Lexium 15 LP Servo Drive
Lexium 15 LP Servo Drive
Installation Manual
30072- 452- 51
LXM15LD13M3/LXM15LD21M3/
LXM15LD28M3 / 200-240 V
LXM15LU60N4/LXM15LD10N4
LXM15LD17N4/ 208-480 V
Contents
Important information____________________________________________________________________________________1
Before you begin _______________________________________________________________________________________2
Steps for setting up the servo drive _________________________________________________________________________3
Preliminary recommendations _____________________________________________________________________________4
Servo drive rating ______________________________________________________________________________________5
Dimensions and weights _________________________________________________________________________________6
Mounting in a wall-mounted or floor-standing enclosure _________________________________________________________9
Wiring diagram overview ________________________________________________________________________________10
Wiring recommendations________________________________________________________________________________12
Braking circuit specifications _____________________________________________________________________________24
Braking circuit wiring overview ___________________________________________________________________________25
Encoder connection____________________________________________________________________________________31
Encoder emulation_____________________________________________________________________________________32
Master/Slave connection ________________________________________________________________________________34
External encoder emulation______________________________________________________________________________35
I/O wiring recommendations _____________________________________________________________________________36
Digital I/O connection __________________________________________________________________________________39
Pulse-direction control interface connection _________________________________________________________________41
Serial communications connection (X6) ____________________________________________________________________42
CANopen interface (X6) ________________________________________________________________________________43
Powering up and powering down the system ________________________________________________________________45
Procedure for verifying system operation ___________________________________________________________________46
Alert messages _______________________________________________________________________________________51
Error messages _______________________________________________________________________________________52
Important information
NOTICE
Read these instructions carefully, and look at the equipment to become familiar with the device before trying to install, operate, or
maintain it. The following special messages may appear throughout this documentation or on the equipment to warn of potential
hazards or to call attention to information that clarifies or simplifies a procedure.
The addition of this symbol to a Danger or Warning safety label indicates that an electrical hazard exists, which will result
in personnal injury if the instruction are not followed.
This is the safety alert symbol. It is used to alert you to potential personal injury hazards. Obey all safety messages that follow
this symbol to avoid possible injury or death.
DANGER
DANGER indicates an imminently hazardous situation which, 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.
PLEASE NOTE
Electrical equipment should be serviced only by qualified personnel. No responsibility is assumed by Schneider Electric for any
consequences arising out of the use of this material. This document is not intended as an instruction manual for untrained persons.
© 2008 Schneider Electric. All Rights Reserved.
1
Before you begin
Read and follow these precautions before beginning any procedure with this servo drive.
DANGER
HAZARD OF ELECTRIC SHOCK, EXPLOSION OR ARC FLASH
• Read and understand this manual before installing or operating the Lexium 15 servo drive. Installation, adjustment, repair, and
maintenance must be performed 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 printed circuit boards, operate at line voltage. DO NOT TOUCH. Use only electrically
insulated tools.
• DO NOT touch unshielded components or terminal strip screw connections with voltage present
• 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" lable 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 betwen the PC/- and PA/+
terminals to verify that the DC voltage is less than 40V. The drive LED is not indicator of the absence of DC bus voltage.
• Install and colse all covers before applying power or starting and stopping the servo drive.
Failure to follow these instructions will result in death or serious injury.
CAUTION
IMPROPER DRIVE OPERATION
• If the servo drive is not turned on for a long period, the performance of its electrolytic capacitors will be reduced.
• If the servo drive has been stored for more than 1 year, it will be necessary to re-form the capacitors in the DC bus link circuit.
To do this, disconnect all electrical connections and apply single-phase z 230 V to terminals R/L1 and S/L2 of the servo drive
for about 30 minutes. This will re-form the capacitors.
Failure to follow these instructions can result in injury or equipment damage.
WARNING
UNINTENDED EQUIPMENT OPERATION
The servo drive may execute unexpected movements because of incorrect wiring, incorrect settings, incorrect data or others errors.
Electromagnetic Interference (EMI) may cause unpredictable responses in the system.
• Wire the servo drive carefully in accordance with the accompanying documentation.
• Disable the inputs PWR (status 0) to prevent 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 can result in death, serious injury, or equipment damage.
2
Steps for setting up the servo drive
1 Take delivery of the servo drive
- Check that the catalog number printed on the label is the same as that on
the purchase order
- Remove the Lexium 15 LP from its packaging and check that it has not
been damaged in transit
2 Check the line voltage
Steps 1 to 4 must
be performed with
the power
disconnected
- Check that the line voltage is compatible with the voltage range
of the device (See “” on page 5)
3 Install the product
- Check that the specified installation clearances correspond
to the operating conditions
- Fasten the device in place in accordance with the EMC
specifications and recommendations included in this
document
4 Wire the servo drive
- Connect the power supply, the servo motor and any
external components (e.g. braking resistor)
- Connect the signal lines and the controller supply
voltage
PROGRAMMING
Please refer to the Lexium 15 LP
programming manual
3
Preliminary recommendations
Equipment supplied
The package contains the following elements :
•
•
•
•
The servo drive
A simplified manual
Mating connectors X0, X3, X4, X8, X9
A shielding clamp
Handling and storage
To protect the servo drive prior to installation, handle and store the device in its packaging. Ensure that the ambient conditions are acceptable.
CAUTION
DAMAGED PACKAGING
If the packaging appears damaged, it can be dangerous to open it or handle it. Take precautions against all risks when performing
this operation.
Failure to follow these instructions can result in injury or equipment damage.
CAUTION
DAMAGED EQUIPMENT
Do not operate or install any servo drive that appears damaged.
Failure to follow these instructions can result in injury or equipment damage.
CAUTION
RISK OF MECHANICAL DAMAGE
Protect the servo drive from impermissible stresses. In particular, do not let any component become bent or any insulation distances
altered during transport and handling.
Failure to follow these instructions can result in injury or equipment damage.
Installing the servo drive
Mount the servo drive on a wall or the back of the enclosure in accordance with the recommendations described in this document.
CAUTION
INCOMPATIBLE LINE VOLTAGE
Before turning on and configuring the servo drive, ensure that the line voltage is compatible with the supply voltage range shown
in our catalogs. The servo drive may be damaged if the line voltage is not compatible.
Failure to follow these instructions can result in injury or equipment damage.
CAUTION
RISK OF EQUIPMENT DAMAGE
Allways 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.
DANGER
UNINTENDED EQUIPMENT OPERATION
• During powre up only it is recommended to keep the voltage between PWRI+ and PWRI- as 0 Volts to avoid any undesirable
movement while the drive is powering up
• After the power up has completed 24 V DC meeds to be present between PWRI+ and PWRI- to be able to activate the drive.
Failure to follow these instructions will result in death or serious injury.
4
Servo drive rating
The tables below describe the servo drive rating for the Lexium 15 LP
Single phase power supply voltage : 200…240 V 50/60 HZ
Servo drive (output)
Line supply (input)
Lexium 15 LP
Nominal
current In
Max.
Peak
transient
transient
current for current
2 s Imax
Nominal
output
power
Power
loss
Max. line current
at 200 V
at 240 V
Arms
Arms
Apk
kW
W
A
A
kVA
A
3
9
13
0.9
35
7.7
7.6
1.1
10 class CC LXM15LD13M3
4
9
13
1.2
60
10.1
9.9
2.4
15 class CC LXM15LD21M3
4
9
13
1.2
90
10.4
10.1
4
15 class CC LXM15LD28M3
Apparent Primary fuse References
power
Three phase power supply voltage : 200…240 V 50/60 HZ
Servo drive (output)
Line supply (input)
Lexium 15 LP
Nominal
current In
Max.
Peak
transient
transient
current for current
2 s Imax
Nominal
output
power
Power
loss
Max. line current
Apparent Primary fuse
power
References
at 200 V
at 240 V
Arms
Arms
Apk
kW
W
A
A
kVA
A
3
9
13
1
35
4.7
4.6
1.1
6 class CC
LXM15LD13M3
6
15
21
2.1
60
8.8
8.6
2.4
10 class CC
LXM15LD21M3
10
20
28
3.4
90
14
13.7
4
15 class CC
LXM15LD28M3
Three phase power supply voltage : 208…480 V 50/60 HZ
Servo drive(output)
Line supply (input)
Lexium 15 LP
Nominal
current In
Max.
