SMC Networks LECSA Series User manual

PRODUCT NAME
AC Servo Motor Driver
(Pulse input type/Positioning type)
MODEL / Series / Product Number
LECSA Series
(Simplified Edition)
LEC-OM05611
(Doc No. JXC※-OMT0052-A)

文書管理 No. －旧文書体系 No. 対応表
文書管理 No.
旧文書体系 No.
JXC※-OMT0052
LEC-OM05610
JXC※-OMT0052-A
LEC-OM05611
本書は、対応文書の原紙と一緒に保管する。

- 1 -
Contents
Contents.....................................................................................................1
Introduction...............................................................................................6
Terms .........................................................................................................6
1. Configuration.........................................................................................6
2. Pre-Operation Procedure......................................................................7
2.1 Flow chart ...........................................................................................................7
3. Wiring.....................................................................................................8
3.1 Power Supply Wiring..........................................................................................8
3.2 I/O signal connection example..........................................................................9
3.2.1 Position control mode (Sink I/O interfaces)..............................................................9
3.2.2 Speed control mode (Sink I/O interfaces)................................................................12
3.2.3 Torque control mode (Sink I/O interfaces) ..............................................................13
3.2.4 Positioning mode (Sink I/O interfaces)....................................................................14
3.2.5 Source I/O interfaces .................................................................................................15
4. List of Parameters for each Mode........................................................16
4.1 Parameters common to each mode................................................................16
4.2 Position control mode .....................................................................................16
4.3 Speed control mode.........................................................................................17
4.4 Torque control mode........................................................................................17
4.5 Positioning mode .............................................................................................18
5. Parameter Configuration using Setup software (MR Configurator2TM) 19
5.1 PC Setup software (MR Configurator2TM )......................................................19
5.1.1 Installation Method.....................................................................................................19
5.2 Basic driver set-up for Initial Test Drive.........................................................19
5.2.1 Start up the Setup software (MR Configurator2TM).................................................20
5.2.2 “System Settings”......................................................................................................21
5.2.3 Model Selection..........................................................................................................21
5.2.4 Driver ON LINE Check................................................................................................22
5.2.5 Help Function..............................................................................................................22
5.3 Parameter setting (Driver side).......................................................................23
5.3.1 Change of parameter block.......................................................................................24
5.3.2 Read of parameters....................................................................................................24
5.3.3 Parameter Configuration Method (Ex. “Control mode” selection) .......................25
5.3.4 Recommended Parameter Values by Actuator Model............................................26
5.3.5 Electronic Gears.........................................................................................................31
5.3.6 Control mode selection .............................................................................................32
5.3.7 Set the parameter of command pulse input form...................................................33
5.3.8 Verify of parameters...................................................................................................35
5.3.9 Parameter initialization..............................................................................................36
5.4 JOG Mode in the Setup Software....................................................................37
5.4.1 JOG Mode....................................................................................................................38
5.5 Changing I/O Signal Allocation.......................................................................39
5.5.1 Automatic Input Signal ON Selection Parameter Configuration...........................39
5.5.2 Initial I/O Signal Allocation........................................................................................41

