LEC-OM03006

(Doc No. JXC※-OMT0027-A)

PRODUCT NAME

AC Servo Motor Driver

(ＳＳＣＮＥＴⅢ Type）
MODEL/ Series

LECSS Series
 LECSS□-□ Series / Driver
1. Safety Instructions
These safety instructions are intended to prevent hazardous situations and/or equipment damage.
These instructions indicate the level of potential hazard with the labels of “Caution,” “Warning” or “Danger.”
They are all important notes for safety and must be followed in addition to International Standards (ISO/IEC),
*1) and other safety regulations.
*1) ISO 4414: Pneumatic fluid power -- General rules relating to systems
ISO 4413: Hydraulic fluid power -- General rules relating to systems
IEC 60204-1: Safety of machinery -- Electrical equipment of machines (Part 1: General requirements)
ISO 10218: Manipulating industrial robots -- Safety
etc.
Caution indicates a hazard with a low level of risk which, if not avoided, could result in minor or
Caution moderate injury.
Warning indicates a hazard with a medium level of risk which, if not avoided, could result in
Warning death or serious injury.
Danger indicates a hazard with a high level of risk which, if not avoided, will result in death or
Danger serious injury.

Warning
1. The compatibility of the product is the responsibility of the person who designs the equipment or
decides its specifications.
Since the product specified here is used under various operating conditions, its compatibility with specific
equipment must be decided by the person who designs the equipment or decides its specifications based on
necessary analysis and test results.
The expected performance and safety assurance of the equipment will be the responsibility of the person who
has determined its compatibility with the product.
This person should also continuously review all specifications of the product referring to its latest catalog
information, with a view to giving due consideration to any possibility of equipment failure when configuring
the equipment.
2. Only personnel with appropriate training should operate machinery and equipment.
The product specified here may become unsafe if handled incorrectly.
The assembly, operation and maintenance of machines or equipment including our products must be
performed by an operator who is appropriately trained and experienced.
3. Do not service or attempt to remove product and machinery/equipment until safety is confirmed.
The inspection and maintenance of machinery/equipment should only be performed after measures to
prevent falling or runaway of the driven objects have been confirmed.
When the product is to be removed, confirm that the safety measures as mentioned above are implemented
and the power from any appropriate source is cut, and read and understand the specific product precautions
of all relevant products carefully.
Before machinery/equipment is restarted, take measures to prevent unexpected operation and malfunction.
4. Contact SMC beforehand and take special consideration of safety measures if the product is to be
used in any of the following conditions.
1) Conditions and environments outside of the given specifications, or use outdoors or in a place exposed to
direct sunlight.
2) Installation on equipment in conjunction with atomic energy, railways, air navigation, space, shipping,
vehicles, military, medical treatment, combustion and recreation, or equipment in contact with food and
beverages, emergency stop circuits, clutch and brake circuits in press applications, safety equipment or other
applications unsuitable for the standard specifications described in the product catalog.
3) An application which could have negative effects on people, property, or animals requiring special safety
analysis.
4) Use in an interlock circuit, which requires the provision of double interlock for possible failure by using a
mechanical protective function, and periodical checks to confirm proper operation.

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Note that the CAUTION level may lead to a serious consequence according to conditions. Please follow the
instructions of both levels because they are important to personnel safety.
What must not be done and what must be done are indicated by the following diagrammatic symbols.

Indicates what must not be done. For example, "No Fire" is indicated by
Prohibition
Compulsio Indicates what must be done. For example, grounding is indicated by

In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so
on are classified into "POINT".
After reading this installation guide, always keep it accessible to the operator.

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 LECSS□-□ Series / Driver
1. Safety Instructions
Caution
The product is provided for use in manufacturing industries.
The product herein described is basically provided for peaceful use in manufacturing industries.
If considering using the product in other industries, consult SMC beforehand and exchange specifications or a
contract if necessary.
If anything is unclear, contact your nearest sales branch.

Limited warranty and Disclaimer/Compliance Requirements

The product used is subject to the following “Limited warranty and Disclaimer” and “Compliance
Requirements”.
Read and accept them before using the product.

Limited warranty and Disclaimer

The warranty period of the product is 1 year in service or 1.5 years after the product is delivered,
whichever is first.*3)
Also, the product may have specified durability, running distance or replacement parts. Please consult
your nearest sales branch.

For any failure or damage reported within the warranty period which is clearly our responsibility, a
replacement product or necessary parts will be provided.
This limited warranty applies only to our product independently, and not to any other damage incurred
due to the failure of the product.

Prior to using SMC products, please read and understand the warranty terms and disclaimers noted in
the specified catalog for the particular products.

*3) Vacuum pads are excluded from this 1 year warranty.

A vacuum pad is a consumable part, so it is warranted for a year after it is delivered.
Also, even within the warranty period, the wear of a product due to the use of the vacuum pad or
failure due to the deterioration of rubber material are not covered by the limited warranty.

Compliance Requirements
When the product is exported, strictly follow the laws required by the Ministry of Economy, Trade and Industry
(Foreign Exchange and Foreign Trade Control Law).

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1. To prevent electric shock, note the following

WARNING
Before wiring or inspection, turn off the power and wait for 15 minutes or more until the charge lamp turns
off. Then, confirm that the voltage between P( ) and N( ) is safe with a voltage tester and others.
Otherwise, an electric shock may occur. In addition, always confirm from the front of the driver, whether
the charge lamp is off or not.
Connect the driver and servo motor to ground.
Any person who is involved in wiring and inspection should be fully competent to do the work.
Do not attempt to wire the driver and servo motor until they have been installed. Otherwise, you may get
an electric shock.
Operate the switches with dry hand to prevent an electric shock.
The cables should not be damaged, stressed, loaded, or pinched. Otherwise, you may get an electric
shock.
During power-on or operation, do not open the front cover of the driver. You may get an electric shock.
Do not operate the driver with the front cover removed. High-voltage terminals and charging area are
exposed and you may get an electric shock.
Except for wiring or periodic inspection, do not remove the front cover even of the driver if the power is off.
The driver is charged and you may get an electric shock.

2. To prevent fire, note the following

CAUTION
Install the driver, servo motor and regenerative resistor on incombustible material. Installing them directly
or close to combustibles will lead to a fire.
Always connect a magnetic contactor (MC) between the main circuit power supply and L1, L2, and L3 of
the driver, and configure the wiring to be able to shut down the power supply on the side of the driver’s
power supply. If a magnetic contactor (MC) is not connected, continuous flow of a large current may
cause a fire when the driver malfunctions.
When a regenerative resistor is used, use an alarm signal to switch main power off. Otherwise, a
regenerative transistor fault or the like may overheat the regenerative resistor, causing a fire.

3. To prevent injury, note the follow

CAUTION
Only the voltage specified in the Instruction Manual should be applied to each terminal, Otherwise, a
burst, damage, etc. may occur.
Connect the terminals correctly to prevent a burst, damage, etc.
Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur.
Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.)
with the driver heat sink, regenerative resistor, servo motor, etc. since they may be hot while power is on
or for some time after power-off. Their temperatures may be high and you may get burnt or a parts may
damaged.
During operation, never touch the rotating parts of the servo motor. Doing so can cause injury.

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4. Additional instructions
The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric shock,
etc.

(1) Transportation and installation

CAUTION
Transport the products correctly according to their weights.
Stacking in excess of the specified number of products is not allowed.
Do not carry the servo motor by the cables, shaft or encoder.
Do not hold the front cover to transport the driver. The driver may drop.
Install the driver in a load-bearing place in accordance with the Instruction Manual.
Do not climb or stand on servo equipment. Do not put heavy objects on equipment.
The driver and servo motor must be installed in the specified direction.
Leave specified clearances between the driver and control enclosure walls or other equipment.
Do not install or operate the driver and servo motor which has been damaged or has any parts missing.
Provide adequate protection to prevent screws and other conductive matter, oil and other combustible
matter from entering the driver and servo motor.
Do not drop or strike driver or servo motor. Isolate from all impact loads.
When you keep or use it, please fulfill the following environmental conditions.
Conditions
Environment
Driver Servo motor
[ ] 0 to 55 (non-freezing) 0 to 40 (non-freezing)
In operation
Ambient [ ] 32 to 131 (non-freezing) 32 to 104 (non-freezing)
temperature [ ] 20 to 65 (non-freezing) 15 to 70 (non-freezing)
In storage
[ ] 4 to 149 (non-freezing) 5 to 158 (non-freezing)
Ambient In operation 90%RH or less (non-condensing) 80%RH or less (non-condensing)
humidity In storage 90%RH or less (non-condensing)
Ambience Indoors (no direct sunlight) Free from corrosive gas, flammable gas, oil mist, dust and dirt
Altitude Max. 1000m (3280 ft) above sea level
LECS□□-S5
(Note) 2 LECS□□-S7
[m/s ] 5.9 or less X Y: 49
Vibration
LECS□□-S8
series

Securely attach the servo motor to the machine. If attach insecurely, the servo motor may come off during
operation.
The servo motor with a reduction gear must be installed in the specified direction to prevent oil leakage.
Take safety measures, e.g. provide covers, to prevent accidental access to the rotating parts of the servo
motor during operation.
Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. The encoder
may become faulty.
Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break.
When the equipment has been stored for an extended period of time, contact your local sales office.

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(2) Wiring

CAUTION
Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly.
Do not install a power capacitor, surge absorber or radio noise filter (FR-BIF-(H) :Mitsubishi Electric
Corporation) between the servo motor and driver.
Connect the wires to the correct phase terminals (U, V, W) of the driver and servo motor.
Not doing so may cause unexpected operation.
Connect the servo motor power terminal (U, V, W) to the servo motor power input terminal (U, V, W)
directly. Do not let a magnetic contactor, etc. intervene.

ServoDriver
amplifier Servo motor Driver
Servo amplifier Servo motor
U U
U U
V V
V M V M
W W
W W

Do not connect AC power directly to the servo motor. Otherwise, a fault may occur.
The surge absorbing diode installed on the DC output signal relay of the driver must be wired in the
specified direction. Otherwise, the forced stop (EM1) and other protective circuits may not operate.
Servo amplifier
Driver Driver
Servo amplifier
24VDC 24VDC
DOCOM DOCOM
DICOM DICOM

Control Control
output output
RA RA
signal signal

When the cable is not tightened enough to the terminal block (connector), the cable or terminal block
(connector) may generate heat because of the poor contact. Be sure to tighten the cable with specified
torque.

(3) Test run adjustment

CAUTION
Before operation, check the parameter settings. Improper settings may cause some machines to perform
unexpected operation.
The parameter settings must not be changed excessively. Operation will be insatiable.

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(4) Usage

CAUTION
Provide an external emergency stop circuit to ensure that operation can be stopped and power switched
off immediately.
Any person who is involved in disassembly and repair should be fully competent to do the work.
Before resetting an alarm, make sure that the run signal of the driver is off to prevent an accident. A
sudden restart is made if an alarm is reset with the run signal on.
Do not modify the equipment.
Use a noise filter, etc. to minimize the influence of electromagnetic interference, which may be caused by
electronic equipment used near the driver.
Burning or breaking a driver may cause a toxic gas. Do not burn or break a driver.
Use the driver with the specified servo motor.
The lock on the servo motor is designed to hold the motor shaft and should not be used for ordinary
braking.
For such reasons as service life and mechanical structure (e.g. where a ball screw and the servo motor
are coupled via a timing belt), the lock may not hold the motor shaft. To ensure safety, install a stopper on
the machine side.

(5) Corrective actions

CAUTION
When it is assumed that a hazardous condition may take place at the occur due to a power failure or a
product fault, use a servo motor with a lock or an external brake mechanism for the purpose of
prevention.
Do not use the 24VDC interface for the lock. Always use the power supply designed exclusively for the
lock. Otherwise, a fault may occur.
Configure a lock circuit so that it is activated also by an external EMG stop switch.
Contacts must be opened when ALM
Contacts must be opened when ALM Contacts must be opened
(Malfunction) andorMBR
(Malfunction) MBR(Electromagnetic
(Electromagnetic with the EMG stop switch.
brake interlock) turns off.
brake interlock) turns off.
Servo motor
RA

B 24 V DC

Electromagnetic brake
Lock
Refer to section 3.11.3 when wiring for the circuit configuration.

When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before
restarting operation.
When power is restored after an instantaneous power failure, keep away from the machine because the
machine may be restarted suddenly (design the machine so that it is secured against hazard if restarted).

(6) Maintenance, inspection and parts replacement

CAUTION
With age, the electrolytic capacitor of the driver will deteriorate. To prevent a secondary accident due to a
fault, it is recommended to replace the electrolytic capacitor every 10 years when used in general
environment. Please consult our sales representative.

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(7) General instruction
To illustrate details, the equipment in the diagrams of this Specifications and Instruction Manual may have
been drawn without covers and safety guards. When the equipment is operated, the covers and safety
guards must be installed as specified. Operation must be performed in accordance with this
Specifications and Instruction Manual.

About processing of waste

When you discard driver, a battery (primary battery), and other option articles, please follow the law of each
country (area).

FOR MAXIMUM SAFETY

These products have been manufactured as a general-purpose part for general industries, and have not
been designed or manufactured to be incorporated in a device or system used in purposes related to
human life.
Before using the products for special purposes such as nuclear power, electric power, aerospace,
medicine, passenger movement vehicles or under water relays, contact your local sales office..
These products have been manufactured under strict quality control. However, when installing the product
where major accidents or losses could occur if the product fails, install appropriate backup or failsafe
functions in the system.

EEP-ROM life
The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If
the total number of the following operations exceeds 100,000, the driver and/or converter unit may fail when
the EEP-ROM reaches the end of its useful life.
Write to the EEP-ROM due to parameter setting changes
Home position setting in the absolute position detection system
Write to the EEP-ROM due to device changes
Write to the EEP-ROM due to point table changes

Precautions for Choosing the Products

SMC will not be held liable for damage caused by factors found not to be the cause of SMC; machine
damage or lost profits caused by faults in the SMC products; damage, secondary damage, accident
compensation caused by special factors unpredictable by SMC; damages to products other than SMC
products; and to other duties.

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COMPLIANCE WITH EC DIRECTIVES
1. WHAT ARE EC DIRECTIVES?
The EC directives were issued to standardize the regulations of the EU countries and ensure smooth
distribution of safety-guaranteed products. In the EU countries, the machinery directive (effective in January,
1995), EMC directive (effective in January, 1996) and low voltage directive (effective in January, 1997) of the
EC directives require that products to be sold should meet their fundamental safety requirements and carry the
CE marks (CE marking). CE marking applies to machines and equipment into which drivers have been
installed.

(1) EMC directive

The EMC directive applies not to the servo units alone but to servo-incorporated machines and equipment.
This requires the EMC filters to be used with the servo-incorporated machines and equipment to comply
with the EMC directive. For specific EMC directive conforming methods, refer to the EMC Installation
Guidelines (IB(NA)67310).

(2) Low voltage directive

The low voltage directive applies also to servo units alone. Hence, they are designed to comply with the low
voltage directive.
This servo is certified by TUV, third-party assessment organization, to comply with the low voltage directive.

(3) Machine directive

Not being machines, the drivers need not comply with this directive.

2. PRECAUTIONS FOR COMPLIANCE

(1) Drivers and servo motors used
Use the drivers and servo motors which comply with the standard model.

Driver : LECSS□-□
Servo motor : LE-S5-□、LE-S6-□、LE-S7-□、LE-S8-□(Note)

Note. For the latest information of compliance, contact your local sales office..

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(2) Configuration
The control circuit provide safe separation to the main circuit in the driver.
Control box

Reinforced
insulating type
24VDC
power
No-fuse Magnetic supply
breaker contactor Servo
motor
Servo
MC Driver
amplifier M
NFB

(3) Environment
Operate the driver at or above the contamination level 2 set forth in IEC60664-1. For this purpose, install
the driver in a control box which is protected against water, oil, carbon, dust, dirt, etc. (IP54).

(4) Power supply

(a) This driver can be supplied from star-connected supply with earthed neutral point of overvoltage
category III set forth in IEC60664-1. However, when using the neutral point of 400V class for single-
phase supply, a reinforced insulating transformer is required in the power input section.

(b) When supplying interface power from external, use a 24VDC power supply which has been insulation-
reinforced in I/O.

(5) Grounding
(a) To prevent an electric shock, always connect the protective earth (PE) terminals (marked ) of the
driver to the protective earth (PE) of the control box.

(b) Do not connect two ground cables to the same protective earth (PE) terminal (marked ). Always
connect the cables to the terminals one-to-one.

PE terminals PE terminals

(c) If a leakage current breaker is used to prevent an electric shock, the protective earth (PE) terminals
(marked ) of the driver must be connected to the corresponding earth terminals.

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(6) Wiring
(a) The cables to be connected to the terminal block of the driver must have crimping terminals provided
with insulating tubes to prevent contact with adjacent terminals.

Crimping terminal

Insulating tube

Cable

(b) Use the servo motor side power connector which complies with the EN Standard. The EN Standard
compliant power connector sets are available from us as options. (Refer to section 14.1)

(7) Auxiliary equipment and options

(a) The no-fuse breaker and magnetic contactor used should be the EN or IEC standard-compliant
products of the models described in section 14.10.
Use a type B (Note) breaker. When it is not used, provide insulation between the driver and other device
by double insulation or reinforced insulation, or install a transformer between the main power supply and
driver.
Note. Type A: AC and pulse detectable
Type B: Both AC and DC detectable

(b) The sizes of the cables described in section 14.9 meet the following requirements. To meet the other
requirements, follow Table 5 and Appendix C in EN60204-1.
Ambient temperature: 40 (104) [°C (°F)]
Sheath: PVC (polyvinyl chloride)
Installed on wall surface or open table tray

(c) Use the EMC filter for noise reduction.

(8) Performing EMC tests

When EMC tests are run on a machine/device into which the driver has been installed, it must conform to
the electromagnetic compatibility (immunity/emission) standards after it has satisfied the operating
environment/electrical equipment specifications.
For the other EMC directive guidelines on the driver, refer to the EMC Installation Guidelines (IB(NA)67310).

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CONFORMANCE WITH UL/C-UL STANDARD
(1) Drivers and servo motors used
Use the drivers and servo motors which comply with the standard model.

Driver :LECSS□-□
Servo motor : LE-□-□(Note)

Note. For the latest information of compliance, contact your local sales office..

(2) Installation
Install a fan of 100CFM (2.8m 3/min) air flow 4[in] (10.16[cm]) above the driver or provide cooling of at
least equivalent capability to ensure that the ambient temperature conforms to the environment
conditions (55 or less).

(3) Short circuit rating (SCCR: Short Circuit Current Rating)

Suitable For Use In A Circuit Capable Of Delivering Not More Than 100 kA rms Symmetrical Amperes, 500
Volts Maximum.

(4) Capacitor discharge time

The capacitor discharge time is as listed below. To ensure safety, do not touch the charging section for 15
minutes after power-off.

Discharge time
Driver
[min]
LECSS2-S5 LECSS2-S7 1
LECSS2-S8 LECSS1-S5 LECSS1-S7 2

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(5) Options and auxiliary equipment
Use UL/C-UL standard-compliant products.

(6) About wiring protection

For installation in United States, branch circuit protection must be provided, in accordance with the National
Electrical Code and any applicable local codes.
For installation in Canada, branch circuit protection must be provided, in accordance with the Canada
Electrical Code and any applicable provincial codes.

<<About the manuals>>

This Instruction Manual are required if you use the General-Purpose AC servo LECSS□-□ for the first time.
Always purchase them and use the LECSS□-□ safely.

Relevant manuals

<<About the wires used for wiring>>

Wiring wires mentioned in this instruction manual are selected based on the ambient temperature of 40°C
(104 ).

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 CONTENTS

1. FUNCTIONS AND CONFIGURATION 1 - 1 to 1 -12

1.1 Introduction ............................................................................................................................................... 1 - 2

1.2 Function block diagram ............................................................................................................................ 1 - 3
1.3 Driver standard specifications.................................................................................................................. 1 - 4
1.4 Function list .............................................................................................................................................. 1 - 5
1.5 Model code definition ............................................................................................................................... 1 - 6
1.6 Combination with servo motor ................................................................................................................. 1 - 9
1.7 Structure .................................................................................................................................................. 1 -10
1.7.1 Parts identification ............................................................................................................................ 1 -10
1.8 Configuration including auxiliary equipment........................................................................................... 1 -11

2. INSTALLATION 2 - 1 to 2 - 6

2.1 Installation direction and clearances ....................................................................................................... 2 - 2

2.2 Keep out foreign materials ....................................................................................................................... 2 - 3
2.3 Cable stress ............................................................................................................................................. 2 - 4
2.4 SSCNET cable laying............................................................................................................................ 2 - 4
2.5 Inspection items ....................................................................................................................................... 2 - 6
2.6 Parts having service lives ........................................................................................................................ 2 - 6

3. SIGNALS AND WIRING 3 - 1 to 3 -36

3.1 Input power supply circuit ........................................................................................................................ 3 - 3

3.2 I/O signal connection example ................................................................................................................ 3 - 6
3.3 Explanation of power supply system ....................................................................................................... 3 - 8
3.3.1 Signal explanations ........................................................................................................................... 3 - 8
3.3.2 Power-on sequence .......................................................................................................................... 3 - 9
3.3.3 CNP1, CNP2, CNP3 wiring method ................................................................................................ 3 -10
3.4 Connectors and signal arrangements .................................................................................................... 3 -16
3.5 Signal (device) explanations ................................................................................................................... 3 -17
3.6 Alarm occurrence timing chart ................................................................................................................ 3 -20
3.7 Interfaces ................................................................................................................................................. 3 -21
3.7.1 Internal connection diagram ............................................................................................................ 3 -21
3.7.2 Detailed description of interfaces..................................................................................................... 3 -22
3.7.3 Source I/O interfaces ....................................................................................................................... 3 -24
3.8 Treatment of cable shield external conductor ........................................................................................ 3 -25
3.9 SSCNET cable connection .................................................................................................................. 3 -26
3.10 Connection of driver and servo motor .................................................................................................. 3 -28
3.10.1 Connection instructions .................................................................................................................. 3 -28
3.10.2 Power supply cable wiring diagrams ............................................................................................. 3 -29
3.11 Servo motor with a lock......................................................................................................................... 3 -30
3.11.1 Safety precautions ......................................................................................................................... 3 -30
3.11.2 Timing charts .................................................................................................................................. 3 -31
3.11.3 Wiring diagrams (LE-□-□ series servo motor) ............................................................................ 3 -34
3.12 Grounding .............................................................................................................................................. 3 -35
3.13 Control axis selection ............................................................................................................................ 3 -36
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4. STARTUP 4 - 1 to 4 -11

4.1 Switching power on for the first time ....................................................................................................... 4 - 2

4.1.1 Startup procedure.............................................................................................................................. 4 - 2
4.1.2 Wiring check ...................................................................................................................................... 4 - 3
4.1.3 Surrounding environment.................................................................................................................. 4 - 4
4.2 Start up ..................................................................................................................................................... 4 - 5
4.3 Driver display............................................................................................................................................ 4 - 6
4.4 Test operation .......................................................................................................................................... 4 - 8
4.5 Test operation mode ................................................................................................................................ 4 - 9
4.5.1 Test operation mode in setup software (MR Configurator2TM) ........................................................ 4 - 9
4.5.2 Motorless operation in driver............................................................................................................ 4 -11

5. PARAMETERS 5 - 1 to 5 -28

5.1 Basic setting parameters (No.PA )..................................................................................................... 5 - 2

5.1.1 Parameter list .................................................................................................................................... 5 - 3
5.1.2 Parameter write inhibit ...................................................................................................................... 5 - 4
5.1.3 Selection of regenerative option ....................................................................................................... 5 - 5
5.1.4 Using absolute position detection system ........................................................................................ 5 - 6
5.1.5 Forced stop input selection ............................................................................................................... 5 - 6
5.1.6 Auto tuning ........................................................................................................................................ 5 - 7
5.1.7 In-position range ................................................................................................................................ 5 - 8
5.1.8 Selection of servo motor rotation direction ....................................................................................... 5 - 9
5.1.9 Encoder output pulse ........................................................................................................................ 5 - 9
5.2 Gain/filter parameters (No. PB ) ....................................................................................................... 5 - 11
5.2.1 Parameter list .................................................................................................................................. 5 - 11
5.2.2 Detail list ........................................................................................................................................... 5 -12
5.3 Extension setting parameters (No. PC ) ........................................................................................... 5 -19
5.3.1 Parameter list ................................................................................................................................... 5 -19
5.3.2 List of details ..................................................................................................................................... 5 -20
5.3.3 Analog monitor ................................................................................................................................. 5 -23
5.3.4 Alarm history clear............................................................................................................................ 5 -25
5.4 I/O setting parameters (No. PD )....................................................................................................... 5 -26
5.4.1 Parameter list ................................................................................................................................... 5 -26
5.4.2 List of details ..................................................................................................................................... 5 -27

6. GENERAL GAIN ADJUSTMENT 6 - 1 to 6 -12

6.1 Different adjustment methods .................................................................................................................. 6 - 2

6.1.1 Adjustment on a single driver ........................................................................................................... 6 - 2
6.1.2 Adjustment using setup software (MR Configurator2TM) ................................................................. 6 - 3
6.2 Auto tuning ............................................................................................................................................... 6 - 4
6.2.1 Auto tuning mode .............................................................................................................................. 6 - 4
6.2.2 Auto tuning mode operation .............................................................................................................. 6 - 5
6.2.3 Adjustment procedure by auto tuning ............................................................................................... 6 - 6
6.2.4 Response level setting in auto tuning mode .................................................................................... 6 - 7
6.3 Manual mode 1 (simple manual adjustment) .......................................................................................... 6 - 8
6.4 Interpolation mode .................................................................................................................................. 6 -12

2
7. SPECIAL ADJUSTMENT FUNCTIONS 7 - 1 to 7 -16

7.1 Function block diagram ............................................................................................................................ 7 - 2

7.2 Adaptive filter ......................................................................................................................................... 7 - 2
7.3 Machine resonance suppression filter ..................................................................................................... 7 - 5
7.4 Advanced vibration suppression control ................................................................................................. 7 - 7
7.5 Low-pass filter ......................................................................................................................................... 7 -11
7.6 Gain changing function ........................................................................................................................... 7 -11
7.6.1 Applications ...................................................................................................................................... 7 -11
7.6.2 Function block diagram .................................................................................................................... 7 -12
7.6.3 Parameters ....................................................................................................................................... 7 -13
7.6.4 Gain changing operation .................................................................................................................. 7 -15

8. TROUBLESHOOTING 8 - 1 to 8 -13

8.1 Alarms and warning list ........................................................................................................................... 8 – 2

8.2 Troubleshooting at power on ................................................................................................................... 8 - 3
8.3 Remedies for alarms ................................................................................................................................ 8 - 4
8.4 Remedies for warnings ........................................................................................................................... 8 -12

9. OUTLINE DRAWINGS 9 - 1 to 9 - 5

9.1 Driver ........................................................................................................................................................ 9 - 2

9.2 Connector ................................................................................................................................................. 9 - 4

10. CHARACTERISTICS 10- 1 to 10- 7

10.1 Overload protection characteristics ...................................................................................................... 10- 2

10.2 Power supply equipment capacity and generated loss ....................................................................... 10- 3
10.3 Dynamic brake characteristics.............................................................................................................. 10- 5
10.3.1 Dynamic brake operation ............................................................................................................... 10- 5
10.3.2 The dynamic brake at the load inertia moment ............................................................................. 10- 6
10.4 Cable flexing life .................................................................................................................................... 10- 7
10.5 Inrush currents at power-on of main circuit and control circuit ............................................................ 10- 7

11. OPTIONS AND AUXILIARY EQUIPMENT 11- 1 to 11-34

11.1 Cable/connector sets ............................................................................................................................ 11- 2

11.1.1 Combinations of cable/connector sets .......................................................................................... 11- 3
11.1.2 Encoder cable/connector sets ....................................................................................................... 11- 6
11.1.3 Motor cables ................................................................................................................................... 11- 8
11.1.4 Lock cables..................................................................................................................................... 11- 9
11.1.5 SSCNET cable ........................................................................................................................... 11-10
11.2 Regenerative options ........................................................................................................................... 11-12
11.3 Setup software (MR Configurator2TM) ................................................................................................. 11-15
11.3.1 Specifications ................................................................................................................................ 11-15
11.3.2 System configuration..................................................................................................................... 11-16
11.3.3 Precautions for using USB communication function .................................................................... 11-17

3
11.4 Battery LEC-MR-J3BAT....................................................................................................................... 11-18
11.5 Selection example of wires .................................................................................................................. 11-19
11.6 No-fuse breakers, fuses, magnetic contactors ................................................................................... 11-22
11.7 Noise reduction techniques ................................................................................................................. 11-23
11.8 Leakage current breaker ...................................................................................................................... 11-30
11.9 EMC filter (recommended)................................................................................................................... 11-32

12. ABSOLUTE POSITION DETECTION SYSTEM 12- 1 to 12- 5

12.1 Features ................................................................................................................................................ 12- 2

12.2 Specifications ........................................................................................................................................ 12- 3
12.3 Battery installation procedure ............................................................................................................... 12- 4
12.4 Confirmation of absolute position detection data ................................................................................. 12- 5

13. SERVO MOTOR 13- 1 to 13- 6

13.1 Servo motor with a lock......................................................................................................................... 13- 2

13.1.1 Features.......................................................................................................................................... 13- 2
13.1.2 Characteristics of servo motor with a lock ..................................................................................... 13- 4
13.2 Protection from oil and water ........................................................................................................ 13- 5
13.3 Cable ............................................................................................................................................. 13- 5
13.4 Rated speed of servo motor ......................................................................................................... 13- 5
13.5 Mounting connectors .................................................................................................................... 13- 6

APPENDIX App.- 1 to App.- 5

App. 1 Parameter list ..................................................................................................................................App.- 2

App. 2 Signal layout recording paper ........................................................................................................App.- 4
App. 3 Twin type connector : Outline drawing for 721-2105/026-000 (WAGO).......................................App.- 4
App. 4 Handling of AC driver batteries for the United Nations Recommendations on the Transport of
Dangerous Goods .........................................................................................................................App.- 5

4
MEMO

5
1. FUNCTIONS AND CONFIGURATION

1. FUNCTIONS AND CONFIGURATION .......................................................................................................... 2

1.1 Introduction ...................................................................................................................................................... 2
1.2 Function block diagram ................................................................................................................................... 3
1.3 Driver standard specifications ......................................................................................................................... 4
1.4 Function list ..................................................................................................................................................... 5
1.5 Model code definition ...................................................................................................................................... 6
1.6 Combination with servo motor ........................................................................................................................ 9
1.7 Structure ........................................................................................................................................................ 10
1.7.1 Parts identification ........................................................................................................................... 10
1.8 Configuration including auxiliary equipment ................................................................................................. 11

1- 1
1. FUNCTIONS AND CONFIGURATION

1. FUNCTIONS AND CONFIGURATION

1.1 Introduction
The LECSS□-□ driver connects to servo system driver and others via high speed synchronous network and
operates by directly reading position data. The rotation speed/direction control of servo motor and the high
accuracy positioning are executed with the data from command module. SSCNET equipped by the LECSS□
-□ driver greatly improved its communication speed and noise tolerance by adopting optical communication
system compared to the current SSCNET. For wiring distance, 50m of the maximum distance between
electrodes is also offered.
The torque limit with clamping circuit is put on the driver in order to protect the power transistor of main circuit
from the overcurrent caused by rapid acceleration/deceleration or overload. In addition, torque limit value can
be changed to desired value in the servo system driver.
As this new series has the USB communication function, a set up software (MR Configurator2TM)-installed
personal computer or the like can be used to perform parameter setting, test operation, status display
monitoring, gain adjustment, etc.
With real-time auto tuning, you can automatically adjust the servo gains according to the machine.
The LECS□□-□ series servo motor is with an absolute position encoder which has the resolution of 262144
pulses/rev to ensure more accurate control. Simply adding a battery to the driver makes up an absolute position
detection system. This makes home position return unnecessary at power-on or alarm occurrence by setting a
home position once.

1- 2
1. FUNCTIONS AND CONFIGURATION

1.2 Function block diagram

The function block diagram of this servo is shown below.
(1) LECSS□-□
Power factor
improving DC Regenerative
reactor option

Driver
Servo amplifier P1 P2 P( ) C D N( ) Servo motor
Diode (Note 1)
NFB MC stack Relay
L1 U U
(Note 2) V V
Power L2 Current M
supply detector
L3 CHARGE W W
Regene-
lamp rative
TR

(Note 3)Cooling fan Dynamic

brake
RA
L11 Control Lock
Electro-
24VDC B1 magnetic
circuit
L21 power brake
supply B2

CN2
Base Voltage Overcurrent Current
amplifier detection protection detection
Encoder

Position Virtual
command encoder
input Model position Model speed
control control
Virtual
motor

Model Model
position speed
Model
torque
Actual position Actual speed Current
control control control

MR-J3BAT
LEC-MR-J3BAT
USB D/A
CN4

I/F Control
Optional battery
(for absolute position
detection system)
CN1A CN1B CN5 CN3

Driver Driver Personal Analog monitor Digital I/O

Controller or Servo
or capamplifier
or PC amplifier
servo or or cap computer (2 channels) control
PLC...etccap USB

Note 1. The built-in regenerative resistor is not provided for the LECSS□-S5.
2. For 1-phase 200 to 230VAC, connect the power supply to L1, L2 and leave L3 open.
There is no L3 for 1-phase 100 to 120VAC power supply. Refer to section 1.3 for the power supply specification.

1- 3
1. FUNCTIONS AND CONFIGURATION

1.3 Driver standard specifications

(1) 200V class, 100V class
Driver LECSS□-□
S5 S7 S8
Item
Voltage/frequency 3-phase or 1-phase 200 to 230VAC, 50/60Hz
Permissible voltage
3-phase or 1-phase 200 to 230VAC: 170 to 253VAC
fluctuation
Power supply Permissible frequency
Within 5%
fluctuation
Power supply capacity Refer to section 10.2
Inrush current Refer to section 10.5
Voltage, frequency 1-phase 200 to 230VAC, 50/60Hz
Permissible voltage
1-phase 170 to 253VAC
fluctuation
Control circuit power supply Permissible frequency
Within 5%
fluctuation
Input 30W
Inrush current Refer to section 10.5
Voltage 24VDC 10%
Interface power supply
Power supply capacity (Note 1) 150mA or more
Control System Sine-wave PWM control, current control system
Dynamic brake Built-in
Overcurrent shut-off, regenerative overvoltage shut-off, overload shut-off
(electronic thermal relay), servo motor overheat protection, encoder error
Protective functions
protection, regenerative error protection, undervoltage, instantaneous power
failure protection, overspeed protection, excessive error protection.
Structure Self-cooled, open (IP00)
[ ] (Note 2) 0 to 55 (non-freezing)
Ambient In operation [ ] 32 to 131 (non-freezing)
temperature In storage [ ] 20 to 65 (non-freezing)
[ ] 4 to 149 (non-freezing)
Ambient In operation
Environment 90%RH or less (non-condensing)
humidity In storage
Indoors (no direct sunlight)
Ambient
Free from corrosive gas, flammable gas, oil mist, dust and dirt
Altitude Max. 1000m above sea level
Vibration 5.9 [m/s2] or less
[kg] 0.8 0.8 1.0
Mass
[lb] 1.76 1.76 2.21
Note 1. 150mA is the value applicable when all I/O signals are used. The current capacity can be decreased by reducing the number of
I/O points.
2. When closely mounting the driver of 3.5kW or less, operate them at the ambient temperatures of 0 to 45 or at 75% or smaller
effective load ratio.

1- 4
1. FUNCTIONS AND CONFIGURATION

1.4 Function list

The following table lists the functions of this servo. For details of the functions, refer to the reference field.
Function Description Reference
High-resolution encoder of 262144 pulses/rev is used as a servo motor
High-resolution encoder
encoder.
Absolute position detection Merely setting a home position once makes home position return
Chapter 12
system unnecessary at every power-on.
You can switch between gains during rotation and gains during stop or use
Gain changing function Section 7.6
an input device to change gains during operation.
Advanced vibration
This function suppresses vibration at the arm end or residual vibration. Section 7.4
suppression control
Driver detects mechanical resonance and sets filter characteristics
Adaptive filter Section 7.2
automatically to suppress mechanical vibration.
Suppresses high-frequency resonance which occurs as servo system
Low-pass filter Section 7.5
response is increased.
Analyzes the frequency characteristic of the mechanical system by simply
connecting a set up software (MR Configurator2TM) installed personal
Machine analyzer function
computer and driver.
Set up software (MR Configurator2TM) is necessary for this function.
Can simulate machine motions on a personal computer screen on the basis
Machine simulation of the machine analyzer results.
Set up software (MR Configurator2TM) is necessary for this function.
Personal computer changes gains automatically and searches for overshoot-
Gain search function free gains in a short time.
Set up software (MR Configurator2TM) is necessary for this function.
Slight vibration suppression
Suppresses vibration of 1 pulse produced at a servo motor stop. Parameters No.PB24
control
Automatically adjusts the gain to optimum value if load applied to the servo
Auto tuning Chapter 6
motor shaft varies.
Used when the regenerative option cannot provide enough regenerative
Brake unit power. Section 11.3
Can be used the 5kW or more driver.
Used when the regenerative option cannot provide enough regenerative
Return converter power. Section 11.4
Can be used the 5kW or more driver.
Used when the built-in regenerative resistor of the driver does not have
Regenerative option Section 11.2
sufficient regenerative capability for the regenerative power generated.
Alarm history clear Alarm history is cleared. Parameter No.PC21
Output signal (DO) Output signal can be forced on/off independently of the servo status.
Section 4.5.1 (1) (d)
forced output Use this function for output signal wiring check, etc.
JOG operation positioning operation DO forced output.
Test operation mode However, set up software (MR Configurator2TM) is necessary for positioning Section 4.5
operation.
Analog monitor output Servo status is output in terms of voltage in real time. Parameter No.PC09
Set up software Using a personal computer, parameter setting, test operation, status display,
Section 11.8
(MR Configurator2TM) etc. can be performed.

