SMC Networks LECYU Series User manual

Doc No. JXC※-OMT0070-A
NN24448401
PRODUCT NAME
AC Servo Motor Driver
(MECHATROLINK-III type)
MODEL / Series / Product Number
LECYU Series
（Simplified edition）

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Contents
Introduction ................................................................................................. 6
1. Procedure before operation.................................................................... 7
1.1 Flow chart........................................................................................................ 7
2. Wiring....................................................................................................... 8
2.1 System configuration..................................................................................... 8
2.2 Wiring for power supply................................................................................. 9
2.3 I/O signal connection example (Sink I/O interfaces)...................................11
2.3.1 I/O Signal (CN1) Names and Functions ...................................................................12
2.3.2 Sequence Input Circuit..............................................................................................14
2.3.3 Sequence Input Circuit..............................................................................................15
2.4 Wiring for Safety cable................................................................................. 17
2.5 Wiring for external regenerative resistor.................................................... 18
2.6 MECHATROLINK cable wiring ..................................................................... 19
3. Communications Setting ...................................................................... 20
4. Parameter setting (Driver side) ............................................................ 22
4.1 power supply specifications........................................................................ 22
4.2 Overtravel...................................................................................................... 22
4.3 Rotation Direction......................................................................................... 23
4.4 Recommended parameter values for each actuator.................................. 24
4.4.1 Electronic Gear...........................................................................................................24
4.5 Positioning Completed Width...................................................................... 25
4.6 Regenerative Resistor.................................................................................. 25
5. Trial Operation (SigmaWin+) ................................................................ 26
5.1 Communications setting for PC .................................................................. 26
5.2 JOG Operation .............................................................................................. 28
5.3 Program JOG Operation............................................................................... 30
6. Troubleshooting .................................................................................... 33
7.1 Alarms List .................................................................................................... 33
6.2 WarningAlarms List...................................................................................... 36

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

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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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LECYU 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 LECYU prior to use.
For the handling and details of other equipment, please refer to the operation manual for used equipment.
Select ΣV as an object series when you use SigmaWin+.
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+
MECHATROLINK-Ⅲ
LECYU2-**
SGDV-****21* Y572AA
V5
SGDV-R90A21B
V7
SGDV-1R6A21B
V8
SGDV-2R8A21B
V9
SGDV-5R5A21A
Please download setup software (SigmaWin+) via our website.
Refer to “LECYU Operation Manual”,section 2.2 for method of installing setup software (SigmaWin+).

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1. Procedure before operation
1.1 Flow chart
Wiring check
Surrounding
environment check
Power-on of the power
supply
Communication setting
of MECHATROLINK
Parameter setting
Test operation
(JOG operation)
Actual operation
Stop
Confirm that the cables to the driver and the actuator are
connected correctly.
Refer to [2. Wiring].
Check the surrounding environment (cable routing and
impurity such as wire off cuts or metallic dust) of the driver
and the servo motor.
Follow the procedure shown in the "LECYU Operation
Manual" to supply power to the product. When the power
supply is turned on first, it is necessary to set up the
absolute encoder. (Only the absolute encoder) Refer to [2.
Wiring].
Set the MECHATROLINK communication.
Refer to [3. Communication setting].
Set the parameters.
Refer to [4. Parameter setting (Driver side)].
Operation with a vibration might be done according to the
condition.In that case, adjust gain.
Refer to the operation manual for LECYU.
Gain tuning
Check if the cables to the driver and actuator are
connected correctly.
* "Return to home position" and "Positioning operation" etc.
are possible by the instruction from PLC.
Refer to the manual of the PLC for details.
Stop command to stop the operation.
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Use the test operation mode (JOG operation) at the
slowest speed and check whether the servo motor rotates.
Refer to [6. Trial Operation (SigmaWin+)].

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2. Wiring
2.1 System configuration
The system configuration chart is shown below.
Refer to the next paragraph for details of the wiring for each cable.
Refer to 2.6
Refer to 2.5
Refer to 2.3
Refer to 2.4

