Lexium 15 LP
Lexium 15 LP
Servo drives
Simplified manual
30072-452-50
Retain for future use
LXM15LD13M3/LXM15LD21M3/
LXM15LD28M3 / 200-240 V
LXM15LU60N4/LXM15LD10N4
LXM15LD17N4/ 208-480 V
Contents
ENGLISH
Important information ______________________________________________________ 2
Overview ________________________________________________________________ 3
Before you begin _________________________________________________________ 3
Steps __________________________________________________________________ 5
Technical Data ___________________________________________________________ 6
Mechanical Installation _____________________________________________________ 7
Wiring overview __________________________________________________________ 8
Electrical Installation _______________________________________________________ 9
Wiring recommendations __________________________________________________ 17
"First setup" procedure ____________________________________________________ 18
Error messages _________________________________________________________ 21
1
Important information
WARNING
Please read these instructions carefully and examine the device in order to familiarize yourself with it prior to
installation, operation or maintenance. The specific messages below can appear in the documentation or on the
device. They warn of potential dangers or draw your attention to information that can clarify or simplify a procedure.
This symbol on a hazard or warning label indicates a potential risk of electrocution, which can
result in bodily harm in the event of non-compliance with the accompanying instructions.
ENGLISH
This symbol indicates a safety hazard. It warns of the potential risk of physical injury.
You must observe all safety instructions accompanied by this symbol in order to avoid situations that can
result in serious physical injury or even death.
DANGER
DANGER indicates an imminently hazardous situation, if not avoided, will result in death or serious injury.
WARNING
WARNING indicates a potentially hazardous situation which, if not avoided, can result in death, serious injury,
or equipment damage.
CAUTION
CAUTION indicates a potentially hazardous situation which, if not avoided, can result in injury or equipment
damage.
CAUTION
CAUTION indicates a potentially hazardous situation which, if not avoided, can result in property damage.
IMPORTANT NOTE
Electrical equipment must only be serviced by qualified personnel. Schneider Electric will not accept any
responsibility for consequences associated with the use of this document. This document must not be used
as a training guide for beginners.
© 2008 Schneider Electric. All rights reserved.
2
Overview
The simplified manual only contains selected information.
The complete manual can be found at http://www.us.telemecanique.com.
Before you begin
DANGER
HAZARD OF ELECTRIC SHOCK, EXPLOSION, OR ARC FLASH
ENGLISH
• Read and understand this manual before installing or operating the Lexium 15 servo drive. Installation,
adjustment, repair, and maintenance must be performend by qualified personnel.
• The user is responsible for compliance with all international and national electrical code requirements with
respect to grounding of all equipment.
• Many parts of this servo drive, including the printed circuit boards, operate at the line voltage. DO NOT
TOUCH. Use only electrically insulated tools.
• DO NOT touch unshielded components or terminal strip screw connections with voltage present. Control
and power connections may be live even if the servo motor is not rotating.
• DO NOT short across terminals PA/+ and PC/– or across the DC bus capacitors.
• The servo motor generates voltage when the shaft is rotating. Lock the shaft of the servo motor to prevent
rotation before starting work on the servo drive system.
• Before working on the servo drive system:
- Disconnect all power, including external control power that may be present.
- Place a “DO NOT TURN ON” label on all power disconnects.
- Lock all power disconnects in the open position.
- Wait 5 minutes to allow the DC bus capacitors to discharge. Measure the DC bus voltage between the
PC/- and PA/+ terminals to verify that the DC voltage is less than 40 V. The drive LED is not an indicator
of the absence of DC bus voltage.
• Install and close all covers before applying power or starting and stopping the servo drive.
Failure to follow these instructions will result in death or equipment damage.
DANGER
UNINTENDED EQUIPMENT OPERATION
The servo drive may execute unexpected movements because of incorrect wiring, incorrect settings,
incorrect data or others errors.
• Because Electromagnetic Interference may cause unpredictable responses in the system, carefully wire the
servo drive in accordance with its accompanying documentation.
• Follow all wiring recommendations in this manual.
• Disable the inputs PWR (status 0) to help avoid unexpected movements before switching and configuring the
servo drive system.
• Do not operate a servo drive system with unknown settings or data.
• Carry out a comprehensive commissioning test.
