Schneider Electric Lexium LMX23 Product Manual

Motion Control
Lexium 23
User manual
2
Contents
About the Book . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Safety Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Chapter 1 Unpacking Check and Model Explanation . . . . . . . . . . . . . . 13

1.1 Unpacking Check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
1.2 Model Explanation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
1.3 Servo Drive and Servo Motor Combinations . . . . . . . . . . . . . . . . . . 18
1.4 Servo Drive Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
1.5 Control Modes of Servo Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
1.6 Molded-case Circuit Breaker and Fuse Current . . . . . . . . . . . . . . . 22
Chapter 2 Installation and Storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

2.1 Installation Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
2.2 Storage Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
2.3 Installation Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
2.4 Installation Procedure and Minimum Clearances . . . . . . . . . . . . . . 27
Chapter 3 Connections and Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

3.1 Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
3.2 Basic Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
3.3 Input / Output Interface Connector -CN1 . . . . . . . . . . . . . . . . . . 43
3.4 Encoder Connector CN2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
3
3.5 Serial Communication Connector CN3 . . . . . . . . . . . . . . . . . . . . . . 64
3.6 Standard Connection Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Chapter 4 Display and Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

4.1 Description of the Digital Keypad . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
4.2 Display Flowchart . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
4.3 Status Display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
4.4 General Function Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76
Chapter 5 Trial Run and Tuning Procedure . . . . . . . . . . . . . . . . . . . . . . . 85

5.1 Inspection without Load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
5.2 Applying Power to the Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
5.3 JOG Trial Run without Load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
5.4 Speed Trial Run without Load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
5.5 Position Trial Run without Load . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
5.6 Tuning Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
Chapter 6 Control Modes of Operation . . . . . . . . . . . . . . . . . . . . . . . . . .113

6.1 Control Modes of Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
6.2 Position Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
6.3 Speed Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
6.4 Torque Control Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
6.5 Control Modes Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
6.6 Others . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
Chapter 7 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .169

7.1 Definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
7.2 Parameter Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
7.3 Detailed Parameter Listings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190
4
Chapter 8 MODBUS Communications . . . . . . . . . . . . . . . . . . . . . . . . . . . 269
8.1 Communication Hardware Interface . . . . . . . . . . . . . . . . . . . . . . . 270
8.2 Communication Parameter Settings . . . . . . . . . . . . . . . . . . . . . . . 271
8.3 MODBUS Communication Protocol . . . . . . . . . . . . . . . . . . . . . . . . 275
8.4 Communication Parameter Write-in and Read-out . . . . . . . . . . 283
Chapter 9 Maintenance and Inspection . . . . . . . . . . . . . . . . . . . . . . . . . 285

9.1 Basic Inspection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286
9.2 Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 288
9.3 Life of Replacement Components . . . . . . . . . . . . . . . . . . . . . . . . . 289
Chapter 10 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 291

10.1 Fault Messages Table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292
10.2 Potential Cause and Corrective Actions . . . . . . . . . . . . . . . . . . . . 294
10.3 Clearing Faults . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 302
Chapter 11 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305

11.1 Lexium 23 Series Specifications of Servo Drive . . . . . . . . . . . . . 306
11.2 BCH servo motor specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . 309
11.3 BCH Servo Motor Speed-Torque Curves . . . . . . . . . . . . . . . . . . . 312
11.4 Overload Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 316
11.5 Dimensions of Servo Drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 318
11.6 Dimensions of BCH servo motor . . . . . . . . . . . . . . . . . . . . . . . . . . 321
Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 325
5
6
About the Book
At a Glance
Thank you very much for purchasing Schneider electric servo products.
This manual will be helpful in the installation, wiring, inspection, and operation of
Schneider electric servo drive and motor. Before using the product, please read this
user manual to ensure correct use.
You should thoroughly understand all safety precautions (DANGERS, WARNINGS
and STOPS) before proceeding with the installation, wiring and operation. If you do
not understand please contact your local Schneider electric sales representative.
Place this user manual in a safe location for future reference.
Using This Manual

Contents of this manual
This manual is a user guide that provides the information on how to install, operate
and maintain Lexium 23C and Lexium 23M series AC servo drives, and BCH series
AC servo motors. The contents of this manual are including the following topics:
z Installation of AC servo drives and motors
z Configuration and wiring
z Trial run steps
z Control functions and adjusting methods of AC servo drives
z Parameter settings
z Communication protocol
z Inspection and maintenance
z Troubleshooting
z Application examples
Who should use this manual

This user manual is intended for the following users:
z Those who are responsible for designing.
z Those who are responsible for installing or wiring.
z Those who are responsible for operating or programming.
z Those who are responsible for maintaining or troubleshooting.
7
About the Book
Important precautions
Before using the product, please read this user manual thoroughly to ensure
correct use and store this manual in a safe and handy place for quick reference
whenever necessary. Besides, please observe the following precautions:
z Do not use the product in a potentially explosive environment.
z Install the product in a clean and dry location free from corrosive and
inflammable gases or liquids.
z Do not connect a commercial power supply to the U, V, W terminals of motor.
Failure to observe this precaution will damage either the Servo motor or drive.
PLEASE READ PRIOR TO INSTALLATION FOR SAFETY.

Carefully note and observe the following safety precautions when receiving,
inspecting, installing, operating, maintaining and troubleshooting. The following
words, DANGER, WARNING and STOP are used to mark safety precautions when
using the Schneider electric's servo product. Failure to observe these precautions
may void the warranty!
Lexium 23 series drives are open type servo drives and must be installed in an
NEMA enclosure such as a protection control panel during operation to comply with
the requirements of the international safety standards. They are provided with
precise feedback control and high-speed calculation function incorporating DSP
(Digital Signal Processor) technology, and intended to drive three-phase
permanent magnet synchronous motors (PMSM) to achieve precise positioning by
means of accurate current output generated by IGBT (Insulated Gate Bipolar
Transistor).
Lexium 23 series drives can be used in industrial applications and for installation in
an end-use enclosure that do not exceed the specifications defined in the Lexium
23 series user manual (Drives, cables and motors are for use in a suitable enclosure
with a minimum of a UL Type 1 rating).
The words, DANGER, WARNING and STOP, have the following meaning:
8
About the Book
Warning
Install the product in a clean and dry location free from corrosive and inflammable
gases or liquids.
Do not connect a commercial power supply to the U, V, W terminals of motor. Failure
to observe this precaution will damage either the Servo motor or drive.
Danger
RISK OF EQUIPMENT DAMAGE
Ensure that the drive and motor are correctly connected to a ground. The grounding
method must comply with the electrical standard of the country.
Do not disconnect the AC servo drive and motor while the power is ON.
Before starting the operation with a mechanical system connected, make sure the
emergency stop equipment can be energized and work at any time.
Do not touch the drive heat sink or the servo motor during operation. Otherwise, it
may result in serious personnel injury.
Failure to follow this instruction can result in injury or equipment damage.
In this manual, actual measured values are in metric units. Dimensions in (imperial
units) are for reference only. Please use metric for precise measurements.
The content of this manual may be revised without prior notice. Please consult our
distributors or download the most updated version at
www.schneider-electric.com
9
About the Book
10
Safety Information
§
Important Information
NOTICE Lexium 23 series drives are open type servo drives and must be installed in an
NEMA enclosure such as a protection control panel during operation to comply with
the requirements of the international safety standards. They are provided with
precise feedback control and high-speed calculation function incorporating DSP
(Digital Signal Processor) technology, and intended to drive three-phase
permanent magnet synchronous motors (PMSM) to achieve precise positioning by
means of accurate current output generated by IGBT (Insulated Gate Bipolar
Transistor).
Lexium 23 series drives can be used in industrial applications and for installation in an
end-use enclosure that do not exceed the specifications defined in the Lexium 23 series
user manual (Drives, cables and motors are for use in a suitable enclosure with a minimum
of a UL Type 1 rating).
The words, DANGER, WARNING and STOP, have the following meaning:
Indicates a potentially hazardous situation and if not avoided, may result in

serious injury or death.
Indicates a potentially hazardous situation and if not avoided, may result in

minor to moderate injury or serious damage to the product.
Danger
DANGER indicates a dangerous situation that will result in death, serious physical injury
or equipment damage.
11
Safety Information
Warning
WARNING indicates a dangerous situation that can result in death, serious physical
injury or equipment damage.
Caution
CAUTION indicates a potentially dangerous situation that might possibly result in
bodily harm or equipment damage.
PLEASE NOTE Electrical equipment should be installed, operated, serviced, and maintained only
by qualified personnel. No responsibility is assumed by Schneider Electric for any
consequences arising out of the use of this material.
(c) 2008 Schneider Electric. All Rights Reserved.
12
Unpacking Check and Model
Explanation
1
At a Glance
What's in this
Chapter? This chapter contains the following topics:
Topic Page
Unpacking Check 14
Model Explanation 15
Servo Drive and Servo Motor Combinations 18
Servo Drive Features 19
Control Modes of Servo Drive 21
Molded-case Circuit Breaker and Fuse Current 22
13
Unpacking Check and Model Explanation Lexium 23
1.1 Unpacking Check
After receiving the AC servo drive, please check for the following:
z Ensure that the product is what you have ordered.
Verify the part number indicated on the nameplate corresponds with the part
number of your order (Please refer to Section 1.2 for details about the model
explanation).
z Ensure that the servo motor shaft rotates freely.
Rotate the motor shaft by hand; a smooth rotation will indicate a good motor.
However, a servo motor with an electromagnetic brake can not be rotated
manually.
z Check for damage.
Inspect the unit to insure it was not damaged during shipment.
z Check for loose screws.
Ensure that all necessary screws are tight and secure.
If any items are damaged or incorrect, please inform the distributor whom you
purchased the product from or your local Schneider electric sales representative.
A complete and workable AC servo system should be including the following parts:
Part I : Schneider electric standard supplied parts

(1) Servo drive
(2) Servo motor
(3) 5 PIN Terminal Block (for L1, L2, R, S, T) (available for 100W ~ 1.5kW models)
(4) 3 PIN Terminal Block (for U, V, W) (available for 100W ~ 1.5kW models)
(5) 3 PIN Terminal Block (for PA/+, PBi, PBe) (available for 100W ~ 1.5kW models)
(6) One operating lever (for wire to terminal block insertion; available for 100W ~
1.5kW models)
(7) One jumper bar (for short the circuit of the terminal pins; available for 2kW ~
4.5kW models)
(8) Quick Start
Part II : Optional parts, not Schneider electric standard supplied part (Refer to
Appendix A)
(1) One power cable, which is used to connect servo motor and U, V, W terminals
of servo drive. This power cable is with one green grounding cable. Please
connect the green grounding cable to the ground terminal of the servo drive.
(2) One encoder cable, which is used to connect the encoder of servo motor and
CN2 terminal of servo drive.
(3) CN1 Connector: 50 PIN Connector (3M type analog product)
(4) CN2 Connector: 20 PIN Connector (3M type analog product)
(5) CN3 Connector: 6 PIN Connector (IEEE1394 analog product)
14 AC servo drive
Lexium 23 Unpacking Check and Model Explanation
1.2 Model Explanation
1.2.1 Nameplate Lexium 23 Series Servo Drive

Information z Nameplate Explanation
LXM23CU01M3X
UN 200/240 VAC-50/60 Hz
PR840.10 V1.0
DOM 05.20.08
Made in China LX23C01T8210001
BCH Series Servo Motor

z Nameplate Explanation
BCH0602011F1C DOM: 20-05-08

Mn: 400W 1,27 Nm Sn: 0602O11F1T8140002
Imax: 7,8 A IP 65 TH.-CI. B
Un: 110 V VAC Brake
Nn: 3000 U/min Un:24 VDC PN:7,2 W
Made in China
AC servo drive 15
1.2.2 Model Name Lexium 23 Series Servo Drive

Explanation L X M 2 3 C U 0 1 M 3 X
LXM = Lexium Lexium Servo Drive
23 = New generation compact I/O drive
Interface
C = Normal I/O interface
M = I/O interface oriented to Machine tools (1)
Continuous Power
U01 = 0.1 kW
U02 = 0.2 kW
U04 = 0.4 kW
U07 = 0.75 kW
U10 = 1.0 kW
U15 = 1.5 kW
U20 = 2.0 kW
U30 = 3.0 kW
U45 = 4.5 kW
U55 = 5.5 kW
U75 = 7.5 kW
Mains voltage
M3X = 220 VAC three phase/single phase,no EMC filter
(1) M only for drive type which power is higher than 4.5kW, will be launched on September 2008
16 AC servo drive
BCH Series Servo Motor

B C H 0 4 0 1 O 0 1 A 1 C
BCH = BCH servo motor series
Flange size
040 = 40 mm Flange
060 = 60 mm Flange
080 = 80 mm Flange
100 = 100 mm Flange
130 = 130 mm Flange
180 = 180 mm Flange
Length ( Number of stacks)

1 = one stack
2 = two stacks
3 = three stacks
4 = four stacks
5 = five stacks
Speed type:
M = Low Speed (1000/1500 rpm)
N = Medium Speed (2000 rpm)
O = High Speed (3000 rpm)
Shaft
0 = Smooth, No Oil Seal
1 = With key, No Oil Seal
2 = Smooth, With Oil seal
3 = With key, With Oil Seal
Encoder
1 = Incremental encoder 2500 ppr ( Only for under 3kW - C series)
2 = High resolution incremental encoder 20 Bits ( Only for above 3kW - M series )
Brake
A = w/o brake
F = with brake ( 0.1kW no brake option )
Connection System
1 = Straight connector
Mount
C = Asia mechanical mounting
AC servo drive 17
1.3 Servo Drive and Servo Motor Combinations
The table below shows the possible combination of Lexium 23 series servo drives
and BCH series servo motors. The boxes (p) in the model names are for optional
configurations. (Please refer to Section 1.2 for model explanation)
Lexium 23 Series Servo Drive
BCH BCH servo Rated Peak Maximum Rated Combination
servo motor torque stall speed speed Servo drive Servo motor Motor type
motor inertia torque Reference Reference
output (without
power brake)
kW kgcm2 Nm Nm rpm rpm
Single phase:220...255 V a 50/60 Hz or three phase : 170...255 V a 50/60 Hz
0.1 0.037 0.32 0.96 5000 3000 LXM23CU01M3X BCH0401Op1A1C ultra low inertia
0.2 0.177 0.64 1.92 5000 3000 LXM23CU02M3X BCH0601Op1p1C ultra low inertia
0.3 8.17 2.86 8.59 2000 1000 LXM23CU04M3X BCH1301Mp1p1C medium inertia
0.4 0.277 1.27 3.82 5000 3000 LXM23CU04M3X BCH0602Op1p1C ultra low
0.4 0.68 1.27 3.82 5000 3000 LXM23CU04M3X BCH0801Op1p1C low inertia
0.5 8.17 2.39 7.16 3000 2000 LXM23CU04M3X BCH1301Np1p1C medium inertia
0.75 1.13 2.39 7.16 5000 3000 LXM23CU07M3X BCH0802Op1p1C low inertia
1 2.65 3.18 9.54 5000 3000 LXM23CU10M3X BCH1001Op1p1C low inertia
1 8.41 4.77 14.32 3000 2000 LXM23CU10M3X BCH1302Np1p1C medium inertia
1.5 11.18 7.16 21.48 3000 2000 LXM23CU15M3X BCH1303Np1p1C medium inertia
Three phase : 170Ö255 V a 50/60 Hz
2 4.45 6.37 19.11 5000 3000 LXM23CU20M3X BCH1002Op1p1C low inertia
2 14.59 9.55 26.65 3000 2000 LXM23CU20M3X BCH1304Np1p1C medium inertia
2 34.68 9.55 26.65 3000 2000 LXM23CU20M3X BCH1801Np1p1C high inertia
3 54.95 19.10 57.29 3000 1500 LXM23CU30M3X BCH1802Mp1p1C high inertia
3 54.95 19.10 57.29 3000 1500 LXM23MU45M3X BCH1802Mp2p1C high inertia
3.5 54.8 16.71 50.31 3000 2000 LXM23MU45M3X BCH1802Np2p1C high inertia
4.5 77.75 28.65 71.62 3000 1500 LXM23MU45M3X BCH1803Mp2p1C high inertia
Also, please ensure that both the servo drive and motor are correctly matched for
size (power rating). For the detail specifications of servo drives and motors, please
refer to Chapter 11 "Specifications".
The drives shown in the above table are designed according to the three multiple
of rated current of motors shown in the above table. If the drives which are
designed according to the six multiple of rated current of motors are needed,
please contact our distributors or your local Schneider electric sales representative.
18 AC servo drive
1.4 Servo Drive Features
Lexium 23C Series Servo Drive

Heatsink LED Display
Used to secure servo drive and for The 5 digit, 7 segment LED
heat dissipation displays the servo status or
fault codes
Charge LED
A lit LED indicates that either power Operation Panel
is connected to the servo drive OR a Used function keys to perform
residual charge is present in the status display, monitor and
drive's internal power components. diagnostic, function and
DO NOT TOUCH ANY ELECTRICAL parameter setting.
CONNECTIONS WHILE THIS LED IS Function Keys:
LIT. (Please refer to the Safety
Precautions on page i). M : Press this key to select/
change mode
Control Circuit Terminal (L1, L2)
Used to connect 200~230Vac, S : Shift Key has several
50/60Hz 1-phase/3-phase VAC functions:
supply. moving the cursor and
indexing through the
parameter groups
Main Circuit Terminal (R, S, T) Press this key to shift
Used to connect 200~230V, 50/ cursor to the left
60Hz commercial power supply
: Press this key to increase
values on the display
Servo Motor Output (U, V, W)
Used to connect servo motor, : Press this key to decrease
Never connect the output values on the display
therminal to main circuit power.
The AC servo drive may be ENT : Press this key to store data
destroyed beyond repair if
incorrect cables are connected to
the output terminals. I/O Interface
Used to connect Host Controller
(PLC) or control I/O signal
Internal/External Regenerative
Resistor Terminal
Encoder Interface
1) When using an external
Used to connect Encoder of
regenerative resistor, connect
Servo Motor
PA/+ and PBe to the
regenerative resistor and Serial Communication Interface
ensure that the circuit between For RS-485/232/422 serial
PA/+ and PBi is open. communication
2) When using theinternal Used to connect personal
regenerative resistor, ensure computer or other controllers
that the circuit between PA/+
and PBi is closed and the circuit
between PA/+ and PBe is open. Ground Terminal
AC servo drive 19
Lexium 23M Series Servo Drive

Heatsink LED Display
Used to secure servo drive and for The 5 digit, 7 segment LED
heat dissipation displays the servo status or
fault codes
Charge LED
A lit LED indicates that either power Operation Panel
is connected to the servo drive OR a Used function keys to perform
residual charge is present in the status display, monitor and
drive's internal power components. diagnostic, function and
DO NOT TOUCH ANY ELECTRICAL parameter setting.
CONNECTIONS WHILE THIS LED IS Function Keys:
LIT. (Please refer to the Safety
Precautions on page i). M : Press this key to select/
change mode
S : Shift Key has several
Control Circuit Terminal (L1, L2)
Used to connect 230Vac, functions:
50/60Hz 3-phase VAC supply. moving the cursor and
indexing through the
parameter groups
Main Circuit Terminal (R, S, T) Press this key to shift
Used to connect 230V, 50/60Hz cursor to the left
commercial power supply
: Press this key to increase
values on the display
Servo Motor Output (U, V, W)
Used to connect servo motor, : Press this key to decrease
Never connect the output values on the display
therminal to main circuit power.
The AC servo drive may be ENT : Press this key to store data
destroyed beyond repair if
incorrect cables are connected to I/O Interface
the output terminals. Used to connect Host Controller
(PLC) or control I/O signal
Internal/External Regenerative
Resistor Terminal Encoder Interface
1) When using an external Used to connect Encoder of
regenerative resistor, connect Servo Motor
PA/+ and PBe to the
regenerative resistor and
Serial Communication Interface
ensure that the circuit between
For RS-485/232/422 serial
PA/+ and PBi is open.
communication
2) When using theinternal
Used to connect personal
regenerative resistor, ensure
computer or other controllers
that the circuit between PA/+
and PBi is closed and the circuit
between PA/+ and PBe is open. Ground Terminal
20 AC servo drive
1.5 Control Modes of Servo Drive
The Schneider electric Servo can be programmed to provide six single and five dual
modes of operation.
Their operation and description is listed in the following table.
Mode Code Description
External Position Position control for the servo motor is achieved via an
Pt
Control external pulse command.
Position control for the servo motor is achieved via by
Motion Sequence 8 commands stored within the servo controller.
Pr
Control Execution of the 8 positions is via Digital Input (DI)
signals.
Speed control for the servo motor can be achieved via
parameters set within the controller or from an external
Speed Control S analog -10 ~ +10 Vdc command. Control of the internal
speed parameters is via the Digital Inputs (DI). (A
maximum of three speeds can be stored internally).
Single Speed control for the servo motor is only achieved via
Mode Internal Speed parameters set within the controller. Control of the
Sz
Control internal speed parameters is via the Digital Inputs (DI). (A
maximum of three speeds can be stored internally).
Torque control for the servo motor can be achieved via
parameters set within the controller or from an external
analog -10 ~ +10 Vdc command. Control of the internal
Torque Control T torque parameters is via the Digital Inputs (DI). (A
maximum of three torque levels can be stored
internally).
Torque control for the servo motor is only achieved via
Internal Torque Tz parameters set within the controller. Control of the
Control internal torque parameters is via the Digital Inputs (DI). (A
maximum of three torque levels can be stored internally).
Pt-S Either Pt or S control mode can be selected via the
Digital Inputs (DI)
Either Pt or T control mode can be selected via the
Pt-T
Digital Inputs (DI)
Either Pr or S control mode can be selected via the
Dual Mode Pr-S Digital Inputs (DI)
Pr-T Either Pr or T control mode can be selected via the
Digital Inputs (DI)
Either S or T control mode can be selected via the
S-T
Digital Inputs (DI)
The above control modes can be accessed and changed via by parameter P1-01.
If the control mode is changed, switch the drive off and on after the new control
mode has been entered. The new control mode will only be valid after drive off/on
action. Please see safety precautions on page iii (switching drive off/on multiple
times).
AC servo drive 21
1.6 Molded-case Circuit Breaker and Fuse Current
Lexium 23 Series Servo Drive

Servo drive Reference Nominal power Circuit Breaker Fuse to be placed upstream
kW A A
LXM23CU01M3X 0.1 6.3 5
LXM23CU02M3X 0.2 6.3 5
LXM23CU04M3X 0.4 10 20
LXM23CU07M3X 0.75 10 20
LXM23CU10M3X 1 14 25
LXM23CU15M3X 1.5 25 40
LXM23CU20M3X 2 30 60
LXM23CU30M3X 3 30 80
LXM23MU45M3X 4.5 50 120
LXM23MU55M3X 5.5 100 120
LXM23MU75M3X 7.5 100 120
22 AC servo drive
Installation and Storage
2
At a Glance
What's in this
Topic Page
Installation Notes 24
Storage Conditions 25
Installation Conditions 26
Installation Procedure and Minimum Clearances 27
23
Installation and Storage Lexium 23
2.1 Installation Notes
Pay close attention on the following installation notes:

z Do not bend or strain the connection cables between servo drive and motor.
z When mounting servo drive, make sure to tighten screws to secure the drive in
place.
z If the servo motor shaft is coupled directly to a rotating device ensure that the
alignment specifications of the servo motor, coupling, and device are followed.
Failure to do so may cause unnecessary loads or premature failure to the servo
motor.
z If the length of cable connected between servo drive and motor is more than
20m, please increase the wire gauge of the encoder cable and motor connection
cable (connected to U, V, W terminals).
z Make sure to tighten the screws for securing motor.
24 AC servo drive
Lexium 23 Installation and Storage
2.2 Storage Conditions
The product should be kept in the shipping carton before installation. In order to
retain the warranty coverage, the AC servo drive should be stored properly when it
is not to be used for an extended period of time. Some storage suggestions are:
z Store in a clean and dry location free from direct sunlight.
z Store within an ambient temperature range of -20°C to +65°C (-4°F to 149°F).
z Store within a relative humidity range of 0% to 90% and non-condensing.
z Do not store in a place subjected to corrosive gases and liquids.
z Correctly packaged and placed on a solid surface.
AC servo drive 25
2.3 Installation Conditions
Operating Temperature
Lexium 23 Series Servo Drive : 0°C to 55°C (32°F to 131°F)
BCH Series Servo Motor : 0°C to 40°C (32°F to 104°F)
The ambient temperature of servo drive for long-term reliability should be under
45°C (113°F).
If the ambient temperature of servo drive is greater than 45°C (113°F), please
install the drive in a wellventilated location and do not obstruct the airflow for the
cooling fan.
Caution
The servo drive and motor will generate heat. If they are installed in a control panel,
please ensure sufficient
space around the units for heat dissipation.
Pay particular attention to vibration of the units and check if the vibration has
impacted the electric devices in the control panel. Please observe the following
precautions when selecting a mounting location. Failure to observe the following
precautions may void the warranty!
z Do not mount the servo drive or motor adjacent to heat-radiating elements or in
direct sunlight.
z Do not mount the servo drive or motor in a location subjected to corrosive gases,
liquids, or airborne dust or metallic particles.
z Do not mount the servo drive or motor in a location where temperatures and
humidity will exceed specification.
z Do not mount the servo drive or motor in a location where vibration and shock
will exceed specification.
z Do not mount the servo drive or motor in a location where it will be subjected to
high levels of electromagnetic radiation.
26 AC servo drive
Lexium 23 Installation and Storage
2.4 Installation Procedure and Minimum Clearances
Installation Procedure
Incorrect installation may result in a drive malfunction or premature failure of the drive
and or motor. Please follow the guidelines in this manual when installing the servo drive
and motor.
The Lexium 23 servo drive should be mounted perpendicular to the wall or in the
control panel. In order to ensure the drive is well ventilated, ensure that the all
ventilation holes are not obstructed and sufficient free space is given to the servo drive.
Do not install the drive in a horizontal position or malfunction and damage will occur.
Correct Incorrect
Drive Mounting
The Lexium 23 Servo drives must be back mounted vertically on a dry and solid surface
such as a NEMA enclosure. A minimum spacing of two inches must be maintained
above and below the drive for ventilation and heat dissipation. Additional space may be
necessary for wiring and cable connections. Also, as the drive conducts heat away via
the mounting, the mounting plane or surface should be conductor away and not
conduct heat into the drive from external sources
Motor Mounting
The BCH Servo motors should be mounted firmly to a dry and solid mounting surface
to ensure maximum heat transfer for maximum power output and to provide a good
ground.
For the dimensions and weights specifications of servo drive or motor, please refer to
Chapter 11 "Specifications".
Minimum Clearances
Install a fan to increase ventilation to avoid ambient temperatures that exceed the
specification. When installing two or more drive adjacent to each other please follow
the clearances as shown in the following diagram.
AC servo drive 27
z Minimum Clearances
50mm (2.0in)
min.
20mm 20mm
(0.8in) (0.8in)
min. min.
50mm (2.0in)
min.
z Side by Side Installation
100mm 100mm
FAN FAN
(4.0in) (4.0in)
min. min.
40mm 10mm 10mm 10mm 40mm

(1.6in) (0.4in) (0.4in) (0.4in) (1.6in)
min. min. min. min. min.
Air flow Air flow

100mm 100mm
(4.0in) (4.0in)
min. min.
28 AC servo drive
Connections and Wiring
3
At a Glance
Presentation This chapter provides information on wiring Lexium 23 series products, the
descriptions of I/O signals and gives typical examples of wiring diagrams.
What's in this
Topic Page
Connections 30
Basic Wiring 40
Input / Output Interface Connector -CN1 43
Encoder Connector CN2 62
Serial Communication Connector CN3 64
Standard Connection Example 66
29
Connections and Wiring Lexium 23
3.1 Connections
3.1.1 Connecting In Figure 3.1 and 3.2, it briefly explains how to connect each peripheral device.
to Peripheral Figure 3.1 (Lexium 23C Series)
Devices Power
100W~1.5kW: Single-phase 200~230Vor
Three-phase 200~230v
2kW~3kW: Three-phase 200~230V
No Fuse Breaker (NFB)

Installing a NFB can prevent
excessive current may arise
due to short-circuit or flow
when power on and power off,
so as to avoid the damage on
the servo drive.
- M340Ǉ PTO
- M238 with/withou line drive module
Terminal Block Module

(VW3M4113)
CN1 Connection Transmit the signal of CIN1 interface
For I/O Connection to the external controllers through this
Connected to Host Controller terminal block module, CN1 50PIN
CN2 Connector
For Encoder connection
Electromagnetic
Contactor (MC)
CN3 Connector
If a fault occurs, using
ALRM digital output can 1. For RS-485/RS-422/RS-232
control electromagnetic Modbus communication connection
contactor and cut off the 2. For communication control upon
power of the servo drive. Servo Software, Lexium 23 SET UP
PA/+
PBe
Regenerative Resistor
The returned regenerative power
generated when braking may result in
damage. To avoid that, we recommend
the users should use te regenerative
Servo Motor
resistor.
When using an external resistor, connect
it to PA/+ and PBe, and ensure an open circuit
between PA/+ and PBi. When using an internal
resistor, ensure the circuit is closed between
PA/+ and PBi, and the circuit is open between
PA/+ and PBe.
30 AC servo drive
Lexium 23 Connections and Wiring
Figure 3.2 (Lexium 23M Series)

Power
4.5kW~7.5kW Three-phase 200~230V
No Fuse Breaker (NFB)

Installing a NFB can prevent
excessive current may arise
due to short-circuit or flow - M340Ǉ PTO
when power on and power off,
- M238 with/withou line drive module
so as to avoid the damage on
the servo drive.
Terminal Block Module

(VW3M4113)
Transmit the signal of CIN1
Electromagnetic interface to the external
Contactor (MC)ǖ controllers through this
terminal block module,
If a fault occurs, using CN1 50PIN
ALRM digital output can CN1 Connection
control electromagnetic For I/O Connection
contactor and cut off the Connected to Host Controller
power of the servo drive.
CN2 Connector
For Encoder connection
PA/+ CN3 Connector

PBe 1. For RS-485/RS-422/RS-232
Modbus communication connection
2. For communication control upon
Regenerative Resistor Servo Software, Lexium 23 SET UP
The returned regenerative power
generated when braking may result in
damage. To avoid that, we recommend
the users should use te regenerative
resistor.
When using an external resistor, connect
it to PA/+ and PBe, and ensure an open circuit Servo Motor
between PA/+ and PBi. When using an internal
resistor, ensure the circuit is closed between
PA/+ and PBi, and the circuit is open between
PA/+ and PBe.
AC servo drive 31
3.1.2 Servo Drive

