LiteOn ISA-7 Series User manual

Lite-On Technology Corp.
Industrial Automation
1
User Manual
ISA-7 Servo Drive series
Standard General Purpose Servo Drive Technical Manual

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Revision History

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Contents
CHAPTER 1 PANEL AND OPERATION...................................................................11
1.1. Product check.................................................................................................................................................. 11
1.2. Comparison of the product numbers .............................................................................................................. 12
1.2.1. Description for the name plate............................................................................................................................. 12
1.2.2. Description for the model number....................................................................................................................... 13
1.3. Name of each part in the servo drive............................................................................................................... 14
1.4. Operating mode............................................................................................................................................... 15
CHAPTER 2 STEPS FOR COMMISSIONING AND TUNING.............................16
2.1. Notes ................................................................................................................................................................ 16
2.2. Condition of the storage environment............................................................................................................. 16
2.3. Condition of installation environment ............................................................................................................ 16
2.4. Direction of and space for installation ............................................................................................................ 17
2.5. Recommended specifications for the circuit breaker and fuse ....................................................................... 20
2.6. EMI filter selection.......................................................................................................................................... 20
2.7. Selection for the regenerative resistor............................................................................................................. 23
CHAPTER 3 WIRING......................................................................................................24
3.1. Connection for the peripheral device and main power circuit ....................................................................... 24
3.1.1. Wiring diagram of the peripheral device............................................................................................................. 24
3.1.2. Connector and terminal of the drive.................................................................................................................... 26
3.1.3. Power wiring ....................................................................................................................................................... 27
3.1.4. Specifications for the U, V, W connectors of the motor...................................................................................... 28
3.1.5. Specifications regarding the connector for the leadwire of the encoder.............................................................. 29
3.1.6. Filament selection................................................................................................................................................ 31
3.2. Basic block diagram of the server system ....................................................................................................... 32
3.2.1. Models with the power equal to or below 200W (no built-in regenerative resistor or fan)................................. 32
3.2.2. 400W / 750W model (with regeneration resistor but no fan) .............................................................................. 33
3.2.3. 1kW ~ 2kW model (with regeneration resistor and fan) ..................................................................................... 34
3.3. CN1 I/O Signal wiring..................................................................................................................................... 35
3.3.1. CN1 I/O layout of the connector terminal ........................................................................................................... 35
3.3.2. CN1 I/O Connector signal ................................................................................................................................... 37
3.3.3. Interface wiring diagram (CN1) .......................................................................................................................... 42
3.3.4. User-specified DI and DO signals....................................................................................................................... 51
3.4. CN2 Wiring of the the encoder signal ............................................................................................................. 52
3.5. CN3 Wiring for the signal of the communication connector .......................................................................... 54

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3.6. CN5 Analog voltage output terminal .............................................................................................................. 55
3.7. Standard wiring............................................................................................................................................... 57
3.7.1. Standard wiring for the position mode ................................................................................................................ 57
3.7.2. Standard wiring for the speed mode .................................................................................................................... 58
3.7.3. Standard wiring for the torque mode................................................................................................................... 59
CHAPTER 4 PANEL AND OPERATION...................................................................60
4.1. Panel display and key description................................................................................................................... 60
4.2. Panel operating process................................................................................................................................... 61
4.3. Status display................................................................................................................................................... 63
4.3.1. Description for the display of status value........................................................................................................... 63
4.3.2. Display of storage setting .................................................................................................................................... 63
4.3.3. Display of decimal point...................................................................................................................................... 64
4.3.4. Display of the warning message.......................................................................................................................... 64
4.3.5. Monitoring display .............................................................................................................................................. 64
4.4. Operation of the general function ................................................................................................................... 65
4.4.1. Operation for displaying the record of the abnormal status................................................................................. 65
4.4.2. Operation for the jog mode.................................................................................................................................. 65
4.4.3. Enforced operation of the digital output.............................................................................................................. 67
4.4.4. Operation for the diagnosis of digital input......................................................................................................... 67
4.4.5. Operation for the diagnosis of digital output....................................................................................................... 69
CHAPTER 5 STEPS FOR COMMISSIONING AND TUNING.............................70
5.1. No-load detection............................................................................................................................................. 70
5.2. Power transmission for the drive .................................................................................................................... 71
5.3. No-load jog test................................................................................................................................................ 74
5.4. No-load speed test............................................................................................................................................ 75
5.5. Tuning steps..................................................................................................................................................... 76
5.5.1. Process of the tuning steps................................................................................................................................... 76
5.5.2. Flowchart of the tuning steps in the semi-auto gain mode .................................................................................. 76
5.5.3. Flowchart of the tuning steps in the automatic gain mode .................................................................................. 78
5.5.4. Manual adjustment of gain parameters................................................................................................................ 80
5.5.5. Relationship of the gain adjustment mode with the parameters .......................................................................... 81
5.5.6. Solutions for mechanical resonance .................................................................................................................... 82
CHAPTER 6 PARAMETERS AND FUNCTIONS....................................................83
6.1. Definitions of parameters................................................................................................................................ 83
6.2. Parameters overview....................................................................................................................................... 84
6.2.1. Parameter list....................................................................................................................................................... 84
6.2.2. Classification of the parameter function.............................................................................................................. 90
Parameters for the monitoring and the general output setting .................................................................................... 90
Parameters related to the filter smoothness and resonance suppression ..................................................................... 91

