LSIS XDL-L7SA001X User Manual Download Page 103

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Parameters

4-35

Parameter

Unit

Initial

Details

Applica
tion
mode

Code

Name

Minimum

Maximum

P1-07

Speed

proportional gain

[rad/s]

700

Sets speed control proportional gain 2.
(Details: Refer to “4.4.2 Control Parameter

Setting.”)

Speed P gain 2

5000

P1-08

Speed integral

time constant 1

[ms]

Sets speed control integral time constant 1.
(Details: Refer to “4.4.2 Control Parameter

Setting.”)

Speed time

constant 1

1000

P1-09

Speed integral

time constant 2

[ms]

Sets speed control integral time constant 2.

Speed time

constant 2

1000

P1-10

Speed command

filter time

constant

[ms]

Sets filter time constant for speed command values.

Speed command

filter time

constant

1000

P1-11

Speed feedback

filter time constant

0.1[ms]

0.5

Sets filter time constant for speed search values.
(Details: Refer to “4.4.2 Control Parameter Setting.”)

Spd. feedback

filter time constant

100

P1-12

Torque command

filter time constant

[ms]

Sets filter time constant for torque command values.
(Details: Refer to “4.4.2 Control Parameter Setting.”)

PST

Trq. command

filter time constant

1000

P1-13

Forward rotation

torque limit

[%]

300

Sets forward rotation torque limit.
(Details: Refer to “4.4.2 Control Parameter Setting.”)

PST

Positive torque

limit

300

Summary of Contents for XDL-L7SA001X

Page 1: ...st to bring the greatest benefit to its customers AC SERVO DRIVE XGT Servo Read all safety precautions before using this product After reading this manual store it in a readily accessible location for future reference Safety Precautions XDL L7S Series User Manual ...

Page 2: ......

Page 3: ...d follow all guidelines The contents of this manual are subject to change without prior notice depending on software versions No reproduction of part or all of the contents of this manual in any form by any means or for any purpose shall be permitted without the explicit written consent of LSIS The patent trademark copyright and other intellectual property rights in this user manual are reserved b...

Page 4: ...inutes until the charge lamp goes off and then check the voltage Be sure to ground both the servo drive and the servo motor Only specifically trained professional engineers are permitted to perform wiring tasks Perform wiring tasks after you install both the servo drive and the servo motor Do not operate the device with wet hands Do not open the servo drive cover while in operation Do not operate ...

Page 5: ...ocation free from iron corrosive gas and combustible gas Install in a location free from vibration or shock Caution Make sure that the installation orientation is correct Do not drop the product or expose it to excessive shock Install in a location that is free from water corrosive gas combustible gas or flammable material Install in a location that can support the weight of the product Do not sta...

Page 6: ...e for the pulse command signal PF PF PR PR speed command signal SPDCOM and torque command signal TRQCOM Precautions for Initial Operation Caution Check the input voltage AC 200 230 V and power unit wiring before you turn on the power The servo must be in the OFF mode when you turn on the power Before you turn on the power check the motor s ID and the encoder pulse for XDL L7 A A Set the motor ID P...

Page 7: ...ke or separately install a brake system on the outside In case of an alarm solve the source of the problem After you solve the problem and ensure safety deactivate the alarm and start operation again Do not get close to the machine until the problem is solved Precautions for Repair Inspection Caution Before performing servicing tasks turn off the power Wait 15 minutes until the charge lamp goes of...

Page 8: ...ter changes EEPROM recording as a result of alarm trigger Responding to international regulations XDL L7 Series responds to international regulations with standard models Model Note1 Low Voltage Directive EMC Directive XDL L7SA001X XDL L7SA002X XDL L7SA004X XDL L7SA008X XDL L7SA010X XDL L7SA020X XDL L7SA035X XDL L7SA050X EN61800 5 1 EN61800 3 Note1 X A or B A Quadrature Encoder Type B Serial Encod...

Page 9: ...t Signal and Output Power 2 19 1 3 5 Pulse Train Input Signal 2 19 1 3 6 Encoder Output Signal 2 20 2 Installation 2 1 2 1 Servo Motor 2 1 2 1 1 Usage Environment 2 1 2 1 2 Prevention of Excessive Impact 2 1 2 1 3 Motor Connection 2 1 2 1 4 Load Device Connection 2 2 2 1 5 Cable Installation 2 2 2 2 Servo Drive 2 3 2 2 1 Usage Environment 2 3 2 2 2 Installation Inside the Control Panel 2 4 2 2 3 P...

Page 10: ...nctions of Each Parts 4 1 4 1 2 Status Summary Display 4 2 4 1 3 Parameter Handling 4 4 4 1 4 Data Display 4 8 4 1 5 External Input Contact Signal Display St 14 4 10 4 1 6 External Input Signal and Logic Definition 4 11 4 1 7 External Output Contact Signal Display St 15 4 19 4 1 8 External Output Signal and Logic Definition 4 20 4 2 Parameter Description 4 26 4 2 1 Parameter System 4 26 4 2 2 Oper...

Page 11: ...Contact Forced ON OFF Cn 07 5 11 5 2 9 Output Contact Forced ON OFF Cn 08 5 13 5 2 10 Parameter Reset Cn 09 5 15 5 2 11 Automatic Speed Command Offset Correction Cn 10 5 16 5 2 12 Automatic Torque Command Offset Correction Cn 11 5 17 5 2 13 Manual Speed Command Offset Correction Cn 12 5 18 5 2 14 Manual Torque Command Offset Correction Cn 13 5 19 5 2 15 Absolute Encoder Reset Cn 14 5 20 5 2 16 Ins...

Page 12: ... Outline Drawing 7 52 7 3 Options and Peripheral Devices 7 54 8 Maintenance and Inspection 8 1 8 1 Maintenance and Inspection 8 1 8 1 1 Precautions 8 1 8 1 2 What to Inspect 8 1 8 1 3 Parts Replacement Cycle 8 2 8 2 Diagnosis of Abnormality and Troubleshooting 8 3 8 2 1 Servo Motor 8 3 8 2 2 Servo Drive 8 4 9 Appendix 9 17 9 1 Motor Type and ID to be continued on the next page 9 17 9 2 Test Drive ...

Page 13: ...al or brake is mounted Are the gearbox and the gear ratios correct Is the encoder format correct 3 Check the exterior of the device Is there any foreign substance or humidity Is there any discoloring contamination damage or disconnection of wires Are the bolts at joints fastened sufficiently Is there any abnormal sound or excessive friction during rotation Servo Drive Product Format Series Name Co...

Page 14: ...kW Shape of Shaft End N Straight K One side Round key Standard D D Cut T Taper 형상 R 양쪽 둥근키 H Hollow Shaft Encoder Type Quadrature Pulse Type A Inc 1024 P R B Inc 2000 P R C Inc 2048 P R D Inc 2500 P R E Inc 3000 P R F Inc 5000 P R G Inc 6000 P R Serial BISS SeralType N 19bit S Turn Abs M 19bit M Turn Abs 18bit SA M Trun Abs Servo Drive Rated Speed A 3000 rpm D 2000 rpm G 1500 rpm M 1000 rpm Flange...

Page 15: ...Type 130 Flange or higher Bearing Cap Shaft Flange Frame Housing Encoder Cover Encoder Connector Motor Power Cable Motor Connector Encoder Cable Bearing Cap Shaft Flange Frame Housing Encoder Cover Encoder Connector Motor Connector Flange Shaft Frame Power connector Encoder connector Mold Housing Encoder Cover ...

Page 16: ...BI terminals When installing external resistance install in the B and B terminals Motor power cable connector U V W Operation keys Mode Up Down Set Heat sink Control power connector C1 C2 Ground CN3 RS 422 communication connector CN2 Encoder signal connector CN1 Control signal connector Display Front cover CN5 USB connector CN4 RS 422 communication connector DC reactor connector PO PI Short circui...

Page 17: ...422 communication connector Main power connector L1 L2 L3 Motor power cable connector U V W Heat sink Control power connector C1 C2 Ground Operation keys Mode Up Down Set DC reactor connector PO PI Short circuit when not used Regenerative resistance connector B B BI When basic installation is in use short circuit B and BI terminals When installing external resistance install in the B and B termina...

Page 18: ... 422 communication connector Main power connector L1 L2 L3 Motor power cable connector U V W Heat sink Control power connector C1 C2 DC reactor connector PO PI Short circuit when not used Regenerative resistance connector B B BI When basic installation is in useshort circuit B and BI terminals When installing external resistance install in the B and B terminals Operation keys Mode Up Down Set Grou...

Page 19: ...nd B terminals after attaching wires of internal resistance to NC hole on the case Motor power cable connector U V W Display CN5 USB Connector CN4 RS 422 Communication connector CN3 RS 422 Communication connector CN1 Control signal connector CN2 Encoder signal connector Control power connector C1 C2 DC reactor connector PO PI Short circuit when not used Front cover Not used N Ground Operation keys...

Page 20: ...a certain transfer unit Advantage The structure of the upper level controller is simple because pulse input is linked to transfer units Disadvantages Fast rotation is compromised when a precise transfer unit is used Response is low because multiple levels of controllers are used 2 Speed Operation System The servo is run by speed commands There are two types of speed commands analog voltage command...

Page 21: ...face with the upper level controller The operation modes can be switched by parameters or digital input contact point Operation Mode System Configuration 0 The servo is run on the torque operation system 1 The servo is run on the speed operation system 2 The servo is run on the position operation system 3 The servo is run with the speed and position operation systems as points of contact 4 The ser...

Page 22: ...ST 21 22 23 46 SPD2 SPD1 DIR 44 BRAKE MONIT1 MONIT2 GND 12VA 12VA Digital Input Digital Output Analog Output Encoder Pulse Output Connect to Connector Case Open Collector Line Driver Command Pulse Input Note 1 Input signals DI1 to DIA and output signals DO1 to DO5 are default signals allocated by the factory Note 2 These are non allocated signals You can change their allocation by setting paramete...

Page 23: ... ABS_RST MODE P_CLR DIR SPD3 SPD2 SPD1 INPOS ZSPD BRAKE MONIT1 MONIT2 GND 12VA 12VA Digital Input Digital Output Analog Output Encoder Pulse Output Connect to Connector Case Analog Torque Command Limit Upper Level Controller Note 2 Note 2 Note 1 Note 1 Analog Speed Command Limit Analog Input Note 3 Note 1 Input signals DI1 to DIA and output signals DO1 to DO5 are default signals allocated by the f...

Page 24: ...1 22 23 VLMT TLMT 44 BRAKE 43 ZSPD MONIT1 MONIT2 GND 12VA 12VA Digital Input Digital Output Analog Output Encoder Pulse Output Connect to Connector Case Open Collector Line Driver Command Pulse Input Upper Level Controller Analog Torque Command Limit Upper Level Controller Note 2 Note 2 Note 1 Note 1 Analog Speed Command Limit Analog Input Note 3 Note 1 Input signals DI1 to DIA and output signals ...

Page 25: ...EAR1 EGEAR2 PCON GAIN2 P CLR _ MODE SPDCOM 27 GND 8 TRQCOM 1 GND 8 10V 10V 10V 10V MONIT1 MONIT2 GND 12VA 12VA 45 INPOS INSPD Digital Input Digital Output Analog Output Encoder Pulse Output Connect to Connector Case Analog Torque Command Limit Upper Level Controller Note 2 Note 2 Note 1 Note 1 Analog Speed Command Limit Analog Input Note 1 Input signals DI1 to DIA and output signals DO1 to DO5 are...

Page 26: ...S_RST 21 22 23 46 SPD2 SPD1 DIR 44 BRAKE MONIT1 MONIT2 GND 12VA 12VA Digital Input Digital Output Analog Output Encoder Pulse Output Connect to Connector Case Open Collector Line Driver Command Pulse Input Note 1 Input signals DI1 to DIA and output signals DO1 to DO5 are default signals allocated by the factory Note 2 These are non allocated signals You can change their allocation by setting param...

Page 27: ...kΩ ABS_RST MODE P_CLR DIR SPD3 SPD2 SPD1 INPOS ZSPD BRAKE MONIT1 MONIT2 GND 12VA 12VA Digital Input Digital Output Analog Output Encoder Pulse Output Connect to Connector Case Analog Torque Command Limit Upper Level Controller Note 2 Note 2 Note 1 Note 1 Analog Speed Command Limit Analog Input Note 3 Note 1 Input signals DI1 to DIA and output signals DO1 to DO5 are default signals allocated by the...

Page 28: ... 46 21 22 23 VLMT TLMT 44 BRAKE 43 ZSPD MONIT1 MONIT2 GND 12VA 12VA Digital Input Digital Output Analog Output Encoder Pulse Output Connect to Connector Case Open Collector Line Driver Command Pulse Input Upper Level Controller Analog Torque Command Limit Upper Level Controller Note 2 Note 2 Note 1 Note 1 Analog Speed Command Limit Analog Input Note 3 Note 1 Input signals DI1 to DIA and output sig...

Page 29: ...WLMT Counter clockwise limit O O O O O O 19 CWLMT Clockwise limit O O O O O O 18 EMG Emergency stop O O O O O O 48 STOP Stop X O O O X O X O Allocate EGEAR1 Electronic gear ratio 1 O X X X O X O X Allocate EGEAR2 Electronic gear ratio 2 O X X X O X O X Allocate PCON P control action O O X O O X O X Allocate GAIN2 Select gain 2 O O X O O X O X Allocate P_CLR Clear error pulse O X X X O X O X Alloca...

Page 30: ...of Factory Setting Name Description Applicable Modes Position Speed Torque Speed Position Speed Torque Position Torque 16 ALO0 Alarm group contact output 1 O O O O O O 15 ALO1 Alarm group contact output 2 O O O O O O 14 ALO2 Alarm group contact output 3 O O O O O O 38 39 ALARM Alarm O O O O O O 40 41 READY Ready for operation O O O O O O 43 ZSPD Zero speed reached O O O O O O 44 BRAKE Brake O O O ...

Page 31: ...O O O O 1 3 5 Pulse Train Input Signal Line Driver 5 V Pin Number Name Description Applicable Modes Position Speed Torque Speed Position Speed Torque Position Torque 9 PF F pulse input O X X X O X O X 10 PF F pulse input O X X X O X O X 11 PR R pulse input O X X X O X O X 12 PR R pulse input O X X X O X O X 49 PULCOM Not for use X X X X X X Open Collector 24 V Pin Number Name Description Applicabl...

Page 32: ... Speed Torque Speed Position Speed Torque Position Torque 32 33 30 31 AO AO BO BO Outputs encoder signals received from the motor as signals pre scaled according to the ratio defined by P0 14 5 V line driver method O O O O O O 4 5 ZO ZO Outputs encoder Z signals received from the motor 5 V line driver method O O O O O O ...

Page 33: ...essive impact to the motor shaft during installation or the motor falling during handling may damage the encoder 2 1 3 Motor Connection The motor might burn out when commercial power is directly connected to it Be sure to connect via the specified drive Connect the ground terminal of the motor to either of the two ground terminals inside the drive and the remaining terminal to the type 3 grounding...

Page 34: ...4 60 206 21 69 7 80 255 26 98 10 130 725 74 362 37 180 1548 158 519 53 220 1850 189 781 90 2 1 5 Cable Installation In case of vertical installation make sure that no oil or water flows into connection parts Do not apply pressure or scratch to cables In case of moving the motor be sure to use robotic cables to prevent sway Load shaft Motor shaft 0 03 or below peak to peak 0 03 or below peak to pea...

