SMC Networks LECSN-T Series - Page 507

SMC Networks LECSN-T Series

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18．EtherCAT COMMUNICATION

(4) tq mode operation sequence

Halt

Controlw ord

(6040h) Bit 8

Torque demand

(6074h)

Target torque

(6071h)

t

t

t

Changed w ith Torque slope (6087h)

Changed w ith Torque slope (6087h)

Table of Contents

1. FUNCTIONS AND CONFIGURATION23
- 1.1 Summary23
- 1.2 Function block diagram24
- 1.3 Driver standard specifications28
- 1.4 Combinations of driver and servo motors31
- 1.5 Function list32
- 1.6 Model designation35
- 1.7 Structure38
  - 1.7.1 Parts identification38
- 1.8 Installation and removal of network card40
- 1.9 Configuration including peripheral equipment43
2. INSTALLATION46
- 2.1 Installation direction and clearances47
- 2.2 Keep out foreign materials49
- 2.3 Encoder cable stress49
- 2.4 Inspection items49
- 2.5 Parts having service lives50
- 2.6 Restrictions when using this product at altitude exceeding 1000 m and up to 2000 m above sea level51
3. SIGNALS AND WIRING53
- 3.1 Input power supply circuit54
- 3.2 I/O signal connection example58
- 3.2.1 For sink I/O interface58
- 3.2.2 For source I/O interface59
- 3.3 Explanation of power supply system60
- 3.4 Connectors and pin assignment64
- 3.5 Signal (device) explanations66
- 3.6 Forced stop deceleration function71
- 3.7 Alarm occurrence timing chart75
  - 3.7.1 When you use the forced stop deceleration function75
  - 3.7.2 When you do not use the forced stop deceleration function76
- 3.8 Interfaces77
- 3.9 Servo motor with a lock81
- 3.10 Grounding89
4. STARTUP91
- 4.1 Switching power on for the first time92
- 4.2 Startup94
- 4.3 Switch setting and display of the driver96
- 4.4 Test operation101
- 4.5 Test operation mode101
  - 4.5.1 Test operation mode in Setup software (MR Configurator2TM)102
  - 4.5.2 Motor-less operation in upper side106
5. PARAMETERS108
- 5.1 Parameter list108
- 5.2 Detailed list of parameters123
- 5.3 Software limit205
- 5.4 How to set the electronic gear206
  - 5.4.1 Electronic gear setting in the cyclic synchronous mode, profile mode and point table method206
  - 5.4.2 Electronic gear setting in the indexer method208
6. NORMAL GAIN ADJUSTMENT210
- 6.1 Different adjustment methods210
  - 6.1.1 Adjustment on a single driver210
  - 6.1.2 Adjustment using setup software (MR Configurator2TM)211
- 6.2 One-touch tuning212
- 6.3 Auto tuning220
- 6.4 Manual mode224
- 6.5 2gain adjustment mode228
7. SPECIAL ADJUSTMENT FUNCTIONS231
- 7.1 Filter setting231
- 7.2 Gain switching function243
- 7.3 Tough drive function252
  - 7.3.1 Vibration tough drive function252
  - 7.3.2 Instantaneous power failure tough drive function254
- 7.4 Compliance with SEMI-F47 standard258
- 7.5 Model adaptive control disabled260
- 7.6 Lost motion compensation function261
- 7.7 Super trace control264
8. TROUBLESHOOTING267
- 8.1 Explanations of the lists267
- 8.2 Alarm list268
- 8.3 Warning list276
- 8.4 Remedies for alarms279
- 8.5 Remedies for warnings319
- 8.6 Troubleshooting at power on330
- 8.7 Trouble which does not trigger an alarm/warning331
9. OUTLINE DRAWINGS333
- 9.1 Driver333
- 9.2 Connector336
10. CHARACTERISTICS338
- 10.1 Overload protection characteristics338
- 10.2 Power supply capacity and generated loss339
- 10.3 Dynamic lock characteristics341
  - 10.3.1 Dynamic lock operation341
  - 10.3.2 Permissible load to motor inertia when the dynamic lock is used342
- 10.4 Cable bending life343
- 10.5 Inrush currents at power-on of main circuit and control circuit344
11. OPTIONS AND PERIPHERAL EQUIPMENT346
- 11.1 Cable/connector sets346
- 11.2 Regenerative options355
- 11.3 Setup software (MR Configurator2TM)358
- 11.4 Battery (LEC-MR-BAT6V1SET-A)361
- 11.5 Selection example of wires362
- 11.6 Molded-case circuit breakers, fuses, magnetic contactors (recommended)364
