SMC Networks LECSN-T Series User manual

No. DOC1020530
NN57821800
PRODUCT NAME
AC Servo Motor Driver
（ Network card type ）
MODEL / SERIES / PRODUCT NUMBER
LECSN-T□Series
Operation Manual
(Simplified edition)
When connecting LECSN-T with MR Configurator2TM, please select the model: "MR-J4-TM".
For SMC products, please contact the SMC sales office.

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CONTENTS
Introduction .....................................................................................................................5
1.Functions and Configuration.............................................................................5
2. Wiring.............................................................................................................................6
2.1 Power supply wiring ....................................................................................6
2.2 I/O signal connection...................................................................................8
2.3 Forced stop deceleration function .............................................................9
3. Startup.........................................................................................................................10
3.1 Startup procedure.....................................................................................10
3.2 Procedures for actuator operation..........................................................11
3.3 Setup software (MR Configurator2TM )......................................................12
3.3.1 Installation method...........................................................................................................................12
3.3.2 Startup setup software (MR Configurator2TM)...................................................................12
3.3.3 System settings..................................................................................................................................13
3.3.4 Model selection...................................................................................................................................13
3.3.5 Driver ON LINE check .....................................................................................................................14
3.3.6 Help function........................................................................................................................................14
4. Parameter setting..................................................................................................15
4.1 Operation mode【Pr. PA01】........................................................................16
4.2 Regenerative option【Pr. PA02】.................................................................17
4.3 Absolute position detection system【Pr. PA03】.......................................17
4.4 Function selection A-1【Pr. PA04】.............................................................17
4.5 Electric gear【Pr. PA06, Pr. PA07】.............................................................17
4.6 Auto tuning mode【Pr.PA08】......................................................................18
4.7 Input signal automatic on selection【PD01】.............................................18
4.8 Parameter setting by MR Configurator2TM ...............................................19
4.8.1 Parameter reading.............................................................................................................................20
4.8.2 Parameter setting (Ex. Control mode change) ..................................................................20
5. Test operation..........................................................................................................21
5.1 Operation procedure..................................................................................21
5.2 JOG Mode ...................................................................................................22
5.3 Positioning Mode .......................................................................................23
5.3.1 Positioning Mode...............................................................................................................................24
5.3.2 Motor speed configuration...........................................................................................................25
5.3.3 Acceleration/deceleration time configuration....................................................................26
5.3.4 Move distance Configuration and Operation .....................................................................27
6. Monitor by MR Configurator 2TM ...................................................................28
6.1 Acquisition of motion waveform with graph monitor .............................28
6.1.1 Under the setting Tab: Setting of the items to display the graph ...........................29
6.1.2 Trigger wait ...........................................................................................................................................31
6.1.3 Operation Instruction ......................................................................................................................32

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6.1.4 Saving of waveform..........................................................................................................................32
6.2 Display All Monitor List.............................................................................33
7. Network setting ......................................................................................................34
7.1 EtherCAT Communication.........................................................................34
7.1.1 EtherCAT Network card (LEC-S-NE)........................................................................................34
7.1.2 EtherCAT Communication setting..........................................................................................35
7.2 EtherNet/IP ..............................................................................................36
7.2.1 EtherNet/IP Network card (LEC-S-N9) ..................................................................................36
7.2.2 EtherNet/IP Communication setting........................................................................................37
7.3 PROFINET .................................................................................................38
7.3.1 PROFINET Network card (LEC-S-NP) .....................................................................................38
7.3.2 PROFINET Communication setting .........................................................................................39
8. Actuator operation from host.........................................................................40
8.1 CiA 402 drive profile ..................................................................................40
8.1.1 FSA state................................................................................................................................................40
8.1.2 Controlword / Statusword.............................................................................................................41
8.1.3 Control mode.......................................................................................................................................42
8.2 Parameter setting.......................................................................................43
8.3 Servo-on and Homing................................................................................44
8.4 Positioning operation (Profile position mode) ........................................45
9. Trouble shooting....................................................................................................46
9.1 Alarm and Warning ....................................................................................46
9.3 Alarm Display .............................................................................................46

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LECS Series / Driver
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),
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 etc.
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.
IMPORTANT
Indicates important information that should be memorized, as well as precautions, such as alarm
displays, that do not involve potential damage to equipment.
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.
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.