- 2-
5.5.3 Signal Allocation using Setup Software ..................................................................42
5.5.4 Allocation Examples for Position Control Mode (Pulse Input) .............................43
5.5.5 Setting a Maximum of 7 Points using the Point Table in Positioning mode (Point Table)
45
5.5.6 I/O Signal Allocation Check.......................................................................................49
5.6 Positioning Mode in Setup Software ..............................................................50
5.6.1 Positioning Mode .......................................................................................................51
5.6.2 Motorspeed Configuration ........................................................................................52
5.6.3 Acceleration/deceleration Time Configuation.........................................................53
5.6.4 Move distance Configuration and Operation< Move distance Configuration>...54
5.7 Positioning (Point Table) Operation using the Setup Software....................55
5.7.1 Point table List............................................................................................................55
5.7.2 Point Table Data..........................................................................................................56
5.7.3 Point table (Target position) Configuration.............................................................57
5.7.4 Point table (Rotation Speed) Configuration ............................................................60
5.7.5 Point Table (Acceleration time constant/Deceleration time constant) Configuration 61
5.7.6 Other Settings.............................................................................................................61
5.7.7 Single-Step Feed ........................................................................................................62
5.8 Saving/Loading Parameters............................................................................63
5.8.1 Saving Parameters.....................................................................................................63
5.8.2 To Load saved Parameters........................................................................................64
5.9 Saving/Loading Project....................................................................................65
5.9.1 Saving Project.............................................................................................................65
5.9.2 To Load saved Project...............................................................................................66
5.10 Saving/Loading Point table ...........................................................................67
5.10.1 Saving Point table ....................................................................................................67
5.10.2 To Load saved Point table.......................................................................................68
5.11 Acquisition of motion waveform with graph monitor..................................69
5.11.1 Under the setting Tab: Setting of the items to display the graph.......................70
5.11.2 Trigger wait................................................................................................................74
5.11.3 Operation Instruction...............................................................................................75
5.11.4 Saving of waveform..................................................................................................76
5.12 Display All Monitor List..................................................................................77
6. Home Position Return Method.............................................................79
6.1 Position Control Mode (Pulse Input)...............................................................79
6.2 Positioning mode (point table)........................................................................79
6.2.1 Stopper type home position return..........................................................................80
7. Diriving Methods for Each Mode..........................................................82
7.1 Position Control Mode (Pulse Input)...............................................................82
7.1.1 Position Control Mode Instructions.........................................................................82
7.2 Speed control mode.........................................................................................83
7.2.1 Speed Control Mode Operation Instruction ............................................................83
7.3 Torque control mode........................................................................................84
7.3.1 Torque Control Mode Operation Instruction ...........................................................84
7.4 Positioning Mode (Point table method)..........................................................85
7.4.1 Operation Instruction of Point Table system ..........................................................85
7.4.2 Setting method ...........................................................................................................87
7.5 Positioning Mode (Programimg Method) .......................................................88
7.5.1 Setting method ...........................................................................................................88
7.5.2 Command in the program system............................................................................89
7.5.3 Operation Instruction Method of Program System ................................................90

- 3-
8. Troubleshooting ....................................................................................91
8.1 Alarms and Warning List .................................................................................91
8.2 Alarm Display....................................................................................................93

- 4-
LECSA 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), Japan Industrial Standards (JIS) *1.) and
other safety regulations*2.).
*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
*2) Labor Safety and Sanitation Law, 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.
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 lock 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.

- 5-
LECSA 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).

- 6-
Introduction
It is recommended that the operator read the operation manual for LECSA prior to use. For the handling and
details of other equipment, please refer to the operation manual for said equipment.
Check that the main circuit power supply (AC100V/AC200V) and controller circuit power supply (24V) are wired
correctly. Please refer to chapter 3.1 of the “LECSA Operation Manual” and chapter 2 of the “LECSA Operation
Manual (Simplified Edition)”for details.
When setup software (MR Configurator2TM) is used, the LECSA model selection is required.
Select 'MR-JN-A' through “Model" - "New" and "Project".
Terms
Position control mode (pulse)
Control the motor rotation speed and direction with pulse train and perform
positioning.
Positioning mode (Point table)
Set the positioning data, rotation speed, Acceleration/Deceleration time
constant of the drivers point table and execute ON/OFF control of the
positioning operation using the I/O signals (a maximum of 7 points can be
used for the point table configuration).
1. Configuration
Minimum equipment and wiring requirements to get started
1
Driver
LECSA*-S*
2
Motor cable
LE-CSM-***
3
Encoder cable
LE-CSE-***
4
I/O connector
LE-CSNA
I/O cable
LEC-CSNA-1
5
USB cable
LEC-MR-J3USB
6
Setup software (MR Configurator2TM)
LEC-MRC2*
7
Main circuit power supply connector
CNP1 (Accessory)
8
Control circuit power supply connector
CNP2 (Accessory)
Note) The lock cable option is not shown on this drawing. Refer to the “LECSAOperation Manual” for details.
8
3
4
6
2
1
7
Electric Actuators
Ex) LEF
PC
Provided by customer
24 VDC
Provided by customer
100V AC /200 V AC
Provided by customer
Provided by customer

