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SMC Networks LECSN-T Series User Manual
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PRODUCT
NAME
AC Servo Mot
or Driver
(Network card
type
）
MODEL/ Serie
s
LECSN-T
□
Series
Doc
no.
LEC*-O
MY0102
2
Table of Contents
1. FUNCTIONS AND CONFIGURATION
23
1.1 Summary
23
1.2 Function block diagram
24
1.3 Driver standard specifications
28
1.4 Combinations of driver and servo motors
31
1.5 Function list
32
1.6 Model designation
35
1.7 Structure
38
1.7.1 Parts identification
38
1.8 Installation and removal of network card
40
1.9 Configuration including peripheral equipment
43
2. INSTALLATION
46
2.1 Installation direction and clearances
47
2.2 Keep out foreign materials
49
2.3 Encoder cable stress
49
2.4 Inspection items
49
2.5 Parts having service lives
50
2.6 Restrictions when using this product at altitude exceeding 1000 m and up to 2000 m above sea level
51
3. SIGNALS AND WIRING
53
3.1 Input power supply circuit
54
3.2 I/O signal connection example
58
3.2.1 For sink I/O interface
58
3.2.2 For source I/O interface
59
3.3 Explanation of power supply system
60
3.3.1 Signal explanations
60
3.3.2 Power-on sequence
61
3.3.3 Wiring CNP1, CNP2, and CNP3
62
3.4 Connectors and pin assignment
64
3.5 Signal (device) explanations
66
3.5.1 Input device
66
3.5.2 Output device
68
3.5.3 Output signal
70
3.5.4 Power supply
70
3.6 Forced stop deceleration function
71
3.6.1 Forced stop deceleration function
71
3.6.2 Base circuit shut-off delay time function
73
3.6.3 Vertical axis freefall prevention function
74
3.6.4 Residual risks of the forced stop function (EM2)
74
3.7 Alarm occurrence timing chart
75
3.7.1 When you use the forced stop deceleration function
75
3.7.2 When you do not use the forced stop deceleration function
76
3.8 Interfaces
77
3.8.1 Internal connection diagram
77
3.8.2 Detailed explanation of interfaces
78
3.8.3 Source I/O interfaces
80
3.9 Servo motor with a lock
81
3.9.1 Safety precautions
81
3.9.2 Timing chart
82
3.9.3 Wiring diagrams (LE-□-□ series servo motor)
88
3.10 Grounding
89
4. STARTUP
91
4.1 Switching power on for the first time
92
4.1.1 Startup procedure
92
4.1.2 Wiring check
93
4.1.3 Surrounding environment
94
4.2 Startup
94
4.3 Switch setting and display of the driver
96
4.3.1 Switches
96
4.3.2 Scrolling display
97
4.3.3 Status display of an axis
99
4.4 Test operation
101
4.5 Test operation mode
101
4.5.1 Test operation mode in Setup software (MR Configurator2TM)
102
4.5.2 Motor-less operation in upper side
106
5. PARAMETERS
108
5.1 Parameter list
108
5.1.1 Basic setting parameters ([Pr. PA_ _ ])
109
5.1.2 Gain/filter setting parameters ([Pr. PB_ _ ])
110
5.1.3 Extension setting parameters ([Pr. PC_ _ ])
112
5.1.4 I/O setting parameters ([Pr. PD_ _ ])
114
5.1.5 I/O Extension setting 2 parameters ([Pr. PE_ _ ])
115
5.1.6 Extension setting 3 parameters ([Pr. PF_ _ ])
117
5.1.7 Positioning control parameters ([Pr. PT_ _ ])
119
5.1.8 Network setting parameters ([Pr. PN_ _ ])
122
5.2 Detailed list of parameters
123
5.2.1 Basic setting parameters ([Pr. PA_ _ ])
123
5.2.2 Gain/filter setting parameters ([Pr. PB_ _ ])
137
5.2.3 Extension setting parameters ([Pr. PC_ _ ])
150
5.2.4 I/O setting parameters ([Pr. PD_ _ ])
170
5.2.5 Extension setting 2 parameters ([Pr. PE_ _ ])
174
5.2.6 Extension setting 3 parameters ([Pr. PF_ _ ])
