 10, the users cannot reset this parameter.

396

AC servo drive

Lexium 23A

11. Servo Parameters

P4 - 20

DOF1

Analog Monitor Output Drift
Adjustment (CH1)

Default: 0

Address: 0428H, 0429H
Related Section: Section 7.3.4.4

Applicable Control Mode: ALL
Unit: mV
Range: -800 ~ 800
Data Size: 16-bit
Display Format: Decimal
Settings:
Please note that when P2-08 is set to 10, the users cannot reset this parameter.

P4 - 21

DOF2

Analog Monitor Output Drift
Adjustment (CH2)

Default: 0

Address: 042AH, 042BH
Related Section: Section 7.3.4.4

Applicable Control Mode: ALL
Unit: mV
Range: -800 ~ 800
Data Size: 16-bit
Display Format: Decimal
Settings:
Please note that when P2-08 is set to 10, the users cannot reset this parameter.
P4 - 22

SAO
Default: 0

Analog Speed Input Offset

Address: 042CH, 042DH
Related Section: N/A

Applicable Control Mode: S
Unit: mV
Range: -5000 ~ 5000
Data Size: 16-bit
Display Format: Decimal
Settings:
In speed mode, the users can use this parameter to add an offset value to analog
speed input.

AC servo drive

397

11. Servo Parameters

Lexium 23A

P4 - 23

TAO

Analog Torque Input Offset

Default: 0

Address: 042EH, 042FH
Related Section: N/A

Applicable Control Mode: T
Unit: mV
Range: -5000 ~ 5000
Data Size: 16-bit
Display Format: Decimal
Settings:
In speed mode, the users can use this parameter to add an offset value to analog
speed input.
P4 - 24

LVL
Default: 160

Undervoltage Error Level

Address: 0430H, 0431H
Related Section: N/A

Applicable Control Mode: ALL
Unit: V (rms)
Range: 140 ~ 190
Data Size: 16-bit
Display Format: Decimal
Settings:
When DC Bus voltage is lower than the value of P4-24 x 2, the fault, Undervoltage
will occur.

398

AC servo drive

Lexium 23A

11. Servo Parameters

Group 5: P5-xx Motion Control Parameters
P5 - 00

Reserved (Do Not Use)

P5 - 01

Reserved (Do Not Use)

P5 - 02

Reserved (Do Not Use)

P5 - 03

PDEC

Deceleration Time of Protectin Function Address: 0506H, 0507H

Default: 0XE0EFEEFF

Related Section: N/A

Applicable Control Mode: ALL
Unit: N/A
Range: 0x00000000 ~ 0xF0FFFFFF
Data Size: 32-bit
Display Format: Hexadecimal
Settings:
Display

High Byte

Low Byte

Function

STP

Reserved

CTO

OVF

SNL

SPL

Range

0~F

This parameter is used to set motor deceleration when protection functions, such
as STOP (Motor stop), OVF (Position command overflow), SNL (Reverse software
limit), SPL (Forward software limit), NL (Reverse inhibit limit) or PL (Forward
inhibit limit), etc. are activated.
1.Deceleration time of protection functions include: OVF, CTO(AL020), SPL, SNL,
PL, NL
2.Deceleration time of motor stop command: STP
When entering P5-03, Lower Byte display will show first. After pressing SHIFT key
on the drive keypad, the high byte display will show next.
The values from 0 through F correspond with the setting values from P5-20
through P5-35.
For example, when the setting value X is set to A, it indicates that the motor PL
deceleration time is determined by parameter P5-30.

AC servo drive

399

11. Servo Parameters

Lexium 23A

P5 - 04

HMOV

Homing Mode

Address: 0508H, 0509H

Default: 0

Related Section: N/A

Applicable Control Mode: Pr
Unit: N/A
Range: 0 ~ 0x128
Data Size: 16-bit
Display Format: Hexadecimal
Settings:

This parameter is used to determine the homing characteristics of the servo
motor.
Display

Function

Reserved

Limit setting

Z pulse setting

Homing direction setting

Range

0~1

Settings

When there is a
limit:
Z=0: After
reaching the
limit, activate the
limit signal.
Z=1: After
reaching the
limit, the motor
will run in the
reverse
direction.

0~2

0~8

Y=0: Stop and return
to Z pulse.
Y=1: Go forward to Z
pulse.
Y=2: Ingore Z pulse

X=0: Move forward to
PL(CCWL) used as home.

400

X=2: Move forward to
dedicated home sensor
(ORGP: OFF V ON)
X=3: Move reverse to
dedicated home sensor
(ORGP: OFF V ON)

X=4: Move forward and
regard Z pulse as home
sensor.
X=5: Move reverse and
regard Z pulse as home
sensor.

Y=0: Stop and return
to Z pulse.
Y=1: Go forward to Z
pulse.
Y=2: Ingore Z pulse

X=1: Move reverse to
NL(CWL) used as home.

X=6: Move forward to
dedicate home sensor
(ORGP: ON V OFF)
X=7: Move reverse to
dedicated home sensor
(ORGP: ON V OFF)
X=8: Regard current
position as home sensor

AC servo drive

Lexium 23A

11. Servo Parameters

P5 - 05

HSPD1

1st Speed Setting of High Speed
Homing

Default: 100.0

Address: 050AH, 050BH
Related Section: N/A

Applicable Control Mode: ALL
Unit: 0.1 rpm
Range: 1 ~ 2000.0
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to set the initial (high speed) homing speed.
The homing operation of the servo motor involves two homing speed settings.
When homeing is triggered, the servo motor will proceed at a high speed speed
until a home sensor is detected. The servo motor will then move reverse at a low
speed speed until off of the home sensor, and finally will stop at the next Z pulse.

P5 - 06

HSPD2

2nd Speed Setting of Low Speed
Homing

Default: 20.0

Address: 050CH, 050DH
Related Section: N/A

Applicable Control Mode: ALL
Unit: 0.1 rpm
Range: 1 ~ 500.0
Data Size: 16-bit
Display Format: Decimal
Settings:
This parameter is used to set the secondary (low speed) homing speed.
Refer to P5-06 for explanation.

AC servo drive

401

11. Servo Parameters

Lexium 23A

P5 - 07b

PRCM
Default: 0

Trigger Position Command (Pr
mode only)

Address: 050EH, 050FH
Related Section: N/A

Applicable Control Mode: Pr
Unit: N/A
Range: 0 ~ 1000
Data Size: 16-bit
Display Format: Decimal
Settings:
There are 8 stored positions can be programmed via a combination of the
POS0 ~ POS2 commands. This parameter is used to trigger the dedicated position
command in Pr mode and command the motor to move to the dedicated position
instead of using DI (Digital Input) CTRG and POS0 ~ POS2.
0: Start homing function.
When entering P5-07, the default setting value 0 will display. Pressing ENT key
on the drive keypad, the servo motor will start homing operation.
1 ~ 8: Trigger Position Command (This function is equivalent to the function of DI
CTRG signal + POSn signal).
When P5-07 is set to 1 ~ 8, the dedicated position command can be triggered
and the servo drive will command the motor move to the the dedicated
position. For example, when P5-07 is set to 1, the position command P1 is
triggered and the servo drive will command the motor to move to the position
which correspond the position command P1.
9 ~ 9999: Write inhibit (Invaild setting value)
1000: Stop positioning.
When P5-07 is set to 1000, the motor stop command will be activated. This
function is equivalent to the function of DI STOP signal.
The display value of P5-07:
1. When the motor does not receive the drive command (the motor is not
running), if the users read P5-07 at this time, the display value of P5-07 will be
the setting value of P5-07
2. When the position command is triggered and the motor start runningbut does
not reach the dedicated position (during positioning, the motor is running), if
the users read P5-07 at this time, the display value of P5-07 will be setting value
of P5-07 plus 10000.
3. When the position command is triggered and the motor reachs the dedicated
position (the positioning is completed and the motor stop running), if the users
read P5-07 at this time, the display value of P5-07 will be setting value of P5-07
plus 20000.
For example, when P5-07 is set to 3, it indicates that the position command P3 will
be triggered.
1. If the display value of P5-07 is 3, it indicates that the motor does not receive the
drive command and the motor is not running.
2. If the display value of P5-07 is 100003, it indicates that the position command
is triggered but the positioning is not completed.
3. If the display value of P5-07 is 200003, it indicates that the position command
is triggered and the positioning is completed.

402

AC servo drive

Lexium 23A

11. Servo Parameters

P5 - 08

SWLP

Forward Software Limit

Default: 2147483647

Address: 0510H, 0511H
Related Section: N/A

Applicable Control Mode: Pr
Unit: PUU
Range: -2147483648 ~ +2147483647
Data Size: 32-bit
Display Format: Decimal
P5 - 09

SWLN

Reverse Software Limit

Default: -2147483648

Address: 0512H, 0513H
Related Section: N/A

Applicable Control Mode: Pr
Unit: PUU
Range: -2147483648 ~ +2147483647
Data Size: 32-bit
Display Format: Decimal

AC servo drive

P5 - 10

Reserved (Do Not Use)

P5 - 11

Reserved (Do Not Use)

P5 - 12

Reserved (Do Not Use)

P5 - 13

Reserved (Do Not Use)

P5 - 14

Reserved (Do Not Use)

403

11. Servo Parameters

Lexium 23A

P5 - 15b

PMEM

PATH 1 ~ PATH 2 Data Not Retained
Setting

Default: 0x0

Address: 051EH, 051FH
Related Section: N/A

Applicable Control Mode: ALL
Unit: N/A
Range: 0x0 ~ 0x0011
Data Size: 16-bit
Display Format: Hexadecimal
Settings:
This parameter is designed for the users who need to change the positioning point
frequently via communication.
Display

Range

0~1

0~ 1

X=0: The data of PATH 1 (P6-02 ~P6-03) will be retained (memorized) when the
power goes off.
X=1: The data of PATH 1 (P6-02 ~P6-03) will not be retained (memorized) when the
power goes off.
Y=0: The data of PATH 2 (P6-04 ~P6-05) will be retained (memorized) when the
power goes off.
Y=1: The data of PATH 2 (P6-04 ~P6-05) will not be retained (memorized) when
the power goes off.
Other settings: Reserved
P5 - 16b

AXEN
Default: 0

Axis Position: Motor Encoder

Address: 0520H, 0521H
Related Section: Section 8.3

Applicable Control Mode: ALL
Unit: N/A
Range: -2147483648 ~ +2147483647
Data Size: 32-bit
Display Format: Decimal
Settings:
Read function: This parameter is used to read the actual position of the motor
encoder, i.e. the monitor variable V000 + deviation value.
Write function:
The users can write any value and doing this will no change the value of monitor
variable V000 and will not affect the position coordinate either.