- 7-
2. Pre-Operation Procedure
2.1 Flow chart
Wiring
See “3. Wiring”
Parameter setting
See “4. List of Parameters for each Mode”
Signal Assignment Configuration
See “5.5 Changing I/O Signal Allocation”
Parameter Settings using the Setup Software (MR
Configurator2TM)
See “5. Parameter Settings using the Setup Software (MR
Configurator2TM)”
Home position
return Method
See ”6. Home
position return
Method”
Home position
return Method
See “6．Home
position return
Method”
“Position Control
Mode” Configuration
See “7.1 Position
Control Mode (Pulse
input)”
“Positioning mode”
Configuration
See “7.4. Positioning
mode (Point table
method)”
See “7.5. Positioning
Mode (Program
method)”
“Speed control
mode” Configuration
See “7.2 Speed control
mode”
“Torque control mode”
Configuration
See “7.3 Torque control
mode”
Simple positioning mode
which is operable using
I/O signals
-Point table method
-Program method
Speed control though
specifying the internal
set speed using I/O
signals
Position control
using pulse train
input
Thrust control through
specifying the internal set
torque using I/O signals

- 8-
3. Wiring
3.1 Power Supply Wiring
Connect the actuator and driver power supply. This wiring diagram is common for each mode.
(1) LECSA (Incremental encoder)
EX.) Power supply voltage is 200VAC single phase
SON
EM1
L1
L2
Main circuit
power supply
1-phase 200 to 230VAC
ALM
P
C
DICOM
DOCOM
+24V
0V
U
V
W
Control circuit power supply
CNP1
CNP2
U
V
WM
Motor
Encoder
CN2 Encoder cable
DOCOM
CN1CN124VDC
Trouble
MCNFB
RA
Servo motorServo amplifier
Forced stop (Note 5)
Servo-on
RA OFFTrouble
MC
ON MC
SK
(Note 5)
Forced stop
(Note 6)
Circuit protector
(Note 4)
(Note 2)
(Note 3)
(Note 3)
24VDC (Note 7)
(Note 1)
Built-in regenerative
resistor
[1] Power supply input terminals, L1and L2: Specify power supply to input terminals L1and L2.
[2] Connect the motor power supply input terminal (U, V, W) to the driver power terminal (U, V, W).
Connect the motor ground terminal to the driver ground terminal.
Connect the encoder cable.
[3] Connect the 24VDC external power supply to the power supply for control circuit.
Refer to “LECSA Operation Manual”, Chapter 3 for further details if the power supply voltage is 100VAC.
Driver
[1]
[3]
[2]