Failure to follow these instructions will result in death or equipment damage.
3
WARNING
LOSS OF CONTROL
• The designer of any control scheme must consider the potential failure modes of control paths, and for certain
critical control functions, provide a means to achieve a safe state during and after a path failure. Examples of
critical control functions are emergency stop and overtravel stop.
• Separate or redundant control paths must be provided for critical control functions.
• System control paths may include communication links. Consideration must be given to the implications of
unanticipated transmission delays or failures of the link.1
• Each implementation of a Lexium 15 drive controller must be individually and thoroughly tested for proper
operation before being placed into service.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
ENGLISH
1. For additional information, refer to NEMA ICS 1.1 (latest edition), "Safety Guidelines for the Application, Installation,
and Maintenance of Solid State Control" and to NEMA ICS 7.1 (latest edition), "Safety Standards for Construction and
Guide for Selection, Installation, and Operation of Adjustable-Speed Drive Systems.
WARNING
LOSS OF CONTROL
• Set the communication error trip time to stop the drive controller in case the remote display is deactivated by
an unusual event such as tripping, an operation error, or a power outage.
• Ensure that the communication error trip time is properly set before deactivating the remote keypad display.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
CAUTION
INCOMPATIBLE LINE VOLTAGE
• Before turning on and configuring the drive controller, ensure that the line voltage is compatible with the line
voltage range specified on the drive controller nameplate. The drive controller can be damaged if the line
voltage is not compatible.
Failure to follow these instructions can result in injury or equipment damage.
To meet this product's UL requirements:
For equipment ratings, refer to the equipment's nameplate.
Use 60/75C copper wire only
Tighten the field wiring terminals to the torque specified herein
Use in a pollution degree 2 environment
Use Class I wire only (or equivalent)
Suitable for use on a circuit capable of delivering not more than 5kArms symmetrical amperes.
The Lexium 15 family of servo drives is designed to comply with UL 840 overvoltage category III. Installation of a
surge arrester such as the Square D SDSA3650 on the circuit supplying power to the drive is recommended.
4
Steps
1
Receive product.
• Open the packaging and check the unit for transport damage.
• Check that the information on the nameplate matches that on the order form.
2 Check the mains voltage.
ENGLISH
• Make sure that the mains voltage matches the specified voltage range
of the unit.
3 Install product.
• Check that the specified installation clearances correspond to
the operating conditions.
Steps 1 to 4
must be
performed
with the power
disconnected !
• Fasten the device in place in accordance with the EMC
specifications and the recommendations included in this
document.
4 Electrical installation of the unit.
• Connect the mains power, the motor and any external
components (e.g. braking resistor, mains filter).
• Connect the signal lines and the controller supply
voltage.
5 Basic settings
• Run the quick tunning procedure to check the
drive functions.
5
Technical Data
RECEIVING AND PRELIMINARY INSPECTION
Before installing the Lexium 15 servo drive, read this manual and follow all precautions.
WARNING
DAMAGED PACKAGING
• If the packaging appears damaged, it can be dangerous to open it or handle it. Handle with care
Failure to follow these instructions can result in death, serious injury, or equipment damage.
WARNING
• Do not operate or insltall any servo drives that appears damaged.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
Before removing the servo drive from its packaging, verify that the carton was not damaged in shipping. Carton
damage usually indicates improper handling and the potential for device damage. If any damage is found, notify
the carrier and your Schneider Electric representative.
STORING AND SHIPPING
If the drive controller is not being immediately installed, store it in a clean, dry area where the ambient temperature
is between - 25 ... + 70 Co. If the drive must be shipped to another location, use the original shipping carton and
packaging material to protect it.
Single phase power supply voltage : 200…240 V 50/60 HZ
Servo drive (output)
Line supply (input)
Nominal Max.