Terminal Terminal
Connectors and Identification Description
Notes
Terminals L1, L2 Control circuit The servo Control Circuit requires an independent 220V
terminal single-phase VAC supply.
The Main Circuit Terminal is used to supply the servo with line power. If
a single-phase supply, is used connect the R and S terminals to power. If
R, S, T Main circuit terminal
3-phase, connect all three R, S, & T terminals. To provide Control Circuit
power two jumpers can be added from R and S to L1 and L2.
Used to connect servo motor
Terminal Symbol Wire Color
U, V, W, U Red
Servo motor output
FG V White
W Black
FG Green
Ensure the circuit is closed between PA/+ and PBi,
Internal resistor
PA/+, PBi , Regenerative and the circuit is open between PA/+ and PBe.
PBe resistor terminal Connect regenerative resistor to PA/+ and PBe,
External resistor
and ensure an open circuit between PA/+ and PBi.
Braking unit is suitable for 2kW and above models.
When using braking unit, ensure to connect (+) terminal of the
braking unit to P, main circuit (+) terminal of the servo drive, and
P: Main circuit (+)
connect (-) terminal of the braking unit to N, main circuit (-) terminal
terminal
P, N of the servo drive.
N: Main circuit (-)
The braking unit is an optional part.
terminal
Usually, the braking unit is not necessary. It is used to absorb the large
regenerative power that is generated when the external load is much
greater than the motor torque.
two Ground terminal Used to connect grounding wire of power supply and servo motor.
places
Used to connect external controllers. Please refer to section
CN1 I/O connector
3.3 for details.
Used to connect encoder of servo motor. Please refer to
section 3.4 for details.
Lexium 23C Series
A Black
/A Black/Red
B White
/B White/Red
Z Orange
CN2 Encoder connector
/Z Orange/Red
+5V Brown & Brown/White
GND Blue & Blue/White
Lexium 23M Series
Line driver SD Blue
Line driver /SD Blue/Black
Vcc Red
GND Black
Communication
CN3 Used to connect PC or keypad. Please refer to section 3.5 for details.
connector
Note: U, V, W, CN1, CN2, CN3 terminals provide short circuit protection.
32 AC servo drive
Wiring Notes
Please observe the following wiring notes while performing wiring and touching any
electrical connections on the servo drive or servo motor.
1. Ensure to check if the power supply and wiring of the "power" terminals (R, S, T,
U, V, & W) is correct.
2. Please use shielded twisted-pair cables for wiring to prevent voltage coupling
and eliminate electrical noise and interference.
3. As a residual hazardous voltage may remain inside the drive, please do not
immediately touch any of the "power" terminals (R, S, T, U, V, & W) and/or the
cables connected to them after the power has been turned off and the charge
LED is lit. (Please refer to the Safety Precautions on page ii).
4. The cables connected to R, S, T and U, V, W terminals should be placed in
separate conduits from the encoder or other signal cables. Separate them by at
least 30cm (11.8 inches).
5. If the encoder cable is too short, please use a twisted-shield signal wire with
grounding conductor. The wire length should be 20m (65.62ft.) or less. For
lengths greater than 20m (65.62ft.), the wire gauge should be doubled in order
to lessen any signal attenuation.
6. As for motor cable selection, please use the 600V PTFE wire and the wire length
should be less than 98.4ft. (30m). If the wiring distance is longer than 30m
(98.4ft.), please choose the adequate wire size according to the voltage.
7. The shield of shielded twisted-pair cables should be connected to the SHIELD
end (terminal marked ) of the servo drive.
8. For the connectors and cables specifications, please refer to section 3.1.6 for
details.
AC servo drive 33
3.1.3 Wiring For servo drives from 100W to 1.5kW the input power can be either single or three-
Methods phase. For servo drives 2kW and above only three-phase connections are available.
In the wiring diagram figures 3.3 & 3.4:
Power ON : contact "a" (normally open)
Power OFF or Alarm Processing : contact "b" (normally closed)
1MC/a : self-holding power
1MC : contact of main circuit power
Figure 3.3 Single-Phase Power Supply Connection (for 1.5kW and below models)
34 AC servo drive
Figure 3.4 Three-Phase Power Supply Connection (for 2kW and above models)
3.1.4 Motor
Power Cable Terminal
Motor Model Name U, V, W / Electromagnetic Brake Connector
Identification
Connector
Specifications BCH0401O (100W)
BCH0601O (200W)
BCH06020 (400W) A
BCH0801O (400W)
BCH0802O (750W) HOUSING:JOWLE (C4201H00-2*2PA)
BCH0601O (200W)
BCH06020 (400W)
B
BCH0801O (400W)
BCH0801O (750W)
HOUSING:JOWLE (C4201H00-2*3PA)
AC servo drive 35
Terminal
Motor Model Name U, V, W / Electromagnetic Brake Connector
Identification
BCH1301M (300 W)
BCH1301N (500W)
BCH1302M (600 W)
BCH1303M (900 W)
BCH1001O (1000W) C
BCH1302N (1000W)
BCH1303N (1500W)
BCH1002O (2000W)
BCH1304N (2000W) 3106A-20-18S
BCH1801N (2000W)
BCH1802N (3500W)
BCH1802M (3000W)
D
BCH1803M (4500W)
BCH1804M (5500W)
BCH1805M (7500W)
3106A-24-11S
Terminal U V W CASE GROUND BRAKE1 BRAKE2

Identification (Red) (White) (Black) (Green) (Blue) (Brown)
A 1 2 3 4 - -
B 1 2 3 4 5 6
C F I B E G H
D D E F G A B
36 AC servo drive
3.1.5 Encoder
Connector Terminal
Motor Model Name Encoder Connector
Identification
Specifications
BCH0401O (100W)
BCH0601O (200W)
BCH06020 (400W) A
BCH0801O (400W)
BCH0802O (750W)
HOUSING: AMP (1-172161-9)
BCH1301M (300 W)
BCH1301N (500W)
BCH1302M (600 W)
BCH1303M (900 W)
BCH1001O (1000W) B
BCH1302N (1000W)
BCH1303N (1500W)
BCH1002O (2000W)
BCH1304N (2000W) 3106A-20-29S
+5V
Terminal GND
/A /B /Z (Brown
Identification A B Z (Blue & BRAIDS
(Black/ (White/ (Orange/ &
AMP (Black) (White) (Orange) Blue/ HELD
Red) Red) Red) Brown/
(1-172161-9) White)
White)
A 1 4 2 5 3 6 7 8 9
Terminal +5V GND
/A /B /Z
Identification A B Z (Red & (Black & BRAIDS
(Blue/ (Green/ (Yellow/
3106A-20- (Blue) (Green) (Yellow) Red/ Black/ HELD
Black) Black) Black)
29S White) White)
B A B C D F G S R L
AC servo drive 37
3.1.6 Cable The boxes (p) in the model names are for optional configurations. (Please refer to
Specifications for section 1.2 for model explanation.)
Servo Drive
Power Cable
Power Cable - Wire Gauge mm2(AWG)
Servo Drive and Servo Motor
L1, L2 R, S, T U, V, W PA/+, PBe
LXM23CU01M3X BCH0401OpppA1C 1.3 (AWG16) 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)
LXM23CU02M3X BCH0601Oppp1C 1.3 (AWG16) 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)
BCH0602Oppp1C 1.3 (AWG16) 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)
LXM23CU04M3X
BCH1301Nppp1C 1.3 (AWG16) 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)
BCH1301Mppp1C 1.3 (AWG16) 2.1 (AWG14) 0.82 (AWG18) 2.1 (AWG14)
LXM23CU07M3X
LXM23CU10M3X BCH1302Nppp1C 1.3 (AWG16) 2.1 (AWG14) 1.3 (AWG16) 2.1 (AWG14)
BCH1801Nppp1C 1.3 (AWG16) 2.1 (AWG14) 3.3 (AWG12) 2.1 (AWG14)
BCH1802N.ppp1C 1.3 (AWG16) 3.3 (AWG12) 3.3 (AWG12) 3.3 (AWG12)
LXM23MU45M3X BCH1802Mppp1C 1.3 (AWG16) 3.3 (AWG12) 3.3 (AWG12) 3.3 (AWG12)
38 AC servo drive
Encoder Cable
Encoder Cable - Wire Gauge mm2 (AWG)

Servo Drive
Wire Size Core Number UL Rating Wire Length
LXM23CU01M3X 0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.)
LXM23MU45M3X 0.13 (AWG26) 10 core (4 pair) UL2464 3m (9.84ft.)
Note:
1) Please use shielded twisted-pair cables for wiring to prevent voltage coupling
and eliminate electrical noise and interference.
2) The shield of shielded twisted-pair cables should be connected to the SHIELD
end (terminal marked ) of the servo drive.
3) In order to prevent fire hazard and accidents, please form the wiring by following
the cable specifications outlined above.
AC servo drive 39
3.2 Basic Wiring
Figure 3.5 Basic Wiring Schematic of 100W ~ 1.5kW models

Power
100W~1.5kW 1-hpase or 3-hpase 200~230V
Connect to external
regenerative resistor
750W~1.5kW models
PA/+ PBi PBe Servo Drive
PRB
60W or 120W
Servo
Regeneration circuit
Motor
Rectifier circuit
Control power
Dynamic
Protection brake
circuit Encoder
External speed Position Speed Current

External torque control control control
Position pulse
Digital input Current signal
Digital output processing
Encoder signal
Analog monitor output processing
Encoder signal A, B, Z outpu
MCU Display
Serial
communication
RS-232/RS-485/RS-422
40 AC servo drive
Figure 3.6 Basic Wiring Schematic of 2kW ~ 3kW models

Power
2kW~3kW 3-hpase 200~230V
Connect to external
Servo Drive
PA/- PA/+ PBi PBe
PRB
60W or 120W
Servo
Motor
Rectifier circuit
Phase loss
detection
Control power
Dynamic
Protection brake
circuit Encoder

Position pulse
Encoder signal
Analog monitor output
processing
MCU Display
Serial
communication
RS-232/RS-485/RS-422
AC servo drive 41
Figure 3.7 Basic Wiring Schematic of 4.5kW and above models

Power
4.5kW and above 3-hpase 200~230V
Connect to external
Servo Drive
PA/- PA/+ PBi PBe
PA/-
PRB
60W or 120W
Servo
Motor
Rectifier circuit
Phase loss
detection
Control power
Dynamic
Protection brake
circuit Encoder

Position pulse
Encoder signal
Analog monitor output
processing
MCU Display
Serial
communication
RS-232/RS-485/RS-422
42 AC servo drive
3.3 Input / Output Interface Connector -CN1
The CN1 Interface Connector provides access to three signal groups:

i General interface for the analog speed and torque control, encoder reference
signal from the motor, pulse / direction inputs, and reference voltages.
ii 8 programmable Digital Inputs (DI), can be set via parameters P2-10 ~ P2-17 iii
5 programmable Digital Outputs (DO), can be set via parameters P2-18 ~ P2-22
A detailed explanation of each group is available in Section 3.3.2, Tables 3.A, 3.B &
3.C.
3.3.1 CN1 Figure 3.8 The Layout of CN1 Drive Connector

Terminal
Identification
AC servo drive 43
1 DO4+ Digital output 2 DO3- Digital output

7 DO1+ Digital output 8 DI4- Digital input
9 DI1- Digital input 10 DI2- Digital input
11 COM+ Power input (12~24V) 12 GND Analog input signal ground
13 GND Analog input signal ground 14 NC No Connection
15 MON2 Analog monitor output 2 16 MON1 Analog monitor output 1
17 VDD +24V power output (for 18 T_REF Analog torque Input
external I/O)
19 GND Analog input signal ground 20 VCC +12V power output
(for analog command)
21 OA Encoder A pulse output 22 /OA Encoder /A pulse output
23 /OB Encoder /B pulse output 24 /OZ Encoder /Z pulse output
25 OB Encoder B pulse output 26 DO4- Digital output
27 DO5- Digital output 28 DO5+ Digital output
29 /HPULSE High-speed 30 DI8- Digital input
Pulse input (-)
35 PULL HI Pulse applied power 36 SIGN Position sign (+)
37 /SIGN Position sign (-) 38 HPULSE High-speed
Pulse input (+)
39 NC No Connection 40 /HSIGN High-speed
position sign (-)
41 /PULSE Pulse input (-) 42 V_REF Analog speed input (+)
43 PULSE Pulse input (+) 44 GND Analog input signal ground
45 COM- VDD(24V) power ground 46 HSIGN High-speed
position sign (+)
47 COM- VDD(24V) power ground 48 OCZ Encoder Z pulse
Open-collector output
49 COM- VDD(24V) power ground 50 OZ Encoder Z pulse
Line-driver output
Note:
1) CN1 terminal signal, HSIGN (pin 46), /HSIGN (pin 40), HPULSE (pin 38), and /
HPULSE (pin 29) are provided in Lexium 23M series only. In Lexium 23C series,
the function of these terminals is "NC", which means "No Connection".
2) The terminals marked "NC" must be left unconnected (No Connection). The NC
terminals are used within the servo drive. Any outside connection to the NC
terminals will result in damage to the drive and void the warranty!
44 AC servo drive
3.3.2 Signals The Tables 3.A, 3.B, & 3.C detail the three groups of signals of the CN1 interface.
Explanation of Table 3.A details the general signals. Table 3.B details the Digital Output (DO)
Connector CN1 signals and Table 3.C details the Digital Input (DI) signals. The General Signals are
set by the factory and can not be changed, eprogrammed or adjusted. Both the
Digital Input and Digital Output signals can be programmed by the users.
Table 3.A General Signals

Wiring Diagram
Signal Pin No. Details (Refer to 3.3.4)
Motor speed command: -10V to +10V,
corresponds to the maximum speed
V_REF 42 programmed P1-55 Maximum Speed Limit C1
Analog
Signal (Factory default 3000 r/min).
Input Motor torque command: -10V to +10V,
T_REF 18 corresponds to -100% to +100% rated torque C1
command.
The MON1 and MON2 can be assigned drive
and motor parameters that can be monitored
Analog via an analogue voltage.
MON1 16 Please reference parameter P0-03 for
Monitor MON2 15 monitoring commands and P1-04 / P1-05 for C2
Output
scaling factors.
Output voltage is reference to the power
ground.
PULSE 43 The drive can accept two different types of
pulse inputs: Open Collector and Line Driver.
/PULSE 41 Three different pulse commands can be C3/C4-1
Position SIGN 36
Pulse /SIGN 37 selected via parameter P1-00. Quadrature, CW
Input + CCW pulse & Pulse / Direction.
PULL HI 35 Should an Open Collector type of pulse be used C3
this terminal must be lulled high to pin 17.
The drive can accept two different types of
pulse inputs: Open Collector and Line Driver.
Highspeed HSIGN Three different pulse commands can be
46 selected via parameter P1-00. Quadrature, CW
Position /HSIGN 40
HPULSE 38 + CCW pulse & Pulse / Direction. These signals C4-2
Pulse are used for Lexium 23M series only. In Lexium
Input /HPULSE 29 23C series, these terminals are marked "NC",
which means "No Connection" and must be left
unconnected.
AC servo drive 45
Wiring Diagram
Signal Pin No. Details (Refer to 3.3.4)
OA 21
/OA 22
Position OB 25 The motor encoder signals are available
Pulse through these terminals. The encoder output C11/C12
Output /OB 23 pulse count can be set via parameter P1-46.
OZ 50
/OZ 24
VDD is the +24V source voltage provided by
VDD 17 the drive. Maximum permissible current
500mA.
COM+ is the common voltage rail of the Digital
11 Input and Digital Output signals. Connect VDD
COM+ 45 to COM+ for source mode. For external applied
Power COM- 47 power sink mode (+12V to +24V), the positive -
49 terminal should be connected to COM+ and
the negative to COM-.
VCC is a +12V power rail provided by the drive.
It can be used for the input on an analog speed
VCC 20 or torque command. Maximum permissible
current 100mA.
12,13,1 The polarity of VCC is with respect to Ground
Power GND 9,44 (GND). -
14,29,3 See previous note for NC terminals CN1
Other NC 8,39,40, -
46,48 connector on page 3-15.
The Digital Input (DI) and Digital Output (DO) have factory default settings which
correspond to the various servo drive control modes. (See section 1.5). However,
both the DI's and DO's can be programmed independently to meet the
requirements of the users.
Detailed in Tables 3.B and 3.C are the DO and DI functions with their corresponding
signal name and wiring schematic. The factory default settings of the DI and DO
signals are detailed in Table 3.G and 3.H.
All of the DI's and DO's and their corresponding pin numbers are factory set and
non-changeable, however, all of the assigned signals and control modes are user
changeable. For Example, the factory default setting of DO5 (pins 28/27) can be
assigned to DO1 (pins 7/6) and vise versa.
The following Tables 3.B and 3.C detail the functions, applicable operational
modes, signal name and relevant wiring schematic of the default DI and DO signals
46 AC servo drive
Table 3.B DO Signals

Assigned Pin No.
DO DO (Default) Wiring Diagram
Signal Code
Control Details(*1) (Refer to 3.3.4)
Mode + -
SRDY is activated when the servo drive
is ready to run. All fault and alarm
SRDY 01 ALL 7 6
conditions, if present, have been
cleared.
SON is activated when control power
is applied the servo drive. The drive
may or may not be ready to run as a
fault / alarm condition may exist.
Servo ON (SON) is "ON" with control
Not power applied to the servo drive, there
SON 02 assigned - - may be a fault condition or not. The
servo is not ready to run. Servo ready
(SRDY) is "ON" where the servo is
ready to run, NO fault / alarm exists.
(P2-51 should turn servo ready SRDY
off / on)
ZSPD is activated when the drive
senses the motor is equal to or below
the Zero Speed Range setting as
defined in parameter P1- 38.
ZSPD 03 ALL 5 4 For Example, at factory default ZSPD
will be activated when the drive
detects the motor rotating at speed at
or below 10 r/min. ZSPD will remain C5/C6/C7/C8
activated until the motor speed
increases above 10 r/min.
TSPD is activated once the drive has
detected the motor has reached the
Target Rotation Speed setting as
04 ALL 3 2 defined in parameter P1-39. TSPD will
TSPD remain activated until the motor
speed drops below the Target
Rotation Speed.
1. When the drive is in Pt mode, TPOS
will be activated when the position
error is equal and below the setting
value of P1- 54.
2. When the drive is in Pr mode, TPOS
will be activated when the drive
Pt, Pr, Pt- detects that the position of the
TPOS 05 S,Pt-T, Pr-S, 1 26
Pr-T motor is in a -P1-54 to +P1-54
band of the target position. For
Example, at factory default TPOS
will activate once the motor is in -99
pulses range of the target position,
then deactivate after it reaches +99
pulses range of the desired position.
AC servo drive 47
Assigned Pin No.

DO DO (Default) Wiring Diagram
Signal Code
Control Details(*1) (Refer to 3.3.4)
Mode + -
TQL is activated when the drive has
detected that the motor has reached
Not
TQL 06 assigned - - the torques limits set by either the
parameters P1-12 ~ P1-14 of via an
external analog voltage.
ALRM is activated when the drive has
detected a fault condition. (However,
when Reverse limit error, Forward limit
ALRM 07 ALL 28 27 error, Emergency stop, Serial
communication error, and
Undervoltage these fault occur, WARN
is activated first.)
BRKR is activated actuation of motor
BRKR 08 ALL 1 26 brake.
HOME is activated when the servo
drive has detected that the "HOME"
sensor (Digital Input 24) has been
HOME 09 ALL 3 2
detected and the home conditions set
in parameters P1-47, P1-50, and P1-
51 have been satisfied. C5/C6/C7/C8
OLW is activated when the servo drive
has detected that the motor has
OLW 10 ALL - - reached the output overload level set
by the parameter P1-56.
Servo warning activated. WARN is
activated when the drive has detected
WARN 11 ALL - - Reverse limit error, Forward limit error,
Emergency stop, Serial
communication error, and
Undervoltage these fault conditions.
Internal position command completed
output.
CMDOK is activated when the servo
drive has detected that the internal
CMDOK 12 Pr - -
position command has been
completed or stopped after the delay
time which is set by the parameter P1-
62 has elapsed.
Footnote *1: The "state" of the output function may be turned ON or OFF as it will
be dependant on the settings of P2-18~P2-22.
Note:
1) PINS 3 & 2 can either be TSPD or HOME dependent upon control mode selected.
2) PINS 1 & 26 are different depending on control mode either BRKR or TPOS.
48 AC servo drive
Table 3.C DI Signals
DI DI Assigned Pin No. Wiring

Signal Code Control (Default) Details(*2) Diagram
Mode (Refer to 3.3.4)
SON 01 ALL 9 Servo On. Switch servo to "Servo Ready".

Check parameter P2-51.
A number of Faults (Alarms) can be
cleared by activating ARST. Please see
table 10-3 for applicable faults that can
be cleared with the ARST command.
ARST 02 ALL 33
However, please investigate Fault or
Alarm if it does not clear or the fault
description warrants closer inspection of
the drive system.
Gain switching in speed and position
GAINUP 03 ALL - mode
When CCLR is activated the setting is
CCLR 04 Pt, Pr 10 parameter P2-50 Pulse Clear Mode is
executed.
When this signal is On and the motor
speed value is lower than the setting
ZCLAM 05 ALL - value of P1-38, it is used to lock the
P
motor in the instant position while
ZCLAMP is On.
When this signal is On, the motor is in
CMDINV 06 Pr, T, S -
reverse rotation.
Not
HOLD 07 assigned Internal position control command pause
C9/C10
When the drive is in Pr mode and CTRG is
activated, the drive will command the
Pr,Pr-S, motor to move the stored position which
CTRG 08 10
Pr-T correspond the POS 0, POS 1, POS 2
settings. Activation is triggered on the
rising edge of the pulse.
TRQLM 09 S, Sz 10 ON indicates the torque limit command is
valid.
ON indicates the speed limit command is
SPDLM 10 T, Tz 10
valid.
POS0 11 34 When the Pr Control Mode is selected the
POS1 12 Pr, Pr-S, 8 8 stored positions are programmed via a
Pr-T combination of the POS 0, POS 1, and
POS2 13 - POS 2 commands. See table 3.D.
SPD0 14 S, Sz, Pt- 34
Select the source of speed command:
S, See table 3.E.
SPD1 15 Pr-S, S-T 8
TCM0 16 Pt, T, Tz, 34
Pt-T, Pr- Select the source of torque command:
TCM1 17 T, 8 See table 3.F.
S-T
S-P 18 Pt-S, Pr-S 31 Speed / Position mode switching
OFF: Speed, ON: Position
AC servo drive 49
DI DI Assigned Pin No. Wiring Diagram

Signal Code Control (Default) Details(*2) (Refer to 3.3.4)
Mode
S-T 19 S-T 31 Speed / Torque mode switching
OFF: Speed, ON: Torque
Torque / Position mode switching
T-P 20 Pt-T, Pr-T 31
OFF: Torque, ON: Position
It should be contact "b" and normally
EMGS 21 ALL 30 ON or a fault (ALE13) will display.
Pt, Pr, S, T Reverse inhibit limit. It should be contact
CWL 22 32 "b" and normally ON or a fault (ALE14)
Sz, Tz will display.
Pt, Pr, S, T Forward inhibit limit. It should be
CCWL 23 31 contact "b" and normally ON or a fault
Sz, Tz (ALE15) will display.
When ORGP is activated, the drive will
ORGP 24 Pr - command the motor to start to search
the reference "Home" sensor.
Not Torque limit - Reverse operation
TLLM 25 - (Torque limit function is valid only when
assigned P1-02 is enabled)
Not Torque limit - Forward operation C9/C10
TRLM 26 - (Torque limit function is valid only when
assigned P1-02 is enabled)
When SHOM is activated, the drive will
SHOM 27 Pr - command the motor to move to
"Home".
INDEX0 28 Pr - Feed step selection input 0 ~ 4
INDEX1 29 Pr - (bit 0 ~ 4).
When the drive is in Pr mode, if users set
INDEX2 30 Pr - P1-33 to 2, 3 and 4 (Feed step control
INDEX3 31 Pr - mode), feed step control function are
provided (1~32 steps). [see section
INDEX4 32 Pr - 12.6 Feed Step Control]
MD0 33 Pr - Feed step mode input 0 (bit 0)
MD1 34 Pr - Feed step mode input 1 (bit 1)
MDP0 35 Pr - Manually continuous operation
MDP1 36 Pr - Manually single step operation
Forward JOG input. When JOGU is
JOGU 37 ALL - activated, the motor will JOG in forward
direction. [see P4-05]
50 AC servo drive
DI DI Assigned Pin No. Wiring

Signal Code Control (Default) Details (*2) Diagram
Mode (Refer to 3.3.4)
Reverse JOG input. When JOGD is
JOGD 38 ALL - activated, the motor will JOG in reverse
direction. [see P4-05]
STEPU 39 Pr - Step up input. When STEPU is activated,
the motor will run to next position.
Step down input. When STEPD is
STEPD 40 Pr - activated, the motor will run to previous
position.
Step back input. When STEPB is
STEPB 41 Pr - activated, the motor will return to first
position.
Auto run input. When AUTOR is
activated, the motor will run
AUTOR 42 Pr - automatically according to internal
position command. For time interval
setting, please see P2-52 to P2- 59.
C9/C10
Pt, Pr, Pt-
GNUM0 43 S, - Electronic gear ratio (Numerator)
selection 0 [See P2-60~P2-62]
Pr-S
Pt, Pr, Pt-
GNUM1 44 S, - Electronic gear ratio (Numerator)
selection 1 [See P2-60~P2-62]
Pr-S
Pulse inhibit input. When the drive is in
position mode, if INHP is activated, the
INHP 45 Pt, Pt-S -
external pulse input command is not
valid.
Enable motor forward operation. In
S, Sz, Pt-S,
STF 46 Pr-S, S-T - speed mode, it is used to enable the
motor forward operation.
Enable motor reverse operation. In
S, Sz, Pt-S,
STB 47 Pr-S, S-T - speed mode, it is used to enable the
motor reverse operation.
Footnote *2: The "state" of the input function may be turned ON or OFF as it will be
dependant on the settings of P2-10~P2-17.
AC servo drive 51
Table 3.D Source of Position Command

POS2 POS1 POS0 Parameter
OFF OFF OFF P1-15, P1-16
OFF OFF ON P1-17, P1-18
OFF ON OFF P1-19, P1-20
OFF ON ON P1-21, P1-22
ON OFF OFF P1-23, P1-24
ON OFF ON P1-25, P1-26
ON ON OFF P1-27, P1-28
ON ON ON P1-29, P1-30
Table 3.E Source of Speed Command

SPD1 SPD0 Parameter
S mode: analog input
OFF OFF Sz mode: 0
OFF ON P1-09
ON OFF P1-10
ON ON P1-11
Table 3.F Source of Torque Command

TCM1 TCM0 Parameter
T mode: analog input
OFF OFF
Tz mode: 0
OFF ON P1-12
ON OFF P1-13
ON ON P1-14
The default DI and DO signals in different control mode are listed in the following
table 3.G and table 3.H. Although the content of the table 3.G and table 3.H do not
provide more information than the table 3.B and table 3.C above, as each control
mode is separated and listed in different row, it is easy for user to view and can
avoid confusion. However, the Pin number of each signal can not be displayed in the
table 3.G and table 3.H.
52 AC servo drive
Table 3.G Default DI signals and Control modes
DI Pt Pt Pr Pr S
Signal Function Pt Pr S T Sz Tz
Code S T S T T
SON 01 Servo On DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1
ARST 02 Alarm Reset DI5 DI5 DI5 DI5 DI5 DI5
Gain switching in speed
GAINUP 03
and position mode
CCLR 04 Pulse clear (see P2-50) DI2 DI2 DI2
ZCLAMP 05 Zero speed CLAMP
Command input
CMDINV 06
reverse
control
Position command
HOLD 07
pause (Internal position
control only)
Command triggered
CTRG 08 (available in Pr mode DI2 DI2 DI2
only)
TRQLM 09 Torque limit enabled DI2 DI2
SPDLM 10 Speed limit enabled DI2 DI2
Position command
POS0 11 DI3 DI3 DI3
selection 0
Position command
POS1 12 DI4 DI4 DI4
selection 1
Position command
POS2 13
selection 2
Speed command
SPD0 14 DI3 DI3 DI3 DI5 DI3
selection 0
Speed command
SPD1 15 DI4 DI4 DI4 DI6 DI4
selection 1
Torque command
TCM0 16 DI3 DI3 DI3 DI3 DI5 DI5
selection 0
Torque command
TCM1 17 DI4 DI4 DI4 DI4 DI6 DI6
selection 1
Position / Speed mode
S-P 18 switching (OFF: Speed, DI7 DI7
ON: Position)
Speed / Torque mode
S-T 19 switching (OFF: Speed, DI7
ON: Torque)
Torque / Position mode
T-P 20 switching (OFF: DI7 DI7
Torque, ON: Position)
AC servo drive 53
DI Pt Pt Pr Pr S
Code S T S T T
Emergency stop (contact
EMGS 21 DI8 DI8 DI8 DI8 DI8 DI8 DI8 DI8 DI8 DI8 DI8
b, normally closed)
Reverse inhibit limit
CWL 22 (contact b, normally DI6 DI6 DI6 DI6 DI6 DI6
closed)
Forward inhibit limit
CCWL 23 (contact b, normally DI7 DI7 DI7 DI7 DI7 DI7
closed)
Reference "Home"
ORGP 24
sensor
Torque limit - Reverse
operation (torque limit
TLLM 25
function is valid only
when P1-02 is enabled)
Torque limit - Forward
operation (torque limit
TRLM 26
function is valid only
SHOM 27 Move to "Home"
Feed step selection input
INDEX0 28
0 (bit 0)
INDEX1 29
1 (bit 1)
INDEX2 30
2 (bit 2)
INDEX3 31
3 (bit 3)
INDEX4 32
4 (bit 4)
MD0 33 Feed step mode input 0
MD1 34 Feed step mode input 1
Manually continuous
MDP0 35
operation
Manually single step
MDP1 36
operation
JOGU 37 Forward JOG input
JOGD 38 Reverse JOG input
Step up input (available
STEPU 39
in Pr mode only)
54 AC servo drive
DI Pt Pt Pr Pr S
Code S T S T T
Step down input
STEPD 40 (available in Pr mode
only)
Step back input.
STEPB 41 (available in internal auto
running mode only)
AUTOR 42 Auto run input
Electronic gear ratio
GNUM0 43 (Numerator) selection 0
[see P2-60~P2-62]
Electronic gear ratio
GNUM1 44 (Numerator) selection 1
[see P2-60~P2-62]
INHP 45 Pulse inhibit input
Enable motor forward
STF 46
operation.
Enable motor reverse
STB 47
operation.
Note：For Pin numbers of DI1~DI8 signals, please refer to section 3.3.1.
Table 3.H Default DO signals and Control modes

DO Pt Pt Pr Pr S
Code S T S T T
SRDY 01 Servo ready DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1
SON 02 Servo On
ZSPD 03 At Zero speed DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2
TSPD 04 At Speed reached DO3 DO3 DO3 DO3 DO3 DO3 DO3 DO3 DO3
At Positioning
TPOS 05 DO4 DO4 DO4 DO4 DO4 DO4 DO4
completed
TQL 06 At Torques limit
Servo alarm (Servo
ALRM 07 DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5 DO5
fault) activated
Electromagnetic brake
BRKR 08 DO4 DO4 DO4 DO4
control
HOME 09 Homing completed DO3 DO3
Output overload
OLW 10
warning
Servo warning
WARN 11
activated
Internal position
CMDOK 12
command completed
Note：For Pin numbers of DO1~DO5 signals, please refer to section 3.3.1.
AC servo drive 55
3.3.3 User- If the default DI and DO signals could not be able to fulfill usersí requirements, there
defined DI and DO are still userdefined DI and DO signals. The setting method is easy and they are all
signals defined via parameters. The user-defined DI and DO signals are defined via
parameters P2-10 to P2-17 and P2-18 to P2-22.
Please refer to the following Table 3.I for the settings..
Table 3.I User-defined DI and DO signals

Signal Name Pin No. Parameter Signal Name Pin No. Parameter
DI1- 9 P2-10 DO1+ 7
P2-18
DI2- 10 P2-11 DO1- 6
DI3- 34 P2-12 DO2+ 5
P2-19
DI4- 8 P2-13 DO2- 4
DI
DI5- 33 P2-14 DO3+ 3 P2-20
DO
DI6- 32 P2-15 DO3- 2
DI7- 31 P2-16 DO4+ 1 P2-21
DI8- 30 P2-17 DO4- 26
DO5+ 28 P2-22
DO5- 27
DI signal:
For example: If the users want to set DI1 to be servo on, it only needs to set the
value of parameter P2- 10 to 101 (refer to chapter 7).
DO signal:
For example: If the users want to set DO1 to be servo ready, it only needs to set the
value of parameter P2-18 to 101 (refer to chapter 7).
56 AC servo drive
3.3.4 Wiring The valid voltage range of analog input command in speed and torque mode is -
Diagrams of I/O 10V ~+10V. The command value can be set via relevant parameters.
Signals (CN1)
C1: Speed/Torque analog signal input C2: Analog monitor output (MON1, MON2)
Servo Drive
Servo Drive Output +8V
1mA max.
Approx.
10kΩ
8V full scale
There are two kinds of pulse inputs, Line driver input and Open-collector input. Max.
input pulse frequency of Line driver input is 500kpps and max. input pulse
frequency of Open-collector input is 200kpps.
C3-1: Pulse input, for the use of internal power C3-2: Pulse input, for the use of external power
supply (Open-collector input) supply (Open-collector input)
Servo Drive Servo Drive

DC24V
Max. input pulse
Max. input pulse
frequency is
frequency is
200kpps
200kpps
Approx. Approx.
10kΩ 10kΩ
Caution: Do not use dual power supply. Failure to observe this caution may result in
damage to the servo drive and servo motor.
AC servo drive 57
C4-1: Pulse input (Line driver)
Servo Drive
DC24V
Max. input pulse
frequency is
500kpps
Because this photocoupler

is a unidirectional optocoupler,
please pay close attention
on the current direction
of input pulse command.
C4-2: High-speed pulse input (Line driver)

Lexium 23M
Caution: Ensure that the ground terminal of the controller and the servo drive
should be connected to each other.
58 AC servo drive
Be sure to connect a diode when the drive is applied to inductive load. (Continuous
maximum current: 40mA, Instantaneous peak current: max. 100mA)
C5: Wiring of DO signal, for the use of internal C6: Wiring of DO signal, for the use of internal
power supply, general load power supply, inductive load
Ensure the polarity (+,-)
of Diode is correct or it
may damage the drive.
C7: Wiring of DO signal, for the use of external C8: Wiring of DO signal, for the use of external
power supply, general load power supply, inductive load
Do not connect Do not connect
VDD-COM+ VDD-COM+
Ensure the polarity (+,-)

of the Diode is correct or
it may damage the drive.
AC servo drive 59
Use a relay or open-collector transistor to input signal.

