SMC Networks LECSN-T Series User manual

PRODUCT NAME
AC Servo Motor Driver
(Network card type）
MODEL/ Series
LECSN-T□Series
Doc no. LEC*-OMY0102

A -1
LECSN2-T□Series / Driver
1. Safety Instructions
These safety instructions are intended to prevent hazardous situations and/or equipment damage.
These instructions indicate the level of potential hazard with the labels of “Caution,” “Warning” or “Danger.”
They are all important notes for safety and must be followed in addition to International Standards (ISO/IEC),
*1) and other safety regulations.
*1) ISO 4414: Pneumatic fluid power -- General rules relating to systems
ISO 4413: Hydraulic fluid power -- General rules relating to systems
IEC 60204-1: Safety of machinery -- Electrical equipment of machines (Part 1: General requirements)
ISO 10218: Manipulating industrial robots -- Safety
.
Caution
Caution indicates a hazard with a low level of risk which, if not avoided, could result in minor or
moderate injury.
Warning
Warning indicates a hazard with a medium level of risk which, if not avoided, could result in
death or serious injury.
Danger
Danger indicates a hazard with a high level of risk which, if not avoided, will result in death or
serious injury.
Warning
1. The compatibility of the product is the responsibility of the person who designs the equipment or
decides its specifications.
Since the product specified here is used under various operating conditions, its compatibility with specific
equipment must be decided by the person who designs the equipment or decides its specifications based on
necessary analysis and test results.
The expected performance and safety assurance of the equipment will be the responsibility of the person who
has determined its compatibility with the product.
This person should also continuously review all specifications of the product referring to its latest catalog
information, with a view to giving due consideration to any possibility of equipment failure when configuring
the equipment.
2. Only personnel with appropriate training should operate machinery and equipment.
The product specified here may become unsafe if handled incorrectly.
The assembly, operation and maintenance of machines or equipment including our products must be
performed by an operator who is appropriately trained and experienced.
3. Do not service or attempt to remove product and machinery/equipment until safety is confirmed.
The inspection and maintenance of machinery/equipment should only be performed after measures to
prevent falling or runaway of the driven objects have been confirmed.
When the product is to be removed, confirm that the safety measures as mentioned above are implemented
and the power from any appropriate source is cut, and read and understand the specific product precautions
of all relevant products carefully.
Before machinery/equipment is restarted, take measures to prevent unexpected operation and malfunction.
4. Contact SMC beforehand and take special consideration of safety measures if the product is to be
used in any of the following conditions.
1) Conditions and environments outside of the given specifications, or use outdoors or in a place exposed to
direct sunlight.
2) Installation on equipment in conjunction with atomic energy, railways, air navigation, space, shipping,
vehicles, military, medical treatment, combustion and recreation, or equipment in contact with food and
beverages, emergency stop circuits, clutch and brake circuits in press applications, safety equipment or
other applications unsuitable for the standard specifications described in the product catalog.
3) An application which could have negative effects on people, property, or animals requiring special safety
analysis.
4) Use in an interlock circuit, which requires the provision of double interlock for possible failure by using a
mechanical protective function, and periodical checks to confirm proper operation.

A -2
Note that the CAUTION level may lead to a serious consequence according to conditions. Please follow the
instructions of both levels because they are important to personnel safety.
What must not be done and what must be done are indicated by the following diagrammatic symbols.
Prohibition
Indicates what must not be done. For example, "No Fire" is indicated by
Compulsion
Indicates what must be done. For example, grounding is indicated by
In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so
on are classified into "POINT".
After reading this installation guide, always keep it accessible to the operator.

A -3
LECSN2-T□Series/Driver
1. Safety Instructions
Caution
The product is provided for use in manufacturing industries.
The product herein described is basically provided for peaceful use in manufacturing industries.
If considering using the product in other industries, consult SMC beforehand and exchange specifications or a
contract if necessary.
If anything is unclear, contact your nearest sales branch.
Limited warranty and Disclaimer/Compliance Requirements
The product used is subject to the following “Limited warranty and Disclaimer” and “Compliance
Requirements”.
Read and accept them before using the product.
Limited warranty and Disclaimer
The warranty period of the product is 1 year in service or 1.5 years after the product is delivered,
whichever is first.*3)
Also, the product may have specified durability, running distance or replacement parts. Please consult
your nearest sales branch.
For any failure or damage reported within the warranty period which is clearly our responsibility, a
replacement product or necessary parts will be provided.
This limited warranty applies only to our product independently, and not to any other damage incurred
due to the failure of the product.
Prior to using SMC products, please read and understand the warranty terms and disclaimers noted in
the specified catalog for the particular products.
*3) Vacuum pads are excluded from this 1 year warranty.
A vacuum pad is a consumable part, so it is warranted for a year after it is delivered.
Also, even within the warranty period, the wear of a product due to the use of the vacuum pad
or failure due to the deterioration of rubber material are not covered by the limited warranty.
Compliance Requirements
When the product is exported, strictly follow the laws required by the Ministry of Economy, Trade and Industry
(Foreign Exchange and Foreign Trade Control Law).

A -4
1. To prevent electric shock, note the following
WARNING
Before wiring and inspections, turn off the power and wait for 15 minutes or more until the charge lamp
turns off. Then, confirm that the voltage between P+ and N- is safe with a voltage tester and others.
Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or
not, always confirm it from the front of the driver.
Ground the driver and servo motor securely.
Any person who is involved in wiring and inspection should be fully competent to do the work.
Do not attempt to wire the driver and servo motor until they have been installed. Otherwise, it may cause
an electric shock.
Do not operate switches with wet hands. Otherwise, it may cause an electric shock.
The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric
shock.
During power-on or operation, do not open the front cover of the s driver. Otherwise, it may cause an
electric shock.
Do not operate the driver with the front cover removed. High-voltage terminals and charging area are
exposed and you may get an electric shock.
Except for wiring and periodic inspection, do not remove the front cover of the driver even if the power is
off. The driver is charged and you may get an electric shock.
To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the driver
to the protective earth (PE) of the cabinet.
To avoid an electric shock, insulate the connections of the power supply terminals.
2. To prevent fire, note the following
CAUTION
Install the driver, servo motor, and regenerative resistor on incombustible material. Installing it directly or
close to combustibles will lead to a fire.
Always connect a magnetic contactor between the power supply and the main circuit power supply (L1,
L2, and L3) of the driver, in order to configure a circuit that shuts down the power supply on the side of
the driver’s power supply. If a magnetic contactor is not connected, continuous flow of a large current
may cause a fire when the driver malfunctions.
When using the regenerative resistor, switch power off with the alarm signal. Not doing so may cause a
fire when a regenerative transistor malfunctions or the like may overheat the regenerative resistor.
Provide adequate protection to prevent screws and other conductive matter, oil and other combustible
matter from entering the driver and servo motor.
Always connect a molded-case circuit breaker to the power supply of the driver.
3. To prevent injury, note the following
CAUTION
Only the voltage specified in the Instruction Manual should be applied to each terminal. Otherwise, a
burst, damage, etc. may occur.
Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur.
Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur.
The driver heat sink, regenerative resistor, servo motor, etc. may be hot while power is on or for some
time after power-off. Take safety measures, e.g. provide covers, to prevent accidental contact of hands
and parts (cables, etc.) with them.