Peak
Nominal Power Max. line
Apparent
current transient transient output
loss
current
power
In
current
current
power
at
at
for
200 V 240 V
2 s Imax
Arms
Arms
Apk
kW
W
A
A
kVA
3
9
13
0.9
35
7.7
7.6
1.1
4
9
13
1.2
60
10.1
9.9
2.4
4
9
13
1.2
90
10.4
10.1
4
Three phase power supply voltage : 200…240 V 50/60 HZ
Servo drive (output)
Line supply (input)
Peak
Nominal Power Max. line current Apparent
Nominal Max.
loss
power
current transient transient output
at
at
current
power
In
current
200 V 240 V
for
2 s Imax
Arms
Arms
Apk
kW
W
A
A
kVA
3
9
13
1
35
4.7
4.6
1.1
6
15
21
2.1
60
8.8
8.6
2.4
10
20
28
3.4
90
14
13.7
4
Three phase power supply voltage : 208…480 V 50/60 HZ
Servo drive (output)
Line supply (input)
Nominal Max.
Peak
Nominal Power Max. line current Apparent
current transient
transient output
loss
power
at
at
In
current for current
power
208 V 480 V
2 s Imax
Arms
Arms
Apk
kW
W
A
A
kVA
1.5
4.5
6
1.1
40
2.8
2.5
1.2
3
7.5
10
2.1
60
3.9
4.5
2.5
6
12
17
4.3
90
6.9
8.2
5
Primary
fuse
A
10 class CC
15 class CC
15 class CC
Primary
fuse
Lexium 15 LP
References
LXM15LD13M3
LXM15LD21M3
LXM15LD28M3
Lexium 15 LP
References
A
6 class CC LXM15LD13M3
10 class CC LXM15LD21M3
15 class CC LXM15LD28M3
Primary
fuse
Lexium 15 LP
References
A
6 class CC LXM15LU60N4
6 class CC LXM15LD10N4
10 class CC LXM15LD17N4
6
ENGLISH
DAMAGED SERVO DRIVE CONTROLLER
Mechanical Installation
Install the servo drive vertically at ± 10°.
Do not place it close to heating elements.
Leave sufficient free space to ensure that the air required for cooling purposes can circulate from the bottom to the
top of the unit. (see figure below).
Servo drive mounting
The following diagrams show depth dimensions and mounting area requirements for the Lexium 15 LP servo drive.
You will need a 4 mm Allen key and material is 3 x M5 hexagon socket screws to DIN 912.
Note: All dimensions are given in millimeters
1 inch = 25.4 mm
ENGLISH
Cable duct
CAUTION
CONTAMINATION AND OVERHEATING
• Ensure the Lexium 15 LP servo drive is mounted
within a closed control cabinet.
• The site must be free from conductive or
corrosive materials.
• Maintain the required spaceing indicated in the
drawing to the left. The spacings must be
maintained both above, below and between the
servo drives.
Failure to follow these instructions can result in
injury or equipment damage.
Cable duct
min. 2.5
Cabinet door
Mounting panel Conductive
(zinc-coated)
screw for hex key DIN 912
Lexium 15 LP
7
Wiring overview
The following diagram shows the different connections for the Lexium 15 LP
- A.4.045.1/23
Lexium 15 LP
Sine-Cosine
Encoder
Control
AI1+
High
resolution
single /
multiturn
AI1ACOM
AI2+
And
or
AI2-
CNC-GND
+/-10V speed
setpoint2
referred to
CNC-GND
CNC-GND
thermal control
included
Resolver
+/-10V speed
setpoint1
referred to
CNC-GND
+24V referred
to 0V/GND
LI1
Resolver
ENGLISH
thermal control
included
LI2
LI3
LI4
W/T3
ENABLE
V/T2
M
LO1
U/T1
LO2
BR+
Digital2
Interruption
Circuit
R1A/R1C
BR-
Digital1
Remove jumper if external
braking resistor is connected
PBi
AS-ENABLE/PWR
PBe
Braking
Resistor
0V
I/O-GND
PA/+
PC/GV2MExx
R/L1
S/L2
ROD
SSI
Ma./SI.
Pulse
Encoderemulation,
pulse-direction
control,
master/slave
servo drive
T/L3
CAN-Master
+24V DC
COM1/COM2
0V DC
Mains
contactor
Supply unit
24 V DC
PE-connection (protective ground)
chassis ground connection (panel)
shield connection via plug
shield connection at the front panel
8
Electrical Installation
Mains connection
The following diagrams show the connections for the AC power supply input to the Lexium 15 LP servo drive. For
fusing please refer to section Technical Data.
Three phase
The three phase power supply EMC filter is integrated.