178
5.2.7 Positioning control parameters ([Pr. PT_ _ ])
180
5.2.8 Network setting parameters ([Pr. PN_ _ ])
205
5.3 Software limit
205
5.4 How to set the electronic gear
206
5.4.1 Electronic gear setting in the cyclic synchronous mode, profile mode and point table method
206
5.4.2 Electronic gear setting in the indexer method
208
6. NORMAL GAIN ADJUSTMENT
210
6.1 Different adjustment methods
210
6.1.1 Adjustment on a single driver
210
6.1.2 Adjustment using setup software (MR Configurator2TM)
211
6.2 One-touch tuning
212
6.2.1 One-touch tuning flowchart
213
6.2.2 Display transition and operation procedure of one-touch tuning
214
6.2.3 Caution for one-touch tuning
219
6.3 Auto tuning
220
6.3.1 Auto tuning mode
220
6.3.2 Auto tuning mode basis
221
6.3.3 Adjustment procedure by auto tuning
222
6.3.4 Response level setting in auto tuning mode
223
6.4 Manual mode
224
6.5 2gain adjustment mode
228
7. SPECIAL ADJUSTMENT FUNCTIONS
231
7.1 Filter setting
231
7.1.1 Machine resonance suppression filter
231
7.1.2 Adaptive filter II
234
7.1.3 Shaft resonance suppression filter
236
7.1.4 Low-pass filter
237
7.1.5 Advanced vibration suppression control II
237
7.1.6 Command notch filter
242
7.2 Gain switching function
243
7.2.1 Applications
243
7.2.2 Function block diagram
244
7.2.3 Parameter
245
7.2.4 Gain switching procedure
248
7.3 Tough drive function
252
7.3.1 Vibration tough drive function
252
7.3.2 Instantaneous power failure tough drive function
254
7.4 Compliance with SEMI-F47 standard
258
7.5 Model adaptive control disabled
260
7.6 Lost motion compensation function
261
7.7 Super trace control
264
8. TROUBLESHOOTING
267
8.1 Explanations of the lists
267
8.2 Alarm list
268
8.3 Warning list
276
8.4 Remedies for alarms
279
8.5 Remedies for warnings
319
8.6 Troubleshooting at power on
330
8.7 Trouble which does not trigger an alarm/warning
331
9. OUTLINE DRAWINGS
333
9.1 Driver
333
9.2 Connector
336
10. CHARACTERISTICS
338
10.1 Overload protection characteristics
338
10.2 Power supply capacity and generated loss
339
10.3 Dynamic lock characteristics
341
10.3.1 Dynamic lock operation
341
10.3.2 Permissible load to motor inertia when the dynamic lock is used
342
10.4 Cable bending life
343
10.5 Inrush currents at power-on of main circuit and control circuit
344
11. OPTIONS AND PERIPHERAL EQUIPMENT
346
11.1 Cable/connector sets
346
11.1.1 Combinations of cable/connector sets
347
11.1.2 STO cable
350
11.1.3 Encoder cable/connector sets
351
11.1.4 Motor cables
353
11.1.5 Lock cables
354
11.2 Regenerative options
355
11.2.1 Combination and regenerative power
355
11.2.2 Parameter setting
355
11.2.3 Selection of regenerative option
356
11.2.4 Dimensions
357
11.3 Setup software (MR Configurator2TM)
358
11.3.1 Specifications
358
11.3.2 System configuration
359
11.3.3 Precautions for using USB communication function
360
11.4 Battery (LEC-MR-BAT6V1SET-A)
361
11.5 Selection example of wires
362
11.6 Molded-case circuit breakers, fuses, magnetic contactors (recommended)
364
11.7 Relay (recommended)
364
11.8 Noise reduction techniques
365
11.9 Earth-leakage current breaker
373
11.10 EMC filter (recommended)
375
12. ABSOLUTE POSITION DETECTION SYSTEM
380
12.1 Summary
380
12.1.1 Features
380
12.1.2 Structure
380
12.1.3 Parameter setting
380
12.1.4 Confirmation of absolute position detection data
