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。

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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

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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

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

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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.

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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).

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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

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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

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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]