Page 35: ...ion or freezing of moisture inside the drive during prolonged periods of inactivity may damage it Remove any moisture completely before you operate the drive after a prolonged period of inactivity External vibration Vibration acceleration 4 9 or lower Excessive vibration reduces the lifespan of the machine and causes malfunction Surrounding conditions No exposure to direct sunlight No corrosive ga...

Page 36: ...ure that it is sufficiently close to the wall When assembling the control panel make sure that metal powder caused by drilling does not enter the drive Make sure that oil water and metal dust do not enter the drive through gaps or the ceiling Protect the control panel with air purge in places where there is a lot of harmful gas or dust When installing 1 unit When installing 2 or more units 40 mm o...

Page 37: ...in 50 W Caution For more information about resistance for expanding regenerative capacity refer to 7 3 Option and Peripheral Device XDL L7 A002 XDL L7 A004 XDL L7 A08 40 Ω Built in 100 W XDL L7 A010 XDL L7 A020 13 Ω Built in 150 W XDL L7 A035 XDL L7 A050 6 8 Ω Built in 120 W Configure the system in a way that main power L1 L2 L3 is supplied only after control power C1 C2 Refer to Chapter 3 Wiring ...

Page 38: ...2 Installation 2 6 ...

Page 39: ...nal Block Diagram 3 1 1 XDL L7 Drive Block Diagram XDL L7SA001 XDL L7SA004 If you use a DC reactor connect to the PO and PI pins If you use external regenerative resistance connect to the B and B pins after removing the B and BI short circuit pins ...

Page 40: ...DL L7SA035 NOTE 1 If you use a DC reactor connect to the PO and PI pins If you use external regenerative resistance connect to the B and B pins after you remove the B and BI short circuit pins The XDL L7SA008 and XDL L7SA035 models are cooled by a DC 24 V cooling fan ...

Page 41: ...enerative Braking Operation Circuit IGBT Temperature Detection Circuit PWM Signal SC Detection Circuit U and V Current Detection Circuit DB Operation Circuit RS422 Communication USB Communication A D Conversion D A Conversion P C Insulation I F Input Encoder Contact Output 5 points 2 points Pulse Input Contact Input 10 points Monitor Output 10 points Analog Input 2 points Upper Level Controller Co...

Page 42: ...7SA001 XDL L7SA004 50 W 100 Ω XDL L7SA010 100 W 40 Ω and XDL L7SA035 150 W 13 Ω exist inside If regenerative capacity is high because of frequent acceleration and deceleration open the short circuit pins B BI and connect external regenerative resistance to B and B Remove approximately 7 10 mm of the sheath from the cables for the main circuit power and attach crimp terminals Refer to 3 2 2 Power C...

Page 43: ...alarm signal is output after you turn on the main power Accordingly push and hold the main power ON switch for at least two seconds NOTE 2 Check status of connection of internal regenerative resistance B B before using because XDL L7SA050 120 W 6 8 Ω has internal regenerative resistance If the value of regenerative voltage is too high by frequent deceleration and acceleration install external rege...

Page 44: ...O PI N B B BI U V W AWG16 1 5 AWG14 2 5 AWG12 4 0 AWG10 6 0 C1 C2 AWG16 1 5 AWG16 1 5 AWG16 1 5 AWG16 1 5 Crimp terminal UA F1510 SEOIL 10 mm Strip Twist UA F2010 SEOIL 10 mm Strip Twist UA F4010 SEOIL 10 mm Strip Twist GP110028 KET Regenerative resistance Provided by default 50 W 100 Ω 100 W 40 Ω 150 W 13 Ω 120 W 6 8Ω Connector L1 L2 U V W BLF 5 08 03 180F SN BK BX BLF 5 08 11 180F SN BK BX BLZ7 ...

Page 45: ...d 3 7 XDL L7SA004 or below 0 6 3 5 1 0 0 XDL L7SA008 XDL L7SA010 A B C M4 1 2 N m 0 4 0 5 N m Weidmueller s SD 0 6x3 5x100 Weidmueller s SD 0 6x3 5x100 0 4 0 5 N m M4 1 2 N m Length of strip 7 10 Length of strip 7 10 ...

Page 46: ...function or fire by contact could be occurred if torque of screwing was not enough 4 After wiring tight completely by using hooks to both side when connectors are attached to servo drive 5 FG screw which is located on the bottom of servo drive has to be M4 and put on the FG screw with 1 2 N m torque 6 Malfunction of drive could be occurred if torque of screwing was not enough 7 Recommended shaped ...

Page 47: ...e of screwing was not enough TB1 L1 L2 L3 B B U V W FG FG TB2 N PO P1 TB3 C1 C2 Screw M4 Screwing torque 1 2 N m Terminal Block Signals Screw M4 Screwing torque 1 2 N m Screw M4 Screwing torque 1 2 N m T B 1 T B 2 T B 3 NC 내부 회생저항기 리드 단자 고정용 나사 NC Internal regenerative resistor Screw for holding lead terminal ...

Page 48: ...3 Wiring Method 3 10 3 3 Example of connecting to PLC 3 3 1 XGT PLC 1 XGF PO1 2 3A Open Collector ...

Page 49: ...CWLIM 20 DI7 DIR 46 DI6 ALMRST 17 DI5 EGEAR1 DI4 EGEAR2 DI3 P_CLR DI2 SVON 47 DI1 PCON GAIN2 T_LMT MODE ABS_RQ ZCLAMP SPD3 21 SPD2 22 SPD1 23 RDY 40 RDY 41 DO2 TRQCOM 1 GND 8 COM 32 OV 25 OV 26 STOP 27 DOG 28 VTP 29 ECMD 30 JOG 31 FP 22 FP 21 RP 24 RP 23 3 3kΩ Digital input HOME 5V 37 HOME COM 38 DC 24V ZO 5 ZO 4 PR 11 PF 9 24V IN 50 24V IN CN1 PF 10 PR 12 Twisted Pair Manual pulse generator CON 7...

Page 50: ...T 17 DI5 EGEAR1 DI4 EGEAR2 DI3 P_CLR DI2 SVON 47 DI1 PCON GAIN2 T_LMT MODE ABS_RQ ZCLAMP SPD3 21 SPD2 22 SPD1 23 RDY 40 RDY 41 DO2 TRQCOM 1 GND 8 COM 9A OV 14A OV 13A DOG 12A EMG STOP 11A VTP 10A FP 17A FP 18A RP 15A RP 16A 3 3kΩ Digital input HOME 5V 3A HOME COM 2A DC 24V ZO 5 ZO 4 PR 12 PF 10 PULCOM 49 24V IN 50 24V IN CN1 MPG A 20A MPG A 20B MPG B 19A MPG B 19B 5V A B 0V Manual pulse generator ...

Page 51: ...MODE ABS_RQ ZCLAMP SPD3 21 SPD2 22 SPD1 23 RDY 40 RDY 41 DO2 TRQCOM 1 GND 8 COM 9A OV 14A OV 13A DOG 12A EMG STOP 11A VTP 10A FP 17A FP 18A RP 15A RP 16A 3 3kΩ Digital input HOME 5V 3A HOME COM 2A DC 24V ZO 5 ZO 4 PR 11 PF 9 24V IN 50 24V IN CN1 PF 10 PR 12 Twisted Pair Manual pulse generator MPG A 20A MPG A 20B MPG B 19A MPG B 19B 5V A B 0V INPOS 45 GND24 24 DO5 INP 7A ZSPD 43 BRAKE 44 ALO0 16 AL...

Page 52: ...IN2 T_LMT MODE ABS_RQ ZCLAMP SPD3 21 SPD2 22 SPD1 23 RDY 40 RDY 41 DO2 TRQCOM 1 GND 8 COM A9 OV A14 OV A13 DOG A12 FP A17 FP A18 RP A15 RP A16 3 3kΩ Digital input HOME 5V A3 HOME COM A2 DC 24V ZO 5 ZO 4 PR 11 PF 9 24V IN 50 24V IN CN1 PF 10 PR 12 Twisted Pair Manual pulse generator MPG A B20 MPG A A20 MPG B B19 MPG B A19 5V A B 0V INPOS 45 GND24 24 DO5 INP A7 ZSPD 43 BRAKE 44 ALO0 16 ALO1 15 ALO2 ...

Page 53: ...8 CCWLIM 20 DI7 DIR 46 DI6 ALMRST 17 DI5 EGEAR1 DI4 EGEAR2 DI3 P_CLR DI2 SVON 47 DI1 PCON GAIN2 T_LMT MODE ABS_RQ ZCLAMP SPD3 21 SPD2 22 SPD1 23 RDY 40 RDY 41 DO2 TRQCOM 1 GND 8 Input Common COM0 HOME P05 DOG P04 Limit L P01 P00 Output Common COM Pulse P20 COM Direction P22 3 3kΩ Digital input DC 24V ZO 5 ZO 4 PR 12 PF 10 PULCOM 49 24V IN 50 24V IN CN1 24V DC24 INPOS 45 GND 24 DO5 GND24 25 MONIT1 ...

Page 54: ...I6 ALMRST 17 DI5 EGEAR1 DI4 EGEAR2 DI3 P_CLR DI2 SVON 47 DI1 PCON GAIN2 T_LMT MODE ABS_RQ ZCLAMP SPD3 21 SPD2 22 SPD1 23 RDY 40 RDY 41 DO2 TRQCOM 1 GND 8 Input Common COM0 HOME P0D QX0 0 13 DOG P0C QX0 0 12 Limit H P09 QX0 0 9 P08 QX0 0 8 Output Common COM Pulse P20 QX0 0 0 COM Direction P22 QX0 0 2 3 3kΩ Digital input DC 24V ZO 5 ZO 4 PR 12 PF 10 PULCOM 49 24V IN 50 24V IN CN1 24V P INPOS 45 GND ...

Page 55: ... power to the main circuit The servo signal becomes Ready after the maximum time of 120 ms that is required to reset the inside of the device If you change the signal to ON the servo operates in 40 ms Control power establishment 5 V Control program reset Main power establishment Alarm Normally On Servo Ready Servo On Clear DB PWM output motor rotation 150 ms 50 ms 120 ms 10 ms 10 ms 5 ms 40 ms Mai...

Page 56: ...oblem that triggered the alarm and changing the command signal Servo ON to OFF reset the alarm 200 ms Control power establishment 5 V Control program Reset Main power establishment Alarm Normally On Servo RDY Servo On Clear DB PWM Motor rotation RESET 150 ms 40 ms 10 ms 5 ms 2 ms 30 ms Alarm triggered by an anomaly Remove causes that triggered alarm Main power control power supply ...

Page 57: ...f individual signals contact A and contact B They can be set by P2 08 and P2 09 2 It is possible to turn each contact on or off forcibly with Cn 07 Take extra caution because each contact is automatically turned off when power is off 3 The signal definition of each contact can be modified by P2 00 P2 01 P2 02 P2 03 and P2 04 R1 3 3 KΩ R2 680 Ω ...

Page 58: ... contact on or off forcibly with Cn 08 Take extra caution because each contact is automatically turned off when power is off 3 The signal definition of each contact point can be modified by P2 05 P2 06 and P2 07 4 Overvoltage and overcurrent may cause damage because a transistor switch is used internally Rated voltage and current DC 24 V 10 120 NOTE 1 For alarm and READY output signals the GND24 t...

Page 59: ...nd input impedance at 22 3 Output signal voltage for Monitor 1 No 28 and Monitor 2 No 29 is 10 V Configure wiring as shown in the following image when you adjust analog input with parameter resistance by using power supplied by the drive Do not exceed the maximum output capacity of 30 Servo Drive Analog Input Example Analog output Analog input ...

Page 60: ...esistance R 100 150 Ω 1 2 W When using 12 V power Resistance R 560 680 Ω 1 2 W When using 24 V power Resistance R 1 5 kΩ 1 2 W Servo Drive Upper level controller PF PR PF PF PR PR Line driver Line receiver FG Twisted Pair Shield Wire Servo Drive Upper level controller 24 V GND24 GND24 Pulse COM PR FG Shield Wire PF Upper level controller Servo Drive PR PF PF PR GND12 Power note 1 NPN R R FG ...

Page 61: ...D terminal of CN1 because encoder signals are output based on the GND of control power Encoder signals for the servo motor received from CN2 are pre scaled according to the ratio defined by P0 14 and output in line driver mode Set 1 on the 3rd bit in the menu P0 17 Function Select Bit It outputs open collector A B Z phases through existing AL0 AL1 and AL2 contact points Output voltage 40mA and bel...

Page 62: ...3 Wiring Method 3 24 3 6 Quadrature Encoder Signaling Unit CN2 Wiring 3 6 1 XLCS E AS Cable 3 6 2 XLCS E BS Cable ...

Page 63: ...3 Wiring Method 3 25 3 7 Serial Encoder Signaling Unit CN2 Wiring 3 7 1 XLCS E CS Cable 3 7 2 XLCS E DS Cable ...

Page 64: ...hod 3 26 3 7 3 XLCS E ES Cable Servo Drive Servo Motor 인코더 1 6 2 7 9 4 5 MA MA SL SL 5V GND SHD Cable Connector CN2 Maker 3M 10314 52A0 008 10114 3000VE Connector Tyco Connector 7Ciruits Encoder 3 4 5 6 14 7 Frame ...

Page 65: ...AT 5V GND SHD AWG24 4Pair Twist Shield Wire Cable Connector CN2 Maker 3M 10314 52A0 008 10114 3000VE Cable Connector MS3108S20 29S Encode 3 4 5 6 14 7 Frame 1 2 3 4 5 6 7 8 9 MA MA SL SL BAT BAT 5V GND SHD Cable Connector CN2 Maker 3M 10314 52A0 008 10114 3000VE Cable Connector MS3108S20 29S Encoder 3 4 5 6 14 7 Frame AWG24 4Pair Twist Shield Wire Servo Drive Servo Motor ...

Page 66: ... 3 8 3 XLCS E ES1 Cable Servo Drive Servo Motor 인코더 1 6 2 7 8 3 9 4 5 MA MA SL SL BAT BAT_ 5V GND SHD Cable Connector CN2 Maker 3M 10314 52A0 008 10114 3000VE Connector Tyco Connector 7 Circuits Encoder 3 4 5 6 14 7 Frame ...

Page 67: ...of the sequence input signal and ABS RQ signal Transmission Sequence of Absolute Data 1 When the servo is OFF change the ABS_RQ signal on the upper level controller to ON 2 The servo drive checks the ABS_RQ signal for 10 ms 3 The servo drive prepares the transmission of multi turn data for 100 ms 4 The servo drive transmits multi turn data for up to 140 ms based on 16 bit multi turn data 5 The ser...

Page 68: ......

Page 69: ...it 4 Digit 3 Digit 2 Digit 1 MODE Change display mode LEFT Move to another data digit UP Increase displayed data DOWN Decrease displayed data SET Confirm displayed data RIGHT Move to another data digit Displays the decimal point E g 123 4 In the case of 16 bits the minus symbol is used In the case of 32 bits a dot is used E g 123 4 ...

Page 70: ...N status of the servo in speed control mode DIGIT 3 1 Displays the current status of the servo bb Servo OFF run Servo ON Pot CCW Limit not CW Limit DIGIT 4_High ZSPD DIGIT 4_Medium INSPD or INPOS DIGIT 4_Low Command speed or torque DIGIT 4_DOT READY DIGIT 5 Displays the current control mode P Position control S Speed control T Torque control DIGIT 5_DOT Servo ON ...

Page 71: ... s ON status when in position mode Displays CCW status when in position mode Displays CW status when in position mode Displays the servo s OFF status when in speed mode Displays the servo s ON status when in speed mode Displays CCW status when in speed mode Displays CW status when in speed mode Displays the servo s OFF status when in torque mode Displays the servo s ON status when in torque mode D...

