SMC Networks LECYU Series User manual

Doc. no. LEC-OM07103
(Doc no. JXC※-OMT0066)
PRODUCT NAME
AC Servo Motor Driver
MODEL / Series/ Product Number
LECYU Series

1
Introduction
This manual describes information required for designing, testing, adjusting, and
maintaining LECYU Series driver.
Keep this manual in a location where it can be accessed for reference whenever
required. Manuals outlined on the following page must also be used as required by
the application.
• Description of Technical Terms
The following table shows the meanings of terms used in this manual.
Term
Meaning
M-III Model
MECHATROLINK-III communications reference used for
driver interface
Servo ON
Power to motor ON
Servo OFF
Power to motor OFF
Base Block (BB)
Power supply to motor is turned OFF by shutting off the base
current to the power transistor in the current amplifier.
Servo Lock
A state in which the motor is stopped and is in position loop
with a position reference of 0.
Main Circuit Cable
Cables which connect to the main circuit terminals, including
main circuit power supply cables, control power supply cables,
motor cables, and others.
Transmission Cycle
The transmission cycle is the cycle in the MAC (Media Access
Control) layer. It is the communication cycle for physically
sending data to the transmission path. The transmission cycle
is unaffected by the services pro- vided by the application layer.
CommunicationCycle
The communication cycle is the cycle for application layer. The
communication cycle is set to an integral multiple of the
transmission cycle.
Synchronous Commands
(Classification S)
For commands of this type, commands are sent and response
are received every communication cycle.
The WDT (Watchdog Timer) in the frames are refreshed and
checked every communication cycle. Synchronous commands
can be used only during synchronous communications (Phase
3).
Asynchronous Commands
(Classification A)
For commands of this type, commands are sent and response
are received asynchronously to the communication cycle.
Subsequent commands can be sent after confirming the
completion of processing of the slave station that received the
command.
The WDT (Watchdog Timer) in the frames are not checked.
CommonCommands
Commands that are common for MECHATROLINK-III
communications, independent of profiles
ServoCommands
Commands that are defined in the standard servo profile and
specific to DRIVERs
MotionCommands
Among servo commands, the following commands are called
motion commands.
INTERPOLATE, POSING, FEED, EX_FEED, EX_POSING,
ZRET, VELCTRL, TRQCTRL

2
• Notation Used in this Manual
• Notation for Reverse Signals
The names of reverse signals (i.e., onesthat are valid whenlow) are written with a
forward slash (/) before the signal name.
Notation Example
BK = /BK
• Notation for Parameters
The notation depends on whether the parameter requires a value setting (parameter
for numeric settings) or requires the selection of a function (parameter for selecting
functions).

3
• Usethe SigmaWin+
Select ΣV as an object series when you use Sigma Win+.
Refer to the table for the following type when you select the model (parameter edit at
offline etc.).
Driver type
Driver select
Motor select
SMC
Sigma Win+
SMC
Sigma Win+
MECHATROLINKⅡ
100W
LECYM2-**
V5
SGDV-R90*11*Y572AA
V6
SGMJV-01A3A2*
200W
V7
SGDV-1R6*11*Y572AA
V7
SGMJV-02A3A2*
400W
V8
SGDV-2R8*11*Y572AA
V8
SGMJV-04A3A2*
MECHATROLINKⅢ
100W
LECYU2-**
V5
SGDV-R90*21*Y572AA
V6
SGMJV-01A3A2*
200W
V7
SGDV-1R6*21*Y572AA
V7
SGMJV-02A3A2*
400W
V8
SGDV-2R8*21*Y572AA
V8
SGMJV-04A3A2*
• Trademarks
MECHATROLINK is a trademark of the MECHATROLINK Members Association.

4
LECYU2-□□ 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 10218-1992: Manipulating industrial robots -- Safety
JIS B 8370: General rules for pneumatic equipment.
JIS B 8361: General rules for hydraulic equipment.
JIS B 9960-1: Safety of machinery –Electrical equipment for machines. (Part 1: General requirements)
JIS B 8433-1993: Manipulating industrial robots - Safety. etc.
*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.
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.

5
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.
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.

