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AC SERVO DRIVE
Xmotion L7C Series

Safety Precautions

 Read all safety precautions before using this

product.
 After reading this manual, store it in a readily
accessible location for future reference.
 Introduction

Introduction
Greetings! Thank you for choosing L7C Series product.

The user manual describes how to correctly use this product and matters for which to
exercise caution.

Failure to comply with the guidelines outlined in this manual may cause personal injury or
damage to the product. Be sure to read this manual carefully before using this product and
follow all guidelines contained therein.

 The contents of this manual are subject to change according to software versions without
notice.

 Reproduction of part or all of the contents of this manual in any form, by any means or for any
purpose is strictly prohibited without the explicit written consent of our company.

 Our company retains all patents, trademarks, copyrights and other intellectual property rights to
the materials in this manual. Therefore, the information contained in this manual is only
intended for use with our company products, and using it for any other purposes is prohibited.

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 Introduction

Safety precautions are categorized as either Warning or Caution, depending on the

severity of the consequences.

Precautions Descriptions

Danger Failure to comply with the guidelines may cause serious injury or death.

Failure to comply with the guidelines may cause personal injury or property
Caution damage.

 Depending on the situation, ignoring a caution may also result in serious injury. So, be mindful of
this.

 Electric Safety Precautions

Warning
 Before wiring or inspection, turn off the power, wait 15 minutes, make sure that the
charge lamp has gone off, and check the voltage.
 Ground both the servo drive and the servo motor faultlessly.
 Only qualified and trained technicians may perform wiring on this product.
 Install both the servo drive and the servo motor before performing any wiring.
 Do not operate the device with wet hands.
 Do not open the servo drive cover during operation.
 Do not operate the device with the servo drive cover removed.
 Even if the power is off, do not remove the servo drive cover.

 Fire Safety Precautions

Caution
 Install the servo drive, the servo motor, and the regenerative resistance on non-
combustible materials.
 Disconnect the input power if the servo drive malfunctions.

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 Introduction

 Installation Precautions

Store and operate this product under the following environmental conditions.

Conditions
Environment
Servo Drive Servo Motor
Operating
0 ~ 50 ℃ 0 ~ 40 ℃
temp.

Storage temp. -20 ~ 65 ℃ -10 ~ 60 ℃

Operating
humidity
90% RH or lower (no condensation) 20 ~ 80% RH (no condensation)
Storage
humidity
Altitude 1000m or lower
 When installing 1 unit:
 40mm or more from the top or bottom
of the control panel
 10mm or more from the left or right
side of the control panel
 When installing 2 or more units:
 100mm or more from the top of the
Spacing control panel
 40mm or more from the bottom of the
control panel
 30mm or more from the left and right
sides of the control panel
 2mm or more between units
 Refer to Section 2.2.2, "Installation
with the Control Panel."
 Ensure the installation location is free from dust, iron, corrosive gas,
and combustible gas.
Others
 Ensure the installation location is free from abnormal vibrations or
potential for hard impacts.
Caution
 Make sure to install the product with the correct orientations.
 Do not drop the product or expose it to a hard impact.
 Install this product in a location that is free from water, corrosive gas, combustible
gas, or flammable materials.
 Install this product in a location capable of supporting the weight of this product.
 Do not stand or place heavy objects on top of the product.
 Always maintain the specified spacing when installing the servo drive.
 Ensure that there are no conductive or flammable debris inside the servo drive or the
servo motor.
 Firmly attach the servo motor to the machine.
 Make sure to install a gearbox-attached servo motor with the correct orientation.
 Do not accidentally touch the rotating unit of the servo motor during operation.
 Do not apply excessive force when connecting couplings to the servo motor shaft.
 Do not place loads on the servo motor shaft that exceed the permitted amount.

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 Introduction

 Wiring Precautions

Caution
 Make sure to use AC power for input power of the servo drive.
 Use a voltage source that is suitable for 200[V] (AC 200~230[V]).
 Always connect the servo drive to a ground terminal.
 Do not connect a commercial power supply directly to the servo motor.
 Do not connect commercial power supply directly to U, V and W output terminals of
the servo drive.
 Connect U, V and W output terminals of the servo drive directly to the U, V, W
power input terminals of the servo motor, but do not install magnetic contactors
between the wires.
 Always use pressurized terminals with insulation tubes when wiring the servo drive
power terminal.
 When wiring, be sure to separate U, V and W power cables for the servo motor and
the encoder cable.
 Always use the robot cable if the motor is of a moving structure.
 Before performing power wiring, turn off the input power of the servo drive and wait
until the charge lamp goes off completely.

 Startup Precautions

Caution
 Check the input voltage and power unit wiring before supplying power to the device.
 The servo must be in OFF mode when you turn on the power.
 For L7C□ □□□, check the motor's ID, encoder type, and encoder pulse before
turning on the power.
 For L7C□ □□□, first set the motor’s ID for [0x2000], encoder type for [0x2001], and
encoder pulse for [0x2002] after turning on the power.
 After completing the above settings, set the drive mode for the servo drive
connected to
the upper level controller in [0x3000].
 Perform I/O wiring for the servo drive referring to Section 2.5, “Wiring for
Input/Output Signals.”

 Handling and Operating Precautions

Caution
 Check and adjust each parameter before operation.
 Do not touch the rotating unit of the motor during operation.
 Do not touch the heat sink during operation.
 Be sure to attach or remove I/O, ENC connectors only when the power is off.
 Extreme changes of parameters may cause system instability.

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 Introduction

 Usage Precautions

Caution
 Install an emergency cut-off circuit which can immediately stop operation in an
emergency.
 Reset the alarm only when the servo is off. Be warned that the system restarts
immediately if the alarm is reset while the servo is on.
 Use a noise filter or DC reactor to minimize electromagnetic interference. This
prevents nearby electrical devices from malfunctioning due to interference.
 Only use approved servo drive and servo motor combinations.
 The electric brake on the servo motor is for maintaining paused operation. Do not
use it for ordinary braking.
 The electric brake may malfunction if the brake degrades or if the mechanical
structure is improper (for example, if the ball screw and servo motor are combined
via the timing belt). Install an emergency stop device to ensure mechanical safety.

 Malfunction Precautions

Caution
 Use a servo motor with an electric brake or install a separate brake system for use if
there is potential for a dangerous situation during emergencies or device
malfunctions.
 If an alarm occurs, eliminate the underlying cause of the problem and ensure safety
in operation. Then, deactivate the alarm and resume operation.
 Do not approach the machine until the problem is solved.

 Repair/Inspection Precautions

Caution
 Before performing repair or inspection, turn off the power, wait at least 15 minutes,
make sure that the charge lamp has gone off, and check the voltage. Enough
voltage may remain in the electrolytic condenser after the power is off to cause an
electric shock.
 Only authorized personnel may repair and inspect the device or replace its parts.
 Never modify this device in any way.

 General Precautions

Caution
 This user manual is subject to change due to product modification or changes in
standards. If such changes occur, we issue a new user manual with a new product
number.

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 Introduction

 Product Application

Caution
 This product is not designed or manufactured for machines or systems intended to
sustain human life.
 This product is manufactured under strict quality control conditions. Nevertheless,
install safety devices if installing the product in a facility where product malfunctions
may result in a major accident or a significant loss.

 EEPROM Lifespan

Caution
 EEPROM is rewritable up to 4 million times for the purpose of recording parameter
settings and other information. The servo drive may malfunction if the total number
of the following tasks exceeds 4 million, due to the lifespan of the EEPROM.
 EEPROM recording as a result of a parameter change
 EEPROM recording as a result of an alarm

vi
 Table of Contents

Table of Contents
1. Product Configuration ..................................... 1-1
1.1 Product Verification .................................................................................. 1-1

1.2 Product Specifications ............................................................................ 1-2

1.3 Component Names .................................................................................. 1-4

1.3.1 Servo Drive Component Names ..................................................................... 1-4
1.3.2 Servo Motor Part Names ................................................................................ 1-6

1.4 Example of System Configuration ..................................................... 1-7

2. Wiring and Connection................................... 2-1

2.1 Servo Motor Installation ......................................................................... 2-1
2.1.1 Operating Environment................................................................................... 2-1
2.1.2 Preventing Over-impact .................................................................................. 2-1
2.1.3 Motor Connection ........................................................................................... 2-2
2.1.4 Load Device Connection ................................................................................ 2-3
2.1.5 Cable Installation ............................................................................................ 2-3

2.2 Servo Drive Installation .......................................................................... 2-4

2.2.1 Installation and Usage Environment ............................................................... 2-4
2.2.2 Installation with the Control Panel .................................................................. 2-5

2.3 Internal Block Diagram of the Servo Drive ..................................... 2-6

2.3.1 Drive Block Diagram (100W ~ 1.0kW) ............................................................ 2-6

2.4 Power Supply Wiring ............................................................................... 2-7

2.4.1 Power Supply Wiring Diagram (100W ~ 1.0kW) ............................................. 2-8
2.4.2 Power Input Sequence ................................................................................... 2-9
2.4.3 Power Circuit Electrical Component Standards ............................................ 2-10

2.5 Wiring for Input/Output Signals ........................................................ 2-11

2.5.1 Names and Functions of Digital Input/Output Signals ................................... 2-12
2.5.2 Names and Functions of Analog Input/Output Signals .................................. 2-17
2.5.3 Names and Functions of Pulse Train Input Signals ...................................... 2-18
2.5.4 Names and Functions of Encoder Output Signals ........................................ 2-18
2.5.5 Examples of Input/Output Signal Connection ............................................... 2-19
2.5.6 Pulse Train Input Signal ................................................................................ 2-22
2.5.7 Input/Output Signals Configuration Diagram ................................................ 2-23

2.6 Encoder Signal Panel (Encoder Connector) Wiring ................. 2-24

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 Table of Contents

2.6.1 Encoder Signal Names by Type ................................................................... 2-24

2.6.2 Precautions when Making Encoder Cable .................................................... 2-26

2.7 Power Connector ................................................................................... 2-27

3. Operation Modes ............................................ 3-1

3.1 Control Method ..........................................................................................3-1

3.2 Indexing Position Operation .................................................................3-1

3.2.1 Coordinate Settings ........................................................................................ 3-5
3.2.2 Index Structure ............................................................................................... 3-7

3.3 Pulse Input Position Operation ............................................................3-8

3.4 Velocity Mode .......................................................................................... 3-12

3.5 Torque Operation ................................................................................... 3-16

4. Indexing Position Operation .......................... 4-1

4.1 Concept of Index .......................................................................................4-1

4.2 Index Type ...................................................................................................4-8

4.2.1 Absolute/Relative Move .................................................................................. 4-8
4.2.2 Registration Absolute/Relative Move .............................................................. 4-9
4.2.3 Blending Absolute/Relative Move ................................................................. 4-10
4.2.4 Rotary Absolute/Relative Move .....................................................................4-11
4.2.5 Rotary Shortest Move ................................................................................... 4-12
4.2.6 Rotary Positive/Negative Move .................................................................... 4-13

4.3 Function of Index Input Signal .......................................................... 4-15

4.4 Function of Index Output Signal....................................................... 4-19

4.5 Analog Velocity Override..................................................................... 4-22

4.6 Example of Indexing Operation Configuration Diagram ......... 4-24

5. Pulse Input Position Operation ..................... 5-1

5.1 Pulse Input Logic Function Setting ....................................................5-2

5.2 Pulse Input Logic Function Setting ....................................................5-2

5.3 Function Setting of PCLEAR ................................................................5-4

5.4 Function Setting of INHIBIT ..................................................................5-4

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 Table of Contents

5.5 Example of Pulse Drive Mode Configuration Diagram .............. 5-5

5.5.1 Example of Connection with PLC Devices ...................................................... 5-6

6. Velocity Mode .................................................. 6-1

6.1 Velocity Command Switch Select Function Setting .................... 6-1

6.2 Analog Velocity Command.................................................................... 6-2

6.3 Multi-Velocity Command ........................................................................ 6-4

6.4 Example of Velocity Mode Configuration Diagram ...................... 6-5

7. Torque Operation ............................................ 7-1

7.1 Analog Torque Command Scale ......................................................... 7-1

7.2 Velocity Setting for Torque Operation ............................................... 7-1

7.3 Example of Torque Mode Configuration Diagram ........................ 7-3

8. Operation Mode Switching............................. 8-1

9. Homing ............................................................ 9-1
9.1 Homing Method ......................................................................................... 9-2

10. Drive Application Functions ........................ 10-1

10.1 Drive Front Panel................................................................................... 10-1
10.1.1 7-Segment for Indicating the Servo Status ................................................... 10-2
10.1.2 Loader Control Method ................................................................................. 10-4
10.1.3 Control.......................................................................................................... 10-8

10.2 Input/Output Signals Setting ........................................................... 10-33

10.2.1 Assignment of Digital Input Signals ............................................................ 10-33
10.2.2 Digital Output Signal Assignment ............................................................... 10-37

10.3 Electric Gear Setup ............................................................................ 10-40

10.3.1 Indexing Position Operation Electric Gear .................................................. 10-40
10.3.2 Example of Indexing Position Operation Electric Gear Setting ................... 10-52
10.3.3 Calculation of Velocity and Acceleration/Deceleration for Use of Electric Gear10-53
10.3.4 Electric Gear for Pulse Input Position Operation ......................................... 10-55

10.4 Velocity Control Settings ................................................................... 10-56

10.4.1 Smooth Acceleration and Deceleration ....................................................... 10-56
10.4.2 Smooth Acceleration and Deceleration Through Step Analog Voltage Input 10-57
10.4.3 Servo-lock Function .................................................................................... 10-59
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 Table of Contents

10.4.4 Velocity Control Signals .............................................................................. 10-59

10.5 Position Control Settings...................................................................10-60

10.5.1 Position Command Filter ............................................................................ 10-60
10.5.2 Position Control Signals ............................................................................. 10-62

10.6 Positive/Negative Limit Setting .......................................................10-63

10.7 Brake Output Signal Function Setting .........................................10-64

10.8 Torque Limit Function .........................................................................10-66

10.9 Gain Conversion Function ................................................................10-69

10.9.1 Gain Group Conversion .............................................................................. 10-69
10.9.2 P/PI control switch ...................................................................................... 10-71

10.10 Dynamic Brake .....................................................................................10-73

10.11 Regenerative Brake Resister Setting ...........................................10-75

10.11.1 Use of External regenerative resistance ..................................................... 10-76
10.11.2 Regenerative Overload............................................................................... 10-77
10.11.3 Other Considerations ................................................................................. 10-78

10.12 Encoder Signal Output.......................................................................10-79

10.13 Absolute Encoder Data Transmission (ABS_RQ) ...................10-80

11. Tuning ............................................................ 11-1

11.1 Automatic Gain Adjustment (Off-Line Auto Tuning) .................. 11-1

11.2 Automatic Gain Adjustment (On-line Auto Tuning) ................... 11-2

11.3 Manual Gain Tuning.............................................................................. 11-6

11.3.1 Gain Tuning Sequence ..................................................................................11-6

11.4 Vibration Control..................................................................................... 11-9

11.4.1 Notch Filter ....................................................................................................11-9
11.4.2 Adaptive Filter .............................................................................................11-10
11.4.3 Vibration Suppression Filter ........................................................................ 11-11

12. Procedure Function ...................................... 12-1

12.1 Manual Jog Operation.......................................................................... 12-1

12.2 Program Jog Operation ....................................................................... 12-2

12.3 Deleting Alarm History ......................................................................... 12-3

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 Table of Contents

12.4 Automatic Gain Tuning ........................................................................ 12-4

12.5 Index Pulse Search .............................................................................. 12-4

12.6 Absolute Encoder Reset ..................................................................... 12-5

12.7 Instantaneous Maximum Torque Reset ........................................ 12-6

12.8 Phase Current Offset Tuning ............................................................ 12-6

12.9 Software Reset ....................................................................................... 12-7

12.10 Commutation ........................................................................................... 12-7

13. Object Dictionary .......................................... 13-1

13.1 Data Type ................................................................................................. 13-2

13.2 Basic Setting (0x2000~) ..................................................................... 13-3

13.3 Gain Adjustment (0x2100~) ............................................................. 13-21

13.4 I/O Configuration (0x2200~) ............................................................ 13-32

13.5 Velocity Control (0x2300~) .............................................................. 13-41

13.6 Miscellaneous Setting (0x2400~) .................................................. 13-48

13.7 Enhanced Control (0x2500~) .......................................................... 13-57

13.8 Monitoring (0x2600~) ......................................................................... 13-63

13.9 Procedure and Alarm history (0x2700~) ..................................... 13-72

13.10 Third Party Motor Support (0x2800~) .......................................... 13-76

13.11 Index Objects ........................................................................................ 13-80

14. Maintenance and Inspection ........................ 14-1

14.1 Diagnosing Abnormalities and Troubleshooting ........................ 14-1

14.2 Precautions .............................................................................................. 14-1

14.3 Inspection Points ................................................................................... 14-1

14.4 Parts Replacement Cycle ................................................................... 14-3

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 Table of Contents

14.5 Servo Alarms ........................................................................................... 14-4

14.6 Servo Warnings ....................................................................................14-11

14.7 How to Replace Encoder Battery ..................................................14-14

14.8 Servo Overload Graph .......................................................................14-15

14.9 Servo Motor Formats and IDs (continued on the next page)14-18

15. Communication Protocol ............................. 15-1

15.1 Overview and Communication Specifications ............................ 15-1
15.1.1 Overview ...................................................................................................... 15-1
15.1.2 Communication Specifications and Cable Access Rate ................................ 15-2

15.2 Basic Structure of Communication Protocol ................................ 15-3

15.2.1 Sending/Receiving Packet Structure ............................................................ 15-3
15.2.2 Protocol Command Codes ........................................................................... 15-6

15.3 Parameter Saving & Reset ..............................................................15-36

15.4 L7C Servo Drive Communication Address Table ....................15-38

15.4.1 Basic Setting Parameters ........................................................................... 15-38
15.4.2 Gain Adjustment Parameters ...................................................................... 15-40
15.4.3 I/O Configuration Parameters ..................................................................... 15-41
15.4.4 Velocity Control Parameters ....................................................................... 15-42
15.4.5 Miscellaneous Setting Parameters ............................................................. 15-43
15.4.6 Enhanced Control Parameters ................................................................... 15-44
15.4.7 Monitoring Parameters ............................................................................... 15-45
15.4.8 Procedures and Alarm History .................................................................... 15-46
15.4.9 3rd Party Motor Parameters ....................................................................... 15-47
15.4.10 Index Related Parameters .......................................................................... 15-47

16. Product Features .......................................... 16-1

16.1 Servo Motor.............................................................................................. 16-1
16.1.1 Product Features .......................................................................................... 16-1
16.1.2 External View ........................................................................................................ 16-6

16.2 Servo Drive............................................................................................... 16-9

16.2.1 Product Features .......................................................................................... 16-9
16.2.2 External View ..............................................................................................16-11

16.3 Options and Peripheral Devices ....................................................16-12

17. Test Drive ...................................................... 17-1

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 Table of Contents

17.1 Preparation for Operation................................................................... 17-2

17.1.1 Indexing Position Operation ......................................................................... 17-3
17.1.2 Pulse Input Position Operation ..................................................................... 17-6
17.1.3 Velocity Mode ............................................................................................... 17-9
17.1.4 Torque Operation ........................................................................................ 17-12

18. Appendix ....................................................... 18-1

18.1 Firmware Update ................................................................................... 18-1
18.1.1 Using Drive CM ............................................................................................ 18-1

18.2 Summary of Parameters ..................................................................... 18-6

vii
 1. Product Configuration

1. Product Configuration

1.1 Product Verification

1. Check the name plate to verify that the product received matches the model ordered.

 Does the servo drive's name plate match?

 Does the servo motor's name plate match?

2. Check the product components and options.

 Are the types and lengths of cables correct?

 Does the regenerative resistance conform to the required standard?

 Is the shape of the shaft correct?

 Are there any abnormalities after mounting the oil seal or the brake?

 Are the gearbox and the gear ratios correct?

 Is the encoder format correct?

3. Check the exterior of the product.

 Are there any foreign substances or humidity in the product?

 Is there any discoloration, contaminant, damage or disconnected wire?

 Are the bolts tightly fastened to the joints?

 Is there any abnormal sound or excessive friction during rotation?

1-1
 1. Product Configuration

1.2 Product Specifications

 L7C Series Product Type

L7 C A 004 U O
Series Name Series Name Input Voltage Capacity (200[V]) Encoder Option

001 : 100[W] Blank : Standard

L7 series C: Standard I/O A : 200[Vac] U : Universal
002 : 200[W] Marked : Exclusive

004: 400[W]

008: 800[W]

010: 1[kW]

1-2
 1. Product Configuration

 Servo Motor Product Type

APM C – F B L 01 A Y K 1

SERVO MOTOR Rated RPM Options

Motor Capacity
A : 3000 [rpm] None : None attached
R3 : 30[W] : 2000 [rpm] 1 : Oil seal attached
D
R5 : 50[W] G 2 : Brake attached
: 1500 [rpm]
Motor Shape 01 : 100[W] 3 : Oil seal, brake attached
M : 1000 [rpm]
S: Real shaft 015 : 150[W]
H: Hollow shaft 02 : 200[W]
03 : 300[W] Shaft End Shape
F: Flat
(F_L: L Series) 04 : 400[W] Encoder Type N : Straight
05 : 450[W] Quadrature (Pulse type) K : Round key at one
︙ end (Standard)
110 : 11.0[kW]
Flange Size 150 : 15.0[kW]
A : 40 Flange
B : 60 Flange
C : 80 Flange Serial BISS
AL : 40 Flange (Communication type)
BL : 60 Flange
CL : 80 Flange
E : 130 Flange
F : 180 Flange
G : 220 Flange

1-3
 1. Product Configuration

1.3 Component Names

1.3.1 Servo Drive Component Names

 100W, 200W, 400W

Display
Shows drive status, alarms, etc.

External Control Keys

(MODE), UP), DOWN), (SET)

USB Connector (USB, Mini B Type)

This is a connector for communicating with
the drive CM program tool (PC program)

Input/Output Signal Connector (I/O)

This is a connector for communicating with the
sequence input/output signals and RS-422.

Encoder Connector (ENCODER)

This is a connector for connecting with the
encoder built in the servo motor.

CHARGE Lamp
The light is turned on when the main circuit
power is on.

Power Connector
L1, L2: Main power input
B+, B: Connected to external regenerative resistors
U, V, W: Connected to the servo motor (U,V,W)

Ground Terminal
Ground terminals prevent electric shock.

1-4
 1. Product Configuration

 800W, 1kW

Display
Shows drive status, alarms, etc.

External Control Keys

(MODE), UP), DOWN), (SET)

USB Connector (USB, Mini B Type)

This is a connector for communicating with
the drive CM program tool (PC program)

Input/Output Signal Connector (I/O)

This is a connector for communicating with the
sequence input/output signals and RS-422.

Encoder Connector (ENCODER)

This is a connector for connecting with the
encoder built in the servo motor.

CHARGE Lamp
The light is turned on when the main circuit
power is on.

Power Connector
L1, L2: Main power input
B+, B: Connected to external regenerative resistors
U, V, W: Connected to the servo motor (U,V,W)

Ground Terminal
Ground terminals prevent electric shock.

1-5
 1. Product Configuration

1.3.2 Servo Motor Part Names

 80 Flange or Lower

Motor Power
Motor Cable
Connector Encoder
Connector

Encoder
Cable

Shaft

Encoder
Cover
Bearing Cap Flange Frame Housing

 130 Flange or Higher

Motor
Connector
Encoder
Connector

Encoder
Shaft Cover

Bearing Cap
Flange Frame Housing

1-6
 1. Product Configuration

1.4 Example of System Configuration

The figure below shows an example of system configuration using this drive.

Power
Single phase AC220V

R T Upper Device

Molded Circuit XGT

Breaker
This is used to protect the
power line.
It turns off the circuit Servo Drive
breaker when there is
overcurrent. Mini USB Cable
RS-422 Communication and I/O
Noise Filter
This blocks external noise
from the power line.
Note 1) RS-422 Communication Cable
10 31 4
3M

Input/Output Cables
Magnetic Contactor
Turn the servo power
ON/FF.
10 31 4
3M

NOT HOME POT

Encoder Cable

External
Regenerative
Resistor Connection Motor Cable
Refer to Section 10.11,
Regenerative Resistance.

Note 3) 3 Note 2)

Servo Motor

Caution

 Note 1) Do not use APC-VSCN1T or APC-VPCN1T during communication wiring. Communication may be

disconnected due to disconnection in cable shields. Also, build the structure of a single connector holding

individual lines of RS-422 communication cables and input/output cables. Make sure to use shielded twisted

cables (Twisted Pair Wire) for RS-422 communication cable.

 Note 2) PE between the servo motor and the servo and between the servo and the device must be connected.

 Note 3) This device supports encoder cables and motor cables that are 20m or shorter.

 If it is necessary to make a cable longer than 20m,

refer to “2.6.2 Precautions When Making Encoder Cable.”

1-7
 2. Wiring and Connection

2. Wiring and Connection

2.1 Servo Motor Installation

2.1.1 Operating Environment

Items Environmental Conditions Notes
Consult our technical support team to customize the product if the
Operating
0 ∼ 40[℃] temperatures in the installation environment are outside this
Temp.
range.
Operating
80[%] RH or lower Do not operate this device in an environment with steam.
Humidity
Vibration acceleration
External
19.6[㎨] or below on X and Excessive vibrations reduce the lifespan of the bearings.
Vibration
Y axes

2.1.2 Preventing Over-impact

Impact onto the motor axis during installation or handling may cause the motor to fall and
damage the encoder.

Caution

2-1
 2. Wiring and Connection

2.1.3 Motor Connection

Servo Motor
U U
V V
W W
FG

 Directly connecting the motor to a commercial power supply may burn the motor. Make sure to
connect it with the specified drive before using it.

 Connect the ground terminal of the motor to either of the two ground terminals inside the drive, and
attach the remaining terminal to the Type-3 ground.

 Connect U, V, and W terminals of the motor to match U, V, and W terminals of the drive.

 Ensure that no pin on the motor connector is fallen off or inadequately connected.

 If there is moisture or condensation on the motor, make sure that insulation resistance is 10[㏁]
(500[V]) or higher and install only if there is no abnormality.

Caution
 Sometimes, if the motor’s PE and the drive’s PE terminal are not connected, DriveCM may not be properly

connected when you turn on the servo

or an AL-24 (motor disconnection) alarm may occur.

 PE and FG between the servo motor and the servo and between the servo and the device must be connected.

2-2
 2. Wiring and Connection

2.1.4 Load Device Connection

For coupling connections: Ensure that the motor shaft and the load shaft are aligned within
the tolerance range.

0.03[㎜] or less (peak to peak)

Load shaft
Motor shaft

0.03[㎜] or less (peak to peak)

 For Pulley Connections:

Radial Load Axial Load

Flange Notes
N kgf N kgf
40 148 15 39 4
Nr: 30[㎜] or less
60 206 21 69 7
80 255 26 98 10 Radial load
130 725 74 362 37
180 1548 158 519 53

220 1850 189 781 90

Axial load

2.1.5 Cable Installation

 For vertical installations, make sure that no oil or water flows into the connecting parts.

 Do not pressurize or damage the cables. Make sure to use robot cables for a moving motor and
prevent the cables from swaying.

2-3
 2. Wiring and Connection

2.2 Servo Drive Installation

2.2.1 Installation and Usage Environment

Environmental
Items Notes
Conditions
Caution
Operating
0 ∼ 50[℃] Install a cooling fan on the control panel for ventilation and to
Temp.
maintain the temperature within the range.

Caution
Operating 80[%] RH or Moisture developed inside the drive due to ice formation or
Humidity below condensation during a prolonged period of inactivity may
damage the drive. Remove all moisture before operating the
drive after a prolonged period of inactivity.
Vibration
External acceleration Excessive vibration reduces the lifespan of the product, and it
Vibration may cause malfunctions.
4.9[㎨] or lower
 Do not expose the device to direct sunlight.
 Do not expose the device to corrosive or combustible gases.
Ambient
Conditions  Do not expose the device to oil or dust.
 Ensure that the device receives sufficient ventilation even if installed in a
confined space.

2-4
 2. Wiring and Connection

2.2.2 Installation with the Control Panel

Comply with the spacing standard specified in the following figures when installing with the control panel.

More More
than than
40mm 100mm

More More More More

than than than than
10mm 10mm 10mm 10mm

More More More

than than than
40mm 40mm 10mm

Caution
 Install the external regenerative resistance properly so that generated heat does not affect the

drive.

 Assemble the servo drive control panel so it is flat against the wall.

 Do not let any metal debris generated from drilling, etc. fall into the drive when assembling the

control panel.

 Make sure that oil, water, or metal dust does not enter the drive through the gaps or roof of the

control panel.

 Protect the control panel by using air purge system when using it in an area where there are high

amounts of harmful gases or dust.

2-5
 2. Wiring and Connection

2.3 Internal Block Diagram of the Servo Drive

2.3.1 Drive Block Diagram (100W ~ 1.0kW)

B B+
SMPS

Diode Note 1)
IPM

Single-phase
power Input
AC200~230V L1
Current sensor
U
Thermistor V
Note 2) M E
L2 W
Chage
Lamp

T1 T2

Thermistor N

Main power phase Internal Relay drive DC voltage Regenerative IGBT PWM signal SC U, V current
loss detection temperature circuit detection circuit braking drive temperature detection circuit detection circuit DB drive circuit
circuit detection circuit circuit detection circuit

S Main control POWER circuit connection

M
P U, V current
S DC voltage

A/D conversion
BiSS-C
Quadrature
MCU
USB USB
communication USB OTG FS

Encoder input
(ENCODER
connector)
P/C insulation I/F

Pulse input Encoder output Digital input Digital output Analog input
(2points) (8points) (2points) RS-422 communication
(3points) (10points)

Upper-level controller connection (I/O)

Note 1) Since there is no internal regenerative resistance, make sure to connect regenerative resistances

to B+ and B pins.

Note 2) Connect a single-phase 220[V] supply.

2-6
 2. Wiring and Connection

2.4 Power Supply Wiring

 Ensure that the input power voltage is within the acceptable range.

Caution
Excessive voltage damages the drive.

 If a commercial power supply is connected to U, V and W terminals of the drive, the drive may be
damaged. Make sure to connect the power to L1 and L2 terminals.

 Make sure to use the standard resistance values for the B+ and B terminals when using external
regenerative resistance.

Resistance Standard
Models * Notes
Values Capacity

100[W] Caution
For resistance values to use during regenerative
200[W] 100[Ω] External 50[W] capacity expansion, refer to Section 16.3, "Optional
and Peripheral Devices.”

400[W]

800[W]
40[Ω] External 100[W]
1[kW]

 High voltages may remain in the device for sometime even after the main power is disconnected.
Be careful.

Warning
Before resuming wiring, make sure to disconnect the main power and that the charge lamp is
completely turned off. Failure to do so may result in electric shock.

 Always ground the device using the shortest possible ground wire. Long ground wires are easily
influenced by noise, which causes malfunctions.

2-7
 2. Wiring and Connection

2.4.1 Power Supply Wiring Diagram (100W ~ 1.0kW)

AC 200~230[V]
Servo drive
R T Note 1)
Main Main
OFF ON
RA
NF 1MC
1MC 1Ry 1SK U
L1
L2
V
W
M

E
Encoder
1Ry
Alarm+ B+ External
+24V RA 38 regenerative
B resistor
Alarm-
39
CN1

주1) About 1~2 seconds are required from main power supply to alarm signal output. Press the main power on switch

and hold it for at least 2 seconds.

Connect a regenerative resistance of (50[W], 100[Ω]) for a 100[W]~400[W] drive and (100[W], 40[Ω]) for a

800[W]~1[kW] drive to external terminals B and B+.

Remove approximately 7 to 10[㎜] of the sheathing from the cables for the main circuit power and use the

dedicated pressurized terminals. (Refer to Section 2.4.3, "Power Circuit Electrical Component Standards.”)

Use a (-) flathead screwdriver to connect or remove the main circuit power unit wires.

2-8
 2. Wiring and Connection

2.4.2 Power Input Sequence

 Power Input Sequence
 For wiring of the main power, use a magnetic contactor for the main circuit power as
shown in Section 2.4.1, "Power Supply Wiring Diagram." Set the magnetic contactor to be
turned off simultaneously with an alarm occurrence in the external sequence.

 The alarm signal is turned on (normal state) about 2.5 seconds after power supply, then
the servo on command signal is recognized. Accordingly, if the servo on command signal
is on during power supply, the actual servo on operation begins after about 2.5 seconds.
Keep this in mind when designing the power input sequence.

 Timing Chart

ON
Main power,
control power input OFF

ON
Servo on command
OFF
ON
Servo on operation
OFF
Alarm ON
(On for normal state)
OFF
2.5[s]

2-9
 2. Wiring and Connection

2.4.3 Power Circuit Electrical Component Standards

Model Names 100W 200W 400W 800W 1kW

MCCB (NFB) 30A Frame 5A 30A Frame 10A 30A Frame 15A

Noise Filter (NF) TB1-10A0D0 (10A)

DC Reactor HFN-10 (10A) HFN-15 (15A)

MC 11A/240V (GM□-9) 18A/240V (GM□-18)

L1, L2, B+, B, U, V,

AWG16 (1.5 ㎟)
W note 1)

Pressurized
Ferrule 16AWG (6mm Strip & Twist)
Terminal

Connector BCP-508F- 7 GN

주1) Select and use 600V, PVC-insulated wires.

To comply with UL (CSA) standards, use UL-certified wires that have a heat resistant temperature of

75℃ or above.

To comply with other standards, use proper wires that meet the applicable standards.

For other special specifications, use wires equivalent or superior to those specified in this Section.

2-10
 2. Wiring and Connection

2.5 Wiring for Input/Output Signals

 CN1 Connector Model (I/O Drive Connection)

▶ CASE Model: 10350-52A0-008 (3M)

▶ CONNECTOR Model: 10150-3000VE(3M)

1 26

2 27
3
4 28
29

44
46

22 47
24 48
49

23 50
25

<Front> <Rear> <Side>

2-11
 2. Wiring and Connection

2.5.1 Names and Functions of Digital Input/Output

Signals
 Names and Functions of Digital Input Signals (CN1 Connector)

Pin
Names Assignments Description Functions
Numbers
50 +24V DC 24V DC 24 V input Common

The motor becomes operable when the

SVON signal is turned on (Servo On
47 DI 1 SVON Servo On state).
The motor enters the free-run state
when the signal is off.
Multi-velocity Selects the rotation velocity command
23 DI 2 SPD1
1 for velocity-limited operation. The
velocity command changes as shown
Multi-velocity
22 DI 3 SPD2 below according to the status of the
2
contacts.
Input Devices
Velocity
SPD1 SPD2 SPD3
Multi-velocity
command 1
X X X
(Parameter
0x2312)
Multi-velocity
command 2
O X X
(Parameter
0x2313)
Multi-velocity
command 3
X O X
(Parameter
0x2314)
Multi-velocity
command 4
Multi-velocity O O X
21 DI 4 SPD3 (Parameter
3 0x2315)
Multi-velocity
command 5
X X O
(Parameter
0x2316)
Multi-velocity
command 6
O X O
(Parameter
0x2317)
Multi-velocity
command 7
X O O
(Parameter
0x2318)
Multi-velocity
command 8
O O O
(Parameter
0x2319)

17 DI 5 A-RST Alarm reset Turns off the servo alarm.

Selection of
Switches the rotational direction of jog
46 DI 6 JDIR jog’s rotational
operation.
direction

2-12
 2. Wiring and Connection

Forward Stops the motor so that the actuator

(CCW) cannot move beyond the motion range
20 DI 7 POT in the forward rotational direction. The
rotation stopping method varies according to
prohibited [0x2013] setting value.
Stops the motor so that the actuator
Reverse (CW) cannot move beyond the motion range
19 DI 8 NOT rotation in the reverse rotational direction. The
prohibited stopping method varies according to
the [0x2013] setting value.

When EMG signal is turned on, the

servo initiates an emergency stop and
Emergency
18 DI 9 EMG generates “W-80.” Here, the stopping
stop
method varies according to the
[0x2013] setting value.

48 DI 10 STOP Servo stop Stops the operation.

Operation
** START Starts index location.
start
If the index type is Registration
Absolute or Registration Relative and
Operation
** REGT REGT signal is on, it adopts the set
after sensing
operation velocity and moving distance
to start operation.
Home position A home sensor input signal used in
HOME
sensor homing.
** HSTART Homing start Starts homing.
Index
** ISEL0
Selection 0
Index
** ISEL1
Selection 1
Index
** ISEL2
Selection 2 Selects an index for operation from
Index 0~63.
** ISEL3
Selection 3
Index
** ISEL4
Selection 4
Index
** ISEL5
Selection 5
P control Switches PI control to P control when
** PCON
action PCON signal is turned on.
Switching Switches velocity-limiting Gain 1 to
** GAIN2 Gain 1 to Gain Gain 2 when Gain 2 signal is turned
2 on.
Enables torque limitation in the forward
direction when PCL signal is turned on.
Forward
** PCL It governs movements according to the
torque limit
[0x2110] setting and determines the
torque limit values through [0x2111].
Enables torque limitation in the reverse
direction when NCL signal is turned on.
Reverse
** NCL It governs movements according to the
torque limit
[0x2110] setting and determines the
torque limit values through [0x2112].

2-13
 2. Wiring and Connection

Decelerates and pauses index

operation when the pause signal is
** PAUSE Pause input. It resumes the index operation
when the pause signal is re-input
during the paused state.
Upon request of the absolute data of
Absolute the absolute encoder, the data of the
** ABSRQ location data absolute encoder is transmitted to a
request upper level controller in quadrature
pulse format through AO, BO output.
When the contacts are turned on, it
** JSTART Jog operation starts jog operation at the velocity set
in [0x2300].
When the contacts are turned on, it
does not receive input pulses and sets
Input pulse the position tolerance to 0.
** PCLR
clear
The operation mode can be set in
[0x3005].
When AOVR signal is turned on, it
overrides the index operation velocity
according to the voltage value input in
Select speed
** AOVR SPDCOM (AI2)
override
The override value is set to 0% for an
input of -10V, to 100% for 0V, and to
200% for +10V.
Operation Changes the operation mode during
** MODE
mode change operation.

Command
Inhibits counting of input pulses during
** INHIBIT pulse pulse input position operation as a
command pulse.
inhibition

Vibration Vibration suppression filter signal 1

according to the vibration suppression
** LVSF1 suppression filter function setting (0x2515).
It is the same as SPD1 setting value
filter 1 during the assignment.

Vibration Vibration suppression filter signal 2

according to the vibration suppression
** LVSF2 suppression filter function setting (0x2515).
It is the same as SPD2 setting value
filter 2 during the assignment.
Electric gear A signal for selecting the electric gear
** EGEAR1 ratio of the parameter set during pulse
ratio 1 input position operation.
Electric gear Refer to Section 10.3.4, “Electric Gear
** EGEAR2 Ratio During Pulse Input Position
ratio 2 Operation.”

Multi-turn data Resets the multi-turn data value back

** ABS_RESET to the initial value 0 to use the absolute
reset encoder.
**A signal not assigned by default in the factory setting. The assignment may be changed by

parameter settings. For more information, refer to Section 10.2, “Input/Output Signals Setting.”

Wiring can be also done by using COMMON (DC 24V) of the input signal as GND.

2-14
 2. Wiring and Connection

SPD1 and LVSF1 signals use the same setting values during assignment, as do SPD2 and LVSF2

signals, and the functions differ according to the operation mode (Velocity operation: SPD1,

SPD2/position operation: LVSF1, LVSF2).

 Names and Functions of Digital Output Signals (CN1 Connector)

Pin
Names Assignments Description Functions
Numbers
Alarm group Outputs the alarm group.
16 DO 6 ALO0
contact output 1 ex) outputs ALO0 upon AL-10
Alarm group occurrence
15 DO 7 ALO1
contact output 2 Outputs ALO0, ALO1 upon AL-31
occurrence
Alarm group Outputs ALO2 upon AL-42
14 DO 8 ALO2
contact output 3 occurrence

38 DO 1+
Outputs the servo alarm that
ALARM Servo alarm
occurs
39 DO 1-

40 DO 2+ Output when the main power is

RDY Servo ready established and the preparations
41 DO 2- for servo operation are completed.

Zero speed
43 DO 3 ZSPD Output when 0rpm is reached.
reached
A signal for controlling the brakes
installed inside or outside the
44 DO 4 BRAKE Brake
motor. It is output when SVON
contact is off.
A signal output when the
command point is reached. The
Position reached
45 DO 5 INPOS1 output conditions can be set by the
1
setting values in [0x2401] and
[0x2402].

** ORG Homing complete Output when homing is complete.

Operation Output when the index operation is

** EOS
complete complete.

Output when the motor rotates at a

Rotation
** TGON value beyond the value set in
detection
[0x2405].

Output when the drive output is

** TLMT Torque Limit limited by the torque limit setting
value.

Output when the motor reaches

the velocity limit. The velocity limit
** VLMT Velocity limit
can be adjusted in [0x230D] and
[0x230E] settings.

2-15
 2. Wiring and Connection

Output when the difference

between the velocity command
** INSPD Velocity reached and the current velocity is equal to
or below the setting value in
[0x2406].
Outputs the servo warning that
** WARN Servo warning
occurs.
A signal output when the
Position command point is reached. The
** INPOS2
reached 2 output conditions can be set by the
setting values in [0x2403].

** IOUT0 Index Output 0

** IOUT1 Index Output 1

** IOUT2 Index Output 2 Outputs the index number
currently in operation from 0~63.
** IOUT3 Index Output 3
** IOUT4 Index output 4
** IOUT5 Index Output 5
** Unassigned signal. The assignment may be changed by parameter settings. For more information,

refer to Section 10.2, “Input/Output Signals Setting.”

2-16
 2. Wiring and Connection

2.5.2 Names and Functions of Analog Input/Output

Signals
 Names and Functions of Analog Input Signals (CN1 Connector)

Pin
Names Description Functions
Numbers
Indexing Position Mode:
Applies a voltage between -10 and
+10V
to between TRQCOM (AI1) and AGND
to limit the motor output torque. The
relationship between input voltage and
torque limit depends on the value set in
Analog Torque
[0x2210].
1 TRQCOM Input
Torque Mode:
(command/limit)
Applies a voltage between -10 and
+10V
to between TRQCOM (AI) and AGND to
give the analog torque command. The
relationship between input voltage and
torque command depends on the value
set in [0x2210].
Indexing Position Mode:
Applies a voltage between -10 and
+10V
to between SPDCOM (AI2) and AGND
to override the index operation velocity.
The override value is set to 0% for an
input of -10V, to 100% for 0V, and to
Analog Velocity 200% for +10V. Whether or not to use
the function can be selected in [0x220F]
27 SPDCOM Input or by AOVR contact input.
(command/override) Velocity Mode:
Applies a voltage between -10 and
+10V
to between SPDCOM (AI2) and AGND
to perform analog velocity control.
The relationship between input voltage
and velocity command depends on the
value set in [0x2229].

8 AGND AGND (0V) Analog ground

2-17
 2. Wiring and Connection

2.5.3 Names and Functions of Pulse Train Input Signals

 Pulse Train Input Signals (CN1 Connector)

Pin
Names Description Functions
Numbers
49 PULCOM +24[V] power input
Inputs a pulse train command.
9 PF+ Inputs a forward rotation pulse train between PF+ and
PF- and a reverse rotation pulse train between PR+
and PR-.
It operates when Pulse Input Position is selected in
10 PF- [0x3000]. The position input pulse logic setting and
pulse input filter setting can be changed in [0x3003]
and [0x3004] respectively.
The maximum input frequencies for the line drive
method and the open collector method are 1Mpps
11 PR+ and 200kpps respectively.
The line drive method does not use PULCOM.
12 PR-

2.5.4 Names and Functions of Encoder Output Signals

 Encoder Output Signals (CN1 Connector)

Pin
Names Description Functions
Numbers
32 AO
Encoder
Signal A Outputs de-multiplied encoder signals in A,
33 /AO
B, and Z phases by the line drive method.
30 BO The encoder signal output frequency of the
Encoder
drive is 4 [Mpps] at the maximum for the
Signal B
31 /BO line drive method (X4 interpolation).
The number of output pulses can be set in
4 ZO [0x3006].
Encoder
Signal Z
5 /ZO

2-18
 2. Wiring and Connection

2.5.5 Examples of Input/Output Signal Connection

 Examples of Digital Input Signal Connection

Caution
1. You can set the input contact to contact A or contact B, based on the characteristics of
individual signals.
2. You can assign each input contact to one of 31 functions.
3. For more information on signal assignment and change of the input contact, refer to Section
10.2, “Input/Output Signals Setting.”
4. The rated voltage is DC 12V to DC 24V.
Servo drive
External Power Supply
12 VDC to 24 VDC
+24V IN

Internal
R2
circuit
DI1
R1

Internal
R2
circuit
DI16
R1

R1 3.3KΩ, R2 680Ω

 Examples of Digital Output Signal Connection

Caution
1. You can set the output contact to contact A or contact B, based on the characteristics of
individual signals.
2. You can assign each output contact to one of 19 output functions.
3. For more information on signal assignment and change of the output contact, refer to Section
10.2, “Input/Output Signals Setting.”
4. Excessive voltage or overcurrent may damage the device because it uses an internal
transistor switch. Be cautious.
5. The rated voltage and current are DC 24V ± 10% and 120[㎃].

2-19
 2. Wiring and Connection

Servo drive
DO1+ L

Internal
circuit

DO1-

DO8+
L
Internal
circuit
DC 24V
DO8-

Note 1) DO1 and DO2 outputs use separated GND24 terminals, and DO3~DO8 outputs use a common

GND24 for DOCOM.

Note 2) DO6~DO8 outputs are locked for alarm group outputs. You can assign desired output signals to

DO1~DO5 outputs for use.

2-20
 2. Wiring and Connection

 Examples of Analog Input Signal Connection

Caution
1. For information on how to operate analog input signals, refer to Section 4.5, “Analog Velocity
Override,” Section 6.2, “Analog Velocity Command,” Section 7.2, “Analog Torque Command
Scale,” and Section 10.8, “Torque Limit Function.”
2. The range of analog output signals is -10V~10V.
3. The impedance for input signals is approximately 10KΩ.
Servo drive
R2

DC±24V R1 TRQCOM 1

AGND 8

R2

DC±24V R1 SPDCOM 27

AGND 8

4. Example of resistance selection for use of 24V for input voltage

No R1 R2
1 5KΩ 6KΩ
2 10KΩ 12KΩ

5. Examples of using internal +12V and -12V power sources

R2 +12[V] 34 R2 +12[V] 34

R1 Analog Input 1, 27 R1 Analog Input 1, 27

0.1[uF]

AGND 8 AGND 8

R2 -12[V] 35

No R1 R2
1 10KΩ 660Ω
2 5KΩ 330Ω
3 2KΩ 132Ω

2-21
 2. Wiring and Connection

2.5.6 Pulse Train Input Signal

 Line Drive (5[V]) Pulse Input

Twisted Pair
Upper level controller Shield Wire Servo drive
PF PF+
PF-
PR+
PR
PR-
Line receiver
Line drive

FG

 Open Collector (24[V]) Pulse Input

Upper level controller Servo drive

GND24 +24[V] Pulse COM
PF-

PR-

GND24 Shield Wire

FG

 12[V]or 5[V] NPN Open Collector Pulse Command

Upper level controller Servo drive

R PR+
GND12 R
PF+
Power note) 1 PF-
NPN PR-

FG

Note 1) When using 5[V] power: Resistance 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 R = 1.5[kΩ], 1/2[W]

2-22
 2. Wiring and Connection

2.5.7 Input/Output Signals Configuration Diagram

Digital input
Digital output
(DO1)
+24V IN 50 38 ALARM+
DC 24V 3.92kΩ
39 ALARM-
(DI1)
SVON 47 (DO2)
40 RDY+
(DI2)
SPD1 23
41 RDY-
(DI3)
SPD2 22
(DO3)
(DI4) 43 ZSPD
SPD3 21
(DI5)
A-RST 17
(DI6) (DO4)
JDIR 46 44 BRAKE
(DI7)
POT 20
(DI8)
NOT 19 (DO5)
45 INPOS1
EMG 18 (DI9)

(DIA)
STOP 48
note) (DO6)
16 ALO0

note) (DO7)
ISEL0 ** 15 ALO1
ISEL1 **
ISEL2 **
note) (DO8)
ISEL3 **
14 ALO2
ISEL4 **
ISEL5 ** 25 GND24
PCON ** 24 GND24
GAIN2 **
PCL ** ** ORG
NCL ** ** EOS
H-START ** CN1 ** TGON
INHIBIT ** ** TLMT
MODE ** ** VLMT
PAUSE ** ** INSPD
ABS_RQ ** ** WARN
JSTART ** ** INPOS2
JDIR ** ** IOUT0
PCLR ** ** IOUT1
AOVR ** ** IOUT2
LVSF1 ** ** IOUT3
LVSF2 ** ** IOUT4
EGEAR1 ** ** IOUT5
EGEAR2 **

Command pulse input Encoder output

PULCOM 49 32 AO
Upper level controller

33 /AO
PF+ 9

PF- 10 30 BO
Upper Line drive
level PR+ 11 31 /BO
controller
PR- 12 4 ZO

5 /ZO

Open collector
RS-422
Analog input
2 TXD+
-10V~+10V
TRQCOM 1
Analog torque input 3 TXD-
(Command/limit)
AGND 8
6 RXD+
-10V~+10V
SPDCOM 27
Analog velocity input 7 RXD-
(Command/override) AGND 8

Note 1) Input signals DI1~DI10 and output signals DO1~DO8 are factory default signals. Note before use that
DO6~DO8 are locked output ports for which assignment is not possible.

2-23
 2. Wiring and Connection

2.6 Encoder Signal Panel (Encoder Connector)

Wiring
 ENCODER Connector Model: 10114-3000VE (3M)

1 8
2
3 9 10
4
11
5 12
6
7 13 14

2.6.1 Encoder Signal Names by Type

 Quadrature Type
Signal Signal Signal
Pin No. Pin No. Pin No.
Names Names Names
1 W 6 /U 11 B
2 /W 7 GND 12 /A
3 V 8 /Z 13 A
4 /V 9 Z 14 5V
5 U 10 /B Frame SG
 Serial-Multiturn Type
Signal Signal Signal
Pin No. Pin No. Pin No.
Names Names Names
1 - 6 /SL 11 -
2 - 7 GND 12 -
3 MA 8 - 13 -
4 /MA 9 - 14 5V
5 SL 10 - Frame SG

2-24
 2. Wiring and Connection

 APCS-EES1 Cable(Serial-Multiturn Type)

Servo motor AWG24 4Pair Twist Servo drive

Shield Wire
1 MA 3
6 /MA 4
2 SL 5
7 /SL 6
8 BAT+
Encoder 3 BAT-
9 5V 14
4 GND 7

Connector Cable
Tyco connector Connector(ENCODER)
(7Ciruits) Maker – 3M
10314-52A0-008
10114-3000VE
5 SHD Frame

2-25
 2. Wiring and Connection

2.6.2 Precautions when Making Encoder Cable

If you are using a serial or multi-turn encoder cable that is 20m or longer, our company does
not guarantee the quality of use. You are recommended to refer to the following example
when making such cables.

Connection example) APCS-E□□□ES cable

Servo M otor A W G 2 4 4 P a i r T w i s t e d Servo Driv e

Shield W ire
1 MA 3
6 /M A 4
2 SL 5
7 / S L 6

Encod er
9 5V 14
4 GND 7

5 SH D Fr am e

Core wire Recommended

Length Notes
specifications wiring makers
35m or lower 24AWG 2wire LS, Ilsan, Shinhwa wires
55m or lower 24AWG 3wire LS, Ilsan, Shinhwa wires

Also, if you are making main power cables for motors 20m or longer, it is recommended to make them to

one-level higher specifications than the recommended.

For example, if the recommended specification is 18AWG, use a 14AWG product. If the recommendation is

11AWG, use a 7AWG product.

With main power cables for motors that are 20m or longer, increase in the voltage drop causes the repeated

range of use of “rotation torque-torque characteristics” to get narrower. So, be cautious while in use.

2-26
 2. Wiring and Connection

2.7 Power Connector

 Power Connector Model BCP-508F- 7 GN

W V U B B+ L2 L1

 Power Connector Signal Names

Signal
Description
Names
L1
Main power input part
L2
B+ Regenerative resistance
B connection part
U
Motor U, V and W signals
V
connection part
W

2-27
 3. Operation Modes

3. Operation Modes

3.1 Control Method

For position settings, L7C drive supports the indexing position control method which
internally generates position commands and the pulse input position control method which
receives pulse train inputs from outside. It also supports velocity operation which controls
velocity with external analog voltage and internal parameters as well as torque operation
which controls torque with external analog voltage.

3.2 Indexing Position Operation

Indexing Position Mode is a position control mode which does not use external upper level
controllers but generates position profiles inside the drive in order to drive to the target
positions. To use the index function, set control mode (0x3000) to “Index Mode 0.”

The block diagram of the Indexing Position Mode is as follows.

Control Mode : Indexing Position

Load Indexing
Buffer 1 Position Demand Position Demand Internal
( Index00 ~ 63 ) Value (0x2629) Value (0x2624)

Software Position Min./Max. Limit(0x3020/0x3021) C

Position Velocity Torque
Gear Ratio M
Software Position Limit Function Select (0x2400) Control Control Control

Analog Velocity Override Mode (0x221E)

Trajectory Enc.
Modulo Factor (0x240C)
2 Generator

Coordinate Select (0x3001)

3

Control Mode (0x3000)

4

Start Index Number(0~63) (0x3008)

5
Quick Stop Deceleration (0x6085)

Quick Stop Option Code (0x605A)

Torque Actual Value (0x262D)

6

Feedback Speed (0x2600) Gear Ratio Velocity

7
Inverse Calculation
Position Actual Internal
Position Actual Value (0x262A) Gear Ratio Value (0x2625) Position
8
Inverse Calculation

Pulse Output (A/B/Z Phase) Encorder Output Pulse

Regeneration

Position Demand Trajectory

Value (0x2629) C
Generator
+ INPOS1 Output Range(0x2401), INPOS2 Output Range(0x2403) ePosition
Following Error Actual Value (0x262B)
9
- Drive Status
Following Error Window (0x301D) INPOS1 Output Position +
Output1(0x2121.04, 10)
Time Reached Window 8
Drive Status (0x2402) Comparator
Following Following -
Output1(0x2121.01)
Error TimeOut Error Window Position Actual
(0x301E) Comparator Value (0x262A)
Following Error Position Reached

3-1
 3. Operation Modes

 Related Objects

Sub Variable PDO

Index Name Accessibility Unit
Index Type Assignment
0x2121 - Drive Status Output 1 UINT RO - -

0x2122 - Drive Status Output 2 UINT RO - -

0x220F - Analog Velocity Override Mode UINT RW Yes -

Analog Torque Input (command/limit)

0x2210 - UINT RW Yes 0.1%/V
Scale

Analog Torque Input (command/limit)

0x2211 - INT RW Yes mV
Offset

0x2214 - Analog Velocity Command Scale INT RW Yes rpm/V

Analog Velocity Input
0x2215 - INT RW Yes mV
(command/override)

0x2629 - Position Demand Value DINT RO - UU

0x2624 - Position Demand Internal Value DINT RO - pulse

0x2625 - Position Actual Internal Value DINT RO - pulse

0x262A - Position Actual Value DINT RO - UU

0x3016 - Position Limit Function UINT RW - -

0x3020 - Software Position Min Limit DINT RW - -

0x3021 - Software Position Max Limit DINT RW - -

0x2600 - Feedback Velocity INT RO - rpm

0x262D - Torque Actual Value INT RO - 0.1%

0x301D - Following Error Window UDINT RW - UU

0x301E - Following Error Timeout UINT RW - ms

0x2401 - INPOS1 Output Range UINT RW - UU

0x2402 - INPOS1 Output Time UINT RW - ms

0x2403 INPOS2 Output Range UINT RW - UU

0x300C - Electric Gear Numerator 1 UDINT RW - -

0x3010 - Electric Gear Denominator 1 UDINT RW - -

0x240C - Modulo Factor DINT RW - UU

0x3000 - Control Mode UINT RW - -

0x3001 - Coordinate Select UINT RW - -

0x3002 - Baud Rate Select UINT RW - -

3-2
 3. Operation Modes

0x3006 - Encoder Output Pulse UDINT RW - Pulse

0x3008 - Start Index Number (0~63) UINT RW - -

0x3009 - Index Buffer Mode UINT RW - -

0x300A - IO Signal Configuration UINT RW - -

- Index 00 - - - -

0 Number of Entries USINT RO - -

1 Index Type UINT RW - -

2 Distance DINT RW - UU

3 Velocity DINT RW - UU/s

4 Acceleration DINT RW - UU/s2

0x3100 5 Deceleration DINT RW - UU/s2

6 Registration Distance DINT RW - UU

7 Registration Velocity DINT RW - UU/s

8 Repeat Count UINT RW - -

9 Dwell Time UINT RW - ms

10 Next Index UINT RW - -

11 Action UINT RW - -

~ ~

0x313F - Index 63 - - - -

3-3
 3. Operation Modes

 Internal Block Diagram of Indexing Position Mode

Analog Input1
12bit A/D
A-TLMT Analog Torque Limit

Scale 0x221C

Offset 0x221D

Torque
Feed-Forward
Notch Filter
+
Adaptive Filter
Gain 0x210E function Select
0x2500
+ Frequency Width Depth
Velocity Filter 0x210F P/PI Gain Conversion
Limit 1 0x2501 0x2502 0x2503
Function P/PI
Speed Control 0x2114
Mode 2 0x2504 0x2505 0x2506
+ P Gain I Gain +
Torque 0x2115
A 3 0x2507 0x2508 0x2509
1 0x2102 0x2103
- Speed 0x2116 +
4 0x250A 0x250B 0x250C
2 0x2106 0x2107
Acc. 0x2117
Gear Ratio Following
7 Inverse Error
0x2118
Torque Command
Filter
Speed Feedback
0x2600 1 0x2104
Filter
Feedback Speed
[rpm] Time 0x210B Disturbance 2 0x2108
Observer
Gain 0x2512

0x262D Filter 0x2513 Torque Limit

Torque Actual
Value [0.1% ] Velocity
Select 0x2110
Calculation
Ext. Positive 0x2111
6 Current Control
Ext. Negative 0x2112
Positon
B Calculation
Encoder Motor Gain 0x2514 Positive 0x3022

0x262C Negative 0x3023

Torque Demand
Value [0.1% ]

3-4
 3. Operation Modes

3.2.1 Coordinate Settings

In Indexing Mode, the following two coordinate methods are available for use.

 Linear Coordinate Method

In the linear coordinate system, if the value exceeds +2147483647 during forward
rotation, the lowest value –2147483648 is displayed. In contrast, if the value goes past –
2147483648 in the reverse rotation, the highest value +2147483647 is displayed.

+2147483647

-2147483648
During forward rotation During reverse rotation

You must set the control mode (0x3000) to the linear coordinate system to enable the
below 6 PTP position controls.

 Absolute Move

In Absolute Move, the movement value is determined by the difference between the current position
and the target distance values.

 Relative Move

In Relative Move, the movement value equals the target distance value.

 Registration Absolute Move

During movement to the target position, REGT signal input from outside is converted into
registration velocity and distance values, and the movement diverts to the new target position
(absolute value).

 Registration Relative Move

During movement to the target position, REGT signal input from outside is converted into
registration velocity and distance values, and the movement diverts to the new target position
(relative value).

 Blending Absolute Move

When a new position command is input during movement to the target position, the current target
position is reached and a subsequent movement is made to the new target position (absolute
value).

 Blending Absolute Move

When a new position command is input during movement to the target position, the current target
position is reached and a subsequent movement is made to the new target position (relative value).

3-5
 3. Operation Modes

 Rotary Coordinate Method

The rotary coordinate system marks the positions only with positive values. The range of
values differ according to the Modulo Factor setting and is displayed in 0~ (Modulo
Factor-1).

If the value exceeds (Modulo Factor-1) in the forward rotation, the lowest value 0 is
displayed. In contrast, if the value goes past 0 in the reverse rotation, the highest value
(Modulo Factor-1) is displayed.
Position

Modulo Factor

0
During forward rotation During reverse rotation

You must set the control mode (0x3000) to the rotary coordinate system to enable the
below 5 PTP position controls. Here, the Modulo Factor setting must be proper.

 Rotary Absolute Move

The movement direction is determined according to the relationship between the current position
and the distance value for position operation. Movement is not necessarily made by the shortest
distance. Rotation is possible only within a revolution (Modulo Factor setting value) according to the
distance value.

 Rotary Relative Move

If the distance value is (+), position operation is made in the positive direction, and if the value is (-),
in the negative direction. Rotation is possible beyond a revolution (Modulo Factor setting value)
according to the distance value.

 Rotary Shortest Move

The shortest distance from the current position determines the direction for position operation.
Rotation is possible only within a revolution (Modulo Factor setting value) according to the distance
value. The distance value is treated as an absolute value.

 Rotary Positive Move

Position operation is always in the (+) direction. Rotation is possible only within a revolution
(Modulo Factor setting value) according to the distance value. The distance value is treated as an
absolute value.

 Rotary Negative Move

Position operation is always in the (-) direction. Rotation is possible only within a revolution (Modulo
Factor setting value) according to the distance value. The distance value is treated as an absolute
value.

3-6
 3. Operation Modes

3.2.2 Index Structure

The index structure consists of the following elements.

Items Description

0: Absolute Move

1: Relative Move

Linear 2: Registration Absolute Move

Coordinate 3: Registration Relative Move

4: Blending Absolute Move

Index Type 5: Blending Relative Move

6: Rotary Absolute Move

7: Rotary Relative Move

Rotary
8: Rotary Shortest Move
Coordinate
9: Rotary Positive Move

10: Rotary Negative Move

Distance -2147483648~+2147483647 (Unit: UU*)

Velocity 1~2147483647 (Unit: UU/s)

Acceleration 1~2147483647 (Unit: UU/s2)

Deceleration 1~2147483647 (Unit: UU/s2)

Registration Distance -2147483648~2147483647 (Unit: UU)

Registration Velocity 1~2147483647 (Unit: UU/s)

Repeat Count 1~65535

Dwell Time 0~65535 (Unit: ms)

Next Index 0~63

0: Stop

Action 1: Wait for Start

2: Next Index

*UU: User Unit

*For more details on [UU], refer to the User Unit part in “10.3.1 Indexing Position Operation
Electric Gear.”

3-7
 3. Operation Modes

3.3 Pulse Input Position Operation

L7C servo drive provides the position determination mode which uses pulse train input from
external controllers. To use Pulse Input Position Control Mode, the control mode (0x3000)
needs to be set to number 1, “Pulse Input Position Control Mode.”

The block diagram of Pulse Input Position Mode is as follows.

