LS ELECTRIC L7NHF Series User manual


Read all safety precautions before using this
product.

After reading this manual, store it in a readily
accessible location for future reference.
Safety Precautions
AC SERVO DRIVE
Xmotion
The Best Choice for the Most Benefit!
We are committed to providing premium benefits to all of our customers.
Xmotion
L7NHF Series
User Manual
Ver1.2

Introduction
i
Introduction
Greetings! Thank you for choosing L7NHF 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.

Introduction
ii
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.
Caution Failure to comply with the guidelines may cause personal injury or property
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 regeneration brake resistor on non-
combustible materials.
Disconnect the input power if the servo drive malfunctions.

Introduction
iii
Installation Precautions
Store and operate this product under the following environmental conditions.
Environment Conditions
Servo Drive
Servo Motor
Operating
temp. 0 ~ 50 ℃0 ~ 40 ℃
Storage temp.
-20 ~ 65 ℃-10 ~ 60 ℃
Operating
humidity 90% RH or lower (no condensation) 20 ~ 80% RH (no condensation)
Storage
humidity
Altitude 1000 m or lower
Spacing
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
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."
Others
Ensure the installation location is free from dust, iron, corrosive gas,
and combustible gas.
Ensure the installation location is free from abnormal vibrations or
potential for hard impacts.
Caution
Keep the installation directions and 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.

Introduction
iv
Wiring Precautions
Caution
Always use an AC 200-230 V power input for the servo drive.
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.
Use N terminals to connect the external capacitor. The product may burn if a
commercial power supply is connected to N terminals. Always contact the customer
center or agency when it is necessary to connect the external capacitor.
Startup Precautions
Caution
Check the input voltage (AC 200-230 V) and power unit wiring before supplying power
to the device.
The servo must be in OFF mode when you turn on the power.
For L7NHFA □□□, check the motor ID, encoder type and encoder pulse to be used
before turning on the power.
For L7NHFA □□□, first set the motor ID [0x2000], encoder type [0x2001] and encoder
pulse [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 [0x6060].
Perform I/O wiring for the servo drive referring to Section 2.5, “Wiring for Input/Output
Signals.”
You can check the on/off status of each I/O contact point from the digital input of
[0x60FD].
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.

Introduction
v
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.

Introduction
vi
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.
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

Table of Contents
vii
Table of Contents
1. Product Configuration ............................1-1
1.1 Product Verification................................................................1-1
1.2 Product Specifications...........................................................1-2
1.3 Component Names................................................................1-3
1.3.1 Servo Drive Component Names....................................................1-3
1.3.2 Servo Motor Part Names...............................................................1-7
1.4 Example of System Configuration.........................................1-8
2. Wiring and Connection ...........................2-1
2.1 Servo Motor Installation.........................................................2-1
2.1.1Operating 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
2.2Servo 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 L7NHF Drive Block Diagram (L7NHFA010U and L7NHFA035U).2-6
2.3.2 L7NHF Drive Block Diagram (L7NHFA050U and L7NHFA075U).2-7
2.4 Power Supply Wiring.............................................................2-8
2.4.1 Power Supply Wiring Diagram ......................................................2-9
2.4.2 Power Input Sequence................................................................2-11
2.4.3 Power Circuit Electrical Component Standards..........................2-12
2.4.4 Regeneration Brake Resistor Options.........................................2-17
2.5 Wiring for Input/Output Signals............................................2-18
2.5.1 Names and Functions of Digital Input/Output Signals ................2-19
2.5.2 Names and Functions of Analog Input/Output Signals ...............2-21
2.5.3 Examples of Input/Output Signal Connection .............................2-22
2.5.4 Input/Output Signals Configuration Diagram...............................2-25
2.6 Wiring of Encoder Signal (ENCODER)................................2-26
2.6.1 Quadrature Encoder Signaling Unit Wiring.................................2-26
2.6.2 Serial Encoder Signaling Unit Wiring ..........................................2-28
2.6.3 Multi-Turn Encoder Signaling Unit Wiring...................................2-29
2.6.4 Tamagawa Encoder Signaling Unit Wiring..................................2-31
2.6.5 EnDat 2.2 Encoder Signaling Unit Wiring ...................................2-31