1- 5
 1. FUNCTIONS AND CONFIGURATION

1.5 Model code definition

(1) Model

LECS S 1 － S5
Driver Type Motor type
Type Capacity Encoder
S SSCNETⅢ type
（Absolute encoder） S5 AC Servo motor（S5,S6） 50W,100
W
Absolute
S7 AC Servo motor（S7） 200W

S8 AC Servo motor（S8） 400W

Power supply

１ AC100V～AC120V 50Hz，60Hz

２ AC200V～AC230V 50Hz，60Hz

(1) Option Model

a) Motor cable / Lock cable / Encoder cable

ＬＥ － C S M － S ５ A
Motor Type Connector Direction
S AC Servo motor A Axis side
軸側
B Opposite axis side
Cable Content
M Motor cable
B Lock cable
Cable Length (L) [m]
E Encoder cable ケーブル長さ
2 2m
5 5m
A 10m

Cable Type
S Standard cable
R Robot cable

1- 6
1. FUNCTIONS AND CONFIGURATION

b）SSCNETⅢ cable

ＬＥ － C S S － １
Motor Type

S AC Servo motor
ACサーボモータ
Cable Content

S SSCNETⅢ Cable Cable Length (L) [ｍ]

L 0.15m
* LE-CSS □ is MR-J3BUS□M of Mitsubishi Electric Corporation.
K 0.3m
J 0.5m
1 1m
3 3m

c） I/O Connector

ＬＥ-CＳＮS
Driver Type
S LECSS

*LE-CSNS is 10120-3000PE (Connector)/ 10320-52F0-008（Shell kit）of Sumitomo 3M

Limited or equivalent goods.
Applicable wire size: AWG24~30

d）Regenerative options

ＬＥC-MR-RB-032
Regenerative option Type

032 Permissible regenerative power 30W

12 Permissible regenerative power 100W

*MR-RB□ of Mitsubishi Electric
許容回生電力100W
Corporation.

1- 7
1. FUNCTIONS AND CONFIGURATION

e）Setup software (MR Configurator2TM)

ＬＥＣ-MRC2□
Languag
NIL Japanese version
e
E
version
English version
SW1DNC-
C Chinese version
MRC2-
* SW1DNC-MRC2-□ of Mitsubishi Electric Corporation.
Refer to the website of Mitsubishi Electric Corporation for the information of the operating
environment and upgrading.
Prepare USB cable should be ordered separately.

f）USB cable(3m)

ＬＥＣ-MR-Ｊ3ＵＳＢ
ＬＥＣ-MR-SETUP221
* MR-J3USBCBL3M of Mitsubishi Electric Corporation.

g）Battery

ＬＥＣ-MR-Ｊ3ＢＡＴ
* MR-J3BAT of Mitsubishi Electric Corporation.
Battery for replacement.

SET
Absolute position data is maintained by installing the battery to the driver.
SET

--
--

1- 8
1. FUNCTIONS AND CONFIGURATION

h） I/O Connector

ＬＥC-CＳＮS-1
Cable length(L)[m]
1 1.5
Driver Type
S LECSS

*LEC-CSNS-1 is 10120-3000PE (Connector)/ 10320-52F0-008（Shell kit）of Sumitomo 3M

Limited or equivalent goods.
*Conductor size:AWG24

Wiring

1.6 Combination with servo motor

The following table lists combinations of drivers and servo motors. The same combinations apply to the models
with a lock and the models with a reduction gear.

servo motor
Driver
LE-□-□

LECSS□-S5 S5,S6
LECSS□-S7 S7
LECSS□-S8 S8

1- 9
1. FUNCTIONS AND CONFIGURATION

1.7 Structure
1.7.1 Parts identification
(1) LECSS□-□

Name/Application Detailed
explanation
Display
The 3-digit, seven-segment LED shows the servo Chapter 4
status and alarm number.
Rotary axis setting switch (SW1)
SW1
789 Used to set the axis No. of servo amplifier. Section 3.13
driver.

A
34 56

B CDE
789
A
3 4 56

B C DE

2
F01
2

F01

SW1 ON 4F

TEST Test operation select switch (SW2-1)

SW2 1 2 SW2 Used to perform the test operation
mode by using MR Configurator. TM.
MR Configurator2
Section 3.13
Spare (Be sure to set to the "Down"
1 2 position). (SW2-2)
Main circuit power supply connector (CNP1) Section 3.1
Connect the input power supply. Section 3.3

USB communication connector (CN5)

Connect the personal computer. Section 11.8

I/O signal connector (CN3)

Used to connect digital I/O signals. Section 3.2
More over an analog monitor is output. Section 3.4

Control circuit connector (CNP2)

Connect the control circuit power supply/regenerative Section 3.1
option. Section 3.3

SSCNET cable connector (CN1A)

Used to connect the servo system controller or the front Section 3.2
axis servo amplifier. Section 3.4
driver.
SSCNET cable connector (CN1B)
Used to connect the rear axis servo amplifier. For the final Section 3.2
driver.
axis, puts a cap. Section 3.4

Servo motor power connector (CNP3) Section 3.1

Connect the servo motor. Section 3.3

Encoder connector (CN2) Section 3.4

Used to connect the servo motor encoder. Section 11.1

Charge lamp
Lit to indicate that the main circuit is charged. While
this lamp is lit, do not reconnect the cables.
Battery connector (CN4)
Used to connect the battery for absolute position data Section 11.9
backup. Chapter 12

Battery holder
Contains the battery for absolute position data backup. Section 12.3

Fixed part Protective earth (PE) terminal ( ) Section 3.1

(2 places) Ground terminal. Section 3.3

Rating plate
Section 1.5

1 - 10
1. FUNCTIONS AND CONFIGURATION

1.8 Configuration including auxiliary equipment

POINT
Equipment other than the driver and servo motor are optional or
recommended products.

(1) LECSS□-□
(a) For 3-phase or 1-phase 200V to 230VAC
Personal
RST Set up software computer
(Note 3) （MR Configurator2
MR Configurator）
TM

Power supply
CN5

Driver
Servo amplifier
No-fuse breaker
(NFB) or fuse

I/O Connector /
Junction terminal
CN3
I/O Cable block
Magnetic
contactor
(MC) Servo system
CN1A
(Note 2) controller or Front axis
servo amplifier
driver CN1B CN1B
Line noise
filter CN1B Rear driver
servo amplifier
(FR-BSF01) CN1A or Cap
（Mitsubishi UV W
Electric CN2
Corporation）

CN4
L1
L2
(Note 1)
L3
Battery
MR-J3BAT
LEC-MR-J3BAT
(Note 2)
Power factor P1
improving DC
Servo motor
reactor
P2
(FR-BEL)
P C
Regenerative option
L11

L21

Note 1. The battery is used for the absolute position detection system in the position control mode.
3. For 1-phase 200V to 230VAC, connect the power supply to L1 L2 and leave L3 open. Refer to section 1.3 for the power supply
specification.

1 - 11
1. FUNCTIONS AND CONFIGURATION

(b) For 1-phase 100V to 120VAC

Personal
Set up software
R S computer
（MRMR Configurator ）
Configurator2 TM

(Note 3)
Power supply CN5

No-fuse breaker Driver

Servo amplifier
(NFB) or fuse

Junction
CN3
terminal
block
Magnetic
contactor (Note 2)
(MC) Servo system
CN1A
controller or Front axis
Power factor servo amplifier
Driver CN1B CN1B
improving
(FR-BAL)
CN1B Rear
Rear driver
servo amplifier
Line noise filter
CN1A or Cap
(FR-BSF01)
UVW
（Mitsubishi CN2
Electric
Corporation）

CN4
L1
(Note 1)
L2 Battery
MR-J3BAT
LEC-MR-J3BAT

Servo motor

P C
Regenerative option
L11

L21

Note 1. The battery is used for the absolute position detection system in the position control mode.
3. Refer to section 1.3 for the power supply specification.

1 - 12
2. INSTALLATION

2. INSTALLATION ............................................................................................................................................. 2
2.1 Installation direction and clearances ........................................................................................................ 2
2.2 Keep out foreign materials ....................................................................................................................... 3
2.3 Cable stress ............................................................................................................................................. 4
2.4 SSCNET cable laying ............................................................................................................................ 4
2.5 Inspection items ....................................................................................................................................... 6
2.6 Parts having service lives ........................................................................................................................ 6

2- 1
2. INSTALLATION

2. INSTALLATION
Stacking in excess of the limited number of products is not allowed.
Install the equipment on incombustible material. Installing them directly or close to
combustibles will lead to a fire.
Install the equipment in a load-bearing place in accordance with this Instruction
Manual.
Do not get on or put heavy load on the equipment to prevent injury.
Use the equipment within the specified environmental condition range. (For the
environmental conditions, refer to section 1.3.)
Provide an adequate protection to prevent screws, metallic detritus and other
CAUTION conductive matter or oil and other combustible matter from entering the driver.
Do not block the intake/exhaust ports of the driver. Otherwise, a fault may occur.
Do not subject the driver to drop impact or shock loads as they are precision
equipment.
Do not install or operate a faulty driver.
When the product has been stored for an extended period of time, contact your
local sales office.
When treating the driver, be careful about the edged parts such as the corners of
the driver.

2.1 Installation direction and clearances

The equipment must be installed in the specified direction. Otherwise, a fault may
occur.
CAUTION Leave specified clearances between the driver and control box inside walls or other
equipment.

(1) LECSS□-□
(a) Installation of one driver
Control box Control box

40mm
or more
Servo
Driveramplifier
Wiring allowance
80mm
Top

10mm 10mm
or more or more

Bottom
40mm
or more

(b) Installation of two or more drivers

2- 2
2. INSTALLATION

POINT
Close mounting is available for the driver of under 3.5kW for 200V class and
400W for 100V class.

Leave a large clearance between the top of the driver and the internal surface of the control box, and
install a cooling fan to prevent the internal temperature of the control box from exceeding the
environmental conditions.
When installing the drivers closely, leave a clearance of 1mm between the adjacent drivers in
consideration of mounting tolerances.
In this case, bring the ambient temperature within 0 to 45 (32 to 113 ), or use it at 75% or smaller
effective load ratio.
Control box Control box

100mm 100mm
or more or more
10mm
or more 1mm 1mm
Top
30mm
30mm 30mm 30mm or more
or more or more or more

Bottom

40mm
40mm or more
or more

Leaving clearance Mounting closely

(3) Others
When using heat generating equipment such as the regenerative option, install them with full consideration
of heat generation so that the driver is not affected.
Install the driver on a perpendicular wall in the correct vertical direction.

2.2 Keep out foreign materials

(1) When installing the unit in a control box, prevent drill chips and wire fragments from entering the driver.

(2) Prevent oil, water, metallic dust, etc. from entering the driver through openings in the control box or a
cooling fan installed on the ceiling.

(3) When installing the control box in a place where there are much toxic gas, dirt and dust, conduct an air
purge (force clean air into the control box from outside to make the internal pressure higher than the
external pressure) to prevent such materials from entering the control box.

2- 3
2. INSTALLATION

2.3 Cable stress

(1) The way of clamping the cable must be fully examined so that flexing stress and cable's own weight stress
are not applied to the cable connection.

(2) For use in any application where the servo motor moves, fix the cables (encoder, power supply, brake) with
having some slack from the connector connection part of the servo motor to avoid putting stress on the
connector connection part. Use the optional encoder cable within the flexing life range. Use the power
supply and brake wiring cables within the flexing life of the cables.

(3) Avoid any probability that the cable sheath might be cut by sharp chips, rubbed by a machine corner or
stamped by workers or vehicles.

(4) For installation on a machine where the servo motor will move, the flexing radius should be made as large
as possible. Refer to section 10.4 for the flexing life.

(5) The minimum bending radius : Min. 45mm.

2.4 SSCNET cable laying

SSCNET cable is made from optical fiber. If optical fiber is added a power such as a major shock, lateral
pressure, haul, sudden bending or twist, its inside distorts or breaks, and optical transmission will not be
available. Especially, as optical fiber for LE-CSS-□ is made of synthetic resin, it melts down if being left near
the fire or high temperature. Therefore, do not make it touched the part, which becomes high temperature,
such as radiator or regenerative option of driver.
Read described item of this section carefully and handle it with caution.

(1) Minimum bend radius

Make sure to lay the cable with greater radius than the minimum bend radius. Do not press the cable to
edges of equipment or others. For SSCNET cable, the appropriate length should be selected with due
consideration for the dimensions and arrangement of driver. When closing the door of control box, pay
careful attention for avoiding the case that SSCNET cable is hold down by the door and the cable bend
becomes smaller than the minimum bend radius.
For the minimum bend radius, refer to section 11.1.5.

(2) Prohibition of vinyl tape use

Migrating plasticizer is used for vinyl tape. Keep the LE-CSS-□ cables away from vinyl tape because the
optical characteristic may be affected.

SSCNET cable Code Cable

LE-CSS-□
: Phthalate ester plasticizer such as DBP and DOP
may affect optical characteristic of cable.
Optical code Cable : Cable is not affected by plasticizer.

(3) Precautions for migrating plasticizer added materials

Generally, soft polyvinyl chloride (PVC), polyethylene resin (PE) and PTFE (fluorine resin) contain non-
migrating plasticizer and they do not affect the optical characteristic of SSCNET cable.
However, some wire sheaths and cable ties, which contain migrating plasticizer (phthalate ester), may
affect LE-CSS-□ cables.

2- 4
2. INSTALLATION

(4) Bundle fixing

Fix the cable at the closest part to the connector with bundle material in order to prevent SSCNET cable
from putting its own weight on CN1A CN1B connector of driver. Optical cord should be given loose slack
to avoid from becoming smaller than the minimum bend radius, and it should not be twisted.
When bundling the cable, fix and hold it in position by using cushioning such as sponge or rubber which
does not contain migratable plasticizers.
If using adhesive tape for bundling the cable, fire resistant acetate cloth adhesive tape 570F (Teraoka
Seisakusho Co., Ltd) is recommended.
Connector

Optical cord
Loose slack

Bundle material Cable

Recommended product:
NK clamp SP type
( NIX, INC.)

(5) Tension
If tension is added on optical cable, the increase of transmission loss occurs because of external force
which concentrates on the fixing part of optical fiber or the connecting part of optical connector. At worst,
the breakage of optical fiber or damage of optical connector may occur. For cable laying, handle without
putting forced tension. For the tension strength, refer to section 11.1.5.

(6) Lateral pressure

If lateral pressure is added on optical cable, the optical cable itself distorts, internal optical fiber gets
stressed, and then transmission loss will increase. At worst, the breakage of optical cable may occur. As
the same condition also occurs at cable laying, do not tighten up optical cable with a thing such as nylon
band (TY-RAP).
Do not trample it down or tuck it down with the door of control box or others.

(7) Twisting
If optical fiber is twisted, it will become the same stress added condition as when local lateral pressure or
bend is added. Consequently, transmission loss increases, and the breakage of optical fiber may occur at
worst.

(8) Disposal
When incinerating optical cable (cord) used for SSCNET , hydrogen fluoride gas or hydrogen chloride gas
which is corrosive and harmful may be generated. For disposal of optical fiber, request for specialized
industrial waste disposal services who has incineration facility for disposing hydrogen fluoride gas or
hydrogen chloride gas.

2- 5
2. INSTALLATION

2.5 Inspection items

Before starting maintenance and/or inspection, turn off the power and wait for 15
minutes or more until the charge lamp turns off. Then, confirm that the voltage
between P( ) and N( ) is safe with a voltage tester and others. Otherwise, an
WARNING electric shock may occur. In addition, always confirm from the front of the driver
whether the charge lamp is off or not.
Any person who is involved in inspection should be fully competent to do the work.
Otherwise, you may get an electric shock.

POINT
Do not test the driver with a megger (measure insulation resistance), or it may
become faulty.
Do not disassemble and/or repair the equipment on customer side.

It is recommended to make the following checks periodically.

(1) Check for loose terminal block screws. Retighten any loose screws.

(2) Check the cables and the like for scratches and cracks. Perform periodic inspection according to operating
conditions.

2.6 Parts having service lives

The following parts must be changed periodically as listed below. If any part is found faulty, it must be changed
immediately even when it has not yet reached the end of its life, which depends on the operating method and
environmental conditions. For parts replacement, please contact your sales representative.

Part name Life guideline

Smoothing capacitor 10 years
Number of power-on and number of emergency
Relay
Driver stop times : 100,000 times
Cooling fan 10,000 to 30,000hours (2 to 3 years)
Absolute position battery Refer to section 12.2

(1) Smoothing capacitor

Affected by ripple currents, etc. and deteriorates in characteristic. The life of the capacitor greatly depends
on ambient temperature and operating conditions. The capacitor will reach the end of its life in 10 years of
continuous operation in normal air-conditioned environment.

(2) Relays
Their contacts will wear due to switching currents and contact faults occur. Relays reach the end of their life
when the cumulative number of power-on and emergency stop times is 100,000, which depends on the
power supply capacity.

(3) Driver cooling fan

The cooling fan bearings reach the end of their life in 10,000 to 30,000 hours. Normally, therefore, the
cooling fan must be changed in a few years of continuous operation as a guideline.
It must also be changed if unusual noise or vibration is found during inspection.

2- 6
3. SIGNALS AND WIRING

3. SIGNALS AND WIRING ................................................................................................................................ 2

3.1 Input power supply circuit ........................................................................................................................ 3
3.2 I/O signal connection example ................................................................................................................. 6
3.3 Explanation of power supply system........................................................................................................ 8
3.3.1 Signal explanations ........................................................................................................................... 8
3.3.2 Power-on sequence .......................................................................................................................... 9
3.3.3 CNP1, CNP2, CNP3 wiring method ................................................................................................ 10
3.4 Connectors and signal arrangements .................................................................................................... 16
3.5 Signal (device) explanations .................................................................................................................. 17
3.6 Alarm occurrence timing chart ............................................................................................................... 20
3.7 Interfaces ............................................................................................................................................... 21
3.7.1 Internal connection diagram ............................................................................................................ 21
3.7.2 Detailed description of interfaces .................................................................................................... 22
3.7.3 Source I/O interfaces ....................................................................................................................... 24
3.8 Treatment of cable shield external conductor ........................................................................................ 25
3.9 SSCNET cable connection .................................................................................................................. 26
3.10 Connection of driver and servo motor .................................................................................................. 28
3.10.1 Connection instructions ................................................................................................................. 28
3.10.2 Power supply cable wiring diagrams ............................................................................................. 29
3.11 Servo motor with a lock ........................................................................................................................ 30
3.11.1 Safety precautions ......................................................................................................................... 30
3.11.2 Timing charts ................................................................................................................................. 31
3.11.3 Wiring diagrams (LE-□-□ series servo motor) ............................................................................... 34
3.12 Grounding ............................................................................................................................................ 35
3.13 Control axis selection ........................................................................................................................... 36

3- 1
3. SIGNALS AND WIRING

3. SIGNALS AND WIRING

Any person who is involved in wiring should be fully competent to do the work.
Before wiring, turn off the power and wait for 15 minutes or more until the charge
lamp turns off. Then, confirm that the voltage between P( ) and N( ) is safe with
a voltage tester and others. Otherwise, an electric shock may occur. In addition,
always confirm from the front of the driver whether the charge lamp is off or not.
WARNING Ground the driver and the servo motor securely.
Do not attempt to wire the driver and servo motor until they have been installed.
Otherwise, you may get an electric shock.
The cables should not be damaged, stressed excessively, loaded heavily, or
pinched. Otherwise, you may get an electric shock.

Wire the equipment correctly and securely. Otherwise, the servo motor may
operate unexpectedly, resulting in injury.
Connect cables to correct terminals to prevent a burst, fault, etc.
Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur.
The surge absorbing diode installed to the DC relay designed for control output
should be fitted in the specified direction. Otherwise, the signal is not output due to
a fault, disabling the forced stop (EM1) and other protective circuits.
Driver
Servo amplifier Driver
Servo amplifier
24VDC 24VDC
DOCOM DOCOM
DICOM DICOM

Control output Control output

CAUTION signal
RA
signal
RA

Use a noise filter, etc. to minimize the influence of electromagnetic interference,

which may be given to electronic equipment used near the driver.
Do not install a power capacitor, surge suppressor or radio noise filter (FR-BIF (-
H) :Mitsubishi Electric Corporation) with the power line of the servo motor.
When using the regenerative resistor, switch power off with the alarm signal.
Otherwise, a transistor fault or the like may overheat the regenerative resistor,
causing a fire.
Do not modify the equipment.
During power-on, do not open or close the motor power line. Otherwise, a
malfunction or faulty may occur.

3- 2
3. SIGNALS AND WIRING

3.1 Input power supply circuit

Always connect a magnetic contactor (MC) between the main circuit power supply
and L1, L2, and L3 of the driver, and configure the wiring to be able to shut down the
power supply on the side of the driver’s power supply. If a magnetic contactor (MC)
is not connected, continuous flow of a large current may cause a fire when the
CAUTION driver malfunctions.
Use the trouble signal to switch main circuit power supply off. Otherwise, a
regenerative transistor fault or the like may overheat the regenerative resistor,
causing a fire.

POINT
Even if alarm has occurred, do not switch off the control circuit power supply.
When the control circuit power supply has been switched off, optical module
does not operate, and optical transmission of SSCNET communication is
interrupted. Therefore, the driver on the rear axis displays "AA" at the
indicator and turns into base circuit shut-off. The driver stops with starting
dynamic brake.

Wire the power supply/main circuit as shown below so that power is shut off and the servo-on command turned
off as soon as an alarm occurs, a servo forced stop is made valid, or a PC or PLC...etc forced stop is made
valid. A no-fuse breaker (NFB) must be used with the input cables of the main circuit power supply.

(1) For 3-phase 200V to 230VAC power supply to LECSS□-□

(Note 4) Controller
Driver
Alarm forced stop Forced
stop OFF ON
RA1 RA2
MC
MC
SK
ServoDriver
amplifier Servo motor
NFB MC CNP1
L1
3-phase CNP3 (Note 6)
200 to L2 U U 2
Motor
230VAC
L3 V V 3
M
N( ) W W 4
P1 1
(Note 1)
P2
PE
CNP2
P( )
(Note 2) C
D (Note 3)
CN2 Encoder
L11 Encoder cable

L21

CN3 CN3 24VDC

Forced stop EM1 DOCOM
(Note 5)
DOCOM DICOM

(Note 5)
ALM RA1 Trouble
(Note 4)

3- 3
3. SIGNALS AND WIRING

Note 1. Always connect P1 and P2. (Factory-wired.)

2. Always connect P( ) and D. (Factory-wired.) When using the regenerative option, refer to section 11.2.
3. For the encoder cable, use of the option cable is recommended. Refer to section 11.1 for selection of the cable.
4. If deactivating output of trouble (ALM) with parameter change, configure up the power supply circuit which switches off the
magnetic contactor after detection of alarm occurrence on the PC or PLC...etc side.
5. For the sink I/O interface. For the source I/O interface, refer to section 3.7.3.
6. Refer to section 3.10.

(2) For 1-phase 200V to 230VAC power supply to LECSS□-□

(Note 4) Controller
Driver
Alarm forced stop Forced
stop OFF ON
RA1 RA2
MC
MC
SK
ServoDriver
amplifier Servo motor
NFB MC CNP1
1-phase L1
200 to CNP3 (Note 6)
230VAC L2 U U 2
Motor
L3 V V 3
M
N W W 4
P1 1
(Note 1)
P2
PE
CNP2
P
(Note 2) C
D (Note 3)
CN2 Encoder
L11 Encoder cable

L21

CN3 CN3 24VDC

Forced stop EM1 DOCOM
(Note 5)
DOCOM DICOM

(Note 5)
ALM RA1 Trouble
(Note 4)

Note 1. Always connect P1 and P2. (Factory-wired.)

2. Always connect P and D. (Factory-wired.) When using the regenerative option, refer to section 11.2.
3. For the encoder cable, use of the option cable is recommended. Refer to section 11.1 for selection of the cable.
4. If deactivating output of trouble (ALM) with parameter change, configure up the power supply circuit which switches off the
magnetic contactor after detection of alarm occurrence on the PC or PLC...etc side.
5. For the sink I/O interface. For the source I/O interface, refer to section 3.7.3.
6. Refer to section 3.10.

3- 4
3. SIGNALS AND WIRING

(3) For 1-phase 100 to 120VAC power supply to LECSS□-□

(Note 4) Driver
Controller
Alarm forced stop Forced
stop OFF ON
RA1 RA2
MC
MC
SK
ServoDriver
amplifier Servo motor
NFB MC CNP1
1-phase L1
100 to CNP3 (Note 6)
120VAC Blank U U 2
Motor
L2 V V 3
M
N W W 4
P1 1
(Note 1)
P2
PE
CNP2
P
(Note 2) C
D (Note 3)
CN2 Encoder
L11 Encoder cable

L21

CN3 CN3 24VDC

Forced stop EM1 DOCOM
(Note 5)
DOCOM DICOM

(Note 5)
ALM RA1 Trouble
(Note 4)

Note 1. Always connect P1 and P2. (Factory-wired.)

2. Always connect P and D. (Factory-wired.) When using the regenerative option, refer to section 11.2.
3. For the encoder cable, use of the option cable is recommended. Refer to section 11.1 for selection of the cable.
4. If deactivating output of trouble (ALM) with parameter change, configure up the power supply circuit which switches off the
magnetic contactor after detection of alarm occurrence on the PC or PLC...etc side.
5. For the sink I/O interface. For the source I/O interface, refer to section 3.7.3.
6. Refer to section 3.10.

3- 5
 3. SIGNALS AND WIRING

3.2 I/O signal connection example

(Note 10) Driver
Servo amplifier
24VDC (Note 12) (Note 12)
Power CN3 CN3
(Note 2)
(Note 14) supply DICOM 5 13 MBR RA1 Magnetic brake interlock
DOCOM 3
(Note 3,4)Forced stop EM1 20 9 INP RA2 In-position
(Note 13,14)
Upper stroke limit (FLS) DI1 2 15 RA3 Trouble (Note 11)
ALM
(Note 15) Lower stroke limit (RLS) DI2 12
Proximity dog (DOG) DI3 19 10 DICOM

(Note 5) Personal USB cable 6 LA Encoder A-phase pulse

(Note 5) computer MR-J3USBCBL3M
LEC-MR-J3USB
Set up software 16 LAR (differential line driver)
MR Configurator (option)
（MR Configurator2TM） (option) 7 LB Encoder B-phase pulse
CN5 17 LBR (differential line driver)
8 LZ Encoder Z-phase pulse
18 LZR (differential line driver)
11 LG Control common
4 MO1 A Analog monitor 1
10k Max. 1mA meter
Servo system LE-CSS-S□ 1 LG both directions
controller 14 MO2 A Analog monitor 2
(Note 6) 10k
SSCNET cable Plate SD Max. 1mA meter
(option) 2m Max both directions
CN1A
SW1

SW2 (Note 8)
CN1B
12
(Note 1)

Between electrodes
LECSS
MR-J3-B
□ (Note 7)
(2 axis)
CN1A SW1

CN1B SW2 (Note 8)

12
LE-CSS-S□
MR-J3-B
LECSS
(Note 7)
(Note 6 ) (3 □axis)
SSCNET cable CN1A SW1
(option)

CN1B SW2 (Note 8)

12

LECSS
MR-J3-B
□ (Note 7)
(n axis)
CN1A SW1

(Note 9) SW2 (Note 8)

Cap CN1B

12

3- 6
3. SIGNALS AND WIRING

Note 1 To prevent an electric shock, always connect the protective earth (PE) terminal (terminal marked ) of the driver to the
protective earth (PE) of the control box.
2. Connect the diode in the correct direction. If it is connected reversely, the driver will be faulty and will not output signals,
disabling the forced stop (EM1) and other protective circuits.
3. If the PC or PLC...etc does not have an forced stop (EM1) function, always install a forced stop switch (Normally closed).
4. When starting operation, always turn on the forced stop (EM1). (Normally closed contacts) By setting " 1 " in DRU
parameter No.PA04 of the drive unit, the forced stop (EM1) can be made invalid.
5. Use LEC-MRC2E.
6. For the distance between electrodes of SSCNET cable, refer to the following table.

Cable Cable model name Cable length

Standard code inside panel LE-CSS-□ 0.15m to 3m

7. The wiring of the second and subsequent axes is omitted.

8. Up to eight axes (n 1 to 16) may be connected. Refer to section 3.13 for setting of axis selection.
9. Make sure to put a cap on the unused CN1A CN1B.
10. Supply 24VDC 10% 150mA current for interfaces from the outside. 150mA is the value applicable when all I/O signals are used.
The current capacity can be decreased by reducing the number of I/O points. Refer to section 3.7.2 (1) that gives the current
value necessary for the interface.
11. Trouble (ALM) turns on in normal alarm-free condition. When this signal is switched off (at occurrence of an alarm), the output
of the programmable PC or PLC...etc should be stopped by the sequence program.
12. The pins with the same signal name are connected in the driver.
13. The signal can be changed by parameter No.PD07, PD08, PD09.
14. For the sink I/O interface. For the source I/O interface, refer to section 3.7.3.
15. Devices can be assigned for DI1 DI2 DI3 with PC or PLC...etc setting. For devices that can be assigned, refer to the PC or
PLC...etc instruction manual. The assigned devices are for the Q173DCPU Q172DCPU Q173HCPU Q172HCPU and
QD75MH .

3- 7
3. SIGNALS AND WIRING

3.3 Explanation of power supply system

3.3.1 Signal explanations

POINT
For the layout of connector and terminal block, refer to outline drawings in
chapter 9.

Connection target
Abbreviation Description
(Application)
Supply the following power to L1, L2, L3. For the 1-phase 200V to 230VAC power supply, connect
the power supply to L1, L2, and keep L3 open.

Driver LECSS2-S5 LECSS1-S5

L1 LECSS2-S7 LECSS1-S7
Main circuit power
L2 Power supply
supply LECSS2-S8 LECSS1-S8
L3
3-phase 200V to 230VAC, 50/60Hz L1・L2・L3
1-phase 200V to 230VAC, 50/60Hz L1 L2
1-phase 100V to 120VAC, 50/60Hz L1 L2

When using driver built-in regenerative resistor, connect P( ) and D. (Factory-wired)

P
Regenerative When using regenerative option, disconnect P( ) and D, and connect regenerative option to
C
option P and C.
D
Refer to section 11.2 to 11.5.
Supply the following power to L11 L21.
LECSS2-S5 LECSS1-S5
Driver
L11 Control circuit Power supply LECSS2-S7 LECSS-S7
L21 power supply LECSS2-S8 LECSS1-S8
1-phase 200V to 230VAC, 50/60Hz L11 L21
1-phase 100V to 120VAC, 50/60Hz L11 L21

U
Connect to the servo motor power supply terminals (U, V, W). During power-on, do not open or
V Servo motor power
close the motor power line. Otherwise, a malfunction or faulty may occur.
W
Return converter
N Do not connect to driver. .
Brake unit
Protective earth Connect to the earth terminal of the servo motor and to the protective earth (PE) of the control
(PE) box to perform grounding.

3- 8
3. SIGNALS AND WIRING

3.3.2 Power-on sequence

(1) Power-on procedure
1) Always wire the power supply as shown in above section 3.1 using the magnetic contactor with the main
circuit power supply (three-phase: L1, L2, L3, single-phase: L1, L2). Configure up an external sequence
to switch off the magnetic contactor as soon as an alarm occurs.

2) Switch on the control circuit power supply L11, L21 simultaneously with the main circuit power supply or
before switching on the main circuit power supply. If the main circuit power supply is not on, the display
shows the corresponding warning. However, by switching on the main circuit power supply, the warning
disappears and the driver will operate properly.

3) The driver can accept the servo-on command within 3s the main circuit power supply is switched on.
(Refer to paragraph (2) of this section.)

(2) Timing chart

SON accepted

(3s)
Main circuit
power ON
Control circuit OFF
ON
Base circuit
OFF 95ms 10ms 95ms
Servo-on command ON
(from
(from PCcontroller)
or PLC...etc) OFF

(3) Forced stop

Install an forced stop circuit externally to ensure that operation can be stopped and
CAUTION power shut off immediately.

If the PC or PLC...etc does not have an forced stop function, make up a circuit that switches off main circuit
power as soon as EM1 is turned off at a forced stop. When EM1 is turned off, the dynamic brake is
operated to stop the servo motor. At this time, the display shows the servo forced stop warning (E6).
During ordinary operation, do not use forced stop (EM1) to alternate stop and run. The service life of the
driver may be shortened.
Driver
Servo amplifier

24VDC
DICOM

(Note) DOCOM

Forced stop EM1

Note. For the sink I/O interface. For the source I/O interface, refer to section 3.7.3.

3- 9
3. SIGNALS AND WIRING

3.3.3 CNP1, CNP2, CNP3 wiring method

POINT
Refer to section 11.5 for the wire sizes used for wiring.
Use the supplied driver power supply connectors for wiring of CNP1, CNP2 and CNP3.

(1) LECSS□-□
(a) Driver power supply connectors
Driver poweramplifier
(Note)Servo supply power
connectors
supply connectors

Connector for CNP1

54928-0670 (Molex)
Part No. K05A50230490 (Note) Driver
Servo amplifier

CNP1
Connector for CNP2
<Applicable cable example> 54928-0520 (Molex)
Cable finish OD: to 3.8mm
Part No. K05A50230491 (Note)
CNP2

CNP3
Connector for CNP3
Part No. K05A50230492
54928-0370 (Molex) (Note)

Note. MITSUBISHI ELECTRIC SYSTEM & SERVICE CO., LTD

Please purchase from distributor or distributor of Mitsubishi Electric Corporation

(b) Termination of the cables

Solid wire: After the sheath has been stripped, the cable can be used as it is.
Sheath Core

8 to 9mm

Twisted wire: Use the cable after stripping the sheath and twisting the core. At this time, take care to
avoid a short caused by the loose wires of the core and the adjacent pole. Do not solder
the core as it may cause a contact fault. Alternatively, a bar terminal may be used to put
the wires together.

Cable size Bar terminal type

Crimping tool (Note 2)
[mm2] AWG For 1 cable (Note 1) For 2 cable
1.25/1.5 16 AI1.5-10BK AI-TWIN2 1.5-10BK
Variocrimp 4 206-204
2/2.5 14 AI2.5-10BU
Note 1. Manufacturer: Phoenix Contact
2. Manufacturer: WAGO

3 - 10
3. SIGNALS AND WIRING

(2) Insertion of cable into Molex and WAGO connectors

Insertion of cable into connectors are as follows.

POINT
It may be difficult for a cable to be inserted to the connector depending on
wire size or bar terminal configuration. In this case, change the wire type or
correct it in order to prevent the end of bar terminal from widening, and then
insert it.

How to connect a cable to the driver power supply connector is shown below.

(a) When using the supplied cable connection lever

1) The driver is packed with the cable connection lever.

[Unit: mm]
20.6
10
4.9

3.4

Approx. 4.9
4.7 Approx. 3

Approx. 7.7
MXJ
54932
6.5
7.7

Approx.3.4

3 - 11
3. SIGNALS AND WIRING

2) Cable connection procedure

Cable connection lever

1) Attach the cable connection lever to the housing.

(Detachable)

2) Push the cable connection lever in the direction

of arrow.

3) Hold down the cable connection lever and insert

the cable in the direction of arrow.

4) Release the cable connection lever.

3 - 12
3. SIGNALS AND WIRING

(b) Inserting the cable into the connector

1) Applicable flat-blade screwdriver dimensions
Always use the screwdriver shown here to do the work.
[Unit: mm]

Approx. R0.3 Approx. 22 3

0.6
Approx. R0.3
3 to 3.5

2) When using the flat-blade screwdriver - part 1

1) Insert the screwdriver into the square hole.

Insert it along the top of the square hole to insert it smoothly.

2) If inserted properly, the screwdriver is held.

3) With the screwdriver held, insert the cable in the direction

of arrow. (Insert the cable as far as it will go.)

4) Releasing the screwdriver connects the cable.

3 - 13
3. SIGNALS AND WIRING

3) When using the flat-blade screwdriver - part 2

1) Insert the screwdriver into the 2) Push the screwdriver in the 3) With the screwdriver pushed, insert the cable in the
square window at top of the direction of arrow. direction of arrow. (Insert the cable as far as it will go.)
connector.

4) Releasing the screwdriver connects the cable.

3 - 14
3. SIGNALS AND WIRING

(3) How to insert the cable into Phoenix Contact connector

POINT
Do not use a precision driver because the cable cannot be tightened with
enough torque.

Insertion of cables into Phoenix Contact connector PC4/6-STF-7.62-CRWH or PC4/3-STF-7.62-CRWH is

shown as follows.
Before inserting the cable into the opening, make sure that the screw of the terminal is fully loose. Insert the
core of the cable into the opening and tighten the screw with a flat-blade screwdriver. When the cable is not
tightened enough to the connector, the cable or connector may generate heat because of the poor contact.
(When using a cable of 1.5mm2 or less, two cables may be inserted into one opening.)
Secure the connector to the driver by tightening the connector screw.
For securing the cable and the connector, use a flat-blade driver with 0.6mm blade edge thickness and
3.5mm diameter (Recommended flat-blade screwdriver: Phoenix Contact SZS 0.6 3.5). Apply 0.5 to 0.6
N m torque to screw.
[Unit: mm]
Flat-blade 0.6 180
screwdriver
100
To loosen To tighten

(35)
3.5

Wire
Opening

Recommended flat-blade screwdriver dimensions

To loosen To tighten
Connector screw

Flat-blade
Servo amplifier power
Driver screwdriver
supply connector

3 - 15
3. SIGNALS AND WIRING

3.4 Connectors and signal arrangements

POINT
The pin configurations of the connectors are as viewed from the cable
connector wiring section.

(1) Signal arrangement

The driver front view shown is that of the LECSS□-S5 and LECSS□-S7. Refer to chapter 9 Outline
Drawings for the appearances and connector layouts of the LECSS□-S8.
CN5 (USB connector)
Refer to section 11.8.

CN3

OPEN
1 11

CN5
L1 2 12
LG LG
L2
DI1 DI2
L3 3 13
N 4 14
DOCOM MBR
CN3

P1 MO1 MO2
5 15
P2
6 16
P
DICOM ALM
C LA LAR
CN1A

D Connector for 7 17
L11 the front axis of 8 18
L12
LB LBR
CN1A SSCNET
cable. LZ LZR
U 9 19
CN1B

Connector for the 10 20

V INP DI1
rear axis of CN1B
W SSCNET cable. DICOM EM1
CHARGE
CN4 CN2L CN2

CN2

2 6 10
LG 4 8
MRR MDR
1 5 9
P5 3 7 BAT The frames of the CN2 and CN3
MR MD connectors are connected to the
PE (earth) terminal ( ) in the
3M make connector
The Sumitomo 3M Limitedis make
shown. amplifier.
driver.
When using
connector is any other connector,
shown.
refer tousing
When section
any11.1.2.
other connector,
Refer to section 11.1.2.

3 - 16
3. SIGNALS AND WIRING

3.5 Signal (device) explanations

For the I/O interfaces (symbols in I/O division column in the table), refer to section 3.7.2.
In the control mode field of the table
The pin No.s in the connector pin No. column are those in the initial status.

(1) Connector applications

Connector Name Function/Application
CN1A Connector for bus cable
Used for connection with the PC or PLC...etc or preceding-axis driver.
from preceding axis.
CN1B Connector for bus cable to
Used for connection with the next-axis driver or for connection of the cap.
next axis
CN2 Encoder connector Used for connection with the servo motor encoder.
CN4 Battery connection When using as absolute position detection system, connect to battery (LEC-MR-
connector J3BAT).
Before installing a battery, turn off the main circuit power while keeping the control
circuit power on. Wait for 15 minutes or more (20 minutes or for drive unit 30kW or
more) until the charge lamp turns off. Then, confirm that the voltage between P( )
and N( ) (L and L for drive unit 30kW or more) is safe with a voltage tester and
others. Otherwise, an electric shock may occur. In addition, always confirm from the
front of the driver whether the charge lamp is off or not. Replace the battery with
main circuit power OFF and with control circuit power ON. Replacing the battery
with the control circuit power OFF results in loosing absolute position data.
CN5 Communication connector The personal computer is connected.