Peak
transient
transient
current for current
2 s Imax
Nominal
output
power
Power
loss
Max. line current
Arms
Arms
Apk
kW
W
A
A
kVA
A
1.5
4.5
6
1.1
40
2.8
2.5
1.2
6 class CC
LXM15LU60N4
3
7.5
10
2.1
60
3.9
4.5
2.5
6 class CC
LXM15LD10N4
6
12
17
4.3
90
6.9
8.2
5
10 class CC
LXM15LD17N4
5
at 208 V at 480 V
Apparent Primary fuse References
power
Dimensions and weights
Lexium 15 LP height, width and depth dimensions
The following diagram shows height, width and depth dimensions for the Lexium 15 LP servo drive.
A 4 045 4/02
6
Mounting and temperature conditions
Lexium 15 LP servo drive and mounting area dimensions
Install the servo drive vertically at ± 10°.
Do not place it close to heating elements.
Leave sufficient free space around the drive controller to ensure that the air 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.
Cable duct
Note: All dimensions are given in millimeters
Cable duct
min. 2.5
Cabinet door
Mounting panel
Conductive (zinc-coated)
screw for hex key DIN 912
CAUTION
CONTAMINATION AND THERMAL HAZARD
Ensure the Lexium 15 LP servo drive is mounted within a closed control cabinet. The site must be free from conductive or corrosive
materials. Keep the required space clear above and below the servo drive. (See for more information).
Failure to follow these instructions can result in injury or equipment damage.
7
Mounting and temperature conditions
Derating curves
The following diagram describes the derating curve of the servo drive Current (In) as a function of the Altitude
I/In
100 %
80 %
1.5 %/100 m
0.46%/100 ft
60 %
40 %
20 %
0%
0m
500 m
1000 m
1500 m
2000 m
2500 m
(0 ft)
(1640 ft)
(3281 ft)
(4921 ft)
(6561 ft)
(8202 ft)
Altitude
The following diagram describes the derating curve of the servo drive Current (In) as a function of the Temperature
I/In
100 %
90 %
80 %
70 %
2.5 %/°C
60 %
50 %
40 %
30 %
20 %
10 %
0%
0 °C
10 °C
20 °C
30 °C
40 °C
50 °C
55 °C
(32 °F)
(50 °F)
(68 °F)
(86 °F)
(104 °F)
(122 °F)
(131 °F)
Temperature
8
Mounting in a wall-mounted or floor-standing enclosure
Observe the mounting recommendations on the previous pages.
To ensure proper air circulation in the servo drive:
z Fit ventilation grilles
z
Ensure that the ventilation is adequate: if not, install forced
ventilation with a filter
Mounting the servo drive in the enclosure
Power dissipated
These power ratings are given for operation at nominal load and for the factory-set switching frequency:
LXM15L
Power loss
D13M3
35
D21M3
60
D28M3
90
U60N4
40
D10N4
60
D17N4
90
9
Wiring diagram overview
Overview of Lexium 15 LP wiring connections
The diagram below shows the wiring connections and the pin assignments for the Lexium 15 LP drive.
CAUTION
RISK OF EQUIPMENT DAMAGE
Do not connect a Modbus serial port to the X6 connector! Pin1 carries + 8 V DC which would be shorted out by a Modbus cable.
Instead, use a 3-core cable (not a null-modem link cable) with only pins 2, 3 and 5 wired.
Failure to follow these instructions can result in injury or equipment damage.
Note:The connectors described above appear in many wiring diagrams throughout the remainder of this document and are
identified in those diagrams by their alphanumeric designations only (for example, X4); the term connector will afterwards be
excluded.
10
Wiring diagram overview
The following diagram shows the different connections for the Lexium 15 LP
- A.4.045.1/23
See Before
you begin
Control
Lexium 15 LP
thermal control
included
AI1+
AI1-
High
resolution
single /
multiturn
Sine-Cosine
Encoder
ACOM
AI2+
l included
And
or
AI2-
thermal control
included
CNC-GND
+/-10V speed
setpoint2 referred to CNC-GND
CNC-GND
LI1
Resolver
Resolver
+/-10V speed
setpoint1 referred to CNC-GND
+24V referred
to 0V/GND
LI2
LI3
LI4
W/T3
ENABLE
V/T2
U/T1
M
LO1
Digital1
LO2
Digital2
BR+
Interruption
circuit
R1A/R1C
BRRemove jumper if external
braking resistor is connected
PBi
Braking
Resistor
AS-ENABLE/PWR
PBe
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
11
Wiring recommendations
The drive must be connected to the protective ground. To comply with current regulations concerning high leakage currents, use at
least a 10 mm² (AWG 6) protective conductor or 2 protective conductors with the same cross-section as the power supply
conductors.
DANGER
HAZARD OF ELECTRIC SHOCK, EXPLOSION, OR ARC FLASH
Ground equipment using the provided ground connecting point as shown in the figure below. The drive panel must be properly
grounded before power is applied.
Failure to follow these instructions will result in death or serious injury.
servo drive
servo drive
Check whether the resistance to the protective ground is 1 ohm or less. Connect a number
of servo drives to the protective ground, as shown in the diagram (see left). Do not lay
protective grounding cables in a loop or in series.
servo drive
Ensure the drive mounting plate, servo motor housing and ACOM for the controls are
connected to common panel earth ground point.
WARNING
IMPROPER WIRING PRACTICES
• Follow the wiring practives described in the accompanying documentation, is addition to those already by the National
Elecctrcal Code and local electrical codes.
• Do not apply input line voltage to the output terminals (U/T1,V/T2,W/T3).
• Check the power connections before energizing the Lexium 15 LP servo drive.
• If replacing another servo drive, verify that all wiring connections to the Lexium 15 LP 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
INADEQUATE OVERCURRENT PROTECTION
• Overcurrent protective devices must be properly coordinated.
• The Canadian Electricity Code and the National Electrical Code require branch circuit protection. Use the fuses recommended
in this manual (See AC power supply wire specifications) to achieve published short-circuit current ratings.
• Do not connect the drive controller to a power feeder whose short-circuit capacity exceeds the servo drive short-circuit current
rating listed on the servo drive nameplate or in the Simplified Manual for this product
Failure to follow these instructions can result in death, serious injury, or equipment damage.
Keep the power cables separate from circuits in the installation with low-level signals (detectors, PLCs, measuring apparatus,
video, telephone).
CAUTION
IMPROPER USE OF A BRAKING RESISTOR
Only use the braking resistors recommended in our catalogs.
Failure to follow these instructions can result in injury or equipment damage.
Control: In order to improve the interference immunity required by EMC regulations, route power and control cables separately.
We recommend a separation of at least 20 cm.
12
Wiring recommendations
Connecting cable shields to the front panel
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.
Remove the outside shroud of the cable
and the shielded braid on the desired
core length. Secure the cores with a cable tie.
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.
13
Power wiring
AC power supply wire specifications
The following table describes the recommended wire specifications. Use only copper wire with insulation rated at 75 ° C or greater,
unless otherwise specified.
Servo drive
model no.
Recommended wire
size
mm²
Notes
Primary fuse (A)
Single phase
200…240 V
Three phase
200…240 V
LXM15LD13M3
10 A, class CC
6 A, class CC
LXM15LD21M3
15 A, class CC
10 A, class CC
15 A, class CC
15 A, class CC
LXM15LD28M3
LXM15LU60N4
1.5
AWG
Recommended
tightening
torque
Nm (lbf.in)
14
600 V,
105 °C
0.5...0.6
(4.4...5.3)
Three phase
208…480 V
6 A, class CC
LXM15LD10N4
6 A, class CC
LXM15LD17N4
10 A, class CC
AC power supply connection
The following diagrams show the connections for the AC power supply input to the Lexium 15 LP servo drive.
Three phase
The three phase power supply EMC filter is integrated.
WARNING
INADEQUATE OVERCURRENT PROTECTION
• Overcurrent protective devices must be properly coordinated.
• The National Electrical Code and the Canadian Electricity Code require branch circuit protection. Use the fuses
recommendedin this manual (See AC power supply wire specifications) to achieve published short-circuit current ratings.
• Do not connect the drive controller to a power feeder whose short-circuit capacity exceeds the servo drive short-circuit current
rating listed on the servo drive nameplate or in Table above.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
The following diagram shows the connection for a 3-phase power supply.
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.
14
Power wiring
Single phase without neutral
The following diagram shows the connection for a single phase without neutral power supply.
Single phase with neutral
The following diagram shows the connection for a single phase with neutral power supply
15
Power wiring
24 V DC external control power supply connection
The 24 V DC external control power supply is required to operate the Lexium 15 LP drive.
24 V DC external control power supply wire specifications
The following table describes the recommended wire specifications. Use only copper wire with insulation rated at 75 ° C or greater,
unless otherwise specified.