Control Mode : Pulse Input Position

Pulse Input ( PF+/PF- , PR+/PR- ) Position Demand Position Demand Internal

1 Value (0x2629) Value (0x2624)

C
Position Velocity Torque
Pulse Input Logic (0x3003) Gear Ratio M
Control Control Control

Pulse Input Filter (0x3004)

Pulse
Input Enc.
Setup

Control Mode (0x3000)

Torque Actual Value (0x262D)

6

Feedback Speed (0x2600) Gear Ratio Velocity

7
Inverse Calculation
Position Actual Internal
Position Actual Value (0x262A) Gear Ratio Value (0x2625) Position
8
Inverse Calculation

Pulse Output (A/B/Z Phase) Encorder Output Pulse

Regeneration

Position Demand Trajectory

Value (0x2629) C
Generator
+ INPOS1 Output Range(0x2401), INPOS2 Output Range(0x2403) ePosition
Following Error Actual Value (0x262B)
9
- Drive Status
Following Error Window (0x301D) INPOS1 Output Position +
Output1(0x2121.04, 10)
Time Reached Window 8
Drive Status (0x2402) Comparator
Following Following -
Output1(0x2121.01)
Error TimeOut Error Window Position Actual
(0x301E) Comparator Value (0x262A)
Following Error Position Reached

3-8
 3. Operation Modes

 Related Objects

Sub Variable PDO

Index Name Accessibility Unit
Index Type Assignment
0x2121 - Drive Status Output 1 UINT RO Yes -

0x2122 - Drive Status Output 2 UINT RO Yes -

0x2210 - Analog Torque Input (command/limit) Scale UINT RW Yes 0.1%/V

0x2211 - Analog Torque Input (command/limit) Offset INT RW Yes mV

0x2629 - Position Demand Value DINT RO Yes UU

0x2624 - Position Demand Internal Value DINT RO Yes pulse

0x2625 - Position Actual Internal Value DINT RO Yes pulse

0x262A - Position Actual Value DINT RO Yes UU

0x2600 - Feedback Velocity DINT RO Yes rpm

0x262D - Torque Actual Value INT RO Yes 0.1%

0x301D - Following Error Window UDINT RW No UU

0x301E - Following Error Timeout UINT RW No ms

0x2401 - INPOS1 Output Range UINT RW - UU

0x2402 - INPOS1 Output Time UINT RW - ms

0x2403 INPOS2 Output Range UINT RW - UU

0x300C - Electric Gear Numerator 1 UDINT RW No -

0x300D - Electric Gear Numerator 2 UDINT RW No -

0x300E - Electric Gear Numerator 3 UDINT RW No -

0x300F - Electric Gear Numerator 4 UDINT RW No -

0x3010 - Electric Gear Denominator 1 UDINT RW No -

0x3011 - Electric Gear Denominator 2 UDINT RW No -

0x3012 - Electric Gear Denominator 3 UDINT RW No -

0x3013 - Electric Gear Denominator 4 UDINT RW No -

0x3000 - Control Mode UINT RW No -

0x3001 - Coordinate Select UINT RW No -

0x3002 - Baud Rate Select UINT RW No -

0x3003 - Pulse Input Logic Select UINT RW No -

0x3004 - Pulse Input Filter Select UINT RW No -

0x3005 - PCLEAR Mode Select UINT RW No -

3-9
 3. Operation Modes

0x3006 - Encoder Output Pulse UDINT RW No Pulse

- - - - - - -

3-10
 3. Operation Modes

 Internal Block Diagram of Pulse Input Position Mode

Gear R atio

Numerator 0x300C
Velocity
0x2629 Feed-Forward
0x300D
Position Dem and 0x2624
Value [UU] Position Dem and Gain 0x210C
0x300E
Pulse Input Internal Value
FP+/FP- 0x300F [pulse] Filter 0x210D
C
RP+/RP-
Denominator 0x3010
Pulse Input Setup Smoothing Position Control
1 0x3011 Position Command Filter + P Gain +
Logic 0x3003 0x3012 Filter Time 0x2109 Gain 1 0x2101 A
Average - +
Filter 0x3004 0x3013 0x210A Gain 2 0x2105
Filter Time
0x3000
Control Mode

0x2625
0x262B Position Internal
Following Error Actual Value [pulse]
Actual Value [UU] +
Gear R atio
9 Inverse
B
0x2121: 04, 10 -
INPOS Output
Drive Status INPOS1
Output 1 0x2401 Gain Conversion
Output
INPOS2
Output
0x2403 8
Mode 0x2119
Output
0x2402 0x262A
Time Time1 0x211A
Pulse Output Position Actual
A phase Value [UU] Time2 0x211B
Encoder Output Pulse
B phase Regeneration
Z phase Waiting
0x211C
OutPulse 0x3006 Time1
Waiting
Output 0x211D
0x3007 Time2
Mode
Analog Input1
12bit A/D
A-TLMT Analog Torque Limit

Scale 0x2210

Offset 0x2211

Torque
Feed-Forward
Notch Filter
Adaptive Filter
Gain 0x210E function Select
0x2500
+ Frequency Width Depth
Velocity Filter 0x210F P/P I Gain Conversion
Limit 1 0x2501 0x2502 0x2503
Function P/P I
Speed Control 0x2114
Mode 2 0x2504 0x2505 0x2506
+ P Gain I Gain +
Torque 0x2115
A 3 0x2507 0x2508 0x2509
1 0x2102 0x2103
- Speed 0x2116 +
4 0x250A 0x250B 0x250C
2 0x2106 0x2107
Acc. 0x2117
Gear R atio Following
7 Inverse Error
0x2118
Torque Command
Filter
Speed Feedback
0x2600 1 0x2104
Filter
Feedback Speed
[rpm] Time 0x210B Disturbance 2 0x2108
Observer
Gain 0x2512

0x262D Filter 0x2513 Torque Limit

Torque Actual
Value [0.1%] Velocity
Select 0x2110
Calculation
Ext. Positive 0x2111
6 Current Control
Ext. Negative 0x2112
Positon
B Calculation
Encoder Motor Gain 0x2514 Positive 0x3022

0x262C Negative 0x3023

Torque Demand
Value [0.1%]

3-11
 3. Operation Modes

3.4 Velocity Mode

Velocity Mode is used to control velocity by issuing velocity commands to the servo drive in the
form of analog voltage output from the upper level controller and digital inputs which use
parameter setting values inside the servo drive.

Set the control mode [0x3000] to 2 and select the velocity command switch select [0x231A]
according to the method of command to the servo drive.

The block diagram of Velocity Mode is as follows.

Control Mode : Velocity

Analog Velocity Command(SPDCOM) Command Speed

1
(0x2601)
Digital Velocity Command(SPD1, SPD2, SPD3)
1
C
Velocity Torque
Generate Control Control
M
Analog Velocity Command Scale(0x2214) Velocity
Command
Velocity Command Switch Select(0x231A)
Enc.
Control Mode(0x3000)

Torque Actual Value (0x262D)

Feedback Speed (0x2600) Velocity

Calculation

Position Actual Value (0x262A) Position

Calculation

3-12
 3. Operation Modes

 Related Objects

Sub Variable PDO

Index Names Accessibility Unit
Index Type Assignment
0x2121 - Drive Status Output 1 UINT RO Yes -

0x2122 - Drive Status Output 2 UINT RO Yes -

0x2629 - Position Demand Value DINT RO Yes UU

0x2624 - Position Demand Internal Value DINT RO Yes pulse

0x2625 - Position Actual Internal Value DINT RO Yes pulse

0x262A - Position Actual Value DINT RO Yes UU

0x2600 - Feedback Velocity INT RO No rpm

0x262D - Torque Actual Value INT RO Yes 0.1%

0x301D - Following Error Window UDINT RW No UU

0x301E - Following Error Timeout UINT RW No ms

0x2401 - INPOS1 Output Range UINT RW - UU

0x2402 - INPOS1 Output Time UINT RW - ms

0x2403 INPOS2 Output Range UINT RW - UU

0x3000 - Control Mode UINT RW No -

0x3002 - Baud Rate Select UINT RW No -

0x3006 - Encoder Output Pulse UDINT RW No Pulse

- - - - - -

0x2200 - Digital Input Signal 1 Selection UINT RW No -

0x2201 - Digital Input Signal 2 Selection UINT RW No -

0x2202 - Digital Input Signal 3 Selection UINT RW No -

0x2203 - Digital Input Signal 4 Selection UINT RW No -

0x2204 - Digital Input Signal 5 Selection UINT RW No -

0x2205 - Digital Input Signal 6 Selection UINT RW No -

0x2206 - Digital Input Signal 7 Selection UINT RW No -

0x2207 - Digital Input Signal 8 Selection UINT RW No -

0x2208 - Digital Input Signal 9 Selection UINT RW No -

0x2209 - Digital Input Signal 10 Selection UINT RW No -

- - - - - - -

3-13
 3. Operation Modes

Analog Velocity Input (command/limit)

0x2214 - UINT RW Yes rpm/V
Scale
Analog Velocity Input (command/limit)
0x2215 - INT RW Yes mV
Offset
Analog Velocity Command Clamp
0x2216 - UINT RW No -
Level
Analog Velocity Command Filter Time
0x2217 - UINT RW No 0.1ms
Constant
0x2229 - Analog Velocity Command Scale INT RW No -

0x2312 - Multi-Step Operation Velocity 1 INT RW No -

0x2313 - Multi-Step Operation Velocity 2 INT RW No -

0x2314 - Multi-Step Operation Velocity 3 INT RW No -

0x2315 - Multi-Step Operation Velocity 4 INT RW No -

0x2316 - Multi-Step Operation Velocity 5 INT RW No -

0x2317 - Multi-Step Operation Velocity 6 INT RW No -

0x2318 - Multi-Step Operation Velocity 7 INT RW No -

0x2319 - Multi-Step Operation Velocity 8 INT RW No -

0x231A - Velocity Command Switch Select UINT RW No -

3-14
 3. Operation Modes

 Internal Block Diagram of Velocity Mode

Analog Velocity Command

(SPDCOM)
or
DIgital Velocity Command
(SPD1, SPD2, SPD3)
Speed 0x2629
Limit Velocity Demand
1 Value [UU/s]
C
Processing Acc./Dec.
Speed Command
0x2214 Acc. Time 0x2301 Servo-Lock
Analog Velocity Function
A
Command Scale Dec. Time 0x2302
Select 0x2311
Generate S-curve Time 0x2303
0x231A Velocity
Velocity Command Command
Switch Select

0x3000
Control Mode

Gain Conversion

0x262A Mode 0x2119

Position Actual
Value [UU]
Time1 0x211A
8 B
Time2 0x211B

Waiting
0x211C
Time1
Waiting
0x211D
Time2

Torque Notch Filter

Feed-Forward
Adaptive
Gain 0x210E Filter function 0x250 0
Select
0x210F Frequency Width Depth
Filter
Velocity P/PI Gain Conversi on
Limit 1 0x2501 0x2502 0x2503
Function P/PI
0x2114
Speed Control Mode 2 0x2504 0x2505 0x2506
+ P Gain I Gain +
Torque 0x2115
A 3 0x2507 0x2508 0x2509
1 0x2102 0x2103
- Speed 0x2116 +
4 0x250 A 0x250B 0x250 C
2 0x2106 0x2107
Acc. 0x2117

Following
7 0x2118
Error
Torque Command
Filter
Speed Feedback 1 0x2104
0x2600 Filter
Feedback Speed
[rpm] Time 0x210B 2 0x2108
Disturbance
Observer
Gain 0x2512

0x262D Filter 0x2513

Torque Actual Torque Limit
Value [0.1%] Velocity
Select 0x2110
Calculation

Ext. Positive 0x2111

6
Current Control
Ext. Negative 0x2112

Positon
B Encoder Motor Gain 0x2514 Positive 0x3022
Calculation

Negative 0x3023
0x262C
Torque Demand
Value [0.1%]

3-15
 3. Operation Modes

3.5 Torque Operation

Torque Mode is used to control tension or pressure of the device’s mechanical parts by the means of the

servo drive receiving from the upper level controller the voltage inputs for the desired torques.

Set the control mode [0x3000] to 3.

To input commands, apply voltage of -10[V]~+10[V] to pin number 1 and 8 of the CN1 connector.

The block diagram of Torque Mode is as follows.

OP Mode : Torque

Analog Torque Command(A-TLMT)

1

Velocity Torque
Generate Control Control
M
Analog Torque Input(command/limit) Scale(0x2210) Torque
Command
Analog Torque Input(command/limit) Offset(0x2211)
Analog Torque Command Filter Time Constant(0x2213)
Enc.
Speed Limit Value at Torque control Mode(0x230E)

Torque Actual Value (0x262C)

6

Feedback Speed (0x2600) Velocity

7
Calculation

Position Actual Value (0x262A) Position

8
Calculation

 Related Objects

Sub Variable PDO

Index Name Accessibility Unit
Index Type Assignment
0x2121 - Drive Status Output 1 UINT RO Yes -

0x2122 - Drive Status Output 2 UINT RO Yes -

0x2629 - Position Demand Value DINT RO Yes UU

0x2624 - Position Demand Internal Value DINT RO Yes pulse

0x2625 - Position Actual Internal Value DINT RO Yes pulse

0x262A - Position Actual Value DINT RO Yes UU

0x2600 - Feedback Velocity INT RO Yes rpm

0x262D - Torque Actual Value INT RO Yes 0.1%

0x301D - Following Error Window UDINT RW No UU

0x301E - Following Error Timeout UINT RW No ms

0x2401 - INPOS1 Output Range UINT RW - UU

0x2402 - INPOS1 Output Time UINT RW - ms

3-16
 3. Operation Modes

0x2403 INPOS2 Output Range UINT RW - UU

0x3000 - Control Mode UINT RW No -

0x3002 - Baud Rate Select UINT RW No -

0x3006 - Encoder Output Pulse UDINT RW No Pulse

Analog Torque Input (command/limit)
0x2210 - UINT RW No 0.1%/V
Scale
Analog Torque Input (command/limit)
0x2211 - INT RW No mV
Offset
0x2212 - Analog Torque Command Clamp Level UINT RW No rpm
Analog Torque Command Filter Time
0x2213 - UINT RW No 0.1ms
Constant
Velocity Limit Value at Torque Control
0x230E - UINT RW No -
Mode

3-17
 3. Operation Modes

 Internal Block Diagram of Velocity Mode

Gain Conversion

Mode 0x2119
Analog Torque
Command(A-TLMT) Time1 0x211A

Velocity Limit Time2 0x211B

Value at Torque
1 Control Mode Waiting
Generate 0x211C
Torque Time1
Command Waiting
0x211D
Value 0x230E Time2

Notch Filter
Adaptive
Filter function 0x2500
Select
Frequency Width Depth
Velocity P/PI Gain Conversi on
Limit 1 0x2501 0x2502 0x2503
Function P/PI
0x2114
Speed Control Mode 2 0x2504 0x2505 0x2506
+ P Gain I Gain Torque 0x2115
3 0x2507 0x2508 0x2509
1 0x2102 0x2103
- Speed 0x2116
4 0x250A 0x250B 0x250C
2 0x2106 0x2107
Acc. 0x2117

Following
7 0x2118
Error Torque Command
Filter Time
Constant
Speed Feedback
0x2600 Filter 0x2213
Feedback Speed
[rpm] Time 0x210B

0x262D 0x262C
Analog Torque
Torque Actual Torque Demand
command Scale
Value [0.1%] Velocity Value [0.1%]
Calculation 0x2210

6 C Analog Torque
Current Control
command Offset

0x2211
0x262A Positon
Encoder Motor Gain 0x2514
Position Actual Calculation
Value [UU]

0x2625
8 Position Internal
Actual Value [pulse]

3-18
 4. Indexing Position Operation

4. Indexing Position Operation

4.1 Concept of Index

A single index consists of Distance, Velocity, Acceleration, Deceleration, Registration
Distance, Registration Velocity, Repeat Count, Dwell Time, Next Index, and Action. Below
are details of each of these elements.

 Distance

Distance refers to the movement distance of each index (Unit: UU), which can be set to
either an absolute or relative value.

In Absolute Move, the final movement value is determined by the difference between the
current position and the target distance values. In Relative Move, the final movement value
equals the target distance value.

In a velocity/acceleration pattern as the one below, the final movement value equals the total
area.

Speed

Area= Distance

Movement distance
(+)

Time
Movement distance
(-)

4-1
 4. Indexing Position Operation

 Velocity

You can set the target velocity (Unit: UU/s) of index operation.

Velocity is set to a positive (+) value regardless of Distance, and the sign of the target
velocity is determined by the sign of Distance.

If the Distance value is not enough when compared to Velocity or Acceleration, a triangular
pattern could be formed in which the index cannot reach the target velocity.

Target speed
Speed = +2000[UU/s]

Distance(+)

Time
A pattern when Distance is
insufficient Distance (-)

Target speed
= -2000[UU/s]

 Acceleration and Deceleration

You can set Acceleration and Deceleration for index operation. The device supports an
asymmetrical Acceleration/Deceleration operation, in which Acceleration and Deceleration
are set to different values.

In the below figure, when the settings are Velocity = 1000 [UU/s], Acceleration = 10000
[UU/s2], and Deceleration = 20000 [UU/s2], Acceleration time period and Deceleration time
period needed to reach the target velocities are 100 [ms] = (1000 [UU/s] / 10000 [UU/s2]),
50[ms] = (1000 [UU/s] / 20000 [UU/s2]), respectively.

Speed
Asymmetrical Acceleration/
1000[UU/s] Deceleration pattern

Acceleration Deceleration
= 10000[UU/s2] = 20000[UU/s2]

Time
Acceleration time Deceleration time
= 100[ms] = 50[ms]

 Registration Distance and Registration Velocity

When the index type is Registration Absolute or Registration Relative, you can change
operation velocity and movement distance according to REGT signal input from the outside.

Movement distance after REGT signal input is determined by Registration Distance.

Below are the definitions of Registration Distance and Registration Velocity.

4-2
 4. Indexing Position Operation

 Registration Distance

Movement distance after REGT signal input from outside (Unit: UU)

 Registration Velocity

Target velocity after REGT signal input from outside (Unit: UU/s)

Acceleration and Deceleration during a velocity change in registration follow the previously
set values.

Speed

Velocity

Registration Distance
Registration (Movement distance after
Velocity REGT signal input)

Time

REGT

INPOS

4-3
 4. Indexing Position Operation

 Repeat Count

The index operates repeatedly as many times as set for the Repeat Count value.

The setting value in Dwell Time is applied during a repeated operation of an index.

Speed

Index n1 Index n1 Index n1 Index n2

Repetition 1 Repetition 2 Repetition 3
Time

START

INPOS

 Dwell Time

You can set the waiting time period between index operations (Unit: ms).

The set Dwell Time is applied after generation of the index operation pattern is completed as
shown in the example in the figure below.

Speed

Index n1 Index n2 Index n3

Time
100[ms] 150[ms]

START

INPOS

4-4
 4. Indexing Position Operation

 Next Index

When Action of the index is set to Next Index (setting value 2), you can set the number of the
index to be automatically run after the end of the current index operation.

For details, refer to the description of Next Index for Action.

 Action

In the Indexing Position Mode, you can use the following 3 methods according to the index
operation Action.

 STOP

When Action of the index is set to Stop (Setting Value 0), the entire sequence ends after the end of
the current index’s operation.

When START signal is input from outside, Indexing Position operation starts from the index (0~63)
set in Start Index (0x3008).

Speed

Index n1 Index n2 Index n3

Time

START

INPOS

EOS

4-5
 4. Indexing Position Operation

 Wait for Start

When Action of the index is set to Wait for Start (Setting Value 1), the index after the current one
follows START signal input and starts to operate when the current index operation ends.

The index that operates when START signal is input is determined by ISEL0~5 (Index Select)
signal. Here, the value set in Next Index is irrelevant.

Speed

Index n1 Index n2 Index n3

Time

START

ISEL0~5 n2 n3

INPOS

EOS

 Next Index

When Action of the index is set to Next Index (Setting Value 2), the index set in Next Index
automatically operates after the end of the current index operation.

Operation can start automatically with the previously input index even if the digital input signal
(START, ISEL0~5) is not entered.

Speed

Index 1

Index 1 Index 3 Index 5

Index 3
Next Index:3 Next Index:5 Next Index ... Time

Index 5

START

Index ...
INPOS

4-6
 4. Indexing Position Operation

 Action setting example

With a combination of Wait for Start and Next Index settings, the sectioned sequence shown in the
below figure can be structured.

Here, Action of Index 3 must be set to Wait for Start.

X : Don t Care
Speed

Index 5
or
Index 1 Index 3 Index 7 Index 1

Index 1
Time

Index 3
START

ISEL0~5 X 5 or 7 X Index 5 Index 7

INPOS

EOS

4-7
 4. Indexing Position Operation

4.2 Index Type

L7C drive supports 11 Index Types in total, which are described below.

4.2.1 Absolute/Relative Move

These are the most basic PTP (Point-to-Point) operation methods in which an absolute or
relative movement is made according to the set velocity and acceleration values.

 Absolute Move

The movement distance is determined by subtracting the current position value from the
input Distance value. (=Distance - Current Position)

ex) Absolute Move is performed with current position value = 500 and Distance = 1000

Speed Absolute Move

Movement distance
= 500[UU] (=1000[UU] - 500[UU] )

Time

 Relative Move

The movement distance equals the Distance value.

ex) Relative Move is performed with current position value = 500 and Distance = 1000

Speed Relative Move

Movement distance
= 1000[UU]

Time

4-8
 4. Indexing Position Operation

4.2.2 Registration Absolute/Relative Move

You can change the operation velocity and target distance according to the REGT signal
input from outside.

This is a similar function to motion pattern generation in VP-3 (positioning after feeder and
sensor operation), a past drive model of the company.

 Registration Absolute Move

Absolute Move is run with the value set for Distance. It operates with Distance and Velocity
values in Registration Distance/Velocity set after REGT signal input during movement.
Movement distance after REGT signal input is determined by the value set in Registration
Distance.

 Registration Relative Move

Relative Move is run with the value set for Distance. It operates with Distance and Velocity
values in Registration Distance/Velocity set after REGT signal input during movement.
Movement distance after REGT signal input is determined by the value set in Registration
Distance.

Speed

Velocity

Area:
Registration Movement distance after REGT
Velocity signal input

Time

REGT

INPOS

4-9
 4. Indexing Position Operation

4.2.3 Blending Absolute/Relative Move

This is an operation method which uses a single operation pattern which combines
consecutive indexes.

Each index does not stop to 0 velocity at its end, and the operation is passed on to the next
index.

Speed

Index n1 Index n2 Index n3

Time

START

INPOS

Speed

Index n1 Index n2 Index n3

Time

START

INPOS

4-10
 4. Indexing Position Operation

4.2.4 Rotary Absolute/Relative Move

 Rotary Absolute Move

This function is available only when the coordinate system is set to the rotary method.

The direction of rotation is determined by the relationship between the starting position and
the command position. If the starting position value is smaller than the command position
value, the rotation runs in the forward direction, and for the opposite case, it runs in the
reverse direction. Here, the movement is not necessarily made by the shortest distance.

You can input a value greater than a revolution (Value set in Modulo Factor: 0x240C) or a
negative value (-90o equals 270o when Modulo Factor is 360o). In this case, the final position
is set in consideration of Modulo Factor. Putting in a negative value in such a case is useful
because the index can pass the 0 point in its reverse rotation.

Depending on the command value, rotation can exceed a revolution.

The following figure shows an example of a forward rotation from 30o to 240o and a reverse
rotation from 300o to 240o.

0°
30°

300°

270° 90°

240°

180°

4-11
 4. Indexing Position Operation

 Rotary Relative Move

This function is available only when the coordinate system is set to the rotary method.

If the command Distance value is positive (+), the index moves in the positive direction, and
if the value is negative (-), it moves in the negative direction. You can input a value greater
than a revolution (Value set in Modulo Factor: 0x240C) and rotation can exceed a revolution
depending on the command value.

The following figure shows an example of a +180o movement from 30o to 210o and a -120o
movement from 30o to -90o.

0°
30°

-90° 90°

210°
180°

4.2.5 Rotary Shortest Move

This function is available only when the coordinate system is set to the rotary method.

The shorter of the forward and reverse directions becomes the movement direction.

Rotation runs only within a revolution (Value set in Modulo Factor: 0x240C). The Distance
value is treated as an absolute value.

The following figure shows an example of movements in the shorter direction in a reverse
rotation from 30o to 310o and in a forward rotation from 30o to 180o.

0° 0°
30° 30°

310°
60° 60°

270° 90° -90° 90°

240° 240°

210° 210°
180° 180°

4-12
 4. Indexing Position Operation

4.2.6 Rotary Positive/Negative Move

 Rotary Positive Move

This function is available only when the coordinate system is set to the rotary method.

The index always moves in the forward (+) direction regardless of the starting position and
command position (Distance).

Rotation runs only within a revolution (Value set in Modulo Factor: 0x240C). The Distance
value is treated as an absolute value.

The following figure shows an example of movements in the forward rotation from 300o to
30o and from 30o to 180o.

0°
30°

300°

270° 90°

180°

4-13
 4. Indexing Position Operation

 Rotary Negative Move

This function is available only when the coordinate system is set to the rotary method.

The index always moves in the reverse (-) direction regardless of the starting position and
command position (Distance).

Rotation runs only within a revolution (Value set in Modulo Factor: 0x240C). The Distance
value is treated as an absolute value.

The following figure shows an example of reverse rotation from 60o to 340o and from 340o to
180o.

0°
340°

60°

270° 90°

180°

4-14
 4. Indexing Position Operation

4.3 Function of Index Input Signal

 PAUSE

PAUSE (Rising edge) input during index operation temporarily stops current index operation.

Another input of PAUSE (Rising edge) performs movement of the remaining distance.

The INPOS signal is output when the value of Following Error is lower than that of Following
Error Window [0x301D].

The EOS signal is output when movement for the remaining index distance is completed
after PAUSE is re-input.

Speed

Remaining
=
Distance after
Distance after
PAUSE release
PAUSE input
Time

START

SVON

PAUSE

EOS

INPOS

4-15
 4. Indexing Position Operation

 STOP

STOP (Rising edge) input stops the movement using the stop deceleration (0x6085) and
terminates the index operation sequence.

Input of the START signal resumes the operation from the index set in Start Index (0x3008).

However, if Start Index (0x3008) is set to 64, Start Index is set to the value at ISEL0~5.

Speed Deceleration pattern

after STOP input

Original deceleration pattern

Time

START

SVON

STOP

4-16
 4. Indexing Position Operation

 HSTART (Homing Start), ORG (Completion signal of homing operation)

HSTART (Rising edge) input activates homing. Any HSTART input signal during homing is
ignored.

When the homing is completed, the ORG (Origin: homing complete) signal is output. When
homing is initiated, the ORG signal is reset to 0.

Speed

Switch search
speed

CCW

CW Time
Zero search
speed
Switch search
speed

HSTART

POT

HOME

Index (Z) pulse

ORG

4-17
 4. Indexing Position Operation

 JSTART/JDIR

During machine adjustment, home position adjustment, etc., you can use JOG operation for
movement to a certain position. A JSTART signal input from outside starts JOG operation,
and a JDIR signal input from outside can change the direction of rotation to run the servo
motor. To stop operation, it is advisable to use the STOP signal input from outside. When the
JSTART signal is turned on, the index is in the Velocity Control Mode, and when it is off, the
mode switches to the operation mode.

Related Object Names Settings

Jog Operation Speed (0x2300)

Speed command acceleration

time (0x2301)

Speed command deceleration Refer to Section 10.4, “Velocity Control Settings.”

time (0x2302)

Speed command S curve time

(0x2303)

 Servo motor rotation direction

Speed
+Jog operation
Speed

Time

-Jog operation
Speed

JSTART

STOP

JIDR

TGON

Forward Reverse

4-18
 4. Indexing Position Operation

4.4 Function of Index Output Signal

 EOS (Index Sequence Complete)

When Action of the index is Stop or Wait for Start, the EOS (End of Sequence) signal is
output when the index operation ends. EOS signal is output based on Position Demand
Value. For example, EOS is output if Position Demand Value reaches the target position and
Position Actual Value has not reached the target position while the motor is moving from 0
[UU] to 52428800 [UU].

Speed

Index n1 Index n2 Index nn

Time

START

INPOS

EOS

4-19
 4. Indexing Position Operation

 IOUT0~5 (Index Output 0~5)

The number of the index in operation is output through IOUT0~5. The output status operates
according to the setting values of parameter 0x300A as shown below.

0x300A IO Signal Configuration ALL

PDO
Variable Accessi Variable Savin
Setting Range Initial Value Unit Assignm
Type bility Attribute g
ent

UINT 0 to 5 0 - RW No Always Yes

I/O Signal Configuration [0x300A]

7Bit 6Bit 5Bit 4Bit 3Bit 2Bit 1Bit 0Bit

0 0 0 0 0 0 0 1

Setting Values Setting Details

The applicable IOUT signal is output during Indexing Position
0 operation. When Indexing Position operation is completed, the
completed IOUT signal is output.
The previously completed IOUT signal is output during Indexing
1 Position operation. When Indexing Position operation is completed,
the completed IOUT signal is output.

■ Setting Value: 0

Speed

Index 5 Index 25 Index 34 Index 63

Time
5 = 000101b 25 = 011001b 34 = 100010b 63 = 111111b

IOUT0 ON ON OFF ON

IOUT1 OFF OFF ON ON

IOUT2 ON OFF OFF ON

IOUT3 OFF ON OFF ON

IOUT4 OFF ON OFF ON

IOUT5 OFF OFF ON ON

4-20
 4. Indexing Position Operation

■ Setting Value: 1

Speed

Index 5 Index 25 Index 34 Index 63

Time
5 = 000101b 25 = 011001b 34 = 100010b 63 = 111111b

IOUT0 OFF ON OFF ON

IOUT1 OFF ON

IOUT2 OFF ON OFF ON

IOUT3 OFF ON OFF ON

IOUT4 OFF ON OFF ON

IOUT5 OFF ON

The current index position output signals are initialized when the operation mode is changed
or the SVON signal is turned off (Motor free-run state). The initialized output state is identical
to the operation status output of the number 0 index, which is why it is advisable to start with
Index 1 whenever possible.

4-21
 4. Indexing Position Operation

4.5 Analog Velocity Override

Sub Variable PDO
Index Names Accessibility Unit
Index Types Assignment

0x220F - Analog Velocity Override Mode UINT RW Yes -

Analog Velocity Input

0x2215 - INT RW Yes mV
(command/override) Offset

As shown in the below figure, you can override the velocity of the index according to analog
input during Indexing Position operation. This function is applied when the Analog Velocity
Override Mode (0x220F) is enabled. You can enable the Analog Velocity Override offset
(0x2215) to adjust the offset of input voltage. The unit is [mV].

Index 00 ~ 63
Index 00~63
Velocity 0x3100:03 Velocity
[UU/s]
Analog Input1
...

...

12bit A/D
SPDCOM Analog Velocity
Velocity 0x313F:03
Override Trajectory
SPDCOM Mode 0x220F Generator

Offset 0x2215

Index 00 ~ 63
Index 00~63
Velocity 0x3100:03 Velocity
[UU/s]
Analog Input1
...

...

12bit A/D
SPDCOM Analog Velocity
Velocity 0x313F:03
Override Trajectory
SPDCOM Mode 0x221E Generator

Offset 0x221F

4-22
 4. Indexing Position Operation

 SPDCOM (Analog Velocity Override)

The Analog Velocity Override function is operated with the voltage versus velocity graph as
the example below, according to the setting value of Analog Velocity Override Mode
[0x220F]. For the operation velocity setting value, a 0[%] velocity override is applied for a -
10[V] input, a 100[%] for a 0[V] input, and a 200[%] for a 10[V] input.

Setting Values Setting Details

0 Analog Velocity Override is not used
1 Analog Velocity Override is used (-10[V]~10[V])
2 Analog Velocity Override is used (0[V]~10[V])

Analog input Analog input

voltage voltage

+10V (200%) +10V (200%)

0V

(100%) Override

-10V
(0%) 0V
(0%) Override

For 0x220F: 1 For 0x220F: 2

 Related Objects

Sub Variable PDO

Index Names Accessibility Unit
Index Types Assignment

0x220F - Analog Velocity Override Mode UINT RW Yes -

Analog Velocity Input

0x2215 - INT RW Yes mV
(command/override) Offset

4-23
 4. Indexing Position Operation

4.6 Example of Indexing Operation Configuration

Diagram
Digital input
Digital output
(DO1)
+24V IN 50 38 ALARM+
3.92kΩ
DC 24V 39 ALARM-
(DI1)
SVON 47 (DO2)
40 RDY+
(DI2)
ISEL0 23
41 RDY-
(DI3)
ISEL1 22
(DO3)
(DI4) 43 EOS
ISEL2 21
(DI5)
A-RST 17
(DI6) (DO4)
START 46 44 BRAKE
(DI7)
POT 20
(DI8)
NOT 19 (DO5)
45 INPOS1
EMG 18 (DI9)

(DIA)
STOP 48
note) (DO6)
16 ALO0

note) (DO7)
15 ALO1

INHIBIT **
ISEL3 ** note) (DO8)
14 ALO2
ISEL4 **
ISEL5 ** 25 GND24
PCON ** 24 GND24
GAIN2 **
PCL ** ** ORG
NCL ** ** ZSPD
H-START ** CN1 ** TGON
PAUSE ** ** TLMT
ABS_RQ ** ** VLMT
JSTART ** ** INSPD
JDIR ** ** WARN
PCLR ** ** INPOS2
AOVR ** ** IOUT0
EGEAR1 ** ** IOUT1
EGEAR2 ** ** IOUT2
LVSF1 ** ** IOUT3
LVSF2 ** ** IOUT4
ABS_RESET ** ** IOUT5

Encoder output
32 AO
Upper level controller

33 /AO

30 BO

31 /BO

4 ZO

5 /ZO

Open collector
RS-422
Analog input
2 TXD+
-10V~+10V
TRQCOM 1
3 TXD-
AGND 8
6 RXD+
-10V~+10V
SPDCOM 27
7 RXD-
AGND 8

4-24
 5. Pulse Input Position Operation

5. Pulse Input Position Operation

Control operation of Pulse Input Position is possible using the upper level controller which
has the positioning function.

For this, you must set the control mode [0x3000] to 1.

The internal block diagram of the Pulse Input Position Control Mode is as follows.

Servo Drive
Pulse Input Position Mode
Upper Level Controller Pulse Input
(A phase) 0x2629 0x2624
Position Dema nd Position Dema nd
Pulse Input Setup Val ue [UU] Inte rnal Value [pulse]
XGT C Encoder
PF+/PF-
1 Motor rev. +
Pulse Position
PR+/PR- Count Control Motor
2 Shaft rev. -
x4
Gear Ratio
Pulse Input
(B phase)

Pulse Input Logic X4 : PHASE

(0x3003) X1 : PLS/DIR

Position Actual Value Gear Ratio

8
(0x262A) Inverse
0x2625
Position Actua l
Inte rnal Value [pulse]

5-1
 5. Pulse Input Position Operation

5.1 Pulse Input Logic Function Setting

You can set the logic of the pulse train input from the upper level controller. The following are
the forms of input pulses and the rotation directions of the logic.

Setting Values Setting Details

0 Phase A + Phase B, positive logic
1 CW + CCW, positive logic
2 Pulse + Sign, positive logic
3 Phase A + Phase B, negative logic
4 CW + CCW, negative logic
5 Pulse + Sign, negative logic

PF + PR Forward rotation Reverse rotation

PULS PULS
Phase A
+Phase B (I/O-9) (I/O-9)
Positive 0
SIGN SIGN
logic
(I/O-11) (I/O-11)

PULS PULS
CW L Level
+CCW (I/O-9) (I/O-9)
Positive 1
SIGN SIGN
logic L Level
(I/O-11) (I/O-11)

PULS PULS
Pulse
+Direction (I/O-9) (I/O-9)
Positive 2
SIGN SIGN L Level
logic H Level
(I/O-11) (I/O-11)

PF + PR Forward rotation Reverse rotation

PULS PULS
Phase A
+Phase B (I/O-9) (I/O-9)
Negative 3
logic
SIGN SIGN
(I/O-11) (I/O-11)

PULS PULS
CW H Level
+CCW (I/O-9) (I/O-9)
Negative 4
logic SIGN SIGN
H Level
(I/O-11) (I/O-11)

PULS PULS
Pulse
+Direction (I/O-9) (I/O-9)
Negative 5
SIGN SIGN
logic L Level H Level
(I/O-11) (I/O-11)

 Related Objects

Sub Variable PDO

Index Name Accessibility Unit
Index Type Assignment

0x3003 - Pulse Input Logic Select UINT RW No -

5.2 Pulse Input Logic Function Setting

You can set the frequency band of the digital filter set for the pulse input. You can use the function
for the purpose of reducing wiring noise.
5-2
 5. Pulse Input Position Operation

The frequency bands are determined based on the input pulse width in accordance with the digital
filter's characteristics. Default value is 7 which is possible to filter below 1.6[MHz]. If input frequency
is over 1.6[MHz], input pulses should be blocked. So value of setting details has to be changed.

Setting Values Setting Details

0 50[MHz](NO Filter)
1 25[MHz]
2 12.5[MHz]
3 6.25[MHz]
4 4.167[MHz]
5 3.125[MHz]
6 2.083[MHz]
7 1.562[MHz] (Default)
8 1.042[MHz]
9 0.781[MHz]
10 625[kHz]
11 521[kHz]
12 391[kHz]
13 313[kHz]
14 260[kHz]
15 195[kHz]

 Related Objects

Sub Variable PDO

Index Name Accessibility Unit
Index Type Assignment

0x3004 - Pulse Input Filter Select UINT RW No -

5-3
 5. Pulse Input Position Operation

5.3 Function Setting of PCLEAR

You can set the operation mode during input of position pulse clear (PCLR) signal. When the
PCLR signal is input, the position tolerance inside the drive is set to 0.

Setting Values Setting Details

0 Operate in Edge Mode
1 Operate in Level Mode (Torque: maintained)
2 Operate in Level Mode (Torque: 0)

 Related Objects

Sub Variable PDO

Index Name Accessibility Unit
Index Type Assignment

0x3005 - PCLEAR Mode Select UINT RW No -

5.4 Function Setting of INHIBIT

INHIBIT is a function that interrupts command pulse counting.

When the command pulse inhibit (INHIB) signal is input, the operation mode is set in I/O
Configuration (0x2200~). This function is only active in PulseInputPosition operation. The
input pulses generated after INHIB signal input do not count as command pulses.

Setting Values Setting Details

ON Turns on the command pulse inhibit function to block input pulses.
OFF Turns off the command pulse inhibit function to count input pulses.

Input pulse

Command pulse

Input pulses do not count as a command pulse.

5-4
 5. Pulse Input Position Operation

5.5 Example of Pulse Drive Mode Configuration

Diagram
Digital input
Digital output
(DO1)
+24V IN 50 38 ALARM+
3.92kΩ
DC 24V 39 ALARM-
(DI1)
SVON 47 (DO2)
40 RDY+
(DI2)
PCLR 23
41 RDY-
(DI3)
EGEAR1 22
(DO3)
(DI4) 43 ZSPD
PCON 21
(DI5)
EGEAR2 17
(DI6) (DO4)
A-RST 46 44 BRAKE
(DI7)
POT 20
(DI8)
NOT 19 (DO5)
45 INPOS1
EMG 18 (DI9)

(DIA)
STOP 48
Note) (DO6)
16 ALO0

Note) (DO7)
15 ALO1

Note) (DO8)
14 ALO2

25 GND24
GAIN2 ** 24 GND24
PCL **
NCL ** ** ORG-
H-START ** ** TGON-
ABS_RQ ** CN1 ** TLMT-
JSTART ** ** INPOS2
LVSF1 ** ** VLMT
LVSF2 ** ** INSPD
INHIBIT ** ** WARN
ABS_RESET **

Command pulse input Encoder output

PULCOM 49 32 AO
Upper level controller

33 /AO
PF+ 9

PF- 10 30 BO
Upper Line drive
level PR+ 11 31 /BO
controller
PR- 12 4 ZO

5 /ZO

Open collector
RS-422
Analog input
2 TXD+
-10V~+10V
A-TLMT 1
Analog torque input 3 TXD-
(Command/limit)
AGND 8
6 RXD+

7 RXD-

5-5
 5. Pulse Input Position Operation

5.5.1 Example of Connection with PLC Devices

5.5.1.1 LS ELECTRIC XGF-PO1/2/3A (Open Collector)
DC 24V Power for I/O
L7C
XGF-PO1/2/3A
(Open Collector)
+24V GND24 +24V IN

+24V IN 50 Note 1)
(DO1)
PULCOM 49 38 ALARM+
24V 39
1.5K
39 ALARM-
P COM 40
(DO3)
43 ZSPD
FP+ 21 PF- 10 1.5K
(DO4)
44 BRAKE
FP- 22
(DO5)
45 INPOS
RP+ 23 PR- 12
16 ALO0
RP- 24 Encoder phase
Twisted
Z output 15 ALO1
Pair
HOME +5V 37 ZO 4
14 ALO2
HOME COM 38 /ZO 5
+24V IN 25 GND24
Digital input 3.3kΩ
+24V
24 GND24
OV+ 25 STOP 48 (DIA)
OV- 26 EMG 18 (DI9)
** TLMT
STOP 27 NOT 19 (DI8)
** VLMT
DOG 28 POT 20 (DI7)
** INSPD
VTP 29 DIR 46 (DI6)
** WARN
ECMD 30 A-RST 17 (DI5)
JOG- 31 EGEAR1 21 (DI4)

EGEAR2 22 (DI3)
COM 32 (DI2)
PCLR 23
SVON 47 (DI1)
5V
MPG A+ 1
A
MPG A- 2 PCON **
B
MPG B+ 3
0V
GAIN2 ** CN1 34 +12VA

MPG B- 4 35 -12VA
H-START **
Manual pulse ABS_RQ ** Encoder pulse output
generator
+24V JSTART **
LVSF1 ** 32 AO
CON 7 LVSF2 ** 33 /AO
EMG 8 PCL **
COM 10 NCL ** 30 BO

ABS_RESET ** 31 /BO
DR/INP COM 34
(DO2)
DR/INP 33 RDY+ 40

RDY- 41
-10V ~ +10V
Ana log
TRQCOM 1
torque limit
GND 8

(CN1 Case) F.G

F.G

This is an example of a wiring diagram for a single shaft. For wiring with 2 or 3 shafts, refer to the pin
arrangement for the positioning module.

5-6
 5. Pulse Input Position Operation

5.5.1.2 XGF-PD1/2/3A (Line Driver)

DC 24V Power for I/O
L7C
XGF-PD1/2/3A
(Line Driver)
+24V GND24 +24V IN

+24V IN 50 Note 1)
(DO1)
Twisted 38 ALARM+
Pair
FP+ 21 PF+ 9 39 ALARM-

FP- 22 PF- 10 (DO3)

43 ZSPD
RP+ 23 PR+ 11 (DO4)
44 BRAKE
RP- 24 PR- 12 (DO5)
45 INPOS

Encoder phase 16 ALO0

Twisted Z output
Pair
HOME +5V 37 ZO 4 15 ALO1

HOME COM 38 /ZO 5 14 ALO2

+24V IN
3.3kΩ 25 GND24
+24V Digital input
(DIA) 24 GND24
OV+ 25 STOP 48
OV- 26 EMG 18 (DI9)
(DI8) ** TLMT
STOP 27 NOT 19
(DI7) ** VLMT
DOG 28 POT 20
(DI6) ** INSPD
VTP 29 DIR 46
(DI5) ** WARN
ECMD 30 A-RST 17
JOG- 31 EGEAR1 21 (DI4)

EGEAR2 22 (DI3)
COM 32
PCLR 23 (DI2)

SVON 47 (DI1)
5V
MPG A+ 1
A
MPG A- 2 PCON **
B
MPG B+ 3
0V
GAIN2 ** CN1 34 +12VA
MPG B- 4 35 -12VA
H-START **
Manual pulse ABS_RQ ** Encoder pulse output
generator +24V
JSTART **
LVSF1 ** 32 AO
CON 7 LVSF2 ** 33 /AO
EMG 8 PCL **
COM 10 NCL ** 30 BO
ABS_RESET ** 31 /BO
DR/INP COM 34
(DO2)
DR/INP 33 RDY+ 40 36 SG
RDY- 41
-10V ~ +10V
Ana log
TRQCOM 1
torque limit
GND 8

(CN1 Case) F.G

F.G

This is an example of a wiring diagram for a single shaft. For wiring with 2 or 3 shafts, refer to the pin
arrangement for the positioning module.

5-7
 5. Pulse Input Position Operation

5.5.1.3 XGF-PO1/2/3/4H (Open Collector)

DC 24V Power for I/O
L7C
XGF-PO1/2/3/4H
(Open Collector)
+24V GND24 +24V IN

+24V IN 50 Note 1)
24V 1A (DO1)
PULCOM 49 38 ALARM+
24V 1C
1.5K
P COM 1B 39 ALARM-
P COM 1D
(DO3)
43 ZSPD
FP+ 18A PF- 10 1.5K
(DO4)
44 BRAKE
FP- 17A
16 ALO0
RP+ 16A PR- 12
15 ALO1
RP- 15A Encoder phase
Twisted Z output 14 ALO2
Pair
HOME +5V 3A ZO 4
25 GND24
HOME COM 2A /ZO 5

+24V IN ** TLMT
Digital input 3.3kΩ
** VLMT
+24V
OV+ 14A STOP 48 (DIA) ** INSPD
OV- 13A EMG 18 (DI9) ** WARN
DOG 12A NOT 19 (DI8)
EMG/STOP 11A POT 20 (DI7)
VTP 10A JDIR 46 (DI6)

A-RST 17 (DI5)
COM 9A (DI4)
EGEAR1 21
EGEAR2 22 (DI3)
5V PCLR 23 (DI2)
MPG A+ 20A
A SVON 47 (DI1)
MPG A- 20B
B
MPG B+ 19A PCON **
MPG B- 19B
0V
GAIN2 ** CN1 34 +12VA
35 -12VA
Manual pulse H-START **
generator ABS_RQ ** Encoder pulse output
JSTART **
32 AO
LVSF1 **
LVSF2 ** 33 /AO
+24V PCL **
30 BO
NCL **
DR/INP COM 6A ABS_RESET ** 31 /BO
(DO2)
DR 8A RDY+ 40
36 SG
RDY- 41
(DO5)
INP 7A INPOS 45

GND 24
-10V ~ +10V
Ana log
TRQCOM 1
torque limit
GND 8

(CN1 Case) F.G

F.G

This is an example of a wiring diagram for a single shaft. For wiring with 2, 3, or 4 shafts, refer to the pin
arrangement for the positioning module.

5-8
 5. Pulse Input Position Operation

5.5.1.4 XGF-PD1/2/3/4H (Line Driver)

DC 24V Power for I/O
L7C
XGF-PD1/2/3/4H
(Line Driver)
+24V GND24 +24V IN
24V 1A
24V 1C +24V IN 50 Note 1)
(DO1)
P COM 1B 38 ALARM+
P COM 1D Twisted
Pair 39 ALARM-
FP+ 18A PF+ 9
(DO3)
43 ZSPD
FP- 17A PF- 10
(DO4)
44 BRAKE
RP+ 16A PR+ 11
16 ALO0
RP- 15A PR- 12
15 ALO1
Encoder phase
Twisted 14 ALO2
Z output
Pair
HOME +5V 3A ZO 4
25 GND24
HOME COM 2A /ZO 5

+24V IN ** TLMT
Digital input 3.3kΩ
** VLMT
+24V
OV+ 14A STOP 48 (DIA) ** INSPD
OV- 13A EMG 18 (DI9) ** WARN
DOG 12A NOT 19 (DI8)
EMG/STOP 11A POT 20 (DI7)
VTP 10A DIR 46 (DI6)

A-RST 17 (DI5)
COM 9A (DI4)
EGEAR1 21
EGEAR2 22 (DI3)
5V PCLR 23 (DI2)
MPG A+ 20A
A SVON 47 (DI1)
MPG A- 20B
B
MPG B+ 19A PCON **
MPG B- 19B
0V
GAIN2 ** CN1 34 +12VA
35 -12VA
Manual pulse H-START **
generator ABS_RQ ** Encoder pulse output
JSTART **
32 AO
LVSF1 **
LVSF2 ** 33 /AO
+24V PCL **
30 BO
NCL **
DR/INP COM 6A ABS_RESET ** 31 /BO
(DO2)
DR 8A RDY+ 40
36 SG
RDY- 41
(DO5)
INP 7A INPOS 45

GND24 24
-10V ~ +10V
Ana log
TRQCOM 1
torque limit
GND 8

(CN1 Case)
F.G

F.G

This is an example of a wiring diagram for a single shaft. For wiring with 2, 3, or 4 shafts, refer to the pin
arrangement for the positioning module.

5-9
 5. Pulse Input Position Operation

5.5.1.5 XBF-PD2A (Line Driver)

DC 24V Power for I/O
L7C
XBF-PD02A
(Line Driver)
+24V GND24 +24V IN
24V 1A
24V 1C +24V IN 50
(DO1)
P COM 1B 38 ALARM+
P COM 1D Twisted
Pair 39 ALARM-
FP+ A18 PF+ 9
(DO3)
43 ZSPD
FP- A17 PF- 10
(DO4)
44 BRAKE
RP+ A16 PR+ 11
16 ALO0
RP- A15 PR- 12
15 ALO1
Encoder
Twisted phase Z output 14 ALO2
Pair
HOME +5V A3 ZO 4
25 GND24
HOME COM A2 /ZO 5

+24V IN ** TLMT
Digital input 3.3kΩ
+24V ** VLMT
OV+ A14 STOP 48 (DIA) ** INSPD
OV- A13 EMG 18 (DI9) ** WARN
DOG A12 NOT 19 (DI8)

POT 20 (DI7)

JDIR 46 (DI6)
COM A9
A-RST 17 (DI5)

EGEAR1 21 (DI4)

EGEAR2 22 (DI3)
5V PCLR 23 (DI2)
MPG A+ B20
A SVON 47 (DI1)
MPG A- A20
B
MPG B+ B19 PCON **
MPG B- A19
0V
GAIN2 ** CN1 34 +12VA
35 -12VA
H-START **
Manual pulse
generator ABS_RQ ** Encoder pulse output
JSTART **
32 AO
LVSF1 **
LVSF2 ** 33 /AO
PCL **
30 BO
NCL **
ABS_RESET ** 31 /BO
+24V (DO2)
RDY+ 40
36 SG
INP A7 RDY- 41
(DO5)
INP COM A6 INPOS 45

GND24 24
-10V ~ +10V
Ana log
TRQCOM 1
torque limit
GND 8

(CN1 Case)
F.G

F.G

This is an example of a wiring diagram for a single shaft. For wiring with 2 shafts, refer to the pin
arrangement for the positioning module.

5-10
 5. Pulse Input Position Operation

5.5.1.6 XBM-DN**S (Open Collector)

DC 24V Power for I/O
L7C
XBM-DN**S
(Open Collector)
+24V GND24 +24V IN

+24V IN 50
(DO1)
PULCOM 49 38 ALARM+
1.5K
39 ALARM-
+24V DC24
(DO3)
43 ZSPD
Pulse P20 PF- 10 1.5K
(DO4)
Output 44 BRAKE
COM
Common
16 ALO0
Direction P22 PR- 12
Output 15 ALO1
COM
Common Encoder phase
Z output 14 ALO2
ZO 4
25 GND24
/ZO 5

+24V IN ** TLMT
Digital input 3.3kΩ
** VLMT
HOME P05 STOP 48 (DIA) ** INSPD
DOG P04 EMG 18 (DI9) ** WARN
Limit L P01 NOT 19 (DI8)

Limit H P00 POT 20 (DI7)

JDIR 46 (DI6)
Input
Common
COM0
A-RST 17 (DI5)

EGEAR1 21 (DI4)

EGEAR2 22 (DI3)

PCLR 23 (DI2)

SVON 47 (DI1)

PCON **
GAIN2 ** CN1 34 +12VA
35 -12VA
H-START **
ABS_RQ ** Encoder pulse output
JSTART **
32 AO
LVSF1 **
LVSF2 ** 33 /AO
PCL **
30 BO
NCL **
ABS_RESET ** 31 /BO
(DO2)
RDY+ 40
36 SG
RDY- 41
(DO5)
INPOS 45

GND 24
-10V ~ +10V
Ana log
TRQCOM 1
torque limit
GND 8

(CN1 Case) F.G

F.G

This is an example of a wiring diagram for a single shaft. For wiring with 2 shafts, refer to the pin
arrangement for the positioning module.

5-11
 5. Pulse Input Position Operation

5.5.1.7 XBC/XEC-DNxxH (Open Collector)

DC 24V Power for I/O
L7C
XBC/XEC-DNxxH
(Open Collector)
+24V GND24 +24V IN

+24V IN 50
(DO1)
PULCOM 49 38 ALARM+
1.5K
39 ALARM-
+24V P
(DO3)
P20 43 ZSPD
Pulse %QX0.0.0 PF- 10 1.5K
(DO4)
Output 44 BRAKE
COM
Common

P22 16 ALO0
Direction %QX0.0.2 PR- 12
Output 15 ALO1
COM
Common Encoder phase
Z output 14 ALO2
ZO 4
25 GND24
/ZO 5

+24V IN ** TLMT
Digital input 3.3kΩ
** VLMT
HOME P0D
STOP 48 (DIA) ** INSPD
%QX0.0.13
DOG
P0C
EMG 18 (DI9) ** WARN
%QX0.0.12
Limit H P09
NOT 19 (DI8)
%QX0.0.9
Limit L
P08
POT 20 (DI7)
%QX0.0.8

JDIR 46 (DI6)
Input
Common
COM0
A-RST 17 (DI5)

EGEAR1 21 (DI4)

EGEAR2 22 (DI3)

PCLR 23 (DI2)

SVON 47 (DI1)

PCON **
GAIN2 ** CN1 34 +12VA
35 -12VA
H-START **
ABS_RQ ** Encoder pulse output
JSTART **
32 AO
LVSF1 **
LVSF2 ** 33 /AO
PCL **
30 BO
NCL **
ABS_RESET ** 31 /BO
(DO2)
RDY+ 40
36 SG
RDY- 41
(DO5)
INPOS 45

GND 24
-10V ~ +10V
Ana log
TRQCOM 1
torque limit
GND 8

(CN1 Case) F.G

F.G

This is an example of a wiring diagram for a single shaft. For wiring with 2 shafts, refer to the pin
arrangement for the positioning module.

5-12
 6. Velocity Mode

6. Velocity Mode

6.1 Velocity Command Switch Select Function

Setting
You can set the method of command to the servo drive for velocity operation.

Sub Variable PDO

Index Name Accessibility Unit
Index Type Assignment

0x231A - Velocity Command Switch Select UINT RW No -

Setting
Setting Details
Values

0 Use analog velocity commands

1 Use SPD1, SPD2 contacts and analog velocity commands

2 Use SPD1, SPD2 and SPD3 contacts and analog velocity commands

3 Use velocity commands for SPD1, SPD2 and SPD3 contacts

Analog velocity commands are used when the setting value is 1 and all applicable contacts are
turned on.

Input Devices
Velocity
SPD1 SPD2 SPD3
X X Don’t care Multi-velocity command 1 (Parameter 0x2312)
O X Don’t care Multi-velocity command 2 (Parameter 0x2313)
X O Don’t care Multi-velocity command 3 (Parameter 0x2314)
O O Don’t care Use analog velocity commands

ex) Apply an analog velocity command of 10[V] when the setting value is 2 and SPD1, SPD2
contacts are turned on

Input Devices
Velocity
SPD1 SPD2 SPD3
X X X Multi-velocity command 1 (Parameter 0x2312)
O X X Multi-velocity command 2 (Parameter 0x2313)
X O X Multi-velocity command 3 (Parameter 0x2314)
O O X Multi-velocity command 4 (Parameter 0x2315)
X X O Multi-velocity command 5 (Parameter 0x2316)
O X O Multi-velocity command 6 (Parameter 0x2317)
X O O Multi-velocity command 7 (Parameter 0x2318)
O O O Use analog velocity commands
Motor rotation operates at 100[rpm] and analog input velocity commands are ignored.

The operation velocity is set to the multi-velocity command according to the setting of parameter
0x2315.

6-1
 6. Velocity Mode

6.2 Analog Velocity Command

When the setting values for velocity command switch select are 0, 1, and 2, you can operate
velocity control by analog voltage from outside.

To input commands, apply voltage of -10[V]~+10[V] to pins 27 and 8 of the CN1 connector.

-10V~+10V
SPDCOM 27
Analog velocity input Servo drive
(Command/override) AGND 8

 Related Objects

Sub Variable PDO

Index Names Accessibility Unit
Index Types Assignment
0x2214 - Analog Velocity Command Scale UINT RW No -

Analog Velocity Input (command/override)

0x2215 INT RW No -
Offset

0x2216 - Analog Velocity Command Clamp Level UINT RW No -

Analog Velocity Command Filter Time

0x2217 - UINT RW No -
Constant

6-2
 6. Velocity Mode

 Analog Velocity Command Scale

The analog velocity command is set in the unit of [rpm] for each input of 1[V]. When the command voltage

is the opposite value, only the rotation direction needs to be changed from the (-) setting value.

Velocity

+100rpm

-1V 0V +1V Analog Input

Voltge[V]
0rpm

-100rpm

 Analog Velocity Command Clamp Level

There are cases where a certain level of voltage remains in the analog signal access circuit, even at the 0 speed

command.

Here, the 0 velocity can be maintained for the voltage command for the setting velocity value.

Velocity

Clamp Level
0 rpm
0V
Analog Input
Voltage[V]

6-3
 6. Velocity Mode

6.3 Multi-Velocity Command

When the setting values for velocity command switch select are 1, 2, and 3, you can operate
velocity control by using the internal multi-velocity of the servo drive.

To use the digital velocity command, assign digital input signals of SPD1, SPD2 and SPD3 to
the CN1 connector or control the digital input signals of SPD1, SPD2 and SPD3 via
communication.

 Velocity Settings by Digital Input Signal

Input Devices
Velocity
SPD1 SPD2 SPD3
X X X Multi-velocity command 1 (Parameter 0x2312)
O X X Multi-velocity command 2 (Parameter 0x2313)
X O X Multi-velocity command 3 (Parameter 0x2314)
O O X Multi-velocity command 4 (Parameter 0x2315)
X X O Multi-velocity command 5 (Parameter 0x2316)
O X O Multi-velocity command 6 (Parameter 0x2317)
X O O Multi-velocity command 7 (Parameter 0x2318)
O O O Multi-velocity command 8 (Parameter 0x2319)

6-4
 6. Velocity Mode

6.4 Example of Velocity Mode Configuration

Diagram
Digital input
Digital output
(DO1)
+24V IN 50 38 ALARM+
3.92kΩ
DC 24V 39 ALARM-
(DI1)
SVON 47 (DO2)
40 RDY+
(DI2)
SPD1 23
41 RDY-
(DI3)
SPD2 22
(DO3)
(DI4) 43 ZSPD
SPD3 21
(DI5)
A-RST 17
(DI6) (DO4)
JDIR 46 44 BRAKE
(DI7)
POT 20
(DI8)
NOT 19 (DO5)
45 INPOS1
EMG 18 (DI9)

(DIA)
STOP 48
Note) (DO6)
16 ALO0

Note) (DO7)
15 ALO1

Note) (DO8) 14 ALO2

25 GND24
PCON ** 24 GND24
GAIN2 **
PCL **
NCL **
H-START ** CN1 ** TGON
MODE ** ** TLMT
ABS_RQ ** ** VLMT
JSTART ** ** INSPD
PCLR ** ** WARN
** INPOS2

Analog input Encoder output

-10V~+10V
TRQCOM 1 32 AO
Upper Level Controller

AGND 8 33 /AO
-10V~+10V
SPDCOM 27 30 BO

AGND 8 31 /BO

4 ZO

5 /ZO

RS-422
2 TXD+

3 TXD-

6 RXD+

7 RXD-

6-5
 7. Torque Operation

7. Torque Operation

7.1 Analog Torque Command Scale

The analog torque command is set in the unit of [0.1%] for each input of 1[V].

Torque
10%

Analog Input
+1V Voltage[V]

+1V

-10%

The related object is the 0x2210 analog torque input (command/limit) scale, which consists of
two functions.

0x2210 Analog Torque Input (command/limit) Scale ALL

PDO
Variable Accessi Variable Savin
Setting Range Initial Value Unit Assignm
Type bility Attribute g
ent
UINT -1000 to 1000 100 0.1%/V RW No Always Yes

First, for non-torque operation

If the setting value of the torque limit function (0x2110) is 4 (analog torque limit), torque is limited
by the analog input torque limit. Here, set the scale of the analog input value.

Second, for torque-operation

For torque operation, the parameter is used as the analog torque command scale. The setting
value is set to the torque command value at the analog input voltage of ±10[V] in percentage of
the rated torque.

7.2 Velocity Setting for Torque Operation

For torque operation, the motor speed is determined according to the 0x230D Speed Limit
Function Select.
7-1
 7. Torque Operation

Setting
Setting Details
Values

0 Limited by speed limit value (0x230E) at torque control

1 Limited by the maximum motor speed

For 0x230E torque control, the default speed limit is set to 1000 [rpm].

Enter the desired velocity value before operation.

 Related Objects

Sub Variable PDO

Index Names Accessibility Unit
Index Types Assignment
0x2210 - Analog Torque Input (command/limit) Scale UINT RW No -

0x2211 - Analog Torque Input (command/limit) Offset INT RW No -

0x2212 Analog Torque Command Clamp Level INT RW No

Analog Torque Command Filter Time

0x2213 - UINT RW No -
Constant

0x230D - Speed Limit Function Select UINT RW No -

0x230E - Velocity Limit Value at Torque Control Mode UINT RW No -

7-2
 7. Torque Operation

7.3 Example of Torque Mode Configuration

Diagram

Digital input
Digital output
(DO1)
+24V IN 50 38 ALARM+
3.92kΩ
DC 24V 39 ALARM-
(DI1)
SVON 47 (DO2)
40 RDY+
(DI2)
ABS_RQ 23
41 RDY-
(DI3)
JSTART 22
(DO3)
(DI4) 43 ZSPD
HSTART 21
(DI5)
A-RST 17
(DI6) (DO4)
JDIR 46 44 BRAKE
(DI7)
POT 20
(DI8)
NOT 19 (DO5)
45 INPOS1
EMG 18 (DI9)

(DIA)
STOP 48
Note) (DO6)
16 ALO0

Note) (DO7)
15 ALO1

Note) (DO8)
14 ALO2

25 GND24
PCON ** 24 GND24
GAIN2 **
MODE ** ** ORG

CN1 ** TGON
** TLMT
** VLMT
** INSPD
** WARN
** INPOS2

Analog input
Encoder output
-10V~+10V
TRQCOM 1 32 AO
Upper Level Controller

AGND 8 33 /AO
-10V~+10V
SPDCOM 27 30 BO

AGND 8 31 /BO

4 ZO

5 /ZO

RS-422
2 TXD+

3 TXD-

6 RXD+

7 RXD-

7-3
 8. Operation Mode Switching

8. Operation Mode Switching

The device supports operation modes switching according to the setting value of L7C drive
control mode (0x3000) and digital input mode signals.

■ Control Mode (0x3000) Setting Values

Setting Values Setting Details
0 Indexing Position Mode
1 Pulse Input Position Mode
2 Velocity Mode
3 Torque Mode
4 Pulse Input Position Operation or Indexing Position Operation
5 Pulse Input Position Operation or Velocity Mode
6 Pulse Input Position Operation or Torque Mode
7 Velocity Mode or Torque Mode
8 Indexing Position Mode or Velocity Mode
9 Indexing Position Mode or Torque Mode

You can switch the operation modes by using the setting value and the MODE signal. For
example, setting the value to 7 enables operation in the velocity mode with power supply, and
a MODE signal input switches the mode to torque operation.

Control Mode MODE Signal

Setting Value OFF (Basic Operation) ON
Pulse Inp ut Position Indexing Position
4 Operation Operation
Pulse Inp ut Position
5 Operation Velocity Ope ration

Pulse Inp ut Position

6 Operation To rque Operation

7 Velocity Ope ration To rque Operation

Indexing Position
8 Operation Velocity Ope ration

Indexing Position
9 Operation To rque Operation

8-1
 8. Operation Mode Switching

 Control Mode Setting Value: 4

Pulse Input Position Operation is the basic operation, and a digital input MODE signal
switches the mode to Indexing Position Operation.

 Control Mode Setting Value: 5

This setting performs pulse input position operation as the default. When the digital input
mode signal is received, it switches to the speed operation mode.

 Control Mode Setting Value: 6

Pulse Input Position Operation is the basic operation, and a digital input MODE signal
switches the mode to Torque Operation.

 Control Mode Setting Value: 7

Velocity Operation is the basic operation, and a digital input MODE signal switches the mode
to Torque Operation.

 Control Mode Setting Value: 8

This setting performs index position operation as the default. When the digital input mode
signal is received, it switches to the speed operation mode.

 Control Mode Setting Value: 9

Indexing Position Operation is the basic operation, and a digital input MODE signal switches
the mode to Torque Operation.

8-2
 9. Homing

9. Homing
This drive provides its own homing function (return to origin). The figure below represents
the relationship between the input and output parameters for the Homing Mode. You can
specify velocity, acceleration, offset, and homing method.

Drive Control Input2(0x2120 : 03)

Homing Method(0x3018) Drive Status Output(0x2122 : 00)

Homing Speeds(0x301A/0x301B)
Homing
Position Demand Internal Value(0x2624)
Homing Acceleration(0x301C) or Position Demand Value(0x2629)

Homing Offset(0x3019)

Digital Input
Home switch
Positive limit switch
Negative limit switch

As shown in the figure below, you can set the offset between the home position and the zero
position of the machine using the home offset function. The zero position indicates the
point whose Position Actual Value (0x262A) is zero (0).

Also, keep in mind that homing can be performed only if the HSTART signal is input when
the ZSPD (Zero Speed) output includes the High signal input.

Home Offset(0x3019) Home Position

Zero Position

9-1
 9. Homing

9.1 Homing Method

The drive supports the following homing methods (0x3018).

Homing Methods
Descriptions
(0x3018)
The drive returns to the home position by the negative limit switch (NOT) and
1
the Index (Z) pulse while driving in the reverse direction.

The drive returns to the home position by the positive limit switch (POT) and the
2
Index (Z) pulse while driving in the forward direction.

The drive returns to the home position by the home switch (HOME) and the
7,8,9,10 Index (Z) pulse while driving in the forward direction. When the positive limit

switch (POT) is input during homing, the drive switches its driving direction.

The drive returns to the home position by the home switch (HOME) and the
11,12,13,14 Index (Z) pulse while driving in the reverse direction. When the negative limit

switch (NOT) is input during homing, the drive switches its driving direction.

The drive returns to the home position by the home switch (HOME) while driving
24 in the forward direction. When the positive limit switch (POT) is input during

homing, the drive switches its driving direction.

The drive returns to the home position by the home switch (HOME) while driving
28 in the reverse direction. When the negative limit switch (NOT) is input during

homing, the drive switches its driving direction.

The drive returns to the home position by the Index (Z) pulse while driving in the
33
reverse direction.

The drive returns to the home position by the Index (Z) pulse while driving in the
34
forward direction.

35 Sets the current position as the home position.

The drive returns to the home position by the negative stopper and the Index (Z)
-1
pulse while driving in the reverse direction.

The drive returns to the home position by the positive stopper and the Index (Z)
-2
pulse while driving in the forward direction.

The drive returns to the home position only by the negative stopper while driving
-3
in the reverse direction.

The drive returns to the home position only by the positive stopper while driving
-4
in the forward direction.

The drive returns to the home position only by the home switch (HOME) while driving in
-5
the reverse direction.

The drive returns to the home position only by the home switch (HOME) while driving in
-6
the forward direction.

9-2
 9. Homing

 Related Objects

Sub Variable PDO

Index Names Accessibility Unit
Index Types Assignment

0x2120 - Drive Control Input2 UINT RW Yes -

0x2122 - Drive Status Output2 UINT RO Yes -

0x3019 - Home Offset DINT RW No UU

0x3018 - Homing Method SINT RW Yes -

0x301A 1 Speed during search for switch UDINT RW Yes UU/s

0x301B 2 Speed during search for zero UDINT RW Yes UU/s

0x301C - Homing Acceleration UDINT RW Yes UU/s2

 Homing Methods 1 and 2

Reverse (CW) Forward (CCW)

1 2

Index pulse

Negative limit switch Positive limit switch

(NOT) (POT)

0x301A Speed during search for switch

0x301B Speed during search for Zero

For homing using the homing method 1, the velocity profile according to the sequence is as
follows. Refer to the description below.

