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

ii AC servo drive

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.

Important information

AC servo drive iii

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

Contents Lexium 23A

iv AC servo drive

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

Lexium 23A Contents

AC servo drive v

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

Contents Lexium 23A

vi AC servo drive

AC servo drive v

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 Information on making work easier is highlighted by this symbol:

Sections highlighted this way provide supplementary information on making work

easier.

SI units 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

vi AC servo drive

AC servo drive 1

Introduction

At a Glance

What's in this

Chapter?

This chapter contains the following topics:

Topic Page

Unpacking Check 2

Device overview 3

Components and interfaces 4

Nameplate information 5

Type code 6

Servo Drive and Servo Motor Combinations 8

1. Introduction Lexium 23A

2AC servo drive

1.1 Unpacking Check

After receiving the AC servo drive, please check for the following:

zEnsure 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).

zEnsure 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.

zCheck for damage.

Inspect the unit to insure it was not damaged during shipment.

zCheck 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

Lexium 23A 1. Introduction

AC servo drive 3

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:

zCANopen and CANmotion field bus interface to access all parameters and to

control all operation modes of the servo drive

zThe product is commissioned via the integrated HMI or a PC with commissioning

software.

zOperating modes Jog, Position control mode,Speed Control,Torque

control,Switching mode.

1. Introduction Lexium 23A

4AC servo drive

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).

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.

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:

: 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

: Press this key to increase

values on the display

: Press this key to decrease

values on the display

: Press this key to store data

ENT

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

Field bus communication

interface CANopen and

CANmotion

Lexium 23A 1. Introduction

AC servo drive 5

1.4 Nameplate information

Lexium 23 Series Servo Drive

zNameplate Explanation

BCH Series Servo Motor

zNameplate Explanation

1. Introduction Lexium 23A

6AC servo drive

1.5 Type code

Lexium 23 Plus drive commercial reference

L X M 2 3 A U 0 1 M 3 X

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

Lexium 23A 1. Introduction

AC servo drive 7

BCH motor commercial reference

B C H 0 4 0 1 O 0 2 A 1 C

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

1. Introduction Lexium 23A

8AC servo drive

1.6 Servo Drive and Servo Motor Combinations

Lexium 23 Plus servo drive / BCH servo motor combination

BCH

servo

motor

output

power

BCH

servo

motor

inertia

(without

brake)

Rated

torque

Peak

stall

torque

Maximum

speed

Rated

speed

Combination

Servo drive

Reference

Servo motor

Reference

Motor

inertia

type

kW kgcm2Nm 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

0.4 0.277 1.27 3.82 5000 3000 LXM23pU04M3X BCH0602Op2p1C ultra low

0.4 0.68 1.27 3.82 5000 3000 LXM23pU04M3X BCH0801Op2p1C low

0.5 8.17 2.39 7.16 3000 2000 LXM23pU04M3X BCH1301Np2p1C medium

0.6 8.41 5.73 17.19 2000 1000 LXM23pU07M3X BCH1302Mp2p1C medium

0.75 1.13 2.39 7.16 5000 3000 LXM23pU07M3X BCH0802Op2p1C low

0.9 11.18 8.59 25.78 2000 1000 LXM23pU10M3X BCH1303Mp2p1C medium

12.65 3.18 9.54 5000 3000 LXM23pU10M3X BCH1001Op2p1C low

1 11.18 4.77 14.32 3000 2000 LXM23pU10M3X BCH1302Np2p1C medium

1.5 11.18 7.16 21.48 3000 2000 LXM23pU15M3X BCH1303Np2p1C medium

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

24.45 6.37 19.11 5000 3000 LXM23pU20M3X BCH1002Op2p1C low

214.59 9.55 26.65 3000 2000 LXM23pU20M3X BCH1304Np2p1C medium

234.68 9.55 26.65 3000 2000 LXM23pU20M3X BCH1801Np2p1C high

354.95 14.32 42.96 3000 2000 LXM23pU30M3X BCH1802Np2p1C high

354.95 19.10 57.29 3000 1500 LXM23pU30M3X BCH1802Mp2p1C high

3.5 54.8 16.71 50.31 3000 2000 LXM23pU45M3X BCH1803Np2p1C high

4.5 77.75 28.65 71.62 3000 1500 LXM23pU45M3X BCH1803Mp2p1C high

5.5 99.78 35.01 87.53 3000 1500 LXM23pU55M3X BCH1804Mp2p1C high

7.5 142.7 47.74 119.36 3000 1500 LXM23pU75M3X BCH1805Mp2p1C high

AC servo drive 9

Before you begin - safety

information

At a Glance

What's in this

Chapter?

This chapter contains the following topics:

Topic Page

Qualification of personnel 10

Intended use 10

Hazard categories 11

Basic information 12

DC bus voltage measurement 14

Standards and terminology 14

2. Before you begin - safety information Lexium 23A

10 AC servo drive

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.

Lexium 23A 2. Before you begin - safety information

AC servo drive 11

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 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).

DANGER

2. Before you begin - safety information Lexium 23A

12 AC servo drive

2.4 Basic information

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.

DANGER

Lexium 23A 2. Before you begin - safety information

AC servo drive 13

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.

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.

2. Before you begin - safety information Lexium 23A

14 AC servo drive

2.5 DC bus voltage measurement

Disconnect all power prior to starting work on the product.

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.

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.

DANGER

AC servo drive 15

Technical Data

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:

Topic

Page

Ambient conditions 16

Dimensions 18

Electrical Data 23

Certifications 41

Declaration of conformity 42

3. Technical Data Lexium 23A

16 AC servo drive

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.

The following relative humidity is permissible during transportation and storage:

Ambient

conditions for

operation

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.

The following relative humidity is permissible during operation:

The installation altitude is defined as height above sea level.

Temperature [°C] -25 ...65

Relative humidity (non-condensing) [%] 5 to 95

Ambient temperature

(no icing, non-condensing)

[°C] 0 ...55 (if operating

temperature is above specified

range, forced cooling will be

required)

Relative humidity (non-condensing) [%] 5 to 95% RH (without

condensation)

Atmospheric pressure [kPA] 86~106

Installation altitude above mean sea

level without derating

[m] <1000

Installation altitude above mean sea

level when all of the following

conditions are met:

z 45°C max. ambient temperature

z Reduction of the continuous power

by 1% per 100m above 1000m

[m] 1000 ... 2000

Lexium 23A 3. Technical Data

AC servo drive 17

Installation site

and connection

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

and degree

ofprotection

Vibration

Pollution degree 2

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

3. Technical Data Lexium 23A

18 AC servo drive

3.2 Dimensions

3.2.1 Dimensions of Servo Drive

LXM23AU01M3X, LXM23AU02M3X, LXM23AU04M3X

LXM23AU07M3X, LXM23AU10M3X, LXM23AU15M3X

LXM23AU20M3X,LXM23AU30M3X

Lexium 23A 3. Technical Data

AC servo drive 19

LXM23AU45M3X

LXM23AU55M3X

LXM23AU75M3X

3. Technical Data Lexium 23A

20 AC servo drive

3.2.2 Dimensions of Servo Motors

BCH040 (Servo motor/brake and Motor Power Connector 1 and Encoder Connector 2)

Key shaft (optional)

c (without

brake)

c (with

brake)

weight (in kg)

(without brake)

weight (in kg)

(with brake)

BCH0401 100.6 -136.6 0.5 0.8

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

Key shaft (optional)

c (without

brake)

c (with

brake)

weight (in kg)

(without brake)

weight (in kg)

(with brake)

BCH0601 105.5 141.6 1.2 1.5

BCH0602 130.7 166.8 1.6 2.0

Lexium 23A 3. Technical Data

AC servo drive 21

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

Key shaft (optional)

c (without

brake)

c (with

brake)

Sc1 c2 LS RH Wk W T weight (in kg)

(without brake)

weight (in kg)

(with brake)

BCH0801 112.3 152.8 14 30 20 24.5 11 5 5 5 2.1 2.9

BCH0802 138.3 178.0 19 35 25 29.5 15.5 6 6 6 3.0 3.8

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

Key shaft (optional)

c (without

brake)

c (with brake) weight (in kg)

(without brake)

weight (in kg)

(with brake)

BCH1001 153.5 192.5 4.3 4.7

BCH1002 199.0 226.0 6.2 7.2

3. Technical Data Lexium 23A

22 AC servo drive

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

Key shaft (optional)

c (without

brake)

c (with brake) weight (in kg)

(without brake)

weight (in kg)

(with brake)

BCH1301 147.5 183.5 6.8 8.2

BCH1302 147.5 183.5 7 8.4

BCH1303M 163.5 198.0 7.5 8.9

BCH1303N 167.5 202.0 7.5 8.9

BCH1304 187.5 216.0 7.8 9.2

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

Key shaft (optional)

c (without

brake)

c (with

brake)

Sc1 c2 LS RH Wk Wweight (in kg)

(without brake)

weight (in kg)

(with brake)

BCH1801 169.0 203.1 35 79 63 73 30 10 10 13.5 17.5

BCH1802N 202.1 235.3 35 79 63 73 30 10 10 18.5 22.5

BCH1802M 202.1 235.3 35 79 63 73 30 10 10 18.5 22.5

Lexium 23A 3. Technical Data

AC servo drive 23

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)

Lexium23 Plus Series 100W 200W 400W 750W 1kW 1.5kW 2kW 3kW 4.5kW 5.5kW 7.5kW

01 02 04 07 10 15 20 30 45 55 75

Power supply

Phase / Voltage Three-phase or Single-phase: 220 VAC Three-phase

220VAC,

Permissible Voltage Range 170 ~ 255VAC Three-phase , 200 ~ 255VAC single phase 170~255VAC

Three phase

Continuous output current 0.9

Arms

1.55

Arms

2.6

Arms

5.1

Arms

7.3

Arms

8.3

Arms

13.4

Arms

19.4

Arms

32.5

Arms

47.5

Arms

Cooling System Natural Air Circulation Fan Cooling

Encoder Resolution /

Feedback Resolution 20-bit (1 280 000 p/rev)

Control of Main Circuit SVPWM (Space Vector Pulse Width Modulation) Control

Tuning Modes Auto / Manual

Dynamic Brake Built-in External

Position Control Mode

Max. Input Pulse Frequency Max. 500Kpps (Line driver), Max. 200Kpps (Open collector)

Max. 4Mpps (Line receiver)

Pulse Type Pulse + Direction, A phase + B phase, CCW pulse + CW pulse

Command Source External pulse train (Pt mode) / Internal procedures (Pr mode)

Smoothing Strategy Low-pass and P-curve filter

Electronic Gear Electronic gear N/M multiple N: 1~32767, M: 1:32767 (1/50<N/M<25600)

Torque Limit Operation Set by parameters

Feed Forward Compensation Set by parameters

Speed Control Mode

Analog

Input

Command

Voltage Range 0 ~ ±10 VDC

Input Resistance 10KΩ

Time Constant 2.2 μs

Speed Control Range *1 1:5000 1:3000

Command Source External analog signal / Internal parameters

Smoothing Strategy Low-pass and S-curve filter

Torque Limit Operation Set by parameters or via analog input

Frequency Response

Characteristic Maximum 1kHz

Speed Accuracy *2

(at rated rotation speed)

0.01% or less at 0 to 100% load fluctuation

0.01% or less at ±10% power fluctuation

0.01% or less at 0 oC to 50 oC ambient temperature fluctuation

3. Technical Data Lexium 23A

24 AC servo drive

Footnote:

*1 During full load, the speed ratio is defined as min. speed (no go and stop)/rated speed.

*2 When command is rated speed, speed fluctuation rate is defined as (empty load speed -full

load speed)/rated speed.

*3 TN system: A power distribution having one point directly earthed,the exposed conductive

parts of the installation being connected to that points by protective earth conductor.

*4 Please refer to "Chart of load and operating time" in section 3.3.4 "Overload Characteristics".

Lexium23 Plus 100W 200W 400W 750W 1kW 1.5kW 2kW 3kW 4.5kW 5.5kW 7.5kW

01 02 04 07 10 15 20 30 45 55 75

Torque Control Mode

Analog

Input

Command

Voltage Range 0 ~ ±10 VDC

Input Resistance 10KΩ

Time Constant 2.2 μs

Command Source External analog signal / Internal parameters

Smoothing Strategy Low-pass filter

Speed Limit Operation Set by parameters or via analog input

Analog Monitor Output Monitor signal can set by parameters (Output voltage range: ±8V)

Digital

Inputs/Outputs

Inputs

Servo On, Reset, Gain switching, Pulse clear, Zero speed CLAMP, Command input reverse control,

Command triggered, Speed/Torque limit enabled, Position command selection, Motor stop,

Speed Position Selection, Position / Speed mode switching, Speed / Torque mode switching,

Torque / Position mode switching, Pt / Pr command switching, Emergency stop, Forward / Reverse

inhibit limit, Reference "Home" sensor, Forward / Reverse operation torque limit, Move to "Home",

Forward / Reverse JOG input, Event trigger Pr command, Electronic gear ratio (Numerator)

selection and Pulse inhibit input.

Outputs

Encoder signal output (A, B, Z Line Driver and Z Open Collector )

Servo ready, Servo On, At Zero speed, At Speed reached, At Positioning completed, At Torques

limit, Servo alarm (Servo fault) activated, Electromagnetic brake control, Homing completed,

Output overload warning, Servo warning activated, Position command overflow, Forward /

Reverse software limit, Internal position command completed, Capture operation completed

output., Motion control completed output.

Protective Functions

Overcurrent, Overvoltage, Undervoltage, Motor overheated, Regeneration error, Overload,

Overspeed, Abnormal pulse control command, Excessive deviation, Encoder error, Adjustment

error, Emergency stop activated, Reverse/ Forward limit switch error, Serial communication error,

Input power phase loss, Serial communication time out, short circuit protection of U, V, W,

Communication Interface RS-232(for PC) / RS-485 / CANopen /

Environment

Installation Site Indoor location (free from direct sunlight), no corrosive liquid and gas (far away from oil mist,

flammable gas, dust)

Power System TN System*3

Approvals

IEC/EN 61800-5-1, UL 508C, C-tick

Lexium 23A 3. Technical Data

AC servo drive 25

3.3.2 Specifications of Servo Motors

Ultra low/low

Inertia Series

BCH Series BCH

0401O

BCH

0601O

BCH

0602O

BCH

0801O

BCH

0802O

BCH

1001O

BCH

1002O

Rated output power (kW) 0.1 0.2 0.4 0.4 0.75 1.0 2.0

Rated torque (Nm) 0.32 0.64 1.27 1.27 2.39 3.18 6.37

Maximum torque (Nm) 0.96 1.92 3.82 3.82 7.16 9.54 19.11

Rated speed (rpm) 3000

Maximum speed (rpm) 5000

Rated current (A) 0.9 1.55 2.6 2.6 5.1 7.3 12.05

Maximum current (A) 2.7 4.65 7.8 7.8 15.3 21.9 36.15

Power rating (kW/s) 27.7 22.4 57.6 24.0 50.4 38.1 90.6

Rotor moment of inertia

(kg.cm2) (without brake) 0.037 0.177 0.277 0.68 1.13 2.65 4.45

Mechanical time constant (ms) 0.75 0.80 0.53 0.74 0.63 0.74 0.61

Torque constant-KT

(Nm/A) 0.36 0.41 0.49 0.49 0.47 0.43 0.53

Voltage constant-KE

(mV/(rpm)) 13.6 16 17.4 18.5 17.2 16.8 19.2

Armature resistance (Ohm) 9.3 2.79 1.55 0.93 0.42 0.20 0.13

Armature inductance (mH) 21 12.07 6.71 7.39 3.53 1.81 1.50

Electrical time constant (ms) 2.58 4.3 4.3 7.96 8.37 9.3 11.4

Insulation class Class A (UL), Class B (CE)

Insulation resistance >100MΩ, DC 500V

Insulation strength 1500V AC, 60 seconds

Weight (kg) (without brake) 0.5 1.2 1.6 2.1 3.0 4.3 6.2

Weight (kg) (with brake) 0.8 1.5 2.0 2.9 3.8 4.7 7.2

Max. radial shaft load (N) 78.4 196 196 245 245 490 490

Max. thrust shaft load (N) 39.2 68 68 98 98 98 98

Power rating (kW/s)

(with brake) 25.6 21.3 53.8 22.1 48.4 30.4 82

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

26 AC servo drive

BCH Series BCH

0401O

BCH

0601O

BCH

0602O

BCH

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 1.3 2.5 2.5 12 12

Brake power consumption

(at 20°C) [W] 7.2 7.2 7.2 8.5 8.5 19.4 19.4

Brake release time [ms (Max)] 5 10 10 10 10 10 10

Brake pull-in time [ms (Max)] 25 70 70 70 70 70 70

Vibration grade (μm) 15

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 2.5G

IP Rating 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

Lexium 23A 3. Technical Data

AC servo drive 27

Medium / High

Inertia Series

Medium / High Inertia Series

BCH

1301N

BCH

1302N

BCH

1303N

BCH

1304N

BCH

1801N

BCH

1802N

BCH

1802M

BCH

1301M

BCH

1302M

BCH

1303M

Rated output power (kW) 0.5 1.0 1.5 2.0 2.0 3.0 3.0 0.3 0.6 0.9

Rated torque (Nm) 2.39 4.77 7.16 9.55 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

Rated speed (rpm) 2000

1500

1000

Maximum speed (rpm) 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 26.3 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

Mechanical time constant (ms) 1.91 1.51 1.10 0.96 1.62 1.06 1.28 1.84 1.40 1.06

Torque constant-KT (Nm/A) 0.83 0.85 0.87 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 31.8 31.4 32 35 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 13.50 16.06

Insulation class Class A (UL), Class B (CE)

Insulation resistance >100MΩ, DC 500V

Insulation strength 1500V AC, 60 seconds

Weight (kg) (without brake) 6.8 7 7.5 7.8 13.5 18.5 18.5 6.8 7 7.5

Weight (kg) (with brake) 8.2 8.4 8.9 9.2 17.5 22.5 22.5 8.2 8.4 8.9

Max. radial shaft load (N) 490 490 490 490 1176 1470

1470

490 490 490

Max. thrust shaft load (N) 98 98 98 98 490 490 490 98 98 98

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 16.5 16.5 16.5 25 25 25 16.5 16.5 16.5

3. Technical Data Lexium 23A

28 AC servo drive

Medium / High Inertia Series

BCH

1301N

BCH

1302N

BCH

1303N

BCH

1304N

BCH

1801N

BCH

1802N

BCH

1802M

BCH

1301M

BCH

1302M

BCH

1303M

Brake power consumption

(at 20°C) [W] 21.0 21.0 21.0 21.0 31.1 31.1 31.1 21.0 21.0 21.0

Brake release time [ms

(Max)] 5.0 5.0 5.0 5.0 5.0

5.0 5.0

5.0 5.0 5.0

Brake pull-in time [ms (Max)] 25.0 25.0

25.0 25.0 25.0 25.0 25.0

25.0 25.0 25.0

Vibration grade (μm) 15

Operating temperature 0 °C to 40°C (32 °F to 104°F)

Storage temperature -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 2.5G

IP Rating 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

Lexium 23A 3. Technical Data

AC servo drive 29

3.3.3 Servo Motor Speed-Torque Curves (T-N Curves)

BCH0401O servo motor BCH0601O servo motor

Control by LXM23pU01M3X servo drive

Single phase 220 V

Control by LXM23pUO2M3X servo drive

Single phase 220 V

BCH0602O servo motor BCH0801O servo motor

Control by LXM23pU04M3X servo drive

Single phase 220 V

Control by LXM23pU04M3X servo drive

Single phase 220 V

BCH0802O servo motor BCH1001O servo motor

Control by LXM23pU07M3X servo drive

Single phase 220 V

Control by LXM23pU10M3X servo drive

Single phase 220 V

1Peak torque

2Continuous torque

3. Technical Data Lexium 23A

30 AC servo drive

BCH1002O servo motor BCH1301N servo motor

Control by LXM23pU20M3X servo drive

Three phase 220 V

Control by LXM23pU04M3X servo drive

Single phase 220 V

BCH1302N servo motor BCH1303N servo motor

Control by LXM23pU10M3X servo drive

Single phase 220 V

Control by LXM23pU15M3X servo drive

Single phase 220 V

BCH1304N servo motor BCH1801N servo motor

Control by LXM23pU20M3X servo drive

Three phase 220 V

Control by LXM23pU20M3X servo drive

Three phase 220 V

1Peak torque

2Continuous torque

Lexium 23A 3. Technical Data

AC servo drive 31

BCH1301M servo motor BCH1302M servo motor

Control by LXM23pU04M3X servo drive

Single phase 220 V

Control by LXM23pU07M3X servo drive

Single phase 220 V

BCH1303M servo motor BCH1802M servo motor

Control by LXM23pU10M3X servo drive

Single phase 220 V

Control by LXM23pU30M3X servo drive

Three phase 220 V

BCH1802N servo motor BCH1803M servo motor

Control by LXM23pU30M3X servo drive

Three phase 220 V

Control by LXM23pU45M3X servo drive

Three phase 220 V

1Peak torque

2Continuous torque

3. Technical Data Lexium 23A

32 AC servo drive

BCH1803N servo motor BCH1804M servo motor

Control by LXM23pU45M3X servo drive

Three phase 220 V

Control by LXM23pU55M3X servo drive

Three phase 220 V

BCH1805M servo motor

Control by LXM23pU75M3X servo drive

Three phase 220 V

1Peak torque

2Continuous torque

Lexium 23A 3. Technical Data

AC servo drive 33

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)

Load Operating

Time

120% 263.8s

140% 35.2s

160% 17.6s

180% 11.2s

200% 8s

220% 6.1s

240% 4.8s

260% 3.9s

280% 3.3s

300% 2.8s

3. Technical Data Lexium 23A

34 AC servo drive

Medium and Medium-High Inertia Series (BCH1301N, BCH1302N, BCH1303N,

BCH1304N, BCH1801N,BCH1802N, BCH1802M)

High Inertia Series (BCH1301M, BCH1302M, BCH1303M)

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

160% 35.2s

180% 22.4s

200% 16s

220% 12.2s

240% 9.6s

260% 7.8s

280% 6.6s

300% 5.6s

Lexium 23A 3. Technical Data

AC servo drive 35

3.3.5 DC Bus data

DC bus data for

single-phase

drives

DC bus data for

three-phase

drives

LXM23A,LXM23D(1phase) 100W 200W 400W 759W 1KW 1.5KW

Nominal voltage 1 phase[VAC] 220 220 220 220 220 220

Nominal voltage DC bus[VDC] 311 311 311 311 311 311

Undervoltage limit[VDC]

4-24*

Voltage limit:activation of error

Reaction in drive (quickstop) 410 410 410 410 410 410

Overvoltage limit[VDC] 410 410 410 410 410 410

Maximum continuous power

via DC BUS[kw] 0.1 0.2 0.4 0.75 1 1.5

Maximum continuous current

Via DC bus 333666

LXM23A,LXM23D(3phase) 2kW 3kW 4.5W 5.5W 7.5KW

Nominal voltage 3 phase[VAC] 220 220 220 220 220

Nominal voltage DC bus[VDC] 311 311 311 311 311

Undervoltage limit[VDC]

4-24*

Voltage limit:activation of error

Reaction in drive (quickstop) 410 410 410 410 410

Overvoltage limit[VDC] 410 410 410 410 410

Maximum continuous power via

DC BUS[kw] 2 3 4.5 5.5 7.5

Maximum continuous current

Via DC bus 16 16 16 20 20

3. Technical Data Lexium 23A

36 AC servo drive

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.

Lexium 23A 3. Technical Data

AC servo drive 37

Characteristics of

servo drive/EMC

filter mounting

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 0 °C ~ 55 °C (If operating temperature is above 45 °C,

forced cooling will be required)

Storage

°C -20 °C to 65 °C (-4°F to 149°F)

Altitude m1000 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

V120 + 10 %

240 + 10 %

Three-phase

50/60 Hz

V240 + 10 %

Application, category:

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

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 Lexium 23A

38 AC servo drive

References

Additional EMC input fi lters

For

servo drive

Maximum servo motor cable length

conforming to

Reference Weight

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

m m kg

Single-phase supply voltage

LXM23

U07M3X

LXM23

U10M3X

LXM23

U15M3X

20 40 VW3 A31403 0.775

LXM23

U01M3X

LXM23

U02M3X

LXM23

U04M3X

20 40 VW3 A31401 0.600

Three-phase supply voltage

LXM23

U07M3X

LXM23

U10M3X

LXM23

U15M3X

20 40 VW3 A31404 0.900

LXM23

U20M3X

LXM23

U30M3X

LXM23

U45M3X

LXM23

U55M3X

20 40 VW3 A31406 1.350

LXM23

U75M3X 20 40 VW3 A31407 3.150

Lexium 23A 3. Technical Data

AC servo drive 39

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.

(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:

Note:

For other voltages between 24 V and 660 V, or for a DC control circuit, please consult

your Regional Sales Office.

Motor starters for Lexium 23 Plus servo drives

Reference Rating

kW A

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

LXM23pU01M3X 0.1 6.3

LXM23pU02M3X 0.2 6.3

LXM23pU04M3X 0.4 10

LXM23pU07M3X 0.7 10

LXM23pU10M3X 114

LXM23pU15M3X 1.5 25

LXM23pU20M3X 230

LXM23pU30M3X 330

LXM23pU45M3X 4.5 60

LXM23pU55M3X 5.5 60

LXM23pU75M3X 7.5 75

AC control circuit

Volts a24 48 110 220 230 240

LC1-K 50/60 Hz B7 E7 F7 M7 P7 U7

Volts a24 48 110 220/230 230 230/240

LC1-D

50 Hz B5 E5 F5 M5 P5 U5

60 Hz B6 E6 F6 M6 -U6

50/60 Hz B7 E7 F7 M7 P7 U7

3. Technical Data Lexium 23A

40 AC servo drive

3.3.8 Protection using fuses

Protection using class fuses(UL standsrd)

Servo drive reference Nominal power Fuse to be placed upstream

kW A

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

LXM23pU01M3X 0.1 5

LXM23pU02M3X 0.2 5

LXM23pU04M3X 0.4 20

LXM23pU07M3X 0.7 20

LXM23pU10M3X 125

LXM23pU15M3X 1.5 40

LXM23pU20M3X 260

LXM23pU30M3X 380

LXM23pU45M3X 4.5 160

LXM23pU55M3X 5.5 160

LXM23pU75M3X 7.5 200

Lexium 23A 3. Technical Data

AC servo drive 41

3.4 Certifications

Product certifications:

Assigned file number Related products Certified by

E198280 LXM23A servo drives,

LXM23D servo drives,

LXM23C servo drives,

LXM23M servo drives

E198273 BCH servo motors UL

3. Technical Data Lexium 23A

42 AC servo drive

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

Lexium 23A 3. Technical Data

AC servo drive 43

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 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

3. Technical Data Lexium 23A

44 AC servo drive

AC servo drive 45

Engineering

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:

Subject

Page

Electromagnetic compatibility, EMC 46

Residual current device 49

Operation in an IT mains 50

Rating the braking resistor 51

Logic type 59

Monitoring functions 60

Configurable inputs and outputs 61

4. Engineering Lexium 23A

46 AC servo drive

4.1 Electromagnetic compatibility, EMC

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:

An EMC-compliant design is required to meet the specified limit values. Note the

following requirements:

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.

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.

WARNNG

Lexium 23A 4. Engineering

AC servo drive 47

Control cabinet

design

Additional

measures for

EMC improvement

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

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

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

48 AC servo drive

Figure 4.1 EMC measures

Lexium 23A 4. Engineering

AC servo drive 49

4.2 Residual current device

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:

z 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.

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.

WARNNG

4. Engineering Lexium 23A

50 AC servo drive

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.

Lexium 23A 4. Engineering

AC servo drive 51

4.4 Rating the braking resistor

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.

zVerify that the braking resistor has a sufficient rating.

zCheck the parameter settings for the braking resistor.

zCheck the I2t value under the most critical condition by performing a test run.

The device switches off at an I2t value of 100%.

zWhen 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.

HOT SURFACES

The braking resistor may heat up to over 250C (480F) during operation.

zAvoid contact with the hot braking resistor.

zDo not allow flammable or heat-sensitive parts in the immediate vicinity of

the braking resistor.

zProvide for good heat dissipation.

zCheck 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.

WARNNG

4. Engineering Lexium 23A

52 AC servo drive

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.

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.

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 60 30 60

0.2 100 60 30 60

0.4 100 60 30 60

0.75 40 60 30 30

140 60 30 30

1.5 40 60 30 30

240 60 30 15

340 60 30 15

4.5 20 100 50 10

5.5 - - - 8

7.5 - - - 6

Lexium 23A 4. Engineering

AC servo drive 53

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

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 Lexium 23A

54 AC servo drive

Sizing the braking

resistor

(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.

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

Servo Drive (kW) Servo Motor

Rotor

Inertia

J (kg.cm2)

Regenerative

power from

empty load

3000rpm to stop

Eo (joule)

Max.

regenerative

power of

capacitance E

c (joule)

Low

Inertia

0.1 BCH0401O 0.037 0.15 3

0.2 BCH0601O 0.177 0.87 4

0.4 BCH0602O 0.277 1.37 8

BCH0801O 0.68 3.36

0.75 BCH0802O 1.13 5.59 14

1.0 BCH1001O 2.65 13.1 18

2.0 BCH1002O 4.45 22.0 21

Medium

Inertia

0.4 BCH1301N 8.17 40.40 8

1.0 BCH1302N 8.41 41.59 18

1.5 BCH1303N 11.18 55.28 18

2.0 BCH1304N 14.59 72.15 21

BCH1801N 34.68 171.50

3.0 BCH1802N 54.95 217.73 28

High

Inertia

0.4 BCH1301M 8.17 40.40 8

0.75 BCH1302M 8.41 41.59 14

1.0 BCH1303M 11.18 55.29 18

3.0 BCH1802M 54.95 217.73 28

Lexium 23A 4. Engineering

AC servo drive 55

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:

For example: 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 built-

in 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.

Step Procedure Equation and Setting Method

1 Set the capacity of regenerative

resistor to the maximum Change the value of P1-53 to maximum

2 Set the operation cycle T Input by the users

3 Set motor speed Wr Input by the users or read via P0-02 Drive

State Display

4 Set load/motor inertia ratio N Input by the users or read via P0-02 Drive

State Display

5 Calculate the max. regenerative

power Eo Eo = Jxwr2/182

6 Set the regenerative power

Ec that can be absorbed Refer to the table above

7 Calculate the required

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

4. Engineering Lexium 23A

56 AC servo drive

(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.

Lexium 23A 4. Engineering

AC servo drive 57

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.

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.

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:

Allowable frequency when the servo motor run without load (times/min)

and uses built-in regenerative resistor

Motor Capacity

Servo Motor

600W 750W 900W 1.0KW 1.5KW 2.0KW 2.0KW 3.0KW

06 07 09 10 15 20 20 30

BCH....O - 312 - 137 - 83 (F100) -

BCH....N - - - 42 32 24

(F130)

(F180) 11

BCH....M 42-31-----

Allowable frequency =

Allowable frequency when servo motor run without load

m+1

Rated speed times

Operating speed min.

)( 2

4. Engineering Lexium 23A

58 AC servo drive

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.

Allowable frequency when the servo motor run without load(times/min) and uses

external regenerative resistor

Motor Capacity BCH....O

Recommended

Regenerative Resistor

Specifications

200W 400W

(F60)

400W

(F80) 750W 1.0KW 2.0KW

02 04 04 07 10 20

400W 80Ω13710 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 BCH....N

Recommended

Regenerative Resistor

Specifications

0.5KW 1KW 1.5Kw 2.0KW 2.0KW 3.0KW

04 10 15 20 20 30

400W 80Ω291-----

400W 40Ω-289217 - - -

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

Recommended

Regenerative Resistor

Specifications

400KW 750KW 1.0KW 3.0KW

(F180)

03 07 10 30

400W 80Ω297 - - -

400W 40Ω-289 - -

1KW 40Ω--543-

1.5KW 16Ω-- -166

Lexium 23A 4. Engineering

AC servo drive 59

4.5 Logic type

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.

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.

WARNNG

4. Engineering Lexium 23A

60 AC servo drive

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:

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

Monitoring Task

Data link Error response if the link becomes inoperative

Limit switch signals Monitors for permissible range of travel

Following error Monitors for difference between actual motor position and

reference position

Motor overload Monitors for excessively high current in the motor phases

Overvoltage and

undervoltage

Monitors for overvoltage and undervoltage of the supply

voltage

Overtemperature Monitors the device for overtemperature

I2t limitation Power limitation in the case of overloads for the motor, the

output current, the output power and the braking resistor.

Lexium 23A 4. Engineering

AC servo drive 61

4.7 Configurable inputs and outputs

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.

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).

zIf possible, use the limit switches.

zVerify correct connection of the limit switches.

zVerify 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.

zBefore you can use the limit switches, you must enable them.

Failure to follow these instructions can result in death, serious injury or

equipment damage.

WARNNG

4. Engineering Lexium 23A

62 AC servo drive

AC servo drive 63

Installation

At a Glance

Presentation An engineering phase is mandatory prior to mechanical and electrical installation. See

chapter4 "Engineering", for basic information.

What's in this

Chapter? This chapter contains the following topics:

Topic Page

Mechanical installation 65

Electrical installation 71

Standard Connection Example 107

5. Installation Lexium 23A

64 AC servo drive

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.

LOSS OF CONTROL

zThe 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.

zSeparate or redundant control paths must be provided for critical functions.

zSystem control paths may include communication links. Consideration must

be given to the implication of unanticipated transmission delays or failures

of the link.

zObserve the accident prevention regulations and local safety guidelines. 1)

zEach 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.

WARNNG

Lexium 23A 5. Installation

AC servo drive 65

5.1 Mechanical installation

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.

HOT SURFACES

The heat sink at the product may heat up to over 100C (212F) during operation.

zAvoid contact with the hot heat sink.

zDo not allow flammable or heat-sensitive parts in the immediate vicinity.

zConsider the measures for heat dissipation described.

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

DANGER

WARNNG

5. Installation Lexium 23A

66 AC servo drive

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.

Lexium 23A 5. Installation

AC servo drive 67

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!

zDo not mount the servo drive or motor adjacent to heat-radiating elements or in

direct sunlight.

zDo not mount the servo drive or motor in a location subjected to corrosive gases,

liquids, or airborne dust or metallic particles.

zDo not mount the servo drive or motor in a location where temperatures and

humidity will exceed specification.

zDo not mount the servo drive or motor in a location where vibration and shock will

exceed specification.

zDo not mount the servo drive or motor in a location where it will be subjected to

high levels of electromagnetic radiation.

5. Installation Lexium 23A

68 AC servo drive

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".

Lexium 23A 5. Installation

AC servo drive 69

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.

5. Installation Lexium 23A

70 AC servo drive

z Side by Side Installation

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.

Lexium 23A 5. Installation

AC servo drive 71

5.2 Electrical installation

5.2.1 Connecting to Peripheral Devices

Figure 5.1 Configuration

5. Installation Lexium 23A

72 AC servo drive

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.

U, V, W

FG ( )

Servo motor

output

Used to connect servo motor

Terminal Symbol Wire Color Description

URed

Connecting to

threephase motor main

circuit cable.

VWhite

WBlack

FG ( ) Green

Connecting to ground

terminal ( ) of the

servo drive.

PA/+, PBi, PBe,

PC/-

Regenerative

resistor terminal or

braking unit

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.

two places Ground terminal Used to connect grounding wire of power supply and servo motor.

CN1 I/O connector

(Optional Part)

Used to connect external controllers. Please refer to chapter 5.2.8

for details.

CN2

Encoder

connector

(Optional Part)

Used to connect encoder of servo motor. Please refer to chapter

5.2.9 for details.

Terminal Symbol Wire Color Pin No.

T+ Blue 5

T- Blue/Black 6

n.c. - 3

+5V Red & Red/White 1

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.

Lexium 23A 5. Installation

AC servo drive 73

Wiring Notes 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.

5. Installation Lexium 23A

74 AC servo drive

5.2.3 Wiring Methods

For servo drives from 200W to 1.5kW the input power can be either single or three-

phase. 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)

Lexium 23A 5. Installation

AC servo drive 75

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

5. Installation Lexium 23A

76 AC servo drive

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.

Motor Model Name U, V, W / Electromagnetic Brake Connector Terminal

Identification

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

(Red)

(White)

(Black)

CASE GROUND

(Green)

BRAKE1

(Blue)

BRAKE2

(Brown)

A123 4 --

B124 5 36

CFIB E GH

DDEF G AB

Lexium 23A 5. Installation

AC servo drive 77

5.2.5 Encoder Connector Specifications

Motor Model Name Encoder Connector Terminal

Identification

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) VW3M8122

Terminal

Identification T+ T- Reserved Reserved Reserved Reserved DC+5V GND BRAID

SHELD

(Blue)

(Blue/

Black)

----

(Red &

Red/

White)

(Black &

Black/

White)

BABCDFGSRL

5. Installation Lexium 23A

78 AC servo drive

5.2.6 Cable Specifications for Servo Drive

Power Cable

Encoder Cable

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.

Servo Drive and Servo Motor Power Cable - Wire Gauge mm2(AWG)

L1, L2 R, S, T U, V, W

PA/+, PBe

LXM23AU01M3X BCH0401O 1.3 (AWG16) 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)

LXM23AU02M3X BCH0601O 1.3 (AWG16) 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)

LXM23AU04M3X

BCH0602O 1.3 (AWG16) 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)

BCH0801O 1.3 (AWG16) 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)

BCH1301N 1.3 (AWG16) 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)

BCH1301M 1.3 (AWG16) 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)

LXM23AU07M3X BCH0802O 1.3 (AWG16) 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)

BCH1302M 1.3 (AWG16) 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)

LXM23AU10M3X

BCH1001O 1.3 (AWG16) 2.1 (AWG14) 1.3 (AWG16) 2.1 (AWG14)

BCH1302N 1.3 (AWG16) 2.1 (AWG14) 1.3 (AWG16) 2.1 (AWG14)

BCH1303M 1.3 (AWG16) 2.1 (AWG14) 1.3 (AWG16) 2.1 (AWG14)

LXM23AU15M3X BCH1303N 1.3 (AWG16) 2.1 (AWG14) 1.3 (AWG16) 2.1 (AWG14)

LXM23AU20M3X

BCH1002O 1.3 (AWG16) 2.1 (AWG14) 2.1 (AWG14) 2.1 (AWG14)

BCH1304N 1.3 (AWG16) 2.1 (AWG14) 2.1 (AWG14) 2.1 (AWG14)

BCH1801N 1.3 (AWG16) 2.1 (AWG14) 3.3 (AWG12) 2.1 (AWG14)

LXM23AU30M3X BCH1802N 1.3 (AWG16) 3.3 (AWG12) 3.3 (AWG12) 3.3 (AWG12)

BCH1802M 1.3 (AWG16) 3.3 (AWG12) 3.3 (AWG12) 3.3 (AWG12)

LXM23AU45M3X BCH1803M 1.3 (AWG16) 3.3 (AWG12) 8.4 (AWG8) 3.3 (AWG12)

LXM23AU55M3X BCH1804M 1.3 (AWG16) 3.3 (AWG12) 13.3 (AWG6) 3.3 (AWG12)

LXM23AU75M3X BCH1805M 1.3 (AWG16) 5.3 (AWG10) 13.3 (AWG6) 3.3 (AWG12)

Servo Drive Encoder Cable - Wire Gauge mm2 (AWG)

Wire Size Core Number UL Rating Wire Length

LXM23AU01M3X 0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.)