Page 72: ... off at the starting operation the speed operation mode S bb indicating operation status is displayed Editable parameters are from P0 00 to Cn 15 Press SET when a parameter number is displayed and you can see and edit the parameter data In the initial parameter edit status the number on the far right flickers ON and OFF for 0 5 seconds respectively and becomes editable ...

Page 73: ...is displayed as 00001 5 Press UP or DOWN at the blinking cursor to change the number to 00002 6 Press and hold SET for approximately one second After two flickers the number will be saved as 00002 in the parameter 7 Press and hold MODE for approximately one second to return to the P0 03 parameter 8 Press MODE to change status to position operation P bb status which is the summary display of the cu...

Page 74: ... parameter is displayed as 00200 5 Press LEFT or RIGHT at the blinking cursor to move to the desired digit DIGIT 3 6 Press UP or DOWN at the blinking DIGIT 3 position to change the number to 00500 7 Press and hold SET for approximately one second After two flickers the number will be saved as 00500 in the parameter 8 Press and hold MODE for approximately one second to return to P1 07 NOTE 1 indica...

Page 75: ...arameter is displayed as 00000 5 Press LEFT or RIGHT at the blinking cursor to move to the desired digit DIGIT 3 6 Press UP or DOWN at the blinking DIGIT 3 position to change the number to 0500 7 Press and hold SET for approximately one second After two flickers the number will be saved as 0500 in the parameter 8 Press and hold MODE for approximately one second to return to P0 19 NOTE 1 indicates ...

Page 76: ...ary Minimum 0b00000 Maximum 0b11111 2 Hex Minimum 0x0000 Maximum 0xFFFF 3 16 bit Unsigned Integer E g 0 E g 1234 4 16 bit Signed Integer E g 1234 E g 5678 E g 1234 E g 5678 5 16 bit Decimal Point Display E g 123 4 E g 123 4 E g 123 4 E g 123 4 ...

Page 77: ...nd Lower 2071 Order Loader Displays Keys to Use What to Do 1 Displays the speed control mode with main power and control power permitted 2 Press MODE to move to St 00 3 Press UP or DOWN to move to St 16 4 Press SET to display lower digit data 5 Each time you press LEFT or RIGHT lower middle and upper data is displayed 6 Each time you press LEFT or RIGHT lower middle and upper data is displayed 7 P...

Page 78: ...splay The positions of the seven segment LEDs and CN1 connector pins correspond as follows If an LED that corresponds to a pin is turned on off it indicates ON OFF accordingly Input Contact Display Number A 9 8 7 6 5 4 3 2 1 Contact Number DIA DI9 DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1 CN1 Pin number 48 18 19 20 46 17 21 22 23 47 Allocated default Signal name STOP EMG CWLIM CCWLI M DIR ALMR ST SPD3 SPD2 ...

Page 79: ...anging the value of the digit allows allocation to pins DI1 through DIA The default input signal allocation is as follows One number can be allocated to two input signals such as N input signal 1 input allocation number E g If SVON and SPD1 are allocated to DI 01 you can use both the SVON signal and the SPD1 signal when entering DI 01 Caution If you change the input contact function Since it is an...

Page 80: ... Digit 1 EMG F A 9 8 7 6 5 4 3 2 1 0 P2 02 0x00A9 Stop P2 02 Set Digit 2 STOP F A 9 8 7 6 5 4 3 2 1 0 Electronic gear ratio 1 P2 02 Set Digit 3 EGEAR1 F A 9 8 7 6 5 4 3 2 1 0 Electronic gear ratio 2 P2 02 Set Digit 4 EGEAR2 F A 9 8 7 6 5 4 3 2 1 0 P control action P2 03 Set Digit 1 PCON F A 9 8 7 6 5 4 3 2 1 0 P2 03 0x0000 Select gain 2 P2 03 Set Digit 2 GAIN2 F A 9 8 7 6 5 4 3 2 1 0 Error pulse c...

Page 81: ...l Allocation The input signal definition can be changed in P2 00 P2 01 P2 02 P2 03 and P2 04 The input signal logic definition can be changed in P2 08 and P2 09 Allocate input signals as shown in the following table Input Signal Input Allocation Number ...

Page 82: ...et Digit 1 EMG F A 9 8 7 6 5 4 3 2 1 0 P2 02 0x0080 Stop P2 02 Set Digit 2 STOP F A 9 8 7 6 5 4 3 2 1 0 Electronic gear ratio 1 P2 02 Set Digit 3 EGEAR1 F A 9 8 7 6 5 4 3 2 1 0 Electronic gear ratio 2 P2 02 Set Digit 4 EGEAR2 F A 9 8 7 6 5 4 3 2 1 0 P control action P2 03 Set Digit 1 PCON F A 9 8 7 6 5 4 3 2 1 0 P2 03 0x9000 Select gain 2 P2 03 Set Digit 2 GAIN2 F A 9 8 7 6 5 4 3 2 1 0 Error pulse...

Page 83: ...A for the parameter 5 Hold down MODE for approximately one second to return to P2 00 6 Press UP or DOWN at the blinking cursor to change the number to P2 02 7 Press SET to enter parameter edit mode The parameter is displayed as 000A9 8 Press LEFT or RIGHT at the blinking cursor to move to the desired digit DIGIT 2 9 Press UP or DOWN at the blinking cursor to change the number to 00019 10 Hold down...

Page 84: ...47 Servo ON P2 08 Set Digit 1 SVON 1 0 P2 08 0x11111 Multi speed 1 P2 08 Set Digit 2 SPD1 1 0 Multi speed 2 P2 08 Set Digit 3 SPD2 1 0 Multi speed 3 P2 08 Set Digit 4 SPD3 1 0 Alarm reset P2 08 Set Digit 5 ALMRST 1 0 Select rotation direction P2 09 Set Digit 1 DIR 1 0 P2 09 0x10001 Forward rotation prohibited P2 09 Set Digit 2 CCWLIM 0 Reverse rotation prohibited P2 09 Set Digit 3 CWLIM 0 Emergenc...

Page 85: ...et Digit 1 SVON 1 0 P2 08 0x11111 Multi speed 1 P2 08 Set Digit 2 SPD1 1 0 Multi speed 2 P2 08 Set Digit 3 SPD2 1 0 Multi speed 3 P2 08 Set Digit 4 SPD3 1 0 Alarm reset P2 08 Set Digit 5 ALMRST 1 0 Select rotation direction P2 09 Set Digit 1 DIR 1 0 P2 09 0x11101 Forward rotation prohibited P2 09 Set Digit 2 CCWLIM 0 Reverse rotation prohibited P2 09 Set Digit 3 CWLIM 1 0 Emergency stop P2 09 Set ...

Page 86: ...d After two flickers the number is saved as 11110 for the parameter 5 Hold down MODE for approximately one second to return to P2 08 6 Press UP or DOWN at the blinking cursor to change the number to P2 09 7 Press SET to enter parameter edit mode The parameter is displayed as 10001 8 Press LEFT or RIGHT at the blinking cursor to move to the desired digit DIGIT 2 9 Press UP or DOWN at the blinking c...

Page 87: ...r off 1 External Output Signal Display The positions of the seven segment LEDs and CN1 connector pins correspond as follows If an LED that corresponds to a pin is turned on off it indicates ON OFF accordingly Output Contact Display Number 5 4 3 2 1 Contact Number DO5 DO4 DO3 DO2 DO1 CN1 pin number 45 44 43 40 41 38 39 Allocated default signal name INPOS BRAKE ZSPD READY ALARM ...

Page 88: ...rameter Allocation 45 44 43 40 41 38 39 Alarm P2 05 Set Digit 1 ALARM F 5 4 3 2 1 0 P2 05 0x4321 Servo Ready P2 05 Set Digit 2 READY F 5 4 3 2 1 0 Zero speed achieved P2 05 Set Digit 3 ZSPD F 5 4 3 2 1 0 Brake P2 05 Set Digit 4 BRAKE F 5 4 3 2 1 0 Position reached P2 06 Set Digit 1 INPOS F 5 4 3 2 1 0 P2 06 0x0005 Torque limit reached P2 06 Set Digit 2 TLMT F 5 4 3 2 1 0 Speed limit reached P2 06 ...

Page 89: ...38 39 Alarm P2 05 Set Digit 1 ALARM F 5 4 3 2 1 0 P2 05 0x0301 Servo Ready P2 05 Set Digit 2 READY F 5 4 3 2 1 0 Zero speed achieved P2 05 Set Digit 3 ZSPD F 5 4 3 2 1 0 Brake P2 05 Set Digit 4 BRAKE F 5 4 3 2 1 0 Position reached P2 06 Set Digit 1 INPOS F 5 4 3 2 1 0 P2 06 0x5400 Torque limit reached P2 06 Set Digit 2 TLMT F 5 4 3 2 1 0 Speed limit reached P2 06 Set Digit 3 VLMT F 5 4 3 2 1 0 Spe...

Page 90: ...he number to 04323 4 Press LEFT or RIGHT at the blinking cursor to move to the desired digit DIGIT 3 5 Press UP or DOWN at the blinking cursor to change the number to 04123 6 Hold down SET for approximately one second After two flickers the number will be saved as 04123 for the parameter 7 Hold down MODE for approximately one second to return to P2 05 8 Modification is not possible with the servo ...

Page 91: ...ion 45 44 43 40 41 38 39 Alarm P2 10 Set Digit 1 ALARM 0 P2 10 0x10110 Servo Ready P2 10 Set Digit 2 READY 1 0 Zero speed achieved P2 10 Digit 3 ZSPD 1 0 Brake P2 10 Digit 4 BRAKE 0 Position reached P2 10 Digit 5 INPOS 1 0 NOTE 1 For the purpose of the input signal logic definition Contact A is 1 and Contact B is 0 Output signal logic definition number Output signal logic definitions DO1 Contact A...

Page 92: ...t Setting Parameter Allocation 45 44 43 40 41 38 39 Alarm P2 10 Set Digit 1 ALARM 0 P2 10 0x11110 Servo Ready P2 10 Set Digit 2 READY 1 0 Zero speed achieved P2 10 Digit 3 ZSPD 1 0 Brake P2 10 Digit 4 BRAKE 1 0 Position reached P2 10 Digit 5 INPOS 1 0 For the purpose of the input signal logic definition Contact A is 1 and Contact B is 0 Output signal logic definitions Output signal logic definitio...

Page 93: ...e number to 04323 4 Press LEFT or RIGHT at the blinking cursor to move to the desired digit DIGIT 3 5 Press UP or DOWN at the blinking cursor to change the number to 04123 6 Hold down SET for approximately one second After two flickers the number will be saved as 04123 for the parameter 7 Hold down MODE for approximately one second to return to P2 05 8 Modification is not possible with the servo o...

Page 94: ...e servo P0 00 P0 27 System Saves system configuration information P1 00 P1 29 Control Save control related parameters P2 00 P2 22 IN OUT Saves parameters related to analog and digital input output P3 00 P3 20 Speed Operation Saves speed operation parameters P4 00 P4 14 Position Operation Saves position pulse operation parameters Cn 00 Cn 18 Command Performs operation handling The following explain...

Page 95: ...inimum or maximum Details Refer to 4 3 3 Position Display P Feedback pulse 2 30 2 30 St 04 Position command pulse pulse 0 Displays the accumulated number of position command pulses Displays the accumulated number of position command pulses that have been entered since the servo turned on Details Refer to 4 3 3 Position Display P Command pulse 2 30 2 30 St 05 Remaining position pulse pulse 0 Displa...

Page 96: ... that uses 220 V is approximately 300 V The maximum DC link voltage allowed for the standard drive that uses 220 V is 405 V The overvoltage alarm AL 41 triggers when the DC link voltage threshold is exceeded because there is either too much or too little regenerative resistance The normal DC link voltage in the regenerative section is 385 V or below Details Refer to 4 3 4 Torque and Load Display P...

Page 97: ... Displays the rated current of the currently installed motor PST Rated current 0 00 655 35 St 23 U phase current offset mA 0 Displays the U phase current offset PST U Phase current offset 200 200 St 24 V phase current offset mA 0 Displays the V phase current offset PST V phase current offset 200 200 St 25 Program version Displays the version of the currently installed program Details Refer to 4 3 ...

Page 98: ...der Quadrature Type encoder Sets the number of encoder pulses Details Refer to 4 4 1 System Parameter Setting PST Enc resolution 1 30000 P0 03 Select operation mode 1 Sets operation mode 0 Torque operation 1 Speed operation 2 Position operation 3 Speed position operation 4 Torque speed operation 5 Torque position operation Details Refer to 4 4 1 Speed Operation Parameter Setting PST Operation mode...

Page 99: ...0 the default resistance value of the drive is used PST Regeneration brake resistor 0 1000 P0 11 Regenerative resistance capacity W 0 Sets the capacity for the current regenerative resistance If set to 0 a default resistance capacity embedded in the drive is used PST Regeneration brake capacity 0 30000 P0 12 Overload check Base load factor 100 Indicates the load factor for starting continuous over...

Page 100: ...ector contacts for encoder pulse output 0 Not for use 1 Use ALO0 A Phase ALO1 B Phase ALO2 Z Phase DIGIT 4 Sets the range of monitor output voltage 0 10V 10V 1 0 10V DIGIT 5 Sets EEPROM save function in communication 0 Enable to save parameter data when writing through communication 1 Unable to save parameter data when writing through communication Details Refer to 4 4 1 System Parameter Setting P...

Page 101: ...r to 4 4 1 System Parameter Setting PST DAC scale1 F MONIT1 1 10000 P0 24 DAC output scale 2 MONIT2 Unit V 500 PST DAC scale 2 F MONIT2 1 10000 P0 24 DAC output scale 2 MONIT2 Unit V 500 Sets magnification for 1 2 analog output channels Sets magnification as setting Unit V E g Channel 1 scale 100 RPM Output 100 RPM as 1 V Details Refer to 4 4 1 System Parameter Setting PST DAC scale 2 F MONIT2 1 1...

Page 102: ... proportional gain 1 Hz 50 Sets position control proportional gain 1 Details Refer to 4 4 2 Control Parameter Setting P Position P gain 1 0 500 P1 02 Position Proportional Gain 2 Hz 70 Sets position control proportional gain 2 Details Refer to 4 4 2 Control Parameter Setting P Position P gain 2 0 500 P1 03 Position command filter time constant ms 0 Sets filter time constant for internal position c...

Page 103: ...d time constant 2 1 1000 P1 10 Speed command filter time constant ms 10 Sets filter time constant for speed command values PS Speed command filter time constant 0 1000 P1 11 Speed feedback filter time constant 0 1 ms 0 5 Sets filter time constant for speed search values Details Refer to 4 4 2 Control Parameter Setting PS Spd feedback filter time constant 0 100 P1 12 Torque command filter time cons...

Page 104: ...sition error P1 27 Control P if the PCON contact is on highest priority Details Refer to 4 4 2 Control Parameter Setting Details Refer to 4 4 4 Input Output Contact Parameter Setting PS Conversion mode 0x00 0x43 P1 16 Gain transfer time ms 1 Sets gain transfer time during operation When converting gain 1 to gain 2 and gain 2 to gain 1 conversion is scheduled according to the set time PS Gain conve...

Page 105: ... 200 When setting P and PI control transfer mode P1 15 sets 0x10 DIGIT 2 P control conversion torque PS Torque switch value P control conversion 0 300 P1 25 P control conversion speed rpm 50 When setting P and PI control transfer mode P1 15 sets 0x20 DIGIT 2 P control conversion speed PS Speed switch value P control conversion 0 6000 P1 26 P control conversion acceleration rpm s 1000 When setting ...