NPN transistor with multiple emitter fingers (SINK Mode)
C9: Wiring of DI signal, for the use of internal C10: Wiring of DI signal, for the use of external
power supply power supply
PNP transistor with multiple emitter fingers (SOURCE Mode)
C11: Wiring of DI signal, for the use of internal C12: Wiring of DI signal, for the use of external
power supply power supply
Caution: Do not use dual power supply. Failure to observe this caution may result in
damage to the servo drive and servo motor.
60 AC servo drive
C11: Encoder output signal (Line driver) C12: Encoder output signal (Photocoupler)
Servo Drive
Servo Drive
AC servo drive 61
3.4 Encoder Connector CN2
Integrated within the servo motor is an incremental encoder with 2,500PPR and
commutation signal.
When power is first applied to the servo drive, control algorithms detect the
motor's rotor position through imbedded sensors in the motor within 500msec
approximately.
Feedback to the amplifier of the UVW signals for commutation is via the ABZ
encoder signal wires.
Following rotor position sensing the amplifier automatically switches to encoding
for commutation control.
The 2500PPR encoder is automatically multiplied to 10000PPR by X4 logic for
increased control accuracy.
Figure 3.9 The layout of CN2 Drive Connector
Quick Connector Military Connector

HOUSINGǖAMP (1-172211-0) 3106A-20-29S
62 AC servo drive
CN2 Terminal Signal Identification

Lexium 23C Series
Terminal Military Quick
Pin No Signal Name Description
Identification Connector Connector
2 /Z phase input /Z G 6 Encoder /Z phase output
4 /A phase input /A B 2 Encoder /A phase output
5 A phase input A A 1 Encoder A phase output
7 B phase input B C 3 Encoder B phase output
9 /B phase input /B D 4 Encoder /B phase output
10 Z phase input Z F 5 Encoder Z phase output
14,16 Encoder power +5V S 7 Encoder 5V power
13,15 Encoder power GND R 8 Grounding
Shielding Shielding L 9 Shielding
Lexium 23M Series

Terminal Military Quick
Pin No Signal Name Description
Identification Connector Connector
Encoder line driver /SD
4 Line driver /SD /SD B 2
signal output
1 Encoder line driver SD
5 Line driver SD SD A
signal output
14,16 Encoder power +5V S 7 Encoder 5V power
13,15 Encoder power GND R 8 Grounding
Shielding Shielding L 9 Shielding
AC servo drive 63
3.5 Serial Communication Connector CN3
3.5.1 CN3 The servo drive can be connected to a PC or controller via a serial communication
Terminal Layout connector. Users can operate the servo drive through PC software supplied by
and Identification Schneider electric (contact to the dealer). The communication connector/port of
Lexium 23 servo drive can provide three common serial communication interfaces:
RS-232, RS-485, and RS-422 connection. RS-232 is mostly be used but is
somewhat limited.
The maximum cable length for an RS-232 connection is 15 meters (50 feet). Using
RS-485 or RS-422 interface can allow longer distance for transmission and support
multiple drives to be connected simultaneously.
Figure 3.10 The layout of CN3 Drive Connector
CN3 Terminal Signal Identification

Terminal
Pin No. Signal Name Description
Identification
1 Grounding GND -
For data transmission of the servo drive.
2 RS-232 data transmission RS-232-TX
Connected to the RS-232 interface of PC.
For data receiving of the servo drive
3 RS-422 data receiving RS-422-RX+
(differential line driver + end)
For data receiving of the servo drive.
RS-232 data receiving RS-232_RX
Connected to the RS-232 interface of PC.
4
For data receiving of the servo drive
RS-422 data receiving RS-422_RX-
(differential line driver - end)
For data transmission of the servo drive
5 RS-422 data transmission RS-422-TX+
(differential line driver + end)
For data transmission of the servo drive
6 RS-422 data transmission RS-422-TX-
(differential line driver - end)
NOTE:
1) For the connection of RS-485, please refer to pages 8.2 and 8.3.
2) There are two kinds of IEEE1394 communication cables available on the market.
If the user uses one kind of cable, which its GND terminal (Pin 1) and its shielding
is short-circuited, the communication may be damaged. Never connect the case
of the terminal to the ground of this kind of communication cable.
64 AC servo drive
3.5.2 Connection
between PC and
Connector CN3
CN3
PC or NOTEBOOK
AC servo drive 65
3.6 Standard Connection Example
3.6.1 Position (Pt)

Control Mode
Servo Drive Regenerative
Resistor
AC 220/230V PA/+
Three-phase PBi
50/60Hz
PBe
Servo
Red
Motor
White
Black Encoder
Green
Twisted-pair or twisted-shield cable

Pulse Input
(Line Driver)
*1 Blue
Blue/Black
Lexium 23C Series

Green
Encoder Wiring
High-speed
Pulse Input Green/Black
(Line Driver) Yellow
*2 Yellow/Black
Red
Black
Lexium 23M Series

Encoder Wiring *3
Blue
Blue/Black
Red
Black
A phase pulse
B phase pulse
Encoder Pulse
Z phase pulse Output *4
Z phase
Max. output open collector
current 200mA
voltage 40V
Note:
*1: Please refer to C4 wiring diagram on page 3-28. If it is open-collector input,
please refer to C3 wiring diagram on page 3-27.
*2: These terminals are for Lexium 23M series only. In Lexium 23C series, they are
marked NC (No Connection) and must be left unconnected.
*3: CN2 encoder terminals for Lexium 23M series only.
*4: Please refer to parameter P1-46 in Chapter 7.
66 AC servo drive
3.6.2 Position (Pr)

Control Mode
Resistor
AC 220/230V PA/+
Three-phase
PBi
50/60Hz
PBe
Red
Servo
White Motor
Black
Encoder
Green

Blue
Blue/Black
Lexium 23C Series

Green
Encoder Wiring
Green/Black
Yellow
Yellow/Black
Red
Black
Lexium 23M Series

Encoder Wiring *1
Blue
Blue/Black
Red
Black
A phase pulse
B phase pulse
Encoder Pulse
Z phase
Max. output open collector
current 200mA
voltage 40V
Note:
AC servo drive 67
3.6.3 Speed
Control Mode
Resistor
AC 220/230V PA/+
Three-phase
PBi
50/60Hz
PBe
Red
Servo
White Motor
Black
Encoder
Green

Blue
Blue/Black
Lexium 23C Series

Green
Encoder Wiring
Green/Black
Yellow
Yellow/Black
Red
Black
Lexium 23M Series

Encoder Wiring *1
Blue
Blue/Black
Red
Black
A phase pulse
B phase pulse
Encoder Pulse
Z phase
open collector
Max. output
current 200mA
voltage 40V
Note:
68 AC servo drive
3.6.4 Torque
Control Mode
Resistor
AC 220/230V PA/+
Three-phase PBi
50/60Hz
PBe
Red
Servo
White Motor
Black
Green Encoder

Blue
Blue/Black
Lexium 23C Series

Green
Encoder Wiring
Green/Black
Yellow
Yellow/Black
Red
Black
Lexium 23M Series

Encoder Wiring *1
Blue
Blue/Black
Red
Black
A phase pulse
B phase pulse
Encoder Pulse
Z phase
open collector
Max. output
current 200mA
voltage 40V
Note:
AC servo drive 69
70 AC servo drive
Display and Operation
4
At a Glance
Presentation This chapter describes the basic operation of the digital keypad and the features it
offers.
What's in this
Topic Page
Description of the Digital Keypad 72
Display Flowchart 73
Status Display 74
General Function Operation 76
71
Display and Operation Lexium 23
4.1 Description of the Digital Keypad
The digital keypad includes the display panel and function keys. The Figure 4.1
shows all of the features of the digital keypad and an overview of their functions.
Figure 4.1
Lexium 23
M ENT
Charge LED
Name Function
The LCD Display (5-digit, 7-step display panel) shows the monitor codes,
LCD Display
parameter settings and operation values of the AC servo drive.
Charge LED The Charge LED lights to indicate the power is applied to the circuit.
Pressing M key can enter or exit different parameter groups, and switch
M
between Monitor mode and Parameter mode.
Pressing S key can scrolls through parameter groups. After a
S parameter is selected and its value displayed, pressing S key can move
the cursor to the left and then change parameter settings (blinking digits)
by using arrow keys.
Pressing the and key can scroll through and change monitor
codes, parameter groups and various parameter settings.
Pressing the ENT key can display and save the parameter groups, the
various parameter settings. During diagnosis operation, pressing ENT key

ENT
can execute the function in the last step. (The parameter settings changes
are not effective until the ENT key is pressed.)
72 AC servo drive
Lexium 23 Display and Operation
4.2 Display Flowchart
Figure 4.2 Keypad Operation

Monitor Mode Parameter Mode S
M S S S
S
Monitor Basic Extension Communication Diagnosis

Monitor Status Parameter Parameter Parameter Parameter
Parameter
or
or
ENT to display setting value
or
ENT to save setting value
Parameter Setting Mode
1. When the power is applied to the AC servo drive, the LCD display will show the monitor
function codes for approximately one second, then enter into the monitor mode.
2. In monitor mode, pressing or key can switch monitor parameter code. At this
time, monitor display symbol will display for approximately one second.
3. In monitor mode, pressing M key can enter into parameter mode, pressing the S
key can switch parameter group and pressing or key can change parameter
group code.
4. In parameter mode, the system will enter into the setting mode immediately after the
ENT key is pressed. The LCD display will display the corresponding setting value of this
parameter simultaneously. Then, users can use or key to change parameter
value or press M to exit and return back to the parameter mode.
5. In parameter setting mode, the users can move the cursor to left by pressing the S
key and change the parameter settings (blinking digits) by pressing the or
key.
6. After the setting value change is completed, press ENT key to save parameter
settings or execute command.
7. When the parameter setting is completed, LCD display will show the end code "-
END-" and automatically return back to parameter mode.
AC servo drive 73
4.3 Status Display
4.3.1 Save Setting After the ENT key is pressed, LCD display will show the following display messages
Display
for approx. one second according to different status.
Display Message Description
!1D@! The setting value is saved correctly.
1HH!H This parameter is read only. Write-protected. (cannot be changed)
1HH!: Invalid password or no password was input.
1HH!/ The setting value is error or invalid.
The servo system is running and it is unable to accept this setting
;HJ9D value to be changed.
8E!11 This parameter will not be stored in EEPROM.
:E!9D This parameter is valid after restarting the drive.
4.3.2 Abort Setting Display Message Description

Display
In parameter mode, pressing M key can abort parameter setting change
and return to monitor mode. In parameter setting mode, pressing M key
->EHI can return back to parameter mode.
After returning back to parameter mode, pressing M key again can
abort parameter setting change.
4.3.3 Fault Display Message Description

Message Display When the AC servo drive has a fault, LCD display will display "ALEnn".
"ALE" indicates the alarm and "nn" indicates the drive fault code. The display
-71DD range of alarm code "nn" is 1 to 22. For the list of drive fault code, please
refer to parameter P0-01 or refer to Chapter 10 (Troubleshooting).
4.3.4 Polarity Display Message Description

Setting Display Positive value display. When entering into parameter setting mode,
%')+ pressing or key can increase or decrease the display value. S
key is used to change the selected digit (The selected digit will blink).
Negative value display. When the parameter setting is greater than four
digits (for the setting value within the range of less than five decimal
%.').+.# places), after the display value is set, continuously press S key for many
times and then the lit decimal points are used to indicate a negative value.
Negative value display. When the parameter setting is less than five digits
(for the setting value within the range of five decimal places), after the
!%')+ display value is set, continuously press S key for many times and then
the negative sign will show up to indicate a negative value.
74 AC servo drive
4.3.5 Monitor When the AC servo drive is applied to power, the LCD display will show the monitor
Setting Display function codes for approximately one second and then enter into the monitor
mode. In monitor mode, in order to change the monitor status, the users can press
or N arrow key or change parameter P0-02 directly to specify the monitor
status. When the power is applied, the monitor status depends on the setting value
of P0-02. For example, if the setting value of P0-02 is 2 when the power is applied,
the monitor function will be Pulse counts of pulse command, the C.P monitor codes
will first display and then the pulse number will display after.
Lexium 23C Series
P0-02 Setting Display Message Description Unit
0 2>.: Motor feedback pulse number (Absolute value) [pulse]
1 2>.H1J Motor feedback rotation number (Absolute value) [rev]
2 /.: Pulse counts of pulse command [pulse]
3 /.H1J Rotation number of pulse command [rev]
4 :1HH Position error counts [pulse]
5 /:.2H Input frequency of pulse command [r/min]
6 ;:11@ Motor rotation speed [r/min]
7 /.;:@$ Speed input command [V]
8 /.;:@% Speed input command [r/min]
9 /.IG$ Torque input command [V]
10 /.IG% Torque input command [%]
11 -J3.7 Average load [%]
12 :1.7 Peak load [%]
13 <>J; Main circuit voltage [V]
14 67 Ratio of load inertia to Motor inertia [times]
Motor feedback pulse number (Relative value) /
15 :7;. Position latch pulse number [pulse]
Motor feedback rotation number (Relative
16 H1J. value) / Position latch rotation number
[rev]
Lexium 23M Series

P0-02 Setting Display Message Description Unit
17 - Reserved -
18 42>.: High resolution pulse number [pulse]
19 -2>.: Absolute pulse number (use Z pulse as home) [pulse]
AC servo drive 75
The following table lists the display examples of monitor value:

Display Message Description
Positive value display. No positive sign is displayed to indicate it is a
$%&' positive value.
Display value: +1234.
Negative value display (The decimal place is greater than four).
!$%&' The lit decimal points are used to indicate it is a negative value.
Display value: -12345.
Negative value display (The decimal place is less than five).
$.%.&.'.(. The negative sign is displayed to indicate it is a negative value.
Display value: -1234.
Decimal value display.
$%.&' Display value: 12.34.
76 AC servo drive
4.4 General Function Operation
4.4.1 Fault Code After entering the parameter mode P4-00 to P4-04 (Fault Record), press ENT key
Display Operation
to display the corresponding fault code history for the parameter or press key
to display the fault code of H1 to H5 in order. H1 indicates the most recent
occurred fault code, H2 is the previous occurred fault code before H1 and so on.
Please refer to the Figure 4.3. The recently occurred error code is 10.
Figure 4.3
ENT
or
AC servo drive 77
4.4.2 JOG After entering parameter mode P4-05, the users can follow the following steps to
Operation perform JOG operation.(Please also refer to Figure 4.4).
Step1. Press the ENT key to display the JOG r/min speed. (The default value is 20 r/min).
Step2. Press the or keys to increase or decrease the desired JOG speed. (This
also can be undertaken by using the SHIFT key to move the cursor to the desired
unit column (the effected number will blink) then changed using the or
keys. The example display in Figure 4.4 is adjusted as 100 r/min.)
Step3. Press the ENT key when the desired JOG speed is set. The Servo Drive will display
"JOG".
Step4. Press the or keys to jog the motor either CCW or CW. The motor will
only rotate while the arrow key is activated.
Step5. To change JOG speed again, press the M key. The servo Drive will display "P4
- 05". Press the ENT key and the JOG r/min speed will displayed again. Refer back
to #2 and #3 to change speed.
Figure 4.4
ENT
or
or
ENT
Note: JOG operation is effective only when Servo On (when the servo drive is enabled).
78 AC servo drive
4.4.3 Position Follow the following steps to perform position learning operation (Please also refer
Learning Operation to Figure 4.5).
1. Activate the internal position learning function (Set P2-30=4).
2. After enter into parameter mode P4-05, press ENT key and the LED display will
show learning moving speed value. The default setting is 20 r/min.
3. Press or key to set the desired moving speed value. In the example
shown below, the value is adjusted to 100r/min.
4. Press ENT key then JOG o1 will display and enter position learning mode.
5. In the position learning mode (display JOGox), pressing or key at any
time can rotate Servo motor in forward or reverse rotation. Servo motor will
immediately stop running if releasing the or key. This operation is only
available during Servo system is On (Servo On).
6. After position is selected, press ENT key then the display JOGo1 will change to
JOGo2. At the same time, the absolute position of servo motor will be
memorized inside of the memory. (P1-15 : 1st Position Command for Rotation,
P1-16 : 1st Position Command for Pulse)
7. In the position learning mode (display JOGox), pressing S key can directly
change the "x" value of the display "JOGox" so as to jump rapidly to the
particular learning position where should be modified. There is no position
memorized at this time.
Figure 4.5
ENT
or
ENT
ENT or S
AC servo drive 79
The learning position and internal memorized position are listed as below:
Learning Position Internal Memorized Position
P1-15 (1st Position Command for Rotation)
JOGo1 P1-16 (1st Position Command for Pulse)
P1-17 (2nd Position Command for Rotation)
JOGo2 P1-18 (2nd Position Command for Pulse)
P1-19 (3rd Position Command for Rotation)
JOGo3 P1-20 (3rd Position Command for Pulse)
P1-21 (4th Position Command for Rotation)
JOGo4 P1-22 (4th Position Command for Pulse)
JOGo6 P1-26 (6th Position Command for Pulse ber)
80 AC servo drive
4.4.4 Force For testing, the digital outputs can be forced to be activated (ON) or inactivated
Output Control (OFF) by using parameter P4-06. Follow the setting method in Figure 4.6 to enter
Operation into Force Output Control operation (OP xx) mode ("xx" indicates the parameter
range from 00 to 1F). Pressing or key can change "xx" value from 00 to 1F
(hexadecimal format) and force digital outputs DO1 to DO5 to be activated (ON) or
inactivated (OFF). The DO function and status is determined by P2-18 to P2-22. This
function is enabled only when Servo Off (the servo drive is disabled).
Figure 4.6
ENT
Force DO to be ON
Force DO1 to be ON
Force DO2 to be ON
or
Force DO3 to be ON
Force DO4 to be ON
Force DO5 to be ON
AC servo drive 81
4.4.5 DI Diagnosis Following the setting method in Figure 4.7 can perform DI diagnosis operation
Operation (parameter P4-07, Input Status or Force Input Control). According to the ON and
OFF status of the digital inputs DI1 to DI8, the corresponding status will display
on the servo drive LED display. When the segment lit and display on the screen,
it means that the corresponding digital input signal is ON. (Please also refer to
Figure 4.7)
Figure 4.7
ENT
DI10 DI9 DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1
Lit: OFF OFF ON ON ON ON ON ON ON ON
82 AC servo drive
4.4.6 DO Following the setting method in Figure 4.8 can perform DO diagnosis operation
Diagnosis (parameter P4-09, Output Status Display). According to the ON and OFF status of
Operation the digital outputs DO1 to DO5, the corresponding status will display on the servo
drive LED display. When the segment lit and display on the screen, it means that
the corresponding digital input signal is ON. (Please also refer to Figure 4.8)
Figure 4.8
ENT
DO10 DO9 DO8 DO7 DO6 DO5 DO4 DO3 DO2 DO1
Lit: OFF OFF OFF OFF OFF ON ON ON ON ON
AC servo drive 83
84 AC servo drive
Trial Run and Tuning Procedure
5
At a Glance
Presentation This chapter, which is divided into two parts, describes trial run for servo drive and
motor. One part is to introduce the trial run without load, and the other part is to
introduce trial run with load. Ensure to complete the trial run without load first
before performing the trial run with load.
What's in this
Topic Page
Inspection without Load 86
Applying Power to the Drive 88
JOG Trial Run without Load 92
Speed Trial Run without Load 94
Position Trial Run without Load 96
Tuning Procedure 99
85
Trial Run and Tuning Procedure Lexium 23
5.1 Inspection without Load
In order to prevent accidents and avoid damaging the servo drive and mechanical
system, the trial run should be performed under no load condition (no load
connected, including disconnecting all couplings and belts). Do not run servo motor
while it is connected to load or mechanical system because the unassembled parts
on motor shaft may easily disassemble during running and it may damage
mechanical system or even result in personnel injury. After removing the load or
mechanical system from the servo motor, if the servo motor can runs normally
following up the normal operation procedure (when trial run without load is
completed), then the users can connect to the load and mechanical system to run
the servo motor.
Caution
UNINTENDED EQUIPMENT OPERATION
In order to prevent accidents, the initial trial run for servo motor should be
conducted under no load conditions (separate the motor from its couplings and
belts).
Please perform trial run without load first and then perform trial run with load
connected. After the servo motor is running normally and regularly without load,
then run servo motor with load connected. Ensure to perform trial run in this order
to prevent unnecessary danger.
Failure to follow this instruction will result in death, serious injury, or equipment
damage.
86 AC servo drive
Lexium 23 Trial Run and Tuning Procedure
After power in connected to AC servo drive, the charge LED will light and it
indicates that AC servo drive is ready. Please check the followings before trial run:
Item Content
z Inspect the servo drive and servo motor to insure they were not
damaged.
z To avoid an electric shock, be sure to connect the ground terminal
of servo drive to the ground terminal of control panel.
z Before making any connection, wait 10 minutes for capacitors to
discharge after the power is disconnected, alternatively, use an
appropriate discharge device to discharge.
z Ensure that all wiring terminals are correctly insulated.
Inspection before z Ensure that all wiring is correct or damage and or malfunction may
operation result.
z Visually check to ensure that there are not any unused screws, metal
(Control power is strips, or any conductive or inflammable materials inside the drive.
not applied) zNever put inflammable objects on servo drive or close to the external
regenerative resistor.
z Make sure control switch is OFF.
z If the electromagnetic brake is being used, ensure that it is correctly
wired.
z If required, use an appropriate electrical filter to eliminate noise to
the servo drive.
z Ensure that the external applied voltage to the drive is correct and
matched to the controller.
z Ensure that the cables are not damaged, stressed excessively or
loaded heavily. When the motor is running, pay close attention on
the connection of the cables and notice that if they are damaged,
frayed or over extended.
zCheck for abnormal vibrations and sounds during operation. If the
servo motor is vibrating or there are unusual noises while the motor
is running, please contact the dealer or manufacturer for assistance.
z Ensure that all user-defined parameters are set correctly. Since the
Inspection during characteristics of various machinery equipment are different, in
operation order to avoid accident or cause damage, do not adjust the
parameter abnormally and ensure the parameter setting is not an
(Control power is excessive value.
applied) z Ensure to reset some parameters when the servo drive is off (Please
refer to Chapter 7). Otherwise, it may result in malfunction.
z If there is no contact sound or there be any unusual noises when the
relay of the servo drive is operating, please contact your distributor
for assistance or contact with Schneider electric.
z Check for abnormal conditions of the power indicators and LED
display. If there is any abnormal condition of the power indicators
and LED display, please contact your distributor for assistance or
contact with Schneider electric.
AC servo drive 87
5.2 Applying Power to the Drive
The users please observe the following steps when applying power supply to the
servo drive.
1. Please check and confirm the wiring connection between the drive and motor is
correct.
1) Terminal U, V, W and FG (frame ground) must connect to Red, White, Black
and Green cables separately (U: Red, V: White, W: Black, FG: Green). If not
connect to the specified cable and terminal, then the drive cannot control
motor. The motor grounding lead, FG must connect to grounding terminal.
For more information of cables, please refer to section 3.1.
2) Ensure to connect encoder cable to CN2 connector correctly. If the users
only desire to execute JOG operation, it is not necessary to make any
connection to CN1 and CN3 connector. For more information of the
connection of CN2 connector, please refer to Section 3.1 and 3.4.
Caution
RISK OF EQUIPMENT DAMAGE
Do not connect the input power (R, S, T) to the (U, V, W) output terminals. This will
damage the AC servo drive.
Failure to follow this instruction can result in injury or equipment damage.
2. Main circuit wiring

Connect power to the AC servo. For three-phase input power connection and
single-phase input power connection, please refer to Section 3.1.3.
3. Turn the Power On
The Power includes control circuit power (L1, L2) and main circuit power (R, S, T).
When the power is on, the normal display should be shown as the following figure:
As the default settings of digital input signal, DI6, DI7 and DI8 are Reverse Inhibit
Limit (CWL), Forward Inhibit Limit (CCWL) and Emergency Stop (EMGS)
respectively, if the users do not want to use the default settings of DI6~DI8, the users
can change their settings by using parameters P2-15 to P2-17 freely. When the
setting value of parameters P2-15 to P2-17 is 0, it indicates the function of this DI
signal is disabled. For more information of parameters P2-15 to P2-17, please refer
to Chapter 7 "Parameters".
If the parameter P0-02 is set as motor speed (06), the normal display should be
shown as the following figure:
If there is no text or character displayed on the LED display, please check if the
voltage of the control circuit terminal (L1and L2) is over low.
88 AC servo drive
1) When display shows:
Over voltage:
The main circuit voltage has exceeded its maximum allowable value or input power
is error (Incorrect power input).
Corrective Actions:
z Use voltmeter to check whether the input voltage falls within the rated input
voltage.
z Use voltmeter to check whether the input voltage is within the specified limit.
Encoder error:
Check if the wiring is correct. Check if the encoder wiring (CN2) of servo motor is
loose or incorrect.
Corrective Actions:
z Check if the users perform wiring recommended in the user manual.
z Examine the encoder connector and cable.
z Inspect whether wire is loose or not.
z Check if the encoder is damaged.
Emergency stop activated:

Please check if any of digital inputs DI1~DI8 signal is set to "Emergency Stop" (E
MGS).
Corrective Actions:
z If it does not need to use "Emergency Stop (EMGS)" as input signal, the users only
need to confirm that if all of the digital inputs DI1~DI8 are not set to "Emergency
Stop (EMGS)". (The setting value of parameter P2-10 to P2-17 is not set to 21.)
z If it is necessary to use "Emergency Stop (EMGS)" as input signal, the users only
need to confirm that which of digital inputs DI1~DI8 is set to "Emergency Stop (E
MGS)" and check if the digital input signal is ON (It should be activated).
AC servo drive 89
Reverse limit switch error:

Please check if any of digital inputs DI1~DI8 signal is set to "Reverse inhibit limit
(CWL)" and check if the signal is ON or not.
Corrective Actions:
z If it does not need to use "Reverse inhibit limit (CWL)" as input signal, the users
only need to confirm that if all of the digital inputs DI1~DI8 are not set to "Reverse
inhibit limit (CWL)". (The setting value of parameter P2-10 to P2-17 is not set
to 22.)
z If it is necessary to use "Reverse inhibit limit (CWL)" as input signal, the users only
need to confirm that which of digital inputs DI1~DI8 is set to "Reverse inhibit limit
(CWL)" and check if the digital input signal is ON (It should be activated).
Forward limit switch error:

Please check if any of digital inputs DI1~DI8 signal is set to "Forward inhibit limit
(CCWL)" and check if the signal is ON or not.
Corrective Actions:
z If it is no need to use "Forward inhibit limit (CCWL)" as input signal, the users only
need to confirm that if all of the digital inputs DI1~DI8 are not set to "Forward
inhibit limit (CCWL)". (The setting value of parameter P2-10 to P2-17 is not set
to 23.)
z If it is necessary to use "Forward inhibit limit (CCWL)" as input signal, the users
only need to confirm that which of digital inputs DI1~DI8 is set to "Forward inhibit
limit (CCWL)" and check if the digital input signal is ON (It should be activated).
90 AC servo drive
When "Digital Input 1 (DI1)" is set to Servo On (SON), if DI1 is set to ON (it indicates
that Servo On (SON) function is enabled) and the following fault message shows on
the display:
Overcurrent:
Corrective Actions:
z Check the wiring connections between the servo drive and motor.
z Check if the circuit of the wiring is closed.
z Remove the short-circuited condition and avoid metal conductor being exposed.
Undervoltage:
Corrective Actions:
z Check whether the wiring of main circuit input voltage is normal.
z Use voltmeter to check whether input voltage of main circuit is normal.
z Use voltmeter to check whether the input voltage is within the specified specification.
Note: If there are any unknown fault codes and abnormal display when applying
power to the drive or servo on is activated (without giving any command), please
inform your distributor or contact with Schneider electric for assistance.
AC servo drive 91
5.3 JOG Trial Run without Load
It is very convenient to use JOG trial run without load to test the servo drive and
motor as it can save the wiring. The external wiring is not necessary and the users
only need to connect the digital keypad to the servo drive. For safety, it is
recommended to set JOG speed at low speed. Please refer to the following steps
to perform JOG trial run without load.
STEP 1: Turn the drive ON through software. Ensure that the setting value of
parameter P2-30 should be set to 1 (Servo On).
STEP 2: Set parameter P4-05 as JOG speed (unit: r/min). After the desired JOG
speed is set, and then press ENT key, the drive will enter into JOG operation
mode automatically.
STEP 3: The users can press and key to change JOG speed and press S
key to adjust the digit number of the displayed value.