LXM23AU02M3X 0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.)

LXM23AU04M3X 0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.)

LXM23AU07M3X 0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.)

LXM23AU10M3X 0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.)

LXM23AU15M3X 0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.)

LXM23AU20M3X 0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.)

LXM23AU30M3X 0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.)

LXM23AU45M3X 0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.)

LXM23AU55M3X 0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.)

LXM23AU75M3X 0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.)

Lexium 23A 5. Installation

AC servo drive 79

5.2.7 Basic Wiring

Figure 5.4 Basic Wiring Schematic of 400W and below models

5. Installation Lexium 23A

80 AC servo drive

Figure 5.5 Basic Wiring Schematic of 750W and above models

Lexium 23A 5. Installation

AC servo drive 81

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

Figure 5.6 The Layout of CN1 Drive Connector

5. Installation Lexium 23A

82 AC servo drive

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!

1 DO4+ Digital output 2DO3- Digital output

3 DO3+ Digital output 4 DO2- Digital output

5DO2+ Digital output 6 DO1- Digital output

7 DO1+ Digital output 8 DI4- Digital input

9 DI1- Digital input 10 DI2- Digital input

11 COM+ Power input (12~24V) 12 GND Analog input signal ground

13 GND Analog input signal ground 14 NC No Connection

15 MON2 Analog monitor output 2 16 MON1 Analog monitor output 1

17 VDD +24V power output (for

external I/O)

18 T_REF Analog torque Input

19 GND Analog input signal ground 20 VCC

+12V power output

(for analog command)

21 OA Encoder A pulse output 22 /OA Encoder /A pulse output

23 /OB Encoder /B pulse output 24 /OZ Encoder /Z pulse output

25 OB Encoder B pulse output 26 DO4- Digital output

27 DO5- Digital output 28 DO5+ Digital output

29 /HPULSE High-speed

Pulse input (-)

30 DI8- Digital input

31 DI7- Digital input 32 DI6- Digital input

33 DI5- Digital input 34 DI3- Digital input

35 PULL HI

(SIGN)

Pulse applied power (SIGN) 36 /SIGN Position sign (-)

37 SIGN Position sign (+) 38 HPULSE High-speed

Pulse input (+)

39 PULL

HI_P

(PULSE)

Pulse applied Power

(PULSE)

40 /HSIGN High-speed

position sign (-)

41 PULSE Pulse input (+) 42 V_REF Analog speed input (+)

43 /PULSE Pulse input (-) 44 GND Analog input signal ground

45 COM- VDD(24V) power ground 46 HSIGN High-speed

position sign (+)

47 COM- VDD(24V) power ground 48 OCZ Encoder Z pulse

Open-collector output

49 COM- VDD(24V) power ground 50 OZ Encoder Z pulse

Line-driver output

Lexium 23A 5. Installation

AC servo drive 83

5.2.8.2 Signals

Explanation of

Connector CN1

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 Pin No. Details

Wiring Diagram

(Refer to

5.2.8.4)

Analog

Signal

Input

V_REF 42

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).

T_REF 18

Motor torque command: -10V to +10V,

corresponds to -100% to +100% rated torque

command.

Analog

Monitor

Output

MON1

MON2

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.

Position

Pulse

Input

/PULSE

PULSE

/SIGN

SIGN

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.

C3/C4

PULL HI_P

PULL HI_S

When an Open-collector type of pulse is used,

this terminal must be connected to a pull-up

power supply.

C3/C4

Highspeed

Position

Pulse

Input

HSIGN

/HSIGN

HPULSE

/HPULSE

The drive can accept two different types of

highspeed pulse inputs: +5V input and Line-

driver 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.

C4-2

5. Installation Lexium 23A

84 AC servo drive

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 non-

changeable, 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.

Signal Pin No. Details

Wiring Diagram

(Refer to

5.2.8.4)

Position

Pulse

Output

/OA

22 Encoder signal output A, B, Z (Line-driver

output).

The motor encoder signals are available

through these terminals.

C13/C14

/OB

/OZ

OCZ 48 Encoder signal output Z (Open-collector output). -

Power

VDD 17 VDD is the +24V source voltage provided by the

drive. Maximum permissible current 500mA.

COM+

COM-

COM+ is the common voltage rail of the Digital

Input (DI) and Digital Output (DO) signals.

When using VDD, VDD should be connected to

COM+. If not using VDD, the users should add an

external applied power (+12V to +24V). The

positive end of this applied power should be

connected to COM+ and the negative end of

this applied power should be connected to

COM-.

VCC 20

VCC is a +12V power rail provided by the drive. It

is used for providing simple analog command

(analog speed or analog torque command).

Maximum permissible current 100mA.

Power GND 12, 13, 19,

The polarity of VCC is with respect to Ground

(GND).

Other NC 14 See previous note for NC terminal description

of CN1 connector on page 3-13.

Lexium 23A 5. Installation

AC servo drive 85

Table 5.B DO Signals

Signal

Assigned

Control

Mode

Pin No.

(Default) Details

Wiring Diagram

(Refer to

5.2.8.4)

+ -

SRDY ALL 7 6

SRDY is activated when the servo drive is

ready to run. All fault and alarm conditions, if

present, have been cleared.

C5/C6/C7/C8

SON Not

assigned --

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 ALL 5 4

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

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

ALL

(except

Pt, Pr)

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

speed drops below the Target Rotation

Speed.

TPOS

Pt, Pr,

Pt-S,Pt-T,

Pr-S, Pr-T

1 26

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 +P1-

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 Not

assigned --

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 ALL 28 27

ALRM is activated when the drive has

detected a fault condition. (However, when

Reverse limit error, Forward limit error,

operational stop, Serial communication error,

and Undervoltage these fault occur, WARN is

activated first.)

5. Installation Lexium 23A

86 AC servo drive

DO Signal

Assigned

Control

Mode

Pin No.

(Default) Details(*1) Wiring Diagram

(Refer to

5.2.8.4)

+ -

BRKR ALL 1 26 BRKR is activated actuation of motor brake.

C5/C6/C7/C8

HOME ALL 3 2

HOME is activated when the servo drive has

detected that the "HOME" sensor (ORGP,

digital input 0x24) has been detected.

OLW ALL - -

OLW is activated when the servo drive has

detected that the motor has reached the

output overload level set by the parameter

P1-56.

WARN ALL - -

Servo warning output. WARN is activated

when the drive has detected Reverse limit

error, Forward limit error, operational stop,

Serial communication error, and

Undervoltage these fault conditions.

OVF ALL - -

Position command overflow. OVF is

activated when the servo drive has

detected that a position command

overflows.

SNL

(SCWL) Pr - -

Reverse software limit. SNL is activated

when the servo drive has detected that

reverse software limit is reached.

SPL

(SCCWL) Pr - -

Forward software limit. SPL is activated

when the servo drive has detected that

forward software limit is reached.

CMD_OK Pr - -

Internal position command completed

output.

CMDOK is activated when the servo drive

has detected that the internal position

command has been completed.

CAP_OK Pr - -

Capture operation completed output.

CAP_OK is activated when the servo drive

has detected that capture operation has

been completed.

MC_OK Pr - -

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 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 S, Sz - -

SP_OK will be activated when the speed

error is equal and below the setting value of

P1-47.

Lexium 23A 5. Installation

AC servo drive 87

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.

DO Signal

Assigned

Control

Mode

Pin No.

(Default) Details(*1)

Wiring

Diagram

(Refer to

5.2.8.4)

+ -

SDO_0 ALL - - Output the status of bit00 of P4-06.

C5/C6/C7/C8

SDO_1 ALL - - Output the status of bit00 of P4-06.

SDO_2 ALL - - Output the status of bit00 of P4-06.

SDO_3 ALL - - Output the status of bit00 of P4-06.

SDO_4 ALL - - Output the status of bit00 of P4-06.

SDO_5 ALL - - Output the status of bit00 of P4-06.

SDO_6 ALL - - Output the status of bit00 of P4-06.

SDO_7 ALL - - Output the status of bit00 of P4-06.

SDO_8 ALL - - Output the status of bit00 of P4-06.

SDO_9 ALL - - Output the status of bit00 of P4-06.

SDO_A ALL - - Output the status of bit00 of P4-06.

SDO_B ALL - - Output the status of bit00 of P4-06.

SDO_C ALL - - Output the status of bit00 of P4-06.

SDO_D ALL - - Output the status of bit00 of P4-06.

SDO_E ALL - - Output the status of bit00 of P4-06.

SDO_F ALL - - Output the status of bit00 of P4-06.

5. Installation Lexium 23A

88 AC servo drive

Table 5.C DI Signals

Signal

Assigned

Control

Mode

Pin No.

(Default)

Details(*2)

Wiring

Diagram

(Refer to

5.2.8.4)

SON ALL 9 Servo On. Switch servo to "Servo Ready".

C9/C10/C11/

C12

ARST ALL 33

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.

GAINUP ALL - Gain switching

CCLR Pt, Pr 10

When CCLR is activated, the setting

parameter P2-50 Pulse Clear Mode is

executed.

ZCLAMP ALL -

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.

CMDINV T, S - When this signal is On, the motor is in

reverse rotation.

CTRG Pr, Pr-S,

Pr-T, S, Sz

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.

TRQLM S, Sz 10 ON indicates the torque limit command is

valid.

SPDLM T, Tz 10 ON indicates the speed limit command is

valid.

POS0 Pr, Pr-S,

Pr-T 34 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.

POS1 8

POS2 -

STOP --Motor stop.

SPD0 S, Sz, Pt-S,

Pr-S, S-T

34 Select the source of speed command:

See table 5.E.

SPD1 8

TCM0 Pt, T, Tz,

Pt-T, Pr-T,

S-T

34 Select the source of torque command:

See table 5.F.

TCM1 8

S-P Pt-S, Pr-S 31 Speed / Position mode switching

OFF: Speed, ON: Position

S-T S-T 31 Speed / Torque mode switching

OFF: Speed, ON: Torque

T-P Pt-T, Pr-T 31

Torque / Position mode switching

OFF: Torque, ON: Position "the next closer BSH

motor variant from stock":

Lexium 23A 5. Installation

AC servo drive 89

Signal

Assigned

Control

Mode

Pin No.

(Default) Details(*2)

Wiring

Diagram

(Refer to

5.2.8.4)

Pt-Pr Pt, Pr -

Internal position (Pr) and external pulse (Pt)

mode switching.

OFF: Pt, ON: Pr

C9/C10/C11/

C12

PTAS Pt -

External command source selection: pulse and

analog voltage switching.

OFF: The command source is external pulse.

ON: The command source is external analog

voltage.

PTCMS Pt -

External command source selection: high-

speed / 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.

EMGS ALL 30 It should be contact "b" and normally ON or a

fault (AL013) will display.

NL(CWL) Pt, Pr, S,

T, Sz, Tz 32 Reverse inhibit limit. It should be contact "b"

and normally ON or a fault (AL014) will display.

PL(CCWL) Pt, Pr, S,

T, Sz, Tz 31 Forward inhibit limit. It should be contact "b"

and normally ON or a fault (AL015) will display.

ORGP Pr -

When ORGP is activated, the drive will

command the motor to start to search the

reference "Home" sensor.

TLLM Not

assigned -Reverse operation torque limit (Torque limit

function is valid only when P1-02 is enabled)

TRLM Not

assigned -Forward operation torque limit (Torque limit

function is valid only when P1-02 is enabled)

SHOM Pr - When SHOM is activated, the drive will

command the motor to move to "Home".

JOGU

All modes

excep

CAN

-Forward JOG input. When JOGU is activated, the

motor will JOG in forward direction. [see P4-05]

JOGD

All modes

except

CAN

Reverse JOG input. When JOGD is activated, the

motor will JOG in reverse direction.

[see P4-05]

5. Installation Lexium 23A

90 AC servo drive

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

Signal

Assigned

Control

Mode

Pin No.

(Default) Details(*2)

Wiring

Diagram

(Refer to

5.2.8.4)

GNUM0

Pt, Pr, Pt-S,

Pr-S

-Electronic gear ratio (Numerator) selection

0. [See P2-60~P2-62]

C9/C10/C11/

C12

GNUM1

Pt, Pr, Pt-S,

Pr-S

-Electronic gear ratio (Numerator) selection 1.

[See P2-60~P2-62]

INHP

Pt, Pt-S

Pulse inhibit input. When the drive is in

position mode, if INHP is activated, the

external pulse input command is not valid.

Position Command POS2 POS1 POS0 CTRG Parameters

P1 0 0 0

P6-02

P6-03

P2 0 0 1

P6-04

P6-05

P3 0 1 0

P6-06

P6-07

P4 0 1 1

P6-08

P6-09

P5 1 0 0

P6-10

P6-11

P6 1 0 1

P6-12

P6-13

P7 1 1 0

P6-14

P6-15

P8 1 1 1

P6-16

P6-17

Lexium 23A 5. Installation

AC servo drive 91

Table 5.E Source of Speed Command

Table 5.F Source of Torque Command

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.

SPD1 SPD0 Parameter

OFF OFF S mode: analog input

Sz mode: 0

OFF ON P1-09

ON OFF P1-10

ON ON P1-11

TCM1 TCM0 Parameter

OFF OFF T mode: analog input

Tz mode: 0

OFF ON P1-12

ON OFF P1-13

ON ON P1-14

5. Installation Lexium 23A

92 AC servo drive

Table 5.G Default DI signals and Control modes

Signal DI

Code Function Pt Pr S T Sz Tz Pt

TCANopen

SON 0x01 Servo On DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1

ARST 0x02 Alarm Reset DI5 DI5 DI5 DI5 DI5 DI5

GAINUP 0x03 Gain switching

CCLR 0x04 Pulse clear DI2 DI2 DI2

ZCLAMP 0x05 Low speed CLAMP

CMDINV 0x06 Command input

reverse control

Reserved 0x07 Reserved

CTRG 0x08 Command triggered DI2 DI2 DI2

TRQLM 0x09 Torque limit enabled DI2 DI2

SPDLM 0x10 Speed limit enabled DI2 DI2

POS0 0x11 Position command

selection 0 (1~8) DI3 DI3 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 DI3 DI3 DI5 DI3

SPD1 0x15 Speed command

selection 1 (1~4) DI4 DI4 DI4 DI6 DI4

TCM0 0x16 Torque command

selection 0 (1~4) DI3 DI3 DI3 DI3 DI5 DI5

TCM1 0x17 Torque command

selection 0 (1~4) DI4 DI4 DI4 DI4 DI6 DI6

S-P 0x18

Position / Speed

mode switching

(OFF: Speed, ON:

Position)

DI7 DI7

S-T 0x19

Speed / Torque

mode switching

(OFF: Speed, ON:

Torque)

DI7

T-P 0x20

Torque / Position

mode switching

(OFF: Torque, ON:

Position)

DI7 DI7

Lexium 23A 5. Installation

AC servo drive 93

NOTE:

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

Signal DI

Code Function Pt Pr S T Sz Tz Pt

TCANopen

Pt-Pr 0x2A

Internal position (Pr)

and external pulse

(Pt) mode switching

(OFF: Pt, ON: Pr)

PTAS 0x2B

External command

source selection:

pulse and analog

voltage switching (in

Pt mode only)

PTCMS 0x2C

External command

source selection:

highspeed / low-

speed pulse

switching (in Pt

mode only)

OPST 0x21 Operational stop DI8 DI8 DI8 DI8 DI8 DI8 DI8 DI8 DI8 DI8 DI8 DI8

CWL(NL) 0x22 Reverse inhibit limit DI6 DI6 DI6 DI6 DI6 DI6 DI6

CCWL(PL) 0x23 Forward inhibit limit DI7 DI7 DI7 DI7 DI7 DI7 DI7

ORGP 0x24 Reference "Home"

sensor DI5

TLLM 0x25

Reverse operation

torque limit (torque

limit function is valid

only when P1-02 is

enabled)

TRLM 0x26

Forward operation

torque limit (torque

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

5. Installation Lexium 23A

94 AC servo drive

Table 5.H Default DO signals and Control modes

Signal DO

Code Function Pt Pr S T Sz Tz Pt

TCANopen

SRDY 0x01 Servo ready DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1

SON 0x02 Servo On

ZSPD 0x03 At Zero speed DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2

TSPD 0x04 At Speed reached DO3 DO3 DO3 DO3 DO3 DO3 DO3 DO3 DO3

TPOS 0x05 At Positioning

completed DO4 DO4 DO4 DO4 DO4 DO4

TQL 0x06 At Torques limit

ALRM 0x07 Servo alarm (Servo

fault) activated DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5

BRKR 0x08 Electromagnetic

brake control DO4 DO4 DO4 DO4

HOME 0x09 Homing completed DO3 DO3

OLW 0x10 Output overload

warning

WARN 0x11 Servo warning

activated

OVF 0x12 Position command

overflow

SCWL

(SNL) 0x13 Reverse software

limit

SCCWL

(SPL) 0x14 Forward software

limit

Cmd_OK

0x15

Internal position

command

completed output

CAP_OK

0x16 Capture operation

completed output

MC_OK 0x17 Motion control

completed output

SP_OK 0x19 Speed reached

output

SDO_0 0x30 Output the status

of bit00 of P4-06.

SDO_1 0x31 Output the status

of bit01 of P4-06.

SDO_2 0x32 Output the status

of bit02 of P4-06.

SDO_3 0x33 Output the status

of bit03 of P4-06.

SDO_4 0x34 Output the status

of bit04 of P4-06.

Lexium 23A 5. Installation

AC servo drive 95

Note:

1) For Pin numbers of DO1~DO5 signals, please refer to section 5.2.8.1.

5.2.8.3 User-

defined 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 DO

Code Function Pt Pr S T Sz Tz Pt

TCANopen

SDO_5 0x35 Output the status of

bit05 of P4-06.

SDO_6 0x36 Output the status of

bit06 of P4-06.

SDO_7 0x37 Output the status of

bit07 of P4-06.

SDO_8 0x38 Output the status of

bit08 of P4-06.

SDO_9 0x39 Output the status of

bit09 of P4-06.

SDO_A 0x3A Output the status of

bit10 of P4-06.

SDO_B 0x3B Output the status of

bit11 of P4-06.

SDO_C 0x3C Output the status of

bit12 of P4-06.

SDO_D 0x3D Output the status of

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.

Signal Name Pin No. Parameter Signal Name Pin No. Parameter

Standard

DI1- Pin 9 of CN1 P2-10

Standard

DO1+ Pin 7 of CN1 P2-18

DI2- Pin 10 of CN1 P2-11 DO1- Pin 6 of CN1

DI3- Pin 34 of CN1 P2-12 DO2+ Pin 5 of CN1 P2-19

DI4- Pin 8 of CN1 P2-13 DO2- Pin 4 of CN1

DI5- Pin 33 of CN1 P2-14 DO3+ Pin 3 of CN1 P2-20

DI6- Pin 32 of CN1 P2-15 DO3- Pin 2 of CN1

DI7- Pin 31 of CN1 P2-16 DO4+ Pin 1 of CN1 P2-21

DI8- Pin 30 of CN1 P2-17 DO4- Pin 26 of CN1

DO5+ Pin 28 of CN1 P2-22

DO5- Pin 27 of CN1

5. Installation Lexium 23A

96 AC servo drive

5.2.8.4 Wiring

Diagrams of I/O

Signals (CN1)

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.

Lexium 23A 5. Installation

AC servo drive 97

Caution: Ensure that the ground terminal of the controller and the servo drive should

be connected to each other.

5. Installation Lexium 23A

98 AC servo drive

Be sure to connect a diode when the drive is applied to inductive load.

(Permissible current: 40mA, Instantaneous peak current: max. 100mA)

Lexium 23A 5. Installation

AC servo drive 99

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.

5. Installation Lexium 23A

100 AC servo drive

Lexium 23A 5. Installation

AC servo drive 101

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

Figure 5.8 The layout of CN2 Motor Connector

CN2

5. Installation Lexium 23A

102 AC servo drive

CN2 Terminal Signal Identification

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

Drive Connector Motor Connector

PIN No. Terminal

Identification Description Military

Connector

Quick

Connector Color

5T+

Serial communication signal

input / output (+) A1Blue

6T-

Serial communication signal

input / output (-) B 4 Blue/Black

1 +5V +5V power supply S 7 Red & Red/

White

2, 4 GND Ground R 8 Black & Black/

White

- - Shielding L 9 -

Lexium 23A 5. Installation

AC servo drive 103

CN3 Terminal Signal Identification

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.

Pin No. Signal Name Terminal

Identification Description

1 RS-232 data transmission RS-232_TX For data transmission of the servo drive.

Connected to the RS-232 interface of PC.

2 RS-232 data receiving RS-232_RX For data receiving of the servo drive.

Connected to the RS-232 interface of PC.

3, 6, 7 - - Reserved

4RS-485 data transmission RS-485(+) For data transmission of the servo drive

(differential line driver + end)

5 RS-485 data transmission RS-485(-) For data transmission of the servo drive

(differential line driver - end)

8 Grounding GND Ground

5. Installation Lexium 23A

104 AC servo drive

Figure 5.10 The layout of CN4 Connector

CN4 Interface Signal Identification

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.

Pin No. Signal Name Description

1.9 CAN_H CAN_H bus line (dominant high)

2.10 CAN_L CAN_H bus line (dominant low)

3.11 CAN_GND Ground / OV/V-

4.12 - Reserved

5.13 - Reserved

6.14 - Reserved

7.15 CAN_GND Ground / OV/V-

8.16 - Reserved

Lexium 23A 5. Installation

AC servo drive 105

Cable specifications

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.

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.

5. Installation Lexium 23A

106 AC servo drive

Maximum bus

length CAN

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 D-

SUB connectors.

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".

Baud rate [kblt/s] Maxlmum bus length [m]

50 1000

125 500

250 250

500 100

1000 201)

Lexium 23A 5. Installation

AC servo drive 107

5.3 Standard Connection Example

5.3.1 Position control mode wiring diagram (pulse control)

5. Installation Lexium 23A

108 AC servo drive

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

Lexium 23A 5. Installation

AC servo drive 109

5.3.3 Speed control mode wiring diagram

5. Installation Lexium 23A

110 AC servo drive

5.3.4 Torque control mode wiring diagram

Lexium 23A 5. Installation

AC servo drive 111

5.3.5 CANopen control mode wiring diagram

5. Installation Lexium 23A

112 AC servo drive

AC servo drive 113

Commissioning

At a Glance

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

offers.

What's in this

Chapter? This chapter contains the following topics:

Topic Page

Basic information 114

Overview 117

Integrated HMI Digital Keypad 119

Commissioning software 124

Commissioning procedure 125

6. Commissioning Lexium 23A

114 AC servo drive

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.

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 voltage-

free condition.

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

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.

DANGER

Lexium 23A 6. Commissioning

AC servo drive 115

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.

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.

6. Commissioning Lexium 23A

116 AC servo drive

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.

Lexium 23A 6. Commissioning

AC servo drive 117

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 ...

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

6. Commissioning Lexium 23A

118 AC servo drive

6.2.2 Commissioning tools

Overview The following tools can be used for commissioning, parameterization and

diagnostics:

(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.

Figure 6.1 Commissioning tools

Lexium 23A 6. Commissioning

AC servo drive 119

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

Function

LCD Display The LCD Display (5-digit, 7-step display panel) shows the monitor codes,

parameter settings and operation values of the AC servo drive.

Charge LED The Charge LED lights to indicate the power is applied to the circuit.

Key Key. Pressing key can enter or exit different parameter groups,

and switch between Monitor mode and Parameter mode.

Key

Key. Pressing key can scrolls through parameter groups. After a

parameter is selected and its value displayed, pressing 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.

Key

key. Pressing the key can display and save the parameter groups,

the various parameter settings. In monitor mode, pressing key can

switch decimal or hexadecimal display. In parameter mode, pressing

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

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

settings changes are not effective until the key is pressed.)

M M

S S

ENT

ENT ENT

ENT

6. Commissioning Lexium 23A

120 AC servo drive

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 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 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 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

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

parameter simultaneously. Then, users can use or arrow key to change

parameter value or press 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 or

arrow key.

8. After the setting value change is completed, press 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.

ENT

Lexium 23A 6. Commissioning

AC servo drive 121

6.3.3 Status Display

6.3.3.1 Save

Setting Display After the key is pressed, LCD display will show the following display messages for

approx. one second according to different status.

6.3.3.2 Decimal

Point Display

6.3.3.3 Fault

Message Display

6.3.3.4 Polarity

Setting Display

Display

Message Description

;-J1@ The setting value is saved correctly. [Saved)

H!97= This parameter is read only. Write-protected. (Read-Only)

7Ec

.@Invalid password or no password was input. (Locked)

9JI!H The setting value is error or invalid. (Out of Range)

;HJ9D The servo system is running and it is unable to accept this setting value to be

changed. (Servo On)

FE!#D This parameter is valid after restarting the drive. (Power On)

ENT

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.

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

or arrow key can increase or decrease the display value. key is

used to change the selected digit (The selected digit will blink).

%.'.)+#

Negative value display. Continuously press 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.)

6. Commissioning Lexium 23A

122 AC servo drive

6.3.3.5 Monitor

Setting Display

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 or

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 Description Unit

02>.:<< Motor feedback pulse number (after

electronic gear ratio is set) [user unit]

1/!:<< Input pulse number of pulse command (after

electronic gear ratio is set) [user unit]

21H.:<< Position error counts between control

command pulse and feedback pulse [user unit]

32>.:7; Motor feedback pulse number (encoder unit,

1280000 pulse/rev) [pulse]

4/!:7; Input pulse number of pulse command

(before electronic gear ratio is set) [pulse]

51H.:7; Position error counts [pulse]

6/:!2H Input frequency of pulse command [Kpps]

7;:11@ Motor rotation speed [rpm]

8/;:@5 Speed input command [Volt]

9/;:@% Speed input command [rpm]

10 /!IG5 Torque input command [Volt]

11 /!IG% Torque input command [%]

12 -J3!7 Average load [%]

13 :1!7 Peak load [%]

14 < >J; Main circuit voltage [Volt]

15 6!7 Ratio of load inertia to Motor inertia (Please

note that if the display is 130, it indicates that

the actual inertia is 13.0)

[0.1 times]

16 53>I.IIGBT temperature [oC]

17 H;D.2H Resonance frequency (The low byte is the first

resonance point and the high byte is the

second resonance point.)

[Hz]

@522.%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. -

Lexium 23A 6. Commissioning

AC servo drive 123

The following table lists the display examples of monitor 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.

P0-02 Setting

Display Message Description Unit

19 88-:$ Mapping Parameter 1: Display the content of

parameter P0-25 (mapping target is specified

by parameter P0-35)

20 88-:% Mapping Parameter 2: Display the content of

parameter P0-26 (mapping target is specified

by parameter P0-36)

21 88-:& Mapping Parameter 3: Display the content of

parameter P0-27 (mapping target is specified

by parameter P0-37)

22 88-:' Mapping Parameter 4: Display the content of

parameter P0-28 (mapping target is specified

by parameter P0-38)

23 <-H!$ Status Monitor 1: Display the content of

parameter P0-09 (the monitor status is

specified by parameter P0-17)

24 <-H!% Status Monitor 2: Display the content of

parameter P0-10 (the monitor status is

specified by parameter P0-18)

25 <-H!& Status Monitor 3: Display the content of

parameter P0-11 (the monitor status is

specified by parameter P0-19)

26 <-H!' Status Monitor 4: Display the content of

parameter P0-12 (the monitor status is

specified by parameter P0-20)

Display Message Description

#$%&' (Dec.) 16-bit

Data

Decimal display. When the actual value is 1234, the

display is 01234.

$%&' (Hex.) Hexadecimal display. When the actual value is

0x1234, the display is 1234.

$%&'.((Dec. High Byte)

32-bit

Data

Decimal display. When the actual value is

1234567890, the display of high byte is 1234.5 and

the display of low byte is 67890.

)*+,#.(Dec. Low Byte)

A$%&' (Hex. High Byte) Hexadecimal display. When the actual value is

0x12345678, the display of high byte is h1234 and

the display of low byte is L5678.

7()*+ (Hex. Low Byte)

$.%.&.'.(.

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.)

6. Commissioning Lexium 23A

124 AC servo drive

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 The commissioning software offers help functions, which can be accessed via

"?-Help Topics" or by pressing theF1key.

Lexium 23A 6. Commissioning

AC servo drive 125

6.5 Commissioning procedure

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 If the device is not to be commissioned exclusively via the Integrated HMI, a PC with

the commissioning software must be connected.

Switching on the

device

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.

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. Commissioning Lexium 23A

126 AC servo drive

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

Lexium 23A 6. Commissioning

AC servo drive 127

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

6. Commissioning Lexium 23A

128 AC servo drive

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.

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)

zInspect the servo drive and servo motor to insure they were not damaged.

zEnsure that all wiring terminals are correctly insulated.

zEnsure that all wiring is correct or damage and or malfunction may result.

zVisually check to ensure that there are not any unused screws, metal strips, or any

conductive or inflammable materials inside the drive.

zMake sure control switch is OFF.

zNever put inflammable objects on servo drive or close to the external regenerative

resistor.

zIf the electromagnetic brake is being used, ensure that it is correctly wired.

zIf required, use an appropriate electrical filter to eliminate noise to the servo drive.

zEnsure that the external applied voltage to the drive is correct and matched to the

controller.

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.

DANGER

Lexium 23A 6. Commissioning

AC servo drive 129

2. Inspection during operation (Control power is applied)

zEnsure 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.

zCheck 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.

zEnsure 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.

zEnsure to reset some parameters when the servo drive is off (Please refer to

Chapter 11). Otherwise, it may result in malfunction.

zIf 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.

zCheck 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.

6. Commissioning Lexium 23A

130 AC servo drive

6.5.4.2 Applying

Power to the Drive

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.

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.

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

damage the AC servo drive.

DANGER

Lexium 23A 6. Commissioning

AC servo drive 131

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).

6. Commissioning Lexium 23A

132 AC servo drive

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:

z 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).

Lexium 23A 6. Commissioning

AC servo drive 133

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.

6. Commissioning Lexium 23A

134 AC servo drive

6.5.4.3 JOG Trial

Run without Load

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 key, the drive will enter into JOG operation mode

automatically.

STEP 3: The users can press and key to change JOG speed and press key

to adjust the digit number of the displayed value.

STEP 4: Pressing key can determine the speed of JOG operation.

STEP 5: Pressing key and the servo motor will run in P(CCW) direction. After

releasing key, the motor will stop running.

STEP 6: Pressing 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 key, it can exit JOG operation mode.

ENT

Lexium 23A 6. Commissioning

AC servo drive 135

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.

6. Commissioning Lexium 23A

136 AC servo drive

6.5.4.4 Speed Trial

Run without Load

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:

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.

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 P2-12=114 SPD0 Speed command selection DI3-=34

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 -

Lexium 23A 6. Commissioning

AC servo drive 137

The speed command is selected by SPD0, SPD1. Please refer to the following table:

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:

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).

Speed

Command No.

DI signal of CN1 Command

Source Content Range

SPD1 SPD0

S1 0 0 External analog

command

Voltage between

V-REF and GND -10V ~ +10V

S2 0 1

Internal

parameter

P1-09 -60000 ~ 60000

S3 1 0 P1-10 -60000 ~ 60000

S4 1 1 P1-11 -60000 ~ 60000

P1-09 is set to +30000 Input value command Rotation direction

P1-10 is set to +1000 +N(CW)

P1-11 is set to -30000 - P(CCW)

6. Commissioning Lexium 23A

138 AC servo drive

6.5.4.5 Position

Trial Run without

Load

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:

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 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.

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.

Digital Input

Parameter

Setting

Value

Sign Function Description CN1 Pin

No.

DI1 P2-10=101 SON Servo On DI1-=9

DI2 P2-11=108 CTRG Command trigged DI2-=10

DI3 P2-12=111 POS0 Position command selection DI3-=34

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 -

Lexium 23A 6. Commissioning

AC servo drive 139

Please refer to the following table for 8 groups of position commands and position

command selection from POS0 to POS2.

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.

Position Command POS2 POS1 POS0 CTRG Parameters

P1 000

P6-02

P6-03

P2 0 0 1

P6-04

P6-05

P3 0 1 0

P6-06

P6-07

P4 0 1 1

P6-08

P6-09

P5 1 0 0

P6-10

P6-11

P6 1 0 1

P6-12

P6-13

P7 1 1 0

P6-14

P6-15

P8 111

P6-16

P6-17

6. Commissioning Lexium 23A

140 AC servo drive

6.5.4.6 Tuning

Procedure

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. :%!##

4. Press key to view each parameter and select parameter P2-17. :%!$*

5. Press key to display the parameter value as shown on the right side. %$

6. Press key twice to change the parameter values. Use key to cycle

through the available settings and then press key to determine the

parameter settings.

$%$

7. Press key to view each parameter and select parameter P2-30. :%!&#

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

9. Select parameter value 1. Use key to cycle through the available settings. $

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

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.) (.#

13. Press key to select parameter mode. :%!&#

14. Press key twice to select parameter group. :'!##

15. Press key to select user parameter P4-05. :'!#(

16. Press key and JOG speed 20 rpm will be displayed. Press and key

to increase and decrease JOG speed. To press key one time can add one

digit number.

%##

17.

Select desired JOG speed, press 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 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 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.

ENT

MENT

Lexium 23A 6. Commissioning

AC servo drive 141

(1) Tuning Flowchart

6. Commissioning Lexium 23A

142 AC servo drive

(2) Load Inertia Estimation Flowchart

Lexium 23A 6. Commissioning

AC servo drive 143

(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.

6. Commissioning Lexium 23A

144 AC servo drive

(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 semi-

auto 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.

Lexium 23A 6. Commissioning

AC servo drive 145

(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.

6. Commissioning Lexium 23A

146 AC servo drive

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.

Lexium 23A 6. Commissioning

AC servo drive 147

(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.

6. Commissioning Lexium 23A

148 AC servo drive

(7) Relationship between Tuning Modes and Parameters

When switching mode #1 to #0, the setting value of P2-00, P2-02, P2-04, P2-06, P2-

25, 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, P2-

25, P2-26 and P2-49 will change to the value that measured in #2 semi-auto tuning

mode.

Tuning Mode P2-32 AutoSet

Parameter User-defined Parameter Gain Value

Manual Mode

(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

Auto Mode

[Continuous

Adjustment]

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)

Semi-Auto Mode

[Non-continuous

Adjustment]

P1-37

P2-00

P2-02

P2-04

P2-06

P2-25

P2-26

P2-49

P2-31 (Auto Stiffness and Frequency

response Level)

Non-

continuous

Adjusting

(stop after a

period of

time)

Lexium 23A 6. Commissioning

AC servo drive 149

(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) =

z 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:

6. Commissioning Lexium 23A

150 AC servo drive

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

z 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:

z 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.

z 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 151

Operation

At a Glance

What's in this

Chapter? This chapter contains the following topics:

Topic Page

Access channels 152

General Function Operation 153

Control Modes of Operation 156

Other functions 202

7. Operation Lexium 23A

152 AC servo drive

The chapter "Operation" describes the basic operating states, operating modes and

functions of the device.

7.1 Access channels

The product can be addressed via different access channels. Access channels are:

z Integrated HMI

z Commissioning software

z Digital input signals

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.

zDo NOT operate the drive system with unknown settings or data.

zVerify that the stored data and settings are correct.

zWhen commissioning, carefully run tests for all operating states and

potential error situations.

zVerify the functions after replacing the product and also after making

changes to the settings or data.

zOnly 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.

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.

zVerify that incorrect accesses are locked.

zVerify that required accesses are available.

Failure to follow these instructions can result in death, serious injury or

equipment damage.

WARNNG

Lexium 23A 7. Operation

AC servo drive 153

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).

7. Operation Lexium 23A

154 AC servo drive

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).

Lexium 23A 7. Operation

AC servo drive 155

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.

7. Operation Lexium 23A

156 AC servo drive

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 Mode Code Description

Single

Mode

External Position

Control Pt 00 Position control for the servo motor is achieved via an

external pulse command.

Internal Position

Control Pr 01

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 S 02

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).

Internal Speed

Control Sz 04

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 T 03

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).

Internal Torque

Control Tz 05

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).

Dual Mode

Pt-S 06 Either Pt or S control mode can be selected via the Digital

Inputs (DI)

Pt-T 07 Either Pt or T control mode can be selected via the Digital

Inputs (DI).

Pr-S 08 Either Pr or S control mode can be selected via the Digital

Inputs (DI).

Pr-T 09 Either Pr or T control mode can be selected via the Digital

Inputs (DI).

S-T 0A Either S or T control mode can be selected via the Digital

Inputs (DI).

Lexium 23A 7. Operation

AC servo drive 157

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.

Mode Mode Code Description

canopen

0B CAN communication control is achieved via the

commands from the host (external) controller.

Reserved

0C Reserved

Multiple Mode

Pt-Pr 0D Either Pt or Pr control mode can be selected via the

Digital Inputs (DI).

Pt-Pr-S 0E Either Pt or Pr or S control mode can be selected via the

Digital Inputs (DI).

Pt-Pr-T 0F Either Pt or Pr or T control mode can be selected via the

Digital Inputs (DI).

7. Operation Lexium 23A

158 AC servo drive

7.3.2.1 Command

Source of Position

(Pt) Control Mode

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:

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.

P1-00rPTT 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

BLow Filter Setting Value High Filter

0 1.66Mpps 0 6.66Mpps

1 416Kpps 1 1.66Mpps

2 208Kpps 2 833Kpps

3 104Kpps 3 416Kpps

Lexium 23A 7. Operation

AC servo drive 159

C: Input polarity

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.

D: Source of pulse command

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.

Pulse Type 0=Positive Logic 1=Negative Logic

Forward 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

Setting

value

Input pulse interface Remark

0 Low-speed pulse CN1 Terminal Identification:

PULSE, SIGN

1 High-speed puls CN1 Terminal Identification:

HPULSE, HSIGN

7. Operation Lexium 23A

160 AC servo drive

7.3.2.2 Command

Source of Position

(Pr) Control Mode

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:

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:

Position Command POS2 POS1 POS0 CTRG Parameters

P1 0 0 0

P6-02

P6-03

P2 0 0 1

P6-04

P6-05

P3 0 1 0

P6-06

P6-07

P4 0 1 1

P6-08

P6-09

P5 1 0 0

P6-10

P6-11

P6 1 0 1

P6-12

P6-13

P7 1 1 0

P6-14

P6-15

P8 1 1 1

P6-16

P6-17

Lexium 23A 7. Operation

AC servo drive 161

7.3.2.3 Structure

of Position Control

Mode

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.