(2) I/O device

(a) Input device
Connector I/O
Device Symbol Function/Application
pin No. division
Forced stop EM1 CN3-20 Turn EM1 off (open between commons) to bring the motor to an forced DI-1
stop state, in which the base circuit is shut off and the dynamic brake is
operated.
Turn EM1 on (short between commons) in the forced stop state to reset
that state.
When parameter No.PA.04 is set to " 1 ", automatically ON
(always ON) can be set inside.
DI1 CN3-2 Devices can be assigned for DI1 DI2 DI3 with PC or PLC...etc setting. DI-1
DI2 CN3-12 For devices that can be assigned, refer to the PC or PLC...etc instruction DI-1
DI3 CN3-19 manual. The following devices can be assigned for Q172HCPU DI-1
Q173HCPU QD75MH.
DI1: upper stroke limit (FLS)
DI2: lower stroke limit (RLS)
DI3: proximity dog (DOG)

3 - 17
3. SIGNALS AND WIRING

(b) Output device

Connector I/O
Device Symbol Function/Application
pin No. division
Trouble ALM CN3-15 ALM turns off when power is switched off or the protective circuit is DO-1
activated to shut off the base circuit.
Without alarm occurring, ALM turns on within about 1s after power-on.
Electromagnetic MBR CN3-13 When using this signal, set operation delay time of the electromagnetic DO-1
brake interlock brake in parameter No.PC02.
In the servo-off or alarm status, MBR turns off.
In-position INP CN3-9 INP turns on when the number of droop pulses is in the preset in-position DO-1
(Positioning range. The in-position range can be changed using parameter No.PA10.
completed) When the in-position range is increased, INP may be on conductive
status during low-speed rotation.
INP turns on when servo on turns on.
This signal cannot be used in the speed loop mode.
Ready RD When using the signal, make it usable by the setting of parameter DO-1
No.PD07 to PD09.
RD turns on when the servo is switched on and the driver is ready to
operate.
Dynamic brake DB When using the signal, make it usable by the setting of parameter DO-1
interlock No.PD07 to PD09. DB turns off simultaneously when the dynamic brake
is operated. When using the external dynamic brake on the driver of 11
kW or more, this device is required. (Refer to section 11.6.) For the driver
of 7kW or less, it is not necessary to use this device.
Speed reached SA When using this signal, make it usable by the setting of parameter DO-1
No.PD07 to PD09.
When the servo is off, SA will be turned OFF. When servo motor rotation
speed becomes approximately setting speed, SA will be turned ON.
When the preset speed is 20r/min or less, SA always turns on. This
signal cannot be used in position loop mode.
Limiting torque TLC When using this signal, make it usable by the setting of parameter DO-1
No.PD07 to PD09.
When torque is produced level of torque set with PC or PLC...etc, TLC
will be turned ON. When the servo is off, TLC will be turned OFF.
Zero speed ZSP When using this signal, make it usable by the setting of parameter DO-1
No.PD07 to PD09.
When the servo is off, SA will be turned OFF.
ZSP turns on when the servo motor speed is zero speed (50r/min) or
less. Zero speed can be changed using parameter No.PC07.
Example
Zero speed is 50r/min

OFF level 1)
Forward 3) 20r/min
rotation 70r/min 2) (Hysteresis width)
direction ON level
50r/min Parameter
No.PC07
Servo motor 0r/min
speed Parameter
No.PC07
Reverse ON level
rotation 50r/min
20r/min
direction OFF level (Hysteresis width)
70r/min 4)
zero speed ON
(ZSP) OFF

ZPS turns on 1) when the servo motor is decelerated to 50r/min, and

ZPS turns off 2) when the servo motor is accelerated to 70r/min again.
ZPS turns on 3) when the servo motor is decelerated again to 50r/min,
and turns off 4) when the servo motor speed has reached -70r/min.
The range from the point when the servo motor speed has reached ON
level, and ZPS turns on, to the point when it is accelerated again and has
reached OFF level is called hysteresis width.
Hysteresis width is 20r/min for the LECSS□-□ driver.

3 - 18
3. SIGNALS AND WIRING

Connector I/O
Device Symbol Function/Application
pin No. division
Warning WNG When using this signal, make it usable by the setting of parameter DO-1
No.PD07 to PD09.
When warning has occurred, WNG turns on. When there is no warning,
WNG turns off within about 1.5s after power-on.
Battery warning BWNG When using this signal, make it usable by the setting of parameter DO-1
No.PD07 to PD09.
BWNG turns on when battery cable disconnection warning (92) or battery
warning (9F) has occurred. When there is no battery warning, BWNG
turns off within about 1.5s after power-on.
Variable gain CDPS When using this signal, make it usable by the setting of parameter DO-1
selection No.PD07 to PD09.
CDPS is on during variable gain.
Absolute position ABSV When using this signal, make it usable by the setting of parameter DO-1
erasing No.PD07 to PD09.
ABSV turns on when the absolute position erased.
This signal cannot be used in position loop mode.

(c) Output signals

Connector
Signal name Symbol Function/Application
pin No.
Encoder A-phase LA CN3-6 Outputs pulses per servo motor revolution set in parameter No.PA15 in the differential
pulse LAR CN3-16 line driver system. In CCW rotation of the servo motor, the encoder B-phase pulse
(Differential line lags the encoder A-phase pulse by a phase angle of /2.
driver) The relationships between rotation direction and phase difference of the A- and B-
Encoder B-phase LB CN3-7 phase pulses can be changed using parameter No.PC03.
pulse LBR CN3-17 Output pulse specification and dividing ratio setting can be set. (Refer to section
(Differential line 5.1.9.)
driver)
Encoder Z-phase LZ CN3-8 Outputs the zero-point signal in the differential line driver system of the encoder. One
pulse LZR CN3-18 pulse is output per servo motor revolution. turns on when the zero-point position is
(Differential line reached.
driver) The minimum pulse width is about 400 s. For home position return using this pulse,
set the creep speed to 100r/min. or less.
Analog monitor 1 MO1 CN3-4 Used to output the data set in parameter No.PC09 to across MO1-LG in terms of
voltage. Resolution 10 bits
Analog monitor 2 MO2 CN3-14 Used to output the data set in parameter No.PC10 to across MO2-LG in terms of
voltage. Resolution 10 bits

(d) Power supply

Connector
Signal name Symbol Function/Application
pin No.
Digital I/F power DICOM CN3-5 Used to input 24VDC (24VDC 10% 150mA) for I/O interface of the driver. The power
supply input CN3-10 supply capacity changes depending on the number of I/O interface points to be used.
Connect the positive terminal of the 24VDC external power supply for the sink
interface.
Digital I/F common DOCOM CN3-3 Common terminal for input device such as EM1 of the driver. Pins are connected
internally. Separated from LG. Connect the positive terminal of the 24VDC external
power supply for the source interface.
Monitor common LG CN3-1 Common terminal of M01 M02
CN3-11 Pins are connected internally.
Shield SD Plate Connect the external conductor of the shield cable.

3 - 19
3. SIGNALS AND WIRING

3.6 Alarm occurrence timing chart

When an alarm has occurred, remove its cause, make sure that the operation
signal is not being input, ensure safety, and reset the alarm before restarting
CAUTION operation.
As soon as an alarm occurs, make the Servo off status and interrupt the main
circuit power.

When an alarm occurs in the driver, the base circuit is shut off and the servo motor is coated to a stop. Switch
off the main circuit power supply in the external sequence. To deactivate the alarm, power the control circuit off,
then on or give the error reset or CPU reset command from the servo system PC or PLC...etc. However, the
alarm cannot be deactivated unless its cause is removed.
(Note)
Main circuit power ON Power off Power on
Control circuit OFF
ON
Base circuit OFF
Valid Brake operation Brake operation
Dynamic brake Invalid
Servo-on command ON
(fromPC
(from controller)
or PLC...etc) OFF

Alarm NO YES NO YES NO

1s
Reset command ON
(fromPC
(from controller)
or PLC...etc) OFF
50ms or more 60ms or more
Alarm occurs. Remove cause of trouble.
Note. Switch off the main circuit power as soon as an alarm occurs.

(1) Overcurrent, overload 1 or overload 2

If operation is repeated by switching control circuit power off, then on to reset the overcurrent (32), overload
1 (50) or overload 2 (51) alarm after its occurrence, without removing its cause, the driver and servo motor
may become faulty due to temperature rise. Securely remove the cause of the alarm and also allow about
30 minutes for cooling before resuming operation.

(2) Regenerative alarm

If operation is repeated by switching control circuit power off, then on to reset the regenerative (30) alarm
after its occurrence, the external regenerative resistor will generate heat, resulting in an accident.

(3) Instantaneous power failure

Undervoltage (10) occurs when the input power is in either of the following statuses.
A power failure of the control circuit power supply continues for 60ms or longer and the control circuit is
not completely off.
The bus voltage dropped to 200VDC or less for the LECSS2-□, to 158VDC or less for the LECSS1-□.

3 - 20
3. SIGNALS AND WIRING

3.7 Interfaces

3.7.1 Internal connection diagram

Servo amplifier
Driver

Forced stop CN3 Approx CN3

5.6k
EM1 20 10 DICOM

DI1 2 13 MBR RA
(Note 2) (Note 3)
(Note 1) DI2 12 Approx 9 INP
(Note 3) 5.6k
DI3 19 15 ALM RA
24VDC
DICOM 5
DOCOM 3

<Isolated>

CN3
6 LA
16 LAR
7 LB Differential line
driver output
17 LBR (35mA or less)
8 LZ
18 LZR

CN3 Analog monitor

CN5 4 MO1
10VDC
VBUS 1
1 LG
D 2
USB
D 3 14 MO2
10VDC
GND 5
11 LG
Servo motor
CN2
Encoder
7 MD
8 MDR
3 MR
4 MRR
2 LG
E
M

Note 1. Signal can be assigned for these pins with host PC or PLC...etc setting.
For contents of signals, refer to the instruction manual of host PC or PLC...etc.
2. This signal cannot be used with speed loop mode.
3. For the sink I/O interface. For the source I/O interface, refer to section 3.7.3.

3 - 21
3. SIGNALS AND WIRING

3.7.2 Detailed description of interfaces

This section provides the details of the I/O signal interfaces (refer to the I/O division in the table) given in
section 3.5. Refer to this section and make connection with the external equipment.

(1) Digital input interface DI-1

Give a signal with a relay or open collector transistor. Refer to section 3.7.3 for the source input.
ServoDriver
amplifier
For transistor
EM1,
Approx. 5mA 5.6k
etc.

Switch
TR
DICOM
VCES 1.0V 24VDC 10%
ICEO 100 A 150mA

(2) Digital output interface DO-1

A lamp, relay or photocoupler can be driven. Install a diode (D) for an inductive load, or install an inrush
current suppressing resistor (R) for a lamp load. (Rated current: 40mA or less, maximum current: 50mA or
less, inrush current: 100mA or less) A maximum of 2.6V voltage drop occurs in the driver.
Refer to section 3.7.3 for the source output.

If polarity of diode is
reversed, servo
driver
Driver
Servo amplifier amplifier will fail.

ALM,
etc.

Load
DOCOM
(Note) 24VDC 10%
150mA

Note. If the voltage drop (maximum of 2.6V) interferes with the relay operation, apply high voltage (up to
26.4V) from external source.

3 - 22
3. SIGNALS AND WIRING

(3) Encoder output pulse DO-2 (Differential line driver system)

(a) Interface
Max. output current: 35mA
Servo amplifier
Driver Servo amplifier
Driver
LA LA
Am26LS32 or equivalent 100 High-speed photocoupler
(LB, LZ) (LB, LZ)

150
LAR LAR
(LBR, LZR) (LBR, LZR)
LG
SD SD

(b) Output pulse

Servo motor CCW rotation
LA
Time cycle (T) is determined by the settings
of parameter No.PA15 and PC03.
LAR T
LB

LBR
/2

LZ
LZR
400 s or more

(4) Analog output

ServoDriver
amplifier

MO1
(MO2)
Output voltage 10V
Max. 1mA
LG
Max. Output current Resolution: 10 bit

3 - 23
3. SIGNALS AND WIRING

3.7.3 Source I/O interfaces

In this driver, source type I/O interfaces can be used. In this case, all DI-1 input signals and DO-1 output signals
are of source type. Perform wiring according to the following interfaces.

(1) Digital input interface DI-1

Driver
Servo amplifier
EM1,
Approx. 5.6k
etc.

Switch

DICOM

Approx. 5mA 24VDC 10%

VCES 1.0V 150mA
ICEO 100 A

(2) Digital output interface DO-1

A maximum of 2.6V voltage drop occurs in the driver.

If polarity of diode is
driver
reversed, servo
ServoDriver
amplifier amplifier will fail.

ALM,
etc.

Load
DOCOM
(Note) 24VDC 10%
150mA

Note. If the voltage drop (maximum of 2.6V) interferes with the relay operation, apply high voltage (up to
26.4V) from external source.

3 - 24
3. SIGNALS AND WIRING

3.8 Treatment of cable shield external conductor

In the case of the CN2 and CN3 connectors, securely connect the shielded external conductor of the cable to
the ground plate as shown in this section and fix it to the connector shell.

External conductor Sheath Core Sheath

External conductor
Strip the sheath. Pull back the external conductor to cover the sheath

(1) For CN3 connector (Sumitomo 3M Limited connector)

Screw

Cable

Screw

Ground plate

(2) For CN2 connector (Sumitomo 3M Limited or Molex connector)

Cable

Ground plate

Screw

3 - 25
3. SIGNALS AND WIRING

3.9 SSCNET cable connection

POINT
Do not see directly the light beam (transparent and colorless) generated from
CN1A CN1B connector of driver or the end of SSCNET cable.
When the light gets into eye, may feel something is wrong for eye.
(The light source of SSCNET complies with class1 defined in JIS C6802 or
IEC60825-1.)

(1) SSCNET cable connection

For CN1A connector, connect SSCNET cable connected to PC or PLC...etc in host side or driver.
For CN1B connector, connect SSCNET cable connected to driver in lower side.
For CN1B connector of the final axis, put a cap came with driver.
AxisAxis
No.1No.1
servo amplifier
driver Axis Axis
No.2No.2
servodriver
amplifier FinalFinal
axis axis
servodriver
amplifier

SSCNET cable SSCNET cable SSCNET cable

PC or
Controller
PLC...etc CN1A CN1A CN1A
Cap
CN1B CN1B CN1B

(2) How to connect/disconnect cable.

POINT
CN1A CN1B connector is put a cap to protect light device inside connector
from dust.
For this reason, do not remove a cap until just before mounting SSCNET
cable.
Then, when removing SSCNET cable, make sure to put a cap.
Keep the cap for CN1A CN1B connector and the tube for protecting light
code end of SSCNET cable in a plastic bag with a zipper of SSCNET
cable to prevent them from becoming dirty.
When asking repair of driver for some troubles, make sure to put a cap on
CN1A CN1B connector.
When the connector is not put a cap, the light device may be damaged at the
transit.
In this case, exchange and repair of light device is required.

(a) Mounting
1) For SSCNET cable in the shipping status, the tube for protect light code end is put on the end of
connector. Remove this tube.

2) Remove the CN1A CN1B connector cap of driver.

3 - 26
3. SIGNALS AND WIRING

3) With holding a tab of SSCNET cable connector, make sure to insert it into CN1A CN1B connector
of driver until you hear the click.
If the end face of optical code tip is dirty, optical transmission is interrupted and it may cause
malfunctions.
If it becomes dirty, wipe with a bonded textile, etc.
Do not use solvent such as alcohol.

Click

Tab

(b) Removal
With holding a tab of SSCNET cable connector, pull out the connector.
When pulling out the SSCNET cable from driver, be sure to put the cap on the connector parts of
driver to prevent it from becoming dirty.
For SSCNET cable, attach the tube for protection optical code's end face on the end of connector.

3 - 27
3. SIGNALS AND WIRING

3.10 Connection of driver and servo motor

During power-on, do not open or close the motor power line. Otherwise, a
CAUTION malfunction or faulty may occur.

3.10.1 Connection instructions

Insulate the connections of the power supply terminals to prevent an electric
WARNING shock.

Connect the wires to the correct phase terminals (U, V, W) of the driver and servo
motor. Not doing so may cause unexpected operation.
CAUTION
Do not connect AC power supply directly to the servo motor. Otherwise, a fault
may occur.

POINT
Refer to section 11.1 for the selection of the encoder cable.

This section indicates the connection of the servo motor power (U, V, W). Use of the optional cable and
connector set is recommended for connection between the driver and servo motor. When the options are not
available, use the recommended products. Refer to section 11.1 for details of the options.

(1) For grounding, connect the earth cable of the servo motor to the protective earth (PE) terminal ( ) of the
driver and connect the ground cable of the driver to the earth via the protective earth of the control box. Do
not connect them directly to the protective earth of the control panel.
Control box

Servo
Driver Servo motor
amplifier

PE terminal

(2) Do not share the 24VDC interface power supply between the interface and lock. Always use the power
supply designed exclusively for the electromagnetic brake.

3 - 28
3. SIGNALS AND WIRING

3.10.2 Power supply cable wiring diagrams

(1) LE-□-□ series servo motor
(a) When cable length is 10m or less
10m or less
MR-PWS1CBL
LE-CSM-□□□ M-A1-L
MR-PWS1CBL M-A2-L
MR-PWS1CBL M-A1-H
Servo Driver
amplifier Servo motor
MR-PWS1CBL M-A2-H
CNP3
AWG 19(red)
U U
AWG 19(white)
V V M
AWG 19(black)
W W
AWG 19(green/yellow)

(b) When cable length exceeds 10m

When the cable length exceeds 10m, fabricate an extension cable as shown below. In this case, the
motor power supply cable pulled from the servo motor should be within 2m long.
Refer to section 11.5 for the wire used for the extension cable.
2m or less
MR-PWS1CBL2M-A1-L
LE-CSM-□□□
MR-PWS1CBL2M-A2-L
MR-PWS1CBL2M-A1-H
50m or less MR-PWS1CBL2M-A2-H
Driver MR-PWS2CBL03M-A1-L
Servo amplifier MR-PWS2CBL03M-A2-L Servo motor
CNP3 Extension cable
AWG 19(red)
U U
AWG 19(white)
V V M
AWG 19(black)
W W
AWG 19(green/yellow)

(Note) (Note)
a) Relay connector for b) Relay connector for motor
extension cable power supply cable

Note. Use of the following connectors is recommended when ingress protection (IP65) is necessary.

Protective
Relay connector Description
structure
Connector: RM15WTPZ-4P(71) IP65
a) Relay connector for
Cord clamp: RM15WTP-CP(5)(71)
extension cable
(Hirose Electric) Numeral changes depending on the cable OD.
b) Relay connector for Connector: RM15WTJA-4S(71) IP65
motor power supply Cord clamp: RM15WTP-CP(8)(71)
cable (Hirose Electric) Numeral changes depending on the cable OD.

3 - 29
3. SIGNALS AND WIRING

3.11 Servo motor with a lock

3.11.1 Safety precautions

Configure a lock circuit so that it is activated also by an external EMG stop switch.
Contacts must be opened when ALM (Malfunction)
Contacts must be opened when ALM (Malfunction) Contacts must be opened with the
and MBR (Electromagnetic
or MBR (Electromagneticbrake
brakeinterlock)
interlock) turns
turns off. EMG stop switch.
off.
Servo motor
RA

B U 24 V DC

CAUTION Electromagnetic
Lock brake
Refer to section 3.11.3 when wiring for the circuit configuration.

The lock is provided for holding purpose and must not be used for ordinary braking.
Before performing the operation, be sure to confirm that the lock operates properly.
Do not use the 24VDC interface for the lock. Always use the power supply
designed exclusively for the lock. Otherwise, a fault may occur.

POINT
Refer to the Servo Motor Instruction Manual (Vol.2) for specifications such as
the power supply capacity and operation delay time of the electromagnetic
brake.

Note the following when the servo motor with a lock is used.

1) Do not share the 24VDC interface power supply between the interface and lock. Always use the
power supply designed exclusively for the lock.

2) The lock will operate when the power (24VDC) switches off.

3) Switch off the servo-on command after the servo motor has stopped.

(1) Connection diagram

Driveramplifier
Servo Servo motor
Electromagnetic Trouble Forced
brake (ALM) stop B1
24VDC
DOCOM

DICOM
24VDC
MBR RA1

B2

(2) Setting
In parameter No.PC02 (electromagnetic brake sequence output), set the time delay (Tb) from lock operation
to base circuit shut-off at a servo off time as in the timing chart in section 3.11.2.

3 - 30
3. SIGNALS AND WIRING

3.11.2 Timing charts

(1) Servo-on command (from PC or PLC...etc) ON/OFF
Tb [ms] after the servo-on is switched off, the servo lock is released and the servo motor coasts. If the lock
is made valid in the servo lock status, the lock life may be shorter. Therefore, when using the lock in a
vertical lift application or the like, set delay time (Tb) to about the same as the lock operation delay time to
prevent a drop.

Coasting
Servo motor speed 0 r/min

(95ms) Tb
ON
Base circuit
OFF
(95ms) Electromagnetic
Lock operation
Electromagnetic (Note 1) ON brake
delayoperation
time
brake interlock delay time
(MBR) OFF

Servo-on command ON
(from
(From controller)
OFF
PC or PLC...etc)
(Note 3)

Operation command
0 r/min
(from
(From controller)
PC or PLC...etc)
Electromagnetic Release
Lock
brake Activate
Release delay time and external relay (Note 2)

Note 1. ON: Lock is not activated.

OFF: Lock is activated.
2. Lock is released after delaying for the release delay time of lock and operation time of external circuit relay. For the release
delay time of lock, refer to chapter 13.
3. Give the operation command from the PC or PLC...etc after the lock is released.

(2) Forced stop command (from PC or PLC...etc) or forced stop (EM1) ON/OFF
Dynamic brake
Dynamic brake
Electromagnetic
Lock brake
Servo motor speed Electromagnetic brake
Lock
Electromagnetic
Lock release brake release
(10ms) (210ms)
ON
Base circuit
OFF
(210ms)
Electromagnetic (Note) ON Electromagnetic
Lock operationbrake
brake interlock (MBR) operation delay time
delay time
OFF
Forced stop command Invalid (ON)
(fromPC
(From controller)
or PLC...etc)
or Valid (OFF)
Forced stop (EM1)

Note. ON: Lock is not activated.

OFF: Lock is activated.

3 - 31
3. SIGNALS AND WIRING

(3) Alarm occurrence

Dynamic brake
Dynamic brake
Electromagnetic
Lock brake
Servo motor speed
Electromagnetic
Lock brake
(10ms)
ON
Base circuit
OFF

Electromagnetic (Note) ON Electromagnetic

Lock operation brake
brake interlock (MBR) operation
delay timedelay time
OFF

No (ON)
Alarm
Yes (OFF)

Note. ON: Lock is not activated.

OFF: Lock is activated.

(4) Both main and control circuit power supplies off

Dynamic brake
Dynamic brake
(10ms) Electromagnetic
Lock brake
Servo motor speed Electromagnetic
Lock brake
(Note 1)
15 to 100ms
ON
Base circuit
OFF
10ms
Electromagnetic (Note 2) ON
brake interlock (MBR) OFF
Electromagnetic
Lock operation brake
No (ON) operation delay time
delay time
Alarm (Note2)
Yes (OFF)

Main circuit ON
power
Control circuit OFF

Note 1. Changes with the operating status.

2. ON: Lock is not activated.
OFF: Lock is activated.

3 - 32
3. SIGNALS AND WIRING

(5) Only main circuit power supply off (control circuit power supply remains on)
Dynamic brake
Dynamic brake
(10ms) Electromagnetic brake
Lock
Servo motor speed Electromagnetic
Lock brake
(Note 1)
15ms or more
ON
Base circuit
OFF

Electromagnetic (Note 3) ON
brake interlock OFF
(MBR) Electromagnetic
Lock operation brake
No (ON) operation delay time
delay time
Alarm (Note 2)
Yes (OFF)

ON
Main circuit power
supply OFF

Note 1. Changes with the operating status.

2. When the main circuit power supply is off in a motor stop status, the main circuit off warning (E9) occurs
and the alarm (ALM) does not turn off.
3. ON: Lock s not activated.
OFF: Lock is activated.

3 - 33
3. SIGNALS AND WIRING

3.11.3 Wiring diagrams (LE-□-□ series servo motor)

(1) When cable length is 10m or less
10m or less
24VDC power
supply for MR-BKS1CBL M-A1-L
electromagnetic MR-BKS1CBL M-A2-L
lock MR-BKS1CBL M-A1-H Servo motor
brake LE-CSB-□□□
MR-BKS1CBL M-A2-H
Electromagnetic Trouble Forced stop
(Note2)
brake (MBR) (ALM) (EM1)
AWG20
B1
(Note 1)
AWG20
B2

Note 1. Connect a surge absorber as close to the servo motor as possible.

2. There is no polarity in lock terminals (B1 and B2).

When fabricating the lock cable LE-CSB-R□□, refer to section 11.1.4.

(2) When cable length exceeds 10m

When the cable length exceeds 10m, fabricate an extension cable as shown below on the customer side. In
this case, the motor brake cable should be within 2m long.
Refer to section 11.5 for the wire used for the extension cable.
2m or less
MR-BKS1CBL2M-A1-L
24VDC power MR-BKS1CBL2M-A2-L
supply for 50m or less MR-BKS1CBL2M-A1-H
electromagnetic Extension cable (To be fabricated) MR-BKS1CBL2M-A2-H
brake
lock MR-BKS2CBL03M-A1-L Servo motor
Electromagnetic Trouble Forced stop LE-CSB-□□□
MR-BKS2CBL03M-A2-L
brake (MBR) (ALM) (EM1) (Note 3)
AWG20
B1
(Note 1)
AWG20
B2

(Note 2) (Note 2)
a) Relay connector for b) Relay connector for motor
extension cable brake cable
ｌock cable

Note 1. Connect a surge absorber as close to the servo motor as possible.

2. Use of the following connectors is recommended when ingress protection (IP65) is necessary.

Protective
Relay connector Description
structure
a) Relay connector for CM10-CR2P- IP65
extension cable (DDK) Wire size: S, M, L
b) Relay connector for CM10-SP2S- IP65
motor lock cable (DDK) Wire size: S, M, L

3. There is no polarity in electromagnetic lock terminals (B1 and B2).

3 - 34
3. SIGNALS AND WIRING

3.12 Grounding
Ground the driver and servo motor securely.
WARNING To prevent an electric shock, always connect the protective earth (PE) terminal
(terminal marked ) of the driver with the protective earth (PE) of the control box.

The driver switches the power transistor on-off to supply power to the servo motor. Depending on the wiring
and ground cable routing, the driver may be affected by the switching noise (due to di/dt and dv/dt) of the
transistor. To prevent such a fault, refer to the following diagram and always ground.
To conform to the EMC Directive, refer to the EMC Installation Guidelines (IB(NA)67310).
Control box

Servo motor
NFB MC Servo
Driveramplifier
CN2
L1
Line filter

(Note) Encoder
Power supply L2

L3
L11
L21 U U
V V M
W W
CN1A
Servo system
controller

Ensure to connect it to PE
terminal of the driver.
servo amplifier.
Do not connect it directly
to the protective earth of
the control panel.

Outer
box
Protective earth(PE)

Note. For 1-phase 200V to 230VAC, connect the power supply to L1 L2 and leave L3 open.
There is no L3 for 1-phase 100 to 120VAC power supply. Refer to section 1.3 for the power supply specification.

3 - 35
3. SIGNALS AND WIRING

3.13 Control axis selection

POINT
The control axis number set to rotary axis setting switch (SW1) should be the
same as the one set to the servo system PC or PLC...etc.

Use the rotary axis setting switch (SW1) to set the control axis number for the servo. If the same numbers are
set to different control axes in a single communication system, the system will not operate properly. The control
axes may be set independently of the SSCNET cable connection sequence.
Rotary axis setting switch (SW1) Spare (Be sure to set to the "Down" position.)
(Note) SW2

Up
7 8 9
A

Down
3 4 5 6

B C DE

Test operation select switch (SW2-1)

Set the
Set the test
test operation
operation select
select switch
switch to
to the
the"Up"
“Up”position,
Position,when
2

F 0 1 performing
when the test
performing theoperation mode by
test operation modeusing
byMR Configurator.
usinf set up
software（MR Configurator）
Note. This table indicates the status when the switch is set to "Down".
(Default)

Spare Rotary axis setting switch (SW1) Description Display

0 Axis No.1 01
1 Axis No.2 02
2 Axis No.3 03
3 Axis No.4 04
4 Axis No.5 05
5 Axis No.6 06
6 Axis No.7 07
Down
7 Axis No.8 08
(Be sure to set to the
8 Axis No.9 09
"Down" position.)
9 Axis No.10 10
A Axis No.11 11
B Axis No.12 12
C Axis No.13 13
D Axis No.14 14
E Axis No.15 15
F Axis No.16 16

3 - 36
4. STARTUP

4. STARTUP ...................................................................................................................................................... 2
4.1 Switching power on for the first time ........................................................................................................ 2
4.1.1 Startup procedure .............................................................................................................................. 2
4.1.2 Wiring check ...................................................................................................................................... 3
4.1.3 Surrounding environment .................................................................................................................. 4
4.2 Start up ..................................................................................................................................................... 5
4.3 Driver display ........................................................................................................................................... 6
4.4 Test operation .......................................................................................................................................... 8
4.5 Test operation mode ................................................................................................................................ 9
4.5.1 Test operation mode in set up software (MR Configurator2TM) ......................................................... 9
4.5.2 Motorless operation in driver ........................................................................................................... 11

4- 1
4. STARTUP

4. STARTUP
WARNING Do not operate the switches with wet hands. You may get an electric shock.

Before starting operation, check the parameters. Some machines may perform
unexpected operation.
Take safety measures, e.g. provide covers, to prevent accidental contact of hands
and parts (cables, etc.) with the driver heat sink, regenerative resistor, servo motor,
CAUTION etc. since they may be hot while power is on or for some time after power-off. Their
temperatures may be high and you may get burnt or a parts may damaged.
During operation, never touch the rotating parts of the servo motor. Doing so can
cause injury.

4.1 Switching power on for the first time

When switching power on for the first time, follow this section to make a startup.

4.1.1 Startup procedure

Wiring check Check whether the driver and servo motor are wired correctly using visual
inspection, DO forced output function (section 4.5.1), etc. (Refer to section
4.1.2.)

Surrounding environment check Check the surrounding environment of the driver and servo motor. (Refer to
section 4.1.3.)

Axis No. settings Confirm that the axis No. settings for rotary axis setting switch (SW1) and
servo system controller are consistent. (Refer to section 3.12)

Parameter setting Set the parameters as necessary, such as the used control mode and
regenerative option selection. (Refer to chapter 5)

Test operation of servo motor For the test operation, with the servo motor disconnected from the machine
alone in test operation mode
and operated at the speed as low as possible, check whether the servo motor
rotates correctly. (Refer to sections 4.5)

Test operation of servo motor For the test operation with the servo motor disconnected from the machine
alone by commands
and operated at the speed as low as possible, give commands to the driver
and check whether the servo motor rotates correctly.

Test operation with servo motor Connect the servo motor with the machine, give operation commands from the
and machine connected
host command device, and check machine motions.

Gain adjustment Make gain adjustment to optimize the machine motions. (Refer to chapter 6.)

Actual operation

Stop Stop giving commands and stop operation.

4- 2
4. STARTUP

4.1.2 Wiring check

(1) Power supply system wiring
Before switching on the main circuit and control circuit power supplies, check the following items.
(a) Power supply system wiring
The power supplied to the power input terminals (L1, L2, L3, L11, L21) of the driver should satisfy the
defined specifications. (Refer to section 1.3.)
(b) Connection of driver and servo motor
1) The servo motor power supply terminals (U, V, W) of the driver match in phase with the
power input terminals (U, V, W) of the servo motor.
Driver
Servo amplifier Servo motor
U
U
V
V M
W
W

2) The power supplied to the driver should not be connected to the servo motor power supply
terminals (U, V, W). To do so will fail the connected driver and servo motor.
Driver
Servo amplifier Servo motor

M
U V W
U V W

3) The earth terminal of the servo motor is connected to the PE terminal of the driver.
Driver
Servo amplifier Servo motor

4) P1-P2 (For 11kW or more, P1-P) should be connected.

ServoDriver
amplifier

P1

P2

(c) When option and auxiliary equipment are used

1) When regenerative option is used under 3.5kW for 200V class
The lead between P terminal and D terminal of CNP2 connector should not be connected.
The generative brake option should be connected to P terminal and C terminal.
A twisted cable should be used. (Refer to section 11.2)

4- 3
4. STARTUP

(2) I/O signal wiring

(a) The I/O signals should be connected correctly.
Use DO forced output to forcibly turn on/off the pins of the CN3 connector. This function can be used to
perform a wiring check. In this case, switch on the control circuit power supply only.

(b) 24VDC or higher voltage is not applied to the pins of connectors CN3.

(c) SD and DOCOM of connector CN3 is not shorted.

Driver
Servo amplifier
CN3
DOCOM

SD

4.1.3 Surrounding environment

(1) Cable routing
(a) The wiring cables are free from excessive force.

(b) The encoder cable should not be used in excess of its flex life. (Refer to section 10.4.)

(c) The connector part of the servo motor should not be strained.

(2) Environment
Signal cables and power cables are not shorted by wire offcuts, metallic dust or the like.

4- 4
4. STARTUP

4.2 Start up
Connect the servo motor with a machine after confirming that the servo motor operates properly alone.

(1) Power on
When the main and control circuit power supplies are switched on, "b01" (for the first axis) appears on the
driver display.
In the absolute position detection system, first power-on results in the absolute position lost (25) alarm and
the servo system cannot be switched on.
The alarm can be deactivated by then switching power off once and on again.
Also in the absolute position detection system, if power is switched on at the servo motor speed of 500r/min
or higher, position mismatch may occur due to external force or the like. Power must therefore be switched
on when the servo motor is at a stop.

(2) Parameter setting

Set the parameters according to the structure and specifications of the machine. Refer to chapter 5 for the
parameter definitions.

Parameter No. Name Setting Description

Increase in positioning address rotates the motor in
PA14 Rotation direction setting 0
the CCW direction.
PA08 Auto tuning mode 1 Used.
PA09 Auto tuning response 12 Slow response (initial value) is selected.

After setting the above parameters, switch power off once. Then switch power on again to make the set
parameter values valid.

(3) Servo-on
Switch the servo-on in the following procedure.

1) Switch on main circuit/control circuit power supply.

2) The driver transmits the servo-on command.

When placed in the servo-on status, the driver is ready to operate and the servo motor is locked.

(4) Home position return

Always perform home position return before starting positioning operation.

(5) Stop
If any of the following situations occurs, the driver suspends the running of the servo motor and brings it to a
stop.
When the servo motor is with a lock, refer to section 3.11.

Operation/command Stopping condition

Servo off command The base circuit is shut off and the servo motor coasts.
Servo system controller The base circuit is shut off and the dynamic brake operates to bring
Forced stop command
the servo motor to stop. The driver forced stop warning (E7) occurs.
The base circuit is shut off and the dynamic brake operates to bring
Alarm occurrence
the servo motor to stop.
Driver
Forced stop The base circuit is shut off and the dynamic brake operates to bring
(EM1) OFF the servo motor to stop. The servo forced stop warning (E6) occurs.

4- 5
4. STARTUP

4.3 Driver display

On the driver display (three-digit, seven-segment display), check the status of communication with the servo
system controller at power-on, check the axis number, and diagnose a fault at occurrence of an alarm.

(1) Display sequence

Driveramplifier
Servo power ON power ON

Waiting for servo system controller

power to switch ON
(SSCNET communication)

Servo system controller power ON (SSCNET communication beginning)

Initial data communication

with servo system controller
(Initialization communication)

(Note 1)
(Note 3) When alarm warning
Ready OFF/servo OFF No. is displayed
At occurrence of overload

Ready ON Flicker
display
At occurrence of overload
Ready ON/servo OFF warning (Note 2)
(Note 3)
When alarm occurs, Flicker
display
alarm code appears.
During controller
Servo ON forced stop
Flicker
display
(Note 3) Ready ON/servo ON
During forced stop
Flicker
display
Ordinary operation
Alarm reset or
warning
Servo system controller power OFF

Servo system controller power ON

Note 1. Only alarm and warning No. are displayed, but no axis No. is displayed
2. If warning other than E6 or E7 occurs during the servo on, flickering the
second place of decimal point indicates that it is during the servo on.
3. The right-hand segments of b01, c02 and d16 indicate the axis number.
(Below example indicates Axis1)

1 axis 2 axis 16 axis

4- 6
4. STARTUP

(2) Indication list

Indication Status Description
Power of the driver was switched on at the condition that the power of servo
system controller is OFF.
The axis No. set to the servo system controller does not match the axis No. set
with the rotary axis setting switch (SW1) of the driver.
A b Initializing
A driver fault occurred or an error took place in communication with the servo
system controller. In this case, the indication changes.
"Ab " "AC " "Ad " "Ab "
The servo system controller is faulty.
A b . Initializing During initial setting for communication specifications
Initial setting for communication specifications completed, and then it synchronized
AC Initializing
with servo system controller.
A d Initializing During initial parameter setting communication with servo system controller
During motor encoder information and telecommunication with servo system
AE Initializing
controller
AF Initializing During initial signal data communication with servo system controller
During the completion process for initial data communication with servo system
AH Initializing completion
controller
The power supply of servo system controller is turned off during the power supply
AA Initializing standby
of driver is on.

(Note 1) b # # Ready OFF The ready off signal from the servo system controller was received.

(Note 1) d # # Servo ON The ready off signal from the servo system controller was received.

(Note 1) C # # Servo OFF The ready off signal from the servo system controller was received.

(Note 2) Alarm Warning The alarm No./warning No. that occurred is displayed. (Refer to section 9.1.)
8 8 8 CPU Error CPU watchdog error has occurred.

(Note 3) b 0 0. JOG operation, positioning operation, programmed operation, DO forced output.

(Note 1) b # #. (Note 3)
d # #. Test operation mode Motor-less operation
C # #.
Note 1. ## denotes any of numerals 00 to 16 and what it means is listed below.
# Description
0 Set to the test operation mode.
1 First axis
2 Second axis
3 Third axis
4 Fourth axis
5 Fifth axis
6 Sixth axis
7 Seventh axis
8 Eighth axis
9 Ninth axis
10 Tenth axis
11 Eleventh axis
12 Twelfth axis
13 Thirteenth axis
14 Fourteenth axis
15 Fifteenth axis
16 Sixteenth axis

2. ** indicates the warning/alarm No.

3. Requires the set up software (MR Configurator2TM).

4- 7
4. STARTUP

4.4 Test operation

Before starting actual operation, perform test operation to make sure that the machine operates normally.
Refer to section 4.2 for the power on and off methods of the driver.