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LECS Series / Driver
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).

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Introduction
This manual is intended for first-time users of LECSN-T servo motors and contains important excerpts
from the "LECSN-T Operation Manual”.
For details, please prepare the "LECSN-T Operation Manual" and check it as well.
For details on the handling of devices other than this driver, refer to the operation manuals of the devices.
Refer to Chapter 2 for wiring, Chapter 4 for parameter settings, Chapter 5 for test operation, Chapter
7 for network settings, and Chapter 8 for operation method on the host side.
1.Functions and Configuration
The devices and wiring that make up the driver are shown below.

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2. Wiring
2.1 Power supply wiring
Wires the power supplies for the actuator and driver. This wiring is common in each mode.
(1) Using 3-phase 200 V AC to 240 V AC power supply for LECSN2-T
Note 1.
Between P3 and P4 is connected by default.
2.
Always connect between P+ and D terminals. (Factory-wired)
4.
If disabling ALM (Malfunction) output with the parameter, configure up the power supply circuit which switches off the magnetic
contactor after detection of alarm occurrence on the upper side.
5.
This diagram shows sink I/O interface.
7.
Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of
contacts) of 80 ms or less. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may
cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not
required, slow the time to turn off the magnetic contactor.
8.
Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the driver
9.
When not using the STO function, attach the short-circuit connector came with a driver.
10.
When wires used for L11 and L21 are thinner than wires used for L1, L2, and L3, use a molded-case circuit breaker.
11.
Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the driver may cause a malfunction.
12.
The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they
can be configured by one.

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(2) Using 1-phase 200 V AC to 240 V AC power supply for LECSN2-T
Note 1.
Between P3 and P4 is connected by default.
2.
Always connect between P+ and D terminals. (Factory-wired)
4.
If disabling ALM (Malfunction) output with the parameter, configure up the power supply circuit which switches off the magnetic
contactor after detection of alarm occurrence on the upper side.
5.
This diagram shows sink I/O interface.
7.
Use a magnetic contactor with an operation delay time (interval between current being applied to the coil until closure of
contacts) of 80 ms or less. Depending on the main circuit voltage and operation pattern, bus voltage decreases, and that may
cause the forced stop deceleration to shift to the dynamic brake deceleration. When dynamic brake deceleration is not
required, slow the time to turn off the magnetic contactor.
8.
Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the driver
9.
When not using the STO function, attach the short-circuit connector came with a driver.
10.
When wires used for L11 and L21 are thinner than wires used for L1, and L3, use a molded-case circuit breaker.
11.
Connecting a servo motor of the wrong axis to U, V, W, or CN2 of the driver may cause a malfunction.
12.
The illustration of the 24 V DC power supply is divided between input signal and output signal for convenience. However, they
can be configured by one.

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2.2 I/O signal connection
An example of driver input/output signal connection is shown below.
(1) For sink I/O interface
Note 1.
To prevent an electric shock, always connect the protective earth (PE) terminal (marked ) of the driver to the protective
earth (PE) of the cabinet.
2.
Connect the diode in the correct direction. If it is connected reversely, the driver will malfunction and will not output signals,
disabling EM2 (Forced stop 2) and other protective circuits.
3.
If the upper side does not have forced stop function, always install the forced stop 2 switch (normally closed contact).
4.
When starting operation, always turn on EM2 (Forced stop 2), LSP (Forward rotation stroke end) and LSN (Reverse rotation
stroke end). (Normally closed contact)
6.
You can change devices of these pins with [Pr. PD03], [Pr. PD05], and [Pr. PD06].
7.
For the network connections, refer to “LECSN-T Operation Manual Chapter 18,19,20”.
8.
Configure a circuit to turn off EM2 when the main circuit power is turned off to prevent an unexpected restart of the driver.
9.
When not using the STO function, attach the short-circuit connector came with a driver.
10.
Supply 24 V DC ± 10% for interfaces from outside. Set the total current capacity to 300 mA. 300 mA is the value applicable
when all I/O signals are used. The current capacity can be decreased by reducing the number of I/O points. The illustration of
the 24 V DC power supply is divided between input signal and output signal for convenience. However, they can be configured
by one.
11.
ALM (Malfunction) turns on in normal alarm-free condition. (Normally closed contact)
12.
The pins with the same signal name are connected in the driver.
13.
You can change devices of these pins with [Pr. PD07], [Pr. PD08], and [Pr. PD09].