- 9-
3.2 I/O signal connection example
Detail of connection examples for the I/O signals of the driver.
3.2.1 Position control mode (Sink I/O interfaces)
(1) Connection example
An example of a connection for the position control mode is shown below. Connect wires as necessary.
COM3
X
X
9 ALM
15 LA
16 LAR
17 LB
18 LBR
19 LZ
20 LZR
14 LG
SD
RD
14
11
21
23
2
25
5
1
L
N
COM2
Y000
COM1
Y004
Y010
OP
LG
PP
OPC
NP
DICOM
DOCOM
CR
13
RA1
RA2
8
4
3
6
7
EM1
SON
RES
LSP
LSN
S/S
24V
0V
12 MBR
X INP 10
CNP1
SD
(Note 10, 12)
Trouble (Note 6)
Electromagnetic
brake interlock
Encoder A-phase pulse
(differential line driver)
Encoder B-phase pulse
(differential line driver)
Control common
Encoder Z-phase pulse
(differential line driver)
Forward rotation
stroke end
Reverse rotation
stroke end
(Note 3, 5)
(Note 5)
(Note 10, 11)
(Note 9)
Servo-on
Reset
10m max.
(Note1)
USB cable
(option)
MR Configurator CN3
Personal
computer
(Note 14)
(Note 15)
Servo amplifier
10m max.
2m max. (Note 8)
(Note 7)
Programmable logic
controller
FX3U -MT/ES (Note 13)
(Note 7)
Plate
Plate
CN1CN1
24VDC
(Note 4, 10 ) (Note2)
Forced stop CN1
(Note7)
PLC power
supply
When connecting the CN1-23 pin and CN1-25 pin, supply the + 24V to OPC.
Refer to “LECSA Operation Manual”, section 3.2 for wiring details.
Refer to “LECSA Operation Manual (Simplified Edition)”,section 3.2.1 (2) and (3) for input/output signal details.
Note 1)
If the command pulse train input is open collector method, it supports only to the sink (NPN) type interface.
It does not correspond to the source (PNP) type interface.
This is a wiring example using the Mitsubishi Electric (FX3U-□□MT/ES) PLC for position control.
(Connection example of the open collector system) See“LECSA Operation Manual” and the technical
data disclosed the PLC and positioning unit operation manuals.
Diver
23 Note1)
25 Note1)

- 10 -
(2) Input signal
Position control mode: P, Speed control mode: S, Torque control mode: T, Point table method: CP, Program
method: CL
●: Automatic ON can be set, ○: Initial setting, □: Assignment is available with parameter,－: Assignment is not available
Symbol
Device name
Automatic
ON
P
S
T
CP/
CL
Function
PP
Forward rotation
pulse train
-
○
-
-
-
In the open collector system
(max. input frequency 200kpps)
Forward rotation pulse train across PP-DOCOM
Reverse rotation pulse train across NP-DOCOM
It supports only to the sink (NPN) type interface.
It does not correspond to the source (PNP) type
interface.
NP
Reverse rotation
pulse train
-
○
-
-
-
PG
Differential
forward rotation
pulse train
-
○
-
-
-
In the differential receiver system
(max. input frequency 1Mpps)
Forward rotation pulse train across PG-PP
Reverse rotation pulse train across NG-NP
NG
Differential
reverse rotation
pulse train
-
○
-
-
-
SON
Servo-on
●
○
○
○
○
Operation is available when SON is turned ON.
RES
Reset
-
○
○
○
□
Alarm can be reset.
LSP
Forward rotation
stroke end
●
○
□
-
□
Turn this signal on before operation. When this
signal turns off, the product is stopped suddenly
and servo lock is enabled.
LSN
Reverse rotation
stroke end
●
○
□
-
□
Turn this signal on before operation. When this
signal turns off, the product is stopped suddenly
and servo lock is enabled.
TL1
Internal torque
limit selection
-
□
□
□
□
When this signal turns on, the torque will be
lower than the set parameter torque.
ST1
Forward rotation
start
-
-
○
-
○
Start the servo motor.
ST2
Reverse rotation
start
-
-
○
-
○
Start the servo motor.
RS1
Forward rotation
selection
-
-
-
○
-
Servo motor torque generating direction is
selected.
RS2
Reverse rotation
selection
-
-
-
○
-
Servo motor torque generating direction is
selected.
SP1
Speed selection 1
-
-
○
○
-
The command rotation speed during operation is
selected.
SP2
Speed selection 2
-
-
□
□
-
SP3
Speed selection 3
-
-
□
□
-
EM1
Forced stop
●
○
○
○
○
When this signal turns on, forced stop can be
released.
CR
Clear
-
○
-
-
-
When CR is turned on, the droop pulses of the
position control counter are cleared on its
leading edge.
DI0
Point table No/
Program No.
selection 1
●
-
-
-
○
Select point table, program and return to home
position mode with DI0 to DI2.
DI1
Point table No/
Program No
selection 2
●
-
-
-
○
DI2
Point table No/
Program No
selection 3
●
-
-
-
□
MD0
Automatic/manual
selection
●
-
-
-
○
When this signal turns on, automatic operation
mode is activated. When this signal turns off,
manual operation mode is activated.