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Parameters related to gain and switch.......................................................................................................................... 92
Parameters related to the position control.................................................................................................................... 93
Parameters related to the speed control ....................................................................................................................... 94
Parameters related to the torque control...................................................................................................................... 95
Parameters for the planning of the digital I/O pin and for the setting related to the output....................................... 96
Communication parameters ......................................................................................................................................... 98
Diagnostic parameters .................................................................................................................................................. 99
6.3. Parameter description................................................................................................................................... 100
CHAPTER 7 CONTROL FUNCTION...................................................................... 156
7.1. Selection of operating mode .......................................................................................................................... 156
7.2. Position mode................................................................................................................................................. 157
7.2.1. Command of position mode .............................................................................................................................. 157
7.2.2. Control structure of the position mode ..............................................................................................................158
7.2.3. Electronic gear ratio........................................................................................................................................... 159
7.2.4. Adjustment for the gain of position circuit........................................................................................................ 160
7.3. Speed mode.................................................................................................................................................... 162
7.3.1. Selection of speed command ............................................................................................................................. 162
7.3.2. Control structure of the speed mode..................................................................................................................163
7.3.3. Smoothing of speed command...........................................................................................................................164
7.3.4. Proportioner at the analog command end ..........................................................................................................166
7.3.5. Timing diagram of speed mode......................................................................................................................... 168
7.3.6. Adjustment for the gain of speed circuit............................................................................................................ 169
7.3.7. Resonance suppression unit............................................................................................................................... 175
7.4. Torque mode.................................................................................................................................................. 182
7.4.1. Selection of torque command............................................................................................................................182
7.4.2. Control structure of the torque mode................................................................................................................. 183
7.4.3. Smoothing of torque command ......................................................................................................................... 184
7.4.4. Proportioner at the analog command end ..........................................................................................................184
7.4.5. Timing diagram of torque mode........................................................................................................................ 185
7.4.6. Mixed mode....................................................................................................................................................... 186
7.4.7. Position/speed mixed mode............................................................................................................................... 186
7.4.8. Position/torque mixed mode.............................................................................................................................. 186
7.4.9. Speed/torque mixed mode ................................................................................................................................. 186
7.5. Others ............................................................................................................................................................ 187
7.5.1. Use of the speed limit........................................................................................................................................ 187
7.5.2. Use of the torque limit....................................................................................................................................... 187
7.5.3. Analog monitoring............................................................................................................................................. 188
7.5.4. Use of the electromagnetic brake ......................................................................................................................189
7.5.5. Use of the electromagnetic brake ...................................................................................................................... 190
CHAPTER 8 COMMUNICATION MECHANISM................................................ 192
8.1. RS-485/RS-232 Communication hardware interface.................................................................................... 192