LXM15L
Wire size
Fuse(A)
D13M3, D21M3, D28M3
2.5 mm2 or
14 AWG
Max. 8 A
U60N4, D10N4, D17N4
24 V DC external control power supply terminal (X4)
The table below describes the 24 V DC external control power supply specifications
Model
Servo motor brake present
LXM15LD13M3
No
LXM15LU60N4
Yes
LXM15LD21M3
LXM15LD28M3
LXM15LD10N4
External control power
supply input
Voltage
Current
Voltage
Current
Value
20-30 V
1A
24 V DC-0 % +15 %
2.5
Voltage
24 V DC -0 % +15 %
Current
2.5
Yes
LXM15LD17N4
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 fot the 24 V DC external control power supply terminal.
Use appropriate fuses as required by the power supply manufacturer.
24 V DC
24 V DC
FH1
FH2
FH3
0 V DC
0 V DC
CAUTION
SERVO DRIVE CONTROLLER DAMAGE
• A fuse must be used between the terminal of the power supply and the +24 V DC input (X4-1 and 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.
16
Power wiring
DC bus link (X8) wire specifications
The following table describes the recommended wire specifications. Use only copper wire with insulation rated at 75 ° C or greater,
unless otherwise specified.
LXML15L
Wire Size
Recommended tightening
torque
Nm (lbf.in)
Notes
D13M3, D21M3, D28M3
1.5 mm2 or 14 AWG
0.5...0.6
Shielded for lengths greater
than 20 cm
1000 V, 75 °C
(4.4...5.3)
U60N4, D10N4, D17N4
DC bus link (X8) connection
Terminals X8/1 (PC/-) and X8/3 (PA/+) can be connected in parallel, whereby the braking power is divided between all the servo
drives that are connected to the same DC bus link circuit.
0
To other servo drives
17
Categories Relating to Safety
Categories relating to safety according to EN 954-1
The 5 categories of standard EN 954-1 are used to define the necessary system performance to meet safety requirements.
Categories
B
1
2
3
4
Basic safety principle
Control system requirements
Selection of components that comply with the Control according to good engineering practice
relevant standards
Selection of components and safety principles Use of tried and tested components and proven safety
principles
Selection of components and safety principles Test per cycle. The intervals between tests must be
appropriate to both the machine and its application
Structure of the safety circuits
A single fault must not result in loss of the safety function.
The fault must be detected if this is reasonably possible
Structure of the safety circuits
A single fault must not result in loss of the safety function.
The fault must be detected when or before the safety function
is next invoked.
An accumulation of faults must not result in loss of the safety
function.
Behaviour in the event of a
fault
Possible loss of the safety
function
Possible loss of the safety
function with a lower probability
than in B
Fault detected on each test
Safety function ensured, except
in the event of an accumulation
of faults
Safety function always assured
d
The machine manufacturer is responsible for selecting the safety category. The category depends on the level of risk
factors given in standard EN 954-1.
Lexium 15 servo drives and standard EN 954-1
The table below shows the safety level obtained according to the type of servo drive, with the integrated “Power Removal” safety function and
associated equipment (Preventa monitoring module, contactor, etc)
Safety
level
Category B
Category 1
Category 2
Category 3
Category 4
Devices required
For Lexium 15
servo drives
–
1 breaking
1 breaking and
1 monitoring
2 breaking (2)
All ratings
All ratings
All ratings
2 breaking and
1 monitoring (2)
All ratings
All ratings
Equipment to be added
Recommended
wiring diagram,
see page
–
–
–
20
1 breaking device per PWR function with 1 Preventa monitoring module (1) 21
1 breaking device per PWR function, 1 breaking device per contactor and 22
1 Preventa monitoring module (1)
1 breaking device per PWR function, 1 breaking device per contactor and 23
1 Preventa monitoring module (1)
“Power Removal” safety function
The “Power Removal” (PWR) safety function makes it easier to achieve the safety levels defined above.
The “Power Removal” safety function integrated in Lexium 15 LP servo drives consists of a PWR logic input, accessed on the X4 connector.
Deactivation of this input in particular initiates locking of the power stage of the servo drive supplying the servo motor, thus depriving the servo motor
of energy (3).
This function is used primarily when the servo motor has to be kept stationary, for example when personnel need to have frequent access to
protected areas in which machinery is running, for brief periods of time.
Note: The use of Lexium 15 servo drives with the integral “Power Removal” safety function simplifies the connection diagrams required to comply with standard EN 954-1.
(1) The category of the Preventa safety module must be u the required safety category.
(2) Where there are 2 breaking devices, see also the sections relating to Categories 3 and 4 on pages 22 and 23.
(3) Vertical axis immobilization can only be obtained by installing a mechanical locking system (holding brake) on the axes.
18
Recommended wiring diagrams complying with standard EN 954-1
Application with requirement for access to a hazardous area
Presentation
The recommended wiring diagrams on pages 20 to 23 give
an example of an application where access to a hazardous
area needs to be protected (space inside and/or around a
machine in which an operator is exposed to a hazard).
These diagrams apply to Lexium 15 LP servo drives with
integrated “Power Removal” safety function.
Description of the application
Pressing the “Request for access to protected area” spring
return pushbutton S1 causes the axes to slow down and
stop, and also opens the access door to the protected area
(activation of the latch electromagnet).
Depending on the safety level, if all the safety conditions
are not met:
- Either the line contactor drops out
- Or the access door to the area remains locked
S1: Request for access
Door contact
After operator intervention, the door closes and pressing
the “Reset” spring return pushbutton enables the axes to
operate again.
Reset
Selection criteria for the positions of the breaking contactors
Note: A contactor can be used to break the power either upstream or downstream of the Lexium 15 servo drive, without compromising safety. Mixed breaking, upstream
and downstream, is also possible.
The positions of the contactors should be selected according to how often access to the hazardous area is required.
Occasional access requests
Breaking via a contactor upstream of the servo drive is recommended.
This type of breaking eliminates any risk of disconnection of the servo drive/servo motor assembly, which can cause overvoltages (only in the event of
malfunction of the “Enable control system” input).
Frequent access requests
Breaking via a contactor downstream of the servo drive is preferable.
This type of breaking allows the servo drive input power bridge to remain energized, which enhances the longevity of the servo drive rectifier-filtering
stage.
The recommended wiring diagrams on the following pages illustrate the most severe case corresponding to frequent access requests.
Note: As a general rule, the breaking command for upstream KM contactors is instantaneous. The command for downstream KM contactors is delayed to allow the axis
to come to a controlled stop (in accordance with parameter “StopMode = 1”).
Categories 3 and 4
The diagrams for categories 3 and 4 on pages 22 and 23 take account of the widest requirements and thus incorporate double breaking of the
control circuit and the power circuit.
Following specific analysis of machine risks, this redundancy can be limited to the control circuit alone, and thus can be restricted to simply breaking the power circuit.
19
Recommended wiring diagrams complying with standard EN 954-1
Category 1 safety level in accordance with EN 954-1
Power circuit of LXM 15L***** servo drives
5
3
1
L1 L2 L3
1
Q2 2
3
4
5
6
6
4
2
Q1
A1
KM1
5-X4
Control
circuit
PWR 5
0VDC 4
0VDC 3
+ 24VDC 2
X0
+ 24VDC 1
1
6 W/T3 T/L3 2
X4
X3
R1A 1
1-X3
R1C 2
2-X3
Enable 12
3
S/L2 3
5 V/T2
4 U/T1
R/L1 4
0V
X9
X2
X1
Encoder
feedback
Resolver
feedback
K1
Enable control
system
Q1: magnetic circuit breaker
KM1: contactor
Control circuit of LXM 15L***** servo drives
c 24 V
Emergency
stop
K1
Stop
K1
S1
Door
K2
Turn
on
KM1
K2
1-X3
5-X4
2-X3
Servo drive
Servo drive
OK
0V
KM1
K2
Latch
electromagnet
Timing diagram
Request for access
to protected area
K1
Comments
- Time delay T1 on the K1 relay must be long enough
for the axis to come to a controlled stop.