A -5
4. Additional instructions
The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric
shock, etc.
(1) Transportation and installation
CAUTION
Transport the products correctly according to their mass.
Stacking in excess of the specified number of product packages is not allowed.
Do not hold the front cover when transporting the driver. Otherwise, it may drop.
Install the driver and the servo motor in a load-bearing place in accordance with the Instruction Manual.
Do not get on or put heavy load on the equipment.
The equipment must be installed in the specified direction.
Leave specified clearances between the driver and the cabinet walls or other equipment.
Do not install or operate the driver and servo motor which have been damaged or have any parts missing.
Do not block the intake and exhaust areas of the driver. Otherwise, it may cause a malfunction.
Do not drop or strike the driver and servo motor. Isolate them from all impact loads.
When you keep or use the equipment, please fulfill the following environment.
Environment
Conditions
Driver
Servo motor
Ambient
temperature
In operation
[ ]
0 to 55 (non-freezing)
0 to 40 (non-freezing)
[ ]
32 to 131 (non-freezing)
32 to 104 (non-freezing)
In storage
[ ]
20 to 65 (non-freezing)
15 to 70 (non-freezing)
[ ]
4 to 149 (non-freezing)
5 to 158 (non-freezing)
Ambient
humidity
In operation
90%RH or less (non-condensing)
80%RH or less (non-condensing)
In storage
90%RH or less (non-condensing)
Ambience
Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt
Altitude
Max. 2000m (6560 ft) above sea level
(Note)
Vibration
[m/s2]
5.9 or less
at 10 Hz to 55 Hz
(directions of X, Y
and Z axes)
LECSN2-T5
LECSN2-T7
LECSN2-T8
LECSN2-T9
series
X Y: 49
When handling the driver, be careful about the edged parts such as corners of the driver.
The driver must be installed in the metal cabinet.

A -6
(2) Wiring
CAUTION
Perform wiring correctly and securely. It may cause unexpected movement of the servo motor.
Do not attach a phase-advancing capacitor, surge killer, or radio noise filter (FR-BIF manufactured by
Mitsubishi Electric Corporation) to the output side of the driver.
Connect the driver and servo motor power phases (U, V, W) correctly, as this may cause the servo motor
to malfunction.
Connect the driver power output (U, V, and W) to the servo motor power input (U, V, and W) directly. Do
not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.
UServo motor
M
V
W
U
V
W
U
M
V
W
U
V
W
Servo amplifier Servo motorServo amplifier
The surge absorbing diode installed to the DC relay for control output should be fitted in the specified
direction. Otherwise, the emergency stop and other protective circuits may not operate.
DOCOM 24 V DC
Servo amplifier
RA
For sink output interface
Control output
signal
DOCOM
Control output
signal
24 V DC
Servo amplifier
RA
For source output interface
When the cable is not tightened enough to the terminal block, the cable or terminal block may generate
heat because of the poor contact. Be sure to tighten the cable with specified torque.
Connecting a servo motor for different axis to the U, V, W, or CN2 may cause a malfunction.
Configure a circuit turn off EM2 or EM1 whenthe main circuitpower supply is turned off to prevernt an
unexpected restart of the driver
To prevent malfunction, avoid bundling power lines (input/output) and signal cables together or running
them in parallel to each other. Separate the power lines from the signal cables.
(3) Test run and adjustment
CAUTION
Before operation, check the parameter settings. Improper settings may cause some machines to perform
unexpected operation.
Never adjust or change the parameter values extremely as it will make operation unstable.
Do not close to moving parts at servo-on status.
Driver
Driver
Driver
Driver

A -7
(4) Usage
CAUTION
Provide an external emergency stop circuit to ensure that operation can be stopped and power switched
off immediately.
Do not disassemble, repair, or modify the equipment.
Before resetting an alarm, make sure that the run signal of the driver is off in order to prevent a sudden
restart. Otherwise, it may cause an accident.
Use a noise filter to reduce the effects of electromagnetic interference. Electromagnetic interference may
occur on electronic devices used near the driver.
Do not burn or disassemble the driver, as toxic gas may be generated.
CAUTION
Use a noise filter, etc. to minimize the influence of electromagnetic interference. Electromagnetic
interference may be given to the electronic equipment used near the driver.
Burning or breaking a driver may cause a toxic gas. Do not burn or break it.
Use the driver with the specified servo motor.
The lock on the servo motor is designed to hold the motor shaft and should not be used for ordinary
braking.
For such reasons as service life and mechanical structure (e.g. where a ball screw and the servo motor
are coupled via a timing belt), the lock may not hold the motor shaft. To ensure safety, install a stopper
on the machine side.
(5) Corrective actions
CAUTION
When it is assumed that a hazardous condition may occur due to a power failure or product malfunction,
use a servo motor with a lock or external lock to prevent the condition.
Do not use the 24 V DC interface power supply for the lock.
Configure a lock circuit so that it is activated also by an external EMG stop switch.
Servo motor
Electromagnetic brake
B
RA
Contacts must be opened
with the EMGstop switch.
Contacts must be opened when ALM
(Malfunction) or MBR (Electromagnetic
brake interlock) turns off.
24 V DC
When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before
restarting operation.
Provide an adequate protection to prevent unexpected restart after an instantaneous power failure.
Lock
Contacts must be opened when ALM
(Malfunction) and MBR (Electromagnetic
brake interlock) turns off.
Refer to section 3.9 when wiring for the circuit configuration.