- 11 -
(3) Output signal
Position control mode: P, Speed control mode: S, Torque control mode: T, Point table method: CP, Program
method: CL
○: Initial setting, □: Assignment is available with parameter,－: Assignment is not available
Symbol
Device name
P
S
T
CP/
CL
Function
ALM
Trouble
○
○
○
○
This signal turns off while alarm is generated.
RD
Ready
○
○
○
○
When servo-on turns on and operation is available, this
signal turns on.
INP
In-position
○
-
-
○
This signal turns on when the droop pulse is within the
setting range.
SA
Speed reached
-
○
-
-
When the servo motor rotation speed reaches the set
speed, this signal turns on.
VLC
Limiting speed
-
-
□
-
This signal turns on when reaching the speed restricted by
parameter.
TLC
Limiting torque
□
□
-
□
This signal turns on when reaching the torque set by
parameter while torque is generated. .
ZSP
Zero speed
□
□
□
□
When the servo motor rotation speed is lower than the
speed set by parameter, this signal turns on.
MBR
Electromagnetic
brake interlock
○
○
○
○
This signal turns off in case of servo off or when alarm is
generated.

- 12 -
3.2.2 Speed control mode (Sink I/O interfaces)
(1) Connection example
An example of a connection for the speed control mode is shown below. Connect wires as necessary.
LZ
Plate
Servo amplifier
Trouble (Note 6)
Electromagnetic
brake interlock
9 ALM
10 SA
11 RD
12 MBR
CN1
Speed reached
Ready
Encoder A-phase pulse
(differential line driver)
15 LA
16 LAR
17 LB
18 LBR
14 LG
21 OP
SD 2mmax.
Encoder B-phase pulse
(differential line driver)
Control common
Encoder Z-phase pulse
(open collector)
Encoder Z-phase pulse
(differential line driver)
19
20 LZR
CN1
1
13
DICOM
DOCOM
10mmax.
USB cable
(option) CN3
MR Configurator
Personal
computer
24VDC
RA1
RA 2
RA 3
RA 4
8
4
3
7
Forced stop
Servo-on
Reset
Forward rotation
start
Reverse rotation
start
(Note 3, 5)
5
6
Speed selection 1
EM1
SON
RES
ST1
ST2
SP1
(Note 9,
10, 12)
(Note4, 9) (Note 7) (Note2)
(Note 9, 11)
10mmax.
(Note1)
(Note8)
(Note 7)
Control common
CNP1
Refer to“LECSA Operation Manual”,section 3.2 for wiring details.
Refer to “LECSA Operation Manual (Simplified Edition)”,section 3.2.1 (2) and (3) for input/output signal details.
Driver

- 13 -
3.2.3 Torque control mode (Sink I/O interfaces)
(1) Wiring example
An example of a connection for the torque control mode is shown below. Connect wires as necessary.
CNP1
24VDC (Note 4, 8)
Servoamplifier
20
Trouble (Note 5)
Electromagnetic
brake interlock
Encoder A-phase pulse
(differential line driver)
9 ALM
11 RD
12 MBR
15 LA
16 LAR
17 LB
18 LBR
14 LG
21 OP
SD 2mmax.
Encoder B-phase pulse
(differential line driver)
Control common
Encoder Z-phase pulse
(open collector)
CN1
Ready
Encoder Z-phase pulse
(differential line driver)
19 LZ
LZR
(Note6)
CN1
1
13
DICOM
DOCOM
Personal
computer
USB cable
(option) CN3
10mmax.
(Note7)
MR Configurator
(Note 8, 10)
Plate
(Note 8, 9)
8
4
3
6
7
Forced stop
Servo-on
Reset
Forward rotation selection
Reverse rotation selection
(Note 3)
5
EM1
SON
RES
RS1
RS2
SP1
Speed selection 1
RA1
RA2
RA3
(Note6) (Note2)
10mmax.
Control common
(Note1)
Refer to“LECSA Operation Manual”,section 3.2 for wiring details.
Refer to “LECSA Operation Manual (Simplified Edition)”,section 3.2.1 (2) and (3) for input/output signal details.
Driver