9-3
 9. Homing

Homing Method ①

Speed Negative limit switch

ON Index Pulse

Zero search speed

(0x301A)

Time

(A) (B) (C)

Switch search speed
(0x301B)

(A) The initial driving direction is reverse (CW), and the drive operates at the switch search speed.

(B) When the negative limit switch (NOT) is turned on, the drive switches its direction to the forward direction (CCW) and
decelerates to the zero search speed.

(C) While operating at the zero search speed, the drive detects the first index pulse to move to the index position (Home).

 Methods 7, 8, 9 and 10

Reverse (CW) Forward (CCW)

10
8 9
7
7 10
8 9

7
8 9
10
Index pulse

Home switch

Positive limit switch

(POT)

0x301A Speed during search for switch

0x301B Speed during search for Zero

For homing using the homing method 7, the velocity profile according to the sequence is as
follows. The sequence varies depending on the relationship between the load position and
the home switch during homing, which is categorized into three cases as below. For more
information, see the details below.

(1) At the start of homing, the home switch is off and the limit is not met during operation

9-4
 9. Homing

Homing Method ⑦
Speed
Positive home switch
Index Pulse
ON

Switch search speed

(0x301A)
(A) (B) (C)

Zero search speed Time

(0x301B)

(A) The initial driving direction is forward (CCW), and the drive operates at the switch search speed.

(B) When the positive home switch is turned on, the drive decelerates to the zero search speed and switches its direction to
the reverse direction (CW).

(C) While operating at the zero search speed, the drive detects the first index pulse to move to the index position (Home).

(2) At the start of homing, the home switch is on

Homing Method ⑦
Speed

Positive
Home switch Index Pulse
OFF

Zero search speed Time

(0x301B)
(A) (B) (C)
Switch search speed
(0x301A)

(A) Since the home signal is on, the drive operates at the switch search speed in the direction of the positive home switch
(CCW). It may not reach the switch search speed depending on the start position of homing.

(B) When the home switch is turned off, the drive decelerates to the zero search speed, then continues to operate.

(C) While operating at the zero search speed, the drive detects the first index pulse to move to the index position (Home).

(3) At the start of homing, the home switch is off and the limit is met during operation

9-5
 9. Homing

Homing Method ⑦
Speed
Positive Limit switch Positive home switch
Index Pulse
ON ON
Zero search speed
(0x301B)
(A) (B) (C) (D)

Switch search speed Time

(0x301A)

Zero search speed

(0x301B)

(A) The initial driving direction is forward (CCW), and the drive operates at the switch search speed.

(B) When the positive limit switch (POT) is turned on, the drive decelerates to a stop, then operates at the switch search
speed in the reverse direction (CW).

(C) When the positive home switch is turned off, the drive decelerates to the zero search speed, then continues to operate.

(D) While operating at the zero search speed, the drive detects the first index pulse to move to the index position (Home).
Methods 8, 9, and 10 are nearly identical to method 7 in terms of homing sequence. The only differences are the initial

driving direction and the home switch polarity.

9-6
 9. Homing

The positive home switch is determined by the initial driving direction. The home switch
encountered in the initial driving direction becomes the positive home switch.

Positive Negative
Hom e Switch Hom e Switch

Hom e Switch

Initi al movement directio n: Forward (CCW)

Negative Positive
Hom e Switch Hom e Switch

Hom e Switch

Initi al movement directio n: Reverse (CW)

 Methods 11, 12, 13, and 14

Reverse (CW) Forward (CCW)

14
13 12
11
14 11
13 12

11
13 12
14
Index pulse

Home switch

Negative limit switch

(NOT)

0x301A Speed during search for switch

0x301B Speed during search for Zero

For homing using Homing Method 14, the velocity profile according to the sequence is as
follows. The sequence varies depending on the relationship between the load position and
the home switch during homing, which is categorized into three cases as below. For more
information, see the details below.

(1) At the start of homing, the home switch is off and the limit is not met during operation

9-7
 9. Homing

Homing Method ⑭
Speed

Negative home switch

Index Pulse
OFF

Zero search speed (A) (B) (C) Time

(0x301B)

Switch search speed

(0x301A)

(A) The initial driving direction is reverse (CW), and the drive operates at the switch search speed.

(B) When the negative home switch is turned off, the drive decelerates to the zero search speed, then continues to operate.

(C) While operating at the zero search speed, the drive detects the first index pulse to move to the index position (Home).

(2) At the start of homing, the home switch is on

Homing Method ⑭
Speed

Negative
Home switch
OFF Index Pulse

Zero search speed Time

(0x301B)
(A) (B) (C)
Switch search speed
(0x301A)

(A) Since the home signal is on, the drive operates at the switch search speed in the direction of the negative home switch
(CW). It may not reach the switch search speed depending on the start position of homing.

(B) When the home switch is turned off, the drive decelerates to the zero search speed, then continues to operate.

(C) While operating at zero search speed, the drive detects the first index pulse to move to the index position (Home).

(3) At the start of homing, the home switch is off and the limit is met during operation

9-8
 9. Homing

Homing Method ⑭
Speed
Negative limit switch Negative home switch
Index Pulse
ON ON

Switch search speed

(0x301A)
(A) (B) (C) (D)

Zero search speed Time

(0x301B)
Switch search speed
(0x301A)

(A) The initial driving direction is reverse (CW), and the drive operates at the switch search speed.

(B) When the negative limit switch (NOT) is turned on, the drive decelerates to a stop, then operates at the switch search
speed in the forward direction (CCW).

(C) When the negative home switch is turned on, the drive decelerates to the zero search speed, then switches its direction
to the reverse direction (CW).

(D) While operating at zero search speed, the drive detects the first index pulse to move to the index position (Home).

Methods 11, 12, and 13 are nearly identical to method 14 in terms of homing sequence. The only differences are the initial
driving direction and home switch polarity.

 Method 24

Reverse (CW) Forward (CCW)

24

24

24

Home switch

Positive limit switch

(POT)

0x301A Speed during search for switch

0x301B Speed during search for Zero

The initial driving direction is forward (CCW), and the point where the positive home switch is turned on becomes the

home position.

9-9
 9. Homing

 Method 28

Reverse (CW) Forward (CCW)

28

28

28

Home switch

Negative limit switch

(NOT)

0x301A Speed during search for switch

0x301B Speed during search for Zero

The initial driving direction is reverse (CW), and the point where the negative home switch is turned on becomes the

home position.

 Method 33 and 34

Reverse (CW) Forward (CCW)

33

34

Index pulse

0x301A Speed during search for switch

0x301B Speed during search for Zero

The initial driving direction is reverse (CW) for method 33 and forward (CCW) for method 34. The drive detects the

index pulse at the zero search speed.

9-10
 9. Homing

 Method 35

Reverse (CW) Forward (CCW)

35
Drive Control Input2
0x2120:bit3
0 1

The current position at start of homing operation becomes the home position. This method is used to make the current

position the home position according to the demand of the upper level controller.

The drive supports homing methods -1, -2, -3, and -4 apart from the standard ones. These
methods can only be used if the home switch is not used separately.

 Method -1 and -2

Reverse(CW) Forward(CCW)

-1 -2

Index Pulse

Negative Stopper Positive Stopper

0x301A Speed during search for switch

0x301B Speed during search for Zero

Homing method -1 and -2 perform homing by using the stopper and index (Z) pulse. The
velocity profile according to sequence is as follows. For more information, see the details
below.

9-11
 9. Homing

Homing Method -1

Speed
Index Pulse
Negative Stopper

Zero search speed

(0x301B)

Torque setting
(0x240 9) Time

(A) Time settin g (B) (C)

Switch search speed (0x240A)
(0x301A)

(A) The initial driving direction is reverse (CW), and the drive operates at the switch search speed.

(B) When the drive hits the negative stopper, it stands by according to the torque limit value (0x2409) and the time setting
value (0x240A) during homing using the stopper, then switches the direction.

(C) While operating at the zero search speed, the drive detects the first index pulse to move to the index position (Home).

Homing Method -2

Speed
Positive Stopper Index Pulse

Switch search speed

(0x301A) (A) (B) (C)
Torque setting
(0x2409)

Time settin g
Time
Zero search speed 0x240A
(0x301B)

(A) The initial driving direction is forward (CCW), and the drive operates at the switch search speed.

(B) When the drive hits the positive stopper, it stands by according to the torque limit value (0x2409) and the time setting
value (0x240A) during homing using the stopper, then switches the direction.

(C) While operating at the zero search speed, the drive detects the first index pulse to move to the index position (Home).

9-12
 9. Homing

 Method -3 and -4

Reverse (CW) Forward (CCW)

-3 -4

Negative Stopper Positive Stopper

0x301A Speed during search for switch

0x301B Speed during search for Zero

Homing methods -3 and -4 perform homing only by using the stopper. The velocity profile
according to sequence is as follows. For more information, see the details below.

Homing Method -3

Speed

Negative Stopper

Homing complete

Torque setting Time

0x2409
(A) Time setting (B)
Switch search speed 0x240A
(0x301A)

(A) The initial driving direction is reverse (CW), and the drive operates at the switch search speed.

(B) When the drive hits the negative stopper, it stands by according to the torque limit value (0x2409) and the time setting
value (0x240A) during homing using the stopper, then completes homing.

Homing Method -4

Speed
Positive Stopper

Switch search speed Homing complete

(0x301A) (A) (B)
Torque setting
(0x2409)
Time setting
Time
(0x240A)

(A) The initial driving direction is forward (CCW), and the drive operates at the switch search speed.

(B) When the drive hits the positive stopper, it stands by according to the torque limit value (0x2409) and the time setting
value (0x240A) during homing using the stopper, then completes homing.
9-13
 9. Homing

 Method -5 and -6
Reverse (CW) Forward (CCW)

-5 -6

Home switch Home switch

0x301A Speed during search for switch

0x301B Speed during search for Zero

Homing methods -5 and -6 perform homing only by using the stopper. The velocity profile according to sequence is
as follows. Homing is stopped when the drive meets the limit switch. For more information, see the details below:

(1) At the start of homing, the home switch is off and the limit is not met during operation

Homing Method -5

Speed

Positive home switch ON

Homing complete

(A) (B) Time

Switch search speed

(0x301A)

(A) The initial driving direction is reverse (CW), and the drive operates at the switch search speed.

(B) If the positive home switch is turned on, the drive decelerates to a stop and completes homing.

(1) At the start of homing, the home switch is off and the limit is met during operation

Homing Method -5

Speed

Negative Limit switch ON

Homing error

(A) (B) Time

Switch search speed

(0x301A)

(A) The initial driving direction is reverse (CW), and the drive operates at the switch search speed.

(B) When the negative limit switch is turned on, the drive issues a homing error and decelerates to a stop.

9-14
 9. Homing

Homing Method -6

Speed
Positive home switch ON

Switch search speed

(0x301A)

(A) (B)

Time
Homing complete

(A) The initial driving direction is forward (CCW), and the drive operates at the switch search speed.

(B) If the positive home switch is turned on, the drive decelerates to a stop and completes homing.

9-15
 10. Drive Application Functions

10. Drive Application Functions

10.1 Drive Front Panel

Display 5-digit FND data.

DIGIT5 DIGIT4 DIGIT3 DIGIT2 D IGIT1

Displays or hides the decimal point.

ex) 123.4
For 16 Bits, the minus sign is used.
For 32 Bits, lights are shown in dots

[MODE]: Switch the display mode

: Move the data digit ex) - 123.4
[UP]: Increase the displayed data
[DOWN]: Decrease the displayed data
[SET]: Finalize the displayed data
: Move the data digit

10-1
 10. Drive Application Functions

10.1.1 7-Segment for Indicating the Servo Status

7-Segment for indicating the servo status consists of 5 digits as shown below, which are in
the order of Digit 1Digit 5 from right to left.

DIGIT5 DIGIT4 DIGIT3 DIGIT2 DIGIT1

Three digits from Digit 3~1 of the 7-Segment represent the drive status as described below if
no servo alarm occurs. In the event of a servo warning occurrence, the warning status
display takes precedence over other status.

Digit 3~Digit 1 display Status details

Positive limit sensor input

Servo OFF

Negative limit sensor input

Servo ON

Servo warning W10 occurrence (Code:

10)

Digit 4 displays the current operation status and servo ready status.

10-2
 10. Drive Application Functions

TGON signal display

(OFF: Stop, ON: Rotating)

For position control:

INPOS1 signal display

For position control: Position

command input in progress

Servo ready status display

(OFF: Not ready, ON: Ready)

Digit 5 displays the current control mode status and servo on status.

Operation mode and status display

Position Control Mode:

Index , Pulse Input Homing Mode (ON: Servo ON)

In the event of a servo alarm occurrence, Digit 5~1 blink with the below display. Digit 2 and
Digit 1 represent the alarm code. The servo alarm display takes precedence over other
status.

An example of alarm status output

AL-10 (IPM Fault)

ex. 1) Limit signal input ex. 2) Servo warning occurrence

10-3
 10. Drive Application Functions

DIGIT3~1:
DIGIT3~1: Positive limit input W01 (Main power phase loss) +
W40 (Low voltage warning) occurred

DIGIT4: INPOS1, Servo READY DIGIT4: INSPD, velocity command input in

progress, servo READY

DIGIT5: Position control mode, Servo ON DIGIT5: Velocity control mode, servo ON

10.1.2 Loader Control Method

L7C Series supports the parameters editing by the MODE, UP, DOWN, and SET buttons.

(1) Parameter Movement

St-2D P20.20 P30.23 Cn-15

P21.22 P22.17 P23.1A P24.11 P25.19

St-2C P20.1F P30.22 Cn-14

St-2B P20.1E P30.21 Cn-13

DOWN

UP

St-02 P2.02 P30.02 Cn-02

St-01 P20.01 P30.01 Cn-01

Ope ration
status P21.00 P22.00 P23.00 P24.00 P25.00
summa ry St-00 P20.00 P30.00 Cn-00
display
MODE

 At the start of operation with no alarm occurrence, the Pulse Input Position Operation
Mode [P-.bb] display is shown as the operation status indication.

 Editable parameters are [P20.00]~[Cn-15]. Press [SET] key when a parameter number is
displayed, then you can see and edit the parameter data.

 In the initial parameter edit status, the number on the farthest right blinks (ON and OFF
for 0.5 seconds each) and becomes editable.

 The parameter number displayed on the Loader window and the one displayed on Drive
CM are compatible as shown below.

10-4
 10. Drive Application Functions

Loader window Drive CM and

display 「11. Object Dictionary」 Display
St-00~St-FF 0x2600~0x26FF
P20.00~P20.FF 0x2000~0x20FF
P21.00~P21.FF 0x2100~0x21FF
P22.00~P22.FF 0x2200~0x22FF
P23.00~P23.FF 0x2300~0x23FF
P24.00~P24.FF 0x2400~0x24FF
P25.00~P25.FF 0x2500~0x25FF
P30.00~P30.FF 0x3000~0x30FF
Ind00~Ind63 0x3100~0x313F

10-5
 10. Drive Application Functions

(2) Example of changing the Velocity Mode to Pulse Input Position Operation Mode
([P30.00]: 00002-> 00001)

Orders Loader Displays

Keys to Use What to Do
after Control

Velocity Control Mode display with

1 the main power and control power
applied

Press [MODE] to move to [P30.00].

2

Press [SET] to enter the parameter

3 edit window. The displayed
parameter is 00002.

Press [UP] or [DOWN] at the

4 blinking cursor position to change
the number to 00001.

Press and hold [SET] for a second.

5 After two blinks, the number 00001
is saved for the parameter.

Press and hold [MODE] for a

7 second to return to the [P30.00]
parameter.

Press [MODE] to change the status

to position operation [P= bb], which
8
is the summary display of the
current status.

Note 1) “ ” indicates blinking.

If you hold down [UP] or [DOWN] at the current cursor position in the parameter window, the number

continues to increase or decrease.

10-6
 10. Drive Application Functions

(3) Example of changing the Speed Loop Integral Time Constant 2([P21.07]: 200 [Ms]-> 500
[Ms])

Loader Displays
Orders Keys to Use What to Do
after Control

Velocity Control Mode display with

1
the main power applied

Press [MODE] to move to [P21.00].

2

Press [UP] or [DOWN] to move to

3
[P21.07].

Press [SET] to enter Parameter Edit

4 Mode. The displayed parameter is
00200.

Press [/LEFT] or [/RIGHT] at the

5 blinking cursor position to move to
the desired digit, DIGIT 3.

Press [UP] or [DOWN] at the

6 blinking DIGIT 3 position to change
the number to 00500.

Press and hold [SET] for a second.

7 After two blinks, the number 00500
is saved for the parameter.

Press and hold [MODE] for a

8
second to return to [P21.07].

Note 1) “ ” indicates blinking.

Note 3) If you hold down [UP] or [DOWN] at the current cursor position in the
parameter window, the number continues to increase or decrease.

10-7
 10. Drive Application Functions

10.1.3 Control
L7C Series provides the MODE, UP, DOWN, and SET buttons for editing parameters as well
as using the operation control parameters provided by L7S Series in the same way.

10.1.3.1 Manual JOG Operation [Cn-00]

The drive performs manual JOG operation by itself.

(1) Press [SET] in [Cn-00] and [JoG] is displayed.

(However, only when EMG, NOT/POT contacts are turned on in the external I/O)

(2) Press [SET] and [SV-on] is displayed and the servo is turned on for operation.

If an alarm occurs, check wiring and search for other possible causes before restarting.

The loader status display “ " means that the external I/O SVON contact is turned on.
Try again after turning off the SVON contact.

(3) While you press and hold [UP], the motor rotates in the forward direction (CCW) at the
JOG operation speed of [P23.00].

(4) While you press and hold [DOWN], the motor rotates in the reverse direction (CW) at
the JOG operation speed of [P23.00].

(5) Press [SET] again to finish the manual JOG operation and turn off the servo.

(6) Press and hold [MODE] to return to the control parameter screen [Cn-00].

Related Velocity Initial

Parameters
[P23.00] Jog operation speed [rpm] 500
[P23.01] Speed command acceleration 200
time [ms]
[P23.02] Speed command deceleration 200
time [ms]
[P23.03] Speed command S curve 0
time [ms]

10-8
 10. Drive Application Functions

[Examples of manual JOG operation control]

Loader Displays
Orders Keys to Use What to Do
after Control

Velocity Control Mode

1 display with the main power
applied

Press MODE to move to

2 [Cn-00].

Press [SET] to enter manual

3 JOG operation.

Press [SET] to turn on the

4 servo.

Press and hold [UP] while

the servo is on and the
motor turns in the forward
5
direction (CCW). Take your
hand off the key and the
motor stops.

Press and hold [DOWN]

when the servo is on and the
motor turns in the reverse
6
direction (CW). Take your
hand off the key and the
motor stops.

Press [DOWN] to switch to

7 the servo off status.

Press and hold [MODE] for a

8 second to return to [Cn-00].

※ ” ” indicates blinking.

10-9
 10. Drive Application Functions

10.1.3.2 Program JOG Operation [Cn-01]

This is continuous operation according to the predefined program.

(1) Press [SET] in [Cn-01] parameter to display [P-JoG].

(2) Press [SET] to display [run]. The program JOG operation starts after the servo is
turned on.

(If an alarm occurs at this moment, check the wiring of the servo and search for other
possible causes before restarting.)

(3) Press [SET] again to finish the program JOG operation and turn off the servo.

(4) Press and hold [MODE] to return to the control parameter screen [Cn-00].

(5) Four operation steps repeat continuously from 0 to 3. You can set the operation
velocity and time in the following parameters.

Related Velocity Initial

Parameters
[P23.00] Jog operation speed [rpm] 500
[P23.01] Speed command acceleration time [ms] 200
[P23.02] Speed command deceleration time [ms] 200
[P23.03] Speed command S curve time [ms] 0
[P23.04] Program Jog Operation Speed 1 [rpm] 0
[P23.05] Program Jog Operation Speed 2 [rpm] 500
[P23.06] Program Jog Operation Speed 3 [rpm] 0
[P2.307] Program Jog Operation Speed 4 [rpm] -500
[P2.308] Program jog operation time 1 [ms] 500
[P23.09] Program jog operation time 2 [ms] 5000
[P23.0A] Program jog operation time 3 [ms] 500
[P23.0B] Program jog operation time 4 [ms] 5000

10-10
 10. Drive Application Functions

[Example of program JOG operation control]

Orders Loader Displays Keys to Use What to Do

after Control

Velocity Control Mode

1 display with the main power
and control power applied

Press [MODE] to move to

2
[Cn-00].

Press [UP] or [DOWN] to

3
move to [Cn-01].

Press [SET] to enter

4
program Jog operation.

Press [SET] and the motor

5 starts operating according to
the predefined program.

Press [SET] again to end the

continuous operation by the
6
program. [Done] is
displayed.

Press and hold [MODE] for a

7
second to return to [Cn-01].

※ ” ” indicates blinking.

10-11
 10. Drive Application Functions

10.1.3.3 Alarm Reset [Cn-02]

You can reset the alarm that occurred.

(1) Contact alarm reset: If you turn on A-RST among input contacts, the alarm is reset and the
status becomes normal.

(2) Operation alarm reset: If you press [SET] in the alarm reset [Cn-02] parameter among
operation control parameters, [ALrst] is displayed. If you press [SET] again, the alarm is
reset and the status becomes normal.

※ If the alarm is maintained after the reset attempt, search for and remove possible causes
then repeat the process.

[Example of alarm reset control]

Loader Displays
Orders Keys to Use What to Do
after Control

Velocity Control Mode display

1
with the main power applied

Press [MODE] to move to [Cn-

2
00].

Press [UP] or [DOWN] to move

3
to [Cn-02].

Press [SET] to enter the Alarm

4
Reset Mode.

Press SET to reset the alarm.

5
[Done] is displayed.

Press and hold [MODE] for a

6
second to return to [Cn-02].

※ ” ” indicates blinking.

10-12
 10. Drive Application Functions

10.1.3.4 Reading Alarm History [Cn-03]

You can view the saved alarm history.

[Example of reading alarm history control]

Loader Displays
Order Keys to Use What to Do
after Control

Velocity Control Mode display

1
with the main power applied

Press [MODE] to move to [Cn-

2
00].

Press [UP] or [DOWN] to move

3
to [Cn-03].

Press [SET] to start reading the

4
alarm history.

Press [SET] to display the most

recent alarm code.

ex): Most recent history [AL-42]:

5 Main power phase loss

01: Most recent alarm history

20: 20th previous alarm history

Press [UP] or [DOWN] to read

the alarm history.

ex): second most recent history

6 [AL-10]: overcurrent (HW)

01: Most recent alarm history

20: 20th previous alarm history

10-13
 10. Drive Application Functions

Press [SET] to finish reading the

alarm history.
7

[Done] is displayed.

Press and hold [MODE] for a

8
second to return to [Cn-03].

※ ” ” indicates blinking.

10-14
 10. Drive Application Functions

10.1.3.5 Alarm History Reset [Cn-04]

You can delete all currently stored alarm histories.

[Example of alarm history reset control]

Loader Displays
Orders Keys to Use What to Do
after Control

Velocity Control Mode display

1 with the main power and control
power applied

Press [MODE] to move to [Cn-

2
00].

Press [UP] or [DOWN] to move

3
to [Cn-04].

Press [SET] to enter alarm

4
history reset.

Press [SET] to delete all alarm

histories.
5

[Done] is displayed.

Press and hold [MODE] for a

6
second to return to [Cn-04].

※ ” ” indicates blinking.

10-15
 10. Drive Application Functions

10.1.3.6 Auto Gain Tuning [Cn-05]

You can perform automatic tuning operation.

(1) Press [SET] in the [Cn-05] parameter to display [Auto].

(2) Press [SET] to display [run] and start automatic gain tuning.

If an alarm occurs at this moment, check the wiring of the servo and search for other
possible causes before restarting.

(3) Upon completion of gain adjustment, inertia ratio [%] is displayed, and [P21.00], [P21.06]
and [P21.08] are automatically changed and saved.

Related Name Initial

Parameters
[P21.20] Auto gain tuning velocity [100 8
RPM]
[P21.21] Auto gain tuning distance 3

10-16
 10. Drive Application Functions

[Example of auto gain tuning control]

Loader Displays
Orders Keys to Use What to Do
after Control

Velocity Control Mode display

1 with the main power and
control power applied

Press [MODE] to move to [Cn-

2
00].

Press [UP] or [DOWN] to move

3
to [Cn-05].

Press [SET] to enter automatic

4
gain tuning.

Press [SET] to start three

5 cycles of forward rotation and
reverse rotation.

Upon completion of automatic

tuning, the tuning result is
displayed on the loader.
6 -

If you want to perform re-tuning

in this state, press [SET].

Press and hold [MODE] for a

7
second to return to [Cn-05].

※ ” ” indicates blinking.

10-17
 10. Drive Application Functions

10.1.3.7 Phase Z Search Operation [Cn-06]

You can perform phase Z search operation.

(1) Press [SET] in [Cn-06] to display [Z-rtn].

(2) Press [SET] to display [run] turn on the servo.

(3) While you hold down [UP], the motor keeps turning forward (CCW) until it finds the phase Z
position of the encoder.

(4) While you hold down [DOWN], the motor keeps turning in the reverse direction until it finds
the phase Z position of the encoder.

(5) Press [SET] to display [Done] and end the phase Z search.

※ This function is useful for assembly by a specific standard after finding the Z position.

Related Name Initial

Parameter
[P30.07] Phase Z search operation velocity 10
setting [RPM]

10-18
 10. Drive Application Functions

[Example of phase Z search operation control]

Loader Displays
Orders Keys to Use What to Do
after Control
Velocity Control Mode display
1 with the main power and control
power applied
Press [MODE] to move to [Cn-
2
00].
Press [UP] or [DOWN] to move to
3
[Cn-06].
Press [SET] to enter phase Z
4
search operation.

5 Press [SET] to turn on the servo.

Press [UP] and the motor turns in

the forward direction (CCW) until
it finds phase Z.
6
Press [DOWN] and the motor
turns in the reverse direction
(CW) until it finds phase Z.
Press [SET] to end the phase Z
search operation mode.
7
The servo is turned off and
[Done] is displayed.
Press and hold [MODE] for a
8
second to return to [Cn-06].

※ ” ” indicates blinking.

10-19
 10. Drive Application Functions

10.1.3.8 Input Contact Forced ON/OFF [Cn-07]

The drive alone forcibly turns on/off the input contact without using an upper level controller
or I/O jig.

(1) Input Contact Forced ON/OFF Setting

The positions of the 7-segment LEDs and CN1 contacts correspond as follows.

If an LED that corresponds to a contact is turned on/off, it indicates the ON/OFF state of the
contact.

[Input Contact Setting]

Number (A) (9) (8) (7) (6) (5) (4) (3) (2) (1)

CN1

pin 48 18 19 20 46 17 21 22 23 47

number

Default

allocated
STOP EMG NOT POT DIR A-RST SPD3 SPD2 SPD1 SVON
signal

name

Press [UP] on each digit to turn on/off the signals (A), (8), (6), (4) and (2) forcibly.

Press [DOWN] on each digit to turn on/off the signals (9), (7), (5), (3) and (1) forcibly.

Press [MODE] to move to another digit.

(2) Example of Forced Input Contact ON/OFF

(SVON ON→ EMG ON→ EMG OFF→ SVON OFF)

10-20
 10. Drive Application Functions

[Example of input contact forced ON/OFF control]

Loader Displays
Orders Keys to Use What to Do
after Control
Press [MODE] to move to [Cn-
1
00].
Press [UP] or [DOWN] to move
2
to [Cn-07].
Press [SET] to enter the input
3
forced ON/OFF mode.
Press [SET] to enter forced
4
input bit setting.
Press [DOWN] to turn on the
5
servo forcibly.
Press [MODE] at the blinking
6 cursor position to move to the
desired digit, DIGIT 5.
Press [DOWN] to turn on EMG
7
forcibly.
Press [DOWN] to turn off EMG
8
forcibly.
Press [MODE] to move the
9 cursor to the desired digit,
DIGIT 1.
Press [DOWN] to turn off the
10
servo forcibly.
Press [SET] to end the input
11 forced ON/OFF mode.
[Done] is displayed.
Press and hold [MODE] for a
12
second to return to [Cn-07].

※ ” ” indicates blinking.

10-21
 10. Drive Application Functions

10.1.3.9 Output Contact Forced ON/OFF [Cn-08]

Without an upper level controller or I/O jig, the drive forcibly turns on/off the output contact.

(1) Output Contact Forced ON/OFF Setting

The positions of the 7-segment LEDs and CN1 contacts correspond as follows.

If an LED that corresponds to a contact is turned on/off, it indicates the ON/OFF state of the
contact.

[Output Contact Setting]

Number (5) (4) (3) (2) (1)

CN1- pin
45 44 43 40/41 38/39
number
Default
allocated INPOS BRAKE ZSPD READY ALARM
signal name

Press [UP] on each digit to turn on/off forced output of the (4) and (2) signals.

Press [DOWN] on each digit to turn on/off forced output of the (5), (3) and (1) signals.

Press [MODE] to move to another digit.

(2) Example of Output Contact Forced ON/OFF

(BRAKE OFF)

10-22
 10. Drive Application Functions

[Example of output contact forced ON/OFF control]

Loader Displays
Orders Keys to Use What to Do
after Control
Press [MODE] to move to [Cn-
1
00].
Press [UP] or [DOWN] to move
2
to [Cn-08].
Press [SET] to enter input forced
3
ON/OFF setting.
Press [SET] to enter forced
4
output bit setting.
Press [MODE] at the blinking
cursor to move to the desired
5
digit, DIGIT 2, and initiate
rotation.
Press [UP] to turn off the brake
6
signal.
Press [SET] to end the input
7 forced ON/OFF mode.
[Done] is displayed.
Press and hold [MODE] for a
8
second to return to [Cn-08].

※ ” ” indicates blinking.

10-23
 10. Drive Application Functions

10.1.3.10 Parameter Reset [Cn-09]

You can reset the parameter data.

[Example of parameter reset control]

Loader Displays
Orders Keys to Use What to Do
after Control
Velocity Control Mode display
1 with the main power and control
power applied
Press [MODE] to move to [Cn-
2
00].
Press [UP] or [DOWN] to move
3
to [Cn-09].
Press [SET] to enter parameter
4
reset.
Press [SET] to reset data.
5
[Done] is displayed.
Press and hold [MODE] for a
6
second to return to [Cn-09].

[Parameters not applicable in Cn-09 parameter reset]

- Current offset parameters are not reset.

- Alarm offset parameters are not reset.

- Index parameters are not reset.

Use the default set in Object Dictionary of Drive CM to reset index parameters.

※ ” ” indicates blinking.

10-24
 10. Drive Application Functions

10.1.3.11 Automatic Velocity Command Offset Correction [Cn-10]

The offset value of analog velocity commands can be corrected automatically.

The range of adjustable velocity command analog voltage is from +1V to -1V. If the offset
voltage is out of this range, [oVrnG] is displayed and no correction takes place.

The corrected offset value can be viewed in [P22.18] analog velocity offset.

[Example of automatic velocity command offset correction]

Loader Displays
Orders Keys to Use What to Do
after Control
Press [MODE] to display [Cn-
1
00].
Press [UP] or [DOWN] to move
2
to [Cn-10].
Press [SET] to enter offset
3
correction.
Press [SET] to start offset
correction.
4 or [Done] is displayed.
If the value is out of the allowed
range, [oVrnG] is displayed.
Press and hold [MODE] for a
5
second to return to [Cn-10].

※ ” ” indicates blinking.

10-25
 10. Drive Application Functions

10.1.3.12 Automatic Torque Command Offset Correction [Cn-11]

The offset value of analog torque commands can be corrected automatically.

The range of adjustable torque command analog voltage is from +1V to -1V. If the offset
voltage is out of this range, [oVrnG] is displayed and no correction takes place.

You can check the corrected offset value in analog torque offset [P20.21].

[Example of automatic torque command offset correction]

Loader Displays
Orders Keys to Use What to Do
after Control
Press [MODE] to display [Cn-
1
00].
Press [UP] or [DOWN] to move
2
to [Cn-11].
Press [SET] to enter offset
3
correction.
Press [SET] to start offset
correction.
4 or [Done] is displayed.
If the value is out of the allowed
range, [oVrnG] is displayed.
Press and hold [MODE] for a
5
second to return to [Cn-11].

※ ” ” indicates blinking.

10-26
 10. Drive Application Functions

10.1.3.13 Manual Velocity Command Offset Correction [Cn-12]

You can correct the offset value of analog velocity commands manually. Control example (-
10)

The range of adjustable velocity command analog voltage is from +1V to -1V. If the offset
voltage goes out of this range, [oVrnG] OverRange is displayed and no compensation takes
place.

You can check the corrected offset value in the analog velocity offset [P20.18].

[Example of manual velocity command offset correction]

Loader Displays
Orders Keys to Use What to Do
after Control
Press [MODE] to display [Cn-
1
00].
Press [UP] or [DOWN] to move
2
to [Cn-12].
Press [SET] to enter offset
3
correction.
Press [SET] to enter offset
correction setting.
4
The current offset value is
displayed.
Press [UP] or [DOWN] to make
5
adjustment to the desired value.
Press [SET] to save the adjusted
offset value.
6 or [Done] is displayed.
Press [MODE] not to save the
value.
Press and hold [MODE] for a
7
second to return to [Cn-12].

※ ” ” indicates blinking.

10-27
 10. Drive Application Functions

10.1.3.14 Manual Torque Command Offset Correction [Cn-13]

You can correct the offset value of analog torque commands manually.

The range of adjustable torque command analog voltage is from +1V to -1V. If the offset
voltage is out of this range, [oVrnG] is displayed and no correction takes place.

You can check the corrected offset value in the analog torque command offset [P20.21].

[Example of manual torque command offset correction control]

Loader Displays
Orders Keys to Use What to Do
after Control
Press [MODE] to display [Cn-
1
00].
Press [UP] or [DOWN] to move
2
to [Cn-13].
Press [SET] to enter offset
3
correction.
Press [SET] to enter offset
correction setting.
4
The current offset value is
displayed.
Press [UP] or [DOWN] to make
5
adjustment to the desired value.
Press [SET] to save the adjusted
offset value.
6 or [Done] is displayed.
Press [MODE] not to save the
value.
Press and hold [MODE] for a
7
second to return to [Cn-13].

※ ” ” indicates blinking.

10-28
 10. Drive Application Functions

10.1.3.15 Absolute Encoder Value Reset [Cn-14]

You can reset the encoder multi-turn data to 0.

[Example of absolute encoder reset control]

Loader Displays
Orders Keys to Use What to Do
after Control
Press [MODE] to display [Cn-
1
00].
Press [UP] or [DOWN] to move
2
to [Cn-14].
Press [SET] to enter encoder
3
reset.
Press [SET] to reset the
absolute encoder multi-turn
data.
4 or
[Done] is displayed.
Press [MODE] not to perform
reset.
Press and hold [MODE] for a
7
second to return to [Cn-14].

※ ” ” indicates blinking.

※ After you reset the absolute encoder value, you can view the reset value in [st-18].

10-29
 10. Drive Application Functions

10.1.3.16 Instantaneous Maximum Load Factor Reset [Cn-15]

You can reset the instantaneous maximum load factor to 0.

[Example of instantaneous maximum load factor control]

Loader Displays
Orders Keys to Use What to Do
after Control
Press [MODE] to display [Cn-
1
00].
Press [UP] or [DOWN] to move
2
to [Cn-15].
Press [SET] to enter the
3 instantaneous maximum load
factor reset.
Press [SET] to display the
4
current maximum load factor.

Press [UP] to display the forward

maximum load factor. Press
5 or
[DOWN] to display the reverse
maximum load factor.

Press [SET] to reset the

instantaneous maximum load
factor.
6 or
[Done] is displayed.
Press [MODE] not to perform
reset.
Press and hold [MODE] for a
7
second to return to [Cn-15].

※ ” ” indicates blinking.

10-30
 10. Drive Application Functions

10.1.3.17 Parameter Lock [Cn-16]

You can enable the parameter lock.

[Example of parameter lock setting control]

Loader Displays
Orders Keys to Use What to Do
after Control
Press [MODE] to display [Cn-
1
00].
Press [UP] or [DOWN] to move
2
to [Cn-16].
Press [SET] to enter parameter
3
lock.
Press [UP] to disable the
parameter lock.
4 or
Press [DOWN] to enable the
parameter lock.
Press and hold [MODE] for a
5
second to return to [Cn-16].

※ ” ” indicates blinking.

10-31
 10. Drive Application Functions

10.1.3.18 Current Offset [Cn-17]

You can save the current offset value to parameters [P20.15]~[P20.17].

[Example of current offset value control]

Loader Displays
Orders Keys to Use What to Do
after Control
Press [MODE] to display [Cn-
1
00].
Press [UP] or [DOWN] to move
2
to [Cn-17].
Press the SET key to enter the
3
state of current offset setting.
Press [SET] to save the phase U
current offset value in [P20.15]
6
and the phase V current offset
value in [P20.16].
Press and hold [MODE] for a
7
second to return to [Cn-17].

※ ” ” indicates blinking.

10-32
 10. Drive Application Functions

10.2 Input/Output Signals Setting

10.2.1 Assignment of Digital Input Signals

You can set the functions of CN1 connector’s digital input signals and the input signal level. As shown in
the figure below, you can assign input functions to use out of the 30 functions to the digital input signals 1-
16.

Assigned function Details

SVON Servo ON
POT Prohibit forward (CCW) rotation +24V IN 50

NOT Prohibit reverse (CW) rotation

A-RST Reset alarm DI 10 48
START Start operation
DI 9 18
STOP Stop servo
REGT Operate after sensoring DI 8 19
EMG Emergency stop
DI 7 20
HOME Origin sensor
H-START Start homing DI 6 46
ISEL0 Select Position 0
DI 5 17
ISEL1 Select Position 1
ISEL2 Select Position 2 DI 4 21

ISEL3 Select Position 3

DI 3 22
ISEL4 Select Position 4
ISEL5 Select Position 5 Assignable DI 2 23
PCON Operate P Control
Digital Input 1~10 setting DI 1 47
GAIN2 Switch between Gain 1 and Gain 2
(0x2200~0x2209)
PCL Forward torque limit
CN1
NCL Reverse torque limit
PAUSE Pause index
ABS_RQ Request absolute position data
JSTART Operate jog
JDIR Select jog rotation direction
PCLR Clear input pulse
AOVR Select velocity override
SPD1/LVSF1 Multi-step speed 1/Vibration Control Filter 1

SPD2/LVSF2 Multi-step speed 2/Vibration Control Filter 2

SPD3 Multi-step speed 3

MODE Switch operation mode
INHIBIT Inhibit command pulse
EGEAR1 Electric Gear 1
EGEAR2 Electric Gear 2

10-33
 10. Drive Application Functions

 Related Objects
Sub Variable PDO
Index Names Accessibility Unit
Index Types Assignment
0x2200 - Digital Input Signal 1 Selection UINT RW -

0x2201 - Digital Input Signal 2 Selection UINT RW -

0x2202 - Digital Input Signal 3 Selection UINT RW -

0x2203 - Digital Input Signal 4 Selection UINT RW -

0x2204 - Digital Input Signal 5 Selection UINT RW -

0x2205 - Digital Input Signal 6 Selection UINT RW -

0x2206 - Digital Input Signal 7 Selection UINT RW -

0x2207 - Digital Input Signal 8 Selection UINT RW -

0x2208 - Digital Input Signal 9 Selection UINT RW -

0x2209 - Digital Input Signal 10 Selection UINT RW -

10-34
 10. Drive Application Functions

Set the functions of CN1 connector’s digital input signals

Bit Setting Details and the input signal level. Select signals to assign to bits
Signal input level settings 7~0, and set the signal level to bit 15.
15
(0: contact A, 1: contact B)
14~8 Reserved
7~0 Assign input signal. Setting Assigned
values signals
Setting ex) If the setting value is 0x0006
0x00 Not assigned
0x01 POT
0 0 0 6
0x02 NOT
0x03 HOME
Contact A GAIN2 assigned 0x04 STOP
0x05 PCON
0x06 GAIN2
0x07 P_CL
Contact A: The default status is 1 (High).
Input 0 (Low) to actuate it (Active Low). 0x08 N_CL
0x09 Reserved
Contact B: The default status is 0 (Low). 0x0A Reserved
Input 1 (High) to activate it (Active High).
0x0B EMG
0x0C A_RST
0x0F SV_ON
0x10 START
0x11 PAUSE
0x12 REGT
0x13 HSTART
0x14 ISEL0
0x15 ISEL1
0x16 ISEL2
0x17 ISEL3
0x18 ISEL4
0x19 ISEL5
0x1A ABSRQ
0x1B JSTART
0x1C JDIR
0x1D PCLR
0x1E AOVR
0x20 SPD1/LVSF1
0x21 SPD2/LVSF2
0x22 SPD3
0x23 MODE
0x24 EGEAR1
0x25 EGEAR2
0x26 ABS_RESET

10-35
 10. Drive Application Functions

 Example of Digital Input Signal Assignment

The following table shows an example of assigning input signals. See the setting values for
parameters 0x2200~0x2209.

DI 1 DI 2 DI 3 DI 4 DI 5 DI 6 DI 7 DI 8

SV_ON SPD1 SPD2 SPD3 A-RST JDIR NOT POT

(Contact A) (Contact A) (Contact A) (Contact A) (Contact A) (Contact A) (Contact A) (Contact A)

DI 9 DI 0A

EMG STOP

(Contact A) (Contact A)

I/O Setting Bit Setting

Details
(Pin number) parameter 15 7~0 value
DI # 1 (47) 0x2200 0 0x0F 0x000F SV_ON (Contact A)
DI # 2 (23) 0x2201 0 0x20 0x0020 SPD1(Contact A)
DI # 3 (22) 0x2202 0 0x21 0x0021 SPD2(Contact A)
DI # 4 (21) 0x2203 0 0x22 0x0022 SPD3(Contact A)
DI # 5 (17) 0x2204 0 0x0C 0x000C A-RST(Contact A)
DI # 6 (46) 0x2205 0 0x1C 0x001C JDIR(Contact A)
DI # 7 (20) 0x2206 0 0x01 0x0001 NOT(Contact A)
DI # 8 (19) 0x2207 0 0x02 0x0002 POT(Contact A)
DI # 9 (18) 0x2208 0 0x0B 0x000B EMG(Contact A)
DI # 10 (48) 0x2209 0 0x04 0x0004 STOP(Contact A)

10-36
 10. Drive Application Functions

10.2.2 Digital Output Signal Assignment

You can set the functions of CN1 connector’s digital output signals and the output signal
level. As shown in the figure below, you can assign output functions to use out of the 19
functions to the digital input signals 1~5. Keep in mind that the digital output signals 6~8 are
locked for alarm group output (assignment not available).

Assigned CN1
function Details
BRAKE Brake
ALRAM Servo alarm
38 DO 1+
RDY Servo ready
ZSPD Reach zero speed 39 DO 1-
INPOS1 Complete Position Reach 1

TLMT Limit torque 40 DO 2+

VLMT Speed Limit
41 DO 2-
INSPD Reach velocity
WARN Warning Assignable
43 DO 3+
TGON Output rotation detection
Digital Input 1~8 setting
INPOS2 Complete Position Reach 2
(0x2210~0x2217)
ORG Complete homing
EOS Complete Drive Coordinate 44 DO 4+
IOUT0 Output Drive Coordinates 0

IOUT1 Output Drive Coordinates 1

IOUT2 Output Drive Coordinates 2

45 DO 5+
IOUT3 Output Drive Coordinates 3

IOUT4 Output Drive Coordinates 4 24,25 DOCOM

IOUT5 Output Drive Coordinates 5

ALO0 16 DO 6+

ALO1 15 DO 7+

14 DO 8+
ALO2
24,25 DOCOM

10-37
 10. Drive Application Functions

 Related Objects
PDO
Sub Variable Access
Index Names Assign Unit
Index Types ibility
ment

0x220A - Digital Output Signal 1 Selection UINT RW -

0x220B - Digital Output Signal 2 Selection UINT RW -

0x220C - Digital Output Signal 3 Selection UINT RW -

0x220D - Digital Output Signal 4 Selection UINT RW -

0x220E - Digital Output Signal 5 Selection UINT RW -

Assign the functions of CN1 connector’s digital output signal Bits Setting Details
and set the output signal level. Select signals to assign to bits
7~0, and set the signal level to bit 15. Signal output level settings
15
(0: contact A, 1: contact B)
14~8 Reserved

Setting Assignable output 7~0 Output signal assignment

Values signals
0x00 Not assigned
0x01 BRAKE
0x02 ALARM
0x03 RDY
0x04 ZSPD
0x05 INPOS1
0x06 TLMT
0x07 VLMT
0x08 INSPD
0x09 WARN
0x0A TGON
0x0B INPOS2
0x10 ORG
0x11 EOS
0x12 IOUT0
0x13 IOUT1
0x14 IOUT2
0x15 IOUT3
0x16 IOUT4
0x17 IOUT5

10-38
 10. Drive Application Functions

 Example Digital Output Signal Assignment

The following table shows an example of assigning output signals. See the setting values for
parameters 0x220A~0x220E.

DO#1 DO#2 DO#3 DO#4 DO#5

ALARM RDY ZSPD BRAKE INPOS1

(Contact B) (Contact A) (Contact A) (Contact B) (Contact A)

CN1 Setting Bit Setting

Details
(Pin number) Parameter 15 7~0 Value
DO # 1 (38,39) 0x220A 1 0x02 0x8002 ALARM(Contact B)
DO # 2 (40,41) 0x220B 0 0x03 0x0003 RDY(Contact A)
DO # 3 (43) 0x220C 0 0x04 0x0004 ZSPD(Contact A)
DO # 4 (44) 0x220D 1 0x01 0x8001 BRAKE(Contact B)
DO # 5 (45) 0x220E 0 0x05 0x0005 INPOS1(Contact A)

10-39
 10. Drive Application Functions

10.3 Electric Gear Setup

10.3.1 Indexing Position Operation Electric Gear

This function allows you to drive the motor by the user unit in which the user intends to give
commands.

The electric gear function of the drive does not allow the user to utilize the highest resolution
of the encoder. If the upper level controller has the function of electric gear, it is advisable to
use it instead.

Set the gear ratio within the range of 1000-1/1000.

When using the electric gear and the STOP signal at the same time, adjust the value of
Quick Stop Deceleration [0x3024] to set the method you desire to use.

Typically, electric gears are used in the following situations.

10-40
 10. Drive Application Functions

(1) To drive the load based on user unit

[UU] = Unit used by the user

You can see the [UU] settings in the index parameter settings for index operation.

If gear ratio is not used, [UU] in the index is converted to [Pulses].

[UU] = [Pulses]
For example, to make 1 [turn] of a motor with a 19 [bit] resolution encoder attached, you need
to input 524288 [Pulses], which is equivalent to 19 [bits].

Resolution 524288[ppr] = 19[Bit]

1[Turn]

In this case, it is straightforward to enter a distance value to make 1 [turn] of a motor.

10-41
 10. Drive Application Functions

a. Necessity to apply gear ratio when setting a custom position unit

If a ball screw linear motor which moves 1 [mm] per 1 [turn] has been attached to the user’s
19 [bit] motor, you need to enter “524288” for Distance [UU] in order to move the linear motor
by 1 [mm].

1[mm] 524288[Pulses]

1 turn = 1[mm]

To move it by 10 [mm], you need to input “5242880.”

10[mm] 5242880[Pulses]

10 turns = 10[mm]

As you can see, movements by short distance like 1 [mm] and 10 [mm] can be made intuitively.

However, to move the motor 5621 [mm], for example, we need a calculation.

5621[mm] = 5621[turn] = 5621[turn] ⅹ524288[Pulses] = 2947022848[Pulses]

For the linear motor to move 5621 [mm], the motor needs to make 5621 [turns].

Since 1 [turn] requires 524288 [pulses], we need to enter 2947255848 [pulses] to make 5621
[turns].

5621[mm] 2947022848[Pulses]

5621 turns = 5621[mm]

Not only has the calculation become more complex, but also the value is out of the available
distance input range.

10-42
 10. Drive Application Functions

[UU] = [Pulses]
The difficulty here is due to the fact that the linear motor’s unit [mm] and the 19 [bit] motor’s
unit [Pulses] are different, making conversion necessary.

[UU] => [Pulses] => [mm]

To make the process easier, the [UU] can be changed from [Pulses] to [mm]. This is where
gear ratio becomes necessary.

10-43
 10. Drive Application Functions

b. Necessity to apply gear ratio when setting a custom speed unit

[UU/sec] = [Pulses/sec]
When gear ratio is not used, the index speed unit is [Pulses/sec].

1 turn = 1[mm]

Let’s assume that you have set up a ball screw linear motor that moves 1 [mm] per 1 [turn]
on the rotary motor attached with the 19 [bit] encoder.

10[mm/sec]

If you want the linear motor to move at a speed of 10 [mm] per second, you can calculate the
index speed value as follows.

Motor revolutions Motor revolutions per

Linear axis per second minute
10[mm/sec] 10[turn/sec] 600[rpm]

For the linear motor to move 10 [mm] per second, the motor needs to make 10 [turns] per
second. For the motor to make 10 [turns] per second, the rotation frequency needs to be 600
[rpm].

Motor revolutions per

minute
60[rpm] : 524288[ppr] = 600[rpm] : X[pulses/sec]
Thus, if the motor rotates at a speed of 60 0[rpm], the linear motor operates at 10 [mm/sec].
However, since the unit of index velocity is [pulses/sec], it is necessary to obtain the number
of pulses per second X using the above proportional expression. Calculation yields 5242880
[pulses/sec]. If you input this value for velocity, the motor runs at 600 [rpm].

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 10. Drive Application Functions

As you can see, it is quite complicated to convert the linear motor’s speed in [mm/sec] into
the rotary motor’s unit [Pulses/sec].

[UU/sec] = [Pulses/sec]
To make the process easier, it is necessary to change [Pulses/sec] to the linear motor’s unit
[mm/sec].

[UU/sec] => [Pulses/sec] => [mm/sec]

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 10. Drive Application Functions

c. How to apply gear ratio

There are four available electric gears, and you can select one of them to use.

When gear ratio is applied, the servo uses the index distance and gear ratio to automatically
calculate the internal command pulse in [Pulses].

𝐸𝑙𝑒𝑐𝑡𝑟𝑖𝑐 𝐺𝑒𝑎𝑟 𝑁𝑢𝑚𝑒𝑟𝑎𝑡𝑜𝑟𝑋

𝐼𝑛𝑑𝑒𝑥 𝐷𝑖𝑠𝑡𝑎𝑛𝑐𝑒 [𝑈𝑈] ×
𝐸𝑙𝑒𝑐𝑡𝑟𝑖𝑐 𝐺𝑒𝑎𝑟 𝐷𝑒𝑛𝑜𝑚𝑖𝑛𝑎𝑡𝑜𝑟𝑋
= 𝐼𝑛𝑡𝑒𝑟𝑛𝑎𝑙 𝑐𝑜𝑚𝑚𝑎𝑛𝑑 𝑝𝑢𝑙𝑠𝑒[𝑃𝑢𝑙𝑠𝑒𝑠]

The servo runs the motor as per the number of internal command pulses.

Let’s look at an example of ball screw linear motor that moves 1 [mm] per 1 [turn].

1 turn = 1[mm]

If you want to move the linear motor 1 [mm] by entering 1 into Index Distance, you can enter
524288 for encoder resolution into Gear Numerator 1 [0x300C] and 1 into Electric Gear
Denominator 1 [0x3010].

Denominator 1

If you set the gear ratio like above, the internal command pulse can be calculated as follows.

524288
𝐼𝑛𝑑𝑒𝑥 𝐷𝑖𝑠𝑡𝑎𝑛𝑐𝑒[𝑈𝑈] ×
1
= 𝐼nternal command pulse[𝑃𝑢𝑙𝑠𝑒𝑠]

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 10. Drive Application Functions

If you enter 1 for Index Distance,

524288
1[𝑈𝑈] × = 524288[𝑃𝑢𝑙𝑠𝑒𝑠]
1
an internal command pulse of 524288 [Pulses] is automatically yielded. The servo completes 1
[turn] of the motor in proportion to the pulse value 524288 [Pulses]. If the motor makes 1 [turn],
the linear motor moves 1 [mm].

Same units
1[mm]

Thus, you just have to input 1 [UU] for Distance to move the linear motor 1 [mm].

[mm]
[mm/s]
[mm/s^2]
[mm/s^2]
[mm]
[mm/s]

This is how we can change [UU] to [mm] for easier operation.

Also, the changed unit is applied to velocity, acceleration, and deceleration.

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 10. Drive Application Functions

10[mm/sec]

Let’s say you have a linear motor that moves 1 [mm] per 1 [turn] and want to move it at the
speed of 10 [mm] per second.

[mm]
[mm/s]

If you enter 10 for Velocity, the linear motor will move 1000 [mm] for 100 [sec] at the speed of
10 [mm/sec].

[mm/s]

[mm/s^2]

[mm/s^2]

Acceleration and deceleration are also converted to [mm]. Travel time [sec] can be calculated
according to the equation below.

𝑉𝑒𝑙𝑜𝑐𝑖𝑡𝑦[𝑢𝑢/𝑠]
Travel time[sec] =
𝐴𝑐𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛 𝑜𝑟 𝐷𝑒𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛[𝑢𝑢/𝑠𝑒𝑐 2 ]

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 10. Drive Application Functions

If velocity is 1000 [mm/sec] and acceleration or deceleration is 10000 [mm/s^2],

1000[𝑚𝑚/𝑠]
0.1[sec] =
10000[𝑚𝑚/𝑠𝑒𝑐 2 ]

it will take the linear motor 0.1 [sec] to accelerate from 0 [mm/sec] to 1000 [mm/sec]. Like this,
value input can become much easier if you change the user unit [UU] to a custom load unit.

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 10. Drive Application Functions

(2) When building a device that requires precision

Using gear ratio also makes it possible to make movements in precise units.

0.1[mm]

For example, let’s say you have a motor attached with a 19 [bit] encoder and a ball screw
linear motor that moves 1 [mm] per 1 [turn] installed on it.

If you want to make the ball screw move by 0.1 [mm] by inputting 1 [UU], the gear ratio formula
is as follows.

𝐸𝑙𝑒𝑐𝑡𝑟𝑖𝑐 𝐺𝑒𝑎𝑟 𝑁𝑢𝑚𝑒𝑟𝑎𝑡𝑜𝑟1

𝐼𝑛𝑑𝑒𝑥 𝐷𝑖𝑠𝑡𝑎𝑛𝑐𝑒 [𝑈𝑈] × = 𝐼𝑛𝑡𝑒𝑟𝑛𝑎𝑙 𝑐𝑜𝑚𝑚𝑎𝑛𝑑 𝑝𝑢𝑙𝑠𝑒 [𝑃𝑢𝑙𝑠𝑒𝑠]
𝐸𝑙𝑒𝑐𝑡𝑟𝑖𝑐 𝐺𝑒𝑎𝑟 𝐷𝑒𝑛𝑜𝑚𝑖𝑛𝑎𝑡𝑜𝑟1

524288
= 1[𝑈𝑈] × = 52428[𝑃𝑢𝑙𝑠𝑒𝑠]
10

For the linear motor to move 0.1 [mm], the motor must make 0.1 [turn]. Therefore, you must
enter 10 into Electric Gear Denominator 1[0x3010]. Then, the internal command pulse
becomes 52428 [Pulses], and the motor makes 0.1 [turn] while the linear motor moves by
0.1 [mm].

Same units
0.1[mm]

Here, the input distance unit becomes 0.1 [mm]. In the same way, if you need to make a
movement of 0.01 [mm] or 0.001 [mm], you can enter a larger value into Electric Gear
Denominator 1[0x3010] to increase precision.

10-50
 10. Drive Application Functions

(3) When it is necessary to unify the units of encoders with

different resolutions
By applying gear ratio, you can give commands based on the user unit, regardless of the
encoder (motor) type. The following example is for a movement of 12mm for the ball
screw type with a 10mm pitch.

(A) 5000 ppr encoder

(B) 19-bit encoder

(A) 5000 ppr encoder (B) 19-bit (524288 ppr) encoder

5000*12/10= 6000 524288*12/10= 629145.6

When the electric
gear

is not used Different commands should be given to the encoders (motor) used for the same
distance movement.

For a command given in the minimum user unit of 1 um (0.001 mm)

Electric Gear Numerator 1 = 5000 Electric Gear Numerator 1 = 524288

Electric gear
setting
Electric Gear Denominator 1 = 10000 Electric Gear Denominator 1 = 10000

If the electric gear Movements can be made under the same command of 12000 (12mm= 12000*1um)
is used regardless of the encoder (motor) used.

(4) When the output frequency of the upper level controller

(master) or input frequency of the drive is limited for
driving a high-resolution encoder at a high speed
The output frequency of a general high-speed line drive pulse output unit is
approximately 500Kpps, and the possible input frequency of the drive is approximately
1Mpps. For this reason, when driving a high-resolution encoder at a high speed, it is
necessary to use an electric gear for proper operation due to the limitations on the output
frequency of the upper level controller and the input frequency of the drive.

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 10. Drive Application Functions

10.3.2 Example of Indexing Position Operation Electric

Gear Setting
 Ball Screw Load

Apparatus specification

Pitch: 10mm, Deceleration ratio: 1/1

User unit 1um (0.001mm)

Encoder specification 19-bit (524288 PPR)

Load movement amount/revolution 10 [mm]= 10000 [User Unit]

Electric Gear Numerator 1 : 524288

Electric gear setting
Electric Gear Denominator 1 : 10000

 Turntable Load

Apparatus specification

Deceleration ratio: 100/1

User unit 0.001°

Encoder specification 19-bit (524288 PPR)

Load movement amount/revolution 360/100/0.001= 3600

Electric Gear Numerator 1 : 524288

Electric gear setting
Electric Gear Denominator 1 : 3600

 Belt + Pulley System

Apparatus specification

Deceleration ratio: 10/1, Pulley diameter: 100mm

User unit 1um (0.001mm)

Encoder specification 19-bit (524288 PPR)

Load movement amount/revolution PI * 100/10/0.001= 31416

Electric Gear Numerator 1 : 524288

Electric gear setting
Electric Gear Denominator 1: 31416

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 10. Drive Application Functions

10.3.3 Calculation of Velocity and

Acceleration/Deceleration for Use of Electric Gear
 How to Set Index Velocity

When the gear ratio is 1:1, the following proportional expression for velocity and
acceleration/deceleration applies.

𝐸𝑛𝑐𝑜𝑑𝑒𝑟 𝑃𝑢𝑙𝑠𝑒 𝑝𝑒𝑟 𝑅𝑒𝑠𝑜𝑙𝑢𝑡𝑖𝑜𝑛[𝑝𝑝𝑟] : 60[𝑟𝑝𝑚]

= 𝐼𝑛𝑑𝑒𝑥 𝑉𝑒𝑙𝑜𝑐𝑖𝑡𝑦[𝑢𝑢/𝑠] : 𝐷𝑒𝑚𝑎𝑛𝑑 𝑆𝑝𝑒𝑒𝑑[𝑟𝑝𝑚]

To drive a 19-bit motor at 3000 [rpm], you can calculate the index velocity as follows.

524288[𝑝𝑝𝑟] : 60[𝑟𝑝𝑚] = 𝐼𝑛𝑑𝑒𝑥 𝑉𝑒𝑙𝑜𝑐𝑖𝑡𝑦[𝑢𝑢/𝑠] : 3000[𝑟𝑝𝑚]

𝐼𝑛𝑑𝑒𝑥 𝑉𝑒𝑙𝑜𝑐𝑖𝑡𝑦[𝑢𝑢/𝑠] = 26214400[𝑢𝑢/𝑠]

If the gear ratio is other than 1:1, it affects the velocity. Thus, use the following formula taking
the gear ratio into consideration.

𝐼𝑛𝑑𝑒𝑥 𝑉𝑒𝑙𝑜𝑐𝑖𝑡𝑦[𝑈𝑈/𝑠𝑒𝑐]
𝐸𝑛𝑐𝑜𝑑𝑒𝑟 𝑃𝑢𝑙𝑠𝑒 𝑝𝑒𝑟 𝑅𝑒𝑠𝑜𝑙𝑢𝑡𝑖𝑜𝑛 Electric Gear Denominator 1
= 𝐷𝑒𝑚𝑎𝑛𝑑 𝑆𝑝𝑒𝑒𝑑[𝑟𝑝𝑚] × ×
Electric Gear Numerator 1 60[𝑟𝑝𝑚]

* Application example

Calculation of index velocity input value when you want to drive a 19 bit motor at 3000 [rpm]
by applying the gear ratio of electric gear numerator 1 : 524288 and electric gear
denominator 1 : 20

524288 20
𝐼𝑛𝑑𝑒𝑥 𝑉𝑒𝑙𝑜𝑐𝑖𝑡𝑦[𝑈𝑈/𝑠𝑒𝑐] = 3000[𝑟𝑝𝑚] × ×
524288 60[𝑟𝑝𝑚]

𝐼𝑛𝑑𝑒𝑥 𝑉𝑒𝑙𝑜𝑐𝑖𝑡𝑦[𝑢𝑢/𝑠] = 1000[𝑈𝑈/𝑠𝑒𝑐]

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 10. Drive Application Functions

If you enter 1000 [UU/s] for index velocity, the motor runs at 3000 [rpm].

 How to Set Index Acceleration/Deceleration

You can calculate acceleration and deceleration by the following formula using travel time
and index velocity.

𝑉𝑒𝑙𝑜𝑐𝑖𝑡𝑦[𝑢𝑢/𝑠]
Travel time [sec] =
𝐴𝑐𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛 𝑜𝑟 𝐷𝑒𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛[𝑢𝑢/𝑠𝑒𝑐 2 ]
Travel time is the time required to reach the target, that is, the time required for the feedback
speed to reach the registered velocity.

* Application example

When you want the feedback speed to reach 3000 [rpm] in 0.1 second for a 19 bit motor with
the gear ratio of electric gear numerator 1 : 524288/electric gear denominator 1 : 20

1000[𝑢𝑢/𝑠]
0.1[sec] =
𝐴𝑐𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛 𝑜𝑟 𝐷𝑒𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛[𝑢𝑢/𝑠𝑒𝑐 2 ]

𝐴𝑐𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛 𝑜𝑟 𝐷𝑒𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛[𝑢𝑢/𝑠𝑒𝑐 2 ] = 10000[𝑈𝑈/𝑠𝑒𝑐]

You can set acceleration and deceleration as shown above.

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 10. Drive Application Functions

10.3.4 Electric Gear for Pulse Input Position Operation

While Index Position operation only uses 1 electric gear, pulse input position operation can
use up to 4 electric gears by using the EGEAR1 and EGEAR2 signals among input contacts.

Electric Gear Ratio

EGEAR1 EGEAR2 Electric Gear Ratio
Numerator/Denominator
Electric Gear Numerator 1 [0x300C]
OFF OFF Electric gear ratio 1
Electric Gear Denominator 1 [0x3010]
Electric Gear Numerator 2 [0x300D]
ON OFF Electric gear ratio 2
Electric Gear Denominator 2 [0x3011]
Electric Gear Numerator 3 [0x300E]
OFF ON Electric gear ratio 3
Electric Gear Denominator 3 [0x3012]
Electric Gear Numerator 4 [0x300F]
ON ON Electric gear ratio 4
Electric Gear Denominator 4 [0x3013]

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 10. Drive Application Functions

10.4 Velocity Control Settings

10.4.1 Smooth Acceleration and Deceleration

For smoother acceleration and deceleration during velocity control, you can generate an
acceleration/deceleration profile of a trapezoidal or S-curved shape. Here, You can enable S-
curve operation by setting the speed command S-curve time to 1 [ms] or higher.

The velocity command acceleration/deceleration time (0x2301, 0x2302) is the time needed
to accelerate the drive from the zero speed to the rated speed or to decelerate it from the
rated speed to the zero speed.

Speed

Motor Rated Speed

Time

Speed Command Speed Command

Acceleration Time (0x2301) Deceleration Time (0x2302)

You can calculate the actual acceleration/deceleration time as below.

Acceleration time= speed command/rated speed x speed command acceleration time

(0x2301)

Deceleration time= speed command/rated speed x speed command deceleration time

(0x2302)

As shown in the figure below, you can generate an S-curve shape acceleration/deceleration
profile by setting the speed command S-curve time (0x2303) to 1 or a higher value. Make
sure to verify the relationship between the acceleration/deceleration time and S-curve time.

Speed

Speed command

Speed command Speed command

S-curve time (0x2303) S-curve time (0x2303)

Time

Acceleration time Deceleration time

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 10. Drive Application Functions

10.4.2 Smooth Acceleration and Deceleration Through

Step Analog Voltage Input
When controlling speed using analog input voltage, you can use step voltage input to
achieve smooth acceleration and deceleration. For proper operation, you must enter 1
[msec] or lower for step voltage change time.

<CH1: Input voltage>

Voltage change time : 1[msec]

1[msec]

As shown above, if you input 200 [msec] for Speed Command Acceleration Time [0x2301]
and Speed Command Deceleration Time [0x2302] and input a step analog voltage, the
speed command reflects the acceleration/deceleration time and is output in a trapezoidal
shape.

<CH1: Input voltage/CH2: Speed command>

200[msec] 200[msec]

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 10. Drive Application Functions

If you input 100 for Speed Command S-curve Time[0x2303] and input a step voltage, the
voltage command reflects the acceleration/deceleration time and S-curve time and is output
in a smooth curve.