A -8
(6) Maintenance, inspection and parts replacement
CAUTION
It is recommend that the driver be replaced every 10 years when it is used in general environment.
(7) General instruction
To illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn
without covers and safety guards. When the equipment is operated, the covers and safety guards must
be installed as specified. Operation must be performed in accordance with this Specifications and
Instruction Manual.
DISPOSAL OF WASTE
Please dispose a driver, battery (primary battery) and other options according to your local laws and
regulations. Please display or notify the final product as necessary.
EEP-ROM life
The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If
the total number of the following operations exceeds 100,000, the driver may malfunction when the EEP-
ROM reaches the end of its useful life.
Write to the EEP-ROM due to parameter setting changes
Write to the EEP-ROM due to device changes
Origin setting in absolute position detection system
STO function of the driver
When using the STO function of the driver, refer to chapter 13.
Compliance with global standards
For the compliance with global standards, refer to appendix 4.
«About the manuals»
You must have this Instruction Manual and the following manuals to use this servo. Ensure to prepare
them to use the LECSN2-T□safely.
«Wiring»
Wires mentioned in this Instruction Manual are selected based on the ambient temperature of 40 °C.
«U.S. customary units»
U.S. customary units are not shown in this manual. Convert the values if necessary according to the
following table.
Quantity
SI (metric) unit
U.S. customary unit
Mass
1 [kg]
2.2046 [lb]
Length
1 [mm]
0.03937 [in]
Torque
1 [N•m]
141.6 [oz•in]
Moment of inertia
1 [(× 10-4 kg•m2)]
5.4675 [oz•in2]
Load (thrust load/axial load)
1 [N]
0.2248 [lbf]
Temperature
N [°C] × 9/5 + 32
N [°F]

- 1 -
CONTENTS
1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-23
1.1 Summary............................................................................................................................................. 1-2
1.2 Function block diagram....................................................................................................................... 1-3
1.3 Driver standard specifications............................................................................................................. 1-7
1.4 Combinations of driver and servo motors ......................................................................................... 1-10
1.5 Function list....................................................................................................................................... 1-11
1.6 Model designation............................................................................................................................. 1-14
1.7 Structure............................................................................................................................................ 1-17
1.7.1 Parts identification........................................................................................................................ 1-17
1.8 Installation and removal of network card........................................................................................... 1-19
1.9 Configuration including peripheral equipment................................................................................... 1-22
2. INSTALLATION 2- 1 to 2- 7
2.1 Installation direction and clearances................................................................................................... 2-3
2.2 Keep out foreign materials.................................................................................................................. 2-5
2.3 Encoder cable stress........................................................................................................................... 2-5
2.4 Inspection items.................................................................................................................................. 2-5
2.5 Parts having service lives.................................................................................................................... 2-6
2.6 Restrictions when using this product at altitude exceeding 1000 m and up to 2000 m above sea level...
2-7
3. SIGNALS AND WIRING 3- 1 to 3-38
3.1 Input power supply circuit.................................................................................................................... 3-3
3.2 I/O signal connection example............................................................................................................ 3-7
3.2.1 For sink I/O interface...................................................................................................................... 3-7
3.2.2 For source I/O interface.................................................................................................................. 3-8
3.3 Explanation of power supply system................................................................................................... 3-9
3.3.1 Signal explanations ........................................................................................................................ 3-9
3.3.2 Power-on sequence ..................................................................................................................... 3-10
3.3.3 Wiring CNP1, CNP2, and CNP3 .................................................................................................. 3-11
3.4 Connectors and pin assignment........................................................................................................ 3-13
3.5 Signal (device) explanations ............................................................................................................. 3-15
3.5.1 Input device.................................................................................................................................. 3-15
3.5.2 Output device............................................................................................................................... 3-17
3.5.3 Output signal................................................................................................................................ 3-19
3.5.4 Power supply................................................................................................................................ 3-19
3.6 Forced stop deceleration function..................................................................................................... 3-20
3.6.1 Forced stop deceleration function................................................................................................ 3-20
3.6.2 Base circuit shut-off delay time function....................................................................................... 3-22
3.6.3 Vertical axis freefall prevention function....................................................................................... 3-23
3.6.4 Residual risks of the forced stop function (EM2).......................................................................... 3-23
3.7 Alarm occurrence timing chart .......................................................................................................... 3-24
3.7.1 When you use the forced stop deceleration function................................................................... 3-24
3.7.2 When you do not use the forced stop deceleration function........................................................ 3-25
3.8 Interfaces .......................................................................................................................................... 3-26
3.8.1 Internal connection diagram......................................................................................................... 3-26

- 2 -
3.8.2 Detailed explanation of interfaces ................................................................................................ 3-27
3.8.3 Source I/O interfaces.................................................................................................................... 3-29
3.9 Servo motor with a lock..................................................................................................................... 3-30
3.9.1 Safety precautions........................................................................................................................ 3-30
3.9.2 Timing chart.................................................................................................................................. 3-31
3.9.3 Wiring diagrams (LE-□-□series servo motor).......................................................................... 3-37
3.10 Grounding........................................................................................................................................ 3-38
4. STARTUP 4- 1 to 4-17
4.1 Switching power on for the first time................................................................................................... 4-3
4.1.1 Startup procedure........................................................................................................................... 4-3
4.1.2 Wiring check................................................................................................................................... 4-4
4.1.3 Surrounding environment............................................................................................................... 4-5
4.2 Startup................................................................................................................................................. 4-5
4.3 Switch setting and display of the driver............................................................................................... 4-7
4.3.1 Switches......................................................................................................................................... 4-7
4.3.2 Scrolling display.............................................................................................................................. 4-8
4.3.3 Status display of an axis............................................................................................................... 4-10
4.4 Test operation ................................................................................................................................... 4-12
4.5 Test operation mode......................................................................................................................... 4-12
4.5.1 Test operation mode in Setup software (MR Configurator2TM) .................................................. 4-13
4.5.2 Motor-less operation in upper side............................................................................................... 4-17
5. PARAMETERS 5- 1 to 5-102
5.1 Parameter list...................................................................................................................................... 5-2
5.1.1 Basic setting parameters ([Pr. PA_ _ ]).......................................................................................... 5-3
5.1.2 Gain/filter setting parameters ([Pr. PB_ _ ]) ................................................................................... 5-4
5.1.3 Extension setting parameters ([Pr. PC_ _ ])................................................................................... 5-6
5.1.4 I/O setting parameters ([Pr. PD_ _ ]).............................................................................................. 5-8
5.1.5 I/O Extension setting 2 parameters ([Pr. PE_ _ ]).......................................................................... 5-9
5.1.6 Extension setting 3 parameters ([Pr. PF_ _ ]).............................................................................. 5-11
5.1.7 Positioning control parameters ([Pr. PT_ _ ])............................................................................... 5-13
5.1.8 Network setting parameters ([Pr. PN_ _ ]) ................................................................................... 5-16
5.2 Detailed list of parameters ................................................................................................................ 5-17
5.2.1 Basic setting parameters ([Pr. PA_ _ ])........................................................................................ 5-17
5.2.2 Gain/filter setting parameters ([Pr. PB_ _ ]) ................................................................................. 5-31
5.2.3 Extension setting parameters ([Pr. PC_ _ ])................................................................................. 5-44
5.2.4 I/O setting parameters ([Pr. PD_ _ ])............................................................................................ 5-64
5.2.5 Extension setting 2 parameters ([Pr. PE_ _ ]).............................................................................. 5-68
5.2.6 Extension setting 3 parameters ([Pr. PF_ _ ]).............................................................................. 5-72
5.2.7 Positioning control parameters ([Pr. PT_ _ ])............................................................................... 5-74
5.2.8 Network setting parameters ([Pr. PN_ _ ]) ................................................................................... 5-99
5.3 Software limit..................................................................................................................................... 5-99
5.4 How to set the electronic gear......................................................................................................... 5-100
5.4.1 Electronic gear setting in the cyclic synchronous mode, profile mode and point table method . 5-100
5.4.2 Electronic gear setting in the indexer method............................................................................ 5-102
6. NORMAL GAIN ADJUSTMENT 6- 1 to 6-21