6
LECYU2-□□ 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).

7
This section describes important precautions that must be followed during storage, transportation, installation,
wiring, operation, maintenance, inspection, and disposal. Be sure to always observe these precautions thoroughly.
Warning
•Never touch any electric actuators during operation.
Failure to observe this warning may result in injury.
•Before starting operation with a machine connected, make sure that an emergency stop can
be applied at any time.
Failure to observe this warning may result in injury or damage to the equipment.
•Never touch the inside of the driver.
Failure to observe this warning may result in electric shock.
•Do not remove the cover of the power supply terminal block while the power is ON.
Failure to observe this warning may result in electric shock.
•After the power is turned OFF or after a voltage resistance test, do not touch terminals while the
CHARGE lamp is ON.
Residual voltage may cause electric shock.
•Follow the procedures and instructions provided in the manuals for the products being used in the
trial operation.
Failure to do so may result not only in faulty operation and damage to equipment, but also in
personal injury.
•The multiturn limit value need not be changed except for special applications.
Changing it inappropriately or unintentionally can be dangerous.
•If the Multiturn Limit Disagreement alarm occurs, check the setting of parameter Pn205 in the
DRIVER to be sure that it is correct.
If Fn013 is executed when an incorrect value is set in Pn205, an incorrect value will be set in the
encoder. The alarm will disappear even if an incorrect value is set, but incorrect positions will be
detected, resulting in a dangerous situation where the machine will move to unexpected positions.
•Do not remove the top front cover, cables, connectors, or optional items from the DRIVER
while the power is ON.
Failure to observe this warning may result in electric shock.
•Do not damage, pull, exert excessive force on, or place heavy objects on the cables.
Failure to observe this warning may result in electric shock, stopping operation of the product, or
fire.
•Do not modify the product.
Failure to observe this warning may result in injury, damage to the equipment, or fire.
•Provide appropriate brake devices on the machine side to ensure safety. The holding lock on a
electric actuators with a lock is not a braking device for ensuring safety.
Failure to observe this warning may result in injury.
•Do not come close to the machine immediately after resetting an instantaneous power interruption
to avoid an unexpected restart. Take appropriate measures to ensure safety against an
unexpected restart.
Failure to observe this warning may result in injury.
•Connect the ground terminal according to local electrical codes (100 Ωor less for a DRIVER with
a 100 V, 200 V power supply).
Improper grounding may result in electric shock or fire.
•Installation, disassembly, or repair must be performed only by authorized personnel.
Failure to observe this warning may result in electric shock or injury.
•The person who designs a system using the safety function (HardWire Baseblock function) must
have full knowledge of the related safety standards and full understanding of the instructions in this
manual. Failure to observe this warning may result in injury or damage to the equipment.

8
•Storage and Transportation
Caution
•Do not store or install the product in the following locations.
Failure to observe this caution may result in fire, electric shock, or damage to the equipment.
•Locations subject to direct sunlight
•Locations subject to temperatures outside the range specified in the storage/installation temperature
conditions
•Locations subject to humidity outside the range specified in the storage/installation humidity
conditions
•Locations subject to condensation as the result of extreme changes in temperature
•Locations subject to corrosive or flammable gases
•Locations subject to dust, salts, or iron dust
•Locations subject to exposure to water, oil, or chemicals
•Locations subject to shock or vibration
•Do not hold the product by the cables, motor while transporting it.
Failure to observe this caution may result in injury or malfunction.
•Do not place any load exceeding the limit specified on the packing box.
Failure to observe this caution may result in injury or malfunction.
•If disinfectants or insecticides must be used to treat packing materials such as wooden frames, pallets, or
plywood, the packing materials must be treated before the product is packaged, and methods other than
fumigation must be used.
Example: Heat treatment, where materials are kiln-dried to a core temperature of 56°C for 30minutes or more.
If the electronic products, which include stand-alone products and products installed in machines, are packed
with fumigated wooden materials, the electrical components may be greatly damaged by the gases or fumes
resulting from the fumigation process. In particular, disinfectants containing halogen, which includes chlorine,
fluorine, bromine, or iodine can contribute to the erosion of the capacitors.
•Installation
Caution
•Never use the product in an environment subject to water, corrosive gases, flammable gases, or
combustibles.
Failure to observe this caution may result in electric shock or fire.
•Do not step on or place a heavy object on the product.
Failure to observe this caution may result in injury or malfunction.
•Do not cover the inlet or outlet ports and prevent any foreign objects from entering the product.
Failure to observe this caution may cause internal elements to deteriorate resulting in malfunction or fire.
•Be sure to install the product in the correct direction.
Failure to observe this caution may result in malfunction.
•Provide the specified clearances between the DRIVER and the control panel or with other devices.
Failure to observe this caution may result in fire or malfunction.
•Do not apply any strong impact.
Failure to observe this caution may result in malfunction.