<CH1: Input voltage/CH2: Velocity command>

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 10. Drive Application Functions

10.4.3 Servo-lock Function

During velocity control operation, the servo position cannot be locked even when 0 is
entered for the velocity command. This is due to the characteristic of velocity control. Here,
you can lock the servo position by enabling the servo-lock function (0x2311).

Setting Values Setting Details

0 Servo-lock function disabled

1 Servo-lock function enabled

Using the servo-lock function, you can internally control the positions based on the position
of 0 velocity command input. If you input a velocity command other than 0, the mode
switches to normal velocity control.

10.4.4 Velocity Control Signals

As shown in the figure below, when the value of speed feedback is below the ZSPD output
range (0x2404), a ZSPD (zero speed) signal is output; and when it is above the TGON
output range (0x2405), a TGON (motor rotation) signal is output.

Speed

Motor speed

TGON output
range
ZSPD output
range
Time
ZSPD

TGON

In addition, if the difference between the command and the speed feedback (i.e., velocity
error) is below the INSPD output range (0x2406), an INSPD (velocity match) signal is output.

 Related Objects

Sub Variable PDO

Index Names Accessibility Unit
Index Types Assignment

0x2404 - ZSPD Output Range UINT RW Yes rpm

0x2405 - TGON Output Range UINT RW Yes rpm

0x2406 - INSPD Output Range UINT RW Yes rpm

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 10. Drive Application Functions

10.5 Position Control Settings

10.5.1 Position Command Filter

You can apply filters to position commands to operate the drive more smoothly. For filtering,
you can set position command filter time constant (0x2109) using the primary low pass filter
and position command average filter time constant (0x210A) using the movement average.

You can use a position command filter in the following cases.

(1) When the electric gear ratio is x10 or above

(2) When the acceleration/deceleration profile cannot be generated from the upper level
controller

Speed

Target spe ed

Target
speed*63% Comma nd before filterin g
Comma nd after filter ing
Target
speed*37%

Time
0x2109 0x2109

Position command filter using position command filter time constant (0x2109)

Speed

Command
before filtering
Command after
filtering

Time
0x210A 0x210A
Speed

Command
0x210A before filtering
Command after
0x210A filtering

Time

Position command filter using position command average filter time constant (0x210A)

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 10. Drive Application Functions

 Related Objects

Sub Variable PDO

Index Names Accessibility Unit
Index Types Assignment

0x2109 - Position Command Filter Time Constant UINT RW Yes 0.1ms

Position Command Average Filter Time

0x210A - UINT RW Yes 0.1ms
Constant

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 10. Drive Application Functions

10.5.2 Position Control Signals

As shown in the figure below, if the position error value (i.e., the difference between the
position command value input by the upper level controller and the position feedback value)
is below the INPOS1 output range (0x2401) and is maintained for the INPOS1 output time
(0x2402), the INPOS1 (Positioning completed 1) signal is output. However, the signal is
output only when the position command is not renewed.

Here, if the position error value goes below the INPOS2 output range (0x2403), the INPOS2
(Positioning completed 2) signal is output regardless of whether or not the position command
has been renewed.

Speed

Command
Feedback

Time
Start time of position
Position command renewal End time of position
error command renewal

INPOS1/2
output range
Time

INPOS1 (for output time= 0)

INPOS2

 Related Objects

Sub Variable PDO

Index Names Accessibility Unit
Index Types Assignment

0x2401 - INPOS1 Output Range UINT RW Yes UU

0x2402 - INPOS1 Output Time UINT RW Yes ms

0x2403 - INPOS2 Output Range UINT RW Yes UU

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 10. Drive Application Functions

10.6 Positive/Negative Limit Setting

This function is used to safely operate the drive within the movable range of the apparatus
using the positive/negative limit signals of the drive. Be sure to connect and set the limit
switch for safe operation. For more information about the settings, refer to Section 10.2.1,
“Digital Input Signal Assignment.”

NOT POT

I/O Pin 13 (default value)

I/O Pin 14 (default value)

When a positive/negative limit signal is input, the motor stops according to the emergency
stop setting (0x2013).

Setting
Description
Values

The motor stops according to the method set in Dynamic Brake Control

0 Mode (0x2012).

It stops using the dynamic brake and maintains the torque command at 0.

1 The motor decelerates to a stop using the emergency stop torque (0x2113).

 Related Objects

Sub Variable PDO

Index Names Accessibility Unit
Index Types Assignment
Dynamic Brake Control Mode
0x2012 - UINT RW No -
Configuration

0x2013 - Emergency Stop Configuration UINT RW No -

0x2113 - Emergency Stop Torque UINT RW Yes -

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 10. Drive Application Functions

10.7 Brake Output Signal Function Setting

If the motor stops due to the servo off state or servo alarm during rotation, you can set the
velocity (0x2407) and delay time (0x2408) for brake signal output in order to set the output
timing.

The brake signal is output if the motor rotation velocity goes below the set value (0x2407) or
the output delay time (0x2408) has been reached after the servo off command.

Servo OFF or
alarm

Brake output speed

(0x2407)
Rotation speed

Servo ON/OFF

Brake signal Cancel Operate

Brake output delay time

(0x2408)

Timing diagram for signal output by the brake output speed (0x2407)

Servo OFF or
alarm

Brake output speed

(0x2407)
Rotation speed

Servo ON/OFF

Brake signal Cancel Operate

Brake output delay time

(0x2408)

Timing diagram for signal output by the brake output delay time (0x2408)

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 10. Drive Application Functions

You can set the delay time until the actual PWM output goes off when the servo is turned off
or a servo alarm occurs.

When using a motor with a brake installed on the vertical axis, you can output the brake
signal first and turn off PWM after the set time in order to prevent it from running down along
the axis.

Servo OFF or PWM output

alarm turn-off time
Motor
PWM OFF delay time
(0x2011)

Servo
ON/OFF
Load

PWM
output Gravity
`
direction

Brake Cancel Operate

signal

(1) When the brake signal is output before PWM output is turned off

You can output the brake signal first before PWM output is turned off to prevent the drop
along the vertical axis due to gravity.

Servo OFF or
alarm Motor
PWM output
turn-off time
PWM OFF
delay time
(0x2011)

Servo ON/OFF Load

PWM
output Gravity
` direction

Brake Cancel Operate

signal

(2) If PWM output is turned off before the brake signal output

PWM output is turned off before the brake signal output, allowing the drop along the vertical
axis due to gravity.

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 10. Drive Application Functions

10.8 Torque Limit Function

You can limit the drive's output torque to protect the machine. You can set the limit on torque
output in torque limit function setting (0x2110). The setting unit of torque limit value is [0.1%].

 Description of torque limit function setting (0x2110)

Limit Description
function

0x3022
Forward
torque limit

Internal Torque
Torque Limit input
1 Torque
Ref.

(Setting
value 0) 0x3023
Reverse
torque limit

Limits the torque value using positive/negative torque limits according to the driving direction

- Forward: 0x3022, reverse: 0x3023

300 % l imit

Internal
Torque Limit
2
Torque
(Setting input
value 1) Torque
Ref.

Limited to 300% regardless of the driving direction

0x2111
Forward
torque limit

Torque
External input
Torque Limit Torque
Ref.
(Setting
value 2)
0x2112
Reverse
torque limit

Limits the torque value using external positive/negative torque limits according to the driving
direction

- Forward: 0x2111, reverse: 0x2112

10-66
 10. Drive Application Functions

OFF 0x3022
Forward
PCL torque limit

ON 0x2111
Exte rnal fo rwa rd
torque limit

Torque
Internal + input
External Torque
Torque Ref.
Limits
OFF 0x3023
(Setting Reverse
value 3) NCL torque limit

ON 0x2112
Exte rnal reverse
torque limit

Limits the torque value using internal and external torque limits according to the driving
direction and the torque limit signal

- Forward: 0x3022 (no PCL input), 0x2111 (PCL input)

- Reverse: 0x3023 (no NCL input), 0x2112 (NCL input)

0x2211
Ana log tor que
limit offset

Analog
torque
input Torque
Ref.

0x2210
Ana log tor que
limit scale

The torque limits are set according to analog input voltage

Analog
Torque Limit -The torque limit values in the forward and reverse directions are set in proportion to the
absolute values of input voltage, regardless of the signals of analog input voltage. .
(Setting
value 4) - The torque limit and the analog input voltage have the following relationship.

- The limit value can be determined by using the following formula.

𝐓𝐨𝐫𝐪𝐮𝐞 𝐥𝐢𝐦𝐢𝐭 𝐯𝐚𝐥𝐮𝐞%]

|𝐈𝐧𝐩𝐮𝐭 𝐯𝐨𝐥𝐭𝐚𝐠𝐞 [𝐦𝐯]| − 𝐓𝐨𝐫𝐪𝐮𝐞𝐢𝐧𝐩𝐮𝐭 𝐨𝐟𝐟𝐬𝐞𝐭(𝟎𝐱𝟐𝟐𝟏𝟏)[𝐦𝐕]
=( )
𝟏𝟎𝟎𝟎
𝐓𝐨𝐫𝐪𝐮𝐞 𝐜𝐨𝐦𝐦𝐚𝐧𝐝 𝐬𝐜𝐚𝐥𝐞[𝟎𝐱𝟐𝟐𝟏𝟎]
×
𝟏𝟎
ex) the command scaler is set to 100 and the offset is set to 0

When the input voltage is -10[V],

| − 10000[mv]| − 0[mV] 100

Torque limit value[%] = ( ) × = 100[%]
1000 10
The torque values in the forward and reverse directions are set up to 100[%]. If you enter an input
voltage of 10[V], the torque values in the forward and reverse directions are also set up to 100[%].

10-67
 10. Drive Application Functions

P-CL

N-CL

Torque
Feed-forw ard 0x3022
Forward
Gai n 0x210E torque limit

Filte r 0x210F
Torque Limit 0x2111
Velo city Function Exte rnal fo rwa rd
Limit Speed Control torque limit
Velo city Functio n
Ref. P Gain I Ga in
+ +
1 0x2102 0x2103

2 0x2106 0x2107 + Torque

-
Ref.

0x2112
Exte rnal reverse Sele ct 0x2110
0x262 5
torque limit
Position Actua l
Inte rnal Value
[UU] 0x3023
Reverse
torque limit
Ana log Inp ut1
12b it A/D
A-TLMT Ana log To rque Limit

Scale 0x2210
A-TLMT
Offset 0x2211

 Related Objects

Sub Variable PDO

Index Names Accessibility Unit
Index Types Assignment

0x2110 - Torque Limit Function Select UINT RW Yes -

0x2111 - External Positive Torque Limit Value UINT RW Yes 0.1%

0x2112 - External Negative Torque Limit Value UINT RW Yes 0.1%

0x3022 - Positive Torque Limit Value UINT RW Yes 0.1%

0x3023 - Negative Torque Limit Value UINT RW Yes 0.1%

10-68
 10. Drive Application Functions

10.9 Gain Conversion Function

10.9.1 Gain Group Conversion

Use Gain Group 2 Use Gain Group 1

GAIN2 sensor input

This is one of the gain adjustment functions and is used to switch between Gain Groups 1
and 2. You can reduce the time required for positioning through gain conversion.

A gain group consists of position loop gain, speed loop gain, Speed Loop Integral Time
Constant, and torque command filter time constant. You can set the gain conversion function
(0x2119) as follows.

 Description of Gain Conversion Function (0x2119)

Setting Values Setting Details

0 Only Gain Group 1 is used
1 Only Gain Group 2 is used
Gain is switched according to the GAIN2 input status
2 - 0: Use gain group 1
- 1: Use gain group 2
3 Reserved
4 Reserved
5 Reserved
Gain is switched according to the ZSPD output status
6 - 0: Use gain group 1
- 1: Use gain group 2
Gain is switched according to the INPOS1 output status
7 - 0: Use gain group 1
- 1: Use gain group 2

10-69
 10. Drive Application Functions

Waiting time and switching time for gain conversion are as follows.

Gain Group 1 Gain Conversion Time 1 Gain Group 2

(0x211A)

Gain Conversion Waiting Time 1

Position loop gain 1 (0x2101) (0x211C) Position loop gain 2 (0x2105)

Speed loop gain 1 (0x2102) Speed loop gain 2 (0x2106)

Speed loop integral time Speed loop integral time

constant 1 (x2103) constant 2 (x2107)

Gain Conversion Time 2
Torque command filter time (0x211B) Torque command filter time

constant 1 (0x2104) Gain Conversion Waiting Time 2 constant 2 (0x2108)

(0x211D)

Waiting Conversion Waiting Conversion

time 1 time 1 time 2 time 2
0x211C 0x211A 0x211D 0x211B

Gain Group 1 Gain Group 1

Gain Group 2

Gain conversion condition satisfied

Gain switch condition not satisfied
(ex. GAIN2, ZSPD, INPOS1)

 Related Objects

Sub Variable PDO

Index Names Accessibility Unit
Index Types Assignment

0x2119 - Gain Conversion Mode UINT RW Yes -

0x211A - Gain Conversion Time 1 UINT RW Yes ms

0x211B - Gain Conversion Time 2 UINT RW Yes ms

0x211C - Gain Conversion Waiting Time 1 UINT RW Yes ms

0x211D - Gain Conversion Waiting Time 2 UINT RW Yes ms

10-70
 10. Drive Application Functions

10.9.2 P/PI control switch

PI control uses both proportional (P) and integral (I) gains of the velocity controller, while P
control uses only proportional gain.

The proportional gain determines the responsiveness of the entire controller, and the integral
gain is used to eliminate errors in the steady state. Too high of an integral gain will result in
an overshoot during acceleration or deceleration.

The PI/P control switch function is used to switch between the PI and P controls under the
condition of the parameters within the servo (torque, velocity, acceleration, position
deviation); specifically, they are used in the following situations.

Velocity control: To suppress any overshoot or undershoot during acceleration/deceleration

Position control: To suppress undershoots during positioning in order to reduce the

positioning time

You can accomplish similar effects by setting acceleration/deceleration of the upper level
controller, soft start of the servo drive, position command filter, etc.

Speed Overshoot

Motor speed

Speed command

Time

Undershoot Positioning time

You make these settings in the P/PI control switch mode (0x2114). See the details below.
Switching to P control by PCON input takes precedence over this setting.

Setting Values Setting Details

0 Always use PI control
Switch to P control if the command torque is larger than the P control
1
switch torque (0x2115)
Switch to P control if the command speed is larger than P control switch
2
speed (0x2116)
Switch to P control if the acceleration command is larger than P control
3
switch acceleration (0x2117)
Switch to P control if the position error is larger than P control switch
4
position error (0x2118)

10-71
 10. Drive Application Functions

 Related Objects

Sub Variable PDO

Index Names Accessibility Unit
Index Types Assignment

0x2114 - P/PI Control Conversion Mode UINT RW Yes -

0x2115 - P Control Switch Torque UINT RW Yes 0.1%

0x2116 - P Control Switch Speed UINT RW Yes rpm

0x2117 - P Control Switch Acceleration UINT RW Yes rpm/s

0x2118 - P Control Switch Following Error UINT RW Yes pulse

 Example of P/PI Switching by Torque Command

When using PI control for all situations rather than using P/PI control switch for velocity
control, the integral term of acceleration/deceleration error is accumulated, which results in
an overshoot and an extended positioning time. Here, you can reduce overshoot and
positioning time using an appropriate P/PI switching mode. The figure below shows an
example of mode switching by torque commands.

Speed Speed
Overshoot
Overshoot

When PI control is used When PI/P control is used

Time Time

Positioning time Positioning time

Speed
Torque command

+0x2115

Time

-0x2115

PI control P control PI control P control PI control

10-72
 10. Drive Application Functions

10.10 Dynamic Brake

What is dynamic brake?

: It is a method of rapidly stopping the motor by causing an electrical short-circuit to the

phases of the servo motor.

Circuits of to the dynamic brake are integrated into the drive.

The drive can apply short-circuits to only two phases or to all three phases depending on
the model type.

Drive

Servo motor

You can set various stop modes as shown below, in dynamic brake control mode setting
(0x2012).

Servo ON/OFF Servo ON/OFF

Rotation speed
Rotation speed

Dynamic
Dynamic brake
brake

Setting value: 1
Setting value: 0
Release the dynamic brake after stopping the motor
Hold the dynamic brake after stopping the motor using using the brake
the brake

Servo ON/OFF Servo ON/OFF

Rotation speed Rotation speed

Dynamic Dynamic
brake brake

Setting value: 2 Setting value: 3

Release the dynamic brake after free-run stop Hold the dynamic brake after free-run stop

10-73
 10. Drive Application Functions

 Related Objects

Sub Variable PDO

Index Names Accessibility Unit
Index Types Assignment
Dynamic Brake Control Mode
0x2012 - UINT RW No -
Configuration

0x2013 - Emergency Stop Configuration UINT RW No -

Caution
 DB is a function used for Servo Off or emergency stop (EMG).
Do not use this function to turn off operation in a normal situation.

10-74
 10. Drive Application Functions

10.11 Regenerative Brake Resister Setting

Regeneration refers to a phenomenon where kinetic energy of the motor is converted to
electric energy and input into the drive because of the high inertia or sudden deceleration of
the load driven. Here, a regenerative resistance is used to suppress the rise of the drive's
internal voltage(VDC) caused by regeneration and prevent burnout of the drive.

Servo drive
Sudden
deceleration
Electric energy kinetic energy

VDC
voltage U/V/W
increase Motor

Load with
large inertia

 Related Objects

Sub Variable PDO

Index Names Accessibility Unit
Index Types Assignment
Regeneration Brake Resistor
0x2009 - UINT RW No -
Configuration
Regeneration Brake Resistor Derating
0x200A - UINT RW No %
Factor Setting
Regeneration Brake Resistor Value
0x200B - UINT RW No Ω
Setting
Regeneration Brake Resistor Power
0x200C - UINT RW No Watt
Setting
Peak Power of Regeneration Brake
0x200D - UINT RW No Watt
Resistor Setting
Duration Time @ Peak Power of
0x200E - UINT RW No ms
Regeneration Brake Resistor

10-75
 10. Drive Application Functions

10.11.1 Use of External regenerative resistance

When using the external regenerative resistance for different driving conditions, make sure
to observe the order below for configuration.

1. Wiring external regenerative resistance

- Connect the external regenerative resistance to the terminals B and B+.

External regenerative resistor

L1 B B+
L2
External
regenerative B+
resistor
B
U
V
W

Wiring method for using external regenerative resistor

2. Setting regenerative resistance (0x2009)

- Configure the regenerative resistance installed separately outside the drive

(0x2009=1)

3. Setting regenerative resistance value (0x200B)

- Set regenerative resistance of the resistor installed separately outside the drive in
the unit of [Ω]

- This setting is required when you have set regenerative resistance (0x2009) to 1

- Initial Value: 0

4. Setting regenerative resistor capacity (0x200C).

- Set the capacity of the regenerative resistance installed separately outside the drive
in the unit of [W]

- This setting is required when you have set regenerative resistance (0x2009) to 1

- Initial Value: 0

10-76
 10. Drive Application Functions

5. Setting maximum capacity and allowed time of the regenerative resistance (0x200D,
0x200E)

- Set the maximum capacity and use time at the capacity by using the data sheet of
the externally installed regenerative resistance

- If there are no specific values provided, set the maximum capacity to a value 5 times
the regenerative resistance capacity(0x200C) and the allowed time to 5000[ms](The
values may differ according to the general regenerative resistance specifications or
the resistance value)

- This setting is required when you have set regenerative resistance (0x2009) to 1

Our company provides the following regenerative resistance specifications as options for the
use of external regenerative resistances.

Resistance Resistance
Drive Capacity Model Name
Values Capacity

100 W

200W 50Ω 140W APCS-140R50

400W

1KW 30Ω 300W APCS-300R30

10.11.2 Regenerative Overload

When regenerative actions occur continuously, the drive consumes regenerative energy in
the form of regenerative resistance through regenerative actions. Since L7C does not have
internal regenerative resistance, to apply it to a device with regeneration you must connect it
to an appropriate resistor for the capacity range and input the appropriate parameter.

The following is an example of parameter input and AL-23 generation when a resistor of 300
W/30 Ω is attached to a 1 [kW] drive.

First, you must obtain the regenerative consumption capacity. 385[V] is the voltage point at
which regenerative actions get activated.

385[𝑉]2
𝑅𝑒𝑔𝑒𝑛𝑒𝑟𝑎𝑡𝑖𝑣𝑒 𝑐𝑜𝑛𝑠𝑢𝑚𝑝𝑡𝑖𝑜𝑛 𝑐𝑎𝑝𝑎𝑐𝑖𝑡𝑦 = 𝑃𝑐 =
𝑅𝑒𝑔𝑒𝑛. 𝐵𝑟𝑎𝑘𝑒 𝑅𝑒𝑠𝑖𝑠𝑡𝑜𝑟 𝑉𝑎𝑙𝑢𝑒[0𝑥200𝐵][Ω]
3852
= = 4940.83[𝑊]
30
Regen. Brake Resistor Value [0x200B] affects the regenerative consumption capacity, so
insert precisely.

Next, you need to obtain the regenerative resistance capacity.

Peak Power of Regen. If Brake Resistor [0x200D] value is not set, enter the value five times
the Brake Resistor Power [0x200C] value. Also, if there is no mention of allowed time for
regenerative resistance, enter 5 [sec].

10-77
 10. Drive Application Functions

𝑅𝑒𝑔𝑒𝑛𝑒𝑟𝑎𝑡𝑖𝑣𝑒 𝑐𝑜𝑛𝑠𝑢𝑚𝑝𝑡𝑖𝑜𝑛 𝑐𝑎𝑝𝑎𝑐𝑖𝑡𝑦 = 𝑃𝐿

= 𝑃𝑒𝑎𝑘 𝑃𝑜𝑤𝑒𝑟 𝑜𝑓 𝐵𝑟𝑎𝑘𝑒 𝑅𝑒𝑠𝑖𝑠𝑡𝑜𝑟[0𝑥200𝐷] [W]

× 𝐵𝑟𝑎𝑘𝑒 𝑅𝑒𝑠𝑖𝑠𝑡𝑜𝑟 𝐷𝑒𝑟𝑎𝑡𝑖𝑛𝑔 𝐹𝑎𝑐𝑡𝑜𝑟[0𝑥200𝐴][%] × 0.01

× 𝐷𝑢𝑟𝑎𝑡𝑖𝑜𝑛 𝑇𝑖𝑚𝑒[0𝑥200𝐸][𝑚𝑠𝑒𝑐]

= 1500[𝑊] × 100[%] × 0.01 × 5[𝑠𝑒𝑐] = 7500[𝑊]

The maximum regenerative resistance capacity will be calculated as 7500 [W] as above. The
greater the possible continuous operation time [0x200E] gets, the greater the maximum
regenerative resistance capacity becomes.

AL-23 occurs if the regenerative consumption capacity accumulated during regenerative

actions exceeds the maximum regenerative resistance capacity.

𝑃𝐿 7500
Possible continuous operation time = 𝑇𝑐 = = =
𝑃𝑐 4940.83
1.51[𝑠𝑒𝑐]
If the continuous regenerative actions exceed 1.51[sec], the regenerative overload alarm
(AL-23) occurs.

10.11.3 Other Considerations

You can set the regenerative resistance’s Derating Factor (0x200A) by considering the
ambient environment and heat radiation conditions for drive installation. If the heat radiation
condition is poor, use a derated (with lowered capacity) resistor.

When it is derated for use (value set to 100 or lower), the less the set value of the
regeneration overload alarm (AL-23), the faster its trigger.

When you wish to set the derating factor to 100% or higher, be sure to fully consider the heat
radiation condition of the drive installed.

10-78
 10. Drive Application Functions

10.12 Encoder Signal Output

The drive internally processes the encoder signals and outputs them in the form of a pulse. It
outputs the signals in the line drive method through the pins assigned to the CN1 connector
by default.

You can set the count of the encoder pulse output per revolution of the motor by the encoder
output pulse [0x3006] value.

Encoder output
Upper level controller Servo drive

B I/O ENCODER ENC

Z

The encoder signal output frequency of the drive is 4 [Mpps] at the maximum for the line
drive method.

 Encoder Output Signal for the Line Drive Method

Pin
Names Assignment Description Functions
Numbers
1 AO -
Encoder
Signal A
2 /AO -
Outputs demultiplied encoder signals in
3 BO -
Encoder A, B, and Z phases by the line drive
Signal B method. Output demultiplication can be
4 /BO -
set in [0x3006].
5 ZO -
Encoder
Signal Z
6 /ZO -

 Related Objects

Sub Variable PDO

Index Name Accessibility Unit
Index Type Assignment

0x3006 - Encoder Output Pulse UDINT RW No Pulse/rev.

10-79
 10. Drive Application Functions

10.13 Absolute Encoder Data Transmission

(ABS_RQ)
Upon request, the absolute encoder's data are transmitted to the upper level controller in the
form of quadrature pulses through AO, BO outputs, which are the encoder’s output signals.
In this case, pulses are output at the velocity of 500 [Kpps].

The drive transmits multi-turn data first among the absolute data upon ABSRQ signal input,
then transmits single-turn data within a single revolution.
(For assignment of sequence input signal ABSRQ, refer to Section 7.2, “Input/Output
Signals.”)

 Transmission/Reception Sequence of Absolute Data

When the upper level controller is ready for data reception, turn on the ABSRQ signal.

Here, you can input the ANSRQ signals through the ABSRQ bits of digital input or drive control input 2
[0x2120].
(Refer to Section 15.4, “L7C Indexer Servo Drive Transmission Address Table” for the Modbus RTU
transmission address.)

When the drive receives an ABSRQ signal input, it prepares for transmission of the encoder data after a
delay time of 100 [ms].

The drive transmits multi-turn data for up to 200 [ms]. The drive prepares for transmission of single-turn
data for 200 [ms] from the start of multi-turn data transmission.

The drive transmits single-turn data within one revolution for up to 1200 [ms]. Here, the output data take
into account the encoder output pulse count (demultiplication ratio). The data operate as normal encoder
output signals 1200 [ms] after the starting point of data transmission within one revolution.

ABSRQ
Absolute value data output Divided pulse output

Phase A(AO)

Multi-Turn Data Single-Turn Data

Phase B(BO)

100ms Max. 200ms Max. 1200ms

10-80
 11. Tuning

11. Tuning
Current feedback

Position Speed Torque Voltage

command command command command
Position Speed control Torque control Power
control Motor Encoder
computation computation computation circuit

Position feedback

The drive is set to the torque control, velocity control, or position control mode for use,
depending on the method of connecting with the upper level controller. This drive has a
control structure where position control is located at the outermost part and current control at
the innermost, forming a cascade. You can tune the operation according to the purpose by
setting gain parameters for the torque controller, velocity controller, and position controller for
the drive’s operation modes.

11.1 Automatic Gain Adjustment (Off-Line Auto

Tuning)
You can automatically set gain according to the load conditions by using the commands
generated by the drive itself. The following gain parameters are changed.

 Inertia ratio, position loop gain, speed loop gain, speed integral time constant, torque command
filter time constant, notch filter 3 frequency, and notch filter 4 frequency

The entire gains are set higher or lower depending on the system rigidity setting (0x250E)
during gain tuning. Set the appropriate value depending on the rigidity of the load driven.

As shown in the figure below, sinusoidal type commands are generated in the forward or
reverse direction according to the off-line gain tuning direction (0x2510) setting. You can set
the movement distance for tuning by the off-line gain tuning distance (0x2511). Since the
movement distance becomes higher as the setting value increases, it is necessary to set the
distance appropriately for the situation. Make sure to secure an enough distance (higher
than one revolution of the motor) prior to gain tuning.

Offline gain tuning

distance (0x2511)
Tuning direction=
0 (Positive) Tuning direction= 1 (Negative)
x3
Time
Command

Response
Distance

11-1
 11. Tuning

Notch Filter
Adaptive Filter
function Select
0x2500
Position Control Velocity Control Frequency Width Depth Torque Filter
+ + Time
Ref. P Gain P Gain I Gain 1 0x2501 0x2502 0x2503
1 0x2104
1 0x2101 1 0x2102 0x2103
2 0x2504 0x2505 0x2506
- - 2 0x2108
2 0x2105 2 0x2106 0x2107
3 0x2507 0x2508 0x2509

4 0x250A 0x250B 0x250C

Torque Command

Resonance
Frequency Current Control
Estimation
Space
PWM
Load Inertia Gain 0x2514 Vector
Control
Motor
Estimation Control

Inertia 0x2100

Load
Current Feedback

Velocity Feedback
Velocity
Calculation

Position Feedback
Velocity
Calculation
Encoder

 Related Objects

Sub Variable PDO

Index Names Accessibility Unit
Index Types Assignment

0x250E System Rigidity for Gain Tuning UINT RW No -

0x2510 - Off-line Gain Tuning Direction UINT RW No -

0x2511 Off-line Gain Tuning Distance UINT RW No -

11.2 Automatic Gain Adjustment (On-line Auto

Tuning)
This is a function of automatically setting proportional gain, velocity proportional gain, speed
integral time constant, and torque command filter according to the general rules and rigidity
set by the user, based on estimations of the system inertia and commands received from the
upper devices and not using off-line auto tuning generated by the drive itself.

 Inertia ratio, position loop gain, speed loop gain, speed integral time constant, torque
command filter time constant

The function performs on-line tuning by referring to the values in the gain table in 20 levels of
rigidity, regularly reflects the tuning results, and saves changed gain values every 2 minutes
in EEPROM.

11-2
 11. Tuning

It can reflect the estimation values either slowly or fast according to the adaptation speed
setting value, and determine the overall responsiveness of the system by using only a single
rigidity setting parameter.

In the below cases, inertia ratio estimation may be incorrect by on-line auto tuning.

 Load variation is too high

 Load rigidity is too low or the system’s backlash is severe

 Load is too small (lower than x3) or too big (higher than x20)

 Acceleration or deceleration is too low, resulting in insufficient acceleration/deceleration

torque (lower than 10% of the rated value)

 Rotation velocity is low (lower than 10% of the rated value)

 Friction torque is high

In the above conditions or when auto-tuning does not improve operation, perform off-line
gain tuning.

■ Parameters Changed by Tuning

- Inertia ratio (0x2100), position loop gain 1 (0x2001), speed loop gain 1 (0x2102), speed
integral time constant 1 (0x2103), torque command filter time constant 1 (0x2104)

- notch filter 3, 4 frequency (0x2507, 0x250A)  Refer to the descriptions on automatic

notch setting function

Notch Filter
Adaptive Filter
function Select
0x2500
Position Control Velocity Control Frequency Width Depth Torque Filter
+ + Time
Ref. P Gain P Gain I Gain 1 0x2501 0x2502 0x2503
1 0x2104
1 0x2101 1 0x2102 0x2103
2 0x2504 0x2505 0x2506
- - 2 0x2108
2 0x2105 2 0x2106 0x2107
3 0x2507 0x2508 0x2509

4 0x250A 0x250B 0x250C

Torque Command

Resonance
Frequency Current Control
Estimation
Space
PWM
Load Inertia Gain 0x2514 Vector
Control
Motor
Estimation Control

Inertia 0x2100

Load
Current Feedback

Velocity Feedback
Velocity
Calculation

Position Feedback
Velocity
Calculation
Encoder

11-3
 11. Tuning

■ On-line Automatic Tuning Objects

Sub Variable PDO

Index Name Accessibility Unit
Index Type Assignment

0x250D - On-line Gain Tuning Mode UINT RW No -

Setting Values Setting Details

0 On-line gain tuning not used
1 On-line gain tuning used

The factory setting is 0, which is selected when on-line automatic tuning is impossible or the
gain values are already known. If you set the setting value to 1, on-line automatic tuning
starts. Select this option when load inertia variation is small or when the inertia ratio is
unknown. The estimated gain values from on-line automatic tuning are saved in EEPROM
every 2 minutes.

■ System Rigidity Setting During On-line Automatic Tuning

PDO
Sub Variable Access
Index Name Assign Unit
Index Type ibility
ment
0x250E - System Rigidity for Gain Tuning UINT RW No -

There are 20 different settings for on-line automatic tuning system’s rigidity, which are shown
below.

If you select a system rigidity setting value, gain values (Position Loop Gain 1, Speed Loop
Gain2, Speed Loop Integral Time Constant 1, Torque Command Filter Time Constant 1) are
automatically determined. The factory setting value of system rigidity is 5.

Increasing the system rigidity setting value increases the gain values and shortens the
positioning time. However, if the setting value is too high, vibrations may occur depending on
the machine configuration. The system rigidity values need to be set from low to high values
within the range in which there is no vibration.

[0x250E] System Rigidity 1 2 3 4 5 6 7 8 9 10

[0x2101] Position Loop Gain 1 2 5 10 15 22 30 40 50 60 73

[0x2102] Speed Loop Gain 1 3 8 15 23 33 45 60 75 90 110

[0x2103] Speed Loop Integral Time

190 70 50 40 30 22 15 13 10 9
Constant 1

[0x2104] Torque Command Filter

80 30 20 10 8 6 4 3 3 2
Time Constant 1

11-4
 11. Tuning

[0x250E] System Rigidity 11 12 13 14 15 16 17 18 19 20

[0x2101] Position Loop Gain 1 87 100 117 133 160 173 200 220 240 267

[0x2102] Speed Loop Gain 1 130 150 175 200 240 260 300 330 360 400

[0x2103] Speed Loop Integral Time

8 7 6 6 5 5 4 4 3 3
Constant 1

[0x2104] Torque Command Filter

2 2 2 2 1 1 1 1 1 1
Time Constant 1

■ On-line Gain Tuning Adaptation Speed During On-line Automatic Tuning

PDO
Sub Variable Access
Index Name Assign Unit
Index Type ibility
ment
0x250F - On-line Gain Tuning Adaptation Speed UINT RW No -

This specifies the speed of reflecting gain changes from on-line automatic tuning. The larger
the setting value is, the faster the gain changes are reflected.

11-5
 11. Tuning

11.3 Manual Gain Tuning

11.3.1 Gain Tuning Sequence

For a cascade-type controller, tune the gain of the velocity controller located at an inner
position first, then tune the gain of the position controller located at an outer position.

In other words, perform tuning in the order of proportional gain integral gain feedforward
gain.

The role of each individual gain is as follows.

- Proportional gain: Determines controller BW

- Integral gain: Determines error of the steady state and generates an overshoot

- Feedforward gain: Enhances on the system lag characteristic

- Differential gain: Plays the role of a damper for the system (not provided)

 Speed Controller Tuning

Torque Feed-Forward
Torque Feed-forward
Gain[0x210E]
Torque Feed-forward
Filter[0x210F] P/PI Conversion
P/PI Control
Velocity Control Conversion[0x2114] Current
Limit Speed Loop + + Control
+ Gain1[0x2102] P Control Switch +
- Torque[0x2115] Loop
Speed Loop I ntegralTime
[0x2103] P Control Switch Disturbance Observer
Speed[0x2116] Disturbance Observer
Gain[0x2512]
P control Switch
Following Error[0x2118] Disturbance Observer
Filter[0x2513]

Filter
Velocity
Speed Feedback filter Encoder
Time[0x210B] calculation

(1) Inertia ratio setting

- Use the automatic inertia estimation function or carry out manual setting

(2) Proportional gain setting

- Monitor for torque and noise before any vibration occurs

11-6
 11. Tuning

Speed

Command

Low gain

Middle gain

High gain

Time

- The higher the speed proportional gain value, the feedback speed’s
responsiveness to the command speed becomes better. However, if the value is
too high, an overshoot or ringing may occur. In contrast, if the value is too low,
the responding speed becomes low, which slows down system operation.

(3) Integral gain setting

Speed

Command

High gain
Middle gain

Low gain

Time

- The value and the responsiveness have an inverse proportion relationship where
a higher value results in a lower responding speed.Too high of the integral gain
increases the overshoot. In this case, P/PI conversion can manage the overshoot.

11-7
 11. Tuning

 Position Controller Tuning

Velocity FeedForward

Velocity Feed-forward
Gain[0x210C]

Velocity Feed-forward
Filter Time Constant
[0x2100]
Velocity Command
Command Filter

Limit Position Command Filter Position Control Current

Time Constant[0x2109] + + +
Position Loop Control
Position Command - Gain[0x2101] Loop
Average Filter Time
Contant[0x210A]

Encoder

(1) Proportional gain setting

Speed
Command
Feedback

Time
When gain is low

Speed
Command

Feedback

Time
When gain is moderate
Speed
Command

Feedback

Time
When gain is high

- The error between the position command and the current position is multiplied by the
proportional gain, and the result is converted to a velocity command. The higher the
gain, the better the responsiveness of position control. In many cases, a value that is
0.2~0.5 times of the speed proportional gain is applied for a stable structure.

(2) Feedforward setting

- Positional error monitoring

- Feedforward filter setting possible

- Set the filter if you want to increase the feedforward value but noise occurs.

- You can set feedforward to a value from 0% to 100%, which is the deviation ratio of the
position command value being entered currently.

(3) Position command filter setting possible

- You can smooth a position command. As the value increases, the position operation is
shaped into an S curve and reduces shock waves such as Jerk.

11-8
 11. Tuning

11.4 Vibration Control

11.4.1 Notch Filter

The notch filter is a sort of band stop filter that eliminates specific frequency components.
You can use a notch filter to eliminate resonant frequency components of an apparatus,
which allows vibration avoidance and higher gain setting.

This drive provides notch filters in 4 levels, and you can set frequency, width, and depth for
each filter. You can use one or two notch filters as adaptive filters, which set the frequency
and width automatically through real-time frequency analysis (FFT).

Size Width

-3dB

Depth

Cut-off Frequency(Hz) Frequency

 Related Objects

Sub Variable PDO

Index Names Accessibility Unit
Index Types Assignment

0x2501 - Notch Filter 1 Frequency UINT RW No Hz

0x2502 - Notch Filter 1 Width UINT RW No Hz

0x2503 - Notch Filter 1 Depth UINT RW No -

0x2504 - Notch Filter 2 Frequency UINT RW No Hz

0x2505 - Notch Filter 2 Width UINT RW No Hz

0x2506 - Notch Filter 2 Depth UINT RW No -

0x2507 - Notch Filter 3 Frequency UINT RW No Hz

0x2508 - Notch Filter 3 Width UINT RW No Hz

0x2509 - Notch Filter 3 Depth UINT RW No -

0x250A - Notch Filter 4 Frequency UINT RW No Hz

0x250B - Notch Filter 4 Width UINT RW No Hz

0x250C - Notch Filter 4 Depth UINT RW No -

11-9
 11. Tuning

11.4.2 Adaptive Filter

Using speed feedback signals, the adaptive filter provides real-time analyses of the vibration
frequency generated from the load during drive operation, and configures the notch filter
automatically to reduce vibration.

It can detect vibration frequencies through frequency analysis in order to automatically

configure one or two notch filters. Here, the frequencies and their widths are automatically
set and the setting values for the depths are used unchanged.

Ref. + Space
Position Control Current PWM
Adaptive Filter Vector
Control
Motor
Velocity Control Control Control
-

Vibration Encoder
Frequency
Measurement

Velocity Feedback Velocity

Inertia
Calculation
Estimation

Position Feedback

 Related Objects

Sub Variable PDO

Index Name Accessibility Unit
Index Type Assignment

0x2500 - Adaptive Filter Function Select UINT RW No -

 Adaptive Filter Function Setting (0x2500)

Any setting value other than 1 or 2 is reset to 0.

Setting Values Setting Details

0 The adaptive filter is not used
Only one adaptive filter is used. You can check the automatic
1
settings in the notch filter 4 settings (0x250A, 0x250B).
Only two adaptive filters are used. You can check the automatic
2 settings in the notch filter 3 (0x2507, 0x2508) and 4 settings
(0x250A, 0x250B).
3 Reserved
Resets the settings of notch filter 3 (0x2507, 0x2508) and notch
4
filter 4 (0x250A, 0x250B, 0x250C)
5 Reserved

11-10
 11. Tuning

11.4.3 Vibration Suppression Filter

The vibration suppression filter is a function used to reduce vibration generated in the load
side.

It measures the vibration frequency in the load side using an external sensor, and uses the
measurement as object data for the filter. This drive provides a vibration suppression filter in
two levels, and you can set the frequency and fluctuation for each filter.

It controls the lower frequency range, i.e. 1 [Hz]~100 [Hz], from the upper part of the device
or the entire system, and operates only in the position control mode.

Sensor

Servo drive

x2
Vibration
진동억제필터
suppression filter
Position
command PWM output
Encoder Motor

x4
Notch
노치필터 filter
노치필터
노치필터
Speed

Position feedback Load unit speed

Time

Remaining vibration
frequency measurement

Related Objects
Sub Variable PDO
Index Names Accessibility Unit
Index Types Assignment

0x2515 - Vibration Suppression Filter Configuration UINT RW No -

0x2516 - Vibration Suppression Filter 1 Frequency UINT RW No 0.1[Hz]

0x2517 - Vibration Suppression Filter 1 Damping UINT RW No -

0x2518 - Vibration Suppression Filter 2 Frequency UINT RW No 0.1[Hz]

0x2519 - Vibration Suppression Filter 2 Damping UINT RW No -

 Vibration Suppression Filter Function Setting (0x2515)

Setting Values Setting Details
0 The vibration suppression filter is not used
1 The vibration suppression filters 1 and 2 are applied
The vibration suppression filters 1 and 2 are applied according to
2
LVSF1 and LVSF2 input.

11-11
 12. Procedure Function

12. Procedure Function

Procedure function is an auxiliary function provided by the drive as described below. It can
be executed by the procedure command code (0x2700) and procedure command factor
(0x2701). It can be activated by using the servo setting tool.

Procedure commands Codes Details

Manual JOG 0x0001 Operates manual JOG

Program JOG 0x0002 Operates program JOG

Alarm History Reset 0x0003 Deletes alarm history

Off-Line Auto-Tuning 0x0004 Performs off-line auto-tuning

Index Pulse Search 0x0005 Searches for phase Z position

Absolute Encoder Reset 0x0006 Resets the absolute encoder

Resets the instantaneous maximum operation

Max. Load Torque Clear 0x0007
overload (0x2604) value

Calibrate Phase Current Offset 0x0008 Performs phase current offset tuning

Software Reset 0x0009 Resets the software

Commutation 0x000A Performs commutation

12.1 Manual Jog Operation

Jog operation is a function that verifies servo motor operation by velocity control without an
upper level controller.

Before starting jog operation, confirm the following.

 The main power is turned on

 No alarm is active

 The servo is turned off

 The operation velocity is set in consideration of the state of the apparatus

 Related Objects

Sub Variable PDO

Index Names Accessibility Units
Index Types Assignment

0x2300 - Jog Operation Speed INT RW No rpm

0x2301 - Speed Command Acceleration Time UINT RW No ms

0x2302 - Speed Command Deceleration Time UINT RW No ms

0x2303 - Speed Command S-curve Time UINT RW No ms

12-1
 12. Procedure Function

12.2 Program Jog Operation

Program jog operation is a function that verifies servo motor operation by velocity control at
predefined operation velocity and time without an upper level controller.

Before starting jog operation, confirm the following.

 The main power is turned on

 No alarm is active

 The servo is turned off

 Velocity and time are set in consideration of the state and operation range of the apparatus

0x2304 0x2305 0x2306 0x2307 0x2304

0[rpm] 500[rpm] 0[rpm] -500[rpm] 0[rpm]
Speed
500
Motor speed Motor speed

0 t1 t2 t3 t4 t5 Time

Motor speed
-500

0x2308 0x2309 0x230A 0x230B 0x2308

500[ms] 5000[ms] 500[ms] 5000[ms] 500[ms]

Zero speed Forward Zero speed Reverse Zero speed Forward

 Related Objects

Sub Variable PDO

Index Names Accessibility Units
Index Types Assignment

0x2304 - Program Jog Operation Speed 1 INT RW No rpm

0x2305 - Program Jog Operation Speed 2 INT RW No rpm

0x2306 - Program Jog Operation Speed 3 INT RW No rpm

0x2307 - Program Jog Operation Speed 4 INT RW No rpm

0x2308 - Program Jog Operation Time 1 UINT RW No ms

0x2309 - Program Jog Operation Time 2 UINT RW No ms

12-2
 12. Procedure Function

0x230A - Program Jog Operation Time 3 UINT RW No ms

0x230B - Program Jog Operation Time 4 UINT RW No ms

12.3 Deleting Alarm History

This function deletes all the alarm code histories stored in the drive. Alarm histories including
the latest alarm history up to the 16th previous alarm are stored.

You can check the histories as shown below (0x2702:01~16). The latest alarm is listed in
0x2702:01.

 Related Objects

Sub Variable PDO

Index Names Accessibility Units
Index Types Assignment

- Servo Alarm History - - - -

1 Alarm Code 1 (Newest) STRING RO No -

2 Alarm Code 2 STRING RO No -

3 Alarm Code 3 STRING RO No -

4 Alarm Code 4 STRING RO No -

0x2702
5 Alarm Code 5 STRING RO No -

6 Alarm Code 6 STRING RO No -

7 Alarm Code 7 STRING RO No -

8 Alarm Code 8 STRING RO No -

9 Alarm Code 9 STRING RO No -

12-3
 12. Procedure Function

10 Alarm Code 10 STRING RO No -

11 Alarm Code 11 STRING RO No -

12 Alarm Code 12 STRING RO No -

13 Alarm Code 13 STRING RO No -

14 Alarm Code 14 STRING RO No -

15 Alarm Code 15 STRING RO No -

16 Alarm code 16(Oldest) STRING RO No -

12.4 Automatic Gain Tuning

For more information, refer to Section 11.1, “Automatic Gain Tuning.”

12.5 Index Pulse Search

Index pulse search is a function used to find the index (Z) pulse position of the encoder and
bring the index to a stop. You can use this function to roughly locate a position since it
searches for a position using the Velocity Mode. To locate exact positions of the index pulse,
use homing operation.

You can set the velocity used to search for index pulses in 0x230C [rpm].

Before starting index pulse search, confirm the following.

 The main power is turned on

 No alarm is active

 The servo is turned off

 Operation velocity is set in consideration of the operation range of the machine.

Rotor
Servo motor
Coupling

Origin
Intends to align the motor
shaft with the origin of the
machine.

12-4
 12. Procedure Function

 Related Objects

Sub Variable PDO

Index Name Accessibility Unit
Index Type Assignment

0x230C - Index Pulse Search Speed INT RW No rpm

12.6 Absolute Encoder Reset

This function resets the absolute encoder. The following are the situations where you need to
reset the absolute encoder.

 To set up the apparatus for the first time

 When an alarm occurs for low voltage of the encoder

 To set multi-turn data of the absolute encoder to 0

When the absolute encoder reset is completed, the multi-turn data (0x260A) and the single-
turn data (0x2607) are reset to 0. After the reset, turn on the power again to change the
position actual value (0x262A) to the reset value.

When the power is turned on again, the position actual value (0x262A) reads the position of
the absolute encoder and displays the value by applying the home offset (0x3019).
Here, even if the home offset (0x3019) is changed during operation, the position actual value
(0x262A) remains unchanged.

 Related Objects

Sub Variable PDO

Index Names Accessibility Units
Index Types Assignment

0x2005 - Absolute Encoder Configuration UINT RW No -

0x2607 Singleturn Data UDINT RO Yes pulse

0x260A Multiturn Data DINT RO Yes rev

12-5
 12. Procedure Function

12.7 Instantaneous Maximum Torque Reset

This function resets the instantaneous maximum overload rate (0x2604) to 0. The
instantaneous maximum operation overload rate represents the maximum value of the
operation overload rate output instantaneously from the drive.

It displays the maximum (peak) load between the time when the servo is turned on and the
current time in percentage in relation to the rated output. The unit is [0.1%]. Turning on the
power again resets the value to 0.

If the current driving load factor is larger than the stored

instantaneous maximum driving overload factor, a renewal is
Torque performed; and this value is displayed in 0x2604.
Instantaneous
maximum overload
value
Renewed

Not renewed

0 t

 Related Objects

Sub Variable PDO

Index Name Accessibility Unit
Index Type Assignment
Instantaneous Maximum Operation
0x2604 - INT RO Yes 0.1%
Overload

12.8 Phase Current Offset Tuning

This function automatically tunes the current offset of the U/V/W phases. You can tune the
phase current offset according to the environmental condition for use. The device is shipped
with its factory default setting.

The measured U/V/W-phase offsets are individually stored in 0x2015, 0x2016, and 0x2017.
If an offset value is abnormally large, AL-15 is generated.

 Related Objects

Sub Variable PDO

Index Names Accessibility Unit
Index Types Assignment

0x2015 - U Phase Current Offset INT RW No 0.1%

0x2016 - V Phase Current Offset INT RW No 0.1%

0x2017 - W Phase Current Offset INT RW No 0.1%

12-6
 12. Procedure Function

12.9 Software Reset

This function is used to reset the servo drive by means of software. Software reset means a
restart of the drive program, which results in an effect similar to re-applying the power.

You can use this function in the following cases.

 Parameter settings which require re-application of the power have been changed

 The drive needs a re-start due to an alarm which cannot be reset

12.10 Commutation
The commutation function is to used get the information of the initial angle of the motor.
When using a motor with the hall sensor not installed, you have to get the information on the
initial angle through commutation prior to operation, in order to carry out normal operation.

 Related Objects

Sub Variable PDO

Index Names Accessibility Units
Index Types Assignment

0x2019 - Linear Scale Resolution UINT RW No nm

0x201A - Commutation Method UINT RW No -

0x201B - Commutation Current UINT RW No 0.1%

0x201C - Commutation Time UINT RW No ms

12-7
 13. Object Dictionary

13. Object Dictionary

Object is a data structure which includes parameters, state variables, run commands
(procedures), etc. of the drive.

S: Only applied in Speed Operation Mode

Parameter address T: Only applied in Torque Operation Mode
Parameter name P: Only applied in position operation
ALL: Applied in all operation modes

0x3006 Encoder Output Pulse ALL

Data Type: Variable Init ia l PDO Change

Saving
Setting Range Unit Accessibi lity
Parameter format Type Value Assignment Attribute Yes: Parameter setting savable
UDINT 0 to 2147483647 10000 pulse RW No Power re-input Yes No: Parameter setting not
savable

This is the setting range of parameters This is the default Always: Immediately apply the changed value
that can be input. setting value Power re-input: Applied after re-booting
Values that are out of the range cannot during shipping.
be input or output.
RW: Readable/writable
RO: Readable only
This is the unit of parameters. Yes: PDO mapping possible
Pulse means 1[pulse] of the encoder. No: PDO mapping impossible

Parameters are categorized into immediately applied ones and ones that can be applied only if the servo

power is turned on/off. The above table provides an example of the variable attributes.

<Caution>
 When turning off the power in order to change parameters, L7C takes a long time to completely
block the power source (to turn off the segment display).
 Here, to apply the changed parameters,
do not wait until the power source is completely blocked,
but simply turn on the power again for a reboot after the setting time in Main Power Fail Check
Time[0x2007] +1.5 seconds.
 If you change the parameters which over 0x3000 by using DriveCM, please change the value
after 6[sec] at index o object dictionary.(DriveCM need more time due to reading parameters
over 0x3000 at object dictionary.)

13-1
 13. Object Dictionary

13.1 Data Type

The following table outlines the data types and ranges used in this manual.

Codes Description Ranges

SINT Signed 8-bit -128~127

USINT Unsigned 8-bit 0~255

INT Signed 16-bit -32768~32767

UINT Unsigned 16-bit 0~65535

DINT Signed 32-bit -21247483648~21247483647

UDINT Unsigned 32-bit 0~4294967295

FP32 Float 32-bit Single precision floating point

STRING String Value

13-2
 13. Object Dictionary

13.2 Basic Setting (0x2000~)

0x2000 Motor ID ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

Power
UINT 1 to 9999 13 - RW No Yes
cycling

This is a parameter for resetting the motor ID. The company supplies a motor with a default ID and ID
input is also possible.

Encoder Type Motor ID Input Method

Incremental Direct input
Absolute Singleturn Automatic recognition
Absolute Multiturn Automatic recognition

For a motor supplied by the company, you can enable automatic recognition or input a motor ID into
the parameter. Motor IDs are provided on the sticker attached on a side of the motor.

APM-SA015ACN APM-FC06ANK APMC-FBL04AMK

Input : ~3, 200V, 1.61A Input : ~3, 200V, 3.81A Input : ~3, 200V, 2.60A
Output : 150W, 3000rpm Output : 600W, 3000rpm Output : 400W, 3000rpm
Encoder : Inc. 2048p/r Encoder : Serial.19bit Encoder : Serial.16/19bit
Serial No. : MB4H5001 Serial No. : MB4H5004 Serial No. : MB4H5003
IP : 55 (ID:5) IP : 65 (ID:722) IP : 67 (ID:716)

Incremental Absolute Singleturn Absolute Multiturn

Keep in mind that you need power cycling after ID registration. When connecting a motor of another
brand, you have to input 9999 and make the setting to 3rd party.

0x2001 Encoder Type ALL

13-3
 13. Object Dictionary

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

Power
UINT 0 to 2 1 - RW No Yes
cycling

You can set the encoder type. Set it correctly by referencing the table below. Here, the serial encoder
provided by our company (3 in the table below) is automatically recognized and set regardless of these
settings. You can view the type of the encoder automatically recognized.

Setting
Encoder Types
Values
0 Quadrature (Incremental, A lead B)
1 BiSS Serial Absolute (Multi-turn 16-bit)
2 BiSS Serial (Single-turn only)

You can view the encoder type on the name plate attached on the motor. Refer to Section 1.1, “Product
Specifications” for the product type of the servo motor.

0x2002 Encoder Pulse per Revolution ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

Power
UDINT 1 to 1073741824 524288 pulse RW No Yes
cycling

This is a parameter for setting the resolution of the encoder. Set the encoder resolution in the unit of
pulse (count) and in multiples of 4. The absolute encoder and single-turn encoder provided by the
company recognize the values automatically. However, for the incremental encoder, you need to
input the values yourself.

APM-SA015ACN APM-FC06ANK APMC-FBL04AMK

Input : ~3, 200V, 1.61A Input : ~3, 200V, 3.81A Input : ~3, 200V, 2.60A
Output : 150W, 3000rpm Output : 600W, 3000rpm Output : 400W, 3000rpm
Encoder : Inc. 2048p/r Encoder : Serial.19bit Encoder : Serial.16/19bit
Serial No. : MB4H5001 Serial No. : MB4H5004 Serial No. : MB4H5003
IP : 55 (ID:5) IP : 65 (ID:722) IP : 67 (ID:716)

Incremental Absolute Singleturn Absolute Multiturn

The encoder resolution values are provided on the sticker on a side of the motor. Refer to the
figures above.

13-4
 13. Object Dictionary

Input Input Examples

Encoder Types
Methods
Input 8192 if it shows 2048p/r on the sticker on the
Incremental Direct input
motor’s side
Automatic No input necessary for automatic recognition
Absolute Singleturn
recognition Possible to view the automatic input of 524288
Automatic No input necessary for automatic recognition
Absolute Multiturn
recognition Possible to view the automatic input of 524288

0x2003 Node ID ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

Power
UINT 1 to 99 1 - RW No Yes
cycling

You can set the node ID of the driver. Any setting value modified after node setting is reflected only
when the power is turned on again.

0x2004 Rotation Direction Select ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

Power
UINT 0 to 1 0 - RW No Yes
cycling

You can set the rotation direction of the motor. You can change the rotation direction with this
setting between the positive and negative relative to the user in the final apparatus section.

Setting
Description
Values
With a command for the forward direction, the motor rotates counterclockwise.
0
Here, the position feedback value increases.
With a command for the forward direction, the motor rotates clockwise. Here, the
1
position feedback value increases.

An example of setting value 0 An example of setting value 1

Forward command Reverse command Forward command Reverse command

drives the motor CCW drives the motor CW drives the motor CW drives the motor CCW

13-5
 13. Object Dictionary

0x2005 Absolute Encoder Configuration ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

Power
UINT 0 to 2 1 - RW No Yes
cycling

This is parameter for deciding whether or not to use multi-turn data when using the absolute multi-
turn encoder.

Absolute Encoder Incremental Encoder

Absolute Single-Turn Encoder Absolute Multi-Turn Encoder Incremental Encoder

1. Resets the multi-turn value after a 1. Remembers the multi-turn

power cycling value after a power cycling 1. Resets the current position
2. Homing necessary after an initial 2. Homing unnecessary after a power cycling
power input 3. Uses multi-turn data 2. Homing necessary after a
3. Does not use multi-turn data 4. Remembers the multi-turn
power input
4. Resets the multi-turn value when value by battery power when
the servo power is blocked the servo power is blocked

13-6
 13. Object Dictionary

Setting
Description
Values
Uses multi-turn data of the absolute encoder.
0 When the encoder type [0x2001] setting value is 1, it displays the single turn and
multiturn encoder values in Position Actual Value during power on/off.
Does not use multi-turn data of the absolute encoder.
1
Displays Position Actual Value as 0 during power on/off.
Uses singleturn of the absolute encoder.
2 When the encoder type [0x2001] setting value is 1, it displays the encoder’s
singleturn values in Position Actual Value during power on/off.

When you set the parameter to 0, the values of multiturn and the current position are maintained
even when the power is turned off and on. However, if you set it to 1, the values of multiturn and the
current position are all reset during power cycling.

When you set the value to 2, power cyclingy resets the multiturn value to 0[revolution] but brings
the encoder’s singleturn value for the current position and displays it.

13-7
 13. Object Dictionary

0x2006 Main Power Fail Check Mode ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 255 0 - RW No Always Yes

You can set the main power input mode and the processing method for phase loss.

7Bit 6Bit 5Bit 4Bit 3Bit 2Bit 1Bit 0Bit

X X X X X X X X

Value Setting details

0 Processed as AL-42 after a main power phase loss
1 Processed as W-01 after a main power phase loss

The 4th bit determines the servo’s state in the event of a phase loss of the main power.

Main Power Fail Check Mode[0x2006] Single-phase input

0x00 Servo On
0x10 Servo On

<Servo status immediately after servo on>

For example, if you input ‘0x10’ for the parameter, apply the single-phase power, and input a servo
on command, the servo is turned on. When the main power is disconnected, the motor issues a
Warn-01 and stops.

When the main power is blocked during

Main Power Fail Check Mode[0x2006]
operation after servo on
0x00 AL-42

0x10 W-01 occurrence&motor stop

<Servo status immediately after power block in servo on>

However, if you apply the main power within Main Power Fail Check Time [0x2007] + 1.5
[sec] (approx. 2 [sec]), it is possible to switch the state from Warning to Servo On. Inputting
another command brings back the normal operation.

If you input 0x00, disconnecting the power after Servo On immediately causes AL-42 to occur.

0x2007 Main Power Fail Check Time ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 5000 20 ms RW No Always Yes

You can set the checking time for main power phase loss. This function detects instantaneous
voltage drop, which may occur depending on the condition of external power input, to check for the
main power’s phase loss. Set this function properly according to the condition of external power
input.

13-8
 13. Object Dictionary

0x2008 7SEG Display Selection ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 100 0 - RW Yes Always Yes

You can set items to display in the 7SEG window.

Setting Displayed Items Units

Description
Values

0 Operation status -

1 Speed feedback rpm, mm/s

2 Velocity command rpm, mm/s

3 Torque feedback 0.1%

4 Torque command 0.1%

Accumulated operation 0.1%

5
overload

6 DC link voltage V

Accumulated regeneration 0.1%

7
overload

8 Mechanical angle 0.1 deg

9 Electrical angle 0.1 deg

10 Inertia ratio %

11 Drive temperature 1 °C Temperature near drive power element

12 Drive temperature 2 °C Internal temperature of the drive

13 Encoder temperature 1 °C Internal temperature of the encoder

14 Node ID -

Instantaneous maximum 0.1% Instantaneous maximum load factor for

15
load factor 15 seconds

16 Actual load factor(RMS) 0.1% Actual load factor(RMS) for 15 seconds

17 Current position value -

13-9
 13. Object Dictionary

0x2009 Regeneration Brake Resistor Configuration ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 1 1 - RW No Always Yes

You can make settings related to regenerative resistance.

Setting
Description
Values
You can set the following resistance capacity and resistance values according to
drive capacity.
0
400W or lower 80W/40Ω
750W, 1.0kW 50W/40Ω
Uses a regenerative resistance separately installed outside the drive.
1 Ensure that resistance (0x200B) and capacity (0x200C) of the regenerative
resistance are set correctly. For wiring of the external regenerative resistance, refer
to the wiring diagram in Section 2.3, “Main Power Wiring”

0x200A Regeneration Brake Resistor Derating Factor ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 200 100 % RW No Always Yes

You can set the derating factor for regenerative resistance overload checkups. When the derating
factor is set to a value of 100 [%] or lower, the regeneration overload alarm (AL-23) is triggered quickly.
When it is set to a value higher than 100 [%], the alarm is triggered slowly. Change the setting values
according to the heat radiation condition of the regenerative resistance used. You must consider the
heat radiation condition with more care when you set the derating factor to a value higher than 100%.

0x200B Regeneration Brake Resistor Value ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 1000 0 Ohm RW No Always Yes

When using an external regenerative resistance (0x2009=1), set regenerative resistance in the unit
of ohm. When using an internal regenerative resistance (0x2009= 0), the setting value does not
apply.

13-10
 13. Object Dictionary

0x200C Regeneration Brake Resistor Power ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 30000 0 Watt RW No Always Yes

When using an external regenerative resistance (0x2009=1), set regenerative resistance capacity
in the unit of watt. When using an internal regenerative resistance (0x2009= 0), the setting value
does not apply.

0x200D Peak Power of Regeneration Brake Resistor ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 1 to 50000 100 Watt RW No Always Yes

When using an external regenerative resistance (0x2009=1), set maximum allowable capacity of
regenerative resistance in the unit of watt. When using an internal regenerative resistance
(0x2009= 0), the setting value does not apply. Unless specified otherwise, set the value to be 5
times of regenerative resistance capacity [0x200C].

0x200E Duration Time @ Peak Power of Regeneration Brake Resistor ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 1 to 50000 5000 Ms RW No Always Yes

When using an external regenerative resistance (0x2009=1), set the allowed time for maximum
regenerative resistance capacity (0x200D)in the unit of watt. When using an internal regenerative
resistance (0x2009= 0), the setting value does not apply.

13-11
 13. Object Dictionary

0x200F Overload Check Base ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 10 to 120 100 % RW No Always Yes

This is a parameter for adjusting the load factor for accumulation of continuous accumulated
overload.

Accumulate Continual ov erload Continual ov erload alarm

d overload increas e point AL-21

0x200F : 100 100%

Continual
Time
Accumulate overload
Continual ov erload alarm
increas e point AL-21
d overload

0x200F : 50 50%

Time
Torque feedback

100%
50%

Time

The default value is 100. If torque feedback exceeds 100 [%], accumulated overload keeps
accumulating, causing an occurrence of the continuous overload alarm (AL-21). If you set the
parameter value to 50 and 100, accumulated overload is activated when torque feedback exceeds
50 [%] and 100 [%], respectively. Therefore, for any given time period, the setting with 50 causes
accumulation quicker than one with 100, causing AL-21 to occur earlier.

If the heat radiation condition of the drive is poor, set the value to be 100% or lower to trigger an
overload alarm more quickly.

13-12
 13. Object Dictionary

0x2010 Overload Warning Level ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 10 to 100 50 % RW No Always Yes

This is a parameter for adjusting the output level of the accumulated operation overload warning
(W10). When the accumulated operation overload rate (0x2603) reaches the set value, a warning is
output. With this setting, you can find out the time point when you need to take an appropriate
action before an accumulated operation overload alarm occurs.

Accumulated
overload Continual overload alarm
AL-21

W10 occurr ence

0x2010 : 50 50%

Time
Accumulated
overload Continual overload alarm
AL-21
W10 occurr ence

0x2010 : 90 90%

Time

For example, when you input 50, W10 starts to occur at the point when accumulated overload
becomes 50 [%]. If you input 90, it starts to occur at the 90 [%] mark. If accumulated overload
becomes 100%, W10 is changed into AL-21.

0x2011 PWM Off Delay Time ALL

13-13
 13. Object Dictionary

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 1000 10 ms RW No Always Yes

You can set the delay time until PWM is actually turned off after the servo off command. When
using a motor with a brake installed on the vertical axis, you can make the brake signal output to
come out first then PWM be turned off after the set time, in order to prevent the axis from flowing
down vertically.

Shaft
For 0x2011: 70 [msec]
flow-down

150[ms]
Motor Brake

A1
PWM output Thump

Time
70[ms]
SV-OFF command
The shaft gets
For 0x2011: 200 [msec]
fixed

150[ms] Maintained
Motor Brake
A2

PWM output

200[ms] Time

SV-OFF command

For example, assume that you have set the brake to operate 150 [msec] after a servo off command
during operation of a motor with a brake installed on its vertical axis. If you set the parameter to 50
[msec], PWM is turned off in 50 [msec] after a servo off command, causing A1 to occur in which the
brake cannot be held. In this case, the axis flows down because of gravity. However, if you set the
parameter to 200 [msec], an overlapped section (green) appears in which PWM is output and the
brake can be held, which can maintain the vertical axis.

13-14
 13. Object Dictionary

0x2012 Dynamic Brake Control Mode Configuration ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 3 0 - RW No Always Yes

You can set the control mode of the dynamic brake in servo off.

Setting
Description
Values

0 Hold the dynamic brake after stopping the motor using the brake

1 Release the dynamic brake after stopping the motor using the brake

2 Release the dynamic brake after free-run stop

3 Hold the dynamic brake after free-run stop

13-15
 13. Object Dictionary

0x2013 Emergency Stop Configuration ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 1 1 - RW No Always Yes

You can set the method of emergency stop (for POT, NOT, or ESTOP input). In torque control
mode, the deceleration stop mode which uses emergency stop torque is not applied.