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8.2. RS-485/RS-232 Communication parameter setting...................................................................................... 193
8.3. MODBUS protocol ........................................................................................................................................ 195
CHAPTER 9 WARNING TROUBLESHOOTING................................................. 200
9.1. Drive Alarm List............................................................................................................................................ 200
9.2. Reason for and handling of the alarm........................................................................................................... 202
9.3. Alarm troubleshooting .................................................................................................................................. 206
CHAPTER 10 SPECIFICATIONS ............................................................................. 208
10.1. Standard specification for the servo drive .................................................................................................... 208
10.1.1. Outline dimension drawing (drive).................................................................................................................... 209
10.2. Standard specification for the servo motor................................................................................................... 210
10.2.1. Size of the motor fixed screw............................................................................................................................ 215
10.2.2. Outline dimension drawing (motor) .................................................................................................................. 216
10.2.3. NT characteristic diagram ................................................................................................................................. 222
CHAPTER 11 ABSOLUTE SERVO SYSTEM ............................................................... 225
11.1. Battery and cable for absolute servo ..................................................................................................... 225
11.1.1. Battery specification .....................................................................................................................................225
11.1.2. Battery case specification............................................................................................................................ 225
11.1.3. Absolute encoder cable ............................................................................................................................... 225
11.1.4. Battery case cable ......................................................................................................................................... 225
11.2. Installing ...................................................................................................................................................... 225
11.2.1. Battery case installing .................................................................................................................................. 225
11.2.2. Battery installing............................................................................................................................................ 225
11.2.3. Battery replacing ........................................................................................................................................... 225
11.3. Initialization and operation...................................................................................................................... 225
11.3.1. System and Initialization..............................................................................................................................225
11.3.2. Absolute pulse value ....................................................................................................................................227
11.3.3. PUU value........................................................................................................................................................ 228
11.3.4. Coordinate initialization by DI/DO............................................................................................................ 229
11.3.5. Initialization by parameter .......................................................................................................................... 230
11.3.6. Read absolute position by DI/DO.............................................................................................................. 230
11.3.7. Read absolute position by communication ............................................................................................ 231
11.4. Absolute encoder parameter setting ..................................................................................................... 232
11.5. Digital input definition(absolute encoder function) ........................................................................... 234

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11.6. Digital output definition(absolute encoder function) ........................................................................ 234
11.7. Absolute System Alarm List...................................................................................................................... 234
11.7.1. Reason for and handling of the alarm ...................................................................................................... 235
11.8. Display of status value............................................................................................................................... 237

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PREFACE
Thank you for using our product. The manual provides the information for the use of the ISA-7 servo
drive and motor.
The manual is provided as a reference for the following users:
Designer of the system integration for the machine
Personnel for installation or wiring
Personnel for commissioning and tuning
Personnel for maintenance or inspection
The content includes:
The steps for installation and inspection of the drive and motor
Description for the formation of wiring for the drive
Steps for commissioning
Introduction for the control function and the tuning method of the servo drive
Description for the parameter function
Description for the protocol
Method for inspection and maintenance
Troubleshooting
Explanation for the application example
Contact the dealer or our customer service center for any problem with our product.