9
• Wiring
Caution
•Be sure to wire correctly and securely.
Failure to observe this caution may result in electric actuators overrun, injury, or malfunction.
•Do not connect a commercial power supply to the U, V, or W terminals for the motor cable connection.
Failure to observe this caution may result in injury or fire.
•Securely connect the main circuit terminals.
Failure to observe this caution may result in fire.
•Do not bundle or run the main circuit cables together with the I/O signal cables or the encoder cables in
the same duct. Keep the main circuit cables separated from the I/O signal cables and the encoder
cables with a gap of at least 30 cm.
Placing these cables too close to each other may result in malfunction.
•Use shielded twisted-pair cables or screened unshielded twisted-pair cables for I/O signal cables and
the encoder cables.
•The maximum wiring length is 3 m for I/O signal cables, 50 m for encoder cables or servomotor main
circuit cables.
•Do not touch the power supply terminals while the CHARGE lamp is ON after turning power OFF
because high voltage may still remain in the DRIVER.
Make sure the charge indicator is OFF first before starting to do wiring or inspections.
•Be sure to observe the following precautions when wiring the DRIVER main circuit terminal blocks.
•Do not turn the DRIVER power ON until all wiring, including the main circuit terminal blocks, has
been completed.
•Remove detachable main circuit terminals from the DRIVER prior to wiring.
•Insert only one power line per opening in the main circuit terminals.
•Make sure that no part of the core wire comes into contact with (i.e., short-circuits) adjacent wires.
•Install a battery at either the host controller or the DRIVER, but not both.
It is dangerous to install batteries at both ends simultaneously, because that sets up a loop circuit
between the batteries.
•Always use the specified power supply voltage.
An incorrect voltage may result in fire or malfunction.
•Make sure that the polarity is correct.
Incorrect polarity may cause ruptures or damage.
•Take appropriate measures to ensure that the input power supply is supplied within the specified
voltage fluctuation range. Be particularly careful in places where the power supply is unstable. An
incorrect power supply may result in damage to the equipment.
•Install external breakers or other safety devices against short-circuiting in external wiring.
Failure to observe this caution may result in fire.
•Take appropriate and sufficient countermeasures for each form of potential interference when
installing systems in the following locations.
•Locations subject to static electricity or other forms of noise
•Locations subject to strong electromagnetic fields and magnetic fields
•Locations subject to possible exposure to radioactivity
•Locations close to power supplies
Failure to observe this caution may result in damage to the equipment.
•Do not reverse the polarity of the battery when connecting it.
Failure to observe this caution may damage the battery, the DRIVER or electric actuaters, or cause an
explosion.
•Wiring or inspection must be performed by a technical expert.
•Use a 24-VDC power supply with double insulation or reinforced insulation.

10
• Operation
Caution
•Always use the electric actuators and DRIVER in one of the specified combinations.
Failure to observe this caution may result in fire or malfunction.
•During trial operation, confirm that the holding lock works correctly. Furthermore, secure system safety
against problems such as signal line disconnection.
•Before starting operation with a machine connected, change the parameter settings to match the
parameters of the machine.
Starting operation without matching the proper settings may cause the machine to run out of control or
malfunction.
•Do not turn the power ON and OFF more than necessary.
Do not use the DRIVER for applications that require the power to turn ON and OFF frequently. Such applications
will cause elements in the DRIVER to deteriorate.
As a guideline, at least one hour should be allowed between the power being turned ON and OFF once actual
operation has been started.
•When carrying out JOG operation (Fn002), origin search (Fn003), or EasyFFT (Fn206), forcing movable
machine parts to stop does not work for forward overtravel or reverse overtravel. Take necessary
precautions.
Failure to observe this caution may result in damage to the equipment.
•When using the electric actuators for a vertical axis, install safety devices to prevent workpieces from falling
due to alarms or overtravels. Set the servomotor so that it will stop in the zero clamp state when
overtravel occurs.
Failure to observe this caution may cause workpieces to fall due to overtravel.
•When not using the turning-less function, set the correct moment of inertia ratio (Pn103).
Setting an incorrect moment of inertia ratio may cause machine vibration.
•Do not touch the DRIVER heat sinks, regenerative option, or servomotor while power is ON or soon
after the power is turned OFF.
Failure to observe this caution may result in burns due to high temperatures.
•Do not make any extreme adjustments or setting changes of parameters.
Failure to observe this caution may result in injury or damage to the equipment due to unstable
operation.
•When an alarm occurs, remove the cause, reset the alarm after confirming safety, and then resume operation.
Failure to observe this caution may result in damage to the equipment, fire, or injury.
•Do not use the holding lock of the electric actuators for braking.
Failure to observe this caution may result in malfunction.
•An alarm or warning may occur if communications are performed with the host controller while the
SigmaWin+ is operating. If an alarm or warning occurs, it may stop the current process and stop the system.
• Maintenance and Inspection
Caution
•Do not disassemble the DRIVER and the servomotor.
Failure to observe this caution may result in electric shock or injury.
•Do not attempt to change wiring while the power is ON.
Failure to observe this caution may result in electric shock or injury.
•When replacing the DRIVER, resume operation only after copying the previous DRIVER parameters to the
new DRIVER.
Failure to observe this caution may result in damage to the equipment.