381
12.2 Battery
382
12.3 Battery replacement procedure
383
13. USING STO FUNCTION
386
13.1 Introduction
386
13.1.1 Summary
386
13.1.2 Terms related to safety
386
13.1.3 Cautions
386
13.1.4 Residual risks of the STO function
387
13.1.5 Specifications
388
13.1.6 Maintenance
389
13.2 STO I/O signal connector (CN8) and signal layouts
389
13.2.1 Signal layouts
389
13.2.2 Signal (device) explanations
390
13.2.3 How to pull out the STO cable
390
13.3 Connection example
391
13.3.1 Connection example for CN8 connector
391
13.3.2 External I/O signal connection example using an MR-J3-D05 safety logic unit of Mitsubishi Electric Corporation
392
13.3.3 External I/O signal connection example using an external safety relay unit
394
13.4 Detailed description of interfaces
395
13.4.1 Sink I/O interface
395
13.4.2 Source I/O interface
397
14. APPLICATION OF FUNCTIONS
399
14.1 Infinite feed function (setting degree)
399
15. SERVO MOTOR
401
15.1 Servo motor with a lock
401
15.1.1 Features
401
15.1.2 Characteristics of servo motor with a lock
403
15.2 Protection from oil and water
404
15.3 Cable
404
15.4 Rated speed of servo motor
404
15.5 Mounting connectors
405
16. HOW TO USE THE POINT TABLE
407
16.1 Specification list
408
16.2 Switching power on for the first time
409
16.3 Switching power on for the first time Point table mode (pt)
411
16.3.1 Point table mode (pt)
411
16.3.2 Automatic operation using point table
411
16.4 Jog mode (jg)
429
16.5 Point table setting method
431
16.5.1 Point table setting method with Setup software (MR Configurator2TM)
431
16.5.2 Point table setting method with objects
434
17 HOW TO USE INDEXER
437
17.1 Specification list
438
17.2 Switching power on for the first time
439
17.3 Indexer mode (idx)
441
17.3.1 Indexer mode (idx)
441
17.3.2 Rotation direction specifying indexer
442
17.3.3 Shortest rotating indexer operation
446
17.4 Jog mode (jg)
449
17.4.1 Station JOG operation
449
17.4.2 JOG operation
451
18 EtherCAT COMMUNICATION
455
18.1 EtherCAT COMMUNICATION
455
18.1.1 Summary
455
18.1.2 Function list
458
18.1.3 Communication specifications
461
18.1.4 Communication specifications
462
18.1.4.1 Communication status
462
18.1.4.2 EtherCAT state
463
18.1.4.3 Startup
464
18.1.4.4 Network disconnection procedure
465
18.1.5 Summary of object dictionary (OD)
466
18.1.5.1 Section definition of object dictionary
466
18.1.5.2 Saving object dictionary data to EEP-ROM
466
18.2 EtherCAT NETWORK CARD (LEC-S-NE)
467
18.2.1 Specifications
467
18.2.2 Parts identification
468
18.2.3 LED indication
468
18.2.3.1 LED indication definition
468
18.2.3.2 LED indication list
469
18.2.4 Connecting Ethernet cable
470
18.3 PDO (PROCESS DATA OBJECT) COMMUNICATION
471
18.3.1 PDO communication cycle
471
18.3.2 PDO setting-related object
471
18.3.3 PDO default mapping
472
18.3.4 PDO variable mapping
474
18.3.5 Mapping-necessary objects
475
18.4 SDO (SERVICE DATA OBJECT) COMMUNICATION
477
18.4.1 SDO communication-related service
477
18.4.2 SDO Abort Code
478
18.5 CiA 402 DRIVE PROFILE
478
18.5.1 FSA state
478
18.5.2 Controlword/Control DI
481
18.5.2.1 Bit definition of Controlword
481
18.5.2.2 Bit definition of Control DI
482
18.5.3 Statusword/Status DO
484
18.5.3.1 Bit definition of Statusword
484
18.5.3.2 Bit definition of Status DO
485
18.5.4 Control mode
489