Lexium 15 LP
T/L3
ENGLISH
S/L2
R/L1
CAUTION
RISK OF EQUIPMENT DAMAGE
Always use an isolating transformer for 400...480 V networks which are asymmetrically grounded or not
grounded.
Failure to follow these instructions can result in injury or equipment damage.
Single phase without neutral
The following diagram shows the connection for a single phase without neutral power supply.
Lexium 15 LP
T/L3
S/L2
R/L1
Single phase with neutral
The following diagram shows the connection for a single phase with neutral power supply.
Lexium 15 LP
T/L3
S/L2
R/L1
9
Connection of the controller supply voltage
The table below describes the 24 V DC external control power supply specifications
Servo motor brake present
LXM15LD13M3
LXM15LU60N4
No
Yes
LXM15LD21M3
LXM15LD28M3
Yes
LXM15LD10N4
LXM15LD17N4
External control power supply input
Value
Voltage
20-30 V
Current
1A
Voltage
24 V DC -0 % +15 %
Current
2.5
Voltage
24 V DC -0 % +15 %
Current
2.5
ENGLISH
Model
The external control 24 V DC power supply has to be electrically isolated, e.g. via an isolating transformer.
An EMC filter for the 24 V DC external control power supply is integrated.
The following diagram shows the required wiring for the 24 V DC external control power supply terminal
Lexium 15 LP
24 V DC
24 V DC
FH1
FH2
FH3
0 V DC
Use appropriate fuses as required
by the power supply manufacturer.
(1)
0 V DC
CAUTION
SERVO DRIVE CONTROLLER DAMAGE
• A fuse must be used between the terminal of the power supply and the +24V DC input (X4-1and 2) pins.
• The power supply may serve several devices in an installation, but in no event may the fuse serving a Lexium
drive exceed 10A.
Failure to follow these instructions can result in equipment damage.
10
Motor phase connection
Preparing the motor cable
The following diagram and associated table explain how to prepare the motor cable
70 mm
2.75”
1
Step Action
1
Strip the motor cable to 70 mm
(2.75”)
2
Slide the shield braiding back
over the cable sheath.
During mounting it must be
spread over the EMC plate.
3
Strip each segment cable
to 10 mm
L3
BK
L2
BK
3
L1
BK L1
BK L2
BK L3
GN/YE
WH
GR
BK
ENGLISH
2
60 mm (2.36”)
70 mm (2.75”)
Servo motor cable
Description
Color
U/T1
Motor phase
BK L1
V/T2
Motor phase
BK L2
W/T3
Motor phase
BK L3
t
Protective conductor
Green/Yellow
BR+
Brake +
White
BR-
Brake -
Gray
11
Wiring diagram
The following diagrams show the connections between a BDH or BSH servo motor and the Lexium 15 LP servo
drive. When the interface cable length exceeds 25 m, a servo motor choke must be installed as shown and at a
distance of one meter or less from the servo drive.
Connection between servo motor and servo drive when interface cable length is 25 m or less:
Lexium 15 LP
B
BR-
A
BR+
2
1
V/T2
4
W/T3
3
ENGLISH
U/T1
Servo motor
power connector
Connection between servo motor and servo drive when interface cable length exceeds 25 m:
Lexium 15 LP
BR-
B
BR+
A
2
U/T1
1
V/T2
4
W/T3
3
Servo motor
power connector
If a servo motor power cable is used that includes cores for brake control, the brake control cores must be
separately shielded. Ground the shielding at both ends.
DANGER
UNINTENTIONAL EQUIPMENT OPERATION
• The servo motor output cable must be properly grounded using the provided shielding clamp.
Failure to follow these instructions will result in death or serious injury.
12
Connection of Optional Braking Resistor
For many applications, the internal braking resistor will be adequate. Consult Schneider Motion engineering for
information and recommendations if an external braking resistor is required. There is a risk that the resistor will
overheat and eject hot gasses under severe overload conditions caused by a shorted brake control transistor or
equivalent. It is required that a protective device (a fuse, an overload trip mechanism or equivalent) be installed to
protect the drive and the resistor in the case of an overload
DANGER
ENGLISH
FIRE HAZARD
• Connect the resistor to a protective device such as a Telemecanique GV2MExx circuit protector.
• Place the circuit protector between the resistor and the PA/+ terminal of the controller.The three contacts on
the GV2ME must be wired in series.
