LS ELECTRIC Xmotion L7NH Series - User Manual

AC SERVO DRIVE
Xmotion
L7NH Series

Summary

Product Configuration

Product Verification

Verifies product model, components, and exterior condition for correct installation.

Product Specifications

Details product types, voltage, capacity, communication, encoder, and options for L7NH series.

Part Names

Identifies and describes the components and connectors of the servo drive parts for various models.

System configuration example

Illustrates a typical system configuration example for a 200V/100W drive, showing connections.

Encoder cable Servo Motor

Servo Motor

Provides specifications for servo motor heat sinks and product formats for various series.

Servo Drive

Lists product features for 200V and 400V servo drives, including current, speed, and control modes.

Options and Peripheral Devices

Details available options like incremental and serial encoder cables, including specifications and part numbers.

Wiring and Connection

Installation of Servo Motor

Covers operating environment, preventing impact, motor connection, load device connection, and cable installation.

Installation of Servo Drive

Explains installation and usage environment, and mounting within a control panel, including spacing requirements.

Internal Block Diagram of Drive

Presents internal block diagrams for various drive capacities (100W-400W, 800W-3.5kW, 5kW-7.5kW, 15kW).

Power Supply Wiring

Details power supply wiring requirements, including voltage ranges, components, and safety precautions.

Wiring for Input;Output Signals

Provides specifications and names/functions for digital and analog input/output signals via I/O and analog connectors.

Wiring of Encoder Signal (ENCODER)

Explains wiring for quadrature, serial, and multi-turn encoder signaling units with diagrams.

Wiring for Safety Function Signals (STO)

Details names, functions, and examples for Safety Torque Off (STO) signals and bypass wiring.

Wiring for EtherCAT Communication Signals

Covers EtherCAT IN/OUT connector pin assignments and example drive connections using a master-slave topology.

EtherCAT Communication

Structure of CANopen over EtherCAT

Explains the EtherCAT communication structure, including layers, objects, and PDO mapping.

Status LED

Details the meaning of L/A0, L/A1, RUN, and ERR LEDs on the EtherCAT ports for status indication.

Data Type

Lists common data types used in the manual, including their description and range.

PDO allocation

Explains Process Data Object (PDO) mapping for real-time data transfers, including RxPDO and TxPDO examples.

CiA402 Drive Profile

State machine

Illustrates the drive state machine with states like Not Ready to Switch On, Switched On, Operation Enabled, and Fault.

Operation mode

Lists supported operation modes such as Profile Position, Velocity, Torque, and Cyclic Synchronous modes.

Position Control Modes

Details Cyclic Synchronous Position (CSP) mode, including block diagrams and related objects.

Velocity Control Mode

Explains Cyclic Synchronous Velocity (CSV) mode with block diagrams and related objects.

Torque control mode

Describes Cyclic Synchronous Torque (CST) mode, including block diagrams and related objects.

Homing

Covers the homing function, input/output parameters, and various homing methods with diagrams.

Touch Probe Function

Explains the touch probe function for capturing encoder positions with external inputs or Index pulse.

Drive Application Function

Drive Front Panel

Describes the drive's front panel, including 7-segment display for servo status and LEDs for communication.

Input;Output Signals Setting

Details the assignment of digital input and output signals to the I/O connector, with examples.

Electric Gear Setup

Explains the electric gear function for converting User Units and provides setup examples for ball screw and turntable loads.

Settings Related to Speed Control

Covers smooth acceleration/deceleration profiles and servo-lock function for speed control.

Settings Related to Position Control

Explains position command filters and signals related to position control, such as INPOS1 and INPOS2.

Positive;Negative Limit Settings

Describes the function for safely operating the drive within movable ranges using positive/negative limit signals.

Setting the Brake Output Signal Function

Explains how to set the speed and delay time for brake signal output when the motor stops.

Settings Related to Torque Control

Details torque limit functions, including internal, external, and analog torque limits.

Torque Limit Function

Details how to limit the drive's output torque to protect the machine using various limit functions.