404

AC servo drive

Lexium 23A

11. Servo Parameters

P5 - 17

Reserved (Do not use)

P5 - 18

AXAU

Axis Position: Pulse Command

Default: N/A

Address: 0524H, 0525H
Related Section: Section 8.3

Applicable Control Mode: ALL
Unit: N/A
Range: -2147483648 ~ +2147483647
Data Size: 32-bit
Display Format: Decimal
Settings:
This parameter is used to send back the pulse counts of pulse command.
P5 - 19

Reserved (Do not use)

P5 - 20

ACO

Accel / Decel Time 0

Default: 200

Address: 0528H, 0529H
Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: msec
Range: 1 ~ 65500
Data Size: 16-bit
Display Format: Decimal
Settings:
In Pr mode, this parameter is used to set the acceleration and deceleration time,
i.e. the necessary time when the motor reachs the speed of 3000 rpm from 0.

AC servo drive

405

11. Servo Parameters

Lexium 23A

P5 - 21

AC1

Accel / Decel Time 1

Default: 300

Address: 052AH, 052BH
Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: msec
Range: 1 ~ 65500
Data Size: 16-bit
Display Format: Decimal
Settings:
Refer to P5-20 for explanation.
P5 - 22

AC2

Accel / Decel Time 2

Default: 500

Address: 052CH, 052DH
Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: msec
Range: 1 ~ 65500
Data Size: 16-bit
Display Format: Decimal
Settings:
Refer to P5-20 for explanation.
P5 - 23

AC3

Accel / Decel Time 3

Default: 600

Address: 052EH, 052FH
Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: msec
Range: 1 ~ 65500
Data Size: 16-bit
Display Format: Decimal
Settings:
Refer to P5-20 for explanation.

406

AC servo drive

Lexium 23A

11. Servo Parameters

P5 - 24

AC4

Accel / Decel Time 4

Default: 800

Address: 0530H, 0531H
Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: msec
Range: 1 ~ 65500
Data Size: 16-bit
Display Format: Decimal
Settings:
Refer to P5-20 for explanation.
P5 - 25

AC5

Accel / Decel Time 5

Default: 900

Address: 0532H, 0533H
Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: msec
Range: 1 ~ 65500
Data Size: 16-bit
Display Format: Decimal
Settings:
Refer to P5-20 for explanation.
P5 - 26

AC6

Accel / Decel Time 6

Default: 1000

Address: 0534H, 0535H
Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: msec
Range: 1 ~ 65500
Data Size: 16-bit
Display Format: Decimal
Settings:
Refer to P5-20 for explanation.
P5 - 27

AC7

Accel / Decel Time 7

Default: 1200

Address: 0536H, 0537H
Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: msec
Range: 1 ~ 65500
Data Size: 16-bit
Display Format: Decimal
Settings:
Refer to P5-20 for explanation.

AC servo drive

407

11. Servo Parameters

Lexium 23A

P5 - 28

AC8

Accel / Decel Time 8

Default: 1500

Address: 0538H, 0539H
Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: msec
Range: 1 ~ 65500
Data Size: 16-bit
Display Format: Decimal
Settings:
Refer to P5-20 for explanation.
P5 - 29

AC9

Accel / Decel Time 9

Default: 2000

Address: 053AH, 053BH
Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: msec
Range: 1 ~ 65500
Data Size: 16-bit
Display Format: Decimal
Settings:
Refer to P5-20 for explanation.
P5 - 30

AC10

Accel / Decel Time 10

Default: 2500

Address: 053CH, 053DH
Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: msec
Range: 1 ~ 65500
Data Size: 16-bit
Display Format: Decimal
Settings:
Refer to P5-20 for explanation.
P5 - 31

AC11

Accel / Decel Time 11

Default: 3000

Address: 053EH, 053FH
Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: msec
Range: 1 ~ 65500
Data Size: 16-bit
Display Format: Decimal
Settings:
Refer to P5-20 for explanation.

408

AC servo drive

Lexium 23A

11. Servo Parameters

P5 - 32

AC12

Accel / Decel Time 12

Default: 5000

Address: 0540H, 0541H
Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: msec
Range: 1 ~ 65500
Data Size: 16-bit
Display Format: Decimal
Settings:
Refer to P5-20 for explanation.
P5 - 33

AC13

Accel / Decel Time 13

Default: 8000

Address: 0542H, 0543H
Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: msec
Range: 1 ~ 65500
Data Size: 16-bit
Display Format: Decimal
Settings:
Refer to P5-20 for explanation.
P5 - 34

AC14

Accel / Decel Time 14

Default: 50

Address: 0544H, 0545H
Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: msec
Range: 1 ~ 65500
Data Size: 16-bit
Display Format: Decimal
Settings:
The default setting value of this parameter is smaller and it is for the deceleration
setting when protection function is activated.
P5 - 35

AC15
Default: 30

Accel / Decel Time 15

Address: 0546H, 0547H
Related Section: Section 8.10

AC servo drive

409

11. Servo Parameters

Lexium 23A

P5 - 36
P5 - 37b

Reserved (Do Not use)
CAAX

CAPTURE: Axis Position CNT

Default: 0

Address: 054AH, 054BH
Related Section: Section 8.11.1

Applicable Control Mode: ALL
Unit: PUU
Range: -2147483648 ~ +2147483647
Data Size: 32-bit
Display Format: Decimal
Settings:
This parameter can be set only when capture operation is stopped (Refer to
P5-39).
Please note:
1. Do not change this parameter when the capture source is the motor encoder.
2. When the capture source is the motor encoder, the value of this parameter is
reset to the motor encoder feedback position (monitor variable is 00h).
P5 - 38b

CANO
Default: 0

CAPTURE: Capture Amount

Address: 054CH, 054DH
Related Section: Section 8.11.1

Applicable Control Mode: ALL
Unit: N/A
Range: 1 ~ (P5-10 ~ P5-36)
Data Size: 16-bit
Display Format: Decimal
Settings:
When the compare function is not enabled, using this parameter can set the
estimated capture amount (able to read and write).
Once the capture function is enabled, everytime when one position is captured,
the setting value of P5-38 will decrease 1. When the setting value of P5-38 is equal
to 0, it indicates that the capture operation has finished.
Please note:
The total amount of COMPARE and CAPTURE data can not exceed the number
of 800.

410

AC servo drive

Lexium 23A

11. Servo Parameters

P5 - 39b

CACT

CAPTURE: Capture Source Setting Address: 054EH, 054FH

Default: 0000

Related Section: Section 8.11.1

Applicable Control Mode: ALL
Unit: N/A
Range: 0x0000 ~ 0xF13F
Data Size: 16-bit
Display Format: Hexadecimal
Settings:
This parameter is used to determine the capture source and enable the capture
function.

A: Capture function settings:
Please refer to the following table and descriptions:
Bit

Function

Execute Pr
command when
capture function
has finished.

After first
position is
captured, the
system will
enable the
compare
function

After first
position is
captured, the
position will be
reset.

Start capture
function

Explanation

After capture
function has
finished, execute
Pr ＃ 50
command.

The compare
function is
enabled already,
and this setting
will become
ineffective.

When the first
point is captured,
the position
coordinate will be
reset.

Setting Bit0 to 1
will enable the
capture function.
When capture
function has
finished, the value
of Bit0 will be
reset to 0
automatically.

Bit0: When the value of P5-38 is higher than 0, setting Bit0 to 1 will enable the
capture function and the DO signal, CAP_OK is inactivated. Once the capture
function is enabled, everytime when one position is captured, the setting value of
P5-38 will decrease 1. When the setting value of P5-38 is equal to 0, it indicates
that the capture operation has finished. Then, DO signal, CAP_OK will be activated
and the value of Bit0 will be reset to 0 automatically.

AC servo drive

411

11. Servo Parameters

Lexium 23A

When the value of P5-38 is equal to 0, setting Bit0 to 1 will not enable the capture
function, the DO signal, CAP_OK will be inactivated and then the value of Bit0 will
be reset to 0 automatically. If Bit0 is set to 1 already, the new setting value cannot
be 1. The users only can set Bit0 to 0 to disable the capture function.
Bit1: When Bit1 is set to 1, after first position is captured, the system will set the
value of the current position as the value of the parameter P5-76.
Bit2: When Bit2 is set to 1, after first position is captured, the system will enable the
compare function (Bit0 of P5-59 is set to 1 and the value of P5-58 is set to the last
compare amount). If the compare function is enabled already, this setting will
become ineffective.
Bit3: When Bit3 is set to 1, after capture operation is completed (all positions has
been captured), the position command P50 will be triggered immediately.
B: Capture source settings
0: Capture function is disabled.
1: Reserved (Do not use).
2: Pulse command.
3: Motor encoder
C: Activate state settings
0: Normally open (use N.O. contact)
1: Normally closed (use N.C. contact)
D: Trigger time settings (unit: msec)
P5 - 40

DLY0

Delay Time 0

Default: 0

Address: 0550H, 0551H
Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: msec
Range: 0 ~ 32767
Data Size: 16-bit
Display Format: Decimal
P5 - 41

DLY1

Delay Time 1

Default: 100

Address: 0552H, 0553H
Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: msec
Range: 0 ~ 32767
Data Size: 16-bit
Display Format: Decimal