7. Operation Lexium 23A

162 AC servo drive

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

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.

Lexium 23A 7. Operation

AC servo drive 163

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.

7. Operation Lexium 23A

164 AC servo drive

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.

Lexium 23A 7. Operation

AC servo drive 165

7.3.2.5 Electronic

Gear Ratio Relevant parameters:

P1-44rGR1 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).

P1-45rGR2 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<N/M<25600.

Please note:

1 In Pt and Pr mode, the setting value of P1-45 can not be changed when the servo

drive is enabled (Servo On).

7. Operation Lexium 23A

166 AC servo drive

The electronic gear function provides easy travel distance ratio change. However, the

over high electronic gear ratio will command the motor to move not smoothly. At this

time, the users can use low-pass filter parameter to improve this kind of situation. For

example, assume that the electronic gear ratio is equal to 1 and the encoder pulse per

revolution is 10000ppr, if the electronic gear ratio is changed to 0.5, then the motor

will rotate one pulse when the command from external controller is two pulses.

For example, after the proper electronic gear ratio is set, the reference travel

distance is 1μ m/pulse, the machinery will become easier to be used.

7.3.2.6 Low-pass

Filter

Relevant parameters:

P1-08 PFLT Smooth Constant of Position

Command (Low-pass Filter) Address: 0110H, 0111H

Default: 0 Related Section:

Applicable Control Mode: Pt/Pr Section 7.3.2.6

Unit: 10msec

Range: 0 ~ 1000 (0: Disabled)

Data Size: 16-bit

Display Format: Decimal

Lexium 23A 7. Operation

AC servo drive 167

7.3.2.7 Timing

Chart of Position

(Pr) Control Mode

In Pr mode, position command source is DI signal from CN1, i.e. selected by

POS0~POS2 and CTRG.

Please refer to 7.3.2.2 to see the relationship between DI signals and parameters. The

following figure is shown the timing chart of Pr mode:

CMD_OK:CMD_OK is activated when the servo drive has detected that Pr command

has been completed

TPOS: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.

MC OK:MC OK is activated when CMD OK and TPOS are both ON.

7. Operation Lexium 23A

168 AC servo drive

7.3.2.8 Position

Loop Gain

Adjustment

Before performing position control (setting position control block diagram), the

users should complete the speed control setting by using Manual mode (parameter

P-32) since the position loop contains speed loop. Then, adjust the Proportional

Position Loop Gain, KPP (parameter P2-00) and Position Feed Forward Gain, PFG

(parameter P2-02). Or use Auto mode to adjust the gain of speed and position control

block diagram automatically.

1) Proportional Position Loop Gain: To increase this gain can enhance the position

loop responsiveness.

2) Position Feed Forward Gain: To increase this gain can reduce the position track

error during operation.

The position loop responsiveness cannot exceed the speed loop responsiveness, and

it is recommended that the speed loop responsiveness should be at least four times

faster than the position loop responsiveness. This also means that the setting value

of Proportional Speed Loop Gain, KVP should be at least four times faster than

Proportional Position Loop Gain, KPP.

The equation is shown as follows:

, fv : Speed Loop Responsiveness (Hz), fp : Position Loop Responsiveness (Hz)

KPP = 2 x π x fp.

For example, the desired position loop responsiveness is equal to 20 Hz.

Then, KPP = 2 x π x 20= 125 rad/s.

Relevant parameters:

P2-00 KPP Proportional Position Loop Gain Address: 0200H, 0201H

Default: 35 Related Section:

Applicable Control Mode: Pt, Pr Section 7.3.2.8

Unit: rad/s

Range: 0 ~ 2047

Data Size: 16-bit

Display Format: Decimal

Settings:

This parameter is used to set the position loop gain. It can increase stiffness,

expedite position loop response and reduce position error. However, if the setting

value is over high, it may generate vibration or noise.

Lexium 23A 7. Operation

AC servo drive 169

When the value of Proportional Position Loop Gain, KPP is too great, the position loop

responsiveness will be increased and it will result in small phase margin. If this

happens, the rotor of motor will oscillate.

At this time, the users have to decrease the value of KPP until the rotor of motor stop

oscillating. When there is an external torque command interrupted, over low KPP

value will let the motor cannot overcome the external strength and fail to meet the

requirement of reasonable position track error demand. Adjust feed forward gain,

PFG (P2-02) to efficiently reduce the dynamic position track error.

P2-02 PFG Position Feed Forward Gain Address: 0204H, 0205H

Default: 50 Related Section:

Applicable Control Mode: Pt, Pr Section 7.3.2.8

Unit: %

Range: 0 ~ 100

Data Size: 16-bit

Display Format: Decimal

Settings:

This parameter is used to set the feed forward gain when executing position control

command.

When using position smooth command, increase gain can improve position track

deviation.

When not using position smooth command, decrease gain can improve the

resonance condition of mechanical system.



7. Operation Lexium 23A

170 AC servo drive

7.3.2.9 Low-

frequency Vibration

Suppression

If the stiffness of the mechanical system is not sufficient, after the positioning

command has completed, continuous vibration of the mechanical system may occur

still even when the motor has almost stopped. At this time, using low-frequency

vibration suppression function can suppress the low-frequency vibration of

mechanical system. The range of frequency setting is from 1.0 to 100.0Hz. Besides,

two modes (Manual/Auto) of low-frequency vibration suppression function are

available for the users to select.

z Auto Mode

If the users know the point where the low-frequency occurs, we recommend the users

can use this mode to find the low-frequency of the mechanical vibration

automatically. When P1-29 is set to 1, the system will disable the filter function and

find the vibration frequency of low-frequency automatically. After the detected

frequency becomes fixed and stable, the system will set P1-29 to 0, save the first

measured low-frequency value automatically into P1-25 and set P1-26 to 1; then save

the second measured low-frequency value automatically into P1-27 and set P1-28 to

1. If any low-frequency vibration occurs after P1-29 is set to 0 automatically, please

examine if the function of P1-26 or P1-28 is enabled or not. When the setting value of

P1-26 or P1-28 is 0, it indicates that there is no frequency is detected. Please decrease

the setting value of P1-30 (Low-frequency Vibration Detection Level) and set P1-29 to

1 to find the low-frequency again. Please pay close attention on the setting value of

P1-30 as if the setting value of P1-30 is too low, it is easy to regard the interference as

the low-frequency and results in erroneous measurement.

Lexium 23A 7. Operation

AC servo drive 171

Please note:

1) When P1-26 and P1-28 are both set to 0, it indicates that the system could not find the

frequency. Please check the setting value of P1-30 because when the setting value of

P1-30 is too high, it may causes that the frequency becomes difficult to be found.

2) When P1-26 and P1-28 are both set to a non-zero value, if the vibration condition

can not be improved, please check the setting value of P1-30 as the low setting

value of P1-30 may result in erroneous measurement. The system may regard the

interference as a low-frequency.

3) When the vibration still exists and can not be suppressed after using auto low-

frequency vibration suppression function, if the users know the vibration

frequency, please set P1-25 and P1-27 manually to improve the vibration condition.

Relevant parameters:

P1 - 29 AVSM Auto Low-frequency Vibration

Suppression Mode Selection Address: 013AH, 013BH

Default: 0 Related Section:

Applicable Control Mode: Pt/Pr Section 7.3.2.9

Unit: -

Range: 0 ~ 1

Data Size: 16-bit

Display Format: Decimal

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.

P1 - 30 VCL Low-frequency Vibration

Detection Level Address: 013CH, 013DH

Default: 500 Related Section:

Applicable Control Mode: Pt/Pr Section 7.3.2.9

Unit: pulse

Range: 1 ~ 8000

Data Size: 16-bit

Display Format: Decimal

Settings:

When P1-29 is set to 1, the system will find this detection level automatically. If the

setting value of P1-30 is too low, the detection 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.

7. Operation Lexium 23A

172 AC servo drive

The setting value of P1-30 indicates the range of vibration frequency. When the

vibration can not be detected (out of range), it indicates that the setting value of P1-30

is too high and we recommend the users can decrease the setting value of P1-30. The

users can also use the Scope function provided in Lexium23 Plus configuration

software to observe the vibration during positioning operation so as to set P1-30

appropriately.

p Manual Mode

There area two groups of low-frequency vibration suppression parameters. The first

group is P1-25 and P1-26 and the second group is P1-27 and P1-28. Using these two

groups of parameters can improve the vibration condition of two different low

frequencies. P1-25 and P1-26 are used to set the occurred vibration frequency and P1-

26 and P1-28 are used to set the frequency response after filter function is used.

When the setting values of P1-26 and P1-28 are higher, the performance of frequency

response will be better. However, if the setting value is over high, it may affect the

motor operation. The default setting of P1-26 and P1-28 are both 0, and it indicates

that the low-frequency vibration suppression function is disabled.

Relevant parameters:

P1 - 25 VSF1 Low-frequency Vibration

Suppression (1) Address: 0132H, 0133H

Default: 100.0 Related Section:

Applicable Control Mode: Pt/Pr Section 7.3.2.9

Unit: Hz

Range: 1.0 ~ 100.0

Data Size: 16-bit

Display Format: Decimal

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) Address: 0134H, 0135H

Default: 0 Related Section:

Applicable Control Mode: Pt/Pr Section 7.3.2.9

Unit: -

Range: 0 ~ 9 (0: Disable the function of P1-25)

Data Size: 16-bit

Display Format: Decimal

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.

Lexium 23A 7. Operation

AC servo drive 173

Please note:

1) After the low-frequency vibration is suppressed, the changes of the response may

become excessive. Therefore, please ensure that the machine is able to stop any

time and ensure the safety of personnel working with the machine when execute

low-frequency vibration suppression function.

2) The low-frequency vibration suppression function can be enabled only in position

control mode (Pt, Pr or Pr-Pt mode).

3) When the users use resonance suppression function, the resonance condition can be

improved immediately after the correct resonance frequency is found. However, when

the users use low-frequency vibration suppression function, the vibration of the

mechanical system will not be eliminated immediately. The vibration condition is

improved gradually after the correct frequency is found. This is because the low-

frequency vibration suppression function is not effective for the vibration caused by

external force and the vibration occurred before using suppression function.

4) After the low-frequency vibration suppression function is enabled, it will certainly

affect the original response performance. When the value of the low-frequency is

lower, the effect upon the response performance is greater. At this time, the users

can adjust the setting value of P1-26 to increase the position response. But, please

do not set P1-26 to a higher value. If the setting value of P1-26 is too high, it will

affect the motor operation.

5) n order to avoid that the vibration frequency may not easily to be found when the

commanding time is too fast in Auto mode, we recommend the users can set a longer

command delay time. The command can be given after the vibration frequency is found.

P1 - 27 VSF2 Low-frequency Vibration

Suppression (2) Address: 0136H, 0137H

Default: 100.0 Related Section:

Applicable Control Mode: Pt/Pr Section 7.3.2.9

Unit: Hz

Range: 1.0 ~ 100.0

Data Size: 16-bit

Display Format: Decimal

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) Address: 0138H, 0139H

Default: 0 Related Section:

Applicable Control Mode: Pt/Pr Section 7.3.2.9

Unit: -

Range: 0 ~ 9 (0: Disable the function of P1-27)

Data Size: 16-bit

Display Format: Decimal

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.

7. Operation Lexium 23A

174 AC servo drive

7.3.3 Speed Control Mode

The speed control mode (S or Sz) is usually used on the applications of precision

speed control, such as CNC machine, etc. Lexium23 Plus series servo drives support

two kinds of command sources in speed control mode. One is external analog signal

and the other is internal parameter. The external analog signal is from external

voltage input and it can control the speed of servo motor. There are two usage of

internal parameter, one is set different speed command in three speed control

parameters before operation and then using SPD0 and SPD1 of CN1 DI signal perform

switching. The other usage is using serial communication to change the setting value

of parameter.

Beside, in order to make the speed command switch more smoothly, Lexium23

Plus series servo drives also provide complete S-curve profile for speed control

mode. For the closed-loop speed control, Lexium23 Plus series servo drives

provide gain adjustment function and an integrated PI or PDFF controller.

Besides, two modes of tuning technology (Manual/Auto) are also provided for

the users to select (parameter P2-32).

There are two turning modes for gain adjustment: Manual and Auto modes.

z Manual Mode: User-defined loop gain adjustment. When using this mode, all auto

and auxiliary function will be disabled.

z Auto Mode: Continuous adjustment of loop gains according to measured inertia,

with ten levels of system bandwidth. The parameter set by user is default value.

Lexium 23A 7. Operation

AC servo drive 175

7.3.3.1 Command

Source of Speed

Control Mode

Speed command Sources:

1) External analog signal: External analog voltage input, -10V to +10V

2) Internal parameter: P1-09 to P1-11

z State of SPD0~1: 0: indicates OFF (Normally Open); 1: indicates ON (Normally

Closed)

z When SPD0 and SPD1 are both = 0 (OFF), if the control mode of operation is Sz, then

the speed command is 0. Therefore, if the users do not use analog voltage as speed

command, the users can choose Sz mode and avoid the zero point drift problem of

analog voltage signal. If the speed control mode is S mode, then the command is

the analog voltage between V-REF and GND. The setting range of the input voltage

is from -10V to +10V and the corresponding motor speed is adjustable (Please see

parameter P1-40).

z When at least one of SPD0 and SPD1 is not 0 (OFF), the speed command is internal

parameter (P1-09 to P1-11). The command is valid (enabled) after either SPD0 or

SPD1 is changed.

z The range of internal parameters is within -60000 ~ +60000 rpm. Setting value =

Range x Unit (0.1 rpm). For example, if P1-09 is set to +30000, the setting value =

+30000 x 0.1 rpm = +3000 rpm.

The speed command that is described in this section not only can be taken as speed

command in speed control mode (S or Sz mode) but also can be the speed limit input

command in torque control mode (T or Tz mode).

Speed

Command

CN1 DI signal Command Source Content Range

SPD1 SPD0

S1 0 0 Mode

S External

analog signal

Voltage

between

V-REF-GND

-10 V ~ +10V

Sz N/A Speed

command is 0 0

S2 0 1

Internal parameter

P1-09 -60000 ~

+60000 rpm

S3 1 0 P1-10

S4 1 1 P1-11

7. Operation Lexium 23A

176 AC servo drive

7.3.3.2 Structure

of Speed Control

Mode

Speed command Sources:

1) External analog signal: External analog voltage input, -10V to +10V

2) Internal parameter: P1-09 to P1-11

Basic Structure:

In the figure above, the speed command processing is used to select the command

source of speed control according to chapter 6.3.1, including proportional gain (P1-

40) and S-curve filter smoothing strategy of speed control. The speed control block

diagram is used to manage the gain parameters of the servo drive and calculate the

current input provided to motor instantaneously. The resonance suppression block

diagram is used to suppress the resonance of mechanical system.

The function and structure of speed command processing is shown as the figure below:

The command source is selected according to the state of SPD0, SPD1 and parameter

P1-01 (S or Sz).

Whenever the command signal needs to be more smoothly, we recommend the users

to use S-curve and low-pass filter.

Lexium 23A 7. Operation

AC servo drive 177

7.3.3.3 Smoothing

Strategy of Speed

Control Mode

S-curve Filter

The S-curve filter is a speed smoothing command which provides 3 steps accel / decel

S-curve to smooth the speed command change of the motor during acceleration and

deceleration. Using S-curve filter can let the servo motor run more smoothly in

response to a sudden speed command change.

Since the speed and acceleration curve are both continuous, in order to avoid the

mechanical resonance and noise may occur due to a sudden speed command

(differentiation of acceleration), using S-curve filter not only can improve the

performance when servo motor accelerate or decelerate but also can make the

motor run more smoothly. S-curve filter parameters include P1-34 Acceleration Time

(TACC), P1-35 Deceleration Time (TDEC) and Accel /Decel S-curve (TSL), and the

users can use these three parameters to improve the motor performance during

acceleration, deceleration and operation.

Lexium23 Plus series servo drives also support the time calculation of completing

speed command. T (ms) is the operation (running) time. S (rpm) is absolute speed

command, i.e. the absolute value (the result) after starting speed subtracts the

final speed.

7. Operation Lexium 23A

178 AC servo drive

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.

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.

Lexium 23A 7. Operation

AC servo drive 179

P1 - 36 TSL Accel /Decel S-curve Address: 0148H, 0149H

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.

3 If the control of the servo motor is achieved via internal parameters, the command

curve should be defined by the users.

7. Operation Lexium 23A

180 AC servo drive

Analog Speed Command S-curve Filter

Lexium23 Plus series servo drives also provide Analog Speed Command S-curve

Filter for the smoothing in response to a sudden analog input signal.

The analog speed command S-curve filter is for the smoothing of analog input signal

and its function is the same as the S-curve filter. The speed and acceleration curve of

analog speed command S-curve filter are both continuous. The above figure shows

the curve of analog speed command S-curve filter and the users can see the ramp of

speed command is different during acceleration and deceleration. Also, the users can

see the difference of input command tracking and can adjust time setting by using

parameter P1-34, P1-35, P1-36 to improve the actual motor performance according to

actual condition.

Analog Speed Command Low-pass Filter

Analog Speed Command Low-pass Filter is used to eliminate high frequency

response and electrical interference from an analog speed command and it is also

with smoothing function.

Relevant parameters:

P1 - 06 SFLT Accel / Decel Smooth Constant of Analog

Speed Command (Low-pass Filter)

Address: 010CH, 010DH

Default: 0 Related Section:

Applicable Control Mode: S Section 7.3.3.3

Unit: msec

Range: 0 ~ 1000 (0: Disabled)

Data Size: 16-bit

Display Format: Decimal

Lexium 23A 7. Operation

AC servo drive 181

7.3.3.4 Analog

Speed Input Scaling

The analog voltage between V_REF and GND determines the motor speed

command. Using with parameter P1-40 (Max. Analog Speed Command) can adjust

the speed control ramp and its range.

Relevant parameters:

P1-40rVCM Max. Analog Speed Command or Limit Address: 0150H, 0151H

Default: rated speed Related Section:

Applicable Control Mode: S, T Section 7.3.3.4

Unit: rpm

Range: 0 ~ 10000

Data Size: 16-bit

Display Format: Decimal

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

7. Operation Lexium 23A

182 AC servo drive

7.3.3.5 Timing Chart

of Speed Control

Mode

Note:

1) OFF indicates normally open and ON indicates normally closed.

3) When speed control mode is Sz, the speed command S1=0; when speed control mode

is S, the speed command S1 is external analog voltage input (Please refer to P1-01).

3) After Servo ON, the users can select command according to the state of SPD0~1.

7.3.3.6 Speed

Loop Gain

Adjustment

The function and structure of speed control mode is shown as the figure below:

There are two turning modes of gain adjustment: Manual and Auto modes. The gain of

Lexium23 Plus series servo drives can be adjusted by using any one of two tuning modes.

p Manual Mode: User-defined loop gain adjustment. When using this mode, all auto

and auxiliary function will be disabled.

p Auto Mode: Continuous adjustment of loop gains according to measured inertia,

with ten levels of system bandwidth. The parameter set by user is default value.

Lexium 23A 7. Operation

AC servo drive 183

The mode of gain adjustment can be selected by parameter P2-32:

Relevant Parameter:

P2-32rAUT2 Tuning Mode Selection Address: 0240H, 0241H

Default: 0 Related Section:

Applicable Control Mode: ALL Section 5.6, Section 7.3.3.6

Unit: N/A

Range: 0 ~ 2

Data Size: 16-bit

Display Format: Hexadecimal

Settings:

0: Manual mode

1: Auto Mode [Continuous adjustment]

2: Semi-Auto Mode [Non-continuous adjustment]

Explanation of manual mode:

1. When P2-32 is set to mode#0, the setting value of P2-00, P2-02, P2-04,

P2-06, P2-07, P2-25 and P2-26 can be user-defined. When switching

mode #1 or #2 to #0, the setting value of P2-00, P2-02, P2-04, P2-06,

P2-07, P2-25 and P2-26 will change to the value that measured in #1

auto-tuning mode or #2 semi-auto tuning mode.

Explanation of auto-tuning mode:

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.

1. When switching mode #1 or #2 to #0, the servo drive will continuously

estimate the system inertia, save the measured load inertia value

automatically and memorized in P1-37. Then, set the corresponding

parameters according to this measured load inertia value.

2. When switching mode#0 or #1 to #2, enter the appropriate load inertia

value in P1-37.

3. When switching mode#1 to #0, the setting value of P2-00, P2-04 and

P2-06 will change to the value that measured in #1 auto-tuning mode.

Explanation of semi-auto tuning mode:

1. When switching mode #2 to #0, the setting value of P2-00, P2-04, P2-

06, P2-25 and P2-26 will change to the value that measured in #1 auto-

tuning mode.

2. After the system inertia becomes stable (The displau of P2-33 will show 1),

it will stop estimating the system inertia, save the measured load inertia

value automatically, and memorized in P1-37. However, when P2-32 is

set to mode#1 or #2, the servo drive will continuously perform the

adjustment for a period of time.

3. When the value of the system inertia becomes over high, the display of

P2-33 will show 0 and the servo drive will start to adjust the load inertia

value continuously.

7. Operation Lexium 23A

184 AC servo drive

Manual Mode

When Tuning Mode Settings of P2-32 is set to 0, the users can define the proportional

speed loop gain (P2-04), speed integral gain (P2-06) feed forward gain (P2-07) and ratio

of load inertia to servo motor Inertia (1-37). Please refer to the following description:

z Proportional gain: Adjust this gain can increase the position loop responsiveness.

z Integral gain: Adjust this gain can enhance the low-frequency stiffness of speed

loop and eliminate the steady error. Also, reduce the value of phase margin. Over

high integral gain will result in the unstable servo system.

z Feed forward gain: Adjust this gain can decrease the phase delay error

Relevant parameters:

P2-04 KVP Proportional Speed Loop Gain Address: 0208H, 0209H

Default: 500 Related Section:

Applicable Control Mode: ALL Section 7.3.3.6

Unit: rad/s

Range: 0 ~ 8191

Data Size: 16-bit

Display Format: Decimal

Settings:

This parameter is used to set the speed loop gain. When the value of proportional

speed loop gain is increased, it can expedite speed loop response. However, if the

setting value is over high, it may generate vibration or noise.

P2-06 KVI Speed Integral Compensation Address: 020CH, 020DH

Default: 100 Related Section:

Applicable Control Mode: ALL Section 7.3.3.6

Unit: rad/s

Range: 0 ~ 1023

Data Size: 16-bit

Display Format: Decimal

Settings:

This parameter is used to set the integral time of speed loop. When the value of

speed integral compensation is increased, it can improve the speed response ability

and decrease the speed control deviation. However, if the setting value is over high,

it may generate vibration or noise.

P2-07 KVF Speed Feed Forward Gain Address: 020EH, 020FH

Default: 0 Related Section:

Applicable Control Mode: ALL Section 7.3.3.6

Unit: %

Range: 0 ~ 100

Data Size: 16-bit

Display Format: Decimal

Settings:

This parameter is used to set the feed forward gain when executing speed control

command.

When using speed smooth command, increase gain can improve speed track

deviation.

When not using speed smooth command, decrease gain can improve the resonance

condition of mechanical system.

Lexium 23A 7. Operation

AC servo drive 185

In theory, stepping response can be used to explain proportional gain (KVP), integral

gain (KVI) and feed forward gain (KVF). Now we use frequency area and time area

respectively to explain the logic.

Frequency Domain

STEP 1: Set the value of KVI=0, the value of KVF=0 and adjust the value of KVP.

STEP 2: Fix the value of KVP and adjust the value of KVI.

STEP 3: Select the value of KVI, if the value of phase

margin is too small, re-adjust the value of

KVP again to obtain the value, 45deg of

phase margin.

7. Operation Lexium 23A

186 AC servo drive

Time Domain

When the value of KVP is greater, the

value of the responsiveness is also

greater and the raising time is shorter.

However, when the value of phase margin

is over low, it is not helpful to steady error.

But it is helpful to dynamic tracking error.

When the value of KVI is greater, the value

of low-frequency gain is also greater and

the value of steady error is nearly zero

(0).

However, the value of phase margin will

reduce quite substantially. It is helpful to

steady error. But it is not helpful to

dynamic tracking error.

When the value of KVF is nearly to 1 and

the forward compensation is more

complete, then the value of dynamic

tracking error will become very small.

However, when the value of KVF is too

great, it may cause vibration.

Lexium 23A 7. Operation

AC servo drive 187

In general, the equipment, such as spectrum analyzer is needed and used to analyze

when using frequency domain method and the users also should have this kind of

analysis technology. However, when using time domain method, the users only need

to prepare an oscilloscope. Therefore, the general users usually use time domain

method with the analog DI/DO terminal provided by the servo drive to adjust what is

called as PI (Proportional and Integral) type controller. As for the performance of

torque shaft load, input command tracking and torque shaft load have the same

responsiveness when using frequency domain method and time domain method.

The users can reduce the responsiveness of input command tracking by using input

command low-pass filter.

Auto Mode (Continuous adjustment)

This Auto Mode provides continuous adjustment of loop gains according to

measured inertia automatically. It is suitable when the load inertia is fixed or the load

inertia change is small and is not suitable for wide range of load inertia change. The

period of adjustment time is different depending on the acceleration and

deceleration of servo motor. To change the stiffness and responsiveness, please use

parameter P2-31.

7. Operation Lexium 23A

188 AC servo drive

7.3.3.7 Resonance

Suppression

The resonance of mechanical system may occur due to excessive system stiffness or

frequency response. However, this kind of resonance condition can be improved,

suppressed, even can be eliminated by using low-pass filter (parameter P2-25) and

notch filter (parameters P2-43 ~ P2-46) without changing control parameter.

Relevant parameters:

P2 - 43 NCF1 Notch Filter1

(Resonance Suppression)

Address: 0256H, 0257H

Default: 1000 Related Section:

Applicable Control Mode: ALL Section 7.3.3.7

Unit: Hz

Range: 50 ~ 2000

Data Size: 16-bit

Display Format: Decimal

Settings:

This parameter is used to set second resonance frequency of mechanical system. It

can be used to suppress the resonance of mechanical system and reduce the

vibration of mechanical system. If P2-43 is set to 0, this parameter is disabled.

Lexium 23A 7. Operation

AC servo drive 189

P2 - 44 DPH1 Notch Filter Attenuation Rate 1

(Resonance Suppression) Address: 0258H, 0259H

Default: 0 Related Section:

Applicable Control Mode: ALL Section 7.3.3.7

Unit: dB

Range: 0 ~ 32

Data Size: 16-bit

Display Format: Decimal

Settings:

This parameter is used to set magnitude of the resonance suppression that is set by

parameter P2-43. If P2-44 is set to 0, the parameters P2-43 and P2-44 are both

disabled.

P2 - 45 NCF2 Notch Filter 2

(Resonance Suppression) Address: 025AH, 025BH

Default: 1000 Related Section:

Applicable Control Mode: ALL Section 7.3.3.7

Unit: Hz

Range: 50 ~ 2000

Data Size: 16-bit

Display Format: Decimal

Settings:

This parameter is used to set third resonance frequency of mechanical system. It

can be used to suppress the resonance of mechanical system and reduce the

vibration of mechanical system.

If P2-45 is set to 0, this parameter is disabled.

7. Operation Lexium 23A

190 AC servo drive

P2 - 46 DPH2 Notch Filter Attenuation Rate 2

(Resonance Suppression)

Address: 025CH, 025DH

Default: 0 Related Section:

Applicable Control Mode: ALL Section 7.3.3.7

Unit: dB

Range: 0 ~ 32

Data Size: 16-bit

Display Format: Decimal

Settings:

This parameter is used to set magnitude of the resonance suppression that is set by

parameter P2-45. If P2-46 is set to 0, the parameters P2-45 and P2-46 are both

disabled.

P2 - 25 NLP Low-pass Filter Time Constant

(Resonance Suppression) Address: 0232H, 0233H

Default: 2 (1kW and below models) or

5 (other models) Related Section:

Applicable Control Mode: ALL Section 7.3.3.7

Unit: 0.1 msec

Range: 0 ~ 1000

Data Size: 16-bit

Display Format: Decimal

Settings:

This parameter is used to set low-pass filter time constant of resonance

suppression. If P2-25 is set to 0, this parameter is disabled.

Lexium 23A 7. Operation

AC servo drive 191

There are two groups of notch filters provided by Lexium23 Plus series. The first group of

notch filter is P2-43 and P2-44, and the second group of notch filter is P2-45 and P2-46.

When there is resonance, please set P2-47 to 1 or 2 (Auto mode), and then the servo drive

will find resonance frequency and suppress the resonance automatically. After

suppressing the resonance point, the system will memorize the notch filter frequency into

P2-43 and P-45, and memorize the notch filter attenuation rate into P2-44 and P2-46.

When P2-47 is set to 1, the resonance suppression will be enabled automatically. After

the mechanical system becomes stable (approximate 20 minutes), the setting value

of P2-47 will return to 0 (Disable auto resonance suppression function). When P2-47

is set to 2, the system will find the resonance point continuously even after the

mechanical system becomes stable.

When P2-47 is set to 1 or 2, if the resonance conditions can not be eliminated, we

recommend the users to check the settings of P2-44 and P2-46. If either of the

setting value of P2-44 and P2-46 is set to 32, please decrease the speed frequency

response and estimate the resonance point again. If the resonance conditions can

not be eliminated when the setting values of P2-44 and P2-46 are both less than 32,

please set P2-47 to 0 first, and increase the setting value of P2-44 and P2-46

manually. If the resonance exists still after increasing the setting value of P2-44 and

P2-46, please decrease the value of speed frequency response again and then use

the resonance suppression function again.

When increasing the setting value of P2-44 and P2-46 manually, ensure to pay close

attention on the setting value of P2-44 and P2-46. If the value of P2-44 and P2-46 is

greater than 0, it indicates that the corresponding resonance frequency of P2-43 and

P2-45 is found through auto resonance suppression function. If the value of P2-44 and

P2-46 is equal to 0, it indicates that the value of P2-43 and P2-45 will be the default

value 1000 and this is not the frequency found by auto resonance suppression function.

At this time, if the users increase the value of notch filter attenuation rate which does

not exist, the performance of the current mechanical system may deteriorate.

Settings of P2-47

Current Value Desired Value Function

Clear the setting value of P2-43 ~ P2-46 and enable auto

resonance suppression function.

Clear the setting value of P2-43 ~ P2-46 and enable auto

resonance suppression function.

Save the setting value of P2-43 ~ P2-46 and disable auto

resonance suppression function.

Clear the setting value of P2-43 ~ P2-46 and enable auto

resonance suppression function.

Do not clear the setting value of P2-43 ~ P2-46 and enable auto

resonance suppression function continuously.

Save the setting value of P2-43 ~ P2-46 and disable auto

resonance suppression function.

Clear the setting value of P2-43 ~ P2-46 and enable auto

resonance suppression function.

Do not clear the setting value of P2-43 ~ P2-46 and enable auto

resonance suppression function continuously.

7. Operation Lexium 23A

192 AC servo drive

Lexium 23A 7. Operation

AC servo drive 193

Low-pass filter

Please use parameter P2-25. The figure below shows the resonant open-loop gain.

When the low-pass filter (parameter P2-25) is adjusted from 0 to high value, the

value of Low-pass frequency (BW) will become smaller (see the figure below). The

resonant condition is improved and the frequency response and phase margin will

also decrease.

Notch Filter

Usually, if the users know the resonance frequency, we recommend the users can

eliminate the resonance conditions directly by using notch filter (parameter P2-43,

P2-44). However, the range of frequency setting is from 50 to 1000Hz only and the

range of resonant attenuation is 0~32 dB only.

Therefore, if the resonant frequency is out of this range, we recommend the users to

use low-pass filter (parameter P2-25) to improve resonant condition.

Please refer to the following figures and explanation to know how to use notch filter

and low-pass filter to improve resonant condition.

7. Operation Lexium 23A

194 AC servo drive

Use Notch Filter to suppress resonance

Use Low-pass Filter to suppress resonance

When the low-pass filter (parameter P2-25) is adjusted from 0 to high value, the value

of Low-pass frequency will become smaller (see the figure on chapter 7.3.2.6). The

resonant condition is improved but the frequency response and phase margin will

also decrease and the system may become unstable.

Therefore, if the users know the resonance frequency, the users can eliminate the

resonance conditions directly by using notch filter (parameter P2-43, P2-44). Usually,

if the resonant frequency can be recognized, we recommend the users can directly

use notch filter (parameter P2-43, P2-44) to eliminate the resonance. However, if the

resonant frequency will drift or drift out of the notch filter range, we recommend the

users not to use notch filter and use low-pass filter to improve resonant conditions.

Lexium 23A 7. Operation

AC servo drive 195

7.3.4 Torque Control Mode

The torque control mode (T or Tz) is usually used on the applications of torque

control, such as printing machine, spinning machine, twister, etc. Lexium23A series

servo drives support two kinds of command sources in torque control mode. One is

external analog signal and the other is internal parameter. The external analog signal

is from external voltage input and it can control the torque of servo motor. The

internal parameters are from P1-12 to P1-14 which are used to be the torque

command in torque control mode.

7.3.4.1 Command

Source of Torque

Control Mode

Torque command Sources:

1) External analog signal: External analog voltage input, -10V to +10V

2) Internal parameter: P1-12 to P1-14

The command source selection is determined by the DI signal of CN1 connector.

z State of TCM0~1: 0: indicates OFF (Normally Open); 1: indicates ON (Normally Closed)

z When TCM0 and TCM1 are both 0 (OFF), if the control mode of operation is Tz, then

the command is 0. Therefore, if the users do not use analog voltage as torque

command, the users can choose Tz mode to operation torque control to avoid the

zero point drift problem of analog voltage. If the control mode of operation is T,

then the command is the analog voltage between T-REF and GND. The setting

range of the input voltage is from -10V to +10V and the corresponding torque is

adjustable (see parameter P1-41).

z When at least one of TCM0 and TCM1 is not 0 (OFF), the torque command is internal

parameter. The command is valid (enabled) after either TCM0 or TCM1 is changed.

The torque command that is described in this section not only can be taken as torque

command in torque control mode (T or Tz mode) but also can be the torque limit

input command in position mode (P mode) and speed control mode (S or Sz mode).

Torque

Command

DI signal of CN1 Command Source Content Range

TCM1 TCM0

T1 0 0 Mode

TExternal

analog signal

Voltage between

T-REF-GND -10V ~ +10V

Tz None Torque

command is 0 0

T2 0 1

Internal parameter

P1-12 -300% ~

300%

T3 1 0 P1-13

T4 1 1 P1-14

7. Operation Lexium 23A

196 AC servo drive

7.3.4.2 Structure

of Torque Control

Mode

Basic Structure:

The toque command processing is used to select the command source of torque

control according to chapter 6.4.1, including max. analog torque command

(parameter P1-41) and smoothing strategy of torque control mode. The current

control block diagram is used to manage the gain parameters of the servo drive and

calculate the current input provided to motor instantaneously. As the current control

block diagram is too complicated, setting the parameters of current control block

diagram is not allowed.

The function and structure of torque command processing is shown as the figure

below:

The command source is selected according to the state of TCM0, TCM1 and

parameter P1-01 (T or Tz).

Whenever the command signal needs to be more smoothly, we recommend the users

to use proportional gain (scalar) and low-pass filter to adjust torque.

Lexium 23A 7. Operation

AC servo drive 197

7.3.4.3 Smoothing

Strategy of Torque

Control Mode

Relevant parameters:

7.3.4.4 Analog

Torque Input

Scaling

The analog voltage between T_REF and GND controls the motor torque command.

Using with parameter P1-41 can adjust the torque control ramp and its range.

P1 - 07 TFLT Smooth Constant of Analog Torque

Command (Low-pass Filter) Address: 010EH, 010FH

Default: 0 Related Section:

Applicable Control Mode: T Section 7.3.4.3

Unit: msec

Range: 0 ~ 1000 (0: Disabled)

Data Size: 16-bit

Display Format: Decimal

Note: If the setting value of parameter P1-07 is set to 0, it indicates the function of

this parameter is disabled and the command is just By-Pass.

7. Operation Lexium 23A

198 AC servo drive

Relevant parameters:

7.3.4.5 Timing

Chart of Torque

Control Mode

Note：

1) OFF indicates normally open and ON indicates normally closed.

2) When torque control mode is Tz, the torque command T1=0; when torque control

mode is T, the speed command T1 is external analog voltage input (Please refer to

P1-01).

3) After Servo ON, the users can select command according to the state of TCM0~1.

P1-41r TCM Max. Analog Torque Command or

Limit Address: 0152H, 0153H

Default: 100 Related Section:

Applicable Control Mode: ALL Section 7.3.4.4

Unit: %

Range: 0 ~ 1000

Data Size: 16-bit

Display Format: Decimal

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

Lexium 23A 7. Operation

AC servo drive 199

7.3.5 Control Modes Selection

Except signal control mode operation, Lexium 23 Plus series servo drives also provide

many dual and multiple modes for the users to select.

1) Speed / Position mode selection: Pt-S, Pr-S, Pt-Pr

2) Speed / Torque mode selection: S-T

3) Torque / Position mode selection: Pt-T, Pr-T

4) Position / Speed multiple mode selection: Pt-Pr-S

5) Position / Torque multiple mode selection: Pt-Pr-T

Sz and Tz mode selection is not provided. In order to avoid using too much DI inputs,

we recommend that the users can use external analog signal as input command in

speed and torque mode to reduce the use of DI inputs (SPD0~1 or TCM0~1). In

position mode, we recommend that the users can use Pt mode to input pulse to

reduce the use of DI inputs (POS0~5).

Please refer to table 3.B and table 3.C in section 3.3.2 to see the default pin number of

DI/DO signal.

7.3.5.1 Speed /

Position Control

Mode Selection

Pt-S Mode / Pr-S Mode:

The command source of Pt-S mode is from external input pulse. The command

source of Pr-S mode is from internal parameters (P6-00 to P6-17). The speed

command can be the external analog voltage or internal parameters (P1-09 to P1-11).

The speed and position mode switching is controlled by the S-P signal. The selection

will be more complicated when the position of Pr-S mode and speed command are

both selected through DI signal.

The timing chart of speed / position control mode selection is shown as the figure below:

Figure 1. : Speed / Position Control Mode Selection

Mode Name Code Description

Dual

Mode

Pt-S 06 Either Pt or S control mode can be selected via the Digital Inputs (DI)

Pt-T 07 Either Pt or T control mode can be selected via the Digital Inputs (DI)

Pr-S 08 Either Pr or S control mode can be selected via the Digital Inputs (DI)

Pr-T 09 Either Pr or T control mode can be selected via the Digital Inputs (DI)

S-T 0A Either S or T control mode can be selected via the Digital Inputs (DI)

Pt-Pr 0D Either Pt or Pr control mode can be selected via the Digital Inputs (DI).