- Lexium 15 LP servo drive parameters:
- StopMode = 0: Axis performs a freewheel stop
- StopMode = 1: Axis comes to a controlled stop
according to the emergency deceleration ramp
S1
K1
Lexium servo drive
anti-start
PWR
Latch opening
authorized
K2
Latch electromagnet
Door contact
Line contactor
Lexium servo drive
speed reference
KM1
T1 < 300 ms
20
Recommended wiring diagrams complying with standard EN 954-1
Category 2 safety level in accordance with EN 954-1
Power circuit of LXM 15L***** servo drives
5
3
1
L1 L2 L3
Q2 2
3
4
5
6
6
4
2
Q1
1
A1
5-X4
Control
circuit
X4
PWR 5
0VDC 4
0VDC 3
+ 24VDC 2
X0
+ 24VDC 1
1
6 W/T3 T/L3 2
X3
R1A 1
1-X3
R1C 2
2-X3
12-X3
Enable 12
3
S/L2 3
5 V/T2
4 U/T1
R/L1 4
0V
X9
X2
X1
Encoder
feedback
Resolver
feedback
Q1: magnetic circuit breaker
Control circuit of LXM 15L***** servo drives
c 24 V
F1
Request
for access
A1
Door
S1
S13 S11 S31
1-X3
Servo drive
2-X3
OK
S32
S12
Enable control
system
S14
03
13
23
To control system
37
47
57
Y+
Y64
Y74
Y84
K2
K7
K1
K2
K3/K4
K1/K2
K3
K2
K4
XPS AV
A2 Y39
S33
S21
S22
S34
Y40
04
24
14
38
48
58
K2
S1
Reset
12-X3
K2
Servo drive
0V
5-X4
Servo drive
K7
K2
Latch
electromagnet
XPS AV: Preventa safety module, please consult our “Safety solutions using Preventa” specialist catalogue
Timing diagram
Comments
- Time delay Tv on the XPS AV monitoring module
must be long enough for the axis to come to a
controlled stop.
- Lexium 15 LP servo drive parameters:
- StopMode = 0: Axis performs a freewheel stop
- StopMode = 1: Axis comes to a controlled stop
according to the emergency deceleration ramp
Request for access
to protected area
S1
Lexium servo drive
anti-start
PWR
K7
Latch opening
authorized
K2
Latch electromagnet
Door contact
Reset
Lexium servo drive
speed reference
Tv < 300 ms
21
Recommended wiring diagrams complying with standard EN 954-1
Category 3 safety level in accordance with EN 954-1
Power circuit of LXM 15L***** servo drives
L3
5
3
1
L1 L2
Q2 2
3
4
5
6
6
4
2
Q1
1
A1
5-X4
PWR 5
0VDC 4
0VDC 3
+ 24VDC 1
X0
+ 24VDC 2
1
6 W/T3 T/L3 2
Control
circuit
X4
X3
R1A 1
1-X3
R1C 2
2-X3
12-X3
Enable 12
3
S/L2 3
5 V/T2
4 U/T1
R/L1 4
0V
X9
X2
Resolver
feedback
KM2
X1
Encoder
feedback
Q1: magnetic circuit breaker
Control circuit of LXM 15L***** servo drives
c 24 V
F1
S21 S11 B1
XPS ATE
S22
13 23
K2
K7
1 2
K3
K1
K2
K4
K3
K2
K4
K2
K3
K4
PE
Y1
S33
Y2 Y3 Y4 Y5
14 24
58 68 78
(Stop1)
115 V
230 V
K1
(S22)
+
K1
A2
Y+
57 67 77
K2
(S12)
T –
S12
K1
(A1-A2)
A1
(4)
Enable control
system
S1
Door
Y88
Y89
Y90
Y91
K2
5-X4
Reset
K2
KM2
Servo drive
1-X3
Servo drive
OK
K2
2-X3
12-X3
Servo
drive
0V
KM2
K7
K2
Latch
electromagnet
XPS ATE: Preventa™ safety module, please consult our “Safety solutions using Preventa” specialist catalogue
Timing diagram
Comments
- Time delay Tv on the XPS ATE monitoring module
must be long enough for the axis to come to a
controlled stop.
- Lexium 15 LP servo drive parameters:
- StopMode = 0: Axis performs a freewheel stop
- StopMode = 1: Axis comes to a controlled stop
according to the emergency deceleration ramp
Request for access
to protected area
S1
Servo motor
contactor
KM2
K7
Lexium servo drive
anti-start
PWR
Latch opening
authorized
K2
Latch electromagnet
Door contact
Reset
Lexium servo drive
speed reference
Tv < 300 ms
22
Recommended wiring diagrams complying with standard EN 954-1
Category 4 safety level in accordance with EN 954-1
Power circuit of LXM 15L***** servo drives
L3
5
3
1
L1 L2
Q2 2
3
4
5
6
6
4
2
Q1
1
A1
5-X4
PWR 5
0VDC 4
0VDC 3
+ 24VDC 2
+ 24VDC 1
1
X0
Control
circuit
X4
X3
R1A 1
1-X3
R1C 2
2-X3
12-X3
Enable 12
3
6 W/T3 T/L3 2
S/L2 3
5 V/T2
4 U/T1
R/L1 4
0V
X9
X2
Encoder
feedback
Resolver
feedback
KM2
X1
Q1: magnetic circuit breaker
Control circuit of LXM 15L***** servo drives
c 24 V
F1
1-X3
Request
for access
A1
S13 S11 S31
Enable control
system
2-X3
Door
S1
S32
S12
S14
03
13
23
To control system
37
47
57
Y+
Y64
Y74
Y84
K2
K7
K1
K2
K3/K4
K1/K2
K3
K2
K4
XPS AV
A2 Y39
S33
Reset
S21
S1
S22
S34
K2
KM2
0V
Y40
04
14
24
38
48
58
5-X4
K2
Servo drive
12-X3
Servo
drive
KM2 K7
K2
Latch
electromagnet
XPS AV: Preventa™ safety module, please consult our “Safety solutions using Preventa” specialist catalogue
Timing diagram
Comments
- Time delay Tv on the XPS AV monitoring module
must be long enough for the axis to come to a
controlled stop.
- Lexium 15 LP servo drive parameters:
- StopMode = 0: Axis performs a freewheel stop
- StopMode = 1: Axis comes to a controlled stop
according to the emergency deceleration ramp
Request for access
to protected area
S1
Servo motor
contactor
KM2
K7
Lexium servo drive
anti-start
PWR
Latch opening
authorized
K2
Latch electromagnet
Door contact
Reset
Lexium servo drive
speed reference
Tv < 300 ms
23
Braking circuit specifications
The following table provides technical data on the braking circuit.
LXM15LD10N4/17N4
LXM15LU60N4
LXM15LD21M3/28M3
LXM15LD13M3
Braking circuit: technical data
Supply voltage
Rated data
Dim.
230 V
400 V
480 V
Switch-on (upper) threshold of braking circuit
V
400
Overvoltage F02
V
455
Braking resistor (internal)
Ohm
66
Continuous power in braking circuit (PBi)
W
20
Pulse power in braking circuit (PBi max. 1s)
kW
3
Braking resistor (external)*
Ohm
66
Continuous power in braking circuit (PA/+) max.
kW
0,3
Pulse power in braking circuit (PA/+ max. 1s)
kW
3
Switch-on (upper) threshold of braking circuit
V
400
Overvoltage F02
V
455
Braking resistor (internal)
Ohm
66
Continuous power in braking circuit (PBi)
W
50
Pulse power in braking circuit (PBi max. 1s)
kW
3
Braking resistor (external)*
Ohm
66
Continuous power in braking circuit (PA/+) max.
kW
1
Pulse power in braking circuit (PA/+ max. 1s)
kW
3
Switch-on (upper) threshold of braking circuit
V
400
720
840
Overvoltage F02
V
455
800
900
Braking resistor (internal)
Ohm
91
91
91
Continuous power in braking circuit (PBi)
W
20
20
20
Pulse power in braking circuit (PBi max. 1s)
kW
2.1
7
9
Braking resistor (external)*
Ohm
91
91
91
Continuous power in braking circuit (PA/+) max.
kW
0.3
0.3
0.3
Pulse power in braking circuit (PA/+ max. 1s)
kW
2.1
7
9
Switch-on (upper) threshold of braking circuit
V
400
720
840
Overvoltage F02
V
455
800
900
Braking resistor (internal)
Ohm
91
91
91
Continuous power in braking circuit (PBi)
W
50
50
50
Pulse power in braking circuit (PBi max. 1s)
kW
2.1
7
9
Braking resistor (external)*
Ohm
91
91
91
Continuous power in braking circuit (PA/+) max.
kW
1.0
1.0
1.0
Pulse power in braking circuit (PA/+ max. 1s)
kW
2.1
7
9
—
—
*Other resistance values are possible. Please ask our applications department.
24
Braking circuit wiring overview
External braking resistor wire specifications
The following table describes the recommended wire specifications. Use only copper wire with insulation rated at 75 ° C or greater,
unless otherwise specified
LXM15L
Wire Size
Recommended
tightening torque
Nm (lbf.in)
Notes
Protective device
D13M3, D21M3, D28M3
1.5 mm2 or 14 AWG
0.5...0.6
High temperature
insulation 1000 V,
105 °C or greater
GV2MExx or
equvalent.