Page 106: ...t define 2 0 0xFFFF P2 02 Input signal definition 3 0x00A9 Input Port define 3 0 0xFFFF P2 03 Input signal definition 4 0x0000 Input Port define 4 0 0xFFFF P2 04 Input signal definition 5 0x0F00 Input Port define 5 0 0xFFFF P2 05 Output signal definition 1 0x4321 Allocate a CN1 connector pin for a digital output signal Initial output signal allocation P2 05 DIGIT 1 ALARM DO1 P2 05 DIGIT 2 READY DO...

Page 107: ...ration mode Details Refer to 4 4 4 Input Output Contact Parameter Setting P In position range 1 65535 P2 12 Zero speed output range RPM 10 Sets speed range for zero speed output during a stop Details Refer to 4 4 4 Input Output Contact Parameter Setting PST Zero speed range 1 500 P2 13 Range of output for speed reached RPM 10 Sets speed range for command speed reached output Details Refer to 4 4 4...

Page 108: ...zero speed command S Zero speed clamp voltage 0 1000 P2 20 Analog torque scale 100 Sets torque scale when the analog torque command is 10 V Details Refer to 4 4 3 Analog Input Output Parameter Setting T Analog torque scale 1 350 P2 21 Analog torque command offset mV 0 Sets offset for analog torque commands Details Refer to 4 4 3 Analog Input Output Parameter Setting T Analog torque command offset ...

Page 109: ... 1000 Speed command 4 6000 6000 P3 04 Speed command 5 RPM 1500 Speed command 5 6000 6000 P3 05 Speed command 6 RPM 2000 Speed command 6 6000 6000 P3 06 Speed command 7 RPM 3000 Speed command 7 6000 6000 P3 07 Z detection operation speed RPM 10 Sets Z detection operation speed Z search operation speed 1 300 P3 08 Speed command acceleration time ms 0 Sets acceleration time for speed commands Details...

Page 110: ...operation Program jog speed 1 6000 6000 P3 14 Program JOG operation speed 2 RPM 3000 Program jog speed 2 6000 6000 P3 15 Program JOG operation speed 3 RPM 0 Program jog speed 3 6000 6000 P3 16 Program JOG operation speed 4 RPM 3000 Program jog speed 4 6000 6000 P3 17 Program JOG operation time 1 ms 500 Program jog time 1 0 65535 P3 18 Program JOG operation time 2 ms 5000 Program jog time 2 0 65535...

Page 111: ... Maximum P4 00 Position input pulse logic 0 Sets logic for position operation input pulses The type of position command input pulses and rotation direction per logic are as follows E g Relation between direction signals and rotation directions when the position pulse input logic is set to 2 When the direction signal is low Reverse rotation CW clockwise When the direction signal is high Forward rot...

Page 112: ...05 Electronic gear ratio denominator 1 1000 Electric gear den 1 1 32767 P4 06 Electronic gear ratio denominator 2 2000 Electric gear den 2 1 32767 P4 07 Electronic gear ratio denominator 3 3000 Electric gear den 3 1 32767 P4 08 Electronic gear ratio denominator 4 4000 Electric gear den 4 1 32767 P4 09 Electronic gear ratio mode 0 Select an electronic gear ratio mode 0 Select electronic gear ratio ...

Page 113: ... caused by position operation Sets in the opposite direction according to the amount of backlashes Details Refer to 4 4 6 Position Operation Parameter Setting Backlash compensation 0 10000 P4 14 Pulse input filter 3 Sets filter frequency according to pulse input 0 No filter used 1 500 Khz Min 2 750 Khz 3 1 Mhz Default 4 1 25 Mhz The frequency bands above were determined based on the width of input...

Page 114: ...ion pattern P3 12 JOG operation speed Operate regardless of the contact input status of CN1 Details Refer to 4 4 5 Speed Operation Parameter Setting Details Refer to 5 2 Handling Jog Cn 01 Program JOG operation Continuously operates according to the program already set SET Program JOG run or stop Related parameters are as follows P3 08 Speed command acceleration time P3 09 Speed command decelerati...

Page 115: ... Z search Perform Z detection SET Mode entering and servo ON status UP Phase Z forward search DOWN Phase Z reverse search Related parameters are as follows P3 07 Sets Z phase search operation speed RPM Details Refer to 5 2 Handling Z detection Cn 07 Input contact forced ON OFF Forcibly turns on off the input contact temporarily UP A 8 6 4 and 2 signals forced ON OFF DOWN 9 7 5 3 and 1 signals forc...

Page 116: ...n check the calibrated offset in the analog torque command offset P2 21 Details Refer to 5 2 Handling Auto torque command offset calibration Cn 12 Manual speed command offset correction Calibrates the offset of analog speed commands manually The possible voltage range is from 1 V to 1 V If offset voltage exceeds this range oVrnG is displayed and there is no calibration You can check the calibrated...

Page 117: ...ctor to 0 UP Displays the forward maximum load factor DOWN Displays the direction maximum load factor SET Initializes the maximum load factor Details Refer to 5 2 Handling Max load clear Cn 16 Parameter lock Lock or Unlock whole parameter UP Unlock DOWN Lock Details Refer to 5 2 Handling Parameter lock Cn 17 Current offset Store existing current offset value into P0 27 P0 28 Parameter Details Refe...

Page 118: ...between command pulse and tracking pulse and displays the remaining position pulses for the servo to operate The remaining position pulses delayed while the servo is off are ignored when it is turned on 4 Input pulse frequency St 06 Displays input pulse frequency 4 3 4 Torque and Load Display 1 Current operation torque St 07 Displays the energy load output by the servo motor as a percentage of the...

Page 119: ...nal Display St 14 2 CN1 I O output contact status St 15 Refer to 4 1 6 External Output Contact Signal Display St 15 4 3 6 Miscellaneous Status and Data Display 1 Single turn data pulse display St 16 Displays the single turn data of the encoder in pulses 2 Single turn data degree display St 17 Displays the single turn data of the encoder in degrees 3 Multi turn data display St 18 Displays the multi...

Page 120: ...4 Parameters 4 52 4 3 7 Version Display 1 Software version display St 25 Displays the version of the currently installed software ...

Page 121: ...2 A G Incremental parallel Type 0 1024 6000p r N Single turn Serial Type 1 19 bits M Multi turn Serial Type 3 19 bits Note 1 When Single turn Serial Type is connected it sets the value of P0 00 P0 01 P0 02 automatically Note 2 Incremental parallel Type is p r input Single turn Serial and Multi turn Serial Type is Bit input 3 Operation mode setting P0 03 Sets operation mode of the servo Operation M...

Page 122: ...e servo is turned on There are 26 values available for setting from St 00 to St 25 Choose one for a specific parameter 8 Regenerative overload derating factor setting P0 09 Sets derating factor for checking of regenerative resistance overload When the derating value is set to 100 or below the overload alarm triggers at a time proportional to the set value 9 Regenerative resistance value setting P0...

Page 123: ...15 DB control mode P0 16 Sets DB control mode 0 Hold after DB stop 1 Release after DB stop 2 Release after free run stop 3 Hold after free run stop 16 Servo function setting bit P0 17 Sets drive function per digit DIGIT 1 Sets the operation direction of the servo 0 CCW Forward CW Reverse 1 CW Forward CCW Reverse DIGIT 2 Sets the lock of the servo motor when the value of analog speed command is 0 i...

Page 124: ...torque position command frequency 0 1 Kpps position pulse DC link V Example Channel 1 scale 100 100 RPM is output as 1 V DAC output offset P0 19 P0 20 Sets offset Unit V for 1 2 analog output channels Speed RPM torque position command frequency 0 1 Kpps position pulse DC_Link V 4 4 2 Control Parameter Setting The order of setting control parameters is as follows Load inertia ratio P1 00 setting Re...

Page 125: ... the position command pulses entering from outside and converts them into position commands apply an electric gear ratio and then pass through P1 03 position command filter and use it as an internal position command In the case that Numerator of electric gear is bigger a change of external input position command pulse influences on a change of internal position command And this influence is gettin...

Page 126: ...nd inertia ratio are closely associated with the stability of motor speed control Speed integral time constant P1 08 Calculate the integral value of the speed error which is the difference between the command and the current speed and convert it into a torque command by multiplying it by integral time constant A decreased integral time constant solves the transient response issue and thus improves...

Page 127: ...rque commands will be reduced It is important to set an appropriate value for your system 5 Torque Limit Setting P1 13 P1 14 You can set maximum torque limits for forward rotation P1 13 and for reverse rotation P1 14 separately The setting is displayed as a percentage of the rated torque and the standard is 300 6 Gain 1 Gain 2 Transfer Mode Setting P1 15 0x0F DIGIT 1 Set speed gain transfer mode 0...

Page 128: ...r than the set acceleration P1 26 4 Control P if the current position error is higher than the set position error P1 27 Control P if the PCON contact is on highest priority With such functions you can improve position operation by applying the P control operation stop function after PI control operation 9 Resonance Avoidance Operation Setting P1 17 P1 18 P1 19 If vibration occurs at certain freque...

Page 129: ...he analog torque command of 10 V as a percentage of the rated torque The setting should be within the torque limit P1 13 and P 14 of system parameter setting Torque command offset P2 21 There are cases in which a certain level of voltage remains on the analog circuit even at the 0 torque command because of problems with the circuit You can compensate this by setting the voltage as offset The unit ...

Page 130: ... complete output signal might occur during operation depending on the position command pulse Therefore it is important to set an appropriate value Position operation follow error range P4 11 If the error pulse is greater than the position operation tracking error range the position tracking error alarm AL 51 triggers Error Command pulse counter Position follow error range Follow pulse counter Puls...

Page 131: ...tical axis for the operation of the motor by the servo this feature is activated to prevent the vertical axis from falling to the motor brake This may occur as a result of the brake signal s turning off which is triggered by first of either the brake signal output operation speed P2 14 or the brake signal output delay time P2 15 Motor operation speed Speed Servo ON input Brake Output signal Within...

Page 132: ...turns from off to on Do not operate when it is off or on 1 Operate immediately at contact point on_ Level Then maintain torque when contact is High 2 Operate immediately at contact point on_ Level Then torque is 0 when contact is High 5 Output Signal Logic Definition Setting P2 10 You can change the output condition of the current output contact point to initial status ON or initial status OFF ...

Page 133: ...he rated motor speed from zero speed in ms units Deceleration time P3 09 Sets the time required for the motor to stop after running at the rated motor speed in ms units 3 S Curve Operation P3 11 You can set acceleration deceleration operation as an S curve pattern for smooth acceleration deceleration 0 Trapezoidal Set acceleration deceleration time P3 08 and P3 09 1 Sinusoidal Set acceleration dec...

Page 134: ...e A B Positive Logic CW CCW Positive Logic PULS CN1 9 SIGN CN1 11 2 Pulse direction positive logic Forward rotation Reverse rotation PULS CN1 9 SIGN CN1 11 PULS CN1 9 SIGN CN1 11 PULS CN1 9 SIGN CN1 11 PF PR L Level L Level L Level H Level PULS CN1 9 SIGN CN1 11 PULS CN1 9 SIGN CN1 11 3 4 PULS CN1 9 SIGN CN1 11 5 Forward rotation Phase A B Negative Logic CW CCW Negative Logic Pulse direction negat...

Page 135: ...er of pulses per motor rotation The following is how to calculate error pulse St 05 the difference between command pulse and tracking pulse during operation Error pulse command pulse frequency electronic gear ratio 1 0 01 P1 05 P1 01 In the case of serial type encoder It is 523288 pulses per 1 rotation without X4 3 Backlash Compensation P4 13 Sets backlash compensation by converting the amount of ...

Page 136: ...k for equipment clash or confinement Overcurrent Overcurrent S W Check for incorrect drive output wiring and incorrect encoder wiring Check the motor ID drive ID and encoder setting Check for equipment clash or confinement Current offset Abnormal current offset Replace the drive if St 23 and St 24 are 10 or higher of the rated current Overcurrent CL Overcurrent H W Check for incorrect drive output...

Page 137: ...r unit wiring and power Control power fail Control power failure Check power unit wiring and power Over speed limit Overspeed Check the encoder encoder setting encoder wiring gain setting motor wiring motor ID electronic gear ratio and speed command scale Position following Excessive position error Check the excessive position command pulse setting P4 11 wiring limit contact point gain setting enc...

Page 138: ...d commands have been entered OV_LOAD Overload warning The maximum overload P0 13 has been reached SETUP Capacity setting The electric current capacity of the motor is bigger than that of the drive UD_VTG Low voltage warning When P0 06 DIGIT 2 is set to 1 the DC link voltage is 190 V or below EMG EMG contact point Check the I O wiring and P2 09 setting Warning code is indicated in hexadecimal If th...

Page 139: ...00 SC04A 21 400 SF12M 89 1200 SC06A 22 600 SF20M 90 2000 SC08A 23 800 LF30M 192 3000 SC10A 24 1000 SF44M 92 4400 SC03D 25 300 SF20G 93 1800 SC05D 26 450 LF30G 191 2900 SC06D 27 550 SF44G 95 4400 SC07D 28 650 SF60G 96 6000 SE09A 61 900 SG22D 111 2200 SE15A 62 1500 LG35D 193 3500 SE22A 63 2200 SG55D 113 5500 SE30A 64 3000 SG75D 114 7500 SE06D 65 600 SG110D 115 11000 SE11D 66 1100 SG12M 121 1200 SE16...

Page 140: ...08A 723 800 FF20G 793 1800 FC10A 724 1000 FF30G 794 2900 FF44G 795 4400 FC03D 725 300 FF60G 796 6000 FC05D 726 500 FF75G 804 7500 FC06D 727 600 FC07D 728 700 FG22D 811 2200 FG35D 812 3500 FE09A 761 900 FG55D 813 5500 FE15A 762 1500 FG75D 814 7500 FE22A 763 2200 FG12M 821 1200 FE30A 764 3000 FG20M 822 2000 FE06D 765 600 FG30M 823 3000 FE11D 766 1100 FG44M 824 4400 FE16D 767 1600 FG20G 831 1800 FE22...

Page 141: ...ame ID Watt Notes Model Name ID Watt Notes DB03D 601 63 DB06D 602 126 DB09D 603 188 DC06D 611 126 DC12D 612 251 DC18D 613 377 DD12D 621 251 DD22D 622 461 DD34D 623 712 DE40D 632 838 DE60D 633 1257 DFA1G 641 1728 DFA6G 642 2513 ...

Page 142: ......

Page 143: ...from bends or dents 6 Are the grounding and shielding free from defects 5 1 2 Drive Signal CN1 Wiring Check Make sure that the wiring and contact for drive signals are as in the following table Pin Number Pin Name State of Contact Pin Number Pin Name State of Contact 18 EMG ON 19 CWLIM ON 47 SVON OFF 20 CCWLIM ON 48 STOP OFF 17 ALMRST OFF The above is factory initialized status Different functions...

Page 144: ...ystem Parameter Check 1 Is the motor ID setting P0 00 in good condition 2 Are the encoder type P0 01 and the encoder pulse P0 02 in good condition 3 Is control gain set to an appropriate value Note Refer to Appendix 2 Test Drive Procedure ...

Page 145: ... at the JOG operation speed P3 12 4 Press and hold DOWN and the motor turns counterclockwise at the JOG operation speed P3 12 5 Press SET again and the manual JOG operation finishes and the servo turns off 6 Press MODE for a while and then you return to the parameter screen Cn 00 Related Parameters Speed Initial P3 08 Speed command acceleration time ms 0 P3 09 Speed command deceleration time ms 0 ...