Multipl

e Mode

Pt-Pr-S 0E

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

Pt-Pr-T 0F

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

7. Operation Lexium 23A

200 AC servo drive

In speed mode (when S-P is ON), speed command is selected by SPD0~1 and CTRG is

disabled at this time. When switching to the position mode (when S-P is OFF), the

position command is not determined (it needs to wait that CTRG is on the rising

edge), so the motor stop running. Once CTRG is on the rising edge, position

command will be selected according to POS0~5 and the motor will immediately move

to the determined position. After S-P is ON, it will immediately return to speed mode.

For the relationship between DI signal and selected command in each mode, please

refer to the introduction of single mode.

7.3.5.2 Speed /

Torque Control

Mode Selection

S-T Mode:

The speed command can be the external analog voltage or internal parameters (P1-

09 to P1-11) and SPD0~1 is used to select speed command. The same as speed

command, the torque command can be the external analog voltage or internal

parameters (P1-12 to P1-14) and TCM0~1 is used to select torque command. The

speed and torque mode switching is controlled by the S-T signal.

The timing chart of speed / torque control mode selection is shown as the figure

below:

Figure 2. : Speed / Torque Control Mode Selection

In torque mode (when S-T is ON), torque command is selected by TCM0~1. When

switching to the speed mode (when S-T is OFF), the speed command is selected by

SPD0~1, and then the motor will immediately rotate following the command. After S-

T is ON again, it will immediately return to torque mode.

Lexium 23A 7. Operation

AC servo drive 201

7.3.5.3 Torque /

Position Control

Mode Selectionn

Pt-T Mode / Pr-T Mode:

The command source of Pt-T mode is from external input pulse. The command

source of Pr-T mode is from internal parameters (P6-00 to P6-17). The torque

command can be the external input pulse or internal parameters (P1-12 to P1-14). The

torque and position mode switching is controlled by T-P signal. The selection will be

more complicated when the position of Pr-T mode and torque command are both

selected through DI signal.

The timing chart of speed / position control mode selection is shown as the figure

below:

Figure 3. :Torque / Position Control Mode Selection

In torque mode (when T-P is ON), torque command is selected by TCM0~1 and CTRG

is disabled at this time. When switching to the position mode (when T-P is OFF), the

position command is not determined (it needs to wait that CTRG is on the rising

edge), so the motor stop running. Once CTRG is on the rising edge, position

command will be selected according to POS0~5 and the motor will immediately move

to the determined position. After T-P is ON, it will immediately return to torque mode.

For the relationship between DI signal and selected command in each mode, please

refer to the introduction of single mode.

7. Operation Lexium 23A

202 AC servo drive

7.4 Other functions

7.4.1 Speed Limit

The max. servo motor speed can be limited by using parameter P1-55 no matter in

position, speed or torque control mode.

The command source of speed limit command is the same as speed command. It can be

the external analog voltage but also can be internal parameters (P1-09 to P1-11). For more

information of speed command source, please refer to chapter 7.3.3.1.

The speed limit only can be used in torque mode (T mode) to limit the servo motor

speed. When the torque command is the external analog voltage, there should be

surplus DI signal that can be treated as SPD0~1 and be used to select speed limit

command (internal parameter). If there is not enough DI signal, the external voltage

input can be used as speed limit command. When the Disable / Enable Speed Limit

Function Settings in parameter P1-02 is set to 1, the speed limit function is activated.

The timing chart of speed limit is shown as the figure below:

Command Source Selection of Speed Limit

7.4.2 Torque Limit

The command source of torque limit command is the same as torque command. It can be

the external analog voltage but also can be internal parameters (P1-12 to P1-14). For more

information of torque command source, please refer to chapter 7.3.4.1.

The torque limit only can be used in position mode (Pt and Pr mode) and speed mode (S

mode) to limit the output torque of servo motor. When the position command is the

external pulse and speed command is the external analog voltage, there should be

surplus DI signal that can be treated as TCM0~1 used to select torque limit command

(internal parameter). If there is not enough DI signal, the external voltage input can be

used as torque limit command. When the Disable / Enable Torque Limit Function Settings

in parameter P1-02 is set to 1, the torque limit function is activated.

The timing chart of torque limit is shown as the figure below:

Command Source Selection of Torque Limit

Lexium 23A 7. Operation

AC servo drive 203

7.4.3 Analog Monitor

Users can use analog monitor to observe the required analog voltage signals.

Lexium23 Plus series servo drives provide two analog channels, they are PIN No. 15

and 16 of CN1 connector. The parameters relative to analog monitor are shown below.

Relevant parameters:

P0 - 03 MON Analog Monitor Output Address: 0006H, 0007H

Default: 01 Related Section:

Applicable Control Mode: ALL Section 6.3.3.5

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 P1-04

and P1-05.

Example:

P0-03 = 01(CH1 is speed analog output)

Motor speed = (Max. motor speed x V1/8) x P1-04/100, when the output voltage value

of CH1 is V1.

7. Operation Lexium 23A

204 AC servo drive

P1 - 03 AOUT Pulse Output Polarity Setting Address: 0106H, 0107H

Default: 0 Related Section:

Applicable Control Mode: ALL Section 5.2.8.3

Unit: N/A

Range: 0 ~ 13

Data Size: 16-bit

Display Format: Hexadecimal

Settings:

This 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 (CH1) Address: 0108H, 0109H

Default: 100 Related Section:

Applicable Control Mode: ALL Section 7.3.4.4

Unit: % (full scale)

Range: 0 ~ 100

Data Size: 16-bit

Display Format: Decimal

P1 - 05 MON2 Analog Monitor Output

Proportion 2 (CH2) Address: 010AH, 010BH

Default: 100 Related Section:

Applicable Control Mode: ALL Section 7.3.4.4

Unit: % (full scale)

Range: 0 ~ 100

Data Size: 16-bit

Display Format: Decimal

Lexium 23A 7. Operation

AC servo drive 205

For example, when the users want to observe the analog voltage signal of channel 1, if

the monitor output setting range is 8V per 325Kpps, then it is needed to change the

setting value of parameter P1-04 (Analog Monitor Output Proportion 1) to 50

(=325Kpps/Max. input frequency). Other related parameters setting include

parameter P0-03 (A=3) and P1-03 (A=0~3, output polarity setting). In general, when

output voltage value of Ch1 is V1, the pulse command frequency is equal to (Max.

input frequency ×V1/8) × P1-04/100.

Because there is an offset value of analog monitor output voltage, the zero voltage

level of analog monitor output does not match to the zero point of setting value. We

recommend the users can use Analog Monitor Output Drift Adjustment, DOF1

(parameter P4-20) and DOF2 (parameter P4-21) to improve this condition. The

maximum output voltage range of analog monitor output is ±8V. If the output

voltage exceed its limit, it is still limited within the range of ±8V. The revolution

provided by Lexium23 Plus series servo drives is 10bit, approximated to 13mv/LSB.

P4 - 20 DOF1 Analog Monitor Output Drift

Adjustment (CH1) Address: 0428H, 0429H

Default: Factory setting Related Section:

Applicable Control Mode: ALL Section 7.3.4.4

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) Address: 042AH, 042BH

Default: Factory setting Related Section: N/A

Applicable Control Mode: ALL Section 7.3.4.4

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.

7. Operation Lexium 23A

206 AC servo drive

7.4.4 Electromagnetic Brake

When the servo drive is operating, if the digital output BRKR is set to Off, it indicates

the electromagnetic brake is disabled and motor is stop running and locked. If the

digital output BRKR is set to ON, it indicates electromagnetic brake is enabled and

motor can run freely.

There are two parameters that affect the electromagnetic brake. One is parameter

P1-42 (MBT1) and the other is parameter P1-43 (MBT2). The users can use these two

parameters to set the On and Off delay time of electromagnetic brake. The

electromagnetic brake is usually used in perpendicular axis (Z-axis) direction to

reduce the large energy generated from servo motor. Using electromagnetic brake

can avoid the load may slip since there is no motor holding torque when power is off.

Without using electromagnetic brake may reduce the life of servo motor. To avoid

malfunction, the electromagnetic brake should be activated after servo system is off

(Servo Off).

If the users desire to control electromagnetic brake via external controller, not by the

servo drive, the users must execute the function of electromagnetic brake during the

period of time when servo motor is braking. The braking strength of motor and

electromagnetic brake must be in the same direction when servo motor is braking.

Then, the servo drive will operate normally. However, the servo drive may generate

larger current during acceleration or at constant speed and it may the cause of

overload (servo fault).

Timing chart for using servo motor with electromagnetic brake:

BRKR output timing explanation:

1. When Servo Off (when DI SON is not activated), the BRKR output goes Off

(electromagnetic brake is locked) after the delay time set by P1-43 is reached and

the motor speed is still higher than the setting value of P1-38.

2. When Servo Off (when DI SON is not activated), the BRKR output goes Off

(electromagnetic brake is locked) if the delay time set by P1-43 is not reached and

the motor speed is still lower than the setting value of P1-38.

Lexium 23A 7. Operation

AC servo drive 207

Electromagnetic Brake Wiring Diagram

Note:

1) Please refer to Chapter 5 installation for more wiring information.

2) The BRKR signal is used to control the brake operation. The VDD DC24V power

supply of the servo drive can be used to power the relay coil (Relay). When BRKR

signal is ON, the motor brake will be activated.

3) Please note that the coil of brake has no polarity.

4) The power supply for brake is DC24V. Never use it for VDD, the +24V source

voltage.

7. Operation Lexium 23A

208 AC servo drive

The timing charts of control circuit power and main circuit power:

AC servo drive 209

Motion Control Function

At a Glance

What's in this

Chapter? This chapter contains the following topics:

Topic Page

Available Motion Control Functions 210

Servo Drive Information 210

Motion Axis 216

Pr Mode Introduction 217

Pr mode Comparison 218

Position Command Unit of Pr Mode 218

Registers of Pr Mode 219

Homing Function of Pr Mode 220

DI and DO signals of Pr Mode 221

Parameter Settings of Pr Mode 223

8. Motion Control Function Lexium 23A

210 AC servo drive

8.1 Available Motion Control Functions

Lexium23 Plus servo drives provides the following motion control functions:

1) Pr mode for single-axis motion control

2) CAPTURE / COMPARE functions

8.2 Servo Drive Information

The information of the servo drive includes: 1. Servo Parameters; 2. Monitor Variables.

Servo Parameters Monitor Variables

Usage

Operation mode, important data and

conditions of the servo drive, such as

position/speed/torque control

modes, position/speed loop gain, etc.

Real-time status of the servo drive or

motor, such as motor position, motor

speed and current settings, etc.

Display Method

LED Display: display PX-XX on the

display. Press the ENT key to display

the setting value of parameters. For

the operation of the digital keypad,

please refer to Chapter 6.3.

Set P0-02 directly to enter into monitor

mode and specify the monitor status.

The monitor status depends on the

setting value of P0-02. Press MODE

key on the keypad is to enter into

monitor mode directly. For the

operation of the digital keypad, please

refer to Chapter 6.3.

Access Method Able to read and write (depends on

the settings of parameters) Read only

Data Length 16-bit or 32-bit (depends on the

settings of parameters) 32-bit integer

Communication

Support MODBUS/CANopen Read &

Write, each parameter occupy two

MODBUS addresses.

zMonitoring is accomplished through

CN3 (upon commissioning tool)

zDo not support MODBUS/CANopen

Read & Write directly unless the users

use mapping function to monitor the

specified monitor variable via the

corresponding system parameters.

Mapping

Parameters

P0-25 ~ P0-32, total 8 parameters

(Determined by P0-35 ~ P0-42)

P0-09 ~ P0-13, total 5 parameters

(Determined by P0-17 ~ P0-21)

Remark -

In monitor mode, the users can press UP

or DOWN arrow key to change the

monitor variables in common use (code

0 ~ 26). Please note that not all monitor

variables can be displayed (total 150

kinds of monitor variables).

Lexium 23A 8. Motion Control Function

AC servo drive 211

8.2.1 Monitor Variables

Please refer to the following table for the explanation of monitor variables:

Item Explanation

Variable Code Each monitor variable has one corresponding code. The parameter P0-02 is

used to set this code and monitor the monitor variable.

Format Each monitor variable is saved in 32-bit (long integer) in the servo drive.

Type

There are two types of monitor variables, basic variable and extension

variable:

1. Basic variable: Enter into monitor mode by pressing MODE key on the

digital keypad. In monitor mode, press / arrow keys to find the

available monitor variables (P0-02=0~26).

Extension variable: Other variables are called extension variables except

basic variables (P0-02=27~127).

Monitor

Method

There are two kinds of methods for monitoring the monitor variables, one is

through

LED display of the digital keypad and the other is via mapping parameters:

1. LED display of digital keypad: Monitor the monitor variables through the

LED display of the digital keypad directly.

2. Mapping parameters: The settings of monitor variables will be reflected on

the setting value of the parameters. The users can know the settings of

monitor variables through the corresponding parameters.

Display

1. Press key to switch to monitor mode and then press / arrow

keys to select the desired monitor variables.

2. Set P0-02 directly and then display the settings of the desired monitor

variables.

Press key to switch high/low byte display;

Press key to switch decimal/hexadecimal display.

Mapping

Function

1. The parameters which support mapping function includes: P0-09 ~ P0-13.

(Please refer to section 11.4 "Detailed Parameter Listings" of Chapter 11.

2. Using mapping parameters and read & write monitor variables through

communication.

3. The setting values of P0-09 ~ P0-13 (Status Monitor 1 ~ 5) are the content

of basic variables (17h,18h,19h,1Ah). When the users want to monitor

P0-09, P0-17 must be set first to read the status value (see P0-02). When

reading the drive status through Modbus communication, the system will

read the monitor status which specified by P0-17. When reading the drive

status 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.

ENT

8. Motion Control Function Lexium 23A

212 AC servo drive

Attribute of monitor variables:

Attribute Explanation

Basic variable. The monitor variables which can be scrolled through by

pressing / keys.

0D Decimal place display.

0$ indicates one decimal place, 0% indicates two decimal place.

0? Decimal display only. When pressing key on the keypad, the system can

not switch to hexadecimal display.

4Hexadecimal display only. When pressing key on the keypad, the system

can not switch to decimal display.

ENT

Lexium 23A 8. Motion Control Function

AC servo drive 213

Explanation of monitor variables:

Code Monitor Variable /

Attribute Explanation

000

(00h)

Feedback position

(PUU) .Motor feedback - current position. Unit is user unit, PUU.

001

(01h)

Position command

(PUU) .

Position command – current position. Unit is user unit, PUU.

Pt mode: it indicates the pulse command received by the servo

drive.

Pr mode: it indicates the absolute position command.

It is equal to the pulse number sent by the host (external)

controller.

002

(02h)

Position error

(PUU) .

Position error counts between position command pulse and

feedback pulse. Unit is user unit, PUU.

003

(03h)

Feedback position

(pulse) .Motor feedback - current position. Unit is encoder unit, pulse.

004

(04h)

Position command

(pulse) .

Position command - current position. Unit is encoder unit, pulse.

It is also the position command after electronic gear ratio is set.

005

(05h)

Position error

(pulse) .

Position error counts between position command pulse and

feedback pulse. Unit is encoder unit, pulse.

006

(06h)

Input frequency of

pulse command .

Input frequency of pulse command received by the servo drive.

Unit is Kpps. Applicable for Pt and Pr mode.

007

(07h)

Feedback speed

. 0$ e0?

Actual motor speed. Unit is 0.1 rpm.

The low-pass filter function is used so the value is more stable.

008

(08h)

Speed input

command (Analog)

. 0% e0?

Analog speed input command. Unit is 0.01Volt.

009

(09h)

Speed command

(Integrated) .

Integrated speed input command. Unit is 1 rpm.

The command source may be from analog command / internal

parameter / position loop.

010

(0Ah)

Torque command

(Analog) . 0% e0? Analog torque input command. Unit is 0.01Volt.

011

(0Bh)

Torque command

(Integrated) .

Integrated torque input command. Unit is Percent (%).

The command source may be from analog command / internal

parameter / position loop.

012

(0Ch) Average load .Average load output by the servo drive. Unit is Percent (%).

013

(0Dh) Peak load .Peak load output by the servo drive. Unit is Percent (%)。

014

(0Eh) DC Bus voltage .Main circuit voltage after rectification. Unit is Volt.

015

(0Fh

Ratio of load inertia

to motor inertia

. 0$ e0?

Ratio of load inertia to motor inertia. Unit is 0.1times.

016

(10h) IGBT temperature .IGBT temperature. Unit is C.

8. Motion Control Function Lexium 23A

214 AC servo drive

Code Monitor Variable /

Attribute Explanation

017

(11h)

Resonance frequency

. e0?

Resonance frequency of the mechanical system.

There are two groups of resonance frequency: F1 and F2

When reading the drive status through the keypad, pressing

key can switch the display of F1 and F2.

F2: no decimal point; F1: display one decimal point

When reading the drive status through the communication,

Low 16-bit (Low Byte) will display frequency F2

High 16-bit (High Byte) will display frequency F1

018

(12h)

Absolute pulse

number

relative to encoder

(use Z phase as

home) . e0?

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. When the value is higher, the deviation

pulse number is higher too.

019

(13h)

Mapping parameter

#1 .

Display the content of parameter P0-25 (mapping target is

specified by parameter P0-35)

020

(14h)

Mapping parameter

#2 .

Display the content of parameter P0-26 (mapping target is

specified by parameter P0-36).

021

(15h)

Mapping parameter

#3 .

Display the content of parameter P0-27 (mapping target is

specified by parameter P0-37).

022

(16h)

Mapping parameter

#4 .

Display the content of parameter P0-28 (mapping target is

specified by parameter P0-38).

023

(17h) Status monitor #1 .Display the content of parameter P0-09 (the monitor status is

specified by parameter P0-17).

024

(18h) Status monitor #2 .Display the content of parameter P0-10 (the monitor status is

specified by parameter P0-18).

025

(19h) Status monitor #3 .Display the content of parameter P0-11 (the monitor status is

specified by parameter P0-19).

026

(1Ah) Status monitor #4 .Display the content of parameter P0-12 (the monitor status is

specified by parameter P0-20).

039

(27h)

DI status (Integrated)

ex4

Integrated DI status. Each bit corresponds to one channel of

digital input.

The command source may be from DI signal or communication

control (upon software). P3-06 can determine how digital inputs

accept commands.

040

(28h)

DO status (Hardware)

ex4

Actual DO output status. Each bit corresponds to one channel of

digital output.

041

(29h) Drive Status The drive status will display via P0-46. Please refer to P0-46 for

explanation.

043

(2Bh) Capture data The latest captured data by using Capture function.

Note: Using Capture function is able to capture many positions.

049

(31h) Pulse command CNT Pulse counts input by pulse command (CN1).

050

(32h)

Speed command

(Integrated) 0$ e0?

Integrated speed input command. Unit is 0.1 rpm.

The command source may be from analog command / internal

parameter / position loop.

Lexium 23A 8. Motion Control Function

AC servo drive 215

Code Monitor Variable /

Attribute Explanation

051

(33h)

Feedback speed

(Instant) 0$ e0? Actual motor speed. Unit is 0.1rpm.

052

(34h)

Feedback speed

(Filter) 0$ e0?

Actual motor speed. Unit is 0.1 rpm.

(The low-pass filter function is used.)

053

(35h)

Torque command

(Integrated) 0$ e0?

Integrated torque command. Unit is 0.1Percent (%).

The command source may be from analog command / internal

parameter / speed loop.

054

(36h)

Feedback Torque

0$ e0? Actual motor torque. Unit is 0.1Percent(%).

055

(37h)

Feedback current

0% e0? Actual motor current. Unit is 0.01ampere (Amp).

056

(38h)

DC Bus voltage

0$ e0? Main circuit voltage after rectification. Unit is 0.1Volt.

064

(40h)

End register of Pr

command. In Pr mode, it is the end of the position command (Cmd_E).

065

(41h)

Output register of Pr

command. In Pr mode, it is the accumulated outputs of position command.

067

(43h)

Target speed of Pr

command.

It is target speed of Pr path command. Unit is PPS (Pulse Per

Second).

068

(44h) S-curve filter (Input)

Input data of S-curve filter which is used to create the effect of

Scurve filter. In Pr mode, it is effective for internal speed

command.

069

(45h) S-curve filter (Output)

Output data of S-curve filter which is used to create the effect of

Scurve filter. In Pr mode, it is effective for internal speed

command.

076

(4Ch)

Speed command of Pr

mode

In Pr mode, it is the terraced speed curve drawn up according to

target speed / accel & decel time / position move (before using

Scurve filter). Unit is PPS (Pulse Per Second).

096

(60h)

Firmware version of

servo drive e0?

Includes 2 versions: DSP and CPLD

When reading the firmware version through the keypad,

pressing key can switch the version display of DSP and

CPLD.

DSP: no decimal place; CPLD: it will display one decimal place.

When reading the firmware version through the communication

(using mapping parameters):

Low 16-bit (Low word) will display DSP firmware version.

High 16-bit (High word) will display CPLD firmware version.

111

(6Fh) Servo fault code Display servo fault code. But it only displays the servo drive fault

code. The fault code for motion control will not be displayed.

123

(7Bh) Keypad monitor value When reading the monitor value through the keypad, it is used to

read the monitor value displayed on the keypad.

8. Motion Control Function Lexium 23A

216 AC servo drive

8.3 Motion Axis

Motion axis is a counter within the servo drive which is used to count the data of

absolute position (32-bit integer). The available motion axes are introduced in the

following table.

Axis Name Description Read (R) /

Write (W) Attribute

1. Motor encoder

axis (P5-16)

It indicates the motor absolute feedback position

and the user unit is PUU. RSubstantial

axis

2. Pulse command

axis (P5-18)

It is the pulse counts of the host (external)

controller input from CN1. The pulse type can be

defined by P1-00.

R/W Substantial

axis

3. Capture Axis1

(P5-37) and

Capture Axis2

(P5-57)

It is the motion axis which is used to enable

Capture function. The command source could be

from motor encoder axis and pulse command axis.

Position offset exists between output axis and

substantial axis. After the first point is captured,

the axis position can be defined again.

R/W Output axis

4. Pr command axis Command position defined by Pr path. R Suppositional

axis

5. Internal time axis Internal timer. The value will increase 1 every

1msec. RSuppositional

axis

Please note:

1. Substantial axis: Position value is obtained from the actual terminal signal counts.

2. Output axis: It is the axis output by the substantial axis. The value will be not the same as the source

of substantial axis, but the increasing value will be the same as the increasing value of substantial

axis.

3. Suppositional axis: It is the axis generated by the servo firmware, e.g. Pr command axis. It is unable

to command in real time so it could not be the command axis for Capture function.

Lexium 23A 8. Motion Control Function

AC servo drive 217

8.4 Pr Mode Introduction

Pr mode could be composed of one position command or multiple position

commands, and triggered by DI signal, CTRG. DI signals, POS0 ~ POS2 are used to

specify the desired trigger position.

8. Motion Control Function Lexium 23A

218 AC servo drive

8.5 Position Command Unit of Pr Mode

The position command unit of Pr mode is presented by PUU(Pulse of User Unit). It also

indicates the ratio of position command unit of host (external) controller to internal

position command unit of servo drive, i.e. electronic gear ratio of servo drive.

1) Position command unit of servo drive (pulse): encoder unit, 1280000pulses per

revolution (pulse/rev).

2) User unit (PUU): unit of host (external) controller. If the pulse number per

revolution is P pulses (PUU/rev), then the electronic gear ratio should be set to:

GEAR_NUM(P1-44) / GEAR_DEN(P1-45) = 1280000 / P

Lexium 23A 8. Motion Control Function

AC servo drive 219

8.6 Registers of Pr Mode

1) Position registers of Pr mode: They are indicates as user unit, PUU.

2) Command register (Monitor variable 064): End register of Pr command, Cmd_E. It

indicates the end of the position command.

3) Position output register (Monitor variable 001): Cmd_O. It indicates the current

output absolute position command.

4) Feedback register (Monitor variable 000): Fb_PUU. It indicates the current motor

feedback position.

5) Error register (variable 002): Err_PUU. It indicates the position error counts

between position command pulse and feedback pulse.

6) In Pr mode, at any time (no matter during operation or at stop): Err_PUU =

Cmd_O - Fb_PUU.

The effect from position commands:

Command

Type

When position command is

given =>

=> When position

command is executing=>

=> When position

command is completed

Absolute

position

command

Cmd_E = command data

(absolute)

Cmd_O retain unchanged

DO signal: CMD_OK is OFF

Cmd_E retain unchanged

Cmd_O continuously

output

...

Cmd_E retain unchanged

Cmd_O = Cmd_E

DO signal: CMD_OK is ON

Incremental

position

command

Cmd_E+= command data

(incremental)

Cmd_O retain unchanged

DO signal: CMD_OK is OFF

Cmd_E retain unchanged

Cmd_O continuously

output

...

Cmd_E retain unchanged

Cmd_O = Cmd_E

DO signal: CMD_OK is ON

Stop

command

DI signal,

STP

Cmd_E retain unchanged

Cmd_O continuously

output

DO: CMD_OK output retain

unchanged

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

Homing

command

Cmd_E retain unchanged

Cmd_O retain unchanged

DO signal: CMD_OK is OFF

DO signal: HOME is OFF

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

Speed

command

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

or other mode for entering Pr mode)

Cmd_O = Cmd_E = current motor feedback position

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.

8. Motion Control Function Lexium 23A

220 AC servo drive

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.

Lexium 23A 8. Motion Control Function

AC servo drive 221

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

8. Motion Control Function Lexium 23A

222 AC servo drive

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 Explanation

Standard

Method

DI signals:

CTRG + POS0 ~ 2

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

Special

Method DI signals: STP,SHM

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.

Software

Setting P5-07

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.

Lexium 23A 8. Motion Control Function

AC servo drive 223

8.9 Parameter Settings of Pr Mode

1) Target speed: P5-60 ~ P5-75 (Moving Speed Setting of Position 0 ~ 15), total 16

groups

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

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.

4) Path parameters: P5-00 ~ P5-09, P6-00 ~ P6-01, total 12 DWORD.

Bit 15 ~ 0

W0 TARGET_SPEED：0.1 ~ 6000.0(rpm)

Bit 15 ~ 0

W0 T_ACC / T_DEC：1 ~ 65500(msec)

Bit 15 ~ 0

W0 IDLE：0 ~ 32767(msec)

32 BIT

P5-00 Reserved

P5-01 Reserved (for internal testing, do not use it)

P5-02 Reserved (for internal testing, do not use it)

P5-03 Deceleration Time of Protectin Function

P5-04 Homing Mode

P5-05 1st Speed Setting of High Speed Homing

P5-06 2nd Speed Setting of Low Speed Homing

P5-07 Trigger Position Command (Pr mode only)

P5-08 Forward Software Limit

P5-09 Reverse Software Limit

P6-00 Homing Definition

P6-01 Homing Definition Value (Z pulse position)

8. Motion Control Function Lexium 23A

224 AC servo drive

5) Path Definition: P6-02 ~ P6-17 (64 BIT), total 8 groups (2N).

Each path occupies two parameters.

OPT:

* 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

BIT 31 ~ 28 27 ~ 24 23 ~ 20 19 ~ 16 15 ~ 12 11 ~ 8 7 ~ 4 3 ~ 0

DW0 - - DLY SPD DEC ACC OPT 0

DW1 DATA (32 bit): Target Position. Unit: Pulse of User Unit

OPT

Bit 7 Bit 6 Bit 5 Bit 4 Explanation

CMD -INS

Absolute position command: Cmd_E = DATA (Note 1)

10 Incremental position command: Cmd_E = Cmd_E +

DATA (Note 2)

Lexium 23A 8. Motion Control Function

AC servo drive 225

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

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)

Bit 31 ~ 28 27 ~ 24 23 ~ 20 19 ~ 16 15 ~ 12 11 ~ 8 7 ~ 4 3 ~ 0

DW0 BOOT - DLY DEC2 DEC1 ACC PATH BOOT

DW1 ORG_DEF (32 bit)

8. Motion Control Function Lexium 23A

226 AC servo drive

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.

8.9.2 Pr Path

1) Path In Order

2) Path Overlap

PATH 1 PATH 2 Path Order Output Note

OVLP=0 INS=0 In order DLY 1 PATH1 and PATH2 can be speed or position

command

OVLP=1 INS=0 Overlap NO DLY When PATH 2 is a speed command, OVLP

function is disabled,

OVLP=0 INS=1 Interrupt N/A PATH1 and PATH2 can be speed or position

command

OVLP=1

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)

Path 1: OVLP is set, DLY can not be set.

Path 2: INS is not set

Lexium 23A 8. Motion Control Function

AC servo drive 227

3) Internal Interrupt

4) External 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.

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.

8. Motion Control Function Lexium 23A

228 AC servo drive

AC servo drive 229

Communication

At a Glance

What's in this

Chapter? 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

9. Communication Lexium 23A

230 AC servo drive

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 zConfiguration

zCable Connection

Lexium 23A 9. Communication

AC servo drive 231

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.

9. Communication Lexium 23A

232 AC servo drive

9.2 Communication Parameter Settings

The following describes the communication addresses for the communication

parameters.

For communication parameters, please refer to the Chapter 9.

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 RS-

485 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.

0300H

0301H

Communication

Address Setting

Default: 0x7F

Range: 0x01 ~ 0x7F

Settings (Hexadecimal):

Display 0 0 Y X

Range - - 0 ~ 7 0 ~ F

Lexium 23A 9. Communication

AC servo drive 233

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.

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.

0302H

0303H

Transmission

Speed

Default: 0x0203

Range: 0x0000 ~ 0x0405

Settings (Hexadecimal):

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.

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>

Display 0 Z Y X

COM Port - CAN - RS-485

Range 0 0 ~ 4 0 0 ~ 5

9. Communication Lexium 23A

234 AC servo drive

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.

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.

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)

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.

Lexium 23A 9. Communication

AC servo drive 235

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.

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.

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.

030EH

030FH

Communication

Response Delay

Time

Default: 0

Range: 0~1000

9. Communication Lexium 23A

236 AC servo drive

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.

RTU Mode:

Each 8-bit data is the combination of two 4-bit hexadecimal characters. For example,

a 1-byte data: 64 Hex.

Character ‘0’ ‘1’ ‘2’ ‘3’ ‘4’ ‘5’ ‘6’ ‘7’

ASCII code 30H 31H 32H 33H 34H 35H 36H 37H

Character ‘8’ ‘9’ ‘A’ ‘B’ ‘C’ ‘D’ ‘E’ ‘F’

ASCII code 38H 39H 41H 42H 43H 44H 45H 46H

Lexium 23A 9. Communication

AC servo drive 237

Data Format: 10-bit character frame (For 7-bit character)

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

9. Communication Lexium 23A

238 AC servo drive

Communication

Protocol:

ASCII Mode:

RTU Mode:

STX Start character ': ' (3AH)

ADR Communication address: 1-byte consists of 2 ASCII codes

CMD Command code: 1-byte consists of 2 ASCII codes

DATA (n-1)

Contents of data: n word = n x 2-byte consists of n x 4 ASCII codes, n ≤12

……

DATA (0)

LRC Command code: 1-byte consists of 2 ASCII codes

End 1 End code 1: (0DH)(CR)

End 0 End code 0: (0AH)(LF)

STX A silent interval of more than 10ms

ADR Communication address: 1-byte

CMD Command code: 1-byte

DATA(n-1)

Contents of data: n word = n x 2-byte, n ≤12

……

DATA(0)

CRC Command code: 1-byte

End 1 A silent interval of more than 10ms

Lexium 23A 9. Communication

AC servo drive 239

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: Response message:

STX ‘:’

ADR ‘0’

‘1’

CMD ‘0’

‘3’

Starting data

address

‘0’

‘2’

‘0’

Number of data

‘0’

‘2’

LRC Check ‘F’

‘8’

End 1 (0DH) (CR)

End 0 (0AH) (LF)

STX ‘:’

ADR ‘0’

‘1’

CMD ‘0’

‘3’

Number of data

(Count by byte)

‘0’

‘4’

Contents of

starting

data address

0200H

‘0’

‘B’

‘1’

Contents of

second

data address

0201H

‘1’

‘F’

‘4’

‘0’

LRC Check ‘E’

‘8’

End 1 (0DH) (CR)

End 0 (0AH) (LF)

9. Communication Lexium 23A

240 AC servo drive

RTU Mode:

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: Response message:

ADR 01H

CMD 03H

Starting data

address

02H (Upper bytes)

00H (Lower bytes)

Number of data

(Count by word)

00H

02H

CRC Check Low C5H (Lower bytes)

CRC Check High B3H (Upper bytes)

ADR 01H

CMD 03H

Number of data

(Count by byte) 04H

Contents of starting

data address

0200H

00H (Upper bytes)

B1H (Lower bytes)

Contents of second

data address

0201H

1FH (Upper bytes)

40H (Lower bytes)

CRC Check Low A3H (Lower bytes)

CRC Check High D4H (Upper bytes)

STX ‘:’

ADR ‘0’

‘1’

CMD ‘0’

‘6’

Starting data

address

‘0’

‘2’

‘0’

Content of data

‘0’

‘6’

‘4’

LRC Check ‘9’

‘3’

End 1 (0DH) (CR)

End 0 (0AH) (LF)

STX ‘:’

ADR ‘0’

‘1’

CMD ‘0’

‘6’

Starting data

address

‘0’

‘2’

‘0’

Content of data

‘0’

‘6’

‘4’

LRC Check ‘9’

‘3’

End 1 (0DH) (CR)

End 0 (0AH) (LF)

Lexium 23A 9. Communication

AC servo drive 241

RTU Mode:

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.

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'.

Command message: Response message:

For example, reading 1 word from address 0201H of the Lexium23 Plus servo drive

with address 01H.

ADR 01H

CMD 06H

Starting data

address

02H (Upper bytes)

00H (Lower bytes)

Content of data 00H (Upper bytes)

64H (Lower bytes)

CRC Check Low 89H (Lower bytes)

CRC Check High 99H (Upper bytes)

ADR 01H

CMD 06H

Starting data

address

02H (Upper bytes)

00H (Lower bytes)

Content of data 00H (Upper bytes)

64H (Lower bytes)

CRC Check Low 89H (Lower bytes)

CRC Check High

99H (Upper bytes)

STX ‘:’

ADR ‘0’

‘1’

CMD ‘0’

‘3’

Starting data

address

‘0’

‘2’

‘0’

‘1’

Number of data

‘0’

‘1’

LRC Check ‘F’

‘8’

End 1 (0DH) (CR)

End 0 (0AH) (LF)

9. Communication Lexium 23A

242 AC servo drive

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

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.

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.

ARD 01H

CMD 03H

Starting data

address

01H (Upper byte)

01H (Lower bytes)

Number of data

(Count by word)

00H (Upper bytes)

02H (Lower bytes)

CRC Check Low 94H (Lower bytes)

CRC Check High 37H (Upper bytes)

Lexium 23A 9. Communication

AC servo drive 243

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<stdio.h>

#include<dos.h>

#include<conio.h>

#include<process.h>

#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() {

9. Communication Lexium 23A

244 AC servo drive

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 */

}

Lexium 23A 9. Communication

AC servo drive 245

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.

9. Communication Lexium 23A

246 AC servo drive

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

AC servo drive 247

Diagnostic and troubleshooting

At a Glance

Presentation This chapter describes the various types of diagnostics and provides

troubleshooting assistance.

What's in this

Chapter? 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

10. Diagnostic and troubleshooting Lexium 23A

248 AC servo drive

10.1 Status request/status indication

Information on the product status are provided by:

zIntegrated HMI

See chapter Fault Message Display

zCommissioning software

For details on how to display the device state see the information provided in the

commissioning software "Lexium23 Plus CT".

zThe 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 P4-

04).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.

Lexium 23A 10. Diagnostic and troubleshooting

AC servo drive 249

10.2 Fault Messages Table

Servo Drive Fault

Messages Fault Messages

Display Fault Name Fault Description

AL001 Overcurrent Main circuit current is higher than 1.5 multiple of

motor's instantaneous maximum current value.

AL002 Overvoltage Main circuit voltage has exceeded its maximum

allowable value.

AL003 Undervoltage Main circuit voltage is below its minimum

specified value.

AL004 Motor error The motor does not match the drive. They are

not correctly matched for size (power rating).

AL005 Regeneration error Regeneration control operation is in error.

AL006 Overload Servo motor and drive is overload.

AL007 Overspeed Motor's control speed exceeds the limit of

normal speed.

AL008 Abnormal pulse

control command

Input frequency of pulse command exceeds the

limit of its allowable setting value.

AL009 Excessive deviation Position control deviation value exceeds the

limit of its allowable setting value.

AL011 Encoder error Pulse signal is in error.

AL012 Adjustment error Adjusted value exceeds the limit of its allowable

setting value when perform electrical adjustment.

AL013 Operational stop

activated Operational stop switch is activated.

AL014 Reverse limit switch

error Reverse limit switch is activated.

AL015 Forward limit switch

error Forward limit switch is activated.

AL016 IGBT temperature

error The temperature of IGBT is over high.

AL017 Memory error EE-PROM write-in and read-out is in error.

AL018 Encoder output error The encoder output exceeds the rated output

frequency.

AL020 Serial communication

time out RS-485 communication time out.

AL022 Input power phase

loss One phase of the input power is loss.

10. Diagnostic and troubleshooting Lexium 23A

250 AC servo drive

Fault Messages

Display Fault Name Fault Description

AL023 Pre-overload

warning

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.

AL024 Encoder initial

magnetic field error

The magnetic field of the encoder U, V, W signal

is in error.

AL025 Encoder internal

error

The internal memory of the encoder is in error.

An internal counter error is detected.

AL026 Encoder data error An encoder data error is detected for three times.

AL027 Encoder reset error

An encoder reset error is detected. The

communication between the encoder and the

servo drive are in error.

AL030 Motor protection

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.

AL031 U,V,W wiring error The wiring connections of U, V, W (for servo motor

output) and GND (for grounding) are in error.

AL040 Full closed-loop

excessive deviation

The position control deviation value of full

closed-loop exceeds the specified limit.

AL099 DSP firmware

upgrade

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.

Lexium 23A 10. Diagnostic and troubleshooting

AC servo drive 251

CANopen

Communication

Fault Messages Fault Messages

Display Fault Name Fault Description

AL111

CANopen SDO

receive buffer

overrun

SDO Rx buffer overrun is detected (receive two

or more SDO packets in 1ms).

AL112

CANopen PDO

receive buffer

overrun

PDO Rx buffer overrun is detected (receive two

or more PDO (same COBID) packets in 1ms).

AL121

Index error occurs

when accessing

CANopen PDO object.

The specified Index in the message does not

exist.

AL122

Sub-index error

occurs when

accessing CANopen

PDO object.

The specified Sub-index in the message does

not exist.

AL123

Data type (size) error

occurs when

accessing CANopen

PDO object.

The data length in the message does not match

the specified object.