U60N4, D10N4, D17N4
(4.4...5.3)
External braking resistor connection
The following diagram shows the connections between the external braking resistor and the Lexium 15 LP servo drive. The servo
drive is shipped with a jumper installed on connector X8, terminals PBe and PBi. If you are going to use an external braking
resistor, then remove the jumper between PBe and PBi to disconnect (and thus disable) the internal braking resistor.
DANGER
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.
Lexium 15 LP
PC/n.c.
PA/+
GV2MExx
PBi
PBe
Remove bridge!
CAUTION
IMPROPER USE OF A BRAKING RESISTOR
Only use the braking resistors recommended in our catalogs.
Failure to follow these instructions can result in injury or equipment damage.
25
26
Power wiring
Servo motor wire specifications
The following table describes the recommended wire specifications. Use only copper wire with insulation rated at 75 ° C or greater,
unless otherwise specified
LXM15L
Item
Wire Size
D13M3, D21M3, D28M3
Power
Depends on the servo motor
model.
Please see the Lexium 15
servo drive catalog
U60N4, D10N4, D17N4
Brake
Notes
Shielded
1.0 mm2 or
16 AWG minimum
Servo motor wire recommendations
The following diagram and assoicated table explain how to prepare the motor cable
1
70 mm
2.75”
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
2
BK
L3
BK
L2
3
BK
L1
BK L1
BK L2
BK L3
GN/YE
WH
GR
60 mm (2.36”)
70 mm (2.75”)
The table below describes the servo motor power cables specifications
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
27
Power wiring
Servo motor power connection
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:
B
A
Servo motor power
connector
2
1
4
3
Connection between servo motor and servo drive when interface cable length exceeds 25 m:
B
A
2
1
Servo motor power
connector
4
3
VW3 M5 301
VW3 M5 3**
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.
CAUTION
RISK OF IMPROPER SERVO MOTOR OPERATION
The servo motor output cable must be properly grounded using the provided shielding clamp.
Failure to follow these instructions can result in injury or equipment damage.
28
Power wiring
Servo motor (with optional dynamic brake resistors and contactor) connection
The following diagram shows the connections between a servo motor and the Lexium 15 LP servo drive when the optional
dynamic brake resistors and associated contactor are incorporated.
LEXIUM 15 LP
X9
Com 24 V DC
1
BR-
B
2
BR+
A
24 V DC
2
3
4
U/T1
1
5
V/T2
4
6
W/T3
3
Rb
Rb
Square D
LPID25008BD
or equivalent
Note:If possible, disable the servo drive before opening relay
Braking resistors value
To determine the values of the braking resistors, use these formulas:
MINIMUM RESISTANCE (Rdb)
RESISTOR POWER RATING (Pb)
⎛ Maxspeed ⎞
⎜
⎟ * BEMF
1000 ⎠
Rb = ⎝
I max * 0.8
2
(
I max * 0.8) * Rb
Pb =
10
where : Maxspeed is the maximum speed of the servo motor in RPM*
BEMF is the back electromotive force of the servo motors in V/KRPM*
Imax is the maximum current of the servo motor in Amps RMS*
*These values are provided in the servo motor specification sheet
29
Servo
Motor
Holding brake control
Servo motor holding-brake control functional description
A 24 V / max.1.5 A holding brake in the servo motor can be controlled directly by the servo drive. The brake function must be
enabled through the BRAKE parameter (See Lexium 15 LP programming manual). In the diagram below you can see the timing
and functional relationships between the ENABLE signal, speed setpoint, speed and braking force
Analog In(AI)
terminal
X3/3-4,5-6
Enable
terminal
X3/12
U
U
U
TBRAKE0 def. 20 ms
Emergency stop
ramp
SW terminal
ramp
n
Speed
ENABLE
terminal
Brake
terminal
X9/2-1
VELO
U
U
TBRAKE def. 100 ms
F
Braking force
tbrH
tbrL
During the internal ENABLE delay time of 100 ms, the speed setpoint of the servo drive is internally driven down an adjustable
ramp to 0 V. The output for the brake is switched on when the speed has fallen to 3 % of the preset final speed, at the latest after
1 second. The connection and separation time of the holding brake that is built into the servo motor are different for the various
types of servo motor. For a description of the interface see the Lexium 15 LP programming manual.
WARNING
UNINTENDED EQUIPMENT OPERATION
• Ensure that when the brake is operated as a safety device, there is an additional "make" contact in the brake circuit, and a
suppressor device, such as a varistor, for the brake circuit.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
The recommended circuit is as follow :
BRBR+
External interruption circuit
30
Resolver connection
BDH servo motor resolver connection
The following diagram shows the connections between the resolver and the Lexium 15 LP servo drive.
Connector
SERVO MOTOR END
1
9 8
9
12
5
10
2
P
11
3
4
7
6
5
8
4
6
7
Bottom view
1
2
3
10
11
12
Resolver input specifications table
The following table provides resolver input specifications.
RESOLVER
Reference
1 kHz ± 0.5 %
Servo drive capability
35 mA RMS max.
Amplitude
7 V ± 10 % RMS
Pair of poles
1 (default)
Accuracy
< 30 arc minutes
Resolver transformation ratio
0.5 ± 10 %
Loss of feedback
Detection circuit included
Maximum cable length
75 m
Maximum cable capacitance
(signal connector to shield)
120 pF/m
31
Connector (X2)
DRIVE END
Green
Yellow
White
Brown
Grey
Pink
Black
Grey/Pink
7
Cosine+
3
Cosine-
4
Sin+
8
Sin-
5
Reference+
9
Reference-
2
Overtemperature
sensor
6
1
Encoder connection
Servo motor encoder connection
The following diagram shows the encoder input connections between the encoder and the Lexium 15 LP servo drive.
Connector
SERVO MOTOR END
1
2
4
8
6
7
Bottom view
5
9
Connector (X1)
SERVO DRIVE END
Black
Gray/Pink
Brown
White
Grey
Pink
Yellow
Green
10
Red/Blue
11
Blue
14
7
Overheat
temperature
9
Sine-
1
Sine+
5
Data+
13
Data-
11
Cosine-
3
Cosine+
4
V+ supply voltage
2
GND
3
6
12
8
10
12
15
Note:The servo motors can be optionally fitted with a single-turn or multi-turn sine-cosine encoder, which is used by the
Lexium 15 LP positioning or extremely smooth running. In addition, the thermistor contact in the servo motor is connected
via the encoder cable to the Lexium 15 LP servo drive.
Encoder Input Specifications Table
The following table provides Lexium 15 LP encoder input specifications
ENCODER INPUT
Internal power supply
Input Signal
Voltage
7 V...12 V RMS
Current (maximum)
60 mA
Sin-Cos encoder (cyclic absolute)
Absolute accuracy
Sin-Cos encoder (multi-turn
absolute)
± 5.3 arc minutes
Resolution
± 1.3 arc minutes
Turn counter
12 bits
Absolute accuracy within ± 5.3 arc minutes
one turn
Resolution within one
turn
± 1.3 arc minutes
32
Encoder emulation
Incremental encoder output (X5)
The incremental-encoder interface is part of the package supplied. Select encoder function ROD (“Encoder” screen page). The
servo drive calculates the servo motor shaft position from the cyclic-absolute signals of the resolver or encoder, generating
incremental-encoder compatible pulses from this information. Pulse outputs on the SubD connector X5 are 2 signals, A and B, with
90 ° phase difference (i.e. in quadrature, hence the alternative term “A quad B” output), with a zero pulse. The resolution (before
multiplication) can be set by the RESOLUTION function:
Enc. function (ENCMODE)
Feedback system
Resolution (lines)
Zero pulse (NI)
ROD
Resolver
16 … 1024
once per turn (only at
A=B=1)
EnDat / HIPERFACE
16 … 4096 and 8192 …
524288 (2 n)
once per turn (only at
A=B=1)
Incremental encoder without
data channel
22 …27 (multiplication) TTL
line x encoder resolution
encoder signal passed
through from X1 to X5
ROD interpolation
Use the NI-OFFSET parameter to adjust + save the zero pulse position within one mechanical turn.
The maximum permissible cable length is 100 meters.
Connections and signals for the incremental encoder interface are as follows:
track A
zero I
track B
*Terminating impedance is required for operation of the communication bus.