11
• Disposal
Caution
•When disposing of the products, treat them as ordinary industrial waste.
• General Precautions
Caution
•The products shown in illustrations in this manual are sometimes shown without covers or protective
guards. Always replace the cover or protective guard as specified first, and then operate the products
in accordance with the manual.
The drawings presented in this manual are typical examples and may not match the product you received.
Handling of batteries for the United Nations
Recommendations on the Transport of Dangerous Goods
To transport lithium batteries, take action to comply with the instructions and regulations such as the
United Nations (UN), the International Civil Aviation Organization (ICAO), and the International
Maritime Organization (IMO).
The battery (LEC-JZ-CVBAT) uses an electric cell (lithium metal battery ER3).
The IATA Dangerous Goods Regulation are revised, and the requirements are changed annually.
When customers transport lithium batteries by themselves, the responsibility for the cargo lies with the
customers.
Thus, be sure to check the latest version of the IATA Dangerous Goods Regulations.
Battery (Cell) : LEC-JZ-CVBAT
Lithium content : 0.31(g)

12
Harmonized Standards
• European Directives
Model
European Directives
Harmonized Standards
DRIVER
LECY□□-V□
(SGDV)
Machinery
Directive
2006/42/EC
EN ISO13849-1: 2008
EN 954-1
EMC Directive
2004/108/EC
EN 55011 /A2 group 1, class A
EN 61000-6-2
EN 61800-3
Low Voltage Directive
2006/95/EC
EN 50178
EN 61800-5-1
Servomotor
LE-V□-□
(SGMJV)
EMC Directive
2004/108/EC
EN 55011 /A2 group 1, class A
EN 61000-6-2
EN 61800-3
Low Voltage Directive
2006/95/EC
EN 60034-1
EN 60034-5
• Safety Standards
Model
Safety Standards
Standards
DRIVER
LECY□□-V□
(SGDV)
Safety of Machinery
EN ISO13849-1: 2008
EN 954-1
IEC 60204-1
FunctionalSafety
IEC 61508 series
IEC 62061
IEC 61800-5-2
EMC
IEC 61326-3-1

13
• Safe Performance
Items
Standards
Performance Level
Safety Integrity Level
IEC 61508
SIL2
IEC 62061
SILCL2
Probability of Dangerous Failure per Hour
IEC 61508
IEC 62061
PFH⇐1.7×10-9
[1/h] (0.17% of
SIL2)
Category
EN 954-1
Category 3
Performance Level
EN ISO 13849-1
PL d (Category 3)
Mean Time to Dangerous Failure of Each
Channel
EN ISO 13849-1
MTTFd: High
Average Diagnostic Coverage
EN ISO 13849-1
DCave: Low
Stop Category
IEC 60204-1
Stop category 0
Safety Function
IEC 61800-5-2
STO
Proof test Interval
IEC 61508
10 years

Contents
Introduction..............................................................................................................1
Safety.........................................................................................................................4
Handling of batteries for the United Nations Recommendations on the Transport of
Dangerous Goods.................................................................................................11
Harmonized Standards............................................................................................12
1. Outline..............................................................................................................1-2
1.1 LECY Series DRIVERs....................................................................................1-2
1.2 Part Names......................................................................................................1-2
1.3 DRIVER Ratings and Specifications................................................................1-3
1.3.1 Ratings...............................................................................................................................1-3
1.3.2 Basic Specifications...........................................................................................................1-4
1.3.3 MECHATROLINK-III Function Specifications....................................................................1-7
1.4 DRIVER Internal Block Diagrams....................................................................1-8
1.4.1 Three-phase 200 V, LECYU2-V5, LECYU2-V7 Models....................................................1-8
1.4.2 Three-phase 200 V, LECYU2-V8 Model............................................................................1-8
1.4.3 Three-phase 200 V, LECYU2-V9 Models..........................................................................1-9
1.5 Examples of Servo System Configurations....................................................1-10
1.5.1 Connecting to LECYU2-V口DRIVER..............................................................................1-10
1.6 DRIVER Model Designation...........................................................................1-12
1.7 Inspection and Maintenance..........................................................................1-13
1.8 Installation Environment and Applicable Standards.......................................1-14
1.8.1 DRIVER Installation Environment.....................................................................................1-14
1.8.2 Installation Conditions for Applicable Standards...............................................................1-15
1.8.3 Conditions Corresponding to Low Voltage Directive.........................................................1-15
1.9 DRIVER Installation........................................................................................1-16
1.9.1 Orientation.........................................................................................................................1-16
1.9.2 Installation Standards........................................................................................................1-16
2. Panel Display and Sigma Win+TM..............................................................2-2
2.1 Panel Display...................................................................................................2-2
2.1.1 Status Display.....................................................................................................................2-2
2.1.2 Alarm and Warning Display................................................................................................2-2
2.1.3 Hard Wire Base Block Display............................................................................................2-2
2.1.4 Overtravel Display...............................................................................................................2-2
2.2 Operation of SigmaWin+TM...............................................................................2-3
2.2.1 Compatible Devices.............................................................................................................2-3
2.2.2 Hardware requirements.......................................................................................................2-3
2.2.3 Installing SigmaWin+ Program............................................................................................2-3
2.2.4 Starting SigmaWin+TM.......................................................................................................2-12
2.3 Utility Functions...............................................................................................2-15
2.4 Parameters......................................................................................................2-15
2.4.1 Parameter Classification....................................................................................................2-15
2.4.2 Notation for Parameters.....................................................................................................2-16
2.4.3 Setting Parameters............................................................................................................2-16
2.5 Monitor Displays..............................................................................................2-16