412

AC servo drive

Lexium 23A

11. Servo Parameters

P5 - 42

DLY2

Delay Time 2

Default: 200

Address: 0554H, 0555H
Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: msec
Range: 0 ~ 32767
Data Size: 16-bit
Display Format: Decimal
P5 - 43

DLY3

Delay Time 3

Default: 400

Address: 0556H, 0557H
Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: msec
Range: 0 ~ 32767
Data Size: 16-bit
Display Format: Decimal
P5 - 44

DLY4

Delay Time 4

Default: 500

Address: 0558H, 0559H
Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: msec
Range: 0 ~ 32767
Data Size: 16-bit
Display Format: Decimal
P5 - 45

DLY5

Delay Time 5

Default: 800

Address: 055AH, 055BH
Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: msec
Range: 0 ~ 32767
Data Size: 16-bit
Display Format: Decimal
P5 - 46

DLY6

Delay Time 6

Default: 1000

Address: 055CH, 055DH
Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: msec
Range: 0 ~ 32767
Data Size: 16-bit
Display Format: Decimal

AC servo drive

413

11. Servo Parameters

Lexium 23A

P5 - 47

DLY7

Delay Time 7

Default: 1500

Address: 055EH, 055FH
Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: msec
Range: 0 ~ 32767
Data Size: 16-bit
Display Format: Decimal
P5 - 48

DLY8

Delay Time 8

Default: 2000

Address: 0560H, 0561H
Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: msec
Range: 0 ~ 32767
Data Size: 16-bit
Display Format: Decimal
P5 - 49

DLY9

Delay Time 9

Default: 2500

Address: 0562H, 0563H
Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: msec
Range: 0 ~ 32767
Data Size: 16-bit
Display Format: Decimal
P5 - 50

DLY10

Delay Time 10

Default: 3000

Address: 0564H, 0565H
Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: msec
Range: 0 ~ 32767
Data Size: 16-bit
Display Format: Decimal
P5 - 51

DLY11

Delay Time 11

Default: 3500

Address: 0566H, 0567H
Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: msec
Range: 0 ~ 32767
Data Size: 16-bit
Display Format: Decimal

414

AC servo drive

Lexium 23A

11. Servo Parameters

P5 - 52

DLY12

Delay Time 12

Default: 4000

Address: 0568H, 0569H
Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: msec
Range: 0 ~ 32767
Data Size: 16-bit
Display Format: Decimal
P5 - 53

DLY13

Delay Time 13

Default: 4500

Address: 056AH, 056BH
Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: msec
Range: 0 ~ 32767
Data Size: 16-bit
Display Format: Decimal
P5 - 54

DLY14

Delay Time 14

Default: 5000

Address: 056CH, 056DH
Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: msec
Range: 0 ~ 32767
Data Size: 16-bit
Display Format: Decimal
P5 - 55

DLY15

Delay Time 15

Default: 5500

Address: 056EH, 056FH
Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: msec
Range: 0 ~ 32767
Data Size: 16-bit
Display Format: Decimal

AC servo drive

P5 - 56

Reserved (Do Not Use)

P5 - 57

Reserved (Do Not Use)

415

11. Servo Parameters

Lexium 23A

P5 - 58b

CMNO

COMPARE: Compare Amount

Default: 0

Address: 0574H, 0575H
Related Section: Section 8.11.2

Applicable Control Mode: ALL
Unit: N/A
Range: 1 ~ (P5-10 ~ P5-56)
Data Size: 16-bit
Display Format: Decimal
Settings:
When the compare function is not enabled, using this parameter can set the
estimated compare amount (able to read and write).
When the compare function is enabled, using this parameter can set the rest
compare amount (read-only). When the setting value of P5-58 is equal to 0, it
indicates that the compare operation has finished.
Please note:
The total amount of COMPARE and CAPTURE data can not exceed the number
of 800.
P5 - 59b

CACT

COMPARE: Compare Source
Setting

Default: 0x0000

Address: 0576H, 0577H
Related Section: Section 8.11.2

Applicable Control Mode: ALL
Unit: N/A
Range: 00010000h ~ 0FFF3137h
Data Size: 32-bit
Display Format: Hexadecimal
Settings:
This parameter is used to determine the compare source and enable the compare
function.

416

AC servo drive

Lexium 23A

11. Servo Parameters

A: Compare function settings:
Bit

Function

After the last
position is
compared, the
system will
enable the
capture function

Cycle mode

Start compare
function

Explanation

The capture
function is
enabled already,
and this setting
will become
ineffective.

The compare
operation will not
stop.

Setting Bit0 to 1
will enable the
compare function.
When compare
function has
finished, the value
of Bit0 will be
reset to 0
automatically.

Bit0: When the value of P5-58 is higher than 0, setting Bit0 to 1 will enable the
compare function. Once the compare function is enabled, everytime when one
position is compared, the setting value of P5-58 will decrease 1. When the setting
value of P5-58 is equal to 0, it indicates that the compare operation has finished
and the value of Bit0 will be reset to 0 automatically.
When the value of P5-58 is equal to 0, setting Bit0 to 1 will not enable the compare
function, and then the value of Bit0 will be reset to 0 automatically. If Bit0 is set to
1 already, the new setting value cannot be 1. The users only can set Bit0 to 0 to
disable the compare function.
Bit1: When Bit1 is set to 1, after the last position is compared, the setting value of
P5-58 will be reset and start the compare operation from the first position again.
The compare operation will not stop and the value of Bit0 will be retained as 1.
Bit2: When Bit2 is set to 1, after the last position is compared, the system will
enable the capture function (Bit0 of P5-39 is set to 1 and the value of P5-38 is set
to the last capture amount). If the capture function is enabled already, this setting
will become ineffective.
Bit3: Reserved.
B: Compare source settings
0: Capture axis.
1: Reserved. Do not use.
2: Pulse command.
3: Motor encoder
C: Activate state settings
0: Normally open (use N.O. contact)
1: Normally closed (use N.C. contact)
E: Length of output pulse (unit: 1 msec)

AC servo drive

417

11. Servo Parameters

Lexium 23A

P5 - 60

POV0

Moving Speed Setting of Position 0 Address: 0578H, 0579H

Default: 20.0

Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: 0.1 rpm
Range: 0.1 ~ 6000.0
Data Size: 16-bit
Display Format: Decimal
P5 - 61

POV1

Moving Speed Setting of Position 1 Address: 057AH, 057BH

Default: 50.0

Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: 0.1 rpm
Range: 0.1 ~ 6000.0
Data Size: 16-bit
Display Format: Decimal
P5 - 62

POV2

Moving Speed Setting of Position 2 Address: 057CH, 057DH

Default: 100.0

Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: 0.1 rpm
Range: 0.1 ~ 6000.0
Data Size: 16-bit
Display Format: Decimal
P5 - 63

POV3

Moving Speed Setting of Position 3 Address: 057EH, 057FH

Default: 200.0

Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: 0.1 rpm
Range: 0.1 ~ 6000.0
Data Size: 16-bit
Display Format: Decimal
P5 - 64

POV4

Moving Speed Setting of Position 4 Address: 0580H, 0581H

Default: 300.0

Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: 0.1 rpm
Range: 0.1 ~ 6000.0
Data Size: 16-bit
Display Format: Decimal

418

AC servo drive

Lexium 23A

11. Servo Parameters

P5 - 65

POV5

Moving Speed Setting of Position 5 Address: 0582H, 0583H

Default: 500.0

Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: 0.1 rpm
Range: 0.1 ~ 6000.0
Data Size: 16-bit
Display Format: Decimal
P5 - 66

POV6

Moving Speed Setting of Position 6 Address: 0584H, 0585H

Default: 600.0

Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: 0.1 rpm
Range: 0.1 ~ 6000.0
Data Size: 16-bit
Display Format: Decimal
P5 - 67

POV7

Moving Speed Setting of Position 7 Address: 0586H, 0587H

Default: 800.0

Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: 0.1 rpm
Range: 0.1 ~ 6000.0
Data Size: 16-bit
Display Format: Decimal
P5 - 68

POV8

Moving Speed Setting of Position 8 Address: 0588H, 0589H

Default: 1000.0

Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: 0.1 rpm
Range: 0.1 ~ 6000.0
Data Size: 16-bit
Display Format: Decimal
P5 - 69

POV9

Moving Speed Setting of Position 9 Address: 058AH, 058BH

Default: 1300.0

Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: 0.1 rpm
Range: 0.1 ~ 6000.0
Data Size: 16-bit
Display Format: Decimal

AC servo drive

419

11. Servo Parameters

Lexium 23A

P5 - 70

POV10

Moving Speed Setting of Position 10 Address: 058CH, 058DH

Default: 1500.0

Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: 0.1 rpm
Range: 0.1 ~ 6000.0
Data Size: 16-bit
Display Format: Decimal
P5 - 71

POV11

Moving Speed Setting of Position 11

Default: 1800.0

Address: 058EH, 058FH
Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: 0.1 rpm
Range: 0.1 ~ 6000.0
Data Size: 16-bit
Display Format: Decimal
P5 - 72

POV12

Moving Speed Setting of Position 12

Default: 2000.0

Address: 0590H, 0591H
Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: 0.1 rpm
Range: 0.1 ~ 6000.0
Data Size: 16-bit
Display Format: Decimal
P5 - 73

POV13

Moving Speed Setting of Position 13

Default: 2300.0

Address: 0592H, 0593H
Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: 0.1 rpm
Range: 0.1 ~ 6000.0
Data Size: 16-bit
Display Format: Decimal
P5 - 74

POV14

Moving Speed Setting of Position 14

Default: 2500.0

Address: 0594H, 0595H
Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: 0.1 rpm
Range: 0.1 ~ 6000.0
Data Size: 16-bit
Display Format: Decimal

420

AC servo drive

Lexium 23A

11. Servo Parameters

P5 - 75

POV15

Moving Speed Setting of Position 15

Default: 3000.0

Address: 0596H, 0597H
Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: 0.1 rpm
Range: 0.1 ~ 6000.0
Data Size: 16-bit
Display Format: Decimal
P5 - 76g

CPRS

Capture 1st Position Reset Data

Default: 0

Address: 0598H, 0599H
Related Section: Section 8.10

Applicable Control Mode: ALL
Unit: N/A
Range: -1073741824 ~ +1073741823
Data Size: 32-bit
Display Format: Decimal
Settings:
Refer to P5-39 for explanation.