AL124

Data range error

occurs when

accessing CANopen

PDO object.

The data in the message has exceeded the data

range of the specified object.

AL125

CANopen PDO

object is read-only

and write-

protected.

The specified object in the message is read-

only and write-protected (cannot be changed).

AL126

CANopen PDO

object does not

support PDO.

The specified object in the message does not

support PDO.

AL127

CANopen PDO object

is write-protected

when Servo On.

The specified object in the message is write-

protected (cannot be changed) when Servo On.

AL128

Error occurs when

reading CANopen

PDO object from EE-

PROM.

An error occurs when loading the default

settings from EE-PROM at start-up. All

CANopen objects return to their default

settings automatically.

AL129

Error occurs when

writing CANopen

PDO object into EE-

PROM.

An error occurs when writing the current

settings into EE-PROM.

AL130 EE-PROM invalid

address range

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.

10. Diagnostic and troubleshooting Lexium 23A

252 AC servo drive

Fault Messages

Display Fault Name Fault Description

AL131 EE-PROM checksum

error

The data saved in EE-PROM has been damaged

and all CANopen objects return to their default

settings automatically.

AL132 Password error

The parameter is password protected when

using CANopen communication to access the

parameter. The users must enter the valid

password to unlock the parameter.

AL180 Life guard error or

heartbeat error

Receive node guarding or heartbeat message or

heartbeat error has timed out.

AL185 CANbus error CANbus off or Error Rx/Tx Counter exceeds 128.

AL201 CANopen data initial

error

An error occurs when loading data from EE-

PROM.

AL235 Command overflow

This fault occurs when position command

counter register overflowed and at this time an

absolute position command is executed.

AL261

Index error occurs

when accessing

CANopen object.

The specified Index in the message does not

exist.

AL263

Sub-index error

occurs when

accessing CANopen

object.

The specified Sub-index in the message does not

exist.

AL265

Data type (size)

error occurs when

accessing CANopen

object.

The data length in the message does not match

the specified object.

AL267

Data range error

occurs when

accessing CANopen

object.

The data in the message has exceeded the data

range of the specified object.

AL269

CANopen object is

read-only and write-

protected.

The specified object in the message is read-only

and write-protected (cannot be changed).

AL26b

CANopen object

does not support

PDO.

The specified object in the message does not

support PDO.

AL26d

CANopen object is

write-protected

when Servo On.

The specified object in the message is write-

protected (cannot be changed) when Servo On.

Lexium 23A 10. Diagnostic and troubleshooting

AC servo drive 253

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.

Fault Messages

Display Fault Name Fault Description

AL277 Password error

The parameter is password protected when

using CANopen communication to access the

parameter. The users must enter the valid

password to unlock the parameter.

AL283 Forward software

limit

Position command is equal to or more than

forward software limit.

AL285 Reverse software

limit

Position command is equal to or less than

forward software limit.

AL3E1 CANopen SYNC failed The synchronous communication with the

external controller has failed.

AL3E2 CANopen SYNC

signal error The CANopen SYNC signal is received too early.

AL3E3 CANopen SYNC time

out

The CANopen SYNC signal is not received within

the specified time.

AL3E4 CANopen IP

command failed

Internal command of CANopen IP mode cannot

be sent and received.

AL3E5 SYNC period error Object 0x1006 data error. SYNC period 1006h

value is invalid.

AL380

Position deviation

alarm for digital

output, MC_OK

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.

AL401 CAN bus error NMT reset or NMT stop command is received

when the servo drive is enabled.

10. Diagnostic and troubleshooting Lexium 23A

254 AC servo drive

10.3 Potential Cause and Corrective Actions

Servo Drive Fault

Messages -7##$ : Overcurrent

Potential Cause Checking Method Corrective Actions

Short-circuit at drive

output (U, V, W)

1. Check the wiring connections

between drive and motor.

2. Check if the wire is short-

circuited.

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 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.

Lexium 23A 10. Diagnostic and troubleshooting

AC servo drive 255

-7##& : Undervoltage

Potential Cause Checking Method 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 Corrective Actions

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##( : Regeneration error

Potential Cause Checking Method Corrective Actions

Regenerative resistor is

not connected or the

value of the regenerative

resistor is too low.

Check the wiring connection of

regenerative resistor.

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.

10. Diagnostic and troubleshooting Lexium 23A

256 AC servo drive

-7##) : Overload

Potential Cause Checking Method Corrective Actions

The drive has exceeded

its rated load during

continuous operation.

Check if the drive is overloaded.

The users can set parameter P0-

02 (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

not stable (too much

fluctuation).

Use signal detector to detect if

input signal is abnormal.

Ensure that input command

frequency is stable (not

fluctuate too much) and

activate filter function.

Over-speed parameter

setting is defective

Check if over-speed parameter

setting value is too low.

Correctly set over-speed

parameter setting

(P2-34).

-7##+ : Abnormal pulse control command

Potential Cause Checking Method Corrective Actions

Pulse command

frequency is higher

than rated input

frequency.

Use pulse frequency detector to

measure input frequency.

Correctly set the input pulse

frequency.

Lexium 23A 10. Diagnostic and troubleshooting

AC servo drive 257

-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 Checking Method Corrective Actions

The wiring of encoder is in

error.

1. Check if all wiring is correct.

2. Check if the users conduct the

wiring by the wiring

information in the user

manual.

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 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.

10. Diagnostic and troubleshooting Lexium 23A

258 AC servo drive

-7#$& : Operational stop activated

Potential Cause Checking Method Corrective Actions

Operational stop switch

is activated.

Check if operational stop switch

is On or Off.

Activate operational stop

switch.

-7#$' : 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 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.

Lexium 23A 10. Diagnostic and troubleshooting

AC servo drive 259

-7#$* : Memory error

Potential Cause 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.

10. Diagnostic and troubleshooting Lexium 23A

260 AC servo drive

-7#$+ : 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:

P1- 46 x 4 >19.8 x 10

Correctly set P1-76 and P1-46.

1. Ensure that the motor speed is

below the value set by P1-76.

P1- 46 x 4 <19.8 x10

-7#%# : Serial communication time out

Potential Cause Checking Method Corrective Actions

Setting value in time

out parameter is not

correct.

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 Corrective Actions

Control power supply is in

error.

Check the power cable and

connections of R, S, T. Check

whether the power cable is loose

or the possible loss of phase on

input power.

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.

-7#%& : Pre-overload warning

Potential Cause Checking Method Corrective Actions

The drive is going to

overload.

1. Check the load condition of the

servo motor and drive.

2. Check the setting value of P1-

56. 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.

Motor Speed

Lexium 23A 10. Diagnostic and troubleshooting

AC servo drive 261

-7#%' : Encoder initial magnetic field error

Potential Cause Checking Method Corrective Actions

The magnetic field of

the encoder U, V, W

signal is in error.

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.

-7#%( : Encoder internal error

Potential Cause Checking Method Corrective Actions

The internal memory of

the encoder is in error.

An encoder counter

error occurs.

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.

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.

10. Diagnostic and troubleshooting Lexium 23A

262 AC servo drive

-7#%) : Encoder data error

Potential Cause Checking Method Corrective Actions

An encoder data error

occurs for three times

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.

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.

-7#%* : Encoder reset error

Potential Cause Checking Method Corrective Actions

An encoder reset error is

detected. The

communication between

the encoder and the servo

drive are in error.

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.

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.

Lexium 23A 10. Diagnostic and troubleshooting

AC servo drive 263

-7#&# : Motor protection error

Potential Cause Checking Method Corrective Actions

The setting value of

parameter P1-57 is

reached after a period of

time set by parameter

P1-58.

1. Check if P1-57 is enabled.

2. Check if the setting values of

P1-57 and P1-58 are both too

small.

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.

-7#&$ : U,V,W wiring error

Potential Cause Checking Method Corrective Actions

The wiring connections

of U, V, W (for servo

motor output) and GND

(for grounding) are in

error.

Check if wiring connections of U,

V, W are not correct.

Follow the wiring steps in the

user manual to reconnect the

wiring and ground the servo

drive and motor properly.

-7#'# : Full closed-loop excessive deviation

Potential Cause Checking Method Corrective Actions

The position control

deviation value of

fullclosed loop exceeds

the specified limit.

Maximum deviation

parameter setting is too

small.

1. Check if the setting value of P1-

73 is too small.

2. Check if all connections are

tight and wellconnected to the

mechanical equipment.

1. Increases the parameter

setting value of P1-73.

2. Ensure all connections are

tight and well-connected to

the mechanical

-7#,, : DSP firmware upgrade

Potential Cause Checking Method Corrective Actions

EE-PROM is not reset

after the firmware

version is upgraded.

Check if EE-PROM is reset after

the firmware version is

upgraded.

Set P2-08 to 30 first, and then

28 next, and restart the servo

drive.

10. Diagnostic and troubleshooting Lexium 23A

264 AC servo drive

CANopen

Communication

Fault Messages -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 Corrective Actions

The specified Index in the

message does not exist.

Check if the Entry index value in

PDO mapping is 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$%% : Sub-index error occurs when accessing PDO object

Potential Cause Checking Method Corrective Actions

The specified Sub-index

in the message does not

exist.

Check if the Entry Sub-index

value in PDO mapping is

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)

Lexium 23A 10. Diagnostic and troubleshooting

AC servo drive 265

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

Potential Cause Checking Method Corrective Actions

The data length in the

message does not match

the specified object.

Check if the Entry data length in

PDO mapping is 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$%' : Data range error occurs when accessing PDO object

Potential Cause Checking Method Corrective Actions

The data in the message

has exceeded the data

range of the specified

object.

Check if the write-in data range

in PDO mapping is not correct

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$%( : 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 Checking Method Corrective Actions

The specified object in

the message cannot

support PDO.

Check if the specified object

cannot support PDO 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)

10. Diagnostic and troubleshooting Lexium 23A

266 AC servo drive

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

Potential Cause Checking Method Corrective Actions

The specified object in

the message is write-

protected (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 EE-

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$%, : Error occurs when writing CANopen PDO object into EE-PROM

Potential Cause Checking Method Corrective Actions

An error occurs when

writing the current

settings into EE-PROM.

Check if it causes an error when

the specified object writes EE-

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$&# : EE-PROM invalid address range

Potential Cause Checking Method Corrective Actions

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.

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)

Lexium 23A 10. Diagnostic and troubleshooting

AC servo drive 267

-7$&$ : EE-PROM checksum error

Potential Cause Checking Method Corrective Actions

The data saved in EE-

PROM 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 Corrective Actions

The parameter is

password protected

when using CANopen

communication to access

the parameter.

Check if the password for the

specified object is invalid 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$+# : Life guard error or heartbeat error

Potential Cause Checking Method Corrective Actions

Receive node guarding or

heartbeat message has

timed out.

Check the settings of node

guarding or heartbeat function.

NMT Maser send "Reset node"

command to its slave. be reset)

-7$+( : CANbus error

Potential Cause Checking Method Corrective Actions

CANbus off or Error Rx/Tx

Counter exceeds 128. 1. Examine CANbus

communication cable.

2. Check if the communication

quality is good quality state.

(It is recommended to use

shielded cables and use

common grounding.)

NMT Maser send "Reset node"

command to its slave or restart

the servo drive.

10. Diagnostic and troubleshooting Lexium 23A

268 AC servo drive

-7%#$ : CANopen data initial error

Potential Cause Checking Method Corrective Actions

An error occurs when

loading data from EE-

PROM.

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 P2-

08 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 non-

volatile 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 Corrective Actions

This fault occurs when

position command

counter register

overflowed and at this

time an absolute position

command is executed.

1. Check if the position command

is executing continuously

toward single direction and

make the feedback position

command counter overflow.

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

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 CANopen object

Potential Cause Checking Method Corrective Actions

The specified Index in the

message does not exist.

If this fault occurs, please

contact your distributor for

assistance or contact with

Schneider Electric.

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)

Lexium 23A 10. Diagnostic and troubleshooting

AC servo drive 269

-7%)& : Sub-index error occurs when accessing CANopen object

Potential Cause Checking Method Corrective Actions

The specified Sub-index

in the message does not

exist.

If this fault occurs, please

contact your distributor for

assistance or contact with

Schneider Electric.

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%)( : Data type (size) error occurs when accessing CANopen object

Potential Cause Checking Method Corrective Actions

The data length in the

message does not match

the specified object.

If this fault occurs, please

contact your distributor for

assistance or contact with

Schneider Electric.

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%)* : Data range error occurs when accessing CANopen object

Potential Cause Checking Method Corrective Actions

The data in the message

has exceeded the data

range of the specified

object.

If this fault occurs, please

contact your distributor for

assistance or contact with

Schneider Electric.

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%), : 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).

If this fault occurs, please

contact your distributor for

assistance or contact with

Schneider Electric.

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)

10. Diagnostic and troubleshooting Lexium 23A

270 AC servo drive

-7%)> : CANopen object does not support PDO

Potential Cause Checking Method Corrective Actions

The specified object in

the message does not

support PDO.

If this fault occurs, please

contact your distributor for

assistance or contact with

Schneider Electric.

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%)@ : Object is write-protected when Servo On

Potential Cause Checking Method Corrective Actions

The specified object in

the message is write-

protected (cannot be

changed) when Servo On.

If this fault occurs, please

contact your distributor for

assistance or contact with

Schneider Electric.

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 Corrective Actions

The parameter is

password protected

when using CANopen

communication to access

the parameter.

If this fault occurs, please

contact your distributor for

assistance or contact with

Schneider Electric.

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%+& : Forward software limit

Potential Cause Checking Method Corrective Actions

Position command is

equal to or more than

forward software limit.

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)

Lexium 23A 10. Diagnostic and troubleshooting

AC servo drive 271

-7%+( : Reverse software limit

Potential Cause Checking Method Corrective Actions

Position command is

equal to or less than

forward software limit.

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)

-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 Checking Method Corrective Actions

CAN IP mode error. The

SYNC signal is received

too early.

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).

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 Checking Method Corrective Actions

CAN IP mode error. The

SYNC signal is not

received with the

specified time.

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).

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)

10. Diagnostic and troubleshooting Lexium 23A

272 AC servo drive

-7&1' : CANopen IP command failed

Potential Cause Checking Method Corrective Actions

CAN IP mode error.

Internal command

cannot be sent and

received.

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 Corrective Actions

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.

1. Turn ARST (DI signal) ON to

clear the fault.

2. Set P0-01 to 0.

-7'#$ : CANopen state error

Potential Cause Checking Method Corrective Actions

NMT reset or NMT stop

command is received

when the servo drive is

enabled.

Check if NMT reset or NMT stop

command is sent when drive is

enabled.

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).

Lexium 23A 10. Diagnostic and troubleshooting

AC servo drive 273

10.4 Clearing Faults

Servo Drive Fault

Messages Display Fault Name 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).

AL014 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

AL015 Forward 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

10. Diagnostic and troubleshooting Lexium 23A

274 AC servo drive

Display Fault Name Clearing Method

AL016 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 DSP firmware upgrade

This fault message can be removed after

setting P2-08 to 30 first, and then 28 next

and restarting the servo drive.

Lexium 23A 10. Diagnostic and troubleshooting

AC servo drive 275

CANopen

Communication

Fault Messages 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

CANopen PDO object

is read-only and write-

protected.

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).

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).

10. Diagnostic and troubleshooting Lexium 23A

276 AC servo drive

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 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).

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).

AL131 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 CANopen Data Initial E

rror

1. Turn ARST (DI signal) ON to clear the fault.

2. Use CANopen "0x1011” object to restore

default parameters.

AL201 CANopen Data Initial E

rror

1. Turn ARST (DI signal) ON to clear the fault.

2. Use CANopen "0x1011” object to restore

default parameters.

Lexium 23A 10. Diagnostic and troubleshooting

AC servo drive 277

Display Fault Name Clearing Method

AL235 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).

AL245 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).

10. Diagnostic and troubleshooting Lexium 23A

278 AC servo drive

Display Fault Name Clearing Method

AL269 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 write-

protected 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).

AL277 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).

AL283 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

AL285 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

AL283 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

AL285 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

Lexium 23A 10. Diagnostic and troubleshooting

AC servo drive 279

Display Fault Name Clearing Method

AL3E1 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).

AL3E2 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).

AL3E3 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).

AL3E4 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.

AL401 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).

10. Diagnostic and troubleshooting Lexium 23A

280 AC servo drive

AC servo drive 281

Servo Parameters

At a Glance

Presentation This chapter provides an overview of the parameters which can be used for operating

the product.

What's in this

Chapter? 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.

11. Servo Parameters Lexium 23A

282 AC servo drive

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 The parameter name uniquely identifies a parameter.

Description 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.

Unit The unit of the value.

Value range The value range between minimum value and maximum value which can be entered.

Default value 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.

Lexium 23A 11. Servo Parameters

AC servo drive 283

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 (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)

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 P2-

30 and P3-06.

11. Servo Parameters Lexium 23A

284 AC servo drive

11.3 Parameter Summary

11.3.1 Parameters

Listed by Group

Group 0: P0-xx

Monitor Parameters

Parameter Name Function Default Unit Control Mode

Pt Pr S T

P0-00gVER Firmware Version

Factory

setting

N/A OOOO

P0-01bALE Drive Fault Code N/A N/A O O O O

P0-02 STS Drive Status (Front Panel Display) 00 N/A O O O O

P0-03 MON Analog Monitor Output 01 N/A O O O O

P0-04 ~

P0-07 Reserved (Do Not Use)

P0-08gTSON Servo Startup Timer 0 Hour O O O O

P0-09gCM1 Status Monitor 1 N/A N/A O O O O

P0-10gCM2 Status Monitor 2 N/A N/A O O O O

P0-11gCM3 Status Monitor 3 N/A N/A O O O O

P0-12gCM4 Status Monitor 4 N/A N/A O O O O

P0-13gCM5 Status Monitor 5 N/A N/A O O O O

P0-14 ~

P0-16 Reserved (Do Not Use)

P0-17 CM1A Status Monitor Selection 1 0 N/A O O O O

P0-18 CM2A Status Monitor Selection 2 0 N/A O O O O

P0-19 CM3A Status Monitor Selection 3 0 N/A O O O O

P0-20 CM4A Status Monitor Selection 4 0 N/A O O O O

P0-21 CM5A Status Monitor Selection 5 0 N/A O O O O

P0-22 ~

P0-24 Reserved (Do Not Use)

P0-25 MAP0 Mapping Parameter 1 N/A N/A O O O O

P0-26 MAP1 Mapping Parameter 2 N/A N/A O O O O

P0-27 MAP2 Mapping Parameter 3 N/A N/A O O O O

P0-28 MAP3 Mapping Parameter 4 N/A N/A O O O O

P0-29 MAP4 Mapping Parameter 5 N/A N/A O O O O

P0-30 MAP5 Mapping Parameter 6 N/A N/A O O O O

P0-31 MAP6 Mapping Parameter 7 N/A N/A O O O O

P0-32 MAP7 Mapping Parameter 8 N/A N/A O O O O

P0-33 ~

P0-34 Reserved (Do Not Use)

Lexium 23A 11. Servo Parameters

AC servo drive 285

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.

Monitor Parameters

Parameter Name Function Default Unit Control Mode

Pt Pr S T

P0-35 MAP1A Block Data Read / Write Register 1

(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 OOOO

P0-37 MAP3A Block Data Read / Write Register 3

(for P0-27) 0x0 N/A OOOO

P0-38 MAP4A Block Data Read / Write Register 4

(for P0-28) 0x0 N/A OOOO

P0-39 MAP5A Block Data Read / Write Register 5

(for P0-29) 0x0 N/A OOOO

P0-40 MAP6A Block Data Read / Write Register 6

(for P0-30) 0x0 N/A OOOO

P0-41 MAP7A Block Data Read / Write Register 7

(for P0-31) 0x0 N/A OOOO

P0-42 MAP8A Block Data Read / Write Register 8

(for P0-32) 0x0 N/A OOOO

P0-43 Reserved (Do Not Use)

P0-44 PCMN Status Monitor Register

(PC Software Setting) 0x0 N/A OOOO

P0-45 PCMNA Status Monitor Register Selection

(PC Software Setting) 0x0 N/A OOOO

P0-46gSVSTS Servo Output Status Display 0 N/A O O O O

11. Servo Parameters Lexium 23A

286 AC servo drive

Group 1: P1-xx

Basic Parameters

Parameter Name Function Default Unit Control Mode

Pt Pr S T

P1-00 rPTT External Pulse Input Type 0x2 N/A O

P1-01 pCTL Control Mode and Output Direction 0

pulse

rpm

OOOO

P1-02 rPSTL Speed and Torque Limit 0 N/A

P1-03 AOUTPulse Output Polarity Setting 0 N/A OOOO

P1-04 MON1 Analog Monitor Output Proportion 1

(CH1) 100 % (full

scale) OOOO

P1-05 MON2 Analog Monitor Output Proportion 2

(CH2) 100 % (full

scale) OOOO

P1-06 SFLT Accel / Decel Smooth Constant of Analog

Speed Command (Low-pass Filter) 0Msec O

P1-07 TFLT Smooth Constant of Analog Torque

Command (Low-pass Filter) 0Msec O

P1-08 PFLT Smooth Constant of Position Command

(Low-pass Filter) 0msecO

P1-09~

P1-11 SP1~ 3

1st ~ 3rd Speed Command -60000

+60000

rpm O O

1st ~ 3rd Speed Limit

P1-12 ~

P1-14 TQ1 ~ 3 1st ~ 3rd Torque Command -300 ~

+300 %O OO

1st ~ 3rd Torque Limit

P1-15 ~

P1-24 Reserved (Do Not Use)

P1-25 VSF1 Low-frequency Vibration Suppression (1) 100.0 Hz O O

P1-26 VSG1 Low-frequency Vibration Suppression

Gain (1) 0N/AOO

P1-27 VSF2 Low-frequency Vibration Suppression (2) 100.0 Hz O O

P1-28 VSG2 Low-frequency Vibration Suppression

Gain (2) 0N/AOO

P1-29 AVSM Auto Low-frequency Vibration

Suppression Mode Selection 0N/AOO

P1-30 VCL Low-frequency Vibration Detection Level 500 pulse O O

P1-31 Reserved (Do Not Use)

P1-32 LSTP Motor Stop Mode Selection 0 N/A OOOO

P1-33 Reserved (Do Not Use)

P1-34 TACC Acceleration Time 200 msec O

P1-35 TDEC Deceleration Time 200 msec O

Lexium 23A 11. Servo Parameters

AC servo drive 287

Basic Parameters

Parameter Name Function Default Unit Control Mode

Pt Pr S T

P1-36 TSL Accel /Decel S-curve 0 msec O O

P1-37 GDR Ratio of Load Inertia to Servo Motor

Inertia 10 0.1

times OOOO

P1-38 ZSPD Zero Speed Range Setting 100 0.1

rpm OOOO

P1-39 SSPD Target Motor Speed 3000 rpm O O O O

P1-40 rVCM Max. Analog Speed Command or Limit rated

speed rpm O O

P1-41 rTCM Max. Analog Torque Command or Limit 100 % O O O O

P1-42 MBT1 On Delay Time of Electromagnetic Brake 0 msec O O O O

P1-43 MBT2 OFF Delay Time of Electromagnetic Brake -1000 ~

+1000 msecOOOO

P1-44 rGR1 Electronic Gear Ratio (1st Numerator) (N1) 128 pulse O O

P1-45 GR2 Electronic Gear Ratio (Denominator) (M) 10 pulse O O

P1-46 rGR3 Encoder Output Pulse Number 2500 pulse O O O O

P1-47 SPOK Speed Reached Output Range 10 N/A O

P1-48 MCOK Motion Control Completed Output

Selection 0x0000 N/A O

P1-49 ~

P1-51 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 0 % O O O O

P1-58 CRSHT Motor Protection Time 1 msec O O O O

P1-59 MFLT Analog Speed Linear Filter (Moving Filter) 0 0.1

msec O

P1-60 ~

P1-61 Reserved (Do Not Use)

P1-62 FRCL Friction Compensation Percentage 0 % O O O

P1-63 FRCT Friction Compensation Smooth Constant 0 msec O O O

P1-64 ~

P1-65 Reserved (Do Not Use)

P1-66 PCM Max. Rotation Number of Analog Position

Command (will be available soon) 30 0.1

rotation

11. Servo Parameters Lexium 23A

288 AC servo drive

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.

Basic Parameters

Parameter Name Function Default Unit Control Mode

Pt Pr S T

P1-67 Reserved (Do Not Use)

P1-68 PFLT2 Position Command Moving Filter 4 msec O O

P1-69 ~

P1-75 Reserved (Do Not Use)

P1-76 AMSPDMax. Rotation Speed of Encoder Output 5500 rpmOOOO

Lexium 23A 11. Servo Parameters

AC servo drive 289

Group 2: P2-xx

Extension Parameters

Parameter Name Function Default Unit Control Mode

Pt Pr S T

P2-00 KPP Proportional Position Loop Gain 35 rad/s O O

P2-01 PPR Position Loop Gain Switching Rate 100 % O O

P2-02 PFG Position Feed Forward Gain 50 % O O

P2-03 PFF Smooth Constant of Position Feed

Forward Gain 5msecOO

P2-04 KVP Proportional Speed Loop Gain 500 rad/s OOOO

P2-05 SPR Speed Loop Gain Switching Rate 100 % OOOO

P2-06 KVI Speed Integral Compensation 100 rad/s OOOO

P2-07 KVF Speed Feed Forward Gain 0 % OOOO

P2-08 bPCTLSpecial Factory Setting 0 N/A OOOO

P2-09 DRTBounce Filter 2 msec OOOO

P2-10 DI1 Digital Input Terminal 1 (DI1) 101 N/A OOOO

P2-11 DI2 Digital Input Terminal 2 (DI2) 104 N/A OOOO

P2-12 DI3 Digital Input Terminal 3 (DI3) 116 N/A OOOO

P2-13 DI4 Digital Input Terminal 4 (DI4) 117 N/A OOOO

P2-14 DI5 Digital Input Terminal 5 (DI5) 102 N/A OOOO

P2-15 DI6 Digital Input Terminal 6 (DI6) 22 N/A OOOO

P2-16 DI7 Digital Input Terminal 7 (DI7) 23 N/A OOOO

P2-17 DI8 Digital Input Terminal 8 (DI8) 21 N/A OOOO

P2-18 DO1Digital Output Terminal 1 (DO1) 101 N/A OOOO

P2-19 DO2Digital Output Terminal 2 (DO2) 103 N/A OOOO

P2-20 DO3Digital Output Terminal 3 (DO3) 109 N/A OOOO

P2-21 DO4Digital Output Terminal 4 (DO4) 105 N/A OOOO

P2-22 DO5Digital Output Terminal 5 (DO5) 7 N/A OOOO

P2-25 NLP Low-pass Filter Time Constant

(Resonance Suppression) 2 or 5 0.1

msec OOOO

P2-26 DSTExternal Anti-Interference Gain 0 0.001 OOOO

P2-27 GCCGain Switching Control Selection 0 N/A OOOO

P2-28 GUTGain Switching Time Constant 10 10msecOOOO

P2-29 GPE Gain Switching Condition

1280000

pulse

Kpps

rpm

OOOO

P2-30 bINH Auxiliary Function 0 N/A OOOO

P2-31 AUT1 Speed Frequency Response Level in Auto

and Semi-Auto Mode 80 Hz OOOO

P2-32 rAUT2Tuning Mode Selection 0 N/A OOOO

P2-33 rINF Semi-Auto Mode Inertia Adjustment

Selection 0 N/A OOOO

11. Servo Parameters Lexium 23A

290 AC servo drive

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.

Extension Parameters

Parameter Name Function Default Unit Control Mode

Pt Pr S T

P2-34 SDEV Overspeed Warning Condition 5000 rpm O

P2-35 PDEV Excessive Error Warning Condition

3840000

pulse O O

P2-36~

P2-42 Reserved (Do Not Use)

P2-43 NCF1 Notch Filter 1 (Resonance Suppression) 1000 Hz O O O O

P2-44 DPH1 Notch Filter Attenuation Rate 1

(Resonance Suppression) 0 dB OOOO

P2-45 NCF2 Notch Filter 2 (Resonance

Suppression) 1000 Hz OOOO

P2-46 DPH2 Notch Filter Attenuation Rate 2

(Resonance Suppression) 0 dB OOOO

P2-47 PED Auto Resonance Suppression Mode

Selection 1 N/A OOOO

P2-48 BLAS Auto Resonance Suppression

Detection Level 100 N/A OOOO

P2-49 SJIT Speed Detection Filter and Jitter

Suppression 0 sec OOOO

P2-50 DCLR Pulse Deviation Clear Mode 0 N/A O O

P2-51 ~

P2-52 Reserved (Do Not Use)

P2-53 KPI Position Integral Compensation 0 rad/s O O O O

P2-54 ~

P2-59 Reserved (Do Not Use)

P2-60 GR4 Electronic Gear Ratio (2nd

Numerator) (N2) 128 pulse O

P2-61 GR5 Electronic Gear Ratio (3rd

Numerator) (N3) 128 pulse O

P2-62 GR6 Electronic Gear Ratio (4th

Numerator) (N4) 128 pulse O

P2-63 ~

P2-64 Reserved (Do Not Use)

P2-65 GBIT Special Function 1 0 N/A O O O

P2-66 GBIT2 Special Function 2 0 N/A O O O

P2-67 JSL Stable Inertia Estimating Time 1.5 0.1

times OOO

P2-68 AEAL

140H Auto Enable and Auto Limit Enable 0x0000 N/A O O O O

Lexium 23A 11. Servo Parameters

AC servo drive 291

Group 3: P3-xx

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.

Communication Parameters

Parameter Name Function Default Unit Control Mode

Pt Pr S T

P3-00 pADR Modbus Communication Address

Setting 1 N/A OOOO

P3-01 BRT Transmission Speed 0x0203 bps O O O O

P3-02 PTL Communication Protocol 6 N/A O O O O

P3-03 FLT Transmission Fault Treatment 0 N/A O O O O

P3-04 CWD Communication Time Out Detection 0 sec O O O O

P3-05 CADR CANopen Communicaton Address

Setting

0x0000

N/A CANopen mode

P3-06 bSDI Digital Input Communication

Function 0 N/A OOOO

P3-07 CDT Communication Response Delay

Time 0 1 msecOOOO

P3-08 Reserved (Do not use)

P3-09 SYC CANopen Synchronization Setting 0x57A1 N/A CANopen mode

P3-10 PLCEN PLCopen Function Switch 0x0000 N/A CANopen mode

P3-11gPLCTX1 PLCopen TX Packet #1 0x0000 N/A CANopen mode

P3-12gPLCTX2 PLCopen TX Packet #2 0x0000 N/A CANopen mode

P3-13gPLCTX3 PLCopen TX Packet #3 0x0000 N/A CANopen mode

P3-14gPLCTX4 PLCopen TX Packet #4 0x0000 N/A CANopen mode

P3-15gPLCRX1 PLCopen RX Packet #1 0x0000 N/A CANopen mode

P3-16gPLCRX2 PLCopen RX Packet #2 0x0000 N/A CANopen mode

P3-17gPLCRX3 PLCopen RX Packet #3 0x0000

0000 N/A CANopen mode

11. Servo Parameters Lexium 23A

292 AC servo drive

Group 4: P4-xx

Diagnosis Parameters

Parameter Name Function Default Unit Control Mode

Pt Pr S T

P4-00 gASH1 Fault Record (N) 0 N/A O O O O

P4-01 gASH2 Fault Record (N-1) 0 N/A O O O O

P4-02 gASH3 Fault Record (N-2) 0 N/A O O O O

P4-03 gASH4 Fault Record (N-3) 0 N/A O O O O

P4-04 gASH5 Fault Record (N-4) 0 N/A O O O O

P4-05 JOG JOG Operation 20 rpm O O O O

P4-06 rbFOT Force Output Contact Control 0 N/A O O O O

P4-07 bITST Input Status 0 N/A O O O O

P4-08 gPKEY Digital Keypad Input of Servo Drive N/A N/A O O O O

P4-09 gMOT Output Status N/A N/A O O O O

P4-10 bCEN Adjustment Function 0 N/A O O O O

P4-11 SOF1 Analog Speed Input Drift Adjustment 1 Factory

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

phase)

Factory

setting N/A O O O O

P4-16 COF2 Current Detector Drift Adjustment (V2

phase)

Factory

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) 0mVOOOO

P4-21 DOF2 Analog Monitor Output Drift

Adjustment (CH2) 0mVOOOO

P4-22 SAO Analog Speed Input Offset 0 mV O O O O

P4-23 TAO Analog Torque Input Offset 0 mV O O O O

P4-24 LVL Undervoltage Error Level 160 V(rms) O O O O

Lexium 23A 11. Servo Parameters

AC servo drive 293

Group 5: P5-xx

Diagnosis Parameters

Parameter Name Function Default Unit Control Mode

Pt Pr S T

P5-00 ~

P5-02 Reserved (Do Not Use)

P5-03 PDEC Deceleration Time of Protectin

Function

0XE0E

FEEFF N/A OOOO

P5-04 HMOV Homing Mode 0 N/A O

P5-05 HSPD1 1st Speed Setting of High Speed

Homing 100.0 0.1

rpm OOOO

P5-06 HSPD2 2nd Speed Setting of Low Speed

Homing 20.0 0.1

rpm OOOO

P5-07 bPRCM Trigger Position Command

(Pr mode only) 0N/A O

P5-08 SWLP Forward Software Limit 214748

3647 PUU O

P5-09 SWLN Reverse Software Limit -21474

83648 PUU O

P5-10~

P5-14 Reserved (Do Not Use)

P5-15 bPMEM PATH 1 ~ PATH 2 Data Not Retained

Setting 0x0 N/A OOOO

P5-16 bAXENAxis Position: Motor Encoder 0 N/A OOOO

P5-17 Reserved (Do Not Use)

P5-18 AXPC Axis Position: Pulse Command N/A N/A^OOOO

P5-19 Reserved (Do Not Use)

P5-20 ~

P5-33

AC0 ~

AC13 Accel / Decel Time 0 ~ 13 200 ~

8000 msec O

11. Servo Parameters Lexium 23A

294 AC servo drive

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.

Diagnosis Parameters

Parameter Name Function Default Unit Control Mode

Pt Pr S T

P5-34 AC14 Accel / Decel Time 14 50 msec O

P5-35 AC15 Accel / Decel Time 15 30 msec O

P5-36 Reserved (Do Not Use)

P5-37 bCAAX CAPTURE: Axis Position CNT 0 PUU O O O O

P5-38 bCANO CAPTURE: Capture Amount 0 N/A O O O O

P5-39 bCACT CAPTURE: Capture Source Setting 0x0000 N/A O O O O

P5-40 ~

P5-55

DLY0 ~

DLY15 Delay Time 0 ~ 15

0 ~ 5500

msec O

P5-56~

P5-57 Reserved (Do Not Use)

P5-58 bCMNO COMPARE: Compare Amount 0 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 ~

POV15 Moving Speed Setting of Position 0 ~ 15 20.0 ~

3000.0 0.1 rpm O

P5-76 gCPRS Capture 1st Position Reset Data 0 N/A O O O O

Lexium 23A 11. Servo Parameters

AC servo drive 295

Group 6: P6-xx

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.

Pr Path Definition Parameters

Parameter Name Function Default Unit Control Mode

Pt Pr S T

P6-00 PDEC Homing Definition 0x0000

0000 N/A O

P6-01 ODAT Homing Definition Value 0 N/A O

P6-02,

04,… ~

P6-16

PDEF1

PDEF8

Definition of Path 1 ~ 8 0x0000

0000 N/A O

P6-03,

05,… ~

P6-17

PDAT1 ~

PDEF8 Data of Path 1 ~ 8 0 N/A O

11. Servo Parameters Lexium 23A

296 AC servo drive

11.3.2 Parameters

Listed by Function Monitor and General Use

Parameter Name Function Default Unit Control Mode Related

Section

Pt Pr S T

P0-00 gVER Firmware Version Factory

Setting N/AOOOO -

P0-01 bALE Drive Fault Code N/A N/AOOOO

10.2

10.3

10.4

P0-02 STS Drive Status

(Front Panel Display) 00 N/AOOOO 8.2

P0-03 MON Analog Monitor Output 01 N/A O O O O 6.3.3.5

P0-08 gTSON Servo Startup Time 0

Hour

P0-09 gCM1 Status Monitor 1 N/A N/A O O O O 6.3.3.5

P0-10 gCM2 Status Monitor 2 N/A N/A O O O O 6.3.3.5

P0-11gCM3 Status Monitor 3 N/A N/A O O O O 6.3.3.5

P0-12 gCM4 Status Monitor 4 N/A N/A O O O O 6.3.3.5

P0-13 gCM5 Status Monitor 5 N/A N/A O O O O 6.3.3.5

P0-17 CM1A Status Monitor Selection 1 0 N/A -

P0-18 CM2A Status Monitor Selection 2 0 N/A -

P0-19 CM3A Status Monitor Selection 3 0 N/A -

P0-20 CM4A Status Monitor Selection 4 0 N/A

P0-21 CM5A Status Monitor Selection 5 0 N/A

P0-25 MAP1 Mapping Parameter 1 N/A N/A O O O O 6.3.3.5

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

MAP1A

Block Data Read / Write Register

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

Lexium 23A 11. Servo Parameters

AC servo drive 297

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.

Monitor and General Use

Parameter Name Function Default Unit Control Mode Related

Section

Pt Pr S T

P0-39

MAP5A

Block Data Read / Write Register

5 (for P0-29) 0x0 N/A OOOO 6.3.3.5

P0-40

MAP6A

Block Data Read / Write Register

6 (for P0-30) 0x0 N/A OOOO 6.3.3.5

P0-41

MAP7A

Block Data Read / Write Register

7 (for P0-31) 0x0 N/A OOOO 6.3.3.5

P0-42

MAP8A

Block Data Read / Write Register

8 (for P0-32) 0x0 N/A OOOO 6.3.3.5

P0-46 g

SVSTS

Servo Output Status Display 0 N/A O O O O -

P1-04

MON1

Analog Monitor Output

Proportion 1 (CH1) 100 % (full

scale) OOOO 7.3.4.4

P1-05

MON2

Analog Monitor Output

Proportion 2 (CH2) 100 % (full

scale) OOOO 7.3.4.4

11. Servo Parameters Lexium 23A

298 AC servo drive

Smooth Filter and Resonance Suppression

Parameter Name Function Default Unit Control Mode Related

Section

Pt Pr S T

P1-06 SFLT

Accel / Decel Smooth Constant

of Analog Speed Command

(Low-pass Filter)

0 msec O 7.3.3.3

P1-07 TFLT

Smooth Constant of Analog

Torque Command (Low-pass

Filter)

0 msec O 7.3.4.3

P1-08 PFLT Smooth Constant of Position

Command (Low-pass Filter) 010

msec OO 7.3.2.6

P1-25 VSF1 Low-frequency Vibration

Suppression (1) 100.0 Hz O O 7.3.2.9

P1-26 VSG1 Low-frequency Vibration

Suppression Gain (1) 0N/AOO 7.3.2.9

P1-27 VSF2 Low-frequency Vibration

Suppression (2) 100.0 Hz O O 7.3.2.9

P1-28 VSG2 Low-frequency Vibration

Suppression Gain (2) 0N/AOO 7.3.2.9

P1-29 AVSM Auto Low-frequency Vibration

Suppression Mode Selection 0N/AOO 7.3.2.9

P1-30 VCL Low-frequency Vibration

Detection Level 500 pulse O O 7.3.2.9

P1-34 TACC Acceleration Time 200 msec O O 7.3.3.3

P1-35 TDEC Deceleration Time 200 msec O O 7.3.3.3

P1-36 TSL Accel /Decel S-curve 0 msec O O 7.3.3.3

P1-59 MFLT Analog Speed Linear Filter

(Moving Filter) 00.1

msec O-

P1-62 FRCL Friction Compensation

Percentage 0 % OOOO -

P1-63 FRCT Friction Compensation

Smooth Constant 0msecOOOO -

P1-68 PFLT2 Position Command Moving

Filter 0msecOO -

P1-75 FELP Full-closed Loop Low-pass

Filter Time Constant 100 msec O O

Lexium 23A 11. Servo Parameters

AC servo drive 299

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.