Edge spacing a ≥ 0.20 µs
Edge steepness tv ≤
0.1 µs
Delay N-I-td ≤0.1 µs
|ΔU| ≥ 2 V/20 mA
33
Encoder emulation
SSI output (X5)
The SSI interface (synchronous serial absolute-encoder emulation) is part of the package supplied. Select encoder function ROD
(“Encoder” screen page). The servo drive calculates the servo motor shaft position from the cyclic-absolute signals of the resolver or
encoder. From this information a SSI date (after Stegmann patent specification DE 3445617C2) is provided. Max 32 bits are transferred.
The leading data bit contains the number of revolutions and are selectable from 12 to16 bits. The following max. 16 bits contain the resolution and are not variable. The following table shows the allocation of the SSI date depending upon selected number of revolutions:
Revolution
Resolution (variable)
SSIREVOL
15 14 13 12 11 10
Bit
14
9
8
7
6
5
4
3
2
1
0
13 12 11 10
9
8
7
6
5
4
3
2
1
0
12 11 10
9
8
7
6
5
4
3
2
1
0
11 10
9
8
7
6
5
4
3
2
1
0
10
9
8
7
6
5
4
3
2
1
0
13
12
11
15 14 13 12 11 10
9
8
7
6
5
4
3
2
1
0
The signal sequence can be output in Gray code or in Binary (standard) code (parameter SSI-CODE). The servo drive can be
adjusted to the clock frequency of your SSI-evaluation through the SSI-TIMEOUT parameter (1,3 µs or 10 µs).
Connection and signals for the SSI interface are described below:
*Terminating impedance is required for operation of the communication bus.
Switch over time Data tv ≤300 ns
Output |ΔU| ≥ 2 V/20 mA
Period T = 600 ns
Input |ΔU| ≥ 0.3 V
Time out tp = 1.3 µs/10 µs (SSITOUT)
Note:The count direction for the SSI interface is UP when the servo motor shaft is rotating clockwise (looking at the end of the servo
motor shaft).
34
Master/Slave connection
This interface can be used to link several Lexium 15 LP servo drives together in master-slave operation. Parameter setting for the
slave servo drive is carried out with the aid of the setup software (electrical gearing). The resolution (no. of pulses/turn) can be
adjusted, and the analog setpoint inputs are out of action.
Signal diagram (for encoders with RS422 or 24 V output) is as follow:
Connection to a LEXIUM master, 5 V signal level (X5)
This interface can be used to link several Lexium 15 LP servo drives together in master-slave operation as shown in the following
diagram. Up to 16 slave servo drives can be controlled by the master, via the encoder output. The SubD connector X5 is used for
this purpose.
Master
Slave
Track A
Track B
*Terminating impedance is required for operation of the communication bus.
Encoder input (slave) specifications table
The following table provides Lexium 15 LP encoder input (slave) specifications.
ENCODER INPUT (SLAVE)
Channels
A and B
Type
Differential, RS-485 compliant
Voltage
8 V nominal
Current
200 mA (maximum)
Maximum frequency
1.5 MHz
Rise time
< 0.1 ms
Fall time
< 0.1 ms
35
External encoder emulation
External incremental encoder connection
The following diagram shows the incremental encoder input connections between the Lexium 15 LP servo drive and an external
incremental encoder.
Lexium 15 LP
Incremental encoder
X5
A+
5
RS-485
A2
M+
RS-485
M-
8
5 V DC
=
RS-485
Marker
3
=
RS-485
Chan A
4
Reserved
1
PCom
6
B+
Gnd
RS-485
Chan B
7
RS-485
B+ V DC
Power
Supply
Gnd
V
Gnd
Note:The receivers are supplied with an internal supply voltage.
PCom must always be connected to the encoder ground.
Incremental encoder is powered by an external control power supply.
External SSI encoder connection
The following diagram shows the connections between an external SSI encoder and the Lexium 15 LP servo drive.
Lexium 15 LP
SSI encoder *
X5
6
Data+
RS-485
7
RS-485
=
=
8
5 V DC
1
Reserved
Data PCom
Gnd
5
Clock +
RS-485
4
RS-485
Clock +V DC
Power
Supply
* See Telemecanique XCC range
Gnd
V DC
Gnd
Note:The drivers are supplied with an internal supply voltage.
PCom must always be connected to the encoder ground.
SSI encoder is powered by an external control power supply
36
I/O wiring recommendations
CAUTION
RISK OF EQUIPMENT DAMAGE
AGND is the ground for analog inputs, internal analog ground, encoder emulation, RS232 and CAN.
DGND is the ground for digital inputs/outputs and the external control power supply, optically isolated.
Ensure that all elements are correctly grounded and that the two grounds are connected at only one common point.
Failure to follow these instructions can result in injury or equipment damage.
Connecting cable shields to the front panel
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 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 lengthfrom, 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.
Cable tie
37
Press the shielding of the cable firmly
against the front panel with the cable tie
Analog I/O connection
Analog I/O wire specifications
The following table describes the recommended wire specifications. Use only copper wire with insulation rated at 75 ° C or greater,
unless otherwise specified
LXM15L
Wire Size
Notes
D13M3, D21M3, D28M3,
0.25 mm2 or
22 AWG minimum
Twisted pairs, shielded
U60N4, D10N4, D17N4
Analog inputs (X3)
The servo drive is fitted with two programmable differential inputs for analog setpoints. ACOM (X3/7) must always be joined to the
GND of the controls as a ground reference.
The following diagram shows the connections between the two fully programmable, differential analog inputs on the Lexium 15 LP
servo drive and a user device.
Lexium 15 LP
Control
X3
AI1+
AI1-
ACOM
AI2+
AI2-
+
-
command 1 +/- 10V
ref. to CNC-GND
CNC-GND
+
-
command 2 +/- 10V
ref. to CNC-GND
The list below describes the technical characteristics for the analog inputs (X3):
z Ground reference : ACOM, terminal X3/7
z
Input resistance 20 kΩ
38
Analog I/O connection
The table below describes terminals X3/3-4 (AI1+/AI2-) and X3/5-6 (AI2+/AI2-)caracteristics:
Terminals
Caracteristics
Application examples for setpoint input
Analog-In 1 input (terminals X3/3-4) Differential input voltage max. ± 10 V
Resolution 14-bit
-
Scalable
Standard setting: speed setpoint
Analog-In 2 input (terminals X3/5-6) Differential input voltage max. ± 10 V
Resolution 12-bit
Scalable
Standard setting: torque setpoint
Adjustable external current limit
Reduced-sensitivity input for setting-up/jog
operation
Pre-control / override
Defining the direction of rotation
The standard setting is a clockwise rotation of the servo motor shaft (looking at the shaft end):
z
Positive voltage between terminal X3/3 (+ ) and terminal X3/4 ( - ) or
z
Positive voltage between terminal X3/5 (+ ) and terminal X3/6 ( - )
To reverse the direction of rotation, swap the connections to terminals X3/3-4 or X3/5-6 respectively, or change the ROTATION
DIRECTION parameter in the “Speed controller” screen page.
39
Digital I/O connection
Digital I/O wire specifications
The following table describes the recommended wire specifications. Use only copper wire with insulation rated at 75 ° C or greater,
unless otherwise specified
LXM15L
Wire Size
D13M3, D21M3, D28M3
0.5 mm2 or
20 AWG minimum
U60N4, D10N4, D17N4
Digital control inputs(X3/X4)
All digital inputs are electrically isolated via optocouplers.
Controls
Interrupt circuit
+24 V against CNC-GND
DANGER
UNEXPECTED MOVEMENT
The power removal function input (PWR) must be properly wired using an interrupt circuit as recommended herein.
Failure to follow these instructions will result in death or serious injury.
Discrete Input Specifications Table
The following table provides Lexium 15 LP discrete input specifications.
DISCRETE INPUT
Channels
Five (four programmable and one dedicated for enable)
Type
Solid state, optically isolated, compatible IEC61131-2 type1.
Transient
isolation voltage
250 V AC (channel to chassis)
VIN maximum
30 V DC
IIN @ VIN = 24 V
11 mA
VIH minimum
11 V (minimum input voltage to be recognized as high – true)
VIL maximum
5 V (maximum input voltage to be recognized as low – false)
Scan time:
250 µs
40
Digital I/O connection
Digital I/O wire specifications
The following table describes the recommended wire specifications. Use only copper wire with insulation rated at 75 ° C or greater,
unless otherwise specified
LXM15L
Wire Size
D13M3, D21M3, D28M3
0.5 mm2 or
20 AWG minimum
U60N4, D10N4, D17N4
Digital control outputs(X3)
The following diagram shows the different control outputs :
R1A
R1C
Interrupt circuit
LO1
LO2
0 V DC
Discrete Output Specifications Table
The following table provides Lexium 15 LP discrete output specifications.