Page 146: ...to enter manual JOG operation 4 Press SET to turn on the servo 5 Press and hold UP when the servo is on and the motor turns forward CCW Lift your hand off the key and the motor stops 6 Press and hold DOWN when the servo is on and the motor turns reverse CW Lift your hand off the key and the motor stops 7 Press SET and the servo changes to OFF 8 Press MODE for a second and you return to the paramet...

Page 147: ... in the following parameter Related Parameters Speed Initial P3 08 Speed command acceleration time ms 100 P3 09 Speed command deceleration time ms 100 P3 10 Speed command S curve time ms 10 P3 11 Speed operation pattern 0 Step Program Operation Speed Program Operation Time 0 P3 13 P3 17 1 P3 14 P3 18 2 P3 15 P3 19 3 P3 16 P3 20 Example of handling program JOG operation Order Loader Displays Keys t...

Page 148: ...u press SET again the alarm is reset and becomes normal If the alarm keeps ringing after the reset check and remove possible causes and then repeat the process Example of alarm reset Order Loader Displays Keys to Use What to Do 1 Displays the speed control mode with main power and control power permitted 2 Press MODE to move to Cn 00 3 Press UP or DOWN to move to Cn 02 4 Press SET to enter alarm r...

Page 149: ...03 4 Press SET to start reading alarm history 5 Press SET and the most recent alarm code is displayed Example Recent first history AL 42 Main power failure occurred 01 Latest alarm 20 20th previous alarm 6 Press UP or DOWN to read alarm history Example The second previous history AL 10 Over current HW occurred 01 Latest alarm 20 20th previous alarm 7 Press SET to finish reading alarm history done ...

Page 150: ...oader Displays Keys to Use What to Do 1 Displays the speed control mode with main power and control power permitted 2 Press MODE to move to Cn 00 3 Press UP or DOWN to move to Cn 04 4 Press SET to enter alarm history reset 5 Press SET to delete alarm history done is displayed 6 Press MODE for a second to return to Cn 04 indicates flickering ...

Page 151: ...ged and saved Related Parameters Name Initial P1 20 Auto gain tuning speed 100 RPM 8 P1 21 Auto gain tuning distance 3 Example of handling auto gain tuning Order Loader Displays Keys to Use What to Do 1 Displays the speed control mode with main power and control power permitted 2 Press MODE to move to Cn 00 3 Press UP or DOWN to move to Cn 05 4 Press SET to enter automatic gain tuning 5 Press SET ...

Page 152: ...assembling it by a specific standard Related Parameters Name Initial P3 07 Phase Z search operation speed setting RPM 10 Example of handling phase Z search operation Ord er Loader Displays Keys to Use What to Do 1 Displays the speed control mode with main power and control power permitted 2 Press MODE to move to Cn 00 3 Press UP or DOWN to move to Cn 06 4 Press SET to enter phase Z search operatio...

Page 153: ...d as follows If an LED that corresponds to a contact is turned on off it indicates ON OFF accordingly Input Contact Setting Number A 9 8 7 6 5 4 3 2 1 CN1 pin number 48 18 19 20 46 17 21 22 23 47 Allocated default signal name STOP EMG CWLIM CCWLIM DIR ALMRST SPD3 SPD2 SPD1 SVON Press UP on each digit and the A 8 6 4 and 2 signals turn on or off forcibly Press DOWN on each digit and the 9 7 5 3 and...

Page 154: ...rced ON OFF mode 4 Press SET to enter forced input bit setting 5 Press DOWN to turn on the servo forcibly 6 Press MODE at the blinking cursor to move to the desired digit DIGIT 5 7 Press DOWN to turn on EMG forcibly 8 Press DOWN to turn off EMG forcibly 9 Press MODE at the cursor to move to the desired digit DIGIT 1 10 Press DOWN to turn off the servo forcibly 11 Press SET to end input forced ON O...

Page 155: ...ct correspond as follows If an LED that corresponds to a contact is turned on off it indicates ON OFF accordingly Output Contact Setting Number 5 4 3 2 1 CN1 pin number 45 44 43 40 41 38 39 Allocated default signal name INPOS BRAKE ZSPD READY ALARM Press UP on each digit and the 4 and 2 signals are turned on or off for forced output Press Down on each digit and the 5 3 and 1 signals are turned on ...

Page 156: ... to Cn 00 2 Press UP or DOWN to move to Cn 08 3 Press SET to enter input forced ON OFF setting 4 Press SET to enter forced output bit setting 5 Press MODE at the blinking cursor to move to the desired digit DIGIT 2 and it rotates 6 Press UP to turn off the brake signal 7 Press SET to end input forced ON OFF mode done is displayed 8 Press MODE for a second to return to Cn 08 indicates flickering ...

Page 157: ...ol power permitted Press MODE to move to Cn 00 2 Press UP or DOWN to move to Cn 09 3 Press SET to enter parameter reset 4 Press SET to reset data done is displayed 5 Press MODE for a second to return to Cn 09 Cn 09 In the case of parameter initialization unapplied parameters Parameter Detailed parameter P0 XX P0 00 P0 02 P0 04 P0 05 P0 10 P0 11 P0 27 P0 29 P2 XX P2 00 P2 10 P2 17 P2 18 P2 20 P2 21...

Page 158: ...ibration is not allowed You can check the corrected offset value in the analog speed offset P2 18 Example of handling automatic speed command offset calibration Order Loader Displays Keys to Use What to Do 1 Press MODE to display Cn 00 2 Press UP or DOWN to move to Cn 10 3 Press SET to enter offset correction 4 or Press SET to compensate offset done is displayed If the value exceeds the allowed ra...

Page 159: ...libration is not allowed You can check the corrected offset value in the analog torque offset P2 21 Example of handling automatic torque command offset correction Order Loader Displays Keys to Use What to Do 1 Press MODE to display Cn 00 2 Press UP or DOWN to move to Cn 11 3 Press SET to enter offset correction 4 or Press SET to compensate offset Done is displayed If the value exceeds the allowed ...

Page 160: ...ffset value in the analog speed offset P2 18 Example of handling manual speed command offset correction Order Loader Displays Keys to Use What to Do 1 Press MODE to display Cn 00 2 Press UP or DOWN to move to Cn 12 3 Press SET to enter offset correction 4 Press SET to enter offset correction setting The current offset value displayed 5 Press UP or DOWN to adjust the value 6 or Press SET to save th...

Page 161: ...nalog torque command offset P2 21 Example of handling manual torque command offset correction Order Loader Displays Keys to Use What to Do 1 Press MODE to display Cn 00 2 Press UP or DOWN to move to Cn 13 3 Press SET to enter offset correction 4 Press SET to enter offset correction setting The current offset value displayed 5 Press UP or DOWN to adjust the value 6 or Press SET to save the adjusted...

Page 162: ...rde r Loader Displays Keys to Use What to Do 1 Press MODE key to display Cn 00 2 Move to Cn 14 by Pressing UP or DOWN key 3 or When pressing SET key the value of absolute encoder data will be initialized to 0 Then it will be displayed donE When pressing MODE key it will be returned to Cn 14 without initialization 4 Press MODE for a second to return to the parameter screen Cn 14 indicates flickerin...

Page 163: ...UP or DOWN to move to Cn 15 3 Press SET to enter instantaneous maximum load factor initialization 4 Press SET and the current maximum load factor is displayed 5 or Press UP and the forward direction maximum load factor is displayed Press DOWN and the reverse direction maximum load factor is displayed 6 or Press SET and the instantaneous maximum load factor is reset Done is displayed If you press M...

Page 164: ...ocking parameter Order Loader Displays Keys to Use What to Do 1 Press MODE to display Cn 00 2 Press UP or DOWN to move to Cn 16 3 Press SET to enter parameter lock setting 4 or Press UP to unlock whole parameter Press DOWN to lock whole parameter 5 Hold down MODE for a second to return to Cn 16 indicates flickering ...

Page 165: ... offset value Order Loader Displays Keys to Use What to Do 1 Press MODE to display Cn 00 2 Press UP or DOWN to move to Cn 17 3 Press SET to enter current offset value setting 6 Press SET to store U phase current offset value into P0 27 and V phase current offset value into P0 28 7 Hold down MODE for a second to return to Cn 17 indicates flickering ...

Page 166: ......

Page 167: ...parameters You can also operate or handle communication of up to 32 axes by connecting multiple XDL L7 servo drives via a multi drop method 1 Serial Communication Access through RS422 2 Multi Drop Access through RS422 up to 32 machines NOTE 1 When using a PC as the upper level controller you have to use the RS232 RS485 communication converter The CN3 and the CN4 connector pins of the servo drive a...

Page 168: ...0 bps P0 04 can be selected Transmission distance Up to 200 m Current consumption 100 or below 2 Connection of CN3 and CN4 Connector Pins Pin Number Pin Function 1 Not for use 2 Terminating resistance connection note 1 3 RXD 4 TXD 5 TXD 6 RXD 7 Not for use 8 GND NOTE 1 In case of multi access connection apply terminating resistance by connecting Pin 2 of the last drive to Pin 6 RXD Use 120Ω for te...

Page 169: ... Make sure that the total length of the sending receiving packet does not exceed 256 bytes The MODBUS RTU communication mode requires space of at least 3 5 char between the end of the previous packet and the beginning of the next packet as show in the following image to distinguish packets 1 Sending Packet Structure Additional Address Functio n Code Data Error Check Bytes 0 1 2 n 1 n Details Node ...

Page 170: ...e case of write multi registers the start address of the register whose data were to be used with the write multi register command and the number of registers are received Abnormal responses consist of node ID error code and exception code The packet structure is the same for all abnormal responses regardless of their function codes 4 CRC Enter the 16 bit CRC check sum Send 1 byte of MSB and LSB e...

Page 171: ...ode ID 0x00 0 Node ID 0x00 1 Function 0x03 1 Function 0x03 2 Starting Address Hi 0x00 2 Byte Count 0x02 3 Starting Address Lo 0x6B 3 Register Value Hi 0x02 4 Quantity of Register Hi 0x00 4 Register Value Lo 0x2B 5 Quantity of Register Lo 0x01 5 CRC Hi 6 CRC Hi 6 CRC Lo 7 CRC Lo Error Receiving Packet Byte Content Value 0 Node ID 0x00 1 Error Code 0x03 0x80 2 Exception Code 0x01 0x04 3 CRC Hi 4 CRC...

Page 172: ...tity of Register Lo 0x03 5 Register Value Hi 0x00 6 CRC Hi 6 Register Value Lo 0x00 7 CRC Lo 7 Register Value Hi 0x00 8 Register Value Lo 0x64 9 CRC Hi 10 CRC Lo Error Receiving Packet Byte Content Value 0 Node ID 0x00 1 Error Code 0x03 0x80 2 Exception Code 0x01 0x04 3 CRC Hi 4 CRC Lo Example Node ID 03 06 02 2B CRC Hi CRC Lo Node ID 03 00 6B 00 01 CRC Hi CRC Lo Slave Address Node ID Function Cod...

Page 173: ...00 1 Function 0x06 1 Function 0x06 2 Register Address Hi 0x00 2 Register Address Hi 0x00 3 Register Address Lo 0x01 3 Register Address Lo 0x01 4 Register Value Hi 0x00 4 Register Value Hi 0x00 5 Register Value Lo 0x03 5 Register Value Lo 0x03 6 CRC Hi 6 CRC Hi 7 CRC Lo 7 CRC Lo Error Receiving Packet Byte Content Value 0 Node ID 0x00 1 Error Code 0x06 0x80 2 Exception Code 0x01 0x06 3 CRC Hi 4 CRC...

Page 174: ...ing Address Hi 0x00 3 Starting Address Lo 0x01 3 Starting Address Lo 0x01 4 Quantity of Registers Hi 0x00 4 Quantity of Registers Hi 0x00 5 Quantity of Registers Lo 0x02 5 Quantity of Registers Lo 0x02 6 Byte Count 0x04 6 CRC Hi 7 Register Value Hi 0x00 7 CRC Lo 8 Register Value Lo 0x0A 9 Register Value Hi 0x01 Error Receiving Packet 10 Register Value Lo 0x02 Byte Content Value 11 CRC Hi 0 Node ID...

Page 175: ... Byte Count 0x06 2 Byte Count 0x06 3 Address Hi 0x00 3 Register Value Hi 0x02 4 Address Lo 0x01 4 Register Value Lo 0x2B 5 Address Hi 0x00 5 Register Value Hi 0x00 6 Address Lo 0x04 6 Register Value Lo 0x00 7 Address Hi 0x00 7 Register Value Hi 0x00 8 Address Lo 0x08 8 Register Value Lo 0x64 9 CRC Hi 9 CRC Hi 10 CRC Lo 10 CRC Lo Error Receiving Packet Byte Content Value 0 Node ID 0x00 1 Error Code...

Page 176: ...rol mode 0 Trq 1 Spd 2 Pos 3 Spd Pos 4 Trq Spd 5 Trq Pos 2 Current operation speed St 01 INT16 4 Current command speed St 02 INT16 6 Tracking position pulse L St 03 INT32 8 Tracking position pulse H 10 Position command pulse L St 04 INT32 12 Position command pulse H 14 Remaining position pulse L St 05 INT32 16 Remaining position pulse H 18 Input pulse frequency L St 06 INT32 20 Input pulse frequen...

Page 177: ...Multi turn data L St 18 INT32 48 Multi turn data H 50 Temperature in the servo drive St 19 INT16 52 Rated motor speed St 20 UINT16 54 Maximum motor speed St 21 UINT16 56 Rated motor current St 22 UINT16 58 Phase U current offset St 23 INT16 60 Phase V current offset St 24 INT16 62 Software version St 25 UINT16 BIT0 BIT4 Drive capacity 1 100W 2 200W 3 400W 4 750W 5 1kW 6 3 5kW BIT5 BIT14 Version nu...

Page 178: ... P0 08 UINT16 88 Regenerative overload derating P0 09 UINT16 90 Regenerative resistance value P0 10 UINT16 92 Regenerative resistance capacity P0 11 UINT16 94 Overload detection base load factor P0 12 UINT16 96 Continuous overload warning level P0 13 UINT16 98 Encoder output pre scale L P0 14 INT32 100 Encoder output pre scale H 102 PWM OFF delay time P0 15 UINT16 104 Dynamic brake control mode P0...

Page 179: ... Protocol 6 13 Communicatio n Address Parameter Name Parameter Number Material Type Decimal Number System Parameter Parameter 130 W Phase Current Offset P0 29 INT16 132 Reserved 134 Reserved 136 Reserved 138 Reserved ...

Page 180: ...constant 1 P1 08 UINT16 158 Speed integral time constant 2 P1 09 UINT16 160 Speed command filter time constant P1 10 UINT16 162 Speed feedback filter time constant P1 11 UINT16 164 Torque command filter time constant P1 12 UINT16 166 Forward rotation torque limit P1 13 UINT16 168 Reverse rotation torque limit P1 14 UINT16 170 Gain transfer mode P1 15 UINT16 172 Gain transfer time P1 16 UINT16 174 ...

Page 181: ...ress Parameter Name Parameter Number Material Type Decimal Number Control Parameter Parameter 196 Reserved 198 Reserved 200 Reserved 202 Reserved 204 Reserved 206 Reserved 208 Reserved 210 Reserved 212 Reserved 214 Reserved 216 Reserved 218 Reserved ...

Page 182: ... 06 UINT16 234 Output signal definition 3 P2 07 UINT16 236 Input signal logic definition 1 P2 08 UINT16 238 Input signal logic definition 2 P2 09 UINT16 240 Output signal logic definition P2 10 UINT16 242 Range of output for position reached P2 11 UINT16 244 Zero speed output range P2 12 UINT16 246 Range of output for speed reached P2 13 UINT16 248 Brake output operation speed P2 14 UINT16 250 Bra...