• Consult Schneider Motion engineering for selection of the appropriate GV2MExx protective devices and the
recommended settings.
• If fuses are used, two must be installed, one each resistor connection. Fuses must be rated for direct current
(DC) application at the highest DC Link Voltage.
Failure to follow these instructions will result in death or serious injury.
Installing an Optional Braking Resistor
Connecting external braking resistor:
- Remove jumper between PA/+ and PBi. Otherwise the internal braking resistor may be destroyed during
operation.
- Connect external braking resistor to PA/+ and PBe, with the protective device between the resistor and PA/+.
- Program the drive parameters PBALRES and PBALMAX to the appropriate values. PBALMAX must be less
than or equal to the rated power dissipation of the resistor.
Connection of motor sensor
BDH servo motor resolver connection
Connector
SERVO MOTOR END
9
1
10
2
P
11
3
4
8
12
9
7
6
5
Bottom view
5
8
4
6
7
1
2
3
10
11
12
13
Connector (X2)
DRIVE END
Green
Yellow
White
Brown
Grey
Pink
Black
Grey/Pink
7
Cosine
Cosine+
3
CosineSin+
SinReference+
ReferenceOvertemperature
sensor
4
8
5
9
2
6
1
Servo motor encoder connection
Connector
SERVO MOTOR END
2
4
8
6
7
Bottom view
5
Black
Gray/Pink
Brown
7
Overheat
temperature
SineSine+
5 Data+
13 Data9
White
Grey
1
Pink
Yellow
10
Green
Red/Blue
11
Blue
9
14
11
4
CosineCosine+
V+ supply voltage
2
GND
3
3
6
12
ENGLISH
1
Connector
(X1)
SERVO DRIVE END
8
10
12
15
Connection of A/B signals, pulse direction or encoder emulation
(X5 connector)
For connecting these signals please refer to the complete manual on the included CD.
Connection of inputs/outputs with local control mode
Analog inputs (X3)
Control
Lexium 15 LP
AI1+
AI1-
+
-
command 1
+/- 10V
ref. to
CNC-GND
CNC-GND
AI2+
AI2-
+
-
command 2
+/- 10V
ref. to
CNC-GND
14
Digital control inputs(X3/X4)
Lexium 15 LP
Controls
LI1
LI2
LI3
LI3
LI4
LI4
ENABLE
ENABLE
Interruption circuit
ENGLISH
PWR
+24 V against
CNC-GND
0V DC
I/O GND
DANGER
UNINTENDED EQUIPMENT OPERATION
The power removal function input (PWR) must be properly wired using an interruption circuit per EN 954-1 and
in accordance with the Lexium 15 LP Installation Manual.
Failure to follow these instructions will result in death or serious injury.
15
Digital control outputs(X3)
Lexium 15 LP
Interruption circuit
R1A
R1C
LO1
Digital 1
LO2
0 V DC
ENGLISH
Digital 2
I/O GND
Connection to a PC
Lexium 15 LP
Pin-No
see below
PC
AGND
Serial communications specifications table
The following table lists the serial communications specifications.
SERIAL I/O
Data bits
Eight
Stop bits
One
Parity
None
Baud rate
9600
16
Wiring recommendations
Connecting cable shields to the front panel
ENGLISH
The following procedure and associated diagram describe how to connect cable shields to the front panel of the
Lexium 15 LP servo drive:
Step
Action
1
Remove a length of the cable’s outer covering and braided shield sufficient to expose the required
length of wires.
2
Secure the exposed wires with a cable tie.
3
Remove approximately 30 mm of the cable’s outer covering while ensuring the braided shield is not
damaged during the process.
4
At the front panel of the servo drive, insert a cable tie into a slot in the shielding rail.
5
Use the previously inserted cable tie to secure the exposed braided shield of the cable firmly against
the shielding rail.
Cable shield connection diagram
The following diagram shows the cable shield connections at the front of the Lexium 15 LP servo drive.
-A.4.045.4
Cable tie
Remove the outside shroud of the cable and the shielded braid
on the desired core length. Secure the cores with a cable tie.
Remove the outside shroud of the line on a length from, for
instance, 30 mm without damaging the shielding braid.
Pull a cable tie by the slot in the shielding rail on the front panel
of the servo drive.