POINT
If necessary, verify driver program by using motorless operation.
Refer to section 4.5.2 for the motorless operation.

Test operation of servo motor In this step, confirm that the driver and servo motor operate normally.
alone in JOG operation of test
operation mode With the servo motor disconnected from the machine, use the test operation
mode and check whether the servo motor rotates correctly. Refer to section
4.5 for the test operation mode.

Test operation of servo motor In this step, confirm that the servo motor rotates correctly under the
alone by commands
commands from the driver.
Make sure that the servo motor rotates in the following procedure.
Give a low speed command at first and check the rotation direction, etc. of the
servo motor.
If the servo motor does not operate in the intended direction, check the input
signal.

Test operation with servo motor In this step, connect the servo motor with the machine and confirm that the
and machine connected
machine operates normally under the commands from the command device.
Make sure that the servo motor rotates in the following procedure.
Give a low speed command at first and check the operation direction, etc. of
the machine. If the machine does not operate in the intended direction, check
the input signal. In the status display, check for any problems of the servo
motor speed, command pulse frequency, load ratio, etc.
Then, check automatic operation with the program of the command device.

4- 8
4. STARTUP

4.5 Test operation mode

The test operation mode is designed for servo operation confirmation and not for
machine operation confirmation. Do not use this mode with the machine. Always
CAUTION use the servo motor alone.
If an operation fault occurred, use the forced stop (EM1) to make a stop.

POINT
The content described in this section indicates the environment that driver
and personal computer are directly connected.

By using a personal computer and the set up software (MR Configurator2TM), you can execute jog operation,
positioning operation, DO forced output program operation without connecting the servo system controller.

4.5.1 Test operation mode in set up software (MR Configurator2TM)

(1) Test operation mode
(a) Jog operation
Jog operation can be performed without using the servo system controller. Use this operation with the
forced stop reset. This operation may be used independently of whether the servo is on or off and
whether the servo system controller is connected or not.
Exercise control on the jog operation screen of the set up software (MR Configurator2TM).
1) Operation pattern
Item Initial value Setting range
Speed [r/min] 200 0 to max. speed
Acceleration/deceleration time constant [ms] 1000 0 to 50000

2) Operation method
Operation Screen control
Forward rotation start Click the "Forward" button.
Reverse rotation start Click the "Reverse" button.
Stop Click the "Stop" button.

(b) Positioning operation

Positioning operation can be performed without using the servo system controller. Use this operation
with the forced stop reset. This operation may be used independently of whether the servo is on or off
and whether the servo system controller is connected or not.
Exercise control on the positioning operation screen of the set up software (MR Configurator2TM).
1) Operation pattern
Item Initial value Setting range
Travel [pulse] 4000 0 to 99999999
Speed [r/min] 200 0 to max. speed
Acceleration/deceleration time constant [ms] 1000 0 to 50000

4- 9
4. STARTUP

2) Operation method
Operation Screen control
Forward rotation start Click the "Forward" button.
Reverse rotation start Click the "Reverse" button.
Pause Click the "Pause" button.

(c) Program operation

Positioning operation can be performed in two or more operation patterns combined, without using the
servo system controller. Use this operation with the forced stop reset. This operation may be used
independently of whether the servo is on or off and whether the servo system controller is connected or
not.
Exercise control on the programmed operation screen of the set up software (MR Configurator2TM). For
full information, refer to the set up software (MR Configurator2TM) Installation Guide.

Operation Screen control

Start Click the "Start" button.
Stop Click the "Reset" button.

(d) Output signal (DO) forced output

Output signals can be switched on/off forcibly independently of the servo status. Use this function for
output signal wiring check, etc.
Exercise control on the DO forced output screen of the set up software (MR Configurator2TM).

(2) Operation procedure

(a) Jog operation, positioning operation, program operation, DO forced output.

1) Switch power off.

2) Set SW2-1 to "UP".

SW2

Set SW2-1 to "UP" UP

DOWN

1 2

When SW1 and SW2-1 is set to the axis number and operation is performed by the servo system
controller, the test operation mode screen is displayed on the personal computer, but no function is
performed.

3) Switch driver power on.

When initialization is over, the display shows the following screen.

Decimal point flickers.

4) Perform operation with the personal computer.

4 - 10
4. STARTUP

4.5.2 Motorless operation in driver

POINT
Use motor-less operation which is available by making the servo system
driver parameter setting.
Motorless operation is done while connected with the servo system controller.

(1) Motorless operation

Without connecting the servo motor, output signals or status displays can be provided in response to the
servo system controller commands as if the servo motor is actually running. This operation may be used to
check the servo system controller sequence. Use this operation with the forced stop reset. Use this
operation with the driver connected to the servo system controller.
For stopping the motorless operation, set the selection of motorless operation to [Invalid] in servo parameter
setting of servo system controller. Motorless operation will be invalid condition after switching on power
supply next time.
(a) Load conditions
Load item Condition
Load torque 0
Load inertia moment ratio Same as servo motor inertia moment

(b) Alarms
The following alarms and warning do not occur. However, the other alarms and warnings occur as
when the servo motor is connected.
Encoder error 1 (16) Main circuit off warning (E9) (Note 1)
Encoder error 2 (20)
Absolute position erasure (25)
Battery cable disconnection warning (92)
Battery warning (9F)
Note 1. Main circuit off warning (E9) does not occur only when the forced stop of the converter unit is enabled as the cause
of occurrence with the drive unit of 30kW or more. Main circuit of warning, otherwise, occurs when the cause of
occurrence with the drive unit of 30kW or more is other than above, or with the driver of 22 kW or less.

(2) Operating procedure

1) Switch off driver

2) Set parameter No.PC05 to "1", change test operation mode switch (SW2-1) to normal condition side
"Down", and then turn on the power supply.
SW2

UP
Set SW2-1 to "DOWN" DOWN

1 2

3) Perform motor-less operation with the personal computer.

The display shows the following screen.

Decimal point flickers.

4 - 11
5. PARAMETERS

5. PARAMETERS .............................................................................................................................................. 2
5.1 Basic setting parameters (No.PA ) ..................................................................................................... 2
5.1.1 Parameter list .................................................................................................................................... 3
5.1.2 Parameter write inhibit ....................................................................................................................... 4
5.1.3 Selection of regenerative option ........................................................................................................ 5
5.1.4 Using absolute position detection system ......................................................................................... 6
5.1.5 Forced stop input selection ............................................................................................................... 6
5.1.6 Auto tuning ........................................................................................................................................ 7
5.1.7 In-position range ................................................................................................................................ 8
5.1.8 Selection of servo motor rotation direction ........................................................................................ 9
5.1.9 Encoder output pulse ........................................................................................................................ 9
5.2 Gain/filter parameters (No.PB ) ........................................................................................................ 11
5.2.1 Parameter list .................................................................................................................................. 11
5.2.2 Detail list .......................................................................................................................................... 12
5.3 Extension setting parameters (No.PC ) ............................................................................................ 19
5.3.1 Parameter list .................................................................................................................................. 19
5.3.2 List of details.................................................................................................................................... 20
5.3.3 Analog monitor ................................................................................................................................ 23
5.3.4 Alarm history clear ........................................................................................................................... 25
5.4 I/O setting parameters (No.PD ) ....................................................................................................... 26
5.4.1 Parameter list .................................................................................................................................. 26
5.4.2 List of details.................................................................................................................................... 27

5- 1
5. PARAMETERS

5. PARAMETERS
Never adjust or change the parameter values extremely as it will make operation
CAUTION instable.

POINT
When the driver is connected with the servo system controller, the parameters
are set to the values of the servo system controller. Switching power off, then
on makes the values set on the set up software(MR Configurator2TM) invalid
and the servo system controller values valid.
Setting may not be made to some parameters and ranges depending on the
model or version of the servo system controller. For details, refer to the servo
system controller user's manual.

In this driver, the parameters are classified into the following groups on a function basis.

Parameter group Main description

Basic setting parameters Make basic setting with these parameters. Generally, the operation is possible only with these
(No.PA ) parameter settings.
Gain/filter parameters Use these parameters when making gain adjustment manually.
(No.PB )
Extension setting parameters When changing settings such as analog monitor output signal or encoder electromagnetic brake
(No.PC ) sequence output, use these parameters.
I/O setting parameters Use these parameters when changing the I/O signals of the driver.
(No.PD )

Mainly setting the basic setting parameters (No.PA ) allows the setting of the basic parameters at the time
of introduction.

5.1 Basic setting parameters (No.PA )

POINT
Parameter whose symbol is preceded by * is made valid with the following
conditions.
* : Set the parameter value, switch power off once after setting, and then
switch it on again, or perform the driver reset.
**: Set the parameter value, switch power off once, and then switch it on
again.
Never change parameters for manufacturer setting.

5- 2
5. PARAMETERS

5.1.1 Parameter list

No. Symbol Name Initial value Unit
PA01 For manufacturer setting 0000h
PA02 **REG Regenerative option 0000h
PA03 *ABS Absolute position detection system 0000h
PA04 *AOP1 Function selection A-1 0000h
PA05 For manufacturer setting 0
PA06 1
PA07 1
PA08 ATU Auto tuning mode 0001h
PA09 RSP Auto tuning response 12
PA10 INP In-position range 100 pulse
PA11 For manufacturer setting 1000.0 %
PA12 1000.0 %
PA13 0000h
PA14 *POL Rotation direction selection 0
PA15 *ENR Encoder output pulses 4000 pulse/rev
PA16 For manufacturer setting 0
PA17 0000h
PA18 0000h
PA19 *BLK Parameter write inhibit 000Bh

5- 3
5. PARAMETERS

5.1.2 Parameter write inhibit

Parameter
Initial value Unit Setting range
No. Symbol Name
PA19 *BLK Parameter write inhibit 000Bh Refer to the text.

POINT
When setting the parameter values from the servo system controller, the
parameter No.PA19 setting need not be changed.
This parameter is made valid when power is switched off, then on after
setting, or when the driver reset has been performed.

In the factory setting, this driver allows changes to the basic setting parameter, gain/filter parameter and
extension setting parameter settings. With the setting of parameter No.PA19, write can be disabled to prevent
accidental changes.
The following table indicates the parameters which are enabled for reference and write by the setting of
parameter No.PA19. Operation can be performed for the parameters marked .

Basic setting Gain/filter Extension setting I/O setting

Parameter No.PA19
Setting operation parameters parameters parameters parameters
setting
No.PA No.PB No.PC No.PD
Reference
0000h
Write
000Bh Reference
(initial value) Write
Reference
000Ch
Write
Reference
100Bh Parameter
Write
No.PA19 only
Reference
100Ch Parameter
Write
No.PA19 only

5- 4
5. PARAMETERS

5.1.3 Selection of regenerative option

Parameter
Initial value Unit Setting range
No. Symbol Name
PA02 **REG Regenerative option 0000h Refer to the text.

POINT
This parameter value and switch power off once, then switch it on again to
make that parameter setting valid.
Wrong setting may cause the regenerative option to burn.
If the regenerative option selected is not for use with the driver, parameter
error (37) occurs.

Set this parameter when using the regenerative option, brake unit, power regeneration converter, or power
regeneration common converter.
Parameter No.PA02

0 0
Selection
Selectionof
ofregenerative
regenerativeoption
option
00: Regenerative option
00：Regenerative optionisisnot
notused
used
For
・Forservo
100Wamplifier of 100W, regenerative
driver regenerative resistor
resistor is not usedis not used.
For servo amplifier of 200 to 7kW, built-in regenerative resistor is used.
・For 200W driver regenerative resistor is used
Supplied regenerative resistors or regenerative option is used with
02：LEC-MR-RB-032
the servo amplifier of 11k to 22kW.
03：LEC-MR-RB-12
For a drive unit of 30kW or more, select regenerative option by the
converter unit.
01: FR-BU2-(H) FR-RC-(H) FR-CV-(H)
02: MR-RB032
03: MR-RB12
04: MR-RB32
05: MR-RB30
06: MR-RB50(Cooling fan is required)
08: MR-RB31
09: MR-RB51(Cooling fan is required)
80: MR-RB1H-4
81: MR-RB3M-4(Cooling fan is required)
82: MR-RB3G-4(Cooling fan is required)
83: MR-RB5G-4(Cooling fanis required)
84: MR-RB34-4(Cooling fanis required)
85: MR-RB54-4(Cooling fanis required)
FA: When the supplied regenerative resistor is cooled by the cooling fan to
increase the ability with the servo amplifier of 11k to 22kW.

5- 5
5. PARAMETERS

5.1.4 Using absolute position detection system

Parameter
Initial value Unit Setting range
No. Symbol Name
PA03 *ABS Absolute position detection system 0000h Refer to the text.

POINT
This parameter is made valid when power is switched off, then on after
setting, or when the driver reset has been performed.
This parameter cannot be used in the speed control mode.

Set this parameter when using the absolute position detection system in the position control mode.
Parameter No.PA03

0 0 0
Selection of absolute position detection system (refer to chapter 12)
0: Used in incremental system
1: Used in absolute position detection system

5.1.5 Forced stop input selection

Parameter
Initial value Unit Setting range
No. Symbol Name
PA04 *AOP1 Function selection A-1 0000h Refer to the text.

POINT
This parameter is made valid when power is switched off, then on after
setting, or when the driver reset has been performed.

The servo forced stop function is avoidable.

Parameter No.PA04
0 0 0
Selection of servo forced stop
0: Valid (Forced stop (EM1) is used.)
1: Invalid (Forced stop (EM1) is not used.)

When not using the forced stop (EM1) of driver, set the selection of servo forced stop to Invalid ( 1 ). At this
time, the forced stop (EM1) automatically turns on inside the driver.

5- 6
5. PARAMETERS

5.1.6 Auto tuning

Parameter
Initial value Unit Setting range
No. Symbol Name
PA08 ATU Auto tuning mode 0001h Refer to the text.
PA09 RSP Auto tuning response 12 1 to 32

Make gain adjustment using auto tuning. Refer to section 6.2 for details.

(1) Auto tuning mode (parameter No.PA08)

Select the gain adjustment mode.
Parameter No.PA08
0 0 0
Gain adjustment mode setting
Setting Gain adjustment mode Automatically set parameter No. (Note)
0 Interpolation mode PB06 PB08 PB09 PB10
1 Auto tuning mode 1 PB06 PB07 PB08 PB09 PB10
2 Auto tuning mode 2 PB07 PB08 PB09 PB10
3 Manual mode

Note. The parameters have the following names.

Parameter No. Name

PB06 Ratio of load inertia moment to servo motor inertia moment
PB07 Model loop gain
PB08 Position loop gain
PB09 Speed loop gain
PB10 Speed integral compensation

5- 7
5. PARAMETERS

(2) Auto tuning response (parameter No.PA09)

If the machine hunts or generates large gear sound, decrease the set value. To improve performance, e.g.
shorten the settling time, increase the set value.

Guideline for machine Guideline for machine

Setting Response Setting Response
resonance frequency [Hz] resonance frequency [Hz]
1 Low response 10.0 17 Low response 67.1
2 11.3 18 75.6
3 12.7 19 85.2
4 14.3 20 95.9
5 16.1 21 108.0
6 18.1 22 121.7
7 20.4 23 137.1
8 23.0 24 154.4
9 25.9 25 173.9
10 29.2 26 195.9
11 32.9 27 220.6
12 37.0 28 248.5
13 41.7 29 279.9
14 47.0 30 315.3
15 52.9 31 355.1
16 Middle response 59.6 32 Middle response 400.0

5.1.7 In-position range

Parameter
Initial value Unit Setting range
No. Symbol Name
PA10 INP In-position range 100 pulse 0 to 65535

POINT
This parameter cannot be used in the speed control mode.

Set the range, where in position (INP) is output, in the command pulse unit.
Servo motor droop pulse

Command pulse Command pulse

In-position range [pulse]
Droop pulse

ON
In position (INP)
OFF

5- 8
5. PARAMETERS

5.1.8 Selection of servo motor rotation direction

Parameter
Initial value Unit Setting range
No. Symbol Name
PA14 *POL Rotation direction selection 0 0 1

POINT
This parameter is made valid when power is switched off, then on after
setting, or when the driver reset has been performed.

Select servo motor rotation direction relative.

Servo motor rotation direction

Parameter No.PA14
When positioning address When positioning address
setting
increases decreases
0 CCW CW
1 CW CCW

Forward rotation (CCW)

Reverse rotation (CW)

5.1.9 Encoder output pulse

Parameter
Initial value Unit Setting range
No. Symbol Name
PA15 *ENR Encoder output pulse 4000 pulse/rev 1 to 65535

POINT
This parameter is made valid when power is switched off, then on after
setting, or when the driver reset has been performed.

Used to set the encoder pulses (A-phase, B-phase) output by the driver.
Set the value 4 times greater than the A-phase or B-phase pulses.
You can use parameter No.PC03 to choose the output pulse setting or output division ratio setting.
The number of A/B-phase pulses actually output is 1/4 times greater than the preset number of pulses.
The maximum output frequency is 4.6Mpps (after multiplication by 4). Use this parameter within this range.

5- 9
5. PARAMETERS

(1) For output pulse designation

Set " 0 " (initial value) in parameter No.PC03.
Set the number of pulses per servo motor revolution.
Output pulse set value [pulses/rev]
For instance, set "5600" to Parameter No.PA15, the actually output A/B-phase pulses are as indicated
below.

A B-phase output pulses 5600 1400[pulse]

4

(2) For output division ratio setting

Set " 1 " in parameter No.PC03.
The number of pulses per servo motor revolution is divided by the set value.

Output pulse Resolution per servo motor revolution

[pulses/rev]
Set value

For instance, set "8" to Parameter No.PA15, the actually output A/B-phase pulses are as indicated below.

A B-phase output pulses 4194304 1 131072[pulse]

8 4

5 - 10
5. PARAMETERS

5.2 Gain/filter parameters (No.PB )

POINT
Parameter whose symbol is preceded by * is made valid with the following
conditions.
* : Set the parameter value, switch power off once after setting, and then
switch it on again, or perform the driver reset.

5.2.1 Parameter list

No. Symbol Name Initial value Unit
PB01 FILT Adaptive tuning mode (Adaptive filter ) 0000h
Vibration suppression control tuning mode
PB02 VRFT 0000h
(advanced vibration suppression control)
PB03 For manufacturer setting 0
PB04 FFC Feed forward gain 0 %
PB05 For manufacturer setting 500
Multiplier
PB06 GD2 Ratio of load inertia moment to servo motor inertia moment 7.0
( 1)
PB07 PG1 Model loop gain 24 rad/s
PB08 PG2 Position loop gain 37 rad/s
PB09 VG2 Speed loop gain 823 rad/s
PB10 VIC Speed integral compensation 33.7 ms
PB11 VDC Speed differential compensation 980
PB12 For manufacturer setting 0
PB13 NH1 Machine resonance suppression filter 1 4500 Hz
PB14 NHQ1 Notch shape selection 1 0000h
PB15 NH2 Machine resonance suppression filter 2 4500 Hz
PB16 NHQ2 Notch shape selection 2 0000h
PB17 Automatic setting parameter
PB18 LPF Low-pass filter setting 3141 rad/s
PB19 VRF1 Vibration suppression control vibration frequency setting 100.0 Hz
PB20 VRF2 Vibration suppression control resonance frequency setting 100.0 Hz
PB21 For manufacturer setting 0.00
PB22 0.00
PB23 VFBF Low-pass filter selection 0000h
PB24 *MVS Slight vibration suppression control selection 0000h
PB25 For manufacturer setting 0000h
PB26 *CDP Gain changing selection 0000h
PB27 CDL Gain changing condition 10
PB28 CDT Gain changing time constant 1 ms
PB29 GD2B Gain changing ratio of load inertia moment to servo motor inertia moment Multiplier
7.0
( 1)
PB30 PG2B Gain changing position loop gain 37 rad/s
PB31 VG2B Gain changing speed loop gain 823 rad/s
PB32 VICB Gain changing speed integral compensation 33.7 ms
PB33 VRF1B Gain changing vibration suppression control vibration frequency setting 100.0 Hz
PB34 VRF2B Gain changing vibration suppression control resonance frequency setting 100.0 Hz
PB35 For manufacturer setting 0.00
PB36 0.00
PB37 100
PB38 0.0
PB39 0.0

5 - 11
5. PARAMETERS

No. Symbol Name Initial value Unit

PB40 For manufacturer setting 0.0
PB41 1125
PB42 1125
PB43 0004h
PB44 0.0
PB45 0000h

5.2.2 Detail list

Initial Setting
No. Symbol Name and function Unit
value range
PB01 FILT Adaptive tuning mode (adaptive filter ) 0000h
Select the setting method for filter tuning. Setting this parameter to " 1" (filter
tuning mode 1) automatically changes the machine resonance suppression filter 1
(parameter No.PB13) and notch shape selection (parameter No.PB14).
mechanical system

Machine resonance point

Response of

Frequency
Notch depth

Frequency
Notch frequency

0 0 0
Filter tuning mode selection

Setting Filter adjustment mode Automatically set parameter

0 Filter OFF (Note)
Parameter No.PB13
1 Filter tuning mode
Parameter No.PB14
2 Manual mode
Note. Parameter No.PB13 and PB14 are fixed to the initial values.

When this parameter is set to " 1", the tuning is completed after positioning is
done the predetermined number or times for the predetermined period of time, and the
setting changes to " 2". When the filter tuning is not necessary, the setting
changes to " 0". When this parameter is set to " 0", the initial values are set
to the machine resonance suppression filter 1 and notch shape selection. However, this
does not occur when the servo off.

5 - 12
5. PARAMETERS

Initial Setting
No. Symbol Name and function Unit
value range
PB02 VRFT Vibration suppression control tuning mode (advanced vibration suppression control) 0000h
This parameter cannot be used in the speed control mode.
The vibration suppression is valid when the parameter No.PA08 (auto tuning) setting is
" 2" or " 3". When PA08 is " 1", vibration suppression is always
invalid.
Select the setting method for vibration suppression control tuning. Setting this parameter
to " 1" (vibration suppression control tuning mode) automatically changes the
vibration suppression control vibration frequency (parameter No.PB19) and vibration
suppression control resonance frequency (parameter No.PB20) after positioning is done
the predetermined number of times.

Droop pulse Droop pulse

Automatic
Command adjustment Command
Machine end Machine end
position position

0 0 0
Vibration suppression control tuning mode

Vibration suppression Automatically set

Setting
control tuning mode parameter
Vibration suppression
0 (Note)
control OFF
Vibration suppression
control tuning mode Parameter No.PB19
1
(Advanced vibration Parameter No.PB20
suppression control)
2 Manual mode
Note. Parameter No.PB19 and PB20 are fixed to the initial values.

When this parameter is set to " 1", the tuning is completed after positioning is
done the predetermined number or times for the predetermined period of time, and the
setting changes to " 2". When the vibration suppression control tuning is not
necessary, the setting changes to " 0". When this parameter is set to " 0",
the initial values are set to the vibration suppression control vibration frequency and
vibration suppression control resonance frequency. However, this does not occur when
the servo off.
PB03 For manufacturer setting 0
Do not change this value by any means.
PB04 FFC Feed forward gain 0 % 0
This parameter cannot be used in the speed control mode. to
Set the feed forward gain. When the setting is 100%, the droop pulses during operation 100
at constant speed are nearly zero. However, sudden acceleration/deceleration will
increase the overshoot. As a guideline, when the feed forward gain setting is 100%, set
1s or more as the acceleration/deceleration time constant up to the rated speed.
PB05 For manufacturer setting 500
Do not change this value by any means.

5 - 13
5. PARAMETERS

Initial Setting
No. Symbol Name and function Unit
value range
PB06 GD2 Ratio of load inertia moment to servo motor inertia moment 7.0 Multiplier 0
Used to set the ratio of the load inertia moment to the servo motor shaft inertia moment. ( 1) to
When auto tuning mode 1 and interpolation mode is selected, the result of auto tuning is 300.0
automatically used.
(Refer to section 6.1.1)
In this case, it varies between 0 and 100.0.
When parameter No.PA08 is set to " 2" or " 3", this parameter can be set
manually.
PB07 PG1 Model loop gain 24 rad/s 1
Set the response gain up to the target position. to
Increase the gain to improve track ability in response to the command. 2000
When auto turning mode 1,2 is selected, the result of auto turning is automatically used.
When parameter No.PA08 is set to " 1" or " 3", this parameter can be set
manually.
PB08 PG2 Position loop gain 37 rad/s 1
This parameter cannot be used in the speed control mode. to
Used to set the gain of the position loop. 1000
Set this parameter to increase the position response to level load disturbance. Higher
setting increases the response level but is liable to generate vibration and/or noise.
When auto tuning mode 1,2 and interpolation mode is selected, the result of auto tuning
is automatically used.
When parameter No.PA08 is set to " 3", this parameter can be set manually.
PB09 VG2 Speed loop gain 823 rad/s 20
Set this parameter when vibration occurs on machines of low rigidity or large backlash. to
Higher setting increases the response level but is liable to generate vibration and/or 50000
noise.
When auto tuning mode 1 2, manual mode and interpolation mode is selected, the
result of auto tuning is automatically used.
When parameter No.PA08 is set to " 3", this parameter can be set manually.
PB10 VIC Speed integral compensation 33.7 ms 0.1
Used to set the integral time constant of the speed loop. to
Lower setting increases the response level but is liable to generate vibration and/or 1000.0
noise.
When auto tuning mode 1 2 and interpolation mode is selected, the result of auto
tuning is automatically used.
When parameter No.PA08 is set to " 3", this parameter can be set manually.
PB11 VDC Speed differential compensation 980 0
Used to set the differential compensation. to
When parameter No.PB24 is set to " 3 ", this parameter is made valid. When 1000
parameter No.PA08 is set to " 0 ", this parameter is made valid by instructions of
driver.
PB12 For manufacturer setting 0
Do not change this value by any means.
PB13 NH1 Machine resonance suppression filter 1 4500 Hz 100
Set the notch frequency of the machine resonance suppression filter 1. to
Setting parameter No.PB01 (filter tuning mode 1) to " 1" automatically changes 4500
this parameter.
When the parameter No.PB01 setting is " 0", the setting of this parameter is
ignored.

5 - 14
5. PARAMETERS

Initial Setting
No. Symbol Name and function Unit
value range
PB14 NHQ1 Notch shape selection 1 0000h Refer to
Used to selection the machine resonance suppression filter 1. Name
and
0 0 function
column.
Notch depth selection
Setting value Depth Gain
0 Deep 40dB
1 14dB
to
2 8dB
3 Shallow 4dB

Notch width
Setting value Width
0 Standard 2
1 3
to
2 4
3 Wide 5

Setting parameter No.PB01 (filter tuning mode 1) to " 1" automatically changes
this parameter.
When the parameter No.PB01 setting is " 0", the setting of this parameter is
ignored.
PB15 NH2 Machine resonance suppression filter 2 4500 Hz 100
to
Set the notch frequency of the machine resonance suppression filter 2.
4500
Set parameter No.PB16 (notch shape selection 2) to " 1" to make this parameter
valid.
PB16 NHQ2 Notch shape selection 2 0000h Refer to
Select the shape of the machine resonance suppression filter 2. Name
and
0 function
column.
Machine resonance suppression filter 2 selection
0: Invalid
1: Valid

Notch depth selection

Setting value Depth Gain
0 Deep 40dB
1 14dB
to
2 8dB
3 Shallow 4dB

Notch width
Setting value Width
0 Standard 2
1 3
to
2 4
3 Wide 5

PB17 Automatic setting parameter

The value of this parameter is set according to a set value of parameter No.PB06 (Ratio
of load inertia moment to servo motor inertia moment).

5 - 15
5. PARAMETERS

Initial Setting
No. Symbol Name and function Unit
value range
PB18 LPF Low-pass filter setting 3141 rad/s 100
Set the low-pass filter. to
Setting parameter No.PB23 (low-pass filter selection) to " 0 " automatically 18000
changes this parameter.
When parameter No.PB23 is set to " 1 ", this parameter can be set manually.
PB19 VRF1 Vibration suppression control vibration frequency setting 100.0 Hz 0.1
This parameter cannot be used in the speed control mode. to
Set the vibration frequency for vibration suppression control to suppress low-frequency 100.0
machine vibration, such as enclosure vibration. (Refer to section 7.4.(4))
Setting parameter No.PB02 (vibration suppression control tuning mode) to " 1"
automatically changes this parameter. When parameter No.PB02 is set to " 2",
this parameter can be set manually.
PB20 VRF2 Vibration suppression control resonance frequency setting 100.0 Hz 0.1
This parameter cannot be used in the speed control mode. to
Set the resonance frequency for vibration suppression control to suppress low- 100.0
frequency machine vibration, such as enclosure vibration. (Refer to section 7.4.(4))
Setting parameter No.PB02 (vibration suppression control tuning mode) to " 1"
automatically changes this parameter. When parameter No.PB02 is set to " 2",
this parameter can be set manually.
PB21 For manufacturer setting 0.00
PB22 Do not change this value by any means. 0.00
PB23 VFBF Low-pass filter selection 0000h Refer to
Select the low-pass filter. Name
and
0 0 0 function
column.
Low-pass filter selection
0: Automatic setting
1: Manual setting (parameter No.PB18 setting)

When automatic setting has been selected, select the filter that has the band width
VG2 10
close to the one calculated with [rad/s]
1 + GD2

PB24 *MVS Slight vibration suppression control selection 0000h Refer to

Select the slight vibration suppression control and PI-PID change. Name
When parameter No.PA08 (auto tuning mode) is set to " 3", this parameter is and
made valid. (Slight vibration suppression control cannot be used in the speed control function
mode.) column.

0 0
Slight vibration suppression control selection
0: Invalid
1: Valid
PI-PID control switch over selection
0: PI control is valid. (Switching to PID
control is possible with instructions of
controller.)
PC or PLC…etc)
3: PID control is always valid.

PB25 For manufacturer setting 0000h

Do not change this value by any means.

5 - 16
5. PARAMETERS

Initial Setting
No. Symbol Name and function Unit
value range
PB26 *CDP Gain changing selection 0000h Refer to
Select the gain changing condition. (Refer to section 7.6.) Name
and
0 0 function
column.
Gain changing selection
Under any of the following conditions, the gains
change on the basis of the parameter No.PB29 to
PB32 settings.
0: Invalid
1: Control instructions from a PC
controller.
or PLC…etc)
2: Command frequency (Parameter No.PB27
setting)
3: Droop pulse value (Parameter No.PB27 setting)
4: Servo motor speed (Parameter No.PB27 setting)

Gain changing condition

0: Valid at more than condition (For control
instructions from a controller, valid valid
PC or PLC…etc, with with
ON)ON)
1: Valid at less than condition (For control
instructions from a controller, valid valid
PC or PLC…etc, with with
OFF) OFF)

PB27 CDL Gain changing condition 10 kpps 0

Used to set the value of gain changing condition (command frequency, droop pulses, pulse to
servo motor speed) selected in parameter No.PB26.The set value unit changes with the r/min 9999
changing condition item. (Refer to section 7.6.)
PB28 CDT Gain changing time constant 1 ms 0
Used to set the time constant at which the gains will change in response to the to
conditions set in parameters No.PB26 and PB27. (Refer to section 7.6.) 100
PB29 GD2B Gain changing ratio of load inertia moment to servo motor inertia moment 7.0 Multiplier 0
Used to set the ratio of load inertia moment to servo motor inertia moment when gain ( 1) to
changing is valid. 300.0
This parameter is made valid when the auto tuning is invalid (parameter No.PA08:
3).
PB30 PG2B Gain changing position loop gain 37 rad/s 1
This parameter cannot be used in the speed control mode. to
Set the position loop gain when the gain changing is valid. 2000
This parameter is made valid when the auto tuning is invalid (parameter No.PA08:
3).
PB31 VG2B Gain changing speed loop gain 823 rad/s 20
Set the speed loop gain when the gain changing is valid. to
This parameter is made valid when the auto tuning is invalid (parameter No.PA08: 20000
3).
PB32 VICB Gain changing speed integral compensation 33.7 ms 0.1
Set the speed integral compensation when the gain changing is valid. to
This parameter is made valid when the auto tuning is invalid (parameter No.PA08: 5000.0
3).
PB33 VRF1B Gain changing vibration suppression control vibration frequency setting 100.0 Hz 0.1
This parameter cannot be used in the speed control mode. to
Set the vibration frequency for vibration suppression control when the gain changing is 100.0
valid. This parameter is made valid when the parameter No.PB02 setting is " 2"
and the parameter No.PB26 setting is " 1".
When using the vibration suppression control gain changing, always execute the
changing after the servo motor has stopped.

5 - 17
5. PARAMETERS

Initial Setting
No. Symbol Name and function Unit
value range
PB34 VRF2B Gain changing vibration suppression control resonance frequency setting 100.0 Hz 0.1
This parameter cannot be used in the speed control mode. to
Set the resonance frequency for vibration suppression control when the gain changing is 100.0
valid. This parameter is made valid when the parameter No.PB02 setting is " 2"
and the parameter No.PB26 setting is " 1".
When using the vibration suppression control gain changing, always execute the
changing after the servo motor has stopped.
PB35 For manufacturer setting 0.00
PB36 Do not change this value by any means. 0.00
PB37 100
PB38 0.0
PB39 0.0
PB40 0.0
PB41 1125
PB42 1125
PB43 0004h
PB44 0.0
PB45 0000h

5 - 18
5. PARAMETERS

5.3 Extension setting parameters (No.PC )

POINT
Parameter whose symbol is preceded by * is made valid with the following
conditions.
* : Set the parameter value, switch power off once after setting, and then
switch it on again, or perform the driver reset.
**: Set the parameter value, switch power off once, and then switch it on
again.

5.3.1 Parameter list

No. Symbol Name Initial value Unit
PC01 ERZ Error excessive alarm level 3 rev
PC02 MBR Electromagnetic brake sequence output 0 ms
PC03 *ENRS Encoder output pulses selection 0000h
PC04 **COP1 Function selection C-1 0000h
PC05 **COP2 Function selection C-2 0000h
PC06 *COP3 Function selection C-3 0000h
PC07 ZSP Zero speed 50 r/min
PC08 For manufacturer setting 0
PC09 MOD1 Analog monitor 1 output 0000h
PC10 MOD2 Analog monitor 2 output 0001h
PC11 MO1 Analog monitor 1 offset 0 mV
PC12 MO2 Analog monitor 2 offset 0 mV
PC13 MOSDL Analog monitor feedback position output standard data Low 0 pulse
PC14 MOSDH Analog monitor feedback position output standard data High 0 10000
pulse
PC15 For manufacturer setting 0
PC16 0000h
PC17 **COP4 Function selection C-4 0000h
PC18 For manufacturer setting 0000h
PC19 0000h
PC20 0000h
PC21 *BPS Alarm history clear 0000h
PC22 For manufacturer setting 0000h
PC23 0000h
PC24 0000h
PC25 0000h
PC26 0000h
PC27 0000h
PC28 0000h
PC29 0000h
PC30 0000h
PC31 0000h
PC32 0000h

5 - 19
5. PARAMETERS

5.3.2 List of details

Initial Setting
No. Symbol Name and function Unit
value range
PC01 ERZ Error excessive alarm level 3 rev 1
(Note 2) This parameter cannot be used in the speed control mode. (Note 1) to
Set error excessive alarm level with rotation amount of servo motor. 200
Note 1. Setting can be changed in parameter No.PC06.
2. For a driver with software version of B2 or later, reactivating the power supply to
enable the setting value is not necessary. For a driver with software version of
earlier than B2, reactivating the power supply is required to enable the setting
value.
PC02 MBR Electromagnetic brake sequence output 0 ms 0
Used to set the delay time (Tb) between electronic brake interlock (MBR) and the base to
drive circuit is shut-off. 1000
PC03 *ENRS Encoder output pulse selection 0000h Refer to
Use to select the, encoder output pulse direction and encoder output pulse setting. Name
and
0 0 function
column.
Encoder output pulse phase changing
Changes the phases of A, B-phase encoder pulses output .
Servo motor rotation direction
Set value
CCW CW
A-phase A-phase
0
B-phase B-phase

A-phase A-phase
1
B-phase B-phase

Encoder output pulse setting selection (refer to parameter No.PA15)

0: Output pulse designation
1: Division ratio setting

PC04 **COP1 Function selection C-1 0000h Refer to

Select the encoder cable communication system selection. Name
and
0 0 0 function
column.
Encoder cable communication system selection
0: Two-wire type
1: Four-wire type
The following encoder cables are of 4-wire type.
MR-EKCBL30M-L
MR-EKCBL30M-H
MR-EKCBL40M-H
MR-EKCBL50M-H
The other encoder cables are all of 2-wire type.
Incorrect setting will result in an encoder alarm 1 (16) or encoder
alarm 2 (20).

PC05 **COP2 Function selection C-2 0000h Refer to

Motor-less operation select. Name
and
0 0 0 function
column.
Motor-less operation select.
0: Valid
1: Invalid

5 - 20
5. PARAMETERS

Initial Setting
No. Symbol Name and function Unit
value range
PC06 *COP3 Function selection C-3 0000h Refer to
Select the error excessive alarm level setting for parameter No.PC01. Name
and
function
0 0 0 column.
Error excessive alarm level setting selection
0: 1 [rev]unit
1: 0.1 [rev]unit
2: 0.01 [rev]unit
3: 0.001[rev]unit

This parameter is available to software version B1 or later.

PC07 ZSP
Zero speed 50 r/min 0
Used to set the output range of the zero speed (ZSP). to
Zero speed signal detection has hysteresis width of 20r/min (Refer to section 3.5 (2) (b)) 10000
PC08 For manufacturer setting 0
Do not change this value by any means.
PC09 MOD1 Analog monitor 1 output 0000h Refer to
Used to selection the signal provided to the analog monitor 1 (MO1) output. (Refer to Name
section 5.3.3)
and
0 0 0 function
column.
Analog monitor 1 (MO1) output selection
Setting Item
0 Servo motor speed ( 8V/max. speed)
1 Torque ( 8V/max. torque) (Note 2)
2 Servo motor speed (+8V/max. speed)
3 Torque (+8V/max. torque) (Note 2)
4 Current command ( 8V/max. current command)
5 Speed command ( 8V/max. current command)
6 Droop pulses ( 10V/100 pulses) (Note 1)
7 Droop pulses ( 10V/1000 pulses) (Note 1)
8 Droop pulses ( 10V/10000 pulses) (Note 1)
9 Droop pulses ( 10V/100000 pulses) (Note 1)
A Feedback position ( 10V/1 Mpulses) (Note 1, 3)
B Feedback position ( 10V/10 Mpulses) (Note 1, 3)
C Feedback position ( 10V/100 Mpulses) (Note 1, 3)
D Bus voltage ( 8V/400V)(Note 4)

Note 1. Encoder pulse unit.

2. 8V is outputted at the maximum torque.
3. It can be used by the absolute position detection system.
4. For 400V class driver, the bus voltage becomes 8V/800V.