3. Wiring and Connection..................................................................................3-2
3.1 Main Circuit Wiring...........................................................................................3-2
3.1.1 Main Circuit Terminals.........................................................................................................3-2
3.1.2 Using a Standard Power Supply (Three-phase 200 V)........................................................3-3
3.1.3 Using the DRIVER with Single-phase, 200 V Power Input..................................................3-7
3.1.4 Using the DRIVER with a DC Power Input........................................................................3-10
3.1.5 Using More Than One DRIVER.........................................................................................3-12
3.1.6 General Precautions for Wiring.........................................................................................3-13
3.1.7 Specifications of motor cables and encoder cables...........................................................3-14
3.2 I/O Signal Connections..................................................................................3-16
3.2.1 /O Signal (CN1) Names and Functions.............................................................................3-16
3.2.2 Safety Function Signal (CN8) Names and Functions........................................................3-17
3.2.3 Example of I/O Signal Connections...................................................................................3-18
3.3 I/O Signal Allocations.....................................................................................3-19
3.3.1 Input Signal Allocations.....................................................................................................3-19
3.3.2 Output Signal Allocations..................................................................................................3-21
3.4 Examples of Connection to PC or PLC ... etc.................................................3-22
3.4.1 Sequence Input Circuit......................................................................................................3-22
3.4.2 Sequence Output Circuit...................................................................................................3-23
3.5 Wiring MECHATROLINK-III Communications...............................................3-25
3.6 Encoder Connection......................................................................................3-26
3.6.1 Encoder Signal (CN2) Names and Functions....................................................................3-26
3.6.2 Encoder Connection Examples.........................................................................................3-27
3.7 Connecting Regenerative resistors................................................................3-28
3.7.1 Connecting Regenerative Resistors..................................................................................3-29
3.7.2 Setting Regenerative resistor Capacity.............................................................................3-30
3.8 Noise Control and Measures for Harmonic Suppression...............................3-31
3.8.1 Wiring for Noise Control....................................................................................................3-31
3.8.2 Precautions on Connecting Noise Filter............................................................................3-33
3.8.3 EMC Installation Conditions..............................................................................................3-35
3.9 Specification of option cables.........................................................................3-41
4. Operation.....................................................................................................4-3
4.1 MECHATROLINK-III Communications Settings...............................................4-3
4.1.1 Setting Switches S1, S2, and S3.........................................................................................4-3
4.2 MECHATROLINK-III Commands.....................................................................4-4
4.3 Basic Functions Settings..................................................................................4-4
4.3.1 Servomotor Rotation Direction............................................................................................4-4
4.3.2 Overtravel............................................................................................................................4-5
4.3.3 Software Limit Settings........................................................................................................4-8
4.3.4 Holding Locks......................................................................................................................4-9
4.3.5 Stopping Servomotors after SV_OFF Command or Alarm Occurrence............................4-14
4.3.6 Instantaneous Power Interruption Settings........................................................................4-16
4.3.7 SEMI F47 Function
(Torque Limit Function for Low DC Power Supply Voltage for Main Circuit)....................4-17
4.3.8 Setting Motor Overload Detection Level............................................................................4-19
4.4 Trial Operation...............................................................................................4-21
4.4.1 Inspection and Checking before Trial Operation...............................................................4-21
4.4.2 Trial Operation via MECHATROLINK-III...........................................................................4-22
4.4.3 Electronic Gear..................................................................................................................4-23
4.4.4 Encoder Output Pulses.....................................................................................................4-25
4.4.5 Setting Encoder Output Pulse...........................................................................................4-26
4.5 Test Without Motor Function..........................................................................4-27
4.5.1 Motor Information..............................................................................................................4-27
4.5.2 Motor Position and Speed Responses..............................................................................4-28
4.5.3 Limitations.........................................................................................................................4-29
4.6 Limiting Torque..............................................................................................4-30
4.6.1 Internal Torque Limit.........................................................................................................4-30