Smooth Filter and Resonance Suppression

Parameter Name Function Default Unit Control Mode Related

Section

Pt Pr S T

P2-43 NCF1 Notch Filter 1 (Resonance

Suppression) 1000 Hz O O O O 7.3.3.7

P2-44 DPH1 Notch Filter Attenuation Rate 1

(Resonance Suppression) 0 dB O O O O 7.3.3.7

P2-45 NCF2 Notch Filter 2 (Resonance

Suppression) 1000 Hz O O O O 7.3.3.7

P2-46 DPH2 Notch Filter Attenuation Rate 2

(Resonance Suppression) 0 dB O O O O 7.3.3.7

P2-47 ANCF Auto Resonance Suppression

Mode Selection 1 N/A OOOO -

P2-48 ANCL Auto Resonance Suppression

Detection Level 100 N/A OOOO -

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 rINF Semi-Auto Mode Inertia

Adjustment Selection 0 N/A O O O O 7.3.3.6

P2-49 SJIT Speed Detection Filter and

Jitter Suppression 0 sec OOOO -

11. Servo Parameters Lexium 23A

300 AC servo drive

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.

Gain and Switch

Parameter Name Function Default Unit Control Mode Related

Section

Pt Pr S T

P2-00 KPP Proportional Position Loop

Gain 35 rad/s O O 7.3.2.8

P2-01 PPR Position Loop Gain Switching

Rate 100 % O O 7.3.2.8

P2-02 PFG Position Feed Forward Gain 50 % O O 7.3.2.8

P2-03 PFF Smooth Constant of Position

Feed Forward Gain 5msecOO -

P2-04 KVP Proportional Speed Loop Gain 500 rad/sOOOO 7.3.3.6

P2-05 SPR Speed Loop Gain Switching

Rate 100 % OOOO -

P2-06 KVI Speed Integral Compensation 100 rad/s OOOO 7.3.3.6

P2-07 KVF Speed Feed Forward Gain 0 % OOOO 7.3.3.6

P2-26 DST External Anti-Interference Gain 0 0.001OOOO -

P2-27 GCCGain Switching Control Selection 0 N/A OOOO -

P2-28 GUT Gain Switching Time Constant 10 10

msec OOOO -

P2-29 GPE Gain Switching Condition

1280000

pulse

Kpps

rpm

OOOO -

P2-31 bAUT1

Speed Frequency Response

Level in Auto and Semi-Auto

Mode

80 Hz OOOO

6.5.4.6

7.3.3.6

P2-32 rAUT2Tuning Mode Selection 0 N/A OOOO 6.5.4.6

7.3.3.6

Lexium 23A 11. Servo Parameters

AC servo drive 301

Position Control

Parameter Name Function Default Unit Control Mode Related

Section

Pt Pr S T

P1-01 pCTL Control Mode and Output

Direction 0

pulse

rpm

OOOO 7.3.1

P1-02 rPSTL Speed and Torque Limit 0 N/A O O O O 7.4

P1-12 ~

P1-14 TQ1 ~ 3 1st ~ 3rd Torque Limit -300 ~

+300 % O O O O 7.3.4.1

P1-46 rGR3 Encoder Output Pulse

Number 2500 pulseOOOO -

P1-55 MSPD Maximum Speed Limit rated

speed rpmOOOO -

P2-50 DCLR Pulse Deviation Clear Mode 0 N/A O O -

External Pulse Control Command (Pt mode)

P1-00 rPTT External Pulse Type 0x2 N/A O 7.3.2.1

P1-44 rGR1 Electronic Gear Ratio (1st

Numerator) (N1) 128 pulse O O 7.3.2.5

P1-45 rGR2 Electronic Gear Ratio

(Denominator) (M) 10 pulse O O 7.3.2.5

P2-60 rGR4 Electronic Gear Ratio (2nd

Numerator) (N2) 128 pulse O O -

P2-61 rGR5 Electronic Gear Ratio (3rd

Numerator) (N3) 128 pulse O O -

P2-62 rGR6 Electronic Gear Ratio (4th

Numerator) (N4) 128 pulse O O -

Internal Pulse Control Command (Pr mode)

P6-02 ~

P6-17

PO1 ~

PO8

Definition of Path 1 ~ 8

Data of Path 1 ~ 8 0N/AO 8.10

P5-03 PDEC Deceleration Time of

Protectin Function

0XF00F

FFFF N/A OOOO -

P5-04 HMOV Homing Mode 0 N/A O -

11. Servo Parameters Lexium 23A

302 AC servo drive

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.

Position Control

Parameter Name Function Default Unit Control Mode Related

Section

Pt Pr S T

P5-05 HSPD1 1st Speed Setting of High

Speed Homing 100 0.1

rpm OOOO -

P5-06 HSPD2 2nd Speed Setting of Low

Speed Homing 20 0.1

rpm OOOO -

P5-07 bPRCM Trigger Position Command (Pr

mode only) 0N/A O -

P5-20 ~

P5-35

AC0 ~

AC15 Accel / Decel Time 0 ~ 13 200 ~

30 ms O 8.10

P5-40 ~

P5-55

DLY0 ~

DLY15

Delay Time 0 ~ 15 0 ~

5500 ms O 8.10

P5-15 bPMEM PATH 1 ~ PATH 2 Data Not

Retained Setting 0x0 N/A OOOO -

P5-16 bAXEN Axis Position: Motor Encoder 0 N/A O O O O 8.3

P5-18 AXPC Axis Position: Pulse Command N/A N/A O O O O 8.3

P5-08 SWLP Forward Software Limit +231 PUU O -

P5-09 SWLN Reverse Software Limit -231 PUU O -

Lexium 23A 11. Servo Parameters

AC servo drive 303

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.

Speed Control

Parameter Name Function Default Unit Control Mode Related

Section

Pt Pr S T

P1-01 pCTL Control Mode and Output

Direction 0

pulse

rpm

OOOO 7.3.1

P1-02 rPSTL Speed and Torque Limit 0 N/A O O O O 7.4

P1-46 rGR3 Encoder Output Pulse Number 2500 pulse O O O O -

P1-55 MSPD Maximum Speed Limit rated

speed rpm O O O O -

P1-09 ~

P1-11 SP1 ~ 3 1st ~ 3rd Speed Command

-60000

+60000

0.1

rpm OO 7.3.3.1

P1-12 ~

P1-14

TQ1 ~

31st ~ 3rd Torque Limit -300 ~

+300 % O O O O 7.4.2

P1-40 rVCM Max. Analog Speed

Command or Limit

rated

speed rpm O O 7.3.3.4

P1-41 rTCM Max. Analog Torque

Command or Limit 100 % OOOO -

P1-76

AMSPD

Max. Rotation Speed of E

ncoder Output 5500 rpm O O O O -

11. Servo Parameters Lexium 23A

304 AC servo drive

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.

Torque Control

Parameter Name Function Default Unit Control Mode Related

Section

Pt Pr S T

P1-01 pCTL Control Mode and Output

Direction 0

pulse

rpm

OOOO 7.3.1

P1-02 rPSTL Speed and Torque Limit 0 N/A O O O O 7.4

P1-46 rGR3 Encoder Output Pulse

Number 2500 pulseOOOO -

P1-55 MSPD Maximum Speed Limit rated

speed rpm OOOO -

P1-09

P1-11

SP1~3 1st ~ 3rd Speed Limit

-60000

+60000

rpm O O 7.4.1

P1-12

P1-14

TQ1~3 1st ~ 3rd Torque Command -300 ~

+300 % OOOO 7.3.4.1

P1-40 rVCM Max. Analog Speed

Command or Limit

rated

speed rpm O O -

P1-41 rTCM Max. Analog Torque

Command or Limit 100 % O O O O 7.3.4.4

Lexium 23A 11. Servo Parameters

AC servo drive 305

Digital I/O and Relative Input Output Setting

Parameter Name Function Default Unit Control Mode Related

Section

Pt Pr S T

P2-09 DRT Bounce Filter 2

msec

OOOO -

P2-10 DI1 Digital Input Terminal 1 (DI1) 101 N/A OOOOTable 11.A

P2-11 DI2 Digital Input Terminal 2 (DI2) 104 N/A OOOOTable 11.A

P2-12 DI3 Digital Input Terminal 3 (DI3) 116 N/A OOOOTable 11.A

P2-13 DI4 Digital Input Terminal 4 (DI4) 117 N/A OOOOTable 11.A

P2-14 DI5 Digital Input Terminal 5 (DI5) 102 N/A OOOOTable 11.A

P2-15 DI6 Digital Input Terminal 6 (DI6) 22 N/A OOOOTable 11.A

P2-16 DI7 Digital Input Terminal 7 (DI7) 23 N/A OOOOTable 11.A

P2-17 DI8 Digital Input Terminal 8 (DI8) 21 N/A OOOOTable 11.A

P2-18 DO1 Digital Output Terminal 1 (DO1) 101 N/A OOOOTable 11.B

P2-19 DO2 Digital Output Terminal 2 (DO2) 103 N/A OOOOTable 11.B

P2-20 DO3 Digital Output Terminal 3 (DO3) 109 N/A OOOOTable 11.B

P2-21 DO4 Digital Output Terminal 4 (DO4) 105 N/A OOOOTable 11.B

P2-22 DO5 Digital Output Terminal 5 (DO5) 7 N/A OOOOTable 11.B

P1-38 ZSPD Zero Speed Range Setting 100 0.1

rpm OOOOTable 11.B

P1-39 SSPD Target Motor Speed 3000 rpm OOOOTable 11.B

P1-42 MBT1 On Delay Time of Electromagnetic

Brake 0 msecOOOO 7.4.4

P1-43 MBT2 OFF Delay Time of E

lectromagnetic Brake 0 msecOOOO 7.4.4

P1-47 SCPD Speed Reached Output Range 10 N/A O Table 11.B

P1-54 PER Positioning Completed Width 12800 pulse O O Table 11.B

P1-56 OVWOutput Overload Warning Time 120 % OOOOTable 11.B

11. Servo Parameters Lexium 23A

306 AC servo drive

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.

Communication

Parameter Name Function Default Unit Control Mode Related

Section

Pt Pr S T

P3-00 pADR Modbus Communication

Address Setting 1 N/A OOOO 9.2

P3-01 BRT Transmission Speed 0x0203 bps OOOO 9.2

P3-02 PTL Communication Protocol 6 N/A OOOO 9.2

P3-03 FLT Transmission Fault

Treatment 0 N/A OOOO 9.2

P3-04 CWD Communication Time Out

Detection 0 sec OOOO 9.2

P3-05 CADR CANopen Communication

Address Setting

0x0000

N/A CANopen mode 9.2

P3-06 bSDI Digital Input

Communication Function 0 N/A OOOO 9.2

P3-07 CDT Communication Response

Delay Time 0 1msecOOOO 9.2

P3-08 Reserved (do not use)

P3-09 SYC CANopen Synchronization

Setting 0x57A1 N/A CANopen mode 9.2

P3-10 PLCEN PLCopen Function Switch 0x0000 N/A CANopen mode

P3-11gPLCTX1 PLCopen TX Packet #1 0x0000 N/A CANopen mode

P3-12gPLCTX2 PLCopen TX Packet #2 0x0000 N/A CANopen mode

P3-13gPLCTX3 PLCopen TX Packet #3 0x0000 N/A CANopen mode

P3-14gPLCTX4 PLCopen TX Packet #4 0x0000 N/A CANopen mode

P3-15gPLCRX1 PLCopen RX Packet #1 0x0000 N/A CANopen mode

P3-16gPLCRX2 PLCopen RX Packet #2 0x0000 N/A CANopen mode

P3-17gPLCRX3 PLCopen RX Packet #3 0x0000

0000 N/A CANopen mode

Lexium 23A 11. Servo Parameters

AC servo drive 307

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.

Diagnosis

Parameter Name Function Default Unit Control Mode Related

Section

Pt Pr S T

P4-00 gASH1 Fault Record (N) 0 N/A OOOO 7.2.1

P4-01 gASH2Fault Record (N-1) 0 N/A OOOO 7.2.1

P4-02gASH3Fault Record (N-2) 0 N/A OOOO 7.2.1

P4-03gASH4Fault Record (N-3) 0 N/A OOOO 7.2.1

P4-04 gASH5Fault Record (N-4) 0 N/A OOOO 7.2.1

P4-05 JOG JOG Operation 20 rpm O O O O 7.2.2

P4-06 r bFOT Force Output Contact Control 0 N/A O O O O 7.2.3

P4-07 ITST Input Status 0 N/A O O O O 6.5.2

9.2

P4-08 gPKEY Digital Keypad Input of Servo

Drive N/A N/A OOOO -

P4-09 gMOT Output Status N/A N/A O O O O 6.5.3

P4-10 rCEN Adjustment Function 0 N/A O O O O -

P4-11 SOF1 Analog Speed Input Drift

Adjustment 1

Factory

Setting N/A OOOO -

P4-12 SOF2 Analog Speed Input Drift

Adjustment 2

Factory

Setting N/A OOOO -

P4-13 TOF1 Analog Torque Drift

Adjustment 1

Factory

Setting N/A OOOO -

P4-14 TOF2 Analog Torque Drift

Adjustment 2

Factory

Setting N/A OOOO -

P4-15 COF1 Current Detector Drift

Adjustment (V1 phase)

Factory

Setting N/A OOOO -

P4-16 COF2 Current Detector Drift

Adjustment (V2 phase)

Factory

Setting N/A OOOO -

P4-17 COF3 Current Detector Drift

Adjustment (W1 phase)

Factory

Setting N/A OOOO -

P4-18 COF4 Current Detector Drift

Adjustment (W2 phase)

Factory

Setting N/A OOOO -

P4-19 TIGB IGBT NTC Calibration Factory

Setting N/A OOOO -

P4-20 DOF1 Analog Monitor Output Drift

Adjustment (CH1) 0 mV O O O O 7.3.4.4

P4-21 DOF2 Analog Monitor Output Drift

Adjustment (CH2) 0 mV O O O O 7.3.4.4

P4-22 SAO Analog Speed Input Offset 0 mV O -

P4-23 TAO Analog Torque Input Offset 0 mV O -

P4-24 LVL Undervoltage Error Level 160

V(rms)

OOOO -

11. Servo Parameters Lexium 23A

308 AC servo drive

11.4 Detailed Parameter Listings

Group 0: P0-xx Monitor Parameterss

P0-00 gVER 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

P0-01 bALE Drive Fault Code Address: 0002H, 0003H

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

Lexium 23A 11. Servo Parameters

AC servo drive 309

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.

11. Servo Parameters Lexium 23A

310 AC servo drive

Lexium 23A 11. Servo Parameters

AC servo drive 311

P0-02 STS Drive Status (Front Panel Display) Address: 0004H, 0005H

Default: 00

Applicable Control Mode: ALL

Unit: N/A

Range:00 ~ 127

Data Size: 16-bit

Display Format: Decimal

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)

11. Servo Parameters Lexium 23A

312 AC servo drive

P0-03 MON Analog Monitor Output Address: 0006H, 0007H

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)

Related Section: Section 6.3.3.5

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 P1-

04 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.

P0-04 Reserved (Do Not Use)

P0-05 Reserved (Do Not Use)

P0-06 Reserved (Do Not Use)

P0-07 Reserved (Do Not Use)

Lexium 23A 11. Servo Parameters

AC servo drive 313

P0 - 08gTSON 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

P0 - 09gCM1 Status Monitor 1 Address: 0012H, 0013H

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 - 10gCM2 Status Monitor 2 Address: 0014H, 0015H

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 P0-10 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.

11. Servo Parameters Lexium 23A

314 AC servo drive

P0 - 11 gCM3 Status Monitor 3 Address: 0016H, 0017H

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 P0-11 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 gCM4 Status Monitor 4 Address: 0018H, 0019H

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 P0-12 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 gCM5 Status Monitor 5 Address: 001AH, 001BH

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 P0-12 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.

Lexium 23A 11. Servo Parameters

AC servo drive 315

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 Address: 0022H, 0023H

Default: 0

Applicable Control Mode: ALL

Unit: N/A

Range: 0 ~ 127

Data Size: 16-bit

Display Format: Decimal

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 Address: 0024H, 0025H

Default: 0

Applicable Control Mode: ALL

Unit: N/A

Range: 0 ~ 127

Data Size: 16-bit

Display Format: Decimal

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 Address: 0026H, 0027H

Default: 0

Applicable Control Mode: ALL

Unit: N/A

Range: 0 ~ 127

Data Size: 16-bit

Display Format: Decimal

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.

11. Servo Parameters Lexium 23A

316 AC servo drive

P0 - 20 CM4A Status Monitor Selection 4 Address: 0028H, 0029H

Default: 0

Applicable Control Mode: ALL

Unit: N/A

Range: 0 ~ 127

Data Size: 16-bit

Display Format: Decimal

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 Address: 002AH, 002BH

Default: 0

Applicable Control Mode: ALL

Unit: N/A

Range: 0 ~ 127

Data Size: 16-bit

Display Format: Decimal

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 Address: 0032H, 0033H

Default: N/A 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.

Lexium 23A 11. Servo Parameters

AC servo drive 317

P0 - 26 MAP2 Mapping Parameter 2 Address: 0034H, 0035H

Default: N/A 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 Address: 0036H, 0037H

Default: N/A 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 Address: 0038H, 0039H

Default: N/A 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 Address: 003AH, 003BH

Default: N/A 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.

11. Servo Parameters Lexium 23A

318 AC servo drive

P0 - 30 MAP6 Mapping Parameter 6 Address: 003CH, 003DH

Default: N/A 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 Address: 003EH, 003FH

Default: N/A 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 Address: 0040H, 0041H

Default: N/A 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.

P0 - 33 Reserved (Do Not Use)

P0 - 34 Reserved (Do Not Use)

Lexium 23A 11. Servo Parameters

AC servo drive 319

P0 - 35 MAP1A Block Data Read / Write Register 1

(for P0-25) Address: 0046H, 0047H

Default: 0x0 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.

11. Servo Parameters Lexium 23A

320 AC servo drive

P0 - 36 MAP2A Block Data Read / Write Register 2

(for P0-26) Address: 0048H, 0049H

Default: 0x0 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) Address: 004AH, 004BH

Default: 0x0 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) Address: 004CH, 004DH

Default: 0x0 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.

Lexium 23A 11. Servo Parameters

AC servo drive 321

P0 - 39 MAP5A Block Data Read / Write Register 5

(for P0-29) Address: 004EH, 004FH

Default: 0x0 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)

Address: 0050H, 0051H

Default: 0x0 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) Address: 0052H, 0053H

Default: 0x0 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.

11. Servo Parameters Lexium 23A

322 AC servo drive

P0 - 42 MAP8A Block Data Read / Write Register 8

(for P0-32) Address: 0054H, 0055H

Default: 0x0 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) Address: 0058H, 0059H

Default: 0x0 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 bPCMNA Status Monitor Register Selection

(PC Software Setting) Address: 005AH, 005BH

Default: 0x0 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.

Lexium 23A 11. Servo Parameters

AC servo drive 323

P0 - 46gSVSTS Servo Output Status Display Address: 005CH, 005DH

Default: 0

Applicable Control Mode: ALL

Unit: N/A

Range: 0x00 ~ 0xFF

Data Size: 16-bit

Display Format: Hexadecimal

Settings:

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.

11. Servo Parameters Lexium 23A

324 AC servo drive

Group 1: P1-xx Basic Parameters

P1 - 00rPTT External Pulse Input Type Address: 0100H, 0101H

Default: 0x2

Applicable Control Mode: Pt

Unit: N/A

Range: 0 ~ 1132

Data Size: 16-bit

Display Format: Hexadecimal

Settings:

Related Section: Section 7.3.2.1

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.

BLow Filter Setting Value High Filter

0 1.66Mpps 0 6.66Mpps

1 416Kpps 1 1.66Mpps

2 208Kpps 2 833Kpps

3 104Kpps 3 416Kpps

Lexium 23A 11. Servo Parameters

AC servo drive 325

C: Input polarity

D: Source of pulse command

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.

Pulse Type 0=Positive Logic 1=Negative Logic

Forward 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

Setting value Input pulse interface Remark

0 Low-speed pulse CN1 Terminal Identification:

PULSE, SIGN

1 High-speed pulse CN1 Terminal Identification:

HPULSE, HSIGN

11. Servo Parameters Lexium 23A

326 AC servo drive

P1 - 01pCTL 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:

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

A/B: Control mode settings

Pt Pr S T Sz Tz Pt Pr S T Sz Tz

00 r06 rr

01 r07 rr

02 r08 rr

03 r09 rr

04 r0A rr

05 rOB CANopen Mode

Multiple Mode OC Reserved

OE rrr OD rr

OF rr r

Lexium 23A 11. Servo Parameters

AC servo drive 327

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 Pt-

Pr (see Table 11.A).

C: Torque output direction settings

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.

Direction 0 1

Forward

Reverse

11. Servo Parameters Lexium 23A

328 AC servo drive

P1 - 02rPSTL Speed and Torque Limit Address: 0104H, 0105H

Default: 0

Applicable Control Mode: ALL

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)

Lexium 23A 11. Servo Parameters

AC servo drive 329

P1 - 03 AOUT Pulse Output Polarity Setting Address: 0106H, 0107H

Default: 0

Applicable Control Mode: ALL

Unit: N/A

Range: 0 ~ 13

Data Size: 16-bit

Display Format: Hexadecimal

Settings:

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

(CH1) Address: 0108H, 0109H

Default: 100

Applicable Control Mode: ALL

Unit: % (full scale)

Range: 0 ~ 100

Data Size: 16-bit

Display Format: Decimal

Related Section: Section 7.3.4.4

P1 - 05 MON2 Analog Monitor Output Proportion 2

(CH2) Address: 010AH, 010BH

Default: 100

Applicable Control Mode: ALL

Unit: % (full scale)

Range: 0 ~ 100

Data Size: 16-bit

Display Format: Decimal

Related Section: Section 7.3.4.4

11. Servo Parameters Lexium 23A

330 AC servo drive

P1 - 06 SFLT

Accel / Decel Smooth Constant of

Analog Speed Command (Low-pass

Filter)

Address: 010CH, 010DH

Default: 0

Applicable Control Mode: S

Unit: msec

Range: 0 ~ 1000 (0: Disabled)

Data Size: 16-bit

Display Format: Decimal

Related Section: Section 7.3.3.3

P1 - 07 TFLT Smooth Constant of Analog Torque

Command (Low-pass Filter) Address: 010EH, 010FH

Default: 0

Applicable Control Mode: T

Unit: msec

Range: 0 ~ 1000 (0: Disabled)

Data Size: 16-bit

Display Format: Decimal

Related Section: Section 7.3.4.3

P1 - 08 PFLT Smooth Constant of Position

Command (Low-pass Filter) 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

P1 - 09 SP1 1st Speed Command or Limit Address: 0112H, 0113H

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.

Lexium 23A 11. Servo Parameters

AC servo drive 331

P1 - 10 SP2 2nd Speed Command or Limit Address: 0114H, 0115H

Default: 2000

Applicable Control Mode: S, T

Unit: 0.1 rpm

Range: -60000 ~ +60000

Data Size: 32-bit

Display Format: Decimal

Settings:

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 Address: 0116H, 0117H

Default: 3000

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

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 Address: 0118H, 0119H

Default: -300 ~ +300

Applicable Control Mode: T, P&S

Unit: %

Range: -300 ~ +300

Data Size: 16-bit

Display Format: Decimal

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.

11. Servo Parameters Lexium 23A

332 AC servo drive

P1 - 13 TQ2 2nd Torque Command or Limit Address: 011AH, 011BH

Default: -300 ~ +300

Applicable Control Mode: T, P&S

Unit: %

Range: -300 ~ +300

Data Size: 16-bit

Display Format: Decimal

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 Address: 011CH, 011DH

Default: -300 ~ +300

Applicable Control Mode: T, P&S

Unit: %

Range: -300 ~ +300

Data Size: 16-bit

Display Format: Decimal

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.

P1 - 15 Reserved (Do Not Use)

P1 - 16 Reserved (Do Not Use)

P1 - 17 Reserved (Do Not Use)

P1 - 18 Reserved (Do Not Use)

Lexium 23A 11. Servo Parameters

AC servo drive 333

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) Address: 0132H, 0133H

Default: 100.0

Applicable Control Mode: Pt/Pr

Unit: Hz

Range: 1.0 ~ 100.0

Data Size: 16-bit

Display Format: Decimal

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) Address: 0134H, 0135H

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

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.

11. Servo Parameters Lexium 23A

334 AC servo drive

P1 - 27 VSF2 Low-frequency Vibration

Suppression (2) Address: 0136H, 0137H

Default: 100.0

Applicable Control Mode: Pt/Pr

Unit: Hz

Range: 1.0 ~ 100.0

Data Size: 16-bit

Display Format: Decimal

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) Address: 0138H, 0139H

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

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 Address: 013AH, 013BH

Default: 0

Applicable Control Mode: Pt/Pr

Unit: N/A

Range: 0 ~ 1

Data Size: 16-bit

Display Format: Decimal

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.

Lexium 23A 11. Servo Parameters

AC servo drive 335

P1 - 30 VCL Low-frequency Vibration Detection

Level Address: 013CH, 013DH

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 Address: 0140H, 0141H

Default: 0

Applicable Control Mode: ALL

Unit: N/A

Range: 0 ~ 20

Data Size: 16-bit

Display Format: Hexadecimal

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.

11. Servo Parameters Lexium 23A

336 AC servo drive

P1 - 33 Reserved (Do Not Use)

P1 - 34 TACC Acceleration Time Address: 0144H, 0145H

Default: 200

Applicable Control Mode: S

Unit: msec

Range: 1 ~ 65500

Data Size: 16-bit

Display Format: Decimal

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 Address: 0146H, 0147H

Default: 200

Applicable Control Mode: S

Unit: msec

Range: 1 ~ 65500

Data Size: 16-bit

Display Format: Decimal

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.

Lexium 23A 11. Servo Parameters

AC servo drive 337

P1 - 36 TSL Accel /Decel S-curve Address: 0148H, 0149H

Default: 0

Applicable Control Mode: S, Pr

Unit: msec

Range: 0 ~ 65500 (0: Disabled)

Data Size: 16-bit

Display Format: Decimal

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 Address: 014AH, 014BH

Default: 10

Applicable Control Mode: ALL

Unit: 0.1 times

Range: 0 ~ 2000

Data Size: 16-bit

Display Format: Decimal

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

11. Servo Parameters Lexium 23A

338 AC servo drive

P1 - 38 ZSPD Zero Speed Range Setting Address: 014CH, 014DH

Default: 100

Applicable Control Mode: ALL

Unit: 0.1 rpm

Range: 0 ~ 2000

Data Size: 16-bit

Display Format: Decimal

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 Address: 014EH, 014FH

Default: 3000

Applicable Control Mode: ALL

Unit: rpm

Range: 0 ~ 5000

Data Size: 16-bit

Display Format: Decimal

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.

Lexium 23A 11. Servo Parameters

AC servo drive 339

P1 - 40rVCM Max. Analog Speed Command or

Limit Address: 0150H, 0151H

Default: rated speed

Applicable Control Mode: S, T

Unit: rpm

Range: 0 ~ 10000

Data Size: 16-bit

Display Format: Decimal

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 - 41rTCM Max. Analog Torque Command or

Limit Address: 0152H, 0153H

Default: 100

Applicable Control Mode: ALL

Unit: %

Range: 0 ~ 1000

Data Size: 16-bit

Display Format: Decimal

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

11. Servo Parameters Lexium 23A

340 AC servo drive

P1 - 42 MBT1 On Delay Time of Electromagnetic

Brake Address: 0154H, 0155H

Default: 0

Applicable Control Mode: ALL

Unit: msec

Range: 0 ~ 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 On (Servo On) and

when electromagnetic brake output signal (BRKR) is activated.

P1 - 43 MBT2 OFF Delay Time of Electromagnetic

Brake Address: 0156H, 0157H

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.

Lexium 23A 11. Servo Parameters

AC servo drive 341

P1 - 44rGR1 Electronic Gear Ratio (1st

Numerator) (N1) Address: 0158H, 0159H

Default: 128

Applicable Control Mode: Pt, Pr

Unit: pulse

Range: 1 ~ (229-1)

Data Size: 32-bit

Display Format: Decimal

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 - 45rGR2 Electronic Gear Ratio

(Denominator) (M) Address: 015AH, 015BH

Default: 10

Applicable Control Mode: Pt, Pr

Unit: pulse

Range: 1 ~ (231-1)

Data Size: 32-bit

Display Format: Decimal

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<N/M<25600.

Please note:

1. In Pt and Pr mode, the setting value of P1-45 can not be changed when the servo

drive is enabled (Servo On).

11. Servo Parameters Lexium 23A

342 AC servo drive

P1 - 46rGR3 Encoder Output Pulse Number Address: 015CH, 015DH

Default: 2500

Applicable Control Mode: ALL

Unit: pulse

Range: 20 ~ 320000

Data Size: 32-bit

Display Format: Decimal

Related Section: N/A

Settings:

This parameter is used to set the pulse numbers of encoder outputs per motor

revolution.

Please note:

When the following conditions occur, the output frequency for pulse output may

exceed the specification and cause that the servo drive fault AL018 (Encoder

Output Error) is activated.

Condition 1: Encoder error.

Condition 2: Motor speed is above the value set by parameter P1-76.

Condition 3:

P1 - 47 SPOK Speed Reached Output Range Address: 015EH, 015FH

Default: 10

Applicable Control Mode: S, Sz

Unit: N/A

Range: 0 ~ 300

Data Size: 32-bit

Display Format: Decimal

Related Section: N/A

Settings:

This parameter is used to set the speed reached output range. The DO signal, SP_OK

will be activated when the speed error is equal and below the setting value of P1-47.

Lexium 23A 11. Servo Parameters

AC servo drive 343

1. Speed Command: It is the speed command input by the users (no Accel/Decel),

not the frond-end command of speed control loop. The source of this command

includes analog voltage and registers.

2. Feedback Speed: It is the actual motor speed which is filtered.

3. Get Absolute Value

4. Judge if the speed error is equal and below the setting value of P1-47: When P1-

47 is set to 0, this digital output will be always off.

5. ON or OFF: When the speed error is equal and below the setting value of P1-47,

SP_OK will be ON; otherwise, SP_OK will be OFF.

P1 - 48 MCOK Motion Control Completed Output

Selection Address: 0160H, 0161H

Default: 0x0000

Applicable Control Mode: Pr

Unit: N/A

Range: 0x0000 ~ 0x0011

Data Size: 16-bit

Display Format: Hexadecimal

Related Section: N/A

Settings: (for firmware version V1.002 and later models only)

This parameter is used to determine the operation after digital output signal, MC_OK

(DO code is 0x17) is activated.

X=0: MC_OK will not be always ON after it is activated.

X=1: MC_OK will be always ON after it is activated.

Y=0: Servo fault. AL380 will not be activated.

Y=1: Servo fault. AL380 will be activated.

Display 0 0 Y Y

Range - - 0 ~ 1 0 ~ 1

11. Servo Parameters Lexium 23A

344 AC servo drive

1. Pr command is triggerred: It indicates that the new Pr command becomes

effective. When the signal 3 starts to output the command, the signals 2, 4 and 5

will be clear simetaneously.

2. CMD_OK: CMD_OK is used to detect if the internal position command, signal 3

has been completed. DLY delay time can also be set.

3. Output Command: Output the internal position command according to desired

acceleration and deceleration.

4. TPOS: It is activated when the position error is equal and below the setting value

of P1-54.

5. MC_OK (P1-48 X=0): It is activated when the position command has output and

the positioning is completed also, i.e. CMD_OK and TPOS are both ON. However,

once TPOS becomes OFF, it will become OFF as well.

6 MC_OK (P1-48 X=1): It is activated when the position command has output and

the positioning is completed also, i.e. CMD_OK and TPOS are both ON. However,

when TPOS becomes OFF, it will not become OFF. It will be always ON

7. The signal 5 and signal 6 cannot be selected simetaneously. This function is

determined by X setting of P1-48.

8. Position deviation alarm (AL380): After signal 7 occurs, if signal 4 or 5 becomes off,

it indicates a position deviation alarm is detected and AL380 can be activated to

provide a alarm signal. This function is determined by Y setting of P1-48.

P1 - 49 Reserved (Do Not Use)

P1 - 50 Reserved (Do Not Use)

P1 - 51 Reserved (Do Not Use)

P1 - 52 RES1 Regenerative Resistor Value Address: 0168H, 0169H

Default: -

Applicable Control Mode: ALL

Unit: Ohm

Range: 10 ~ 750

Data Size: 16-bit

Display Format: Decimal

Related Section: Section 4.5

Settings:

This parameter is used to set the resistance of the applicable regenerative resistor.

Model Default

400W 40Ω

750W ~ 1.5kW 40Ω

2kW ~ 3kW 20Ω

Lexium 23A 11. Servo Parameters

AC servo drive 345

P1 - 53 RES2 Regenerative Resistor Capacity Address: 016AH, 016BH

Default: -

Applicable Control Mode: ALL

Unit: Watt

Range: 30 ~ 3000

Data Size: 16-bit

Display Format: Decimal

Related Section: Section 4.5

Settings:

This parameter is used to set the capacity of the applicable regenerative resistor.

P1 - 54 PER Positioning Completed Width Address: 016CH, 016DH

Default: 12800

Applicable Control Mode: Pt , Pr

Unit:pulse

Range: 0 ~ 1280000

Data Size: 32-bit

Display Format: Decimal

Related Section: Table 11.A

Settings:

In Pt mode, when the error pulse numbers is less than the setting value of parameter P1-

54, TPOS (At positioning completed signal) will be activated.

In Pr mode, when the difference in pulse number between the target position and the

actual position is less than the setting value of parameter P1-54, TPOS (At positioning

completed signal) will be activated.

P1 - 55 MSPD Maximum Speed Limit Address: 016EH, 016FH

Default: rated speed

Applicable Control Mode: ALL

Unit: rpm

Range: 0 ~ Max. speed

Data Size: 16-bit

Display Format: Decimal

Related Section: N/A

Settings:

This parameter is used to set maximum motor speed. The default setting is rated

speed.

Model Default

400W 40W

750W~1.5kW 60W

2kW~3kW 100W

11. Servo Parameters Lexium 23A

346 AC servo drive

P1 - 56 OVW Output Overload Warning Time Address: 0170H, 0171H

Default: 120

Applicable Control Mode: ALL

Unit: %

Range: 0 ~ 120

Data Size: 16-bit

Display Format: Decimal

Related Section: N/A

Settings:

This parameter is used to set output overload time. If the setting value of parameter

P1-56 is set to 0 ~ 100, the function of parameter P1-56 is enabled. When the motor

has reached the output overload time set by parameter 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. If the setting value of parameter P1-56 exceeds 100, the function of

parameter P1-56 is disabled.

tOL = Permissible Time for Overload x the setting value of parameter 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 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, 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).

Lexium 23A 11. Servo Parameters

AC servo drive 347

P1 - 57 CRSHA Motor Protection Percentage Address: 0172H, 0173H

Default: 0

Applicable Control Mode: ALL

Unit: %

Range: 0 ~ 300

Data Size: 16-bit

Display Format: Decimal

Related Section: -

Settings:

This parameter is used to protect the motor in case the motor touchs the

mechanical equipment. If P1-57 is set to 0, the function of P1-57 is disabled. The

function of P1-57 is enabled when the setting value of P1-57 is set to 1 or more. The

fault AL030 will be activated when the setting value of P1-57 is reached after a

period of time set by P1-58.

P1 - 58 CRSHT Motor Protection Time Address: 0174H, 0175H

Default: 1

Applicable Control Mode: ALL

Unit: msec

Range: 0 ~ 1000

Data Size: 16-bit

Display Format: Decimal

Related Section: P1-57

Settings:

This parameter is used to protect the motor in case the motor touchs the

mechanical equipment. The fault AL030 will be activated when the setting value of

P1-57 is reached after a period of time set by P1-58.

Please note that this function is applicable for non-contact applications, such as

electric discharge machines only (P1-37 must be set correctly).

P1 - 59 MFLT Analog Speed Linear Filter (Moving

Filter) Address: 0176H, 0177H

Default: 0

Applicable Control Mode: S

Unit: 0.1msec

Range: 0 ~ 40 (0: Disabled)

Data Size: 16-bit

Display Format: Decimal

Related Section: N/A

Settings:

This parameter is used to eliminate the noise generated during the operation when

the host (external) controller sends the step analog voltage speed

11. Servo Parameters Lexium 23A

348 AC servo drive

command. The parameter P1-06 is Low-pass Filter and parameter P1-59 is Moving

Filter. The differences are that Low-pass Filter is usually used to smooth the end of

the command but Moving Filter can be used to smooth the start and the end of

step analog voltage speed command. Using Moving Filter can facilitate the

smooth operation of the motor very effectively.

Therefore, it is recommended to use P1-06 Low-pass Filter when the speed

command from the external controller is applied for position control loop. If the

command is for speed control only, using Moving Filter P1-59 can achieve better

(smooth) performance.

P1 - 60 Reserved (Do Not Use)

P1 - 61 Reserved (Do Not Use)

P1 - 62 FRCL Friction Compensation Percentage Address: 017CH, 017DH

Default: 0

Applicable Control Mode: Pt, Pr, S

Unit: %

Range: 0 ~ 100

Data Size: 16-bit

Display Format: Decimal

Related Section: N/A

Settings:

This parameter is used to set the torque percentage for friction compensation. If

P1-62 is set to 0, the function of P1-62 is disabled. The function of P1-62 is enabled

when the setting value of P1-62 is set to 1 or more.