PC10 MOD2 Analog monitor 2 output 0001h Refer to

Used to selection the signal provided to the analog monitor 2 (MO2) output. (Refer to Name
section 5.3.3)
and
0 0 0 function
column.
Select the analog monitor 2 (MO2) output
The settings are the same as those of parameter No.PC09.

PC11 MO1 Analog monitor 1 offset 0 mV -999

Used to set the offset voltage of the analog monitor 1 (MO1) output. to
999

5 - 21
5. PARAMETERS

Initial Setting
No. Symbol Name and function Unit
value range
PC12 MO2 Analog monitor 2 offset 0 mV -999
Used to set the offset voltage of the analog monitor 2 (MO2) output. to
999
PC13 MOSDL Analog monitor feedback position output standard data Low 0 pulse -9999
Used to set the standard position of feedback output with analog monitor 1 (M01) or 2 to
(M02). 9999
For this parameter, the lower-order four digits of standard position in decimal numbers
are set.
PC14 MOSDH Analog monitor feedback position output standard data High 0 10000 -9999
Used to set the standard position of feedback output with analog monitor 1 (M01) or 2 pulse to
(M02). 9999
For this parameter, the higher-order four digits of standard position in decimal numbers
are set.
PC15 For manufacturer setting 0
PC16 Do not change this value by any means. 0000h
PC17 **COP4 Function Selection C-4 0000h Refer to
Home position setting condition in the absolute position detection system can be Name
selected. and
function
0 0 0 column.

Selection of home position setting condition

0: Need to pass motor Z-phase after the power
supply is switched on.
1: Not need to pass motor Z-phase after the power
supply is switched on.

PC18 For manufacturer setting 0000h

PC19 Do not change this value by any means. 0000h
PC20 0000h
PC21 *BPS Alarm history clear 0000h Refer to
Used to clear the alarm history. Name
and
0 0 0 function
column.
Alarm history clear
0: Invalid
1: Valid
When alarm history clear is made valid, the alarm
history is cleared at next power-on.
After the alarm history is cleared, the setting is
automatically made invalid (reset to 0).

PC22 For manufacturer setting 0000h

PC23 Do not change this value by any means. 0000h
PC24 0000h
PC25 0000h
PC26 0000h
PC27 0000h
PC28 0000h
PC29 0000h
PC30 0000h
PC31 0000h
PC32 0000h

5 - 22
5. PARAMETERS

5.3.3 Analog monitor

The servo status can be output to two channels in terms of voltage. The servo status can be monitored using
an ammeter.

(1) Setting
Change the following digits of parameter No.PC09, PC10.
Parameter No.PC09

0 0 0
Analog monitor (MO1) output selection
(Signal output to across MO1-LG)

Parameter No.PC10
0 0 0
Analog monitor (MO2) output selection
(Signal output to across MO2-LG)

Parameters No.PC11 and PC12 can be used to set the offset voltages to the analog output voltages. The
setting range is between 999 and 999mV.

Parameter No. Description Setting range [mV]

PC11 Used to set the offset voltage for the analog monitor 1 (MO1).
999 to 999
PC12 Used to set the offset voltage for the analog monitor 2 (MO2).

(2) Set content

The driver is factory-set to output the servo motor speed to analog monitor 1 (MO1) and the torque to
analog monitor (MO2). The setting can be changed as listed below by changing the parameter No.PC14
and PC12 value.
Refer to (3) for the measurement point.
Setting Output item Description Setting Output item Description
0 Servo motor speed 1 Torque (Note 3) Driving in CCW
CCW direction direction
8[V] 8[V]

Max. speed Max. torque

0 Max. speed 0 Max. torque

-8[V] -8[V]
CW direction Driving in CW
direction
2 Servo motor speed 3 Torque (Note 3) Driving in CW 8[V] Driving in CCW
CW direction 8[V] CCW direction
direction direction

Max. speed 0 Max. speed

Max. torque 0 Max. torque
4 Current command 5 Speed command CCW direction
CCW direction 8[V]
8[V]

Max. current command

(Max. torque command) Max. speed
0 0 Max. speed
Max. current command
(Max. torque command)
-8[V]
CW direction -8[V]
CW direction

5 - 23
5. PARAMETERS

Setting Output item Description Setting Output item Description

6 Droop pulses (Note 1) CCW direction 7 Droop pulses (Note 1) CCW direction
10[V] 10[V]
( 10V/100 pulses) ( 10V/1000 pulses)

100[pulse] 1000[pulse]
0 100[pulse] 0 1000[pulse]

-10[V] -10[V]
CW direction CW direction
8 Droop pulses CCW direction 9 Droop pulses CCW direction
10[V] 10[V]
(Note 1) (Note 1)
( 10V/10000 pulses) ( 10V/100000 pulses)
10000[pulse] 100000[pulse]
0 10000[pulse] 0 100000[pulse]

-10[V] -10[V]
CW direction CW direction
A Feedback position CCW direction B Feedback position CCW direction
10[V] 10[V]
(Note 1,2) (Note 1,2)
( 10V/1 Mpulses) ( 10V/10 Mpulses)
1M[pulse] 10M[pulse]
0 1M[pulse] 0 10M[pulse]

-10[V] -10[V]
CW direction CW direction
C Feedback position CCW direction D Bus voltage (Note 4)
10[V]
(Note 1,2)
8[V]
( 10V/100 Mpulses)
100M[pulse]
0 100M[pulse]
0 400[V]
-10[V]
CW direction
Note 1. Encoder pulse unit.
2. Available in position control mode
3. Outputs 8V at the maximum torque.
4. For 400V class driver, the bus voltage becomes 8V/800V.

5 - 24
5. PARAMETERS

(3) Analog monitor block diagram

Speed Droop pulse Current

command command Bus voltage
Speed
Position Differ- command Current encoder
command ential
Position Speed Current
received
control control control PWM M Servo Motor
from a
controller
PC or PLC…etc
Encoder
Current feedback

Differ-
ential
Position feedback Position feedback
data returned to
a controller
PC or PLC…etc
Feedback position
standard position (Note)
Servo Motor
speed Torque

Feedback
position

Note. The feedback position is output based on the position data passed between servo system controller and driver. The parameter
number No.PC13/PC14 can set up the standard position of feedback position that is output to analog monitor in order to adjust the
output range of feedback position. The setting range is between 99999999 and 99999999 pulses.

Standard position of feedback position = Parameter No.PC14 setting value 10000 + Parameter No.PC13 setting value

Parameter No. Description Setting range

Sets the lower-order four digits of the standard position 9999 to 9999 [pulse]
PC13
of feedback position
Sets the higher-order four digits of the standard position 9999 to 9999 [10000pulses]
PC14
of feedback position

5.3.4 Alarm history clear

The driver stores one current alarm and five past alarms from when its power is switched on first. To control
alarms which will occur during operation, clear the alarm history using parameter No.PC21 before starting
operation.
Clearing the alarm history automatically returns to " 0 ".
After setting, this parameter is made valid by switch power from OFF to ON.
Parameter No.PC21
0 0 0
Alarm history clear
0: Invalid (not cleared)
1: Valid (cleared)

5 - 25
5. PARAMETERS

5.4 I/O setting parameters (No.PD )

POINT
Parameter whose symbol is preceded by * is made valid with the following
conditions.
* : Set the parameter value, switch power off once after setting, and then
switch it on again, or perform the driver reset.

5.4.1 Parameter list

No. Symbol Name Initial value Unit
PD01 For manufacturer setting 0000h
PD02 0000h
PD03 0000h
PD04 0000h
PD05 0000h
PD06 0000h
PD07 *DO1 Output signal device selection 1 (CN3-13) 0005h
PD08 *DO2 Output signal device selection 2 (CN3-9) 0004h
PD09 *DO3 Output signal device selection 3 (CN3-15) 0003h
PD10 For manufacturer setting 0000h
PD11 0004h
PD12 0000h
PD13 0000h
PD14 *DOP3 Function selection D-3 0000h
PD15 For manufacturer setting 0000h
PD16 0000h
PD17 0000h
PD18 0000h
PD19 0000h
PD20 0000h
PD21 0000h
PD22 0000h
PD23 0000h
PD24 0000h
PD25 0000h
PD26 0000h
PD27 0000h
PD28 0000h
PD29 0000h
PD30 0000h
PD31 0000h
PD32 0000h

5 - 26
5. PARAMETERS

5.4.2 List of details

Initial Setting
No. Symbol Name and function Unit
value range
PD01 For manufacturer setting 0000h
PD02 Do not change this value by any means. 0000h
PD03 0000h
PD04 0000h
PD05 0000h
PD06 0000h
PD07 *DO1 Output signal device selection 1 (CN3-13) 0005h Refer to
Any input signal can be assigned to the CN3-13 pin. Name
and
0 0 function
column.
Select the output device of the CN3-13 pin.

The devices that can be assigned in each control mode are those that have the symbols
indicated in the following table.

Setting Device Setting Device

00 Always OFF 0A Always OFF (Note 2)
For manufacturer For manufacturer
01 0B
setting (Note 3) setting (Note 3)
02 RD 0C ZSP
For manufacturer
03 ALM 0D
setting (Note 3)
For manufacturer
04 INP (Note 1) 0E
setting (Note 3)
05 MBR 0F CDPS
For manufacturer
06 DB 10
setting (Note 3)
07 TLC 11 ABSV (Note 1)
For manufacturer
08 WNG 12 to 1F
setting (Note 3)
For manufacturer
09 BWNG 20 to 3F
setting (Note 3)
Note 1. It becomes always OFF in speed control mode.
2. It becomes SA in speed control mode.
3. For manufacturer setting
Never change this setting.

PD08 *DO2 Output signal device selection 2 (CN3-9) 0004h Refer to

Any input signal can be assigned to the CN3-9 pin. Name
The devices that can be assigned and the setting method are the same as in parameter
and
No.PD07.
function
0 0 0 column.

Select the output device of the CN3-9 pin.

PD09 *DO3 Output signal device selection 3 (CN3-15) 0003h Refer to

Any input signal can be assigned to the CN3-15 pin. Name
The devices that can be assigned and the setting method are the same as in parameter and
No.PD07. function
column.
0 0 0
Select the output device of the CN3-15 pin.

5 - 27
5. PARAMETERS

Initial Setting
No. Symbol Name and function Unit
value range
PD10 For manufacturer setting 0000h
PD11 Do not change this value by any means. 0004h
PD12 0000h
PD13 0000h
PD14 *DOP3 Function selection D-3 0000h Refer to
Set the ALM output signal at warning occurrence. Name
and
0 0 0 function
column.
Selection of output device at warning occurrence
Select the warning (WNG) and trouble (ALM) output status
at warning occurrence.
Output of driver
Servo amplifier
Setting (Note) Device status
1
WNG
0
0 1
ALM
0
Warning occurrence
1
WNG
0
1 1
ALM
0
Warning occurrence
Note. 0: off
1: on

PD15 For manufacturer setting 0000h

PD16 Do not change this value by any means. 0000h
PD17 0000h
PD18 0000h
PD19 0000h
PD20 0000h
PD21 0000h
PD22 0000h
PD23 0000h
PD24 0000h
PD25 0000h
PD26 0000h
PD27 0000h
PD28 0000h
PD29 0000h
PD30 0000h
PD31 0000h
PD32 0000h

5 - 28
6. GENERAL GAIN ADJUSTMENT

6. GENERAL GAIN ADJUSTMENT .................................................................................................................. 2

6.1 Different adjustment methods .................................................................................................................. 2
6.1.1 Adjustment on a single driver ............................................................................................................ 2
6.1.2 Adjustment using set up software（MR Configurator2TM） .............................................................. 3
6.2 Auto tuning ............................................................................................................................................... 4
6.2.1 Auto tuning mode .............................................................................................................................. 4
6.2.2 Auto tuning mode operation .............................................................................................................. 5
6.2.3 Adjustment procedure by auto tuning ............................................................................................... 6
6.2.4 Response level setting in auto tuning mode ..................................................................................... 7
6.3 Manual mode 1 (simple manual adjustment) ........................................................................................... 8
6.4 Interpolation mode ................................................................................................................................. 12

6- 1
6. GENERAL GAIN ADJUSTMENT

6. GENERAL GAIN ADJUSTMENT

6.1 Different adjustment methods

6.1.1 Adjustment on a single driver
The gain adjustment in this section can be made on a single driver. For gain adjustment, first execute auto
tuning mode 1. If you are not satisfied with the results, execute auto tuning mode 2 and manual mode in this
order.

(1) Gain adjustment mode explanation

Parameter Estimation of load inertia Automatically set
Gain adjustment mode Manually set parameters
No.PA08 setting moment ratio parameters
Auto tuning mode 1 0001 Always estimated GD2 (parameter No.PB06) Response level setting of
(initial value) PG2 (parameter No.PB08) parameter No.2
PG1 (parameter No.PB07)
VG2 (parameter No.PB09)
VIC (parameter No.PB10)
Auto tuning mode 2 0002 Fixed to parameter No. PG2 (parameter No.PB08) GD2 (parameter No.PB06)
PB06 value PG1 (parameter No.PB07) Response level setting of
VG2 (parameter No.PB09) parameter No.PA09
VIC (parameter No.PB10)
Manual mode 0003 PG1 (parameter No.PB07)
GD2 (parameter No.PB06)
VG2 (parameter No.PB09)
VIC (parameter No.PB10)
Interpolation mode 0000 Always estimated GD2 (parameter No.PB06) PG1 (parameter No.PB07)
PG2 (parameter No.PB08)
VG2 (parameter No.PB09)
VIC (parameter No.PB10)

6- 2
6. GENERAL GAIN ADJUSTMENT

(2) Adjustment sequence and mode usage

START

Usage
Interpolation Yes
made for 2 or more Used when you want to
axes? match the position gain (PG1)
No Interpolation mode
between 2 or more axes.
Normally not used for other
Operation purposes.
Auto tuning mode 1 Allows adjustment by merely
changing the response level
Operation setting.
First use this mode to make
Yes No adjustment.
OK? OK? Used when the conditions of
No Yes auto tuning mode 1 are not
Auto tuning mode 2 met and the load inertia
moment ratio could not be
estimated properly, for
Operation
example.

Yes
OK?
No You can adjust all gains
manually when you want to
Manual mode
do fast settling or the like.

END

6.1.2 Adjustment using set up software（MR Configurator2TM）

This section gives the functions and adjustment that may be performed by using the driver with the set up
software（MR Configurator2TM） which operates on a personal computer.

Function Description Adjustment

Machine analyzer With the machine and servo motor coupled, You can grasp the machine resonance frequency and
the characteristic of the mechanical system determine the notch frequency of the machine resonance
can be measured by giving a random suppression filter.
vibration command from the personal You can automatically set the optimum gains in response to
computer to the servo and measuring the the machine characteristic. This simple adjustment is
machine response. suitable for a machine which has large machine resonance
and does not require much settling time.
Gain search Executing gain search under to-and-fro You can automatically set gains which make positioning
positioning command measures settling settling time shortest.
characteristic while simultaneously
changing gains, and automatically searches
for gains which make settling time shortest.
Machine simulation Response at positioning settling of a You can optimize gain adjustment and command pattern on
machine can be simulated from machine personal computer.
analyzer results on personal computer.

6- 3
6. GENERAL GAIN ADJUSTMENT

6.2 Auto tuning

6.2.1 Auto tuning mode
The driver has a real-time auto tuning function which estimates the machine characteristic (load inertia moment
ratio) in real time and automatically sets the optimum gains according to that value. This function permits ease
of gain adjustment of the driver.

(1) Auto tuning mode 1

The driver is factory-set to the auto tuning mode 1.
In this mode, the load inertia moment ratio of a machine is always estimated to set the optimum gains
automatically.
The following parameters are automatically adjusted in the auto tuning mode 1.

Parameter No. Abbreviation Name

PB06 GD2 Ratio of load inertia moment to servo motor inertia moment
PB07 PG1 Model loop gain
PB08 PG2 Position loop gain
PB09 VG2 Speed loop gain
PB10 VIC Speed integral compensation

POINT
The auto tuning mode 1 may not be performed properly if the following
conditions are not satisfied.
Time to reach 2000r/min is the acceleration/deceleration time constant of 5s or
less.
Speed is 150r/min or higher.
The ratio of load inertia moment to servo motor inertia moment is 100 times or
less.
The acceleration/deceleration torque is 10% or more of the rated torque.
Under operating conditions which will impose sudden disturbance torque
during acceleration/deceleration or on a machine which is extremely loose,
auto tuning may not function properly, either. In such cases, use the auto
tuning mode 2 or manual mode to make gain adjustment.

(2) Auto tuning mode 2

Use the auto tuning mode 2 when proper gain adjustment cannot be made by auto tuning mode 1. Since
the load inertia moment ratio is not estimated in this mode, set the value of a correct load inertia moment
ratio (parameter No.PB06).
The following parameters are automatically adjusted in the auto tuning mode 2.

Parameter No. Abbreviation Name

PB07 PG1 Model loop gain
PB08 PG2 Position loop gain
PB09 VG2 Speed loop gain
PB10 VIC Speed integral compensation

6- 4
6. GENERAL GAIN ADJUSTMENT

6.2.2 Auto tuning mode operation

The block diagram of real-time auto tuning is shown below.

Load inertia
Automatic setting moment

Encoder
Command Loop gains Current Servo
PG1,VG1
control motor
PG2,VG2,VIC
Current feedback

Set 0 or 1 to turn on. Real-time auto Position/speed

tuning section feedback
Load inertia
Gain
moment ratio
table Switch estimation section Speed feedback

Parameter No.PA08 Parameter No.PA09 Parameter No.PB06

Load inertia moment
0 0 0 ratio estimation value

Gain adjustment mode Response

selection setting

When a servo motor is accelerated/decelerated, the load inertia moment ratio estimation section always
estimates the load inertia moment ratio from the current and speed of the servo motor. The results of estimation
are written to parameter No.PB06 (the ratio of load inertia moment to servo motor). These results can be
confirmed on the status display screen of the set up software（MR Configurator2TM）.
If the value of the load inertia moment ratio is already known or if estimation cannot be made properly, chose
the "auto tuning mode 2" (parameter No.PA08: 0002) to stop the estimation of the load inertia moment ratio
(Switch in above diagram turned off), and set the load inertia moment ratio (parameter No.34) manually.
From the preset load inertia moment ratio (parameter No.PB06) value and response level (parameter No.PA09),
the optimum loop gains are automatically set on the basis of the internal gain tale.
The auto tuning results are saved in the EEP-ROM of the driver every 60 minutes since power-on. At power-on,
auto tuning is performed with the value of each loop gain saved in the EEP-ROM being used as an initial value.

POINT
If sudden disturbance torque is imposed during operation, the estimation of
the inertia moment ratio may malfunction temporarily. In such a case, choose
the "auto tuning mode 2" (parameter No.PA08: 0002) and set the correct load
inertia moment ratio in parameter No.PB06.
When any of the auto tuning mode 1 and auto tuning mode settings is
changed to the manual mode 2 setting, the current loop gains and load inertia
moment ratio estimation value are saved in the EEP-ROM.

6- 5
6. GENERAL GAIN ADJUSTMENT

6.2.3 Adjustment procedure by auto tuning

Since auto tuning is made valid before shipment from the factory, simply running the servo motor automatically
sets the optimum gains that match the machine. Merely changing the response level setting value as required
completes the adjustment. The adjustment procedure is as follows.

Auto tuning adjustment

Acceleration/deceleration repeated

Yes Load inertia moment ratio

estimation value stable?

No

Auto tuning
conditions not satisfied. No
(Estimation of load inertia
moment ratio is difficult)

Yes
Choose the auto tuning mode 2
(parameter No.PA08 : 0002) and
set the load inertia moment ratio
(parameter No.PB06) manually.

Adjust response level setting

so that desired response is
achieved on vibration-free level.

Acceleration/deceleration repeated

Requested No
performance satisfied?

Yes

END
To manual mode

6- 6
6. GENERAL GAIN ADJUSTMENT

6.2.4 Response level setting in auto tuning mode

Set the response (The first digit of parameter No.PA09) of the whole servo system. As the response level
setting is increased, the track ability and settling time for a command decreases, but a too high response level
will generate vibration. Hence, make setting until desired response is obtained within the vibration-free range.
If the response level setting cannot be increased up to the desired response because of machine resonance
beyond 100Hz, filter tuning mode (parameter No.PB01) or machine resonance suppression filter (parameter
No.PB13 to PB16) may be used to suppress machine resonance. Suppressing machine resonance may allow
the response level setting to increase. Refer to section 7.3 for filter tuning mode and machine resonance
suppression filter.

Setting of parameter No.PA09

Machine characteristic
Response level setting Machine resonance
Machine rigidity Guideline of corresponding machine
frequency guideline
1 Low 10.0
2 11.3
3 12.7
4 14.3
5 16.1
6 18.1
7 20.4
8 23.0
9 25.9
10 29.2
11 32.9 Large conveyor
12 37.0
13 41.7
14 47.0 Arm robot
15 52.9
16 Middle 59.6 General machine
tool conveyor
17 67.1
Precision
18 75.6
working
19 85.2 machine
20 95.9
Inserter
21 108.0 Mounter
22 121.7 Bonder
23 137.1
24 154.4
25 173.9
26 195.9
27 220.6
28 248.5
29 279.9
30 315.3
31 355.1
32 High 400.0

6- 7
6. GENERAL GAIN ADJUSTMENT

6.3 Manual mode 1 (simple manual adjustment)

If you are not satisfied with the adjustment of auto tuning, you can make simple manual adjustment with three
parameters.

POINT
If machine resonance occurs, filter tuning mode (parameter No.PB01) or
machine resonance suppression filter (parameter No.PB13 to PB16) may be
used to suppress machine resonance. (Refer to section 7.3.)

(1) For speed control

(a) Parameters
The following parameters are used for gain adjustment.

Parameter No. Abbreviation Name

PB06 GD2 Ratio of load inertia moment to servo motor inertia moment
PB07 PG1 Model loop gain
PB09 VG2 Speed loop gain
PB10 VIC Speed integral compensation

(b) Adjustment procedure

Step Operation Description
1 Brief-adjust with auto tuning. Refer to section 6.2.3.
2 Change the setting of auto tuning to the manual mode (Parameter
No.PA08: 0003).
3 Set an estimated value to the ratio of load inertia moment to servo motor
inertia moment. (If the estimate value with auto tuning is correct, setting
change is not required.)
4 Set a slightly smaller value to the model loop gain
Set a slightly larger value to the speed integral compensation.
5 Increase the speed loop gain within the vibration- and unusual noise-free Increase the speed loop gain.
range, and return slightly if vibration takes place.
6 Decrease the speed integral compensation within the vibration-free range, Decrease the time constant of the speed
and return slightly if vibration takes place. integral compensation.
7 Increase the model loop gain, and return slightly if overshooting takes Increase the model loop gain.
place.
8 If the gains cannot be increased due to mechanical system resonance or Suppression of machine resonance.
the like and the desired response cannot be achieved, response may be Refer to section 7.2, 7.3.
increased by suppressing resonance with filter tuning mode or machine
resonance suppression filter and then executing steps 2 and 3.
9 While checking the settling characteristic and rotational status, fine-adjust Fine adjustment
each gain.

6- 8
6. GENERAL GAIN ADJUSTMENT

(c)Adjustment description
1) Speed loop gain (parameter No.PB09)
This parameter determines the response level of the speed control loop. Increasing this value
enhances response but a too high value will make the mechanical system liable to vibrate. The actual
response frequency of the speed loop is as indicated in the following expression.

Speed loop response Speed loop gain setting

frequency(Hz) (1 ratio of load inertia moment to servo motor inertia moment) 2

2) Speed integral compensation (VIC: parameter No.PB10)

To eliminate stationary deviation against a command, the speed control loop is under proportional
integral control. For the speed integral compensation, set the time constant of this integral control.
Increasing the setting lowers the response level. However, if the load inertia moment ratio is large or
the mechanical system has any vibratory element, the mechanical system is liable to vibrate unless
the setting is increased to some degree. The guideline is as indicated in the following expression.

Speed integral compensation 2000 to 3000

setting(ms) Speed loop gain setting/ (1 ratio of load inertia moment to
servo motor inertia moment setting)

3) Model loop gain (PG1: Parameter No.PB07)

This parameter determines the response level to a position command. Increasing the model loop gain
improves track ability to a position command, but a too high value will make overshooting liable to
occur at the time of setting.

Model loop gain Speed loop gain setting 1 1

guideline to
(1 ratio of load inertia moment to servo motor inertia moment) 4 8

6- 9
6. GENERAL GAIN ADJUSTMENT

(2) For position control

(a) Parameters
The following parameters are used for gain adjustment.

Parameter No. Abbreviation Name

PB06 GD2 Ratio of load inertia moment to servo motor inertia moment
PB07 PG1 Model loop gain
PB08 PG2 Position loop gain
PB09 VG2 Speed loop gain
PB10 VIC Speed integral compensation

(b) Adjustment procedure

Step Operation Description
1 Brief-adjust with auto tuning. Refer to section 6.2.3.
2 Change the setting of auto tuning to the manual mode (Parameter
No.PA08: 0003).
3 Set an estimated value to the ratio of load inertia moment to servo motor
inertia moment. (If the estimate value with auto tuning is correct, setting
change is not required.)
4 Set a slightly smaller value to the model loop gain and the position loop
gain.
Set a slightly larger value to the speed integral compensation.
5 Increase the speed loop gain within the vibration- and unusual noise-free Increase the speed loop gain.
range, and return slightly if vibration takes place.
6 Decrease the speed integral compensation within the vibration-free range, Decrease the time constant of the speed
and return slightly if vibration takes place. integral compensation.
7 Increase the position loop gain, and return slightly if vibration takes place. Increase the position loop gain.
8 Increase the model loop gain, and return slightly if overshooting takes Increase the position loop gain.
place.
9 If the gains cannot be increased due to mechanical system resonance or Suppression of machine resonance.
the like and the desired response cannot be achieved, response may be Refer to section 7.2 7.3.
increased by suppressing resonance with filter tuning mode or machine
resonance suppression filter and then executing steps 3 to 5.
10 While checking the settling characteristic and rotational status, fine-adjust Fine adjustment
each gain.

6 - 10
6. GENERAL GAIN ADJUSTMENT

(c) Adjustment description

1) Speed loop gain (VG2: parameter No.PB09)
This parameter determines the response level of the speed control loop. Increasing this value
enhances response but a too high value will make the mechanical system liable to vibrate. The actual
response frequency of the speed loop is as indicated in the following expression.

Speed loop response Speed loop gain 2 setting

frequency(Hz) (1 ratio of load inertia moment to servo motor inertia moment) 2

2) Speed integral compensation (VIC: parameter No.PB10)

To eliminate stationary deviation against a command, the speed control loop is under proportional
integral control. For the speed integral compensation, set the time constant of this integral control.
Increasing the setting lowers the response level. However, if the load inertia moment ratio is large or
the mechanical system has any vibratory element, the mechanical system is liable to vibrate unless
the setting is increased to some degree. The guideline is as indicated in the following expression.

Speed integral compensation 2000 to 3000

setting(ms) Speed loop gain 2 setting/ (1 ratio of load inertia moment to
servo motor inertia moment 2 setting)

3) Model loop gain (PG1: Parameter No.PB07)

This parameter determines the response level to a position command. Increasing the model loop gain
improves track ability to a position command, but a too high value will make overshooting liable to
occur at the time of setting.

Model loop gain Speed loop gain setting 1 1

guideline to
(1 ratio of load inertia moment to servo motor inertia moment) 4 8

4) Model loop gain (PG1: parameter No.PB07)

This parameter determines the response level to a position command. Increasing position loop gain 1
improves track ability to a position command but a too high value will make overshooting liable to
occur at the time of settling.

Model loop gain Speed loop gain 2 setting 1 1

guideline to
(1 ratio of load inertia moment to servo motor inertia moment) 4 8

6 - 11
6. GENERAL GAIN ADJUSTMENT

6.4 Interpolation mode

The interpolation mode is used to match the position loop gains of the axes when performing the interpolation
operation of servo motors of two or more axes for an X-Y table or the like. In this mode, manually set the model
loop gain that determines command track ability. Other parameters for gain adjustment are set automatically.

(1) Parameter
(a) Automatically adjusted parameters
The following parameters are automatically adjusted by auto tuning.

Parameter No. Abbreviation Name

PB06 GD2 Ratio of load inertia moment to servo motor inertia moment
PB08 PG2 Position loop gain
PB09 VG2 Speed loop gain
PB10 VIC Speed integral compensation

(b) Manually adjusted parameters

The following parameters are adjustable manually.

Parameter No. Abbreviation Name

PB07 PG1 Model loop gain

(2) Adjustment procedure

Step Operation Description
1 Set to the auto tuning mode. Select the auto tuning mode 1.
During operation, increase the response level setting (parameter
2 Adjustment in auto tuning mode 1.
No.PA09), and return the setting if vibration occurs.
3 Check the values of model loop gain. Check the upper setting limits.
4 Set the interpolation mode (parameter No.PA08: 0000). Select the interpolation mode.
Set the model loop gain of all the axes to be interpolated to the same
5 value. At that time, adjust to the setting value of the axis, which has the Set position loop gain.
smallest model loop gain.
Looking at the interpolation characteristic and rotation status, fine-adjust
6 Fine adjustment.
the gains and response level setting.

(3) Adjustment description

(a) Model loop gain (parameter No.PB07)
This parameter determines the response level of the position control loop. Increasing model loop gain
improves track ability to a position command but a too high value will make overshooting liable to occur
at the time of settling. The droop pulse value is determined by the following expression.

Rotation speed (r/min)

262144(pulse)
60
Droop pulse value (pulse)
Model loop gain setting

6 - 12
7. SPECIAL ADJUSTMENT FUNCTIONS

7. SPECIAL ADJUSTMENT FUNCTIONS ........................................................................................................ 2

7.1 Function block diagram ............................................................................................................................ 2
7.2 Adaptive filter ........................................................................................................................................ 2
7.3 Machine resonance suppression filter ..................................................................................................... 5
7.4 Advanced vibration suppression control .................................................................................................. 7
7.5 Low-pass filter ........................................................................................................................................ 11
7.6 Gain changing function .......................................................................................................................... 11
7.6.1 Applications ..................................................................................................................................... 11
7.6.2 Function block diagram ................................................................................................................... 12
7.6.3 Parameters ...................................................................................................................................... 13
7.6.4 Gain changing operation ................................................................................................................. 15

7- 1
7. SPECIAL ADJUSTMENT FUNCTIONS

7. SPECIAL ADJUSTMENT FUNCTIONS

POINT
The functions given in this chapter need not be used generally. Use them if
you are not satisfied with the machine status after making adjustment in the
methods in chapter 7.

If a mechanical system has a natural resonance point, increasing the servo system response level may cause
the mechanical system to produce resonance (vibration or unusual noise) at that resonance frequency.
Using the machine resonance suppression filter and adaptive tuning can suppress the resonance of the
mechanical system.

7.1 Function block diagram

Speed Parameter Parameter Parameter Current
control No.PB01 No.PB16 No.PB23 command
Low-pass Servo
filter motor
Machine resonance
suppression filter
Machine resonance Encoder
Adaptive tuning suppression filter 2
1

Manual setting

7.2 Adaptive filter

(1) Function
Adaptive filter (adaptive tuning) is a function in which the driver detects machine vibration for a
predetermined period of time and sets the filter characteristics automatically to suppress mechanical system
vibration. Since the filter characteristics (frequency, depth) are set automatically, you need not be conscious
of the resonance frequency of a mechanical system.
Machine resonance point Machine resonance point
Mechanical Mechanical
system system
response response
level Frequency level Frequency

Notch Notch
depth depth

Frequency Frequency
Notch frequency Notch frequency

When machine resonance is large and frequency is low When machine resonance is small and frequency is high

POINT
The machine resonance frequency which adaptive tuning mode can respond
to is about 100 to 2.25kHz. Adaptive vibration suppression control has no
effect on the resonance frequency outside this range.
Adaptive vibration suppression control may provide no effect on a mechanical
system which has complex resonance characteristics.

7- 2
7. SPECIAL ADJUSTMENT FUNCTIONS

(2) Parameters
The operation of adaptive tuning mode (parameter No.PB01).
Parameter No.PB01
0 0 0
Filter tuning mode selection

Setting Filter adjustment mode Automatically set parameter

0 Filter OFF (Note)
Parameter No.PB13
1 Filter tuning mode
Parameter No.PB14
2 Manual mode
Note. Parameter No.PB19 and PB20 are fixed to the initial values.

7- 3
7. SPECIAL ADJUSTMENT FUNCTIONS

(3) Adaptive tuning mode procedure

Adaptive tuning adjustment

Operation

Yes
Is the target response
reached?

No

Increase the response setting.

No
Has vibration or unusual noise
occurred?

Yes

Execute or re-execute adaptive

tuning. (Set parameter No.PB01 to
"0001".)

Tuning ends automatically after the If assumption fails after tuning is executed at
predetermined period of time. a large vibration or oscillation, decrease the
(Parameter No.PB01 turns to "0002" response setting temporarily down to the
or "0000".) vibration level and execute again.

Yes
Has vibration or unusual noise
been resolved?
No

Decrease the response until vibration Using the machine analyzer, set the Factor
or unusual noise is resolved. filter manually. The response has increased to the
machine limit.
The machine is too complicated to
provide the optimum filter.

End

7- 4
7. SPECIAL ADJUSTMENT FUNCTIONS

POINT
"Filter OFF" enables a return to the factory-set initial value.
When adaptive tuning is executed, vibration sound increases as an excitation
signal is forcibly applied for several seconds.
When adaptive tuning is executed, machine resonance is detected for a
maximum of 10 seconds and a filter is generated. After filter generation, the
adaptive tuning mode automatically shifts to the manual mode.
Adaptive tuning generates the optimum filter with the currently set control
gains. If vibration occurs when the response setting is increased, execute
adaptive tuning again.
During adaptive tuning, a filter having the best notch depth at the set control
gain is generated. To allow a filter margin against machine resonance,
increase the notch depth in the manual mode.

7.3 Machine resonance suppression filter

(1) Function
The machine resonance suppression filter is a filter function (notch filter) which decreases the gain of the
specific frequency to suppress the resonance of the mechanical system. You can set the gain decreasing
frequency (notch frequency), gain decreasing depth and width.

Mechanical Machine resonance point

system
response
level
Frequency

Notch width
Notch
depth Notch depth
Frequency
Notch frequency

You can use the machine resonance suppression filter 1 (parameter No.PB13, PB14) and machine
resonance suppression filter 2 (parameter No.PB15, PB16) to suppress the vibration of two resonance
frequencies. Execution of adaptive tuning in the filter tuning mode automatically adjusts the machine
resonance suppression filter. When adaptive tuning is ON, the adaptive tuning mode shifts to the manual
mode after the predetermined period of time. The manual mode enables manual setting using the machine
resonance suppression filter 1.
Machine resonance point

Mechanical
system
response
level
Frequency

Notch
depth

Frequency
Parameter No.PB01, Parameter No.PB15,
PB13, PB14 PB16
7- 5
7. SPECIAL ADJUSTMENT FUNCTIONS

(2) Parameters
(a) Machine resonance suppression filter 1 (parameter No.PB13, PB14)
Set the notch frequency, notch depth and notch width of the machine resonance suppression filter 1
(parameter No.PB13, PB14)
When you have made adaptive filter tuning mode (parameter No.PB01) "manual mode", set up the
machine resonance suppression filter 1 becomes effective.

POINT
The machine resonance suppression filter is a delay factor for the servo
system. Hence, vibration may increase if you set a wrong resonance
frequency or a too deep notch.
If the frequency of machine resonance is unknown, decrease the notch
frequency from higher to lower ones in order. The optimum notch frequency is
set at the point where vibration is minimal.
A deeper notch has a higher effect on machine resonance suppression but
increases a phase delay and may increase vibration.
A deeper notch has a higher effect on machine resonance suppression but
increases a phase delay and may increase vibration.
The machine characteristic can be grasped beforehand by the machine
analyzer on the set up software（MR Configurator2TM ）. This allows the
required notch frequency and depth to be determined.

7- 6
7. SPECIAL ADJUSTMENT FUNCTIONS

7.4 Advanced vibration suppression control

(1) Operation
Vibration suppression control is used to further suppress machine end vibration, such as workpiece end
vibration and base shake. The motor side operation is adjusted for positioning so that the machine does not
shake.
Position

Position
Motor end Motor end
Machine end Machine end
t t
Vibration suppression control OFF Vibration suppression control ON
(Normal control)

When the advanced vibration suppression control (vibration suppression control tuning mode parameter
No.PB02) is executed, the vibration frequency at machine end can automatically be estimated to suppress
machine end vibration.
In the vibration suppression control tuning mode, this mode shifts to the manual mode after operation is
performed the predetermined number of times. The manual mode enables manual setting using the
vibration suppression control vibration frequency setting (parameter No.PB19) and vibration suppression
control resonance frequency setting (parameter No.PB20).

(2) Parameter
Select the operation of the vibration suppression control tuning mode (parameter No.PB02).
Parameter No.PB02
0 0 0
Vibration suppression control
tuning mode

Setting Vibration suppression control tuning mode Automatically set parameter

0 Vibration suppression control OFF (Note)
Vibration suppression control tuning mode Parameter No.PB19
1
(Advanced vibration suppression control) Parameter No.PB20
2 Manual mode
Note. Parameter No.PB19 and PB20 are fixed to the initial values.

POINT
The function is made valid when the auto tuning mode (parameter No.PA08)
is the auto tuning mode 2 ("0002") or manual mode ("0003").
The machine resonance frequency supported in the vibration suppression
control tuning mode is 1.0Hz to 100.0Hz. The function is not effective for
vibration outside this range.
Stop the motor before changing the vibration suppression control-related
parameters (parameter No.PB02, PB19, PB20, PB33, PB34). A failure to do
so will cause a shock.
For positioning operation during execution of vibration suppression control
tuning, provide a stop time to ensure a stop after full vibration damping.
Vibration suppression control tuning may not make normal estimation if the
residual vibration at the motor end is small.
Vibration suppression control tuning sets the optimum parameter with the
currently set control gains. When the response setting is increased, set
vibration suppression control tuning again.

7- 7
7. SPECIAL ADJUSTMENT FUNCTIONS

(3) Vibration suppression control tuning mode procedure

Vibration suppression control
tuning adjustment

Operation

Yes
Is the target response
reached?

No

Increase the response setting.

Has vibration of workpiece No

end/device increased?

Yes

Stop operation.

Execute or re-execute vibration

suppression control tuning. (Set
parameter No.PB02 to "0001".)

Resume operation.

Tuning ends automatically after

operation is performed the
predetermined number of times.
(Parameter No.PB02 turns to "0002"
or "0000".)

Yes
Has vibration of workpiece
end/device been resolved?

No

Using the machine analyzer or from Factor

Decrease the response until vibration machine end vibration waveform, set Estimation cannot be made as
of workpiece end/device is resolved. the vibration suppression control machine end vibration has not been
manually. transmitted to the motor end.
The response of the model loop gain
has increased to the machine end
vibration frequency (vibration
suppression control limit).
End

7- 8
7. SPECIAL ADJUSTMENT FUNCTIONS

(4) Vibration suppression control manual mode

Measure work end vibration and device shake with the machine analyzer or external measuring instrument,
and set the vibration suppression control vibration frequency (parameter No.PB19) and vibration
suppression control resonance frequency (parameter No.PB20) to set vibration suppression control
manually.