- 14 -
3.2.4 Positioning mode (Sink I/O interfaces)
(1) Connection example
An example of a connection for the position control mode is shown below. Connect wires as necessary.
LZ
Plate
Servoamplifier
(Note 1)
(Note 2)
Trouble (Note 6)
Electromagnetic
brake interlock
9 ALM
10 MEND
11 RD
12 MBR
(Note 7)
CN1
Travel completion
(Note 13)
Ready
15 LA
16 LAR
17 LB
18 LBR
14 LG
21 OP
SD
10mmax.
2m max.
Encoder B-phase pulse
(differential line driver)
Control common
Encoder Z-phase pulse
(open collector)
Encoder Z-phase pulse
(differential line driver)
19
20 LZR
(Note 7)
CN1
1
13
DICOM
DOCOM
10mmax.
+
CN3
(Note 8)
MR Configurator Personal
computer
24VDC RA1
RA2
RA3
RA4
(Note 4, 9)
(Note 9, 11)
8
4
3
7
Forced stop
Servo-on
Automatic/manual selection
Forward rotation start
Reverse rotation start
(Note 3, 5)
25
6
Proximitydog
EM1
SON
MD0
ST1
ST2
DOG
(Note 9,
10, 12) 5DI0
23DI1
Point table No./Program No.
selection 2
Point table No./Program No.
selection 1
CNP1
2OPC
Control common
Encoder A-phase pulse
(differential line driver)
USB cable
(option)
When connecting the CN1-23 pin and CN1-25 pin, supply the + 24V to OPC.
Refer to“LECSA Operation Manual”,section 3.2 for wiring details.
Refer to “LECSA Operation Manual (Simplified Edition)”,section 3.2.1 (2) and (3) for input/output signal details.
Driver

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3.2.5 Source I/O interfaces
Source type I/O interfaces can be used with this driver. If used, all DI-1 input signals and DO-1 output signals are
source type signals. Complete wiring according to the following interfaces.
(1) Digital input interface DI-1
SON,
etc.
Servo amplifier
Switch
Approx. 5mA
DICOM
VCES 1.0V
ICEO 100 A
24VDC 10%
200mA
Approx. 5.6k
(2) Digital output interface DO-1
A maximum voltage drop of 2.6V may occur in the driver.
(Note) 24VDC 10%
2 00mA
If polarityof diode is
reversed, servo
amplifier will fail.
Servoamplifier
ALM,
etc. Load
DOCOM
ORIGINAL IMAGE REQUIRED
Note. If the voltage drop (2.6V max) interferes with the relay operation, apply high voltage (up to 26.4V) from
external source.
Driver
Driver
driver

- 16 -
4. List of Parameters for each Mode
These parameters require configuration in each control mode. Please configure parameters as required.
Refer to “LECSA Operation Manual (Simplified Edition)”, section 5.3 and “LECSA Operation Manual”, chapter 4
for details.
Refer to “LECSA Operation Manual”, chapter 4 for parameters which are not disclosed in this document.
Setup software (MR Configurator2TM : LEC-MRC2E) is necessary for the setting of parameter.
*1 Setup software version 1.52E or above is required.
*2 The setup software (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.
4.1 Parameters common to each mode
(1) [Basic settings parameters (No.PA□□)]
No.
Symbol
Name
Initial value
Unit
PA01
*STY
Control mode
000h
(2) [I/O setting parameters (No. PD□□)]
These parameters are set when changing the input/output signal assignment and switching the input signal
automatic on. See “LECSA Operation Manual (Simplified Edition)”, section 5.5 and “LECSA Operation
Manual” section 4.4 for details.
4.2 Position control mode
(1) [Basic settings parameters (No.PA□□)]
No.
Symbol
Description
Initial value
Unit
PA05
*FBP
Number of command input pulses per revolution
100
×100
pulse/rev
PA06
CMX
Electronic gear numerator
(Command input pulse multiplying factor numerator)
1
PA07
CDV
Electronic gear denominator
(Command input pulse multiplying factor denominator)
1
PA08
ATU
Auto tuning mode
001h
PA09
RSP
Auto tuning response
6
PA10
INP
In-position range
100
pulse
PA13
*PLSS
Command input pulse form
000h
PA14
*POL
Rotation direction selection
0