- 3 -
6.1 Different adjustment methods............................................................................................................. 6-2
6.1.1 Adjustment on a single driver......................................................................................................... 6-2
6.1.2 Adjustment using setup software (MR Configurator2TM).............................................................. 6-3
6.2 One-touch tuning................................................................................................................................. 6-4
6.2.1 One-touch tuning flowchart ............................................................................................................ 6-5
6.2.2 Display transition and operation procedure of one-touch tuning.................................................... 6-6
6.2.3 Caution for one-touch tuning........................................................................................................ 6-11
6.3 Auto tuning........................................................................................................................................ 6-12
6.3.1 Auto tuning mode......................................................................................................................... 6-12
6.3.2 Auto tuning mode basis................................................................................................................ 6-13
6.3.3 Adjustment procedure by auto tuning........................................................................................... 6-14
6.3.4 Response level setting in auto tuning mode................................................................................. 6-15
6.4 Manual mode .................................................................................................................................... 6-16
6.5 2gain adjustment mode..................................................................................................................... 6-20
7. SPECIAL ADJUSTMENT FUNCTIONS 7- 1 to 7-36
7.1 Filter setting......................................................................................................................................... 7-2
7.1.1 Machine resonance suppression filter............................................................................................ 7-2
7.1.2 Adaptive filter II............................................................................................................................... 7-5
7.1.3 Shaft resonance suppression filter................................................................................................. 7-7
7.1.4 Low-pass filter................................................................................................................................ 7-8
7.1.5 Advanced vibration suppression control II...................................................................................... 7-8
7.1.6 Command notch filter................................................................................................................... 7-13
7.2 Gain switching function..................................................................................................................... 7-14
7.2.1 Applications.................................................................................................................................. 7-14
7.2.2 Function block diagram................................................................................................................ 7-15
7.2.3 Parameter..................................................................................................................................... 7-16
7.2.4 Gain switching procedure............................................................................................................. 7-19
7.3 Tough drive function.......................................................................................................................... 7-23
7.3.1 Vibration tough drive function....................................................................................................... 7-23
7.3.2 Instantaneous power failure tough drive function......................................................................... 7-25
7.4 Compliance with SEMI-F47 standard................................................................................................ 7-29
7.5 Model adaptive control disabled........................................................................................................ 7-31
7.6 Lost motion compensation function .................................................................................................. 7-32
7.7 Super trace control............................................................................................................................ 7-35
8. TROUBLESHOOTING 8- 1 to 8- 66
8.1 Explanations of the lists ...................................................................................................................... 8-2
8.2 Alarm list ............................................................................................................................................. 8-3
8.3 Warning list ....................................................................................................................................... 8-11
8.4 Remedies for alarms......................................................................................................................... 8-14
8.5 Remedies for warnings ..................................................................................................................... 8-54
8.6 Troubleshooting at power on............................................................................................................. 8-65
8.7 Trouble which does not trigger an alarm/warning............................................................................. 8-66
9. OUTLINE DRAWINGS 9- 1 to 9-5
9.1 Driver................................................................................................................................................... 9-2
9.2 Connector............................................................................................................................................ 9-5