(a) When a vibration peak can be confirmed using set up software（MR Configurator2TM）, machine
analyzer or external FFT equipment

Gain characteristic

1Hz 100Hz
Resonance of more
Vibration suppression control Vibration suppression than 100Hz is not the
vibration frequency control resonance target of control.
(Anti-resonance frequency) frequency
Parameter No.PB19 Parameter No.PB20
Phase
-90deg.

(b) When vibration can be confirmed using monitor signal or external sensor

Motor end vibration External acceleration pick signal, etc.

(Droop pulses)

Position command frequency

t t

Vibration suppression control

Vibration cycle [Hz] vibration frequency Vibration cycle [Hz]
Vibration suppression control
resonance frequency
Set the same value.

7- 9
7. SPECIAL ADJUSTMENT FUNCTIONS

POINT
When machine end vibration does not show up in motor end vibration, the
setting of the motor end vibration frequency does not produce an effect.
When the anti-resonance frequency and resonance frequency can be
confirmed using the machine analyzer or external FFT device, do not set the
same value but set different values to improve the vibration suppression
performance.
A vibration suppression control effect is not produced if the relationship
between the model loop gain (parameter No.PB07) value and vibration
frequency is as indicated below. Make setting after decreasing PG1, e.g.
reduce the response setting.

1
(1.5 PG1) vibration frequency
2

7 - 10
7. SPECIAL ADJUSTMENT FUNCTIONS

7.5 Low-pass filter

(1) Function
When a ball screw or the like is used, resonance of high frequency may occur as the response level of the
servo system is increased. To prevent this, the low-pass filter is factory-set to be valid for a torque
command. The filter frequency of this low-pass filter is automatically adjusted to the value in the following
expression.

VG2
Filter frequency(rad/s) 10
1 + GD2

When parameter No.PB23 is set to " 1 ", manual setting can be made with parameter No.PB18.

(2) Parameter
Set the operation of the low-pass filter selection (parameter No.PB23.)
Parameter No.PB23

Low-pass filter selection

0: Automatic setting (initial value)
1: Manual setting (parameter No.PB18 setting)

7.6 Gain changing function

This function can change the gains. You can change between gains during rotation and gains during stop or
can use an input device to change gains during operation.

7.6.1 Applications
This function is used when.

(1) You want to increase the gains during servo lock but decrease the gains to reduce noise during rotation.

(2) You want to increase the gains during settling to shorten the stop settling time.

(3) You want to change the gains using an input device to ensure stability of the servo system since the load
inertia moment ratio varies greatly during a stop (e.g. a large load is mounted on a carrier).

7 - 11
7. SPECIAL ADJUSTMENT FUNCTIONS

7.6.2 Function block diagram

The valid loop gains PG2, VG2, VIC and GD2 of the actual loop are changed according to the conditions
selected by gain changing selection CDP (parameter No.PB26) and gain changing condition CDS (parameter
No.PB27).
CDP
Parameter No.PB26
Control
command of
controller
PC or PLC...etc

Command pulse
frequency

Droop pulses

Changing
Model speed

Comparator
CDS
Parameter No.PB27

GD2
Parameter No.PB06
Valid
GD2B GD2 value
Parameter No.PB29

PG2
Parameter No.PB08
Valid
PG2B PG2 value
Parameter No.PB30

VG2
Parameter No.PB09
Valid
VG2B VG2 value
Parameter No.PB31

VIC
Parameter No.PB10
Valid
VICB VIC value
Parameter No.PB32

VRF1
Parameter No.PB19
Valid
VRF1B VRF1 value
Parameter No.PB33

VRF2
Parameter No.PB20
Valid
VRF2B VRF2 value
Parameter No.PB34

7 - 12
7. SPECIAL ADJUSTMENT FUNCTIONS

7.6.3 Parameters
When using the gain changing function, always set " 3" in parameter No.PA08 (auto tuning) to choose the
manual mode of the gain adjustment modes. The gain changing function cannot be used in the auto tuning
mode.

Parameter No. Abbreviation Name Unit Description

Multi- Control parameters before changing
Ratio of load inertia moment to
PB06 GD2 plier
servo motor inertia moment
( 1)
Position and speed gains of a model used to set the
PB07 PG1 Model loop gain rad/s
response level to a command. Always valid.
PB08 PG2 Position loop gain rad/s
PB09 VG2 Speed loop gain rad/s
PB10 VIC Speed integral compensation ms
Gain changing ratio of load inertia Multi- Used to set the ratio of load inertia moment to servo motor
PB29 GD2B moment to servo motor inertia plier inertia moment after changing.
moment ( 1)
Used to set the value of the after-changing position loop
PB30 PG2B Gain changing position loop gain 2 rad/s
gain 2.
Used to set the value of the after-changing speed loop
PB31 VG2B Gain changing speed loop gain 2 rad/s
gain.
Gain changing speed integral Used to set the value of the after-changing speed integral
PB32 VICB ms
compensation compensation.
PB26 CDP Gain changing selection Used to select the changing condition.
kpps Used to set the changing condition values.
PB27 CDS Gain changing condition pulse
r/min
You can set the filter time constant for a gain change at
PB28 CDT Gain changing time constant ms
changing.
Gain changing vibration suppression Used to set the value of the after-changing vibration
PB33 VRF1B Hz
control vibration frequency setting suppression control vibration frequency setting.
Gain changing vibration suppression Used to set the value of the after-changing vibration
PB34 VRF2B Hz
control resonance frequency setting suppression control resonance frequency setting.

7 - 13
7. SPECIAL ADJUSTMENT FUNCTIONS

(1) Parameters No.PB06 to PB10

These parameters are the same as in ordinary manual adjustment. Gain changing allows the values of
ratio of load inertia moment to servo motor inertia moment, position loop gain, speed loop gain and speed
integral compensation to be changed.

(2) Gain changing ratio of load inertia moment to servo motor inertia moment (GD2B: parameter No.PB29)
Set the ratio of load inertia moment to servo motor inertia moment after changing. If the load inertia moment
ratio does not change, set it to the same value as ratio of load inertia moment to servo motor inertia moment
(parameter No.PB06).

(3) Gain changing position loop gain (parameter No.PB30), Gain changing speed loop gain (parameter
No.PB31), Gain changing speed integral compensation (parameter No.PB32)
Set the values of after-changing position loop gain, speed loop gain and speed integral compensation.

(4) Gain changing selection (parameter No.PB26)

Used to set the gain changing condition. Choose the changing condition in the first digit and second digit. If
you set "1" in the first digit here, you can use the control command from PC or PLC...etc is valid for gain
changing.

0 0
Gain changing selection
Under any of the following conditions, the gains
change on the basis of the parameter No.PB29 to
PB32 settings.
0: Invalid
1: Control command from controller is valid
PC or PLC…etc is valid
2: Command frequency (Parameter No.PB27 setting)
3: Droop pulse value (Parameter No.PB27 setting)
4: Servo motor speed (Parameter No.PB27 setting)

Gain changing condition

0: Valid at more than condition (Valid with ON for control command from PC
controller.)
or PLC…etc)
1: Valid at less than condition (Valid with OFF for control command from controller.)
PC or PLC…etc)

(5) Gain changing condition (parameter No.PB27)

When you selected "command frequency", "droop pulses" or "servo motor speed" in gain changing
selection (parameter No.PB26), set the gain changing level.
The setting unit is as follows.

Gain changing condition Unit

Command frequency kpps
Droop pulses pulse
Servo motor speed r/min

(6) Gain changing time constant (parameter No.PB28)

You can set the primary delay filter to each gain at gain changing. This parameter is used to suppress
shock given to the machine if the gain difference is large at gain changing, for example.

7 - 14
7. SPECIAL ADJUSTMENT FUNCTIONS

7.6.4 Gain changing operation

This operation will be described by way of setting examples.

(1) When you choose changing by input device

(a) Setting
Parameter No. Abbreviation Name Setting Unit
PB07 PG1 Model loop gain 100 rad/s
Ratio of load inertia moment to servo motor Multiplier
PB06 GD2 4.0
inertia moment ( 1)
PB08 PG2 Position loop gain 120 rad/s
PB09 VG2 Speed loop gain 3000 rad/s
PB10 VIC Speed integral compensation 20 Ms
Gain changing ratio of load inertia moment Multiplier
PB29 GD2B 10.0
to servo motor inertia moment ( 1)
PB30 PG2B Gain changing position loop gain 84 rad/s
PB31 VG2B Gain changing speed loop gain 4000 rad/s
PB32 VICB Gain changing speed integral compensation 50 ms
0001
PB26 CDP Gain changing selection
(Changed by ON/OFF of input device)
PB28 CDT Gain changing time constant 100 ms
Used to set the value of the after-changing
Gain changing vibration suppression control
PB33 VRF1B vibration suppression control vibration Hz
vibration frequency setting
frequency setting.
Used to set the value of the after-changing
Gain changing vibration suppression control
PB34 VRF2B vibration suppression control resonance Hz
resonance frequency setting
frequency setting.

(b) Changing operation

Control command OFF ON OFF

of PC
controller
or PLC…etc
After-changing gain

Change of Before-changing gain

each gain CDT 100ms

Model loop gain 1 100

Ratio of load inertia moment
4.0 10.0 4.0
to servo motor inertia moment
Position loop gain 120 84 120
Speed loop gain 3000 4000 3000
Speed integral compensation 20 50 20

7 - 15
7. SPECIAL ADJUSTMENT FUNCTIONS

(2) When you choose changing by droop pulses

(a) Setting
Parameter No. Abbreviation Name Setting Unit
PB07 PG1 Model loop gain 100 rad/s
Ratio of load inertia moment to servo motor Multiplier
PB06 GD2 4.0
inertia moment ( 1)
PB08 PG2 Position loop gain 120 rad/s
PB09 VG2 Speed loop gain 3000 rad/s
PB10 VIC Speed integral compensation 20 ms
Gain changing ratio of load inertia moment to Multiplier
PB29 GD2B 10.0
servo motor inertia moment ( 1)
PB30 PG2B Gain changing position loop gain 84 rad/s
PB31 VG2B Gain changing speed loop gain 4000 rad/s
PB32 VICB Gain changing speed integral compensation 50 ms
0003
PB26 CDP Gain changing selection
(Changed by droop pulses)
PB27 CDS Gain changing condition 50 pulse
PB28 CDT Gain changing time constant 100 ms

(b) Changing operation

Command pulse
Droop pulses

CDS
Droop pulses [pulses] 0
CDS

After-changing gain

Before-changing gain
Change of each gain
CDT 100ms

Model loop gain 100

Ratio of load inertia moment
4.0 10.0 4.0 10.0
to servo motor inertia moment
Position loop gain 120 84 120 84
Speed loop gain 3000 4000 3000 4000
Speed integral compensation 20 50 20 50

7 - 16
8. TROUBLESHOOTING

8. TROUBLESHOOTING................................................................................................................................... 2
8.1 Alarms and warning list ............................................................................................................................ 2
8.2 Troubleshooting at power on ................................................................................................................... 3
8.3 Remedies for alarms ................................................................................................................................ 4
8.4 Remedies for warnings .......................................................................................................................... 12

8- 1
8. TROUBLESHOOTING

8. TROUBLESHOOTING
POINT
As soon as an alarm occurs, make the Servo off status and interrupt the main
circuit power.
If an alarm/warning has occurred, refer to this chapter and remove its cause.

8.1 Alarms and warning list

When a fault occurs during operation, the corresponding alarm or warning is displayed. If any alarm or warning
has occurred, refer to section 8.2 or 8.3 and take the appropriate action. When an alarm occurs, the ALM turns
OFF.
After its cause has been removed, the alarm can be deactivated in any of the methods marked in the alarm
deactivation column. The alarm is automatically canceled after removing the cause of occurrence.

Alarm deactivation Display Name

Display Name Power Error CPU 92 Battery cable disconnection warning
OFF ON reset reset 96 Home position setting warning
10 Undervoltage 9F Battery warning
12 Memory error 1 (RAM) E0 Excessive regeneration warning
13 Clock error E1 Overload warning 1
15 Memory error 2 (EEP-ROM) Warnings E3 Absolute position counter warning
16 Encoder error 1 (At power on) E4 Parameter warning
17 Board error E6 Servo forced stop warning
Servo system controller forced
19 Memory error 3 (Flash-ROM) E7
stop warning
1A Motor combination error E8 Cooling fan speed reduction warning
20 Encoder error 2 E9 Main circuit off warning
24 Main circuit error EC Overload warning 2
25 Absolute position erase ED Output watt excess warning
(Note 1) (Note 1) (Note 1)
30 Regenerative error

31 Overspeed
32 Overcurrent
33 Overvoltage
Alarms

(Note 2)
34 Receive error 1

35 Command frequency error

36 Receive error 2
37 Parameter error
(Note 1) (Note 1) (Note 1)
45 Main circuit device overheat

(Note 1) (Note 1) (Note 1)

46 Servo motor overheat

47 Cooling fan error

(Note 1) (Note 1) (Note 1)
50 Overload 1

(Note 1) (Note 1) (Note 1)

51 Overload 2

52 Error excessive
8A USB communication time-out error
8E USB communication error
888 Watchdog
Note 1. Deactivate the alarm about 30 minutes of cooling time after removing the cause of occurrence.
2. In some servo system controller communication status, the alarm factor may not be removed.

8- 2
8. TROUBLESHOOTING

8.2 Troubleshooting at power on

When the servo system does not start and a system error occurs when the servo system controller is
turned on, it could be due to an improper boot of the driver. Check the display of the driver, and take
actions according to this section.
Display Description Cause Checkpoint Action
AA Communication with the The power of the servo Check the power of the servo Switch on the power of the servo
servo system controller system controller was system controller. system controller.
has disconnected. turned off.
An SSCNET III cable was "AA" is displayed in the Replace the SSCNET III cable of
disconnected. corresponding axis and following the corresponding axis.
axes.
Check if the connectors (CNIA, Connect it correctly.
CNIB) are unplugged.
The power of the driver "AA" is displayed in the Check the power of the driver.
was turned off. corresponding axis and following
axes.
Replace the driver of the
corresponding axis.
Ab Initialization The control axis is Check if the spare switch (SW2-2) Turn off (down) the disabling
communication with the disabled. is turned on (up). control axis switch (SW2-2).
servo system controller The setting of the axis Check that the other driver is not Set it correctly.
has not completed. No. is incorrect. assigned to the same axis No.
Axis No. does not match Check the setting and axis No. of Set it correctly.
with the axis No. set to the servo system controller.
the servo system
controller.
Information about the Check the value set in Servo Set it correctly.
servo series has not set series (Pr.100) in the simple
in the simple motion motion module.
module.
Communication cycle Check the communication cycle Set it correctly.
does not match. at the servo system controller
side.
When using 8 axes or less:
0.444 ms
When using 16 axes or less:
0.888 ms
An SSCNET III cable was "Ab" is displayed in the Replace the SSCNET III cable of
disconnected. corresponding axis and following the corresponding axis.
axes.
Check if the connectors (CNIA, Connect it correctly.
CNIB) are unplugged.
The power of the driver "Ab" is displayed in an axis and Check the power of the driver.
was turned off. the following axes.
The driver is "Ab" is displayed in an axis and Replace the driver of the
malfunctioning. the following axes. corresponding axis.
b##. The system has been in Test operation mode has Test operation setting switch Turn off (down) the test operation
(Note) the test operation mode. been enabled. (SW2-1) is turned on (up). setting switch (SW2-1).
Note. ## indicates axis No.

8- 3
8. TROUBLESHOOTING

8.3 Remedies for alarms

When any alarm has occurred, eliminate its cause, ensure safety, then reset the
alarm, and restart operation. Otherwise, injury may occur.
If an absolute position erase (25) occurred, always make home position setting
CAUTION again. Not doing so may cause unexpected operation.
As soon as an alarm occurs, mark Servo-off and power off the main circuit and
control circuit.

POINT
When any of the following alarms has occurred, do not deactivate the alarm
and resume operation repeatedly. To do so will cause the driver/servo motor to
fail. Remove the cause of occurrence, and leave a cooling time of more than 30
minutes before resuming operation. To protect the main circuit elements, any of
these servo alarms cannot be deactivated from the servo system controller until
the specified time elapses after its occurrence. Judging the load changing
condition until the alarm occurs, the driver calculates this specified time
automatically.
Regenerative error (30)
Overload 1 (50)
Overload 2 (51)
The alarm can be deactivated by switching power off, then on or by the error
reset command CPU reset from the servo system controller. For details, refer
to section 8.1.

When an alarm occurs, the trouble (ALM) switches off and the dynamic brake is operated to stop the servo
motor. At this time, the display indicates the alarm No.
The servo motor comes to a stop. Remove the cause of the alarm in accordance with this section. Use the set
up software(MR Configurator2TM) to refer to a factor of alarm occurrence.

Display Name Definition Cause Action

10 Undervoltage Power supply voltage 1. Power supply voltage is low. Check the power supply.
dropped. 2. There was an instantaneous control
LECSS2-□: power failure of 60ms or longer.
160VAC or less 3. Shortage of power supply capacity
LECSS1-□ caused the power supply voltage to
83VAC or less drop at start, etc.
4. The bus voltage dropped to the
following value or less.
LECSS2-□: 200VDC
LECSS1-□: 158VDC
5. Faulty parts in the driver Change the driver.
Checking method
Alarm (10) occurs if power is
switched on after disconnection
of all cables but the control
circuit power supply cables.

8- 4
8. TROUBLESHOOTING

Display Name Definition Cause Action

12 Memory error 1 RAM, memory fault Faulty parts in the driver Change the driver.
(RAM) Checking method
13 Clock error Printed board fault Alarm (any of 12 and 13)
occurs if power is switched on
after disconnection of all cables
but the control circuit power
supply cables.

Clock error Faulty driver Change the servo system controller.

transmitted from the Checking method
driver Alarm (13) occurs, if servo
controller is used in multiple CPU
system.

15 Memory error 2 EEP-ROM fault 1. Faulty parts in the driver Change the driver.
(EEP-ROM) Checking method
Alarm (15)
occurs if power is switched on
after disconnection of all cables
but the control circuit power
supply cables.

2. The number of write times to EEP-

ROM exceeded 100,000.
16 Encoder error 1 Communication error 1. Encoder connector (CN2) Connect correctly.
(At power on) occurred between disconnected.
encoder and driver. 2. Encoder fault Change the servo motor.
3. Encoder cable faulty Repair or change the cable.
(Wire breakage or shorted)
4. Encoder cable type (2-wire, 4-wire) Correct the setting in the fourth digit of
selection was wrong in parameter parameter No.PC04.
setting.
17 Board error 2 CPU/parts fault Faulty parts in the driver Change the driver.
19 Memory error 3 ROM memory fault Checking method
(Flash ROM) Alarm (17 or 19) occurs if
power is switched on after
disconnection of all cables but the
control circuit power supply cable.

1A Motor Wrong combination Wrong combination of driver and servo Use correct combination.
combination of driver and servo motor connected.
error motor.
20 Encoder error 2 Communication error 1. Encoder connector (CN2) Connect correctly.
occurred between disconnected.
encoder and driver. 2. Encoder cable faulty Repair or change the cable.
(Wire breakage or shorted)
3. Encoder fault Change the servo motor.
24 Main circuit error Ground fault 1. Power input wires and servo motor Connect correctly.
occurred at the servo power wires are in contact.
motor power (U,V 2. Sheathes of servo motor power Change the cable.
and W phases) of cables deteriorated, resulting in
the driver. ground fault.
3. Main circuit of driver failed. Change the driver.
Checking method
Alarm (24) occurs if the servo is
switched on after disconnecting
the U, V, W power cables from
the driver.
servo amplifier.

8- 5
8. TROUBLESHOOTING

Display Name Definition Cause Action

25 Absolute position Absolute position 1. Voltage drop in encoder After leaving the alarm occurring for a few
erase data in error (Battery disconnected.) minutes, switch power off, then on again.
Always make home position setting again.
2. Battery voltage fell to about 2.8V or Change the battery.
less. Always make home position setting again.
3. Battery cable or battery is faulty.
4. Encoder cable fault. Repair or change the encoder cable.
5. Encoder fault. Change the servo motor.
Power was switched 6. Home position not set. After leaving the alarm occurring for a few
on for the first time in minutes, switch power off, then on again.
the absolute position Always make home position setting again.
detection system.
30 Regenerative Permissible 1. Wrong setting of parameter No. Set correctly.
error regenerative power PA02
of the built-in 2. Built-in regenerative resistor or Connect correctly.
regenerative resistor regenerative option is not
or regenerative connected.
option is exceeded. 3. High-duty operation or continuous 1. Reduce the frequency of positioning.
regenerative operation caused the 2. Use the regenerative option of larger
permissible regenerative power of capacity.
the regenerative option to be 3. Reduce the load.
exceeded.
Checking method
Call the status display and check
the regenerative load ratio.

4. Power supply voltage is abnormal. Check the power supply.

LECSS2-□:260VAC or more
LECSS1-□:More than 135VAC
5. Built-in regenerative resistor or Change the driver or regenerative option.
regenerative option faulty.
Regenerative 6. Regenerative transistor faulty. Change the driver.
transistor fault
Checking method
1) The regenerative option has
overheated abnormally.
2) The alarm occurs even after
removal of the built-in
regenerative resistor or
regenerative option.

31 Overspeed Speed has exceeded 1. Small acceleration/deceleration time Increase acceleration/deceleration time
the instantaneous constant caused overshoot to be constant.
permissible speed. large.
2. Servo system is instable to cause 1. Re-set servo gain to proper value.
overshoot. 2. If servo gain cannot be set to proper
value.
1) Reduce load inertia moment ratio; or
2) Reexamine acceleration/
deceleration time constant.
3. Encoder faulty. Change the servo motor.

8- 6
8. TROUBLESHOOTING

Display Name Definition Cause Action

32 Overcurrent Current that flew is 1. Short occurred in servo motor power Correct the wiring.
higher than the (U, V, W).
permissible current of 2. Transistor (IPM IGBT) of the driver Change the driver.
the driver. (If the faulty.
alarm (32) occurs Checking method
again when turning Alarm (32) occurs if power is
ON the servo after switched on after U,V and W are
resetting the alarm disconnected.
by turning OFF/ON
the power when the 3. Ground fault occurred in servo Correct the wiring.
alarm (32) first motor power (U, V, W).
occurred, the 4. External noise caused the Take noise suppression measures.
transistor (IPM overcurrent detection circuit to
IGBT) of the driver misoperate.
may be at fault. In
the case, do not
repeat to turn
OFF/ON the power.
Check the transistor
with the checking
method of “Cause
2”.)
33 Overvoltage The following shows 1. Regenerative option is not used. Use the regenerative option.
the input value of 2. Though the regenerative option is Set correctly.
converter bus used, the parameter No.PA02
voltage. setting is " 00 (not used)".
LECSS□-□: 3. Lead of built-in regenerative resistor 1. Change the lead.
400VDC or more or regenerative option is open or 2. Connect correctly.
disconnected.
4. Regenerative transistor faulty. Change the driver.
5. Wire breakage of built-in 1. For wire breakage of built-in regenerative
regenerative resistor or regenerative resistor, change the driver.
option 2. For wire breakage of regenerative option,
change the regenerative option.
6. Capacity of built-in regenerative Add regenerative option or increase
resistor or regenerative option is capacity.
insufficient.
7. Power supply voltage high. Check the power supply.
8. Ground fault occurred in servo Correct the wiring.
motor power (U, V, W).

8- 7
8. TROUBLESHOOTING

Display Name Definition Cause Action

34 Receive error 1 SSCNET 1. The SSCNET cable is Connect it after turning off the control circuit
communication error disconnected. power supply for driver.
(Continuously 2. The surface at the end of SSCNET Wipe dirt at the surface away. (Refer to
communication error cable got dirty. section 3.9)
with about 3.5ms 3. The SSCNET cable is broken or Change the cable.
interval.) severed.
4. Noise entered the driver. Take noise suppression measures.
5. Optical characteristic of SSCNET Remove the vinyl tape and/or wire sheath,
cable deteriorated because vinyl which contains migrating plasticizer, and
tape and/or wire sheath, which exchange the cable.
contains migrating plasticizer,
adhered to the cable.
35 Command Input pulse frequency 1. Command given is greater than the Check operation program.
frequency error of command pulse is maximum speed of the servo motor.
too high. 2. Servo system controller failure. Change the servo system controller.
3. Noise entered the driver. Take noise of I/O signal suppression
measures.
4. Noise entered the driver. Take noise from the driver suppression
measures.
36 Receive error 2 SSCNET 1. The SSCNET cable is Connect it after turning off the control circuit
communication error disconnected. power supply for driver.
(Intermittently 2. The surface at the end of SSCNET Wipe dirt away from the surface. (Refer to
communication error cable got dirty. section 3.9)
with about 70ms 3. The SSCNET cable is broken or Change the cable.
interval.) severed.
4. Noise entered the driver. Take noise suppression measures.
5. Optical characteristic of SSCNET Remove the vinyl tape and/or wire sheath,
cable deteriorated because vinyl which contains migrating plasticizer, and
tape and/or wire sheath, which exchange the cable.
contains migrating plasticizer,
adhered to the cable.

8- 8
8. TROUBLESHOOTING

Display Name Definition Cause Action

37 Parameter error Parameter setting is 1. Driver fault caused the parameter Change the driver.
wrong. setting to be rewritten.
2. There is a parameter whose value Change the parameter value to within the
was set to outside the setting range setting range.
by the driver.
3. The number of write times to EEP- Change the driver.
ROM exceeded 100,000 due to
parameter write, etc.
45 Main circuit Main circuit device 1. Driver faulty. Change the driver.
device overheat overheat 2. The power supply was turned on The drive method is reviewed.
and off continuously by overloaded
status.
3. Ambient temperature of servo motor Check environment so that ambient
is over 55 . temperature is 0 to 55 .
4. Used beyond the specifications of Use within the range of specifications.
close mounting.
46 Servo motor Servo motor 1. Ambient temperature of servo motor Check environment so that ambient
overheat temperature rise is over 40 . temperature is 0 to 40 .
actuated the thermal 2. Servo motor is overloaded. 1. Reduce load.
sensor. 2. Check operation pattern.
3. Use servo motor that provides larger
output.
3. Thermal sensor in encoder is faulty. Change the servo motor.
47 Cooling fan The cooling fan of 1. Cooling fan life expiration (Refer to Change the cooling fan of the driver.
error the driver stopped, or section 2.5.)
its speed decreased
to or below the alarm 2. Foreign matter caught in the cooling Remove the foreign matter.
level. fan stopped rotation.
3. The power supply of the cooling fan Change the driver.
failed.
50 Overload 1 Load exceeded 1. Driver is used in excess 1. Reduce load.
overload protection of its continuous output current. 2. Check operation pattern.
characteristic of 3. Use servo motor that provides larger
driver. output.
2. Servo system is instable and 1. Repeat acceleration/
hunting. deceleration to execute auto tuning.
2. Change the auto tuning response setting.
3. Set auto tuning to OFF and make gain
adjustment manually.
3. Machine struck something. 1. Check operation pattern.
2. Install limit switches.
4. Wrong connection of servo motor. Connect correctly.
Driver's output terminals U, V, W do
not match servo motor's input
terminals U, V, W.
5. Encoder faulty. Change the servo motor.
Checking method
When the servo motor shaft is
rotated with the servo off, the
cumulative feedback pulses do not
vary in proportion to the rotary angle
of the shaft but the indication skips
or returns midway.

6. After Overload 2 (51) occurred, turn 1. Reduce load.

OFF/ON the power supply to clear 2. Check operation pattern.
the alarm. Then the overload 3. Use servo motor that provides larger
operation is repeated. output.

8- 9
8. TROUBLESHOOTING

Display Name Definition Cause Action

51 Overload 2 Machine collision or 1. Machine struck something. 1. Check operation pattern.
the like caused max. 2. Install limit switches.
For the time of the
alarm occurrence, 2. Wrong connection of servo motor. Connect correctly.
refer to the section Driver's output terminals U, V, W do
10.1. not match servo motor's input
terminals U, V, W.
3. Servo system is instable and 1. Repeat acceleration/deceleration to
hunting. execute auto tuning.
2. Change the auto tuning response setting.
3. Set auto tuning to OFF and make gain
adjustment manually.
4. Encoder faulty. Change the servo motor.
Checking method
When the servo motor shaft is
rotated with the servo off, the
cumulative feedback pulses do not
vary in proportion to the rotary angle
of the shaft but the indication skips
or returns midway.

52 Error excessive The deviation 1. Acceleration/deceleration time Increase the acceleration/deceleration time
between the model constant is too small. constant.
position and the 2. Torque limit value set with driver is Increase the torque limit value.
actual servo motor too small.
position exceeds the 3. Motor cannot be started due to 1. Check the power supply capacity.
parameter No.PC01 torque shortage caused by power 2. Use servo motor which provides larger
setting value (initial supply voltage drop. output.
value: 3 revolutions). 4. Position loop gain 1 (parameter Increase set value and adjust to ensure
No.PB08) value is small. proper operation.
5. Servo motor shaft was rotated by 1. When torque is limited, increase the limit
external force. value.
2. Reduce load.
3. Use servo motor that provides larger
output.
6. Machine struck something. 1. Check operation pattern.
2. Install limit switches.
7. Encoder faulty Change the servo motor.
8. Wrong connection of servo motor. Connect correctly.
Driver's output terminals U, V, W do
not match servo motor's input
terminals U, V, W.
9. SSCNET cable fault Change the SSCNET cable.
10. Optical characteristic of SSCNET Remove the vinyl tape and/or wire sheath,
cable deteriorated because vinyl which contains migrating plasticizer, and
tape and/or wire sheath, which exchange the cable.
contains migrating plasticizer,
adhered to the cable.
8A USB Communication with 1. USB cable breakage. Change the USB cable.
communication set up software（MR
time-out error Configurator2TM） in
test operation mode
stopped for longer
than the specified
time.

8 - 10
8. TROUBLESHOOTING

Display Name Definition Cause Action

(Note) Watchdog CPU, parts faulty Fault of parts in driver Change the driver.
888 Checking method
Alarm (888) occurs if power is
switched on after disconnection of
all cables but the control circuit
power supply cable.

8E USB Serial communication 1. USB cable fault Change the USB cable.
communication error occurred (Open cable or short circuit)
between driver and
error 2. Communication device (e.g. Change the communication device (e.g.
communication
device (e.g. personal personal computer) faulty personal computer).
computer).
(Note) Watchdog CPU, parts faulty Fault of parts in driver Change the driver.
888 Checking method
Alarm (888) occurs if power is
switched on after disconnection of
all cables but the control circuit
power supply cable.

Note. At power-on, "888" appears instantaneously, but it is not an error.

8 - 11
8. TROUBLESHOOTING

8.4 Remedies for warnings

If an absolute position counter warning (E3) occurred, always make home position
CAUTION setting again. Not doing so may cause unexpected operation.

POINT
When any of the following alarms has occurred, do not resume operation by
switching power of the driver OFF/ON repeatedly. The driver and servo motor
may become faulty. If the power of the driver is switched OFF/ON during the
alarms, allow more than 30 minutes for cooling before resuming operation.
Excessive regenerative warning (E0)
Overload warning 1 (E1)

If E6, E7 or E9 occurs, the servo off status is established. If any other warning occurs, operation can be
continued but an alarm may take place or proper operation may not be performed.
Remove the cause of warning according to this section. Use the set up software（MR Configurator2TM） to
refer to a factor of warning occurrence.

Display Name Definition Cause Action

92 Battery cable Absolute position detection 1. Battery cable is open. Repair cable or changed.
disconnection system battery voltage is 2. Battery voltage supplied from the driver to Change the battery.
warning low. the encoder fell to about 3V or less.
(Detected with the encoder)
96 Home position Home position setting 1. Droop pulses remaining are greater than Remove the cause of droop pulse
setting warning could not be made. the in-position range setting. occurrence
2. Command pulse entered after clearing of Do not enter command pulse
droop pulses. after clearing of droop pulses.
3. Creep speed high. Reduce creep speed.
9F Battery warning Voltage of battery for Battery voltage fell to 3.2V or less. Change the battery.
absolute position detection (Detected with the driver)
system reduced.
E0 Excessive There is a possibility that Regenerative power increased to 85% or 1. Reduce frequency of
regeneration regenerative power may more of permissible regenerative power of positioning.
warning exceed permissible built-in regenerative resistor or regenerative 2. Change the regenerative
regenerative power of option. option for the one with larger
built-in regenerative Checking method capacity.
resistor or regenerative Call the status display and check 3. Reduce load.
option. regenerative load ratio.

8 - 12
8. TROUBLESHOOTING

Display Name Definition Cause Action

E1 Overload warning There is a possibility that Load increased to 85% or more of overload Refer to 50, 51.
1 overload alarm 1 or 2 may alarm 1 or 2 occurrence level.
occur. Cause, checking method
Refer to 50,51.

E3 Absolute position Absolute position encoder 1. Noise entered the encoder. Take noise suppression
counter warning pulses faulty. measures.
2. Encoder faulty. Change the servo motor.
The multi-revolution 3. The movement amount from the home Make home position setting
counter value of the position exceeded a 32767 rotation or again.
absolute position encoder 37268 rotation in succession.
exceeded the maximum
revolution range.
E4 Parameter Parameter outside setting Parameter value set from servo system Set it correctly.
warning range controller is outside setting range
E6 Servo forced stop EM1 is off. External forced stop was made valid. (EM1 Ensure safety and deactivate
warning was turned off.) forced stop.
E7 Servo system Forced stop signal was entered into the Ensure safety and deactivate
controller forced servo system controller. forced stop.
stop warning
E8 Cooling fan speed The speed of the driver Cooling fan life expiration (Refer to section Change the cooling fan of the
reduction warning decreased to or below the 2.5.) driver.
warning level.

The power supply of the cooling fan is Change the driver.

broken.

E9 Main circuit off Servo-on command was Switch on main circuit power.
warning issued with main circuit
power off.
EC Overload warning Operation, in which a During a stop, the status in which a current 1. Reduce the positioning
2 current exceeding the flew intensively in any of the U, V and W frequency at the specific
rating flew intensively in phases of the servo motor occurred positioning address.
any of the U, V and W repeatedly, exceeding the warning level. 2. Reduce the load.
phases of the servo motor, 3. Replace the driver/
was repeated. servo motor with the one of
larger capacity.
ED Output watt The status, in which the Continuous operation was performed with 1. Reduce the servo motor
excess warning output wattage (speed the output wattage (speed torque) of the speed.
torque) of the servo motor servo motor exceeding 150% of the rated 2. Reduce the load.
exceeded the rated output, output.
continued steadily.

8 - 13
9. OUTLINE DRAWINGS

9. OUTLINE DRAWINGS .................................................................................................................................. 2

9.1 Driver ........................................................................................................................................................ 2
9.2 Connector ................................................................................................................................................. 4

9- 1
9. OUTLINE DRAWINGS

9. OUTLINE DRAWINGS
9.1 Driver
(1) LECSS□-S5・LECSS□-S7
[Unit: mm]

6 mounting hole

4 40
Approx.80 135
6

6
(Note)
CNP1
(Note)

CNP2

161
168
CNP3
156
6

6
Approx.14

Approx.
Approx.68 25.5

With MR-J3BAT
With LEC-MR-J3BAT

Note. This data applies to the 3-phase or 1-phase 200 to 230VAC power supply models.
For a single-phase, 100 to 120VAC power supply, refer to the terminal signal layout.

Mass: 0.8 [kg] (1.76 [lb])

Terminal signal layout Mounting screw

For 3-phase or Screw size: M5
Tightening torque: 3.24 [N m] (28.7 [lb in])
For 1-phase 1-phase PE terminal
100 to 120VAC 200 to 230VAC Approx. 40
L1 L1 6
L2
L2 L3
CNP1 CNP1 Screw size: M4
N N
Tightening torque: 2-M5 screw
P1 P1 1.2 [N m] (10.6 [lb in])
P2 P2

P P
C C
CNP2 D CNP2 D
L11 L11
L21 L21

U U
CNP3 V CNP3 V
W W Mounting hole process drawing

9- 2
9. OUTLINE DRAWINGS

(2) LECSS□-S8
[Unit: mm]

6 mounting hole
5 40
6 Approx.80 170

6
(Note)

CN5
L1 L2 L3 N P1 P2
L1
CNP1 L2

(Note) L3

CN3

161
168
P1
P C D L11 L21
CNP2 P2

P
C

CN1A
D
L11
CNP3 L21
U

U
156

CN1B
V

V
W

CHARGE

CN2
CN2L
CN4
6

6
Approx.14

Approx.
Approx.68
25.5

With MR-J3BAT
With LEC-MR-J3BAT

Note. This data applies to the 3-phase or 1-phase 200 to 230VAC power supply models.
For a single-phase, 100 to 120VAC power supply, refer to the terminal signal layout.

Mass: 1.0 [kg] (2.21 [lb])

Terminal signal layout Mounting screw

For 3-phase or Screw size: M5
For 1-phase 1-phase Tightening torque: 3.24 [N m] (28.7 [lb in])
PE terminal
100 to 120VAC 200 to 230VAC Approx. 40
L1 L1 6

L2
L2 L3
CNP1 CNP1 Screw size: M4
N N
Tightening torque: 2-M5 screw
P1 P1 1.2 [N m] (10.6 [lb in])
P2 P2

P P
C C
CNP2 D CNP2 D
L11 L11
L21 L21

U U
CNP3 CNP3 Mounting hole process drawing
V V
W W

9- 3
9. OUTLINE DRAWINGS

9.2 Connector
(1) CN1A CN1B connector
[Unit: mm]
F0-PF2D103 F0-PF2D103-S
4.8 13.4 4.8

13.4
1.7 1.7
15

15
2.3 2.3

6.7
6.7

9.3
9.3

17.6 0.2 8 17.6 0.2 8

20.9 0.2 20.9 0.2

(2) Miniature delta ribbon (MDR) system (Sumitomo 3M Limited)

(a) One-touch lock type
[Unit: mm]
E
D

A C
Logo etc, are indicated here.
39.0
23.8

B 12.7

Each type of dimension

Connector Shell kit
A B C D E
10120-3000PE 10320-52F0-008 22.0 33.3 14.0 10.0 12.0
Applicable wire size: AWG24~30

9- 4
9. OUTLINE DRAWINGS

(b) Jack screw M2.6 type

This is not available as option.
[Unit: mm]

D
A C F
Logo etc, are indicated here.
39.0
23.8
5.2

B
12.7

Each type of dimension

Connector Shell kit
A B C D E F
10120-3000PE 10320-52F0-008 22.0 33.3 14.0 10.0 12.0 27.4
Applicable wire size: AWG24~30

(3) SCR connector system (Sumitomo 3M Limited)

Receptacle : 36210-0100PL
Shell kit : 36310-3200-008
39.5
34.8
11.0
22.4

9- 5
10. CHARACTERISTICS

10. CHARACTERISTICS ................................................................................................................................... 2

10.1 Overload protection characteristics ........................................................................................................ 2
10.2 Power supply equipment capacity and generated loss .......................................................................... 3
10.3 Dynamic brake characteristics ............................................................................................................... 5
10.3.1 Dynamic brake operation ................................................................................................................ 5
10.3.2 The dynamic brake at the load inertia moment ............................................................................... 6
10.4 Cable flexing life ..................................................................................................................................... 7
10.5 Inrush currents at power-on of main circuit and control circuit .............................................................. 7

10 - 1
10. CHARACTERISTICS

10. CHARACTERISTICS
10.1 Overload protection characteristics
An electronic thermal relay is built in the driver to protect the servo motor and driver from overloads. Overload
1 alarm (50) occurs if overload operation performed is above the electronic thermal relay protection curve
shown in any of Figs 10.1. Overload 2 alarm (51) occurs if the maximum current flew continuously for several
seconds due to machine collision, etc. Use the equipment on the left-hand side area of the continuous or
broken line in the graph.
In a machine like the one for vertical lift application where unbalanced torque will be produced, it is
recommended to use the machine so that the unbalanced torque is 70% or less of the rated torque.
When you carry out adhesion mounting of the driver, make circumference temperature into 0 to 45 , or use it
at 75% or smaller effective load ratio.