Press the shielding of the cable firmly against the front panel
with the cable tie
Cable tie
Note: For motor power output connection, use the shielding clamp provided in the package to ground the cable
shielding.
17
"First setup" procedure
Overview
The following procedure and associated information verifies operation of the system without creating a hazard to
personnel or jeopardizing the equipment. This procedure presumes the servo drive has been configured with
UniLink software in OpMode 1 as a speed controller with analog input command. An exact description of all
parameters and the possibilities for optimizing the control loop characteristics can be found in the Lexium 15 LP
programming manual.
Note: Default parameters for BDH or BSH servo motor series are loaded into your servo drive at the factory and
contain valid values for the current and speed controllers. A database for the servo motor parameters is stored in
the servo drive. During commissioning, you must select the data set for the connected servo motor and store it in
the servo drive. For most applications, these settings will provide good servo loop efficiency. For a description of
all parameters and servo motor tuning, see the UniLink online help.
IMPROPER WIRING PRACTICES
• Follow the wiring practices described in this document in addition to those already required by the National
Electrical Code and local electrical codes.
• Do not apply input line voltage to the output terminals.
• Check the power connections before energizing the drive controller.
• If replacing another drive controller, verify that all wiring connections to the Lexium 15 servo drive comply
with all wiring instructions in this manual.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
WARNING
UNINTENDED EQUIPMENT OPERATION
When the servo drive is operated for the first time, there is a high risk of unexpected motion because of possible
wirings faults or unsuitable parameters.
• If possible, run the first test movement without coupled loads.
• Make sure that a functioning button for EMERGENCY STOP is within reach.
• Also anticipate a movement in the incorrect direction or oscillation of the servo drive.
• Keep test area clear of all personnel and equipment.
Make sure that the system is free and ready for the motion before starting the function.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
18
ENGLISH
WARNING
Step
1
2
3
4
5
Action
Check installation
Block the Enable
signals
Switch on 24 V DC
external control
power supply
Switch on PC, start
setup software
Check the
displayed
parameters, and
correct if
necessary
Description
See safety messages on previous page
Apply 0 V DC to terminal X3/12 (Enable) and to terminal X4/5 (PWR)
Apply 24 V to terminal X4/1(+ 24 V DC), ground terminal X4/3 (0 V DC). After the
initialization procedure (about 0.5 sec.) the status will be shown in the LED display.
Select the interface to which the servo drive is connected. The parameters which
are stored in the SRAM of the servo drive are then transferred to the PC.
DANGER
UNINTENDED EQUIPMENT OPERATION
ENGLISH
It is VERY important to check the displayed parameters and to correct them if
necessary. Please refer to the Lexium 15 LP programming manual.
Failure to follow these instructions will result in death or serious injury.
Supply voltage
Rated servo motor
voltage
Servo motor pole-no.
Feedback
IRMS
IPEAK
Limit speed
Braking power
Station address
6
Set to the actual electrical supply voltage.
At least as high as the DC bus link voltage of the servo
drive.
Must match the servo motor (see servo motor manual).
Must match the feedback device in the servo motor.
Maximum is the servo motor standstill current I0 (on:
nameplate).
Maximum is 4 x servo motor standstill current I0.
Maximum is the rated servo motor speed (on
nameplate).
Maximum is the permitted braking resistor dissipation.
Unique address (See the Lexium 15 LP programming
manual).
Check interlock,
overrun and other
safety related
devices
DANGER
IMPACT HAZARD
Make sure that any unintended movement of the servo drive cannot cause any
danger to personnel or machinery
Failure to follow these instructions will result in death or serious injury.
7
9
Switch on
supply power
Apply 0 V
command
Enable
10
Setpoint
8
Use the ON/OFF button of the contactor controls.
Apply 0 V to terminals X3/3-4 (AI1+/AI1-) or X3/5-6 (AI2+/AI2-) respectively.
Apply 24 V DC (500 ms after switching on the supply power) to terminal X3/12
(ENABLE), servo motor stands with standstill torque M0.
Apply a small analog setpoint (about 0.5 V is recommended) to terminals X3/3-4
(AI1+/AI1-) or X3/5-6 (AI2+/AI2-) respectively.