Page 183: ...5 INT16 292 Digital speed command 7 P3 06 INT16 294 Z search operation speed setting P3 07 UINT16 296 Speed command acceleration time P3 08 UINT16 298 Speed command deceleration time P3 09 UINT16 300 Speed command S Curve time P3 10 UINT16 302 Speed operation pattern P3 11 UINT16 304 Manual JOG operation speed P3 12 INT16 306 Program JOG operation speed 1 P3 13 INT16 308 Program JOG operation spee...

Page 184: ...ctronic gear ratio numerator 2 H 340 Electronic gear ratio numerator 3 L P4 03 INT32 342 Electronic gear ratio numerator 3 H 344 Electronic gear ratio numerator 4 L P4 04 INT32 346 Electronic gear ratio numerator 4 H 348 Electronic gear ratio denominator 1 P4 05 UINT16 350 Electronic gear ratio denominator 2 P4 06 UINT16 352 Electronic gear ratio denominator 3 P4 07 UINT16 354 Electronic gear rati...

Page 185: ... 1 Servo Motor Heat Sink Specifications Type Dimensions mm Materials AP04 250x250x6 Aluminum AP06 250x250x6 AP08 250x250x12 AP13 350x350x20 AP18 550x550x30 AP22 650x650x35 NOTE 1 The data on the product features is measured when those heat sinks are applied ...

Page 186: ...0 07 Allowed load inertia Motor inertia x 30 Motor inertia x 20 Rated power rate kW s 5 56 10 55 23 78 35 34 Speed and position detector Standard Quad Type Incremental 2048 P R Option Serial Type coming soon Specifications and features Protection method Fully closed self cooling IP55 excluding axis penetration Time rating Continuous Ambient temperature 0 40 C Ambient humidity 20 80 RH no condensat...

Page 187: ...m2x10 4 0 11 0 18 0 32 gf cm s2 0 12 0 19 0 33 Allowed load inertia Motor inertia x 20 Rated power rate kW s 8 89 22 26 50 49 Speed and position detector Standard Quad Type Incremental 3000 P R Option Serial Type 19 Bit Specifications and features Protection method Fully closed self cooling IP65 excluding axis penetration Time rating Continuous Ambient temperature 0 40 C Ambient humidity 20 80 RH ...

Page 188: ...0 19 0 33 0 26 Allowed load inertia Motor inertia x 20 Rated power rate kW s 8 91 22 22 50 41 63 84 Speed and position detector Standard Quad Type Incremental 3000 P R Option Serial Type 19 Bit Specifications and features Protection method Fully closed self cooling IP55 excluding axis penetration Time rating Continuous Ambient temperature 0 40 C Ambient humidity 20 80 RH no condensation Atmosphere...

Page 189: ...4 1 97 Allowed load inertia Motor inertia x 15 Rated power rate kW s 24 05 33 39 43 02 52 57 Speed and position detector Standard Quadrature Type Incremental 3000 P R Option Serial Type 19 bit Specifications and features Protection method Fully closed self cooling IP65 excluding axis penetration Time rating Continuous Ambient temperature 0 40 C Ambient humidity 20 80 RH no condensation Atmosphere ...

Page 190: ...n speed r min 3000 Inertia moment kg m2x10 4 0 67 1 09 1 51 1 93 gf cm s2 0 69 1 11 1 54 1 97 Allowed load inertia Motor inertia x 15 Rated power rate kW s 30 43 42 27 45 69 49 97 Speed and position detector Standard Quadrature Type Incremental 3000 P R Option Serial Type 19 bit Specifications and features Protection method Fully closed self cooling IP65 excluding axis penetration Time rating Cont...

Page 191: ...5 8 23 11 98 17 16 3 97 6 28 Maximum current A 14 85 24 69 35 94 51 48 11 91 18 84 Rated rotation speed r min 3000 2000 Maximum rotation speed r min 5000 3000 Inertia moment kg m2x10 4 6 66 12 00 17 34 22 68 6 66 12 00 gf cm s2 6 80 12 24 17 69 23 14 6 80 12 24 Allowed load inertia Motor inertia x 10 Rated power rate kW s 12 32 18 99 28 28 40 20 12 32 22 98 Speed and position detector Standard Qua...

Page 192: ...3 12 37 2 51 4 15 5 78 7 63 Maximum current A 27 69 37 11 7 53 12 45 17 34 22 89 Rated rotation speed r min 2000 1000 Maximum rotation speed r min 3000 2000 Inertia moment kg m2x10 4 17 34 22 68 6 66 12 00 17 34 22 68 gf cm s2 17 69 23 14 6 80 12 24 17 69 23 14 Allowed load inertia Motor inertia x 10 Rated power rate kW s 33 65 48 64 12 32 27 35 42 59 57 89 Speed and position detector Standard Qua...

Page 193: ...eous torque N m 8 59 16 23 24 83 32 46 28 64 47 74 kgf cm 87 69 165 63 253 32 331 26 292 29 487 15 Rated current A 3 97 6 47 10 00 12 75 16 70 27 40 Maximum current A 11 91 19 41 30 00 38 25 50 1 82 20 Rated rotation speed r min 1500 3000 Maximum rotation speed r min 3000 5000 Inertia moment kg m2x10 4 6 66 12 00 17 34 22 68 30 74 52 13 gf cm s2 6 80 12 24 17 69 23 14 31 37 53 19 Allowed load iner...

Page 194: ...L7 A035 XDL L7 A050 Rated output kW 2 2 3 5 5 5 1 8 2 9 4 4 Rated torque N m 10 50 16 71 26 26 11 46 18 46 28 01 kgf cm 107 17 170 50 267 93 116 92 188 37 285 80 Maximum instantaneous torque N m 31 51 50 13 78 77 34 37 55 38 84 02 kgf cm 321 52 511 51 803 80 350 75 565 10 857 39 Rated current A 13 50 15 85 30 25 14 7 15 92 31 75 Maximum current A 40 50 47 55 90 75 44 1 47 64 95 25 Rated rotation s...

Page 195: ... 4 17 7 26 3 12 4 17 7 26 3 Rotation speed Torque Characteristics Product Features Servo Motor Type XML SF12M SF20M LF30M SF44M Applicable drive XDL L7 A XDL L7 A020 XDL L7 A035 XDL L7 A050 Rated output kW 1 2 2 0 3 0 4 4 Rated torque N m 11 46 19 10 28 64 42 01 kgf cm 116 92 194 86 292 29 428 69 Maximum instantaneous torque N m 34 37 57 29 85 93 126 04 kgf cm 350 75 584 58 876 88 1286 08 Rated cu...

Page 196: ...ications and features Protection method Fully closed self cooling IP65 excluding axis penetration Time rating Continuous Ambient temperature 0 40 C Ambient humidity 20 80 RH no condensation Atmosphere No direct sunlight corrosive gas or combustible gas Anti vibration Vibration acceleration 49 m s2 5G Weight kg 12 4 17 7 26 3 35 6 Rotation Speed Torque Characteristics Repeatedly used area Continuou...

Page 197: ...Inertia moment kg m2x10 4 51 42 80 35 132 41 51 42 80 35 135 11 gf cm s2 52 47 81 99 135 11 52 47 81 99 132 41 Allowed load inertia Motor inertia x 5 Rated power rate kW s 25 53 42 41 59 24 21 45 34 75 52 07 Speed and position detector Standard Quadrature Type Incremental 3000 P R Option Serial Type 19 bit Specifications and features Protection method Fully closed self cooling IP65 excluding axis ...

Page 198: ... 35 132 41 172 91 gf cm s2 52 47 81 99 135 11 176 44 Allowed load inertia Motor inertia x 5 Rated power rate kW s 25 53 45 39 61 97 102 08 Speed and position detector Standard Quadrature Type Incremental 3000 P R Option Serial Type 19 bit Specifications and features Protection method Fully closed self cooling IP65 excluding axis penetration Time rating Continuous Ambient temperature 0 40 C Ambient...

Page 199: ...4 69 Rated rotation speed r min 3000 Maximum rotation speed r min 3500 Inertia moment kg m2x10 4 0 27 0 33 0 46 19 56 22 27 gf cm s2 0 27 0 34 0 47 19 96 22 72 Allowed load inertia Motor inertia x 20 Motor inertia x 10 Rated power rate kW s 3 34 11 98 34 47 4 10 10 01 Speed and position detector Standard Quadrature Type Incremental 1024P R 2048 P R Option x Specifications and features Protection m...

Page 200: ...eous torque N m 0 96 1 91 3 82 3 82 5 73 kgf cm 9 74 19 49 38 98 38 98 58 47 Rated current A 0 95 1 45 2 60 2 58 3 81 Maximum current A 2 86 4 35 7 79 7 75 11 42 Rated rotation speed r min 3000 Maximum rotation speed r min 5000 Inertia moment kg m2x10 4 0 09 0 15 0 25 0 50 0 88 gf cm s2 0 09 0 15 0 25 0 51 0 89 Allowed load inertia Motor inertia x 20 Motor inertia x 15 Rated power rate kW s 11 38 ...

Page 201: ... 45 0 55 0 65 Rated torque N m 2 39 3 18 1 43 2 15 2 60 3 10 kgf cm 24 36 32 50 14 60 21 90 26 80 31 70 Maximum instantaneous torque N m 7 16 9 55 4 30 6 45 7 88 9 31 kgf cm 73 08 97 44 43 80 65 80 80 40 95 00 Rated current A 5 02 6 70 2 50 3 05 3 06 3 83 Maximum current A 15 07 20 09 7 51 9 16 9 18 11 50 Rated rotation speed r min 3000 2000 Maximum rotation speed r min 5000 3000 Inertia moment kg...

Page 202: ...0 XDL L7 A035 XDL L7 A035 XDL L7 A008 XDL L7 A010 Rated output kW 0 9 1 5 2 2 3 0 0 6 1 1 Rated torque N m 2 86 4 77 7 00 9 55 2 86 5 25 kgf cm 29 20 48 70 71 40 97 40 29 2 0 53 60 Maximum instantaneous torque N m 8 59 14 32 21 01 28 65 8 59 15 75 kgf cm 87 70 146 10 214 30 292 20 87 70 160 70 Rated current A 6 45 9 15 13 24 16 09 4 56 6 47 Maximum current A 19 35 27 45 39 72 48 27 13 68 19 41 Rat...

Page 203: ...tures Servo Motor Type XML FE16D FE22D FE03M FE06M FE09M FE12M Applicable Drive XDL L7 A XDL L7 A020 XDL L7 A035 XDL L7 A004 XDL L7 A008 XDL L7 A010 XDL L7 A020 Rated output kW 1 6 2 2 0 3 0 6 0 9 1 2 Rated torque N m 7 63 10 5 2 86 5 72 8 59 11 46 kgf cm 77 90 107 10 29 22 58 4 87 7 116 9 Maximum instantaneous torque N m 22 92 31 51 8 59 17 18 25 77 34 22 kgf cm 233 80 321 40 87 66 175 3 262 9 34...

Page 204: ...gas or combustible gas Anti vibration Vibration acceleration 49 m s2 5G Weight kg 8 5 10 1 5 0 6 7 8 5 10 1 Rotation speed Torque Characteristics Product Features Servo Motor Type XML FE05G FE09G FE13G FE17G FF30A FF50A Applicable Drive XDL L7 A XDL L7 A008 XDL L7 A010 XDL L7 A020 XDL L7 A035 XDL L7 A050 Rated output kW 0 45 0 85 1 3 1 7 3 0 5 0 Rated torque N m 2 86 5 41 8 27 10 82 9 55 15 91 kgf...

Page 205: ... Serial Type 19 bit Option X Specifications and features Protection method Fully closed self cooling IP65 excluding axis penetration Time rating Continuous Ambient temperature 0 40 C Ambient humidity 20 80 RH no condensation Atmosphere No direct sunlight corrosive gas or combustible gas Anti vibration Vibration acceleration 49 m s2 5G Weight kg 5 0 6 7 8 5 10 1 12 5 17 4 Rotation speed Torque Char...

Page 206: ...3000 2700 3000 Inertia moment kg m2x10 4 27 96 46 56 73 85 27 96 46 56 73 85 gf cm s2 28 53 47 51 75 36 28 53 47 51 75 36 Allowed load inertia Motor inertia x 5 Rated power rate kW s 39 43 59 89 93 27 46 92 73 14 106 15 Speed and position detector Standard Serial Type 19 bit Option X Specifications and features Protection method Fully closed self cooling IP65 excluding axis penetration Time rating...

Page 207: ...27 96 46 56 73 85 106 7 gf cm s2 28 53 47 51 75 36 108 9 Allowed load inertia Motor inertia x 5 Rated power rate kW s 46 94 78 27 111 04 165 38 Speed and position detector Standard Serial Type 19 bit Option X Specifications and features Protection method Fully closed self cooling IP65 excluding axis penetration Time rating Continuous Ambient temperature 0 40 C Ambient humidity 20 80 RH no condensa...

Page 208: ...71 53 117 72 gf cm s2 41 97 72 99 120 12 41 97 72 99 120 12 Allowed load inertia Motor inertia x 5 Rated power rate kW s 26 78 38 99 58 51 31 91 47 66 66 64 Speed and position detector Standard Serial Type 19 bit Option X Specifications and features Protection method Fully closed self cooling IP65 excluding axis penetration Time rating Continuous Ambient temperature 0 40 C Ambient humidity 20 80 R...

Page 209: ...tation speed r min 2000 1700 2000 Inertia moment kg m2x10 4 41 13 71 53 117 72 149 40 gf cm s2 41 97 72 99 120 12 152 45 Allowed load inertia Allowed load inertia Rated power rate kW s 31 91 51 00 69 70 118 14 Speed and position detector Standard Serial Type 19 bit Option X Specifications and features Protection method Fully closed self cooling IP65 excluding axis penetration Time rating Continuou...

Page 210: ... 4 87 3 25 6 49 12 99 Maximum instantaneous torque N m 0 48 0 96 1 43 0 96 1 91 3 82 kgf cm 4 87 9 74 14 62 9 74 19 48 38 96 Rated current A Φ ac rms 0 95 1 25 1 76 0 95 1 45 2 60 Maximum current A Φ ac rms 2 85 3 75 5 28 2 85 4 35 7 80 Rated rotation speed r min 3000 Maximum rotation speed r min 5000 Inertia moment kg m2x10 4 0 023 0 042 0 063 0 091 0 147 0 248 gf cm s2 0 024 0 043 0 065 0 093 0 ...

Page 211: ...Servo Motor Type XML FCL04A FCL06A FCL08A FCL10A Applicable Drive XDL L7 A XDL L7 A004 XDL L7 A008 XDL L7 A010 Rated output kW 0 40 0 60 0 75 1 00 Rated torque N m 1 27 1 91 2 39 3 18 kgf cm 12 99 19 49 24 36 32 48 Maximum instantaneous torque N m 3 82 5 73 7 16 9 55 kgf cm 38 98 58 47 73 08 97 44 Rated current A Φ ac rms 2 58 3 81 5 02 5 83 Maximum current A Φ ac rms 7 75 11 42 15 07 17 50 Rated ...

Page 212: ...ation Time rating Continuous Ambient temperature 0 40 C Ambient humidity 20 80 RH no condensation Atmosphere No direct sunlight corrosive gas or combustible gas Anti vibration Vibration acceleration 49 m s2 5G Weight kg 1 52 2 14 2 68 3 30 Rotation speed Torque Characteristics Continuously used area Continuously used area Continuously used area Continuously used area Continuously used area Continu...