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Safety precautions
The ISA-7 series is an open type servo drive that must be installed in a shielded control box for
operation. The drive uses precise feedback control and combines a digital signal processor (DSP) with
high-performance computing. It controls the IGBT to generate current output to drive the three-phase
permanent-magnet synchronous motor (PMSM) to achieve precise positioning.
The ISA-7 series can be used for industrial application. It is recommended to install it in the
distribution box specified in the manual. (The drive, filament and motor must be installed in an
environment that meets the minimum specifications for UL50 Type 1 or NEMA 250 Type 1.)
Acceptance inspection
The servo motor and drive must be used according to specified methods to avoid fire or
equipment breakdown.
Installation notes
It is prohibited to use the product in the place exposed to the steam, corrosive or flammable
gases, otherwise it may result in electric shock or fire.
Wiring notes
The earth terminal must be connected to Class 3 earthing (below 100Ω). Poor earthing may
cause electric shock or fire.
Do not connect the three-phase power supply to U, V and W motor output terminal;
otherwise it may result in personal injury or fire.
Secure the set screw of the power supply and motor output terminal, otherwise it may cause
fire.
Operation notes
Before the operation of the machinery equipment, the setting value must be adjusted
according to the user parameter of the machinery equipment. The machinery equipment
might lose control or breaks down if the setting value is not adjusted to the adequate setting
value.
Before the operation of the machine, check if the emergency button can be activated anytime
for shutdown.
It is prohibited to touch any motor part that is in rotation during motor operation, otherwise it
may result in personal injury.
To avoid accidents, separate the coupling from the belt of the machinery equipment and keep
them separate before the first commissioning.
When the servo motor and machinery equipment are connected and in operation, operating
error may result in the damage of the machinery equipment and occasional personal injury.
Strongly recommended: Test the operation of the servo motor under the unloaded condition
and connect the motor to the load afterwards to avoid danger.
Do not touch the radiator of the servo drive in operation, otherwise it may result in burn
injuries due to heat.

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Maintenance and inspection
Do not touch the interior of the servo drive and motor, otherwise it may cause electric shock.
Do not remove the drive panel when the power is on, otherwise it may result in electric
shock.
Do not touch the wiring terminal within 10 minutes after the power is off. The residual may
cause electric shock.
Do not remove the servo motor, otherwise it may cause electric shock or personal injury.
Do not change the wiring while the power is on, otherwise it may result in electric shock or
personal injury.
The installation, wiring, repair and maintenance of the servo drive and motor are only
allowed for qualified personnel specialized in electrical engineering.
Wiring of the main circuit
Do not thread the power and signal cable into the same channel or bind them. For wiring, the
distance between the power and signal cables must be above 30 cm (11.8 in.).
As for the signal cable and the encoder signal cable, use the multi-stranded twisted-pair
wires and multi-core shielded-pair wires. The length of the signal input cable is up to 3 m
(9.84 ft.); the length of the encoder signal cable is up to 20 m (65.62 ft.).
High power might remain in the interior of the servo drive after the power is off. Do not
touch the power supply terminal for 10 minutes. Check that the "CHARGE" indicator is off
before the inspection.
Wiring for the terminal block of the main circuit
Only insert one piece of wire into a wire socket of the terminal block.
As for wire insertion, do not short the core wire to the wire nearby.
Use the Y terminal to secure the thread of the core wire.
Check the wiring for accuracy before power on.

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Chapter 1Panel and Operation
1.1. Product check
Damages may be caused by negligence and during delivery when the product is purchased. Check the
following items.
Contact the factory or agent for the following.
Inspection item
Contents
Accuracy of the product
number
Check if the model number of the motor and drive is the same as the one
on the order. Refer to the subsequent chapters for the description of the
model number.
Smooth rotation of the
motor shaft
Turn the motor by hand. The motor operates normally if it can be rotated
smoothly.
Damage of the
appearance
Visually check the appearance of the product for damage.
The complete parts and components of the server should include:
A servo drive and motor
A power cable of the motor should be available. Connect the cable to the drive in the order of red (U),
white (V) and black (W). The green earth line is connected to the earth of the drive.
A signal cable for the motor encoder should be available. One end of the cable is connected to the
motor encoder and another end to the CN2 drive.
The 44PIN connector is used for CN1.
The 9PIN connector is used for CN2.
The 8PIN connector is used for CN3.

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1.2. Comparison of the product numbers
1.2.1. Description for the name plate
ISA-7 series servo drive
Description for the name plate
Product number
Power specifications
Input power specifications
Output power
specifications
The firmware version
Serial number for production control