AC servo drive

421

11. Servo Parameters

Lexium 23A

Group 6: P6-xx Pr Path Definition Parameters
P6 - 00

ODEF

Homing Definition

Address: 0600H, 0601H

Default: 0x00000000

Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: N/A
Range: 0x00000000~0x10FFFF08
Data Size: 32-bit
Display Format: Hexadecimal
Settings:
Homing definition:
Bit

31 ~ 28 27 ~ 24 23 ~ 20 19 ~ 16

Function BOOT

DLY

DEC2

15 ~ 12

11 ~ 8

DEC1

ACC

7~4

3~0

PATH

PATH: Path style (4 bits)
0: Stop mode. Motor stops after homing is completed.
1~8: Auto mode. Motor goes the dedicated path after homing is completed.
ACC: Acceleration time 0 ~ F, corresponds to P5-20 ~ P5-35.
DEC1 / DEC2: 1st deceleration time / 2nd deceleration time. Deceleration time 0 ~
F, corresponds to P5-20 ~ P5-35.
DLY: Delay time 0 ~ F, corresponds to P5-40 ~ P5-55.
BOOT: Boot mode. Disable or enable homing function when the servo drive is
applied to power (power on).
0: Disable homing function
1: Enable homing function (when the servo drive is applied to power, first time
Servo On)
Other parameters relevant to homing function:
P5-04 (Homing mode)
P5-05 (1st Speed Setting of High Speed Homing)
P5-06 (2nd Speed Setting of Low Speed Homing)
P6-01: ORG_DEF (Homing definition value). P6-01 is used to set the coordinate
value of the current home position for the movement of the coordinate system.
The coordinate value could be a non-zero value.
After detecting "Home" (home sensor or Z pulse), the motor will decelerate to
stop the operation.
If the motor does not return to "Home", just set path number to 0.
If the motor must return to "Home", set path number to a non-zero value and
set the route PABS = ORG_DEF.
When detecting "Home" (home sensor or Z pulse), if the motor has to go
forward for a while (offset value S) and reach the position P, set the path
number to a non-zero value and set ORG_DEF = P - S (the absolute position
command of this route is P).

422

AC servo drive

Lexium 23A

11. Servo Parameters

P6 - 01

ODAT

Homing Definition Value

Address: 0602H, 0603H

Default: 0

Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: N/A
Range: -2147483648 ~ +2147483647
Data Size: 32-bit
Display Format: Decimal
Settings:
Homing definition value:
Bit

31 ~ 28 27 ~ 24 23 ~ 20 19 ~ 16

Function

15 ~ 12

11 ~ 8

7~4

3~0

ORG_DEF (32-bit)

ORG_DEF: Homing definition value which is determined by the parameter P6-01.
The homing definition value does not necessarily have to be 0.
P6 - 02

PDEF1

Definition of Path 1

Address: 0604H, 0605H

Default: 0x00000000

Related Section: Section 8.10

Applicable Control Mode: N/A
Unit: N/A
Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32-bit
Display Format: Decimal
Settings:
Bit

31 ~ 28 27 ~ 24 23 ~ 20 19 ~ 16

P6-02

DLY

P6-03

15 ~ 12

11 ~ 8

7~4

3~0

OPT

DATA (32-bit)

OPT:
OPT
Bit7

Bit6

CMD

Bit5

Bit4

INS

INS: Interrupt the previous path.
CMD: Refer to Section 7.10 in Chapter 7.
DLY: 0 ~ F. Delay time number (4 bits). The digital output of this path activates
after the delay time. External INS is not effective. The delay time number settings
correspond with the parameter P5-40 ~ P5-55.
Index P5-40 ~ P5-55
DLY (4)

AC servo drive

423

11. Servo Parameters

Lexium 23A

P6 - 03

PDAT1

Data of Path 1

Address: 0606H, 0607H

Default: 0

Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: N/A
Range: -2147483648 ~ +2147483647
Data Size: 32-bit
Display Format: Decimal
Settings:
Data of path 1:
Bit

31 ~ 28 27 ~ 24 23 ~ 20 19 ~ 16

Function

15 ~ 12

11 ~ 8

7~4

3~0

DATA (32-bit)

The parameter P6-02 is used to determine the attributes of definition of Path 1
and parameter P6-03 is used to set the data (target position or jump path
number) corresponding to P6-02.
P6 - 04

PDEF2

Definition of Path 2

Default: 0x00000000

Address: 0608H, 0609H
Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: N/A
Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32-bit
Display Format: Decimal
Settings:
Refer to P6-02 for explanation.
P6 - 05

PDAT2

Data of Path 2

Default: 0

Address: 060AH, 060BH
Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: N/A
Range: -2147483648 ~ +2147483647
Data Size: 32-bit
Display Format: Decimal
Settings:
Refer to P6-03 for explanation.

424

AC servo drive

Lexium 23A

11. Servo Parameters

P6 - 06

PDEF3

Definition of Path 3

Default: 0x00000000

Address: 060CH, 060DH
Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: N/A
Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32-bit
Display Format: Decimal
Settings:
Refer to P6-02 for explanation.
P6 - 07

PDAT3

Data of Path 3

Default: 0

Address: 060EH, 060FH
Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: N/A
Range: -2147483648 ~ +2147483647
Data Size: 32-bit
Display Format: Decimal
Settings:
Refer to P6-03 for explanation.
P6 - 08

PDEF4

Definition of Path 4

Default: 0x00000000

Address: 0610H, 0611H
Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: N/A
Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32-bit
Display Format: Decimal
Settings:
Refer to P6-02 for explanation.
P6 - 09

PDAT4

Data of Path 4

Default: 0

Address: 0612H, 0613H
Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: N/A
Range: -2147483648 ~ +2147483647
Data Size: 32-bit
Display Format: Decimal
Settings:
Refer to P6-03 for explanation.

AC servo drive

425

11. Servo Parameters

Lexium 23A

P6 - 10

PDEF5

Definition of Path 5

Default: 0x00000000

Address: 0614H, 0615H
Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: N/A
Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32-bit
Display Format: Decimal
Settings:
Refer to P6-02 for explanation.
P6 - 11

PDAT5

Data of Path 5

Default: 0

Address: 0616H, 0617H
Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: N/A
Range: -2147483648 ~ +2147483647
Data Size: 32-bit
Display Format: Decimal
Settings:
Refer to P6-03 for explanation.
P6 - 12

PDEF6

Definition of Path 6

Default: 0x00000000

Address: 0618H, 0619H
Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: N/A
Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32-bit
Display Format: Decimal
Settings:
Refer to P6-02 for explanation.
P6 - 13

PDAT6

Data of Path 6

Default: 0

Address: 061AH, 061BH
Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: N/A
Range: -2147483648 ~ +2147483647
Data Size: 32-bit
Display Format: Decimal
Settings:
Refer to P6-03 for explanation.

426

AC servo drive

Lexium 23A

11. Servo Parameters

P6 - 14

PDEF7

Definition of Path 7

Default: 0x00000000

Address: 061CH, 061DH
Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: N/A
Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32-bit
Display Format: Decimal
Settings:
Refer to P6-02 for explanation.
P6 - 15

PDAT7

Data of Path 7

Default: 0

Address: 061EH, 061FH
Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: N/A
Range: -2147483648 ~ +2147483647
Data Size: 32-bit
Display Format: Decimal
Settings:
Refer to P6-03 for explanation.
P6 - 16

PDEF8

Definition of Path 8

Default: 0x00000000

Address: 0620H, 0621H
Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: N/A
Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32-bit
Display Format: Decimal
Settings:
Refer to P6-02 for explanation.
P6 - 17

PDAT8

Data of Path 8

Default: 0

Address: 0622H, 0623H
Related Section: Section 8.10

Applicable Control Mode: Pr
Unit: N/A
Range: -2147483648 ~ +2147483647
Data Size: 32-bit
Display Format: Decimal
Settings:
Refer to P6-03 for explanation.

AC servo drive

427

11. Servo Parameters

Lexium 23A

Table 11.A Input Function Definition
Setting value: 0x01
DI Name

SON

DI Function Description

Servo On. When this DI is activated, it indicates the
servo drive is enabled.

Trigger Method

Control
Mode

Level Triggered

All
modes
except
CAN

Setting value: 0x02
DI Name

DI Function Description

Trigger Method

Control
Mode

ARST

A number of Faults (Alarms) can be cleared by
activating ARST. Please see table 10-3 for applicable
faults that can be cleared with the ARST command.
However, please investigate Fault or Alarm if it does
not clear or the fault description warrants closer
inspection of the drive system.

Rising-edge
Triggered

All

Trigger Method

Control
Mode

Level Triggered

Pt, Pr, S

Trigger Method

Control
Mode

Rising-edge
Triggered,
Level Triggered

Setting value: 0x03
DI Name

GAINUP

DI Function Description
Gain switching in speed and position mode. When
GAINUP is activated (P2-27 is set to 1), the gain is
switched to the gain multiplied by gain switching
rate.

Setting value: 0x04
DI Name

CCLR

428

DI Function Description
When CCLR is activated, the setting parameter
P2-50 Pulse Clear Mode is executed.
0: After CCLR is activated (ON), the position
accumulated pulse number will be cleared
continuously.

AC servo drive

Lexium 23A

11. Servo Parameters

Setting value: 0x05
DI Name

DI Function Description

Trigger Method

Control
Mode

Level Triggered

Trigger Method

Control
Mode

When this signal is On and the motor speed value is
lower than the setting value of P1-38, it is used to
lock the motor in the instant position while ZCLAMP
is On.

ZCLAMP

Setting value: 0x06
DI Name

CMDINV

DI Function Description

Command input reverse control. When the drive is in
the Speed and Torque mode, and CMDINV is
Level Triggered
activated, the motor is in reverse rotation.