CAUTION
SERVO MOTOR DAMAGE
If the servo motor oscillates, the parameter Kp on the menu page "Speed
controller" must be reduced, the servo motor may be permanently damaged!
Failure to follow these instructions can result in equipment damage.
19
Optimization
12
Set up the
expansion card
Optimize speed, current and position controllers (see the Lexium 15 LP
programming manual).
See setup instructions in the corresponding manual on the CD-ROM.
ENGLISH
11
20
Error messages
Error identification and description
Any errors that occur are displayed as coded into an error number on the front panel, in the LED display.
All error messages result in:
ENGLISH
• the R1A/R1C contact being opened,
• the output stage of the servo drive being switched off (servo motor loses all torque), and
• the servo motor-holding brake being activated.
Number Designation
F01*
heat sink
temperature
F02*
overvoltage
F03*
contouring error
F04
feedback
F05*
undervoltage
F06
servo motor
temperature
F07
reserved
F08*
overspeed
F09
EEPROM
F10
flash-EPROM
F11
brake
F12
servo motor phase
F13*
internal temperature
F14
output stage
F15
I²t max.
F16*
supply BTB/RTO
F17
A/D converter
Explanation
heat sink temprature too high limit is set by manufacturer to 80 °C
overvoltage in DC bus link limit depends on the electrical supply voltage
message from the position controller
cable break, short-circuit, short to ground
undervoltage in DC bus link limit is set by manufacturer to 100 V
servo motor temperature too high or temp. sensor limit is set by manufacturer
to 145 °C
reserved
servo motor, speed is too high
checksum error
checksum error
cable break, short-circuit, short to ground
servo motor phase missing (cable break or similar)
internal temperature too high
error in the power output stage
I²t maximum value exceeded
2 or 3 phases missing in the power supply feed
error in the analog-digital conversion, normally caused by extreme
electromagnetic interference
F18
braking
braking circuit inoperative or incorrect setting
F19*
supply phase
a phase is missing in the power supply power feed (can be switched off for 2phase operation)
F20
slot error
hardware error on expansion card
F21
handling error
software error on the expansion card
F22
"reserved "
reserved
F23
"CAN-bus off "
severe CAN bus communication error
F24
alert
alert is displayed as an error
F25
commutation error
commutation error
F26
limit switch
homing error (machine has driven onto hardware limit switch)
F27
PWR option
operational error with PWR option (control signal for PWR option appears
simultaneously with the ENABLE signal)
F28
reserved
reserved
F29
Field bus error
Field bus option card operation issue
F30
emergency timeout timeout emergency stop
F31
reserve
reserve
F32
system error
system software not responding correctly
* = these error messages can be cleared without a reset, by using the ASCII command CLRFAULT.
If only one of these errors is present and the RESET button or the I/O RESET function is used, only the
CLRFAULT command will be executed
21
Finding and removing causes of detected errors
The table below should be regarded as a “First-aid” box. There may be a wide variety of reasons for the detected
error, depending on the conditions in your installation. In multi-axis systems, there may be further hidden causes
of a detected error.
Our customer service can give you further assistance with problems.
Possible causes
F01 message:
Heat sink
temperature
F02 message:
Overvoltage
Permissible heat sink temperature
exceeded.
F04 message:
Feedback Unit
F05 message:
Undervoltage
F06 message:
Servo motor
temperature
F07 message:
Aux. voltage
F08 message:
Overspeed
F11 message:
Brake
F13 message:
Internal temp.
F14 message:
Output stage
detected error
Braking power is insufficient. Braking power
limit was reached and the braking resistor
was switched off. This causes excessive
voltage in the DC bus link circuit.
Supply voltage too high.
Feedback connector not properly inserted.
Feedback cable is broken, crushed, or
otherwise damaged.
Feedback unit is damaged or incorrectly
configured.
Supply voltage is not present, or too low
when the servo drive is enabled.
Servo motor thermostat has been activated.
Feedback connector is loose, or a break in
the feedback cable.
The aux. voltage produced by the servo drive
is incorrect.
Servo motor phases swapped.
Feedback device set up incorrectly.
Short-circuit in the supply cable for the servo
motor-holding brake.
Servo motor-holding brake is inoperative.
Fault in brake cable.
No brake connected, although the brake
parameter is set to WITH.
Permissible internal temperature has been
exceeded.