- 11.7 Relay (recommended)364
- 11.8 Noise reduction techniques365
- 11.9 Earth-leakage current breaker373
- 11.10 EMC filter (recommended)375
12. ABSOLUTE POSITION DETECTION SYSTEM380
- 12.1 Summary380
- 12.2 Battery382
- 12.3 Battery replacement procedure383
13. USING STO FUNCTION386
- 13.1 Introduction386
- 13.2 STO I/O signal connector (CN8) and signal layouts389
- 13.3 Connection example391
- 13.4 Detailed description of interfaces395
  - 13.4.1 Sink I/O interface395
  - 13.4.2 Source I/O interface397
14. APPLICATION OF FUNCTIONS399
- 14.1 Infinite feed function (setting degree)399
15. SERVO MOTOR401
- 15.1 Servo motor with a lock401
  - 15.1.1 Features401
  - 15.1.2 Characteristics of servo motor with a lock403
- 15.2 Protection from oil and water404
- 15.3 Cable404
- 15.4 Rated speed of servo motor404
- 15.5 Mounting connectors405
16. HOW TO USE THE POINT TABLE407
- 16.1 Specification list408
- 16.2 Switching power on for the first time409
- 16.3 Switching power on for the first time Point table mode (pt)411
  - 16.3.1 Point table mode (pt)411
  - 16.3.2 Automatic operation using point table411
- 16.4 Jog mode (jg)429
- 16.5 Point table setting method431
  - 16.5.1 Point table setting method with Setup software (MR Configurator2TM)431
  - 16.5.2 Point table setting method with objects434
17 HOW TO USE INDEXER437
- 17.1 Specification list438
- 17.2 Switching power on for the first time439
- 17.3 Indexer mode (idx)441
- 17.4 Jog mode (jg)449
  - 17.4.1 Station JOG operation449
  - 17.4.2 JOG operation451
18 EtherCAT COMMUNICATION455
- 18.1　 EtherCAT COMMUNICATION455
- 18.2　 EtherCAT NETWORK CARD (LEC-S-NE)467
- 18.3　 PDO (PROCESS DATA OBJECT) COMMUNICATION471
- 18.4　 SDO (SERVICE DATA OBJECT) COMMUNICATION477
  - 18.4.1　 SDO communication-related service477
  - 18.4.2　 SDO Abort Code478
- 18.5　 CiA 402 DRIVE PROFILE478
- 18.6　 MANUFACTURER FUNCTIONS567
- 18.7　 OBJECT DICTIONARY577
19 EtherNet/IP COMMUNICATION661
- 19.1　 EtherNet/IP COMMUNICATION661
- 19.2　 EtherNet/IP NETWORK CARD (LEC-S-N9)668
- 19.3　 I/O COMMUNICATION671
  - 19.3.1　 I/O communication cycle671
  - 19.3.2　 I/O communication mapping673
- 19.4　 Explicit Message COMMUNICATION675
- 19.5　 DRIVE PROFILE677
- 19.6　 MANUFACTURER FUNCTIONS741
- 19.7　 OBJECT LIBRARY760
20 PROFINET COMMUNICATION843
- 20.1　 PROFINET COMMUNICATION843
- 20.2　 PROFINET NETWORK CARD (LEC-S-NP)848
- 20.3　 PROCESS DATA (CYCLIC DATA EXCHANGE)851
- 20.4　 ACYCLIC DATA EXCHANGE855
- 20.5　 STATE TRANSITION862
- 20.6　 CONTROL MODE876
- 20.7　 WEB SERVER937
- 20.8　 MANUFACTURER FUNCTIONS938
- 20.9　 OBJECT DICTIONARY959
App. 1 Peripheral equipment manufacturer (for reference)1018
App. 2 Handling of AC driver batteries for the United Nations Recommendations on the Transport of Dangerous Goods1018
App. 3 Symbol for the new EU Battery Directive1020
App. 4 Compliance with global standards1021
- App. 4.1 Terms related to safety (IEC 61800-5-2 Stop function)1021
- App. 4.2 About safety1021
- App. 4.3 Mounting/dismounting1025
- App. 4.4 Electrical Installation and configuration diagram1026
- App. 4.5 Signal1027
  - App. 4.5.1 Signal1027
  - App. 4.5.2 I/O device1027
- App. 4.6 Maintenance and service1028
  - App. 4.6.1 Inspection items1028
  - App. 4.6.2 Parts having service lives1029
- App. 4.7 Transportation and storage1030
- App. 4.8 Technical data1031
- App. 4.9 Check list for user documentation1032
App. 5 MR-J3-D05 Safety logic unit of Mitsubishi Electric Corporation1032
- App. 5.1 Terms related to safety1032
  - App. 5.1.1 Stop function for IEC/EN 61800-5-21032
  - App. 5.1.2 Emergency operation for IEC/EN 60204-11032
- App. 5.2 Cautions1033
- App. 5.3 Residual risk1033
App. 7 Analog monitor1034
App. 8 Encoder output pulse setting method1037
App .9 Recommended parameter values for each actuator1038

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