Lexium 23A 11. Servo Parameters

AC servo drive 349

P1 - 63 FRCT Friction Compensation Smooth

Constant Address: 017EH, 017FH

Default: 0

Applicable Control Mode: ALL

Unit: msec

Range: 0 ~ 1000

Data Size: 16-bit

Display Format: Decimal

Related Section: N/A

Settings:

This parameter is used to set the smooth constant of friction compensation.

P1 - 64 Reserved (Do Not Use)

P1 - 65 Reserved (Do Not Use)

P1 - 66 PCM

Max. Rotation Number of Analog

Position Command (will be available

soon)

Address: 0184H, 0185H

Default: 30

Applicable Control Mode: Pt

Unit: 0.1 rotation

Range: 0 ~ 10000

Data Size: 16-bit

Display Format: Decimal

Related Section: N/A

Settings:

This parameter is used to set the maximum rotation number of analog position

command based on the maximum input voltage (10V).

For example, if P1-66 is set to 30 and the input voltage is 10V, it indicates that the

position command is +3 rotations. If P1-66 is set to 30, but the input voltage is

changed to 5V, then the position command is +1.5 rotations.

Position Command = Input Voltage Value x Setting value of P1-66 / 10

P1 - 67 Reserved (Do Not Use)

P1 - 68 PFLT2 Position Command Moving Filter Address: 0188H, 0189H

Default: 4

Applicable Control Mode: Pt, Pr

Unit: msec

Range: 0 ~ 100

Data Size: 16-bit

Display Format: Decimal

Related Section: N/A

11. Servo Parameters Lexium 23A

350 AC servo drive

P1 - 69 Reserved (Do Not Use)

P1 - 70 Reserved (Do Not Use)

P1 - 71 Reserved (Do Not Use)

P1 - 72 Reserved (Do Not Use)

P1 - 73 Reserved (Do Not Use)

P1 - 74rReserved (Do Not Use)

P1 - 75 Reserved (Do Not Use)

P1 - 76 AMSPD Max. Rotation Speed of Encoder

Output Address: 0198H, 0199H

Default: 5500

Applicable Control Mode: ALL

Unit: rpm

Range: 0 ~ 6000 (0: Disabled)

Data Size: 16-bit

Display Format: Decimal

Related Section: P1-46

Settings:

This parameter is used to optimize the encoder outputs (OA, OB). When the users

set the actual reached maximum motor speed, the servo drive will equalize the

encoder outputs automatically. When P1-76 is set to 0, it indicates that equalizing

function is not available.

Lexium 23A 11. Servo Parameters

AC servo drive 351

Group 2: P2-xx Extension Parameters

P2 - 00 KPP Proportional Position Loop Gain Address: 0200H, 0201H

Default: 35

Applicable Control Mode: Pt, Pr

Unit: rad/s

Range: 0 ~ 2047

Data Size: 16-bit

Display Format: Decimal

Related Section: Section 7.3.2.8

Settings:

This parameter is used to set the position loop gain. It can increase stiffness,

expedite position loop response and reduce position error. However, if the setting

value is over high, it may generate vibration or noise.

P2 - 01 PPR Position Loop Gain Switching Rate Address: 0202H, 0203H

Default: 100

Applicable Control Mode: Pt, Pr

Unit: %

Range: 10 ~ 500

Data Size: 16-bit

Display Format: Decimal

Related Section: Section 7.3.2.8

Settings:

This parameter is used to set the position gain switching rate when the gain switching

condition is satisfied. Please refer to P2-27 for gain switching control selection settings

and refer to P2-29 for gain switching condition settings.

P2 - 02 PFG Position Feed Forward Gain Address: 0204H, 0205H

Default: 50

Applicable Control Mode: Pt, Pr

Unit: %

Range: 0 ~ 100

Data Size: 16-bit

Display Format: Decimal

Related Section: Section 7.3.2.8

Settings:

This parameter is used to set the feed forward gain when executing position control

command. When using position smooth command, increase gain can improve

position track deviation. When not using position smooth command, decrease gain

can improve the resonance condition of mechanical system.

11. Servo Parameters Lexium 23A

352 AC servo drive

P2 - 03 PFF Smooth Constant of Position Feed

Forward Gain Address: 0206H, 0207H

Default: 5

Applicable Control Mode: Pt, Pr

Unit: msec

Range: 2 ~ 100

Data Size: 16-bit

Display Format: Decimal

Related Section: N/A

Settings:

When using position smooth command, increase gain can improve position track

deviation. When not using position smooth command, decrease gain can improve the

resonance condition of mechanical system.

P2 - 04 KVP Proportional Speed Loop Gain Address: 0208H, 0209H

Default: 500

Applicable Control Mode: ALL

Unit: rad/s

Range: 0 ~ 8191

Data Size: 16-bit

Display Format: Decimal

Related Section: Section 7.3.3.6

Settings:

This parameter is used to set the speed loop gain. When the value of proportional

speed loop gain is increased, it can expedite speed loop response. However, if the

setting value is over high, it may generate vibration or noise.

P2 - 05 SPR Speed Loop Gain Switching Rate Address: 020AH, 020BH

Default: 100

Applicable Control Mode: ALL

Unit: %

Range: 10 ~ 500

Data Size: 16-bit

Display Format: Decimal

Related Section: N/A

Settings:

This parameter is used to set the speed gain switching rate when the gain switching

condition is satisfied. Please refer to P2-27 for gain switching control selection settings

and refer to P2-29 for gain switching condition settings.

Lexium 23A 11. Servo Parameters

AC servo drive 353

P2 - 06 KVI Speed Integral Compensation Address: 020CH, 020DH

Default: 100

Applicable Control Mode: ALL

Unit: rad/s

Range: 0 ~ 1023

Data Size: 16-bit

Display Format: Decimal

Related Section: Section 7.3.3.6

Settings:

This parameter is used to set the integral time of speed loop. When the value of speed

integral compensation is increased, it can improve the speed response ability and

decrease the speed control deviation. However, if the setting value is over high, it may

generate vibration or noise.

P2 - 07 KVF Speed Feed Forward Gain Address: 020EH, 020FH

Default: 0

Applicable Control Mode: ALL

Unit: %

Range: 0 ~ 100

Data Size: 16-bit

Display Format: Decimal

Related Section: Section 7.3.3.6

Settings:

This parameter is used to set the feed forward gain when executing speed control

command.

When using speed smooth command, increase gain can improve speed track

deviation.

When not using speed smooth command, decrease gain can improve the

resonance condition of mechanical system.

P2 - 08bPCTL Special Factory Setting Address: 0210H, 0211H

Default: 0

Applicable Control Mode: ALL

Unit: N/A

Range: 0 ~ 65535

Data Size: 16-bit

Display Format: Decimal

Related Section: N/A

Settings:

This parameter can be used to reset all parameters to their original factory settings

and enable some parameters functions.

11. Servo Parameters Lexium 23A

354 AC servo drive

Reset parameters settings:

10: Users can reset all parameter values to factory defaults. All parameter values will

be reset after re-power the servo drive. (Before perform this settings, ensure that

the status of the servo drive is "Servo Off".)

Enable parameters functions:

20: If P2-08 is set to 20, then the parameter P4-10 is enabled.

22: If P2-08 is set to 22, then the parameters P4-11~P4-19 are enabled.

406: If P2-08 is set to 406, then the Digital Output (DO) signal can be forced to be

activated and the drive will enter into Force Output Control operation mode.

400: If P2-08 is set to 400, it can switch the Force Output Control operation mode

to normal Digital Output (DO) Control operation mode.

Users may lock the parameters and protect parameters against change by

unauthorized personnel.

z Parameter Lock (Password Input):

Enter 5-digit password (your password should be at least five characters long).

Confirm your password again and then, the password input is completed. (The

highest digit of your password number should be at least set to 1).

z Set parameters:

Re-start the servo drive and the password protection function is enabled. Enter

correct password, and then you can unlock the parameters and change them.

z Password Decode:

First, enter correct password, and set P2-08 to 0(zero) twice continuously.

P2 - 09 DRT Bounce Filter Address: 0212H, 0213H

Default: 2

Applicable Control Mode: ALL

Unit: msec

Range: 0 ~ 20

Data Size: 16-bit

Display Format: Decimal

Related Section: Section 7.3.3.6

Settings:

For example, if P2-09 is set to 5, the bounce filter time is 5 x 1msec = 5msec.

When there are too much vibration or noises around environment, increasing this

setting value (bounce filter time) can improve reliability. However, if the time is too

long, it may affect the response time.

Lexium 23A 11. Servo Parameters

AC servo drive 355

P2 - 10 DI1 Digital Input Terminal 1 (DI1) Address: 0214H, 0215H

Default: 101

Applicable Control Mode: ALL

Unit: N/A

Range: 0 ~ 015Fh

Data Size: 16-bit

Display Format: Hexadecimal

Related Section: Table 11.A

Settings:

The parameters from P2-10 to P2-17 are used to determine the functions and statuses

of DI1 ~ DI8.

A: DI (Digital Input) Function Settings:

For the setting value of P2- 10 ~ P2-17, please refer to Table 11.A.

B: DI (Digital Input) Enabled Status Settings:

0: Normally closed (contact b)

1: Normally open (contact a)

For example, when P2-10 is set to 101, it indicates that the function of DI1 is SON (Servo

On, setting value is 0x01) and it requires a normally open contact to be connected to it.

Please re-start the servo drive after parameters have been changed.

Please note:

The parameter P3-06 is used to set how the Digital Inputs (DI) accept commands and

signals through the external terminals or via the communication which is determined by

parameter P4-07.

P2 - 11 DI2 Digital Input Terminal 2 (DI2) Address: 0216H, 0217H

Default: 104

Applicable Control Mode: ALL

Unit: N/A

Range: 0 ~ 015Fh

Data Size: 16-bit

Display Format: Hexadecimal

Related Section: Table 11.A

Settings:

Refer to P2-10 for explanation.

11. Servo Parameters Lexium 23A

356 AC servo drive

P2 - 12 DI3 Digital Input Terminal 3 (DI3) Address: 0218H, 0219H

Default: 116

Applicable Control Mode: ALL

Unit: N/A

Range: 0 ~ 015Fh

Data Size: 16-bit

Display Format: Hexadecimal

Related Section: Table 11.A

Settings:

Refer to P2-10 for explanation.

P2 - 13 DI4 Digital Input Terminal 4 (DI4) Address: 021AH, 021BH

Default: 117

Applicable Control Mode: ALL

Unit: N/A

Range: 0 ~ 015Fh

Data Size: 16-bit

Display Format: Hexadecimal

Related Section: Table 11.A

Settings:

Refer to P2-10 for explanation.

P2 - 14 DI5 Digital Input Terminal 5 (DI5) Address: 021CH, 021DH

Default: 102

Applicable Control Mode: ALL

Unit: N/A

Range: 0 ~ 015Fh

Data Size: 16-bit

Display Format: Hexadecimal

Related Section: Table 11.A

Settings:

Refer to P2-10 for explanation.

P2 - 15 DI6 Digital Input Terminal 6 (DI6) Address: 021EH, 021FH

Default: 22

Applicable Control Mode: ALL

Unit: N/A

Range: 0 ~ 015Fh

Data Size: 16-bit

Display Format: Hexadecimal

Related Section: Table 11.A

Settings:

Refer to P2-10 for explanation.

Lexium 23A 11. Servo Parameters

AC servo drive 357

P2 - 16 DI7 Digital Input Terminal 7 (DI7) Address: 0220H, 0221H

Default: 23

Applicable Control Mode: ALL

Unit: N/A

Range: 0 ~ 015Fh

Data Size: 16-bit

Display Format: Hexadecimal

Related Section: Table 11.A

Settings:

Refer to P2-10 for explanation.

P2 - 17 DI8 Digital Input Terminal 8 (DI8) Address: 0222H, 0223H

Default: 21

Applicable Control Mode: ALL

Unit: N/A

Range: 0 ~ 015Fh

Data Size: 16-bit

Display Format: Hexadecimal

Related Section: Table 11.A

Settings:

Refer to P2-10 for explanation.

P2 - 18 DO1 Digital Output Terminal 1 (DO1) Address: 0224H, 0225H

Default: 101

Applicable Control Mode: ALL

Unit: N/A

Range: 0 ~ 013Fh

Data Size: 16-bit

Display Format: Hexadecimal

Related Section: Table 11.B

Settings:

The parameters from P2-18 to P2-22 are used to determine the functions and statuses

of DO1 ~ DO5.

A: DO Function Settings:

For the setting value of P2- 18 ~ P2-22, please refer to Table 11.A.

B: DO Enabled Status Settings:

0: Normally closed (contact b)

1: Normally open (contact a)

For example, when P2-18 is set to 101, it indicates that the function of DO1 is SRDY

(Servo ready, setting value is 0x01) and it requires a normally open contact to be

connected to it.

Please re-start the servo drive after parameters have been changed.

11. Servo Parameters Lexium 23A

358 AC servo drive

P2 - 19 DO2 Digital Output Terminal 2 (DO2) Address: 0226H, 0227H

Default: 103

Applicable Control Mode: ALL

Unit: N/A

Range: 0 ~ 013Fh

Data Size: 16-bit

Display Format: Hexadecimal

Related Section: Table 11.B

Settings:

Refer to P2-18 for explanation.

P2 - 20 DO3 Digital Output Terminal 3 (DO3) Address: 0228H, 0229H

Default: 109

Applicable Control Mode: ALL

Unit: N/A

Range: 0 ~ 013Fh

Data Size: 16-bit

Display Format: Hexadecimal

Related Section: Table 11.B

Settings:

Refer to P2-18 for explanation.

P2 - 21 DO4 Digital Output Terminal 4 (DO4) Address: 022AH, 022BH

Default: 105

Applicable Control Mode: ALL

Unit: N/A

Range: 0 ~ 013Fh

Data Size: 16-bit

Display Format: Hexadecimal

Related Section: Table 11.B

Settings:

Refer to P2-18 for explanation.

P2 - 22 DO5 Digital Output Terminal 5 (DO5) Address: 022CH, 022DH

Default: 7

Applicable Control Mode: ALL

Unit: N/A

Range: 0 ~ 013Fh

Data Size: 16-bit

Display Format: Hexadecimal

Related Section: Table 11.B

Settings:

Refer to P2-18 for explanation.

Lexium 23A 11. Servo Parameters

AC servo drive 359

P2 - 23 Reserved (Do Not Use)

P2 - 24 Reserved (Do Not Use)

P2 - 25 NLP Low-pass Filter Time Constant

(Resonance Suppression) Address: 0232H, 0233H

Default: 2 (1kW and below models) or

5 (other models)

Applicable Control Mode: ALL

Unit: 0.1 msec

Range: 0 ~ 1000

Data Size: 16-bit

Display Format: Decimal

Related Section: Section 7.3.3.7

Settings:

This parameter is used to set low-pass filter time constant of resonance suppression.

If P2-25 is set to 0, this parameter is disabled.

P2 - 26 DST External Anti-Interference Gain Address: 0234H, 0235H

Default: 0

Applicable Control Mode: ALL

Unit: 0.001

Range: 0 ~ 1023

Data Size: 16-bit

Display Format: Decimal

Related Section: N/A

Settings:

If P2-26 is set to 0, this parameter is disabled.

11. Servo Parameters Lexium 23A

360 AC servo drive

P2 - 27 GCC Gain Switching Control Selection Address: 0236H, 0237H

Default: 0

Applicable Control Mode: ALL

Unit: N/A

Range: 0 ~ 4

Data Size: 16-bit

Display Format: Hexadecimal

Related Section: N/A

Settings:

Gain Switching Condition Settings:

A: Gain Switching Condition Settings:

0: Disabled

1: Gain switching DI (Digital Input) signal (GAINUP) is On. (see Table 11.A)

2: In position mode, position deviation is higher than the setting value of P2-29.

3: Position command frequency is higher than the setting value of P2-29.

4: Servo motor speed is higher than the setting value of P2-29.

5: Gain switching DI (Digital Input) signal (GAINUP) is Off. (see Table 11.A)

6: In position mode, position deviation is lower than the setting value of P2-29.

7: Position command frequency is lower than the setting value of P2-29.

8: Servo motor speed is lower than the setting value of P2-29.

B: Gain Switching Control Settings:

0: Gain multiple switching

1: P V PI switching

Setting P mode S mode Status

P2-00 x 100%

P2-04 x 100% P2-04 x 100% Before switching

P2-00 x P2-01

P2-04 x P2-05 P2-04 x P2-05 After switching

P2-06 x 0%

P2-26 x 0% Before switching

P2-06 x 100%

P2-26 x 100% After switching

Lexium 23A 11. Servo Parameters

AC servo drive 361

P2 - 28 GUT Gain Switching Time Constant Address: 0238H, 0239H

Default: 10

Applicable Control Mode: ALL

Unit: 10msec

Range: 0 ~ 1000

Data Size: 16-bit

Display Format: Decimal

Related Section: N/A

Settings:

This parameter is used to set the time constant when switching the smooth gain.

If P2-28 is set to 0, this parameter is disabled.

P2 - 29 GPE Gain Switching Condition Address: 023AH, 023BH

Default: 1280000

Applicable Control Mode: ALL

Unit: pulse, Kpps, rpm

Range: 0 ~ 3840000

Data Size: 32-bit

Display Format: Decimal

Related Section: N/A

Settings:

This parameter is used to set the value of gain switching condition (pulse error, Kpps,

rpm) selected in P2-27. The setting value will be different depending on the different

gain switching condition.

P2 - 30bINH Auxiliary Function Address: 023CH, 023AH

Default: 0

Applicable Control Mode: ALL

Unit: N/A

Range: -8 ~ +8

Data Size: 16-bit

Display Format: Decimal

Related Section: N/A

11. Servo Parameters Lexium 23A

362 AC servo drive

Settings:

0: Disabled all functions described below.

1: Force the servo drive to be Servo On (upon software)

2: Reserved

3: Reserved

4: Reserved

5: After setting P2-30 to 5, the setting values of all parameters will lost (not remain in

memory) at power-down. When the parameters data are no more needed, using this

mode can allows users not to save parameters data into memory without damaging the

EEPROM. P2-30 should be set to 5 when using communication control function.

6: Reserved

7: Reserved

8: Reserved

- 1, -5: Disable the function of setting value 1 and 5.

- 2, -3, -4,-6, -7, -8: Reserved

Lexium 23A 11. Servo Parameters

AC servo drive 363

P2 - 31 AUT1 Speed Frequency Response Level in

Auto and Semi-Auto Mode Address: 023EH, 023FH

Default: 80

Applicable Control Mode: ALL

Related Section: Section 6.5.4.6,

Section 7.3.3.6

Unit: Hz

Range: 1 ~ 1000

Data Size: 16-bit

Display Format: Hexadecimal

Settings:

This parameter is the base for calculating P2-00, P2-02, P2-04, P2-06, P2-25, and P2-

26 under auto-tuning (P2-32=1) and semi-auto tuning (P2-32=2) modes. The

parameter P2-00, P2-02, P2-04, P2-06, P2-25, and P2-26 will be revised immediately

whenever P2-31 is changed when these two modes applied. The stiffness of a

mechanism and system response are the key factor of considering this parameter as

below:

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

P2 - 32rAUT2 Tuning Mode Selection Address: 0240H, 0241H

Default: 0

Applicable Control Mode: ALL

Related Section: Section 6.5.4.6,

Section 7.3.3.6

Unit: N/A

Range: 0 ~ 2

Data Size: 16-bit

Display Format: Hexadecimal

Settings:

0: Manual mode

1: Auto Mode [Continuous adjustment]

2: Semi-Auto Mode [Non-continuous adjustment]

11. Servo Parameters Lexium 23A

364 AC servo drive

P2 - 33rAUT3 Semi-Auto Mode Inertia Adjustment

Selection Address: 0242H, 0243H

Default: 0

Applicable Control Mode: ALL

Unit: N/A

Range: 0 ~ 1

Data Size: 16-bit

Display Format: Decimal

Related Section: N/A

Settings:

When the setting value of A is set to 0 or display is 0, it indicates that the load inertia

estimation of semi-auto tuning mode has been executed but not been completed yet.

When the setting value of A is set to 1, it indicates that the load inertia estimation of semi-

auto tuning mode has been completed. The measured load inertia is memorized in P1-37. If

P2-33 is reset to 0, the servo drive will perform continuous adjustment for estimating the

load inertia (P1-37) again.

B: Reserved.

P2-32 P1-37, Ratio of

Load and Motor

Rotor Inertias

P2-00, P2-02, P2-04,

P2-06, P2-25, P2-26

P2-33 Semi-Auto Mode

Inertia Adjustment Selection

0 Not updated

automatically.

Updated manually. Do not use.

1 Updated every

30 minutes.

Updated when P2-31

changed and P2-32

switched from 0 to 1.

Do not use.

2 Updated when

the level set in

P2-67 reached.

Updated when P2-31

changed and P2-32

switched from 0 to 2.

1: P1-37 evaluated and fixed.

0: P1-37 is under evaluating.

Write 0 to P2-33 for re-

evaluating P1-37.

Lexium 23A 11. Servo Parameters

AC servo drive 365

P2 - 34 SDEV Overspeed Warning Condition Address: 0244H, 0245H

Default: 5000

Applicable Control Mode: S

Unit: rpm

Range: 1 ~ 5000

Data Size: 16-bit

Display Format: Decimal

Related Section: N/A

Settings:

This parameter is used to set the over speed threshold that is used to determine

the over speed fault condition. When the difference in speed between the desired

speed and actual motor speed is over than the setting value of parameter P2-34,

the servo fault, Overspeed (AL007) will be activated.

P2 - 35 PDEV Excessive Error Warning Condition Address: 0246H, 0247H

Default: 3840000

Applicable Control Mode: Pt, Pr

Unit: pulse

Range: 1 ~ 128000000

Data Size: 32-bit

Display Format: Decimal

Related Section: N/A

Settings:

This parameter is used to set the position deviation excessive error threshold that is

used to determine the escessive deviation fault condition. When the difference in

pulse number between the desired position and actual motor position is over than the

setting value of parameter P2-35, the servo fault, Excessive Deviation (AL009) will be

activated.

P2 - 36 Reserved (Do not use)

11. Servo Parameters Lexium 23A

366 AC servo drive

P2 - 38 Reserved (Do Not Use)

P2 - 39 Reserved (Do Not Use)

P2 - 40 Reserved (Do Not Use)

P2 - 41 Reserved (Do Not Use)

P2 - 42 Reserved (Do Not Use)

P2 - 43 NCF1 Notch Filter 1 (Resonance

Suppression) Address: 0256H, 0257H

Default: 1000

Applicable Control Mode: ALL

Unit: Hz

Range: 50 ~ 2000

Data Size: 16-bit

Display Format: Decimal

Related Section: Section 7.3.3.7

Settings:

This parameter is used to set second resonance frequency of mechanical system. It

can be used to suppress the resonance of mechanical system and reduce the vibration

of mechanical system.

If P2-43 is set to 0, this parameter is disabled.

Lexium 23A 11. Servo Parameters

AC servo drive 367

P2 - 44 DPH1 Notch Filter Attenuation Rate 1

(Resonance Suppression) Address: 0258H, 0259H

Default: 0

Applicable Control Mode: ALL

Unit: dB

Range: 0 ~ 32

Data Size: 16-bit

Display Format: Decimal

Related Section: Section 7.3.3.7

Settings:

This parameter is used to set magnitude of the resonance suppression that is set by

parameter P2-43. If P2-44 is set to 0, the parameters P2-43 and P2-44 are both

disabled.

P2 - 45 NCF2 Notch Filter 2 (Resonance

Suppression) Address: 025AH, 025BH

Default: 1000

Applicable Control Mode: ALL

Unit: Hz

Range: 50 ~ 2000

Data Size: 16-bit

Display Format: Decimal

Related Section: Section 7.3.3.7

Settings:

This parameter is used to set third resonance frequency of mechanical system. It can

be used to suppress the resonance of mechanical system and reduce the vibration of

mechanical system.

If P2-45 is set to 0, this parameter is disabled.

P2 - 46 DPH2 Notch Filter Attenuation Rate 2

(Resonance Suppression) Address: 025CH, 025DH

Default: 0

Applicable Control Mode: ALL

Unit: dB

Range: 0 ~ 32

Data Size: 16-bit

Display Format: Decimal

Related Section: Section 7.3.3.7

Settings:

This parameter is used to set magnitude of the resonance suppression that is set by

parameter P2-45. If P2-46 is set to 0, the parameters P2-45 and P2-46 are both

disabled.

11. Servo Parameters Lexium 23A

368 AC servo drive

P2 - 47 ANCF Auto Resonance Suppression Mode

Selection Address: 025EH, 025FH

Default: 1

Applicable Control Mode: ALL

Unit: N/A

Range: 0 ~ 2

Data Size: 16-bit

Display Format: Decimal

Related Section: N/A

Settings:

0: Disable Auto Resonance Suppression Mode.

The setting value of P2-23~P2-24 and P2-43~P2-44 will be fixed and will not be

changed.

1: Auto Resonance Suppression Mode 1 [Non-continuous adjustment]

After the resonance is suppressed, the setting value of P2-23, P2-24, P2-43 and

P2-44 will be fixed and will not be changed.

2: Auto Resonance Suppression Mode 2 [Continuous adjustment]

The servo drive will perform the resonance suppression continuously (will not

stop). The setting value of P2-23, P2-24, P2-43 and P2-44 will not be fixed.

When P2-47 is set to 1, the resonance suppression will be enabled automatically.

After the mechanical system becomes stable, the setting value of P2-47 will return

to 0. When the mechanical system is stable, the resonance suppression point will

be memorized. When the mechanical system is not stable, if the servo drive is

restarted or P2-47 is set to 1, the servo drive will estimate the resonance

suppression point again.

When P2-47 is set to 2, the servo drive will perform the resonance suppression

continuously. When the mechanical system becomes stable, the resonance

suppression point will be memorized. When the mechanical system is not stable, if

the servo drive is restarted, the servo drive will estimate the resonance

suppression point again.

When switching the mode#1 or #2 to #0, the setting values of P2-43 and P2-44 will

be saved automatically.

Lexium 23A 11. Servo Parameters

AC servo drive 369

P2 - 48 ANCF Auto Resonance Suppression

Detection Level Address: 0260H, 0261H

Default: 100

Applicable Control Mode: ALL

Unit: N/A

Range: 1 ~ 300%

Data Size: 16-bit

Display Format: Decimal

Related Section: N/A

Settings:

When the setting value is smaller, the system will become more sensitive to detect

and find the resonance.

When the value of ↑

The setting value of P2-48 ↑, the sensitivity of detecting resonance ↓.

The setting value of P2-48 ↓, the sensitivity of detecting resonance ↑.

P2 - 49 SJIT Speed Detection Filter and Jitter

Suppression Address: 0262H, 0263H

Default: 0

Applicable Control Mode: ALL

Unit: sec

Range: 0 ~ 1F

Data Size: 16-bit

Display Format: Decimal

Related Section: N/A

Settings:

Setting Value of P2-49 Cutoff Frequency of Speed Loop Feedback (Hz)

00 2500

01 2250

02 2100

03 2000

04 1800

05 1600

06 1500

07 1400

08 1300

09 1200

0A 1100

0B 1000

0C 950

0D 900

0E 850

11. Servo Parameters Lexium 23A

370 AC servo drive

P2 - 50 DCLR Pulse Deviation Clear Mode Address: 0264H, 0265H

Default: 0

Applicable Control Mode: Pt, Pr

Unit: N/A

Range: 0 ~ 2

Data Size: 16-bit

Display Format: Hexadecimal

Related Section: N/A

Settings:

For digital input function (DI function), please refer to Table 11.A.

This pulse deviation clear function is enabled when a digital input is set to pulse

clear function (CCLR mode, DI (Digital Input) setting value is 0x04). When this

input is triggered, the position accumulated pulse number will be clear to 0.

(available in Pt and Pr mode only)

0: CCLR is triggered by rising-edge

1: CCLR is triggered bu level

P2 - 51 Reserved (Do Not Use)

P2 - 52 Reserved (Do Not Use)

0F 800

10 750

11 700

12 650

13 600

14 550

15 500

16 450

17 400

18 350

19 300

1A 250

1B 200

1C 175

1D 150

1E 125

1F 100

Lexium 23A 11. Servo Parameters

AC servo drive 371

P2 - 53 KPI Position Integral Compensation Address: 026AH, 026BH

Default: 0

Applicable Control Mode: ALL

Unit: rad/s

Range: 0 ~ 1023

Data Size: 16-bit

Display Format: Decimal

Related Section: Section 7.3.2.8

Settings:

This parameter is used to set the integral time of position loop. When the value of

position integral compensation is increased, it can decrease the position control

deviation. However, if the setting value is over high, it may generate position

overshoot or noise.

P2 - 54 Reserved (Do Not Use)

P2 - 55 Reserved (Do Not Use)

P2 - 56 Reserved (Do Not Use)

P2 - 57 Reserved (Do Not Use)

P2 - 58 Reserved (Do Not Use)

P2 - 59 Reserved (Do Not Use)

P2 - 60 GR4 Electronic Gear Ratio (2nd

Numerator) (N2) Address: 0278H, 0279H

Default: 128

Applicable Control Mode: Pt

Unit: pulse

Range: 1 ~ (229-1)

Data Size: 32-bit

Display Format: Decimal

Related Section: N/A

The electronic gear numerator value can be set via GNUM0, GNUM1 (refer to Table 11.A).

When the GNUM0, GNUM1 are not defined, the default of gear numerator value is

set by P1-44.

When the users wish to set the gear numerator value by using GNUM0, GNUM1,

please set P2-60 ~ P2-62 after the servo motor has been stopped to prevent the

mechanical system vibration.

11. Servo Parameters Lexium 23A

372 AC servo drive

P2 - 61 GR5 Electronic Gear Ratio (3rd

Numerator) (N3) Address: 027AH, 027BH

Default: 128

Applicable Control Mode: Pt

Unit: pulse

Range: 1 ~ (229-1)

Data Size: 32-bit

Display Format: Decimal

Settings:

Refer to P2-60 for explanation.

Related Section: N/A

P2 - 62 GR6 Electronic Gear Ratio (4th

Numerator) (N4) Address: 027CH, 027DH

Default: 128

Applicable Control Mode: Pt

Unit: pulse

Range: 1 ~ (229-1)

Data Size: 32-bit

Display Format: Decimal

Settings:

Refer to P2-60 for explanation.

Related Section: N/A

P2 - 63 Reserved (Do Not Use)

P2 - 64 Reserved (Do Not Use)

Lexium 23A 11. Servo Parameters

AC servo drive 373

P2 - 65 GBIT Special Function 1 Address: 0282H, 0283H

Default: 0

Applicable Control Mode: Pr, Pt, S

Unit: N/A

Range: 0 ~ 0xFF

Data Size: N/A

Display Format: N/A

Related Section: N/A

Settings:

Bit0: DI SPD0/SPD1 speed command trigger mode

0: by level

1: by rising edge

Bit1: DI TCM0/TCM1 torque command trigger mode

0: by level

1: by rising edge

When the servo drive is rising-edge triggered, the internal commands work as

follows:

A: Execute internal command 1

B: Execute internal command 2

C: Execute internal command 3

D: Execute internal command 3

Bit2 ~ Bit5: Reserved. Must be set to 0.

Bit6: Abnormal pulse command detection

0: enable abnormal pulse command detection

1: disable abnormal pulse command detection

Bit7: Reserved. Must be set to 0.

Bit8: U, V, W wiring error detection

1: enable U, V, W wiring error detection

Bit15 Bit14 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8

Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0

Bit1 Bit0

Bit4 Bit3 Bit2

Bit6

Bit7

Bit8

11. Servo Parameters Lexium 23A

374 AC servo drive

Bit9: U, V, W wiring cut-off detection

1: enable U, V, W wiring cut-off detection

Bit10: DI ZCLAMP function selection

When the following conditions are all met, ZCLAMP function will be activated.

Condition1: Speed mode

Condition2: DI ZCLAMP is activated.

Condition3: External analog speed command or internal registers speed

command is less than parameter P1-38.

0: When the command source is an analog speed command, the users can use

ZCLAMP DI signal to stop the motor at the desire position and do not care the

acceleration and deceleration speed curve of the analog speed command. The

motor will be locked at the position when ZCLAMP conditions are satisfied.

0: When the command source is an internal speed command, the users can use

ZCLAMP DI signal to stop the motor at the desire position and keep the the

acceleration and deceleration speed curve of the internal speed command. The

motor will be locked at the position when ZCLAMP conditions are satisfied.

Bit9

Bit10

Lexium 23A 11. Servo Parameters

AC servo drive 375

1: When the command source is an analog speed command, the users can use

ZCLAMP DI signal to stop the motor at the desire position and do not care the

acceleration and deceleration speed curve of the internal speed command. When

ZCLAMP conditions are satisfied, the speed command is decreased to 0 rpm.

When ZCLAMP conditions are not satisfied, the speed command will follow the

analog speed command through Accel/Decel S-curve.

1: When the command source is an internal speed command, the users can use

ZCLAMP DI signal to stop the motor at the desire position and keep the

acceleration and deceleration speed curve of the analog speed command. When

ZCLAMP conditions are satisfied, the speed command is forced to 0 rpm directly.

11. Servo Parameters Lexium 23A

376 AC servo drive

Bit11: NL(CWL)/PL(CCWL) pulse input inhibit function

0: Disable NL(CWL)/PL(CCWL) pulse input inhibit function. In Pt mode, no matter NL

or PL exists or not, external position pulse command will be input into the servo drive.

1: Enable NL(CWL)/PL(CCWL) pulse input inhibit function. In Pt mode, if NL exists,

the external NL pulse input into the servo drive will be inhibited and PL pulse input

will be accepted. On the one hand, in Pt mode, if PL exists, the external PL pulse

input into the servo drive will be inhibited and PL pulse input will be accepted.

Please note:

If NL and PL both exist, NL and PL pulse input into the servo drive will be both inhibited.

Bit12: Input power phase loss detection function

0: Enable Input power phase loss (AL022) detection function

1: Disable Input power phase loss (AL022) detection function

Bit13: Encoder output error detection function

0: Enable encoder output error (AL018) detection function

1: Disable encoder output error (AL018) detection function

Bit14 ~ Bit15: Reserved. Must be set to 0.

P2 - 66 GBIT2 Special Function 2 Address: 0284H, 0285H

Default: 0

Applicable Control Mode: ALL

Unit: N/A

Range: 0~20

Related Section:

Section 11.3

Settings:

Bit0 ~ Bit1: Reserved. Must be set to 0.

Bit2: Undervoltage (Servo Drive Fault) clear mode selection

0: The fault, Undervoltage will not be cleared automatically.

1: The fault, Undervoltage will be cleared automatically.

Bit3 ~ Bit7: Reserved. Must be set to 0.

Bit11

Bit12

Bit13

Bit15 Bit14

Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0

Bit1 Bit0

Bit2

Bit7 Bit6 Bit5 Bit4 Bit3

Lexium 23A 11. Servo Parameters

AC servo drive 377

P2 - 67 JSL Inertia Estimating Detection Level Address: 0286H, 0287H

Default: 1.5

Applicable Control Mode: ALL

Unit: 0.1times

Range: 0 ~ 200.0

Data Size: 16-bit

Display Format: Decimal

Related Section: N/A

Settings:

In semi-auto tuning mode, this parameter defines the threshold for a system to re-

evaluate P1-37. For example, P1-37=2 and P2-67=1, the system will re-evaluate its

P1-37 when a value exceeding the range of P1-37=1.5~2.5 (greater than 2.5 or less

than 1.5) detected. If P1-37=1 and P2-67=3, the range should be P1-37=0~2.5 for a

stable acknowledgment.

P2 - 68 pAEAL Auto Enable and Auto Limit Enable Address: 0286H, 0287H

Default: 0x0000

Applicable Control Mode: ALL

Unit: N/A

Range: 0x0000~0x0011

Data Size: 16-bit

Related Section: N/A

Display Format: Hexadecimal

Settings:

X: Auto Enable function switch

If X = 0, user must to re-trigger SON to enable motor.

If X = 1, motor will be enabled once L1/L2 and SON are both active.

Y: Auto Limit Enable function switch

Y Function

0 AL.014/AL.015 will be latched until receives an additional ARST signal.

1 AL.014/AL.015 can be reset without ARST signal.

XFunction

11. Servo Parameters Lexium 23A

378 AC servo drive

Lexium 23A 11. Servo Parameters

AC servo drive 379

Group 3: P3-xx Communication Parameters

P3 - 00 ADR Modbus Communication Address

Setting Address: 0300H, 0301H

Default: 1 Related Section: Section 9.2

Applicable Control Mode: ALL

Unit: N/A

Range: 0x01 ~ 0x7F

Data Size: 16-bit

Display Format: Hexadecimal

Settings:

This parameter is used to set the Modbus communication slave address in decimal

format. This address is an absolute address which represents the servo drive on a

RS-485 network.

This address is an absolute address which represents the servo drive on a RS-485

network and must be defined uniquely. Duplicate address will cause

communication faults .

Please note:

1. This parameter does not provide broadcast function and doesn,t respond

insecurity.

2. 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 if the address is matching or not. However, the parameter P3-00

cannot be set to 0xFF.

11. Servo Parameters Lexium 23A

380 AC servo drive

P3 - 01 BRT Transmission Speed Address: 0302H, 0303H

Default: 0x0203 Related Section: Section 9.2

Applicable Control Mode: ALL

Unit: bps

Range: 0x0000 ~ 0x0405

Data Size: 16-bit

Display Format: Hexadecimal

Settings:

This parameter is used to set the baud rate and data transmission speed of the

RS-485 and CANopen communications.

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.

Display 0 Z Y X

COM Port - CAN - RS-485

Range 0 0 ~ 4 0 0 ~ 5

Lexium 23A 11. Servo Parameters

AC servo drive 381

P3 - 02 PTL Communication Protocol Address: 0304H, 0305H

Default: 6 Related Section: Section 9.2

Applicable Control Mode: ALL

Unit: N/A

Range: 0 ~ 8

Data Size: 16-bit

Display Format: Hexadecimal

Settings:

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.

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>

P3 - 03 FLT Transmission Fault Treatment Address: 0306H, 0307H

Default: 0 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)

11. Servo Parameters Lexium 23A

382 AC servo drive

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.

Lexium 23A 11. Servo Parameters

AC servo drive 383

P3 - 06bSDI 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 Reserved (Do Not Use)

11. Servo Parameters Lexium 23A

384 AC servo drive

P3-09 SYC CANopen Synchronization Setting Address: 0312H, 0313H

Default: 0x57A1 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.

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.

Display E T D M

Function SYNC error

range

Target

value

Dead zone

range

Clock correction

setting

Range 1~9 0~9 0~F 1~F

Lexium 23A 11. Servo Parameters

AC servo drive 385

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 - 11gPLCTX1 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 - 12gPLCTX2 PLCopen TX Packet #2 Address: 0318H, 0319H

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.