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10. CHARACTERISTICS 10- 1 to 10-8
10.1 Overload protection characteristics................................................................................................. 10-2
10.2 Power supply capacity and generated loss..................................................................................... 10-3
10.3 Dynamic lock characteristics........................................................................................................... 10-5
10.3.1 Dynamic lock operation.............................................................................................................. 10-5
10.3.2 Permissible load to motor inertia when the dynamic lock is used.............................................. 10-6
10.4 Cable bending life............................................................................................................................ 10-7
10.5 Inrush currents at power-on of main circuit and control circuit........................................................ 10-8
11. OPTIONS AND PERIPHERAL EQUIPMENT 11- 1 to 11-34
11.1 Cable/connector sets ...................................................................................................................... 11-2
11.1.1 Combinations of cable/connector sets ....................................................................................... 11-3
11.1.2 STO cable .................................................................................................................................. 11-6
11.1.3 Encoder cable/connector sets.................................................................................................... 11-7
11.1.4 Motor cables............................................................................................................................... 11-9
11.1.5 Lock cables .............................................................................................................................. 11-10
11.2 Regenerative options .................................................................................................................... 11-11
11.2.1 Combination and regenerative power ...................................................................................... 11-11
11.2.2 Parameter setting..................................................................................................................... 11-11
11.2.3 Selection of regenerative option............................................................................................... 11-12
11.2.4 Dimensions............................................................................................................................... 11-13
11.3 Setup software (MR Configurator2TM)......................................................................................... 11-14
11.3.1 Specifications ........................................................................................................................... 11-14
11.3.2 System configuration................................................................................................................ 11-15
11.3.3 Precautions for using USB communication function................................................................ 11-16
11.4 Battery (LEC-MR-BAT6V1SET-A) ................................................................................................ 11-17
11.5 Selection example of wires ........................................................................................................... 11-18
11.6 Molded-case circuit breakers, fuses, magnetic contactors (recommended) ................................ 11-20
11.7 Relay (recommended)................................................................................................................... 11-20
11.8 Noise reduction techniques........................................................................................................... 11-21
11.9 Earth-leakage current breaker ...................................................................................................... 11-29
11.10 EMC filter (recommended).......................................................................................................... 11-31
12. ABSOLUTE POSITION DETECTION SYSTEM 12- 1 to 12- 6
12.1 Summary......................................................................................................................................... 12-2
12.1.1 Features ..................................................................................................................................... 12-2
12.1.2 Structure..................................................................................................................................... 12-2
12.1.3 Parameter setting....................................................................................................................... 12-2
12.1.4 Confirmation of absolute position detection data ....................................................................... 12-3
12.2 Battery............................................................................................................................................. 12-4
12.3 Battery replacement procedure....................................................................................................... 12-5
13. USING STO FUNCTION 13- 1 to 13-13
13.1 Introduction...................................................................................................................................... 13-2
13.1.1 Summary.................................................................................................................................... 13-2
13.1.2 Terms related to safety............................................................................................................... 13-2
13.1.3 Cautions ..................................................................................................................................... 13-2

- 5 -
13.1.4 Residual risks of the STO function............................................................................................. 13-3
13.1.5 Specifications ............................................................................................................................. 13-4
13.1.6 Maintenance............................................................................................................................... 13-5
13.2 STO I/O signal connector (CN8) and signal layouts ....................................................................... 13-5
13.2.1 Signal layouts ............................................................................................................................. 13-5
13.2.2 Signal (device) explanations....................................................................................................... 13-6
13.2.3 How to pull out the STO cable.................................................................................................... 13-6
13.3 Connection example ....................................................................................................................... 13-7
13.3.1 Connection example for CN8 connector .................................................................................... 13-7
13.3.2 External I/O signal connection example using an MR-J3-D05 safety logic unit of Mitsubishi Electric
Corporation................................................................................................................................. 13-8
13.3.3 External I/O signal connection example using an external safety relay unit ............................ 13-10
13.4 Detailed description of interfaces.................................................................................................. 13-11
13.4.1 Sink I/O interface...................................................................................................................... 13-11
13.4.2 Source I/O interface ................................................................................................................. 13-13
14. APPLICATION OF FUNCTIONS 14- 1 to 14- 2
14.1 Infinite feed function (setting degree).............................................................................................. 14-2
15. SERVO MOTOR 15- 1 to 15- 6
15.1 Servo motor with a lock................................................................................................................... 15-2
15.1.1 Features ..................................................................................................................................... 15-2
15.1.2 Characteristics of servo motor with a lock.................................................................................. 15-4
15.2 Protection from oil and water .......................................................................................................... 15-5
15.3 Cable............................................................................................................................................... 15-5
15.4 Rated speed of servo motor............................................................................................................ 15-5
15.5 Mounting connectors....................................................................................................................... 15-6
16. HOW TO USE THE POINT TABLE 16- 1 to 16- 30
16.1 Specification list................................................................................................................................ 16-3
16.2 Switching power on for the first time................................................................................................. 16-4
16.3 Switching power on for the first time Point table mode (pt)............................................................... 16-6
16.3.1 Point table mode (pt).................................................................................................................... 16-6
16.3.2 Automatic operation using point table.......................................................................................... 16-6
16.4 Jog mode (jg).................................................................................................................................. 16-24
16.5 Point table setting method .............................................................................................................. 16-26
16.5.1 Point table setting method with Setup software (MR Configurator2TM).................................... 16-26
16.5.2 Point table setting method with objects...................................................................................... 16-29
17. HOW TO USE INDEXER 17- 1 to 17- 17
17.1 Specification list............................................................................................................................... 17-3
17.2 Switching power on for the first time............................................................................................... 17-4
17.3 Indexer mode (idx) .......................................................................................................................... 17-6
17.3.1 Indexer mode (idx) ..................................................................................................................... 17-6
17.3.2 Rotation direction specifying indexer.......................................................................................... 17-7
17.3.3 Shortest rotating indexer operation .......................................................................................... 17-11
17.4 Jog mode (jg)................................................................................................................................ 17-14

- 6 -
17.4.1 Station JOG operation.............................................................................................................. 17-14
17.4.2 JOG operation.......................................................................................................................... 17-16
18. EtherCAT COMMUNICATION 18- 1 to 18- 206
18.1 EtherCAT COMMUNICATION.................................................................................................... 18-3
18.1.1 Summary................................................................................................................................ 18-3
18.1.2 Function list............................................................................................................................ 18-6
18.1.3 Communication specifications............................................................................................... 18-9
18.1.4 Communication specifications............................................................................................. 18-10
18.1.4.1 Communication status .................................................................................................... 18-10
18.1.4.2 EtherCAT state................................................................................................................ 18-11
18.1.4.3 Startup............................................................................................................................. 18-12
18.1.4.4 Network disconnection procedure................................................................................... 18-13
18.1.5 Summary of object dictionary (OD)...................................................................................... 18-14
18.1.5.1 Section definition of object dictionary.............................................................................. 18-14
18.1.5.2 Saving object dictionary data to EEP-ROM..................................................................... 18-14
18.2 EtherCAT NETWORK CARD (LEC-S-NE)............................................................................... 18-15
18.2.1 Specifications....................................................................................................................... 18-15
18.2.2 Parts identification................................................................................................................ 18-16
18.2.3 LED indication...................................................................................................................... 18-16
18.2.3.1 LED indication definition.................................................................................................. 18-16
18.2.3.2 LED indication list............................................................................................................ 18-17
18.2.4 Connecting Ethernet cable................................................................................................. 18-18
18.3 PDO (PROCESS DATA OBJECT) COMMUNICATION........................................................... 18-19
18.3.1 PDO communication cycle................................................................................................... 18-19
18.3.2 PDO setting-related object................................................................................................... 18-19
18.3.3 PDO default mapping........................................................................................................... 18-20
18.3.4 PDO variable mapping......................................................................................................... 18-22
18.3.5 Mapping-necessary objects................................................................................................. 18-23
18.4 SDO (SERVICE DATA OBJECT) COMMUNICATION............................................................. 18-25
18.4.1 SDO communication-related service................................................................................... 18-25
18.4.2 SDO Abort Code.................................................................................................................. 18-26
18.5 CiA 402 DRIVE PROFILE......................................................................................................... 18-26
18.5.1 FSA state............................................................................................................................. 18-26
18.5.2 Controlword/Control DI ........................................................................................................ 18-29
18.5.2.1 Bit definition of Controlword ............................................................................................ 18-29
18.5.2.2 Bit definition of Control DI ............................................................................................... 18-30
18.5.3 Statusword/Status DO ......................................................................................................... 18-32
18.5.3.1 Bit definition of Statusword.............................................................................................. 18-32
18.5.3.2 Bit definition of Status DO............................................................................................... 18-33
18.5.4 Control mode ....................................................................................................................... 18-37
18.5.4.1 Selecting control mode (Modes of operation) ................................................................. 18-37
18.5.4.2 Control switching............................................................................................................. 18-37
18.5.4.3 Cyclic synchronous position mode (csp)......................................................................... 18-38
18.5.4.4 Cyclic synchronous velocity mode (csv).......................................................................... 18-41
18.5.4.5 Cyclic synchronous torque mode (cst)............................................................................ 18-43
18.5.4.6 Profile position mode (pp)............................................................................................... 18-45
18.5.4.7 Profile velocity mode (pv)................................................................................................ 18-49
18.5.4.8 Profile torque mode (tq) .................................................................................................. 18-53