STEP 4: Pressing ENT key can determine the speed of JOG operation.
STEP 5: Pressing key and the servo motor will run in CCW direction. After
releasing key, the motor will stop running.
STEP 6: Pressing key and the servo motor will run in CW direction. After
releasing key, the motor will stop running.
CW and CCW Definition:
CCW (Counterclockwise): when facing the servo motor shaft, CCW is
reverse running.
CW (Clockwise): when facing the servo motor shaft, CW is forward running.
STEP 7: When pressing M key, it can exit JOG operation mode.
92 AC servo drive
In the example below, the JOG speed is adjusted from 20r/min (Default setting) to
100r/min.
ENT
or
or
ENT
Speed
Press Release Press
If the servo motor does not rotate, please check if the wiring of U, V, W terminals and
encoder is correct or not.
If the servo motor does not rotate properly, please check if the phase of U, V, W cables is
connected correctly.
AC servo drive 93
5.4 Speed Trial Run without Load
Warning
RISK OF UNEXPECTED MOVEMENTS
Before speed trial run, fix and secure the motor as possible to avoid the danger
from the reacting force when motor speed changes.
Failure to follow these instructions can result in Injuries or equipment damage
STEP 1:
Set the value of parameter P1-01 to 02 and it is speed (S) control mode. After
selecting the operation mode as speed (S) control mode, please restart the drive
as P1-01 is effective only after the servo drive is restarted (after switching power
off and on).
STEP 2:
In speed control mode, the necessary Digital Inputs are listed as follows:
Parameter Setting CN1 Pin
Digital Input Sign Function Description
Value No.
DI1 P2-10=101 SON Servo On DI1-=9
DI2 P2-11=109 TRQLM Torque limit enabled DI2-=10
DI3 P2-12=114 SPD0 Speed command selection DI3-=34
DI4 P2-13=115 SPD1 Speed command selection DI4-=8
DI5 P2-14=102 ARST Reset DI5-=33
DI6 P2-15=0 Disabled This DI function is disabled -
By default, DI6 is the function of reverse inhibit limit, DI7 is the function of forward
inhibit limit and DI6 is the function of emergency stop (DI8), if the users do not set
the setting value of parameters P2-15 to P2-17 to 0 (Disabled), the faults (ALE13,
14 and 15) will occur (For the information of fault messages, please refer to
Chapter 10). Therefore, if the users do not need to use these three digital inputs,
please set the setting value of parameters P2-15 to P2-17 to 0 (Disabled) in
advance.
All the digital inputs of Lexium 23 series are user-defined, and the users can set the
DI signals freely.
Ensure to refer to the definitions of DI signals before defining them (For the
description of DI signals, please refer to Table 7.A in Chapter 7). If any alarm code
displays after the setting is completed, the users can restart the drive or set DI5 to
be activated to clear the fault. Please refer to section 5.2.
94 AC servo drive
The speed command is selected by SPD0, SPD1. Please refer to the following table:
Speed DI signal of CN1 Command
Content Range
Command No. SPD1 SPD0 Source
External analog Voltage between V-REF
S1 0 0 +/-10V
command and GND
S2 0 1 P1-09 0~5000r/min
Internal
S3 1 0 P1-10 0~5000r/min
parameter
S4 1 1 P1-11 0~5000r/min
0: indicates OFF (Normally Open);

1: indicates ON (Normally Closed)
The settings of speed command:

P1-09 is set to 3000 Input value command Rotation direction
P1-10 is set to 100 + CCW
P1-11 is set to -3000 - CW
STEP 3:
1. The users can use DI1 to enable the servo drive (Servo ON).
2. If DI3 (SPD0) and DI4 (SPD1) are OFF both, it indicates S1 command is selected.
At this time, the motor is operating according to external analog command.
3. If only DI3 is ON (SPD0), it indicates S2 command (P1-09 is set to 3000) is
selected, and the motor speed is 3000r/min at this time.
4. If only DI4 is ON (SPD1), it indicates S3 command (P1-10 is set to 100) is
selected, and the motor speed is 100r/min at this time.
5. If DI3 (SPD0) and DI4 (SPD1) are ON both, it indicates S4 command (P1-11 is
set to -3000) is selected, and the motor speed is -3000r/min at this time.
6. Repeat the action of (3), (4), (5) freely.
7. When the users want to stop the speed trial run, use DI1 to disable the servo
drive (Servo OFF).
AC servo drive 95
5.5 Position Trial Run without Load
Warning
RISK OF UNEXPECTED MOVEMENTS
Before position trial run, fix and secure the motor as possible to avoid the danger
from the reacting force when the motor speed changes.
Failure to follow these instructions can result in Injuries or equipment damage
STEP 1:
Set the value of parameter P1-01 to 01 and it is position (Pr) control mode. After
selecting the operation mode as position (Pr) control mode, please restart the drive
and the setting would be valid.
STEP 2:
In position control mode, the necessary DI setting is listed as follows:
Parameter Setting CN1 Pin
Digital Input Sign Function Description
Value No.
DI1 P2-10=101 SON Servo On DI1-=9
DI2 P2-11=108 CTRG Command trigged DI2-=10
DI3 P2-12=111 POS0 Position command selection DI3-=34
DI4 P2-13=112 POS1 Position command selection DI4-=8
DI5 P2-14=102 ARST Reset DI5-=33
By default, DI6 is the function of reverse inhibit limit, DI7 is the function of forward
inhibit limit and DI6 is the function of emergency stop (DI8), if the users do not set
the setting value of parameters P2-15 to P2-17 to 0 (Disabled), the faults (ALE13,
14 and 15) will occur (For the information of fault messages, please refer to
Chapter 10). Therefore, if the users do not need to use these three digital inputs,
please set the setting value of parameters P2-15 to P2-17 to 0 (Disabled) in
advance.
All the digital inputs of Lexium 23 series are user-defined, and the users can set the
DI signals freely.
Ensure to refer to the definitions of DI signals before defining them (For the
description of DI signals, please refer to Table 7.A in Chapter 7). If any alarm code
displays after the setting is completed, the users can restart the drive or set DI5 to
be activated to clear the fault. Please refer to section 5.2.
96 AC servo drive
For the information of wiring diagram, please refer to Section 3.6.2 (Wiring of
position (Pr) control mode).
Because POS2 is not the default DI, the users need to change the value of
parameter P2-14 to 113.
The position command is selected by POS0 ~ POS2. Please refer to the following
table:
Position Moving Speed
POS2 POS1 POS0 CTRG Parameters Description
Command Register
Internal P1-15 Rotation No. (+/- 30000)
Position 1
0 0 0 A P2-36(V1)
P1-16 Pulse No. (+/- max cnt)
Internal P1-17 Rotation No. (+/- 30000)
Position 2
0 0 1 A P2-37(V2)
P1-18 Pulse No.(+/- max cnt)
Internal P1-19 Rotation No.(+/- 30000)
Position 3
0 1 0 A P2-38(V3)
Position 4
0 1 1 A P2-39(V4)
Position 5
1 0 0 A P2-40(V5)
Position 6
1 0 1 A P2-41(V6)
Position 7
1 1 0 A P2-42(V7)
Position 8
1 1 1 A P2-43(V8)
0: indicates OFF (Normally Open);

1: indicates ON (Normally Closed)
The users can set the value of these 8 groups of commands (P1-15 ~ P1-30) freely.
The command can be absolute position command (P1-33 =0) or relative position
command (P1-33 =1).
AC servo drive 97
For example:
Set P1-33 to 1 (Absolute position command)
(The new setting will be effective after the servo drive is restarted (after switching
power off and on))
Set P1-15 to 1 (rotation number)
Set P1-16 to 0 (pulse number)
The command of internal position 1: P1-15 Rotation No. + P1-16 Pulse No.
Set P1-19 to -10 (rotation number)
Input command Rotation direction
+ CCW
- CW
STEP 3:
1. The users can use DI1 to enable the servo drive (Servo ON).
2. Set DI2 (CTRG) to be ON, it indicates the command of internal position 1 (P1-
15 Rotation No. + P1-16 Pulse No.) 1 turn is selected, and the motor has rotated
one turn at this time.
3. Set DI3 (POS0) to be ON first and then enable DI2 (CTRG) to be ON, it indicates
the command of internal position 2 (P1-17 Rotation No. + P1-18 Pulse No.)10
turn is selected, and the motor has rotated ten turns.
4. Set DI3 (POS0), DI4 (POS1) and DI5 (POS2) to be ON first and then enable DI2
(CTRG) to be ON, it indicates the command of internal position 8 (P1-29
Rotation No. + P1-30 Pulse No.) 10.25turn is selected, and the motor has
rotated 10.25 turns.
5. Repeat the action of (3), (4), (5) freely.
6. When the users want to stop the speed trial run, use DI1 to disable the servo
drive (Servo OFF).
98 AC servo drive
5.6 Tuning Procedure
Estimate the ratio of Load Inertia to Servo Motor Inertia (J_load /J_motor): JOG Mode
1. After wiring is completed, when power in connected to the AC servo drive,
the right side display will show on the LCD display.
-71$'
2. Press M key to enter into parameter mode. :#!##
3. Press S key twice to select parameter group. :%!##
4. Press key to view each parameter and select parameter P2-17. :%!$*
5. Press ENT key to display the parameter value as shown on the right side. %$
6. Press S key twice, and press key. Then, press ENT key to display the $%$
parameter value as shown on the right side.
7. Press key to view each parameter and select parameter P2-30. :%!&#
8. Press ENT key to display the parameter value as shown on the right side. #
9. Select parameter value 1. Use key to cycle through the available settings. $
10. Press ENT key to write parameter value to the drive, and the right side 89!11
display will show on the LCD display.
11. At this time, the servo drive is ON and the right side display will appear next. #
12. Press key three times to select the ratio of Load Inertia to Servo Motor 67
Inertia (J_load /J_motor).
13. Display the current ratio of Load Inertia to Servo Motor Inertia (J_load /
J_motor).(5.0 is default setting.)
(.#
14. Press M key to select parameter mode. :%!&#
15. Press S key twice to select parameter group. :'!##
16. Press key to select user parameter P4-05. :'!#(
17. Press ENT key and JOG speed 20r/min will be displayed. Press and %#
key to increase and decrease JOG speed. To press S key one time can
%##
add one digit number.
18. Select desired JOG speed, press ENT key and it will show the right side display. 69/
19. Pressing key is forward rotation and pressing key is reverse rotation.
20. Execute JOG operation in low speed first. After the machine is running smoothly, then
execute JOG operation in high speed.
21. The ratio of Load Inertia to Servo Motor Inertia (J_load /J_motor) cannot be shown in the
display of JOG parameter P4-05 operation. Please press M key twice continuously and the
users can see the ratio of Load Inertia to Servo Motor Inertia (J_load /J_motor). Then,
execute JOG operation again, press M key once and press ENT key twice to view the
display on the keypad. Check if the value of J_load /J_motor is adjusted to a fixed value and
displayed on the keypad after acceleration and deceleration repeatedly.
AC servo drive 99
5.6.1 Tuning
Flowchart
100 AC servo drive

5.6.2 Load Inertia E

stimation
Flowchart
AC servo drive 101

5.6.3 Easy Mode Set P2-31 to 1 (Easy Mode, for Lexium 23C series only, Lexium 23M series does not
Tuning Flowchart support this mode) P2-31 Auto and Easy Mode Selection (Default setting is 4)
Settings:
A
B
not used
Lexium 23C series:

This parameter allows the users to set the stiffness setting of easy mode and the
responsiveness level of auto-tuning mode. Users can control the stiffness and
responsiveness according to application condition. When the setting value is
higher, the stiffness and the responsiveness is higher.
A: Stiffness setting of easy mode
B: Responsiveness level of auto-tuning mode
Lexium 23M series:

This parameter allows the users to set the responsiveness level setting of auto-
tuning mode. Users can control the responsiveness according to application
condition. When the setting value is higher, the responsiveness is higher.
A: No function
In Easy Mode, the value "A" indicates the stiffness setting. When the setting value
is higher, the control stiffness is also higher
Adjust P2-31: Increase the setting value of P2-31. Increase the value "A" to add the
control stiffness or reduce the noise.
Adjust P2-25: According to the setting value of P2-31 add and adjust the control
stiffness.
Continuously adjust until the satisfactory performance is achieved, and then the
tuning is completed.
102 AC servo drive

AC servo drive 103

Table 5.A Stiffness Setting in Easy Mode (P2-31 value "A") and the setting of P2-
00, P2-25
Load Range Max. Load
KPP NLP
Level (P2-31) (J_load / Corresponding Remark
(P2-00) (P2-25)
J_motor) Responsiveness
1 50~100 5Hz 5 50
Responsiveness Responsiveness Responsiveness

2 30~50 8Hz 8 31 The setting of P2-
3 20~30 11Hz 11 33 00 and P2-25
Level
Low
must be inputted
4 16~20 15Hz 15 16 manually
5 12~16 20Hz 20 12
6 8~12 27Hz 27 9 The setting of P2-
Medium
7 5~8 40Hz 40 6 00 and P2-25

Level
8 2~5 60Hz 60 4 must be inputted

9 0~2 115Hz 115 2 manually
A 0~2 127Hz 127 1

B 2~8 103Hz 103 2 The setting of P2-
C 8~15 76Hz 76 3 00 and P2-25
Level
High
D 15~25 62Hz 62 4 must be inputted

E 25~50 45Hz 45 5 manually
F 50~100 36Hz 36 6
104 AC servo drive

5.6.4 AutoMode Set P2-31 to 2 (AutoMode (PI) [Continuous adjustment])

(PI) Tuning P2-31 Auto and Easy Mode Selection (Default setting is 4)
Flowchart Settings:
A
B
not used
Lexium 23C series:

responsiveness according to application condition. When the setting value is higher,
the stiffness and the responsiveness is higher.
Lexium 23M series:

This parameter allows the users to set the responsiveness level setting of auto-tuning
mode. Users can control the responsiveness according to application condition. When
the setting value is higher, the responsiveness is higher.
A: No function
In AutoMode (PI), the value "B" indicates the responsiveness setting. When the setting
value is higher, the responsiveness is faster.
Adjust P2-31: Increase the setting value of P2-31. Increase the value "B" to speed the
responsiveness or reduce the noise.
Adjust P2-25: According to the setting value of P2-31 speed and adjust the
responsiveness.
Continuously adjust until the satisfactory performance is achieved, and then the tuning
is completed.
AC servo drive 105

Table 5.B P2-31 Value "B" Setting in AutoMode (PI) and the setting of P2-00,
P2-25
P2-31 value responsiveness Recommended Setting Value
Speed Loop Responsive
level of auto-tuning mode of P2-25
0 20Hz 13
1 30Hz 9
2 40Hz 6
3 60Hz 4
4 85Hz 3
5 120Hz 3
6 160Hz 2
7 200Hz 1
8 250Hz 1
9 and above 300Hz 0
106 AC servo drive

5.6.5 AutoMode Set P2-31 to 4 (AutoMode (PDFF) [Continuous adjustment])

(PDFF) Tuning P2-31 Auto and Easy Mode Selection (Default setting is 4)
Flowchart Settings:
A
B
not used
Lexium 23C series:

Lexium 23M series:

A: No function
In AutoMode (PDFF), the value "B" indicates the responsiveness setting. When the
setting value is higher, the responsiveness is faster.
Adjust P2-31: Increase the setting value of P2-31. Increase the value "B" to speed
the responsiveness or reduce the noise.
Continuously adjust until the satisfactory performance is achieved, and then the
tuning is completed.
AC servo drive 107

Table 5.C P2-31 Value "B" Setting in AutoMode (PDFF) and the Speed Loop
Responsiveness.
P2-31 value P2-31 value
Speed Loop Speed Loop
responsiveness level responsiveness level
Responsiveness Responsiveness
of auto-tuning mode of auto-tuning mode
0 20Hz 8 120Hz
1 30Hz 9 140Hz
2 40Hz A 160Hz
3 50Hz B 180Hz
4 60Hz C 200Hz
5 70Hz D 220Hz
6 80Hz E 260Hz
7 100Hz F 300Hz
108 AC servo drive

5.6.6 Limit of Load The accel. / decel. time for reaching 2000r/min must be below 1 second. The
Inertia Estimation rotation speed must be above 200r/min. The load inertia must be 100 multiple or
less of motor inertia. The change of external force and the inertia ratio can not be
too much. In AutoMode (P2-32 is set to 3 or 5), it will stop estimating the load
inertia. The measured load inertia value will not be saved when the power is cut off.
When re-apply the power to the drive every time, the setting value of P1-37 is
equal to the initial value of load inertia value. But, the measured inertia value will be
memorized in P1-37 automatically when:
(1) Switching AutoMode #2 to AutoMode #3
(2) Switching AutoMode #4 to AutoMode #5
AC servo drive 109

5.6.7 Relationship
between Tuning AutoSet
Modes and Tuning Mode P2-32 User-defined Parameter Gain Value
Parameter
Parameters
P2-00 (Proportional Position Loop Gain)
0 P2-04 (Proportional Speed Loop Gain)
Manual Mode (Default None P2-06 (Speed Integral Compensation) Fixed
setting) P2-25 (Low-pass Filter Time Constant of
Resonance Suppression)
P2-31 Value A (Level of Stiffness)
P2-04
P2-00 (Proportional Position Loop Gain)
Easy Mode 1 P2-06 Fixed
P2-25 (Low-pass Filter Time Constant of
P2-26
Resonance Suppression)
P2-00 P2-31 Value B (Level of Responsiveness)
AutoMode (PI) Continuous
2 P2-04 P2-25 (Low-pass Filter Time Constant of
[Continuous] Adjusting
P2-06 Resonance Suppression)
AutoMode (PI) P1-37 (Ratio of Load Inertia to Servo
[Fixed Inertia] P2-00 Motor Inertia [J_load / J_motor])
(The inertia ratio 3 P2-04 P2-31 Value B (Level of Responsiveness) Fixed
is determined by P2-06 P2-25 (Low-pass Filter Time Constant of
P1-37) Resonance Suppression)
P2-00
AutoMode P2-04
Continuous
(PDFF) 4 P2-06 P2-31 Value B (Level of Responsiveness)
Adjusting
[Continuous] P2-25
P2-26
AutoMode
P2-00
(PDFF)
P2-04 P1-37 (Ratio of Load Inertia to Servo
[Fixed Inertia]
5 P2-06 Motor Inertia [J_load / J_motor]) Fixed
(The inertia ratio
P2-25 P2-31 Value B (Level of Responsiveness)
is determined by
P2-26
P1-37)
When switching mode #3 to #0, the setting value of P2-00, P2-04 and P2-06 will
change to the value that measured in #3 auto-tuning mode.
When switching mode #5 to #0, the setting value of P2-00, P2-04, P2-06, P2-25
and P2-26 will change to the value that measured in #5 auto-tuning mode.
Note: Lexium 23M series does not support Easy mode.
110 AC servo drive

5.6.8 Gain The position and speed responsiveness selection is depending on and determined by
Adjustment in the the control stiffness of machinery and conditions of applications. Generally, high
Manual Mode reponsiveness is essential for the high frequency positioning control of mechanical
facilities and the applications of high precision process system. However, the higher
responsiveness may easily result in the resonance of machinery system.
Therefore, for the applications of high responsiveness, the machinery system with
control stiffness is needed to avoid the resonance. Especially when adjusting the
responsiveness of unfamiliar machinery system, the users can gradually increase
the gain setting value to improve responsiveness untill the resonance occurs, and
then decrease the gain setting value. The relevant parameters and gain adjusting
methods are described as follows:
z KPP, Parameter P2-00 Proportional Position Loop Gain

This parameter is used to determine the responsiveness of position loop (position
loop gain). It could be used to increase stiffness, expedite position loop response
and reduce position error.
When the setting value of KPP is higher, the response to the position command is
quicker, the position error is less and the settling time is also shorter. However, if
the setting value is over high, the machinery system may generate vibration or
noise, or even overshoot during positioning. The position loop responsiveness is
calculated as follows:
Position Loop Responsiveness (Hz) = KPP
2π
z KVP, Parameter P2-04 Proportional Speed Loop Gain

This parameter is used to determine the responsiveness of speed loop (speed
loop gain). It could be used to expedite speed loop response. When the setting
value of KVP is higher, the response to the speed command is quicker. However,
if the setting value is over high, it may result in the resonance of machinery
system. The responsiveness of speed loop must be higher than the 4~6 times of
the responsiveness of position loop. If responsiveness of position loop is higher
than the responsiveness of speed loop, the machinery system may generate
vibration or noise, or even overshoot during positioning. The speed loop
responsiveness is calculated as follows:
Lexium 23C Series:
Speed Loop Responsiveness fv = ( KVP ) X 1 Hz
2π (1+JL/JM)
Lexium 23M Series:
Speed Loop Responsiveness fv = ( KVP ) X [ (1+P1-37/10) ] Hz JM: Motor Inertia

2π (1+JL/JM)
JL: Load Inertia
P1-37: 0.1 times
When the value of P1-37 (no matter it is the measured load inertia value or the
set load inertia value) is equal to the actual load inertia value, the actual speed
loop responsiveness will be: fv = KVP Hz
2π
AC servo drive 111

z KVI, Parameter P2-06 Speed Integral Compensation

If the setting value of KVI is higher, the capability of decreasing the speed control
deviation is better. However, if the setting value is over high, it may easily result
in the vibration of machinery system. The recommended setting value is as
follows:
KVI (Parameter P2-06) y 1.5 x Speed Loop Responsiveness
z NLP, Parameter P2-25 Low-pass Filter Time Constant of Resonance Suppression

When the value of (J_load / J_motor) is high, the responsiveness of speed loop
may decrease. At this time, the users can increase the setting value of KVP (P2-
04) to keep the responsiveness of speed loop. However, when increasing the
setting value of KVP (P2-04), it may easily result in the vibration of machinery
system. Please use this parameter to suppress or eliminate the noise of
resonance. If the setting value of NLP is higher, the capability of improving the
noise of resonance is better. However, if the setting value is over high, it may
easily lead to the instability of speed loop and overshoot of machinery system.
The recommended setting value is as follows:
1000
NLP (Parameter P2-25) y
4 x Speed Loop Responsiveness (Hz)
z DST, Parameter P2-26 External Anti-Interference Gain

This parameter is used to enhance the anti-interference capability and reduce the
occurrence of overshoot. The default setting is 0 (Disabled). It is not recommended
to use it in manual mode only when performing a few tuning on the value gotten
through P2-32 AutoMode (PDFF) (setting value is 5, mode 5) automatically (The
setting value of P2-26 will change to the value that measured in mode 5 (AutoMode
(PDFF)) when switching mode 5 ((AutoMode (PDFF)) to mode 0 (Manual mode)).
z PFG, Parameter P2-02 Position Feed Forward Gain

This parameter is used to reduce position error and shorten the positioning
settling time. However, if the setting value is over high, it may easily lead to the
overshoot of machinery system. If the value of electronic gear ratio (1-44 /1-45)
is over than 10, the machinery system may also easily generate vibration or noise.
112 AC servo drive

Control Modes of Operation
6
At a Glance
What's in this
Topic Page
Control Modes of Operation 114
Position Control Mode 115
Speed Control Mode 130
Torque Control Mode 148
Control Modes Selection 152
Others 155
113
Control Modes of Operation Lexium 23
6.1 Control Modes of Operation
The Lexium 23 servo drives series can be programmed to provide six single and five
dual modes of operation. Their operation and description is listed in the following table.
Mode Code Description
External Position Position control for the servo motor is achieved via an external
Pt
Control pulse command.
Position control for the servo motor is achieved via by 8
Internal Position
Pr commands stored within the servo controller. Execution of the
Control
8 positions is via Digital Input (DI) signals.
Speed control for the servo motor can be achieved via
parameters set within the controller or from an external analog
Speed Control S -10 ~ +10 Vdc command. Control of the internal speed
parameters is via the Digital Inputs (DI). (A maximum of three
speeds can be stored internally).
Single Speed control for the servo motor is only achieved via
Mode Internal Speed parameters set within the controller. Control of the internal
Sz
Control speed parameters is via the Digital Inputs (DI). (A maximum of
three speeds can be stored internally).
Torque control for the servo motor can be achieved via
parameters set within the controller or from an external analog
Torque Control T -10 ~ +10 Vdc command. Control of the internal torque
parameters is via the Digital Inputs (DI). (A maximum of three
torque levels can be stored internally).
Torque control for the servo motor is only achieved via
Internal Torque parameters set within the controller. Control of the internal
Tz
Control torque parameters is via the Digital Inputs (DI). (A maximum of
three torque levels can be stored internally).
Either Pt or S control mode can be selected via the Digital
Pt-S
Inputs (DI)
Either Pt or T control mode can be selected via the Digital
Pt-T
Inputs (DI)
Either Pr or S control mode can be selected via the Digital
Dual Mode Pr-S
Inputs (DI)
Either Pr or T control mode can be selected via the Digital
Pr-T
Inputs (DI)
Either S or T control mode can be selected via the Digital
S-T
Inputs (DI)
The steps of changing mode:
(1) Switching the servo drive to Servo Off status. Turning SON signal of digit input
to be off can complete this action.
(2) Using parameter P1-01. (Refer to chapter 7).
(3) After the setting is completed, cut the power off and restart the drive again.
The following sections describe the operation of each control mode, including
control structure, command source and loop gain adjustment, etc.
114 AC servo drive

Lexium 23 Control Modes of Operation
6.2 Position Control Mode
The position control mode (Pt or Pr mode) is usually used for the applications
requiring precision positioning, such as industry positioning machine, indexing
table etc. Lexium 23 servo drives series servo drives support two kinds of command
sources in position control mode. One is an external pulse train (Pt: Position
Terminals, External Position Control) and the other is internal parameter (Pr:
Position Register, i.e. internal parameters P1-15 to P1-30, Internal Position
Control). The external pulse train with direction which can control the rotation
angle of servo motor. The max. input frequency for the external pulse command is
500Kpps and it is equal to rotation speed of 3000r/min.
In order to provide a convenient position control function, Lexium 23 servo drive
provides eight internal preset parameters for position control. There are two
setting methods of internal parameters, one is to set different position command
into these eight internal parameters before operation and then use POS0~POS2 of
DI signals of CN1 to perform positioning control. The other setting method is to use
serial communication to change the setting value of these eight internal
parameters.
To make the servo motor and load operate more smoothly, Lexium 23 servo drive
also provide complete Position Spine Line (P-curve) profile for position control
mode. For the closed-loop positioning, speed control loop is the principal part and
the auxiliary parameters are position loop gain and feed forward compensation.
The users can also select three kinds of tuning mode (Manual/Auto/Easy modes) to
perform gain adjustment.
This Section 6.2 mainly describes the applicability of loop gain adjustment and feed
forward compensation.
AC servo drive 115

6.2.1 Command The command source of P mode is external pulse train input form terminals. There
Source of Position are three types of pulse input and each pulse type is with·logic type (positive (+),
(Pt) Control Mode negative (-)). They all can be set in parameter P1-00. Please refer to the following
relevant parameters:
P1-00r PTT External Pulse Input Type Communication Addr.: 0100H

Default: 2 Related Section:
Applicable Control Mode: Pt Section 6.2.1
Unit: N/A
Range: 00 ~ 132 (Lexium 23C series)
00 ~ 1132 (Lexium 23M series)
Settings:
Lexium 23C series: Lexium 23M series:
z A: Pulse type
A=0: AB phase pulse (4x)
A=1: CW + CCW pulse
A=2: Pulse + Direction
Other setting: Reversed
z B: Input pulse filter
B=0: 500Kpps
B=1: 200Kpps
B=2: 150Kpps
B=3: 80Kpps
This setting is used to suppress or reduce the chatter caused by the noise, etc.
However, if the instant input pulse filter frequency is over high, the frequency
that exceeds the setting value will be regarded as noise and filtered.
116 AC servo drive

z C: Logic type
0=Positive Logic 1=Negative Logic

Pulse Type
Forward Reverse Forward Reverse
AB phase pulse
CW + CCW pulse
Pulse + Direction
Input pulse interface Max. input pulse frequency

Line driver 500Kpps
Open collector 200Kpps
z D: Source of pulse command
Setting Input pulse Max. input pulse Remark

value interface frequency
Line driver 500Kpps CN1 Terminal Identification:
0
Open collector 200Kpps PULSE, /PULSE, SIGN, /SIGN
CN1 Terminal Identification:
Line driver for
1 4Mpps HPULSE, /HPULSE, HSIGN, /
high-speed pulse
HSIGN
Note: High-speed pulse function (max. input pulse frequency 4Mpps) is for
Lexium 23M only.
Position pulse can be input from these terminals, PULSE (41), /PULSE (43) and
SIGN (37), /SIGN (36).
It can be an open-collector circuit or line driver circuit. For the detail wiring, please
refer to 3.6.1.
AC servo drive 117

6.2.2 Command The command sources of Pr mode are P1-15, P1-16 to P1-29, P1-30 these eight
Source of Position built-in parameters.
(Pr) Control Mode According to parameter P1-33, the users can select: a) Absolute or b) Incremental
position control.
Using with external I/O signals (CN1, POS 0 to POS 2 and CTRG) can select one of the
eight built-in parameters to be position command. Please refer to the table below:
Position Moving Speed
POS2 POS1 POS0 CTRG Parameters Description
Command Register
Rotation number
P1-15
P1 0 0 0 A (+/- 30000) P2-36 (V1)
P1-16 Pulses (+/- max cnt)
Rotation number
P1-17
P2 0 0 1 A (+/- 30000) P2-37 (V2)
Rotation number
P1-19
P3 0 1 0 A (+/- 30000) P2-38(V3)
Rotation number
P1-21
P4 0 1 1 A (+/- 30000) P2-39(V4)
Rotation number
P1-23
P5 1 0 0 A (+/- 30000) P2-40(V5)
Rotation number
P1-25
P6 1 0 1 A (+/- 30000) P2-41(V6)
Rotation number
P1-27
P7 1 1 0 A (+/- 30000) P2-42(V7)
Rotation number
P1-29
P8 1 1 1 A (+/- 30000) P2-43(V8)
State of POS0~2: 0 indicates the contact is OFF (Normally Open)

1 indicates the contact is ON (Normally Closed)
118 AC servo drive

CTRGA: the instant time when the contact changes from 0 (open) to 1 (closed).
The application of absolute and incremental position control is various and
multiple. This kind of position control is equal to a simple sequence control. Users
can easily complete the cycle running by using the above table. For example, the
position command, P1 is 10 turns and P2 is 20 turns. Give the position command
P1 first and then give the position command P2. The difference between absolute
and incremental position control is shown as the figure below:
Absolute Type Incremental Type
20 turns
20 turns
10 turns 10 turns
6.2.3 Structure of Basic Structure:

Position Control
Position Command
Mode
Position Command
Processing
Output Position
Position Control Speed Current

Block Diagram Loop Loop
AC servo drive 119

In order to pursue the goal of perfection in position control, the pulse signal should
be modified through position command processing and the structure is shown as
the figure below:
Lexium 23C Series:

Position Command Processing
GNUM0.GNUM1
Command 1. Absolute position
Source control S-curve
CN1
P1-15 2. Incremental position 1st Numerator (N1) (P1-44) P1-34
POS2~POS0
~ control 2nd Numerator (N2) (P2-60) P1-35
CTRG
P1-30 P1-33 P1-36 Command
3rd Numerator (N3) (P2-61)
4th Numerator (N4) (P2-62) Selection
Pulse Type P1-01
Pulse Counter Denominator (P1-45)
Selection
Signal
P1-00 Electronic Gear Ratio Low-pass
Filter
INHIBIT P1-08
Lexium 23M Series:

Position Command Processing
GNUM0.GNUM1
Command 1. Absolute position
Source control S-curve
CN1
P1-15 2. Incremental position 1st Numerator (N1) (P1-44) P1-34
POS2~POS0
~ control 2nd Numerator (N2) (P2-60) P1-35
CTRG
P1-30 P1-33 P1-36 Command
3rd Numerator (N3) (P2-61)
4th Numerator (N4) (P2-62) Selection
High
High speed Pulse Type P1-01
Denominator (P1-45) Resolution
General Selection Counter
Electronic
Pulse Signal P1-00 Electronic Gear Ratio Gear Ratio Low-pass
2P1-60 Filter
INHIBIT P1-08
Using parameter can select Pr mode and Pt mode. Electronic gear ratio can be set
in both two modes to set proper position revolution. Lexium 23 series servo drives
also provide S-curve and lowpass filter, which are used whenever the motor and
load need to be operated more smoothly. As for the information of electronic gear
ratio, S-curve and low-pass filter, please refer to the following sections 6.2.4, 6.2.5
and 6.2.6.
120 AC servo drive

Pulse Inhibit Input Function (INHIBIT)

This function is activated via digital inputs (Please refer to parameter P2-10 ~ P2-
17 and DI INHP in Table 7.A).When the drive is in position mode, if INHP is activated,
the external pulse input command is not valid and the motor will stop.
INHP
ON OFF ON
Pulse
command
6.2.4 S-curve The S-curve filter is for the position smoothing of motion command. Using S-curve
Filter for Position filter can run the servo motor more smoothly in response to a sudden position
Control command. Since the speed and acceleration curve are both continuous and the
time for the servo motor to accelerate is short, using Scurve filter not only can
improve the performance when servo motor accelerate or decelerate but also can
make motor to operate more smoothly (from mechanical view). When the load is
change, the motor usually run not smoothly when starts to run and stop due to the
friction and inertia change. At this moment, users can increase Accel/Decel S-curve
constant (TSL), Accel time constant (TACC) and Decel time constant (TDEC) to
improve the performance. Because the speed and angle acceleration are
continuous when position command is changed to pulse signal input, so it is not
needed to use Scurve filter.
T i me ( ms)
Sp e e d
Ra t e d s p e e d
T i me ( ms)
To r q ue
T i me ( ms)
TSL /2 TAC C T S L/ 2
T S L/ 2 TACC T S L/ 2
S-cur v e cha r a ct e r i s t i c s a n d T i me rel a ti o n sh i p ( A c c el era ti o n )
AC servo drive 121

P o s itio n
Time (ms)
Sp e e d
R ate d s p e e d
Time (ms)
To r q ue
TD EC
TSL / 2 T S L /2
T D EC
T S L /2 T S L /2
S-cur v e char acte r is t i c s a n d T i m e r a l a t i o n s h i p ( D ec el er a t i o n )
Relevant parameters:
P1-34 TACC Acceleration Time Communication Addr.: 0122H

Default: 200 Related Section: Related Section:
Applicable Control Mode: Pr, S P1-35, P1-36, Section 6.3.3
Unit: ms
Range: 1 ~ 20000
Settings:
1st to 3rd step acceleration time.
It is used to determine the acceleration time to accelerate from 0 to its rated
motor speed. (When P1-36 is set to 0: Accel/Decel function is disabled, i.e. P1-34,
P1-35 is disabled.)
P1-35 TDEC Deceleration Time Communication Addr.: 0123H

Unit: ms
Range: 1 ~ 20000
Settings:
1st to 3rd step deceleration time.
It is used to determine the deceleration time to decelerate from its rated motor
speed to 0. (When P1-36 is set to 0: Accel/Decel function is disabled, i.e. P1-34,
P1-35 is disabled.)
122 AC servo drive

P1-36 TSL Accel /Decel S-curve Communication Addr.: 0124H

Pr mode Default: 20 (See Note 2) Related Section:
Other mode Default: 0 P1-34, P1-35,
Unit: ms Section 6.2.4 (Pr mode),
Range: 0 ~ 10000 (0: Disabled) Section 6.3.3 (S mode)
Settings:
This parameter is used to make the motor run more smoothly when startup and windup.
Using this parameter can improve the motor running stability.
Speed
Time
(ms)
TSL/2 TACC TSL/2 TSL/2 TDEC TSL/2
TSL: P1-36, Accel /Decel S-curve
TACC: P1-34, Acceleration time
TDEC: P1-35, Deceleration time
Total acceleration time = TACC + TSL
Total deceleration time = TDEC + TSL
Note:
1) If the control of the servo motor is achieved via internal parameters, the
command curve should be defined by the users. Therefore, when the command
source is internal parameter, ensure that the setting value of P1-36 is not set
to 0 or the servo motor will not accelerate or decelerate during operation.
2) So if users change the control mode to Pr mode and switching power off and
on, the servo drive of parameter P1-36 will auto set the value to 20.
AC servo drive 123