- 17 -
4.3 Speed control mode
(1) [Basic settings parameters (No.PA□□)]
No.
Symbol
Name
Initial value
Unit
PA08
ATU
Auto tuning mode
001h
PA09
RSP
Auto tuning response
6
(2) [Extension setting parameters (No. PC□□)]
No.
Symbol
Name
Initial value
Unit
PC01
STA
Acceleration time constant
0
ms
PC02
STB
Deceleration time constant
0
ms
PC05
SC0
Internal speed command 0
0
r/min
PC06
SC1
Internal speed command 1
100
r/min
PC07
SC2
Internal speed command 2
500
r/min
PC08
SC3
Internal speed command 3
1000
r/min
PC31
SC4
Internal speed command 4
[Applied]
200
r/min
PC32
SC5
Internal speed command 5
[Applied]
300
r/min
PC33
SC6
Internal speed command 6
[Applied]
500
r/min
PC34
SC7
Internal speed command 7
[Applied]
800
r/min
4.4 Torque control mode
(1) [Extension setting parameters (No. PC□□)]
No.
Symbol
Name
Default
Unit
PC01
STA
Acceleration time constant
0
ms
PC02
STB
Deceleration time constant
0
ms
PC05
SC0
Internal speed limit 0
0
r/min
PC06
SC1
Internal speed limit 1
100
r/min
PC07
SC2
Internal speed limit 2
500
r/min
PC08
SC3
Internal speed limit 3
1000
r/min
PC31
SC4
Internal speed limit 4
[Applied]
200
r/min
PC32
SC5
Internal speed limit 5
[Applied]
300
r/min
PC33
SC6
Internal speed limit 6
[Applied]
500
r/min
PC34
SC7
Internal speed limit 7
[Applied]
800
r/min

- 18 -
4.5 Positioning mode
(1) [Basic settings parameters (No.PA□□)]
No.
Symbol
Name
Initial value
Unit
PA05
*FBP
Number of command input pulses per revolution
100
×100
pulse/rev
PA06
CMX
Electronic gear numerator
(Command input pulse multiplying factor numerator)
1
PA07
CDV
Electronic gear denominator
(Command input pulse multiplying factor denominator)
1
PA08
ATU
Auto tuning mode
001h
PA09
RSP
Auto tuning response
6
PA10
INP
In-position range
100
pulse
PA13
*PLSS
Command input pulse form
000h
PA14
*POL
Rotation direction selection
0
(2) [Positioning setting parameters (No. PE□□)]
No.
Symbol
Name
Initial value
Unit
PE01
CTY
Command mode selection
0000h
PE02
FTY
Feeding function selection
0000h
PE03
ZTY
Home position return type
0010h
PE04
ZRF
Home position return speed
500
r/min
PE06
ZST
Home position shift distance
0
μm
PE07
FTS
Home position return/JOG operation
Accelerationeration/Deceleration time constants
100
ms
PE08
ZPS
Home position return position data
0
×10STMμm
PE13
JOG
JOG speed
100
r/min
PE16
LMPL
Software limit +
0
×10STMμm
PE17
LMPH
PE18
LMNL
Software limit -
0
×10STMμm
PE19
LMNH
(3) [I/O setting parameters (No. PD□□)]
These parameters are set when changing the assignment of the input/output signal and using the point table at a
maximum of 7 points.
See “LECSA Operation Manual (Simplified Edition)”, section 5.5 and “LECSA Operation Manual”, section 4.4 for
details.