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18.5.4.9 Homing mode (hm)......................................................................................................... 18-56
18.5.4.10 Point table mode (pt)..................................................................................................... 18-84
18.5.4.11 Jog mode (jg)................................................................................................................ 18-89
18.5.4.12 Indexer mode (idx)........................................................................................................ 18-96
18.5.5 Touch probe....................................................................................................................... 18-103
18.5.6 Quick stop.......................................................................................................................... 18-107
18.5.7 Halt..................................................................................................................................... 18-108
18.5.8 Software position limit........................................................................................................ 18-109
18.5.9 Torque limit........................................................................................................................ 18-109
18.5.10 Polarity............................................................................................................................. 18-110
18.5.11 Degree function................................................................................................................ 18-112
18.5.12 Torque offset.................................................................................................................... 18-114
18.6 MANUFACTURER FUNCTIONS ........................................................................................... 18-115
18.6.1 Object for status monitor.................................................................................................... 18-115
18.6.2 Incremental counter........................................................................................................... 18-117
18.6.3 Stroke end.......................................................................................................................... 18-117
18.6.4 Definition of alarm-related objects..................................................................................... 18-118
18.6.5 Parameter object ............................................................................................................... 18-119
18.6.5.1 Definition of parameter objects..................................................................................... 18-119
18.6.5.2 Enabling parameters..................................................................................................... 18-120
18.6.7 One-touch tuning ............................................................................................................... 18-121
18.6.8 Machine diagnosis function................................................................................................ 18-123
18.6.9 Driver life diagnosis function.............................................................................................. 18-124
18.7 OBJECT DICTIONARY .......................................................................................................... 18-125
18.7.1 Store Parameters............................................................................................................... 18-125
18.7.2 Supported object dictionary list.......................................................................................... 18-126
18.7.3 Object dictionary................................................................................................................ 18-130
18.7.3.1 General Objects............................................................................................................ 18-130
18.7.3.2 PDO Mapping Objects .................................................................................................. 18-136
18.7.3.3 Sync Manager Communication Objects........................................................................ 18-140
18.7.3.4 Parameter Objects........................................................................................................ 18-145
18.7.3.5 Alarm Objects ............................................................................................................... 18-148
18.7.3.6 Monitor Objects............................................................................................................. 18-151
18.7.3.7 Manufacturer Specific Control Objects ......................................................................... 18-164
18.7.3.8 PDS Control Objects..................................................................................................... 18-175
18.7.3.9 Position Control Function Objects................................................................................. 18-179
18.7.3.10 Profile Velocity Mode Objects ..................................................................................... 18-182
18.7.3.11 Profile Torque Mode Objects ...................................................................................... 18-184
18.7.3.12 Profile Position Mode Objects..................................................................................... 18-186
18.7.3.13 Homing Mode Objects ................................................................................................ 18-190
18.7.3.14 Factor Group Objects.................................................................................................. 18-196
18.7.3.15 Touch Probe Function Objects ................................................................................... 18-199
18.7.3.16 Optional application FE Objects.................................................................................. 18-200
18.7.3.17 Point Table Mode Objects........................................................................................... 18-203
18.7.3.18 Cyclic synchronous position mode Objects................................................................. 18-206
19. EtherNet/IP COMMUNICATION 19- 1 to 19- 182
19.1 EtherNet/IP COMMUNICATION................................................................................................. 19-3
19.1.1 Summary................................................................................................................................ 19-3