Setting
Description
Values

The motor stops according to the method set in Dynamic Brake Control

0 Mode (0x2012).

It stops using the dynamic brake and maintains the torque command at 0.

1 The motor decelerates to a stop using the emergency stop torque (0x2113).

0x2014 Warning Mask Configuration ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to FFFFhex 0 - RW Yes Always Yes

Warnings masked by this setting are not triggered.

Warning Warning Names

Bits
Codes

0 W01 Main power phase loss

1 W02 Low voltage of encoder battery

2 W04 Software position limit

3 W08 DB overcurrent

4 W10 Operation overload

5 W20 Abnormal combination of drive and motor

6 W40 Low voltage

7 W80 Emergency signal input

14 AL-34 Encoder phase Z loss alarm mask

13-16
 13. Object Dictionary

0x2015 U Phase Current Offset ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

INT -1000 to 1000 0 0.1% RW No Always Yes

0x2016 V Phase Current Offset ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

INT -1000 to 1000 0 0.1% RW No Always Yes

0x2017 W Phase Current Offset ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

INT -1000 to 1000 0 0.1% RW No Always Yes

You can manually set the current offset for each phase. The set offset value is subtracted from the
measured current value, then applied as an actual current value. Do not manually set the offset if
you do not know the exact setting value. You can view the automatically-tuned value if you tune the
current offset through the procedure function (Refer to the description of 0x2700).

For a drive with a small to medium capacity (7.5KW or lower), this parameter is not used since the
W phase current is not separately measured.

13-17
 13. Object Dictionary

0x2018 Magnetic Pole Pitch ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

Power
UINT 1 to 65535 2400 .01mm RW No Yes
cycling

You can set the pitch between the magnetic poles of the linear motor. Pole pitch refers to the
distance between the north poles or the south poles of magnets, which corresponds to an electrical
angle of 360˚.

0x2019 Linear Scale Resolution ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

Power
UINT 1 to 65535 1000 Nm RW No Yes
cycling

You can set linear scale resolution in the unit of nm. For a linear scale with a resolution of 1um, set
it to 1000 (= 1um/1nm).

0x201A Commutation Method ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

Power
UINT 0 to 2 0 - RW No Yes
cycling

You can set the commutation method used to get information on the initial angle of the motor.

Setting
Description
Values

Separate commutation is unnecessary or it carries out commutation using a

0
hall sensor

1 Carries out commutation when the servo is turned on for the first time

2 Reserved

0x201B Commutation Current ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 1000 500 0.1% RW No Always Yes

You can set the commutation current used to get information on the initial angle of the motor.

13-18
 13. Object Dictionary

0x201C Commutation Time ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 500 to 5000 1000 ms RW No Always Yes

You can set the commutation time used to get information on the initial angle of the motor.

0x201D Grating Period of Sinusoidal Encoder ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

Power
UINT 1 to 65535 40 um RW No Yes
cycling

You can set the grid size of the sine wave encoder.

0x201E Homing Done Behavior ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 1 0 - RW No Always Yes

You can set whether or not to move to Zero Position by home offset [0x3019] after homing is
complete.

Setting
Description
Values

After completion of homing by Homing Method[0x3018], the motor does not

0
rotate and the Home Offset[0x3019] value becomes Zero Position.

After completion of homing by Homing Method[0x3018], the motor rotates

1
as much as Home Offset[0x3019] and Zero Position becomes 0.

13-19
 13. Object Dictionary

0x201F Velocity Function Select ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 2 0 - RW No Always Yes

You can select the calculation method of feedback speed when the encoder type is Quadrature.

Setting
Description
Values

0 MT Method + Speed Observer

1 MT Method

2 M Method

0x2020 Motor Hall Phase Config. ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

Power
UINT 0 to 65535 0 - RW No Yes
cycling

For a 3rd party motor, you can set the motor’s rotation direction, the polarity of the hall sensor
signal, and the sequence of the hall sensor’s UVW by examining wiring of the motor and the hall
sensor.

Bits Description

Sets the motor’s rotation direction

0
(computation of the 0x2004 setting value and Exclusive OR possible)

1~7 Reserved

8 Reverses Hall U polarity

9 Reverses Hall V polarity

10 Reverses Hall W polarity

11 Reserved

12 Replaces Hall U, Hall V

13 Replaces Hall V, Hall W

14 Replaces Hall W, Hall U

15 Single-ended use (when a 3rd party motor is applied)

13-20
 13. Object Dictionary

13.3 Gain Adjustment (0x2100~)

0x2100 Inertia Ratio ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 3000 100 % RW No Always Yes

You can set the ratio of load inertia to the motor's rotor inertia in %.

Inertia ratio= load inertia/motor's rotor inertia x 100

This inertia ratio setting is an important control parameter for operation of the servo. Therefore it is
crucial to set the inertia ratio accurately for optimal servo operation. You can estimate the inertia ratio
value by automatic gain tuning. The ratio is continuously estimated during operation if you carry out On-
line gain tuning.

0x2101 Position Loop Gain 1 ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 1 to 500 50 1/s RW Yes Always Yes

You can set the overall responsiveness of the position controller. The larger the setting value is, the
higher the responsiveness is. Too large of a setting value may cause vibration depending on the load.

0x2102 Speed Loop Gain 1 ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 1 to 2000 75 Hz RW Yes Always Yes

You can set the overall responsiveness of the velocity controller. To raise the overall responsiveness of
the system, you have to set Speed Loop Gain as well as position loop gain to a large value. Too large of
a setting value may cause vibration depending on the load.

13-21
 13. Object Dictionary

0x2103 Speed Loop Integral Time Constant 1 ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 1 to 1000 50 ms RW Yes Always Yes

You can set integral time constant of the velocity controller. If you set it to a large value, error is reduced
in the steady state (stopped or driving at a constant velocity), but vibration may occur at a transitional
state (while accelerating or decelerating).

0x2104 Torque Command Filter Time Constant 1 ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 1000 5 0.1ms RW Yes Always Yes

You can apply a low pass filter for torque command. You can improve the system’s stability by setting an
appropriate value to smoothen the torque command. If you set the value to be too large, the delay for
the torque command is extended, reducing the system responsiveness.

0x2105 Position Loop Gain 2 ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 1 to 500 30 1/s RW Yes Always Yes

You can set position loop gain used as Gain Group 2 for gain conversion. For more information, refer to
the description of position loop gain 1 (0x2101).

0x2106 Speed Loop Gain 2 ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 1 to 2000 50 Hz RW Yes Always Yes

You can set Speed Loop Gain used as Gain Group 2 for gain conversion. For more information, refer to
the description of the Speed Loop Gain 1 (0x2102).

13-22
 13. Object Dictionary

0x2107 Speed Loop Integral Time Constant 2 ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 1 to 1000 50 Ms RW Yes Always Yes

You can set the integral time constant of the speed loop used as Gain Group 2 for gain conversion. For
more information, refer to the description of Speed Loop Integral Time Constant 1 (0x2103).

0x2108 Torque Command Filter Time Constant 2 ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 1000 5 0.1ms RW Yes Always Yes

You can set time constant of the torque command filter time constant used as Gain Group 2 for gain
conversion. For more information, refer to the description of torque command filter time constant 1
(0x2104).

0x2109 Position Command Filter Time Constant ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 10000 0 0.1ms RW Yes Always Yes

You can apply a low pass filter for position command to smoothen the position command. Especially, this
can be used for setting a higher gear ratio. This does not apply when the setting value is 0.

0x210A Position Command Average Filter Time Constant ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 10000 0 0.1ms RW Yes Always Yes

You can apply a movement average filter for position command to smoothen the position command. The
setting value of position command filter time constant (0x2109) is first applied as a priority. This function
is applicable only when the position command filter time constant value is 0.

13-23
 13. Object Dictionary

0x210B Speed Feedback Filter Time Constant ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 10000 5 0.1ms RW Yes Always Yes

You can apply a low pass filter to the speed feedback signal calculated in the encoder. When system
vibration occurs or vibration occurs due to a gain load with an excessive inertia is applied, you can
suppress vibration by setting an appropriate value.

0x210C Velocity Feed-Forward Gain ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 100 0 % RW Yes Always Yes

You can set feedforward gain for the velocity command during position control. The larger the setting
value is, the lower the positional error is. If you set too large a value for the load, vibration or an
overshoot may occur. For gain tuning, increase the setting value gradually.

0x210D Velocity Feed-forward Filter Time Constant ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 1000 10 0.1ms RW Yes Always Yes

You can apply a low pass filter to the compensation amount added to the velocity command by velocity
feedforward gain. You can enhance the system’s stability by using it when you have set a large velocity
feedforward gain or when there is an excessive change in position command.

0x210E Torque Feed-Forward Gain ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 100 0 % RW Yes Always Yes

You can set feedforward gain for the torque command during velocity control.

13-24
 13. Object Dictionary

0x210F Torque Feed-Forward Filter Time Constant ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 1000 10 0.1ms RW Yes Always Yes

You can apply a low pass filter to the compensation amount added to the torque command by torque
feedforward gain.

0x2110 Torque Limit Function Select ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 4 2 - RW Yes Always Yes

You can set the function used to limit output torque of the drive.

Setting Description

Limits the torque value using positive/negative torque limits according to the

0 driving direction

- Forward: 0x3022, reverse: 0x3023

1 The limit is set to 300% regardless of the driving direction

Limits the torque value using external positive/negative torque limits

2 according to the driving direction

- Forward: 0x2111, reverse: 0x2112

Limits the torque value using internal and external torque limits according to

the driving direction and the torque limit signal

3
- Forward: 0x3022 (P_CL signal not input), 0x2111 (P_CL signal input)

- Reverse: 0x3023 (N_CL signal not input), 0x2112 (N_CL signal input)

Limits applied by analog input torque limit values.

4
- Refer to analog torque limit scale (0x2210) and offset (0x2211)

0x2111 External Positive Torque Limit Value ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 5000 3000 0.1% RW Yes Always Yes

You can set the external positive direction torque limit according to the torque limit function setting
(0x2110).

13-25
 13. Object Dictionary

0x2112 External Negative Torque Limit Value ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 5000 3000 0.1% RW Yes Always Yes

You can set the external negative direction torque limit according to the torque limit function setting
(0x2110).

0x2113 Emergency Stop Torque ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 5000 1000 0.1% RW Yes Always Yes

You can set torque stop during emergency stop (POT, NOT, ESTOP input).

0x2114 P/PI Control Conversion Mode ALL

PDO
Variable Accessi Variable Savin
Setting Range Initial Value Unit Assignm
Type bility Attribute g
ent

UINT 0 to 4 0 - RW Yes Always Yes

You can set the switch mode between PI control and P control. Using this function, you can improve the
velocity control characteristic to reduce overshoot during velocity operation and positioning time during
position operation.

Setting Values Setting Details

0 Always use PI control
Switch to P control if the command torque is larger than the P control
1
switch torque (0x2115)
Switch to P control if the command speed is larger than P control switch
2
speed (0x2116)
Switch to P control if the acceleration command is larger than P control
3
switch acceleration (0x2117)
Switch to P control if the position error is larger than P control switch
4
position error (0x2118)

13-26
 13. Object Dictionary

0x2115 P Control Switch Torque ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 5000 500 0.1% RW Yes Always Yes

Refer to the description of P/PI Control Switch Mode (0x2114).

0x2116 P Control Switch Speed ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 6000 100 Rpm RW Yes Always Yes

Refer to the description of P/PI Control Switch Mode (0x2114).

0x2117 P Control Switch Acceleration ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 60000 1000 rpm/s RW Yes Always Yes

Refer to the description of P/PI Control Switch Mode (0x2114).

0x2118 P Control Switch Following Error ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 60000 100 pulse RW Yes Always Yes

Refer to the description of P/PI Control Switch Mode (0x2114).

13-27
 13. Object Dictionary

0x2119 Gain Conversion Mode ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 7 0 - RW Yes Always Yes

You can enhance the performance of the entire system by switching between two gain groups. According
to the switching mode, you can perform manual switch by external input or automatic switch by output
signals.

Gain Group 1 Gain Group 2

Position loop gain 1 (0x2101) Position loop gain 2 (0x2105)

Speed loop gain 1 (0x2102) Speed loop gain 2 (0x2106)

Speed loop integral time constant 1 Speed loop integral time constant 2

(x2103) (x2107)

Torque command filter time constant Torque command filter time constant

1 (0x2104) 2 (0x2108)

Setting Values Setting Details

0 Only Gain Group 1 is used
1 Only Gain Group 2 is used
Gain is switched according to the GAIN2 input status
2 - 0: Use gain group 1
- 1: Use gain group 2
3 Reserved
4 Reserved
5 Reserved
Gain is switched according to the ZSPD output status
6 - 0: Use gain group 1
- 1: Use gain group 2
Gain is switched according to the INPOS1 output status
- 0: Use gain group 1
7
- 1: Use gain group 2

0x211A Gain Conversion Time 1 ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 1000 2 ms RW Yes Always Yes

You can set the time to switch from Gain Group 1 to Gain Group 2.

13-28
 13. Object Dictionary

0x211B Gain Conversion Time 2 ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 1000 2 Ms RW Yes Always Yes

You can set the time to switch from Gain Group 2 to Gain Group 1.

0x211C Gain Conversion Waiting Time 1 ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 1000 0 Ms RW Yes Always Yes

You can set the waiting time before switching from Gain Group 1 to Gain Group 2.

0x211D Gain Conversion Waiting Time 2 ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 1000 0 Ms RW Yes Always Yes

You can set the waiting time before switching from Gain Group 2 to Gain Group 1.

0x211E Dead Band for Position Control ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 1000 0 UU RW Yes Always Yes

The position controller output becomes 0 if positional error for position control is below the setting.

0x211F Drive Control Input 1 ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to FFFFhex 0 - RW Yes Always No

For the signal for the input contact of the drive, you can set the bit for the input value in this setting other
than using the signals input through the CN1 connector. Also, you can perform a logical OR computation
of the signals input through the CN1 connector and the bit value of this setting to operate the function.

13-29
 13. Object Dictionary

For the input contacts that can be set, refer to the table below.

Bits Setting Details Bits Setting Details

0 POT 8 MODE
1 NOT 9 Reserved
2 HOME 10 EMG
3 STOP 11 A_RST
4 PCON 12 SV_ON
5 GAIN2 13 SPD1/LVSF1
6 P_CL 14 SPD2/LVSF2
7 N_CL 15 SPD3

0x2120 Drive Control Input 2 ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to FFFFhex 0 - RW Yes Always No

This is the same function as [0x211F], and only the settable elements are different. For the input contacts
that can be set, refer to the table below.

Bits Setting Details Bits Setting Details

0 START 8 ISEL4
1 PAUSE 9 ISEL5
2 REGT 10 ABSRQ
3 HSTART 11 JSTART
4 ISEL0 12 JDIR
5 ISEL1 13 PCLEAR
6 ISEL2 14 AOVR
7 ISEL3 15 INHIB

13-30
 13. Object Dictionary

0x2121 Drive Status Output 1 ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to FFFFhex 0 - RO Yes - No

You can assign the drive output signal status to CN1 output signal in order to view the applicable bit of
this output value in addition to performing actual output.

Bits Setting Details Bits Setting Details

0 BRAKE 6 VLMT
1 ALARM 7 INSPD
2 READY 8 WARN
3 ZSPD 9 TGON
4 INPOS1 10 INPOS2
5 TLMT 15-11 Reserved

0x2122 Drive Status Output 2 ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to FFFFhex 0 - RO Yes - No

You can assign the drive output signal status to CN1 output signal in order to view the applicable bit of
this output value in addition to performing actual output.

Bits Setting Details Bits Setting Details

0 ORG 5 IOUT3
1 EOS 6 IOUT4
2 IOUT0 7 IOUT5
3 IOUT1 15~8 Reserved
4 IOUT2

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 13. Object Dictionary

13.4 I/O Configuration (0x2200~)

0x2200 Digital Input Signal 1 Selection ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 0xFFFF 0x000F - RW No Always Yes

You can set the functions of Digital Input Signal 1 of CN1 connector and the input signal level.

Bits Setting Details

Signal input level settings
15
(0: contact A, 1: contact B)
14~8 Reserved
7~0 Assign input signal.
Setting ex) If the setting value is 0x0006

0 0 0 6

Contact A GAIN2 assigned

Setting ex) If the setting value is 0x8002

8 0 0 2

Contact B NOT assigned

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 13. Object Dictionary

Setting Assigned Setting

Assigned Signals
Values Signals Values
0x00 Not assigned 0x14 ISEL0
0x01 POT 0x15 ISEL1
0x02 NOT 0x16 ISEL2
0x03 HOME 0x17 ISEL3
0x04 STOP 0x18 ISEL4
0x05 PCON 0x19 ISEL5
0x06 GAIN2 0x1A ABSRQ
0x07 P_CL 0x1B JSTART
0x08 N_CL 0x1C JDIR
0x09 Reserved 0x1D PCLR
0x0A Reserved 0x1E AOVR
0x0B EMG 0x1F INBIT
0x0C A_RST 0x20 SPD1/LVSF1
0x0F SV_ON 0x21 SPD2/LVSF2
0x10 START 0x22 SPD3
0x11 PAUSE 0x23 MODE
0x12 REGT 0x24 EGEAR1
0x13 HSTART 0x25 EGEAR2
0x26 ABS_RESET

0x2201 Digital Input Signal 2 Selection ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 0xFFFF 0x0020 - RW No Always Yes

You can set the functions of Digital Input Signal 2 of CN1 connector and the input signal level. For
more information, refer to the description of 0x2200.

0x2202 Digital Input Signal 3 Selection ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 0xFFFF 0x0021 - RW No Always Yes

You can set the functions of Digital Input Signal 3 of CN1 connector and the input signal level. For
more information, refer to the description of 0x2200.

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 13. Object Dictionary

0x2203 Digital Input Signal 4 Selection ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 0xFFFF 0x0022 - RW No Always Yes

You can set the functions of Digital Input Signal 4 of CN1 connector and the input signal level. For
more information, refer to the description of 0x2200.

0x2204 Digital Input Signal 5 Selection ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 0xFFFF 0x000C - RW No Always Yes

You can set the functions of Digital Input Signal 5 of CN1 connector and the input signal level. For
more information, refer to the description of 0x2200.

0x2205 Digital Input Signal 6 Selection ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 0xFFFF 0x001C - RW No Always Yes

You can set the functions of Digital Input Signal 6 of CN1 connector and the input signal level. For
more information, refer to the description of 0x2200.

0x2206 Digital Input Signal 7 Selection ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 0xFFFF 0x0001 - RW No Always Yes

You can set the functions of Digital Input Signal 7 of CN1 connector and the input signal level. For
more information, refer to the description of 0x2200.

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 13. Object Dictionary

0x2207 Digital Input Signal 8 Selection ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 0xFFFF 0x0002 - RW No Always Yes

You can set the functions of Digital Input Signal 8 of CN1 connector and the input signal level. For
more information, refer to the description of 0x2200.

0x2208 Digital Input Signal 9 Selection ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 0xFFFF 0x000B - RW No Always Yes

You can set the functions of Digital Input Signal 9 of CN1 connector and the input signal level. For
more information, refer to the description of 0x2200.

0x2209 Digital Input Signal 10 Selection ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 0xFFFF 0x0004 - RW No Always Yes

You can set the functions of Digital Input Signal 10 of CN1 connector and the input signal level. For
more information, refer to the description of 0x2200.

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 13. Object Dictionary

0x220A Digital Output Signal 1 Selection ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 0xFFFF 0x8002 - RW No Always Yes

You can assign functions to digital output signal 1 and set the output signal level.

15Bit 14Bit 13Bit 12Bit 11Bit 10Bit 9Bit 8Bit 7Bit 6Bit 5Bit 4Bit 3Bit 2Bit 1Bit 0Bit

0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0

Signal output level settings Output signal assignment

Setting State Setting Assigned signal Setting Assigned signal
0 Contact A 0x00 Not assigned 0x0A TGON
1 Contact B 0x01 BRAKE 0x0B INPOS2
0x02 ALARM 0x10 ORG
0x03 READY 0x11 EOS
0x04 ZSPD 0x12 IOUT0
0x05 INPOS1 0x13 IOUT1
0x06 TLMT 0x14 IOUT2
0x07 VLMT 0x15 IOUT3
0x08 INSPD 0x16 IOUT4
0x09 WARN 0x17 IOUT5
The method of function assignment is the same up to Digital Output Signal 5 [0x220E].

ex) When the alarm is set for contact A

15Bit 14Bit 13Bit 12Bit 11Bit 10Bit 9Bit 8Bit 7Bit 6Bit 5Bit 4Bit 3Bit 2Bit 1Bit 0Bit

0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0

0 0 0 2 0x0002

ex) When the alarm is set for contact B

15Bit 14Bit 13Bit 12Bit 11Bit 10Bit 9Bit 8Bit 7Bit 6Bit 5Bit 4Bit 3Bit 2Bit 1Bit 0Bit

1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0

8 0 0 2 0x8002

ex) When IOUOT5 is set for contact B

15Bit 14Bit 13Bit 12Bit 11Bit 10Bit 9Bit 8Bit 7Bit 6Bit 5Bit 4Bit 3Bit 2Bit 1Bit 0Bit

1 0 0 0 0 0 0 0 0 0 0 1 0 1 1 1

8 0 1 7 0x8017

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 13. Object Dictionary

0x220B Digital Output Signal 2 Selection ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 0xFFFF 0x0003 - RW No Always Yes

You can assign functions to digital output signal 2 of CN1 connector and set the output signal level.
For more information, refer to the description of 0x220A.

0x220C Digital Output Signal 3 Selection ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 0xFFFF 0x0004 - RW No Always Yes

You can assign functions to digital output signal 3 of CN1 connector and set the output signal level.
For more information, refer to the description of 0x220A.

0x220D Digital Output Signal 4 Selection ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 0xFFFF 0x8001 - RW No Always Yes

You can assign functions to digital output signal 4 of CN1 connector and set the output signal level.
For more information, refer to the description of 0x220A.

0x220E Digital Output Signal 5 Selection ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 0xFFFF 0x0005 - RW No Always Yes

You can assign functions to digital output signal 5 of CN1 connector and set the output signal

level. For more information, refer to the description of 0x220A.

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 13. Object Dictionary

0x220F Analog Velocity Override Mode ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 2 0 - RW No Always Yes

You can specify whether or not to use the function that uses analogue voltage to override the

velocity.

Setting Values Setting Details

0 Analog Velocity Override is not used

Analog Velocity Override is used

1
0% for a -10[V] input, 100% for 0[V], and 200% for +10[V] are applied.

Analog Velocity Override is used

2 100% for a 0[V] input and 200% for +10[V] are applied. (-) voltages are

recognized as 0[V].

0x2210 Analog Torque Input (command/limit) Scale ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT -1000 to 1000 100 0.1%/V RW No Always Yes

For non-torque operation, if the setting value of the torque limit function (0x2110) is 4 (analog
torque limit), torque is limited by the analog input torque limit. Here, set the scale of the analog input
value.

Below is the formula for calculation.

𝐈𝐧𝐩𝐮𝐭 𝐯𝐨𝐥𝐭𝐚𝐠𝐞[𝐦𝐯] − 𝐓𝐨𝐫𝐪𝐮𝐞 𝐈𝐧𝐩𝐮𝐭 𝐎𝐟𝐟𝐬𝐞𝐭(𝟎𝐱𝟐𝟐𝟏𝐂)[𝐦𝐕] 𝐓𝐨𝐫𝐪𝐮𝐞 𝐂𝐨𝐦𝐦𝐚𝐧𝐝 𝐒𝐜𝐚𝐥𝐞[𝟎𝐱𝟐𝟐𝟏𝐃]

𝐓𝐨𝐫𝐪𝐮𝐞 𝐥𝐢𝐦𝐢𝐭 𝐯𝐚𝐥𝐮𝐞[%] = ( ) ×
𝟏𝟎𝟎𝟎 𝟏𝟎

Refer to 10.8, “Torque Limit Function.”

For torque operation, the parameter is used as the analog torque command scale. The setting
value is set to the torque command value at the analog input voltage of ±10[V] in percentage of the
rated torque.

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 13. Object Dictionary

0x2211 Analog Torque Input (command/limit) Offset ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

INT -1000 to 1000 0 mV RW No Always Yes

You can set the analogue voltage offset input by analogue torque limit for non-torque operation.

For torque operation, the parameter is used as the analog torque command offset.

0x2212 Analog Torque Command Clamp Level T

Variable Acces PDO Variable Savin

Setting Range Initial Value Unit
Type sibility Assignment Attribute g

INT 0 to 1000 0 mV RW No Always Yes

For analog torque control, there are cases where certain voltage remains in the analog signal
connection circuit upon a 0 torque command. Here, 0 torque can be maintained for as much as the
command voltage.

0x2213 Analog Torque Command Filter Time Constant T

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 1000 2 0.1ms RW No Always Yes

You can improve the stability of command signals by setting the digital filter for analog torque
command voltage. If the filter value is set too high, responsiveness to torque commands will be
reduced. It is important to set a value that is appropriate for your system.

0x2214 Analog Velocity Command Scale S

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

INT -1000 to 1000 100 rpm/V RW No Always Yes

When controlling velocity by analog voltage during velocity operation, you can set the analog
velocity command value at ±10[V] in the unit of [rpm]. When the setting value is 100, you can
control 100[rpm] per command voltage of 1[V].

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 13. Object Dictionary

0x2215 Analog Velocity Input (command/override) Offset P, S

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

INT -1000 to 1000 0 mV RW No Always Yes

For Indexing Position operation, you can set the analog voltage offset input through analog velocity
override. For velocity operation, you can set the analog voltage offset input through analog velocity
commands.

0x2216 Analog Velocity Command Clamp Level S

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 1000 0 rpm RW No Always Yes

When controlling velocity by analog voltage in velocity operation, there are cases where certain
voltage remains in the analog signal connection circuit upon a 0 velocity command.

Here, the 0 velocity can be maintained as much as the set voltage command.

0x2217 Analog Velocity Command Filter Time Constant S

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 1000 2 0.1ms RW No Always Yes

You can set the digital filter for analog velocity command voltage to improve the stability of the
command signals. Here, if the value is set to be too high, responsiveness to velocity commands is
reduced. It is important to set a value that is appropriate for your system.

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 13. Object Dictionary

13.5 Velocity Control (0x2300~)

0x2300 Jog Operation Speed ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

INT -6000 to 6000 500 Rpm RW No Always Yes

You can set the Jog operation speed.

0x2301 Speed Command Acceleration Time ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 10000 200 Ms RW No Always Yes

You can set the time required for the motor to reach the rated motor speed from a stop in the unit of ms.

0x2302 Speed Command Deceleration Time ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 10000 200 Ms RW No Always Yes

You can set the time required for the motor to decelerate from the rated motor speed to a stop in the unit
of ms.

0x2303 Speed Command S-curve Time ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 1000 0 Ms RW No Always Yes

You can set the velocity command to operate in an S-curve pattern for smooth acceleration/deceleration.
If it is set to 0, the drive operates in a trapezoidal pattern by default.

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 13. Object Dictionary

0x2304 Program Jog Operation Speed 1 ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

INT -6000 to 6000 0 Rpm RW No Always Yes

For program jog operation, you can set operation velocity 1 to 4 and operation time 1 to 4 as follows.

0x2305 Program Jog Operation Speed 2 ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

INT -6000 to 6000 500 rpm RW No Always Yes

Refer to the description of program jog operation speed 1 (0x2304).

0x2306 Program Jog Operation Speed 3 ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

INT -6000 to 6000 0 rpm RW No Always Yes

Refer to the description of program jog operation speed 1 (0x2304).

0x2307 Program Jog Operation Speed 4 ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

INT -6000 to 6000 -500 rpm RW No Always Yes

Refer to the description of program jog operation speed 1 (0x2304).

0x2308 Program Jog Operation Time 1 ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 10000 500 ms RW No Always Yes

Refer to the description of program jog operation speed 1 (0x2304)

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 13. Object Dictionary

0x2309 Program Jog Operation Time 2 ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 10000 5000 Ms RW No Always Yes

Refer to the description of program jog operation speed 1 (0x2304).

0x230A Program Jog Operation Time 3 ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 10000 500 Ms RW No Always Yes

Refer to the description of program jog operation speed 1 (0x2304).

0x230B Program Jog Operation Time 4 ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 10000 5000 Ms RW No Always Yes

Refer to the description of program jog operation speed 1 (0x2304).

0x230C Index Pulse Search Speed ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

INT -1000 to 1000 20 Rpm RW No Always Yes

You can set the velocity for index pulse search.

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 13. Object Dictionary

0x230D Speed Limit Function Select T

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 3 0 - RW No Always Yes

You can set the speed limit function for torque control.

Setting
Setting Details
Values

0 Limited by the speed limit value (0x230E)

1 Limited by the maximum motor speed

0x230E Velocity Limit Value at Torque Control Mode T

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 6000 1000 rpm RW Yes Always Yes

You can set the speed limit value at torque control. This setting is applied only when the Speed Limit
Function Select (0x230D) is set to 0.

0x230F Over Speed Detection Level ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 10000 6000 rpm RW No Always Yes

You can set the level of detecting overspeed alarms (AL-50). If the setting value is larger than the
maximum motor speed, the detection level is set by the maximum motor speed.

0x2310 Excessive Speed Error Detection Level ALL

PDO
Variable Accessi Variable Savin
Setting Range Initial Value Unit Assignm
Type bility Attribute g
ent

UINT 0 to 10000 5000 rpm RW No Always Yes

You can set the level of detecting excessive speed error alarms (AL-53). If the difference between the
velocity command and the speed feedback exceeds the setting value, an excessive speed error alarm is
generated.

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 13. Object Dictionary

0x2311 Servo-Lock Function Select S

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 1 0 - RW No Always Yes

You can set the servo-lock function to fix the motor position with a position value when the velocity
command of 0 is for velocity control.

Setting
Setting Details
Values

0 Servo-lock function disabled

1 Servo-lock function enabled

0x2312 Multi-Step Operation Velocity 1 S

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

INT -6000 to 6000 0 Rpm RW No Always Yes

You can set the velocity for multi-step operation velocity 1 in Velocity Mode. This is the velocity
when SPD1, SPD2 and SPD3 input contacts are off.

0x2313 Multi-Step Operation Velocity 2 S

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

INT -6000 to 6000 10 Rpm RW No Always Yes

You can set the velocity for multi-step operation velocity 2 in Velocity Mode. This is the velocity
when SPD1 input contact is on and SPD2 and SPD3 input contacts are off.

0x2314 Multi-Step Operation Velocity 3 S

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

INT -6000 to 6000 50 Rpm RW No Always Yes

You can set the velocity for multi-step operation velocity 3 in Velocity Mode. This is the velocity
when SPD2 input contact is on and SPD1 and SPD3 input contacts are off.

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 13. Object Dictionary

0x2315 Multi-Step Operation Velocity 4 S

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

INT -6000 to 6000 100 Rpm RW No Always Yes

You can set the velocity for multi-step operation velocity 4 in Velocity Mode. This is the velocity
when SPD1 and SPD2 input contacts are on and SPD3 input contact is off.

0x2316 Multi-Step Operation Velocity 5 S

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

INT -6000 to 6000 200 rpm RW No Always Yes

You can set the velocity for multi-step operation velocity 5 in Velocity Mode. This is the velocity
when SPD3 input contact is on and SPD1 and SPD2 input contacts are off.

0x2317 Multi-Step Operation Velocity 6 S

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

INT -6000 to 6000 500 rpm RW No Always Yes

You can set the velocity for multi-step operation velocity 6 in Velocity Mode. This is the velocity
when SPD1 and SPD3 input contacts are on and SPD2 input contact is off.

0x2318 Multi-Step Operation Velocity 7 S

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

INT -6000 to 6000 1000 rpm RW No Always Yes

You can set the velocity for multi-step operation velocity 7 in Velocity Mode. This is the velocity
when SPD2 and SPD3 input contacts are on and SPD1 input contact is off.

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 13. Object Dictionary

0x2319 Multi-Step Operation Velocity 8 S

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

INT -6000 to 6000 1500 rpm RW No Always Yes

You can set the velocity for multi-step operation velocity 8 in Velocity Mode. This is the velocity
when SPD1, SPD2 and SPD3 input contacts are on.

0x231A Velocity Command Switch Select S

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 3 0 - RW No Always Yes

You can select the velocity command method for Velocity Mode.

Setting
Setting Details
Values

0 Use analog velocity commands

1 Use SPD1, SPD2 contacts and analog velocity commands

2 Use SPD1, SPD2 and SPD3 contacts and analog velocity commands

3 Use velocity commands for SPD1, SPD2 and SPD3 contacts

Analog velocity commands are used when the setting value is 1 and 2 and all applicable contacts
are turned on.

ex) apply an analog velocity command of 10[V] when the setting value is 2 and SPD1, SPD2
contacts are turned on

Motor rotation operates at 100[rpm] and analog input velocity commands are ignored.

Operation velocity follows the setting value for parameter 0x2315.

ex) apply an analog velocity command of 10[V] when the setting value is 2 and SPD1, SPD2 and
SPD3 contacts are turned on

Motor rotation operates at 1000[rpm] and digital input/output contact velocity commands are

ignored.

Operation velocity is set to the analog velocity command voltage according to the setting value of

parameter 0x2229.

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 13. Object Dictionary

13.6 Miscellaneous Setting (0x2400~)

0x2400 Software Position Limit Function Select ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 3 0 - RW No Always Yes

You can set the software position limit function for position control. When using the position limit function,
the upper and the lower limits in (0x607D:02) and (0x607D:01) are used.

Encoder specification Necessary conditions for function use

Incremental encoder
1. Homing must be performed once after a power input.
2. Functions can be used after homing is completed.
Absolute single-turn encoder
(BissB)

1. External batteries must be connected.

Absolute multi-turn encoder 2. Absolute Encoder Configuration [0x2005] must be set to 0.
(BissC) 3. There is no need for another homing after the power input.
4. Functions can immediately be used.

The software position limit function can be used in the incremental and singleturn encoders only when
the main power is applied and homing is completed. In multiturn encoders, homing is unnecessary when
using a multiturn that has a 0 Absolute Encoder Configuration [0x2005]. Also, be aware that this function
does not operate when the upper limit is smaller than the lower limit. .

Setting Values Setting Details

None of the forward and reverse direction software position limits are
0
used
Only the forward direction software position limit value is used It is not
1
limited for the reverse direction
Only the reverse direction software position limit value is used It is not
2
limited for the forward direction
Both the forward and the reverse direction software position limits are
3
used

The position limit function can be limitedly used in Jog Operation Mode. When using index, Jog
Operation Mode is used for movement of remaining pulses. The function is usable by using the 5th bit of
the below parameters.

I/O Signal Configuration [0x300A]

7Bit 6Bit 5Bit 4Bit 3Bit 2Bit 1Bit 0Bit

0 0 0 0 0 0 0 0

Setting Values Setting Details

0 The software position limit function is not used in Jog Operation Mode
The software position limit function is used (both directions) in Jog
1
Operation Mode.

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 13. Object Dictionary

0x2401 INPOS1 Output Range P

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 60000 100 UU RW Yes Always Yes

With the position command not newly updated, if the positional error is retained within the INPOS1
output range for the INPOS1 output time, the INPOS1 signal is output.

0x2402 INPOS1 Output Time P

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 1000 0 ms RW Yes Always Yes

Refer to the description of 0x2401.

0x2403 INPOS2 Output Range P

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 60000 100 UU RW Yes Always Yes

This parameter outputs the INPOS2 signal when the positional error is lower than the setting value.
Unlike INPOS1, the INPOS2 signal is output by calculating only the positional error value.

0x2404 ZSPD Output Range P

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 6000 10 Rpm RW Yes Always Yes

When the current velocity is lower than the setting value, the parameter outputs the ZSPD signal.

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 13. Object Dictionary

0x2405 TGON Output Range P

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 6000 100 Rpm RW Yes Always Yes

When the current velocity is higher than the setting value, the parameter outputs the TGON signal.

0x2406 INSPD Output Range P

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 6000 100 Rpm RW Yes Always Yes

When the velocity error is lower than the setting value, the parameter outputs the INSPD signal.

0x2407 BRAKE Output Speed P

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 6000 100 Rpm RW No Always Yes

If the motor stops due to the servo off state or servo alarm during rotation, you can set the velocity
(0x2407) and delay time (0x2408) for brake signal output in order to set the output timing. The
brake signal is output if the motor rotation velocity goes below the set value (0x2407) or the output
delay time (0x2408) has been reached after the servo off command.

0x2408 BRAKE Output Delay Time P

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 1000 100 ms RW No Always Yes

Refer to the description of 0x2407.

0x2409 Torque Limit at Homing Using Stopper ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 2000 250 0.1% RW No Always Yes

You can set torque limits for homing using the stopper. If you set the value to be too large, the
stopper may cause an impact on the machine by collision. So be careful.

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 13. Object Dictionary

0x240A Duration Time at Homing Using Stopper ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 1000 50 ms RW No Always Yes

You can set the time to detect the stopper during homing. Set an appropriate value for the machine.

0x240B Modulo Mode ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

Power
UINT 0 to 5 0 - RW No Yes
cycling

L7C does not use the 0x240B parameter.

When using L7NH

As shown in the above table, L7NH sets the Modulo Mode [0x240B] parameter to use the
movement method. However, L7C uses the Index Type menu with [0x3000] set to 0 in the Index
Mode and the coordinate system setting [0x3001] to 1 in the rotary coordinate system to determine
the movement method of Modulo Mode.

When using L7C

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 13. Object Dictionary

0x240C Modulo Factor ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

Power
DINT 1 to 0x40000000 3600 UU RW No Yes
cycling

You can set the factor for using the Modulo function. You can set the position value that
corresponds to one revolution when a user drives the motor.

* Modulo factor concept

The default formula is as follows.

𝑃𝑜𝑠𝑖𝑡𝑖𝑜𝑛 𝐴𝑐𝑡𝑢𝑎𝑙 𝑉𝑎𝑙𝑢𝑒 𝑢𝑠𝑖𝑛𝑔 𝑀𝑜𝑑𝑢𝑙𝑜 𝑓𝑎𝑐𝑡𝑜𝑟 =

𝑃𝑜𝑠𝑖𝑡𝑖𝑜𝑛 𝐴𝑐𝑡𝑢𝑎𝑙 𝑉𝑎𝑙𝑢𝑒 − (𝑃𝑜𝑠𝑖𝑡𝑖𝑜𝑛 𝐴𝑐𝑡𝑢𝑎𝑙 𝑉𝑎𝑙𝑢𝑒 ÷ 𝑀𝑜𝑑𝑢𝑙𝑜 𝐹𝑎𝑐𝑡𝑜𝑟)

× 𝐸𝑛𝑐𝑜𝑑𝑒𝑟 𝑃𝑢𝑙𝑠𝑒 𝑝𝑒𝑟 𝑅𝑒𝑣𝑜𝑙𝑢𝑡𝑖𝑜𝑛

200 0[UU]

0x2040C : 2000

100 0[UU]

0x2040C : 1000

200 0[UU]

100 0[UU]

0x2040C not in use

In general, when you do not use the Modulo factor, the current position keeps increasing when the
motor rotates in one direction.

If you use Modular factor and input 1000, the current position (Position Actual Value) increases only
up to 1000 [UU] is reset to 0 [UU]. Similarly, when you input 2000, it increases only up to 2000 [UU]
and is reset. In other words, the remainder value from dividing Position Actual Value by Modulo
factor is applied.

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 13. Object Dictionary

X5[turn] X1[turn]

Motor User Machine

When the machine’s apparatus makes 1 [turn], the total pulse required for the machine’s 1 [turn]
for the installed L7 19 [bit] motor’s 5 [turn] is as follows.

524288 × 5[𝑡𝑢𝑟𝑛] = 9961472[UU]

If you want to control the machine’s 1 [turn] within the range of 0~9961472 [UU],

you can input 9961472 [UU] to make the machine have 1~9961472 [UU] for Position Actual Value
within 1 [turn] and restart from 1 [UU] when it exceeds 1 [turn].

* Modulo factor application example

For L7C, it is applicable if you set the address 0x3000 to operation mode 0 and the address
0x3001 to the rotary coordinate system 1.

To rotate the axis of the machine to the 30 degree mark in Index Operation Mode,

30°
9961472[𝑈𝑈] × = 218453[UU]
360°
you can input 218453 [UU] for index distance.

If you input 1529173 [UU], moving to the 210 degree mark is possible.

30°≒
30° ≒ 218453[UU]
218453[UU]

* Modulo factor advantages

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 13. Object Dictionary

Suppose that a 19-bit motor performs a 60-degree rotation 10,000 times in one direction. If the motor
runs in the relative Indexing Position Mode, the error values after the decimal point continue to
accumulate to cause a deviation of about 3 degrees after 10,000 rotations.

Start count Pulse count Actual value Theoretical value

In contrast, if the motor runs in the absolute Indexing Position Mode, the error values after the
decimal point do not accumulate, and therefore, do not cause any deviation after 10,000 rotations.

Start count Pulse count Actual value Theoretical value

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 13. Object Dictionary

0x240D User Drive Name ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

STRING - ‘Drive’ - RW No Always Yes

You can customize the drive name. You can use up to 16 characters to set the name.

0x240E Individual Parameter Save ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 1 0 - RW No Always No

You can set whether or not to immediately save individual parameters. This parameter is not saved
and reset to 0 during power turn-on.

Setting Values Setting Details

Does not save parameters individually. For details on saving
0
parameters, refer to Saving Parameters (0x1010)
Saves parameters individually. When a parameter is written, it is
1
immediately saved in the memory

0x240F RMS Overload Calculation Time ALL

Variable Accessi PDO Variable

Setting Range Initial Value Unit Saving
Type bility Assignment Attribute

Power
UINT 100 to 60000 15000 ms RW No Yes
cycling

You can set the time to calculate RMS operation overload (0x2619).

0x2410 RTC Time Set ALL

Variable Acces PDO Variable Savin

Setting Range Initial Value Unit
Type sibility Assignment Attribute g

UDINT 0 to 0xFFFFFFFF 0 - RW No Always Yes

You can set the time for RTC.

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 13. Object Dictionary

0x2411 RTC Date Set ALL

Variable Acces PDO Variable Savin

Setting Range Initial Value Unit
Type sibility Assignment Attribute g

UDINT 0 to 0xFFFFFFFF 1507585 - RW No Always Yes

You can set the date for RTC.

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 13. Object Dictionary

13.7 Enhanced Control (0x2500~)

0x2500 Adaptive Filter Function Select ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 5 0 - RW No Always Yes

You can set the adaptive filter function.

Setting Values Setting Details

0 The adaptive filter is not used
Only one adaptive filter is used. You can check the automatic
1
settings in the notch filter 4 settings (0x250A, 0x250B).
Only two adaptive filters are used. You can check the automatic
2 settings in the notch filter 3 (0x2507, 0x2508) and 4 settings
(0x250A, 0x250B).
3 Reserved
Resets the settings of notch filter 3 (0x2507, 0x2508) and notch
4
filter 4 (0x250A, 0x250B, 0x250C)
5 Reserved

0x2501 Notch Filter 1 Frequency ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 50 to 5000 5000 Hz RW No Always Yes

You can set the frequency of Notch Filter 1.

0x2502 Notch Filter 1 Width ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 1 to 100 1 - RW No Always Yes

You can set the width of Notch Filter 1.

0x2503 Notch Filter 1 Depth ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 1 to 5 1 - RW No Always Yes

You can set the depth of Notch Filter 1.

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 13. Object Dictionary

0x2504 Notch Filter 2 Frequency ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 50 to 5000 5000 Hz RW No Always Yes

You can set the frequency of Notch Filter 2.

0x2505 Notch Filter 2 Width ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 1 to 100 1 - RW No Always Yes

You can set the width of Notch Filter 2.

0x2506 Notch Filter 2 Depth ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 1 to 5 1 - RW No Always Yes

You can set the depth of Notch Filter 2.

0x2507 Notch Filter 3 Frequency ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 50 to 5000 5000 Hz RW No Always Yes

You can set the frequency of Notch Filter 3.

0x2508 Notch Filter 3 Width ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 1 to 100 1 - RW No Always Yes

You can set the width of Notch Filter 3.

0x2509 Notch Filter 3 Depth ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 1 to 5 1 - RW No Always Yes

You can set the depth of Notch Filter 3.

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0x250A Notch Filter 4 Frequency ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 50 to 5000 5000 Hz RW No Always Yes

You can set the frequency of Notch Filter 4.

0x250B Notch Filter 4 Width ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 1 to 100 1 - RW No Always Yes

You can set the width of Notch Filter 4.

0x250C Notch Filter 4 Depth ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 1 to 5 1 - RW No Always Yes

You can set the depth of Notch Filter 4.

0x250D On-line Gain Tuning Mode ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 1 0 - RW No Always Yes

You can set the On-line gain Tuning Mode.

Setting
Setting Details
Values
0 On-line gain tuning not used
1 On-line gain tuning used

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0x250E System Rigidity for Gain Tuning ALL

Variable Acces PDO Variable

Setting Range Initial Value Unit Saving
Type sibility Assignment Attribute

UINT 1 to 20 5 - RW No Always Yes

This specifies the system rigidity applied for gain tuning. After the gain tuning according to the
setting, the overall gain will be set higher or lower. If the gain of the maximum setting value is not
enough, carry out the tuning manually. After the gain tuning, the following gains will be automatically
changed:

Inertia ratio (0x2100), position loop gain 1 (0x2001), speed loop gain 1 (0x2102), speed integral
time constant 1 (0x2103), torque command filter time constant 1 (0x2104), notch filter 3 frequency
(0x2507, TBD), and notch filter 4 frequency (0x250A, TBD).

0x250F On-line Gain Tuning Adaptation Speed ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 1 to 5 1 - RW No Always Yes

You can the speed of reflecting the change in gain when performing On-line gain tuning. The larger
the setting value is, the faster the gain changes are reflected.

0x2510 Off-line Gain Tuning Direction ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 1 0 - RW No Always Yes

You can set the movement direction when performing offline gain tuning. Set the function properly
according to the conditions of the apparatus.

Setting Values Setting Details

0 Drives in the forward direction
1 Drives in the reverse direction

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 13. Object Dictionary

0x2511 Off-line Gain Tuning Distance ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 1 to 10 5 - RW No Always Yes

You can set the distance when performing off-line gain tuning. The larger the setting value is, the
longer the movement distance becomes. Set the distance properly according to the condition of the
apparatus. Make sure to secure an enough distance (more than one revolution of the motor) prior to
gain tuning.

0x2512 Disturbance Observer Gain ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 100 0 % RW No Always Yes

(to be supported in the future)

0x2513 Disturbance Observer Filter Time Constant ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 1000 10 0.1ms RW No Always Yes

(to be supported in the future)

0x2514 Current Controller Gain ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 1 to 150 100 % RW No Always Yes

You can set gain of the current controller. Lowering the setting value can reduce the noise, but the
drive's responsiveness decreases at the same time.

0x2515 Vibration Suppression Filter Configuration ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 5 0 - RW No Always Yes

Reserved

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0x2516 Vibration Suppression Filter 1 Frequency ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 2000 0 0.1Hz RW No Always Yes

Reserved

0x2517 Vibration Suppression Filter 1 Damping ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 5 0 - RW No Always Yes

Reserved

0x2518 Vibration Suppression Filter 2 Frequency ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 2000 0 0.1Hz RW No Always Yes

Reserved

0x2519 Vibration Suppression Filter 2 Damping ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 5 0 - RW No Always Yes

Reserved

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13.8 Monitoring (0x2600~)

0x2600 Feedback Velocity ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

INT - - rpm RO Yes - No

This parameter represents the current rotation velocity of the motor.

0x2601 Command Speed ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

INT - - rpm RO Yes - No

This parameter represents the velocity command input to the velocity control loop of the drive.

0x2602 Following Error ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

DINT - - pulse RO Yes - No

This parameter represents the positional error of position control.

0x2603 Accumulated Operation Overload ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

INT - - 0.1% RO No - No

This parameter represents the accumulated operation overload rate. When the accumulated
operation overload rate reaches the overload warning level setting value (0x2010), an operation
overload warning (W10) occurs; when it reaches 100%, an operation overload alarm (AL-21)
occurs.

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0x2604 Instantaneous Maximum Operation Overload ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

INT - - 0.1% RO Yes - No

This parameter represents the maximum value of operation overload rate output instantaneously
from the drive. This value can be initialized by instantaneous maximum operation overload reset.

0x2605 DC-Link Voltage ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT - - Volt RO Yes - No

This parameter represents DC link voltage by a main power input.

0x2606 Accumulated Regeneration Overload ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

INT - - 0.1% RO No - No

This parameter represents the accumulated overload rate of the regenerative resistance from
regenerative operation. When the accumulated regenerative overload rate reaches 100%, a
regenerative overload alarm (AL-23) is generated.

0x2607 Single-turn Data ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UDINT - - pulse RO Yes - No

This parameter represents the data for one revolution of the motor. A value ranging from 0 to
(encoder resolution-1) is displayed.

0x2608 Mechanical Angle ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT - - 0.1deg RO Yes - No

This parameter represents the single-turn data of the motor in the range of 0.0~359.9.

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 13. Object Dictionary

0x2609 Electrical Angle ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

INT - - 0.1deg RO Yes - No

This parameter represents the electrical angle of the motor in the range of -180.0~180.0.

0x260A Multi-turn Data ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

DINT - - rev. RO Yes - No

This parameter represents multi-turn data of the multi-turn encoder.

0x260B Drive Temperature 1 ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g
oC
INT - - RO No - No

This is the temperature measured by the temperature sensor integrated into the drive power board.
If the measurement is higher 95℃ or higher, a drive overheat alarm 1 (AL-22) is generated.

0x260C Drive Temperature 2 ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g
oC
INT - - RO No - No

This parameter represents the temperature measured by the temperature sensor integrated into the
drive control board. If the measured temperature is 90℃ or higher, a drive overheat alarm 2 (AL-
25) is generated.

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 13. Object Dictionary

0x260D Encoder Temperature ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g
oC
INT - - RO No - No

This parameter represents the temperature measured by the temperature sensor integrated into the
serial encoder provided by our company (if the setting value of the encoder type (0x2001) is 4). If
the measured temperature 90℃ or higher, an encoder overheat alarm (AL-26) is generated.

0x260E Motor Rated Speed ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT - - rpm RO No - No

This parameter represents the rated speed of a driving motor.

0x260F Motor Maximum Speed ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT - - rpm RO No - No

This parameter represents the maximum velocity of a driving motor.

0x2610 Drive Rated Current ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT - - 0.1A RO No - No

This parameter represents the rated current of the drive.

0x2611 FPGA Version ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

STRING - - - RO No - No

This parameter represents the version of FPGA within the drive.

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 13. Object Dictionary

0x2612 Hall Signal Display ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT - - - RO No - No

This parameter represents the signal of the hall sensor installed in the encoder (or motor). You can
use this to verify the connection status of the hall sensor signal or compare the U/V/W-phases of
the motor with the direction of the hall sensor signal.

The signal value is repeated in the order of 546231 for a forward movement, and it is
repeated in the order of 132645 for a reverse movement.

Bits Setting Details

0 W-phase hall sensor signal
1 V-phase hall sensor signal
2 U-phase hall sensor signal

0x2613 Bootloader Version ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

STRING - - - RO No - No

This parameter represents the bootloader version of the drive.

0x2614 Warning Code ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT - - - RO Yes - No

This parameter represents a warning code which occurred in the drive.

0x2615 Analog Input Channel 1 Value ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

INT - - mV RO Yes - No

This parameter represents the input voltage of an analog torque command in mV.

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 13. Object Dictionary

0x2616 Analog Input Channel 2 Value ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

INT - - mV RO Yes - No

This parameter represents the input voltage of an analog velocity override in mV.

0x2619 RMS Operation Overload ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

INT - - 0.1% RO No - No

This parameter represents the RMS load factor for 15 seconds in the unit of 0.1%.

0x261D Software Version ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

STRING - - - RO No - No

This parameter displays the software version of the servo drive.

0x261E Pulse Input Frequency P

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

INT - - Kpps RO No - No

This parameter displays the frequency of a pulse input during Pulse Input Position.

0x261F Torque Limit Value ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

DINT - - 0.1% RO No - -

This parameter displays the setting value for torque limit.

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 13. Object Dictionary

0x2620 Digital Input Status ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT - - - RO No - No

This parameter displays the input contact status that the servo drive recognizes.

0x2621 Digital Output Status ALL

Variable Accessi PDO Variable Savi

Setting Range Initial Value Unit
Type bility Assignment Attribute ng

UINT - - - RO No - No

This parameter displays the output contact status that the servo drive recognizes.

0x2622 Current RTC Time ALL

Variable Accessi PDO Variable Savi

Setting Range Initial Value Unit
Type bility Assignment Attribute ng

UDINT - - - RO No Always Yes

This parameter displays the current time of RTC.

0x2623 Current RTC Date ALL

Variable Accessi PDO Variable Savi

Setting Range Initial Value Unit
Type bility Assignment Attribute ng

UDINT - - - RO No Always Yes

This parameter displays the current date of RTC.

0x2624 Position Demand Internal Value ALL

Variable Accessi PDO Variable Savi

Setting Range Initial Value Unit
Type bility Assignment Attribute ng

DINT - - pulse RO No - No

This parameter represents the value input as a command during position control.

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 13. Object Dictionary

AL
0x2625 Position Actual Internal Value
L

Variable Accessi PDO Variable Sav

Setting Range Initial Value Unit
Type bility Assignment Attribute ing

DINT - - pulse RO No - No

This parameter displays the position actual internal value in the unit of encoder pulse.

AL
0x2626 Cumulative Hours of Use
L

Variable Accessi PDO Variable Sav

Setting Range Initial Value Unit
Type bility Assignment Attribute ing

UDINT - - Hour RO No - No

This parameter displays the power input time of the drive.

AL
0x2627 Number of Inrush Current Switching
L

Variable Accessi PDO Variable Sav

Setting Range Initial Value Unit
Type bility Assignment Attribute ing

DINT - - Hour RO No - Yes

This parameter displays the inrush current generated during power ON/OFF in a counter.

AL
0x2628 Number of Dynamic Brake Switching
L

Variable Accessi PDO Variable Sav

Setting Range Initial Value Unit
Type bility Assignment Attribute ing

DINT - - - RO No - Yes

This parameter displays the DB operation count.

AL
0x2629 Position Demand Value
L

Variable Accessi PDO Variable Sav

Setting Range Initial Value Unit
Type bility Assignment Attribute ing

DINT - - UU RO No - No

This parameter displays the position demand value in the position unit (UU) specified by the user.
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 13. Object Dictionary

0x262A Position Actual Value ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

DINT - - UU RO No - No

This parameter displays the actual position value in a user-defined position unit (UU).

0x262B Following Error Actual Value ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

DINT - - UU RO No - No

This parameter displays the actual position error during position control.

0x262C Torque Demand Value ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

INT - - 0.1% RO No - No

This parameter displays the current torque demand value in the unit of 0.1% of the motor’s rated
torque.

0x262D Torque Actual Value ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

INT - - 0.1% RO No - No

This parameter displays the actual torque value generated by the drive in increments of 0.1% of the
rated torque.

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 13. Object Dictionary

13.9 Procedure and Alarm history (0x2700~)

0x2700 Procedure Command Code ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 0xFFFF 0 - RW No - No

You can run various procedures with the following procedure command codes and command
arguments. Make sure to enter correct a command argument value prior to entering a command
code because the drive refers to the command argument for the command code input.

Command
Command Codes Run Procedures
Arguments

1 Servo on

2 Servo off
Manual Jog
3 Positive (+) driving (0x2300)
(0x0001)
4 Negative (-) driving (0x2300)

5 Zero speed stop

1 Servo on

Program Jog 2 Servo off

(0x0002) 3 Start operation

4 Zero speed stop (server on maintained)

Servo Alarm History

1
Reset (0x0003)

Off-line Auto Tuning

1 Start auto tuning
(0x0004)

1 Servo on

2 Servo off
Index Pulse Search
3 Positive (+) search (0x230C)
(0x0005)
4 Negative (-) search (0x230C)

5 Zero speed stop

Absolute Encoder Reset

1 Absolute Encoder Reset
(0x0006)

Instantaneous

Maximum Operation Resets the instantaneous maximum operation

1
Overload Reset overload (0x2604) value

(0x0007)

Phase Current Offset Phase current offset tuning

1
Tuning (U/V/W-phase offsets are stored in

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 13. Object Dictionary

(0x0008) 0x2015~0x2017, respectively. If an offset is

abnormally large, AL-15 is generated)

Software reset
1 Software reset
(0x0009)

Commutation
1 Perform commutation
(0x000A)

0x2701 Procedure Command Argument ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to FFFFhex 0 - RW No - No

0x2702 Servo Alarm History ALL

SubIndex 0 Number of entries

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

STRING - 16 - RO No - No

SubIndex 1 Alarm Code 1 (newest)

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

STRING - - - RO No - No

SubIndex 2 Alarm Code 2

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

STRING - - - RO No - No

SubIndex 3 Alarm Code 3

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

STRING - - - RO No - No

SubIndex 4 Alarm Code 4

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

STRING - - - RO No - No

SubIndex 5 Alarm Code 5

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

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 13. Object Dictionary

STRING - - - RO No - No

SubIndex 6 Alarm Code 6

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

STRING - - - RO No - No

SubIndex 7 Alarm Code 7

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

STRING - - - RO No - No

SubIndex 8 Alarm Code 8

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

STRING - - - RO No - No

SubIndex 9 Alarm Code 9

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

STRING - - - RO No - No

SubIndex 10 Alarm Code 10

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

STRING - - - RO No - No

SubIndex 11 Alarm Code 11

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

STRING - - - RO No - No

SubIndex 12 Alarm Code 12

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

STRING - - - RO No - No

SubIndex 13 Alarm Code 13

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

STRING - - - RO No - No

SubIndex 14 Alarm Code 14

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

STRING - - - RO No - No

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 13. Object Dictionary

SubIndex 15 Alarm Code 15

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

STRING - - - RO No - No

SubIndex 16 Alarm Code 16(oldest)

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

STRING - - - RO No - No

This parameter represents the history of servo alarms generated in the drive. You can store up to
16 recently generated servo alarms. Sub-Index 1 is the latest alarm while the Sub-Index 16 is the
oldest of the recently generated alarms. You can reset the servo alarm history by procedure
commands.

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13.10 Third Party Motor Support (0x2800~)

The following motor parameters are provided for driving motors manufactured by a third party in
addition to our motor. To drive a third party's motor with our drive, you have to enter correct
parameters. In this case, however, our company neither has performed any test for combinations of our
drive and a third party motor nor provides any warranty for the motors’ characteristics.

0x2800 [Third Party Motor] Type ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

Power
UINT 0 to 1 0 - RW No Yes
cycling

You can set the motor type.

Setting Value Setting Details

0 Rotary motor
1 Linear motor

0x2801 [Third Party Motor] Number of Poles ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

Power
UINT 2 to 1000 8 - RW No Yes
cycling

You can set the number of motor poles. For a linear motor, set the value to 2.

0x2802 [Third Party Motor] Rated Current ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

Power
FP32 - 2.89 Arms RW No Yes
cycling

You can set the rated current of the motor.

0x2803 [Third Party Motor] Maximum Current ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

Power
FP32 - 8.67 Arms RW No Yes
cycling

You can set the maximum current of the motor.

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0x2804 [Third Party Motor] Rated Speed ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

Power
UINT 1 to 60000 3000 rpm RW No Yes
cycling

You can set the rated speed of the motor. For a linear motor, the unit is mm/s.

0x2805 [Third Party Motor] Maximum Speed ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

Power
UINT 1 to 60000 5000 rpm RW No Yes
cycling

You can set the maximum speed of the motor. For a linear motor, the unit is mm/s.

0x2806 [Third Party Motor] Inertia ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

Kg.m2. Power
FP32 - 0.321 RW No Yes
10-4 cycling

You can set the motor inertia. For a linear motor, set the weight of the rotor. The unit is kg.

0x2807 [Third Party Motor] Torque Constant ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

Power
FP32 - 0.46 Nm/A RW No Yes
cycling

You can set the torque constant of the motor. For a linear motor, set a force constant. The unit is
N/A.

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0x2808 [Third Party Motor] Phase Resistance ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

Power
FP32 - 0.82 ohm RW No Yes
cycling

You can set the phase resistance (= resistance between lines ÷ 2) of the motor.

0x2809 [Third Party Motor] Phase Inductance ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

Power
FP32 - 3.66 mH RW No Yes
cycling

You can set the phase inductance (= inductance between lines ÷ 2) of the motor.

0x280A [Third Party Motor] TN Curve Data 1 ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

Power
UINT 1 to 60000 3000 rpm RW No Yes
cycling

You can set the data of the motor speed/torque curve. Enter the maximum speed for when the
maximum torque(for a linear motor, the maximum thrust) is output. For a linear motor, the unit is
mm/s.

Torque
(Force)

Max torque

Speed
Max speed
0x280A

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0x280B [Third Party Motor] TN Curve Data 2 ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

Power
FP32 - 100.0 % RW No Yes
cycling

You can set the data of the motor speed/torque curve. Enter a torque (thrust for a linear motor)
which can be output at the maximum speed in percentage (%) relative to the maximum torque.

Torque
(Force)

Max torque

0x280B
= Torque @Max torque / Max torque x 100

Torque
@Max speed

Speed
Max speed

0x280C [Third Party Motor] Hall Offset ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

Power
UINT 0 to 360 0 deg RW No Yes
cycling

The offset of the hall sensor set for the initial angle of a 3rd party motor may vary depending on
manufacturer. For this, you must check the hall sensor offset and make a correct setting.

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13.11 Index Objects

0x3000 Control Mode ALL

Variable Setting Initial Communication Variable

Unit Accessibility Saving
Type Range Value Address Attribute

Power
UINT 0 to 9 1 - RW Yes
cycling

You can set the position control mode of the drive.

Setting Values Setting Details

0 Indexing Position Mode
1 Pulse Input Position Mode
2 Velocity Mode
3 Torque Mode
4 Pulse Input Position Operation & Indexing Position Operation
5 Pulse Input Position Operation & Velocity Mode
6 Pulse Input Position Operation & Torque Mode
7 Velocity Mode & Torque Mode
8 Indexing Position Mode & Velocity Mode
9 Indexing Position Mode & Torque Mode

0x3001 Coordinate Select ALL

Variable Setting Initial Communication Variable

Unit Accessibility Saving
Type Range Value Address Attribute

Power
UINT 0 to 1 0 - RW Yes
cycling

You can set the coordinate system to be used for indexing position control of the drive.

Setting Values Setting Details

0 Use the linear coordinate method
1 Use the rotary coordinate method

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0x3002 Baud Rate Select ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

Power
UINT 0 to 3 3 - RW No Yes
cycling

You can set the RS-422 serial communication speed between the upper level controller and the
drive.

Setting Values Setting Details

0 9600[bps]
1 19200[bps]
2 38400[bps]
3 57600[bps]

0x3003 Pulse Input Logic Select ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

Power
UINT 0 to 5 0 - RW No Yes
cycling

You can set the logic of the pulse train input from the upper level controller. The following are the
forms of input pulses and the rotation directions of the logic.

Setting Values Setting Details

0 Phase A + Phase B positive logic
1 CW + CCW positive logic
2 Pulse + sign positive logic
3 Phase A + Phase B negative logic
4 CW + CCW negative logic
5 Pulse + sign negative logic

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0x3004 Pulse Input Filter Select ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

Power
UINT 0 to 15 7 - RW No Yes
cycling

You can set the frequency band of the digital filter set for the pulse input.

The frequency bands are determined based on the input pulse width in accordance with the digital
filter's characteristics.

Setting Values Setting Details

0 50[MHz](NO Filter)
1 25[MHz]
2 12.5[MHz]
3 6.25[MHz]
4 4.167[MHz]
5 3.125[MHz]
6 2.083[MHz]
7 1.562[MHz]
8 1.042[MHz]
9 0.781[MHz]
10 625[kHz]
11 521[kHz]
12 391[kHz]
13 313[kHz]
14 260[kHz]
15 195[kHz]

0x3005 PCLEAR Mode Select ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 2 0 - RW No Always Yes

You can set the operation mode during input of position pulse clear (PCLR) signal.

Setting Values Setting Details

0 Operate in Edge Mode
1 Operate in Level Mode (torque: maintained)
2 Operate in Level Mode (torque: 0)

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0x3006 Encoder Output Pulse ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

Power
UDINT 0 to 2147483647 10000 pulse RW No Yes
cycling

You can set the count of pulses to be output per motor rotation when the encoder signal is sent
from the drive to the outside. Maximum frequency of encoder output pulse is 1[MHz]. So if you set
the value of encoder output pulse, you should apply below the formula to get appropriate value. For
example, maximum speed of some machine is 2000[rpm]. You can set the parameter value until
30000.
60 ×106 [Hz] Electric Gear Denominator
Maximum Value of Encoder Output Pulse = ×
Motor Maximum Speed Operating in the Device[rpm] Electric Gear Denominator

0x3007 Encoder Output Mode ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

Power
UINT 0 to 1 0 - RW No Yes
cycling

L7C Series does not provide this function. Only the line drive method supports the encoder output
mode.

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0x3008 Start Index Number (0~63) ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 64 0 - RW No Always Yes

You can set the index number (0-63) to start index position operation.

If the setting value is 64, the index number is determined by ISEL0~ISEL5 of digital input.

ISEL Input Signal

Index No
ISEL5 ISEL4 ISEL3 ISEL2 ISEL1 ISEL0
0 X X X X X X
1 X X X X X O
2 X X X X O X
3 X X X X O O
4 X X X O X X
…
60 O O O O X X
61 O O O O X O
62 O O O O O X
63 O O O O O O

0x3009 Index Buffer Mode ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 1 1 - RW No Always Yes

You can set how many times the START (operation start) signal is remembered during indexing
position operation.