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2.2 Wiring for power supply
Connect the actuator and driver power supply.
(1) Power supply is AC200V three phase
∗ For the LECYU2-V5, V7, V8, terminals B2 and B3 are not short-circuited.
Do not short-circuit these terminals.
[1] Main circuit power input terminals, L1, L2, L3 and Control power input terminals, L1, L2: Connect the
200VAC external power supply to the power supply. Refer to the power supply specification for the
size of the acceptable electric wire.
[2] Connect the motor cable (U, V, W) to the servomotor connection terminals (U, V, W).
Connect the motor ground terminal to the driver ground terminal.
Connect the encoder cable to the encoder cable connector.
*Please connect lock connection terminal (B) with the DC24V power supply for the motor cable with the lock.
Driver
Motor cable
Encoder cable
Actuator
[1]
[2]
When starting the machine for the first time, setting up and reinitialization of the absolute
encoder are necessary. When the absolute encoder is used as the incremental encoder, it
is unnecessary.
In the SigmaWin+ main window, click Setup, point to Set Absolute Encoder and click
Reset Absolute Encoder.
Please close unnecessary screens such as alarm display screen and parameter screen at
this time.
The absolute encoder can only be set up while the servo is off. Turn the power back on after
the encoder has been successfully set up.

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(2) Power supply is AC200V single phase
∗ For the LECYU2-V5, V7, V8, terminals B2 and B3 are not short-circuited.
Do not short-circuit these terminals.
[1] Main circuit power input terminals, L1, L2 and Control power input terminals, L1, L2: Connect the
200VAC external power supply to the power supply. Refer to the power supply specification for the
size of the acceptable electric wire.
[2] Connect the motor cable (U, V, W) to the servomotor connection terminals (U, V, W).
Connect the motor ground terminal to the driver ground terminal.
Connect the encoder cable to the encoder cable connector.
**Please connect lock connection terminal (B) with the DC24V power supply for the motor cable with the
lock.
Driver
When starting the machine for the first time, setting up and reinitialization of the absolute
encoder are necessary. When the absolute encoder is used as the incremental encoder, it is
unnecessary.
In the SigmaWin+ main window, click Setup, point to Set Absolute Encoder and click
Reset Absolute Encoder.
Please close unnecessary screens such as alarm display screen and parameter screen at
this time.
The absolute encoder can only be set up while the servo is off. Turn the power back on after
the encoder has been successfully set up.

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2.3 I/O signal connection example (Sink I/O interfaces)
The following diagram shows a typical connection example.
∗ 1. represents twisted-pair wires.
∗3. The 24-VDC power supply is not included. Use a 24-VDC power supply with double insulation or reinforced
insulation.
∗4. When using the safety function, a safety function device mustbe connected and the wiring that is necessary to
activate the safety function must be done to turn ON the servomotor power. When not using the safety
function, use the
DRIVER with the Safety Jumper Connector (provided as an accessory) inserted into the CN8.
∗5. Always use line receivers to receive the output signals.
∗6. It is a safety function equivalent to the STO function (IEC 61800-5-2) using the hard wire base block function
(HWBB).
Note: Refer to “LECYU Operation Manual”,section 3.2.1 and “LECYU Operation Manual (Simplified Edition)”,section 2.3.1
for input/output signal details.
Refer to “LECYU Operation Manual”, section 3.4 and “LECYU Operation Manual (Simplified Edition)”,section 2.3.2
and 2.3.3 for wiring details.
The functions allocated to the input signals /DEC, P-OT, N-OT, /EXT1, /EXT2, and /EXT3 and the output signals
/SO1, /SO2, and /SO3 can be changed by using the parameters. Refer to “LECYU Operation Manual”,section
3.3.1. and 3.3.2.
DRIVER
Lock
(Lock released when ON)
DRIVER
*1
*6
Z

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2.3.1 I/O Signal (CN1) Names and Functions
The following table shows the names and functions of I/O signals (CN1).
(1) Input Signals
Signal
Pin No.
Name
Function
7
8
Forward run
With overtravel prevention: Stops servomotor when
movable part travels beyond the allowable range of
motion.
P-OT (/SI1)
N-OT (/SI2)
prohibited,
Reverse run
prohibited
/DEC (/SI3)
9
Homingdeceleration
switch signal
Connects the deceleration limit switch for homing.
/EXT 1 (/SI4)
/EXT 2 (/SI5)
/EXT 3 (/SI6)
10
11
12
External latch signal 1
External latch signal 2
External latch signal 3
Connects the external signals that latch the current
feedback pulse counter.
/SI0
13
General-purposeinput
signal
Used for general-purpose input.
Monitored in the I/O monitor field of
MECHATROLINK-II.
+24VIN
6
Control power supply
for sequence signal
Control power supply input for sequence
signals. Allowable voltage fluctuation range:
11 to 25 V Note: The 24 VDC power
supply is not included.
/P-CL
/N-CL
Can be
allocated
Forward external
torque limit
Reverse external
torque limit
The allocation of an input signal to a pin can be
changed in accordance with the function required.
Note 1. The allocation of the input signals (/SI1 to /SI6) can be changed. For details, refer to “LECYU Operation
Manual”,section 3.3.1.
2. If the Forward run prohibited/ Reverse run prohibited function is used, the DRIVER is stopped by software
controls, not by electrical or mechanical means. If the application does not satisfy thesafety requirements,
add an external circuit for safety reasons as required.