18.5.4.1 Selecting control mode (Modes of operation)
489
18.5.4.2 Control switching
489
18.5.4.3 Cyclic synchronous position mode (csp)
490
18.5.4.4 Cyclic synchronous velocity mode (csv)
493
18.5.4.5 Cyclic synchronous torque mode (cst)
495
18.5.4.6 Profile position mode (pp)
497
18.5.4.7 Profile velocity mode (pv)
501
18.5.4.8 Profile torque mode (tq)
505
18.5.4.9 Homing mode (hm)
508
18.5.4.10 Point table mode (pt)
536
18.5.4.11 Jog mode (jg)
541
18.5.4.12 Indexer mode (idx)
548
18.5.5 Touch probe
555
18.5.6 Quick stop
559
18.5.7 Halt
560
18.5.8 Software position limit
561
18.5.9 Torque limit
561
18.5.10 Polarity
562
18.5.11 Degree function
564
18.5.12 Torque offset
566
18.6 MANUFACTURER FUNCTIONS
567
18.6.1 Object for status monitor
567
18.6.2 Incremental counter
569
18.6.3 Stroke end
569
18.6.4 Definition of alarm-related objects
570
18.6.5 Parameter object
571
18.6.5.1 Definition of parameter objects
571
18.6.5.2 Enabling parameters
572
18.6.7 One-touch tuning
573
18.6.8 Machine diagnosis function
575
18.6.9 Driver life diagnosis function
576
18.7 OBJECT DICTIONARY
577
18.7.1 Store Parameters
577
18.7.2 Supported object dictionary list
578
18.7.3 Object dictionary
582
18.7.3.1 General Objects
582
18.7.3.2 PDO Mapping Objects
588
18.7.3.3 Sync Manager Communication Objects
592
18.7.3.4 Parameter Objects
597
18.7.3.5 Alarm Objects
600
18.7.3.6 Monitor Objects
603
18.7.3.7 Manufacturer Specific Control Objects
616
18.7.3.8 PDS Control Objects
627
18.7.3.9 Position Control Function Objects
631
18.7.3.10 Profile Velocity Mode Objects
634
18.7.3.11 Profile Torque Mode Objects
636
18.7.3.12 Profile Position Mode Objects
638
18.7.3.13 Homing Mode Objects
642
18.7.3.14 Factor Group Objects
648
18.7.3.15 Touch Probe Function Objects
651
18.7.3.16 Optional application FE Objects
652
18.7.3.17 Point Table Mode Objects
655
18.7.3.18 Cyclic synchronous position mode Objects
658
19 EtherNet/IP COMMUNICATION
661
19.1 EtherNet/IP COMMUNICATION
661
19.1.1 Summary
661
19.1.2 Function list
662
19.1.3 Communication specifications
664
19.1.4 Establishing and disconnecting the communication
665
19.1.4.1 Communication status
665
19.1.4.2 Startup
666
19.1.4.3 Network disconnection procedure
667
19.1.5 Summary of object library
667
19.1.5.1 Section definition of Drive Configuration Object (64h)
667
19.2 EtherNet/IP NETWORK CARD (LEC-S-N9)
668
19.2.1 Specifications
668
19.2.2 Parts identification
668
19.2.3 LED indication
669
19.2.3.1 LED indication definition
669
19.2.3.2 LED indication list
669
19.2.4 Connecting Ethernet cables
670
19.3 I/O COMMUNICATION
671
19.3.1 I/O communication cycle
671
19.3.2 I/O communication mapping
673
19.4 Explicit Message COMMUNICATION
675
19.4.1 Explicit Message communication-related service
675
19.4.2 Common service
676
19.4.2.1 Set_Attribute_Single
676
19.4.2.2 Get_Attribute_Single
676
19.4.2.3 Get_Attributes_All
676
19.4.2.4 Reset
677
19.5 DRIVE PROFILE
677
19.5.1 FSA state
677
19.5.2 Controlword/Control DI
680
19.5.2.1 Bit definition of Controlword
680
19.5.2.2 Bit definition of Control DI
681
19.5.3 Statusword/Status DO
684
19.5.3.1 Bit definition of Statusword
684
19.5.3.2 Bit definition of Status DO
685
19.5.4 Control mode
691
19.5.4.1 Selecting control mode (Modes of operation)
691
19.5.4.2 Control switching
691
19.5.4.3 Profile position mode (pp)
692