S, T

Setting value: 0x07
DI Function Description

Trigger Method

Control
Mode

DI Name

DI Function Description

Trigger Method

Control
Mode

CTRG

Command triggered (available in Pr mode only).
When the drive is in Pr mode and CTRG is activated,
the drive will command the motor to move the
stored position which correspond the POS 0 ~ POS 5
settings. Activation is triggered on the rising edge of
the pulse.

Rising-edge
Triggered

DI Name
Reserved
Setting value: 0x08

AC servo drive

429

11. Servo Parameters

Lexium 23A

Setting value: 0x09
Trigger Method

Control
Mode

Torque limit enabled. When the drive is in speed and
position mode, and TRQLM is activated, it indicates
the torque limit command is valid. The torque limit Level Triggered
command source is internal parameter or analog
voltage.

Pt, Pr, S

DI Name

TRQLM

DI Function Description

Setting value: 0x10
DI Name

SPDLM

DI Function Description

Trigger Method

Speed limit enabled. When the drive is in torque
mode and SPDLM is activated, it indicates the speed
Level Triggered
limit command is valid. The speed limit command
source is internal parameter or analog voltage.

Control
Mode

Setting value: 0x11, 0x12, 0x13

430

DI Name

DI Function Description

Trigger Method

Control
Mode

POS0
POS1
POS2

Position command selection POS0 ~ POS2 (8
positions)
When the Pr Control Mode is selected, the 8 stored
positions are programmed via a combination of the
POS 0 ~ POS2 commands.

Level Triggered

AC servo drive

Lexium 23A

11. Servo Parameters

DI Name

DI Function Description

Position
Command

POS2

POS1

POS0

CTRG

Parameters

P6-02
P6-03
P6-04
P6-05
P6-06
P6-07
P6-08
P6-09
P6-10
P6-11
P6-12
P6-13
P6-14
P6-15
P6-16
P6-17

POS0
POS1
POS2

Trigger Method

Control
Mode

Level Triggered

Trigger Method

Control
Mode

Rising-edge
Triggered

Trigger Method

Control
Mode

Level Triggered

Setting value: 0x46
DI Name
STOP

DI Function Description
Motor stop.

Setting value: 0x14 ~ 0x15
DI Name

DI Function Description
Speed command selection 0 ~ 1 (Command S1 ~ S4)
Command
No.

DI signal of
CN1
Command Source

Content

Range

SPD1 SPD0

AC servo drive

External
Voltage
analog
between V- +/-10 V
command REF and GND
Speed
Sz
None
command
0
is 0
-60000
P1-09
~
Internal parameter
P1-10
+60000
P1-11
rpm
S

OFF OFF

OFF

Mode

SPD0
SPD1

431

11. Servo Parameters

Lexium 23A

Setting value: 0x16 ~ 0x17
Trigger Method

Control
Mode

Level Triggered

DI Function Description

Trigger Method

Control
Mode

Speed / Position mode switching.
OFF: Speed mode, ON: Position mode

Level Triggered

P, S

Trigger Method

Control
Mode

Level Triggered

S, T

Trigger Method

Control
Mode

Level Triggered

P, T

Trigger Method

Control
Mode

Level Triggered

Pt, Pr

DI Name

DI Function Description
Torque command selection 0 ~ 1 (Command T1 ~ T4)
Command
No.

DI signal of
CN1
Command Source

Content

Range

TCM1 TCM0
Voltage
Analog
between V- +/-10 V
command
REF and GND
OFF
Torque
Tz
None
command
0
is 0
ON
P1-12
-300 ~
OFF Internal parameter
P1-13
+300 %
ON
P1-14
T

OFF

T2
T3
T4

OFF
ON
ON

Mode

TCM0
TCM1

Setting value: 0x18
DI Name
S-P

Setting value: 0x19
DI Name
S-T

DI Function Description
Speed / Torque mode switching.
OFF: Speed mode, ON: Torque mode

Setting value: 0x20
DI Name
T-P

DI Function Description
Torque / Position mode switching.
OFF: Torque mode, ON: Position mode

Setting value: 0x2B
DI Name
Pt-Pr

432

DI Function Description
Internal position (Pr) and external pulse (Pt) mode
switching. OFF: Pt, ON: Pr

AC servo drive

Lexium 23A

11. Servo Parameters

Setting value: 0x21
DI Name
OPST

DI Function Description
Operational stop. It should be contact "b" and
normally ON or a fault (AL013) will display.

Trigger Method

Control
Mode

Level Triggered

All

Trigger Method

Control
Mode

Level Triggered

All

Trigger Method

Control
Mode

Level Triggered

All

Setting value: 0x22
DI Name
NL(CWL)

DI Function Description
Reverse inhibit limit. It should be contact "b" and
normally ON or a fault (AL014) will display.

Setting value: 0x23
DI Name
PL(CCWL)

DI Function Description
Forward inhibit limit. It should be contact "b" and
normally ON or a fault (AL015) will display.

Setting value: 0x24
DI Name

DI Function Description

Trigger Method

Control
Mode

ORGP

Reference "Home" sensor. When ORGP is activated,
the drive will command the motor to start to search
the reference "Home" sensor. [see P5-04]

Rising-edge/
Falling-edge
Triggered

Trigger Method

Control
Mode

Level Triggered

Pt, Pr, S

Trigger Method

Control
Mode

Level Triggered

Pt, Pr, S

Setting value: 0x25
DI Name
TLLM

DI Function Description
Torque limit - Reverse operation (Torque limit
function is valid only when P1-02 is enabled)

Setting value: 0x26
DI Name
TRLM

AC servo drive

DI Function Description
Torque limit - Forward operation (Torque limit
function is valid only when P1-02 is enabled)

433

11. Servo Parameters

Lexium 23A

Setting value: 0x27
DI Name

DI Function Description

Trigger Method

Control
Mode

SHOM

Move to "Home". When SHOM is activated, the drive will
command the motor to move to "Home". [see P5-04]

Rising-edge
Triggered

Trigger Method

Control
Mode

Level Triggered

All
modes
except
CAN

Trigger Method

Control
Mode

Level Triggered

All
modes
except
CAN

Trigger Method

Control
Mode

Level Triggered

Trigger Method

Control
Mode

Setting value: 0x37
DI Name

JOGU

DI Function Description
Forward JOG input. When JOGU is activated, the
motor will JOG in forward direction. [see P4-05]

Setting value: 0x38
DI Name

JOGD

DI Function Description
Reverse JOG input. When JOGD is activated, the
motor will JOG in reverse direction. [see P4-05]

Setting value: 0x43, 0x44
DI Name

DI Function Description
Electronic gear ratio (Numerator) selection 0 ~ 1
[see P2-60 ~ P2-62]

GNUM0
GNUM1

Setting value: 0x45
DI Name

INHP

DI Function Description

Pulse inhibit input. When the drive is in position mode,
if INHP is activated, the external pulse input command
Level Triggered
is not valid. (Please use DI8 for INHP signal to ensure
the real-time operation of INHP function.)

Notes:
1)11 ~ 17: Single control mode, 18 ~ 20: Dual control mode
2)When P2-10 to P2-17 is set to 0, it indicates input function is disabled.

434

AC servo drive

Lexium 23A

11. Servo Parameters

Table 11.B Output Function Definition
Setting value: 0x01
DO Name

DO Function Description

Trigger Method

Control
Mode

SRDY

Servo ready. SRDY is activated when the servo drive
is ready to run. All fault and alarm conditions, if
present, have been cleared.

Level Triggered

All

Setting value: 0x02
DO Name

DO Function Description

Trigger Method

Control
Mode

SON

SON is activated when control power is applied the
servo drive. The drive may or may not be ready to
run as a fault / alarm condition may exist.
Servo ON (SON) is "ON" with control power applied
to the servo drive, there may be a fault condition or
not. The servo is not ready to run. Servo ready
(SRDY) is "ON" where the servo is ready to run, NO
fault / alarm exists.

Level Triggered

All

Trigger Method

Control
Mode

Setting value: 0x03
DO Name

ZSPD

DO Function Description

ZSPD is activated when the drive senses the motor is
equal to or below the Zero Speed Range setting as
defined in parameter P1-38.
For Example, at factory default ZSPD will be
Level Triggered
activated when the drive detects the motor rotating at
speed at or below 10 rpm, ZSPD will remain activated
until the motor speed increases above 10 rpm.

All

Setting value: 0x04
DO Name

TSPD

AC servo drive

DO Function Description

Trigger Method

TSPD is activated once the drive has detected the
motor has reached the Target Rotation Speed
setting as defined in parameter P1-39. TSPD will
Level Triggered
remain activated until the motor speed drops below
the Target Rotation Speed.

Control
Mode

All

435

11. Servo Parameters

Lexium 23A

Setting value: 0x05
DO Name

TPOS

DO Function Description

Trigger Method

1.When the drive is in Pt mode, TPOS will be
activated when the position error is equal and below
the setting value of P1-54.
Level Triggered
2.When the drive is in Pr mode, TPOS will be activated
when the drive detects that the position of the motor is
in a -P1-54 to +P1-54 band of the target position.

Control
Mode

Pt, Pr

Setting value: 0x06
Trigger Method

Control
Mode

TQL is activated when the drive has detected that
the motor has reached the torques limits set by
Level Triggered
either the parameters P1-12 ~ P1-14 of via an external
analog voltage.

All,
except
T, Tz

DO Name

TQL

DO Function Description

Setting value: 0x07
DO Name

DO Function Description

Trigger Method

Control
Mode

ALRM

ALRM is activated when the drive has detected a
fault condition. (However, when Reverse limit error,
Forward limit error, Emergency stop, Serial
communication error, and Undervoltage these fault
occur, WARN is activated first.)