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(2) Output Signals
Signal
Pin No.
Name
Function
ALM+
ALM-
3
4
Servo alarm output signal
Turns OFF when an error is detected.
/BK+
(/SO1+)
/BK-
(/SO1-
)
1
2
Lock interlock signal
Controls the lock. The lock is released
when the signal turns ON.
Allocation can be changed to
general-purpose output signals (/SO1+,
/SO1-).
/SO2+
23
General-purpose
output
signal
Used for general-purpose output.
Note: Set the parameter to allocate a
function.
/SO2-
/SO3+
24
25
/SO3-
26
/COIN
/V-CMP
/TGON
/S-RDY
/CLT
/VLT
/WARN
/NEAR
Can be
allocated
Positioningcompletion
Speedcoincidence detection
Rotationdetection servo
ready
Torque limit
Speed limit detection
Warning
Near
The allocation of an output signal to a pin
can be changed in accordance with the
function required.
PAO
/PAO
17
18
Phase-A signal
Encoder output pulse signals for two-phase
pulse train with
PBO
/PBO
19
20
Phase-B signal
90° phase differential
PCO
/PCO
21
22
Phase-Z signal
Origin pulse output signal
SG
16
Signal ground
Connects to the 0 V pin on the control
circuit of the PC or PLC...etc.
FG
Shell
Frame ground
Connected to frame ground if the shielded
wire of the I/O sig- nal cable is connected to
the connector shell.
Note: The allocation of the output signals (/SO1 to /SO3) can be changed.
For details, refer to “LECYU Operation Manual”,section 3.3.2.

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2.3.2 Sequence Input Circuit
(1) Photocoupler Input Circuit
CN1 connector terminals 6 to 13 are explained below.
The sequence input circuit interface is connected through a relay or open-collector transistor circuit.
When connecting through a relay, use a low-current relay. If a low-current relay is not used, a faulty
contact may result.
Relay Circuit Example
Open-collector Circuit Example
24 VDC
DRIVER
+24 VIN 3.3 kΩ
/DEC, etc.
24 VDC
DRIVER
+24 VIN 3.3 kΩ
/DEC, etc.
Note: The 24 VDC external power supply capacity must be 50 mA minimum.
The DRIVER’s input circuit uses bidirectional photocoupler. Select either the sink circuit or the source circuit
according to the specifications required for each machine.
Note: - The connection example in 2.3 shows sink circuits.
- The ON/OFF polarity differs between when a sink circuit is connected and when a source circuit is connected.
Sink Circuit
Source Circuit
24 V
+ −DRIVER input
24 V
+ −DRIVER input
Input Signal Polarities
Input Signal Polarities
Signal
Level
Voltage
Level
Contact
Signal
Level
Voltage
Level
Contact
ON
Low (L)
level
0 V
Close
ON
High (H)
level
24 V
Close
OFF
High (H)
level
24 V
Open
OFF
Low (L)
level
0 V
Open

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2.3.3 Sequence Input Circuit
Incorrect wiring or incorrect voltage application to the output circuit may cause short-cir- cuit.
If a short-circuit occurs as a result of any of these causes, the holding lock will not work.
This could damage the machine or cause an accident resulting in death or injury.
(1) Photocoupler Output Circuit
Photocoupler output circuits are used for servo alarm (ALM), servo ready (/S-RDY), and other sequence
out- put signal circuits. Connect a photocoupler output circuit through a relay or line receiver circuit.
Relay Circuit Example (Sink Circuit)
Line Receiver Circuit Example (Source Circuit)
DRIVER
5 to 24 VDC Relay
0 V
Line Receiver Circuit Example
DRIVER
5 to 12 VDC
Note: The maximum allowable voltage and the allowable range of current capacity for photocoupler output circuits
are as follows.
•Voltage: 30 VDC
•Current: 5 to 50 mADC
Note: The connection example in 2.3 shows sink circuits.
5 V to 24 V DC
0 V
Relay