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(2) For source I/O interface
POINT
For notes, refer to section (1)
2.3 Forced stop deceleration function
The following is an explanation of the driver's forced stop deceleration signal EM2.
When EM2 is turned off, dynamic brake will start to stop the servo motor after forced stop deceleration.
During this sequence, the display shows [AL. E6 Servo forced stop warning].
If the servo motor is started up without EM2 connected, [AL. E6 Servo forced stop Warning] will occur
and the servo motor will not be able to run.
Connection diagram
Note. This diagram shows sink I/O interface.

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3. Startup
The following are the procedures for startup, actuator operation, and startup of the setup software.
3.1 Startup procedure
This section shows the startup procedure when installing the actuator for the first time.
For details, refer to "LECSN-T Operation Manual, Section 4.1”.
Wiring check
Refer to “Chapter 2 Wiring”
Network setting
Refer to “Chapter 7 Network setting”
Test operation of actuators
with setup software
Refer to “Chapter 5 Test operation”
Parameter setting
Refer to “Chapter 4 Parameter setting”
Actuator operation from host
Refer to “Chapter 8 Operation from host”
Actual operation
Monitor
Refer to “Chapter 6 Monitor”

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3.2 Procedures for actuator operation
The following is the procedure for actuator operation.
(1) Power on
When the main and control circuit power supplies are turned on, "b01" (for the first axis) appears
on the driver display.
When the absolute position detection system is used in a rotary servo motor, first power-on results
in [AL. 25 Absolute position erased] and the servo-on cannot be ready. The alarm can be
deactivated by then switching power off once and on again.
Also, if power is switched on at the servo motor speed of 3000 r/min or higher, position mismatch
may occur due to external force or the like. Power must therefore be switched on when the servo
motor is at a stop.
(2) Servo-on
Enable the servo-on with the following procedure.
(a) Switch on main circuit power supply and control circuit power supply.
(b) Transmit the servo-on command with the controller.
When the servo-on status is enabled, the driver is ready to operate, and the servo motor is locked.
(3) Home position return
Always perform home position return before starting positioning operation.
When homing, a homing command is sent from the host in the homing mode.
When using the absolute positioning system, once the origin is set, there is no need to perform
homing at subsequent power-on.
Note that homing is not performed in the test operation mode.
(4) Drive
In each control mode, an operation command is sent from the host.
This manual describes the procedure for "profile position mode.
(5) Stop
Turn off the servo-on command after the servo motor has stopped, and then switch the power off. If
any of the following situations occurs, the driver suspends the running of the servo motor and
brings it to a stop.
Refer to "LECSN-T Operation Manual, Section 3.9” for the servo motor with an electromagnetic
brake.
Operation/command
Stopping condition
Upper side
Servo-off command
The base circuit is shut off and the servo motor coasts.
Ready-off command
The base circuit is shut off and the dynamic brake operates to
bring the servo motor to a stop.
Quick stop command
The servo motor decelerates to a stop with the command.
Driver
Alarm occurrence
The servo motor decelerates to a stop with the command. With
some alarms, however, the dynamic brake operates to bring the
servo motor to a stop.
EM2 (Forced stop 2) off
The servo motor decelerates to a stop with the command. [AL.
E6 Servo forced stop warning] occurs. EM2 has the same
function as EM1 in the torque mode.
STO (STO1, STO2) off
The base circuit is shut off and the dynamic brake operates to
bring the servo motor to a stop.