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1.2.2. Description for the model number
Input power
Version
S: Standard version
Rated power
Series
7:7 series
Product type
Model of the electric machinery:
Output/rotor inertia
LMM101:100W / Medium inertia
LMA201:200W / Low inertia
LMH201:200W / High inertia
LMA401:400W / Low inertia
LMH401:400W / High inertia
LMA751:750W / Low inertia
LMH7S1:750W / High inertia
LMM102: 1kW / Medium inertia
LMH102:1kW / High inertia
LMM152:1.5kW / Medium inertia
LMH152:1.5kW / High inertia
LMM202:2kW / Medium inertia
Retention actuator
N: No actuator
A: DC24V actuator
Voltage specifications
Axle end specifications/oil seal
S: Straight shaft/without oil seal
K: key shaft/without oil seal
T: Straight shaft/oil seal
L: Key shaft/oil seal
Encoder
N: Incremental/17bit
A: Absolute/17bit
Management number

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1.3. Name of each part in the servo drive
Seven-segment display: It
has five digits and shows the
drive status or alarm.
Operating button: It can be used to switch the
parameter/function and execute the
monitoring setting.
MODE: It is used to return to the previous
level or switch the status.
UP／
DOWN: It is used to add or minus one.
SET: It is used to confirm the setting.
SHIFT: It is used to move the digit to the left.
CN3: It is used to connect to
the PC software.
CN1: It is used to connect to the
upper controller, such as the PLC
or industrial computer.
CN2: It is used to connect to the
motor encoder.
Earth terminal
Motor power output: It is used to
connect to the motor UVW cable.
Do not connect to the power supply of
the main circuit. Wrong connections
may result in drive damage!
Regenerative resistor:
1) When the external regenerative
resistor is used, the P and C ends
connect to the resistor and the P and D
ends are open-circuit.
2) When the internal regenerative
resistor is used, the P and C ends are
open-circuit and the P and D ends must
be short-circuit.
P + : DCV BUS+
Power supply of the control circuit:
The L1 and L2 supply for the single-
phase 100~230Vac and 50/60 Hz
power supply
N - : DCV BUS－
Power supply of the main circuit: R,
S and T are connect to the
commercial power supply (AC
200~230 V 50/60 Hz).
Power indicator: There is
voltage remained in the main
circuit when the light is on.

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1.4. Operating mode
This drive provides numerous operating modes for the user. These modes are shown as follow:
Mode name
Mode code
Description
Position mode
P
The drive receives the position command and controls
the motor to move to the target position.
(Terminal input)
The position command is input from the terminal block.
The signal type is pulse.
The drive receives the speed command and controls the
motor to reach the target rotational speed.
Speed mode
S
The internal register provides the speed command
(three registers available) or the external terminal block
inputs the analog voltage (-10V ~ +10V).
The command selection is based on the DI signal.
The drive receives the speed command and controls the
motor to reach the target rotational speed.
Single
mode
Speed mode
(no analog input)
Sn
The speed command can only be provided by the
internal register (three registers available). It can't be
provided by the external terminal block. The command
selection is based on the DI signal. The DI status of the
external input in the original S mode is the speed
command zero.
The drive receives the torque command and controls the
motor to reach the target torque.
Torque mode
T
The torque command can be provided by the internal
register (three registers available).
It is also possible to input the analog voltage from the
external terminal block (-10V ~ +10V).
The command selection is based on the DI signal.
The drive receives the torque command and controls the
motor to reach the target torque.
Torque mode
(no analog input)
Tn
The torque command can only be provided by the
internal register (three registers available). It can't be
provided by the external terminal block. The command
selection is based on the DI signal. The DI status of the
external input in the original T mode is the torque
command zero.
Mixed mode
S-P
S and P can be switched via the DI signal.
T-P
T and P can be switched via the DI signal.
S-T
S and T can be switched via the DI signal.
The mode can be selected via the PA-01 parameter. After the new mode is set, the power is transmitted
to the drive. The new mode then becomes effective!