- 8 -
19.1.2 Function list............................................................................................................................ 19-4
19.1.3 Communication specifications............................................................................................... 19-6
19.1.4 Establishing and disconnecting the communication .............................................................. 19-7
19.1.4.1 Communication status ...................................................................................................... 19-7
19.1.4.2 Startup............................................................................................................................... 19-8
19.1.4.3 Network disconnection procedure..................................................................................... 19-9
19.1.5 Summary of object library...................................................................................................... 19-9
19.1.5.1 Section definition of Drive Configuration Object (64h)...................................................... 19-9
19.2 EtherNet/IP NETWORK CARD (LEC-S-N9) ............................................................................ 19-10
19.2.1 Specifications....................................................................................................................... 19-10
19.2.2 Parts identification................................................................................................................ 19-10
19.2.3 LED indication...................................................................................................................... 19-11
19.2.3.1 LED indication definition.................................................................................................. 19-11
19.2.3.2 LED indication list............................................................................................................ 19-11
19.2.4 Connecting Ethernet cables................................................................................................. 19-12
19.3 I/O COMMUNICATION............................................................................................................. 19-13
19.3.1 I/O communication cycle...................................................................................................... 19-13
19.3.2 I/O communication mapping................................................................................................ 19-15
19.4 Explicit Message COMMUNICATION ...................................................................................... 19-17
19.4.1 Explicit Message communication-related service................................................................ 19-17
19.4.2 Common service.................................................................................................................. 19-18
19.4.2.1 Set_Attribute_Single........................................................................................................ 19-18
19.4.2.2 Get_Attribute_Single....................................................................................................... 19-18
19.4.2.3 Get_Attributes_All........................................................................................................... 19-18
19.4.2.4 Reset............................................................................................................................... 19-19
19.5 DRIVE PROFILE ...................................................................................................................... 19-19
19.5.1 FSA state............................................................................................................................. 19-19
19.5.2 Controlword/Control DI ........................................................................................................ 19-22
19.5.2.1 Bit definition of Controlword ............................................................................................ 19-22
19.5.2.2 Bit definition of Control DI ............................................................................................... 19-23
19.5.3 Statusword/Status DO ......................................................................................................... 19-26
19.5.3.1 Bit definition of Statusword.............................................................................................. 19-26
19.5.3.2 Bit definition of Status DO............................................................................................... 19-27
19.5.4 Control mode ....................................................................................................................... 19-33
19.5.4.1 Selecting control mode (Modes of operation) ................................................................. 19-33
19.5.4.2 Control switching............................................................................................................. 19-33
19.5.4.3 Profile position mode (pp)............................................................................................... 19-34
19.5.4.4 Profile velocity mode (pv)................................................................................................ 19-38
19.5.4.5 Profile torque mode (tq) .................................................................................................. 19-42
19.5.4.6 Homing mode (hm)......................................................................................................... 19-45
19.5.5 Touch probe......................................................................................................................... 19-72
19.5.6 Quick stop............................................................................................................................ 19-76
19.5.7 Halt....................................................................................................................................... 19-77
19.5.8 Software position limit.......................................................................................................... 19-78
19.5.9 Torque limit.......................................................................................................................... 19-78
19.5.10 Polarity............................................................................................................................... 19-79
19.5.11 Degree function.................................................................................................................. 19-81
19.6 MANUFACTURER FUNCTIONS ............................................................................................. 19-83
19.6.1 Object for status monitor...................................................................................................... 19-83
19.6.2 Instruction code.................................................................................................................... 19-85

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19.6.2.1 Summary......................................................................................................................... 19-85
19.6.2.2 Reading instruction codes............................................................................................... 19-85
19.6.2.3 Writing instruction code................................................................................................... 19-86
19.6.2.4 Variable mapping............................................................................................................ 19-88
19.6.2.5 Respond code................................................................................................................. 19-89
19.6.3 Stroke end............................................................................................................................ 19-90
19.6.4 Definition of alarm-related objects....................................................................................... 19-91
19.6.5 Parameter object ................................................................................................................. 19-92
19.6.5.1 Definition of parameter objects....................................................................................... 19-92
19.6.5.2 Enabling parameters....................................................................................................... 19-93
19.6.6 One-touch tuning ................................................................................................................. 19-94
19.6.7 Machine diagnosis function.................................................................................................. 19-96
19.6.8 Driver life diagnosis function................................................................................................ 19-97
19.6.9 Positioning function by operation start-up signal ................................................................. 19-97
19.6.9.1 Summary......................................................................................................................... 19-97
19.6.9.2 Specification list .............................................................................................................. 19-97
19.6.9.3 Settings........................................................................................................................... 19-97
19.6.9.4 Status obtainable in the network communication............................................................ 19-98
19.6.9.5 Operation method ........................................................................................................... 19-99
19.7 OBJECT LIBRARY................................................................................................................. 19-102
19.7.1 Store Parameters............................................................................................................... 19-102
19.7.2 Supported object library list................................................................................................ 19-103
19.7.3 Object library...................................................................................................................... 19-107
19.7.3.1 General Objects............................................................................................................ 19-108
19.7.3.2 Communication Setting Objects.................................................................................... 19-112
19.7.3.3 Assembly Objects ......................................................................................................... 19-123
19.7.3.4 Parameter Objects (Class ID: 64h)............................................................................... 19-125
19.7.3.5 Alarm Objects (Class ID: 64h) ...................................................................................... 19-128
19.7.3.6 Monitor Objects (Class ID: 64h).................................................................................... 19-132
19.7.3.7 Manufacturer Specific Control Objects (Class ID: 64h) ................................................ 19-143
19.7.3.8 PDS Control Objects (Class ID: 64h)............................................................................ 19-155
19.7.3.9 Position Control Function Objects (Class ID: 64h)........................................................ 19-159
19.7.3.10 Profile Velocity Mode Objects (Class ID: 64h)............................................................ 19-162
19.7.3.11 Profile Torque Mode Objects (Class ID: 64h) ............................................................. 19-164
19.7.3.12 Profile Position Mode Objects (Class ID: 64h)............................................................ 19-166
19.7.3.13 Homing Mode Objects (Class ID: 64h) ....................................................................... 19-171
19.7.3.14 Factor Group Objects.................................................................................................. 19-175
19.7.3.15 Touch Probe Function Objects (Class ID: 64h) .......................................................... 19-178
19.7.3.16 Optional application FE Objects (Class ID: 64h)......................................................... 19-180
20. PROFINET COMMUNICATION 20- 1 to 20- 176
20.1 PROFINET COMMUNICATION ................................................................................................. 20-3
20.1.1 Description............................................................................................................................. 20-3
20.1.2 Communication specifications............................................................................................... 20-5
20.1.3 Startup ................................................................................................................................... 20-6
20.1.4 Network disconnection procedure ......................................................................................... 20-7
20.1.5 Object dictionary (OD)............................................................................................................. 20-7
20.1.5.1 Section definition of object dictionary................................................................................ 20-7
20.2 PROFINET NETWORK CARD (LEC-S-NP) .............................................................................. 20-8