4.6.2 External Torque Limit........................................................................................................4-31
4.6.3 Checking Output Torque Limiting during Operation..........................................................4-32
4.7 Absolute Encoders.........................................................................................4-33
4.7.1 Connecting the Absolute Encoder.....................................................................................4-34
4.7.2 Absolute Data Request (SENS ON Command).................................................................4-35
4.7.3 Battery Replacement.........................................................................................................4-36
4.7.4 Absolute Encoder Setup and Reinitialization.....................................................................4-38
4.7.5 Multiturn Limit Setting........................................................................................................4-39
4.7.6 Multiturn Limit Disagreement Alarm (A.CC0)....................................................................4-40
4.7.7 Absolute Encoder Origin Offset.........................................................................................4-41
4.7.8 Absolute Data Reception Sequence..................................................................................4-41
4.8 Other Output Signals......................................................................................4-45
4.8.1 Servo Alarm Output Signal (ALM).....................................................................................4-45
4.8.2 Warning Output Signal (/WARN).......................................................................................4-45
4.8.3 Rotation Detection Output Signal (/TGON).......................................................................4-46
4.8.4 Servo Ready Output Signal (/S-RDY)...............................................................................4-46
4.8.5 Speed Coincidence Output Signal (/V-CMP).....................................................................4-47
4.8.6 Positioning Completed Output Signal (/COIN)..................................................................4-48
4.8.7 Positioning Near Output Signal (/NEAR)...........................................................................4-49
4.8.8 Speed Limit Detection Signal (/VLT).................................................................................4-50
4.9 Safety Function..............................................................................................4-52
4.9.1 Hard Wire Base Block (HWBB) Function...........................................................................4-52
4.9.2 External Device Monitor (EDM1).......................................................................................4-59
4.9.3 Application Example of Safety Functions..........................................................................4-61
4.9.4 Confirming Safety Functions.............................................................................................4-62
4.9.5 Connecting a Safety Function Device...............................................................................4-63
4.9.6 Precautions for Safety Function........................................................................................4-64
5. Adjustments.................................................................................................5-2
5.1 Type of Adjustments and Basic Adjustment Procedure...................................5-2
5.1.1 Adjustments........................................................................................................................5-2
5.1.2 Basic Adjustment Procedure...............................................................................................5-3
5.1.3 Monitoring Operation during Adjustment.............................................................................5-4
5.1.4 Safety Precautions on Adjustment of Servo Gains..............................................................5-7
5.2 Tuning-less Function......................................................................................5-10
5.2.1 Tuning-less Function.........................................................................................................5-10
5.2.2 Tuning-less Levels Setting (Fn200) Procedure.................................................................5-13
5.2.3 Related Parameters..........................................................................................................5-15
5.3 Advanced Autotuning (Fn201).......................................................................5-16
5.3.1 Advanced Autotuning........................................................................................................5-16
5.3.2 Advanced Autotuning Procedure.......................................................................................5-19
5.3.3 Related Parameters..........................................................................................................5-32
5.4 Advanced Autotuning by Reference (Fn202).................................................5-33
5.4.1 Advanced Autotuning by Reference..................................................................................5-33
5.4.2 Advanced Autotuning by Reference Procedure................................................................5-35
5.4.3 Related Parameters..........................................................................................................5-40
5.5 One-parameter Tuning (Fn203).....................................................................5-41
5.5.1 One-parameter Tuning......................................................................................................5-41
5.5.2 One-parameter Tuning Procedure....................................................................................5-42
5.5.3 One-parameter Tuning Example.......................................................................................5-45
5.5.4 Related Parameters..........................................................................................................5-46
5.6 Anti-Resonance Control Adjustment Function (Fn204)..................................5-47
5.6.1 Anti-Resonance Control Adjustment Function..................................................................5-47
5.6.2 Anti-Resonance Control Adjustment Function Operating Procedure................................5-48
5.6.3 Related Parameters..........................................................................................................5-48
5.7 Vibration Suppression Function (Fn205)........................................................5-49
5.7.1 Vibration Suppression Function........................................................................................5-49
5.7.2 Vibration Suppression Function Operating Procedure......................................................5-50
5.7.3 Related Parameters..........................................................................................................5-52
5.8 Additional Adjustment Function......................................................................5-53
5.8.1 Switching Gain Settings....................................................................................................5-53
5.8.2 Manual Adjustment of Friction Compensation...................................................................5-58

5.8.3 Current Control Mode Selection Function.........................................................................5-60
5.8.4 Current Gain Level Setting................................................................................................5-60
5.8.5 Speed Detection Method Selection...................................................................................5-60
5.8.6 Backlash Compensation Function.....................................................................................5-61
5.8.7 Torque Reference Filter....................................................................................................5-68
6. Utility Functions (Fn口口口)........................................................................6-2
6.1 List of Utility Functions.....................................................................................6-2
6.2 Alarm History Display (Fn000) ........................................................................6-3
6.3 JOG Operation (Fn002) ..................................................................................6-4
6.4 Origin Search (Fn003) .....................................................................................6-5
6.5 Program JOG Operation (Fn004) ....................................................................6-6
6.6 Initializing Parameter Settings (Fn005) .........................................................6-10
6.7 Clearing Alarm History (Fn006) .....................................................................6-11
6.8 Offset Adjustment of Analog Monitor Output (Fn00C) ...................................6-12
6.9 Gain Adjustment of Analog Monitor Output (Fn00D) .....................................6-14
6.10 Automatic Offset-Signal Adjustment of the Motor Current
Detection Signal (Fn00E). .......................................................................6-16
6.11 Manual Offset-Signal Adjustment of the Motor Current
Detection Signal (Fn00F) ...........................................................................6-17
6.12 Write Prohibited Setting (Fn010) .................................................................6-18
6.13 Product Information Display (Fn011) ...........................................................6-20
6.14 Resetting Configuration Errors in Option Modules (Fn014) .........................6-21
6.15 Vibration Detection Level Initialization (Fn01B) ...........................................6-22
6.16 Origin Setting (Fn020) .................................................................................6-24
6.17 Software Reset (Fn030) ..............................................................................6-25
6.18 EasyFFT (Fn206) ........................................................................................6-26
6.19 Online Vibration Monitor (Fn207) ................................................................6-28
7. Monitor Displays.........................................................................................7-2
7.1 Monitor Displays..............................................................................................7-2
7.1.1 System Monitor..................................................................................................................7-2
7.1.2 Status Monitor....................................................................................................................7-2
7.1.3 Motion Monitor....................................................................................................................7-2
7.1.4 Input Signal Monitor............................................................................................................7-2
7.1.5 Output Signal Monitor.........................................................................................................7-3
8. MECHATROLINK-II Command..................................................................8-4
8.1 Layers..............................................................................................................8-4
8.2 Frame Structure...............................................................................................8-4
8.3 State Transition Diagram.................................................................................8-5
8.4 Command and Response Timing.....................................................................8-6
8.4.1 Command Data Execution Timing.......................................................................................8-6
8.4.2 Monitored Data Input Timing...............................................................................................8-6
8.4.3 Supporting the Transmission Cycle of 125 μs.....................................................................8-7
8.5 List of Commands............................................................................................8-8
8.5.1 Command Types.................................................................................................................8-8
8.5.2 Main Commands.................................................................................................................8-8
8.5.3 Subcommands..................................................................................................................8-10
8.5.4 Combinations of Main Commands and Subcommands....................................................8-11
8.6 Common Command Format...........................................................................8-12