6.2.5 Electronic Relevant parameters:

Gear Ratio Electronic Gear Ratio (1st
P1-44r GR1 Communication Addr.: 012CH
Numerator) (N1)
Applicable Control Mode: Pt, Pr Section 6.2.5
Unit: pulse
Range: 1 ~ 32767
Settings:
Multiple-step electronic gear numerator setting. Please refer to P2-60~P2-62.
P1-45r GR2 Electronic Gear Ratio (Denominator) Communication Addr.: 012DH

Unit: pulse
Range: 1 ~ 32767
Settings:
Electronic gear denominator setting.
Please set electronic gear ratio when the servo drive is Off. As the wrong setting
may cause motor to run chaotically (out of control) and it may lead to personnel
injury, therefore, ensure to observe the following rule when setting P1-44, P1-45.
The electronic gear ratio setting (Please also see P1-44, P2-60 ~ P2-62):
Position f1: Pulse input f2: Position command
Pulse Input N command N: Numerator 1, 2, 3, 4, the setting value
M N of P1-44 or P2-60~P2-63
f1 f2=f1x
M M: Denominator, the setting value of P1-45
The eThe electronic gear ratio setting range must be within: 1/50<N/M<200.
124 AC servo drive

The electronic gear function provides easy travel distance ratio change. However,
the over high electronic gear ratio will command the motor to move not smoothly.
At this time, the users can use lowpass filter parameter to improve this kind of
situation. For example, assume that the electronic gear ratio is equal to 1 and the
encoder pulse per revolution is 10000ppr, if the electronic gear ratio is changed to
0.5, then the motor will rotate one pulse when the command from external
controller is two pulses.
For example, after the proper electronic gear ratio is set, the reference travel
distance is 1 µm/pulse, the machinery will become easier to be used.
WL
WL: Working Load
WT: Working Table
WT
Ball Screw
Pitch: 3mm
Motor (Encoder Signal Output: A/B, Z)
Encoder PPR: 2500 pulse
Electronic Gear Ratio Corresponding travel distance per pulse
When the electronic 1 3×1000 3000

> > > > μn
gear ratio is not used 1 4×2500 10000
When the electronic 10000 > 1 μn

>
gear ratio is not used 3000
AC servo drive 125

6.2.6 Low-pass Relevant parameters:

Filter Smooth Constant of Position
P1-08 PFLT Communication Addr.: 0108H
Command (Lowpass Filter)
Unit: 10ms
Range: 0 ~ 1000 (0: Disabled)
Position
Target position
Tim
PFLT
6.2.7 Timing In Pr mode, position command source is DI signal from CN1, i.e. selected by
Chart of Position POS0~POS2 and CTRG.
(Pr) Control Mode Please refer to 6-2-2 to see the relationship between DI signals and parameters.
The following figure is shown the timing chart of Pr mode:
P8
P3
Internal position P2
command
P1
1ms
POS0 OFF ON OFF ON
POS1 OFF ON
External I/O signal POS2 OFF ON
CTRG
SON ON
>2ms, can be set by P2-09
126 AC servo drive

6.2.8 Position Loop Before performing position control (setting position control block diagram), the
Gain Adjustment users should complete the speed control setting by using Manual mode (parameter
P-32) since the position loop contains speed loop. Then, adjust the Proportional
Position Loop Gain, KPP (parameter P2-00) and Position Feed Forward Gain, PFG
(parameter P2-02). Or use Auto mode to adjust the gain of speed and position
control block diagram automatically.
1) Proportional Position Loop Gain: To increase this gain can enhance the position
loop responsiveness.
2) Position Feed Forward Gain: To increase this gain can reduce the position track
error during operation.
The position loop responsiveness cannot exceed the speed loop responsiveness,
and it is recommended that the speed loop responsiveness should be at least four
times faster than the position loop responsiveness. This also means that the setting
value of Proportional Speed Loop Gain, KVP should be at least four times faster
than Proportional Position Loop Gain, KPP.
The equation is shown as follows:
fp < fv
, fv : Speed Loop Responsiveness (Hz), fp : Position Loop Responsiveness (Hz)
4
KPP = 2 x π x fp.
For example, the desired position loop responsiveness is equal to 20 Hz.
Then, KPP = 2 x π x 20= 125 rad/s.
P2-00 KPP Proportional Position Loop Gain Communication Addr.: 0200H
Unit: rad/s
Range: 0 ~ 1023
Settings:
This parameter is used to set the position loop gain. It can increase stiffness,
expedite position loop response and reduce position error. However, if the setting
value is over high, it may generate vibration or noise.
AC servo drive 127

P2-02 PFG Position Feed Forward Gain Communication Addr.: 0202H

Unit: 0.0001
Range: 10 ~ 20000
Settings:
This parameter is used to set the feed forward gain when executing position
control command.
When using position smooth command, increase gain can improve position track
deviation.
When not using position smooth command, decrease gain can improve the
resonance condition of mechanical system. However, if the setting value is over
high, it may generate vibration or noise.
128 AC servo drive

When the value of Proportional Position Loop Gain, KPP is too great, the position
loop responsiveness will be increased and it will result in small phase margin. If this
happens, the rotor of motor will oscillate.
At this time, the users have to decrease the value of KPP until the rotor of motor
stop oscillating. When there is an external torque command interrupted, over low
KPP value will let the motor cannot overcome the external strength and fail to meet
the requirement of reasonable position track error demand. Adjust feed forward
gain, PFG (P2-02) to efficiently reduce the dynamic position track error.
AC servo drive 129

6.3 Speed Control Mode
The speed control mode (S or Sz) is usually used on the applications of precision speed
control, such as CNC machine, etc. Lexium 23 series servo drives support two kinds of
command sources in speed control mode. One is external analog signal and the other
is internal parameter. The external analog signal is from external voltage input and it
can control the speed of servo motor. There are two usage of internal parameter, one
is set different speed command in three speed control parameters before operation
and then using SPD0 and SPD1 of CN1 DI signal perform switching. The other usage is
using serial communication to change the setting value of parameter.
Beside, in order to make the speed command switch more smoothly, Lexium 23
series servo drives also provide complete S-curve profile for speed control mode.
For the closed-loop speed control, Lexium 23 series servo drives provide gain
adjustment function and an integrated PI or PDFF controller. Besides, three modes
of tuning technology (Manual/Auto/Easy) are also provided for the users to select
(parameter P2-32).
There are three turning modes for gain adjustment: Manual, Auto and Easy modes.
z Manual Mode: User-defined loop gain adjustment. When using this mode, all auto
and auxiliary function will be disabled.
z Auto Mode: Continuous adjustment of loop gains according to measured inertia,
with ten levels of system bandwidth. The parameter set by user is default value.
z Easy Mode: Robust for wide range of external load inertia change, with ten levels
of system stiffness.
Using easy mode can immediately suppress the interference of external load and
mechanical resonance and also stand for the load inertia change.
130 AC servo drive

6.3.1 Command Speed command Sources:

Source of Speed 1) External analog signal: External analog voltage input, -10V to +10V
Control Mode 2) Internal parameter: P1-09 to P1-11
Speed CN1 DI signal
Command Source Command Range
Command SPD1 SPD0
Voltage
External
S between +/-10 V
analog signal
S1 0 0 Mode VREF-GND
Speed
Sz N/A 0
command is 0
S2 0 1 P1-09 +/- 5000 r/min
S3 1 0 Internal parameter P1-10 +/- 5000 r/min
S4 1 1 P1-11 +/- 5000 r/min
z State of SPD0~1: 0: indicates OFF (Normally Open); 1: indicates ON (Normally

Closed)
z When SPD0 and SPD1 are both = 0 (OFF), if the control mode of operation is Sz,
then the speed command is 0. Therefore, if the users do not use analog voltage
as speed command, the users can choose Sz mode and avoid the zero point drift
problem of analog voltage signal. If the speed control mode is S mode, then the
command is the analog voltage between V-REF and GND. The setting range of
the input voltage is from -10V to +10V and the corresponding motor speed is
adjustable (Please see parameter P1-40).
z When at least one of SPD0 and SPD1 is not 0 (OFF), the speed command is
internal parameter (P1-09 to P1-11). The command is valid (enabled) after
either SPD0 or SPD1 is changed.
The speed command that is described in this section not only can be taken as speed
command in speed control mode (S or Sz mode) but also can be the speed limit
input command in torque control mode (T or Tz mode).
AC servo drive 131


Speed Control
Mode Speed Command
Speed Command
Processing
Speed Estimator
Speed Control Resonant Suppression Torque Current

Block Diagram Block Diagram Limiter Loop
In the figure above, the speed command processing is used to select the command
source of speed control according to chapter 6.3.1, including proportional gain
(P1-40) and S-curve filter smoothing strategy of speed control. The speed control
block diagram is used to manage the gain parameters of the servo drive and
calculate the current input provided to motor instantaneously. The resonance
suppression block diagram is used to suppress the resonance of mechanical
system.
The function and structure of speed command processing is shown as the figure
below:
The command source is selected according to the state of SPD0, SPD1 and
parameter P1-01 (S or Sz).
Whenever the command signal needs to be more smoothly, we recommend the
users to use S-curve and low-pass filter.
132 AC servo drive

6.3.3 Smoothing S-curve Filter

Strategy of Speed The S-curve filter is a speed smoothing command which provides 3 steps accel /
Control Mode decel S-curve to smooth the speed command change of the motor during
acceleration and deceleration. Using S-curve filter can let the servo motor run more
smoothly in response to a sudden speed command change.
Since the speed and acceleration curve are both continuous, in order to avoid the
mechanical resonance and noise may occur due to a sudden speed command
(differentiation of acceleration), using S-curve filter not only can improve the
performance when servo motor accelerate or decelerate but also can make the
motor run more smoothly. S-curve filter parameters include P1-34 Acceleration
Time (TACC), P1-35 Deceleration Time (TDEC) and Accel /Decel S-curve (TSL), and
the users can use these three parameters to improve the motor performance
during acceleration, deceleration and operation.
Lexium 23 series servo drives also support the time calculation of completing
speed command. T (ms) is the operation (running) time. S (r/min) is absolute speed
command, i.e. the absolute value (the result) after starting speed subtracts the final
speed.
Speed
Acceleration Deceleration
Rated Speed
0 Time (ms)
Torque
0 Time (ms)
TSL/2 TACC TSL/2
TSL/2 TDEC TSL/2

S-curve charateristics and Time relationship
Unit: ms
Range: 1 ~ 20000
Settings:
motor speed. (When P1-36 is set to 0: Accel/Decel function is disabled, i.e. P1-34,
P1-35 is disabled.)
AC servo drive 133


Unit: ms
Range: 1 ~ 20000
Settings:
P1-35 is disabled.)

Settings:
This parameter is used to make the motor run more smoothly when startup and
windup.
Using this parameter can improve the motor running stability.
Speed
Time
(ms)
Note:
source is internal parameter, ensure that the setting value of P1-36 is not set
to 0 or the servo motor will not accelerate or decelerate during operation.
2) So if users change the control mode to Pr mode and switching power off and
on, the servo drive of parameter P1-36 will auto set the value to 20.
134 AC servo drive

Analog Speed Command S-curve Filter

Lexium 23 series servo drives also provide Analog Speed Command S-curve Filter
for the smoothing in response to a sudden analog input signal.
Speed (rpm) Analog speed command
Motor Torque
3000
0
1 2 3 4 5 6 7 8 9 Time (sec)
-3000
The analog speed command S-curve filter is for the smoothing of analog input
signal and its function is the same as the S-curve filter. The speed and acceleration
curve of analog speed command S-curve filter are both continuous. The above
figure shows the curve of analog speed command S-curve filter and the users can
see the ramp of speed command is different during acceleration and deceleration.
Also, the users can see the difference of input command tracking and can adjust
time setting by using parameter P1-34, P1-35, P1-36 to improve the actual motor
performance according to actual condition.
Analog Speed Command Low-pass Filter

Analog Speed Command Low-pass Filter is used to eliminate high frequency
response and electrical interference from an analog speed command and it is also
with smoothing function.
Accel / Decel Smooth Constant of Analog Communication Addr.: 0106H
P1-06 SFLT
Speed Command (Low-pass Filter)
Applicable Control Mode: S Section 6.3.3
Unit: ms
Note: If the setting value of parameter P1-06 is set to 0, it indicates the function
of this parameter is disabled and the command is just By-Pass.
Target Speed
SFLT
AC servo drive 135

6.3.4 Analog Speed The analog voltage between V_REF and GND determines the motor speed
Input Scaling command. Using with parameter P1-40 (Max. Analog Speed Command) can adjust
the speed control ramp and its range.
5000rpm
3000rpm The speed control ramp is

determined by parameter P1-40
-10 -5
5 10 Analog Input Voltage (V)
-3000rpm
-5000rpm
P1-40r VCM Max. Analog Speed Command or Limit Communication Addr.: 0128H
Default: rated speed Related Section:
Applicable Control Mode: S/T Section 6.3.4, P1-55
Unit: r/min
Range: 0 ~ 10000
Settings:
In Speed mode, this parameter is used to set the speed at the maximum input
voltage (10V) of the analog speed command.
In Torque mode, this parameter is used to set the speed at the maximum input
voltage (10V) of the analog speed limit.
For example, in speed mode, if P1-40 is set to 3000 and the input voltage is 10V,
it indicates that the speed command is 3000 r/min. If P1-40 is set to 3000, but
the input voltage is changed to 5V, then the speed command is changed to 1500
r/min.
Speed command / limit = Input voltage x setting/10
136 AC servo drive

6.3.5 Timing Chart

of Speed Control S4
Mode Internal speed
S3
command
S2
External analog S1
voltage or zero (0)
SPD0 OFF ON OFF ON
External I/O signal SPD1 OFF ON
SON ON
Note:
1) OFF indicates normally open and ON indicates normally closed.
2) When speed control mode is Sz, the speed command S1=0; when speed control
mode is S, the speed command S1 is external analog voltage input (Please refer
to P1-01).
3) After Servo ON, the users can select command according to the state of SPD0~1.
6.3.6 Speed Loop The function and structure of speed control mode is shown as the figure below:
Gain Adjustment
Lexium 23C Series:
AC servo drive 137

Lexium 23M Series:
There are two turning modes of gain adjustment: Manual and Auto modes. The gain of
Lexium 23 series servo drives can be adjusted by using any one of three tuning modes.
z Manual Mode: User-defined loop gain adjustment. When using this mode, all auto and
auxiliary function will be disabled.
z Auto Mode: Continuous adjustment of loop gains according to measured inertia, with
ten levels of system bandwidth. The parameter set by user is default value.
z Easy Mode: Robust for wide range of external load inertia change, with ten levels of
system stiffness. Using easy mode can immediately suppress the interference of
external load and mechanical resonance and also stand for the load inertia change.
The mode of gain adjustment can be selected by parameter P2-32:

P2-32r AUT2 Tuning Mode Selection Communication Addr.: 0220H
Applicable Control Mode: ALL Section 5.6, Section 6.3.6
Unit: N/A
Range: 0 ~ 5
Settings:
0: Manual mode
1: Easy mode (for Lexium 23C series only, Lexium 23M series does not support
this mode)
2: AutoMode (PI) [Continuous adjustment]
3: AutoMode (PI) [Fix the ratio of Load Inertia to servo motor inertia and response
level can be adjusted]
4: AutoMode (PDFF) [Continuous adjustment]
138 AC servo drive

5: AutoMode (PDFF) [Fix the ratio of Load Inertia to servo motor inertia and
response level can be adjusted]
PI : Proportional - Integral control
PDFF : Pseudo-Derivative Feedback and Feedforward
Explanation of Auto-tuning:
1. When switching mode #2 or #4 to #3 or #5, the system will save the measured
load inertia value automatically and memorized in P1-37. Then, set the
corresponding parameters according to this measured load inertia value.
2. When switching mode #2 or #4 to #0, it indicates all automatically measured
load inertia value will be aborted, and all setting of parameters will be returned
to original setting value in #0 manual mode.
3. When switching mode #0 to #3 or #5, enter the appropriate load inertia value
in P1-37.
4. When switching mode #3 to #0, the setting value of P2-00, P2-04 and P2-06
will change to the value that measured in #3 auto-tuning mode.
5. When switching mode #5 to #0, the setting value of P2-00, P2-04, P2-06, P2-
25 and P2-26 will change to the value that measured in #5 auto-tuning mode
Manual Mode
When Tuning Mode Settings of P2-32 is set to 0, the users can define the
proportional speed loop gain (P2-04), speed integral gain (P2-06) feed forward
gain (P2-07) and ratio of load inertia to servo motor Inertia (1-37). Please refer to
the following description:
z Proportional gain: Adjust this gain can increase the position loop responsiveness.
z Integral gain: Adjust this gain can enhance the low-frequency stiffness of speed
loop and eliminate the steady error. Also, reduce the value of phase margin. Over
high integral gain will result in the unstable servo system.
z Feed forward gain: Adjust this gain can decrease the phase delay error
P1-04 KVP Proportional Speed Loop Gain Communication Addr.: 0204H
Applicable Control Mode: ALL Section 6.3.6
Unit: rad/s
Settings:
This parameter is used to set the speed loop gain. When the value of proportional
speed loop gain is increased, it can expedite speed loop response. However, if the
setting value is over high, it may generate vibration or noise.
AC servo drive 139

P2-06 KVI Speed Integral Compensation Communication Addr.: 0206H

Unit: N/A
Settings:
This parameter is used to set the integral time of speed loop. When the value of
speed integral compensation is increased, it can improve the speed response
ability and decrease the speed control deviation. However, if the setting value is
over high, it may generate vibration or noise.
P2-07 SFG Speed Feed Forward Gain Communication Addr.: 0207H

Unit: 0.0001
Range: 0 ~ 20000
Settings:
This parameter is used to set the feed forward gain when executing speed control
command.
When using speed smooth command, increase gain can improve speed track
deviation.
When not using speed smooth command, decrease gain can improve the
resonance condition of mechanical system.
In theory, stepping response can be used to explain proportional gain (KVP),

integral gain (KVI) and feed forward gain (KVF). Now we use frequency area and
time area respectively to explain the logic.
Frequency Domain
STEP 1: Set the value of KVI=0, the value of KVF=0 and adjust the value of KVP.
140 AC servo drive

STEP 2: Fix the value of KVP and adjust the value of KVI.
STEP 3: Select the value of KVI, if the value of

phase margin is too small, re-adjust the
value of KVP again to obtain the value,
45deg of phase margin.
Time Domain
When the value of KVP is greater, the
value of the responsiveness is also
greater and the raising time is shorter.
However, when the value of phase
margin is over low, it is not helpful to
steady error. But it is helpful to dynamic
tracking error.
AC servo drive 141

When the value of KVI is greater, the

value of low-frequency gain is also
greater and the value of steady error is
nearly zero (0).
However, the value of phase margin will
reduce quite substantially. It is helpful to
steady error. But it is not helpful to
dynamic tracking error.
When the value of KVF is nearly to 1 and

the forward compensation is more
complete, then the value of dynamic
tracking error will become very small.
However, when the value of KVF is too
great, it may cause vibration.
In general, the equipment, such as spectrum analyzer is needed and used to

analyze when using frequency domain method and the users also should have this
kind of analysis technology. However, when using time domain method, the users
only need to prepare an oscilloscope. Therefore, the general users usually use time
domain method with the analog DI/DO terminal provided by the servo drive to adjust
what is called as PI (Proportional and Integral) type controller. As for the
performance of torque shaft load, input command tracking and torque shaft load
have the same responsiveness when using frequency domain method and time
domain method. The users can reduce the responsiveness of input command
tracking by using input command low-pass filter.
Easy Mode (for Lexium 23C series only, Lexium 23M series does not support this
mode)
When P2-32 is set to 1, the easy mode function is activated. In order to enhance
the performance of servo system, Lexium 23C series servo drive provide "Robust
Control Technology" when the users select the easy mode of tuning technology.
The following introduces the basic structure.
142 AC servo drive

The servo motor with inertia change will operate and be close to ideal reference
mode due to the feedback inside of current loop and the torque load will give the
compensation immediately inside of the current loop. When the permissible inertia
change is greater, it will be much easier to influence the performance of servo
system. For the strong functionality and robust control of Lexium 23 servo system,
the easy mode provides servo system can be robust for the wide range of external
load inertia change, with 16 levels of system stiffness and responsiveness.
Users only need to set parameter P2-31 to select 16 levels of system stiffness and
responsiveness. The value is higher, the stiffness is more increased and the
responsiveness is higher.
P2-31 AUT1 Auto Mode Responsiveness Level Communication Addr.: 021FH
Unit: N/A
Range: 0 ~ FF (0 ~ FF: 0 indicates the lowest setting and F indicates the highest
setting (total 16 settings available))
Settings:
A
B
not used
Lexium 23C series:
Lexium 23M series:

tuning mode.
Users can control the responsiveness according to application condition. When
the setting value is higher, the responsiveness is higher.
A: No function
Note:
1) This parameter is activated by P2-32.
2) Please refer to Section 5.6 for the tuning procedure and the related settings.
AC servo drive 143

Stiffness Setting in Easy Mode (P2-31 value "A") and the setting of P2-00, P2-25
Max. Load
Level Load Range KPP NLP
Corresponding Remark
(P2-31 Value A) (J_load /J_motor) (P2-00) (P2-25)
Responsiveness
1 50~100 5Hz 5 50
Responsiveness
The setting value
2 30~50 8Hz 8 31 of P2-00 and P2-
Level
Low
25 must be
3 20~30 11Hz 11 33
inputted
4 16~20 15Hz 15 16 manually
5 12~16 20Hz 20 12
Responsiveness
The setting value

6 8~12 27Hz 27 9 of P2-00 and P2-
Medium
Level
7 5~8 40Hz 40 6 25 must be

8 2~5 60Hz 60 4 inputted
manually
9 0~2 115Hz 115 2
A 0~2 127Hz 127 1
Responsiveness
B 2~8 103Hz 103 2 The setting value

of P2-00 and P2-
C 8~15 76Hz 76 3
Level
High
25 must be
D 15~25 62Hz 62 4
inputted
E 25~50 45Hz 45 5 manually
F 50~100 36Hz 36 6
Auto Mode (Continuous adjustment))

This Auto Mode provides continuous adjustment of loop gains according to
measured inertia automatically. It is suitable when the load inertia is fixed or the
load inertia change is small and is not suitable for wide range of load inertia change.
The period of adjustment time is different depending on the acceleration and
deceleration of servo motor. To change the stiffness and responsiveness, please
use parameter P2-31.
Motor Speed
Inertia Measurement
144 AC servo drive

6.3.7 Resonance The resonance of mechanical system may occur due to excessive system stiffness or
Suppression frequency response. However, this kind of resonance condition can be improved,
suppressed, even can be eliminated by using low-pass filter (parameter P2-25) and
notch filter (parameter P2-23, P2-24) without changing control parameter.
Notch Filter (Resonance
P2-23 NCF Communication Addr.: 0217H
Suppression)
Unit: Hz
Range: 50 ~ 1000
Settings:
This parameter is used to set resonance frequency of mechanical system. It can
be used to suppress the resonance of mechanical system. If P2-24 is set to 0, this
parameter is disabled.
Notch Filter Attenuation Rate

P2-24 DPH Communication Addr.: 0218H
(Resonance Suppression)
Unit: dB
Range: 0 ~ 32
Settings: 0: Disabled
Low-pass Filter Time Constant

P2-25 NLP Communication Addr.: 0219H
Default: 2 (1kW and below models) or Related Section:
5 (above 1kW models) Section 6.3.7
Applicable Control Mode: ALL
Unit: ms
Range: 0 ~ 1000
This parameter is used to set low-pass filter time constant of resonance
suppression.
AC servo drive 145

Low-pass filter
Please use parameter P2-25. The figure below shows the resonant open-loop gain.
Gain
Frequency
When the low-pass filter (parameter P2-25) is adjusted from 0 to high value, the
value of Low-pass frequency (BW) will become smaller (see the figure below). The
resonant condition is improved and the frequency response and phase margin will
also decrease.
Gain
0dB Frequency
BW
146 AC servo drive

Notch Filter
Usually, if the users know the resonance frequency, we recommend the users can
eliminate the resonance conditions directly by using notch filter (parameter P2-23,
P2-24). However, the range of frequency setting is from 50 to 1000Hz only and
the range of resonant attenuation is 0~32 dB only.
Therefore, if the resonant frequency is out of this range, we recommend the users
to use low-pass filter (parameter P2-25) to improve resonant condition.
Please refer to the following figures and explanation to know how to use notch filter
and low-pass filter to improve resonant condition.
Use Notch Filter to suppress resonance
Use Low-pass Filter to suppress resonance
When the low-pass filter (parameter P2-25) is adjusted from 0 to high value, the
value of Low-pass frequency will become smaller (see the figure on page 6-26).
The resonant condition is improved but the frequency response and phase margin
will also decrease and the system may become unstable.
Therefore, if the users know the resonance frequency, the users can eliminate the
resonance conditions directly by using notch filter (parameter P2-23, P2-24).
Usually, if the resonant frequency can be recognized, we recommend the users can
directly use notch filter (parameter P2-23, P2-24) to eliminate the resonance.
However, if the resonant frequency will drift or drift out of the notch filter range, we
recommend the users not to use notch filter and use low-pass filter to improve
resonant conditions.
AC servo drive 147

6.4 Torque Control Mode
The torque control mode (T or Tz) is usually used on the applications of torque
control, such as printing machine, spinning machine, twister, etc. Lexium 23 series
servo drives support two kinds of command sources in torque control mode. One is
external analog signal and the other is internal parameter. The external analog
signal is from external voltage input and it can control the torque of servo motor.
The internal parameters are from P1-12 to P1-14 which are used to be the torque
command in torque control mode.
6.4.1 Command Torque command Sources:

Source of Torque 1) External analog signal: External analog voltage input, -10V to +10V
Control Mode 2) Internal parameter: P1-12 to P1-14
The command source selection is determined by the DI signal of CN1 connector.
Torque DI signal of CN1
Command Source Content Range
Command TCM1 TCM0
External Voltage between
T +/-10 V
analog signal T-REF-GND
T1 0 0 Mode
Torque
Tz None 0
command is 0
T2 0 1 P1-12 +/-300 %
T3 1 0 Internal parameter P1-13 +/-300 %
T4 1 1 P1-14 +/-300 %
z State of TCM0~1: 0: indicates OFF (Normally Open); 1: indicates ON (Normally
Closed)
z When TCM0 and TCM1 are both 0 (OFF), if the control mode of operation is Tz,
then the command is 0. Therefore, if the users do not use analog voltage as
torque command, the users can choose Tz mode to operation torque control to
avoid the zero point drift problem of analog voltage. If the control mode of
operation is T, then the command is the analog voltage between T-REF and GND.
The setting range of the input voltage is from -10V to +10V and the
corresponding torque is adjustable (see parameter P1-41).
z When at least one of TCM0 and TCM1 is not 0 (OFF), the torque command is
internal parameter. The command is valid (enabled) after either TCM0 or TCM1
is changed.
The torque command that is described in this section not only can be taken as
torque command in torque control mode (T or Tz mode) but also can be the
torque limit input command in position mode (P mode) and speed control mode
(S or Sz mode).
148 AC servo drive


Torque Control
Mode
The toque command processing is used to select the command source of torque
control according to chapter 6.4.1, including max. analog torque command
(parameter P1-41) and smoothing strategy of torque control mode. The current
control block diagram is used to manage the gain parameters of the servo drive and
calculate the current input provided to motor instantaneously. As the current
control block diagram is too complicated, setting the parameters of current control
block diagram is not allowed.
The function and structure of torque command processing is shown as the figure
below:
The command source is selected according to the state of TCM0, TCM1 and
parameter P1-01 (T or Tz).
Whenever the command signal needs to be more smoothly, we recommend the
users to use proportional gain (scalar) and low-pass filter to adjust torque.
AC servo drive 149

6.4.3 Smoothing Relevant parameters:

Strategy of Smooth Constant of Analog Torque
Torque Control P1-07 TFLT Communication Addr.: 0107H
Command (Low-pass Filter)
Mode Default: 0 Related Section:
Applicable Control Mode: T Section 6.4.3
Unit: ms
Note: If the setting value of parameter P1-07 is set to 0, it indicates the function
of this parameter is disabled and the command is just By-Pass.
Target Speed
TFLT
6.4.4 Analog The analog voltage between T_REF and GND controls the motor torque command.
Torque Input Using with parameter P1-41 can adjust the torque control ramp and its range.
Scaling
300%
The torque control ramp is
100% determined by parameter P1-41
-10 -5
Torque command
5 10 Analog Input Voltage (V)
-100%
-300%
150 AC servo drive

Max. Analog Torque Command or
P1-41r TCM Communication Addr.: 0129H
Limit
Unit: %
Range: 0 ~ 1000
Settings:
In Torque mode, this parameter is used to set the output torque at maximum
input voltage (10V) of analog torque command.
In Position and Speed mode, this parameter is used to set output torque at
maximum input voltage (10V) of analog torque limit
For example, in torque mode, if P1-41 is set to 100 and the input voltage is 10V,
it indicates that the torque command is 100% rated torque. If P1-41 is set to
100, but the input voltage is changed to 5V, then the torque command is
changed to 50% rated torque.
Torque command / limit = Input voltage x setting/10 (%)
6.4.5 Timing
Chart of Torque
Control Mode T4
Internal torque
command T3
T2
External analog T1
voltage or zero (0)
TCM0 OFF ON OFF ON

External I/O TCM1 OFF ON
signal
SON ON
Note：
1) OFF indicates normally open and ON indicates normally closed.
2) When torque control mode is Tz, the torque command T1=0; when torque
control mode is T, the speed command T1 is external analog voltage input
(Please refer to P1-01).
3) After Servo ON, the users can select command according to the state of
TCM0~1.
AC servo drive 151

6.5 Control Modes Selection
Except signal control mode operation, Lexium 23 series servo drives also provide
Pt-S, Pr-S, ST, Pt-T, Pr-T these five multiple modes for the users to select.
1) Speed / Position mode selection: Pt-S, Pr-S
2) Speed / Torque mode selection: S-T
3) Torque / Position mode selection: Pt-T, Pr-T
Mode Name Code Description
Pt-S 06 Either Pt or S control mode can be selected via the Digital Inputs (DI)
Pt-T 07 Either Pt or T control mode can be selected via the Digital Inputs (DI)
Dual
Pr-S 08 Either Pr or S control mode can be selected via the Digital Inputs (DI)
Mode
Pr-T 09 Either Pr or T control mode can be selected via the Digital Inputs (DI)
S-T 10 Either S or T control mode can be selected via the Digital Inputs (DI)
Sz and Tz mode selection is not provided. In order to avoid using too much DI
inputs, we recommend that the users can use external analog signal as input
command in speed and torque mode to reduce the use of DI inputs (SPD0~1 or
TCM0~1). In position mode, we recommend that the users can use Pt mode to input
pulse to reduce the use of DI inputs (POS0~2).
Please refer to table 3.B and table 3.C in section 3.3.2 to see the default pin number
of DI/DO signal.
6.5.1 Speed / Pt-S Mode / Pr-S Mode:

Position Control The command source of Pt-S mode is from external input pulse. The command
Mode Selection source of Pr-S mode is from internal parameters (P1-15 to P1-30). The speed
command can be the external analog voltage or internal parameters (P1-09 to P1-
11). The speed and position mode switching is controlled by the S-P signal. The
selection will be more complicated when the position of Pr-S mode and speed
command are both selected through DI signal.
The timing chart of speed / position control mode selection is shown as the figure
below:
CTRG
S-P
POS0-2 NOT CARE POS0-2 VALID POS0-2 NOT CARE
SPD0-1 VALID SPD0~1 NOT CARE SPD0-1 VALID

Speed control mode Position control mode Speed control mode
Figure 1. : Speed / Position Control Mode Selection
152 AC servo drive

In speed mode (when S-P is ON), speed command is selected by SPD0~1 and CTRG
is disabled at this time. When switching to the position mode (when S-P is OFF), the
position command is not determined (it needs to wait that CTRG is on the rising
edge), so the motor stop running. Once CTRG is on the rising edge, position
command will be selected according to POS0~2 and the motor will immediately
move to the determined position. After S-P is ON, it will immediately return to
speed mode.
For the relationship between DI signal and selected command in each mode, please
refer to the introduction of single mode.
6.5.2 Speed / S-T Mode:

Torque Control The speed command can be the external analog voltage or internal parameters
Mode Selection (P1-09 to P1-11) and SPD0~1 is used to select speed command. The same as
speed command, the torque command can be the external analog voltage or
internal parameters (P1-12 to P1-14) and TCM0~1 is used to select torque
command. The speed and torque mode switching is controlled by the S-T signal.
The timing chart of speed / torque control mode selection is shown as the figure
below:
S-T
NOT CARE SPD0-1 VALID NOT CARE
TCM0-1 VALID NOT CARE TCM0-1 VALID

Torque control mode Speed control mode Torque control mode
Figure 2. : Speed / Torque Control Mode Selection
In torque mode (when S-T is ON), torque command is selected by TCM0~1. When
switching to the speed mode (when S-T is OFF), the speed command is selected by
SPD0~1, and then the motor will immediately rotate following the command. After
S-T is ON again, it will immediately return to torque mode.
AC servo drive 153

6.5.3 Torque / Pt-T Mode / Pr-T Mode:

Position Control The command source of Pt-T mode is from external input pulse. The command
Mode Selection source of Pr-T mode is from internal parameters (P1-15 to P1-30). The torque
command can be the external input pulse or internal parameters (P1-12 to P1-14).
The torque and position mode switching is controlled by T-P signal. The selection
will be more complicated when the position of Pr-T mode and torque command are
both selected through DI signal.
The timing chart of speed / position control mode selection is shown as the figure
below:
CTRG
T-P
POS0-2 NOT CARE POS0-2 VALID POS0-2 NOT CARE
TCM0-1 VALID TCM0~1 NOT CARE TCM0-1 VALID

Torque control mode Position control mode Torque control mode
Figure 3. : Torque / Position Control Mode Selection
In position mode (when T-P is ON), the motor will start to count pulse and operate
following the external pulse command. When switching to the torque mode (when
T-P is OFF), it will stop counting pulse even if the pulse command is continuously
sent out. The torque command is determined by TCM0~1 and the motor will rotate
following the command. After T-P is ON again, it will immediately return to position
mode.
For the relationship between DI signal and selected command in each mode, please
refer to the introduction of single mode.
154 AC servo drive

6.6 Others
6.6.1 Speed Limit The max. servo motor speed can be limited by using parameter P1-55 no matter in
position, speed or torque control mode.
The command source of speed limit command is the same as speed command. It can
be the external analog voltage but also can be internal parameters (P1-09 to P1-11).
For more information of speed command source, please refer to chapter 6.3.1.
The speed limit only can be used in torque mode (T mode) to limit the servo motor
speed. When the torque command is the external analog voltage, there should be
surplus DI signal that can be treated as SPD0~1 and be used to select speed limit
command (internal parameter). If there is not enough DI signal, the external voltage
input can be used as speed limit command. When the Disable / Enable Speed Limit
Function Settings in parameter P1-02 is set to 1, the speed limit function is activated.
The timing chart of speed limit is shown as the figure below:
6.6.2 Torque Limit The command source of torque limit command is the same as torque command. It can
be the external analog voltage but also can be internal parameters (P1-12 to P1-14).
For more information of torque command source, please refer to chapter 6.4.1.
The torque limit only can be used in position mode (Pt and Pr mode) and speed mode
(S mode) to limit the output torque of servo motor. When the position command is the
external pulse and speed command is the external analog voltage, there should be
surplus DI signal that can be treated as TCM0~1 used to select torque limit command
(internal parameter). If there is not enough DI signal, the external voltage input can be
used as torque limit command. When the Disable / Enable Torque Limit Function
Settings in parameter P1-02 is set to 1, the torque limit function is activated.
The timing chart of torque limit is shown as the figure below:
AC servo drive 155

6.6.3 z Built-in Regenerative Resistor

Regenerative When the output torque of servo motor in reverse direction of motor rotation
Resistor speed, it indicates that there is a regenerative power returned from the load to the
servo drive. This power will be transmitted into the capacitance of DC Bus and
result in rising voltage. When the voltage has risen to some high voltage, the servo
system need to dissipate the extra energy by using a regenerative resistor. Lexium
23 series servo drives provide a built-in regenerative resistor and the users also can
connect to external regenerative resistor if more regenerative capacity is needed.
The following table shows the specifications of the servo drive 抯 built-in
regenerative resistor and the amount of regenerative power (average value) that it
can process.
Built-in Regenerative Resistor Specifications
Regenerative Power
Min. Allowable
Servo Drive Resistance (Ohm) Capacity (Watt) processed by built-in
Resistance
(kW) (parameter P1-52) (parameter P1-53) regenerative resistor
*1
(Ohm)
(Watt)
0.1 40 60 30 40
0.2 40 60 30 40
0.4 40 60 30 20
0.75 40 60 30 20
1.0 40 60 30 20
1.5 40 60 30 20
2.0 20 120 60 10
3.0 20 120 60 10
4.5 20 100 60 10
When the regenerative power exceeds the processing capacity of the servo drive,
install an external regenerative resistor. Please pay close attention on the following
notes when using a regenerative resistor.
1. Make sure that the settings of resistance (parameter P1-52) and capacity
(parameter P1-53) is set correctly.
2. When the users want to install an external regenerative resistor, ensure that its
resistance value is the same as the resistance of built-in regenerative resistor. If
combining multiple small-capacity regenerative resistors in parallel to increase
the regenerative resistor capacity, make sure that the resistance value of the
regenerative resistor should comply with the specifications listed in the above
table.
3. In general, when the amount of regenerative power (average value) that can be
processed is used at or below the rated load ratio, the resistance temperature
will increase to 120 ℃ or higher (on condition that when the regeneration
continuously occurred). For safety reasons, forced air cooling is good way that
can be used to reduce the temperature of the regenerative resistors. We also
recommend the users to use the regenerative resistors with thermal switches. As
for the load characteristics of the regenerative resistors, please check with the
manufacturer.
156 AC servo drive

z External Regenerative Resistor

When using external regenerative resistor, connect it to PA/+ and PBe, and make
sure the circuit between PA/+ and PBi is open. We recommend the users should use
the external regenerative resistor that the resistance value following the above
table (Built-in Regenerative Resistor Specifications). We ignore the dissipative
power of IGBT (Insulated Gate Bipolar Transistor) in order to let the users easily
calculate the capacity of regenerative resistor. In the following sections, we will
describe Regenerative Power Calculation Method and Simple Calculation Method
for calculating the regenerative power capacity of external regenerative resistors.
zRegenerative Power Calculation Method

(1) Without Load
When there is no external load torque, if the servo motor repeats operation, the
returned regenerative power generated when braking will transmitted into the
capacitance of DC bus. After the capacitance voltage exceeds some high value,
regenerative resistor can dissipate the remained regenerative power.
Use the table and procedure described below to calculate the regenerative power.
Lexium 23C Series

Regenerative power from
Servo Drive Rotor Inertia Max. regenerative power
empty load 3000r/min to stop
(kW) J (kg. m2) of capacitance Ec (joule)
Eo (joule)
0.1 0.03E-4 0.15 3
0.2 0.18E-4 0.89 4
0.4 0.34E-4 1.68 8
Inertia
0.75 1.08E-4 5.34 14

Low
1.0 2.60E-4 12.86 18

1.5 3.60E-4 17.80 18
2.0 4.70E-4 23.24 21
3.0 11.6E-4 57.36 28
1.0 5.98E-4 29.57 18
Medium
Inertia
1.5 8.79E-4 43.47 18

2.0 15.8E-4 78.13 21
3.0 43.3E-4 214.1 28
Lexium 23M Series

Regenerative power from
Servo Drive Rotor Inertia Max. regenerative power
empty load 3000r/min to stop
(kW) J (kg. m2) of capacitance Ec (joule)
Eo (joule)
3 54.95 217.73 28
4.5 3.5 54.80 270.98 28
4.5 77.75 384.47 28
Eo = J x wr2/182 (joule) , Wr : r/min
AC servo drive 157

If the load inertia is N x motor inertia, the regenerative power will be (N+1) x E0
when servo motor brakes from 3000r/min to 0. Then, the regenerative resistor can
dissipate: (N+1) x E0 - Ec (joule). If the time of repeat operation cycle is T sec, then
the regenerative power = 2 x ((N+1) x E0 - Ec) / T. The calculating procedure is as
follows:
Step Procedure Equation and Setting Method
Set the capacity of regenerative
1 Change the value of P1-53 to maximum
resistor to the maximum
2 Set the operation cycle T Input by the users
Input by the users or read via P0-02 Drive
3 Set motor speed wr
State Display
Input by the users or read via P0-02 Drive
4 Set load/motor inertia ratio N
State Display
Calculate the max. regenerative
5 Eo= J x wr2/182
power Eo
Set the regenerative power Ec that
6 Refer to the table above
can be absorbed
Calculate the required regenerative
7 2 x (N+1) x Eo-Ec)/ T
power capacity
For example:
If we use 400W servo drive, the time of repeat operation cycle is T = 0.4 sec, max.
motor speed is 3000r/min, the load inertia = 7 x motor inertia, then the necessary the
power of regenerative resistor = 2 x ( (7+1) x 1.68 - 8) / 0.4 = 27.2W. If the
calculation result is smaller than regenerative power, we recommend the users to use
the built-in 60W regenerative resistor. Usually the built-in regenerative resistor
provided by Lexium 23 series servo drives can meet the requirement of general
application when the external load inertia is not excessive.
The users can see when the capacity of regenerative resistor is too small, the
accumulated power will be larger and the temperature will also increase. The fault,
ALE05 may occur if the temperature is over high. The following figure shows the
actual operation of regenerative resistor.
158 AC servo drive

(2) With Load

When there is an external load torque, servo motor is in reverse rotation when
external load greater than motor torque. Servo motor is usually in forward rotation
and the motor torque output direction is the same as the rotation direction.
However, there is still some special condition. If the motor output torque is in the
reverse direction of rotation, the servo motor is also in the reverse direction of
rotation. The external power is input into the servo drive through servo motor. The
Figure 6.21 below is an example.
The users can see the motor is in forward rotation at constant speed when a sudden
external load torque change and great power is transmitted to regenerative
resistor rapidly.
Motor Rotation Speed
External Load Torque
Motor Output Torque
Reverse Forward Reverse Forward

Rotation Rotation Rotation Rotation
External load torque in reverse direction: TL x Wr TL : External load torque
For the safety, we strongly recommend the users should select the proper
resistance value according to the load.
For example:
When external load torque is a +70% rated torque and rotation speed reaches
3000r/min, if using 400W servo drive (rated torque: 1.27Nt-m), then the users
need to connect a external regenerative resistor which power is 2 x (0.7 x 1.27) x
(3000 x 2 x p/ 60) = 560W, 40 Ω .
AC servo drive 159

z Simple Calculation Method

The users can select the adequate regenerative resistors according to the allowable
frequency required by actual operation and the allowable frequency when the servo
motor runs without load. The allowable frequency when the servo motor run without
load is the maximum frequency that can be operated during continuous operation
when servo motor accelerate from 0r/min to rated speed and decelerate from rated
speed down to 0r/min. The allowable frequencies when the servo motor run without
load are summarized in the following table.
Lexium 23C Series

Allowable frequency when the servo motor runs without load (times/min)
and uses built-in regenerative resistor
Motor Capacity
0.1 0.2 0.3 0.4 0.4 0.5 0.6 0.75 0.9
(kW)
BCH0 BCH0 BCH1 BCH0 BCH0 BCH1 BCH1 BCH0 BCH1
Servo Motor
401O 601O 301M 602O 801O 301N 302M 802O 303M
12133 2022 43 1275 519 43 42 312 31
Allowable frequency when the servo motor runs without load (times/min)
and uses built-in regenerative resistor
Motor Capacity
1.0 1.0 1.5 2.0 2.0 2.0 3.0 3.5 4.5
(kW)
BCH1 BCH1 BCH1 BCH1 BCH1 BCH1 BCH1 BCH1 BCH1
Servo Motor
001O 302N 303N 002O 304N 801N 802M 802N 803M
137 42 32 83 24 10 11 11 8
When the servo motor runs with load, the allowable frequency will change
according to the changes of the load inertia and rotation speed. Use the following
equation to calculate the allowable frequency.
Allowable frequency when servo
2
motor run without load Rated speed times
Allowable frequency = ġ)!!!!!!!!!!!!!!!!!*!
m+1 Operating speed min
m = load/motor inertia ratio
160 AC servo drive

The users can select the adequate external regenerative resistors according to the
allowable frequency by referring to the table below:
Lexium 23C Series

Allowable frequency when the servo motor run without load (times/min)
and uses external regenerative resistor
Motor Capacity(kW)
0.1 0.2 0.3 0.4 0.4 0.5 0.6 0.75
Recommended
BCH0 BCH0 BCH1 BCH0 BCH0 BCH1 BCH1 BCH0
401O 601O 301M 602O 801O 301N 302M 802O
Specifications
VW3M7111 292 8608 3506 291 283 2110
VW3M7112 729 8765 729 708 5274
Motor Capacity(kW)
0.9 1 1 1.5 2 2 2
Recommended
BCH1 BCH1 BCH1 BCH1 BCH1 BCH1 BCH1
303M 001O 302N 303N 002O 304N 801N
Specifications
VW3M7111 213 925 283 213 562 163 68
VW3M7112 533 2312 708 533 1406 408 171
Lexium 23M Series

Motor Capacity(kW)
3.0 3.5 4.5
Recommended
Regenerative Resistor BCH1802M BCH1802N BCH1803M
Specifications
3kW 10Ω 331 331 234
When the regenerative resistor capacity is not enough, the users can connect to
multiple the same capacity regenerative resistors in parallel to increase it.
Note: Regarding the selection of regenerative resistor, please refer to the table of
regenerative resistor specifications described in Appendix.
AC servo drive 161

6.6.4 Analog Users can use analog monitor to observe the required analog voltage signals.
Monitor Lexium 23 series servo drives provide two analog channels, they are PIN No. 15 and
16 of CN1 connector. The parameters relative to analog monitor are shown below.
P0-03 MON Analog Monitor Output Communication Addr.: 0003H
Unit: N/A
Range: 00 ~ 55
Settings:
A
B
not used
AB: (A: CH1; B: CH2)
0: Motor speed (+/-8V / maximum motor speed)
1: Motor torque (+/-8V / maximum torque)
2: Pulse command frequency (+8Volts / 650Kpps) (Lexium 23C series)
Pulse command frequency (+8Volts / 4.5Mpps) (Lexium 23M series)
3: Speed command (+/-8Volts / maximum speed command)
4: Torque command (+/-8Volts / maximum torque command)
5: V_BUS voltage (+/-8Volts / 450V)
Note: For the setting of analog output voltage proportion, refer to the P1-04 and
P1-05.
Example:
P0-03 = 01 (CH1 is speed analog output)
Motor speed = (Max. motor speed x V1/8) x P1-04/100, when the output voltage
value of CH1 is V1.
162 AC servo drive

P1-03 AOUT Pulse Output Polarity Setting Communication Addr.: 0103H

Unit: N/A
Range: 0 ~ 1
Settings:
A
B
not used
A: Monitor analog output polarity B: Position pulse output polarity
A=0: MON1(+), MON2(+) B=0: Forward output
A=1: MON1(+), MON2(-) B=1: Reverse output
A=2: MON1(-), MON2(+)
A=3: MON1(-), MON2(-)
Analog Monitor Output Proportion

P1-04 MON1 Communication Addr.: 0104H
1 (CH1)
Unit: % (full scale)
Range: 0 ~ 100

2 (CH2)
Range: 0 ~ 100
AC servo drive 163

Analog Monitor Output Drift

P4-20 DOF1 Communication Addr.: 0414H
Adjustment (CH1)
Default: Factory setting Related Section:
Unit: mV
Range: -800~800
Settings:
When P2-08 is set to 10, users cannot reset this parameter.

Adjustment (CH2)
Default: Factory setting Related Section: N/A
Unit: mV
Range: -800~800
Settings:
For example, when the users want to observe the analog voltage signal of channel
1, if the monitor output setting range is 8V per 325Kpps, then it is needed to
change the setting value of parameter P1- 04 (Analog Monitor Output Proportion
1) to 50 (=325Kpps/Max. input frequency). Other related parameters setting
include parameter P0-03 (A=3) and P1-03 (A=0~3, output polarity setting). In
general, when output voltage value of Ch1 is V1, the pulse command frequency is
equal to (Max. input frequency x V1/8) x P1-04/100.
Because there is an offset value of analog monitor output voltage, the zero voltage
level of analog monitor output does not match to the zero point of setting value.
We recommend the users can use Analog Monitor Output Drift Adjustment, DOF1
(parameter P4-20) and DOF2 (parameter P4-21) to improve this condition. The
maximum output voltage range of analog monitor output is ± 8V. If the output
voltage exceed its limit, it is still limited within the range of ± 8V. The revolution
provided by Lexium 23 series servo drives is 10bit, approximated to 13mv/LSB.
8V
DOF
-8V
164 AC servo drive

6.6.5 When the servo drive is operating, if the digital output BRKR is set to Off, it indicates
Electromagnetic the electromagnetic brake is disabled and motor is stop running and locked. If the
Brake digital output BRKR is set to ON, it indicates electromagnetic brake is enabled and
motor can run freely.
There are two parameters that affect the electromagnetic brake. One is parameter
P1-42 (MBT1) and the other is parameter P1-43 (MBT2). The users can use these
two parameters to set the On and Off delay time of electromagnetic brake. The
electromagnetic brake is usually used in perpendicular axis (Zaxis) direction to
reduce the large energy generated from servo motor. Using electromagnetic brake
can avoid the load may slip since there is no motor holding torque when power is
off. Without using electromagnetic brake may reduce the life of servo motor. To
avoid malfunction, the electromagnetic brake should be activated after servo
system is off (Servo Off).
If the users desire to control electromagnetic brake via external controller, not by
the servo drive, the users must execute the function of electromagnetic brake
during the period of time when servo motor is braking. The braking strength of
motor and electromagnetic brake must be in the same direction when servo motor
is braking. Then, the servo drive will operate normally. However, the servo drive may
generate larger current during acceleration or at constant speed and it may the
cause of overload (servo fault).
Timing chart for using servo motor with electromagnetic brake:

ON
SON OFF OFF
(DI Input)
ON
BRKR OFF OFF
(DO Output)
MBT1(P1-42) MBT2(P1-43)
Npups!Tqffe ZSPD(P1-38)
BRKR output timing explanation:

1. When SERVO OFF (when DI SON is not activated), the BRKR output goes Off
(electromagnetic brake is locked) after the delay time set by P1-43 is reached
and the motor speed is still higher than the setting value of P1-38.
2. When SERVO OFF (when DI SON is not activated), the BRKR output goes Off
(electromagnetic brake is locked) if the delay time set by P1-43 is not reached
and the motor speed is still lower than the setting value of P1-38.
AC servo drive 165

Electromagnetic Brake Wiring Diagram
Note:
1) Please refer to Chapter 3 Connections and Wiring for more wiring information.
2) The BRKR signal is used to control the brake operation. The VDD DC24V power
supply of the servo drive can be used to power the relay coil (Relay). When BRKR
signal is ON, the motor brake will be activated.
3) Please note that the coil of brake has no polarity.
4) The power supply for brake is DC24V. Never use it for VDD, the +24V source
voltage.
166 AC servo drive

The timing charts of control circuit power and main circuit power:
L1, L2
Control Circuit
Power
1 sec
5V
Control Circuit
Power 0 msec
R, S, T
Main Circuit
Power
800ms
BUS Voltage
READY
2 sec
SERVO
READY
Servo On
(DI Input)
1 msec (min) + Response Filter Time of
Digital Input (P2-09)
Servo On
(DO Input)
Position/ Speed/ Input available

Torque Command
Input
AC servo drive 167

168 AC servo drive

Servo Parameters
7
At a Glance
What's in this
Topic Page
Definition 170
Parameters Summary 171
Detailed Parameter Listings 190
169
Servo Parameters Lexium 23
7.1 Definition
There are following five groups for drive parameters:

Group 0: Monitor parameter (example: P0-xx)
Group 1: Basic parameter (example: P1-xx)
Group 2: Extension parameter (example: P2-xx)
Group 3: Communication parameter (example: P3-xx)
Group 4: Diagnosis parameter (example: P4-xx)
Abbreviation of control modes:

Pt : Position control mode (command from external signal)
Pr : Position control mode (command from internal signal)
S : Speed control mode
T : Torque control mode
Explanation of symbols (marked after parameter)

(g) Read-only register, such as P0-00, P0-01, P4-00.
(r) Parameter cannot be set when Servo On (when the servo drive is enabled), such
as P1-00, P2-32.
(p) Parameter is effective only after the servo drive is restarted (after switching
power off and on), such as P1-01, P1-33.
(b) Parameter setting values are not retained when power is off, such as P3-06.
170 AC servo drive

Lexium 23 Servo Parameters
7.2 Parameters Summary
7.2.1 Parameters Group 0: P0-xx

List by Group Monitor Parameters
Control Mode
Parameter Name Function Default Unit
Pt Pr S T
Factory
P0-00g VER Firmware Version N/A O O O O
setting
P0-01g ALE Drive Fault Code N/A N/A O O O O
P0-02 STS Drive Status 00 N/A O O O O
P0-03 MON Analog Monitor Output 01 N/A O O O O
P0-04 CM1 Status Monitor 1 0 N/A O O O O
P0-09 MAP0 Block Data Read / Write Register 0 407H N/A O O O O
P0-10 MAP1 Block Data Read / Write Register 1 10FH N/A O O O O
P0-17 SVSTS Servo Output Status Display N/A N/A O O O O

(g) Read-only register.
(r) Parameter cannot be set when Servo On (when the servo drive is enabled).
power off and on).
(b) Parameter setting values are not retained when power is off.
AC servo drive 171

Group 1: P1-xx
Basic Parameters
Control Mode
Pt Pr S T
P0-00r PTT External Pulse Input Type 2 N/A O
pulse
P0-01p CTL Control Mode and Output Direction 0 r/min O O O O
N-m
P1-02r PSTL Speed and Torque Limit 0 N/A O O O O
P1-03 AOUT Pulse Output Polarity Setting 0 N/A O O O O
Analog Monitor Output Proportion 1
P1-04 MON1 100 % O O O O
(CH1)
Analog Monitor Output Proportion 2
P1-05 MON2 100 % O O O O
(CH2)
Accel / Decel Smooth Constant of
P1-06 SFLT Analog Speed Command (Low-pass 0 ms O
Filter)
Smooth Constant of Analog Torque
P1-07 TFLT 0 ms O
Smooth Constant of Position Command
P1-08 PFLT 0 ms O
(Low-pass Filter)
P1-09 1st ~ 3rd Speed Command 100 ~
SP1 ~ 3 r/min O O
~ P1-11 1st ~ 3rd Speed Limit 300
P1-12 1st ~ 3rd Torque Command
TQ1 ~ 3 100 % O O
~ P1-14 1st ~ 3rd Torque Limit
PO1H ~ 1st ~ 8th Position command for
0 N/A O
P1-15 PO8H Rotation
~P1-30 PO1L ~
1st ~ 8th Position command for Pulse 0 N/A O
PO8L
P1-31 Reserved
P1-32 LSTP Motor Stop Mode Selection 0 N/A O O O O
P1-33p POSS Position Control Mode (Pr) 0 N/A O
P1-34 TACC Acceleration Time 200 ms O O
P1-35 TDEC Deceleration Time 200 ms O O
P1-36 TSL Accel /Decel S-curve 0 ms O O
Ratio of Load Inertia to Servo Motor
P1-37 GDR 5.0 times O O O O
Inertia
P1-38 ZSPD Zero Speed Range Setting 10 r/min O O O O
P1-39 SSPD Target Motor Speed 3000 r/min O O O O
172 AC servo drive

Basic Parameters
Control Mode
Pt Pr S T
rated
P1-40r VCM Max. Analog Speed Command or Limit r/min O O
speed
P1-41r TCM Max. Analog Torque Command or Limit 100 % O O O O
P1-42 MBT1 On Delay Time of Electromagnetic Brake 0 ms O O O O
OFF Delay Time of Electromagnetic
P1-43 MBT2 0 ms O O O O
Brake
Electronic Gear Ratio (1st Numerator)
P1-44r GR1 1 pulse O O
(N1)
P1-45r GR2 Electronic Gear Ratio (Denominator) 1 pulse O O
P1-46r GR3 Encoder Output Pulse Number 1 pulse O O O O
P1-47 HMOV Homing Mode 00 N/A O O O O
P1-48 HSPD1 1st Speed Setting of High Speed Homing 1000 r/min O O O O
2nd Speed Setting of Low Speed
P1-49 HSPD2 50 r/min O O O O
Homing
P1-50 HOF1 Homing Offset Rotation Number 0 rev O O O O
P1-51 HOF2 Homing Offset Pulse Number 0 pulse O O O O
P1-52 RES1 Regenerative Resistor Value N/A Ohm O O O O
P1-53 RES2 Regenerative Resistor Capacity N/A Watt O O O O
P1-54 PER Positioning Completed Width 100 pulse O O
rated
P1-55 MSPD Maximum Speed Limit r/min O O O O
speed
P1-56 OVW Output Overload Warning Time 120 % O O O O
P1-57 Reserved
P1-58 Reserved
Delay Time of Internal Position
P1-62 COKT 0 ms O
Command Completed Output Signal
Parameters for Lexium 23M series only
P1-59 MFLT Analog Speed Linear Filter 120 % O
P1-60 GR7 High Resolution Electronic Gear Ratio 7 - O
P1-61 GR8 High Resolution Output Pulse Number 7 - O

power off and on).
AC servo drive 173

Group 2: P2-xx
Extension Parameters
Control Mode
Pt Pr S T
P2-00 KPP Proportional Position Loop Gain 35 rad/s O O
P2-01 PPR Position Loop Gain Switching Rate 100 % O O
P2-02 KPF Position Feed Forward Gain 5000 0.0001 O O
Smooth Constant of Position Feed
P2-03 PFF 5 ms O O
Forward Gain
P2-04 KVP Proportional Speed Loop Gain 500 rad/s O O O O
P2-05 SPR Speed Loop Gain Switching Rate 100 % O O O O
P2-06 KVI Speed Integral Compensation 100 N/A O O O O
P2-07 SFG Speed Feed Forward Gain 0 0.0001 O O O O
P2-08b PCTL Special Factory Setting 0 N/A O O O O
P2-09 DRT Bounce Filter 2 2ms O O O O
P2-10 DI1 Digital Input Terminal 1 (DI1) 101 N/A O O O O
P2-18 DO1 Digital Output Terminal 1 (DO1) 101 N/A O O O O
P2-23 NCF Notch Filter (Resonance Suppression) 1000 Hz O O O O
P2-24 DPH 0 dB O O O O
P2-25 NLP 2 or 5 ms O O O O
P2-26 DST External Anti-Interference Gain 0 0.001 O O O O
P2-27 GCC Gain Switching Control Selection 0 N/A O O O O
P2-28 GUT Gain Switching Time Constant 10 10ms O O O O
pulse
P2-29 GPE Gain Switching Condition 10000 Kpps O O O O
r/min
P2-30 b INH Auxiliary Function 0 N/A O O O O
P2-31b AUT1 Auto Mode Responsiveness Level 44 N/A O O O O
P2-32r AUT2 Tuning Mode Selection 0 N/A O O O O
P2-33r INF Easy Setting of Input Filter 0 N/A O O O O
174 AC servo drive

Extension Parameters
Control Mode
Pt Pr S T
P2-34 SDEV Overspeed Warning Condition 5000 r/min O
P2-35 PDEV Excessive Error Warning Condition 30000 pulse O O
P2-36 POV1 Moving Speed Setting of 1st ~ 8th
1000 r/min O
~ P2-43 ~ POV8 Position
P2-44 DOM Digital Output Mode Setting 0 N/A O
P2-45 DOD Combination Output Signal Delay Time 1 4ms O
P2-46 FSN Feed Step Number 6 N/A O
P2-47 PED Position Deviation Clear Delay Time 0 20ms O
Backlash Compensation of Feed Step
P2-48 BLAS 0 pulse O
Control
Speed Detection Filter and Jitter
P2-49 SJIT 0 sec O O O O
Suppression
P2-50 DCLR Pulse Deviation Clear Mode 0 N/A O O
P2-51 SRON Servo 0 N/A O O O O
P2-52 ATM0 Timer 0 of Auto Mode 0 sec O
Electronic Gear Ratio (2nd Numerator)
P2-60 GR4 1 pulse O O
(N2)
Electronic Gear Ratio (3rd Numerator)
(N3)
Electronic Gear Ratio (4th Numerator)
(N4)
P2-63 TSCA Proportion Value Setting 0 times O O O
P2-64 TLMOD Torque Limit Mixed Mode 0 N/A O O O
P2-65 GBIT Special Function 0 N/A O O O

power off and on).
AC servo drive 175

Group 3: P3-xx
Communication Parameters
Control Mode
Pt Pr S T
P3-00 ADR Communication Address Setting 1 N/A O O O O
P3-01 BRT Transmission Speed 1 bps O O O O
P3-02 PTL Communication Protocol 0 N/A O O O O
P3-03 FLT Transmission Fault Treatment 0 N/A O O O O
P3-04 CWD Communication Time Out Detection 0 sec O O O O
P3-05 CMM Communication Selection 0 N/A O O O O
P3-06b SDI Digital Input Communication Function 0 N/A O O O O
P3-07 CDT Communication Response Delay Time 0 0.5ms O O O O

power off and on).
176 AC servo drive

Group 4: P4-xx
Diagnosis Parameters
Control Mode
Pt Pr S T
P4-00g ASH1 Fault Record (N) 0 N/A O O O O
P4-01g ASH2 Fault Record (N-1) 0 N/A O O O O
P4-05 JOG JOG Operation 20 r/min O O O O
P4-06rb FOT Force Output Control 0 N/A O O O O
P4-07b ITST Input Status or Force Input Control N/A N/A O O O O
P4-08 PKEY Digital Keypad Input of Servo Drive N/A N/A O O O O
P4-09g MOT Output Status Display N/A N/A O O O O
P4-10r CEN Adjustment Function 0 N/A O O O O
Factory
P4-11 SOF1 Analog Speed Input Drift Adjustment 1 N/A O O O O
setting
Factory
P4-12 SOF2 Analog Speed Input Drift Adjustment 2 N/A O O O O
setting
Factory
P4-13 TOF1 Analog Torque Drift Adjustment 1 N/A O O O O
setting
Factory
P4-14 TOF2 Analog Torque Drift Adjustment 2 N/A O O O O
setting
Current Detector Drift Adjustment Factory
P4-15 COF1 N/A O O O O
(V1 phase) setting
(V2 phase) setting
(W1 phase) setting
(W2 phase) setting
Factory
P4-19 TIGB IGBT NTC Calibration N/A O O O O
setting
P4-20 DOF1 0 mV O O O O
Adjustment (CH1)
P4-21 DOF2 0 mV O O O O
Adjustment (CH2)
P4-22 SAO Analog Speed Input Offset 0 mV O
P4-23 TAO Analog Torque Input Offset 0 mV O
AC servo drive 177