1000 1000

During operation During operation

100 100
Operation time[s]

Operation time[s]

10 During servo lock 10 During servo lock

1 1

0.1 0.1
0 50 100 150 200 250 300 0 50 100 150 200 250 300

(Note) Load ratio [%] (Note) Load ratio [%]

LECSS□-S5 LECSS□-S7, LECSS□-S8

Note. If operation that generates torque more than 100% of the rating is performed with an abnormally high frequency in a servo motor
stop status (servo lock status) or in a 30r/min or less low-speed operation status, the driver may fail even when the electronic
thermal relay protection is not activated.

Fig 10.1 Electronic thermal relay protection characteristics

10 - 2
10. CHARACTERISTICS

10.2 Power supply equipment capacity and generated loss

(1) Amount of heat generated by the driver
Table 10.1 indicates drivers' power supply capacities and losses generated under rated load. For thermal
design of an enclosure, use the values in Table 10.1 in consideration for the worst operating conditions.
The actual amount of generated heat will be intermediate between values at rated torque and servo off
according to the duty used during operation. When the servo motor is run at less than the maximum speed,
the power supply capacity will be smaller than the value in the table, but the driver's generated heat will not
change.

Table 10.1 Power supply capacity and generated heat per driver at rated output
(Note 1) (Note 2) Area required for
Driver Servo motor Power supply Driver-generated heat [W] heat dissipation
capacity [kVA] At rated torque With servo off [m2]
LE-S5-□ 0.3 25 15 0.5
LECSS1-S5
LE-S6-□ 0.3 25 15 0.5
LECSS1-S7 LE-S7-□ 0.5 25 15 0.5
LECSS1-S8 LE-S8-□ 0.9 35 15 0.7

Note 1. Note that the power supply capacity will vary according to the power supply impedance. This value is applicable when the
power factor improving reactor is not used.
2. Heat generated during regeneration is not included in the driver-generated heat.

10 - 3
10. CHARACTERISTICS

(2) Heat dissipation area for enclosed driver

The enclosed control box (hereafter called the control box) which will contain the driver should be designed
to ensure that its temperature rise is within 10 at the ambient temperature of 40 . (With a 5 (41 )
safety margin, the system should operate within a maximum 55 (131 ) limit.) The necessary enclosure
heat dissipation area can be calculated by Equation 10.1.

P ............................................................................................................................................. (10.1)
A
K T

where, A : Heat dissipation area [m2]

P : Loss generated in the control box [W]
T : Difference between internal and ambient temperatures [ ]
K : Heat dissipation coefficient [5 to 6]

When calculating the heat dissipation area with Equation 10.1, assume that P is the sum of all losses
generated in the enclosure. Refer to Table 10.1 for heat generated by the driver. "A" indicates the effective
area for heat dissipation, but if the enclosure is directly installed on an insulated wall, that extra amount
must be added to the enclosure's surface area.
The required heat dissipation area will vary wit the conditions in the enclosure. If convection in the
enclosure is poor and heat builds up, effective heat dissipation will not be possible. Therefore, arrangement
of the equipment in the enclosure and the use of a cooling fan should be considered.
Table 10.1 lists the enclosure dissipation area for each driver when the driver is operated at the ambient
temperature of 40 (104 ) under rated load.

(Outside) (Inside)

Air flow

Fig. 10.2 Temperature distribution in enclosure

When air flows along the outer wall of the enclosure, effective heat exchange will be possible, because the
temperature slope inside and outside the enclosure will be steeper.

10 - 4
10. CHARACTERISTICS

10.3 Dynamic brake characteristics

10.3.1 Dynamic brake operation
(1) Calculation of coasting distance
Fig. 10.3 shows the pattern in which the servo motor comes to a stop when the dynamic brake is operated.
Use Equation 10.2 to calculate an approximate coasting distance to a stop. The dynamic brake time
constant varies with the servo motor and machine operation speeds. (Refer to (2)(a), (b) of this section.)
ON
Forced stop(EM1)
OFF

Time constant
V0
Machine speed

te Time

Fig. 10.3 Dynamic brake operation diagram

V0 JL ....................................................................................................................... (10.2)
Lmax te 1
60 JM
Lmax : Maximum coasting distance .................................................................................................... [mm][in]
Vo : Machine rapid feed rate ..............................................................................................[mm/min][in/min]
JM : Servo motor inertial moment ..................................................................................... [kg cm2][oz in2]
JL : Load inertia moment converted into equivalent value on servo motor shaft ............ [kg cm2][oz in2]
: Brake time constant .......................................................................................................................... [s]
te : Delay time of control section ............................................................................................................. [s]
For 7kW or less servo, there is internal relay delay time of about 30ms. For 11k to 22kW servo,
there is delay time of about 100ms caused by a delay of the external relay and a delay of the
magnetic contactor built in the external dynamic brake.

(2) Dynamic brake time constant

The following shows necessary dynamic brake time constant for the equations (10.2).
(a) 200V class servo motor
25
Time constant [ms]

73
20

15 23
S7

10 053
S5
13
S6
5
43
S8
0
0 1000 2000 3000 4000 5000 6000
Speed [r/min]

LE-□-□series

10 - 5
10. CHARACTERISTICS

10.3.2 The dynamic brake at the load inertia moment

Use the dynamic brake under the load inertia moment ratio indicated in the following table. If the load inertia
moment is higher than this value, the built-in dynamic brake may burn. If there is a possibility that the load
inertia moment may exceed the value, contact your local sales office.
The values of the load inertia moment ratio in the table are the values at the maximum rotation speed of the
servo motor.
Servo motor
Driver
LE-□-□
LECSS□-□ 30

10 - 6
10. CHARACTERISTICS

10.4 Cable flexing life

The flexing life of the cables is shown below. This graph calculated values. Since they are not guaranteed
values, provide a little allowance for these values. The minimum bending radius : Min. 45mm.
1 108 a
5 107

1 107 a : Long flexencoder

Robot life encoder
cablecable
5 106 Long flexmotor
Robot life motor
powerpower
cablecable
Long flexmotor
Robot life motor brake cable
lock cable
SSCNET cable using long distance cable

1 106 b : Standard
Standardencoder
encodercable
cable
Standard
Standardmotor
motorpower
powercable
cable
5 105
Standard
Standardmotor
motorbrake cable
lock cable
SSCNET
SSCNETⅢcable
cableusing inside panel standard cord
SSCNET cable using outside panel standard cable
Flexing life [times]

1 105
5 104

1 104
b
5 103

1 103
4 7 10 20 40 70 100 200

Flexing radius [mm]

10.5 Inrush currents at power-on of main circuit and control circuit

The following table indicates the inrush currents (reference data) that will flow when the maximum permissible
voltage (200V class: 253VAC, 400V class: 528VAC) is applied at the power supply capacity of 2500kVA and
the wiring length of 1m (3.28ft).

Inrush currents (A0-p)

Driver
Main circuit power supply (L1, L2, L3) Control circuit power supply (L11, L21)
LECSS1-□ 38A (Attenuated to approx. 14A in 10ms) 20 to 30A
LECSS2-□ 30A (Attenuated to approx. 5A in 10ms) (Attenuated to approx. 0A in 1 to 2ms)
Since large inrush currents flow in the power supplies, always use no-fuse breakers and magnetic contactors.
(Refer to section 11.6.)
When circuit protectors are used, it is recommended to use the inertia delay type that will not be tripped by an
inrush current.

10 - 7
11. OPTIONS AND AUXILIARY EQUIPMENT

11. OPTIONS AND AUXILIARY EQUIPMENT.................................................................................................. 2

11.1 Cable/connector sets ............................................................................................................................. 2
11.1.1 Combinations of cable/connector sets ............................................................................................ 3
11.1.2 Encoder cable/connector sets ......................................................................................................... 6
11.1.3 Motor cables .................................................................................................................................... 8
11.1.4 Lock cables...................................................................................................................................... 9
11.1.5 SSCNET cable............................................................................................................................ 10
11.2 Regenerative options ........................................................................................................................... 12
11.3 Set up software (MR Configurator2TM) ................................................................................................. 15
11.3.1 Specifications ................................................................................................................................ 15
11.3.2 System configuration ..................................................................................................................... 16
11.3.3 Precautions for using USB communication function ..................................................................... 17
11.4 Battery LEC-MR-J3BAT ....................................................................................................................... 18
11.5 Selection example of wires .................................................................................................................. 19
11.6 No-fuse breakers, fuses, magnetic contactors .................................................................................... 22
11.7 Noise reduction techniques .................................................................................................................. 23
11.8 Leakage current breaker ...................................................................................................................... 30
11.9 EMC filter (recommended) ................................................................................................................... 32

11 - 1
11. OPTIONS AND AUXILIARY EQUIPMENT

11. OPTIONS AND AUXILIARY EQUIPMENT

Before connecting any option or peripheral equipment, turn off the power and wait
for 15 minutes or more until the charge lamp turns off. Then, confirm that the
WARNING voltage between P( ) and N( ) is safe with a voltage tester and others.
Otherwise, an electric shock may occur. In addition, always confirm from the front
of the driver whether the charge lamp is off or not.

Use the specified auxiliary equipment and options. Unspecified ones may lead to a
CAUTION fault or fire.

11.1 Cable/connector sets

POINT
Protective structure indicated for cables and connecters is for a cable or
connector alone. When the cables and connectors are used to connect the
driver and servo motor, and if protective structures of the driver and servo
motor are lower than that of the cable and connector, specifications of the
driver and servo motor apply.

As the cables and connectors used with this servo, purchase the options indicated in this section.

11 - 2
11. OPTIONS AND AUXILIARY EQUIPMENT

11.1.1 Combinations of cable/connector sets

Servo system Personal computer
controller
35)

32) Driver Driver

36)

32)

Cap
(Driver attachment)
●Direct connection type(cable length 10m or less, IP65)
15) 16) 17) 18)

Battery
LEC-MR-J3BAT
●To 24VDC power
supply for 9) 10/) 11) 12)
electromagnetic brake

Servo Motor
3) 4/) 5) 6) LE-□-□
To CNP3

Motor cable Lock cable Encoder cable

Note. Connectors for 3.5kW or less. For 5kW or more, terminal blocks.

11 - 3
11. OPTIONS AND AUXILIARY EQUIPMENT

No. Product Model Description Application

3) Motor power LE-CSM-S□A IP65
Cable length: 2 5 10m Motor cableconnector
Power supply
supply cable Axis side lead
LE-CSM-R□A LE-□-□
4) Motor power IP65
Cable length: 2 5 10m HF-MP series
series
supply cable HF-KP series Axis side lead
Robot cable

Refer to section 11.1.3 for details.

5) Motor power LE-CSM-S□B IP65
Cable length: 2 5 10m Motor
Power cable
supply connector
supply cable Counter axis
LE-□-□ side lead
HF-MP series
6) Motor power LE-CSM-R□B series IP65
HF-KP series
Cable length: 2 5 10m
supply cable Counter axis
side lead
Refer to section 11.1.3 for details.
Robot cable
9) Lock cable LE-CSB-S□A IP65
Cable length: 2 5 10m Lock cable
Brake connector
Axis side lead
LE-□-□
10) Lock cable LE-CSB-R□A IP65
Cable length: 2 5 10m series
HF-MP series
HF-KP series Axis side lead
Robot cable

Refer to section 11.1.4 for details.

11) Lock cable LE-CSB-S□B IP65
Cable length: 2 5 10m Lock
Brake cable
connector Counter axis
LE-□-□ side lead
HF-MP series
12) Lock cable LE-CSB-R□B series
HF-KP series IP65
Cable length: 2 5 10m
Counter axis
side lead
Refer to section 11.1.4 for details.
Robot cable
15) Encoder LE-CSE-S□A IP65
cable Cable length: 2 5 10m Encoder connector
Axis side lead
16) Encoder LE-CSE-R□A LE-□-□ IP65
cable Cable length: 2 5 10m HF-MP series
series Axis side lead
HF-KP series
Robot cable

Refer to section 11.1.2 (1) for details.

17) Encoder LE-CSE-S□B IP65
cable Cable length: 2 5 10m Encoder connector
Counter axis
LE-□-□
side lead
series
HF-MP series
18) Encoder LE-CSE-R□B
HF-KP series IP65
cable Cable length: 2 5 10m
Counter axis
side lead
Refer to section 11.1.2 (1) for details.
Robot cable

11 - 4
11. OPTIONS AND AUXILIARY EQUIPMENT

No. Product Model Description Application

32) SSCNET LE-CSS-□ Connector: PF-2D103 Connector: PF-2D103 Inside panel
cable Cable length: 0.15 to 3m (Japan Aviation Electronics (Japan Aviation Electronics standard cord
(Refer to section 11.1.5.) Industry, Ltd.) Industry, Ltd.)

35) USB cable LEC-MR-J3USB For CN5 connector For personal computer connector For connection
Cable length: 3m minB connector (5 pins) A connector with PC-AT
compatible
personal
computer
36) Connector set LE-CSNS Connector: 10120-3000PE
Shell kit: 10320-52F0-008
(Sumitomo 3M Limited or similar
product)

11 - 5
11. OPTIONS AND AUXILIARY EQUIPMENT

11.1.2 Encoder cable/connector sets

(1) LE-CSE- □□A・LE-CSE-□□B
These cables are encoder cables for the LE-□-□ series servo motors. The numerals in the Cable Length
field of the table are the symbols entered in the part of the cable model. The cables of the lengths with the
symbols are available.

Cable model Cable length Protective

Flex life Application
2m 5m 10m structure
2 5 A For LE-□-□ servo motor
LE-CSE-S□A IP65 Standard
Axis side lead
LE-CSE-R□A 2 5 A IP65 Robot cable
2 5 A For LE-□-□ servo motor
LE-CSE-S□B IP65 Standard
Counter axis side lead
LE-CSE-R□B 2 5 A IP65 Robot cable

(a) Connection of driver and servo motor

ServoDriver
amplifier LE-CSE-S□A
MR-J3ENCBL M-A1-L
MR-J3ENCBL M-A1-H
LE-CSE-R□A 2)

Servomotor
Servo Motor
LE-□-□
HF-MP
1) or HF-KP

LE-CSE-S□B
MR-J3ENCBL M-A2-L
MR-J3ENCBL M-A2-H
LE-CSE-R□B 2) Servo Motor
LE-□-□
Servo motor
CN2 HF-MP
HF-KP
1)

Cable model 1) For CN2 connector 2) For encoder connector

Receptacle: 36210-0100PL Connector set: 54599-1019(Molex) Connector: 1674320-1
Shell kit: 36310-3200-008 Crimping tool for ground clip:
LE-CSE-S□A
(Sumitomo 3M Limited) 1596970-1
Crimping tool for receptacle
contact: 1596847-1
(Note) Signal layout (Note) Signal layout
(Tyco Electronics)
LE-CSE-R□A
2 6 10 (Note) Signal layout
2 4 6 8 10
LG 4 8 LG MRR
MRR
or 9 SHD
1 5 9 7 8
1 3 5 7 9
P5 3 7 BAT
P5 MR BAT
MR 5 MR 6 P5G
LE-CSE-S□B 3 P5 4 MRR
View seen from wiring side. View seen from wiring side. 1 2 BAT

View seen from wiring side.

Note. Keep open the pins shown with .
LE-CSE-R□B Especially, pin 10 is provided for manufacturer Note. Keep open
adjustment. If it is connected with any other the pin shown with
pin, the driver cannot operate normally. an .

11 - 6
11. OPTIONS AND AUXILIARY EQUIPMENT

(b) Cable internal wiring diagram

MR-J3ENCBL2M-L/-H
LE-CSE-S□A LE-CSE-R□A
MR-J3ENCBL5M-L/-H
LE-CSE-S□B LE-CSE-R□B
MR-J3ENCBL10M-L/-H
Servo
Driver amplifier Encoder side
side connector connector

P5 1 3 P5
LG 2 6 LG
MR 3 5 MR
MRR 4 4 MRR
BAT 9 2 BAT
SD Plate 9 SHD

11 - 7
11. OPTIONS AND AUXILIARY EQUIPMENT

11.1.3 Motor cables

These cables are motor power supply cables for the LE-□-□series servo motors. The numerals in the Cable
length field of the table are the symbols entered in the part of the cable model. The cables of the lengths with
the symbols are available.
Refer to section 3.10 when wiring.

Cable length Cable

Cable model IP rating Application
2m 5m 10m type
IP65 For LE-□-□ servo motor
LE-CSMS□A 2 5 A Standard
Axis side lead
IP65 For LE-□-□servo motor
LE-CSM-S□B 2 5 A Standard
Counter axis side lead
IP65 For LE-□-□ servo motor
LE-CSM-R□A 2 5 A Robot cable
Axis side lead
IP65 For LE-□-□ servo motor
LE-CSM-R□B 2 5 A Robot cable
Counter axis side lead

(1) Connection of driver and servo motor

MR-PWS1CBL M-A1-L
LE-CSM-S□A
MR-PWS1CBL M-A1-H
LE-CSM-S□B
MR-PWS2CBL03M-A1-L 1)
Driver
Servo amplifier

or Servo motor
HF-MP
LE-□-□
HF-KP

MR-PWS1CBL M-A2-L
LE-CSM-R□A
MR-PWS1CBL M-A2-H
CNP3 connector LE-CSM-R□B
supplied with servo MR-PWS2CBL03M-A2-L 1)
amplifier Servo Motor
driver
LE-□-□
Servo motor
CNP3 HF-MP
HF-KP

Cable model 1) For motor power supply connector

LE-CSM-S□A Connector: JN4FT04SJ1-R Signal layout
Hood, socket insulator
LE-CSM-S□B Bushing, ground nut
Contact: ST-TMH-S-C1B-100-(A534G) 1
LE-CSM-R□A Crimping tool: CT160-3-TMH5B 2 U
(Japan Aviation Electronics Industry)
3 V
4 W
LE-CSM-R□B

View seen from wiring side.

(2) Internal wiring diagram

LE-CSM-S□A LE-CSM-R□A
MR-PWS1CBL M-A1-H MR-PWS1CBL M-A2-H
LE-CSM-S□B LE-CSM-R□B
MR-PWS2CBL03M-A1-L MR-PWS2CBL03M-A2-L
AWG 19 (Red) (Note)
AWG 19 (White) U
AWG 19 (Black) V
AWG 19 (Green/yellow) W

Note. These are not shielded cables.

11 - 8
11. OPTIONS AND AUXILIARY EQUIPMENT

11.1.4 Lock cables

These cables are motor brake cables for the LE-□-□ series servo motors. The numerals in the Cable length
field of the table are the symbols entered in the part of the cable model. The cables of the lengths with the
symbols are available.
Refer to section 3.11 when wiring.

Cable length Protective

Cable model Flex life Application
2m 5m 10m structure
2 5 A IP65 For LE-□-□ servo motor
LE-CSB-S□A Standard
Axis side lead
2 5 A IP65 For LE-□-□servo motor
LE-CSB-S□B Standard
Counter axis side lead
2 5 A IP65 For LE-□-□servo motor
LE-CSB-R□A Robot cable
Axis side lead
2 5 A IP65 For LE-□-□ servo motor
LE-CSB-R□B Robot cable
Counter axis side lead

(1) Connection of power supply for lock and servo motor

MR-BKS1CBL M-A1-L
LE-CSB-S□A
MR-BKS1CBL M-A1-H
LE-CSB-S□B
MR-BKS2CBL03M-A1-L 1)

24VDC power Servo motor

supply for HF-MP
LE-□-□
electromagnetic
lock or HF-KP
brake

MR-BKS1CBL M-A2-L
LE-CSB-R□A
MR-BKS1CBL M-A2-H
LE-CSB-R□B
MR-BKS2CBL03M-A2-L 1)
Servo motor
LE-□-□
Servo motor
HF-MP
HF-KP

Cable model 1) For motor brake connector

LE-CSB-S□A Connector: JN4FT02SJ1-R
Signal layout
Hood, socket insulator
LE-CSB-S□B Bushing, ground nut
Contact: ST-TMH-S-C1B-100-(A534G) 1 B1
LE-CSB-R□A
Crimping tool: CT160-3-TMH5B 2 B2
(Japan Aviation Electronics Industry)
LE-CSB-R□B
View seen from wiring side.

(2) Internal wiring diagram

LE-CSB-S□A LE-CSB-R□A
MR-BKS1CBL M-A1-H MR-BKS1CBL M-A2-H
LE-CSB-S□B
MR-BKS2CBL03M-A1-L LE-CSB-R□B
MR-BKS2CBL03M-A2-L
AWG 20 (Note)
B1
AWG 20
B2
Note. These are not shielded cables.

11 - 9
11. OPTIONS AND AUXILIARY EQUIPMENT

11.1.5 SSCNET cable

POINT
Do not see directly the light beam (transparent and colorless) generated from
CN1A CN1B connector of driver or the end of SSCNET cable. When the
light gets into eye, you may feel something is wrong for eye. (The light source
of SSCNET complies with class1 defined in JIS C6802 or IEC60825-1.)

(1) Model explanations

Numeral in the column of cable length on the table is a symbol put in the part of cable model. Cables of
which symbol exists are available.

Cable length Application remark

Cable model 0.15 0.3 0.5 1m 3m Flex life
m m m
LE-CSS-□ L K J 1 3 Standard Using inside panel standard cord

(2) Specifications

Description
SSCNET cable model LE-CSS-□
SSCNET cable length 0.15m 0.3～3m
Optical cable(cord) Minimum bend radius 25mm
Tension strength 70N 140N
Temperature range for use
－40～85℃
(Note)
Indoors (no direct sunlight)
Ambient
No solvent or oil

2.2±0.07
External appearance
[mm]

2.2±0.07
4.4±0.1

Note. This temperature range for use is the value for optical cable (cord) only. Temperature condition for
the connector is the same as that for driver.

11 - 10
11. OPTIONS AND AUXILIARY EQUIPMENT

(3) Outline drawings

(a) LE-CSS-L
[Unit: mm]
(6.7) (15)

Protective tube (13.4) (37.65)

50
(20.9) 150 0

0
8
(1.7)
(2.3)

(b) LE-CSS-K / LE-CSS-J / LE-CSS-1 / LE-CSS-3

Refer to the table shown in (1) of this section for cable length (L).
[Unit: mm]
Protective tube
(Note)

(100) (100)
L

Note. Dimension of connector part is the same as that of LE-CSS-L.

11 - 11
11. OPTIONS AND AUXILIARY EQUIPMENT

11.2 Regenerative options

The specified combinations of regenerative options and drivers may only be used.
CAUTION Otherwise, a fire may occur.

(1) Combination and regenerative power

The power values in the table are resistor-generated powers and not rated powers.

Regenerative power [W]

Driver Built-in regenerative LEC-MR-RB-032 LEC-MR-RB-12
resistor [40Ω] [40Ω]
LECSS□-S5 30
LECSS□-S7 10 30 100
LECSS□-S8 10 30 100
Note 1. Always install a cooling fan.
2. Values in parentheses assume the installation of a cooling fan.

(3) Parameter setting

Set parameter No.PA02 according to the option to be used.
Parameter No.PA02

0 0
Selection of
Selection of regenerative
regenerative option
option
00: Regenerative option
00：Regenerative option is
is not
not used
used
For servo
・For 100Wamplifier of 100W, regenerative
driver regenerative resistor
resistor is not used is not used.
For servo amplifier of 200 to 7kW, built-in regenerative resistor is used.
・For 200W / 400W driver regenerative resistor is used
Supplied regenerative resistors or regenerative option is used with
02：LEC-MR-RB-032
the servo amplifier of 11k to 22kW.
03：LEC-MR-RB-12
For a drive unit of 30kW or more, select regenerative option by the
converter unit.
01: FR-BU2-(H) FR-RC-(H) FR-CV-(H)
02: MR-RB032
03: MR-RB12
04: MR-RB32
05: MR-RB30
06: MR-RB50(Cooling fan is required)
08: MR-RB31
09: MR-RB51(Cooling fan is required)
80: MR-RB1H-4
81: MR-RB3M-4(Cooling fan is required)
82: MR-RB3G-4(Cooling fan is required)
83: MR-RB5G-4(Cooling fanis required)
84: MR-RB34-4(Cooling fanis required)
85: MR-RB54-4(Cooling fanis required)
FA: Whenhe supplied regenerative resistor is cooled by the cooling fan to
increase the ability with the servo amplifier of 11k to 22kW.

11 - 12
11. OPTIONS AND AUXILIARY EQUIPMENT

(3) Connection of the regenerative option

POINT
For the sizes of wires used for wiring, refer to section 11.5.

The regenerative option will cause a temperature rise of 100 relative to the ambient temperature. Fully
examine heat dissipation, installation position, used cables, etc. before installing the option. For wiring, use
flame-resistant wires and keep them clear of the regenerative option body. Always use twisted cables of
max. 5m length for connection with the driver.

(a) LECSS□-□
Always remove the wiring from across P-D and fit the regenerative option across P-C.
The G3 and G4 terminals act as a thermal sensor. G3-G4 is disconnected when the regenerative option
overheats abnormally.
Always remove the lead from across P-D.
Driver
Servo amplifier Regenerative option
P
P
C
C
G3
D
(Note 2) G4

5m max.
(Note 1)
Cooling fan

Note1. Make up a sequence which will switch off the magnetic contactor (MC) when abnormal heating occurs.
G3-G4 contact specifications
Maximum voltage: 120V AC/DC
Maximum current: 0.5A/4.8VDC
Maximum capacity: 2.4VA

11 - 13
11. OPTIONS AND AUXILIARY EQUIPMENT

(4) Outline drawing

(a) LEC-MR-RB-032 LEC-MR-RB-12
[Unit: mm (in)] TE1
Terminal block

G3
LA 6 mounting hole G4
Approx. 6

P
LB C
Approx. 12

Terminal screw: M3
MR-RB
Tightening torque: 0.5 to 0.6 [N m]
(4 to 5 [lb in])
Mounting screw
Screw size: M5
Tightening torque: 3.24 [N m]
168

144
156

5
(28.7 [lb in])

G3
G4
TE1 P
C
12
6

6 1.6

Approx. 20 LD

LC

Variable dimensions Mass

Regenerative option
LA LB LC LD [kg] [lb]
LEC-MR-RB-032 30 15 119 99 0.5 1.1
LEC-MR-RB-12 40 15 169 149 1.1 2.4

11 - 14
11. OPTIONS AND AUXILIARY EQUIPMENT

11.3 Set up software (MR Configurator2TM)

The set up software (MR Configurator2TM : LEC-MRC2E) uses the communication function of the driver to
perform parameter setting changes, graph display, test operation, etc. on a personal computer.
When setup software (MR Configurator2TM) is used, the selection of the model of LECSS□-□ is needed.
Please select 'MR-J3-B' by "Model" - "New" - "Project".

11.3.1 Specifications
Item Description
Compatibility with a The set up software(MR Configurator2 TM) software version compatible with the driver
driver is Ver1.52E or later.
Display, high speed monitor, trend graph
Monitor
Minimum resolution changes with the processing speed of the personal computer.
Alarm Display, history, driver data
Digital I/O, no motor rotation, total power-on time, driver version info, motor information, tuning
Diagnostic
data, absolute encoder data, Axis name setting.
Parameters Parameter list, turning, change list, detailed information
Test operation Jog operation, positioning operation, Do forced output, program operation.
Advanced function Machine analyzer, gain search, machine simulation.
File operation Data read, save, delete, print
Others Automatic demo, help display

11 - 15
11. OPTIONS AND AUXILIARY EQUIPMENT

11.3.2 System configuration

(1) Components
To use this software, the following components are required in addition to the driver and servo motor.

Set up software(MR Configurator2 TM)

Equipment
LEC-MRC2E
Microsoft Windows 10 Edition,
Microsoft Windows 10 Enterprise,
Microsoft Windows 10 Pro,
Microsoft Windows 10 Home,
Microsoft Windows 8.1 Enterprise
Microsoft Windows 8.1 Pro
Microsoft Windows 8.1
Microsoft Windows 8 Enterprise,
Microsoft Windows 8 Pro,
Microsoft Windows 8,
Microsoft Windows 7 Ultimate
Personal computer
OS Microsoft Windows 7 Enterprise
(Note 1, 2, 3, 4 Microsoft Windows 7 Professional
5, 6, 7, 8, 9) Microsoft Windows 7 Home Premium
Microsoft Windows 7 Starter
Microsoft Windows Vista Ultimate
Microsoft Windows Vista Enterprise
Microsoft Windows Vista Business
Microsoft Windows Vista Home Premium
Microsoft Windows Vista Home Basic
Microsoft Windows XP Professional, Service Pack2 or later
Microsoft Windows XP Home Edition, Service Pack2 or later
IBM PC/AT compatible PC
Hard Disk 1GB or more of free space
One whose resolution is 1024 768 or more and that can provide a high color (16 bit) display.
Display
Connectable with the above personal computer.
Keyboard Connectable with the above personal computer.
Mouse Connectable with the above personal computer.
Printer Connectable with the above personal computer.
USB cabl0
LEC-MR-J3USB
(Note 10)
Note 1. Using a PC for setting Windows 10, upgrade to version 1.52E.
Using a PC for setting Windows 8.1, upgrade to version 1.25B.
Using a PC for setting Windows 8, upgrade to version 1.20W.
Refer to Mitsubishi Electric Corporation’s website for version upgrade information.
2. Windows and Windows Vista is the registered trademarks of Microsoft Corporation in the United States and other
countries.
3. On some personal computers, set up software (MR Configurator2TM) may not run properly.
4. The following functions cannot be used. If any of the following functions is used, this product may not operate normally.
･ Start of application in Windows® compatible mode.
･ Fast User Switching.
･ Remote Desktop.
･ Windows XP Mode.
･ Windows Touch or Touch.
･ Modern UI
･ Client Hyper-V
･ Tablet Mode
･ Virtual desktop
･ Does not support 64-bit Operating System, except for Microsoft Windows 7 or later.

11 - 16
11. OPTIONS AND AUXILIARY EQUIPMENT

5. Multi-display is set, the screen of this product may not operate normally.
6. The size of the text or other items on the screen is not changed to the specified value (96DPI, 100%, 9pt, etc.), the screen
of this product may not operate normally.
7. Changed the resolution of the screen during operating, the screen of this product may not operate normally.
8. Please use by "Standard User", "Administrator" in Windows Vista® or later.
9. If .NET Framework 3.5 (including .NET 2.0 and 3.0) have been disabled in Windows 7 or later, it is necessary to enable it.
10.Order USB cable separately.
This cable is shared with Set up software (MR ConfiguratorTM : LEC-MR-SETUP221E).

(2) Connection with driver

For use of USB
Personal computer
Driver
Servo amplifier USB cable
USB cable
LEC-MR-J3USB To USB
MR-J3USBCBL3M connector
CN5 (Option)
(Option)

CN2

11.3.3 Precautions for using USB communication function

Note the following to prevent an electric shock and malfunction of the driver.

(1) Power connection of personal computers

Connect your personal computer with the following procedures.

(a) When you use a personal computer with AC power supply

1) When using a personal computer with a three-core power plug or power plug with grounding wire,
use a three-pin socket or ground the grounding wire.

2) When your personal computer has two-core plug and has no grounding wire, connect the personal
computer to the driver with the following procedures.

a) Disconnect the power plug of the personal computer from an AC power socket.

b) Check that the power plug was disconnected and connect the device to the driver.

c) Connect the power plug of the personal computer to the AC power socket.

(b) When you use a personal computer with battery

You can use as it is.

11 - 17
11. OPTIONS AND AUXILIARY EQUIPMENT

(2) Connection with other devices using driver communication function

When the driver is charged with electricity due to connection with a personal computer and the charged
driver is connected with other devices, the driver or the connected devices may malfunction. Connect
the driver and other devices with the following procedures.

(a) Shut off the power of the device for connecting with the driver.

(b) Shut off the power of the driver which was connected with the personal computer and
check the charge lamp is off.

(c) Connect the device with the driver.

(d) Turn on the power of the driver and the device.

11.4 Battery LEC-MR-J3BAT

POINT
Refer to appendix 4 for battery transportation.

(1) Purpose of use for LEC-MR-J3BAT

This battery is used to construct an absolute position detection system. Refer to section 12.3 for the fitting
method, etc.

(2) Year and month when LEC-MR-J3BAT is manufactured

The year and month when LEC-MR-J3BAT is manufactured are written down in Serial No. on the rating
plate of the battery back face.
The year and month of manufacture are indicated by the last one digit of the year and 1 to 9, X(10), Y(11),
Z(12).
For October 2004, the Serial No. is like, "SERIAL 4X ".

11 - 18
11. OPTIONS AND AUXILIARY EQUIPMENT

11.5 Selection example of wires

POINT
Refer to section 11.1.5 for SSCNET cable.
Wires indicated in this section are separated wires. When using a cable for
power line (U, V, and W) between the driver and servo motor, use a 600V
grade EP rubber insulated chloroprene sheath cab-tire cable (2PNCT). For
selection of cables, refer to appendix 6.
To comply with the UL/C-UL (CSA) Standard, use UL-recognized copper
wires rated at 60 (140 ) or more for wiring. To comply with other
standards, use a wire that is complied with each standard
Selection condition of wire size is as follows.
Construction condition: One wire is constructed in the air
Wire length: 30m or less

(1) Wires for power supply wiring

The following diagram shows the wires used for wiring. Use the wires given in this section or equivalent.
1) Main circuit power supply lead 3) Motor power supply lead
Driver
Servo amplifier Servo motor
Power supply

L1 U U
L2 V V
L3 (Note) W W Motor
2) Control power supply lead
L11
8) Power regeneration L21 4)4)Electromagnetic
Lock lead
converter lead brake lead

B1 Electro-
Lock
magnetic
Power regeneration N B2 brake
converter C
Regenerative option
P
C
Encoder
P

Encoder cable
4) Regenerative option lead Cooling fan
Power supply
BU
BV
BW

6) Cooling fan lead Thermal

OHS1
OHS2
7) Thermal

Note. There is no L3 for 1-phase 100 to 120VAC power supply.

11 - 19
11. OPTIONS AND AUXILIARY EQUIPMENT

(a) When using the 600V Polyvinyl chloride insulated wire (IV wire)
Selection example of wire size when using IV wires is indicated below.

Table 11.1 Wire size selection example 1 (IV wire)

Wires [mm2] (Note 1, 2)
Driver 1) 2) 3) 4) 5) 6) 7)
L1 L2 L3 L11 L21 U V W P C B1 B2 BU BV BW OHS1 OHS2
LECSS□-S5
LECSS□-S7 2(AWG14) 1.25(AWG16) 1.25(AWG16) 2(AWG14) 1.25(AWG16)
LECSS□-S8
Note 1. Alphabets in the table indicate crimping tools. For crimping terminals and applicable tools, refer to (1) (c) in this section.
2. Wires are selected based on the highest rated current among combining servo motors.

Use wires 8) of the following sizes with the power regeneration converter (FR-RC-(H) : Mitsubishi Electric
Corporation).

Model Wires[mm2]
FR-RC-15K 14(AWG6)
FR-RC-30K 14(AWG6)
FR-RC-55K 22(AWG4)
FR-RC-H15K 14(AWG6)
FR-RC-H30K 14(AWG6)
FR-RC-H55K 14(AWG6)

(b) When using the 600V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire)
Selection example of wire size when using HIV wires is indicated below. For the wire (8)) for power
regeneration converter (FR-RC-(H) : Mitsubishi Electric Corporation), use the IV wire indicated in (1) (a)
in this section.

Table 11.2 Wire size selection example 2 (HIV wire)

Wires [mm2] (Note 1, 2)
Driver 1) 2) 3) 4) 5) 6) 7)
L1 L2 L3 L11 L21 U V W P C B1 B2 BU BV BW OHS1 OHS2
LECSS□-S5
LECSS□-S7 2(AWG14) 1.25(AWG16) 1.25(AWG16) 2(AWG14) 1.25(AWG16)
LECSS□-S8
Note 1. Alphabets in the table indicate crimping tools. For crimping terminals and applicable tools, refer to (1) (c) in this section.
2. Wires are selected based on the highest rated current among combining servo motors.

11 - 20
11. OPTIONS AND AUXILIARY EQUIPMENT

(c) Selection example of crimping terminals

Selection example of crimping terminals for the driver terminal box when using the wires mentioned in
(1) (a) and (b) in this section is indicated below.

Driver side crimping terminals

(Note 2) Applicable tool
Symbol
Crimping Manufacturer
Body Head Dice
terminal
a FVD5.5-4 YNT-1210S
(Note 1)b 8-4NS YHT-8S
c FVD14-6 DH-112 DH122
YF-1 E-4 YNE-38
d FVD22-6 DH-113 DH123
YPT-60-21
(Note 1)e 38-6 TD-112 TD-124
YF-1 E-4 YET-60-1
YPT-60-21
(Note 1)f R60-8 TD-113 TD-125 Japan Solderless
YF-1 E-4 YET-60-1
Terminal
g FVD2-4
YNT-1614
h FVD2-M3
j FVD5.5-6
YNT-1210S
k FVD5.5-8
l FVD8-6 DH-111 DH121
m FVD14-8 YF-1 E-4 YNE-38 DH-112 DH122
n FVD22-8 DH-113 DH123
YPT-60-21
(Note 1)p R38-8 TD-112 TD-124
YF-1 E-4 YET-60-1
q FVD2-6 YNT-1614
Note 1. Coat the part of crimping with the insulation tube.
2. Some crimping terminals may not be mounted depending on the size. Make sure to use the
recommended ones or equivalent ones.

11 - 21
11. OPTIONS AND AUXILIARY EQUIPMENT

(2) Wires for cables

When fabricating a cable, use the wire models given in the following table or equivalent.