Table of Contents
viii
2.7 Second Encoder (Encoder 2) ..............................................2-32
2.8 Wiring for Safety Function Signals (STO)............................2-33
2.8.1 Names and Functions of Safety Function Signals ......................2-33
2.8.2 Example of Connecting Safety Function Signals ........................2-34
2.8.3 Bypass Wiring of Safety Function Signals...................................2-35
2.9 Wiring for EtherCAT Communication Signals ......................2-36
2.9.1 Names and Functions of EtherCAT Communication Signals......2-36
2.9.2 Example of Drive Connection......................................................2-37
3. EtherCAT Communication......................3-1
3.1 Structure of CANopen over EtherCAT...................................3-1
3.1.1 EtherCAT State Machine...............................................................3-2
3.2 Status LED ............................................................................3-3
3.3 Data Type ..............................................................................3-5
3.4 PDO-Mapping........................................................................3-5
3.5 Synchronization Using the DC (Distributed Clock)..............3-8
3.6 Emergency Messages...........................................................3-8
4. CiA402 Drive Profile................................4-1
4.1 State machine........................................................................4-1
4.2 Operation Modes...................................................................4-4
4.3 Position Control Modes..........................................................4-5
4.3.1 Cyclic Synchronous Position Mode...............................................4-5
4.3.2 Profile Position Mode.....................................................................4-8
4.4 Velocity Control Modes........................................................4-13
4.4.1 Cyclic Synchronous Velocity Mode .............................................4-13
4.4.2 Profile Velocity Mode...................................................................4-16
4.5 Torque Control Modes .........................................................4-19
4.5.1 Cyclic Synchronous Torque Mode ..............................................4-19
4.5.2 Profile Torque Mode....................................................................4-21
4.6 Homing................................................................................4-23
4.6.1 Homing Method ...........................................................................4-24
4.7 Touch Probe Function..........................................................4-38
5. Drive Application Functions...................5-1
5.1 Drive Front Panel...................................................................5-1
5.1.1 7-Segment for Indicating the Servo Status....................................5-1
5.2 Input/Output Signals Setting..................................................5-5
5.2.1 Assignment of Digital Input Signals...............................................5-5

Table of Contents
ix
5.2.2 Digital Output Signal Assignment..................................................5-8
5.2.3 Assignment of Analog Output Signals.........................................5-10
5.2.4 Use of User I/O............................................................................5-14
5.3 Electric Gear Setup .............................................................5-18
5.3.1 Electric Gear................................................................................5-18
5.3.2 Example of Position Operation Electric Gear Setting .................5-21
5.4 Velocity Control Settings......................................................5-22
5.4.1 Smooth Acceleration and Deceleration.......................................5-22
5.4.2 Servo-lock Function.....................................................................5-23
5.4.3 Velocity Control Signals ..............................................................5-23
5.5 Position Control Settings.....................................................5-24
5.5.1 Position Command Filter.............................................................5-24
5.5.2 Position Control Signals..............................................................5-26
5.6 Settings Related to Torque Control......................................5-27
5.6.1 Speed Limit Function...................................................................5-27
5.7 Positive/Negative Limit Setting............................................5-28
5.8 Brake Output Signal Function Setting..................................5-29
5.9 Torque Limit Function..........................................................5-31
5.10 Gain Conversion Function...................................................5-34
5.10.1 Gain Group Conversion...............................................................5-34
5.10.2 P/PI Control Switch .....................................................................5-36
5.11 Dynamic Brake....................................................................5-38
5.12 Regeneration Brake Resistor Configuration........................5-39
5.12.1 Use of Internal Regeneration Brake Resistor..............................5-40
5.12.2 Use of External Regeneration Brake Resistor ............................5-42
5.12.3 Other Considerations ..................................................................5-43
5.13 Drive Node Address Setting (ADDR)...................................5-44
6. Safety Functions......................................6-1
6.1 Safe Torque Off (STO) Function............................................6-1
6.2 External Device Monitor (EDM).............................................6-4
6.3 Example of Using the Safety Function...................................6-4
6.4 How to Verify the Safety Function..........................................6-5
6.5 Precautions for Using the Safety Function ............................6-5
7. Tuning.......................................................7-1
7.1 Auto Gain Tuning (Offline Auto Tuning).................................7-2
7.2 Automatic Gain Adjustment (On-line Auto Tuning) ................7-4