Setting Values Setting Details

0 Double buffer set (Remembers twice)
1 Single buffer set (Remembers once)

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0x300A IO Signal Configuration ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 0xFFFF 0 - RW No Always Yes

You can set different functions in input/output ports by selecting different bits.

Bits Setting Details

You can set the operation of IOUT0~5 signals used in indexing
position operation.
When you set the value to 0, the applicable IOUT signal is output
during indexing position operation. When indexing position operation
0
is completed, a completed IOUT signal is output.
When you set the value to 1, the previously completed IOUT signal
is output during indexing position operation. When indexing position
operation is completed, a completed IOUT signal is output.
You can set the operation of the START signal used in indexing
position operation.
When you set the value to 0, only positive edges recognize the
1
START signal.
When you set the value to 1, only both edges recognize the START
signal.
You can set the operation of the JSTART and JDIR signals.
When you set the value to 0, operation is based on the JSTART and
JDIR signals.
2
When you set the value to 1, operation is based on the PJOG and
NJOG signals.
Refer to Section 4.3, “Functions of Index Input Signals”
You can set the operation of velocity override used in indexing
position operation.
3 When you set the value to 0, velocity override is applied for index
ranges.
When you set the value to 1, velocity override is applied real-time.
You can set the registration operation in indexing position operation.
When you set the value to 0, absolute/relative operation is
performed according to the registration type of the index during
4
indexing position operation.
When you set the value to 1, absolute/relative operation is performed
by the REGT Configuration [0x300B] value.
You can set the operation of the Software Position Limit function in
jog operation.
5 When you set the value to 0, the Software Position Limit function in
jog operation is deactivated. When you set the value to 1, the
function in jog mode is activated.
You can set the operation of ORG signal output during homing.
When you set the value to 0, the ORG signal after homing operation
6
and servo off is maintained. When you set the value to 1, the ORG
signal output is turned off after homing operation and servo off.

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0x300B REGT Configuration ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 1 0 - RW No Always Yes

You can set the operation for REGT signals in Registration Relative Move.

Setting Values Setting Details

The new target position after REGT signal input operates as a
0
relative value in relation to the current position value.
The new target position after REGT signal input operates as an
1
absolute value in relation to the current position value.
2 Reserved
3 Reserved
4 Reserved
5 Reserved

The user can adjust the setting value to perform the movement with absolute or relative operation for
REG signal input.

I/O Signal Configuration [0x300A]

7Bit 6Bit 5Bit 4Bit 3Bit 2Bit 1Bit 0Bit

0 0 0 1 0 0 0 0

Bit setting values Setting Details

Absolute/relative operation according to the index type of
0
Registration Mode.
1 Absolute/relative operation according to the setting value of 0x300B

Be aware that this function only operates when the 4th bit of 0x300A is SET. For example, when you set
the index type of index 0 to Registration Absolute and 0x300B to 0 and if the 4th bit of 0x300A is 1 (Set),
a movement of 20000 [UU] is made by relative operation. If the bit is 0(Reset) absolute operation
performs a movement to the 20000 [UU] position.

Movement result according to the

4th bit in 0x300A setting value
0 Registration moved to index type
Moved according to the setting
1 value of 0x300B

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0x300C Electric Gear Numerator 1 ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

Power
UDINT 1 to 2147483647 1 - RW No Yes
cycling

You can set Electric Gear Numerator 1.

0x300D Electric Gear Numerator 2 ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

Power
UDINT 1 to 2147483647 1 - RW No Yes
cycling

You can set Electric Gear Numerator 2.

0x300E Electric Gear Numerator 3 ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

Power
UDINT 1 to 2147483647 1 - RW No Yes
cycling

You can set Electric Gear Numerator 3.

0x300F Electric Gear Numerator 4 ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

Power
UDINT 1 to 2147483647 1 - RW No Yes
cycling

You can set Electric Gear Numerator 4.

0x3010 Electric Gear Denominator 1 ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

Power
UDINT 1 to 2147483647 1 - RW No Yes
cycling

You can set Electric Gear Denominator 1.

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0x3011 Electric Gear Denominator 2 ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

Power
UDINT 1 to 2147483647 1 - RW No Yes
cycling

You can set Electric Gear Denominator 2.

0x3012 Electric Gear Denominator 3 ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

Power
UDINT 1 to 2147483647 1 - RW No Yes
cycling

You can set Electric Gear Denominator 3.

0x3013 Electric Gear Denominator 4 ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

Power
UDINT 1 to 2147483647 1 - RW No Yes
cycling

You can set Electric Gear Denominator 4.

0x3014 Electric Gear Mode ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

Power
UINT 0 to 1 0 - RW No Yes
cycling

You can select the electric gear mode in Pulse Input Position Mode to use the electric gear offset
function.

When you set the value to 0, you can select among Electric Gear Ratio 1~4 to use it. When you
set the value to 1, you can apply offset [0x3015] to Electric Gear Numerator 1.

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0x3015 Electric Gear Offset ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

Power
INT -327681 to 32767 0 - RW No Yes
cycling

You can set the electric gear offset value. When you set [0x3014] Electric Gear Mode to 1, the
offset is applied to the numerator of Electric Gear Ratio 1 by EGEAR1 and EGEAR2.

- EGEAR1 contact LOW->HIGH: [0x3015] setting value increases. The numerator value of

electric gear ratio 1 increases

- EGEAR2 contact LOW->HIGH: [0x3015] setting value decreases. The numerator value of

electric gear ratio 1 decreases

ex) If you input “12000” for the numerator and “5000” for the denominator and turn on the

‘EGEAR1’ contact, the [0x300C] setting value increases by 1. If you turn on the ‘EGEAR2’
contact, the [0x300C] setting value decreases by 1 and is stored in the [0x300C] parameter. If the

offset is 2, the electronic gear ratio for operation changes from 12000/5000 to 12002/5000. If the

offset is -2, the electronic gear ratio for operation changes from 12000/5000 to 11998/5000.

0x3016 Position Limit Function ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

Power
UINT 0 to 1 0 - RW No Yes
cycling

You can select the clear operation type of position command pulse for NOT and POT contacts.
When you set the value to 1, the input pulse keeps accumulating while the contact is turning on,
often leading to occurrence of a position error alarm. However, if you set a large value for
Following Error Window [0x6065], the motor can move as much as the accumulated position error
value at the maximum speed while the contact is turning off. Be aware of this when you use the
parameter.

Setting Values Setting Details

0 Ignores input pulses when NOT and POT contacts are on
Receives input pulses and saves them in the buffer when NOT and
1
POT contacts are on

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 13. Object Dictionary

0x3017 Backlash Compensation ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

Power
UINT 0 to 1000 0 - RW No Yes
cycling

You can set the backlash compensation during pulse input operation.

확대
Enlargement

A B

Backlash
Gap

Generally, mechanical backlash gaps occur in a toothed wheel type. If this is ignored
during operation, noise or vibration may occur. [0x3017] sets backlash compensation
by converting the amount of backlashes to number of pulses if the positioning is
interrupted by mechanical backlashes during position operation. When you input a
setting value and turn on the servo, the backlash compensation value is applied in the
initial movement direction (set for the opposite direction as much as the backlash).

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 13. Object Dictionary

0x3018 Homing Method ALL

Variable Accessi PDO Variable Savi

Setting Range Initial Value Unit
Type bility Assignment Attribute ng

SINT -128 to 127 34 - RW No Always Yes

You can set the homing method. For more information, refer to Section 9.1, “Homing.”

Setting Values Description

0 Disabled

1 Homing using index pulse and reverse limit contact

2 Homing using index pulse and forward limit contact

7 to 14 Homing using index pulse and home contact

24 Same as method 8 (does not use index pulse)

28 Same as method 12 (does not use index pulse)

33, 34 Homing by index pulse

35 Homing to the current position

-1 Homing using the negative stopper and index pulse

-2 Homing using the positive stopper and index pulse

-3 Homing using the negative stopper only

-4 Homing using the positive stopper only

0x3019 Home Offset ALL

Variable Initial PDO Variable

Setting Range Unit Accessibility Saving
Type Value Assignment Attribute

-2147483648 to
DINT 0 UU RW No Always Yes
2147483647

You can set the offset value for the origin of the absolute encoder or absolute external scale and the
zero position of the actual position value (0x262A).

• Incremental Encoder

If the home position is found or at the home position, the position reached by the home offset value
becomes the zero position.

• Absolute Encoder

If the absolute encoder is connected, the home offset value is added to the absolute position (actual
position value).

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0x301A Speed during search for switch ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

DINT 0 to 0x40000000 500000 UU/s RW No Always Yes

0x301B Speed during search for zero ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

DINT 0 to 0x40000000 100000 UU/s RW No Always Yes

You can set the operation velocity for homing.

0x301C Homing Acceleration ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UDINT 0 to 0x40000000 200000 UU/s2 RW No Always Yes

You can set the operation acceleration for homing.

0x301D Following Error Window ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UDINT 0 to 0x3FFFFFFF 600000 UU RW No Always Yes

You can set the positional error range for checking Following Error(AL-51).

Check the encoder resolution of the motor before operation and set an appropriate value.

ex) if the setting value of encoder pulse[0x2002] per revolution of the parameter is 12000 and the
positional error range is set to 3 motor revolutions, the result value is 36000.

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0x301E Following Error Timeout ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 65535 0 ms RW No Always Yes

You can set the timeout value for Following Error(AL-51) check.

0x301F Velocity Window Time ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 65535 0 ms RW No Always Yes

You can set the velocity window time. If the difference between the target velocity and actual velocity is
maintained within the INSPD output range (0x2406) for the duration of the velocity window time
(0x301F), an INSPD signal is output.

0x3020 Software Position Min Limit ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

-1073741824 to
DINT -1000000000 - RW No Always Yes
1073741823

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0x3021 Software Position Max Limit ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

-1073741824 to
DINT 1000000000 - RW No Always Yes
1073741823

You can set the software position limit. The parameter limits the ranges of the position demand value
(0x2629) and the actual position value (0x262A) and checks the new target positions for the setting
values during every cycle.

The minimum software limit value is the reverse rotation limit. The maximum software limit value is the
forward rotation limit.

0x3022 Positive Torque Limit Value ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 3000 5000 0.1% RW Yes Always Yes

You can set the positive torque value limit.

0x3023 Negative Torque Limit Value ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UINT 0 to 3000 5000 0.1% RW Yes Always Yes

You can set the negative torque value limit.

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0x3024 Quick Stop Deceleration ALL

Variable Accessi PDO Variable Savin

Setting Range Initial Value Unit
Type bility Assignment Attribute g

UDINT 0 to 0x7FFFFFF 200000 UU/s2 RW No Always Yes

When you input STOP signal of digital input, the motor decelerates according to Quick Stop
deceleration value. The parameter calculates the positions of STOP signal input and stop target and
decelerates to a stop at the exact position. In adjusting the gear ratio, you need to adjust the Quick
Stop value that is appropriate for the gear ratio. Since an accurate deceleration and stop are carried
out when you input a value of 32 [Bit] of lower, make sure to input a value within that range.

The following formula is used to calculate the target position of Quick Stop Deceleration.

𝑉𝑒𝑙𝑜𝑐𝑖𝑡𝑦 2 [𝑈𝑈 2 /𝑠𝑒𝑐 2 ]

𝑇𝑎𝑟𝑔𝑒𝑡 𝑃𝑜𝑠𝑖𝑡𝑖𝑜𝑛[𝑈𝑈] =
2 × 𝑄𝑢𝑖𝑐𝑘 𝑆𝑡𝑜𝑝 𝐷𝑒𝑐𝑒𝑙𝑒𝑟𝑎𝑡𝑖𝑜𝑛[𝑈𝑈/𝑠𝑒𝑐 2 ]

The following is the formula for the target position value when you run index 0 at 300 [rpm] and input
2000000 [𝑈𝑈/𝑠𝑒𝑐 2 ] for the [0x3024] address and input a STOP signal.

26214402
Target Position[UU] = = 1717986[𝑈𝑈]
2×2000000

Stop signal input point

Decreased speed to reach the target

position
Distance

Time to reach the target position

The target position is equal to the area of the distance shown in the figure above. If you want to stop
the motor for approximately 2 seconds after inputting STOP signal while the motor is running at 300
rpm in index mode, you can calculate Quick Stop Deceleration as follows.

1
𝑇𝑎𝑟𝑔𝑒𝑡 𝑃𝑜𝑠𝑖𝑡𝑖𝑜𝑛 = (2621440[𝑈𝑈/𝑠𝑒𝑐] × 2[𝑠𝑒𝑐]) × = 2621440[𝑈𝑈]
2

26214402 [𝑈𝑈 2 /𝑠𝑒𝑐 2 ]

= 1310720[𝑈𝑈/𝑠𝑒𝑐 2 ]
2×2621440[𝑈𝑈]

In other words, Quick Stop Deceleration function enables you to stop the motor exactly at the specified
position or time when you input the STOP signal.

■ The following parameters can be controlled in the loader window, but you can edit the parameters
more conveniently if you use Drive CM (PC program).

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 13. Object Dictionary

0x3100

~ Index00~Index63

0x313F

SubIndex 0 Number of Entries

Variable PDO Variable

Setting Range Initial Value Unit Accessibility Saving
Type Assignment Attribute

USINT - 11 - RO No - No

SubIndex 1 Index Type

Variable PDO Variable

Setting Range Initial Value Unit Accessibility Saving
Type Assignment Attribute

UINT 0 to 10 1 - RW No Always Yes

SubIndex 2 Distance

Variable PDO Variable

Setting Range Initial Value Unit Accessibility Saving
Type Assignment Attribute

-2147483648 to
DINT 100000 UU RW No Always Yes
2147483647

SubIndex 3 Velocity

Variable PDO Variable

Setting Range Initial Value Unit Accessibility Saving
Type Assignment Attribute

DINT 1 to 2147483647 100000 UU/s RW No Always Yes

SubIndex 4 Acceleration

Variable PDO Variable

Setting Range Initial Value Unit Accessibility Saving
Type Assignment Attribute

DINT 1 to 2147483647 1000000 UU/s2 RW No Always Yes

SubIndex 5 Deceleration

Variable PDO Variable

Setting Range Initial Value Unit Accessibility Saving
Type Assignment Attribute

DINT 1 to 2147483647 1000000 UU/s2 RW No Always Yes

SubIndex 6 Registration Distance

Variable PDO Variable

Setting Range Initial Value Unit Accessibility Saving
Type Assignment Attribute

-2147483648 to
DINT 100000 UU RW No Always Yes
2147483647

SubIndex 7 Registration Velocity

Variable PDO Variable

Setting Range Initial Value Unit Accessibility Saving
Type Assignment Attribute

13-96
 13. Object Dictionary

DINT 1 to 2147483647 1000000 UU/s RW No Always Yes

SubIndex 8 Repeat Count

Variable PDO Variable

Setting Range Initial Value Unit Accessibility Saving
Type Assignment Attribute

UINT 1 to 65535 1 - RW No Always Yes

SubIndex 9 Dwell Time

Variable PDO Variable

Setting Range Initial Value Unit Accessibility Saving
Type Assignment Attribute

UINT 0 to 65535 200 ms RW No Always Yes

SubIndex 10 Next Index

Variable PDO Variable

Setting Range Initial Value Unit Accessibility Saving
Type Assignment Attribute

UINT 0 to 63 1 - RW No Always Yes

SubIndex 11 Action

Variable PDO Variable

Setting Range Initial Value Unit Accessibility Saving
Type Assignment Attribute

UINT 0 to 2 2 - RW No Always Yes

13-97
 14. Maintenance and Inspection

14. Maintenance and Inspection

14.1 Diagnosing Abnormalities and Troubleshooting

An alarm or warning is generated if a problem occurs during operation. If this happens, find
the applicable code and take a proper action. If the problem persists after taking such a
measure, contact our service center.

14.2 Precautions
1. When measuring the motor voltage: PWM controls the voltage output from the servo to the motor.
Because of this, waves are output in the form of pulses. Use a rectifier voltmeter for accurate
measurements because different meters may produce largely different results.

2. When measuring the motor current: Connect and use a moving-iron-type ampere meter because
the motor's reactance smooths the pulse waveform to produce partial sine waves.

3. When measuring the electric power: Use an electrodynamo-meter and measure based on the 3
power meter method.

4. Other gauges: When using an oscilloscope or digital voltmeter, do not allow them to touch the
ground. Use an input current gauge of 1mA or lower.

14.3 Inspection Points

Be sure to start inspection approximately 10 minutes after power is turned off because the
voltage charge 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
voltage charge left in the internal smoothing condenser may cause an accident.
When inspecting the servo, be sure to wait until the “charge” light completely goes off since some
current remains in the main electrolytic condenser.

14-1
 14. Maintenance and Inspection

Inspection Inspection
Inspection and Handling Notes
Items Time
Vibration and Touch the motor and listen to The feel and sounds must be
Monthly
sound check sounds. the same as usual.
Depends on the
Exterior level of Clean the motor with a cloth
-
check contamination or or air.
damage.
Disconnect the motor from the
Insulation drive and measure insulation Contact our service center if
At least once a resistance. resistance is lower than
resistance
year
measurement A normal resistance level is 10[㏁].
10[㏁] or higher. Note 1)
Oil seal At least once Remove the oil seal from the Only applies to motors with an
replacement every 5,000 hours motor and replace it. oil seal.
At least once
General Do not disassemble the servo
every 20,000 Contact our service center.
inspection motor by yourself for cleaning.
hours or 5 years.
주1) Measure the resistance between PE and one of the U, V and W power cables in the servo motor.

(2) Servo Drive Inspection

Inspection Inspection What to do for

Inspection Method
Items Time Abnormalities
Main body Check if there is any dust or Clean it with air or
At least once
and boards
a year oil on the components. a cloth.
cleaning
Screws on the terminal board or
At least once connector
Loose screws Tighten the screws.
a year
must not be loose.
Defective
Check for discoloration, damage
parts of the At least once
or disconnection caused by Contact our company.
main body or a year
heat.
control board

14-2
 14. Maintenance and Inspection

14.4 Parts Replacement Cycle

Mechanical friction or aging of objects with certain characteristics may deteriorate
performance of the following parts or cause them to malfunction. Therefore it is important to
conduct regular maintenance checks and regular replacement.

1. Smoothing condenser: Ripple currents and other factors can cause this part to wear down. The
lifespan of the condenser depends on the operating temperature and environmental conditions. It
normally lasts for 10 years if used continuously in a normal air-conditioned environment. Inspect
the condenser at least once each year because it can rapidly age over certain short periods of time
(inspect at least once half a year as it approaches its end of life).

※ Visual inspection criteria

a. The condition of the case: Check for enlargement of the sides and bottom.

b. The condition of the lid: Check for notable enlargement, severe cracks, or broken parts.

c. The condition of the explosion valve: Check for notable valve enlargement and check the
operation status.

d. Also, regularly check whether the exterior is cracked, discolored, or leaking and whether there
are any broken parts. The condenser is obsolete when its rated capacity degrades to 85% or
lower.

2. Relays: Check for bad connection and wear and tear of the contacts caused by switching currents.
A relay is obsolete when its accumulated number of switches reaches around 100,000 times,
depending on the power capacity.

3. Motor bearings: Replace the bearings after 20,000 to 30,000 hours of operation at the rated speed
under the rated load. Replace the bearings if abnormal sounds or vibrations are detected during
inspection, depending on the operating conditions.

[Standard Part Replacement Cycles]

Standard
Part Names Replacement Replacement Method
Cycle
Smoothing condenser 7~8 years Replace (Determine after inspection)
Relays - Determine after inspection
Fuses 10 years Replace
Aluminum electrolytic
condensers Replace with new boards (Determine after
5 years
inspection)
on printed boards
Cooling fans 4~5 years Replace
Motor bearings - Determine after inspection
Motor oil seals 5,000 hours Replace

14-3
 14. Maintenance and Inspection

14.5 Servo Alarms

If the drive detects a problem, it triggers a servo alarm and transition to the servo off state for
a stop. In this case, the setting value of emergency stop (0x2013) is used to stop the drive.

Alarm Code
Causes Inspection Items Measures to Take
Names
Check for abnormal wiring and
Motor cable abnormality Replace the motor cable.
short circuit.
Encoder cable Check for abnormal wiring and
Replace the encoder cable.
abnormality short circuit.
Make sure that the setting
values for motor ID [0x2000],
Modify the parameters so that
Parameter setting encoder type [0x2001] and
they match the information on
IPM fault abnormality encoder format [0x2002]
the motor label.
match the applied information
(Overcurrent on the motor label.
(H/W))
Inspect resistance between
Motor phase resistance motor lines
Replace the motor.
inspection (U-V, V-W, W-U below several
Over current Ω)
(Overcurrent Determine whether there are
(S/W)) Apparatus abnormality conflicts or binding among the Inspect the apparatuses.
apparatuses.

Current limit
exceeded If alarms occur continually
after power cycling, replace
(Overcurrent Drive abnormality
the drive since there may be
(H/W)) abnormalities in the drive.

Inspect the wiring of PE.

Find a way to resolve the
Noise-related Match the wire sizes of PE
noise problem by checking the
abnormalities with the sizes of the drive’s
wiring and installation.
main circuit wires.
Check if the ambient Lower the ambient
Ambient temperature
temperature exceeds 50[℃]. temperature.
Check if the load is lower than Change the capacity of the
100% by the accumulated drive and motor.
Continual overload alarm
operation overload ratio value
[0x2603]. Adjust gain.

Adjust the setting value for

Highly frequent regenerative resistance
Check accumulated
regenerative operation or [0x2009].
IPM temperature regenerative overload ratio
continual regenerative
(IPM overheat) [0x2606]. Use an external regenerative
operation
resistance.
Installation direction of Check the installation status of Refer to Section 2. “Wiring and
the drive the drive. Connection .”
If alarms occur continually
after power cycling, replace
Drive abnormality
the drive since there may be
abnormalities in the drive.
Check whether the U, V, W
Excessive setting of the
phase current offsets [0x2015]
motor’s U and V Phase Re-adjust phase current offset.
Current offset - [0x2017] are 5% of the rated
current offset
current or higher.

14-4
 14. Maintenance and Inspection

Alarm Code
Causes Inspection Items Measures to Take
Names
(Current offset If alarms occur continually
abnormality) after phase current offset
Drive abnormality adjustment, replace the drive
since there may be
abnormalities in the drive.
Accumulated operation during
constant velocity periods and
Continuous operation pauses Change the capacity of the
with a load exceeding Check if the load is lower than motor and drive.
the rated value 100% by the accumulated Adjust gain.
operation overload ratio
value[0x2603].
Check for opening of the Supply power to the motor
Motor brake abnormality
motor brake during SVON. brake.
Make sure that the setting
values for motor ID [0x2000],
Modify the parameters so that
encoder type [0x2001] and
Continuous they match the information on
encoder format [0x2002]
overload Parameter setting the motor label.
match the applied information
(Continuous abnormality on the motor label.
overload
abnormality) Check the setting value of
basic load ratio for overload Set an appropriate value.
detection [0x200F].

Apparatus
Check for any abnormality
Inspect the apparatuses.
during operation.
abnormality

Check for abnormal wiring and

Motor cable abnormality Replace the motor cable.
short circuit.
Encoder cable Check for abnormal wiring and
Replace the encoder cable.
abnormality short circuit.
Check if the ambient Lower the ambient
Ambient temperature
temperature exceeds 50[℃]. temperature.

Drive temperature Check if the displayed drive

1 temperature 1 value [0x260B]
Drive abnormality is highly different than the Replace the drive.
(Drive overheat 1) ambient temperature in the
normal state.
Capacity exceeded due Adjust the setting value for
Check accumulated [0x2009].
to highly frequent
regenerative overload ratio
operation or continual Use an external regenerative
[0x2606].
regenerative operation. resistance.
Parameter setting Check the setting values of
Set an appropriate value.
abnormality [0x2009]~[0x200E].
Regenerative
overload Main power input voltage Check if the main power Re-inspect the main power
abnormality voltage is AC253 [V] or higher. source.
Check for any heat in the
Drive abnormality regenerative resistance when Replace the drive.
it is not operating.

Motor cable abnormality Check for cable disconnection. Replace the motor cable.
Motor cable open Check for U, V, W short circuit
(Motor cable Motor abnormality inside the motor. Replace the motor.
disconnection) (U-V, V-W, W-U)

14-5
 14. Maintenance and Inspection

Alarm Code
Causes Inspection Items Measures to Take
Names
If alarms occur continuously
while SVON is on, replace the
Drive abnormality
drive since there may be
abnormalities in the drive.
Check if the ambient Lower the ambient
Ambient temperature
temperature exceeds 50[℃]. temperature.

Drive temperature In normal conditions, check if

the drive temperature 2 Replace the drive.
2
Drive abnormality [0x260C] is significantly Check if there is heat leakage
(Drive overheat 2) different from the ambient inside the electric devices.
temperature.

Encoder Reserved
temperature
(Encoder overheat)
Check for disconnection,
Encoder cable
abnormal connection and Replace the encoder cable.
Encoder abnormality
short circuit.
communication
(Serial encoder Modify the parameters so that
communication they match the information on
error) Make sure that the setting the motor label.
Parameter setting values for [0x2001] and If modified information after
abnormality [0x2002] match the applied saving the parameters is not
information on the motor label. applied, there may be
Encoder cable abnormalities in the motor. In
open this case, replace the motor.
(Encoder cable If alarms occur continually
disconnection) after power cycling, replace
Encoder abnormality
the motor since there may be
abnormalities in the motor.

Encoder data
(Encoder data
error) If alarms occur continually
after power cycling, replace
Drive abnormality
the drive since there may be
abnormalities in the drive.
Encoder setting
(Encoder setting
error)
Modify the parameters so that
they match the information on
The setting value for [0x2000]
the motor label. This alarm
Motor ID setting must match the applied
can be canceled after
information on the motor label.
parameter modification when
Motor setting
the power is on/off.
(Motor ID setting
error) If alarms occur continually
after power cycling, replace
Drive abnormality
the drive since there may be
abnormalities in the drive.
Encoder cable Check for abnormal wiring and
Replace the encoder cable.
abnormality short circuit.
Z Phase open If alarms occur continually
(Encoder Z Phase after power cycling, replace
Encoder abnormality
disconnection) the motor since there may be
abnormalities in the motor.

14-6
 14. Maintenance and Inspection

Alarm Code
Causes Inspection Items Measures to Take
Names
If alarms occur continually
after power cycling, replace
Drive abnormality
the drive since there may be
abnormalities in the drive.

Parameter setting To use an incremental type

Check the setting value of
absolute encoder, set the
abnormality [0x2005].
value to 1 to disable alarms.
Low battery Defective battery Check the battery connection Connect the battery
(Low voltage of connection, unconnected status. accurately.
encoder battery)
Check if the battery voltage is
Low battery voltage Replace the battery.
3.3V or higher.
Check if the main power
Re-inspect the main power
voltage is single-phase
source.
Main power input voltage AC170[V] or higher.
Under voltage abnormality Check if the value of [0x2605]
(Low voltage) is 280~320[V] when the main Replace the drive.
*This alarm occurs power input is normal.
when SVON is on.
Lowered power voltage Check the wiring status of the
Use a 3-phase voltage supply.
during operation main power.
Check if the main power Re-inspect the main power
voltage is AC253 [V] or lower. source.
Main power input voltage
abnormality Check if the value of [0x2605]
is 280~320[V] when the main Replace the drive.
power input is normal.
Review the regenerative
Check the operation
High external resistance value taking into
conditions and the
Over voltage regenerative resistance account the operation
regenerative resistance value.
. conditions and the load.
Acceleration/deceleration Highly frequent Set a high value for
setting values acceleration/deceleration acceleration/deceleration time.
If alarms occur continually
after power cycling, replace
Drive abnormality
the drive since there may be
abnormalities in the drive.
Check if the voltage between
Main power input voltage Re-inspect the main power
L1 and L2 phases is AC200-
abnormality source.
230[V].

Parameter setting Check the setting value of For a warning, not an alarm,
[0x2006] for the main power modify the setting value of
abnormality input. [0x2006].
Lower the setting value of
Main power fail Momentary power Check the setting value of
[0x2007] or inspect the power
outage [0x2007].
source.
If alarms occur continually
after power cycling, replace
Drive abnormality
the drive since there may be
abnormalities in the drive.

Reserved .
Control power fail

Check for abnormal wiring and

Motor cable abnormality Replace the motor cable.
short circuit.

14-7
 14. Maintenance and Inspection

Alarm Code
Causes Inspection Items Measures to Take
Names
Over speed limit Encoder cable Check for abnormal wiring and
Replace the encoder cable.
abnormality short circuit.
Make sure that the setting
values of [0x2000], [0x2001] Modify the parameters so that
and [0x2002] match the they match the information on
applied information on the the motor label.
Parameter setting motor label.
abnormality Check the setting values of Set the electric gear ratio to a
[0x300C]~[0x3013]. low value.
Check the setting values of Re-adjust gain according to
[0x2100]~[0x211F]. the operation conditions.
If alarms occur continually
after power cycling, replace
Encoder abnormality
the motor since there may be
abnormalities in the motor.
If alarms occur continually
after power cycling, replace
Drive abnormality
the drive since there may be
abnormalities in the drive.
Check the setting values of Readjust the parameter
[0x3000], [0x3003] and according to the operation
[0x3004]. condition.
Set the electric gear ratio to a
Parameter setting Check the setting values of low value
[0x300C]~[0x3013].
abnormality .
Check the setting values of
Readjust the parameter
POS following position error range [0x301D]
according to the operation
(Excessive position and position error excess time
condition.
error) [0x301E].
Check for binding of the
Apparatus abnormality Inspect the apparatuses.
apparatuses.
If alarms occur continually
after power cycling, replace
Drive abnormality
the drive since there may be
abnormalities in the drive.

Reserved
Emergency stop
Check for disconnection,
Motor cable abnormality abnormal wiring and short Replace the motor cable.
circuit.
Check for disconnection,
Encoder cable
abnormal wiring and short Replace the encoder cable.
abnormality
circuit.
Make sure that the setting
values of [0x2000], [0x2001] Modify the parameters so that
Excessive SPD and [0x2002] match the they match the information on
Parameter setting applied information on the the motor label.
deviation
abnormality motor label.
Check the setting values of Set the electric gear ratio to a
[0x300C]~[0x3013]. low value.
Check for binding of the
apparatuses.
Apparatus abnormality Inspect the apparatuses.
Operation status of the limit
contact sensor

14-8
 14. Maintenance and Inspection

Alarm Code
Causes Inspection Items Measures to Take
Names
If alarms occur continually
after power cycling, replace
Encoder abnormality
the motor since there may be
abnormalities in the motor.
If alarms occur continually
after power cycling, replace
Drive abnormality
the drive since there may be
abnormalities in the drive.

Encoder2 POS
difference Reserved
(Excessive position
error of external
encoder)

USB
communication Reserved
(USB
communication
error)

Reserved
Reserved

Reserved
Reserved
Perform the restoration of the
Check the parameters with initial parameters. The
maximum setting values in the parameter setting values are
O/S replacement variable format. initialized after restoration. For
this reason, it is necessary to
Parameter set the parameters before
checksum operation.
(Parameter error) If alarms occur continually
after power cycling, replace
Drive abnormality
the drive since there may be
abnormalities in the drive.

Parameter range Reserved

(Parameter range
error)

Drive motor
combination Reserved
(Drive motor
combination error)

If alarms occur continually

Factory setting after power cycling, replace
Drive abnormality Contact our service center.
(Factory setting the drive since there may be
error) abnormalities in the drive.

Reserved
GPIO setting

14-9
 14. Maintenance and Inspection

Alarm Code
Causes Inspection Items Measures to Take
Names
(Input/Output
contact point
setting error)

14-10
 14. Maintenance and Inspection

14.6 Servo Warnings

If the drive detects an abnormality classified as a servo warning, it triggers a warning. In this
case, the drive maintains its normal operation condition. After the cause of the warning is
eliminated, the warning is automatically cleared. You can set the check status of each
warning with warning mask configuration (0x2014). Masking servo warnings does not mean
removing risks associated with warnings and the risk of damage by burn may remain. Keep
this in mind when configuring the mask settings.

Note that warnings are displayed in the shape of ‘ㅂ’ on the servo display window.

Warning Warning Names

Bits
Codes

0 W01 Main power phase loss

1 W02 Low voltage of encoder battery

2 W04 Software position limit

3 W08 DB overcurrent

4 W10 Operation overload

5 W20 Abnormal combination of drive and motor

6 W40 Low voltage

7 W80 Emergency signal input

14 AL-34 Encoder phase Z loss alarm mask

7Bit 6Bit 5Bit 4Bit 3Bit 2Bit 1Bit 0Bit

0 0 0 0 0 1 1 0 0x06 W-06
Software position limit
+
Low voltage of
encoder batteries

If two warnings occur at the same time, each corresponding bit is set to 1. For example,
when a software position limit warning is triggered, the second bit is set. Also, when an
encoder battery low voltage warning is triggered, the first bit is set. The two warnings are
combined into ‘0x06,’ and you can view the alarm in the display of ‘W06’ on the segment
window.

14-11
 14. Maintenance and Inspection

Warning Status
(Code) Causes Inspection Items
Names
Main power
Check if the voltage between L1
input voltage Re-inspect the main power source.
and L2 phases is AC200-230[V].
abnormality
Parameter
Check the setting value of Modify [0x2006] to set an alarm
setting
[0x2006] for the main power input. instead of a warning.
abnormality
PWR_FAIL Momentary
(Main power phase Check the setting value of Lower the setting value of [0x2007]
power
loss) [0x2007]. or inspect the power source.
outage
If alarms occur continually after
Drive power cycling, replace the drive
abnormality since there may be abnormalities in
the drive.
Parameter To use an incremental type absolute
Check the setting value of
setting encoder, set the value to 1 to
[0x2005].
abnormality disable alarms.
Defective
LOW_BATT battery Check the battery connection
(Low voltage of Connect the battery accurately.
connection, status.
encoder battery) unconnected
Low battery Check if the battery voltage is
Replace the battery.
voltage 3.3V or higher.
While the software position limit
SW_POS_LMT function is activated, a position
(Software position command value larger than the
limit) software limit has been input.
Motor Check the operation status. Do not operate the motor by using
operation by an external power source.
external
power source
DB Perform and review the following.
resistance • Lower the command speed of the
OV_DB_CUR capacity servo motor.
(DB overcurrent) exceeded • Lower the moment of inertia of the
load.
• Lower the frequency of DB stop.
Drive Replace the drive since the drive
abnormality may have been affected.
Accumulated operation during
Continuous
constant velocity periods and
operation
pauses Change the capacity of the motor
with a load
Check if the load is lower than and drive.
exceeding
100% by the accumulated Adjust gain.
the rated
operation overload ratio
value
value[0x2603].
Motor brake Check for opening of the motor
Supply power to the motor brake.
abnormality brake during SVON.
Make sure that the setting values
for motor ID [0x2000], encoder Modify the parameters so that they
type [0x2001] and encoder format match the information on the motor
OV_LOAD Parameter
[0x2002] match the applied label.
setting
(Operation overload) information on the motor label.
abnormality
Check the setting value of basic
load ratio for overload detection Set an appropriate value.
[0x200F].
Apparatus Check for any abnormality during
Inspect the apparatuses.
abnormality operation.
Motor cable Check for abnormal wiring and
Replace the motor cable.
abnormality short circuit.
Encoder
Check for abnormal wiring and
cable Replace the encoder cable.
short circuit.
abnormality
14-12
 14. Maintenance and Inspection

Abnormal Lower the torque limit value or

Check if the current capacity of
combination replace the motor with one that has
the applied motor exceeds that of
of drive and a lower current capacity than that of
the drive.
motor the drive.
SETUP
Check if there are repeated signal
(Setting abnormality) IO setting assignments in digital input signal Set the parameter appropriately for
abnormality setting~digital output signal the operation conditions.
setting.
Check if the main power voltage is
Re-inspect the main power source.
Main power single-phase AC170[V] or higher.
input voltage Check if the value of [0x2605] is
abnormality 280~320[V] when the main power Replace the drive.
UD_VTG input is normal.
Lowered
(Low voltage)
power
Check the wiring status of the
voltage
main power.
during
operation
This represents the state of
emergency pause by EMG
contacts.
EMG contact Check the wiring and drive Set the parameter appropriately for
abnormality parameter settings (drive control the operation conditions.
EMG input [0x211F], digital input signal
1 setting [0x2200]~digital input
(Emergency signal
signal 16 setting [0x220F]).
input)
If alarms occur continually after
Drive power cycling, replace the drive
abnormality since there may be abnormalities in
the drive.

14-13
 14. Maintenance and Inspection

14.7 How to Replace Encoder Battery

When AL-35 (low voltage of encoder battery (Low battery)) or W02 (low voltage of encoder battery
(LOW_BATT)) occurs, you have to replace the encoder battery.

Follow the below replacement procedures.

(1) Maintain the control power of the drive in its on state and turn off the main power.

(2) Separate the battery connector and remove the battery from the battery case.

(3) Insert a newly prepared battery in the battery case and connect the battery connector. Here,
use the following battery product.

 ER6V, 3.6V 2000mAh, Lithium battery by Toshiba Battery Co., Ltd.

(4) To release the AL-35 or W02 signal after battery replacement, turn off the control power and
turn on the control power and the main power again.

(5) Check if AL-35 and W02 have been released and operation is normal.

<Caution>
 While replacing the battery, leave the control power on and the main power off. If you replace
the battery with all powers off, the multiturn data may be lost.
 If you replace the battery after warning 02 is triggered, the warning is immediately released.
 After replacing the battery when alarm 35 has occurred, make sure to perform homing.
 Make sure that the voltage of the newly prepared battery is normal before replacement.
 Confirm “+” and “-” of the battery and connect the battery connector.
 Do not disassemble or charge the battery.
 Make sure that the poles are not short-circuited. Doing so may shorten the lifespan of the battery
or generate heat.

14-14
 14. Maintenance and Inspection

14.8 Servo Overload Graph

 Servo Drive Overload Graph (SA type, 100W or lower applied)

Load factor AL-21 duration (sec)

(%) Turn Stop
100 or lower Infinite Infinite
110 1696.0 1372.0
150 70.4 58.6
200 10.5 7.2
250 2.9 2.3
300 1.6 1.3

10000

1000
Time (s)

100
회전
Rotation

정지
Stop

10

1
100 110 120 130 140 150 160 170 180 190 200 210 220 230 240 250 260 270 280 290 300 310

Load factor (%)

14-15
 14. Maintenance and Inspection

 Servo Drive Overload Graph (400W)

Load factor AL-21 duration (sec)

(%) Turn Stop
100 or lower Infinite Infinite

110 55776 37935

150 1183 926

200 92 66

250 24.2 8.3

300 2.7 2.5

100000

10000

1000
Time

회전
Rotation
(s)(s)

100 정지
Stop

10

1
100 110 120 130 140 150 160 170 180 190 200 210 220 230 240 250 260 270 280 290 300 310

Load factor (%)

14-16
 14. Maintenance and Inspection

 Servo Drive Overload Graph (750W, 1kW)

Load factor AL-21 duration (sec)

(%) Turn Stop
100 or lower Infinite Infinite

110 105800 37935

150 2244 926

200 201 66

250 31 8.3

300 4.6 1.7

1000000

100000

10000
Time (s)

1000
회전
Rotation

정지
Stop

100

10

1
100 110 120 130 140 150 160 170 180 190 200 210 220 230 240 250 260 270 280 290 300 310
부하율(%)
Load factor (%)

14-17
 14. Maintenance and Inspection

14.9 Servo Motor Formats and IDs (continued on the

next page)
Model Names IDs Watts Notes Model Names IDs Watts Notes
SAR3A 1 30 SE13G 75 1300
SAR5A 2 50 SE17G 76 1700
SA01A 3 100 HE09A 77 900 Hollow shaft
SA015A 5 150 HE15A 78 1500 Hollow shaft
SB01A 11 100 SF30A 81 3000
SB02A 12 200 SF50A 82 5000
SB04A 13 400 SF22D 85 2200
HB02A 15 200 Hollow shaft LF35D 190 3500
HB04A 16 400 Hollow shaft SF55D 87 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 SG12M 121 1200
SE16D 67 1600 SG20M 122 2000
SE22D 68 2200 LG30M 195 3000
SE03M 69 300 SG44M 124 4400
SE06M 70 600 SG60M 125 6000
SE09M 71 900 SG20G 131 1800
SE12M 72 1200 LG30G 194 2900
SE05G 73 450 SG44G 133 4400
SE09G 74 850 SG60G 134 6000

14-18
 14. Maintenance and Inspection

Model Name IDs Watts Notes Model Name IDs Watts Notes

SG85G 135 8500 FF30A 781 3000

SG110G 136 11000 FF50A 782 5000

SG150G 137 15000 FF22D 785 2200
FF35D 786 3500
FB01A 711 100 FF55D 787 5500
FB02A 712 200 FF75D 788 7500
FB04A 713 400 FF12M 789 1200
FF20M 790 2000
FC04A 721 400 FF30M 791 3000
FC06A 722 600 FF44M 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 831 1800

FE22D 768 2200 FG30G 832 2900
FE03M 769 300
FE06M 770 600
FE09M 771 900
FE12M 772 1200
FE05G 773 450
FE09G 774 850
FE13G 775 1300
FE17G 776 1700

Model Name IDs Watts Notes Model Name IDs Watts Notes
DB03D 601 63 FAL05A 702 50
DB06D 602 126 FAL01A 703 100
DB09D 603 188 FAL15A 704 150
DC06D 611 126

14-19
 14. Maintenance and Inspection

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

Model Name IDs Watts Notes Model Name IDs Watts Notes
SAR3A 1 30 SE13G 75 1300
SAR5A 2 50 SE17G 76 1700
SA01A 3 100 HE09A 77 900 Hollow shaft
SA015A 5 150 HE15A 78 1500 Hollow shaft
SB01A 11 100 SF30A 81 3000
SB02A 12 200 SF50A 82 5000
SB04A 13 400 SF22D 85 2200
HB02A 15 200 Hollow shaft LF35D 190 3500
HB04A 16 400 Hollow shaft SF55D 87 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

14-20
 14. Maintenance and Inspection

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
SE16D 67 1600 SG20M 122 2000
SE22D 68 2200 LG30M 195 3000
SE03M 69 300 SG44M 124 4400
SE06M 70 600 SG60M 125 6000
SE09M 71 900 SG20G 131 1800
SE12M 72 1200 LG30G 194 2900
SE05G 73 450 SG44G 133 4400
SE09G 74 850 SG60G 134 6000

Model Names IDs Watts Notes Model Names IDs Watts Notes

SG85G 135 8500 FF30A 781 3000

SG110G 136 11000 FF50A 782 5000

SG150G 137 15000 FF22D 785 2200

FF35D 786 3500

FB01A 711 100 FF55D 787 5500
FB02A 712 200 FF75D 788 7500
FB04A 713 400 FF12M 789 1200
FF20M 790 2000
FC04A 721 400 FF30M 791 3000
FC06A 722 600 FF44M 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

14-21
 14. Maintenance and Inspection

FE30A 764 3000 FG20M 822 2000

FE06D 765 600 FG30M 823 3000
FE11D 766 1100 FG44M 824 4400
FE16D 767 1600 FG20G 831 1800
FE22D 768 2200 FG30G 832 2900
FE03M 769 300
FE06M 770 600
FE09M 771 900
FE12M 772 1200
FE05G 773 450
FE09G 774 850
FE13G 775 1300
FE17G 776 1700

Model Names IDs Watts Notes Model Names IDs Watts Notes
DB03D 601 63 FAL05A 702 50
DB06D 602 126 FAL01A 703 100
DB09D 603 188 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

14-22
14. Maintenance and Inspection

14-23
 15. Communication Protocol

15. Communication Protocol

15.1 Overview and Communication Specifications

15.1.1 Overview
L7C drive is for RS-422 serial communication. By connecting it an upper level controller such as HMI,
PLC and PC, you can use functions such as test-driving, gain tuning, parameter change and index
operation.

You can also operate or control communication of up to 99 shafts by connecting multiple L7C drives via
the multi-drop method.

 Serial Communication Access Through RS-422

Servo
PC drive

USB Port
USB to RS-422
Communication
I/O
converter

 Multi-drop Access through RS-422 (Up to 99 devices)

Servo Servo Servo

PC drive drive drive

I/O I/O I/O

USB Port
USB to RS-422
Communication
converter

Note 1) When using a PC as the upper level controller, you have to use the USB-to-RS-422 communication

converter.

Note 2) Connect the cable shields to the connector case.

Note 3) Do not use APC-VSCN1T or APC-VPCN1T during communication wiring. Communication may be

disconnected due to disconnection in cable shields.

15-1
 15. Communication Protocol

15.1.2 Communication Specifications and Cable Access

Rate

 Communication Specifications
Items Specifications
Communication Standard ANSI/TIA/EIA-422 Standard
Communication Protocol MODBUS-RTU
Data bit 8bit
Data
Stop bit 1bit
Type
Parity None
Synchronization Asynchronous
9600/19200/38400/57600 [bps]
Transmission Rate
Communication speed setting possible in [0x3002]
Transmission Distance Up to 200[m]
Current Consumption 100[㎃] or lower

 Connector Pin Connection for RS-422

Pin
Pin Functions
Numbers
6 RXD+
7 RXD-
2 TXD+
3 TXD-
28 Terminating resistance connection

For RS-422 communication, you must connect signal lines to the CN1 connector. For stability of the
product, it is recommended to use STP cables and connectors and connect TXD+ and TXD- as well as
RXD+ and RXD- as twisted pairs. Connect 7 and 28 for the terminating resistance. A resistance of
120Ω is charged inside the driver.

<Caution>
 Do not use APC-VSCN1T or APC-VPCN1T during communication wiring. Communication may be

disconnected due to disconnection in cable shields. Also, build the structure of a single connector holding

individual lines of RS-422 communication cables and input/output cables. Make sure to use shielded twisted

cables (Twisted Pair Wire) as the RS-422 communication cables.

 To frequently write data, make sure to set the value of Individual Parameter Save[0X240E] to 0. Frequent

EEPROM writing shortens the lifespan of the product.

15-2
 15. Communication Protocol

15.2 Basic Structure of Communication Protocol

In principle, communication of L7C drive complies with the MODBUS-RTU protocol. For information
about items not covered in this manual, refer to the following standard. (Related standard: Modbus
Application Protocol Specification 1.1b, 2006.12.28)

Also, the concepts of sending (Tx) and receiving (Rx) are for the Host in this manual.

15.2.1 Sending/Receiving Packet Structure

The maximum sending/receiving packet length of the MODBUS-RTU protocol is 256 bytes. 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 ends of
packets to distinguish the packets as shown in the following image.

Packet1 Packet2 Packet3

to

at least 3.5 char at least 3.5 char 4.5 char

 Sending Packet Structure

Additional Functio
Data Error Check
Address n Code
Bytes 0 1 2 . . n-1 n
Details Node ID Function Data . . CRC (MSB) CRC (LSB)

 Receiving Packet Structure

[Normal Response]
Additional Function
Data Error Check
Address Code
Bytes 0 1 2 . . n-1 n
Details Node ID Function Data . . CRC (MSB) CRC (LSB)

[Abnormal Response]
Additional Functio
Data Error Check
Address n Code
Bytes 0 1 2 3 4
Function+
Details Node ID Exception code CRC (MSB) CRC (LSB)
0x80

15-3
 15. Communication Protocol

 Protocol Packet Code

 Node ID

It shows the identification number of the servo drive for sending and receiving.

You can set the identification number of the servo drive in parameter [0x2003]. Turn on/off the
power of the drive after setting.

 Function Code

The following are the Modbus-RTU standard function codes supported by L7C drive.

Comm Purpose
Category and Descriptions
Codes Read Write
0x01 Read Coils ○
0x02 Read Discrete Inputs ○
0x03 Read Holding Registers ○

PUBLIC Function 0x04 Read Input Register ○

Codes 0x05 Write Single Coil ○
0x06 Write Single Register ○
0x0F Write Multiple Coils ○
0x10 Write Multiple Registers ○

 Data

[Sending]: For a read register command, it is necessary to set the Modbus address and numbers
of registers and bytes. For a write register, it is necessary to set the Modbus address, number of
bytes and setting value.

[Receiving]: For a normal response of a read register, the node ID and function code in receiving
have the same number as in sending. Data are received with register values according to the
register order during sending.

For the write single register command, the transmitted data are received without change. For the
write multi registers command, the start address of the register for which to write data using the
command as well as the number of registers are received.

An abnormal response consists of node ID, error code and exception code. All abnormal responses
have the same packet structure regardless of their function codes.

 CRC

You can input the 16 bit CRC value. 1 byte each of MSB and LSB is sent.

 Exception Code

The followings are the exception codes for all abnormal responses of all function codes supported in
L7C drive.

Exception Codes Descriptions

0x01 Unsupported function code

0x02 Invalid register address

0x03 Invalid data

0x04 Device malfunction, parameter setting value

abnormality Note 1)

15-4
 15. Communication Protocol

Exception Codes Descriptions

0x05 Data unprepared

0x06 Parameter locked

Note1) If the setting range of the parameter is the same as that of the data type and a value out of the range

is input, no response is made using the exception code, but the maximum and minimum values are set.

15-5
 15. Communication Protocol

15.2.2 Protocol Command Codes

(1) Read Coils (0x01)
It reads individual bit outputs as well as continual bit output block values.

 Request
Function Code 1Byte 0x01

Starting Address 2Byte 0x0000 to 0xFFFF

Quantity of Coils 2Bytes 1 to 2000 (0x7D0)

 Request OK
Function Code 1Byte 0x01

Byte Count 1Byte N*

Coil Status n Bytes n= N or N+1

*N= Quantity of Outputs/8

 Response not OK
Error Code 1Byte 0x81

Exception Code 1Byte 0x01~0x04

The command code Read Coils can read the status of contacts that correspond to drive status
input 1, 2 and drive status output 1, 2. The following are the addresses that correspond to drive
status input 1, 2 and drive status output 1, 2.

 Drive Status Input 1, 2 Communication Addresses

Communication Communication
Address Address
Acces
Decima Hexade Output Output Access
sibilit Hexadeci
l cimal Contacts Decimal Contacts ibility
y mal
Numbe Numbe Numbers
Numbers
rs rs
0 0x0000 POT RW 16 0x0010 START RW

1 0x0001 NOT RW 17 0x0011 PAUSE RW

2 0x0002 HOME RW 18 0x0012 REGT RW

3 0x0003 STOP RW 19 0x0013 HSTART RW

4 0x0004 PCON RW 20 0x0014 ISEL0 RW

5 0x0005 GAIN2 RW 21 0x0015 ISEL1 RW

6 0x0006 P_CL RW 22 0x0016 ISEL2 RW

7 0x0007 N_CL RW 23 0x0017 ISEL3 RW

8 0x0008 MODE RW 24 0x0018 ISEL4 RW

9 0x0009 Reserved RW 25 0x0019 ISEL5 RW

10 0x000A EMG RW 26 0x001A ABSRQ RW

15-6
 15. Communication Protocol

11 0x000B A_RST RW 27 0x001B JSTART RW

12 0x000C SV_ON RW 28 0x001C JDIR RW

SPD1/LVSF
13 0x000D RW 29 0x001D PCLEAR RW
1
SPD2/LVSF
14 0x000E RW 30 0x001E AOVR RW
2

15 0x000F SPD3 RW 31 0x001F Reserved RW

 Drive Status Output 1, 2 Communication Addresses

Communication Communication
Address Address
Decima Hexade Output Access Output Access
Hexadeci
l cimal Contacts ibility Decimal Contacts ibility
mal
Numbe Numbe Numbers
Numbers
rs rs
32 0x0020 BRAKE RO 48 0x0030 ORG RO

33 0x0021 ALARM RO 49 0x0031 EOS RO

34 0x0022 READY RO 50 0x0032 IOUT0 RO

35 0x0023 ZSPD RO 51 0x0033 IOUT1 RO

36 0x0024 INPOS1 RO 52 0x0034 IOUT2 RO

37 0x0025 TLMT RO 53 0x0035 IOUT3 RO

38 0x0026 VLMT RO 54 0x0036 IOUT4 RO

39 0x0027 INSPD RO 55 0x0037 IOUT5 RO

40 0x0028 WARN RO 56 0x0038 Reserved RO

41 0x0029 TGON RO 57 0x0039 Reserved RO

42 0x002A Reserved RO 58 0x003A Reserved RO

43 0x002B Reserved RO 59 0x003B Reserved RO

44 0x002C Reserved RO 60 0x003C Reserved RO

45 0x002D Reserved RO 61 0x003D Reserved RO

46 0x002E Reserved RO 62 0x003E Reserved RO

47 0x002F Reserved RO 63 0x003F Reserved RO

15-7
 15. Communication Protocol

ex) Reading brake output contact status

 Request
Node Starting Starting Quantity of Quantity of
Function CRC Hi CRC Lo
ID Address Hi Address Lo Outputs Hi Outputs Lo
0x01 0x01 0x00 0x20 0x00 0x01 0xFC 0x00

 Request OK
CRC
Node ID Function Byte Count Outputs Status CRC Hi
Lo
0x01 0x01 0x01 0x01 0x90 0x48
- The BRAKE output contact status is High (1).
 Response not OK
Node ID Error Code Exception Code CRC Hi CRC Lo
0x01 0x81 0x01~0x04 - -

You can write the start address setting for protocol use in Start Address. Keep in mind while writing that
there are upper and lower parts. Quantity of Output is where you can set how many status of input/output
address to request from the start address. If you input 01, you can receive 1 status value. If you input 03,
you can receive 3 consecutive status values.

15-8
 15. Communication Protocol

The following is an example of protocols for sending and receiving status input/output during servo off.

Function Transmission Receipt Status

POT [01][01][00][00][00][01][FD][CA] [01][01][01][00][51][88] OFF
NOT [01][01][00][01][00][01][AC][0A] [01][01][01][00][51][88] OFF
HOME [01][01][00][02][00][01][5C][0A] [01][01][01][00][51][88] OFF
STOP [01][01][00][03][00][01][0D][CA] [01][01][01][00][51][88] OFF
PCON [01][01][00][04][00][01][BC][0B] [01][01][01][00][51][88] OFF
GAIN2 [01][01][00][05][00][01][ED][CB] [01][01][01][00][51][88] OFF
P_CL [01][01][00][06][00][01][1D][CB] [01][01][01][00][51][88] OFF
N_CL [01][01][00][07][00][01][4C][0B] [01][01][01][00][51][88] OFF
MODE [01][01][00][08][00][01][7C][08] [01][01][01][00][51][88] OFF
EMG [01][01][00][0A][00][01][DD][C8] [01][01][01][00][51][88] OFF
A_RST [01][01][00][0B][00][01][8C][08] [01][01][01][00][51][88] OFF
SV_ON [01][01][00][0C][00][01][3D][C9] [01][01][01][00][51][88] OFF
SPD1/LVSF1 [01][01][00][0D][00][01][6C][09] [01][01][01][00][51][88] OFF
SPD2/LVSF2 [01][01][00][0E][00][01][9C][09] [01][01][01][00][51][88] OFF
SPD3 [01][01][00][0F][00][01][CD][C9] [01][01][01][00][51][88] OFF
START [01][01][00][10][00][01][FC][0F] [01][01][01][00][51][88] OFF
PAUSE [01][01][00][11][00][01][AD][CF] [01][01][01][00][51][88] OFF
REGT [01][01][00][12][00][01][5D][CF] [01][01][01][00][51][88] OFF
HSTART [01][01][00][13][00][01][0C][0F] [01][01][01][00][51][88] OFF
ISEL0 [01][01][00][14][00][01][BD][CE] [01][01][01][00][51][88] OFF
ISEL1 [01][01][00][15][00][01][EC][0E] [01][01][01][00][51][88] OFF
ISEL2 [01][01][00][16][00][01][1C][0E] [01][01][01][00][51][88] OFF
ISEL3 [01][01][00][17][00][01][4D][CE] [01][01][01][00][51][88] OFF
ISEL4 [01][01][00][18][00][01][7D][CD] [01][01][01][00][51][88] OFF
ISEL5 [01][01][00][19][00][01][2C][0D] [01][01][01][00][51][88] OFF
ABSRQ [01][01][00][1A][00][01][DC][0D] [01][01][01][00][51][88] OFF
JSTART [01][01][00][1B][00][01][8D][CD] [01][01][01][00][51][88] OFF
JDIR [01][01][00][1C][00][01][3C][0C] [01][01][01][00][51][88] OFF
PCLEAR [01][01][00][1D][00][01][6D][CC] [01][01][01][00][51][88] OFF
AOVR [01][01][00][1E][00][01][9D][CC] [01][01][01][00][51][88] OFF
BRAKE [01][01][00][20][00][01][FC][00] [01][01][01][01][90][48] ON
ALARM [01][01][00][21][00][01][AD][C0] [01][01][01][00][51][88] OFF
READY [01][01][00][22][00][01][5D][C0] [01][01][01][01][90][48] ON
ZSPD [01][01][00][23][00][01][0C][00] [01][01][01][01][90][48] ON
INPOS1 [01][01][00][24][00][01][BD][C1] [01][01][01][01][90][48] ON
TLMT [01][01][00][25][00][01][EC][01] [01][01][01][00][51][88] OFF
VLMT [01][01][00][26][00][01][1C][01] [01][01][01][00][51][88] OFF
INSPD [01][01][00][27][00][01][4D][C1] [01][01][01][01][90][48] ON
WARN [01][01][00][28][00][01][7D][C2] [01][01][01][00][51][88] OFF
TGON [01][01][00][29][00][01][2C][02] [01][01][01][00][51][88] OFF
ORG [01][01][00][30][00][01][FD][C5] [01][01][01][00][51][88] OFF
EOS [01][01][00][31][00][01][AC][05] [01][01][01][01][90][48] ON
IOUT0 [01][01][00][32][00][01][5C][05] [01][01][01][00][51][88] OFF
IOUT1 [01][01][00][33][00][01][0D][C5] [01][01][01][00][51][88] OFF
IOUT2 [01][01][00][34][00][01][BC][04] [01][01][01][00][51][88] OFF
IOUT3 [01][01][00][35][00][01][ED][C4] [01][01][01][00][51][88] OFF
IOUT4 [01][01][00][36][00][01][1D][C4] [01][01][01][00][51][88] OFF
IOUT5 [01][01][00][37][00][01][4C][04] [01][01][01][00][51][88] OFF

15-9
 15. Communication Protocol

The following table shows an example of 2 status values being received from the start address of 0x0020
during servo off.

Function Transmission Receipt

BRAKE~ALARM [01][01][00][20][00][02] [BC][01] [01][01][01][01][90][48]

01 01 01 01 D0 49

0 1

BRAKE : ON

ALARM : OFF

If you set Quantity of Output to 02 for the start address of 0x0020 in the sending protocol, a total of 2
input status values from 0020~0021 are requested. Since Outputs Status Bits of the received protocol is
01, BRAKE is ON and ALARM is OFF.

Function Transmission Receipt

BRAKE~READY [01][01][00][20][00][03] [7D][C1] [01][01][01][05][91][8B]

01 01 01 05 91 8B

1 0 1

BRAKE : ON

ALARM : OFF

READY : ON

If you set Quantity of Output to 03, you an receive the status values from 0020~0022.

15-10
 15. Communication Protocol

Function Transmission Receipt

BRAKE~ZSPD [01][01][00][20][00][04] [3C][03] [01][01][01][0D][90][4D]

01 01 01 0D 90 4D

1 1 0 1

BRAKE : ON

ALARM : OFF

READY : ON

ZSPD : ON

If you set Quantity of Output to 04, you an receive the status values from 0020~0023.

Function Transmission Receipt

BRAKE~INPOS1 [01][01][00][20][00][05] [FD][C3] [01][01][01][1D][91][81]

01 01 01 1D 91 81

1 1 1 0 1

BRAKE : ON

ALARM : OFF

READY : ON

ZSPD : ON

IPOS1 : ON

If you set Quantity of Output to 05, you an receive the status values from 0020~0024.

15-11
 15. Communication Protocol

(2) Read Discrete Inputs (0x02)

It reads individual bit outputs as well as continual bit input block values.

 Request
Function Code 1Byte 0x02

Starting Address 2Byte 0x0000 to 0xFFFF

Quantity of Inputs 2Bytes 1 to 2000 (0x7D0)

 Request OK
Function Code 1Byte 0x02

Starting Address 1Byte N*

Input Status N* x 1Byte

*N= Quantity of Inputs/8

 Response not OK
Error Code 1Byte 0x82

Exception Code 1Byte 0x01~0x04

The command code Read Discrete Inputs can read the status of contacts that correspond to
drive status input 1, 2 and drive status output 1, 2. The following are the addresses that
correspond to drive status input 1, 2 and drive status output 1, 2.

 Drive Status Input 1, 2 Communication Addresses

Communication Communication
Address Address
Acces
Decima Hexade Output Output Access
sibilit Hexadeci
l cimal Contacts Decimal Contacts ibility
y mal
Numbe Numbe Numbers
Numbers
rs rs
0 0x0000 POT RW 16 0x0010 START RW

1 0x0001 NOT RW 17 0x0011 PAUSE RW

2 0x0002 HOME RW 18 0x0012 REGT RW

3 0x0003 STOP RW 19 0x0013 HSTART RW

4 0x0004 PCON RW 20 0x0014 ISEL0 RW

5 0x0005 GAIN2 RW 21 0x0015 ISEL1 RW

6 0x0006 P_CL RW 22 0x0016 ISEL2 RW

7 0x0007 N_CL RW 23 0x0017 ISEL3 RW

8 0x0008 MODE RW 24 0x0018 ISEL4 RW

9 0x0009 Reserved RW 25 0x0019 ISEL5 RW

10 0x000A EMG RW 26 0x001A ABSRQ RW

11 0x000B A_RST RW 27 0x001B JSTART RW

15-12
 15. Communication Protocol

12 0x000C SV_ON RW 28 0x001C JDIR RW

SPD1/LVSF
13 0x000D RW 29 0x001D PCLEAR RW
1
SPD2/LVSF
14 0x000E RW 30 0x001E AOVR RW
2

15 0x000F SPD3 RW 31 0x001F Reserved RW

 Drive Status Output 1, 2 Communication Addresses

Communication Communication
Address Address
Decima Hexade Output Access Output Access
Hexadeci
l cimal Contacts ibility Decimal Contacts ibility
mal
Numbe Numbe Numbers
Numbers
rs rs
32 0x0020 BRAKE RO 48 0x0030 ORG RO

33 0x0021 ALARM RO 49 0x0031 EOS RO

34 0x0022 READY RO 50 0x0032 IOUT0 RO

35 0x0023 ZSPD RO 51 0x0033 IOUT1 RO

36 0x0024 INPOS1 RO 52 0x0034 IOUT2 RO

37 0x0025 TLMT RO 53 0x0035 IOUT3 RO

38 0x0026 VLMT RO 54 0x0036 IOUT4 RO

39 0x0027 INSPD RO 55 0x0037 IOUT5 RO

40 0x0028 WARN RO 56 0x0038 Reserved RO

41 0x0029 TGON RO 57 0x0039 Reserved RO

42 0x002A Reserved RO 58 0x003A Reserved RO

43 0x002B Reserved RO 59 0x003B Reserved RO

44 0x002C Reserved RO 60 0x003C Reserved RO

45 0x002D Reserved RO 61 0x003D Reserved RO

46 0x002E Reserved RO 62 0x003E Reserved RO

47 0x002F Reserved RO 63 0x003F Reserved RO

15-13
 15. Communication Protocol

ex) Reading POT input contact status

 Request
Node Starting Starting Quantity of Quantity of
Function CRC Hi CRC Lo
ID Address Hi Address Lo Inputs Hi Inputs Lo
0x01 0x02 0x00 0x00 0x00 0x01 0XB9 0xCA

 Request OK
Node Input CRC
Function Byte Count CRC Hi
ID Status Lo
0x01 0x02 0x01 0x00 0xA1 0x88
- The POT input contact status is Low (0).
 Response not OK
Node ID Error Code Exception Code CRC Hi CRC Lo
0x01 0x82 0x01~0x04 - -

15-14
 15. Communication Protocol

1) Example of Digital I/O Status Value Protocol

Function Transmission Receipt Status
POT [01][02][00][00][00][01][B9][CA] [01][02][01][00][A1][88] OFF
NOT [01][02][00][01][00][01][E8][0A] [01][02][01][00][A1][88] OFF
HOME [01][02][00][02][00][01][18][0A] [01][02][01][00][A1][88] OFF
STOP [01][02][00][03][00][01][49][CA] [01][02][01][00][A1][88] OFF
PCON [01][02][00][04][00][01][F8][0B] [01][02][01][00][A1][88] OFF
GAIN2 [01][02][00][05][00][01][A9][CB] [01][02][01][00][A1][88] OFF
P_CL [01][02][00][06][00][01][59][CB] [01][02][01][00][A1][88] OFF
N_CL [01][02][00][07][00][01][08][0B] [01][02][01][00][A1][88] OFF
MODE [01][02][00][08][00][01][38][08] [01][02][01][00][A1][88] OFF
EMG [01][02][00][0A][00][01][99][C8] [01][02][01][00][A1][88] OFF
A_RST [01][02][00][0B][00][01][C8][08] [01][02][01][00][A1][88] OFF
SV_ON [01][02][00][0C][00][01][79][C9] [01][02][01][00][A1][88] OFF
SPD1/LVSF1 [01][02][00][0D][00][01][28][09] [01][02][01][00][A1][88] OFF
SPD2/LVSF2 [01][02][00][0E][00][01][D8][09] [01][02][01][00][A1][88] OFF
SPD3 [01][02][00][0F][00][01][89][C9] [01][02][01][00][A1][88] OFF
START [01][02][00][10][00][01][B8][0F] [01][02][01][00][A1][88] OFF
PAUSE [01][02][00][11][00][01][E9][CF] [01][02][01][00][A1][88] OFF
REGT [01][02][00][12][00][01][19][CF] [01][02][01][00][A1][88] OFF
HSTART [01][02][00][13][00][01][48][0F] [01][02][01][00][A1][88] OFF
ISEL0 [01][02][00][14][00][01][F9][CE] [01][02][01][00][A1][88] OFF
ISEL1 [01][02][00][15][00][01][A8][0E] [01][02][01][00][A1][88] OFF
ISEL2 [01][02][00][16][00][01][58][0E] [01][02][01][00][A1][88] OFF
ISEL3 [01][02][00][17][00][01][09][CE] [01][02][01][00][A1][88] OFF
ISEL4 [01][02][00][18][00][01][39][CD] [01][02][01][00][A1][88] OFF
ISEL5 [01][02][00][19][00][01][68][0D] [01][02][01][00][A1][88] OFF
ABSRQ [01][02][00][1A][00][01][98][0D] [01][02][01][00][A1][88] OFF
JSTART [01][02][00][1B][00][01][C9][CD] [01][02][01][00][A1][88] OFF
JDIR [01][02][00][1C][00][01][78][0C] [01][02][01][00][A1][88] OFF
PCLEAR [01][02][00][1D][00][01][29][CC] [01][02][01][00][A1][88] OFF
AOVR [01][02][00][1E][00][01][D9][CC] [01][02][01][00][A1][88] OFF
BRAKE [01][02][00][20][00][01][B8][00] [01][02][01][01][60][48] ON
ALARM [01][02][00][21][00][01][E9][C0] [01][02][01][00][A1][88] OFF
READY [01][02][00][22][00][01][19][C0] [01][02][01][01][60][48] ON
ZSPD [01][02][00][23][00][01][48][00] [01][02][01][01][60][48] ON
INPOS1 [01][02][00][24][00][01][F9][C1] [01][02][01][01][60][48] ON
TLMT [01][02][00][25][00][01][A8][01] [01][02][01][00][A1][88] OFF
VLMT [01][02][00][26][00][01][58][01] [01][02][01][00][A1][88] OFF
INSPD [01][02][00][27][00][01][09][C1] [01][02][01][01][60][48] ON
WARN [01][02][00][28][00][01][39][C2] [01][02][01][00][A1][88] OFF
TGON [01][02][00][29][00][01][68][02] [01][02][01][00][A1][88] OFF
ORG [01][02][00][30][00][01][B9][C5] [01][02][01][00][A1][88] OFF
EOS [01][02][00][31][00][01][E8][05] [01][02][01][01][60][48] ON
IOUT0 [01][02][00][32][00][01][18][05] [01][02][01][00][A1][88] OFF
IOUT1 [01][02][00][33][00][01][49][C5] [01][02][01][00][A1][88] OFF
IOUT2 [01][02][00][34][00][01][F8][04] [01][02][01][00][A1][88 OFF
IOUT3 [01][02][00][35][00][01][A9][C4] [01][02][01][00][A1][88] OFF
IOUT4 [01][02][00][36][00][01][59][C4] [01][02][01][00][A1][88] OFF
IOUT5 [01][02][00][37][00][01][08][04] [01][02][01][00][A1][88] OFF

15-15
 15. Communication Protocol

The following is an example of protocol for a request of 2 status values from the start address 0x0020.