DISCRETE OUTPUT
Channels
Two
Type
Solid state: open emitter 30 V DC max., optically isolated
Transient
isolation voltage
250 V AC (channel to chassis)
Sense
True low, sinking
IOUT
10 mA maximum
Protection
Yes (PTC resistor 25 Ohm)
Scan time
250 µs
R1A/R1C Relay Output Specifications Table
The following table provides Lexium 15 LP R1A/R1C relay output specifications.
R1A/R1C RELAY OUTPUT
Type
Relay contact
Sense
True (open)
VMAX
30 V DC; 42 V AC
IOUT
500 mA resistive
41
Digital 1
Digital 2
I/O GND
Pulse-direction control interface connection
Pulse-direction control interface connection functional description
This interface can be used to connect the servo drive to a third-party pulse-direction controller. The parameters for the servo drives
are set using the UniLink software and the number of steps are adjustable to allow the servo drive to correlate to the step-direction
signals of any pulse-direction controller. In this configuration, the analog inputs are disabled and the servo drive can provide various
monitoring signals.
Connection to a pulse-direction controller with 5 V signal level (X5)
This interface can be used to connect the servo drive to a pulse-direction controller with a 5 V signal level.
Frequency limit: 1.5 MHz
Master
Pulse+
Pulse
PulseAGND
Direction+
Direction
Direction*Terminating impedance is required for operation of the communication bus.
Connection to a pulse-direction controller with 24 V DC signal level (X3)
This interface can be used to connect the servo drive to a pulse-direction controller with a 24 V signal level.
Frequency limit: 100 kHz
Master
LI1
Direction
LI2
Pulse
Direction
Pulse
+ 24 V DC ref. to GND
0 V DC
GND
42
Serial communications connection (X6)
CAUTION
RISK OF EQUIPMENT DAMAGE
Do not connect a Modbus serial port to the X6 connector! Pin1 carries + 8 V DC which would be shorted out by a Modbus cable.
Instead, use a 3-core cable (not a null-modem link cable) with only pins 2, 3 and 5 wired.
Failure to follow these instructions can result in injury or equipment damage.
Serial communications connection diagram
Operating, position control, and motion-block parameters can be set up by using the setup software on an ordinary commercial PC.
Connect the PC interface (X6) of the servo drive to a serial interface on the PC via a null-modem cable, while the supply to the
equipment is switched off.
Do not use a null-modem power link cable!
This interface has the same electrical potential as the CANopen interface.
The interface is selected and set up in the setup software.
With the optional -2CAN- expansion card, the two interfaces for RS232 and CAN, which would otherwise use the same connector
X6, are separated out onto three connectors.
Pin-No
see below
PC
AGND
The following diagram shows the interface cable between the PC and servo drives of the Lexium 15 LP series:
(View : looking at the solder side of the SubD sockets on the cable)
PGND
PGND
PGND
PGND
Female
Female
Female
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
43
Female
CANopen interface (X6)
CAUTION
RISK OF EQUIPMENT DAMAGE
Do not connect a Modbus serial port to the X6 connector! Pin1 carries +8 V DC which would be shorted out by a Modbus cable.
Instead, use a 3-core cable (not a null-modem link cable) with only pins 2, 3 and 5 wired.
Failure to follow these instructions can result in injury or equipment damage.
The interface for connection to the CAN bus (default 500 kBaud). The integrated profile is based on the communication profile
CANopen DS301 and the servo drive profile DSP402.
The following functions are available in connection with the integrated position controller:
z
Jogging with variable speed
z
reference traverse (zeroing)
z
start motion task
z
start direct task
z
digital setpoint provision
z
data transmission functions
z
many others.
Detailed information can be found in the CANopen manual. The interface is electrically isolated by optocouplers, and is at the same
potential as the RS232 interface. The analog setpoint inputs can still be used.
CAN-Server/client
*Terminating impedance is required for operation of the communication bus.
CAN ref. to ISO 11898
44
CANopen interface (X6)
CAN bus cable
To meet ISO 11898 you should use a bus cable with a characteristic impedance of 120 Ω. The maximum usable cable length for
reliable communication decreases with increasing transmission speed. As a guide, you can use the following values which we
have measured, but they are not to be taken as assured limits:
The following table lists the different cable data
Cable caracteristics
Value
Characteristic impedance
100-120 Ω
Cable capacitance
max. 60 nF/km
Lead resistance (loop)
159.8 Ω/km
The following table shows cable lenght, depending on the transmission rate
Transmission rate (kBauds)
max. cable lenght (m)
1000
20
500
70
250
115
For EMC reasons, the SubD connector housing must fulfill the following conditions:
z
metal or metallized housing
z
shield connection to housing.
Master
CANL
CANL
CANH
CANH
AGND
AGND
Shield
Shield
*Terminating impedance is required for operation of the communication bus.
45
Powering up and powering down the system
Power-on and power-off characteristics
The following diagram illustrates the functional sequence that occurs when the servo drive is turned on and off.
U
+24 V DC
X4
U
R1A/R1C
X3/1,2
U
R/L1,S/L2,T/L3
X0
U
DC bus link
X7
U
ENABLE
X3/12
46
Procedure for verifying system operation
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 and
typical 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.
DANGER
HAZARD OF ELECTRIC SHOCK, EXPLOSION, OR ARC FLASH
• Ensure that all wiring is complete and verified.
Failure to follow these instructions will result in death or serious injury.
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 wiring errors 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.
• Make sure that the system is free and ready for the motion before starting the function.
• Keep personnel and equipment clear of all moving parts.
• Make sure all safety interlocks are engaged.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
47
Procedure for verifying system operation
Quick Tuning Procedure
This procedure will enable you to rapidly assess the operational readiness of the system.
Step Action
Description
1
Check installation
See safety precautions on previous page
2
Block the Enable
signals
Apply 0 V DC to terminal X3/12 (Enable) and to terminal X4/5 (PWR)
3
Switch on 24 V DC
external control
power supply
Apply 24 V DC 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.
4
Switch on PC, start
setup software
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.
5
Check the displayed
parameters, and
correct if necessary
DANGER
UNINTENDED EQUIPMENT OPERATION
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
Set to the actual electrical supply voltage.
Rated servo motor At least as high as the DC bus link voltage of the servo drive.
voltage
6
Servo motor poleno.
Must match the servo motor (see servo motor manual).
Feedback
Must match the feedback device in the servo motor.
IRMS
Maximum is the servo motor standstill current I0 (on: nameplate).
IPEAK
Maximum is 4 x servo motor standstill current I0.
Limit speed
Maximum is the rated servo motor speed (on nameplate).
Braking power
Maximum is the permitted braking resistor dissipation.
Station address
Unique address (See the Lexium 15 LP programming manual).
Check interrupt
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
Switch on
Use the ON/OFF button of the contactor controls.
supply power
8
Apply 0 V command
Apply 0 V to terminals X3/3-4 (AI1+/AI1-) or X3/5-6 (AI2+/AI2-) respectively.
9
Enable
Apply 24 V DC (500 ms after switching on the supply power) to terminal X3/12 (ENABLE), servo
motor stands with standstill torque M0.
48
10
Setpoint
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.
11
Optimization
12
Set up the expansion See setup instructions in the corresponding manual on the CD-ROM.
card
49
Optimize speed, current and position controllers (see the Lexium 15 LP programming manual).
Procedure for verifying system operation
Keypad operation / LED display
This section illustrates the two possible operating menus and the use of the keys on the front panel.
Normally, the Lexium 15 LP only presents the standard menu for your use. If you want to operate the servo drive via the detailed
menu, you must keep the right key pressed while switching on the external control power supply.
Keypad operation
The two keys can be used to perform the following functions:
Key symbol
Functions
Press once: move up to next menu or increase number by one
Press twice in rapid succession: increase number by ten
Press once: move down to previous menu or decrease number by one
Press twice in rapid succession: decrease number by ten
Hold right key pressed, and then press left key as well: this action enables you to enter a number, or to serve as a
“Return” function
50
Front panel controls and indicators
Status display
The alphanumeric display indicates servo drive power status conditions, error codes and alert codes. The power status conditions
are shown below; error and alert codes are described further in the document
Switch on
24 V
Data are being read from EnDat
Option -AS- is active
Reset input active
The reset function is assigned to a digital input
where a High signal is connected
status 1: 24 V switched on
Unit indicates software version
after 1 s shift to status 2, 3 or 4
status 2: 24 V switched on
Unit indicates current (here 6 A)
flashing dot
status 3: 24 V switched on, supply power switched on
Unit indicates current and supply power on
flashing dot
status 4: 24 V and supply power on, unit enabled
Unit indicates current, supply power on an enable
flashing dot
Detected Error/Alert signal : each error/alert
that has occured will be indicated
successively by 4 blinks each
Parameters
Standard menu
The following diagram describes the standard menu
State
to
51
Station adress
The entry will be automatically stored
when you exit the input field.