8.7 Command Header Section of Main Command Area......................................8-14
8.7.1 Command Code (CMD/RCMD).........................................................................................8-14
8.7.2 Watchdog Data (WDT/RWDT)..........................................................................................8-15
8.7.3 Command Control (CMD_CTRL)......................................................................................8-15
8.7.4 Command Status (CMD_STAT)........................................................................................8-16
8.8 Command Header Section of Subcommand Area.........................................8-20
8.8.1 Subcommand Codes (SUB_CMD/SUB_RCMD)...............................................................8-20
8.8.2 Subcommand Control (SUB_CTRL).................................................................................8-20
8.8.3 Subcommand Status (SUB_STAT)...................................................................................8-21
8.9 Servo Command Format................................................................................8-22
8.10 Command Header Section...........................................................................8-23
8.10.1 Servo Command Control (SVCMD_CTRL).....................................................................8-23
8.10.2 Servo Command Status (SVCMD_STAT).......................................................................8-25
8.10.3 Supplementary Information on CMD_PAUSE and CMD_CANCEL................................8-27
8.10.4 Supplementary Information on Latching Operation.........................................................8-30
8.11 Servo Command I/O Signal (SVCMD_IO)...................................................8-31
8.11.1 Bit Allocation of Servo Command Output Signals...........................................................8-31
8.11.2 Bit Allocation of Servo Command I/O Signal Monitoring.................................................8-33
8.12 Command Data............................................................................................8-36
8.12.1 Data Order......................................................................................................................8-36
8.12.2 Specifying Units..............................................................................................................8-36
8.12.3 Specifying Monitor Data..................................................................................................8-37
8.12.4 Position Data...................................................................................................................8-37
8.13 Common Commands......................................................................................................8-38
8.13.1 Common Commands......................................................................................................8-38
8.13.2 No Operation Command (NOP: 00H) .............................................................................8-39
8.13.3 Read ID Command (ID_RD: 03H) ..................................................................................8-40
8.13.4 Setup Device Command (CONFIG: 04H) .......................................................................8-47
8.13.5 Read Alarm or Warning Command (ALM_RD: 05H) ......................................................8-49
8.13.6 Clear Alarm or Warning Command (ALM_CLR: 06H) ....................................................8-51
8.13.7 Start Synchronous Communication Command (SYNC_SET: 0DH) ...............................8-52
8.13.8 Establish Connection Command (CONNECT: 0EH) ......................................................8-53
8.13.9 Disconnection Command (DISCONNECT: 0FH) ...........................................................8-55
8.13.10 Read Memory Command (MEM_RD: 1DH) .................................................................8-56
8.13.11 Write Memory Command (MEM_WR: 1EH) .................................................................8-58
8.14 Servo Commands............................................................................................................8-61
8.14.1 Table of Servo Commands..............................................................................................8-61
8.14.2 Set Coordinates Command (POS_SET: 20H) ................................................................8-62
8.14.3 Apply Lock Command (BRK_ON: 21H) ..........................................................................8-64
8.14.4 Release Lock Command (BRK_OFF: 22H) ....................................................................8-65
8.14.5 Turn Sensor ON Command (SENS_ON: 23H) ...............................................................8-67
8.14.6 Turn Sensor OFF Command (SENS_OFF: 24H) ...........................................................8-68
8.14.7 Servo Status Monitor Command (SMON: 30H) ..............................................................8-69
8.14.8 Servo ON Command (SV_ON: 31H) ..............................................................................8-70
8.14.9 Servo OFF Command (SV_OFF: 32H) ..........................................................................8-71
8.14.10 Interpolation Command (INTERPOLATE: 34H) ...........................................................8-73
8.14.11 Positioning Command (POSING: 35H) ........................................................................8-74
8.14.12 Feed Command (FEED: 36H) ......................................................................................8-76
8.14.13 External Input Feed Command (EX_FEED: 37H) ........................................................8-78
8.14.14 External Input Positioning Command (EX_POSING: 39H) ...........................................8-80
8.14.15 Zero Point Return Command (ZRET: 3AH) ..................................................................8-82
8.14.16 Velocity Control Command (VELCTRL: 3CH) ..............................................................8-85
8.14.17 Torque (Force) Control Command (TRQCTRL: 3DH) ..................................................8-86
8.14.18 Read Servo Parameter Command (SVPRM_RD: 40H) ...............................................8-87
8.14.19 Write Servo Parameter Command (SVPRM_WR: 41H) ...............................................8-88
8.14.20 Motion Command Data Setting Method........................................................................8-89
8.15 Subcommands..................................................................................................................8-91
8.15.1 No Operation Subcommand (NOP: 00H) .......................................................................8-92
8.15.2 Read Alarm or Warning Subcommand (ALM_RD: 05H) ................................................8-93
8.15.3 Clear Alarm or Warning Subcommand (ALM_CLR: 06H) ..............................................8-94
8.15.4 Read Memory Subcommand (MEM_RD: 1DH) ..............................................................8-95