2) Example of parameter reading for 0x0020~0x0021

Function Transmission Receipt
BRAKE~ALARM [01][02][00][20][00][02][F8][01] [01][02][01][01][60][48]

01 02 01 01 60 48

0 1

BRAKE : ON

ALARM : OFF

2) Example of parameter reading for 0x0020~0x0022

Function Transmission Receipt

BRAKE~READY [01][02][00][20][00][03] [39][C1] [01][02][01][05][61][8B]

01 02 01 05 61 8B

1 0 1

BRAKE : ON

ALARM : OFF

READY : ON

3) Example of parameter reading for 0x0020~0x0023

15-16
 15. Communication Protocol

Function Transmission Receipt

BRAKE~ZSPD [01][02][00][20][00][04] [78][03] [01][02][01][0D][60][4D]

01 02 01 0D 60 4D

1 1 0 1

BRAKE : ON

ALARM : OFF

READY : ON

ZSPD : ON

4) Example of parameter reading for 0x0020~0x0x0024

Function Transmission Receipt

BRAKE~INPOS1 [01][02][00][20][00][05] [B9][C3] [01][02][01][1D][61][81]

01 02 01 1D 61 81

1 1 1 0 1

BRAKE : ON

ALARM : OFF

READY : ON

ZSPD : ON

IPOS1 : ON

15-17
 15. Communication Protocol

(3) Read Holding Register (0x03)

It reads single registers (16-bit data) and continuous register block (16 bit data) values.

 Request
Function Code 1Byte 0x03

Starting Address 2Byte 0x0000 to 0xFFFF

Quantity of Registers 2Bytes 1 to 125 (0x7D)

 Request OK
Function Code 1Byte 0x03

Starting Address 1Byte 2 x N*

Quantity of Registers N* x 2Bytes

*N= Quantity of Registers

 Response not OK
Error Code 1Byte 0x83

Exception Code 1Byte 0x01~0x06

ex 1) when reading only the parameter for the current velocity (Address: 0x2600)

 Request
Node Starting Starting Quantity of Quantity of
Function CRC Hi CRC Lo
ID Address Hi Address Lo Register Hi Register Lo
0x01 0x03 0x26 0x00 0x00 0x01 0x8F 0x42

 Request OK
Node Register Register CRC
Function Byte Count CRC Hi
ID Value Hi Value Lo Lo
0x01 0x03 0x02 0x00 0x00 0xB8 0x44
- The current velocity value is 0 (or 0x0000).
 Response not OK
Node ID Error Code Exception Code CRC Hi CRC Lo
0x01 0x83 0x01~0x06 - -

ex 2) when reading several parameters including motor ID (Address: 0x2000), encoder type (Address:
0x2000) encoder pulse count per revolution (Address: 0x2002~0x2003 )

 Request
Node Starting Starting Quantity of Quantity of
Function CRC Hi CRC Lo
ID Address Hi Address Lo Register Hi Register Lo
0x01 0x03 0x20 0x00 0x00 0x04 0x4F 0XC9

 Request OK
Node Byte Register Register Register Register Register Register
Function
ID Count Value Hi Value Lo Value Hi Value Lo Value Hi Value Lo
0x01 0x03 0x08 0x00 0x0D 0x00 0x02 0x00 0x00

15-18
 15. Communication Protocol

Register Register
CRC Hi CRC Lo
Value Hi Value Lo
0x00 0x08 0x31 0X11
- The motor ID (Address: 0x2000) value is 13 (or 0x000D) and the encoder type (Address: 0x2001) value
is 2 (or 0x0002). Since the encoder pulse count per revolution (Address: 0X2002~0x2003) is 32-bit data,
the data that has been read must be swapped. The currently displayed value is 524288 (or 0x00080000).
 Response not OK
Node ID Error Code Exception Code CRC Hi CRC Lo
0x01 0x83 0x01~0x06 - -

01 03 04 2E E0 00 00 F2 ED

SWAP

00 00 2E E0 12000

Be cautious with parsing for a 2 byte register since 1 byte for each of the upper and lower parts is
swapped. For example, ‘2E E0 00 00’ is swapped and converted into a decimal number, 12000.

15-19
 15. Communication Protocol

(4) Read Input Register (0x04)

It reads single registers (16-bit data) and continuous register binary (16 bit data) values.

 Request
Function Code 1Byte 0x04

Starting Address 2Byte 0x0000 to 0xFFFF

Quantity of Registers 2Bytes 0x0000 to 0x007D

 Request OK
Function Code 1Byte 0x04

Starting Address 1Byte 2 x N*

Quantity of Registers N* x 2Bytes

*N= Quantity of Input Registers

 Response not OK
Error Code 1Byte 0x84

Exception Code 1Byte 0x01~0x06

ex1) When reading the parameter value of drive status output 1 (Address: 0x2121)

15-20
 15. Communication Protocol

 Request
Node Starting Starting Quantity of Quantity of
Function CRC Hi CRC Lo
ID Address Hi Address Lo Register Hi Register Lo
0x01 0x04 0x21 0x21 0x00 0x01 0x6B 0xFC

 Request OK
Node Register Register CRC
Function Byte Count CRC Hi
ID Value Hi Value Lo Lo
0x01 0x04 0x02 0x04 0x99 0x7B 0x9A
- Drive status output 1 (Address: 0x2121) is 0b10010011001 (0x0499), BRAKE, ZSPD, INPOS1, INSPD,
INPOS2 contacts in High (Status 1) are output.
 Response not OK
Node ID Error Code Exception Code CRC Hi CRC Lo
0x01 0x84 0x01~0x06 - -

15-21
 15. Communication Protocol

(5) Write Single Coil (0x05)

It turns on or off individual bit input vales

 Request
Function Code 1Byte 0x05

Output Address 2Byte 0x0000 to 0xFFFF

Output Value 2Bytes 0x0000 or 0xFF00

 Request OK
Function Code 1Byte 0x05

Output Address 2Byte 0x0000 to 0xFFFF

Output Value 2Byte 0x0000 or 0xFF00

 Response not OK
Error Code 1Byte 0x85

Exception Code 1Byte 0x01~0x04

The command code Write Single Coil can control input of individual bits that correspond to drive
status input 1, 2. The following are the addresses that correspond to drive status input 1, 2.

 Drive Status Input 1, 2 Communication Addresses

Communication Communication
Address Address
Acces
Decima Hexade Output Output Access
sibilit Hexadeci
l cimal Contacts Decimal Contacts ibility
y mal
Numbe Numbe Numbers
Numbers
rs rs
0 0x0000 POT RW 16 0x0010 START RW

1 0x0001 NOT RW 17 0x0011 PAUSE RW

2 0x0002 HOME RW 18 0x0012 REGT RW

3 0x0003 STOP RW 19 0x0013 HSTART RW

4 0x0004 PCON RW 20 0x0014 ISEL0 RW

5 0x0005 GAIN2 RW 21 0x0015 ISEL1 RW

6 0x0006 P_CL RW 22 0x0016 ISEL2 RW

7 0x0007 N_CL RW 23 0x0017 ISEL3 RW

8 0x0008 MODE RW 24 0x0018 ISEL4 RW

9 0x0009 Reserved RW 25 0x0019 ISEL5 RW

10 0x000A EMG RW 26 0x001A ABSRQ RW

11 0x000B A_RST RW 27 0x001B JSTART RW

12 0x000C SV_ON RW 28 0x001C JDIR RW

15-22
 15. Communication Protocol

SPD1/LVSF
13 0x000D RW 29 0x001D PCLEAR RW
1
SPD2/LVSF
14 0x000E RW 30 0x001E AOVR RW
2

15 0x000F SPD3 RW 31 0x001F Reserved RW

ex) Writing POT input contact status ON

 Request
Node Output Output Output Value Output
Function CRC Hi CRC Lo
ID Address Hi Address Lo Hi Value Lo
0x01 0x05 0x00 0x00 0xFF 0x00 0X8C 0x3A

 Request OK
Node Output Output Output Value Output
Function CRC Hi CRC Lo
ID Address Hi Address Lo Hi Value Lo
0x01 0x05 0x00 0x00 0xFF 0x00 0X8C 0x3A

 Response not OK
Node ID Error Code Exception Code CRC Hi CRC Lo
0x01 0x85 0x01~0x04 - -

ex) Writing POT input contact status OFF

 Request
Node Output Output Output Value Output Value
Function CRC Hi CRC Lo
ID Address Hi Address Lo Hi Lo
0x01 0x05 0x00 0x00 0x00 0x00 0xCD 0xCA

 Request OK
Node Output Output Output Value Output Value
Function CRC Hi CRC Lo
ID Address Hi Address Lo Hi Lo
0x01 0x05 0x00 0x00 0x00 0x00 0XCD 0xCA

 Response not OK
Node ID Error Code Exception Code CRC Hi CRC Lo
0x01 0x85 0x01~0x04 - -

15-23
 15. Communication Protocol

1) Example of Digital I/O Status Value Protocol

Function Write contact state ON Write contact state OFF
POT [01][05][00][00][FF][00][8C][3A] [01][05][00][00][00][00][CD][CA]
NOT [01][05][00][01][FF][00][DD][FA] [01][05][00][01][00][00][9C][0A]
HOME [01][05][00][02][FF][00][2D][FA] [01][05][00][02][00][00][6C][0A]
STOP [01][05][00][03][FF][00][7C][3A] [01][05][00][03][00][00][3D][CA]
PCON [01][05][00][04][FF][00][CD][FB] [01][05][00][04][00][00][8C][0B]
GAIN2 [01][05][00][05][FF][00][9C][3B] [01][05][00][05][00][00][DD][CB]
P_CL [01][05][00][06][FF][00][6C][3B] [01][05][00][06][00][00][2D][CB]
N_CL [01][05][00][07][FF][00][3D][FB] [01][05][00][07][00][00][7C][0B]
MODE [01][05][00][08][FF][00][0D][F8] [01][05][00][08][00][00][4C][08]
EMG [01][05][00][0A][FF][00][AC][38] [01][05][00][0A][00][00][ED][C8]
A_RST [01][05][00][0B][FF][00][FD][F8] [01][05][00][0B][00][00][BC][08]
SV_ON [01][05][00][0C][FF][00][4C][39] [01][05][00][0C][00][00][0D][C9]
SPD1/LVSF1 [01][05][00][0D][FF][00][1D][F9] [01][05][00][0D][00][00][5C][09]
SPD2/LVSF2 [01][05][00][0E][FF][00][ED][F9] [01][05][00][0E][00][00][AC][09]
SPD3 [01][05][00][0F][FF][00][BC][39] [01][05][00][0F][00][00][FD][C9]
START [01][05][00][10][FF][00][8D][FF] [01][05][00][10][00][00][CC][0F]
PAUSE [01][05][00][11][FF][00][DC][3F] [01][05][00][11][00][00][9D][CF]
REGT [01][05][00][12][FF][00][2C][3F] [01][05][00][12][00][00][6D][CF]
HSTART [01][05][00][13][FF][00][7D][FF] [01][05][00][13][00][00][3C][0F]
ISEL0 [01][05][00][14][FF][00][CC][3E] [01][05][00][14][00][00][8D][CE]
ISEL1 [01][05][00][15][FF][00][9D][FE] [01][05][00][15][00][00][DC][0E]
ISEL2 [01][05][00][16][FF][00][6D][FE] [01][05][00][16][00][00][2C][0E]
ISEL3 [01][05][00][17][FF][00][3C][3E] [01][05][00][17][00][00][7D][CE]
ISEL4 [01][05][00][18][FF][00][0C][3D] [01][05][00][18][00][00][4D][CD]
ISEL5 [01][05][00][19][FF][00][5D][FD] [01][05][00][19][00][00][1C][0D]
ABSRQ [01][05][00][1A][FF][00][AD][FD] [01][05][00][1A][00][00][EC][0D]
JSTART [01][05][00][1B][FF][00][FC][3D] [01][05][00][1B][00][00][BD][CD]
JDIR [01][05][00][1C][FF][00][4D][FC] [01][05][00][1C][00][00][0C][0C]
PCLEAR [01][05][00][1D][FF][00][1C][3C] [01][05][00][1D][00][00][5D][CC]
AOVR [01][05][00][1E][FF][00][EC][3C] [01][05][00][1E][00][00][AD][CC]

15-24
 15. Communication Protocol

(6) Write Single Register (0x06)

It writes values on the single register (16-bit data).

 Request
Function Code 1Byte 0x06

Starting Address 2Bytes 0x0000 to 0xFFFF

Quantity of Registers 2Bytes 0x0000 to 0xFFFF

 Request OK
Function Code 1Byte 0x06

Starting Address 2Bytes 0x0000 to 0xFFFF

Quantity of Registers 2Bytes 0x0000 to 0xFFFF

 Response not OK
Error Code 1Byte 0x86

Exception Code 1Byte 0x01~0x06

ex 1) when changing inertia ratio (Address: 0x2100) to 200

 Request
Node Starting Starting Quantity of Quantity of
Function CRC Hi CRC Lo
ID Address Hi Address Lo Register Hi Register Lo
0x01 0x06 0x21 0x00 0x00 0xC8 0x82 0x60

 Request OK
Node Starting Starting Quantity of Quantity of
Function CRC Hi CRC Lo
ID Address Hi Address Lo Register Hi Register Lo
0x01 0x06 0x21 0x00 0x00 0xC8 0x82 0x60
- It changes the inertia ratio value (Address: 0x2100) to 200 (or 0x00C8).

 Response not OK
Node ID Error Code Exception Code CRC Hi CRC Lo
0x01 0x86 0x01~0x06 - -

15-25
 15. Communication Protocol

(7) Write Multiple Coils (0x0F)

It turns on or off continual bit input values.

 Request
Function Code 1Byte 0x0F

Starting Address 2Byte 0x0000 to 0xFFFF

Quantity of Outputs 2Bytes 0x0000 or 0xFF00

Byte Count 1Bytes N*

Output Value N* x 1Byte

*N= Quantity of Outputs/8

 Request OK
Function Code 1Byte 0x0F

Starting Address 2Byte 0x0000 to 0xFFFF

Quantity of Outputs 2Byte 0x0001 or 0x07B0

 Response not OK
Error Code 1Byte 0x8F

Exception Code 1Byte 0x01~0x04

The command code Write Multiple Coil can control continual input of bits that correspond to
drive status input 1, 2. The following are the addresses that correspond to drive status input 1, 2.

 Drive Status Input 1, 2 Communication Addresses

Communication Communication
Address Address
Acces
Decima Hexade Output Output Access
sibilit Hexadeci
l cimal Contacts Decimal Contacts ibility
y mal
Numbe Numbe Numbers
Numbers
rs rs
0 0x0000 POT RW 16 0x0010 START RW

1 0x0001 NOT RW 17 0x0011 PAUSE RW

2 0x0002 HOME RW 18 0x0012 REGT RW

3 0x0003 STOP RW 19 0x0013 HSTART RW

4 0x0004 PCON RW 20 0x0014 ISEL0 RW

5 0x0005 GAIN2 RW 21 0x0015 ISEL1 RW

6 0x0006 P_CL RW 22 0x0016 ISEL2 RW

7 0x0007 N_CL RW 23 0x0017 ISEL3 RW

8 0x0008 MODE RW 24 0x0018 ISEL4 RW

9 0x0009 Reserved RW 25 0x0019 ISEL5 RW

15-26
 15. Communication Protocol

10 0x000A EMG RW 26 0x001A ABSRQ RW

11 0x000B A_RST RW 27 0x001B JSTART RW

12 0x000C SV_ON RW 28 0x001C JDIR RW

SPD1/LVSF
13 0x000D RW 29 0x001D PCLEAR RW
1
SPD2/LVSF
14 0x000E RW 30 0x001E AOVR RW
2

15 0x000F SPD3 RW 31 0x001F Reserved RW

ex1) Writing POT and EMG input contacts ON

 Request
Node Starting Starting Quantity of Quantity of Byte
Function
ID Address Hi Address Lo Outputs Hi Outputs Lo Count
0x01 0x0F 0x00 0x00 0x00 0x0B 0x02

Outputs Output Value

CRC Hi CRC Lo
Value Hi Lo
0X01 0x04 0xE4 0x97

 Request OK
Node Starting Starting Quantity of Quantity of
Function CRC Hi CRC Lo
ID Address Hi Address Lo Outputs Hi Outputs Lo
0x01 0x0F 0x00 0x00 0x00 0x0B 0X14 0x0C

 Response not OK
Node ID Error Code Exception Code CRC Hi CRC Lo
0x01 0x8F 0x01~0x04 - -

15-27
 15. Communication Protocol

POT and EMG signals ON

Quantity of Byte
ID Function Start Address Output Value CRC
Outputs Count

01 0F 00 00 00 0F 02 01 04 E4 97

31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16

ISEL4 START
ISEL5 PAUSE
ABSRQ REGT
JSTART HSTART
JDIR ISEL0
PCLEAR ISEL1
AVOR ISEL2
Reserved ISEL3 Start Address

0 4 0 1
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

MODE POT
Reserved NOT
EMG HOME
A_RST STOP
SV_ON PCON
GAIN2
SPD1/LVSF1
P_CL
SPD2/LVSF2 N_CL
SPD3

0x0F = 15 2
When you assign 15 Quantity Of Outputs while starting from 0x00 for the starting address, you can control the input up

to 0x14. As the upper and lower Output Values are swapped, please be careful when you input them. When you

input ’01 04’, for example, they will be swapped into ’04 01’. 04 will turn on EMG, the 10th bit, and ‘01’ will turn on POT,

the Oth Bit.

15-28
 15. Communication Protocol

SV_ON signal ON

Quantity of Byte
ID Function Start Address Output Value CRC
Outputs Count

01 0F 00 00 00 0F 02 00 10 E4 38

31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16

ISEL4 START
ISEL5 PAUSE
ABSRQ REGT
JSTART HSTART
JDIR ISEL0
PCLEAR ISEL1
AVOR ISEL2
Reserved ISEL3 Start Address

1 0 0 0
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

MODE POT
Reserved NOT
EMG HOME
A_RST STOP
SV_ON PCON
GAIN2
SPD1/LVSF1
P_CL
SPD2/LVSF2 N_CL
SPD3

0x0F = 15 2

15-29
 15. Communication Protocol

Alarm Reset and EMG signal ON

Quantity of Byte
ID Function Start Address Output Value CRC
Outputs Count

01 0F 00 00 00 0F 02 00 0B A4 33

31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16

ISEL4 START
ISEL5 PAUSE
ABSRQ REGT
JSTART HSTART
JDIR ISEL0
PCLEAR ISEL1
AVOR ISEL2
Reserved ISEL3 Start Address

0 B 0 0
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

MODE POT
Reserved NOT
EMG HOME
A_RST STOP
SV_ON PCON
GAIN2
SPD1/LVSF1
P_CL
SPD2/LVSF2 N_CL
SPD3

0x0F = 15 2
15-30
 15. Communication Protocol

(8) Write Multi Register (0x10)

Writes values on the continuous register block (16-bit data).

 Request
Function Code 1Byte 0x10

Starting Address 2Bytes 0x0000 to 0xFFFF

Quantity of Registers 2Bytes 0x0001 to 0x007B

Byte Count 1Byte 2 x N*

Registers Value N* x 2Bytes value

*N= Quantity of Registers

 Request OK
Function Code 1Byte 0x10

Starting Address 2Byte 0x0000 to 0xFFFF

Quantity of Registers 2Byte 1 to 123(0x7B)

 Response not OK
Error Code 1Byte 0x90

Exception Code 1Byte 0x01~0x06

ex 1) When using multiple parameters including jog speed (Address: 0x2300), speed command
acceleration time (Address: 0x2301), speed command deceleration time (Address: 0x2302)

 Request
Node Starting Starting Quantity of Quantity of Byte
Function
ID Address Hi Address Lo Register Hi Register Lo Count
0x01 0x10 0x23 0x00 0x00 0x03 0x06

Registers Registers Registers Registers Registers Registers

CRC Hi CRC Lo
Value Hi Value Lo Value Hi Value Lo Value Hi Value Lo
0xF4 0x48 0x00 0x64 0x00 0x64 0XF7 0x4A
- Jog speed (Address: 0x2300) is changed to -3000 (or 0xF448) and speed command acceleration time (Address:

0x2301) and speed command deceleration time (Address: 0x2302) is changed to 100 (or 0x0064).

 Request OK
Node Starting Starting Quantity of Quantity of
Function CRC Hi CRC Lo
ID Address Hi Address Lo Register Hi Register Lo
0x01 0x10 0x23 0x00 0x00 0x03 0X8B 0X8C

 Response not OK
Node ID Error Code Exception Code CRC Hi CRC Lo
0x01 0x90 0x01~0x06 - -

15-31
 15. Communication Protocol

*Protocol example*

Jog Operation Speed[0x2300] : -3000

Speed Command Acceleration Time[0x2301] : 100
Speed Command Deceleration Time[0x2302] : 100

Quantity of Byte
ID Function Start Address
Register Count

01 10 23 00 00 03 06

Communication Number of
Parameter name address Value registers
Jog Operation Speed 0x2300 -3000 1
Speed Command Acceleration Time 0x2301 100 1
Speed Command Deceleration Time 0x2302 100 1

Register Register Register CRC

F4 48 00 64 00 64 F7 4A

When you input -3000, “F4 48” is input in the register. The following example shows the
conversion process. Refer to the example.

15-32
 15. Communication Protocol

- Example of protocol change

for an input of 3000

3000

텍스트
0 B B 8
0 0 0 0 1 0 1 1 1 0 1 1 1 0 0 0

Maintenance Maintenance

1 1 1 1 0 1 0 0 0 1 0 0 0 1 1 1

+1
1 1 1 1 0 1 0 0 0 1 0 0 1 0 0 0

F 4 4 8
텍스트

F4 48

Register Register Register CRC

F4 48 00 64 00 64 F7 4A

When you input -3000, 3000 is converted into a hexadecimal number first. The complement is taken and
1 is added to the 0th bit.

When the complement is taken, the value is F4 48. If you input the value in the register, -3000 is input.
For reading, follow the opposite order to see the result value.

15-33
 15. Communication Protocol

*Protocol example*

Position Loop Gain 1[0x2101] : 25

Speed Loop Gain 1[0x2102] : 65
Speed Loop Integral Time Constant 1[0x2103] : 150

Quantity of Byte
ID Function Start Address
Register Count

01 10 21 01 00 03 06

Communication Number of
Parameter name Value
address registers
Position Loop Gain 1 0x2101 25 1
Speed Loop Gain 1 0x2102 65 1
Speed Loop Integral Time Constant 1 0x2103 150 1

Register Register Register CRC

00 19 00 41 00 96 D5 C1

15-34
 15. Communication Protocol

*Protocol example*

Index0.IndexType[0x3101] : 0
Index0.Distance[0x3102] : 51200000
Index0.Velocity[0x3104] : 87381

Quantity of Byte
ID Function Start Address
Register Count

01 10 31 01 00 05 0A

Communication Number of
Parameter name address Value registers
Index0.IndexType 0x3101 0 1
Index0.Distance 0x3102 51200000 2
Index0.Velocity 0x3104 87381 2

Register Register Register CRC

00 00 40 00 03 0D 55 55 00 01 19 F3

The number of registers differ for each parameter. To determine the value of Quantity of
Register, find out the variable format on the communication address table. The register
quantity is 1 for 16 [bit] and 2 for 32 [bit]. Add the values and input the result value. Input the
value twice Quantity of Register for Byte Count.

15-35
 15. Communication Protocol

15.3 Parameter Saving & Reset

Apart from saving individual parameters [0x240E], you can save or reset parameters using below
commands.

- Parameter Saving

 Request
Node Starting Starting Quantity of Quantity of Byte
Function
ID Address Hi Address Lo Register Hi Register Lo Count
0x01 0x10 0x10 0x0C 0x00 0x02 0x04

Registers Registers Registers Registers

CRC Hi CRC Lo
Value Hi Value Lo Value Hi Value Lo
0x61 0x73 0x65 0x76 0x7A 0xAB

 Request OK
Node Starting Starting Quantity of Quantity of
Function CRC Hi CRC Lo
ID Address Hi Address Lo Register Hi Register Lo
0x01 0x10 0x10 0x0C 0x00 0x02 0x85 0x0B

15-36
 15. Communication Protocol

- Parameter Restoration

 Request
Node Starting Starting Quantity of Quantity of Byte
Function
ID Address Hi Address Lo Register Hi Register Lo Count
0x01 0x10 0x10 0x16 0x00 0x02 0x04

Registers Registers Registers Registers

CRC Hi CRC Lo
Value Hi Value Lo Value Hi Value Lo
0x6F 0x6C 0x64 0x61 0x89 0x68

 Request OK
Node Starting Starting Quantity of Quantity of
Function CRC Hi CRC Lo
ID Address Hi Address Lo Register Hi Register Lo
0x01 0x10 0x10 0x16 0x00 0x02 0XA4 0xCC

15-37
 15. Communication Protocol

15.4 L7C Servo Drive Communication Address

Table

15.4.1 Basic Setting Parameters

Communication Address
Parameter Variable Initial Minimum Maximum
Parameter Names Units Accessibility
Decimal Hexadecimal Numbers Types Values Values Values
Numbers Numbers

8192 0x2000 Motor ID 0x2000 UINT 13 1 9999 - RW

8193 0x2001 Encoder Type 0x2001 UINT 1 0 2 - RW

8194 0x2002 Encoder Pulse per Revolution 0x2002 UDINT 524288 0 1073741824 pulse RW

8196 0x2004 Node ID 0x2003 UINT 1 1 99 RW

8197 0x2005 Rotation Direction Select 0x2004 UINT 0 0 1 - RW

8198 0x2006 Absolute Encoder Configuration 0x2005 UINT 1 0 2 - RW

8199 0x2007 Main Power Fail Check Mode 0x2006 UINT 0 0 255 - RW

8200 0x2008 Main Power Fail Check Time 0x2007 UINT 20 0 5000 ms RW

8201 0x2009 7SEG Display Selection 0x2008 UINT 0 0 100 - RW

Regeneration Brake
8202 0x200A 0x2009 UINT 1 0 1 - RW
Resistor Configuration

Regeneration Brake
8203 0x200B 0x200A UINT 100 0 200 % RW
Resistor Derating Factor

Regeneration Brake
8204 0x200C 0x200B UINT 0 0 1000 ohm RW
Resistor Value

Regeneration Brake
8205 0x200D 0x200C UINT 0 0 30000 watt RW
Resistor Power

Peak Power of Regeneration

8206 0x200E 0x200D UINT 100 1 50000 watt RW
Brake Resistor

Duration Time @ Peak Power of

8207 0x200F 0x200E UINT 5000 1 50000 ms RW
Regeneration Brake Resistor

8208 0x2010 Overload Check Base 0x200F UINT 100 10 120 % RW

8209 0x2011 Overload Warning Level 0x2010 UINT 50 10 100 % RW

8210 0x2012 PWM Off Delay Time 0x2011 UINT 10 0 1000 ms RW

8211 0x2013 Dynamic Brake Control Mode 0x2012 UINT 0 0 3 - RW

8212 0x2014 Emergency Stop Configuration 0x2013 UINT 1 0 1 - RW

8213 0x2015 Warning Mask Configuration 0x2014 UINT 0 0 0xFFFF - RW

8214 0x2016 U Phase Current Offset 0x2015 INT 0 -1000 1000 0.10% RW

8215 0x2017 V Phase Current Offset 0x2016 INT 0 -1000 1000 0.10% RW

15-38
 15. Communication Protocol

8216 0x2018 W Phase Current Offset 0x2017 INT 0 -1000 1000 0.10% RW

8217 0x2019 Magnetic Pole Pitch 0x2018 UINT 2400 1 65535 0.01mm RW

8218 0x201A Linear Scale Resolution 0x2019 UINT 1000 1 65535 nm RW

8219 0x201B Commutation Method 0x201A UINT 0 0 2 - RW

8220 0x201C Commutation Current 0x201B UINT 500 0 1000 0.10% RW

8221 0x201D Commutation Time 0x201C UINT 1000 500 5000 ms RW

Grating Period of Sinusoidal

8222 0x201E 0x201D UINT 40 1 65535 Um RW
Encoder

8223 0x201F Homing Done Behavior 0x201E UINT 0 0 1 - RW

8224 0x2020 Velocity Function Select 0x201F UINT 0 0 2 - RW

8225 0x2021 Motor Hall Phase Config. 0x2020 UINT 0 0 65535 - RW

15-39
 15. Communication Protocol

15.4.2 Gain Adjustment Parameters

Communication Address
Parameter Variable Initial Minimum Maximum
Parameter Names Units Accessibility
Decimal Hexadecimal Numbers Types Values Values Values
Numbers Numbers

8448 0x2100 Inertia Ratio 0x2100 UINT 100 0 3000 % RW

8449 0x2101 Position Loop Gain 1 0x2101 UINT 50 1 500 1/s RW

8450 0x2102 Speed Loop Gain 1 0x2102 UINT 75 1 2000 Hz RW

Speed Loop Integral Time

8451 0x2103 0x2103 UINT 50 1 1000 ms RW
Constant 1

Torque Command Filter Time

8452 0x2104 0x2104 UINT 5 0 1000 0.1ms RW
Constant 1

8453 0x2105 Position Loop Gain 2 0x2105 UINT 30 1 500 1/s RW

8454 0x2106 Speed Loop Gain 2 0x2106 UINT 50 1 2000 Hz RW

Speed Loop Integral Time

8455 0x2107 0x2107 UINT 50 1 1000 ms RW
Constant 2

Torque Command Filter Time

8456 0x2108 0x2108 UINT 5 0 1000 0.1ms RW
Constant 2

Position Command Filter Time

8457 0x2109 0x2109 UINT 0 0 10000 0.1ms RW
Constant

Position Command Average

8458 0x210A 0x210A UINT 0 0 10000 0.1ms RW
Filter Time Constant

Speed Feedback Filter Time

8459 0x210B 0x210B UINT 5 0 10000 0.1ms RW
Constant

8460 0x210C Velocity Feed-forward Gain 0x210C UINT 0 0 100 % RW

Velocity Feed-forward Filter Time

8461 0x210D 0x210D UINT 10 0 1000 0.1ms RW
Constant

8462 0x210E Torque Feed-forward Gain 0x210E UINT 0 0 100 % RW

Torque Feed-forward Filter Time

8463 0x210F 0x210F UINT 10 0 1000 0.1ms RW
Constant

8464 0x2110 Torque Limit Function Select 0x2110 UINT 2 0 4 - RW

External Positive Torque Limit

8465 0x2111 0x2111 UINT 3000 0 5000 0.1% RW
Value

External Negative Torque Limit

8466 0x2112 0x2112 UINT 3000 0 5000 0.1% RW
Value

8467 0x2113 Emergency Stop Torque 0x2113 UINT 1000 0 5000 0.1% RW

8468 0x2114 P/PI Control Conversion Mode 0x2114 UINT 0 0 4 - RW

8469 0x2115 P Control Switch Torque 0x2115 UINT 500 0 5000 0.1% RW

15-40
 15. Communication Protocol

8470 0x2116 P Control Switch Speed 0x2116 UINT 100 0 6000 rpm RW

8471 0x2117 P Control Switch Acceleration 0x2117 UINT 1000 0 60000 rpm/s RW

8472 0x2118 P Control Switch Following Error 0x2118 UINT 100 0 60000 pulse RW

8473 0x2119 Gain Conversion Mode 0x2119 UINT 0 0 7 - RW

8474 0x211A Gain Conversion Time 1 0x211A UINT 2 0 1000 ms RW

8475 0x211B Gain Conversion Time 2 0x211B UINT 2 0 1000 ms RW

8476 0x211C Gain Conversion Waiting Time 1 0x211C UINT 0 0 1000 ms RW

8477 0x211D Gain Conversion Waiting Time 2 0x211D UINT 0 0 1000 ms RW

8478 0x211E Dead Band for Position Control 0x211E UINT 0 0 1000 UU RW

8479 0x211F Drive Control Input 1 0x211F UINT 0 0 0xFFFF - RW

8480 0x2120 Drive Control Input 2 0x2120 UINT 0 0 0xFFFF - RW

8481 0x2121 Drive Status Output 1 0x2121 UINT 0 0 0xFFFF - RO

8482 0x2122 Drive Status Output 2 0x2122 UINT 0 0 0xFFFF - RO

15.4.3 I/O Configuration Parameters

Communication Address
Parameter Variable Initial Minimum Maximum
Parameter Names Units Accessibility
Decimal Hexadecimal Numbers Types Values Values Values
Numbers Numbers

8704 0x2200 Digital Input Signal 1 Selection 0x2200 UINT 0x000F 0 0xFFFF - RW

8705 0x2201 Digital Input Signal 2 Selection 0x2201 UINT 0x0020 0 0xFFFF - RW

8706 0x2202 Digital Input Signal 3 Selection 0x2202 UINT 0x0021 0 0xFFFF - RW

8707 0x2203 Digital Input Signal 4 Selection 0x2203 UINT 0x0022 0 0xFFFF - RW

8708 0x2204 Digital Input Signal 5 Selection 0x2204 UINT 0x000C 0 0xFFFF - RW

8709 0x2205 Digital Input Signal 6 Selection 0x2205 UINT 0x001C 0 0xFFFF - RW

8710 0x2206 Digital Input Signal 7 Selection 0x2206 UINT 0x0001 0 0xFFFF - RW

8711 0x2207 Digital Input Signal 8 Selection 0x2207 UINT 0x0002 0 0xFFFF - RW

8712 0x2208 Digital Input Signal 9 Selection 0x2208 UINT 0x000B 0 0xFFFF - RW

8713 0x2209 Digital Input Signal 10 Selection 0x2209 UINT 0x0004 0 0xFFFF - RW

8714 0x220A Digital Output Signal 1 Selection 0x220A UINT 0x8002 0 0xFFFF - RW

8715 0x220B Digital Output Signal 2 Selection 0x220B UINT 0x0003 0 0xFFFF - RW

8716 0x220C Digital Output Signal 3 Selection 0x220C UINT 0x0004 0 0xFFFF - RW

8717 0x220D Digital Output Signal 4 Selection 0x220D UINT 0x8001 0 0xFFFF - RW

8718 0x220E Digital Output Signal 5 Selection 0x220E UINT 0x0005 0 0xFFFF - RW

8719 0x220F Analog Velocity Override Mode 0x220F UINT 0 0 1 - RW

8720 0x2210 Analog Torque Input(command/limit) Scale 0x2210 UINT 100 -1000 1000 0.1%/V RW

8721 0x2211 Analog Torque Input (command/limit) Offset 0x2211 INT 0 -1000 1000 mV RW

8722 0x2212 Analog Torque Command Clamp Level 0x2212 UINT 0 0 1000 - RW

15-41
 15. Communication Protocol

Analog Torque Command Filter Time

8723 0x2213 0x2213 UINT 2 0 1000 - RW
Constant

8724 0x22174 Analog Velocity Command Scale 0x2214 INT 100 -1000 1000 - RW

Analog Velocity Input (command/override)

8725 0x2215 0x2215 INT 0 -1000 1000 mV RW
Offset

8726 0x2216 Analog Velocity Command Clamp Level 0x2216 UINT 0 0 1000 - RW

Analog Velocity Command Filter Time

8727 0x2217 0x2217 UINT 2 0 1000 - RW
Constant

15.4.4 Velocity Control Parameters

Communication Address
Parameter Variable Initial Minimum Maximum
Parameter Names Units Accessibility
Decimal Hexadecimal Numbers Types Values Values Values
Numbers Numbers

8960 0x2300 Jog Operation Speed 0x2300 INT 500 -6000 6000 rpm RW

8961 0x2301 Speed Command Acceleration Time 0x2301 UINT 200 0 10000 ms RW

8962 0x2302 Speed Command Deceleration Time 0x2302 UINT 200 0 10000 ms RW

8963 0x2303 Speed Command S-curve Time 0x2303 UINT 0 0 1000 ms RW

8964 0x2304 Program Jog Operation Speed 1 0x2304 INT 0 -6000 6000 rpm RW

8965 0x2305 Program Jog Operation Speed 2 0x2305 INT 500 -6000 6000 rpm RW

8966 0x2306 Program Jog Operation Speed 3 0x2306 INT 0 -6000 6000 rpm RW

8967 0x2307 Program Jog Operation Speed 4 0x2307 INT -500 -6000 6000 rpm RW

8968 0x2308 Program Jog Operation Time 1 0x2308 UINT 500 0 10000 ms RW

8969 0x2309 Program Jog Operation Time 2 0x2309 UINT 5000 0 10000 ms RW

8970 0x230A Program Jog Operation Time 3 0x230A UINT 500 0 10000 ms RW

8971 0x230B Program Jog Operation Time 4 0x230B UINT 5000 0 10000 ms RW

8972 0x230C Index Pulse Search Speed 0x230C INT 20 -1000 1000 rpm RW

8973 0x230D Speed Limit Function Select 0x230D UINT 0 0 3 - RW

8974 0x230E Velocity Limit Value at Torque Control Mode 0x230E UINT 1000 0 6000 rpm RW

8975 0x230F Over Speed Detection Level 0x230F UINT 6000 0 10000 rpm RW

8976 0x2310 Excessive Speed Error Detection Level 0x2310 UINT 5000 0 10000 rpm RW

8977 0x2311 Servo-Lock Function Select 0x2311 UINT 0 0 1 - RW

8978 0x2312 Multi-Step Operation Velocity 1 0x2312 INT 0 -32768 32767 rpm RW

8979 0x2313 Multi-Step Operation Velocity 2 0x2313 INT 10 -32768 32767 rpm RW

8980 0x2314 Multi-Step Operation Velocity 3 0x2314 INT 50 -32768 32767 rpm RW

8981 0x2315 Multi-Step Operation Velocity 4 0x2315 INT 100 -32768 32767 rpm RW

8982 0x2316 Multi-Step Operation Velocity 5 0x2316 INT 200 -32768 32767 rpm RW

8983 0x2317 Multi-Step Operation Velocity 6 0x2317 INT 500 -32768 32767 rpm RW

15-42
 15. Communication Protocol

8984 0x2318 Multi-Step Operation Velocity 7 0x2318 INT 1000 -32768 32767 rpm RW

8985 0x2319 Multi-Step Operation Velocity 8 0x2319 INT 1500 -32768 32767 rpm RW

8986 0x231A Velocity Command Switch Select 0x231A UINT 0 0 3 - RW

15.4.5 Miscellaneous Setting Parameters

Communication Address
Parameter Variable Initial Minimum Maximum
Parameter Names Units Accessibility
Decimal Hexadecimal Numbers Types Values Values Values
Numbers Numbers

9216 0x2400 Software Position Limit Function Select 0x2400 UINT 0 0 3 - RW

9217 0x2401 INPOS1 Output Range 0x2401 UINT 100 0 60000 UU RW

9218 0x2402 INPOS1 Output Time 0x2402 UINT 0 0 1000 ms RW

9219 0x2403 INPOS2 Output Range 0x2403 UINT 100 0 60000 UU RW

9220 0x2404 ZSPD Output Range 0x2404 UINT 10 0 6000 rpm RW

9221 0x2405 TGON Output Range 0x2405 UINT 100 0 6000 rpm RW

9222 0x2406 INSPD Output Range 0x2406 UINT 100 0 6000 rpm RW

9223 0x2407 BRAKE Output Speed 0x2407 UINT 100 0 6000 rpm RW

9224 0x2408 BRAKE Output Delay Time 0x2408 UINT 100 0 1000 ms RW

9225 0x2409 Torque Limit at Homing Using Stopper 0x2409 UINT 250 0 2000 0.10% RW

9226 0x240A Duration Time at Homing Using Stopper 0x240A UINT 50 0 1000 ms RW

9227 0x240B Modulo Mode 0x240B UINT 0 0 5 - RW

9228 0x240C Modulo Factor 0x240C DINT 3600 1 0x40000000 UU RW

9230 0x240E User Drive Name 0x240D STRING Drive - RW

9238 0x2416 Individual Parameter Save 0x240E UINT 0 0 1 - RW

9239 0x2417 RMS Overload Calculation Time 0x240F UINT 15000 100 60000 ms RW

9240 0x2418 RTC Time Set 0x2410 UDINT 0 0 4294967295 - RW

9242 0x241A RTC Data Set 0x2411 UDINT 1507585 0 4294967295 - RW

15-43
 15. Communication Protocol

15.4.6 Enhanced Control Parameters

Communication Address
Parameter Variable Initial Minimum Maximum
Parameter Names Units Accessibility
Decimal Hexadecimal Numbers Types Values Values Values
Numbers Numbers

9472 0x2500 Adaptive Filter Function Select 0x2500 UINT 0 0 5 - RW

9473 0x2501 Notch Filter 1 Frequency 0x2501 UINT 5000 50 5000 Hz RW

9474 0x2502 Notch Filter 1 Width 0x2502 UINT 1 1 100 RW

9475 0x2503 Notch Filter 1 Depth 0x2503 UINT 1 1 5 - RW

9476 0x2504 Notch Filter 2 Frequency 0x2504 UINT 5000 50 5000 Hz RW

9477 0x2505 Notch Filter 2 Width 0x2505 UINT 1 1 100 RW

9478 0x2506 Notch Filter 2 Depth 0x2506 UINT 1 1 5 - RW

9479 0x2507 Notch Filter 3 Frequency 0x2507 UINT 5000 50 5000 Hz RW

9480 0x2508 Notch Filter 3 Width 0x2508 UINT 1 1 100 RW

9481 0x2509 Notch Filter 3 Depth 0x2509 UINT 1 1 5 - RW

9482 0x250A Notch Filter 4 Frequency 0x250A UINT 5000 50 5000 Hz RW

9483 0x250B Notch Filter 4 Width 0x250B UINT 1 1 100 RW

9484 0x250C Notch Filter 4 Depth 0x250C UINT 1 1 5 - RW

9485 0x250D On-line Gain Tuning Mode 0x250D UINT 0 0 1 - RW

9486 0x250E System Rigidity for Gain Tuning 0x250E UINT 5 1 20 - RW

9487 0x250F On-line Gain Tuning Adaptation Speed 0x250F UINT 1 1 5 - RW

9488 0x2510 Off-line Gain Tuning Direction 0x2510 UINT 0 0 1 - RW

9489 0x2511 Off-line Gain Tuning Distance 0x2511 UINT 5 1 10 - RW

9490 0x2512 Disturbance Observer Gain 0x2512 UINT 0 0 100 % RW

9491 0x2513 Disturbance Observer Filter Time Constant 0x2513 UINT 10 0 1000 0.1ms RW

9492 0x2514 Current Controller Gain 0x2514 UINT 100 1 150 % RW

9493 0x2515 Vibration Suppression Filter Configuration 0x2515 UINT 0 0 5 - RW

9494 0x2516 Vibration Suppression Filter 1 Frequency 0x2516 UINT 0 0 2000 0.1Hz RW

9495 0x2517 Vibration Suppression Filter 1 Damping 0x2517 UINT 0 0 5 - RW

9496 0x2518 Vibration Suppression Filter 2 Frequency 0x2518 UINT 0 0 2000 0.1Hz RW

9497 0x2519 Vibration Suppression Filter 2 Damping 0x2519 UINT 0 0 5 - RW

15-44
 15. Communication Protocol

15.4.7 Monitoring Parameters

Communication Address
Parameter Variable Initial Minimum Maximum
Parameter Names Units Accessibility
Decimal Hexadecimal Numbers Types Values Values Values
Numbers Numbers

9728 0x2600 Feedback Velocity 0x2600 INT - - - rpm RO

9729 0x2601 Command Speed 0x2601 INT - - - rpm RO

9730 0x2602 Following Error 0x2602 DINT - - - pulse RO

9732 0x2604 Accumulated Operation Overload 0x2603 INT - - - 0.10% RO

Instantaneous Maximum Operation

9733 0x2605 0x2604 INT - - - 0.10% RO
Overload

9734 0x2606 DC-Link Voltage 0x2605 UINT - - - Volt RO

9735 0x2607 Accumulated Regeneration Overload 0x2606 INT - - - 0.10% RO

9736 0x2608 Single-turn Data 0x2607 UDINT - - - pulse RO

9738 0x260A Mechanical Angle 0x2608 UINT - - - 0.1deg RO

9739 0x260B Electrical Angle 0x2609 INT - - - 0.1deg RO

9740 0x260C Multi-turn Data 0x260A DINT - - - rev RO

9742 0x260E Drive Temperature 1 0x260B INT - - - ℃ RO

9743 0x260F Drive Temperature 2 0x260C INT - - - ℃ RO

9744 0x2610 Encoder Temperature 0x260D INT - - - ℃ RO

9745 0x2611 Motor Rated Speed 0x260E UINT - - - rpm RO

9746 0x2612 Motor Maximum Speed 0x260F UINT - - - rpm RO

9747 0x2613 Drive Rated Current 0x2610 UINT - - - 0.1A RO

9748 0x2614 Hardware Version 0x2611 STRING - - - - RO

9751 0x2617 Hall Signal Display 0x2612 UINT - - - - RO

9752 0x2618 Bootloader Version 0x2613 STRING - - - - RO

9755 0x261B Warning Code 0x2614 UINT - - - - RO

9756 0x261C Analog Input 1 Value 0x2615 INT - - - mV RO

9757 0x261D Analog Input 2 Value 0x2616 INT - - - mV RO

9763 0x2623 RMS Operation Overload 0x2619 INT - - - 0.1% RO

9764 0x2624 Reserved 0x261A -

9765 0x2625 Reserved 0x261B -

9766 0x2626 Reserved 0x261C -

9767 0x2627 Software Version 0x261D STRING -

9770 0x262A Pulse Input Frequency 0x261E DINT - -32768 32767 Kpps RO

9772 0x262C Torque Limit Value 0x261F INT - -32768 32767 0.1% RO

9773 0x262D Digital Input Status 0x2620 UINT - 0 65535 RO

9774 0x262E Digital Output Status 0x2621 UINT - 0 65535 RO

15-45
 15. Communication Protocol

9776 0x2630 Current RTC Time 0x2622 UDINT - 0 4294967295 RO

9778 0x2632 Current RTC Data 0x2623 UDINT - 0 4294967295 RO

9780 0x2634 Position Demand Internal Value 0x2624 DINT - -2147483648 2147483647 pulse RO

9782 0x2636 Position Actual Internal Value 0x2625 DINT - -2147483648 2147483647 RO

9784 0x2638 Cumulative Hours of Use 0x2626 UDINT - 0 4294967295 RO

9786 0x263A Number of Inrush Current Switching 0x2627 UDINT - 0 4294967295 RO

9788 0x263C Number of Dynamic Brake Switching 0x2628 DINT - -2147483648 2147483647 RO

9790 0x263E Position Demand Value 0x2629 DINT - -2147483648 2147483647 UU RO

9792 0x2640 Position Actual Value 0x262A DINT - -2147483648 2147483647 UU RO

9794 0x2642 Following Error Actual Value 0x262B DINT - -2147483648 2147483647 UU RO

9796 0x2644 Torque Demand Value 0x262C INT - -32768 32767 0.1% RO

9797 0x2645 Torque Actual Value 0x262D INT - -32768 32767 0.1% RO

15.4.8 Procedures and Alarm History

Communication Address
Parameter Variable Initial Minimum Maximum
Parameter Names Units Accessibility
Decimal Hexadecimal Numbers Types Values Values Values
Numbers Numbers

9984 0x2700 Procedure Command Code 0x2700 UINT 0 0 0xFFFF - RW

9985 0x2701 Procedure Command Argument 0x2701 UINT 0 0 0xFFFF - RW

15-46
 15. Communication Protocol

15.4.9 3rd Party Motor Parameters

Communication Address
Parameter Variable Initial Minimum Maximum
Parameter Names Units Accessibility
Decimal Hexadecimal Numbers Types Values Values Values
Numbers Numbers

10240 0x2800 [Third Party Motor] Type 0x2800 UINT 0 0 1 - RW

10241 0x2801 [Third Party Motor] Number of Poles 0x2801 UINT 8 2 1000 - RW

10242 0x2802 [Third Party Motor] Rated Current 0x2802 FP32 2.89 - - Arms RW

10244 0x2804 [Third Party Motor] Maximum Current 0x2803 FP32 8.67 - - Arms RW

10246 0x2806 [Third Party Motor] Rated Speed 0x2804 UINT 3000 1 60000 rpm RW

10247 0x2807 [Third Party Motor] Maximum Speed 0x2805 UINT 5000 1 60000 rpm RW

10248 0x2808 [Third Party Motor] Inertia 0x2806 FP32 0.321 - - Kg RW

Kg.m2.10-
10250 0x280A [Third Party Motor] Torque Constant 0x2807 FP32 0.46 - - RW
4

10252 0x280C [Third Party Motor] Phase Resistance 0x2808 FP32 0.82 - - ohm RW

10254 0x280E [Third Party Motor] Phase Inductance 0x2809 FP32 3.66 - - mH RW

10256 0x2810 [Third Party Motor] TN Curve Data 1 0x280A UINT 3000 1 60000 rpm RW

10258 0x2812 [Third Party Motor] TN Curve Data 2 0x280B FP32 100 - - % RW

10260 0x2814 [Third Party Motor] Hall Offset 0x280C UINT 0 0 360 deg RW

15.4.10 Index Related Parameters

Communication Address
Parameter Variable Minimum Maximum
Parameter Names Initial Values Units Accessibility
Decimal Hexadecimal Numbers Types Values Values
Numbers Numbers

12288 0x3000 Control Mode 0x3000 UINT 1 0 9 - RW

12289 0x3001 Coordinate Select 0x3001 UINT 0 0 1 - RW

12290 0x3002 Baud Rate Select 0x3002 UINT 3 0 3 - RW

12291 0x3003 Pulse Input Logic Select 0x3003 UINT 0 0 5 - RW

12292 0x3004 Pulse Input Filter Select 0x3004 UINT 0 0 4 - RW

12293 0x3005 PCLEAR Mode Select 0x3005 UINT 0 0 2 - RW

12294 0x3006 Encoder Output Pulse 0x3006 UDINT 10000 0 2147483647 - RW

12296 0x3008 Reserved 0x3007 - - - - - -

12297 0x3009 Start Index Number (0~63) 0x3008 UINT 0 0 64 - RW

12298 0x300A Index Buffer Mode 0x3009 UINT 0 0 1 - RW

12299 0x300B IO Signal Configuration 0x300A UINT 0 0 5 - RW

12300 0x300C REGT Configuration 0x300B UINT 0 0 5 RW

15-47
 15. Communication Protocol

12302 0x300E Electric Gear Numerator 1 0x300C UDINT 1 1 2147483647 RW

12304 0x3010 Electric Gear Numerator 2 0x300D UDINT 1 1 2147483647 RW

12306 0x3012 Electric Gear Numerator 3 0x300E UDINT 1 1 2147483647 RW

12308 0x3014 Electric Gear Numerator 4 0x300F UDINT 1 1 2147483647 RW

12310 0x3016 Electric Gear Denominator 1 0x3010 UDINT 1 1 2147483647 RW

12312 0x3018 Electric Gear Denominator 1 0x3011 UDINT 1 1 2147483647 RW

12314 0x301A Electric Gear Denominator 1 0x3012 UDINT 1 1 2147483647 RW

12316 0x301C Electric Gear Denominator 1 0x3013 UDINT 1 1 2147483647 RW

12318 0x301E Electric Gear Mode 0x3014 UINT 0 0 1 RW

12319 0x301F Electric Gear Offset 0x3015 INT 0 -32768 32767 RW

12320 0x3020 Position Limit Function 0x3016 UINT 0 0 1 RW

12321 0x3021 Backlash Compensation 0x3017 UINT 0 0 1000 RW

12322 0x3022 Homing Method 0x3018 INT 34 -128 127 RW

12324 0x3024 Home Offset 0x3019 DINT 0 -2147483648 2147483647 RW

Homing Speed during Search for UDINT RW

12326 0x3026 0x301A 500000 0 1073741824
Switch

12328 0x3028 Homing Speed during Search for Zero 0x301B UDINT 100000 0 1073741824 RW

12330 0x302A Homing Acceleration 0x301C UDINT 200000 0 1073741824 RW

12332 0x302C Following Error Window 0x301D UDINT 600000 0 1073741823 RW

12334 0x302E Following Error Timeout 0x301E UINT 0 0 65535 RW

12335 0x302F Velocity Window Time 0x301F UINT 0 0 65535 RW

12336 0x3030 Software Position Min Limit 0x3020 DINT -1000000000 -1073741824 1073741823 RW

12338 0x3032 Software Position Max Limit 0x3021 DINT 1000000000 -1073741824 1073741823 RW

12340 0x3034 Positive Torque Limit 0x3022 UINT 3000 0 5000 RW

12341 0x3035 Negative Torque Limit 0x3023 UINT 3000 0 5000 RW

12342 0x3036 Quick Stop Deceleration 0x3024 UDINT 2000 0 2147483647 RW

12544 0x3100 Index00 0x3100 - - - - - RW

12562 0x3112 Index01 0x3101 - - - - - RW

12580 0x3124 Index02 0x3102 - - - - - RW

12598 0x3136 Index03 0x3103 - - - - - RW

12616 0x3148 Index04 0x3104 - - - - - RW

12634 0x315A Index05 0x3105 - - - - - RW

15-48
 15. Communication Protocol

12652 0x316C Index06 0x3106 - - - - - RW

12670 0x317E Index07 0x3107 - - - - - RW

12688 0x3190 Index08 0x3108 - - - - - RW

12706 0x31A2 Index09 0x3109 - - - - - RW

12724 0x31B4 Index10 0x310A - - - - - RW

12742 0x31C6 Index11 0x310B - - - - - RW

12760 0x31D8 Index12 0x310C - - - - - RW

12778 0x31EA Index13 0x310D - - - - - RW

12796 0x31FC Index14 0x310E - - - - - RW

12814 0x320E Index15 0x310F - - - - - RW

12832 0x3220 Index16 0x3110 - - - - - RW

12850 0x3232 Index17 0x3111 - - - - - RW

12868 0x3244 Index18 0x3112 - - - - - RW

12886 0x3256 Index19 0x3113 - - - - - RW

12904 0x3268 Index20 0x3114 - - - - - RW

12922 0x327A Index21 0x3115 - - - - - RW

12940 0x328C Index22 0x3116 - - - - - RW

12958 0x329E Index23 0x3117 - - - - - RW

12976 0x32B0 Index24 0x3118 - - - - - RW

12994 0x32C2 Index25 0x3119 - - - - - RW

13012 0x32D4 Index26 0x311A - - - - - RW

13030 0x32E6 Index27 0x311B - - - - - RW

13048 0x32F8 Index28 0x311C - - - - - RW

13066 0x330A Index29 0x311D - - - - - RW

13084 0x331C Index30 0x311E - - - - - RW

13102 0x332E Index31 0x311F - - - - - RW

13120 0x3340 Index32 0x3120 - - - - - RW

13138 0x3352 Index33 0x3121 - - - - - RW

13156 0x3364 Index34 0x3122 - - - - - RW

13174 0x3376 Index35 0x3123 - - - - - RW

13192 0x3388 Index36 0x3124 - - - - - RW

13210 0x339A Index37 0x3125 - - - - - RW

13228 0x33AC Index38 0x3126 - - - - - RW

13246 0x33BE Index39 0x3127 - - - - - RW

13264 0x33D0 Index40 0x3128 - - - - - RW

13282 0x33E2 Index41 0x3129 - - - - - RW

15-49
 15. Communication Protocol

13300 0x33F4 Index42 0x312A - - - - - RW

13318 0x3406 Index43 0x312B - - - - - RW

13336 0x3418 Index44 0x312C - - - - - RW

13354 0x342A Index45 0x312D - - - - - RW

13372 0x343C Index46 0x312E - - - - - RW

13390 0x344E Index47 0x312F - - - - - RW

13408 0x3471 Index48 0x3130 - - - - - RW

13426 0x3472 Index49 0x3131 - - - - - RW

13444 0x3484 Index50 0x3132 - - - - - RW

13462 0x3496 Index51 0x3133 - - - - - RW

13480 0x34A8 Index52 0x3134 - - - - - RW

13498 0x34BA Index53 0x3135 - - - - - RW

13516 0x34CC Index54 0x3136 - - - - - RW

13534 0x34DE Index55 0x3137 - - - - - RW

13552 0x34F0 Index56 0x3138 - - - - - RW

13570 0x3502 Index57 0x3139 - - - - - RW

13588 0x3514 Index58 0x313A - - - - - RW

13606 0x3526 Index59 0x313B - - - - - RW

13624 0x3538 Index60 0x313C - - - - - RW

13642 0x354A Index61 0x313D - - - - - RW

13660 0x355C Index62 0x313E - - - - - RW

13678 0x356E Index63 0x313F - - - - - RW

15-50
 15. Communication Protocol

15.4.10.1.1 Index00~Index63 Internal Variables Communication Addresses

Index00~Index63 have internal variables including IndexType, Distance, Velocity, Acceleration,
Deceleration, RegDistance, RegVelocity, RepeatCount, DwellTime, Next Index and Action. Internal
communication addresses take increased values based on index communication addresses.
Communication Address
Minimum Maximum
Decimal Hexadecimal Parameter Names Variable Types Units Accessibility
Values Values
Numbers Numbers

Index Index Number of Entries UINT16 - - - RW

Index+1 Index+0x01 IndexType UINT16 0 10 - RW

Index+2 Index+0x02 Distance INT32 -2147483648 2147483647 UU RW

Index+4 Index+0x04 Velocity INT32 1 2147483647 UU/s RW

Index+6 Index+0x06 Acceleration INT32 1 2147483647 UU/s2 RW

Index+8 Index+0x08 Deceleration INT32 1 2147483647 UU/s2 RW

Index+10 Index+0x0A RegDistance INT32 -2147483648 2147483647 UU RW

Index+12 Index+0x0C RegVelocity INT32 1 2147483647 UU/s2 RW

Index+14 Index+0x0E RepeatCount UINT16 1 65535 - RW

Index+15 Index+0x0F DwellTime UINT16 0 65535 ms RW

Index+16 Index+0x10 Next Index UINT16 0 63 - RW

Index+17 Index+0x11 Action UINT16 0 2 - RW

ex) internal variables of index 00

Communication Address
Minimum Maximum
Parameter Names Variable Types Units Accessibility
Decimal Hexadecimal Values Values
Numbers Numbers

12544 0x3100 Number of Entries UINT16 - - - RW

12545 0x3101 IndexType UINT16 0 10 - RW

12546 0x3102 Distance INT32 -2147483648 2147483647 UU RW

12548 0x3104 Velocity INT32 1 2147483647 UU/s RW

12550 0x3106 Acceleration INT32 1 2147483647 UU/s2 RW

12552 0x3108 Deceleration INT32 1 2147483647 UU/s2 RW

12554 0x310A RegDistance INT32 -2147483648 2147483647 UU RW

12556 0x310C RegVelocity INT32 1 2147483647 UU/s2 RW

15-51
 15. Communication Protocol

15.4.10.1.2 Index00~Index63 Internal Variables Communication Addresses

Index00~Index63 have internal variables including IndexType, Distance, Velocity, Acceleration,
Deceleration, RegDistance, RegVelocity, RepeatCount, DwellTime, Next Index and Action. Internal
communication addresses take increased values based on index communication addresses.
Communication Address
Minimum Maximum
Decimal Hexadecimal Parameter Names Variable Types Units Accessibility
Values Values
Numbers Numbers

Index Index Number of Entries UINT16 - - - RW

Index+1 Index+0x01 IndexType UINT16 0 10 - RW

Index+2 Index+0x02 Distance INT32 -2147483648 2147483647 UU RW

Index+4 Index+0x04 Velocity INT32 1 2147483647 UU/s RW

Index+6 Index+0x06 Acceleration INT32 1 2147483647 UU/s2 RW

Index+8 Index+0x08 Deceleration INT32 1 2147483647 UU/s2 RW

Index+10 Index+0x0A RegDistance INT32 -2147483648 2147483647 UU RW

Index+12 Index+0x0C RegVelocity INT32 1 2147483647 UU/s2 RW

Index+14 Index+0x0E RepeatCount UINT16 1 65535 - RW

Index+15 Index+0x0F DwellTime UINT16 0 65535 ms RW

Index+16 Index+0x10 Next Index UINT16 0 63 - RW

Index+17 Index+0x11 Action UINT16 0 2 - RW

ex) internal variables of index 00

Communication Address
Minimum Maximum
Parameter Names Variable Types Units Accessibility
Decimal Hexadecimal Values Values
Numbers Numbers

12544 0x3100 Number of Entries UINT16 - - - RW

12545 0x3101 IndexType UINT16 0 10 - RW

12546 0x3102 Distance INT32 -2147483648 2147483647 UU RW

12548 0x3104 Velocity INT32 1 2147483647 UU/s RW

12550 0x3106 Acceleration INT32 1 2147483647 UU/s2 RW

12552 0x3108 Deceleration INT32 1 2147483647 UU/s2 RW

12554 0x310A RegDistance INT32 -2147483648 2147483647 UU RW

12556 0x310C RegVelocity INT32 1 2147483647 UU/s2 RW

12558 0x310E RepeatCount UINT16 1 65535 - RW

12559 0x310F DwellTime UINT16 0 65535 ms RW

12560 0x3110 Next Index UINT16 0 63 - RW

12561 0x3111 Action UINT16 0 2 - RW

15-52
 16. Product Features

16. Product Features

16.1 Servo Motor

16.1.1 Product Features

■ Heat Sink Specifications

Item Dimensions (mm) Item

AP04 250x250x6

AP06 250x250x6 Aluminum

AP08 250x250x12

※ The product specifications are based on the measurement data obtained after mounting the heat sink.

※ IP grade products do not include the shaft penetration part.

※ IP grade is not guaranteed for any gearbox attached.

※ When a cable is bent by more than the specified bending rate, it may not qualify for the specified IP grade.

※ Use only the dedicated heat sink cables to satisfy the specified IP grade conditions.