Page 213: ... 897 1 264 1 632 gf cm s2 0 541 0 915 1 290 1 665 Allowed load inertia Rated power rate kW s 30 60 40 66 45 09 62 08 Speed and position detector Standard Serial Multi Turn Built in Type 19bit Option x Specifications and features Protection method Fully closed self cooling IP67 excluding axis penetration Time rating Continuous Ambient temperature 0 40 C Ambient humidity 20 80 RH no condensation Atm...

Page 214: ...peed r min 3000 Inertia moment kg m2x10 4 0 530 0 897 1 264 1 63 gf cm s2 0 541 0 915 1 290 1 66 Allowed load inertia Rated power rate kW s 38 73 51 47 54 56 59 03 Speed and position detector Standard Serial Multi Turn Built in Type 19bit Option x Specifications and features Protection method Fully closed self cooling IP67 excluding axis penetration Time rating Continuous Ambient temperature 0 40 ...

Page 215: ... 7 31 Repeatedly used area Repeatedly used area Repeatedly used area Repeatedly used area Continuously used area Continuously used area Continuously used area Continuously used area XML FCL03D XML FCL05D XML FCL06D XML FCL07D ...

Page 216: ...eries XML FB XML FC Purpose Maintenance Maintenance Input voltage V DC 24V DC 24V Static friction torque N m 1 47 3 23 Capacity W 6 5 9 Coil resistance Ω 89 64 Rated current A 0 27 0 38 Braking mechanism Spring brake Spring brake Insulation grade Grade F Grade F NOTE 1 The same specifications apply to all electric brakes installed in our servo motors NOTE 2 Electric brakes are designed to maintain...

Page 217: ... 3 0 32 0 67 SAR5A 108 3 144 6 83 3 119 6 49 5 49 4 73 3 109 3 0 38 0 73 SA01A 125 3 161 6 100 3 136 6 66 5 66 4 90 3 126 3 0 5 0 85 SA015A 145 3 120 3 86 5 110 3 0 7 NOTE 1 The standard shaft end for 40 flange is straight NOTE 2 Use DC 24 V for brake opening power NOTE 3 The sizes in parentheses apply when attached to brakes Except SA015A NOTE 4 Option specification Serial M turn Encoder PinMap ...

Page 218: ...SB01A 122 162 92 132 52 5 52 3 59 5 99 5 0 82 1 4 SB02A 136 176 106 146 66 5 66 3 73 5 113 5 1 08 1 66 SB04A 164 199 134 169 94 5 94 3 101 5 141 5 1 58 2 16 NOTE 1 Use DC 24 V for brake opening power NOTE 2 The sizes in parentheses apply when attached to brakes NOTE 3 Option specification Serial M turn Encoder PinMap ...

Page 219: ...78 8 86 126 3 14 1 88 2 92 SC06A SC05D 178 5 218 8 138 5 178 8 99 98 8 106 146 3 16 2 52 3 56 SC08A SC06D 198 5 238 8 158 5 198 8 119 118 8 126 166 3 16 3 15 4 22 SC10A SC07D 218 5 258 8 178 5 218 8 139 138 8 146 186 3 16 3 80 4 94 NOTE 1 Use DC 24 V for brake opening power NOTE 2 The sizes in parentheses apply when attached to brakes NOTE 3 Option specification Serial M turn Encoder PinMap ...

Page 220: ...39 3 143 3 181 3 93 8 93 6 19 5 5 3 5 5 7 04 SE15A SE11D SE09G SE06M 225 3 263 3 167 3 205 3 117 8 117 6 19 5 5 3 7 54 9 08 SE22A SE16D SE13G SE09M 249 3 287 3 191 3 229 3 141 8 141 6 22 6 6 3 5 9 68 11 22 SE30A SE22D SE17G SE12M 273 3 311 3 215 3 253 3 165 8 165 6 22 6 6 3 5 11 78 13 3 2 NOTE 1 Use DC 24 V for brake opening power NOTE 2 The sizes in parentheses apply when attached to brakes NOTE ...

Page 221: ...33 132 7 12 4 19 2 SF50A LF35D LF30G SF20M 295 5 346 9 216 5 267 9 167 166 7 17 7 24 9 SF55D SF44G LF30M 345 5 396 9 266 5 317 9 217 216 7 26 3 33 4 SF44M 405 5 456 9 326 5 377 9 277 276 7 35 6 42 8 NOTE 1 Eye bolts apply to LF30M or higher models NOTE 2 Use DC 24 V for brake opening power NOTE 3 The sizes in parentheses apply when attached to brakes NOTE 4 Option specification Serial M turn Encod...

Page 222: ... 5 302 7 171 5 237 7 122 121 2 16 95 30 76 LG35D LG30G SG20M 256 5 322 7 191 5 257 7 142 142 2 21 95 35 7 SG55D SG44G LG30M 292 5 358 7 227 5 293 7 178 177 2 30 8 44 94 SG44M 320 5 386 7 255 5 321 7 206 205 2 37 52 50 94 NOTE 1 Use DC 90 V for brake opening power NOTE 2 The sizes in parentheses apply when attached to brakes NOTE 3 Option specification Serial M turn Encoder PinMap ...

Page 223: ...nsions Weight Kg L LM LC CB Hollow Shaft Diameter HB01A 140 5 98 5 68 5 24 15 0 89 HB02A 154 5 112 5 82 5 38 15 1 16 HB04A 182 5 140 5 105 5 66 15 1 69 XML HE09A Hollow Shaft XML HE15A Hollow Shaft Name External Dimensions Weight Kg L LM LC Hollow Shaft Diameter HE09A 207 150 111 5 40 5 82 HE15A 231 174 135 5 40 7 43 ...

Page 224: ...wing in the case of Rear Type cable it is available on request Name External Dimensions Weight kg L LM LC FB01A 109 149 2 79 119 2 43 5 43 0 72 1 3 FB02A 120 160 2 90 130 2 54 5 54 0 94 1 49 FB04A 140 180 2 110 150 2 74 5 74 1 32 1 87 NOTE 1 Use DC power 24V to operate the brake ...

Page 225: ...e brakes FC Series XML FC04A FC03D XML FC06A FC05D XML FC08A FC06D XML FC10A FC07D The drawing in the case of Rear Type cable it is available on request Name External Dimensions Shaft Key Dimensions Weight kg L LM LC S H T W U FC04A FC03D 136 5 177 96 5 137 61 60 5 14 0 018 5 5 3 1 56 2 6 ...

Page 226: ...e sizes in parentheses apply when attached to the brakes FE Series XML FE09A FE15A FE22A FE30A FE06D FE11D FE16D FE22D FE03M FE06M FE09M FE12M FE05G FE09G FE13G FE17G Standard Name External Dimensions Key Dimensions Weight kg L LM LC S QW T W U FE09A FE06D FE05G FE03M 197 3 139 3 89 8 19 25 5 5 3 5 04 FE15A FE11D FE09G FE06M 217 3 159 3 109 8 19 25 5 5 3 6 74 FE22A FE16D FE13G FE09M 237 3 179 3 12...

Page 227: ...9 6 22 25 6 6 3 5 10 02 FE30A FE22D FE17G FE12M 293 3 235 3 147 6 24 36 7 8 4 11 59 NOTE 1 Use DC power 24V to operate the brake FF Series XML FF30A FF50A FF22D FF35D FF20G FF30G FF44G FF12M FF20M FF30M FF44M Standard Name External Dimensions Key Dimensions Weight kg L LM LC LR S QK T W U FF30A 22D 20G 12M 257 5 178 5 129 79 35 60 8 10 5 12 5 FF50A 35D 30G 20M 287 5 208 5 159 17 4 44G 30M 331 5 25...

Page 228: ...356 9 234 7 42 8 12 5 41 0 NOTE 1 Eye bolts apply to FF30M or higher models NOTE 2 Use DC power 24V to operate the brake FG Series XML FG22D FG35D FG20G FG30G FG44G FG12M FG20M FG30M FG44M Standard Name External Dimensions Key Dimensions Weight kg L LM LC S T W U FG22D FG20G FG12M 229 5 164 5 115 35 8 10 5 15 42 FG35D FG30G FG20M 250 5 185 5 135 20 22 FG44G FG30M 282 5 217 5 168 28 02 FG44M 304 5 ...

Page 229: ...ight kg L LM LC S T W U FG22D FG20G FG12M 295 7 230 7 114 2 35 8 10 5 29 23 FG35D FG30G FG20M 316 7 251 7 135 2 34 03 FG44G FG30M 348 7 283 7 167 2 41 83 FG44M 370 7 305 7 189 2 42 8 10 5 47 26 NOTE 1 Use DC power 90V to operate the brake FAL Series XML FALRA FAL01A FAL015A ...

Page 230: ...6 78 2 114 6 49 5 23 0 31 0 66 FAL01A 120 2 156 6 95 2 131 6 66 5 35 0 45 0 80 FAL015A 140 2 115 2 86 5 35 0 61 NOTE 1 Use DC power 24V to operate the brake NOTE 2 The dimension of is for brake type motor NOTE 3 To connect FAL motor connect power cable first FBL Series XML FBL01A FBL02A FBL04A ...

Page 231: ... T W U FBL01A 107 2 147 2 77 2 117 2 48 5 48 3 14 0 018 5 5 3 0 56 1 3 FBL02A 118 2 158 2 88 2 128 2 59 5 59 3 14 0 018 5 5 3 0 74 1 48 FBL04A 138 2 178 2 108 2 148 2 79 5 79 3 14 0 018 5 5 3 1 06 1 8 NOTE 1 Use DC power 24V to operate the brake NOTE 2 The dimension of is for brake type motor ...

Page 232: ...7 Product Specifications 7 48 FCL Series XML FCL04A FCL03D FCL06A FCL05D FCL08A FCL06D FCL10A FCL07D ...

Page 233: ...2 2 32 1 26 2 06 FCL06A FCL05D 156 7 197 5 116 7 157 5 88 87 8 19 0 021 6 6 3 5 2 14 2 94 2 12 2 92 FCL08A FCL06D 174 7 215 5 134 7 175 5 106 105 8 19 0 021 6 6 3 5 2 68 3 48 2 66 3 46 FCL10A FCL07D 192 7 233 5 152 7 193 5 124 123 8 19 0 021 6 6 3 5 3 30 4 10 2 78 3 58 NOTE 1 Use DC power 24V to operate the brake NOTE 2 The dimension of is for brake type motor ...

Page 234: ... applied Speed command DC 10 V 10 V Reverse rotation in case of negative voltage Acceleration d eceleration time Straight or S curve acceleration deceleration 0 10 000 ms possible to be set by one ms unit Speed change rate 0 01 or lower when load changes between 0 and 100 0 1 or lower temperature 25 10 Position Control Input frequency 1 Mpps line driver 200 kbps open collector Input pulse Method S...

Page 235: ...ading downloading are possible Encoder Serial BiSS encoder and quadrature encoder supported Encoder output method Random pre scale output through FPGA maximum 6 4 Mpps Built in functions Dynamic braking Standard built in activated when the servo alarm goes off or when the servo is off Regenerati ve braking Both default built in and external installation possible Displaying Seven segments 5 DIGIT S...

Page 236: ...7 Product Specifications 7 52 7 2 2 Outline Drawing XDL L7 A001 XDL L7 A004 Weight 1 0 kg XDL L7 A008 XDL L7 A010 Weight 1 5 kg Cooling fan included ...

Page 237: ...7 Product Specifications 7 53 XDL L7 A020 XDL L7 A035 Weight 2 5 kg Cooling fan included XDL L7 A050 Weight 5 5 kg Cooling fan included ...

Page 238: ...ecifications 7Px0 2SQ AWG24 For signaling Quadrature type Incremental Encoder cable medium capacity XLCS E DS All models of XML SE XML SF XML LF APL LG XML SG and XML HE Series 1 Motor connection MS Military Standard a Plug specifications MS3108B MS3106B 20 29S 2 Drive connection CN2 a Case specifications 10314 52A0 008 3M or SM 14J Suntone b Connector specifications 10114 3000VE 3M orSM 14J Sunto...

Page 239: ...cifications 10314 52A0 008 3M b Connector specifications 10114 3000VE 3M 3 Cable specifications 4Px0 2SQ AWG24 For signaling Multi turn type Encoder cable Small capacity XLCS E CS1 All models of XML SA Will provide XML SB XML SC SERIES 1 Motor connection a Cap specifications 9Position 172161 1 AMP b SOCKET specifications 170361 1 AMP 2 Drive connection CN2 a Case specifications 10314 52A0 008 3M o...

Page 240: ...tor specifications 10114 3000VE 3M 3 Cable specifications 4Px0 2SQ AWG24 For signaling Multi turn Type Serial Encoder Cable XLCS E ES1 Front XLCS E ES1 Rear XLCS E ES1 R All models of XML FB and XML FC Series 1 Motor connection a Cap specifications 9 Position 2201825 1 Tyco b Socket specifications 2174065 4 Tyco 2 Drive connection CN2 a Case specifications 10314 52A0 008 3M b Connector specificati...

Page 241: ...or signaling Multi turn Type Serial Encoder Cable Medium capacity XLCS E DS1 XML SE XML SF XML SG XML LF XML LG XML FE XML FF and XML FG Series 1 Motor connection a Cap specifications 9Position MS3108B 20 29S 2 Drive connection CN2 a Case specifications 10314 52A0 008 3M or SM 14J Suntone b Connector specifications 10114 3000VE 3M SM 14J Suntone 3 Cable specifications 4Px0 2SQ AWG24 NOTE 1 The in ...

Page 242: ...and FG a U V and W pin specifications UA F1512 SEOIL b FG pin specifications 1 5x4 ring terminal 3 Cable specifications 4Cx0 75SQ AWG18 XML SAR3A SAR5A and SA01A use 0 5SQ For power Brake type Power cable XLCS P KB new All models of XML SA XML SB and XML SC Series 1 Motor connection a Cap specifications 6 positions 172157 1 AMP b Socket specifications 170362 1 AMP 2 For brake power a Connection te...

Page 243: ... ring terminal 3 Cable specifications 4Cx2 0SQ AWG14 Note The drive end connection of the XML SE03M Series cable uses the UA F1512 pin For power Power cable Brake type XLCS P NB All models of XML SE XML FE SERIES 1 Motor connection a Plug specifications MS3108B20 15S MS 2 Drive connection a U V and W pin specifications 2012 b Cable specifications 4C x 2 5SQ or 4C x 12AWG c FG pin specifications 2 ...

Page 244: ...LCS P PB XML SF XML LF XML FF SERIES Below 3 5KW 1 Motor connection a Plug specifications MS3108B24 10S MS 2 Drive connection a Cable specifications 4C x 2 5SQ or 4C x 14AWG b FG pin specifications 2 5 x 4 Ring Terminal 3 Brake power connection a BK pin specifications 1 5 x 3 Ring Terminal b Cable specifications 2C x 0 75SQ or 2C x 18AW For power Standard type Power cable XLCS P JS new XML SF XML ...

Page 245: ... XLCS P FS Front XLCS P FS Rear XLCS P FS R All models of XML FB and XML FC Series 1 Motor connection a Plug specification KN5FT04SJ1 JAE b Plug specification ST KN S C1B 3500 JAE 2 Drive connection U V W FG a U V W pin connection F1512 b FG pin connection 1 5x4 Ring Terminal 3 Cable specifications 4Cx0 75SQ or 4Cx18AWG For power Brake cable for flat type motor small capacity XLCS B QS Front XLCS ...