Table 11.3 Wires for option cables

Characteristics of one core
Insulation (Note 3)
Length Core size Number Structure Conductor
Type Model coating OD Finishing Wire model
[m] [mm2] of Cores resistance
d [mm] OD [mm]
[Wires/mm] [ /mm]
(Note 1)

LE-CSE-S□A (Note 3)
6 53 VSVP 7/0.26 (AWG#22 or
2 to 10 AWG22 7/0.26 1.2 7.1 0.3
(3 pairs) or less equivalent)-3P
LE-CSE-S□B Ban-gi-shi-16823
Encoder
Cable
LE-CSE-R□A (Note 3)
6 56
2 to 10 AWG22 70/0.08 1.2 7.1 0.3 ETFE SVP 70/0.08 (AWG#22 or
(3 pairs) or less
LE-CSE-R□B equivalent)-3P Ban-gi-shi-16824

LE-CSM-S□A 2 to 10
LE-CSM-S□B 2 to 10 (Note 5) 25.40 (Note 4)
Motor cable 4 50/0.08 1.8 5.7 0.3
LE-CSM-R□A 2 to 10 AWG19 or less UL Style 2103 AWG19 4 cores
LE-CSM-R□B 2 to 10
LE-CSB-S□A 2 to 10
LE-CSB-S□B 2 to 10 (Note 5) 38.14 (Note 4)
Lock cable 2 100/0.08 1.3 4.0 0.3
LE-CSB-R□A 2 to 10 AWG20 or less UL Style 2103 AWG20 2 cores
LE-CSB-R□B 2 to 10
Note 1. d is as shown below.
d

Conductor Insulation sheath

2. Purchased from Toa Electric Industry

3. Standard OD. Max. OD is about 10% greater.
4. Kurabe
5. These wire sizes assume that the UL-compliant wires are used at the wiring length of 10m.

11.6 No-fuse breakers, fuses, magnetic contactors

Always use one no-fuse breaker and one magnetic contactor with one driver. When using a fuse instead of the
no-fuse breaker, use the one having the specifications given in this section.

No-fuse breaker Fuse

Driver Not using power factor Using power factor (Note) Current Voltage Magnetic contactor
improving reactor improving reactor Class [A] AC [V]
LECSS□-S5 30A frame 5A 30A frame 5A 10
S-N10
LECSS2-S7 30A frame 5A 30A frame 5A 10
T 250 （Mitsubishi Electric
LECSS1-S7 30A frame 10A 30A frame 10A 15
LECSS2-S8 30A frame 10A 30A frame 5A 15
Corporation）
Note. When not using the driver as a UL/C-UL Standard compliant product, K5 class fuse can be used.

11 - 22
11. OPTIONS AND AUXILIARY EQUIPMENT

11.7 Noise reduction techniques

Noises are classified into external noises which enter the driver to cause it to malfunction and those radiated by
the driver to cause peripheral devices to malfunction. Since the driver is an electronic device which handles
small signals, the following general noise reduction techniques are required.
Also, the driver can be a source of noise as its outputs are chopped by high carrier frequencies. If peripheral
devices malfunction due to noises produced by the driver, noise suppression measures must be taken. The
measures will vary slightly with the routes of noise transmission.

(1) Noise reduction techniques

(a) General reduction techniques
Avoid laying power lines (input and output cables) and signal cables side by side or do not bundle
them together. Separate power lines from signal cables.
Use shielded, twisted pair cables for connection with the encoder and for control signal transmission,
and connect the shield to the SD terminal.
Ground the driver, servo motor, etc. together at one point (refer to section 3.12).

(b) Reduction techniques for external noises that cause the driver to malfunction
If there are noise sources (such as a magnetic contactor, a lock, and many relays which make a large
amount of noise) near the driver and the driver may malfunction, the following countermeasures are
required.
Provide surge absorbers on the noise sources to suppress noises.
Attach data line filters to the signal cables.
Ground the shields of the encoder connecting cable and the control signal cables with cable clamp
fittings.
Although a surge absorber is built into the driver, to protect the driver and other equipment against
large exogenous noise and lightning surge, attaching a varistor to the power input section of the
equipment is recommended.
(c) Techniques for noises radiated by the driver that cause peripheral devices to malfunction Noises
produced by the driver are classified into those radiated from the cables connected to the driver and its
main circuits (input and output circuits), those induced electromagnetically or statically by the signal
cables of the peripheral devices located near the main circuit cables, and those transmitted through the
power supply cables.

11 - 23
11. OPTIONS AND AUXILIARY EQUIPMENT

Noises produced Noises transmitted Noise radiated directly

by driver
servo amplifier in the air from servo
driver amplifier Route 1)

Noise radiated from the

power supply cable Route 2)

Noise radiated from

servo motor cable Route 3)

Magnetic induction
noise Routes 4) and 5)

Static induction
noise Route 6)

Noises transmitted
Noise transmitted through
through electric Route 7)
power supply cable
channels

Noise sneaking from

grounding cable due to Route 8)
leakage current

5)

7) 7)
2)
7)

Sensor
power
1) Driver supply
Servo
2)
amplifier
Instrument Receiver
3)
8)
6)
4) Sensor

3)
Servo motor M

11 - 24
11. OPTIONS AND AUXILIARY EQUIPMENT

Noise transmission route Suppression techniques

When measuring instruments, receivers, sensors, etc. which handle weak signals and may malfunction
due to noise and/or their signal cables are contained in a control box together with the driver or run near
the driver, such devices may malfunction due to noises transmitted through the air. The following
techniques are required.
1. Provide maximum clearance between easily affected devices and the driver.
1) 2) 3) 2. Provide maximum clearance between easily affected signal cables and the I/O cables of the driver.
3. Avoid laying the power lines (Input cables of the driver) and signal cables side by side or bundling them
together.
4. Insert a line noise filter to the I/O cables or a radio noise filter on the input line.
5. Use shielded wires for signal and power cables or put cables in separate metal conduits.

When the power lines and the signal cables are laid side by side or bundled together, magnetic
induction noise and static induction noise will be transmitted through the signal cables and malfunction
may occur. The following techniques are required.
1. Provide maximum clearance between easily affected devices and the driver.
4) 5) 6) 2. Provide maximum clearance between easily affected signal cables and the I/O cables of the driver.
3. Avoid laying the power lines (I/O cables of the driver) and signal cables side by side or bundling them
together.
4. Use shielded wires for signal and power cables or put the cables in separate metal conduits.

When the power supply of peripheral devices is connected to the power supply of the driver system,
noises produced by the driver may be transmitted back through the power supply cable and the devices
may malfunction. The following techniques are required.
7) 1. Insert the radio noise filter (FR-BIF-(H) :Mitsubishi Electric Corporation) on the power cables (Input
cables) of the driver.
2. Insert the line noise filter (FR-BSF01 : Mitsubishi Electric Corporation FR-BLF : Mitsubishi Electric
Corporation) on the power cables of the driver.
When the cables of peripheral devices are connected to the driver to make a closed loop circuit, leakage
8) current may flow to malfunction the peripheral devices. If so, malfunction may be prevented by
disconnecting the grounding cable of the peripheral device.

(2) Noise reduction products

(a) Data line filter (Recommended)
Noise can be prevented by installing a data line filter onto the encoder cable, etc. For example, the
ZCAT3035-1330 of TDK and the ESD-SR-25 of NEC TOKIN make are available as data line filters. As a
reference example, the impedance specifications of the ZCAT3035-1330 (TDK) are indicated below.
This impedances are reference values and not guaranteed values.

Impedance[ ] [Unit: mm]

10 to 100MHz 100 to 500MHz
39 1 Loop for fixing the
80 150
34 1 cable band
13 1
30 1

TDK

Product name Lot number

Outline drawing (ZCAT3035-1330)

11 - 25
11. OPTIONS AND AUXILIARY EQUIPMENT

(b) Surge suppressor

The recommended surge suppressor for installation to an AC relay, AC valve or the like near the driver
is shown below. Use this product or equivalent.

MC

Relay
Surge suppressor

Surge suppressor

This distance should be short

(within 20cm).

(Ex.) 972A.2003 50411

(Matsuo Electric Co.,Ltd. 200VAC rating)
Rated Outline drawing [Unit: mm]
voltage C [ F] R[ ] Test voltage AC[V]
Vinyl sheath
AC[V]
18 1.5
50 Across Blue vinyl cord Red vinyl cord
200 0.5 6
(1W) T-C 1000(1 to 5s)

10 or less 10 or less
4
10 3 15 1 10 3 31
200 or more 48 1.5 200 or more

Note that a diode should be installed to a DC relay, DC valve or

the like. RA
Maximum voltage: Not less than 4 times the drive voltage of the
relay or the like Diode
Maximum current: Not less than twice the drive current of the
relay or the like

(c) Cable clamp fitting (AERSBAN - SET (Mitsubishi Electric Corporation))

Generally, the earth of the shielded cable may only be connected to the connector's SD terminal.
However, the effect can be increased by directly connecting the cable to an earth plate as shown below.
Install the earth plate near the driver for the encoder cable. Peel part of the cable sheath to expose the
external conductor, and press that part against the earth plate with the cable clamp. If the cable is thin,
clamp several cables in a bunch.
The clamp comes as a set with the earth plate.
[Unit: mm]

11 - 26
11. OPTIONS AND AUXILIARY EQUIPMENT

Cable
Cable clamp
(A,B) Earth plate

Strip the cable sheath of

the clamped area.

40
cutter

cable External conductor

Clamp section diagram

Outline drawing
[Unit: mm]
Earth plate Clamp section diagram

2- 5 hole 17.5
installation hole

30
L or less 10
B 0.3

A
C
6

0.2

35
0

0.3
3

0
24

24
7

(Note)M4 screw 6 22
35
11

Note. Screw hole for grounding. Connect it to the earth plate of the control box.

Type A B C Accessory fittings Clamp fitting L

AERSBAN-DSET 100 86 30 clamp A: 2pcs. A 70
AERSBAN-ESET 70 56 clamp B: 1pc. B 45

11 - 27
11. OPTIONS AND AUXILIARY EQUIPMENT

(d) Line noise filter (FR-BSF01, FR-BLF(Mitsubishi Electric Corporation))

This filter is effective in suppressing noises radiated from the power supply side and output side of the
driver and also in suppressing high-frequency leakage current (zero-phase current) especially within
0.5MHz to 5MHz band.

Connection diagram Outline drawing [Unit: mm]

Use the line noise filters for wires of the main power supply (L1 L2
L3) and of the motor power supply (U V W). Pass each of the FR-BSF01 : Mitsubishi Electric Corporation
(for wire size 3.5mm2 (AWG12) or less))
3-phase wires through the line noise filter an equal number of
times in the same direction. For the main power supply, the effect Approx.110
95 0.5 2- 5
of the filter rises as the number of passes increases, but generally

Approx.22.5
four passes would be appropriate. For the motor power supply,
passes must be four times or less. Do not pass the grounding
(earth) wire through the filter, or the effect of the filter will drop. Approx.65
Wind the wires by passing through the filter to satisfy the required
33
number of passes as shown in Example 1. If the wires are too
thick to wind, use two or more filters to have the required number

Approx.65
of passes as shown in Example 2. Place the line noise filters as
close to the driver as possible for their best performance.
Example 1

4.5
NFB MC Driver
Servo amplifier
Power
L1
supply
L2
Line noise L3
filter FR-BLF : Mitsubishi Electric Corporation
(Number of turns: 4) (for wire size 5.5mm2 (AWG10) or more))
Example 2 NFB MC Driver 7
Servo amplifier

7
Power
31.5

L1
supply
L2 130
Line noise L3 85
filter
Two filters are used
(Total number of turns: 4)
35
80

160
2.3

180

11 - 28
11. OPTIONS AND AUXILIARY EQUIPMENT

(e) Radio noise filter (FR-BIF-(H) : Mitsubishi Electric Corporation)

This filter is effective in suppressing noises radiated from the power supply side of the driver especially
in 10MHz and lower radio frequency bands. The FR-BIF (-H) (Mitsubishi Electric Corporation) is
designed for the input only.
Connection diagram Outline drawing (Unit: mm)
Make the connection cables as short as possible. Leakage current: 4mA
Grounding is always required. Red White Blue Green
When using the FR-BIF with a single-phase power

About 300
supply, always insulate the wires that are not used
for wiring.
NFB MC Servo amplifier
Driver

L1
Power 29
L2
supply 5

42
L3 hole

4
Radio noise 58 29
200V class: FR-BIF 7
filter FR-BIF
400V class: FR-BIF-H -(H) 44

(f) Varistors for input power supply (Recommended)

Varistors are effective to prevent exogenous noise and lightning surge from entering the driver. When
using a varistor, connect it between each phase of the input power supply of the equipment. For
varistors, the TND20V-431K, TND20V-471K and TND20V-102K, manufactured by NIPPON CHEMI-
CON, are recommended. For detailed specification and usage of the varistors, refer to the manufacturer
catalog.

Maximum rating Static

Varistor voltage
Power Rated Maximum limit capacity
Permissible circuit Surge current Energy rating (range)
supply Varistor pulse voltage (reference
voltage immunity immunity V1mA
voltage power value)
AC[Vrms] DC[V] 8/20 s[A] 2ms[J] [W] [A] [V] [pF] [V]
100V class TND20V-431K 275 350 10000/1 time 195 710 1300 430(387 to 473)
200V class TND20V-471K 300 385 7000/2 time 215 775 1200 470(423 to 517)
1.0 100
7500/1 time
400V class TND20V-102K 625 825 400 1650 500 1000(900 to 1100)
6500/2 time

[Unit: mm]

D H T E (Note)L d W
D T Model
Max. Max. Max. 1.0 min. 0.05 1.0
TND20V-431K 6.4 3.3
21.5 24.5
H

TND20V-471K 6.6 3.5 20 0.8 10.0

TND20V-102K 22.5 25.5 9.5 6.4
Note. For special purpose items for lead length (L), contact the manufacturer.
W E
L

11 - 29
11. OPTIONS AND AUXILIARY EQUIPMENT

11.8 Leakage current breaker

(1) Selection method
High-frequency chopper currents controlled by pulse width modulation flow in the AC servo circuits.
Leakage currents containing harmonic contents are larger than those of the motor which is run with a
commercial power supply.
Select a leakage current breaker according to the following formula, and ground the driver, servo motor, etc.
securely.
Make the input and output cables as short as possible, and also make the grounding cable as long as
possible (about 30cm) to minimize leakage currents.

Rated sensitivity current 10 {Ig1 Ign Iga K (Ig2 Igm)} [mA] (11.1)

Cable
K: Constant considering the harmonic contents
Leakage current breaker
K
Type Products
NV Noise
NV-SP
filter
Servo
Driver Cable Models provided with NV-SW
M
amplifier harmonic and surge NV-CP 1
reduction techniques NV-CW
NV-L
Ig1 Ign Iga Ig2 Igm BV-C1
General models NFB 3
NV-L

Ig1: Leakage current on the electric channel from the leakage current breaker to the input terminals of the
driver (Found from Fig. 11.3.)
Ig2: Leakage current on the electric channel from the output terminals of the driver to the servo
motor (Found from Fig. 11.3.)
Ign: Leakage current when a filter is connected to the input side (4.4mA per one FR-BIF(-H) :Mitsubishi
Electric Corporation)
Iga: Leakage current of the driver (Found from Table 11.5.)
Igm: Leakage current of the servo motor (Found from Table 11.4.)
120 120
Leakage current

100 100
Leakage current

80 80

60 60

40 40
[mA]
[mA] 20
20

0 0 2 5.5 14 38 100
2 3.5 8 1422 38 80 150
5.5 30 60 100 3.5 8 22 60 150
30 80
Cable size[mm2] Cable size[mm2]
a. 200V class b. 400V class

Fig. 11.3 Leakage current example (lg1, lg2) for CV cable run in metal conduit

11 - 30
11. OPTIONS AND AUXILIARY EQUIPMENT

Table 11.4 Servo motor’s leakage current example (Igm)

Servo motor output [kW] Leakage current [mA]

0.05 to 1 0.1

Table 11.5 Driver's leakage current example (Iga)

Driver capacity [kW] Driver capacity [kW]
0.1 to 0.6 0.1 to 0.6

Table 11.6 Leakage circuit breaker selection example

Driver Driver
LECSS2-□
15
LECSS1-□

(2) Selection example

Indicated below is an example of selecting a leakage current breaker under the following conditions.
2mm2 5m 2mm2 5m
NV
Driver
Servo Servo motor
LECSS□-S8
amplifier M HF-KP43
MR-J3-40B LE-S8-□

Ig1 Iga Ig2 Igm

Use a leakage current breaker generally available.

Find the terms of Equation (11.1) from the diagram.

5
Ig1 20 0.1 [mA]
1000

5
Ig2 20 0.1 [mA]
1000

Ign 0 (not used)

Iga 0.1 [mA]

Igm 0.1 [mA]

Insert these values in Equation (13.1).

Ig 10 {0.1 0 0.1 1 (0.1 0.1)}

4.0 [mA]

According to the result of calculation, use a leakage current breaker having the rated sensitivity current (Ig)
of 4.0[mA] or more. A leakage current breaker having Ig of 15[mA] is used with the NV-SP/SW/CP/CW/HW
series.

11 - 31
11. OPTIONS AND AUXILIARY EQUIPMENT

11.9 EMC filter (recommended)

For compliance with the EMC directive of the EN Standard, it is recommended to use the following filter. Some
EMC filters are large in leakage current.

(1) Combination with the driver

Recommended filter (Soshin Electric)
Driver Mass [kg]([lb])
Model Leakage current [mA]
LECSS2-□
(Note) HF3010A-UN 5 3 (6.61)
LECSS1-□
Note. A surge protector is separately required to use any of these EMC filters.

(2) Connection example

EMC filter Driver
Servo amplifier
NFB MC
1 4 L1
(Note 1)
Power supply 2 5 L2
3 6 L3

E L11
L21

1 (Note 2)
Surge protector 1
2 (RAV-781BYZ-2)
3 (OKAYA Electric Industries Co., Ltd.)

(Note 2)
1 2 3 Surge protector 2
(RAV-781BXZ-4)
(OKAYA Electric Industries Co., Ltd.)

Note 1. For 1-phase 200V to 230VAC power supply, connect the power supply to L1,L2 and leave L3 open.
There is no L3 for 1-phase 100 to 120VAC power supply. Refer to section 1.3 for the power supply specification.
2. The example is when a surge protector is connected.

11 - 32
11. OPTIONS AND AUXILIARY EQUIPMENT

(3) Outline drawing

(a) EMC filter
HF3010A-UN
[Unit: mm]
3-M4 4-5.5 7 3-M4 M4

4
2
32

110
85
IN
Approx.41
258 4
65 4
273 2
288 4
300 5

11 - 33
11. OPTIONS AND AUXILIARY EQUIPMENT

(b) Surge protector

RAV-781BYZ-2 [Unit: mm]

1) 2) 3)
Black Black Black

5.5 1

11 1
4.2 0.2

28.5 1.0

UL-1015AWG16
30
0
200

1 2 3

4.5 0.5
28 1.0

41 1.0

RAV-781BXZ-4 [Unit: mm]

1) 2) 3) 4)
5.5 1

11 1

4.2 0.2
28.5 1.0

UL-1015AWG16
30
0
200

1 2 3
4.5 0.5
28 1.0

41 1.0

11 - 34
12. ABSOLUTE POSITION DETECTION SYSTEM

12. ABSOLUTE POSITION DETECTION SYSTEM ......................................................................................... 2

12.1 Features ................................................................................................................................................. 2
12.2 Specifications ......................................................................................................................................... 3
12.3 Battery installation procedure ................................................................................................................ 4
12.4 Confirmation of absolute position detection data ................................................................................... 5

12 - 1
12. ABSOLUTE POSITION DETECTION SYSTEM

12. ABSOLUTE POSITION DETECTION SYSTEM

If an absolute position erase alarm (25) or absolute position counter warning (E3)
CAUTION has occurred, always perform home position setting again. Not doing so can cause
runaway. Not doing so may cause unexpected operation.

POINT
If the encoder cable is disconnected, absolute position data will be lost in the
following servo motor series. LE-S6-□・LE-S7-□・LE-S8-□. After
disconnecting the encoder cable, always execute home position setting and
then positioning operation.

12.1 Features
For normal operation, as shown below, the encoder consists of a detector designed to detect a position within
one revolution and a cumulative revolution counter designed to detect the number of revolutions.
The absolute position detection system always detects the absolute position of the machine and keeps it
battery-backed, independently of whether the servo system controller power is on or off.
Therefore, once home position return is made at the time of machine installation, home position return is not
needed when power is switched on thereafter.
If a power failure or a fault occurs, restoration is easy.
Servo system controller Servo
Driveramplifier

Position control
Position data

speed control
Current
position
Home position data Detecting Detecting the
LS0 the number position within
CYC0 of revolutions one revolution

LEC-MR-J3BAT
MR-J3BAT
Servo motor Battery
High speed serial
1 pulse/rev accumulative revolution counter communication

Within one-revolution counter

12 - 2
12. ABSOLUTE POSITION DETECTION SYSTEM

12.2 Specifications
POINT
Replace the battery with only the control circuit power ON. Removal of the battery
with the control circuit power OFF will erase the absolute position data.

(1) Specification list

Item Description
System Electronic battery backup system
1 piece of lithium battery ( primary battery, nominal 3.6V)
Battery
Type: LEC-MR-J3BAT
Maximum revolution range Home position 32767 rev.
(Note 1) Maximum speed at power failure 3000r/min
(Note 2) Battery backup time Approx. 10,000 hours (battery life with power off)
(Note 3) Battery storage period 5 years from date of manufacture
Note 1. Maximum speed available when the shaft is rotated by external force at the time of power failure or the like.
2. Time to hold data by a battery with power off. Replace the batteries within three years since the operation start regardless of
the power supply on/off. If the battery is used out of specification, the absolute position erased (A25) may occur.
3. Quality of battery degrades by the storage condition. It is recommended that the battery be used within two years from the date
of manufacture. The life of battery is five years from the date of manufacture regardless of the connection.

(2) Configuration

Servo system controller Driver

Servo amplifier

CN1 CN2

Battery
Battery CN4
(LEC-MR-J3BAT)
(MR-J3BAT) Servo motor

(3) Parameter setting

Set " 1" in parameter No.PA03 to make the absolute position detection system valid.
Parameter No.PA03

Absolute position detection system selection

0: Used in incremental system
1: Used in absolute position detection system

12 - 3
12. ABSOLUTE POSITION DETECTION SYSTEM

12.3 Battery installation procedure

Before installing a battery, turn off the main circuit power while keeping the control
circuit power on. Wait for 15 minutes or more (20 minutes or for drive unit 30kW or
more) until the charge lamp turns off. Then, confirm that the voltage between P( )
WARNING
and N( ) (L and L for drive unit 30kW or more) is safe with a voltage tester
and others. Otherwise, an electric shock may occur. In addition, always confirm
from the front of the driver whether the charge lamp is off or not.

POINT
The internal circuits of the driver may be damaged by static electricity.
Always take the following precautions.
Ground human body and work bench.
Do not touch the conductive areas, such as connector pins and electrical parts,
directly by hand.
Before starting battery changing procedure, make sure that the main circuit
power is switched OFF with the control circuit power ON. When battery is
changed with the control power OFF, the absolute position data is lost.

(1) For LECSS□-S5/LECSS□-S7/LECSS□-S8

POINT
For the driver with a battery holder on the bottom, it is not possible to wire for
the earth with the battery installed. Insert the battery after executing the earth
wiring of the driver.

Insert connector into CN4.

12 - 4
12. ABSOLUTE POSITION DETECTION SYSTEM

12.4 Confirmation of absolute position detection data

You can confirm the absolute position data with Set up software(MR Configurator2TM).
Choose "Diagnostics" and "Absolute Encoder Data" to open the absolute position data display screen.

(1) Choosing "Diagnostics" in the menu opens the sub-menu as shown below:

(2) By choosing "Absolute Encoder Data" in the sub-menu, the absolute encoder data display window appears.

(3) Press the "Close" button to close the absolute encoder data display window.

12 - 5
13. SERVO MOTOR

13. SERVO MOTOR ...........................................................................................................................................2

13.1 Servo motor with a lock ...........................................................................................................................2
13.1.1 Features ...........................................................................................................................................2
13.1.2 Characteristics of servo motor with a lock ........................................................................................4
13.2 Protection from oil and water ..................................................................................................................5
13.3 Cable .......................................................................................................................................................5
13.4 Rated speed of servo motor ....................................................................................................................5
13.5 Mounting connectors ...............................................................................................................................6

13 - 1
13. SERVO MOTOR

13. SERVO MOTOR

13.1 Servo motor with a lock

13.1.1 Features

The lock is provided to prevent a drop at a power failure or servo alarm

occurrence during vertical drive or to hold a shaft at a stop. Do not use it for
normal braking (including braking at servo-lock).
The lock has a time lag. Use the lock so that servo motor control starts after the
lock has completely opened. Be sure to check the time lag of the locking with a
CAUTION real machine.
Configure a lock circuit so that it is activated also by an external EMG stop switch.
While the lock is opened, the motor may be raised to high temperature regardless
of driving.
The life will be shorten under sudden acceleration/deceleration conditions.

The servo motor with a lock can be used to prevent a drop in vertical lift applications or to ensure double
safety at an emergency stop, for example. When operating the servo motor, supply power to the lock to
release the lock. Switching power off enables the lock.

(1) Lock power supply

Prepare the following power supply for use with the lock only. The lock terminals (B1 and B2) have no
polarity.
B1 B1
Electromagnetic brake

Electromagnetic brake
Switch Switch
lock lock
24 V DC 24 V DC
power supply for VAR U B or power supply for VAR U B
electromagnetic brake
lock electromagnetic brake
lock

B2 B2

The surge absorber (VAR) must be installed between B1 and B2. When you use a diode for a surge
absorber, the locking time will be longer.

(2) Sound generation

Though the brake lining may rattle during operation, it poses no functional problem.
If braking sounds, it may be improved by setting the machine resonance suppression filter in the
driver parameters.

(3) Selection of surge absorbers for lock circuit

The following shows an example how to select a varistor with a surge absorber.
(a) Selection conditions
Item Condition
Relay
Lock specification R [Ω]: Resistance (Note)
L [H]: Inductance (Note)
Vb [V]: Power supply voltage 24 V DC Varistor lock coil
Brake coil
U

Desired suppression Vs [V] or less

voltage
Durable surge application N times
time
Note. Refer to section 13.1.2.

13 - 2
13. SERVO MOTOR

(b) Tentative selection and verification of surge absorber

1) Maximum allowable circuit voltage of varistor
Tentatively select a varistor whose maximum allowable voltage is larger than Vb [V].
2) Lock current (Ib)

Vb
Ib = [A]
R

3) Energy (E) generated by lock coil

2
E = L × lb [J]
2

4) Varistor limit voltage (Vi)

From the energy (E) generated in the lock coil and the varister characteristic diagram, calculate
the varistor limit voltage (Vi) when the lock current (Ib) flows into the tentatively selected varistor
during opening of the circuit. Please refer to the varistor characteristic diagram to the varistor
manufacturer.
The desired suppressed voltage (Vs) is the sum of the 24 VDC ± 10% used and the other
devices (relays etc.) used by the user.
Please confirm the specification of the equipment to be used.
Vi is favorable when the varistor limit voltage (Vi) [V] is smaller than the desired suppressed
voltage (Vs) [V].
If Vi is not smaller than Vs, reselect a varistor or improve the withstand voltage of devices.
Regarding the characteristics characteristic diagram, specification, selection of the varistor, it is
necessary to check with the varistor manufacturer.

5) Surge current width (τ)

Given that the varistor absorbs all energies, the surge current width (τ) will be as follows.

E
τ= [S]
Vi × lb

6) Examining surge life of varister

From the varistor characteristic diagram, the guaranteed current value (Ip) in which the number
of the surge application life is N at the surge current width (τ). Calculate the guaranteed current
value (Ip) ratio to lock current (Ib).
If an enough margin is ensured for Ip/Ib, the number of the surge application life N [time] can be
considered as favorable.

(4) Others
A leakage magnetic flux will occur at the shaft end of the servo motor equipped with a lock. Note that
chips, screws, etc. are attracted.

13 - 3
13. SERVO MOTOR

13.1.2 Characteristics of servo motor with a lock

The lock is provided to prevent a drop at a power failure or servo alarm

occurrence during vertical drive or to hold a shaft at a stop. Do not use it for
normal braking (including braking at servo-lock).
CAUTION Before performing the operation, be sure to confirm that the lock operates
properly.
The operation time of the lock differs depending on the power supply circuit you
use. Be sure to check the operation delay time with a real machine.

The characteristics (reference value) of the lock provided for the servo motor with a lock are indicated
below.
Servo motor LE-□-B
Item S5 S6 S7 S8
(50W) (100W) (200W) (400W)
Type (Note 1) Spring actuated type safety lock
0
Rated voltage (Note 4) 24 V DC -10%
Power consumption [W] at 20 °C 6.3 7.9
Coil resistance (Note 6) [Ω] 91.0 73.0
Inductance (Note 6) [H] 0.15 0.18
Lock static friction torque [N•m] 0.32 1.3
Release delay time (Note 2) [s] 0.03 0.03
Locking delay time (Note 2) DC off
0.01 0.02
[s]
Per locking [J] 5.6 22
Permissible locking work
Per hour [J] 56 220
Lock looseness at servo motor shaft (Note 5) [degrees] 2.5 1.2
Number of lockings
20000
Lock life (Note 3) [times]
Work per locking [J] 5.6 22
For the suppressed
Selection example of surge absorbers TND20V-680KB (135[V])
voltage 145 V
to be used
For the suppressed
(Note 7, 8) TND10V-221KB (360[V])
voltage 370 V

Note 1. There is no manual release mechanism. When it is necessary to hand-turn the servo motor shaft for machine
centering, etc., use a separate 24 V DC power supply to release the lock electrically.
2. The value for initial on gap at 20 °C.
3. The lock gap will increase as the brake lining wears, but the gap is not adjustable.
The lock life indicated is the number of locking cycles after which adjustment will be required.
4. Always prepare a power supply exclusively used for the lock.
5. These are design values. These are not guaranteed values.
6. These are measured values. These are not guaranteed values.
7. Select the lock control relay properly, considering the characteristics of the lock and surge absorber. When you use a
diode for a surge absorber, the locking time will be longer.
8. Manufactured by Nippon Chemi-Con Corporation.

13 - 4
13. SERVO MOTOR

13.2 Protection from oil and water

(1) Do not use the servo motor with its cable soaked in oil or water.

Cover

Servo
motor

Oil/water pool

Capillary action

(2) If oil such as cutting oil drops on the servo motor, the sealant, packing, cable and others may be
affected depending on the oil type.

13.3 Cable
The standard motor and encoder cables routed from the servo motor should be fixed to the servo motor
to keep them unmovable. Otherwise, the cable may disconnect. In addition, do not modify the
connectors, terminals and others at the ends of the cables.

13.4 Rated speed of servo motor

The rated speed of servo motor (LE-S5-□, LE-S6-□, LE-S7-□, LE-S8-□) is 3000[r/min].

13 - 5
13. SERVO MOTOR

13.5 Mounting connectors

If the connector is not fixed securely, it may come off or may not produce a splash-proof effect during
operation.
To achieve the IP rating IP65, pay attention to the following points and install the connectors.

(1) When screwing the connector, hold the connector still and gradually tighten the screws in a
crisscross pattern.
Tightening order 2) Tightening order
1) 3)
1) 2) 3) 4) 1) 2)

1)
4) 2)

Connector for power supply, connector for Connector for lock

encoder

(2) Tighten the screws evenly. Tightening torques are as indicated below.
Connector for encoder
Screw size: M2
Tightening torque: 0.1 [N•m]

lock
Connector for electromagnetic brake
Screw size: M2
Tightening torque: 0.2 [N•m]

Connector for power supply

Screw size: M2
Tightening torque: 0.2 [N•m]

(3) The servo motor fitting part of each connector is provided with a splash-proof seal (O ring). When
mounting a connector, use care to prevent the seal (O ring) from dropping and being pinched. If the
seal (O ring) has dropped or is pinched, a splash-proof effect is not produced.

13 - 6
APPENDIX

App. 1 Parameter list ......................................................................................................................................... 2

App. 1.1 Driver (drive unit) ............................................................................................................................. 2
App. 1.2 Converter unit .................................................................................................................................. 3
App. 2 Signal layout recording paper ................................................................................................................ 4
App. 3 Twin type connector : Outline drawing for 721-2105/026-000(WAGO) ................................................. 4
App. 4 Handling of AC driver batteries for the United Nations Recommendations on the Transport of
Dangerous Goods .............................................................................................................................................. 5

App. - 1
APPENDIX

App. 1 Parameter list

POINT
Parameter whose symbol is preceded by * is made valid with the following
conditions.
* : Set the parameter value, switch power off once after setting, and then
switch it on again, or perform the driver reset.
**: Set the parameter value, switch power off once, and then switch it on
again.

App. 1.1 Driver (drive unit)

Basic setting parameters (PA ) Gain/filter parameters (PB )
No. Symbol Name No. Symbol Name
PA01 For manufacturer setting PB01 FILT Adaptive tuning mode (Adaptive filter )
PA02 **REG Regenerative option Vibration suppression control filter tuning mode
PB02 VRFT
PA03 *ABS Absolute position detection system (advanced vibration suppression control)
PA04 *AOP1 Function selection A-1 PB03 For manufacturer setting
PA05 For manufacturer setting PB04 FFC Feed forward gain
to PB05 For manufacturer setting
PA07 For manufacturer setting Ratio of load inertia
PB06 GD2
PA08 ATU Auto tuning mode moment to servo motor inertia moment
PA09 RSP Auto tuning response PB07 PG1 Model loop gain
PA10 INP In-position range PB08 PG2 Position loop gain
PA11 For manufacturer setting PB09 VG2 Speed loop gain
to PB10 VIC Speed integral compensation
PA13 PB11 VDC Speed differential compensation
PA14 *POL Rotation direction selection PB12 For manufacturer setting
PA15 *ENR Encoder output pulses PB13 NH1 Machine resonance suppression filter 1
PA16 For manufacturer setting PB14 NHQ1 Notch form selection 1
to PB15 NH2 Machine resonance suppression filter 2
PA18 PB16 NHQ2 Notch form selection 2
PA19 *BLK Parameter write inhibit PB17 Automatic setting parameter
PB18 LPF Low-pass filter
Vibration suppression control vibration frequency
PB19 VRF1
setting
Vibration suppression control resonance frequency
PB20 VRF2
setting
PB21 For manufacturer setting
PB22
PB23 VFBF Low-pass filter selection
PB24 *MVS Slight vibration suppression control selection
PB25 For manufacturer setting
PB26 *CDP Gain changing selection
PB27 CDL Gain changing condition
PB28 CDT Gain changing time constant
Gain changing ratio of load inertia moment to servo
PB29 GD2B
motor inertia moment
PB30 PG2B Gain changing position loop gain
PB31 VG2B Gain changing speed loop gain
PB32 VICB Gain changing speed integral compensation
Gain changing vibration suppression control
PB33 VRF1B
vibration frequency setting
Gain changing vibration suppression control
PB34 VRF2B
resonance frequency setting
PB35 For manufacturer setting
to
PB45

App. - 2
APPENDIX

Extension setting parameters (PC ) I/O setting parameters (PD )

No. Symbol Name No. Symbol Name
PC01 *ERZ Error excessive alarm level PD01 For manufacturer setting
PC02 MBR Electromagnetic brake sequence output to
PC03 *ENRS Encoder output pulses selection PD06
PC04 **COP1 Function selection C-1 PD07 *DO1 Output signal device selection 1 (CN3-13)
PC05 **COP2 Function selection C-2 PD08 *DO2 Output signal device selection 2 (CN3-9)
PC06 *COP3 Function selection C-3 PD09 *DO3 Output signal device selection 3 (CN3-15)
PC07 ZSP Zero speed PD10 For manufacturer setting
PC08 For manufacturer setting to
PC09 MOD1 Analog monitor 1 output PD13
PC10 MOD2 Analog monitor 2 output PD14 *DOP3 Function selection D-3
PC11 MO1 Analog monitor 1 offset PD15 For manufacturer setting
PC12 MO2 Analog monitor 2 offset to
PC13 MOSDL Analog monitor feedback position output PD32
standard data Low
PC14 MOSDH Analog monitor feedback position output
standard data High
PC15 For manufacturer setting
to
PC16
PC17 **COP4 Function selection C-4
PC18 For manufacturer setting
to
PC20
PC21 *BPS Alarm history clear
PC22 For manufacturer setting
to
PC32

App. 1.2 Converter unit

No. Symbol Name
PA01 *REG Regenerative selection
PA02 *MCC Magnetic contactor drive output selection
PA03 For manufacturer setting
to
PA07
PA08 *DMD Auto tuning mode
PA09 *BPS Alarm history clear
PA10 For manufacturer setting
PA11
PA12 *DIF Input filter setting
PA13 For manufacture setting
to
PA19

App. - 3
APPENDIX

App. 2 Signal layout recording paper

1 11
2 12
LG LG
DI1 DI2
3 13
4 DOCOM 14

MO1 MO2
5 15
6 DICOM 16
LA LAR
7 17
8 18
LB LBR
LZ LZR
9 19
10 20
DI3
DICOM EM1

App. 3 Twin type connector : Outline drawing for 721-2105/026-000(WAGO)

[Unit: mm]
Latch Coding finger

Size [mm]
Model
A B C D
721-2105/026-000 5 20 5 5.25
721-2205/026-000 7.5 30 7.5 7.75

Detecting hole

4 A( B) 26.45 25
2.75 A 15.1 2.9 D C 4.75
5. 8
10.6
20.8

2.7 Driver slot Wire inserting hole

App. - 4
APPENDIX

App. 4 Handling of AC driver batteries for the United Nations Recommendations on the
Transport of Dangerous Goods
To transport lithium batteries, take actions to comply with the instructions and regulations such as the United
Nations (UN), the International Civil Aviation Organization (ICAO), and the International Maritime Organization
(IMO).
The battery (LEC-MR-J3BAT) is an electric cell (lithium metal battery ER6).
The IATA Dangerous Goods Regulations are revised, and the requirements are changed annually.
When transporting lithium batteries, the responsibility for the cargo lies with the customer.
Thus, be sure to check the latest version of the IATA Dangerous Goods Regulations.
When contracting transportation to a carrier, follow the carrier’s instructions.

Battery (Cell) : LEC-MR-J3BAT

Lithium content : 0.65(g)

App. - 5
 Revision history
No.LEC-OM03002
Jan/2013 Revision
Correction of words
No.LEC-OM03003
Aug/2014 Revision
Correction of words
13 SERVO MOTOR Add
No.LEC-OM03004
May/2015 Revision
Correction of words
No.LEC-OM03005 (No. JXC※-OMT0027)
May/2017 Revision
Correction of words
No.LEC-OM03006 (No. JXC※-OMT0027-A)
Jan/2018 Revision
Correction of words

4-14-1, Sotokanda, Chiyoda-ku, Tokyo 101-0021 JAPAN

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