Gain switching function

Covers gain group switching and P/PI control switching methods for optimizing system responsiveness.

Motor Overload Protection

Explains motor overload protection through algorithms and thermal time constants to prevent burnout.

Dynamic brake

Defines dynamic brake, its circuits, precautions, and operation restart time calculations.

Regeneration Brake Resistor Configuration

Explains regeneration phenomena and the use of internal and external regenerative resistors.

Configuration of Drive Node Address (ADDR)

Guides on configuring the drive node address using rotary switches and refers to EtherCAT protocol enhancements.

Tuning

Off-line Auto Gain Tuning

Describes automatic gain setting based on load conditions, including parameters changed and tuning process.

On-line Auto Gain Tuning

Explains automatic gain tuning that sets parameters based on rigidity and describes cases where it may be inaccurate.

Manual Gain Tuning

Details the gain tuning sequence for speed and position controllers, explaining the role of each gain.

Vibration Control

Covers notch filters for eliminating resonant frequencies and adaptive filters for automatic notch configuration.

Procedure Function

Manual JOG Operation

Explains how to verify servo motor operation and speed control without an upper level controller.

Programmed Jog Operation

Describes verifying servo motor operation by speed control at preset speeds and times without an upper level controller.

Alarm history reset

Details how to delete all alarm code history stored in the drive, listing recent alarms and their codes.

Index Pulse Search

Explains the function to find the encoder Index (Z) pulse position and stop, used for rough position locating.

Absolute encoder reset

Covers resetting the absolute encoder and its multi-turn/single-turn data, and the effect on actual position value.

Instantaneous Maximum Torque Initialization

Explains initializing the instantaneous maximum overload rate to 0 and its display of peak load.

Phase current offset tuning

Details automatically tuning the current offset of U/V/W phases based on environmental conditions.

Software reset

Describes resetting the servo drive program for restarting or recovering from alarms.

Commutation

Explains obtaining the motor's initial angle information for normal operation, especially for motors without hall sensors.

Object Dictionary

General Objects

Lists general objects (0x1000) for EtherCAT communication, including device type and error register.

Manufacturer Specific Objects

Details manufacturer-specific objects (0x2000~) like Motor ID, Encoder type, and third-party motor parameters.

CiA402 Objects

Covers CiA402 objects (0x6000~) related to drive states, operation modes, control commands, and status words.

Maintenance and Inspection

Maintenance and Inspection

Explains basic maintenance tasks for servo motors and drives, including visual inspection criteria and replacement cycles.

Diagnosing and Troubleshooting Abnormalities

Provides a guide to diagnosing and troubleshooting servo motor and servo drive alarms and warnings with causes and remedies.

Test operation

Preparation for Operation

Outlines the sequence for test drive preparation, including checklists, connections, and safety precautions.

Test Drive Using TwinCAT System Manager

Provides a step-by-step guide for testing servo drives using TwinCAT System Manager, including configuration and operation.

Test Drive Using LS ELECTRIC PLC (XGT + PN8 B)

Details the procedure for test driving servo drives using LS ELECTRIC PLC (XGT + PN8B), including software setup.

Test Drive Using LS Mecapion MXP Series

Guides on performing test drives using LS Mecapion MXP Series, covering ESI file checks, scans, and parameter settings.

Appendix i (Update)

Firmware Update

Explains firmware update procedures using USB OTG, File Access over EtherCAT (FoE), and Drive CM.

Appendix ⅱ (L7 N → L7 NH exchange)

Notes on capacity selection

Covers review of drive selection, product selection criteria, and comparison of servo drive types (L7N vs. L7NH).

I;O PinMap comparison

Compares I/O pin maps between L7N and L7NH drives, including digital, analog, and safety signals.

Control detailed data

Provides detailed data for input points (CN1), output points (CN1), and analog signals (CN1) for L7N and L7NH.

Parameter setting

Lists parameter comparisons between L7N and L7NH drives for motor ID, encoder type, and other settings.

LS ELECTRIC Xmotion L7NH Series Specifications