LSIS XDL-L7NH Series, User Manual, Page: 8 / 348

Table of Contents
viii
Table of Contents
1. Product Configuration ....................................................................................... 1-1
1.1 Product Verification .......................................................................................................... 1-1
1.2 Product Specifications ..................................................................................................... 1-2
1.3 Part Names ...................................................................................................................... 1-4
1.3.1 Servo Drive Parts ............................................................................................. 1-4
1.3.2 Servo Motor Parts ............................................................................................. 1-9
1.4 System Configuration Example ..................................................................................... 1-10
2. Wiring and Connection ...................................................................................... 2-1
2.1 Installation of Servo Motor ............................................................................................... 2-1
2.1.1 Operating Environment .................................................................................... 2-1
2.1.2 Preventing Impact............................................................................................. 2-1
2.1.3 Motor Connection ............................................................................................. 2-1
2.1.4 The Load Device Connection ........................................................................... 2-2
2.1.5 Cable Installation .............................................................................................. 2-2
2.2 Installation of Servo Drive ................................................................................................ 2-3
2.2.1 Installation and Usage Environment ................................................................ 2-3
2.3 Internal Block Diagram of Drive ....................................................................................... 2-4
2.3.1 XDL-L7NH Drive Block Diagram (XDL-L7NHB010U~ XDL-L7NHB035U) ...... 2-4
2.3.2 XDL-L7NH Drive Block Diagram (XDL-L7NHB050U~ XDL-L7NHB075U) ...... 2-5
2.3.3 XDL-L7NH Drive Block Diagram (XDL-L7NHB150U) ...................................... 2-6
2.4 Power Supply Wiring ....................................................................................................... 2-7
2.4.1 Power Supply Wiring Diagram ......................................................................... 2-8
2.4.2 Power Circuit Electrical Components .............................................................. 2-11
2.4.3 Regenerative Resistor Options ...................................................................... 2-17
2.5 Wiring for Input/Output Signals ...................................................................................... 2-18
2.5.1 Names and Functions of Digital Input/Output Signals ................................... 2-18
2.5.2 Names and Functions of Analog Input/Output Signals .................................. 2-20
2.5.3 Examples of Connecting Input/Output Signals .............................................. 2-22
2.5.4 Examples of Connecting Input/Output Signals .............................................. 2-24
2.6 Wiring of Encoder Signal (ENCODER) .......................................................................... 2-25
2.6.1 Quadrature Encoder Signaling Unit Wiring .................................................... 2-25
2.6.2 Serial Encoder Signaling Unit Wiring ............................................................. 2-26
2.6.3 Multi-Turn Encoder Signaling Unit Wiring ...................................................... 2-28
2.6.4 Tamagawa Encoder Signaling Unit Wiring ..................................................... 2-29
2.6.5 EnDat 2.2 Encoder Signaling Unit Wiring ...................................................... 2-30
2.7 Wiring for Safety Function Signals (STO) ...................................................................... 2-31
2.7.1 Names and Functions of Safety Function Signals ......................................... 2-31
2.7.2 Example of Connecting Safety Function Signals ........................................... 2-32
2.7.3 Bypass Wiring of Safety Function Signal ....................................................... 2-33
2.8 Wiring for EtherCAT Communication Signals ................................................................ 2-34
2.8.1 Names and Functions of EtherCAT Communication Signals ......................... 2-34
2.8.2 Example of Drive Connection ......................................................................... 2-35
3. EtherCAT Communication ................................................................................. 3-1
3.1 Structure of CANopen over EtherCAT ............................................................................. 3-1