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(2) Line Driver Output Circuit
CN1 connector terminals, 17-18 (phase-A signal), 19-20 (phase-B signal), and 21-22 (phase-Z signal) are
explainedbelow.
These terminals output the following signals via the line-driver output circuits.
•Output signals for which encoder serial data is converted as two phases pulses (PAO, /PAO, PBO,
/PBO)
•Origin pulse signals (PCO, /PCO)
Connect the line-driver output circuit through a line receiver circuit at the PC or PLC ... etc.
Line Receiver Circuit Example
DRIVE PC or PLC ... etc
Applicable line receiver:
SN75ALS175 or the
equivalent
220 to
470 Ω

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2.4 Wiring for Safety cable
(1) ConnectionExample for input signals
The input signals must be redundant.
For safety function signal connections, the input signal is the 0 V common and
the output signal is the source output.
When using the safety function, a safety function device must be connected
and the wiring that is necessary to activate the safetyfunction must be done to
turn ON the servomotor power. When not using the safety function, use the
DRIVER with the Safety Jumper Connector (provided as an accessory)
inserted into the CN8.
(2) ConnectionExample for output signals
EDM1 output signal is used for source circuit. It is not able to use the sink output.
DRIVER
DRIVER
PLC

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2.5 Wiring for external regenerative resistor
Please prepare it in your company when the external regenerative resistor is necessary.
Refer to the catalog of each actuator for the selection of the external regenerative resistor.
(1) DRIVERs: Model LECYU2-V5, V7, V8
Connect an external Regenerative resistor between the B1/ and B2 terminals on the DRIVER. After
connecting a option, select the capacity. For more information on how to set the capacity of
Regenerative resistors, refer to “LECYU Operation Manual (Simplified Edition)”,section 4.6.
Enlarged View
(2) DRIVER: Model LECYU2-V9
Disconnect the wiring between the DRIVER’s B2 and B3 terminals and connect an external Regenerative
resistor between the B1/ and B2 terminals. After connecting the option, select the capacity. For more
information on how to set the capacity of Regenerative resistors, refer to “LECYU Operation Manual
(Simplified Edition)”,section 4.6.
Note: Be sure to take out the lead wire between the B2 and B3 terminals.
Enlarged View
WARNING
Be sure to connect the regenerative resistor correctly. Do not short-circuit between B1/ ⊕and
B2. Doing so may result in fire or damage to the regenerative resistor or DRIVER.

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2.6 MECHATROLINK cable wiring
The following diagram shows an example of connections between a PC or PLC...etc and a DRIVER using
MECHATROLINK-III communications cables (CN6A, CN6B).
Note 1. The length of the cable between stations (L1, L2 ... Ln) must be 75 m maximum.
For removing the MECHATROLINK-III communications cable connectors from the DRIVER, refer to the following
procedure.
Slide the lock injector of the connector to the DRIVER side to unlock and remove the MECHATROLINK-III
communications cable connectors.
Note: The MECHATROLINK-III communications cable connector may be damaged if it is removed without
being unlocking.
1. Slide the lock injector to
the DRIVER side.
2. Remove the connector while the lock
injector is slid to the DRIVER side.
DRIVER
PC or PLC...etc.
Note 1
Note 1

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3. Communications Setting
The DIP switch S3 is used to make the settings for MECHATROLINK-III communications.
The station address is set using the rotary switches S1 and S2.
(1) Settings of the Rotary Switches S1 and S2
Set the station address using the rotary switches S1 and S2.
Station Address
S1
S2
00H to 02H: Disabled
(Do not use these addresses.)
0
0 to 2
03H (Factory setting)
0
3
04H
0
4
・
・
・
EFH
E
F
F0H to FFH: Disabled
(Do not use these addresses.)
F
0 to F
(2) Settings of the DIP Switch S3
The following table shows the settings of the DIP switch (S3).
Switch No.
Function
Setting
Description
Factory setting
Pins 1 and 2
Sets the number of transmission
bytes.
1
2
Number of transmission
bytes
1: OFF
2: ON
OFF
OFF
16 byte
ON
OFF
32 byte
OFF
ON
48 byte
ON
ON
Reserved. (Do not change.)
Pin 3
Reserved. (Do not change.)
OFF
Pin 4
Reserved. (Do not change.)
OFF
• When using the MECHATROLINK-III standard servo profile, set the number of transmission
bytes to either 32 or 48.
• When using the MECHATROLINK-II-compatible profile, set the number of transmission
bytes to either 16 or 32.
• Turn the power OFF and then ON again to enable the new settings.