Page 246: ...eries 1 Motor side connector a PLUG MS3108B14 7S 2 Power side Connector a Connection terminals 1 5x3 KET GP110012 3 Cable a 2Cx0 75SQ or 2Cx19AWG NOTE 1 The in Type Name indicates the type and length of each cable Refer to the table below for how to display them Cable length m 3 5 10 20 Robotic cable F03 F05 F10 F20 General cable N03 N05 N10 N20 Brake Connection Drive Connection ...

Page 247: ...rection XLCS P LS R Rear Direction All models of XML FAL FBL FCL Series 1 Motor side connector a PLUG SM JN8FT04 Suntone사 b Socket SMS 201 Suntone사 2 Drive side connector U V W FG a U V W pin connection 1512 b FG pin 1 5x4 Ring Terminal 3 Cable 4Cx0 75SQ or 4Cx18AWG 4 Remark For FAL motor after connect power cable first connect Encoder cable Motor Side Connector Drive Side Connector ...

Page 248: ...1Cx50C AWG 28 For signali ng Communicatio n cable XLCS CM5L7U XDL L7 SERIES PC USB port Servo drive CN5 1 PC connection USB A plug 2 Drive connection CN5 Mini USB 5P plug 3 Electrical requirements Double shielding twisted pair EMI filter installation similar product KU AMB518 by SANWA NOTE 1 The in Type Name indicates the length of each cable Refer to the table below for how to display them Cable ...

Page 249: ... expansion of APD VS 2 APC VPCN1T CN1 T B expansion of APD VP 3 The cable length can be changed 4 Standard cable length 0 5 m CN CN1 Connector XLC CN1NNA XDL L7 SERIES 1 Case specifications 10350 52A0 008 3M 2 Connector specifications 10150 3000VE 3M CN CN2 Connector XLC CN3NNA XDL L7 SERIES 1 Case specifications 10314 52A0 008 3M 2 Connector specifications 10114 3000VE 3M 26 50 1 25 1 8 14 1 7 ...

Page 250: ...le Drive Specifications Resist ance Braking resistance XLCS 140R50 XDL L7 A001 XDL L7 A002 XDL L7 A004 Resist ance Braking resistance XLCS 300R30 XDL L7 A008 XDL L7 A010 Resist ance Braking resistance XLC 600R30 XDL L7 A020 2P XDL L7 A035 3P Resist ance Braking resistance XLC 600R28 XDL L7 A050 4P ...

Page 251: ...er is turned off because the charged voltage left in the internal smoothing condenser may cause an accident 1 Servo Motor Inspection Caution Be sure to start inspection approximately 10 minutes after power is turned off because the charged voltage left in the internal smoothing condenser may cause an accident Inspection Item Inspection Period Inspection and Handling Notes Vibration and sound check...

Page 252: ...o do so Inspect more frequently when it gets closer to its obsolescence Criteria for visual inspection a Case s condition Expanded sides and bottom of the case b Lid s condition Notable expansion severe cracks or broken parts c Explosion valve s condition Notable valve expansion and operation d Besides check regularly if there is any crack broken part discoloration or leak on the exterior A conden...

Page 253: ...ct our service center Motor rotation is unstable Connection is bad Check the connection of the motor lead terminal Fix bad connection Input voltage is low Check the input voltage of the drive Change power Overload occurs Check the condition of the machine Remove foreign substances in the rotating unit and provide lubricants or grease The motor overheats The ambient temperature is high Check the te...

Page 254: ...D drive ID and encoder setting Check for equipment clash or confinement Continuous overload Continuous overload Check for equipment clash or confinement Check load and brake condition Check for incorrect drive output wiring and incorrect encoder wiring Check the motor ID drive ID and encoder setting Room temperature Drive overheat Check the temperature inside the drive St 19 Install a cooling fan ...

Page 255: ...ct point gain setting encoder setting and electric gear ratio Check for equipment confinement and load EMG Emergency stop Check the emergency stop contact signal external 24 V power and contact points Over pulse CMD Pulse command frequency error Check pulse command frequency from the upper level controller Check command pulse type Speed Deviation Excessive speed error Check for incorrect wiring in...

Page 256: ...LOAD Overload warning The maximum overload P0 13 has been reached SETUP Capacity setting The electric current capacity of the motor is bigger than that of the drive UD_VTG Low voltage warning When P0 06 DIGIT 2 is set to 1 the DC link voltage is 190 V or below EMG EMG contact point Check the I O wiring and P2 09 setting Warning code is displayed to hexadecimal If the over 2 warning codes occurs th...

Page 257: ...10 66 8 106 9 40 08 120 13944 0 22310 4 8366 4 220 50 1 80 2 30 06 130 6197 3 9915 7 3718 38 230 38 5 61 6 23 1 140 3486 0 5577 6 2091 6 240 30 3 48 5 18 18 150 1183 0 1892 8 709 8 250 24 2 38 7 14 52 160 566 0 905 6 339 6 260 4 2 6 7 2 52 170 318 0 508 8 190 8 270 3 8 6 1 2 28 180 198 0 316 8 118 8 280 3 4 5 4 2 04 190 131 0 209 6 78 6 290 3 0 4 8 1 8 200 92 0 147 2 55 2 300 2 7 4 3 1 62 Load Cur...

Page 258: ...06 120 9483 9 15174 2 5690 34 220 38 5 61 6 23 1 130 4215 1 6744 2 2529 06 230 30 3 48 5 18 18 140 2371 0 3793 6 1422 6 240 9 7 15 5 5 82 150 926 0 1481 6 555 6 250 8 3 13 3 4 98 160 470 0 752 0 282 260 3 8 6 1 2 28 170 273 0 436 8 163 8 270 3 4 5 4 2 04 180 173 0 276 8 103 8 280 3 1 5 0 1 86 190 117 0 187 2 70 2 290 2 7 4 3 1 62 200 66 0 105 6 39 6 300 2 5 4 0 1 5 Load Curve During Stop Load Fact...

Page 259: ...713 6 1017 6 210 5 2 8 3 3 12 120 424 0 678 4 254 4 220 4 4 7 0 2 64 130 188 4 301 5 113 064 230 3 8 6 1 2 28 140 106 0 169 6 63 6 240 3 3 5 3 1 98 150 70 4 112 6 42 24 250 2 9 4 6 1 74 160 26 8 42 9 16 08 260 2 6 4 2 1 56 170 20 6 33 0 12 36 270 2 3 3 7 1 38 180 16 2 25 9 9 72 280 2 0 3 2 1 2 190 13 0 20 8 7 8 290 1 8 2 9 1 08 200 10 5 16 8 6 3 300 1 6 2 6 0 96 Load Curve during Rotation 100 W or...

Page 260: ...2 2 34 120 343 2 549 1 205 92 220 3 4 5 4 2 04 130 152 5 244 0 91 518 230 3 0 4 8 1 8 140 85 8 137 3 51 48 240 2 6 4 2 1 56 150 58 6 93 8 35 16 250 2 3 3 7 1 38 160 16 2 25 9 9 72 260 2 0 3 2 1 2 170 13 0 20 8 7 8 270 1 8 2 9 1 08 180 10 5 16 8 6 3 280 1 6 2 6 0 96 190 8 7 13 9 5 22 290 1 5 2 4 0 9 200 7 2 11 5 4 32 300 1 3 2 1 0 78 Load Curve during Stop 100 W or Lower SA Type Load Factor Time se...

Page 261: ...119 0 190 4 71 4 120 26450 42320 0 15870 220 89 2 142 7 53 52 130 11755 18808 0 7053 230 49 3 78 9 29 58 140 6612 5 10580 0 3967 5 240 38 8 62 1 23 28 150 2244 0 3590 4 1346 4 250 31 0 49 6 18 6 160 1073 6 1717 8 644 16 260 7 0 11 2 4 2 170 603 2 965 1 361 92 270 6 4 10 2 3 84 180 413 6 661 8 248 16 280 5 7 9 1 3 42 190 273 6 437 8 164 16 290 5 0 8 0 3 200 201 0 321 6 120 6 300 4 6 7 4 2 76 Load C...

Page 262: ... 06 120 9483 9 15174 2 5690 34 220 38 5 61 6 23 1 130 4215 1 6744 2 2529 06 230 30 3 48 5 18 18 140 2371 0 3793 6 1422 6 240 9 7 15 5 5 82 150 926 0 1481 6 555 6 250 8 3 13 3 4 98 160 470 0 752 0 282 260 3 8 6 1 2 28 170 273 0 436 8 163 8 270 3 4 5 4 2 04 180 173 0 276 8 103 8 280 3 1 5 0 1 86 190 117 0 187 2 70 2 290 2 7 4 3 1 62 200 66 0 105 6 39 6 300 2 5 4 0 1 5 Load Curve during Stop Load Fac...

Page 263: ...9 2 210 66 8 106 9 40 08 120 1208 0 1932 8 724 8 220 50 1 80 2 30 06 130 536 9 859 0 322 1333 230 38 5 61 6 23 1 140 302 0 483 2 181 2 240 30 3 48 5 18 18 150 257 0 411 2 154 2 250 24 2 38 7 14 52 160 229 0 366 4 137 4 260 4 2 6 7 2 52 170 200 0 320 0 120 270 3 8 6 1 2 28 180 165 0 264 0 99 280 3 4 5 4 2 04 190 131 0 209 6 78 6 290 3 0 4 8 1 8 200 103 0 164 8 61 8 300 2 7 4 3 1 62 Load Curve Durin...

Page 264: ... 36 0 57 6 21 6 130 536 9 859 0 322 1333 230 30 3 48 5 18 18 140 302 0 483 2 181 2 240 9 7 15 5 5 82 150 154 0 246 4 92 4 250 8 3 13 3 4 98 160 110 0 176 0 66 260 3 8 6 1 2 28 170 90 0 144 0 54 270 3 4 5 4 2 04 180 75 0 120 0 45 280 3 1 5 0 1 86 190 61 0 97 6 36 6 290 2 7 4 3 1 62 200 52 0 83 2 31 2 300 2 5 4 0 1 5 Load AL 21 Occurring Time sec MAX MIN Load AL 21 Occurring Time sec MAX MIN Load Cu...

Page 265: ...2 210 66 8 106 9 40 08 120 1208 0 1932 8 724 8 220 50 1 80 2 30 06 130 536 9 859 0 322 1333 230 38 5 61 6 23 1 140 302 0 483 2 181 2 240 30 3 48 5 18 18 150 257 0 411 2 154 2 250 24 2 38 7 14 52 160 229 0 366 4 137 4 260 18 0 28 8 10 8 170 200 0 320 0 120 270 16 0 25 6 9 6 180 165 0 264 0 99 280 14 0 22 4 8 4 190 131 0 209 6 78 6 290 8 0 12 8 4 8 200 103 0 164 8 61 8 300 5 0 8 0 3 0 Load Curve Dur...

Page 266: ...70 4 26 4 120 1208 0 1932 8 724 8 220 36 0 57 6 21 6 130 536 9 858 8 322 08 230 30 3 48 5 18 18 140 302 0 483 2 181 2 240 9 7 15 5 5 82 150 154 0 246 4 92 4 250 8 3 13 3 4 98 160 100 0 160 0 60 0 260 3 8 6 1 2 28 170 85 0 136 0 51 0 270 3 4 5 4 2 04 180 70 0 112 0 42 0 280 3 1 5 0 1 86 190 61 0 97 6 36 6 290 2 7 4 3 1 62 200 52 0 83 2 31 2 300 2 5 4 0 1 5 Load Curve During Stop Time sec Load Facto...

Page 267: ...7 5500 SF75D 88 7500 SC04A 21 400 SF12M 89 1200 SC06A 22 600 SF20M 90 2000 SC08A 23 800 LF30M 192 3000 SC10A 24 1000 SF44M 92 4400 SC03D 25 300 SF20G 93 1800 SC05D 26 450 LF30G 191 2900 SC06D 27 550 SF44G 95 4400 SC07D 28 650 SF60G 96 6000 SE09A 61 900 SG22D 111 2200 SE15A 62 1500 LG35D 193 3500 SE22A 63 2200 SG55D 113 5500 SE30A 64 3000 SG75D 114 7500 SE06D 65 600 SG110D 115 11000 SE11D 66 1100 S...

Page 268: ...M 792 4000 FC08A 723 800 FF20G 793 1800 FC10A 724 1000 FF30G 794 2900 FF44G 795 4400 FC03D 725 300 FF60G 796 6000 FC05D 726 500 FF75G 804 7500 FC06D 727 600 FC07D 728 700 FG22D 811 2200 FG35D 812 3500 FE09A 761 900 FG55D 813 5500 FE15A 762 1500 FG75D 814 7500 FE22A 763 2200 FG12M 821 1200 FE30A 764 3000 FG20M 822 2000 FE06D 765 600 FG30M 823 3000 FE11D 766 1100 FG44M 824 4400 FE16D 767 1600 FG20G ...

Page 269: ...03 188 FAL15A 704 150 DC06D 611 126 DC12D 612 251 FBL01A 714 100 DC18D 613 377 FBL02A 715 200 DD12D 621 251 FBL04A 716 400 DD22D 622 461 DD34D 623 712 FCL04A 729 400 DE40D 632 838 FCL06A 730 600 DE60D 633 1257 FCL08A 731 750 DFA1G 641 1728 FCL10A 732 1000 DFA6G 642 2513 FCL03D 733 300 FCL05D 734 450 FCL06D 735 550 FCL07D 736 650 ...

Page 270: ... Main check point Product capacity and main options 2 Power connection Wire single phase AC 220 V to control power input C1 and C2 and three phase AC 220 V to main power input L1 L2 and L3 Refer to Chapter 3 2 The product runs even if you input single phase AC 220 V as the main power However such wiring reduces torque and the lifespan of the product Be sure to input three phase AC 220 V 3 Signal c...

Page 271: ...side of the motor Check whether the external control signal input is normal For information on how to handle the keys of the servo drive loader refer to 4 1 Loader Handling 6 Motor encoder type setting Set ecoder type in the P0 01 refer to 4 4 1 System Parameter Setting 7 Main power supply Supply three phase AC 220 V to L1 L2 and L3 Be sure to check external input voltage before turning on the ser...

Page 272: ...Operation mode setting Set operation mode in P0 03 0 Torque control operation 1 Speed control operation 2 Position control operation 3 Speed position control operation 4 Speed torque control operation Speed operation setting Position operation setting 10 Perform speed operation with the upper level controller by adjusting the following parameter data a Speed operation setting parameter P3 01 P3 20...

Page 273: ...rts vibrating For more stable control increase speed proportional gain P1 06 a little at a time until the motor vibrates slightly If you increase speed integral time constant P1 08 the motor stops vibrating Increase speed integral time constant P1 08 in the last stage and the motor will stop vibrating However it takes as much time to reach normal state as the time constant set in responsiveness If...

Page 274: ...ion 1 7 9 2012 11 15 Added Multi turn encoder and modify parameter 1 8 10 2013 02 13 Add 5kW Drive Info 1 9 11 2013 04 05 Add motor specific chart and option 2 0 12 2013 08 09 Add new motor ID and cable 2 1 13 2013 11 08 Added an alarm code and modified the motor cable 2 2 14 2014 03 12 Added function alarm code and modified motor details 2 3 15 2014 06 27 Example of connecting to PLC Added and mo...

Page 275: ...l 86 20 8328 6754 Fax 86 20 8326 6287 e mail chenxs lsis com cn LSIS Chengdu Office _ Chengdu China Address 12FL Guodong Buiding No 52 Jindun Road Chengdu 610041 P R China Tel 86 28 8612 9151 9226 Fax 86 28 8612 9236 e mail comysb lsis com LSIS Qingdao Office _ Qingdao China Address YinHe Bldg 402 Room No 2P Shandong Road Qingdao City Shandong province 266071 P R China Tel 86 532 8501 6068 Fax 86 ...

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