8.15.5 Write Memory Subcommand (MEM_WR: 1EH) .............................................................8-96
8.15.6 Servo Status Monitor Subcommand (SMON: 30H) ........................................................8-97
8.15.7 Read Servo Parameter Subcommand (SVPRM_RD: 40H) ............................................8-98
8.15.8 Write Servo Parameter Subcommand (SVPRM_WR: 41H) ...........................................8-99
8.16 Preparing for Operation...............................................................................................8-100
8.16.1 Setting MECHATROLINK-III Communications..............................................................8-100
8.16.2 Checking the Communications Status..........................................................................8-100
8.17 Parameter Management and Operation Sequence...........................................8-101
8.17.1 Operation Sequence for Managing Parameters Using a PC or PLC...etc.....................8-101
8.17.2 Operation Sequence for Managing Parameters Using a DRIVER................................8-102
8.18 Setting the Zero Point before Starting Operation.......................................8-103
8.19 Operation Sequence when Turning the Servo ON.....................................8-104
8.20 Operation Sequence when OT (Overtravel Limit Switch) Signal is Input...8-104
8.21 Operation Sequence at Emergency Stop (Main Circuit OFF)....................8-104
8.22 Operation Sequence when a Safety Signal is Input...................................8-105
8.23 Operation Sequence at Occurrence of Alarm............................................8-107
8.24 Notes when the Positioning Completed State (PSET = 1)
is Established while Canceling a Motion Command..................................8-107
8.25 Function/Command Related Parameters...................................................8-108
8.25.1 Interpolation Command.................................................................................................8-108
8.25.2 Positioning Command...................................................................................................8-109
8.25.3 Torque (Force) Limiting Function..................................................................................8-111
6.25.4 Torque (Force) Feedforward Function..........................................................................8-113
8.25.5 Software Limit Function.................................................................................................8-114
8.25.6 Latch Function...............................................................................................................8-116
8.25.7 Acceleration/Deceleration Parameter High-speed Switching Function.........................8-121
8.26 Detecting Alarms/Warnings Related to Communications or Commands...8-125
8.26.1 Communication Related Alarms....................................................................................8-125
8.26.2 Warnings Related to Communication and Commands..................................................8-127
8.27 Common Parameters...................................................................................................8-128
8.27.1 Overview.......................................................................................................................8-128
8.27.2 List of Common Parameters..........................................................................................8-129
8.27.3 Common Parameters and Corresponding Device Parameters.....................................8-138
8.28 Virtual Memory Space..................................................................................................8-140
8.29 Information Allocated to Virtual Memory....................................................8-141
8.29.1 ID Information Area.......................................................................................................8-141
8.29.2 Common Parameter Area.............................................................................................8-142
8.29.3 Adjustment Operation Area...........................................................................................8-143
9. Troubleshooting............................................................................................9-2
9.1 Alarm Displays.................................................................................................9-2
9.1.1 List of Alarms.................................................................................................9-3
9.1.2 Troubleshooting of Alarms................................................................................9-5
9.2 Warning Displays...........................................................................................9-24
9.2.1 List of Warnings............................................................................................9-24
9.2.2 Troubleshooting of Warnings...........................................................................9-26
9.3 Monitoring Communication Data on Occurrence of an Alarm or Warning......9-32
9.4 Troubleshooting Malfunction Based on Operation and
Conditions of the Servomotor.........................................................................9-33