7.2.2 Parameters
List by Function Monitor and General Use
Control Mode Related
Section of
Pt Pr S T User
Manual
Factory
P0-00g VER Firmware Version N/A O O O O -
setting
P0-01g ALE Drive Fault Code N/A N/A O O O O 10.1
P0-02 STS Drive Status 00 N/A O O O O 4.3.5
P0-03 MON Analog Monitor Output 01 N/A O O O O 4.3.5
P0-04 CM1 Status Monitor 1 0 N/A O O O O 4.3.5
P0-09 MAP0 Block Data Read / Write Register 0 407H N/A O O O O -
P0-10 MAP1 Block Data Read / Write Register 1 10FH N/A O O O O -
P0-17 SVSTS Servo Output Status Display N/A N/A O O O O -
P1-03 AOUT Pulse Output Polarity Setting 0 N/A O O O O 3.3.3
Analog Monitor Output
P1-04 MON1 100 % O O O O 6.4.4
Proportion 1 (CH1)
Analog Monitor Output
P1-05 MON2 100 % O O O O 6.4.4
Proportion 2 (CH2)

power off and on).
178 AC servo drive

Smooth Filter and Resonance Suppression

Section of
Pt Pr S T User
Manual
Accel / Decel Smooth
P1-06 SFLT Constant of Analog Speed 0 ms O 6.3.3
Command (Lowpass Filter)
Smooth Constant of Analog
P1-07 TFLT Torque Command (Low-pass 0 ms O 6.4.3
Filter)
Smooth Constant of Position
P1-08 PFLT 0 ms O 6.2.6
P1-34 TACC Acceleration Time 200 ms O O 6.3.3
P1-35 TDEC Deceleration Time 200 ms O O 6.3.3
6.2.4
P1-36 TSL Accel /Decel S-curve 0 ms O O
6.3.3
P2-23 NCF 1000 Hz O O O O 6.3.7
Suppression)
P2-24 DPH 0 dB O O O O 6.3.7
P2-25 NLP 2 or 5 ms O O O O 6.3.7
P2-33r INF Easy Setting of Input Filter 0 N/A O O O O 6.3.6
Speed Detection Filter and
P2-49 SJIT 0 sec O O O O -
Jitter Suppression

power off and on).
AC servo drive 179

Gain and Switch

Section of
Pt Pr S T User
Manual
Proportional Position Loop
P2-00 KPP 35 rad/s O O 6.2.8
Gain
Position Loop Gain Switching
P2-01 PPR 100 % O O -
Rate
P2-02 KPF Position Feed Forward Gain 5000 0.0001 O O 6.2.8
P2-03 PFF 5 ms O O -
Feed Forward Gain
P2-04 KVP Proportional Speed Loop Gain 500 rad/s O O O O 6.3.6
Speed Loop Gain Switching
P2-05 SPR 100 % O O O O -
Rate
P2-06 KVI Speed Integral Compensation 100 N/A O O O O 6.3.6
P2-07 SFG Speed Feed Forward Gain 0 0.0001 O O O 6.3.6
External Anti-Interference
P2-26 DST 0 0.001 O O O O -
Gain
Gain Switching Control
P2-27 GCC 0 N/A O O O O -
Selection
P2-28 GUT Gain Switching Time Constant 10 10ms O O O O -
pulse
P2-29 GPE Gain Switching Condition 10000 Kpps O O O O -
r/min
Auto Mode Responsiveness
P2-31b AUT1 44 N/A O O O O 6.3.6
Level
P2-32r AUT2 Tuning Mode Selection 0 N/A O O O O 6.3.6

power off and on).
180 AC servo drive

Position Control
Section of
Pt Pr S T User
Manual
pulse
Control Mode and Output
P1-01p CTL 0 r/min O O O O 6.1
Direction
N.M
P1-02r PSTL Speed and Torque Limit 0 N/A O O O O 6.6
P1-46r GR3 Encoder Output Pulse Number 1 pulse O O O O -
P1-55 MSPD Maximum Speed Limit rated r/min O O O O -
P1-12~ TQ1 ~ 1st ~ 3rd Torque Command
100 % O O O O 6.4.1
P1-14 3 1st ~ 3rd Torque Limit
P2-50 DCLR Pulse Deviation Clear Mode 0 N/A O O -
External pulse control command (Pt mode)
P1-00r PTT External Pulse Input Type 2 N/A O 6.2.1
Electronic Gear Ratio (1st
P1-44r GR1 1 pulse O O 6.2.5
Numerator) (N1)
Electronic Gear Ratio
P1-45r GR2 1 pulse O O 6.3.6
Denominator)
Electronic Gear Ratio (2nd
P2-60 GR4 1 pulse O O Table 7.A
Numerator) (N2)
Electronic Gear Ratio (3rd
Numerator) (N3)
Electronic Gear Ratio (4th
Numerator) (N4)
AC servo drive 181

Position Control
Section of
Pt Pr S T User
Manual
Internal pulse control command (Pr mode)
PO1H~ 1st ~ 8th Position command
P1-15 ~ PO8H for Rotation
0 N/A O 6.2.2
P1-30 PO1L ~ 1st ~ 8th Position command
PO8L for Pulse
P2-36 ~ POV1 ~ Moving Speed Setting of 1st
1000 r/min O 6.2.2
P2-43 POV8 ~ 8th Position
P1-33p POSS Position Control Mode (Pr) 0 N/A O 6.2.2
P1-47 HMOV Homing Mode 0 N/A O O O O 12.8
1st Speed Setting of High
P1-48 HSPD1 1000 r/min O O O O 12.8
Speed Homing
2nd Speed Setting of Low
P1-49 HSPD2 50 r/min O O O O 12.8
Speed Homing
Homing Offset Rotation
P1-50 HOF1 0 rev O O O O -
Number
P1-51 HOF2 Homing Offset Pulse Number 0 pulse O O O O -
P1-62 COKT Command Completed Output 0 ms O -
Signal
182 AC servo drive

Position Control
Section of
Pt Pr S T User
Manual
Combination Output Signal
P2-45 DOD 1 4ms O 12.6
Delay Time
P2-46 FSN Feed Step Number 6 N/A O 12.6
Position Deviation Clear Delay
P2-47 PED 0 20ms O 12.6
Time
Backlash Compensation of
P2-48 BLAS 0 pulse O 12.6
Feed Step Control
P2-52 ATM0 Timer 0 of Auto Mode 0 sec O -

power off and on).
AC servo drive 183

Speed Control
Section of
Pt Pr S T User
Manual
pulse
Direction
N.M
Encoder Output Pulse
P1-46r GR3 1 pulse O O O O -
Number
rated
P1-55 MSPD Maximum Speed Limit r/min O O O O -
speed
P1-09~ 1st ~ 3rd Speed Command 100 ~
SP1~3 r/min O O 6.3.1
P1-11 1st ~ 3rd Speed Limit 300
P1-12~ TQ1~ 1st ~ 3rd Torque Command

100 % O O O O 6.6.2
Max. Analog Speed rated
P1-40r VCM r/min O O 6.3.4
Command or Limit speed
Max. Analog Torque
P1-41r TCM 100 % O O O O -
Command or Limit
P2-63 TSCA Proportion Value Setting 0 times O O O -
TLMO
P2-64 Torque Limit Mixed Mode 0 N/A O O O -
D

power off and on).
184 AC servo drive

Torque Control
Section of
Pt Pr S T User
Manual
pulse
Direction
N.M
Encoder Output Pulse
P1-46r GR3 1 pulse O O O O -
Number
rated
P1-55 MSPD Maximum Speed Limit r/min O O O O -
speed
P1-09~ 1st ~ 3rd Speed Command 100 ~
SP1~3 r/min O O 6.6.1
P1-11 1st ~ 3rd Speed Limit 300
P1-12~ TQ1~ 1st ~ 3rd Torque Command

100 % O O O O 6.4.1
Max. Analog Speed rated
P1-40r VCM r/min O O -
Command or Limit speed
Max. Analog Torque
P1-41r TCM 100 % O O O O 6.4.4
Command or Limit

power off and on).
AC servo drive 185

Digital I/O and relative input output setting

Digital I/O
Section of
Pt Pr S T User
Manual
P2-09 DRT Bounce Filter 2 2ms O O O O
P2-13 DI4 Digital Input Terminal 4 (DI4) 117 N/A O O O O Table 7.A
P2-21 DO4 Digital Output Terminal 4 (DO4) 105 N/A O O O O Table 7.B
P1-38 ZSPD Zero Speed Range Setting 10 r/min O O O O
P1-39 SSPD Target Motor Speed 3000 r/min O O O O
On Delay Time of E
P1-42 MBT1 0 ms O O O O 6.6.5
lectromagnetic Brake
OFF Delay Time of E
P1-43 MBT2 0 ms O O O O 6.6.5
lectromagnetic Brake
P1-54 PER Positioning Completed Width 100 pulse O O -
P1-56 OVW Output Overload Warning Time 120 % O O O O -

power off and on).
186 AC servo drive

Communication
Section of
Pt Pr S T User
Manual
Communication Address
P3-00 ADR 1 N/A O O O O 8.2
Setting
P3-01 BRT Transmission Speed 1 bps O O O O 8.2
P3-02 PTL Communication Protocol 0 N/A O O O O 8.2
P3-03 FLT Transmission Fault Treatment 0 N/A O O O O 8.2
Communication Time Out
P3-04 CWD 0 sec O O O O 8.2
Detection
P3-05 CMM Communication Selection 0 N/A O O O O 8.2
Digital Input Communication
P3-06b SDI 0 N/A O O O O 8.2
Function
Communication Response
P3-07 CDT 0 0.5ms O O O O -
Delay Time

power off and on).
AC servo drive 187

Diagnosis
Section of
Pt Pr S T User
Manual
P4-00g ASH1 Fault Record (N) 0 N/A O O O O 4.4.1
P4-01g ASH2 Fault Record (N-1) 0 N/A O O O O 4.4.1
P4-05 JOG JOG Operation 20 r/min O O O O 4.4.2
P4-06rb FOT Force Output Control 0 N/A O O O O 4.4.4
Input Status or Force Input
P4-07b ITST N/A N/A O O O O 4.4.5
Control
Digital Keypad Input of Servo
P4-08 PKEY N/A N/A O O O O -
Drive
P4-09g MOT Output Status Display N/A N/A O O O O 4.4.6
P4-10r CEN Adjustment Function 0 N/A O O O O -
Analog Speed Input Drift Factory
P4-11 SOF1 N/A O O O O -
Adjustment 1 setting
Analog Speed Input Drift Factory
P4-12 SOF2 N/A O O O O -
Analog Torque Drift Factory
P4-13 TOF1 N/A O O O O -
Analog Torque Drift Factory
P4-14 TOF2 N/A O O O O -
Current Detector Drift Factory
P4-15 COF1 N/A O O O O -
Adjustment (V1 phase) setting
Adjustment (V2 phase) setting
Adjustment (W1 phase) setting
Adjustment (W2 phase) setting
Factory
P4-19 TIGB IGBT NTC Calibration N/A O O O O -
setting
P4-20 DOF1 0 mV O O O O 6.4.4
Adjustment (CH1)
P4-21 DOF2 0 mV O O O O 6.4.4
Adjustment (CH2)
P4-22 SAO Analog Speed Input Offset 0 mV O -
P4-23 TAO Analog Torque Input Offset 0 mV O -
188 AC servo drive

Others
Section of
Pt Pr S T User
Manual
P1-31 Reserved
P1-32 LSTP Motor Stop Mode Selection 0 N/A O O O O -
Ratio of Load Inertia to Servo
P1-37 GDR 5.0 times O O O O 6.3.6
Motor Inertia
P1-52 RES1 Regenerative Resistor Value - Ohm O O O O 6.6.3
P1-53 RES2 - Watt O O O O 6.6.3
Capacity
P1-57 Reserved
P1-58 Reserved
P2-08b PCTL Special Factory Setting 0 N/A O O O O -
P2-30b INH Auxiliary Function 0 N/A O O O O -
Overspeed Warning
P2-34 SDEV 5000 r/min O -
Condition
Excessive Error Warning
P2-35 PDEV 30000 pulse O O -
Condition
P2-51 SRON Servo ON 0 N/A O O O O 12.6
P2-63 TSCA Proportion Value Setting 0 times O O O -
P2-65 GBIT Special Function 0 N/A O O O -
Parameters for Lexium 23M series only
P1-59 MFLT Analog Speed Linear Filter 120 % O -
High Resolution Electronic
P1-60 GR7 7 - O 6.2.3
Gear Ratio
High Resolution Output Pulse
P1-61 GR8 7 - O -
Number

power off and on).
AC servo drive 189

7.3 Detailed Parameter Listings
Group 0: P0-xx Monitor Parameters

P0-00g VER Firmware Version Communication Addr.: 0000H
Unit: N/A
Range: N/A
P0-01g ALE Drive Fault Code Communication Addr.: 0001H

Applicable Control Mode: ALL Chapter 10
Unit: N/A
Settings:
01: Overcurrent
02: Overvoltage
03: Undervoltage
04: Reserved (Lexium 23C Series)
"Mismatch" error (Lexium 23M Series)
05: Regeneration error
06: Overload
07: Overspeed
08: Abnormal pulse control command
09: Excessive deviation
10: Watch dog fault
11: Position detector fault
12: Adjustment error
13: Emergency stop
14: Reverse limit error
15: Forward limit error
16: IGBT temperature error
17: Memory error
18: DSP communication error
19: Serial communication error
20: Serial communication time out
21: DSP to MCU command write-in error
22: Input power phase loss
23: Pre-overload warning
24: Encoder Error (Lexium 23M Series only)
25: Encoder Error (Lexium 23M Series only)
190 AC servo drive

P0-02 STS Drive Status Communication Addr.: 0002H

Unit: N/A
Settings:
00: Motor feedback pulse number (absolute value) [pulse]
01: Motor feedback rotation number (absolute value) [rev]
02: Pulse counts of pulse command [pulse]
03: Rotation number of pulse command [rev]
04: Position error counts [pulse]
05: Input frequency of pulse command [r/min] (Lexium 23C series)
Input frequency of pulse command [Kpps] (Lexium 23M series)
06: Motor speed [r/min]
07: Speed input command [Volt]
08: Speed input command [r/min]
09: Torque input command [Volt]
10: Torque input command [%]
11: Average load [%]
12: Peak load [%]
13: Main circuit voltage [Volt]
14: Ratio of load inertia to motor inertia [time]
15: Motor feedback pulse number (relative value) / Position latch pulse number
[pulse]
16: Motor feedback rotation number (relative value) / Position latch rotation
number [rev]
17: Reserved (Lexium 23M series only)
18: High resolution pulse number [pulse] (Lexium 23M series only)
19: Absolute pulse number (use Z pulse as home) [pulse] (Lexium 23M series only)
AC servo drive 191

P0-03 MON Analog Monitor Output Communication Addr.: 0003H

Unit: N/A
Range: 00 ~ 55
Settings:
AB: (A: CH1; B: CH2)

0: Motor speed (+/-8V / maximum motor speed)
2: Pulse command frequency (+8Volts / 650Kpps) (Lexium 23C series)
Pulse command frequency (+8Volts / 4.5Mpps) (Lexium 23M series)
3: Speed command (+/-8Volts / maximum speed command)
4: Torque command (+/-8Volts / maximum torque command)
5: V_BUS voltage (+/-8Volts / 450V)
Note: For the setting of analog output voltage proportion, refer to the P1-04 and P1-05.
Example:
P0-03 = 01(CH1 is speed analog output)
Motor speed = (Max. motor speed × V1/8) × P1-04/100, when the output
voltage value of CH1 is V1.
P0-04 CM1 Status Monitor 1 Communication Addr.: 0004H

Unit: N/A
Range: 0 ~ 16
Settings:
Select the desired drive status through communication setting or the keypad
(please refer to P0-02). The drive status can be read from the communication
address of this parameter via communication port.
For example:
Set P0-04 to 1 and then all consequent reads of P0-04 will return the motor
feedback rotation number in revolution.
192 AC servo drive


Unit: N/A
Range: 0 ~ 16
Settings: See P0-04 for explanation.

Unit: N/A
Range: 0 ~ 16

Unit: N/A
Range: 0 ~ 17
Settings:
address of this parameter via communication port. If users set this parameter to 17,
the status of DI signal can be read.

Unit: N/A
Range: 0 ~ 17
Settings:
address of this parameter via communication port. If users set this parameter to 17,
the status of DO signal can be read.
AC servo drive 193

P0-09 MAP0 Block Data Read / Write Register 0 Communication Addr.: 0009H
Default: 407H Related Section: N/A
Unit: N/A
Range: 100H ~ 417H
Settings:
Set the register address in HEX that users want to read and write by using the
keypad. Users can enter the desired register address (0100H ~ 0417H) into P0-09
to P0-16 (0009H ~ 0010H). Then, users can read and write up to 8 continuous
specified block data from the communication address 0009H to 0010H through
the communication port.
For example, if setting P0-09 to 407 by using the keypad, when the users read and
write the data from communication address 0009H, it means that the read and
write value is the setting value of parameter P4-07.
P0-10 MAP1 Block Data Read / Write Register 1 Communication Addr.: 000AH
Default: 10FH Related Section: N/A
Unit: N/A
Range: 100H ~ 417H
P0-11 MAP2 Block Data Read / Write Register 2 Communication Addr.: 000BH
Unit: N/A
Range: 100H ~ 417H
P0-12 MAP3 Block Data Read / Write Register 3 Communication Addr.: 000CH
Unit: N/A
Range: 100H ~ 417H
194 AC servo drive

P0-13 MAP4 Block Data Read / Write Register 4 Communication Addr.: 000DH
Unit: N/A
Range: 100H ~ 417H
P0-14 MAP5 Block Data Read / Write Register 5 Communication Addr.: 000EH
Unit: N/A
Range: 100H ~ 417H
P0-15 MAP6 Block Data Read / Write Register 6 Communication Addr.: 000FH
Unit: N/A
Range: 100H ~ 417H
P0-16 MAP7 Block Data Read / Write Register 7 Communication Addr.: 0010H
Unit: N/A
Range: 100H ~ 417H
AC servo drive 195

P0-17g SVSTS SVSTS Servo Output Status Display Communication Addr.: 000EH
Default: N/A Related Section:
Applicable Control Mode: ALL Table 7.B
Unit: N/A
Range: N/A
Settings:
This parameter is used to display the digital output signal of the servo drive. The
servo output status display will show in hexadecimal format.
Bit0: SRDY (Servo ready)
Bit1: SON (Servo On)
Bit2: ZSPD (At Zero speed)
Bit3: TSPD (At Speed reached)
Bit4: TPOS (At Positioning completed)
Bit5: TQL (At Torque limit)
Bit6: Reserved
Bit7: Reserved
Bit8: OLW (Output overload warning)
Bit9: WARN (Servo warning activated)
Bit10: CMDOK (Internal position command completed)
Bit11: Reserved
Bit12: Reserved
Bit13: ALRM (Servo alarm activated)
Bit14: BRKR (Electromagnetic brake control)
Bit15: HOME (Homing completed)
The servo output status display can be monitored through communication also.
196 AC servo drive

Group 1: P1-xx Basic Parameters

P1-00r PTT External Pulse Input Type Communication Addr.: 0100H
Unit: N/A
Settings:
Lexium 23C series: Lexium 23M series:
z A: Pulse type
A=0: AB phase pulse (4x)
A=1: CW + CCW pulse
A=2: Pulse + Direction
Other setting: Reversed
z B: Input pulse filter
B=0: 500Kpps
B=1: 200Kpps
B=2: 150Kpps
B=3: 80Kpps
This setting is used to suppress or reduce the chatter caused by the noise, etc.
However, if the instant input pulse filter frequency is over high, the frequency
that exceeds the setting value will be regarded as noise and filtered.
AC servo drive 197

z C: Logic type
0=Positive Logic 1=Negative Logic

Pulse Type
Forward Reverse Forward Reverse
AB phase pulse
CW + CCW pulse
Pulse + Direction
Input pulse interface Max. input pulse frequency

Line driver 500Kpps
Open collector 200Kpps
z D: Source of pulse command
Setting Input pulse Max. input pulse

Remark
value interface frequency
Line driver 500Kpps CN1 Terminal Identification:
0
Open collector 200Kpps PULSE, /PULSE, SIGN, /SIGN
CN1 Terminal Identification:
Line driver for
1 4Mpps HPULSE, /HPULSE, HSIGN,
high-speed pulse
/HSIGN
Note: High-speed pulse function (max. input pulse frequency 4Mpps) is for
Lexium 23M only.
198 AC servo drive

P1-01p CTL Control Mode and Output Direction Communication Addr.: 0101H
Applicable Control Mode: ALL Section 6.1
Unit: pulse (P mode), r/min (S mode), N-m (T mode)
Range: 0 ~ 1110
Settings:
z A: Control mode settings

z B: Torque output direction settings
Control mode settings: Torque output direction settings:

Pt Pr S T Sz Tz 0 1
00 r Forward
01 r
02 r
03 r CCW CW
04 r
05 r Reverse
06 r r
07 r r
08 r r
CW CCW
09 r r
10 r r
z C=1: When switching to different mode, DIO (P2-10 ~ P2-22) can be reset to
be the default value of the mode you switch to.
C=0: When switching to different mode, the setting value of DIO (P2-10 ~ P2-
22) will remain the same and will not be changed.
AC servo drive 199

P1-02r PSTL Speed and Torque Limit Communication Addr.: 0102H

Unit: N/A
Range: 0 ~ 11
Settings:
z A=0: Disable speed limit function

A=1: Enable speed limit function (It is available in torque mode)
Other: Reserved
(0)
Vref
Speed Limit
P1-09(1) Command
P1-10(2)
P1-11(3)
SPD0
SPD1
z B=0: Disable torque limit function

B=1: Enable torque limit function (It is available in position and speed mode)
Other: Reserved
(0)
Tref
Torque Limit
P1-12(1) Command
P1-13(2)
P1-14(3)
TCM0
TCM1
200 AC servo drive

P1-03 AOUT Pulse Output Polarity Setting Communication Addr.: 0103H

Unit: N/A
Range: 0 ~ 1
Settings:
A: Monitor analog output polarity

A=0: MON1(+), MON2(+)
A=1: MON1(+), MON2(-)
A=2: MON1(-), MON2(+)
A=3: MON1(-), MON2(-)
B: Position pulse output polarity
B=0: Forward output
B=1: Reverse output

1 (CH1)
Range: 0 ~ 100

2 (CH2)
Range: 0 ~ 100
Accel / Decel Smooth Constant of

P1-06 SFLT Analog Speed Command (Low-pass Communication Addr.: 0106H
Filter)
Applicable Control Mode: S Section 6.3.3
Unit: ms
AC servo drive 201

Smooth Constant of Analog Torque

P1-07 TFLT Communication Addr.: 0107H
Applicable Control Mode: T Section 6.4.3
Unit: ms

P1-08 PFLT Communication Addr.: 0108H
Unit: 10ms
P1-09 SP1 1st Speed Command or Limit Communication Addr.: 0109H

Applicable Control Mode: S, T Section 6.3.1
Unit: r/min
Range: -5000 ~ +5000
Settings:
1st Speed Command
In Speed mode, this parameter is used to set speed 1 of internal speed
command. For the decimal place setting of internal speed command, please
refer to P2-63.
1st Speed Limit
In Torque mode, this parameter is used to set speed limit 1 of internal speed
command.
P1-10 SP2 2nd Speed Command or Limit Communication Addr.: 010AH

Unit: r/min
Range: -5000 ~ +5000
Settings:
2nd Speed Command
In Speed mode, this parameter is used to set speed 2 of internal speed command.
For the decimal place setting of internal speed command, please refer to P2-63.
2nd Speed Limit
command.
202 AC servo drive

P1-11 SP3 3rd Speed Command or Limit Communication Addr.: 010BH

Unit: r/min
Range: -5000 ~ +5000
Settings:
3rd Speed Command
In Speed mode, this parameter is used to set speed 3 of internal speed command.
For the decimal place setting of internal speed command, please refer to P2-63.
3rd Speed Limit
command.
P1-12 TQ1 1st Torque Command or Limit Communication Addr.: 010CH

Applicable Control Mode: T, P/S Section 6.4.1
Unit: %
Range: -300 ~ +300
Settings:
1st Torque Command
In Torque mode, this parameter is used to set torque 1 of internal torque command.
1st Torque Limit
In Position and Speed mode, this parameter is used to set torque limit 1 of
internal torque command.
Digital output signal TQL is activated when the drive has detected that the
motor has reached the torques limits set by either the parameters P1-12 ~ P1-
14 of via an external analog voltage.
P1-13 TQ2 2nd Torque Command or Limit Communication Addr.: 010DH

Unit: %
Range: -300 ~ +300
Settings:
2nd Torque Command
In Torque mode, this parameter is used to set torque 2 of internal torque
command.
2nd Torque Limit
AC servo drive 203

P1-14 TQ3 3rd Torque Command or Limit Communication Addr.: 010EH

Unit: %
Range: -300 ~ +300
Settings:
3rd Speed Command
In Torque mode, this parameter is used to set torque 3 of internal torque
command.
3rd Speed Limit
P1-15 PO1H 1st Position Command for Rotation Communication Addr.: 010FH
Applicable Control Mode: Pr Section 6.2.2
Unit: rev
Range: -30000 ~ +30000
Settings:
This parameter is used to set rotation cycle number of internal position 1.
P1-16 PO1L 1st Position Command for Pulse Communication Addr.: 0110H
Unit: pulse
Range: +/-max. cnt/rev
Settings:
This parameter is used to set rotation pulse number of internal position 1.
Stroke1 = PO1H × (cnt/rev) + PO1L
204 AC servo drive

P1-17 PO2H 2nd Position Command for Rotation Communication Addr.: 0111H
Unit: rev
Range: -30000 ~ +30000
Settings:
P1-18 PO2L 2nd Position Command for Pulse Communication Addr.: 0112H
Unit: pulse
Settings:
Stroke2 = PO2H x (cnt/rev) + PO2L
P1-19 PO3H 3rd Position Command for Rotation Communication Addr.: 0113H
Unit: rev
Range: -30000 ~ +30000
Settings:
P1-20 PO3L 3rd Position Command for Pulse Communication Addr.: 0114H
Unit: pulse
Settings:
AC servo drive 205

P1-21 PO4H 4th Position Command for Rotation Communication Addr.: 0115H
Unit: rev
Range: -30000 ~ +30000
Settings:
P1-22 PO4L 4th Position Command for Pulse Communication Addr.: 0116H
Unit: pulse
Settings:
Unit: rev
Range: -30000 ~ +30000
Settings:
P1-24 PO5L 5th Position Command for Pulse Communication Addr.: 0118H
Unit: pulse
Settings:
206 AC servo drive

Unit: rev
Range: -30000 ~ +30000
Settings:
P1-26 PO6L 6th Position Command for Pulse Communication Addr.: 011AH
Unit: pulse
Settings:
P1 - 27 PO7H 7th Position Command for Rotation Communication Addr.: 011BH

Unit: rev
Range: -30000 ~ +30000
Settings:
P1-28 PO7L 7th Position Command for Pulse Communication Addr.: 011CH
Unit: pulse
Settings:
AC servo drive 207

P1-29 PO8H 8th Position Command for Rotation Communication Addr.: 011DH
Unit: rev
Range: -30000 ~ +30000
Settings:
P1-30 PO8L 8th Position Command for Pulse Communication Addr.: 011EH
Unit: pulse
Settings:
P1 - 31 Reserved
P1-32 LSTP Motor Stop Mode Selection Communication Addr.: 0120H

Default: 0 Related Section: N/A
Unit: N/A
Range: 0 ~ 11
Settings:
This parameter is used to select servo motor stop mode.
When a fault (servo alarm) occurs (except for CWL, CCWL, EMGS and serial
communication error), it is used to set servo motor stop mode.
z A=0: Stop instantly

z A=1: Decelerate to stop
z B=0: Use dynamic brake when Servo Off (when the servo drive is Off).
z B=1: Allow servo motor to coast to stop when Servo Off (when the servo drive
is Off).
208 AC servo drive

P1-33p POSS Position Control Mode (Pr) Communication Addr.: 0121H

Unit: N/A
Range: 0 ~ 6
Settings:
This parameter determines the specific type of position control for Pr mode with
the internal INDEX number. (Please refer to Chapter 6 and Chapter 12 for
explanation and examples.)
0: Absolute positioning mode
1: Incremental positioning mode
2: Forward operation feed step mode
3: Reverse operation feed step mode
4: Shortest path feed step mode
5: Continuous auto-running positioning mode (Absolute)
6: Continuous auto-running positioning mode (Incremental)
7: One-cycle auto-running positioning mode (Absolute)
8: One-cycle auto-running positioning mode (Incremental)
This function when changed from absolute to incremental or incremental to
absolute only gets registered in the drive after switching power off and on.

Unit: ms
Range: 1 ~ 20000
Settings:
motor speed. (When P1-36 is set to 0: Accel/Decel function is disabled, i.e. P1-
34, P1-35 is disabled.)

Unit: ms
Range: 1 ~ 20000
Settings:
P1-35 is disabled.)
AC servo drive 209


Settings:
This parameter is used to make the motor run more smoothly when startup and
windup. Using this parameter can improve the motor running stability.
Speed
Time
(ms)

Note:
source is internal parameter, ensure that the setting value of P1-36 is not set to
0 or the servo motor will not accelerate or decelerate during operation.
2) So if users change the control mode to Pr mode and switching power off and on,
the servo drive of parameter P1-36 will auto set the value to 20.
Ratio of Load Inertia to Servo Motor

P1-37 GDR Communication Addr.: 0125H
Inertia
Default: 5.0 (Lexium 23C series) or 0.00 (Lexium Related Section:
23M series) Section 6.3.6
Unit: times
Range: 0 ~ 200.0
Settings:
Ratio of load inertia to servo motor inertia: (J_load /J_motor)
210 AC servo drive

P1-38 ZSPD Zero Speed Range Setting Communication Addr.: 0126H

Unit: r/min
Range: 0 ~ 200
Settings:
This parameter is used to set output range of zero speed signal (ZSPD).
ZSPD is activated when the drive senses the motor is equal to or below the Zero
Speed Range setting as defined in parameter P1-38.
For Example, at default ZSPD will be activated when the drive detects the motor
rotating at speed at or below 10 r/min. ZSPD will remain activated until the
motor speed increases above 10 r/min.
P1-39 SSPD Target Motor Speed Communication Addr.: 0127H

Unit: r/min
Range: 0 ~ 5000
Settings:
When target motor speed reaches its preset value, digital output (TSPD) is
enabled. When the forward and reverse speed of servo motor is equal and higher
than the setting value, the motor will reach the target motor speed, and then
TSPD signal will output.
TSPD is activated once the drive has detected the motor has reached the Target
Motor Speed setting as defined in parameter P1-39. TSPD will remain activated
until the motor speed drops below the Target Motor Speed.
Max. Analog Speed Command or

P1-40r VCM Communication Addr.: 0128H
Limit
Default: rated speed Related Section:
Applicable Control Mode: S/T Section 6.3.4, P1-55
Unit: r/min
Range: 0 ~ 10000
Settings:
In Speed mode, this parameter is used to set the speed at the maximum input
voltage (10V) of the analog speed command.
In Torque mode, this parameter is used to set the speed at the maximum input
voltage (10V) of the analog speed limit.
For example, in speed mode, if P1-40 is set to 3000 and the input voltage is 10V, it
indicates that the speed command is 3000 r/min. If P1-40 is set to 3000, but the
input voltage is changed to 5V, then the speed command is changed to 1500 r/min.
Speed command / limit = Input voltage x setting/10
AC servo drive 211

Max. Analog Torque Command or

P1-41r TCM Communication Addr.: 0129H
Limit
Default: 100 Related Section: Section 6.4.4
Unit: %
Range: 0 ~ 1000
Settings:
In Torque mode, this parameter is used to set the output torque at maximum
input voltage (10V) of analog torque command.
In Position and Speed mode, this parameter is used to set output torque at
maximum input voltage (10V) of analog torque limit
For example, in torque mode, if P1-41 is set to 100 and the input voltage is 10V,
it indicates that the torque command is 100% rated torque. If P1-41 is set to
100, but the input voltage is changed to 5V, then the torque command is
changed to 50% rated torque.
Torque command / limit = Input voltage x setting/10 (%)
On Delay Time of Electromagnetic

P1-42 MBT1 Communication Addr.: 012AH
Brake
Applicable Control Mode: ALL P1-43, Section 6.5.5
Unit: ms BRKR(08) in Table 7.B
Range: 0 ~ 1000
Settings:
Used to set the period of time between when the servo drive is On (Servo On)
and when electromagnetic brake output signal (BRKR) is activated.
OFF Delay Time of Electromagnetic

P1-43 MBT2 Communication Addr.: 012BH
Brake
Applicable Control Mode: ALL P1-43, Section 6.5.5
Unit: ms BRKR(08) in Table 7.B
Range: 0 ~ 1000
Settings:
Used to set the period of time between when the servo drive is Off (Servo Off) and
when electromagnetic brake output signal (BRKR) is inactivated.
ON
SON OFF OFF
ON
BRKR OFF OFF
MBT1(P1-42) MBT2(P1-43)
Motor ZSPD
Speed (P1-38)
Note:
1) When MBT2 delay time has not finished and motor speed is lower than the setting
value of P1-38, electromagnetic brake interlock signal (BRKR) is closed.
2) When MBT2 delay time has finished and motor speed is still higher than the
setting value of P1-38, electromagnetic brake interlock signal (BRKR) is closed.
212 AC servo drive


P1-44r GR1 Communication Addr.: 012CH
(1st Numerator) (N1)
Unit: pulse
Range: 1 ~ 32767
Settings:
Multiple-step electronic gear numerator setting. Please refer to P2-60~P2-62.
P1-45r GR2 Electronic Gear Ratio (Denominator) Communication Addr.: 012DH

Unit: pulse
Range: 1 ~ 32767
Settings:
Electronic gear denominator setting.
Please set electronic gear ratio when the servo drive is Off. As the wrong setting may
cause motor to run chaotically (out of control) and it may lead to personnel injury,
therefore, ensure to observe the following rule when setting P1-44, P1-45.
The electronic gear ratio setting (Please also see P1-44, P2-60 ~ P2-62):
The electronic gear ratio setting range must be within: 1/50<N/M<200.
AC servo drive 213