Word 1 2 3 4

Function driveStat mfStat motionSt driveInput

Parameter POTX1 POTX2 POTX3 POTX4

11. Servo Parameters Lexium 23A

386 AC servo drive

P3 - 13gPLCTX3 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 - 14gPLCTX4 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:

Word 1 2 3 4

Function dmCtrl refA16 refB32

Parameter POTX1 POTX2 PORX3

Lexium 23A 11. Servo Parameters

AC servo drive 387

P3 - 16 PLCRX2 PLCopen RX Packet #2 Address: 0320H, 0321H

Default: 0x0000 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 Address: 0322H, 0323H

Default: 0x00000000 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.

11. Servo Parameters Lexium 23A

388 AC servo drive

Group 4: P4-xx Diagnosis Parameters

P4 - 00gASH1 Fault Record (N) Address: 0400H, 0401H

Default: 0 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 - 01gASH2 Fault Record (N-1) Address: 0402H, 0403H

Default: 0 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 - 02gASH3 Fault Record (N-2) Address: 0404H, 0405H

Default: 0 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.

Lexium 23A 11. Servo Parameters

AC servo drive 389

P4 - 03gASH4 Fault Record (N-3) Address: 0406H, 0407H

Default: 0 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 - 04gASH5 Fault Record (N-4) Address: 0408H, 0409H

Default: 0 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.

11. Servo Parameters Lexium 23A

390 AC servo drive

P4 - 05 JOG JOG Operation Address: 040AH, 040BH

Default: 20 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.

Lexium 23A 11. Servo Parameters

AC servo drive 391

P4 - 06

r bFOT Force Output Contact Control Address: 040CH, 040DH

Default: 0 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.

11. Servo Parameters Lexium 23A

392 AC servo drive

P4 - 07bITST Input Status Address: 040EH, 040FH

Default: 0

Applicable Control Mode: ALL

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.

Lexium 23A 11. Servo Parameters

AC servo drive 393

P4 - 08gPKEY Digital Keypad Input of Servo Drive Address: 0410H, 0411H

Default: N/A 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 - 09gMOT Output Status Address: 0412H, 0413H

Default: N/A 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 - 10bCEN Adjustment Function Address: 0414H, 0415H

Default: 0 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).

11. Servo Parameters Lexium 23A

394 AC servo drive

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 Address: 041AH, 041BH

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.

Lexium 23A 11. Servo Parameters

AC servo drive 395

P4 - 14 TOF2 Analog Torque Drift Adjustment 2 Address: 041CH, 041DH

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 - 15 COF1 Current Detector Drift Adjustment

(V1 phase) Address: 041EH, 041FH

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 - 16 COF2 Current Detector Drift Adjustment

(V2 phase) Address: 0420H, 0421H

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.

11. Servo Parameters Lexium 23A

396 AC servo drive

P4 - 17 COF3 Current Detector Drift

Adjustment (W1 phase) Address: 0422H, 0423H

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 - 18 COF4 Current Detector Drift Adjustment

(W2 phase) Address: 0424H, 0425H

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 - 19 TIGB IGBT NTC Calibration Address: 0426H, 0427H

Default: Factory setting 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.

Lexium 23A 11. Servo Parameters

AC servo drive 397

P4 - 20 DOF1 Analog Monitor Output Drift

Adjustment (CH1) Address: 0428H, 0429H

Default: 0 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) Address: 042AH, 042BH

Default: 0 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 Analog Speed Input Offset Address: 042CH, 042DH

Default: 0 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.

11. Servo Parameters Lexium 23A

398 AC servo drive

P4 - 23 TAO Analog Torque Input Offset Address: 042EH, 042FH

Default: 0 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 Undervoltage Error Level Address: 0430H, 0431H

Default: 160 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.

Lexium 23A 11. Servo Parameters

AC servo drive 399

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:

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.

Display High Byte Low Byte

D C B A W Z Y X

Function STP Reserved CTO OVF SNL SPL NL PL

Range 0 ~ F - 0 ~ F0 ~ F0 ~ F0 ~ F0 ~ F0 ~ F

11. Servo Parameters Lexium 23A

400 AC servo drive

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 W Z Y X

Function Reserved Limit setting Z pulse setting Homing direction setting

Range - 0 ~ 1 0 ~ 2 0 ~ 8

Settings -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.

-X=1: Move reverse to

NL(CWL) used as home.

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.

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=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

Lexium 23A 11. Servo Parameters

AC servo drive 401

P5 - 05 HSPD1 1st Speed Setting of High Speed

Homing Address: 050AH, 050BH

Default: 100.0 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 Address: 050CH, 050DH

Default: 20.0 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.

11. Servo Parameters Lexium 23A

402 AC servo drive

P5 - 07bPRCM Trigger Position Command (Pr

mode only) Address: 050EH, 050FH

Default: 0 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.

Lexium 23A 11. Servo Parameters

AC servo drive 403

P5 - 08 SWLP Forward Software Limit Address: 0510H, 0511H

Default: 2147483647 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 Address: 0512H, 0513H

Default: -2147483648 Related Section: N/A

Applicable Control Mode: Pr

Unit: PUU

Range: -2147483648 ~ +2147483647

Data Size: 32-bit

Display Format: Decimal

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)

11. Servo Parameters Lexium 23A

404 AC servo drive

P5 - 15bPMEM PATH 1 ~ PATH 2 Data Not Retained

Setting Address: 051EH, 051FH

Default: 0x0 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.

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 - 16bAXEN Axis Position: Motor Encoder Address: 0520H, 0521H

Default: 0 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.

Display 0 0 Y X

Range - - 0 ~ 1 0~ 1

Lexium 23A 11. Servo Parameters

AC servo drive 405

P5 - 17 Reserved (Do not use)

P5 - 18 AXAU Axis Position: Pulse Command Address: 0524H, 0525H

Default: N/A 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 Address: 0528H, 0529H

Default: 200 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.

11. Servo Parameters Lexium 23A

406 AC servo drive

P5 - 21 AC1 Accel / Decel Time 1 Address: 052AH, 052BH

Default: 300 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 Address: 052CH, 052DH

Default: 500 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 Address: 052EH, 052FH

Default: 600 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.

Lexium 23A 11. Servo Parameters

AC servo drive 407

P5 - 24 AC4 Accel / Decel Time 4 Address: 0530H, 0531H

Default: 800 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 Address: 0532H, 0533H

Default: 900 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 Address: 0534H, 0535H

Default: 1000 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 Address: 0536H, 0537H

Default: 1200 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.

11. Servo Parameters Lexium 23A

408 AC servo drive

P5 - 28 AC8 Accel / Decel Time 8 Address: 0538H, 0539H

Default: 1500 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 Address: 053AH, 053BH

Default: 2000 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 Address: 053CH, 053DH

Default: 2500 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 Address: 053EH, 053FH

Default: 3000 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.

Lexium 23A 11. Servo Parameters

AC servo drive 409

P5 - 32 AC12 Accel / Decel Time 12 Address: 0540H, 0541H

Default: 5000 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 Address: 0542H, 0543H

Default: 8000 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 Address: 0544H, 0545H

Default: 50 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 Accel / Decel Time 15 Address: 0546H, 0547H

Default: 30 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 the motor stops in high speed.

11. Servo Parameters Lexium 23A

410 AC servo drive

P5 - 36 Reserved (Do Not use)

P5 - 37bCAAX CAPTURE: Axis Position CNT Address: 054AH, 054BH

Default: 0 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 - 38bCANO CAPTURE: Capture Amount Address: 054CH, 054DH

Default: 0 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.

Lexium 23A 11. Servo Parameters

AC servo drive 411

P5 - 39bCACT 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:

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.

Bit 3 2 1 0

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.

11. Servo Parameters Lexium 23A

412 AC servo drive

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 Address: 0550H, 0551H

Default: 0 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 Address: 0552H, 0553H

Default: 100 Related Section: Section 8.10

Applicable Control Mode: Pr

Unit: msec

Range: 0 ~ 32767

Data Size: 16-bit

Display Format: Decimal

Lexium 23A 11. Servo Parameters

AC servo drive 413

P5 - 42 DLY2 Delay Time 2 Address: 0554H, 0555H

Default: 200 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 Address: 0556H, 0557H

Default: 400 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 Address: 0558H, 0559H

Default: 500 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 Address: 055AH, 055BH

Default: 800 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 Address: 055CH, 055DH

Default: 1000 Related Section: Section 8.10

Applicable Control Mode: Pr

Unit: msec

Range: 0 ~ 32767

Data Size: 16-bit

Display Format: Decimal

11. Servo Parameters Lexium 23A

414 AC servo drive

P5 - 47 DLY7 Delay Time 7 Address: 055EH, 055FH

Default: 1500 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 Address: 0560H, 0561H

Default: 2000 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 Address: 0562H, 0563H

Default: 2500 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 Address: 0564H, 0565H

Default: 3000 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 Address: 0566H, 0567H

Default: 3500 Related Section: Section 8.10

Applicable Control Mode: Pr

Unit: msec

Range: 0 ~ 32767

Data Size: 16-bit

Display Format: Decimal

Lexium 23A 11. Servo Parameters

AC servo drive 415

P5 - 52 DLY12 Delay Time 12 Address: 0568H, 0569H

Default: 4000 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 Address: 056AH, 056BH

Default: 4500 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 Address: 056CH, 056DH

Default: 5000 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 Address: 056EH, 056FH

Default: 5500 Related Section: Section 8.10

Applicable Control Mode: Pr

Unit: msec

Range: 0 ~ 32767

Data Size: 16-bit

Display Format: Decimal

P5 - 56 Reserved (Do Not Use)

P5 - 57 Reserved (Do Not Use)

11. Servo Parameters Lexium 23A

416 AC servo drive

P5 - 58bCMNO COMPARE: Compare Amount Address: 0574H, 0575H

Default: 0 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 - 59bCACT COMPARE: Compare Source

Setting Address: 0576H, 0577H

Default: 0x0000 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.

Lexium 23A 11. Servo Parameters

AC servo drive 417

A: Compare function settings:

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)

Bit 3 2 1 0

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.

11. Servo Parameters Lexium 23A

418 AC servo drive

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

Lexium 23A 11. Servo Parameters

AC servo drive 419

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

11. Servo Parameters Lexium 23A

420 AC servo drive

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 Address: 058EH, 058FH

Default: 1800.0 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 - 72 POV12 Moving Speed Setting of Position 12 Address: 0590H, 0591H

Default: 2000.0 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 - 73 POV13 Moving Speed Setting of Position 13 Address: 0592H, 0593H

Default: 2300.0 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 - 74 POV14 Moving Speed Setting of Position 14 Address: 0594H, 0595H

Default: 2500.0 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

Lexium 23A 11. Servo Parameters

AC servo drive 421

P5 - 75 POV15 Moving Speed Setting of Position 15 Address: 0596H, 0597H

Default: 3000.0 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 - 76gCPRS Capture 1st Position Reset Data Address: 0598H, 0599H

Default: 0 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.

11. Servo Parameters Lexium 23A

422 AC servo drive

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:

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).

Bit 31 ~ 28 27 ~ 24 23 ~ 20 19 ~ 16 15 ~ 12 11 ~ 8 7 ~ 4 3 ~ 0

Function BOOT - DLY DEC2 DEC1 ACC PATH

Lexium 23A 11. Servo Parameters

AC servo drive 423

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:

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:

OPT:

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

Bit 31 ~ 28 27 ~ 24 23 ~ 20 19 ~ 16 15 ~ 12 11 ~ 8 7 ~ 4 3 ~ 0

Function ORG_DEF (32-bit)

Bit 31 ~ 28 27 ~ 24 23 ~ 20 19 ~ 16 15 ~ 12 11 ~ 8 7 ~ 4 3 ~ 0

P6-02 - - DLY - - - OPT

P6-03 DATA (32-bit)

OPT

Bit7 Bit6 Bit5 Bit4

CMD - INS

DLY (4)

11. Servo Parameters Lexium 23A

424 AC servo drive

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:

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 Address: 0608H, 0609H

Default: 0x00000000 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 Address: 060AH, 060BH

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:

Refer to P6-03 for explanation.

Bit 31 ~ 28 27 ~ 24 23 ~ 20 19 ~ 16 15 ~ 12 11 ~ 8 7 ~ 4 3 ~ 0

Function DATA (32-bit)

Lexium 23A 11. Servo Parameters

AC servo drive 425

P6 - 06 PDEF3 Definition of Path 3 Address: 060CH, 060DH

Default: 0x00000000 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 Address: 060EH, 060FH

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:

Refer to P6-03 for explanation.

P6 - 08 PDEF4 Definition of Path 4 Address: 0610H, 0611H

Default: 0x00000000 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 Address: 0612H, 0613H

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:

Refer to P6-03 for explanation.

11. Servo Parameters Lexium 23A

426 AC servo drive

P6 - 10 PDEF5 Definition of Path 5 Address: 0614H, 0615H

Default: 0x00000000 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 Address: 0616H, 0617H

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:

Refer to P6-03 for explanation.

P6 - 12 PDEF6 Definition of Path 6 Address: 0618H, 0619H

Default: 0x00000000 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 Address: 061AH, 061BH

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:

Refer to P6-03 for explanation.

Lexium 23A 11. Servo Parameters

AC servo drive 427

P6 - 14 PDEF7 Definition of Path 7 Address: 061CH, 061DH

Default: 0x00000000 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 Address: 061EH, 061FH

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:

Refer to P6-03 for explanation.

P6 - 16 PDEF8 Definition of Path 8 Address: 0620H, 0621H

Default: 0x00000000 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 Address: 0622H, 0623H

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:

Refer to P6-03 for explanation.

11. Servo Parameters Lexium 23A

428 AC servo drive

Table 11.A Input Function Definition

Setting value: 0x01

DI Name DI Function Description Trigger Method Control

Mode

SON Servo On. When this DI is activated, it indicates the

servo drive is enabled. 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

Setting value: 0x03

DI Name DI Function Description Trigger Method Control

Mode

GAINUP

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.

Level Triggered Pt, Pr, S

Setting value: 0x04

DI Name DI Function Description Trigger Method Control

Mode

CCLR

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.

Rising-edge

Triggered,

Level Triggered

Lexium 23A 11. Servo Parameters

AC servo drive 429

Setting value: 0x05

DI Name DI Function Description Trigger Method Control

Mode

ZCLAMP

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.

Level Triggered S

Setting value: 0x06

DI Name DI Function Description Trigger Method Control

Mode

CMDINV

Command input reverse control. When the drive is in

the Speed and Torque mode, and CMDINV is

activated, the motor is in reverse rotation.

Level Triggered S, T

Setting value: 0x07

DI Name DI Function Description Trigger Method Control

Mode

Reserved

Setting value: 0x08

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 Pr

11. Servo Parameters Lexium 23A

430 AC servo drive

Setting value: 0x09

DI Name DI Function Description Trigger Method Control

Mode

TRQLM

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

command source is internal parameter or analog

voltage.

Level Triggered Pt, Pr, S

Setting value: 0x10

DI Name DI Function Description Trigger Method Control

Mode

SPDLM

Speed limit enabled. When the drive is in torque

mode and SPDLM is activated, it indicates the speed

limit command is valid. The speed limit command

source is internal parameter or analog voltage.

Level Triggered T

Setting value: 0x11, 0x12, 0x13

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 Pr

Lexium 23A 11. Servo Parameters

AC servo drive 431

DI Name DI Function Description Trigger Method Control

Mode

POS0

POS1

POS2

Level Triggered Pr

Setting value: 0x46

DI Name DI Function Description Trigger Method Control

Mode

STOP Motor stop. Rising-edge

Triggered Pr

Setting value: 0x14 ~ 0x15

DI Name DI Function Description Trigger Method Control

Mode

SPD0

SPD1

Speed command selection 0 ~ 1 (Command S1 ~ S4)

Level Triggered S

Position

Command POS2 POS1 POS0 CTRG Parameters

P1 0 0 0

P6-02

P6-03

P2 0 0 1

P6-04

P6-05

P3 0 1 0

P6-06

P6-07

P4 0 1 1

P6-08

P6-09

P5 1 0 0

P6-10

P6-11

P6 1 0 1

P6-12

P6-13

P7 1 1 0

P6-14

P6-15

P8 1 1 1

P6-16

P6-17

Command

No.

DI signal of

CN1 Command Source Content Range

SPD1 SPD0

S1 OFF OFF

Mode

External

analog

command

Voltage

between V-

REF and GND

+/-10 V

Sz None

Speed

command

is 0

S2 OFF ON

Internal parameter

P1-09 -60000

+60000

rpm

S3 ON OFF P1-10

S4 ON ON P1-11

11. Servo Parameters Lexium 23A

432 AC servo drive

Setting value: 0x16 ~ 0x17

DI Name DI Function Description Trigger Method Control

Mode

TCM0

TCM1

Torque command selection 0 ~ 1 (Command T1 ~ T4)

Level Triggered T

Setting value: 0x18

DI Name DI Function Description Trigger Method Control

Mode

S-P Speed / Position mode switching.

OFF: Speed mode, ON: Position mode Level Triggered P, S

Setting value: 0x19

DI Name DI Function Description Trigger Method Control

Mode

S-T Speed / Torque mode switching.

OFF: Speed mode, ON: Torque mode Level Triggered S, T

Setting value: 0x20

DI Name DI Function Description Trigger Method Control

Mode

T-P Torque / Position mode switching.

OFF: Torque mode, ON: Position mode Level Triggered P, T

Setting value: 0x2B

DI Name DI Function Description Trigger Method Control

Mode

Pt-Pr Internal position (Pr) and external pulse (Pt) mode

switching. OFF: Pt, ON: Pr Level Triggered Pt, Pr

Command

No.

DI signal of

CN1 Command Source Content Range

TCM1 TCM0

T1 OFF OFF

Mode

TAnalog

command

Voltage

between V-

REF and GND

+/-10 V

Tz None

Torque

command

is 0

T2 OFF ON

Internal parameter

P1-12 -300 ~

+300 %

T3 ON OFF P1-13

T4 ON ON P1-14

Lexium 23A 11. Servo Parameters

AC servo drive 433

Setting value: 0x21

DI Name DI Function Description Trigger Method Control

Mode

OPST Operational stop. It should be contact "b" and

normally ON or a fault (AL013) will display. Level Triggered All

Setting value: 0x22

DI Name DI Function Description Trigger Method Control

Mode

NL(CWL) Reverse inhibit limit. It should be contact "b" and

normally ON or a fault (AL014) will display. Level Triggered All

Setting value: 0x23

DI Name DI Function Description Trigger Method Control

Mode

PL(CCWL) Forward inhibit limit. It should be contact "b" and

normally ON or a fault (AL015) will display. Level Triggered All

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

Setting value: 0x25

DI Name DI Function Description Trigger Method Control

Mode

TLLM Torque limit - Reverse operation (Torque limit

function is valid only when P1-02 is enabled) Level Triggered Pt, Pr, S

Setting value: 0x26

DI Name DI Function Description Trigger Method Control

Mode

TRLM Torque limit - Forward operation (Torque limit

function is valid only when P1-02 is enabled) Level Triggered Pt, Pr, S

11. Servo Parameters Lexium 23A

434 AC servo drive

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.

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 Pr

Setting value: 0x37

DI Name DI Function Description Trigger Method Control

Mode

JOGU Forward JOG input. When JOGU is activated, the

motor will JOG in forward direction. [see P4-05] Level Triggered

All

modes

except

CAN

Setting value: 0x38

DI Name DI Function Description Trigger Method Control

Mode

JOGD Reverse JOG input. When JOGD is activated, the

motor will JOG in reverse direction. [see P4-05] Level Triggered

All

modes

except

CAN

Setting value: 0x43, 0x44

DI Name DI Function Description Trigger Method Control

Mode

GNUM0

GNUM1

Electronic gear ratio (Numerator) selection 0 ~ 1

[see P2-60 ~ P2-62]

Level Triggered Pt

Setting value: 0x45

DI Name DI Function Description Trigger Method Control

Mode

INHP

Pulse inhibit input. When the drive is in position mode,

if INHP is activated, the external pulse input command

is not valid. (Please use DI8 for INHP signal to ensure

the real-time operation of INHP function.)

Level Triggered Pt

Lexium 23A 11. Servo Parameters

AC servo drive 435

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

Setting value: 0x03

DO Name DO Function Description Trigger Method Control

Mode

ZSPD

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

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.

Level Triggered All

Setting value: 0x04

DO Name DO Function Description Trigger Method Control

Mode

TSPD

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 speed drops below

the Target Rotation Speed.

Level Triggered All

11. Servo Parameters Lexium 23A

436 AC servo drive

Setting value: 0x05

DO Name DO Function Description Trigger Method Control

Mode

TPOS

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 +P1-54 band of the target position.

Level Triggered Pt, Pr

Setting value: 0x06

DO Name DO Function Description Trigger Method Control

Mode

TQL

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.

Level Triggered

All,

except

T, Tz

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

Setting value: 0x08

DO Name DO Function Description Trigger Method Control

Mode

BRKR

Electromagnetic brake control. BRKR is activated

(Actuation of motor brake). (Please refer to

parameters P1-42 ~ P1-43)

Level Triggered All

Lexium 23A 11. Servo Parameters

AC servo drive 437

Setting value: 0x09

DO Name DO Function Description Trigger Method Control

Mode

HOME

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

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.

Level Triggered Pr

Setting value: 0x10

DO Name DO Function Description Trigger Method Control

Mode

OLW

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

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).

Level Triggered Pr

11. Servo Parameters Lexium 23A

438 AC servo drive

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

Setting value: 0x14

DO Name DO Function Description Trigger Method Control

Mode

SPL

(SCCWL)

Forward software limit. SPL is activated when the

servo drive has detected that forward software limit

is reached.

Level Triggered All

Setting value: 0x15

DO Name DO Function Description Trigger Method Control

Mode

CMD_OK

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.

Level Triggered Pr

Lexium 23A 11. Servo Parameters

AC servo drive 439

Setting value: 0x16

DO Name DO Function Description Trigger Method Control

Mode

CAP_OK

Capture operation completed output. CAP_OK is

activated when the servo drive has detected that

capture operation has been completed.

Level Triggered Pr

Setting value: 0x17

DO Name DO Function Description Trigger Method Control

Mode

MC_OK

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

been given and the positioning has been completed

also. If only CMD_OK or TPOS is ON, MC_OK will not

be activated.

Level Triggered Pr

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

Setting value: 0x30

DO Name DO Function Description Trigger Method Control

Mode

SDO_0 Output the status of bit00 of P4-06. Level Triggered All

Setting value: 0x31

DO Name DO Function Description Trigger Method Control

Mode

SDO_1 Output the status of bit01 of P4-06. Level Triggered All

Setting value: 0x32

DO Name DO Function Description Trigger Method Control

Mode

SDO_2 Output the status of bit02 of P4-06. Level Triggered All

11. Servo Parameters Lexium 23A

440 AC servo drive

Setting value: 0x33

DO Name DO Function Description Trigger Method Control

Mode

SDO_3 Output the status of bit03 of P4-06. Level Triggered All

Setting value: 0x34

DO Name DO Function Description Trigger Method Control

Mode

SDO_4 Output the status of bit04 of P4-06. Level Triggered All

Setting value: 0x35

DO Name DO Function Description Trigger Method Control

Mode

SDO_5 Output the status of bit05 of P4-06. Level Triggered All

Setting value: 0x36

DO Name DO Function Description Trigger Method Control

Mode

SDO_6 Output the status of bit06 of P4-06. Level Triggered All

Setting value: 0x37

DO Name DO Function Description Trigger Method Control

Mode

SDO_7 Output the status of bit07 of P4-06. Level Triggered All

Setting value: 0x38

DO Name DO Function Description Trigger Method Control

Mode

SDO_8 Output the status of bit08 of P4-06. Level Triggered All

Setting value: 0x39

DO Name DO Function Description Trigger Method Control

Mode

SDO_9 Output the status of bit09 of P4-06. Level Triggered All

Setting value: 0x3A

DO Name DO Function Description Trigger Method Control

Mode

SDO_A Output the status of bit10 of P4-06. Level Triggered All

Lexium 23A 11. Servo Parameters

AC servo drive 441

Notes:

1)When P2-18 to P2-22 is set to 0, it indicates output function is disabled.

Setting value: 0x3B

DO Name DO Function Description Trigger Method Control

Mode

SDO_B Output the status of bit11 of P4-06. Level Triggered All

Setting value: 0x3C

DO Name DO Function Description Trigger Method Control

Mode

SDO_C Output the status of bit12 of P4-06. Level Triggered All

Setting value: 0x3D

DO Name DO Function Description Trigger Method Control

Mode

SDO_D Output the status of bit13 of P4-06. Level Triggered All

Setting value: 0x3E

DO Name DO Function Description Trigger Method Control

Mode

SDO_E Output the status of bit14 of P4-06. Level Triggered All

Setting value: 0x3F

DO Name DO Function Description Trigger Method Control

Mode

SDO_F Output the status of bit15 of P4-06. Level Triggered All

11. Servo Parameters Lexium 23A

442 AC servo drive

AC servo drive 443

Accessories and spare parts

At a Glance

What's in this

Chapter? 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

12. Accessories and spare parts Lexium 23A

444 AC servo drive

Connector and

cable

Connector

Name Description Reference

Replacement connector set Power connector set,drive side

(power supply, motor, CN5)

VW3M4121

I/O connector I/O connector of CN1 interface VW3M4112

I/O terminal block module Terminal block module,with 0.5 m cable VW3M4113

Interface adapter USB to RJ45(RS232) converter for CN3 interface VW3M8131

Cable

Name Description Length Reference

standard network cable RJ45 connector on both ends 2 490NTW00002

This cable can be used with the converter VW3M8131 to connect it with CN3 interface.

Connection accessory

Connector for power cable

Description For Item

no.

Reference

For motor with flying cable,no

brake

BCH0401Op2A1C 1 VW3M5111

BCH0601Op2A1C

BCH0602Op2A1C

BCH0801Op2A1C

BCH0802Op2A1C

For motor with flying

cable,with brake

BCH0601Op2F1C 1 VW3M5112

BCH0602Op2F1C

BCH0801Op2F1C

BCH0802Op2F1C

Military connector BCH1001Op2p1C 1 VW3M5121

BCH1301Mp2p1C

BCH1301Np2p1C

BCH1302Mp2p1C

BCH1302Np2p1C

BCH1303Mp2p1C

BCH1303Np2p1C

BCH1002Op2p1C

BCH1304Np2p1C

Military connector BCH1801Np2p1C 1 VW3M5131

BCH1802Np2p1C

BCH1802Mp2p1C

BCH1803Np2p1C

BCH1803Mp2p1C

Military connector BCH1804Mp2p1C

BCH1805Mp2p1C

1VW3M5141

Brake connector BCH1804Mp2F1C

BCH1805Mp2F1C

1VW3M7151

Lexium 23A 12. Accessories and spare parts

AC servo drive 445

Connection accessory (continue)

Connector for encoder cable

Description For Item

no.

Reference

For motor with flying cable BCH0401Op2p1C 2 VW3M8121

BCH0601Op2p1C

BCH0602Op2p1C

BCH0801Op2p1C

BCH0802Op2p1C

For motor with military

connector

BCH1001Op2p1C 2 VW3M8122

BCH1301Mp2p1C

BCH1301Np2p1C

BCH1302Mp2p1C

BCH1302Np2p1C

BCH1303Mp2p1C

BCH1303Np2p1C

BCH1002Op2p1C

BCH1304Np2p1C

BCH1801Np2p1C

BCH1802Np2p1C

BCH1802Mp2p1C

BCH1803Np2p1C

BCH1803Mp2p1C

BCH1804Mp2p1C

BCH1805Mp2p1C

12. Accessories and spare parts Lexium 23A

446 AC servo drive

Connection accessory (continue)

Power cable

Description From servo motor To servo drive

Composition Length

Reference

Servo motor side with plastic

connector

Drive side with flying lead,no

brake

BCH0401Op2A1C LXM23pU01M3X 4 X0.82 mm23VW3M5111R30

BCH0601Op2A1C LXM23pU02M3X 5 VW3M5111R50

BCH0602Op2A1C LXM23pU04M3X

BCH0801Op2A1C LXM23pU04M3X

BCH0802Op2A1C LXM23pU07M3X

Servo motor side with plastic

connector

Drive side with flying

lead,with brake

BCH0401Op2F1C LXM23pU01M3X 6 x 0.82

mm2

3VW3M5112R30

BCH0601Op2F1C LXM23pU02M3X 5 VW3M5112R50

BCH0602Op2F1C LXM23pU04M3X

BCH0801Op2F1C LXM23pU04M3X

BCH0802Op2F1C LXM23pU07M3X

Servo motor side with

military connector

Drive side with flying lead,no

brake

BCH1001Op2A1C LXM23pU10M3X 4 x 1.3 mm23VW3M5121R30

BCH1301Mp2A1C LXM23pU04M3X 5 VW3M5121R50

BCH1301Np2A1C LXM23pU04M3X

BCH1302Mp2A1C LXM23pU07M3X

BCH1302Np2A1C LXM23pU10M3X

BCH1303Mp2A1C LXM23pU10M3X

BCH1303Np2A1C LXM23pU15M3X

Servo motor side with

military connector

Drive side with flying

lead,with brake

BCH1001Op2F1C LXM23pU10M3X 6 x 1.3 mm23VW3M5131R30

BCH1301Mp2F1C LXM23pU04M3X 5 VW3M5131R50

BCH1301Np2F1C LXM23pU04M3X

BCH1302Mp2F1C LXM23pU07M3X

BCH1302Np2F1C LXM23pU10M3X

BCH1303Mp2F1C LXM23pU10M3X

BCH1303Np2F1C LXM23pU15M3X

Servo motor side with

military connector

Drive side with flying lead,no

brake

BCH1002Op2A1C LXM23pU20M3X 4 x 2.1 mm23VW3M5122R30

BCH1304Np2A1C LXM23pU20M3X 5 VW3M5122R50

Servo motor side with

military connector

Drive side with flying

lead,with brake

BCH1002Op2F1C LXM23pU20M3X 6 x 2.1 mm23VW3M5132R30

BCH1304Np2F1C LXM23pU20M3X 5 VW3M5132R50

Servo motor side with

military connector

Drive side with flying lead,no

brake

BCH1801Np2A1C LXM23pU20M3X 4 x 3.3 mm23VW3M5123R30

BCH1802Np2A1C LXM23pU30M3X 5 VW3M5123R50

BCH1802Mp2A1C LXM23pU30M3X

BCH1803Np2A1C LXM23pU45M3X

Servo motor side with

military connector

Drive side with flying

lead,with brake

BCH1801Np2F1C LXM23pU20M3X 6 x 3.3 mm23VW3M5133R30

BCH1802Np2F1C LXM23pU30M3X 5 VW3M5133R50

BCH1802Mp2F1C LXM23pU30M3X

BCH1803Np2F1C LXM23pU45M3X

Servo motor side with

military connector

Drive side with flying lead,no

brake

BCH1803Mp2A1C LXM23pU45M3X 4 x 8.4 mm23VW3M5124R30

5VW3M5124R50

Servo motor side with

military connector

Drive side with flying

lead,with brake

BCH1803Mp2F1C LXM23pU45M3X 6x 8.4 mm23VW3M5134R30

5VW3M5134R50

VW3M5 111/121/131

112/122/132/133/124 Rppp

Lexium 23A 12. Accessories and spare parts

AC servo drive 447

(1) without battery box

(2) with battery box, using for absolute position control

Connection accessory (continue)

Encoder cable

Description From servo

motor

To servo drive Composition Length Reference

Servo motor side and drive

side with plastic connector

BCH0401Op2p1C LXM23pU01M3X 10X0.13 mm23 VW3M8121R30 (1)

5 VW3M8121R50 (1)

3 VW3M8123R30 (2)

5 VW3M8123R50 (2)

BCH0601Op2p1C LXM23pU02M3X

BCH0602Op2p1C LXM23pU04M3X

BCH0801Op2p1C LXM23pU04M3X

BCH0802Op2p1C LXM23pU07M3X

Servo motor side with

military connector

Drive side with plastic

connector

BCH1001Op2p1C LXM23pU10M3X 10x0.13 mm2

BCH1301Mp2p1C LXM23pU04M3X

BCH1301Np2p1C LXM23pU04M3X

BCH1302Mp2p1C LXM23pU07M3X

BCH1302Np2p1C LXM23pU10M3X

BCH1303Mp2p1C LXM23pU10M3X 3

VW3M8122R30

(1)

BCH1303Np2p1C LXM23pU15M3X 5

VW3M8122R50

(1)

BCH1002Op2p1C LXM23pU20M3X

BCH1304Np2p1C LXM23pU20M3X

BCH1801Np2p1C LXM23pU20M3X 3

VW3M8124R30

(2)

BCH1802Np2p1C LXM23pU30M3X 5

VW3M8124R50

(2)

BCH1802Mp2p1C LXM23pU30M3X

BCH1803Np2p1C LXM23pU45M3X

BCH1803Mp2p1C LXM23pU45M3X

BCH1804Mp2p1C LXM23pU55M3X

BCH1805Mp2p1C LXM23pU75M3X

VW3M8 121/122/123/

124 Rppp

12. Accessories and spare parts Lexium 23A

448 AC servo drive

Power

Connectors

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)

Lexium 23A 12. Accessories and spare parts

AC servo drive 449

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

12. Accessories and spare parts Lexium 23A

450 AC servo drive

Other

Accessories

CANopen cable

with connectors

Other Accessories (for Lexium23 Plus series, all models)

Description Commercial reference

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) 490NTW00002

Regenerative Resistor 400W 40ΩVW3M7111

Regenerative Resistor 1kW 20ΩVW3M7112

Bag of power connectors

(plugs for power supply, motor, CN5) VW3M4121

Description Order no.

CANopen cable, 0.3 m, 2 x RJ45 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, flame-

retardant, tested as per IEC 60332-1)

TSXCANCADD03

CANopen cable, 1 m, 2 x D9-SUB (female), LSZH

standard cable (low-smoke, zero halogen, flame-

retardant, tested as per IEC 60332-1)

TSXCANCADD1

Lexium 23A 12. Accessories and spare parts

AC servo drive 451

CANopen

connectors,

distributors,

terminating

resistors

Description Order no.

CANopen cable, 3 m, 2 x D9-SUB (female), LSZH

standard cable (low-smoke, zero halogen, flame-

retardant, tested as per IEC 60332-1)

TSXCANCADD3

CANopen cable, 5 m, 2 x D9-SUB (female), LSZH

standard cable (low-smoke, zero halogen, flame-

retardant, tested as per IEC 60332-1)

TSXCANCADD5

CANopen cable, 0.3 m, 2 x D9-SUB (female), flame-

retardant, tested as per IEC 60332-2, UL certification TSXCANCBDD03

CANopen cable, 1 m, 2 x D9-SUB (female), flame-

retardant, tested as per IEC 60332-2, UL cer-

tification

TSXCANCBDD1

CANopen cable, 3 m, 2 x D9-SUB (female), flame-

retardant, tested as per IEC 60332-2, UL cer-

tification

TSXCANCBDD3

CANopen cable, 5 m, 2 x D9-SUB (female), flame-

retardant, tested as per IEC 60332-2, UL cer-

tification

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,

PC interface straight, bus cable angled 90°

TSXCANKCDF90TP

CANopen connector, D9-SUB (female), with

switchable terminating resistor, angled 90°TSXCANKCDF90T

CANopen connector, D9-SUB (female), with

switchable terminating resistor, straight 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

12. Accessories and spare parts Lexium 23A

452 AC servo drive

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.

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 60332-

1), 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 60332-

1), 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, oil-

resistant, both cable ends open

TSXCANCD300

AC servo drive 453

Service, maintenance and disposal

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?

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

13. Service, maintenance and disposal Lexium 23A

454 AC servo drive

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

Lexium 23A 13. Service, maintenance and disposal

AC servo drive 455

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

General Inspection

zPeriodically inspect the screws of the servo drive, motor shaft, terminal

block and the connection to mechanical system. Tighten screws as

necessary as they may loosen due to vibration and varying temperatures.

zEnsure 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.

zEnsure the correct installation and the control panel. It should be free from

airborne dust, harmful gases or liquids.

zEnsure that all wiring instructions and recommendations are followed;

otherwise damage to the drive and or motor may result.

Inspection during

operation

(Control power is

applied)

zInspect the servo drive and servo motor to insure they were not damaged.

zTo avoid an electric shock, be sure to connect the ground terminal of servo

drive to the ground terminal of control panel.

zBefore making any connection, wait 10 minutes for capacitors to discharge

after the power is disconnected, alternatively, use an appropriate

discharge device to discharge.

zEnsure that all wiring terminals are correctly insulated.

zEnsure that all wiring is correct or damage and or malfunction may result.

zVisually check to ensure that there are not any unused screws, metal strips,

or any conductive or inflammable materials inside the drive.

zNever put inflammable objects on servo drive or close to the external

regenerative resistor.

zMake sure control switch is OFF.

zIf the electromagnetic brake is being used, ensure that it is correctly wired.

zIf required, use an appropriate electrical filter to eliminate noise to the

servo drive.

zEnsure that the external applied voltage to the drive is correct and

matched to the controller.

Inspection during

operation

(Control power is

applied)

zEnsure 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.

zCheck 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.

zEnsure 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.

zEnsure 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.

zIf 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.

zCheck 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.

13. Service, maintenance and disposal Lexium 23A

456 AC servo drive

13.3 Maintenance

z Use and store the product in a proper and normal environment.

zPeriodically clean the surface and panel of servo drive and motor.

zMake sure the conductors or insulators are corroded and/or damaged.

zDo not disassemble or damage any mechanical part when performing

maintenance.

zClean 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.

zRelay

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.

zCooling 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.

Lexium 23A 13. Service, maintenance and disposal

AC servo drive 457

13.5 Replacing devices

Prepare a list with the parameters required for the functions used.

Observe the following procedure when replacing devices.

zSave all parameter settings. To do so, save the data to a PC using the commissioning

software, see chapter 6.4 "Commissioning software".

zSwitch off all supply voltages. Verify that no voltages are present (safety instructions).

zLabel all connections and uninstall the product.

zNote the identification number and the serial number shown on the product nameplate

for later identification.

zInstall the new product as per chapter 5 "Installation".

zIf 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.

zCommission 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.

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.

zDo NOT operate the drive system with unknown settings or data.

zVerify that the stored data and settings are correct.

zWhen commissioning, carefully run tests for all operating states and

potential error situations.

zVerify the functions after replacing the product and also after making

changes to the settings or data.

zOnly 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.

WARNNG

13. Service, maintenance and disposal Lexium 23A

458 AC servo drive

13.6 Changing the motor

zSwitch off all supply voltages. Verify that no voltages are present (safety instructions).

zLabel all connections and uninstall the product.

zNote the identification number and the serial number shown on the product nameplate

for later identification.

zInstall 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.

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.

UNEXPECTED MOVEMENT

Drive systems may perform unexpected movements because of incorrect

connection or other errors.

zOperate the device with approved motors only. Even if motors are similar,

different adjustment of the encoder system may be a source of hazards.

zEven 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.

WARNNG

Lexium23A Installation Directions

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