Alert messages
Alert identification and description
Detected errors which occur, but which do not cause a switch-off of the servo drive output stage (R1A/R1C contact remains
closed), are indicated in the LED display on the front panel by a coded alert number.
Number Designation
Explanation
n01
I²t
I²t threshold exceeded
n02
braking power
reached preset braking power limit
n03*
S_fault
exceeded preset contouring error limit
n04*
response monitoring
response monitoring (fieldbus) has been activated
n05
supply phase
power supply phase missing
n06*
Sw limit switch 1
passed software limit switch 1
n07*
Sw limit switch 2
passed software limit switch 2
n08
motion task error
incorrect motion task was started
n09
no reference point
no reference point (Home) set at start of motion task
n10*
PSTOP
PSTOP limit-switch activated
n11*
NSTOP
NSTOP limit-switch activated
n12
servo motor default
values loaded
only for ENDAT or HIPERFACE® : discrepancy between servo motor number saved in the
encoder and the servo motor default values loaded
n13*
expansion card
expansion card not operating correctly
n14
SinCos feedback
SinCos commutation (wake & shake) not completed will be canceled when servo drive is
enabled and wake & shake carried out
n15
table error
detected error accordiing to speed/current table INXMODE 35
n16
summarized warning
summarized alert for n17 to n31
n17
CAN-Sync
CAN-Sync is not logged in
n18
multiturn overflow
max. number of turns exceeded
n19-n31
reserved
reserved
n32
firmware beta version
firmware is an unreleased beta version
A
reset
RESET is present on input DIGITAL INx
* = these alert messages result in a controlled shut-down of the servo drive (braking by emergency stop ramp)
52
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:
z
the R1A/R1C contact being opened,
z
the output stage of the servo drive being switched off (servo motor loses all torque), and
z
the servo motor-holding brake being activated.
Number Designation
Explanation
F01*
heat sink temperature
heat sink temprature too high limit is set by manufacturer to 80 °C
F02*
overvoltage
overvoltage in DC bus link limit depends on the electrical supply voltage
F03*
contouring error
message from the position controller
F04
feedback
cable break, short-circuit, short to ground
F05*
undervoltage
undervoltage in DC bus link limit is set by manufacturer to 100 V
F06
servo motor temperature servo motor temperature too high or temp. sensor defect limit is set by manufacturer to 145 °C
F07
reserved
reserved
F08*
overspeed
servo motor runs away, speed is too high
F09
EEPROM
checksum error
F10
flash-EPROM
checksum error
F11
brake
cable break, short-circuit, short to ground
F12
servo motor phase
servo motor phase missing (cable break or similar)
F13*
internal temperature
internal temperature too high
F14
output stage
detected error in the power output stage
F15
I²t max.
I²t maximum value exceeded
F16*
supply BTB/RTO
2 or 3 phases missing in the power supply feed
F17
A/D converter
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 2-phase operation)
F20
slot fault
slot error (hardware detected 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 detected 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
53
Error messages
Finding and removing 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 troubleshooting.
Detected Error Possible causes
Measures to remove the cause of the detected error
F01 message:
Heat sink
temperature
Permissible heat sink temperature exceeded.
Improve ventilation.
F02 message:
Overvoltage
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.
Reduce the RAMP braking time. Use an external braking
resistor with a higher power rating and adjust the braking
power parameter.
Supply voltage too high.
Use a supply transformer.
Feedback connector not properly inserted.
Check connectors.
Feedback cable is broken, crushed, or otherwise
damaged.
Check cables.
F04 message:
Feedback Unit
Feedback unit is damaged or wrongly configured.
Check feedback unit and settings.
F05 message: Supply voltage is not present, or too low when the
Undervoltage servo drive is enabled.
Only ENABLE the servo drive when the electrical supply
voltage has been switched on delay > 500 ms.
F06 message:
Servo motor
temperature
Servo motor thermostat has been activated.
Wait until servo motor has cooled down, then check for
possibles reasons for overheating.
Feedback connector is loose, or a break in the
feedback cable.
Tighten connector screw, or use new feedback cable.
F07 message:
Aux. voltage
The aux. voltage produced by the servo drive is
incorrect.
Return the servo drive to the manufacturer for servicing.
F08 message:
Overspeed
Servo motor phases swapped.
Correct servo motor phase sequence.
Feedback device set up incorrectly.
Set up correct offset angle.
F11 message:
Short-circuit in the supply cable for the servo motor- Remove the short-circuit.
holding brake.
Brake
F13 message:
Internal temp.
Servo motor-holding brake is inoperative.
Replace servo motor.
Detected error in brake cable.
Check shielding of brake cable.
No brake connected, although the brake parameter
is set to WITH.
Set brake parameter to WITHOUT.
Permissible internal temperature has been
exceeded.
Improve ventilation.
F14 message:
Servo motor has short-circuit or earth/ground short. Replace servo motor.
Output stage
detected error
Servo motor cable has a short-circuit or earth/
ground short.
F16 message:
Mains BTB/
RTO
F17 message:
A/D converter
Replace cable.
Output module is overheated.
Improve ventilation.
Output stage is inoperative.
Return the servo drive to the manufacturer for repair.
Short-circuit or short to ground in the external
braking resistor.
Remove short-circuit / ground short.
Enable was applied, although the supply voltage
was not present.
Only ENABLE the servo drive when the electrical supply
voltage has been switched on.
At least 2 supply phases are missing.
Check the electrical supply.
Error in the analog-digital conversion, usually
caused by EMC interference.
Reduce EMC interference check shielding and grounding.
54
Error messages
Finding and removing detected errors
Detected Error Possible causes
Measures to remove the cause of the detected error
F25 message:
Wrong cable used.
Check cable.
Commutation
error
Offset is too large.
Check resolver pole number (RESPOLES), servo motor
pole number (MPOLES) and offset (MPHASE).
Wake & shake missed.
Execute wake & shake.
Power digital input AND hardware enable AND
software enable are active.
Check programming and wiring of the PLC / control
system.
F27 message:
error PWR
function
Servo motor
Servo drive not enabled.
does not rotate
Software enable not set.
Apply ENABLE signal.
Set software enable.
Break in setpoint cable.
Check setpoint cable.
Servo motor phases swapped.
Correct servo motor phase sequence.
Brake not released.
Check brake control.
Servo drive is mechanically blocked.
Check mechanism.
Servo motor pole no. set incorrectly.
Set servo motor pole no.
Feedback set up incorrectly.
Set up feedback correctly.
Gain is too high (speed controller).
Reduce Kp (speed controller).
Shielding in feedback cable has a break.
Replace feedback cable.
AGND not wired up.
Join AGND to CNC-GND.
Irms or Ipeak set too low.
Increase Irms or Ipeak (keep within servo motor ratings!).
Accel/decel ramp is too long.
Shorten ramp +/-.
Servo motor
overheating
Irms/Ipeak is set too high.
Reduce Irms/Ipeak.
Servo drive
too soft
Kp (speed controller) too low.
Increase Kp (speed controller).
Tn (speed controller) too high.
Use servo motor default value for Tn (speed controller).
ARLPF / ARHPF too high.
Reduce ARLPF / ARHPF.
Servo motor
oscillates
Servo drive
reports
following error
Servo drive
runs roughly
Axis drifts at
setpoint = 0 V
n12 message:
Servo motor
default values
loaded
n14 message:
SinCos
feedback
55
ARLP2 too high.
Reduce ARLP2.
Kp (speed controller) too high.
Reduce Kp (speed controller).
Tn (speed controller) too low.
Use servo motor default value for Tn (speed controller).
ARLPF / ARHPF too low.
Increase ARLPF / ARHPF.
ARLP2 too low.
Increase ARLP2.
Offset not correctly adjusted for analog setpoint
provision.
Adjust offset (analog I/O).
AGND not joined to the controller-GND of the
controls.
Join AGND and controller-GND.
Servo motor numbers stored in the encoder and
servo drive do not match the parameters that have
been set.
Default values for the servo motor have been loaded,
SAVE automatically stores the servo motor number in the
EEPROM.
SinCos commutation (wake & shake) not
completed.
ENABLE the servo drive.
56
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