Level Triggered

All

Trigger Method

Control
Mode

Level Triggered

All

Setting value: 0x08
DO Name

DO Function Description
Electromagnetic brake control. BRKR is activated
(Actuation of motor brake). (Please refer to
parameters P1-42 ~ P1-43)

BRKR

436

AC servo drive

Lexium 23A

11. Servo Parameters

Setting value: 0x09
DO Name

HOME

DO Function Description

Trigger Method

Homing completed. HOME is activated when the servo
drive has detected that the "HOME" sensor (ORGP,
digital input 0x24) has been detected.
When power to the servo drive at the first time, this DO
signal is OFF. After homing operation is completed, thi
DO signal will be ON and continue being ON when the Level Triggered
motor is running. It becomes OFF until the sytem
detect that a position overflow occurs.
When using Pr command to trigger homing command,
this DI signal will be OFF immediately. After homeing
operation is completed, it becomes ON again.

Control
Mode

Setting value: 0x10
DO Name

OLW

AC servo drive

DO Function Description

Trigger Method

Output overload warning. OLW is activated when the
servo drive has detected that the motor has reached
the output overload time set by parameter P1-56.
tOL = Permissible Time for Overload x setting value
of P1-56
When overload accumulated time (continuously
overload time) exceeds the value of tOL, the
overload warning signal will output, i.e. DO signal,
OLW will be ON. However, if the accumulated
overload time (continuous overload time) exceeds
the permissible time for overload, the overload
alarm (AL006) will occur.
For example:
If the setting value of parameter P1-56 (Output
Level Triggered
Overload Warning Time) is 60%, when the
permissible time for overload exceeds 8 seconds at
200% rated output, the overload fault (AL006) will
be detected and shown on the LED display.
At this time, tOL = 8 x 60% = 4.8 seconds
Result:
When the drive output is at 200% rated output and
the drive is continuously overloaded for 4.8
seconds, the overload warning signal will be ON (DO
code is 0x10, i.e. DO signal OLW will be activated). If
the drive is continuously overloaded for 8 seconds,
the overload alarm will be detected and shown on
the LED display (AL006). Then, Servo Fault signal
will be ON (DO signal ALRM will be activated).

Control
Mode

437

11. Servo Parameters

Lexium 23A

Setting value: 0x11
DO Name

DO Function Description

Trigger Method

Control
Mode

WARN

Servo warning activated. WARN is activated when
the drive has detected Reverse limit error. Forward
limit error, Operational stop, Serial communication
error, and Undervoltage these fault conditions.

Level Triggered

All

Setting value: 0x12
DO Name

DO Function Description

Trigger Method

Control
Mode

OVF

Position command overflow. OVF is activated when
the servo drive has detected that a position
command overflows.

Level Triggered

All

Setting value: 0x13
DO Name

DO Function Description

Trigger Method

Control
Mode

SNL
(SCWL)

Reverse software limit. SNL is activated when the
servo drive has detected that reverse software limit
is reached.

Level Triggered

All

Trigger Method

Control
Mode

Setting value: 0x14
DO Name
SPL
(SCCWL)

DO Function Description

Forward software limit. SPL is activated when the
servo drive has detected that forward software limit Level Triggered
is reached.

All

Setting value: 0x15
DO Name

CMD_OK

438

DO Function Description
Internal position command completed output.
CMD_OK is activated when the servo drive has
detected that the internal position command has
been completed.
When excuting Pr command, this DI signal is OFF.
After the execution of Pr command is completed,
this DI signal is ON.
The output is used to indicate the internal position
command has been completed and it does not
indicate that the motor positioning is completed.
For the signal of motor positioning completed,
please refer to DO signal, TPOS.

Trigger Method

Control
Mode

Level Triggered

AC servo drive

Lexium 23A

11. Servo Parameters

Setting value: 0x16
DO Name

CAP_OK

DO Function Description
Capture operation completed output. CAP_OK is
activated when the servo drive has detected that
capture operation has been completed.

Trigger Method

Control
Mode

Level Triggered

Trigger Method

Control
Mode

Setting value: 0x17
DO Name

MC_OK

DO Function Description

Motion control completed output. MC_OK is
activated when CMD_OK and TPOS are both ON. It
indicates MC_OK is activated only when the servo
drive has detected that the position command has Level Triggered
been given and the positioning has been completed
also. If only CMD_OK or TPOS is ON, MC_OK will not
be activated.

Setting value: 0x19
DO Name

DO Function Description

Trigger Method

Control
Mode

SP_OK

Speed reached output. SP_OK will be activated
when the speed error is equal and below the setting
value of P1-47.

Level Triggered

S, Sz

Trigger Method

Control
Mode

Level Triggered

All

Trigger Method

Control
Mode

Level Triggered

All

Trigger Method

Control
Mode

Level Triggered

All

Setting value: 0x30
DO Name
SDO_0

DO Function Description
Output the status of bit00 of P4-06.

Setting value: 0x31
DO Name
SDO_1

DO Function Description
Output the status of bit01 of P4-06.

Setting value: 0x32
DO Name
SDO_2

AC servo drive

DO Function Description
Output the status of bit02 of P4-06.

439

11. Servo Parameters

Lexium 23A

Setting value: 0x33
DO Name
SDO_3

DO Function Description
Output the status of bit03 of P4-06.

Trigger Method

Control
Mode

Level Triggered

All

Trigger Method

Control
Mode

Level Triggered

All

Trigger Method

Control
Mode

Level Triggered

All

Trigger Method

Control
Mode

Level Triggered

All

Trigger Method

Control
Mode

Level Triggered

All

Trigger Method

Control
Mode

Level Triggered

All

Trigger Method

Control
Mode

Level Triggered

All

Trigger Method

Control
Mode

Level Triggered

All

Setting value: 0x34
DO Name
SDO_4

DO Function Description
Output the status of bit04 of P4-06.

Setting value: 0x35
DO Name
SDO_5

DO Function Description
Output the status of bit05 of P4-06.

Setting value: 0x36
DO Name
SDO_6

DO Function Description
Output the status of bit06 of P4-06.

Setting value: 0x37
DO Name
SDO_7

DO Function Description
Output the status of bit07 of P4-06.

Setting value: 0x38
DO Name
SDO_8

DO Function Description
Output the status of bit08 of P4-06.

Setting value: 0x39
DO Name
SDO_9

DO Function Description
Output the status of bit09 of P4-06.

Setting value: 0x3A
DO Name
SDO_A

440

DO Function Description
Output the status of bit10 of P4-06.

AC servo drive

Lexium 23A

11. Servo Parameters

Setting value: 0x3B
DO Name
SDO_B

DO Function Description
Output the status of bit11 of P4-06.

Trigger Method

Control
Mode

Level Triggered

All

Trigger Method

Control
Mode

Level Triggered

All

Trigger Method

Control
Mode

Level Triggered

All

Trigger Method

Control
Mode

Level Triggered

All

Trigger Method

Control
Mode

Level Triggered

All

Setting value: 0x3C
DO Name
SDO_C

DO Function Description
Output the status of bit12 of P4-06.

Setting value: 0x3D
DO Name
SDO_D

DO Function Description
Output the status of bit13 of P4-06.

Setting value: 0x3E
DO Name
SDO_E

DO Function Description
Output the status of bit14 of P4-06.

Setting value: 0x3F
DO Name
SDO_F

DO Function Description
Output the status of bit15 of P4-06.

Notes:
1)When P2-18 to P2-22 is set to 0, it indicates output function is disabled.

AC servo drive

441

11. Servo Parameters

442

Lexium 23A

AC servo drive

Accessories and spare parts

12
At a Glance
What's in this
Chapter?

AC servo drive

This chapter contains the following topics:
Topic

Page

Connector and cable

444

Power Connectors

448

I/O Signal Connector (CN1)

449

I/O Terminal Block Module

449

USB to RJ45 connector for CN3 interface

449

Other Accessories

450

CANopen cable with connectors

450

CANopen connectors, distributors, terminating resistors

451

CANopen cables

452

443

12. Accessories and spare parts

Connector and
cable

Lexium 23A

Connector
Name
Replacement connector set
I/O connector
I/O terminal block module
Interface adapter

Description
Power connector set,drive side
(power supply, motor, CN5)
I/O connector of CN1 interface
Terminal block module,with 0.5 m cable
USB to RJ45(RS232) converter for CN3 interface

Reference
VW3M4121

Description

Reference

VW3M4112
VW3M4113
VW3M8131

Cable
Name

Length
m
standard network cable
RJ45 connector on both ends
2
This cable can be used with the converter VW3M8131 to connect it with CN3 interface.

490NTW00002

Connection accessory
Connector for power cable
Description

For

For motor with flying cable,no BCH0401Op2A1C
brake
BCH0601Op2A1C
BCH0602Op2A1C
BCH0801Op2A1C
BCH0802Op2A1C

444

Item
no.
1

Reference
VW3M5111

For motor with flying
cable,with brake

BCH0601Op2F1C
BCH0602Op2F1C
BCH0801Op2F1C
BCH0802Op2F1C

VW3M5112

Military connector

BCH1001Op2p1C
BCH1301Mp2p1C
BCH1301Np2p1C
BCH1302Mp2p1C
BCH1302Np2p1C
BCH1303Mp2p1C
BCH1303Np2p1C
BCH1002Op2p1C
BCH1304Np2p1C

VW3M5121

Military connector

BCH1801Np2p1C
BCH1802Np2p1C
BCH1802Mp2p1C
BCH1803Np2p1C
BCH1803Mp2p1C

VW3M5131

Military connector

BCH1804Mp2p1C
BCH1805Mp2p1C

VW3M5141

Brake connector

BCH1804Mp2F1C
BCH1805Mp2F1C

VW3M7151

AC servo drive

Lexium 23A

12. Accessories and spare parts

Connection accessory (continue)
Connector for encoder cable
Description

AC servo drive

For

For motor with flying cable

BCH0401Op2p1C
BCH0601Op2p1C
BCH0602Op2p1C
BCH0801Op2p1C
BCH0802Op2p1C

For motor with military
connector

BCH1001Op2p1C
BCH1301Mp2p1C
BCH1301Np2p1C
BCH1302Mp2p1C
BCH1302Np2p1C
BCH1303Mp2p1C
BCH1303Np2p1C
BCH1002Op2p1C
BCH1304Np2p1C
BCH1801Np2p1C
BCH1802Np2p1C
BCH1802Mp2p1C
BCH1803Np2p1C
BCH1803Mp2p1C
BCH1804Mp2p1C
BCH1805Mp2p1C