Servo motor has short-circuit or earth/ground
short.
Servo motor cable has a short-circuit or
earth/ground short.
Output module is overheated.
Output stage is inoperative.
F16 message:
Mains BTB/RTO
Short-circuit or short to ground in the external
braking resistor.
Enable was applied, although the supply
voltage was not present.
F17 message:
A/D converter
At least 2 supply phases are missing.
Error in the analog-digital conversion, usually
caused by EMC interference.
Measures to remove the cause of the
detected error
Improve ventilation.
Reduce the RAMP braking time. Use an
external braking resistor with a higher power
rating and adjust the braking power
parameter.
Use a supply transformer.
Check connectors.
Check cables.
Check feedback unit and settings.
Only ENABLE the servo drive when the
electrical supply voltage has been switched on
delay > 500 ms.
Wait until servo motor has cooled down, then
check for possibles reasons for overheating.
Tighten connector screw, or use new
feedback cable.
Return the servo drive to the manufacturer
for servicing.
Correct servo motor phase sequence.
Set up correct offset angle.
Remove the short-circuit.
Replace servo motor.
Check shielding of brake cable.
Set brake parameter to WITHOUT.
Improve ventilation.
Replace servo motor.
Replace cable.
Improve ventilation.
Return the servo drive to the manufacturer
for repair.
Remove short-circuit / ground short.
Only ENABLE the servo drive when the
electrical supply voltage has been switched
on.
Check the electrical supply.
Reduce EMC interference check shielding
and grounding.
22
ENGLISH
Detecter Error
Finding and removing detected errors
Detected error
Possible causes
F25 message:
Commutation
error
Wrong cable used.
Offset is too large.
ENGLISH
F27 message:
error PWR
function
Servo motor
does not rotate
Servo motor
oscillates
Servo drive
reports
following error
Servo motor
overheating
Servo drive too
soft
Servo drive
runs roughly
Axis drifts at
setpoint = 0 V
n12 message:
Servo motor
default values
loaded
n14 message:
SinCos
feedback
23
Wake & shake missed.
Power digital input AND hardware enable
AND software enable are active.
Servo drive not enabled.
Software enable not set.
Break in setpoint cable.
Servo motor phases swapped.
Brake not released.
Servo drive is mechanically blocked.
Servo motor pole no. set incorrectly.
Feedback set up incorrectly.
Gain is too high (speed controller).
Shielding in feedback cable has a break.
AGND not wired up.
Irms or Ipeak set too low.
Accel/decel ramp is too long.
Irms/Ipeak is set too high.
Kp (speed controller) too low.
Tn (speed controller) too high.
ARLPF / ARHPF too high.
ARLP2 too high.
Kp (speed controller) too high.
Tn (speed controller) too low.
ARLPF / ARHPF too low.
ARLP2 too low.
Offset not correctly adjusted for analog
setpoint provision.
AGND not joined to the controller-GND of the
controls.
Servo motor numbers stored in the encoder
and servo drive do not match the parameters
that have been set.
SinCos commutation (wake & shake) not
completed.
Measures to remove the cause of the detected
error
Check cable.
Check resolver pole number (RESPOLES),
servo motor pole number (MPOLES) and
offset (MPHASE).
Execute wake & shake.
Check programming and wiring of the PLC /
control system.
Apply ENABLE signal.
Set software enable.
Check setpoint cable.
Correct servo motor phase sequence.
Check brake control.
Check mechanism.
Set servo motor pole no.
Set up feedback correctly.
Reduce Kp (speed controller).
Replace feedback cable.
Join AGND to CNC-GND.
Increase Irms or Ipeak (keep within servo
motor ratings!).
Shorten ramp +/-.
Reduce Irms/Ipeak.
Increase Kp (speed controller).
Use servo motor default value for Tn (speed
controller).
Reduce ARLPF / ARHPF.
Reduce ARLP2.
Reduce Kp (speed controller).
Use servo motor default value for Tn (speed
controller).
Increase ARLPF / ARHPF.
Increase ARLP2.
Adjust offset (analog I/O).
Join AGND and controller-GND.
Default values for the servo motor have been
loaded, SAVE automatically stores the servo
motor number in the EEPROM.
ENABLE the servo drive.
24
ENGLISH
30072-452-50
04.2008
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