16-1
 16. Product Features

■ Product Features [200V]

Servo Motor Type (APM-) FALR5A FAL01A FAL015A FBL01A FBL02A FBL04A

Applicable Drive (L7□A□□) L7□A001 L7□A002 L7□A001 L7□A002 L7□A004

Rated output [kW] 0.05 0.10 0.15 0.10 0.20 0.40

[Nm] 0.16 0.32 0.48 0.32 0.64 1.27

Rated torque
[kgfcm] 1.62 3.25 4.87 3.25 6.49 12.99

Maximum [Nm] 0.48 0.96 1.43 0.96 1.91 3.82

instantaneous
torque [kgfcm] 4.87 9.74 14.62 9.74 19.48 38.96

Rated current [A]Φ.ac.rms 0.95 1.25 1.52 0.95 1.45 2.60

Peak current [A]Φ.ac.rms 2.85 3.75 4.56 2.85 4.35 7.80

Rated rotation [r/min] 3000

velocity
Maximum rotation [r/min] 5000
velocity
[kgm²x10¯⁴] 0.023 0.042 0.063 0.091 0.147 0.248
Moment of inertia
[gfcms²] 0.024 0.043 0.065 0.093 0.150 0.253

Permitted load inertia Motor inertia x 30 Motor inertia x 20

Rated power rate [kW/s] 10.55 23.78 36.19 11.09 27.60 27.07

Standard Serial Single-Turn Built – in Type (17bit)

Velocity,
S
position detector Option x

Protection method Fully enclosed self-cooling IP67 (excluding shaft penetration part)

Time rating Continuous

Ambient Use temperature: 0~40 [°C], maintenance temperature: -10~60 [°C]

Specifications and temperature
features
Ambient humidity Use humidity: 80[%] RH, maintenance humidity: 90[%] RH or lower (no condensation)

Atmosphere No direct sunlight or corrosive or combustible gas

Anti-vibration Vibration acceleration 49 [m/s2] (5G)

Weight [kg] 0.31 0.45 0.61 0.54 0.72 1.04

Rotation velocity - Torque characteristics [■: 3-phase AC200V , ■: 3-phase AC230V]

Repeatedly used area Repeatedly used area Repeatedly used area

continually used area continually used area continually used area

Repeatedly used area Repeatedly used area Repeatedly used area

continually used area continually used area continually used area

16-2
 16. Product Features

■ Product Features [200V]

Servo Motor Type (APM-) FCL04A FCL06A FCL08A FCL10A

Applicable Drive (L7□A□□) L7□A004 L7□A008 L7□A010

Rated output [kW] 0.40 0.60 0.75 1.00

[Nm] 1.27 1.91 2.39 3.18

Rated torque
[kgfcm] 12.99 19.49 24.36 32.48

Maximum [Nm] 3.82 5.73 7.16 9.55

instantaneous
torque [kgfcm] 38.98 58.47 73.08 97.44

Rated current [A]Φ.ac.rms 2.58 3.81 5.02 5.83

Peak current [A]Φ.ac.rms 7.75 11.42 15.07 17.50

Rated rotation [r/min] 3000
velocity
Maximum rotation [r/min] 5000
velocity
[kgm²x10¯⁴] 0.530 0.897 1.264 1.632
Moment of inertia
[gfcms²] 0.541 0.915 1.290 1.665

Permitted load inertia Motor inertia x 15

Rated power rate [kW/s] 30.60 40.66 45.09 62.08

Standard Serial Single-Turn Built – in Type (17bit)

Velocity,
position detector Option x

Protection method Fully enclosed self-cooling IP67 (excluding shaft penetration part)

Time rating Continuous

Ambient Use temperature: 0~40 [°C], maintenance temperature: -10~60 [°C]

Specifications and temperature
features
Ambient humidity Use humidity: 80[%] RH, maintenance humidity: 90[%] RH or lower (no condensation)

Atmosphere No direct sunlight or corrosive or combustible gas

Anti-vibration Vibration acceleration 49 [m/s2] (5G)

Weight [kg] 1.49 2.11 2.65 3.27

Rotation velocity - Torque characteristics [■: 3-phase AC200V , ■: 3-phase AC230V]

Repeatedly used area Repeatedly used area

Repeatedly used area

continually used area continually used area continually used area

Repeatedly used area

continually used area

16-3
 16. Product Features

■ Product Features [200V]

Servo Motor Type (APM-) FCL03D FCL05D FCL06D FCL07D

Applicable Drive (L7□A□□) L7□A004 L7□A008

Rated output [kW] 0.30 0.45 0.55 0.65

[Nm] 1.43 2.15 2.63 3.10

Rated torque
[kgfcm] 14.62 21.92 26.80 31.67

Maximum [Nm] 4.30 6.45 7.88 9.31

instantaneous
torque [kgfcm] 43.85 65.77 80.39 95.01

Rated current [A]Φ.ac.rms 2.50 3.05 3.06 3.83

Peak current [A]Φ.ac.rms 7.51 9.16 9.18 11.50

Rated rotation [r/min] 2000
velocity
Maximum rotation [r/min] 3000
velocity
[kgm²x10¯⁴] 0.530 0.897 1.264 1.63
Moment of inertia
[gfcms²] 0.541 0.915 1.290 1.66

Permitted load inertia Motor inertia x 15

Rated power rate [kW/s] 38.73 51.47 54.56 59.03

Standard Serial Single-Turn Built – in Type (17bit)

Velocity,
position detector Option x

Protection method Fully enclosed self-cooling IP67 (excluding shaft penetration part)

Time rating Continuous

Ambient Use temperature: 0~40 [°C], maintenance temperature: -10~60 [°C]

Specifications and temperature
features
Ambient humidity Use humidity: 80[%] RH, maintenance humidity: 90[%] RH or lower (no condensation)

Atmosphere No direct sunlight or corrosive or combustible gas

Anti-vibration Vibration acceleration 49 [m/s2] (5G)

Weight [kg] 1.23 2.09 2.63 2.75

Rotation velocity - Torque characteristics [■: 3-phase AC200V , ■: 3-phase AC230V]

Repeatedly used area Repeatedly used area Repeatedly used area

continually used area continually used area continually used area

Repeatedly used area

continually used area

16-4
 16. Product Features

■ Electronic Brake Specifications

Applicable Motor Series FAL FBL FCL

Purpose Maintenance Maintenance Maintenance

Input voltage [V] DC 24V DC 24V DC 24V

Statical friction torque [N•m] 0.32 1.47 3.23

Capacity [W] 6 6.5 9

Coil resistance [Ω] 96 89 64

Rated current [A] 0.25 0.27 0.38

Braking method Spring brake Spring brake Spring brake

Insulation grade Grade F 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 a stop. Never use them for absolute braking.

Note 3) The characteristics of the electric brakes were measured at 20°C.

Note 4) These brake specifications are subject to change. Check the voltage specifications shown on your specific motor.

Note 5) FAL, FBL, FCL Series brakes satisfy UL specification class 2.

16-5
 16. Product Features

16.1.2 External View

■ FAL Series | APM – FALR5A

APM – FAL01A

APM – FAL015A

Brake Connector Encoder Connector

Power Connector
2-Ø4.5
penetration
PCD46±0.12

19.7
0.04 A

20
18
Ø30-0.021
0
40

Ø8-0.009
0

40 2.5 5 "LA"
A
0.04 "LC" 36.4
0.04 A

25 "LM±0.5"

"L±0.5"

Pin No. Signal Pin No. Signal

Pin No. Phase
1 MA 6 /MA
1 U Pin No. Phase
1 2 3 4 5 2 SLO 7 /SLO
2 V 1 2 1 BK+
3 - 8 -
3 W 6 7 8 9 2 BK-
4 0V 9 +5V
PE FG
5 Shield

<Power connector pin arrangement> <Encoder connector pin arrangement> <Brake connector pin arrangement>

External Dimensions
Model Name Weight (kg)
L LM LC LA

FALR5A 103.2 (139.6) 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 24 [V] for the power to open the brake.

Note 2) The size in parentheses is of an attachable brake.

Note 3) Connect the power cable first when connecting an FAL product.

16-6
 16. Product Features

■ FBL Series | APM – FBL01A, FBL02A, FBL04A (17 bit magnetic encoder)

"W"

"U"

"T"
(Detail diagram of shaft end)

Power Connector Brake Connector Encoder Connector

4- 6
penetration
PCD 70±0.12
0.04 A

22.5

Ø50 -0.025
0
62

Ø14 -0.018
0

A 3 6
62
0.02 "LC" 40.2
0.04 A

30 "LM"±0.5

"L"±0.5

<When the cable withdraw direction is the opposite of the shaft>

Pin No. Signal Pin No. Signal

Pin No. Phase
1 MA 6 /MA
1 U Pin No. Phase
1 2 3 4 5 2 SLO 7 /SLO
2 V 1 2 1 BK+
3 - 8 -
3 W 6 7 8 9 2 BK-
4 0V 9 +5V
PE FG
5 Shield

<Power connector pin arrangement> <Encoder connector pin arrangement> <Brake connector pin arrangement>
Key
Model External Dimensions
Dimensions Weight (kg)
Name
L LM LC S H T W U

FBL01A 101.2 (141.2) 71.2 (111.2) 48.5 (48.3) 14 -0.018 5 5 3 0.54 (1.28)

FBL02A 112.2 (152.2) 82.2 (122.2) 59.5 (59.3) 14 -0.018 5 5 3 0.72 (1.46)

FBL04A 132.2 (172.2) 102.2 (142.2) 79.5 (79.3) 14 -0.018 5 5 3 1.04 (1.78)

Note 1) Use DC 24 [V] for the power to open the brake.

Note 2) The size in parentheses is of an attachable brake.

16-7
 16. Product Features

■ FCL Series | APM - FCL04A, FCL03D, FCL06A, FCL05D, FCL08A, FCL06D,APM - FCL10A, FCL07D

(17 bit magnetic encoder)

"W"

"U"
"T"

(Detail diagram of shaft end)

4- 6.6
Power Connector Brake Connector Encoder Connector
penetration
PCD 90±0.12

0.04 A
36

25
Ø70 -0.030
0
80

ØS "H"
0

A 3 10
80 0.02
"LC" 40.5
0.04 A

40 "LM"±0.5
"L"±0.5

<When the cable withdraw direction is the opposite of the shaft>

Pin No. Signal Pin No. Signal
Pin No. Phase
1 MA 6 /MA
1 U Pin No. Phase
1 2 3 4 5 2 SLO 7 /SLO
2 V 1 2 1 BK+
3 - 8 -
3 W 6 7 8 9 2 BK-
4 0V 9 +5V
PE FG
5 Shield

<Power connector pin arrangement> <Encoder connector pin arrangement> <Brake connector pin arrangement>

External Dimensions Key Dimensions

Model Name Weight (kg)
L LM LC S H T W U
FCL04A,
132.7 (173) 92.7 (133) 70 (69.8) 14 -0.018 5 5 3 1.49 (2.29)/1.23 (2.03)
FCL03D
FCL06A,
150.7 (191) 110.7 (151) 88 (87.8) 19 -0.021 6 6 3.5 2.11 (2.91)/2.09 (2.89)
FCL05D
FCL08A,
168.7 (209) 128.7 (169) 106 (105.8) 19 -0.021 6 6 3.5 2.65 (3.45)/2.63 (3.43)
FCL06D
FCL10A,
186.7 (227) 146.7 (187) 124 (123.8) 19 -0.021 6 6 3.5 3.27 (4.07)/2.75 (3.55)
FCL07D

주1) Use DC 24 [V] for the power to open the brake.

주2) The size in parentheses is of an attachable brake.

16-8
 16. Product Features

16.2 Servo Drive

16.2.1 Product Features

Model Name
L7CA001U L7CA002U L7CA004U L7CA008U L7CA010U
Item

Input Power Single-Phase AC200 ~ 230[V](-15 ~ +10[%]), 50 ~ 60[Hz]

Rated current [A] 1.4 1.7 3.0 5.2 6.75

Peak Current [A] 4.2 5.1 9.0 15.6 20.25
Quadrature (Incremental)
BiSS-B, BiSS-C (Absolute, Incremental)
Encoder Type

Velocity Control 1:5000 Maximum

Range
Frequency Maximum 1[kHz] (for a 19-bit serial encoder)
Response
±0.01[%] or lower (when the load changes between 0~100[%])
Velocity
Control Variation ±0.1[%]or lower (temperature 25±10[℃])
Performa
nce Acceleration/De Straight or S-curve acceleration/deceleration(possible to set the unit to 0~10,000[ms] or
celeration Time 0~1,000[ms])
Input frequency 1 [Mpps], line drive/200 [kbps], open collector
Input pulse Symbol+pulse series, CW+CCW, A/B phase
method
Communication ANSI/TIA/EIA-422 Standard
Standard

Communication MODBUS-RTU

RS422 Protocol
Communi Synchronization Asynchronous
cation Transmission 9600/19200/38400/57600 [bps]
Rate Possible to set in [0x3002]
Specificati
Transmission Up to 200[m]
ons Distance
Current 100[㎃] or lower
Consumption
Terminating External connector connected (CN1 7Pin, 28Pin), Built-in 120Ω
Resistance
Input voltage range: DC 12[V] ~ DC 24 [V]
10 input channels in total (assignable)

Possible to selectively assign up to 34 functions

Digital
(*SV_ON, *SPD1/LVSF1, *SPD2/LVSF2, *SPD3, *A-RST, *JDIR, *POT, *NOT, *EMG, *STOP,
Input/Out
Digital Input
START, REGT, HOME, HSTART, ISEL0, ISEL1, ISEL2, ISEL3, ISEL4, ISEL5, PCON, GAIN2,
put
P_CL, N_CL, MODE, PAUSE, ABSRQ, JSTART , PCLR, AOVR, INHIBIT, EGEAR1, EGEAR2,

ABS_RESET)

Note) * Indicates signals assigned by default.

16-9
 16. Product Features

Rated voltage and current: DC 24[V] ±10%, 120[㎃]

5 out of 8 channels are assignable 3 channels are fixed with AL00, AL01, AL02 signals.

Possible to selectively assign up to 19 outputs

Digital Output
(*ALARM, *READY, *ZSPD±, *BRAKE, *INPOS1, ORG, EOS, TGON, TLMT, VLMT, INSPD,

WARN, INPOS2, IOUT0, IOUT1, IOUT2, IOUT3, IOUT4, IOUT5)

Note) * Indicates signals assigned by default

2 input channels in total
Analog velocity input (Command/Override) -10[V] ~ +10[V]
Analog Input
Analog torque input (Command/Limit) -10[V] ~ +10[V]

Firmware download, parameter setting, adjustment, auxiliary functions and parameter copy
USB Function
function.
Communi Communication Compliant with the USB 2.0 Full Speed standard
Standard
cation Connectible PC or USB storage medium
Device
Dynamic Standard built-in (activated when the servo alarm goes off or when the servo is off)
Braking
Regenerative External installation possible
Braking
Built-in 7 segments (5 DIGITS)
Display Function
Function Add-on
Gain adjustment, alarm history, jog operation, home search
Functions
Overcurrent, overload, current limit over, overheat, overvoltage, undervoltage, encoder error,
Protection
Function position following error, current sensing error, etc.
Operating 0~50[℃]
Temperature
/-20~65[℃]
/Maintenance

Use Temperature
Environm Operating 80[%] RH or lower (No condensation)
Humidity
ent /90[%] RH or lower (No condensation)
/Maintenance

Humidity

Others Indoor areas free from corrosive or combustible gases, liquids, or conductive dust

16-10
 16. Product Features

16.2.2 External View

 L7CA001□~L7CA004□

★ Weight: 1.0[kg]

 L7□A008□ / L7□A010□

★ Weight: 1.5 [kg] (including the cooling fan)

16-11
 16. Product Features

16.3 Options and Peripheral Devices

■ Option Specification (Incremental Encoder Cable)

Classificat Product Low capacity serial encoder cable for flat motor (single-
For Signals
ion Name turn)

Model
APCS- EES (Front Direction)/ Applicable
Name All APM-FBL/FCL SERIES S-turn models
APCS- EES-R (Rear Direction) Motor
(Note 1)
Motor Side Connector Dirve Side Connector

Prod uct
typ e

Pin Enco der Pin Enco der

Pin Enco der Pin Enco der No. Signal No. Signal
No. Signal No. Signal 1 - 8 -
1 6 5 1 MA 6 /MA 2 - 9 -

14
2 7 9 4
Specificati 3 8 8 3
2 SLO 7 /SLO 3 MA 10 -
4 9 7 2
5 6 1 4 /MA 11 -
3 - 8 -
1
5 SLO 12 -

8
on 4 0V 9 +5V 6 /SLO 13 -
Front Rear 5 SHIELD 7 0V 14 +5V
Direction Direction
Plate SHIELD

1 6 5
1. Motor Connection 2 7 9 4
a. CAP Model: 2201825-1 (Tyco) 3 8 8 3
b. SOCKET Model: 2174065-4 (Tyco) 4 9 7 2
2. Drive Connection (CN2) 5 6 1
a. CASE Model: 10314-52A0-008 (3M) or SM-14J (Suntone)
b. CONNECTOR Model: 10114-3000VE (3M) or SM-14J (Suntone) Fro nt Rear
3. Cable Model: 3Px0.2SQ or 3Px24AWG Directio n Directio n

Note 1)  in the model name indicates the type and length of the cable. Refer to the following table for the information.

Cable length (m) 3 5 10 20

Robot Cable F03 F05 F10 F20
Regular Cable N03 N05 N10 N20

16-12
 16. Product Features

■ Option Specifications (L series power cable- for L7C exclusively)

Product
Classification For main power Low capacity L Series power cable
Name

Model Name APCS- PLSC (Front Direction)/ Applicable

All APM-FAL/FBL/FCL Series models
(Note 1) APCS- PLSC-R (Rear Direction) Motors
Motor Side Connector Dirve Side Connector

Pr oduct
Model Name

Item Phase Pin No.

FG 3 2 1
FG 3 2 1

U 1
LEAD
V 2
WIRE
W 3
Specifications
FG FG 4

<Front Direction> <Re ar Direction>

1. Motor connection
a. PLUG model: SM-JN8FT04 (Suntone)
b. Socket model: SMS-201 (Suntone)
2. Drive connection (U, V, W, PE)
a. U, V and W pin model: 1506
b. PE pin model: 1.5x4 (ring terminal)
3. Cable model: 4Cx0.75SQ or 4Cx18AWG
4. Other: FAL products require encoder cable installation after power cable installation.
Note 1)  in the model name indicates the type and length of the cable. Refer to the following table for the information.

Cable length (m) 3 5 10 20

Robot Cable F03 F05 F10 F20
Regular Cable N03 N05 N10 N20

16-13
 16. Product Features

■ Option specification (Cable)

Item Product Model Name Applicable
Specifications
Name (Note 1) Drive

[PC - USB Port] [Servo drive– USB]

For Communicatio
APCS-CN5L7U L7 SERIES
signals n cable 1. PC Connection: USB A plug
a. Drive Connection (USB): Mini USB 5P Plug
b. Electrical requirements:
Double shield, twisted pair, attachable EMI filter
(Product for reference SANWA’s KU-AMB518)
Note 1)  in the model name indicates the cable length. Refer to the table below for how the lengths are

represented.

Cable length (m) 1 2 3 5

Designation 01 02 03 05

■ Option (Connector)
Item Product Model Name Applicable
Specifications
Name Drive

26 1 1

CN1
CN APC-CN1NNA L7 SERIES
Connector
50 25

2. CASE Model: 10350-52A0-008 (3M)

a. CONNECTOR Model: 10150-3000VE (3M)

8 1

ENCODER
CN APC-CN3NNA L7 SERIES
Connector
14 7

3. CASE Model: 10314-52A0-008 (3M)

a. CONNECTOR Model: 10114-3000VE (3M)

16-14
 16. Product Features

■ Option Specifications (Braking Resistance)

Item Product Model Name Applicable
Specifications
Name Drive

L7□A001□
Resist Braking
APCS-140R50 L7□A002□
ance Resistance
L7□A004□

Resist Braking L7□A008□

APCS-300R30
ance Resistance L7□A010□

16-15
 17. Test Drive

17. Test Drive

For a safe and proper test drive, make sure to check the following prior to a test drive. If there is
a problem, take appropriate measures before the test drive.

 Servo Motor State

Is the motor correctly installed and wired?

Is each connecting part correctly tightened without looseness?

For motors with oil seal, is there any damage on the oil seal?

Is oil properly applied?

To perform a test drive of a servo motor that has been stored for an extended period, make sure
to check the motor according to the maintenance and inspection method for the motor. For more
information on maintenance and inspection, refer to Section 14. “Maintenance and Inspection.”

 Servo Drive State

Is the drive correctly installed, wired and connected?

Is the power supply voltage for the servo drive correct?

17-1
 17. Test Drive

17.1 Preparation for Operation

Carry out a test drive in the following order.

Perform inspection and read precautions

before test drive.

Check input/output signals and connection to the

upper level controller.

For indexing position For pulse input position For speed For torque
operation operation operation operation

Perform test drive after combining the machine and servo motor.

Actual operation

Before a test drive, make sure that wiring between the upper device and servo drive as well as
the parameter settings of the servo drive are proper.

To use a Quadrature (Incremental) type motor or another company’s motor, set parameter motor
ID [0x2000], encoder type [0x2001], encoder pulse count per revolution [0x2002] and position
error range [0x301D] before the test drive.

17-2
 17. Test Drive

17.1.1 Indexing Position Operation

Order Handling Notes

Re-check the power and the input signal circuit and turn on the control power of
1
the servo drive.

3.2 Indexing Position

2 Set the value of Index 00~Index 63 for the index to operate.
Operation

For safety, enter a 1/10 of the intended value for Velocity and Registration
3
Velocity.

10.3 Electric Gear

Set electric gear ratio according to the upper device. When using the electric
Setup
4 gear and the STOP signal at the same time,
15.4.10 Index Related
adjust the value of Quick Stop Deceleration [0x3024].
Parameters

5 Turn on the main circuit power of the servo drive.

6 Turn on the SVON input signal.

7 Switch the START input signal from ON->OFF.

Check if the Distance and Registration Distance values set through the [0x2629]
8
position demand value are displayed.

Check the actual motor revolution count through the [0x262A] actual position
9
value.

Check if the servo motor has performed index operation in the requested
10
direction.

Turn off the SVON input signal, change Velocity and Registration Velocity to
11
intended values and re-perform order 6 to order 11.

12 Turn off the SVON input signal.

13

Inspection Objects Before Test Drive

Sub Variable PDO
Index Names Accessibility Unit
Index Types Assignment
0x2000 - Motor ID UINT RW No -

0x2001 - Encoder Type UINT RW No -

0x2002 - Encoder Pulse per Revolution UDINT RW No pulse

0x2003 - Node ID UINT RO No -

0x2004 - Rotation Direction Select UINT RW No -

0x2013 - Emergency Stop Configuration UINT RW No -

0x2110 - Torque Limit Function Select UINT RW No -

17-3
 17. Test Drive

0x2111 - External Positive Torque Limit Value UINT RW No -

0x2112 - External Negative Torque Limit Value UINT RW No -

0x2113 - Emergency Stop Torque UINT RW No 0.1%

0x211F - Drive Control Input 1 UINT RW No -

0x2120 - Drive Control Input 2 UINT RW No -

0x2121 - Drive Status Output 1 UINT RW No -

0x2121 - Drive Status Output 2 UINT RW No -

0x2200 - Digital Input Signal 1 Selection UINT RW No -

0x2201 - Digital Input Signal 2 Selection UINT RW No -

0x2202 - Digital Input Signal 3 Selection UINT RW No -

0x2203 - Digital Input Signal 4 Selection UINT RW No -

0x2204 - Digital Input Signal 5 Selection UINT RW No -

0x2205 - Digital Input Signal 6 Selection UINT RW No -

0x2206 - Digital Input Signal 7 Selection UINT RW No -

0x2207 - Digital Input Signal 8 Selection UINT RW No -

0x2208 - Digital Input Signal 9 Selection UINT RW No -

0x2209 - Digital Input Signal 10 Selection UINT RW No -

0x220A - Digital Output Signal 1 Selection UINT RW No -

0x220B - Digital Output Signal 2 Selection UINT RW No -

0x220C - Digital Output Signal 3 Selection UINT RW No -

0x220D - Digital Output Signal 4 Selection UINT RW No -

0x220E - Digital Output Signal 5 Selection UINT RW No -

Analog Torque Input (command/limit)
0x2210 - UINT RW No 0.1%/V
Scale
Analog Torque Input (command/limit)
0x2211 - INT RW No mV
Offset
0x220F - Analog Velocity Override Mode UINT RW No -
Analog Velocity Input
0x2215 - INT RW No mV
(command/override) Offset
0x240C - Modulo Factor DINT RW No -

0x3000 - Control Mode UINT RW No -

0x3001 - Coordinate Select UINT RW No -

0x3002 - Baud Rate Select UINT RW No -

0x3006 - Encoder Output Pulse UDINT RW No Pulse

- - - - - - -

0x3008 - Start Index Number (0~63) UINT RW No -

17-4
 17. Test Drive

0x3009 - Index Buffer Mode UINT RW No -

0x300A - IO Signal Configuration UINT RW No -

Sub Variable PDO

Index Names Accessibility Unit
Index Types Assignment
- Index 00 - - - -

0 Number of Entries USINT RO No -

1 Index Type UINT RW No -

2 Distance DINT RW No UU

3 Velocity DINT RW No UU/s

4 Acceleration DINT RW No UU/s2

0x3100 5 Deceleration DINT RW No UU/s2

6 Registration Distance DINT RW No UU

7 Registration Velocity DINT RW No UU/s

8 Repeat Count UINT RW No -

9 Dwell Time UINT RW No ms

10 Next Index UINT RW No -

11 Action UINT RW No -

0x3101 - Index01 - - - -

0x313F - Index 63 - - - -

17-5
 17. Test Drive

17.1.2 Pulse Input Position Operation

 Test Drive Procedure
Order Handling Notes
Re-check the power and the input signal circuit and turn on the control power
1
of the servo drive.

Set the logic of [0x3003] input pulse according to the pulse output format of the 5.1 Pulse Input Logic
2
upper device. Function Setting

10.3 Electric Gear

Set the command unit, then set the electric gear ratio according to the upper
device. Setup
3
When using the electric gear and the STOP signal at the same time, 15.4.10 Index Related
adjust the value of Quick Stop Deceleration [0x3024].
Parameters

4 Turn on the main circuit power of the servo drive.

5 Turn on the SVON input signal.

Output low-speed pulse commands at motor revolution counts that are easily
identifiable.
6
For safety, set the motor speed to 100[rpm] or below for the command pulse
velocity.
Check the command pulse count input through the [0x2629] position demand
7
values.
Check the actual motor revolution count through the [0x262A] actual position
8
value.
Check if the servo motor has performed index operation in the requested
9
direction.
Output pulse commands from the upper device at the speed requested by the
10
device.
Check the velocity, position demand value and actual position value of the
11
servo motor.
12 Pause the pulse commands and turn off the SVON input signal.

13

Objects Before Test Drive

PDO
Sub Variable Access
Index Names Assign Unit
Index Types ibility
ment

0x2000 - Motor ID UINT RW No -

0x2001 - Encoder Type UINT RW No -

0x2002 - Encoder Pulse per Revolution UDINT RW No pulse

0x2003 - Node ID UINT RO No -

17-6
 17. Test Drive

0x2004 - Rotation Direction Select UINT RW No -

0x2013 - Emergency Stop Configuration UINT RW No -

0x2110 - Torque Limit Function Select UINT RW No -

0x2111 - External Positive Torque Limit Value UINT RW No -

0x2112 - External Negative Torque Limit Value UINT RW No -

0x2113 - Emergency Stop Torque UINT RW No 0.1%

0x211F - Drive Control Input 1 UINT RW No -

0x2120 - Drive Control Input 2 UINT RW No -

0x2121 - Drive Status Output 1 UINT RW No -

0x2121 - Drive Status Output 2 UINT RW No -

0x2200 - Digital Input Signal 1 Selection UINT RW No -

0x2201 - Digital Input Signal 2 Selection UINT RW No -

0x2202 - Digital Input Signal 3 Selection UINT RW No -

0x2203 - Digital Input Signal 4 Selection UINT RW No -

0x2204 - Digital Input Signal 5 Selection UINT RW No -

0x2205 - Digital Input Signal 6 Selection UINT RW No -

0x2206 - Digital Input Signal 7 Selection UINT RW No -

0x2207 - Digital Input Signal 8 Selection UINT RW No -

0x2208 - Digital Input Signal 9 Selection UINT RW No -

0x2209 - Digital Input Signal 10 Selection UINT RW No -

0x220A - Digital Input Signal 10 Selection UINT RW No -

0x220B - Digital Output Signal 1 Selection UINT RW No -

17-7
 17. Test Drive

0x220C - Digital Output Signal 2 Selection UINT RW No -

PDO
Sub Variable Access
Index Names Assign Unit
Index Types ibility
ment

0x220D - Digital Output Signal 3 Selection UINT RW No -

0x220E - Digital Output Signal 4 Selection UINT RW No -

0x220F - Digital Output Signal 5 Selection UINT RW No -

0x3000 - Control Mode UINT RW No -

0x3001 - Coordinate Select UINT RW No -

0x3002 - Baud Rate Select UINT RW No -

0x3003 - Pulse Input Logic Select UINT RW No -

0x3004 - Pulse Input Filter Select UINT RW No -

0x3005 - PCLEAR Mode Select UINT RW No -

0x3006 - Encoder Output Pulse UDINT RW No Pulse

- - - - - - -

17-8
 17. Test Drive

17.1.3 Velocity Mode

 Test Drive Procedure
Order Handling Notes
Re-check the power and the input signal circuit and turn on the control power
1
of the servo drive.
Set the [0x231A] velocity command switch select function according to the 13.3 Manufacturer
2 control method.
Specific Objects.

Set the parameters for multi-step operation velocity and digital input signal
setting for control using digital input signals.
3 Set parameters for [0x2229] analog velocity command scale and [0x222A]
analog velocity command clamp level for analog velocity operation.
Set the value to 1/10 of the actual operation value.
4 Turn on the main circuit power of the servo drive.

5 Turn on the SVON input signal.

Give a command signal to the servo drive and compare the actual operation
6
velocity and the command speed.
Check if the servo motor has performed index operation in the requested
7
direction.

8 Output from the upper device at the speed requested by the device.

9 Check the velocity of the servo motor.

10 Pause the commands and turn off the SVON input signal.

PDO
Sub Variable Access
Index Names Assign Unit
Index Types ibility
ment

0x2000 - Motor ID UINT RW No -

0x2001 - Encoder Type UINT RW No -

0x2002 - Encoder Pulse per Revolution UDINT RW No pulse

0x2003 - Node ID UINT RO No -

0x2004 - Rotation Direction Select UINT RW No -

0x2013 - Emergency Stop Configuration UINT RW No -

0x2110 - Torque Limit Function Select UINT RW No -

0x2111 - External Positive Torque Limit Value UINT RW No -

17-9
 17. Test Drive

0x2112 - External Negative Torque Limit Value UINT RW No -

0x2113 - Emergency Stop Torque UINT RW No 0.1%

0x211F - Drive Control Input 1 UINT RW No -

0x2120 - Drive Control Input 2 UINT RW No -

0x2121 - Drive Status Output 1 UINT RW No -

0x2121 - Drive Status Output 2 UINT RW No -

0x2200 - Digital Input Signal 1 Selection UINT RW No -

0x2201 - Digital Input Signal 2 Selection UINT RW No -

0x2202 - Digital Input Signal 3 Selection UINT RW No -

0x2203 - Digital Input Signal 4 Selection UINT RW No -

0x2204 - Digital Input Signal 5 Selection UINT RW No -

0x2205 - Digital Input Signal 6 Selection UINT RW No -

0x2206 - Digital Input Signal 7 Selection UINT RW No -

0x2207 - Digital Input Signal 8 Selection UINT RW No -

0x2208 - Digital Input Signal 9 Selection UINT RW No -

0x2209 - Digital Input Signal 10 Selection UINT RW No -

0x220A - Digital Output Signal 1 Selection UINT RW No -

0x220B - Digital Output Signal 2 Selection UINT RW No -

0x220C - Digital Output Signal 3 Selection UINT RW No -

0x220D - Digital Output Signal 4 Selection UINT RW No -

0x220E - Digital Output Signal 5 Selection UINT RW No -

0x2210 - Analog Torque Input (command/limit) Scale UINT RW No 0.1%/V

17-10
 17. Test Drive

0x2211 - Analog Torque Input (command/limit) Offset INT RW No mV

0x220F - Analog Velocity Override Mode UINT RW No -

Analog Velocity Input (command/override)

0x2215 - INT RW No mV
Offset

0x2227 - Analog Velocity Command Filter Time Constant UINT RW No 0.1ms

0x222A - Analog Velocity Command Clamp Level UINT RW No rpm

0x2301 - Speed Command Acceleration Time UINT RW No ms

0x2302 - Speed Command Deceleration Time UINT RW No ms

0x2303 - Speed Command S-curve Time UINT RW No ms

0x230D - Speed Limit Function Select UINT RW No -

0x2312 - Multi-Step Operation Velocity 1 INT RW No rpm

0x2313 - Multi-Step Operation Velocity 2 INT RW No rpm

0x2314 - Multi-Step Operation Velocity 3 INT RW No rpm

0x2316 - Multi-Step Operation Velocity 5 INT RW No rpm

0x2317 - Multi-Step Operation Velocity 6 INT RW No rpm

0x2318 - Multi-Step Operation Velocity 7 INT RW No rpm

0x2319 - Multi-Step Operation Velocity 8 INT RW No rpm

0x231A - Velocity Command Switch Select UINT RW No -

0x3000 - Control Mode UINT RW No -

0x3002 - Baud Rate Select UINT RW No -

0x3006 - Encoder Output Pulse UDINT RW No Pulse

- - - - - - -

17-11
 17. Test Drive

17.1.4 Torque Operation

 Test Drive Procedure
Order Handling Notes
Re-check the power and the input signal circuit and turn on the control power
1
of the servo drive.
2 Set the [0x2210] analog torque command scale.

Set the speed limit value at [0x230E] torque control.

3
Set the value to 1/10 of the actual operation value.

4 Turn on the main circuit power of the servo drive.

5 Turn on the SVON input signal.

Apply analog voltage to the servo drive and check the velocity and command
6
torque.
Check if the servo motor has performed index operation in the requested
7
direction.

8 Output from the upper device at the speed requested by the device.

9 Check the velocity and command torque value of the servo motor.

10 Pause the commands and turn off the SVON input signal.

17-12
 17. Test Drive

PDO
Sub Variable Access
Index Name Assign Unit
Index Type ibility
ment

0x2000 - Motor ID UINT RW No -

0x2001 - Encoder Type UINT RW No -

0x2002 - Encoder Pulse per Revolution UDINT RW No pulse

0x2003 - Node ID UINT RO No -

0x2004 - Rotation Direction Select UINT RW No -

0x2013 - Emergency Stop Configuration UINT RW No -

0x2110 Index- Torque Limit Function Select UINT RW No -

0x2111 Index- External Positive Torque Limit Value UINT RW No -

0x2112 Index- External Negative Torque Limit Value UINT RW No -

0x2113 Index- Emergency Stop Torque UINT RW No 0.1%

0x211F - Drive Control Input 1 UINT RW No -

0x2120 - Drive Control Input 2 UINT RW No -

0x2121 - Drive Status Output 1 UINT RW No -

0x2121 - Drive Status Output 2 UINT RW No -

0x2200 - Digital Input Signal 1 Selection UINT RW No -

0x2201 - Digital Input Signal 2 Selection UINT RW No -

0x2202 - Digital Input Signal 3 Selection UINT RW No -

0x2203 - Digital Input Signal 4 Selection UINT RW No -

0x2204 - Digital Input Signal 5 Selection UINT RW No -

0x2205 - Digital Input Signal 6 Selection UINT RW No -

17-13
 17. Test Drive

0x2206 - Digital Input Signal 7 Selection UINT RW No -

0x2207 - Digital Input Signal 8 Selection UINT RW No -

0x2208 - Digital Input Signal 9 Selection UINT RW No -

0x2209 - Digital Input Signal 10 Selection UINT RW No -

0x220A - Digital Output Signal 1 Selection UINT RW No -

0x220B - Digital Output Signal 2 Selection UINT RW No -

0x220C - Digital Output Signal 3 Selection UINT RW No -

0x220D - Digital Output Signal 4 Selection UINT RW No -

0x220E - Digital Output Signal 5 Selection UINT RW No -

0x2210 - Analog Torque Input (command/limit) Scale UINT RW No 0.1%/V

0x2211 - Analog Torque Input (command/limit) Offset INT RW No mV

0x2228 - Analog Torque Command Filter Time Constant UINT RW No 0.1ms

0x2301 - Speed Command Acceleration Time UINT RW No ms

0x2302 - Speed Command Deceleration Time UINT RW No ms

0x2228 - Analog Torque Command Filter Time Constant UINT RW No 0.1ms

0x230E - Velocity Limit Value at Torque Control Mode UINT RW No -

0x3000 - Control Mode UINT RW No -

0x3002 - Baud Rate Select UINT RW No -

0x3006 - Encoder Output Pulse UDINT RW No Pulse

- - - - - - -

17-14
 18. Appendix

18. Appendix

18.1 Firmware Update

18.1.1 Using Drive CM

Drive CM allows you to upgrade the OS for the drive to the newest through the PC's USB port.
The transmission time depends on the PC performance, but it usually takes from tens of
seconds to several minutes.

From the top menu, select the “Setup”->"FIRMWARE UPGRADE”"OS Download" buttons.

 Precautions for Firmware Upgrade

 Do not turn off the PC or drive during transmission.

 Do not unplug the USB cable or close the firmware program during transmission.

 Do not run other applications on the PC during transmission.

 Since the parameter (object) setting values in the drive may be reset, save the drive
parameter (object) setting values before upgrade.

18-1
 18. Appendix

 Firmware Download

(1) Connect DriveCM.

(2) Click “Firmware Update” on the top-right corner of Drive CM.

(3) An upgrade pop-up window is generated and the applied version of the servo is displayed.

(4) Click the "Open Firmware Downloader" button.

18-2
 18. Appendix

(5) An upgrade window is generated.

(6) To load the appropriate firmware file, click the "Load" button.

(7) Select the BIN file of the firmware to transmit and press the Open button.

(8) "Total Length" and "Total Packet" of the loaded firmware are displayed.

18-3
 18. Appendix

(9) Press the "Start" button to start transmission. A count-down of 10 seconds is activated to clear the internal

memory in the drive. (Here, “Flash” is displayed for 7 segments for L7C.)

(10) After clearing, the firmware is transmitted automatically and the progress bar and "Current Packet" display the

current transmission status. (The transmission time depends on the PC performance, but it usually takes from

tens of seconds to several minutes.)

(11) When the transmission is completed, a pop-up saying "Transmission completed" is displayed.

(12) After completion of PC transmission, make sure to reboot the drive by turning off and on the power of the

drive.

In L7C, if you turn on the power again after Main Power Fail Check Time[0x2007] + 1.0[sec](approx. 1[Sec]),

an auto update is performed. You can view the update progress details on the segment window.

18-4
 18. Appendix

 When an Error Occurs During Transmission

(1) If the download cable is pulled off during servo firmware update, the update may be stopped.

(2) Turn off and on the drive power and repeat the above process from (2) to (12).

(3) If the above pop-up appears,

check the drive type.

18-5
 18. Appendix

18.2 Summary of Parameters

■ Basic Setting (0x2000~)
Acces Minimu
Parameter Initial Variable Maximum Variable
Parameter Names sibilit Units m
Numbers Values Types Values Attribute
y Values

0x2000 Motor ID 13 UINT RW - 1 9999 Power cycling

0x2001 Encoder Type 1 UINT RW - 0 2 Power cycling

0x2002 Encoder Pulse per Revolution 524288 UDINT RW pulse 0 1073741824 Power cycling

0x2003 Node ID 1 UINT RW 1 99 Power cycling

0x2004 Rotation Direction Select 0 UINT RW - 0 1 Power cycling

0x2005 Absolute Encoder Configuration 1 UINT RW - 0 2 Power cycling

0x2006 Main Power Fail Check Mode 0 UINT RW ms 0 255 Always

0x2007 Main Power Fail Check Time 20 UINT RW ms 0 5000 Always

0x2008 7SEG Display Selection 0 UINT RW - 0 100 Always

0x2009 Regeneration Brake Resistor Configuration 0 UINT RW - 0 1 Always

0x200A Regeneration Brake Resistor Derating Factor 100 UINT RW % 0 200 Always

0x200B Regeneration Brake Resistor Value 0 UINT RW ohm 0 1000 Always

0x200C Regeneration Brake Resistor Power 0 UINT RW watt 0 30000 Always

0x200D Peak Power of Regeneration Brake Resistor 100 UINT RW watt 1 50000 Always

Duration Time @ Peak Power of Regeneration Always

0x200E 5000 UINT RW ms 1 50000
Brake Resistor

0x200F Overload Check Base 100 UINT RW % 10 120 Always

0x2010 Overload Warning Level 50 UINT RW % 10 100 Always

0x2011 PWM Off Delay Time 10 UINT RW ms 0 1000 Always

0x2012 Dynamic Brake Control Mode 0 UINT RW - 0 3 Always

0x2013 Emergency Stop Configuration 1 UINT RW - 0 1 Always

0x2014 Warning Mask Configuration 0 UINT RW - 0 0xFFFF Always

0x2015 U Phase Current Offset 0 INT RW 0.10% -1000 1000 Always

0x2016 V Phase Current Offset 0 INT RW 0.10% -1000 1000 Always

0x2017 W Phase Current Offset 0 INT RW 0.10% -1000 1000 Always

0x2018 Magnetic Pole Pitch 2400 UINT RW 0.01mm 1 65535 Power cycling

0x2019 Linear Scale Resolution 1000 UINT RW nm 1 65535 Power cycling

0x201A Commutation Method 0 UINT RW - 0 4 Power cycling

18-6
 18. Appendix

0x201B Commutation Current 500 UINT RW 0.10% 0 1000 Always

0x201C Commutation Time 1000 UINT RW ms 500 5000 Always

0x201D Grating Period of Sinusoidal Encoder 40 UINT RW Um 1 65535 Power cycling

0x201E Homing Done Behavior 0 UINT RW - 0 1 Always

0x201F Velocity Function Select 0 UINT RW - 0 2 Always

0x2020 Motor Hall Phase Config. 0 UINT RW - 0 65535 Power cycling

■ Gain Adjustment (0x2100~)

Acces Minimu
Parameter Initial Variable Maximum
Parameter Names sibilit Units m Notes
Numbers Values Types Values
y Values

0x2100 Inertia Ratio 100 UINT RW % 0 3000 Always

0x2101 Position Loop Gain 1 50 UINT RW 1/s 1 500 Always

0x2102 Speed Loop Gain 1 75 UINT RW Hz 1 2000 Always

0x2103 Speed Loop Integral Time Constant 1 50 UINT RW ms 1 1000 Always

0x2104 Torque Command Filter Time Constant 1 5 UINT RW 0.1ms 0 1000 Always

0x2105 Position Loop Gain 2 30 UINT RW 1/s 1 500 Always

0x2106 Speed Loop Gain 2 50 UINT RW Hz 1 2000 Always

0x2107 Speed Loop Integral Time Constant 2 50 UINT RW ms 1 1000 Always

0x2108 Torque Command Filter Time Constant 2 5 UINT RW 0.1ms 0 1000 Always

0x2109 Position Command Filter Time Constant 0 UINT RW 0.1ms 0 10000 Always

Position Command Average Always

0x210A 0 UINT RW 0.1ms 0 10000
Filter Time Constant

0x210B Speed Feedback Filter Time Constant 5 UINT RW 0.1ms 0 10000 Always

0x210C Velocity Feed-forward Gain 0 UINT RW % 0 100 Always

0x210D Velocity Feed-forward Filter Time Constant 10 UINT RW 0.1ms 0 1000 Always

0x210E Torque Feed-forward Gain 0 UINT RW % 0 100 Always

0x210F Torque Feed-forward Filter Time Constant 10 UINT RW 0.1ms 0 1000 Always

0x2110 Torque Limit Function Select 2 UINT RW - 0 4 Always

0x2111 External Positive Torque Limit Value 3000 UINT RW 0.1% 0 5000 Always

0x2112 External Negative Torque Limit Value 3000 UINT RW 0.1% 0 5000 Always

0x2113 Emergency Stop Torque 1000 UINT RW 0.1% 0 5000 Always

0x2114 P/PI Control Conversion Mode 0 UINT RW - 0 4 Always

0x2115 P Control Switch Torque 500 UINT RW 0.1% 0 5000 Always

0x2116 P Control Switch Speed 100 UINT RW rpm 0 6000 Always

0x2117 P Control Switch Acceleration 1000 UINT RW rpm/s 0 60000 Always

0x2118 P Control Switch Following Error 100 UINT RW pulse 0 60000 Always

18-7
 18. Appendix

0x2119 Gain Conversion Mode 0 UINT RW - 0 7 Always

0x211A Gain Conversion Time 1 2 UINT RW ms 0 1000 Always

0x211B Gain Conversion Time 2 2 UINT RW ms 0 1000 Always

0x211C Gain Conversion Waiting Time 1 0 UINT RW ms 0 1000 Always

0x211D Gain Conversion Waiting Time 2 0 UINT RW ms 0 1000 Always

0x211E Dead Band for Position Control 0 UINT RW UU 0 1000 Always

0x211F Drive Control Input 1 0 UINT RW - 0 0xFFFF -

0x2120 Drive Control Input 2 0 UINT RW - 0 0xFFFF -

0x2121 Drive Status Output 1 0 UINT RO - 0 0xFFFF -

0x2122 Drive Status Output 2 0 UINT RO - 0 0xFFFF -

■ I/O Configuration (0x2200~)

Acces Minimu
Parameter Initial Variable Maximum
Parameter Names sibilit Units m Notes
Numbers Values Types Values
y Values

0x2200 Digital Input Signal 1 Selection 0x000F UINT RW - 0 0xFFFF Always

0x2201 Digital Input Signal 2 Selection 0x0020 UINT RW - 0 0xFFFF Always

0x2202 Digital Input Signal 3 Selection 0x0021 UINT RW - 0 0xFFFF Always

0x2203 Digital Input Signal 4 Selection 0x0022 UINT RW - 0 0xFFFF Always

0x2204 Digital Input Signal 5 Selection 0x000C UINT RW - 0 0xFFFF Always

0x2205 Digital Input Signal 6 Selection 0x001C UINT RW - 0 0xFFFF Always

0x2206 Digital Input Signal 7 Selection 0x0001 UINT RW - 0 0xFFFF Always

0x2207 Digital Input Signal 8 Selection 0x0002 UINT RW - 0 0xFFFF Always

0x2208 Digital Input Signal 9 Selection 0x000B UINT RW - 0 0xFFFF Always

0x2209 Digital Input Signal 10 Selection 0x0004 UINT RW - 0 0xFFFF Always

0x220A Digital Output Signal 1 Selection 0x8002 UINT RW - 0 0xFFFF Always

0x220B Digital Output Signal 2 Selection 0x0003 UINT RW - 0 0xFFFF Always

0x220C Digital Output Signal 3 Selection 0x0004 UINT RW - 0 0xFFFF Always

0x220D Digital Output Signal 4 Selection 0x8001 UINT RW - 0 0xFFFF Always

0x220E Digital Output Signal 5 Selection 0x0005 UINT RW - 0 0xFFFF Always

0x220F Analog Velocity Override Mode 0 UINT RW - 0 2 Always

0x2210 Analog Torque Input (command/limit) Scale 100 UINT RW 0.1%/V -1000 1000 Always

0x2211 Analog Torque Input (command/limit) Offset 0 INT RW mV -1000 1000 Always

0x2212 Analog Torque Command Clamp Level 0 UINT RW Rpm 0 1000 Always

0x2213 Analog Torque Command Filter Time Constant 2 UINT RW 0.1ms 0 1000 Always

0x2214 Analog Velocity Command Scale 100 INT RW rpm/V -1000 1000 Always

0x2215 Analog Velocity Input (command/override) Offset 0 INT RW mV -1000 1000 Always

0x2216 Analog Velocity Command Clamp Level 0 UINT RW Rpm 0 1000 Always

18-8
 18. Appendix

0x2217 Analog Velocity Command Filter Time Constant 2 UINT RW 0.1ms 0 1000 Always

■ Velocity Control (0x2300~)

Acces Minimu
Parameter Initial Variable Maximum
Parameter Names sibilit Units m Notes
Numbers Values Types Values
y Values

0x2300 Jog Operation Speed 500 INT RW rpm -6000 6000 Always

0x2301 Speed Command Acceleration Time 200 UINT RW ms 0 10000 Always

0x2302 Speed Command Deceleration Time 200 UINT RW ms 0 10000 Always

0x2303 Speed Command S-curve Time 0 UINT RW ms 0 1000 Always

0x2304 Program Jog Operation Speed 1 0 INT RW rpm -6000 6000 Always

0x2305 Program Jog Operation Speed 2 500 INT RW rpm -6000 6000 Always

0x2306 Program Jog Operation Speed 3 0 INT RW rpm -6000 6000 Always

0x2307 Program Jog Operation Speed 4 -500 INT RW rpm -6000 6000 Always

0x2308 Program Jog Operation Time 1 500 UINT RW ms 0 10000 Always

0x2309 Program Jog Operation Time 2 5000 UINT RW ms 0 10000 Always

0x230A Program Jog Operation Time 3 500 UINT RW ms 0 10000 Always

0x230B Program Jog Operation Time 4 5000 UINT RW ms 0 10000 Always

0x230C Index Pulse Search Speed 20 INT RW rpm -1000 1000 Always

0x230D Speed Limit Function Select 0 UINT RW - 0 3 Always

0x230E Velocity Limit Value at Torque Control Mode 1000 UINT RW rpm 0 6000 Always

0x230F Over Speed Detection Level 6000 UINT RW rpm 0 10000 Always

0x2310 Excessive Speed Error Detection Level 5000 UINT RW rpm 0 10000 Always

0x2311 Servo-Lock Function Select 0 UINT RW - 0 1 Always

0x2312 Multi-Step Operation Velocity 1 0 INT RW rpm -6000 6000 Always

0x2313 Multi-Step Operation Velocity 2 10 INT RW rpm -6000 6000 Always

0x2314 Multi-Step Operation Velocity 3 50 INT RW rpm -6000 6000 Always

0x2315 Multi-Step Operation Velocity 4 100 INT RW rpm -6000 6000 Always

0x2316 Multi-Step Operation Velocity 5 200 INT RW rpm -6000 6000 Always

0x2317 Multi-Step Operation Velocity 6 500 INT RW rpm -6000 6000 Always

0x2318 Multi-Step Operation Velocity 7 1000 INT RW rpm -6000 6000 Always

0x2319 Multi-Step Operation Velocity 8 1500 INT RW rpm -6000 6000 Always

0x231A Velocity Command Switch Select 0 UINT RW - 0 3 Always

■ Miscellaneous Setting (0x2400~)

Acces Minimu
Parameter Initial Variable Maximum
Parameter Names sibilit Units m Notes
Numbers Values Types Values
y Values

0x2400 Software Position Limit Function Select 0 UINT RW - 0 3 Always

18-9
 18. Appendix

0x2401 INPOS1 Output Range 100 UINT RW UU 0 60000 Always

0x2402 INPOS1 Output Time 0 UINT RW ms 0 1000 Always

0x2403 INPOS2 Output Range 100 UINT RW UU 0 60000 Always

0x2404 ZSPD Output Range 10 UINT RW rpm 0 6000 Always

0x2405 TGON Output Range 100 UINT RW rpm 0 6000 Always

0x2406 INSPD Output Range 100 UINT RW rpm 0 6000 Always

0x2407 BRAKE Output Speed 100 UINT RW rpm 0 6000 Always

0x2408 BRAKE Output Delay Time 100 UINT RW ms 0 1000 Always

0x2409 Torque Limit at Homing Using Stopper 250 UINT RW 0.10% 0 2000 Always

0x240A Duration Time at Homing Using Stopper 50 UINT RW ms 0 1000 Always

0x240B Modulo Mode 0 UINT RW - 0 5 Always

0x240C Modulo Factor 3600 DINT RW UU 1 1073741823 Power cycling

0x240D User Drive Name Drive STRING RW - Always

0x240E Individual Parameter Save 0 UINT RW - 0 1 Always

0x240F RMS Overload Calculation Time 15000 UINT RW ms 100 60000 Power cycling

0x2410 RTC Time Set 0 UDINT RW 0 4294967295 Always

0x2411 RTC Data Set 1507585 UDINT RW 0 4294967295 Always

■ Enhanced Control (0x2500~)

Acces Minimu
Parameter Initial Variable Maximum
Parameter Names sibilit Units m Notes
Numbers Values Types Values
y Values

0x2500 Adaptive Filter Function Select 0 UINT RW - 0 5 Always

0x2501 Notch Filter 1 Frequency 5000 UINT RW Hz 50 5000 Always

0x2502 Notch Filter 1 Width 1 UINT RW 1 100 Always

0x2503 Notch Filter 1 Depth 1 UINT RW - 1 5 Always

0x2504 Notch Filter 2 Frequency 5000 UINT RW Hz 50 5000 Always

0x2505 Notch Filter 2 Width 1 UINT RW 1 100 Always

0x2506 Notch Filter 2 Depth 1 UINT RW - 1 5 Always

0x2507 Notch Filter 3 Frequency 5000 UINT RW Hz 50 5000 Always

0x2508 Notch Filter 3 Width 1 UINT RW 1 100 Always

0x2509 Notch Filter 3 Depth 1 UINT RW - 1 5 Always

0x250A Notch Filter 4 Frequency 5000 UINT RW Hz 50 5000 Always

0x250B Notch Filter 4 Width 1 UINT RW 1 100 Always

0x250C Notch Filter 4 Depth 1 UINT RW - 1 5 Always

0x250D On-line Gain Tuning Mode 0 UINT RW - 0 1 Always

0x250E System Rigidity for Gain Tuning 5 UINT RW - 1 20 Always

0x250F On-line Gain Tuning Adaptation Speed 1 UINT RW - 1 5 Always

18-10
 18. Appendix

0x2510 Off-line Gain Tuning Direction 0 UINT RW - 0 1 Always

0x2511 Off-line Gain Tuning Distance 5 UINT RW - 1 10 Always

0x2512 Disturbance Observer Gain 0 UINT RW % 0 100 Always

0x2513 Disturbance Observer Filter Time Constant 10 UINT RW 0.1ms 0 1000 Always

0x2514 Current Controller Gain 100 UINT RW % 1 150 Always

0x2515 Vibration Suppression Filter Configuration 0 UINT RW - 0 5 Always

0x2516 Vibration Suppression Filter 1 Frequency 0 UINT RW 0.1Hz 0 2000 Always

0x2517 Vibration Suppression Filter 1 Damping 0 UINT RW - 0 5 Always

0x2518 Vibration Suppression Filter 2 Frequency 0 UINT RW 0.1Hz 0 2000 Always

0x2519 Vibration Suppression Filter 2 Damping 0 UINT RW - 0 5 Always

■ Monitoring (0x2600~)
Acces
Parameter Initial Variable Minimum Maximum
Parameter Names sibilit Units Notes
Numbers Values Types Values Values
y

0x2600 Feedback Velocity - INT RO rpm - - -

0x2601 Command Speed - INT RO rpm - - -

0x2602 Following Error - DINT RO pulse - - -

0x2603 Accumulated Operation Overload - INT RO 0.10% - - -

0x2604 Instantaneous Maximum Operation Overload - INT RO 0.10% - - -

0x2605 DC-Link Voltage - UINT RO Volt - - -

0x2606 Accumulated Regeneration Overload - INT RO 0.10% - - -

0x2607 Single-turn Data - UDINT RO pulse - - -

0x2608 Mechanical Angle - UINT RO 0.1deg - - -

0x2609 Electrical Angle - INT RO 0.1deg - - -

0x260A MultiTurn data - DINT RO rev - - -

0x260B Drive Temperature 1 - INT RO ℃ - - -

0x260C Drive Temperature 2 - INT RO ℃ - - -

0x260D Encoder Temperature - INT RO ℃ - - -

0x260E Motor Rated Speed - UINT RO rpm - - -

0x260F Motor Maximum Speed - UINT RO rpm - - -

0x2610 Drive Rated Current - UINT RO 0.1A - - -

0x2611 Hardware Version - STRING RO - - - -

0x2612 Hall Signal Display - UINT RO - - - -

0x2613 Bootloader Version - STRING RO - - - -

0x2614 Warning Code - UINT RO - - - -

0x2615 Analog Input 1 Value - INT RO mV - - -

0x2616 Analog Input 2 Value - INT RO mV - - -

18-11
 18. Appendix

0x2619 RMS Operation Overload - INT RO 0.1% - - -

0x261A Reserved -

0x261B Reserved -

0x261C Reserved -

0x261D Software Version STRING RO -

0x261E Pulse Input Frequency INT RO Kpps -32768 32767 -

0x261F Torque Limit Value INT RO 0.1% -32768 32767 -

0x2620 Digital Input Status UINT RO 0 65535 -

0x2621 Digital Output Status UINT RO 0 65535 -

0x2622 Current RTC Time UDINT RO 0 4294967295 -

0x2623 Current RTC Data UDINT RO 0 4294967295 -

0x2624 Position Demand Internal Value DINT RO pulse --2147483648 2147483647 -

0x2625 Position Actual Internal Value DINT RO --2147483648 2147483647 -

0x2626 Cumulative Hours of Use UDINT RO 0 4294967295 -

0x2627 Number of Inrush Current Switching DINT RO 0 4294967295 -

0x2628 Number of Dynamic Brake Switching DINT RO 0 4294967295 -

0x2629 Position Demand Value DINT RO UU --2147483648 2147483647 -

0x262A Position Actual Value DINT RO UU --2147483648 2147483647 -

0x262B Following Error Actual Value DINT RO UU --2147483648 2147483647 -

0x262C Torque Demand Value INT RO 0.1% -32768 32767 -

0x262D Torque Actual Value INT RO 0.1% -32768 32767 -

■ Third Party Motor Support (0x2800~)

Acces Minimu
Parameter Variable Maximum Variable
Parameter Names Initial Values sibilit Units m
Numbers Types Values Attribute
y Values

0x2800 [Third Party Motor] Type 0 UINT RW - 0 1 Power cycling

0x2801 [Third Party Motor] Number of Poles 8 UINT RW - 2 1000 Power cycling

0x2802 [Third Party Motor] Rated Current 2.89 FP32 RW Arms - - Power cycling

0x2803 [Third Party Motor] Maximum Current 8.67 FP32 RW - - - Power cycling

0x2804 [Third Party Motor] Rated Speed 3000 UINT RW rpm 1 60000 Power cycling

0x2805 [Third Party Motor] Maximum Speed 5000 UINT RW rpm 1 60000 Power cycling

0x2806 [Third Party Motor] Inertia 0.321 FP32 RW Kg.m2.10-4 - - Power cycling

0x2807 [Third Party Motor] Torque Constant 0.46 FP32 RW Nm/A - - Power cycling

0x2808 [Third Party Motor] Phase Resistance 0.82 FP32 RW ohm - - Power cycling

0x2809 [Third Party Motor] Phase Inductance 3.66 FP32 RW mH - - Power cycling

18-12
 18. Appendix

0x280A [Third Party Motor] TN Curve Data 1 3000 UINT RW rpm 1 60000 Power cycling

0x280B [Third Party Motor] TN Curve Data 2 100 FP32 RW % - - Power cycling

0x280C [Third Party Motor] Hall Offset 0 UINT RW deg 0 360 Power cycling

■ Index Objects (0x3000~)

Acces
Parameter Variable Minimum Maximum
Parameter Names Initial Values sibilit Units Notes
Numbers Types Values Values
y

0x3000 Control Mode 1 UINT RW - 0 9 Always

0x3001 Coordinate Select 0 UINT RW - 0 1 Always

0x3002 Baud Rate Select 3 UINT RW - 0 3 Always

0x3003 Pulse Input Logic Select 0 UINT RW - 0 5 Always

0x3004 Pulse Input Filter Select 0 UINT RW - 0 4 Always

0x3005 PCLEAR Mode Select 0 UINT RW - 0 2 Always

0x3006 Encoder Output Pulse 10000 UDINT RW pulse 0 2147483647 Always

0x3007 Encoder Output Mode 0 UINT RW - 0 1 Always

0x3008 Start Index Number (0~63) 0 UINT RW - 0 64 Always

0x3009 Index Buffer Mode 1 UINT RW - 0 1 Always

0x300A I/O Signal Configuration 0 UINT RW - 0 65535 Always

0x300B REGT Configuration 0 UINT RW - 0 5 Always

0x300C Electric Gear Numerator 1 1 UDINT RW - 1 2147483647 Always

0x300D Electric Gear Numerator 2 1 UDINT RW - 1 2147483647 Always

0x300E Electric Gear Numerator 3 1 UDINT RW - 1 2147483647 Always

0x300F Electric Gear Numerator 4 1 UDINT RW 1 2147483647 Always

0x3010 Electric Gear Denominator 1 1 UDINT RW - 1 2147483647 Always

0x3011 Electric Gear Denominator 1 1 UDINT RW - 1 2147483647 Always

0x3012 Electric Gear Denominator 1 1 UDINT RW - 1 2147483647 Always

0x3013 Electric Gear Denominator 1 1 UDINT RW - 1 2147483647 Always

0x3014 Electric Gear Mode 0 UINT RW - 0 1 Always

0x3015 Electric Gear Offset 0 INT RW - -32768 32767 Always

0x3016 Position Limit Function 0 UINT RW - 0 1 Always

0x3017 Backlash Compensation 0 UINT RW - 0 1000 Always

0x3018 Homing Method 34 SINT RW - -128 127 Always

0x3019 Home Offset 0 DINT RW -2147483648 2147483647 Always

18-13
 18. Appendix

0x301A Homing Speed during Search for Switch 500000 UDINT RW 0 1073741824 Always

0x301B Homing Speed during Search for Zero 100000 UDINT RW - 0 1073741824 Always

0x301C Homing Acceleration 200000 UDINT RW - 0 1073741824 Always

0x301D Following Error Window 600000 UDINT RW - 0 1073741823 Always

0x301E Following Error Timeout 0 UINT RW - 0 65535 Always

0x301F Velocity Window Time 0 UINT RW - 0 65535 Always

0x3020 Software Position Min Limit -1000000000 DINT RW - -1073741824 1073741823 Always

0x3021 Software Position Max Limit 1000000000 DINT RW - -1073741824 1073741823 Always

0x3022 Positive Torque Limit 3000 UINT RW - 0 5000 Always

0x3023 Negative Torque Limit 3000 UINT RW - 0 5000 Always

0x3024 Quick Stop Deceleration 200000 UDINT RW 0 2147483647 Always

18-14
Revision History

Version
Number Date Issued Revised Content Notes
Number

1 2018.07.19 New distribution 1.0

2 2020.05.30 Changed company name to ‘LS ELECTRIC’ 1.1

Function description modification, caution

3 2020.10.05 1.3
addition, miswriting correction

7
Product Warranty

L7C Series was produced using the strict quality control guidelines and testing procedures developed by technicians
of our company.
The warranty applies for 12 months after the date of installation. If the installation date is not specified, the warranty is
valid for 18 months after the date of manufacture. However, the terms of this warranty may change depending on the
terms of the contract. Be aware during purchase that the products in this manual are subject to discontinuation or
modifications without notice.

Free Technical Support

If the drive malfunctions under proper usage conditions and the product warranty is still valid, contact one of our
agencies or the designated service center. We will repair the product free of charge.

Paid Technical Support

We provide product repair at a cost in the following cases.

 The malfunction is a result of negligence on the part of the consumer.
 The malfunction is a result of inappropriate voltage or defects in the machines connected to the product.
 The malfunction is a result of an act of God(fire, flood, gas, earthquake, etc.)
 The product was modified or repaired by someone other than our agency or service center worker.
 The name tag of our company is not attached on the product.
 The warranty has expired.
※ After installing the servo, fill out this quality assurance form and send it to our quality assurance department(technical
support).
 www.lselectric.co.kr

■ Overseas Subsidiaries
■ Headquarter
• LS ELECTRIC Japan Co., Ltd. (Tokyo, Japan)
LS-ro 127(Hogye-dong) Dongan-gu, Anyang-si, Gyeonggi-Do, 14119,
Tel: 81-3-6268-8241 E-Mail: jschuna@lselectric.biz
Korea
• LS ELECTRIC (Dalian) Co., Ltd. (Dalian, China)
Tel: 86-411-8730-6495 E-Mail: jiheo@lselectric.com.cn
■ Seoul Office
• LS ELECTRIC (Wuxi) Co., Ltd. (Wuxi, China)
LS Yongsan Tower, 92, Hangang-daero, Yongsan-gu, Seoul, 04386,
Tel: 86-510-6851-6666 E-Mail: sblee@lselectric.co.kr
Korea
• LS ELECTRIC Shanghai Office (China)
Tel: 82-2-2034-4033, 4888, 4703 Fax: 82-2-2034-4588
Tel: 86-21-5237-9977 E-Mail: tsjun@lselectric.com.cn
E-mail: automation@lselectric.co.kr
• LS ELECTRIC Vietnam Co., Ltd.
Tel: 84-93-631-4099 E-Mail: jhchoi4@lselectric.biz (Hanoi)
■ Factory
Tel: 84-28-3823-7890 E-Mail: sjbaik@lselectric.biz (Hochiminh)
56, Samseong 4-gil, Mokcheon-eup, Dongnam-gu, Cheonan-si, • LS ELECTRIC Middle East FZE (Dubai, U.A.E.)
Chungcheongnam-do, 31226, Korea
Tel: 971-4-886-5360 E-Mail: salesme@lselectric.biz
• LS ELECTRIC Europe B.V. (Hoofddorf, Netherlands)
Tel: 31-20-654-1424 E-Mail: europartner@lselectric.biz
• LS ELECTRIC America Inc. (Chicago, USA)
Tel: 1-800-891-2941 E-Mail: sales.us@lselectricamerica.com

©2018. LS ELECTRIC Co., Ltd. All Rights Reserved.

ⓒ 2018 LS LEECTRIC Co., Ltd All Rights Reserved.

2020. 10