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3.3 Setup software (MR Configurator2TM )
*1 Setup software version 1.52E or above is required.
*2 MR Configurator2TM (LEC-MRC2E) must be purchased as an additional item.
*3 The USB cable (LEC-MR-J3USB) must be purchased as an additional item.
3.3.1 Installation method
Perform installation according to the “MR Configurator2TM instruction manual” (Manual/ib0300160*.pdf)
contained on the setup software (MR Configurator2TM) CD-ROM. The “MR Configurator2TM” software will
be added to the PC.
3.3.2 Startup setup software (MR Configurator2TM)
①Connect the PC and LECSN-T using the USB cable.
②Turn on the power of the LECSN-T.
③ Start application “MR Configurator2TM”.
Once the application starts, the screen below will be displayed.

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3.3.3 System settings
①From “Project” menu select “New”, the “New project” window will be displayed.
3.3.4 Model selection
①The Mitsubishi Electric Corporation series will be displayed in the model selection list.
Please select the model “MR-J4-TM”, if using the LECSN-T.
Please select the station for the USB connection.
Please select the option unit “No Connection”.
②Please select “servo amplifier connection USB” as the communication device.
③Click OK.
①
②
③

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3.3.5 Driver ON LINE check
Check that the driver is enabled (ONLINE).
Check that the “ONLINE / OFFLINE” icon is displayed “ ”.
It is OFFLINE when displayed as “ ”.
* For OFFLINE, PC and driver aren’t communicating. Confirm the following points.
- Is driver's power supply turning on?
- Are PC and driver connected with the USB cable?
- Is the USB driver installed?
- Is the USB driver which is compliant to Windows version installed?
- Is the setting of “Port” for USB connection corresponding?
Please select the option unit “No Connection”.
3.3.6 Help function
By selecting “MR Configurator2 Help” in “Help” from any window of the setup software, a “HELP” screen
will be shown.

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4. Parameter setting
Parameters that need to be set at startup.
For some items, please refer to the recommended parameter values for each actuator in "LECSN-T□
Operating Manual, Appendix 9”.
For details and parameters other than those in this section, refer to "LECSN-T□ Operation Manual,
Chapter 5”.
Parameters can be set by commands from the host and setup software (MR Configurator2TM: LEC-
MRC2*). Refer to section 4.7 of this manual for how to use MR Configurator2TM.
Parameters that need to be set
No.
Symbol
Name
Initial value
Refference
[Pr.PA01]
**STY
Operation mode
1000h
Section 4.1
[Pr.PA02]
**REG
Regenerative option
0000h
Section 4.2
[Pr.PA03]
*ABS
Absolute position detection system
0000h
Section 4.3
[Pr.PA04]
*AOP1
Function selection A-1
2000h
Section 4.4
[Pr.PA06]
*CMX
Electric gear numerator/Number of gear teeth on
machine side
1
Refer to the “recommended parameter
values for each actuator”
and Section 4.5
[Pr.PA07]
*CDV
Electric gear numerator/Number of gear teeth on
servo motor side
1
[Pr.PA08]
RSP
Auto tuning mode
0001h
Section 4.6
[Pr.PA14]
*POL
Rotation direction selection /
travel direction selection
0
Refer to the “recommended parameter
values for each actuator”
[Pr.PB06]
GD2
Load to motor inertia ratio/load to motor mass ratio
7
[Pr.PD01]
*DIA1
Input signal automatic on selection 1
0000h
Section 4.7
[Pr.PE41]
EOP
Function selection E-3
0000h
Refer to the “recommended parameter
values for each actuator”
[Pr.PT01]
**CTY
Command mode selection
0300h
[Pr.PT03]
*FTY
Feeding function selection
0000h
[Pr.PT05]
ZRF
Home position return speed
100
[Pr.PT06]
CRF
Creep speed
10
[Pr.PT07]
ZRF
Home position shift distance
0
[Pr.PT10]
ZTM
Stopper type home position
return stopper time
100
[Pr.PT11]
ZTT
Stopper type home position
return torque limit value
15
[Pr.PT45]
HMM
Home position return method
37
[Pr.PT56]
HMA
Home position return acceleration
time constant
0