Table of Contents
x
7.3 Manual Gain Tuning...............................................................7-6
7.3.1 Gain Tuning Sequence..................................................................7-6
7.4 Vibration Control..................................................................7-10
7.4.1 Notch Filter ..................................................................................7-10
7.4.2 Adaptive Filter..............................................................................7-11
7.4.3 Vibration Suppression Filter ........................................................7-12
8. Procedure Function ................................8-1
8.1 Manual Jog Operation ...........................................................8-2
8.2 Program Jog Operation .........................................................8-2
8.3 Deleting Alarm History ...........................................................8-4
8.4 Automatic Gain Tuning ..........................................................8-6
8.5 Index Pulse Search................................................................8-6
8.6 Absolute Encoder Reset........................................................8-7
8.7 Instantaneous Maximum Torque Reset .................................8-8
8.8 Phase Current Offset Tuning .................................................8-8
8.9 Software Reset......................................................................8-9
8.10 Commutation.........................................................................8-9
9. Full-Closed Control.................................9-1
9.1 Full-Closed Control Internal Configuration.............................9-1
9.2 Full-Closed Control Parameter Settings ................................9-3
10.Object Dictionary...................................10-1
10.1 Data Type ............................................................................10-2
10.2 General Objects...................................................................10-2
10.3 Manufacturer Specific Objects...........................................10-23
10.4 CiA402 Objects................................................................10-102
11. Product Specifications .........................11-1
11.1 Servo Motor.........................................................................11-1
11.1.1 Product Features.........................................................................11-2
11.1.2 External View.............................................................................11-18
11.2 Servo Drive........................................................................11-24
11.2.1 Product Features.......................................................................11-24
11.2.2 External View.............................................................................11-27
11.3 Options and Peripheral Devices ........................................11-29

Table of Contents
xi
12.Maintenance and Inspection.................12-1
12.1 Maintenance and Inspection................................................12-1
12.1.1 Precautions..................................................................................12-1
12.1.2 What to Inspect ...........................................................................12-2
12.1.3 Parts Replacement Cycle............................................................12-3
12.2 DiagnosingAbnormalities and Troubleshooting...................12-4
12.2.1 Servo Motor.................................................................................12-4
12.2.2 Servo Drive..................................................................................12-5
12.3 Servo Drive Overload Graph.............................................12-14
13.Test Drive ...............................................13-1
13.1 Preparation for Operation....................................................13-2
13.2 Test Drive Using TwinCAT System Manager.......................13-4
13.3 Test Drive Using LS ELECTRIC PLC (XGT + PN8B) ........13-12
14.Appendix................................................14-1
14.1 Firmware Update.................................................................14-1
14.1.1 Use of USB OTG.........................................................................14-1
14.1.2 Use of FoE (File access over EtherCAT)....................................14-2
14.1.3 Using Drive CM ...........................................................................14-6

Table of Contents
xii

1. Product Configuration
1-1
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 regeneration brake resistor 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. Product Configuration
1-2
1.2 Product Specifications
L7NHF Series Product Type
L7 NHF A 010 U AA
Input voltage
A : 200Vac
Option
Blank:
StandardMar
ked:
Dedicated
use
Encoder
U : Universal
(Integrated
Type)
Series Name
L7 Series
Capacity
010 : 1kW
035 : 3.5kW
050 : 5kW
075 : 7.5kW
Communication/Drive
Type
NHF: Network Type
All In One Type
+ Full-Closed Type
Servo Motor Product Type
APM C – F E 30 A M K 1
S
H
F
Motor Shape
(F_L
:Solid Shaft
:Hollow Shaft
:Flat
: L Series)
Rated RPM
A
D
G
M
: 3000 [rpm]
: 2000 [rpm]
: 1500 [rpm]
: 1000 [rpm]
None
1
2
3
Options
: Not attached
: Oil Seal attached
: Brake attached
: Oil Seal and Brake
attached
N
K
Shaft End Shape
: Straight
: Round key at one end (Standard)
SERVO MOTOR
(200Vac)
: 40 Flange
: 60 Flange
: 80 Flange
: 40 Flange
: 60 Flange
: 80 Flange
: 130 Flange
: 180 Flange
: 220 Flange
Flange Size
A
B
C
AL
BL
CL
E
F
G
04
05
06
08
10
60
75
Motor Capacity
: 400[W]
: 450[W]
: 600[W]
: 800[W]
: 1.0[kW]
: 6.0[kW]
: 7.5[kW]
︙
Encoder Type
Quadrature (Pulse type)