Item
no.
2

Reference

VW3M8122

VW3M8121

445

12. Accessories and spare parts

Lexium 23A

Connection accessory (continue)
Power cable
Description

Composition Length Reference
m
4 X0.82 mm2 3
VW3M5111R30
5
VW3M5111R50

Servo motor side with plastic
connector
Drive side with flying lead,no
brake

BCH0401Op2A1C
BCH0601Op2A1C
BCH0602Op2A1C
BCH0801Op2A1C
BCH0802Op2A1C

LXM23pU01M3X
LXM23pU02M3X
LXM23pU04M3X
LXM23pU04M3X
LXM23pU07M3X

Servo motor side with plastic
connector
Drive side with flying
lead,with brake

BCH0401Op2F1C
BCH0601Op2F1C
BCH0602Op2F1C
BCH0801Op2F1C
BCH0802Op2F1C

LXM23pU01M3X
LXM23pU02M3X
LXM23pU04M3X
LXM23pU04M3X
LXM23pU07M3X

6 x 0.82
mm2

3
5

VW3M5112R30
VW3M5112R50

Servo motor side with
military connector
Drive side with flying lead,no
brake

BCH1001Op2A1C
BCH1301Mp2A1C
BCH1301Np2A1C
BCH1302Mp2A1C
BCH1302Np2A1C
BCH1303Mp2A1C
BCH1303Np2A1C

LXM23pU10M3X
LXM23pU04M3X
LXM23pU04M3X
LXM23pU07M3X
LXM23pU10M3X
LXM23pU10M3X
LXM23pU15M3X

4 x 1.3 mm2

3
5

VW3M5121R30
VW3M5121R50

Servo motor side with
military connector
Drive side with flying
lead,with brake

BCH1001Op2F1C
BCH1301Mp2F1C
BCH1301Np2F1C
BCH1302Mp2F1C
BCH1302Np2F1C
BCH1303Mp2F1C
BCH1303Np2F1C

LXM23pU10M3X
LXM23pU04M3X
LXM23pU04M3X
LXM23pU07M3X
LXM23pU10M3X
LXM23pU10M3X
LXM23pU15M3X

6 x 1.3 mm2

3
5

VW3M5131R30
VW3M5131R50

Servo motor side with
military connector
Drive side with flying lead,no
brake
Servo motor side with
military connector
Drive side with flying
lead,with brake
Servo motor side with
military connector
Drive side with flying lead,no
brake

BCH1002Op2A1C
BCH1304Np2A1C

LXM23pU20M3X
LXM23pU20M3X

4 x 2.1 mm2

3
5

VW3M5122R30
VW3M5122R50

BCH1002Op2F1C
BCH1304Np2F1C

LXM23pU20M3X
LXM23pU20M3X

6 x 2.1 mm2

3
5

VW3M5132R30
VW3M5132R50

BCH1801Np2A1C
BCH1802Np2A1C
BCH1802Mp2A1C
BCH1803Np2A1C

LXM23pU20M3X
LXM23pU30M3X
LXM23pU30M3X
LXM23pU45M3X

4 x 3.3 mm2

3
5

VW3M5123R30
VW3M5123R50

Servo motor side with
military connector
Drive side with flying
lead,with brake

BCH1801Np2F1C
BCH1802Np2F1C
BCH1802Mp2F1C
BCH1803Np2F1C

LXM23pU20M3X
LXM23pU30M3X
LXM23pU30M3X
LXM23pU45M3X

6 x 3.3 mm2

3
5

VW3M5133R30
VW3M5133R50

Servo motor side with
BCH1803Mp2A1C
military connector
Drive side with flying lead,no
brake
Servo motor side with
BCH1803Mp2F1C
military connector
Drive side with flying
lead,with brake

LXM23pU45M3X

4 x 8.4 mm2

3
5

VW3M5124R30
VW3M5124R50

LXM23pU45M3X

6x 8.4 mm2

3
5

VW3M5134R30
VW3M5134R50

VW3M5 111/121/131
112/122/132/133/124 Rppp

446

From servo motor To servo drive

AC servo drive

Lexium 23A

12. Accessories and spare parts

Connection accessory (continue)
Encoder cable
Description

From servo
motor

To servo drive

Composition Length Reference

Servo motor side and drive BCH0401Op2p1C LXM23pU01M3X 10X0.13 mm2
side with plastic connector BCH0601Op2p1C LXM23pU02M3X
BCH0602Op2p1C LXM23pU04M3X
BCH0801Op2p1C LXM23pU04M3X
BCH0802Op2p1C LXM23pU07M3X
Servo motor side with
military connector
Drive side with plastic
connector

VW3M8 121/122/123/
124 Rppp

LXM23pU10M3X
LXM23pU04M3X
LXM23pU04M3X
LXM23pU07M3X
LXM23pU10M3X
LXM23pU10M3X
LXM23pU15M3X
LXM23pU20M3X
LXM23pU20M3X
LXM23pU20M3X
LXM23pU30M3X
LXM23pU30M3X
LXM23pU45M3X
LXM23pU45M3X
LXM23pU55M3X
LXM23pU75M3X

m
3

VW3M8121R30 (1)

VW3M8121R50 (1)

VW3M8123R30 (2)

VW3M8123R50 (2)

10x0.13 mm2

3
5

VW3M8122R30 (1)
VW3M8122R50 (1)

3
5

VW3M8124R30 (2)
VW3M8124R50 (2)

(1) without battery box
(2) with battery box, using for absolute position control

AC servo drive

447

12. Accessories and spare parts

Power
Connectors

Lexium 23A

Connectors for power cables, motors without brake: VW3M5111

Connectors for power cables, motors with brake: VW3M5112

Military connector for power cables, motors without brake: VW3M5121

Military connector for power cables, motors with brake: VW3M5131

Military type power connector no brake: VW3M5141
(for BCH motors 5.5kW and 7.5KW)

Motor brake connector :VW3M7151
(for BCH motors 5.5kW and 7.5KW)

448

AC servo drive

Lexium 23A

12. Accessories and spare parts

I/O Signal
Connector (CN1)

Commercial reference: VW3M4112

I/O Terminal Block
Module

Commercial reference: VW3M4113

USB to RJ45
connector for CN3
interface

Commercial reference: VW3M8131

AC servo drive

449

12. Accessories and spare parts

Other
Accessories

Lexium 23A

Other Accessories (for Lexium23 Plus series, all models)
Description
50Pin I/O signal connector (CN1)

VW3M4112

I/O Terminal Block Module with 0.5m cable

VW3M4113

USB to RJ45 (RS-232) connector for CN3

VW3M8131

Communication Cable between Drive and Computer
(RJ45 plugs)

CANopen cable
with connectors

490NTW00002

Regenerative Resistor 400W 40Ω

VW3M7111

Regenerative Resistor 1kW 20Ω

VW3M7112

Bag of power connectors
(plugs for power supply, motor, CN5)

VW3M4121

Description
CANopen cable, 0.3 m, 2 x RJ45

Order no.
VW3CANCARR03

CANopen cable, 1 m, 2 x RJ45

VW3CANCARR1

2 m, 2 x RJ45, shielded twisted pair cable

490NTW00002

5 m, 2 x RJ45, shielded twisted pair cable

490NTW00005

12 m, 2 x RJ45, shielded twisted pair cable

490NTW00012

2 m, 2 x RJ45, shielded twisted pair cable with UL and
CSA 22.1 certification

490NTW00002U

5 m, 2 x RJ45, shielded twisted pair cable with UL and
CSA 22.1 certification

490NTW00005U

12 m, 2 x RJ45, shielded twisted pair cable with UL and
CSA 22.1 certification

490NTW00012U

CANopen cable, 1 m, D9-SUB (female) to RJ45

TCSCCN4F3M1T

CANopen cable, 1 m, D9-SUB (female) with
integrated terminating resistor to RJ45

VW3M3805R010

CANopen cable, 3 m, D9-SUB (female) with
integrated terminating resistor to RJ45

VW3M3805R030

CANopen cable, 0.3 m, 2 x D9-SUB (female), LSZH
standard cable (low-smoke, zero halogen, flameretardant, tested as per IEC 60332-1)
CANopen cable, 1 m, 2 x D9-SUB (female), LSZH
standard cable (low-smoke, zero halogen, flameretardant, tested as per IEC 60332-1)

450

Commercial reference

TSXCANCADD03

TSXCANCADD1

AC servo drive

Lexium 23A

12. Accessories and spare parts

Description

TSXCANCADD3

CANopen cable, 5 m, 2 x D9-SUB (female), LSZH
standard cable (low-smoke, zero halogen, flameretardant, tested as per IEC 60332-1)

TSXCANCADD5

CANopen cable, 0.3 m, 2 x D9-SUB (female), flameretardant, tested as per IEC 60332-2, UL certification

CANopen
connectors,
distributors,
terminating
resistors

Order no.

CANopen cable, 3 m, 2 x D9-SUB (female), LSZH
standard cable (low-smoke, zero halogen, flameretardant, tested as per IEC 60332-1)

TSXCANCBDD03

CANopen cable, 1 m, 2 x D9-SUB (female), flameretardant, tested as per IEC 60332-2, UL certification

TSXCANCBDD1

CANopen cable, 3 m, 2 x D9-SUB (female), flameretardant, tested as per IEC 60332-2, UL certification

TSXCANCBDD3

CANopen cable, 5 m, 2 x D9-SUB (female), flameretardant, tested as per IEC 60332-2, UL certification

TSXCANCBDD5

Description

Order no.