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4.1 Operation mode【Pr. PA01】
Select the control mode to be used.
For more information, please refer to section 8.1.3 of this manual.
POINT
Symbols in the network column indicate the following networks.
ECT: EtherCAT
EIP: EtherNet/IP
PNT: PROFINET
[Pr. PA01]
setting
Control mode
EtherCAT
EtherNet/IP
PROFINET
_ _ _ 0
Cyclic synchronous mode
Homing mode
Profile mode /homing mode
_ _ _ 1
Cyclic synchronous mode
Homing mode
_ _ _ 2
Profile mode / homing mode
_ _ _ 6
Point table mode / Jog
mode / homing mode
Point table mode / Jog
mode / homing mode
_ _ _ 8
Indexer mode / Jog mode
/ homing mode
Indexer mode / Jog mode
/homing mode
See below for a description of each control mode.
Function
Description
Network
ECT
EIP
PNT
Cyclic synchronous position
mode (csp)
The position control operation performed by a synchronous sequential position command through
network is supported.
Cyclic synchronous velocity
mode (csv)
The speed control operation performed by a synchronous sequential speed command through
network is supported.
Cyclic synchronous torque
mode (cst)
The torque control operation performed by a synchronous sequential torque command through
network is supported.
Profile position mode (pp)
The positioning operation performed by an asynchronous end position command through network is
supported.
Profile velocity mode (pv)
The speed control operation performed by an asynchronous speed command through network is
supported.
Profile torque mode (tq)
The torque control operation performed by an asynchronous torque command through network is
supported.
Homing mode (hm)
The home position return operation specified in each network is supported.
Point table mode (pt)
Set 1-to-255-point tables in advance, and select any point table to perform operation in accordance
with the set values.
Indexer mode (idx)
Set the station positions divided into 2 to 255 in advance to perform operation to the station
positions.
Jog mode (jg)
This is a control mode where the servo motor speed is set to drive the servo motor manually.

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4.2 Regenerative option【Pr. PA02】
Set this parameter when the regenerative power generated is large and the driver's built-in regenerative
resistor does not have sufficient regenerative capability.
For the regenerative option to be used, refer to the "Speed – Workload Graph / Required Conditions for
Regeneration Option" in the catalog for each actuator.
For details on how to connect the regenerative options, refer to "LECSN-T Operation Manual,
Section 11.2”.
4.3 Absolute position detection system【Pr. PA03】
Set this parameter to enable the absolute position detection system.
For details, refer to "LECSN-T Operation Manual, Chapter 12”.
4.4 Function selection A-1【Pr. PA04】
When the forced stop inputs EM2 and EM1 are not wired, they can be enabled forcibly.
To turn on the forced stop input automatically, change Pr. PA04 from the initial value "2000h" to "2100h".
For details, please refer to "LECSN-T Operation Manual, Section 5.2.1”.
However, when enabling the forced stop input, be sure to provide an emergency stop function on the host
side.
4.5 Electric gear【Pr. PA06, Pr. PA07】
The electronic gear must be set to convert pulses from the positioning unit (PLC) into the actuator's travel.
Basically, enter the "Recommended Parameter Values for Each Actuator" in "LECSN-T User's Manual,
Appendix 9”.
The electronic gear can be changed to suit your company's usage.
For details, refer to "LECSN-T Operation Manual, Section 5.4.”
回生オプションの選択
00: 回生オプションを使用しない。
・100 Wのサーボアンプの場合，回生抵抗器を使用しない。
・0.2 kW ～7 kWのサーボアンプの場合，内蔵回生抵抗器を使用する。
・11 kW ～22 kWのサーボアンプで付属の回生抵抗器または回生オプションを使用する。
01: FR-BU2・FR-RC ・FR-CV
02: MR-RB032
03: MR-RB12
04: MR-RB32
05: MR-RB30
06: MR-RB50 (冷却ファンが必要 )
08: MR-RB31
09: MR-RB51 (冷却ファンが必要 )
0B: MR-RB3N
0C: MR-RB5N (冷却ファンが必要 )
FA: 11 kW ～22 kWのサーボアンプで付属の回生抵抗器または回生オプションを冷却ファンで
冷却し，能力UPするとき
0 0
[Pr. PA02]
POINT
● This parameter becomes effective when the poweris turned off and then turned on again after setting.
Select a regenerative option.
00: Regenerative option is not used.
For drivers of LECSN-T5, do not use a regenerative resistor.
For drivers of LECSN-T5/T7/T8 and LECSN2-T9,
use a built-in regenerative resistor.
02: LEC-MR-RB-032
03: LEC-MR-RB-12
Set this digit when using the absolute position detection system.
0: Disabled (incremental system)
1: Enabled (absolute position detection system)