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Chapter 2 Steps for Commissioning and Tuning
2.1. Notes
The user must pay attention to the following:
Do not pull the connecting line between the servo drive and motor tight.
The servo drive must be fastened at every securing spot.
The axle center of the servo motor must be centered to the axle rod adequately.
If the connecting line between the servo drive and motor exceeds 20 m (65.62 ft.), the UVW line
must be thickened. The connecting line of the encoder shall also be thickened.
The four set screws of the servo motor must be fastened.
2.2. Condition of the storage environment
The product must be placed in the packing box before installation. Pay attention to the following for
storage to make sure that the product condition is applicable to our warranty and future maintenance if
the drive wouldn't be used for the moment:
The product must be placed in a dustless and dry place.
The ambient temperature of the storage location must be kept within -20°C ~ +65°C (-4°F ~
149°F).
The relative humidity of the storage location must be kept within 0% and 90%without
condensation.
Do not store the product in the environment with corrosive gas or liquid.
The product should be packed properly and stored on the shelf or platform.
2.3. Condition of installation environment
Operating temperature:
ISA-7 series servo drive: 0°C ~ 55°C (32°F ~ 131°F)
ISA-7 series servo motor: 0°C ~ 40°C (32°F ~ 104°F)
The product must be placed in a well ventilated area if the ambient temperature exceeds 45°C. If the
product is placed in the distribution box, the size and ventilation of the distribution box must be able to
prevent the electronic device in the distribution box from overheating. Pay attention to see if the
machine vibration affects the electronic device of the distribution box.
Besides, the following must be observed for the selection of the installation location. If not, our server
product might not be applicable to our warranty and future maintenance:
Our server product can be installed in places without heat emitting device, water drop, steam,
dust, oil dust, corrosive or flammable gas or liquid, floating dust or metal particle. It can also be
installed in stable places without vibration or interference of electromagnetic noise.
Keep the temperature and humidity of the place where the servo drive and motor are installed
within the specified range.
Do not store the servo drive or motor in the place with the vibration exceeding the specified
degree.
Make sure that the servo drive and motor are stored in locations that conform to the
environmental specifications stated in our manual.

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2.4. Direction of and space for installation
Notes:
The direction for installation must conform to the specifications to prevent malfunction.
To ensure the cooling circulation remains effective, it is required to keep a sufficient space
between the upper, lower, left and right sides of the servo drive and the object and guard plate
(wall) nearby for the installation of the AC servo drive. If not, it may cause breakdown.
Do not seal the air inlet and outlet of the servo drive during installation or tilt the servo drive,
otherwise it may result in malfunction.
Drive installation:
The ISA-7 series server drive must be installed vertically on a dry and stable platform complying
to the NEMA standard. To ensure the circulation of ventilation air and heat radiation remain
effective, it is required to keep a sufficient space between the upper, lower, left and right sides of
the servo drive and the object and guard plate (wall) nearby for the installation of the AC servo
drive. (It is recommended to leave a free space of 50 mm, which is about 2 in.) Leave the space
required for wiring, if necessary. Besides, the bracket or platform for drive installation must be
made of materials with great thermal conductivity to prevent the platform and drive from
overheating.
Correct
Wrong

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Motor installation:
The ECMA series servo motor must be installed properly on a dry and stable platform. Ensure the
circulation of the ventilation air and heat radiation remain effective for installation and keep the
earth adequate.
Installation diagram
The windage of the radiator fan must be reduced for effective heat emission. The suggested distance
for one-to-many AC servo drives must be observed. (Refer to the figure below.)

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2.5. Recommended specifications for the circuit breaker and fuse
Strongly recommended: CSA / UL certified fuse and circuit breaker
Drive model
Circuit breaker
Fuse
Operating Mode
Normal
Normal
ISA-7-020-S1
5A
6A
ISA-7-040-S1
10A
10A
ISA-7-075-S1
10A
20A
ISA-7-100-S1
15A
25A
ISA-7-150-S2
20A
40A
ISA-7-200-S2
30A
50A
2.6. EMI filter selection
Notes for the installation of the EMI filter
All electronic equipment (including the servo drive) generates certain high or low frequency noises
during normal operation. Such noises interfere with the peripheral equipment via transmission or
radiation. The interference can be minimized with correct installation of an appropriate EMI filter.
Suppose that the servo drive and EMI filter are installed and wired according to the manual, we can be
sure that they comply with the following standards:
1. EN61000-6-4（2001）
2. EN61800-3 （2004）PDS of category C2
3. EN55011+A2（2007）Class A Group 1
R
S
T
Surge Protector
EMC filter Servo
R
S
T
1
2
3