1. Product Configuration
1-3
1.3 Component Names
1.3.1 Servo Drive Component Names
L7NHF Drive (1 kW)
Display
Shows drive status, alarms, etc.
CHARGE lamp
Lights on when the main circuit
power i s on.
Main power
connectors(L1,L2 ,L3)
Terminals to input the main circuit power.
DC reactor connectors (PO,PI)
Terminals to connect the DC reactor that suppresses
high-frequency power.
Regenerative resisto r
connectors(B+,B,BI)
Terminals to connect external regenerative resistors
-When using an internal resistor:Short-circuit B and BI
terminals
-For an external resistor:Install it to B+ and B terminals.
Control power
terminals (C1,C2)
Terminals to input the control power.
Servo motor connection
terminals (U,V,W)
Terminals to connect the main circuit cable
(p owe r ca ble) o f t he s erv o moto r.
Analog monitor connector
Connector to check analog output signals.
Node address setting switch
Switch to set the node address of the drive.
You can set the node addresses from 0 to 99.
USB connector (USB)
This connector is used to communicate with a PC.
EtherCAT communication input port (ECAT IN)
EtherCAT communication output por t
(ECAT OUT)
Safety connector (STO)
This connector connects safety devices.
- If a safety device is not used, be sure to install the
safety jump connector before use.
Input/output signal connectors (I/O)
This connector is for sequence input/output signals.
Encoder connector (ENCODER)
This connector connects to the encoder installed in
t he s erv o mo to r.
Status LED
It indicates the current state of EtherCAT
commun ication.
Ground
terminal
Gr ou nd te rm i nal t o p r even t e le ct ric sh o ck
Encoder connector 2 (ENCODER2)
Connector used to connect the encoder (sensor)
installed in the external equipment.

1. Product Configuration
1-4
L7NHF Drive (3.5kW)
Analog monitor co n nector
Connector to check analog output
signals.
Node address setting switch
Switch to set the node address of the
drive.
You can set the node addresses from 0
to 99.
USB connector (USB)
This connector is used to communicate
with a PC.
EtherCAT communication input port
(ECAT IN)
EtherCAT communication output por t
(ECAT OUT)
Safety connector (STO)
This connector connects safety devices.
- If a safety device is not used, be sure to
install the safety jump connector before use.
Input/output signal connectors (I/O)
This connector is for sequence input/output
signals.
Encoder connector (ENCODER)
This connector connects to the encoder
installed in the servo motor.
Encoder connector 2 (ENCODER2)
Connector used to connect the encoder
(sensor) installed in the external equipment.

1. Product Configuration
1-5
L7NHF Drive (5kW)
Analog monitor con nector
Connector to check analog output
signals.
Node address setting switch
Switch to set the node address of the
drive.
You can set the node addresses from 0
to 99.
USB connector (USB)
This connector is used to communicate
with a PC.
EtherCAT communication input port
(ECAT IN)
EtherCAT communication output por t
(ECAT OUT)
Safety connector (STO)
This connector connects safety devices.
- If a safety device is not used, be sure to
install the safety jump connector before use.
Input/output signal connectors (I/O)
This connector is for sequence input/output
signals.
Encoder connector (ENCODER)
This connector connects to the encoder
installed in the servo motor.
Encoder connector 2 (ENCODER2)
Connector used to connect the encoder
(sensor) installed in the external equipment.
CHARGE lamp
Lights on when the main circuit
power i s on.
Ground
terminal
Gr ou nd te rm i nal t o p r even t e le ct ri c sh o ck
Servo motor connection
terminals (U,V,W)
Terminals to connect the main circuit cable
(p owe r ca bl e) o f t he s erv o mot or.

1. Product Configuration
1-6
L7NHF Drive (7.5kW)
*NC
Analog monitor co n nector
Connector to check analog output
signals.
Node address setting switch
Switch to set the node address of the
drive.
You can set the node addresses from 0
to 99.
USB connector (USB)
This connector is used to communicate
with a PC.
EtherCAT communication input port
(ECAT IN)
EtherCAT communication output por t
(ECAT OUT)
Safety connector (STO)
This connector connects safety devices.
- If a safety device is not used, be sure to
install the safety jump connector before use.
Input/output signal connectors (I/O)
This connector is for sequence input/output
signals.
Encoder connector (ENCODER)
This connector connects to the encoder
installed in the servo motor.
Encoder connector 2 (ENCODER2)
Connector used to connect the encoder
(sensor) installed in the external equipment.
Servo motor connection
terminals (U,V,W)
Terminals to connect the main circuit cable
(p owe r ca bl e) o f t he s erv o mot o r.
Ground
terminal
Gr ou nd te rm i nal t o p r even t e le ct ric s h ock
ative resi stors
ircuit B and BI
nd B terminals.
t po wer.