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4.6 Auto tuning mode【Pr.PA08】
The driver has a built-in real-time auto-tuning function that estimates the machine characteristics (load
inertia moment ratio) in real time and automatically sets the optimum gain according to that value. This
function facilitates gain adjustment of the driver.
The parameters that are automatically adjusted differ depending on the gain adjustment mode.
The driver is set to "auto tuning mode 1" as shipped.
If you cannot obtain satisfactory adjustment, set the driver to "auto tuning mode 2" and then to "manual
mode".
For details, refer to "LECSN-T Operation Manual, Chapter 6”.
4.7 Input signal automatic on selection【PD01】
If LSP (forward stroke end) and LSN (reverse stroke end) detection is not performed by an external input
signal, set the input signal to "1: Automation on”.
If LSP and LSN are not detected, an alarm occurs.
Convert the setting value into hexadecimal as follows.
0
0
BIN 0: Use for an external input signal.
BIN 1: Automatic on
Initial value
BIN HEX
Signal name
0
0
0
0
LSP (Forward rotation stroke end)
LSN (Reverse rotation stroke end)
0 0
Setting
value
Gain adjustment
mode
Automatically adjusted parameter
_ _ _ 0
2 gain adjustment
mode 1 (interpolation
mode)
[Pr. PB06 Load to motor inertia ratio/]
[Pr. PB08 Position loop gain]
[Pr. PB09 Speed loop gain]
[Pr. PB10 Speed integral compensation]
_ _ _ 1
Auto tuning mode 1
[Pr. PB06 Load to motor inertia ratio/]
[Pr. PB07 Model loop gain]
[Pr. PB08 Position loop gain]
[Pr. PB09 Speed loop gain]
[Pr. PB10 Speed integral compensation]
_ _ _ 2
Auto tuning mode 2
[Pr. PB07 Model loop gain]
[Pr. PB08 Position loop gain]
[Pr. PB09 Speed loop gain]
[Pr. PB10 Speed integral compensation]
_ _ _ 3
Manual mode
_ _ _ 4
2 gain adjustment
mode 2
[Pr. PB08 Position loop gain]
[Pr. PB09 Speed loop gain]
[Pr. PB10 Speed integral compensation]

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4.8 Parameter setting by MR Configurator2TM
①From the “Parameter” menu select “Parameter Setting”, the “parameter setting” window will open.
②The explanation of the parameter item is displayed in “MR2 Help”.
(When it is not displayed, from the “View” menu select “Docking window” – “Docking Help”.)
③When each item of “List display” is clicked, “Parameter list” screen along each item is displayed.
When “Basic” is selected, it is displayed as follows.
①
②
③