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20.2.1 Specifications......................................................................................................................... 20-8
20.2.2 Parts identification.................................................................................................................. 20-8
20.2.3 LED display............................................................................................................................ 20-9
20.2.3.1 Network Status LED.......................................................................................................... 20-9
20.2.3.2 Card Status LED............................................................................................................... 20-9
20.2.3.3 Link/Activity LED ............................................................................................................... 20-9
20.2.4 Ethernet cable connection.................................................................................................. 20-10
20.3 PROCESS DATA (CYCLIC DATA EXCHANGE)..................................................................... 20-11
20.4 ACYCLIC DATA EXCHANGE .................................................................................................. 20-15
20.4.1 Acyclic data exchange communication format..................................................................... 20-15
20.4.2 Error number........................................................................................................................ 20-16
20.4.3 PROFIdrive parameters (PROFIdrive-specific) ................................................................... 20-16
20.4.3.1 Telegram Selection (P922) ............................................................................................. 20-17
20.4.3.2 Operating mode (P930) .................................................................................................... 20-17
20.4.3.3 Fault message counter (P944) ......................................................................................... 20-17
20.4.3.4 Fault number (P947)......................................................................................................... 20-18
20.4.3.5 Drive Unit identification (P964) ......................................................................................... 20-18
20.4.3.6 Profile identification number (P965).................................................................................. 20-18
20.4.3.7 DO identification (P975).................................................................................................... 20-19
20.4.3.8 Parameter Database Handling and Identification (P980).................................................. 20-19
20.4.4 Identification & Maintenance (I&M)...................................................................................... 20-20
20.4.5 Reset To Factory ................................................................................................................. 20-21
20.5 STATE TRANSITION ............................................................................................................... 20-22
20.5.1 Basic State Machine............................................................................................................ 20-22
20.5.2 FSA state............................................................................................................................. 20-25
20.5.3 Controlword/Statusword....................................................................................................... 20-27
20.5.3.1 Controlword..................................................................................................................... 20-27
20.5.3.2 Statusword...................................................................................................................... 20-30
20.6 CONTROL MODE .................................................................................................................... 20-36
20.6.1 Selection of control mode .................................................................................................... 20-36
20.6.2 Control switching.................................................................................................................. 20-37
20.6.3 Profile position mode (pp).................................................................................................... 20-37
20.6.4 Profile velocity mode (pv)..................................................................................................... 20-42
20.6.5 Profile torque mode (tq)......................................................................................................... 20-48
20.6.6 Homing mode (hm)................................................................................................................ 20-51
20.6.7 Point table mode (pt) ............................................................................................................. 20-79
20.6.8 Indexer mode (idx)................................................................................................................. 20-84
20.6.9 Jog mode (jg)......................................................................................................................... 20-91
20.7 WEB SERVER.......................................................................................................................... 20-97
20.8 MANUFACTURER FUNCTIONS ............................................................................................. 20-98
20.8.1 PROFIdrive parameters for status monitor............................................................................ 20-98
20.8.2 Stroke end ........................................................................................................................... 20-100
20.8.3 Software limit....................................................................................................................... 20-101
20.8.4 Torque limit.......................................................................................................................... 20-102
20.8.5 Polarity................................................................................................................................. 20-103
20.8.6 Touch probe......................................................................................................................... 20-104
20.8.7 One-touch tuning................................................................................................................. 20-109
20.8.8 Driver life diagnosis function................................................................................................ 20-110
20.8.9 Machine diagnosis............................................................................................................... 20-111
20.8.10 Quick stop.......................................................................................................................... 20-112

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20.8.11 Halt .................................................................................................................................... 20-113
20.8.12 Ramp Stop......................................................................................................................... 20-113
20.8.13 PROFIdrive parameter definitions related to alarms ......................................................... 20-114
20.8.14 Parameter.......................................................................................................................... 20-115
20.8.14.1 Parameter enabling..................................................................................................... 20-116
20.8.15 Degree function ................................................................................................................. 20-117
20.9 OBJECT DICTIONARY .......................................................................................................... 20-119
20.9.1 Store parameters............................................................................................................... 20-119
20.9.2 PROFIdrive parameter (Manufacturer-specific) list ........................................................... 20-120
20.9.3 PROFIdrive parameter (Manufacturer-specific) .................................................................. 20-124
20.9.3.1 General Objects............................................................................................................ 20-124
20.9.3.2 Servo Parameter Objects.............................................................................................. 20-125
20.9.3.3 Alarm Objects ............................................................................................................... 20-128
20.9.3.4 Monitor Objects............................................................................................................. 20-130
20.9.3.5 Manufacturer Specific Control Objects ......................................................................... 20-143
20.9.3.6 PDS Control Objects..................................................................................................... 20-151
20.9.3.7 Position Control Function Objects................................................................................. 20-154
20.9.3.8 Profile Velocity Mode Objects ....................................................................................... 20-156
20.9.3.9 Profile Torque Mode Objects ........................................................................................ 20-158
20.9.3.10 Profile Position Mode Objects..................................................................................... 20-160
20.9.3.11 Homing Mode Objects ................................................................................................ 20-164
20.9.3.12 Point Table Mode Objects........................................................................................... 20-168
20.9.3.13 Factor Group Objects.................................................................................................. 20-171
20.9.3.14 Optional application FE Objects.................................................................................. 20-173
20.9.3.15 Touch Probe Function Objects ................................................................................... 20-175
APPENDIX App.- 1 to App.-29
App. 1 Peripheral equipment manufacturer (for reference) .................................................................App.-2
App. 2 Handling of AC driver batteries for the United Nations Recommendations on the Transport of
Dangerous Goods................................................................................................................................App.-2
App. 3 Symbol for the new EU Battery Directive..................................................................................App.-4
App. 4 Compliance with global standards............................................................................................App.-5
App. 4.1 Terms related to safety (IEC 61800-5-2 Stop function) .......................................................App.-5
App. 4.2 About safety.........................................................................................................................App.-5
App. 4.2.1 Professional engineer .....................................................................................................App.-5
App. 4.2.2 Applications of the devices..............................................................................................App.-5
App. 4.2.3 Correct use......................................................................................................................App.-5
App. 4.2.4 General cautions for safety protection and protective measures....................................App.-8
App. 4.2.5 Residual risk....................................................................................................................App.-8
App. 4.2.6 Disposal...........................................................................................................................App.-8
App. 4.2.7 Lithium battery transportation..........................................................................................App.-9
App. 4.3 Mounting/dismounting..........................................................................................................App.-9
App. 4.4 Electrical Installation and configuration diagram................................................................App.-10
App. 4.5 Signal.................................................................................................................................App.-11
App. 4.5.1 Signal ............................................................................................................................App.-11
App. 4.5.2 I/O device......................................................................................................................App.-11
App. 4.6 Maintenance and service...................................................................................................App.-12
App. 4.6.1 Inspection items ............................................................................................................App.-12
App. 4.6.2 Parts having service lives..............................................................................................App.-13