19.5.4.4 Profile velocity mode (pv)
696
19.5.4.5 Profile torque mode (tq)
700
19.5.4.6 Homing mode (hm)
703
19.5.5 Touch probe
730
19.5.6 Quick stop
734
19.5.7 Halt
735
19.5.8 Software position limit
736
19.5.9 Torque limit
736
19.5.10 Polarity
737
19.5.11 Degree function
739
19.6 MANUFACTURER FUNCTIONS
741
19.6.1 Object for status monitor
741
19.6.2 Instruction code
743
19.6.2.1 Summary
743
19.6.2.2 Reading instruction codes
743
19.6.2.3 Writing instruction code
744
19.6.2.4 Variable mapping
746
19.6.2.5 Respond code
747
19.6.3 Stroke end
748
19.6.4 Definition of alarm-related objects
749
19.6.5 Parameter object
750
19.6.5.1 Definition of parameter objects
750
19.6.5.2 Enabling parameters
751
19.6.6 One-touch tuning
752
19.6.7 Machine diagnosis function
754
19.6.8 Driver life diagnosis function
755
19.6.9 Positioning function by operation start-up signal
755
19.6.9.1 Summary
755
19.6.9.2 Specification list
755
19.6.9.3 Settings
755
19.6.9.4 Status obtainable in the network communication
756
19.6.9.5 Operation method
757
19.7 OBJECT LIBRARY
760
19.7.1 Store Parameters
760
19.7.2 Supported object library list
761
19.7.3 Object library
765
19.7.3.1 General Objects
766
19.7.3.2 Communication Setting Objects
770
19.7.3.3 Assembly Objects
781
19.7.3.4 Parameter Objects (Class ID: 64h)
783
19.7.3.5 Alarm Objects (Class ID: 64h)
786
19.7.3.6 Monitor Objects (Class ID: 64h)
790
19.7.3.7 Manufacturer Specific Control Objects (Class ID: 64h)
801
19.7.3.8 PDS Control Objects (Class ID: 64h)
813
19.7.3.9 Position Control Function Objects (Class ID: 64h)
817
19.7.3.10 Profile Velocity Mode Objects (Class ID: 64h)
820
19.7.3.11 Profile Torque Mode Objects (Class ID: 64h)
822
19.7.3.12 Profile Position Mode Objects (Class ID: 64h)
824
19.7.3.13 Homing Mode Objects (Class ID: 64h)
829
19.7.3.14 Factor Group Objects
833
19.7.3.15 Touch Probe Function Objects (Class ID: 64h)
836
19.7.3.16 Optional application FE Objects (Class ID: 64h)
838
20 PROFINET COMMUNICATION
843
20.1 PROFINET COMMUNICATION
843
20.1.1 Description
843
20.1.2 Communication specifications
845
20.1.3 Startup
846
20.1.4 Network disconnection procedure
847
20.1.5 Object dictionary (OD)
847
20.1.5.1 Section definition of object dictionary
847
20.2 PROFINET NETWORK CARD (LEC-S-NP)
848
20.2.1 Specifications
848
20.2.2 Parts identification
848
20.2.3 LED display
849
20.2.3.1 Network Status LED
849
20.2.3.2 Card Status LED
849
20.2.3.3 Link/Activity LED
849
20.2.4 Ethernet cable connection
850
20.3 PROCESS DATA (CYCLIC DATA EXCHANGE)
851
20.4 ACYCLIC DATA EXCHANGE
855
20.4.1 Acyclic data exchange communication format
855
20.4.2 Error number
856
20.4.3 PROFIdrive parameters (PROFIdrive-specific)
856
20.4.3.1 Telegram Selection (P922)
857
20.4.3.2 Operating mode (P930)
857
20.4.3.3 Fault message counter (P944)
857
20.4.3.4 Fault number (P947)
858
20.4.3.5 Drive Unit identification (P964)
858
20.4.3.6 Profile identification number (P965)
858
20.4.3.7 DO identification (P975)
859
20.4.3.8 Parameter Database Handling and Identification (P980)
859
20.4.4 Identification & Maintenance (I&M)
860
20.4.5 Reset To Factory
861
20.5 STATE TRANSITION
862
20.5.1 Basic State Machine
862
20.5.2 FSA state
865
20.5.3 Controlword/Statusword
867
20.5.3.1 Controlword
867
20.5.3.2 Statusword
870
20.6 CONTROL MODE
876
20.6.1 Selection of control mode
876