CANopen terminating resistor, 120 Ohm, integrated
in RJ45 connector

TCSCAR013M120

CANopen connector with PC interface, D9-SUB
(female), with switchable terminating resistor and
additional D9-SUB (male) to connect a PC to the bus,

TSXCANKCDF90TP

PC interface straight, bus cable angled 90°
CANopen connector, D9-SUB (female), with
switchable terminating resistor, angled 90°
CANopen connector, D9-SUB (female), with
switchable terminating resistor, straight

AC servo drive

TSXCANKCDF90T
TSXCANKCDF180T

Four-port tap, for connection of 4 drop lines to trunk
line, 4 x D9-SUB (male) with switchable ter-minating
resistor

TSXCANTDM4

Two-port tap for connection of 2 drop lines to trunk
line, with additional commissioning interface, 3 x
RJ45 (female), with switchable terminating resistor

VW3CANTAP2

451

12. Accessories and spare parts

Lexium 23A

CANopen cables
Cables with open cable ends are suitable for connection of D-SUB con-nectors.
Observe the cable cross section and the connection cross sec-tion of the required
connector.

452

Description

Order no.

CANopen cable, 50 m, [(2 x AWG 22) + (2 x AWG 24)],
LSZH standard cable (low-smoke, zero halogen,
flame-retardant, tested as per IEC 60332-1), both
cable ends open

TSXCANCA50

CANopen cable, 100 m, [(2 x AWG 22) + (2 x AWG 24)],
LSZH standard cable (low-smoke, zero halogen,
flame-retardant, tested as per IEC 60332-1), both
cable ends open

TSXCANCA100

CANopen cable, 300 m, [(2 x AWG 22) + (2 x AWG
24)], LSZH standard cable (low-smoke, zero halogen,
flame-retardant, tested as per IEC 60332-1), both
cable ends open

TSXCANCA300

CANopen cable, 50 m, [(2 x AWG 22) + (2 x AWG 24)],
flame-retardant, tested as per IEC 60332-2, UL
certification, both cable ends open

TSXCANCB50

CANopen cable, 100 m, [(2 x AWG 22) + (2 x AWG 24)],
flame-retardant, tested as per IEC 60332-2, UL
certification, both cable ends open

TSXCANCB100

CANopen cable, 300 m, [(2 x AWG 22) + (2 x AWG
24)], flame-retardant, tested as per IEC 60332-2, UL
certification, both cable ends open

TSXCANCB300

CANopen cable, 50 m, [(2 x AWG 22) + (2 x AWG 24)],
flexible LSZH HD standard cable (low-smoke, zero
halogen, flame-retardant, tested as per IEC 603321), for heavy-duty or flexible installation, oil-resistant,
both cable ends open

TSXCANCD50

CANopen cable, 100 m, [(2 x AWG 22) + (2 x AWG 24)],
flexible LSZH HD standard cable (low-smoke, zero
halogen, flame-retardant, tested as per IEC 603321), for heavy-duty or flexible installation, oil-resistant,
both cable ends open

TSXCANCD100

CANopen cable, 300 m, [(2 x AWG 22) + (2 x AWG
24)], flexible LSZH HD standard cable (low-smoke,
zero halogen, flame-retardant, tested as per IEC
60332-1), for heavy-duty or flexible installation, oilresistant, both cable ends open

TSXCANCD300

AC servo drive

Service, maintenance and disposal

13
At a Glance
The product may only be repaired by a Schneider Electric customer service center. No
warranty or liability is accepted for repairs made by unauthorized persons.

What's in this
Chapter?

AC servo drive

This chapter contains the following topics:
Topic

Page

Service address

454

Basic Inspection

455

Maintenance

456

Life of Replacement Components

456

Replacing devices

457

Changing the motor

458

Shipping, storage, disposal

458

453

13. Service, maintenance and disposal

Lexium 23A

13.1 Service address
If you cannot resolve an error yourself please contact your sales office.
Have the following details available:
z Nameplate (type, identification number, serial number, DOM, ...)
z Type of error (such as LED flash code or error number)
z Previous and concomitant circumstances
z Your own assumptions concerning the cause of the error
Also include this information if you return the product for inspection or repair.
If you have any questions please contact your sales office.
Your sales office staff will be happy to give you the name of a customer service office
in your area.
http://www.schneider-electric.com

454

AC servo drive

Lexium 23A

13. Service, maintenance and disposal

13.2 Basic Inspection
After power is in connected to the AC servo drive, the charge LED will be lit which indicates
that the AC servo drive is ready.
Item

Content
z Periodically inspect the screws of the servo drive, motor shaft, terminal

General Inspection
z
z
z
z
z

Inspection during
operation
(Control power is
applied)

z
z
z
z
z
z
z
z
z

Inspection during
operation
(Control power is
applied)

z
z

AC servo drive

block and the connection to mechanical system. Tighten screws as
necessary as they may loosen due to vibration and varying temperatures.
Ensure that oil, water, metallic particles or any foreign objects do not fall
inside the servo drive, motor, control panel or ventilation slots and holes.
As these will cause damage.
Ensure the correct installation and the control panel. It should be free from
airborne dust, harmful gases or liquids.
Ensure that all wiring instructions and recommendations are followed;
otherwise damage to the drive and or motor may result.
Inspect the servo drive and servo motor to insure they were not damaged.
To avoid an electric shock, be sure to connect the ground terminal of servo
drive to the ground terminal of control panel.
Before making any connection, wait 10 minutes for capacitors to discharge
after the power is disconnected, alternatively, use an appropriate
discharge device to discharge.
Ensure that all wiring terminals are correctly insulated.
Ensure that all wiring is correct or damage and or malfunction may result.
Visually check to ensure that there are not any unused screws, metal strips,
or any conductive or inflammable materials inside the drive.
Never put inflammable objects on servo drive or close to the external
regenerative resistor.
Make sure control switch is OFF.
If the electromagnetic brake is being used, ensure that it is correctly wired.
If required, use an appropriate electrical filter to eliminate noise to the
servo drive.
Ensure that the external applied voltage to the drive is correct and
matched to the controller.
Ensure that the cables are not damaged, stressed excessively or loaded
heavily. When the motor is running, pay close attention on the connection
of the cables and notice that if they are damaged, frayed or over extended.
Check for abnormal vibrations and sounds during operation. If the servo
motor is vibrating or there are unusual noises while the motor is running,
please contact the dealer or manufacturer for assistance.
Ensure that all user-defined parameters are set correctly. Since the
characteristics of various machines are different, in order to avoid
accident or cause damage, do not adjust the parameter abnormally and
ensure the parameter setting is not an excessive value.
Ensure to reset some parameters when the servo drive is off (Please refer
to Chapter 10 of the user manual). Otherwise, it may result in malfunction.
If there is no contact sound or there be any unusual noises when the
relay of the servo drive is operating, please contact your distributor for
assistance or contact with Schneider Electric.
Check for abnormal conditions of the power indicators and LED
display. If there is any abnormal condition of the power indicators and
LED display, please contact your distributor for assistance or contact
with Lexium 23 Plus.
455

13. Service, maintenance and disposal

Lexium 23A

13.3 Maintenance
z
z
z
z
z

Use and store the product in a proper and normal environment.
Periodically clean the surface and panel of servo drive and motor.
Make sure the conductors or insulators are corroded and/or damaged.
Do not disassemble or damage any mechanical part when performing
maintenance.
Clean off any dust and dirt with a vacuum cleaner. Place special emphasis on
cleaning the ventilation ports and PCBs. Always keep these areas clean, as
accumulation of dust and dirt can cause unforeseen failures.

13.4 Life of Replacement Components
z Smooth capacitor

The characteristics of smooth capacitor would be deteriorated by ripple current
affection. The life of smooth capacitor varies according to ambient temperature
and operating conditions. The common guaranteed life of smooth capacitor is ten
years when it is properly used in normal air-conditioned environment.

456

Relay
The contacts will wear and result in malfunction due to switching current. The life of
relay varies according to power supply capacity. Therefore, the common
guaranteed life of relay is cumulative 100,000 times of power on and power off.

Cooling fan
The cooling fan life is limited and should be changed periodically. The cooling fan
will reach the end of its life in 2~3 years when it is in continuous operation. However,
it also must be replaced if the cooling fan is vibrating or there are unusual noises.

AC servo drive

Lexium 23A

13. Service, maintenance and disposal

13.5 Replacing devices

Observe the following procedure when replacing devices.
z Save all parameter settings. To do so, save the data to a PC using the commissioning
software, see chapter 6.4 "Commissioning software".
z Switch off all supply voltages. Verify that no voltages are present (safety instructions).
z Label all connections and uninstall the product.
z Note the identification number and the serial number shown on the product nameplate
for later identification.
z Install the new product as per chapter 5 "Installation".
z If the product to be installed has previously been used in a different system or application,
you must restore the factory settings before commissioning the product.
z Commission the product as per chapter 6 "Commissioning". After the replacement, the
same mechanical position of the motor does not mean that the power stage has the
same position.

AC servo drive

457

13. Service, maintenance and disposal

Lexium 23A

13.6 Changing the motor

WARNNG
UNEXPECTED MOVEMENT
Drive systems may perform unexpected movements because of incorrect
connection or other errors.
z Operate the device with approved motors only. Even if motors are similar,
different adjustment of the encoder system may be a source of hazards.
z Even if the connectors for power connection and encoder match
mechanically, this does NOT imply that they may be used.
Failure to follow these instructions can result in death, serious injury or
equipment damage.
z
z
z
z

Switch off all supply voltages. Verify that no voltages are present (safety instructions).
Label all connections and uninstall the product.
Note the identification number and the serial number shown on the product nameplate
for later identification.
Install the new product as per chapter 5 "Installation".

If the connected motor is replaced by another motor, the motor is automatically
recognized by the servo drive.

13.7 Shipping, storage, disposal
Note the ambient conditions on chapter 3.1.

458

Shipping

The product must be protected against shocks during transportation. If possible, use
the original packaging for shipping.

Storage

The product may only be stored in spaces where the specified permissible ambient
conditions for room temperature and humidity are met. Protect the product from
dust and dirt.

Disposal

The product consists of various materials that can be recycled and must be disposed
of separately. Dispose of the product in accordance with local regulations.

AC servo drive

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Lexium23A Installation Directions

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