20.6.2 Control switching
877
20.6.3 Profile position mode (pp)
877
20.6.4 Profile velocity mode (pv)
882
20.6.5 Profile torque mode (tq)
888
20.6.6 Homing mode (hm)
891
20.6.7 Point table mode (pt)
919
20.6.8 Indexer mode (idx)
924
20.6.9 Jog mode (jg)
931
20.7 WEB SERVER
937
20.8 MANUFACTURER FUNCTIONS
938
20.8.1 PROFIdrive parameters for status monitor
938
20.8.2 Stroke end
940
20.8.3 Software limit
941
20.8.4 Torque limit
942
20.8.5 Polarity
943
20.8.6 Touch probe
944
20.8.7 One-touch tuning
949
20.8.8 Driver life diagnosis function
950
20.8.9 Machine diagnosis
951
20.8.10 Quick stop
952
20.8.11 Halt
953
20.8.12 Ramp Stop
953
20.8.13 PROFIdrive parameter definitions related to alarms
954
20.8.14 Parameter
955
20.8.14.1 Parameter enabling
956
20.8.15 Degree function
957
20.9 OBJECT DICTIONARY
959
20.9.1 Store parameters
959
20.9.2 PROFIdrive parameter (Manufacturer-specific) list
960
20.9.3 PROFIdrive parameter (Manufacturer-specific)
964
20.9.3.1 General Objects
964
20.9.3.2 Servo Parameter Objects
965
20.9.3.3 Alarm Objects
968
20.9.3.4 Monitor Objects
970
20.9.3.5 Manufacturer Specific Control Objects
983
20.9.3.6 PDS Control Objects
991
20.9.3.7 Position Control Function Objects
994
20.9.3.8 Profile Velocity Mode Objects
996
20.9.3.9 Profile Torque Mode Objects
998
20.9.3.10 Profile Position Mode Objects
1000
20.9.3.11 Homing Mode Objects
1004
20.9.3.12 Point Table Mode Objects
1008
20.9.3.13 Factor Group Objects
1011
20.9.3.14 Optional application FE Objects
1013
20.9.3.15 Touch Probe Function Objects
1015
App. 1 Peripheral equipment manufacturer (for reference)
1018
App. 2 Handling of AC driver batteries for the United Nations Recommendations on the Transport of Dangerous Goods
1018
App. 3 Symbol for the new EU Battery Directive
1020
App. 4 Compliance with global standards
1021
App. 4.1 Terms related to safety (IEC 61800-5-2 Stop function)
1021
App. 4.2 About safety
1021
App. 4.2.1 Professional engineer
1021
App. 4.2.2 Applications of the devices
1021
App. 4.2.3 Correct use
1021
App. 4.2.4 General cautions for safety protection and protective measures
1024
App. 4.2.5 Residual risk
1024
App. 4.2.6 Disposal
1024
App. 4.2.7 Lithium battery transportation
1025
App. 4.3 Mounting/dismounting
1025
App. 4.4 Electrical Installation and configuration diagram
1026
App. 4.5 Signal
1027
App. 4.5.1 Signal
1027
App. 4.5.2 I/O device
1027
App. 4.6 Maintenance and service
1028
App. 4.6.1 Inspection items
1028
App. 4.6.2 Parts having service lives
1029
App. 4.7 Transportation and storage
1030
App. 4.8 Technical data
1031
App. 4.8.1 LECSN2-T□ driver
1031
App. 4.8.2 Driver dimensions
1031
App. 4.8.3 Mounting hole
1031
App. 4.9 Check list for user documentation
1032
App. 5 MR-J3-D05 Safety logic unit of Mitsubishi Electric Corporation
1032
App. 5.1 Terms related to safety
1032
App. 5.1.1 Stop function for IEC/EN 61800-5-2
1032
App. 5.1.2 Emergency operation for IEC/EN 60204-1
1032
App. 5.2 Cautions
1033
App. 5.3 Residual risk
1033
App. 7 Analog monitor
1034
App. 8 Encoder output pulse setting method
1037
App .9 Recommended parameter values for each actuator
1038
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SMC Networks LECSN-T Series Specifications
General
Brand
SMC Networks
Model
LECSN-T Series
Category
Controller
Language
English
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