P1-46r GR3 Encoder Output Pulse Number Communication Addr.: 012EH

Unit: pulse
Range: 1 ~ 125 (with B=0)
10020 ~ 12500 (with B=1)
Settings:
This parameter is used to set the pulse numbers of encoder outputs per motor revolution.
Lexium 23C series:
A: Range of the pulse numbers or the pulse dividing ratio of the encoder outputs
z Range of the setting value: 1 ~ 125 (with B=0) or 20 ~ 2500 (with B=1)
B: Pulse dividing ratio function selection
z When B=0, the setting value A represents the pulse dividing ratio, which is equal to
2500/A. At this time, the range of the setting value A is 1 ~ 125.
For example:
If A=2 and B=0, i.e. P1-46 is set to 2, the pulse dividing ratio is equal to 2500/2 = 1250.
It indicates that the pulse numbers of encoder outputs per motor revolution = 1250
pulses (The encoder will output 1250 pulses per motor revolution)
If A=5 and B=0, i.e. P1-46 is set to 5, the pulse dividing ratio is equal to 2500/5 = 500.
It indicates that the pulse numbers of encoder outputs per motor revolution = 500
pulses (The encoder will output 500 pulses per motor revolution)
z When B=1, the setting value A directly represents the pulse numbers of
encoder outputs per motor revolution. At this time, the range of the setting
value A is 20 ~ 2500.
If A=1250 and B=1, i.e. P1-46 is set to 11250, the pulse numbers of encoder
outputs per motor revolution = 1250 pulses (The encoder will output 1250
pulses per motor revolution) If A=500 and B=1, i.e. P1-46 is set to 10500, the
pulse numbers of encoder outputs per motor revolution = 500 pulses (The
encoder will output 500 pulses per motor revolution)
Lexium 23M series:
A: Range of the pulse numbers or the pulse dividing ratio of the encoder outputs
z Range of the setting value: 1 ~ 125 (with B=0) or 20 ~ 2500 (with B=1)
B: Pulse dividing ratio function selection
z When B=0, the range of the setting value A is 1 ~ 125, the pulse numbers of
2500 27
encoder outputs per motor revolution = × P1- 61 (1≤ A ≤ 125)
A 2
214 AC servo drive

For example:
If A=2 and B=0, i.e. P1-46 is set to 2, and P1-61 is set to 7 (Default), the pulse
7
numbers of encoder outputs per motor revolution 2500× 27 = 1250
2 2
It indicates that the encoder will output 1250 pulses per motor revolution.
z When B=1, the range of the setting value A is 20 ~ 2500, the pulse numbers
27
of encoder outputs per motor revolution = A × (1≤ A ≤ 2500)
2P1- 61
If A=500 and B=1, i.e. P1-46 is set to 10500, and P1-61 is set to 7 (Default), the
pulse
27
numbers of encoder outputs per motor revolution (500) × = 500
27
It indicates that the encoder will output 500 pulses per motor revolution.
Note:
1) The default setting of parameter P1-61 is 7.
2) The max. frequency for pulse output is 500Kpps.
P1-47 HMOV Homing Mode Communication Addr.: 012FH

Unit: N/A
Range: 00 ~ 1225
Settings:
z A=0: Forward homing (CCWL as "Home")

z A=1: Reverse homing (CWL as "Home")
z A=2: Forward homing (ORGP as "Home")
z A=3: Reverse homing (ORGP as "Home")
z A=4: Forward to find Z-phase pulse and regard Z-phase pulse as "Home"
z A=5: Reverse to find Z-phase pulse and regard Z-phase pulse as "Home"
z B=0: Return to find Z-phase pulse during homing
z B=1: Do not return and go forward to find Z-phase pulse during homing
z B=2: Positioning at home sensor position or Z-phase pulse during homing (it only
can be used when A=2, 3, 4 or 5)
z C=0: Disable homing function.
z C=1: Enable homing function automatically after power supplies to the servo drive.
AC servo drive 215

z C=2: Enable homing function by SHOM.

z D=0: After detecting "Home", the motor will decelerate and return to "Home".
z D=1: After detecting "Home", the motor will decelerate and stop in the forward
direction.
z Other: Reserved
Example:
Power supplies to the servo drive, after servo on, activate SHOM signal. Then,
immediately perform the homing function and use ORGP as "Home".
1: Refer to P1-01 for forward and reverse direction
2: To avoid that errors may occur, please perform the settings for CWL and CCWL
and enable the function of SHOM first (refer to Table 7.A and P2-10 ~ P2-17).
Then, use with the external limit switches and connect them to the
corresponding input contact. If the settings are incorrect or there is no
corresponding external limit switch, the drive and motor may not work normally.
3: Set the value of P1-47 to 203.
4: Use external signal to enable the function of SHOM. Then, the drive will
command the motor to move to "Home". When ORGP (reference "Home"
sensor) is searched, the motor will return in 2nd speed setting, and reverse to
find the nearest Z-phase pulse and regard it as "Home".
1st Speed Setting of High Speed

P1-48 HSPD1 Communication Addr.: 0130H
Homing
Unit: r/min
Range: 1 ~ 2000
Settings:
HSP1
Z pulse HSP2
2nd Speed Setting of Low Speed

P1-49 HSPD2 Communication Addr.: 0131H
Homing
Unit: r/min
Range: 1 ~ 500
Settings:
Please refer to P1-48.
216 AC servo drive

P1-50 HOF1 Homing Offset Rotation Number Communication Addr.: 0132H

Unit: rev
Range: -30000 ~ +30000
Settings:
P1-51 HOF2 Homing Offset Pulse Number Communication Addr.: 0133H

Unit: pulse
Settings:
When the value of HOF1, HOF2 (P1-50, P1-51) is set to 0, "Home" will be determined
as Z-phase pulse or ORGP according to the setting of P1-47. If the value of HOF1,
HOF2 (P1-50, P1-51) is not 0, "Home" will be determined as Z-phase pulse or ORGP
plus one offset pulse as new "Home" (HOF1 x 10000 + HOF2).
P1-52 RES1 Regenerative Resistor Value Communication Addr.: 0134H

Default: - Related Section:
Unit: Ohm
Settings:
Lexium 23C series
Model Default
1.5kW and below 40
above 1.5kW 40
Lexium 23M series

Model Default
4.5kW 20
5.5kW and above 15
AC servo drive 217

P1-53 RES2 Regenerative Resistor Capacity Communication Addr.: 0135H
Default: - Related Section:

Unit: Watt
0 ~ power of the drive (Lexium 23M series)
Settings:
Lexium 23C series
Model Default
1.5kW and below 60
above 1.5kW 120
Lexium 23M series

Model Default
4.5kW 100
5.5kW and above 0
P1-54 PER Positioning Completed Width Communication Addr.: 0136H

Applicable Control Mode: Pt , Pr
Unit: pulse (Lexium 23C series, Pr mode of Lexium 23M series)
1/10000 rev. (Pt mode of Lexium 23M series)
Range: 0 ~ 10000
Settings:
In Pt mode, when the error pulse numbers is less than the setting value of
parameter P1-54, TPOS (At positioning completed signal) will be activated.
In Pr mode, when the difference in pulse number between the target position
and the actual position is less than the setting value of parameter P1-54, TPOS
(At positioning completed signal) will be activated.
P1-55 MSPD Maximum Speed Limit Communication Addr.: 0137H

Default: rated speed Related Section: N/A
Unit: r/min
Range: 0 ~ Max. speed
Settings:
This parameter is used to set maximum motor speed. The default setting is rated speed.
218 AC servo drive

P1-56 OVW Output Overload Warning Time Communication Addr.: 0138H

Unit: %
Range: 0 ~ 120
Settings:
This parameter is used to set output overload time.
If the setting value of parameter P1-56 is set to 0 ~ 100, the function of
parameter P1-56 is enabled. When the motor has reached the output overload
time set by parameter P1-56, the motor will send a warning to the drive. After
the drive has detected the warning, the DO signal OLW will be activated.
If the setting value of parameter P1-56 exceeds 100, the function of parameter
P1-56 is disabled. tOL = Permissible Time for Overload x the setting value of
parameter P1-56
When overload accumulated time (continuously overload time) exceeds the
value of tOL, the overload warning signal will output, i.e. DO signal, OLW will be
ON. However, if the accumulated overload time (continuous overload time)
exceeds the permissible time for overload, the overload alarm (ALE06) will
occur.
For example:
If the setting value of parameter P1-56 (Output Overload Warning Time) is 60%,
when the permissible time for overload exceeds 8 seconds at 200% rated output,
the overload fault (ALE06) will be detected and shown on the LED display.
At this time, tOL = 8 x 60% = 4.8 seconds
Result:
When the drive output is at 200% rated output and the drive is continuously
overloaded for 4.8 seconds, the overload warning signal will be ON (DO code is
10, i.e. DO signal OLW will be activated) and the overload warning (ALE23) will
be displayed. If the drive is continuously overloaded for 8 seconds, the overload
alarm will be detected and shown on the LED display (ALE06). Then, Servo Fault
signal will be ON (DO signal ALRM will be activated).
P1-57 Reserved Communication Addr.: 0139H
P1-58 Reserved Communication Addr.: 013AH
AC servo drive 219

P1-59 MFLT Analog Speed Linear Filter Communication Addr.: 013BH

Applicable Control Mode: S
Unit: 0.1ms
Range: 0 ~ 40
Settings:
This function is for Lexium 23M series only. This parameter is used to eliminate
the noise generated during the operation when the host (external) controller
sends the step analog voltage speed command. If the setting value of parameter
P1-59 is set to the step holding time, it can facilitate the smooth operation of
the motor very effectively.
Analog Speed Command before
P1-59 is used
Step Holding Time
Analog Speed Command after

P1-59 is used
High Resolution Electronic Gear

P1-60 GR7 Communication Addr.: 013CH
Ratio
Applicable Control Mode: Pt
Unit: -
Range: 0 ~ 7
Settings:
This function is for Lexium 23M series only. For the models which encoder
resolution is 1280000 pulses per motor revolution, using this parameter can
enhance the resolution for positioning. The default setting of this parameter is
7. When the ratio of Electronic Gear Numerator to Electronic Gear Denominator
is equal to 1 (1:1), each pulse command corresponds to 1/10000 rev. per motor
revolution. When P1-60 is set to 0 and the ratio of Electronic Gear Numerator
to Electronic Gear Denominator is also equal to 1 (1:1), each pulse command
corresponds to 1/1280000 rev. per motor revolution.
220 AC servo drive

High Resolution Output Pulse

P1-61 GR8 Communication Addr.: 013DH
Number
Applicable Control Mode: Pt
Unit: -
Range: 0 ~ 7
Settings:
This function is for Lexium 23M series only. Please refer to P1-46 for
explanation.

P1-62 COKT Communication Addr.: 013EH
Command Completed Output Signal
Applicable Control Mode: Pr DO CMDOK(12) in Table 7.B
Unit: ms
Range: 0 ~ 200
Settings:
This parameter is used to delay the output time of digital output, CMDOK
(Internal position command completed output) when the servo drive has
detected the internal position command has been completed.
If this parameter is set to 0, when DO ZSPD=1, the internal position command
which is triggered by DI CTRG will be accepted. If this parameter is not set to 0,
when DO CMDOK=1, the internal position command which is triggered by DI
CTRG will be accepted.
Please see DO CMDOK(12) in Table 7.B for explanation.
P1 - 63 Reserved Communication Addr.: 013FH
P1 - 64 Reserved Communication Addr.: 0140H
AC servo drive 221

Group 2: P2-xx Extension Parameters

P2-00 KPP Proportional Position Loop Gain Communication Addr.: 0200H
Unit: rad/s
Range: 0 ~ 1023
Settings:
This parameter is used to set the position loop gain. It can increase stiffness,
expedite position loop response and reduce position error. However, if the
setting value is over high, it may generate vibration or noise.
P2-01 PPR Position Loop Gain Switching Rate Communication Addr.: 0201H
Applicable Control Mode: Pt, Pr
Unit: %
Range: 10 ~ 500
Settings:
This parameter is used to set the position gain switching rate when the gain
switching condition is satisfied. Please refer to P2-27 for gain switching control
selection settings and refer to P2-29 for gain switching condition settings.
P2-02 PFG Position Feed Forward Gain Communication Addr.: 0202H

Unit: 0.0001
Range: 10 ~ 20000
Settings:
This parameter is used to set the feed forward gain when executing position
control command. When using position smooth command, increase gain can
improve position track deviation. When not using position smooth command,
decrease gain can improve the resonance condition of mechanical system.
However, if the setting value is over high, it may generate vibration or noise.
222 AC servo drive

Smooth Constant of Position Feed

P2-03 PFF Communication Addr.: 0203H
Forward Gain
Unit: ms
Range: 2 ~ 100
Settings:
When using position smooth command, increase gain can improve position track
deviation. When not using position smooth command, decrease gain can
improve the resonance condition of mechanical system.
P2-04 KVP Proportional Speed Loop Gain Communication Addr.: 0204H

Unit: rad/s
Settings:
This parameter is used to set the speed loop gain. When the value of
proportional speed loop gain is increased, it can expedite speed loop response.
However, if the setting value is over high, it may generate vibration or noise.
P2-05 SPR Speed Loop Gain Switching Rate Communication Addr.: 0205H
Unit: %
Range: 10 ~ 500
Settings:
This parameter is used to set the speed gain switching rate when the gain
switching condition is satisfied. Please refer to P2-27 for gain switching control
selection settings and refer to P2-29 for gain switching condition settings.
P2-06 KVI Speed Integral Compensation Communication Addr.: 0206H

Unit: N/A
Settings:
This parameter is used to set the integral time of speed loop. When the value of
speed integral compensation is increased, it can improve the speed response
ability and decrease the speed control deviation. However, if the setting value is
over high, it may generate vibration or noise.
AC servo drive 223

P2-07 SFG Speed Feed Forward Gain Communication Addr.: 0207H

Unit: 0.0001
Range: 0 ~ 20000
Settings:
This parameter is used to set the feed forward gain when executing speed
control command. When using speed smooth command, increase gain can
improve speed track deviation. When not using speed smooth command,
decrease gain can improve the resonance condition of mechanical system.
P2-08b PCTL Special Factory Setting Communication Addr.: 0208H

Unit: N/A
Range: 0 ~ 65536
This parameter can be used to reset all parameters to their original factory settings
and enable some parameters functions.
Settings:
Reset parameters settings:
10: Users can reset all parameter values to factory defaults. All parameter values
will be reset after re-power the servo drive. (Before perform this settings, ensure
that the status of the servo drive is "Servo Off".)
Enable parameters functions:
20: If P2-08 is set to 20, then the parameter P4-10 is enabled.
22: If P2-08 is set to 22, then the parameters P4-11~P4-19 are enabled.
1. Users may lock the parameters and protect parameters against change by
unauthorized personnel.
z Parameter Lock (Password Input):
Enter 5-digit password (your password should be at least five characters long).
Confirm your password again and then, the password input is completed. (The
highest digit of your password number should be at least set to 1).
z Set parameters:
Enter correct password, and then you can unlock the parameters and change them.
z Password Decode:
First, enter correct password, and set P2-08 to 0(zero) twice continuously.
224 AC servo drive

P2-09 DRT Bounce Filter Communication Addr.: 0209H

Unit: 2ms
Range: 0 ~ 20
Settings:
For example, if P2-09 is set to 5, the bounce filter time is 5 x 2ms=10ms.
When there are too much vibration or noises around environment, increasing
this setting value (bounce filter time) can improve reliability. However, if the
time is too long, it may affect the response time.
P2-10 DI1 Digital Input Terminal 1 (DI1) Communication Addr.: 020AH

Applicable Control Mode: ALL Table 7.A
Unit: N/A
Range: 0 ~ 147
Settings:
This parameter is used to determine the function and status of DI1.
z A: DI Function Settings: For the setting value of P2- 10 ~ P2-17, please refer
to Table 7.A.
z B: DI Enabled Status Settings:
0: Normally closed (contact b)
1: Normally open (contact a)
Please re-start the servo drive after parameters have been changed.
P2-11 DI2 Digital Input Terminal 2 (DI2) Communication Addr.: 020BH

Unit: N/A
Range: 0 ~ 147
AC servo drive 225

P2-12 DI3 Digital Input Terminal 3 (DI3) Communication Addr.: 020CH

Unit: N/A
Range: 0 ~ 147
P2-13 DI4 Digital Input Terminal 4 (DI4) Communication Addr.: 020DH

Unit: N/A
Range: 0 ~ 147
P2-14 DI5 Digital Input Terminal 5 (DI5) Communication Addr.: 020EH

Unit: N/A
Range: 0 ~ 147
P2-15 DI6 Digital Input Terminal 6 (DI6) Communication Addr.: 020FH

Unit: N/A
Range: 0 ~ 147
P2-16 DI7 Digital Input Terminal 7 (DI7) Communication Addr.: 0210H

Unit: N/A
Range: 0 ~ 147
226 AC servo drive

P2-17 DI8 Digital Input Terminal 8 (DI8) Communication Addr.: 0211H

Unit: N/A
Range: 0 ~ 147
P2-18 DO1 Digital Output Terminal 1 (DO1) Communication Addr.: 0212H

Unit: N/A
Range: 0 ~ 112
Settings:
This parameter is used to determine the function and status of DO1.
z A: DO Function Settings: For the setting value of P2- 18 ~ P2-22, please refer
to Table 7.A.
z B: DO Enabled Status Settings:
0: Normally closed (contact b)
1: Normally open (contact a)
Please re-start the servo drive after parameters have been changed.

Unit: N/A
Range: 0 ~ 112

Unit: N/A
Range: 0 ~ 112
AC servo drive 227


Unit: N/A
Range: 0 ~ 112

Unit: N/A
Range: 0 ~ 112

P2-23 NCF Communication Addr.: 0217H
Suppression)
Unit: Hz
Range: 50 ~ 1000
Settings:
This parameter is used to set resonance frequency of mechanical system. It can
be used to suppress the resonance of mechanical system. If P2-24 is set to 0,
this parameter is disabled.

P2-24 DPH Communication Addr.: 0218H
Unit: dB
Range: 0 ~ 32
228 AC servo drive


P2-25 NLP Communication Addr.: 0219H
Default: 2 (1kW and below models) or 5 Related Section:
(above 1kW models) Section 6.3.7
Unit: ms
Range: 0 ~ 1000
This parameter is used to set low-pass filter time constant of resonance suppression.
P2-26 DST External Anti-Interference Gain Communication Addr.: 021AH

Unit: 0.001
Settings:
0: Disabled
In AutoMode (PDFF) mode (parameter P2-32 is set to 4 or 5), the value of this
parameter is determined by the system automatically.
P2-27 GCC Gain Switching Control Selection Communication Addr.: 021BH

Unit: N/A
Range: 0 ~ 4
Settings:
Gain Switching Condition Settings:
1: Gain switching DI signal (GAINUP) is On. (see Table 7.A)
2: In position mode, position deviation is higher than the setting value of P2-29.
3: Position command frequency is higher than the setting value of P2-29.
4: Servo motor speed is higher than the setting value of P2-29.
AC servo drive 229

P2-28 GUT Gain Switching Time Constant Communication Addr.: 021CH

Unit: 10ms
Range: 0 ~ 1000
This parameter is used to set the time constant when switching the smooth gain.
P2-29 GPE Gain Switching Condition Communication Addr.: 021DH

Unit: pulse, Kpps, r/min
Range: 0 ~ 30000
This parameter is used to set the value of gain switching condition (pulse error,
Kpps, r/min) selected in P2-27. The setting value will be different depending on
the different gain switching condition.
P2-30b INH Auxiliary Function Communication Addr.: 021EH

Unit: N/A
Range: 0 ~ 5
Settings:
0: Normal operation of Digital Inputs SON, CW, and CCW.
1: Force the servo drive to be Servo On (ignore CW and CCW signal)
2: Ignore CW digital input signal
3: Ignore CCW digital input signal
4: Internal position learning function
5: After setting P2-30 to 5, the setting values of all parameters will lost (not
remain in memory) at power-down. When the parameters data are no more
needed, using this mode can allows users not to save parameters data into
memory without damaging the EEPROM.
Note: Please set P2-30 to 0 during normal operation. When the communication
control function is used, ensure that P2-30 is set to 5. The setting value of P2-
30 will return to 0 automatically after re-power the servo drive.
230 AC servo drive

P2-31 AUT1 Auto Mode Responsiveness Level Communication Addr.: 021FH

Unit: N/A
Range: 0 ~ FF (0 ~ FF: 0 indicates the lowest setting and F indicates the highest
setting (total 16 settings available))
Settings:
Lexium 23C series:

Lexium 23M series:

A: No function
Note:
1) This parameter is activated by P2-32.
2) Please refer to Section 5.6 for the tuning procedure and the related settings.
AC servo drive 231

P2-32r AUT2 Tuning Mode Selection Communication Addr.: 0220H

Unit: N/A
Range: 0 ~ 5
Settings:
0: Manual mode
1: Easy mode (for Lexium 23C series only, Lexium 23M series does not support this
mode)
2: AutoMode (PI) [Continuous adjustment]
3: AutoMode (PI) [Fix the ratio of Load Inertia to servo motor inertia and
4: AutoMode (PDFF) [Continuous adjustment]
5: AutoMode (PDFF) [Fix the ratio of Load Inertia to servo motor inertia and
PI : Proportional - Integral control
PDFF : Pseudo-Derivative Feedback and Feedforward
Explanation of Auto-tuning:
1. When switching mode #2 or #4 to #3 or #5, the system will save the measured
load inertia value automatically and memorized in P1-37. Then, set the
corresponding parameters according to this measured load inertia value.
2. When switching mode #2 or #4 to #0, it indicates all automatically measured
load inertia value will be aborted, and all setting of parameters will be returned
to original setting value in #0 manual mode.
3. When switching mode #0 to #3 or #5, enter the appropriate load inertia value
in P1-37.
4. When switching mode #3 to #0, the setting value of P2-00, P2-04 and P2-06
will change to the value that measured in #3 auto-tuning mode.
5. When switching mode #5 to #0, the setting value of P2-00, P2-04, P2-06, P2-25
and P2-26 will change to the value that measured in #5 auto-tuning mode
232 AC servo drive

P2-33 INF Easy Setting of Input Filter Communication Addr.: 0221H

Unit: N/A
Range: 00 ~ 19
Settings:
P2-34 SDEV Overspeed Warning Condition Communication Addr.: 0222H

Unit: r/min
Range: 1 ~ 5000
Settings:
This parameter is used to set the over speed threshold that is used to determine
the over speed fault condition. When the difference in speed between the
desired speed and actual motor speed is over than the setting value of
parameter P2-34, the servo fault, Overspeed (ALE07) will be activated.
P2-35 PDEV Excessive Error Warning Condition Communication Addr.: 0223H

Unit: pulse (Lexium 23C series, Pr mode of Lexium 23M series)
1/10000 rev. (Pt mode of Lexium 23M series)
Range: 1 ~ 30000
Settings:
This parameter is used to set the position deviation excessive error threshold
that is used to determine the escessive deviation fault condition. When the
difference in pulse number between the desired position and actual motor
position is over than the setting value of parameter P2-35, the servo fault, E
xcessive Deviation (ALE09) will be activated.
AC servo drive 233

Moving Speed Setting of 1st

P2-36 POV1 Communication Addr.: 0224H
Position
Unit: r/min
Range: 1 ~ 5000
Settings:
When setting value of P2-36 to P2-43 is higher than 3000 r/min, please set the
setting value of P1-55 to its maximum value.
Moving Speed Setting of 2nd

Position
Unit: r/min
Range: 1 ~ 5000
Settings:
Moving Speed Setting of 3rd

Position
Unit: r/min
Range: 1 ~ 5000
Settings:
Moving Speed Setting of 4th

Position
Unit: r/min
Range: 1 ~ 5000
Settings:
234 AC servo drive


Position
Unit: r/min
Range: 1 ~ 5000
Settings:

Position
Unit: r/min
Range: 1 ~ 5000
Settings:

P2-42 POV7 Communication Addr.: 022AH
Position
Unit: r/min
Range: 1 ~ 5000
Settings:

P2-43 POV8 Communication Addr.: 022BH
Position
Unit: r/min
Range: 1 ~ 5000
Settings:
AC servo drive 235

P2-44 DOM Digital Output Mode Setting Communication Addr.: 022CH

Applicable Control Mode: Pr Section 12.6
Unit: N/A
Range: 0 ~ 1
Settings:
This parameter determines that the digital output equals the setting value of P2-18
~ P2-22 or INDEX positions when using feed step control function and in internal
auto running mode (See Chapter 12 for explanation).
0: General output mode, digital output function is defined by the setting value of
P2-18 ~ P2-22.
1: Combination output mode
When the users want to use feed step control function, this output mode must be
selected. Otherwise, the feed step control function can not be used normally. (Refer
to Section 12.6) When the users want to use internal auto running mode function,
this output mode must be selected. Otherwise, the output signal can not be
converted to combination output signal normally. (Refer to Section 12.7)
Combination Output Signal Delay

P2-45 DOD Communication Addr.: 022DH
Time
Unit: 4ms
Range: 0 ~ 250
Settings:
This parameter can be used only when P2-44 is set to 1. The users can use this
parameter to set the ON time delay when positioning is completed.
P2-46 FSN Feed Step Number Communication Addr.: 022EH

Unit: sec
Range: 2 ~ 32
236 AC servo drive

P2-47 PED Position Deviation Clear Delay Time Communication Addr.: 022FH
Unit: 20ms
Range: 0 ~ 250
This function is disabled when its setting value is set to 0.
Backlash Compensation of Feed

P2-48 BLAS Communication Addr.: 0230H
Step Control
Unit: pulse
Range: 0 ~ 10312
Settings:
z A: Pulse Number Settings

0 ~ 312, the pulse number of backlash compensation
Actual pulse number of backlash compensation of motor output shaft is equal
to the number of value A x electronic gear ratio
z B: Polarity Settings
B=0: Forward compensation
B=1: Reverse compensation
Note: After modifying the setting value, execute the home sensor function.
After executing the home sensor function, perform the control function.
AC servo drive 237

Speed Detection Filter and Jitter

P2-49 SJIT Communication Addr.: 0231H
Suppression
Unit: sec
Range: 0 ~ 19
Settings:
z A: Speed Detection Filter Constant

Range: 0 ~ 9
z B: Enable/Disable Jitter Suppression Function
B=0: Disable Jitter Suppression function
B=1: Enable Jitter Suppression function
When this function is enabled, it can suppress the jitter created when the
motor stops at a position.
P2-50 DCLR Pulse Deviation Clear Mode Communication Addr.: 0232H

Unit: N/A
Range: 0 ~ 2
Settings:
For digital input function (DI function), please refer to Table 7.A.
This pulse deviation clear function is enabled when a digital input is set to pulse clear
function (CCLR mode, DI function is set to 4).
0: Clear position pulse deviation number (available in Pt and Pr mode only)
When this input is triggered, the position accumulated pulse number will be clear to 0.
1: Clear motor feedback pulse and rotation number (available in Pt and Pr mode only)
When this input is triggered, the count pulse and rotation number will be clear to 0.
This zero point will be regarded as the "Home" of the motor.
2: Clear remaining position pulses and interrupt the motor operation (available Pr mode
only). If CCLR signal is ON when the motor is running, the motor will decelerate first
and stop according to the deceleration time which is set by parameter P1-34 ~ P1-36
and the remaining pulses will be aborted. When TRIG signal is ON again, the motor will
continue to move forward and reach the target position that is set currently.
238 AC servo drive

Clear
remaining Ofyu!npwjoh
pulses dpnnboe
Speed
P2
P1
Position
DI=TRIG
DI=CCLR Ujnf
P2-51 SRON Servo ON Communication Addr.: 0233H

Unit: N/A
Range: 0 ~ 1
Settings:
0: Servo ON (SON) is activated via Digital Input signal
1: Servo ON (SON) is activated when control power is applied the servo drive
(not via Digital Input signal)
Servo ON (SON) is "ON" with control power applied to the servo drive, there may
be a fault condition or not. The servo is not ready to run. Servo ready (SRDY) is
"ON" where the servo is ready to run, NO fault / alarm exists. (P2-51 should turn
servo ready SRDY off / on)
P2-52 ATM0 Timer 0 of Auto Mode Communication Addr.: 0234H

Applicable Control Mode: Pr
Unit: sec
Range: 0 ~ 120.00

Unit: sec
Range: 0 ~ 120.00
AC servo drive 239


Unit: sec
Range: 0 ~ 120.00

Unit: sec
Range: 0 ~ 120.00

Unit: sec
Range: 0 ~ 120.00

Unit: sec
Range: 0 ~ 120.00
P2-58 ATM6 Timer 6 of Auto Mode Communication Addr.: 023AH

Unit: sec
Range: 0 ~ 120.00
P2-59 ATM7 Timer 7 of Auto Mode Communication Addr.: 023BH

Unit: sec
Range: 0 ~ 120.00
240 AC servo drive


P2-60 GR4 Communication Addr.: 023CH
(2nd Numerator) (N2)
Unit: pulse
Range: 1 ~ 32767
Settings:
The electronic gear numerator value can be set via GNUM0, GNUM1 (refer to Table
7.A). When the GNUM0, GNUM1 are not defined, the default of gear numerator
value is set by P1-44. When the users wish to set the gear numerator value by using
GNUM0, GNUM1, please set P2-60 ~ P2-62 after the servo motor has been stopped.

P2-61 GR5 Communication Addr.: 023DH
(3rd Numerator) (N3)
Unit: pulse
Range: 1 ~ 32767
Settings:

P2-62 GR6 Communication Addr.: 023EH
(4th Numerator) (N4)
Unit: pulse
Range: 1 ~ 32767
Settings:
AC servo drive 241

P2-63 TSCA Proportion Value Setting Communication Addr.: 023FH

Applicable Control Mode: Pt, S
Unit: times
Range: 0 ~ 11
Settings:
A: Decimal place setting of internal speed command.

0: When value A is set to 0, the unit of P1-09~P1-11 is 1 r/min (No decimal place
setting) 1: When value A is set to 1, the unit of P1-09~P1-11 is 0.1 r/min (One
decimal place setting) If P1-09 is set to 1234, and value A is set to 0, and then
the internal speed is 1234 r/min. If P1-09 is set to 1234, and value A is set to 1,
and then the internal speed is 123.4 r/min. This setting value A is available for
internal speed command only, not available for speed limit command.
B: Proportion value setting of position excessive error warning condition (P2-35)
Lexium 23C series

0: When value B is set to 0, the unit of P2-35 is 1 pulse
1: When value B is set to 1, the unit of P2-35 is 100 pulses
If P2-35 is set to 1000, and value B is set to 0, the position excessive error
warning pulse is 1000 pulses.
warning pulse is 100,000 pulses.
Lexium 23M series

0: When value B is set to 0, the unit of P2-35 is 1/10000 rev.
1: When value B is set to 1, the unit of P2-35 is 1/100 rev.
warning pulse is 0.1 rev.
warning pulse is 10 rev.
242 AC servo drive

Communication Addr.:
P2-64 TLMOD Torque Limit Mixed Mode
0240H
Applicable Control Mode: Pt, Pr, S
Unit: N/A
Range: 0 ~ 3
Settings:
0: Disabled
1: Torque limit mixed mode (No polarity)
If |Tref|<PL, Tpl = |Tref|
If |Tref|>PL, Tpl = PL
If |Tref|<NL, Tnl = |Tref|
If |Tref|>NL, Tnl = NL
2: Torque limit mixed mode (Positive)
If 0<Tref<PL, Tpl = Tref
If Tref>PL, Tpl = PL
If Tref<0, Tpl,Tnl = 0
3: Torque limit mixed mode (Negative)
If Tref>0, Tpl,Tnl = 0
If -NL<Tref<0, Tnl = -Tref
If Tref<-NL, Tnl = NL
This parameter can allow the users to set two different kinds of torque limit
command sources when limiting torque. We call it is "Torque Limit Mixed Mode".
The torque limit function is activated by parameter P1-02 or via digital input
TRQLM, TLLM or TRLM.
If the users use TRQLM or P1-02 to activate torque limit function, the torque
limit command source can be analog input or internal parameters (P1-12 to P1-
14) depending on which way you use to activate torque limit function. At this
time, the limit of PL and NL in the figure below are specified as the torque limit
that determined by the torque limit command source.
If the users use TLLM or TRLM to activate torque limit function, the torque limit
command source can be parameter P1-12 (NL) or P1-13 (PL).
AC servo drive 243

P2-65 GBIT Special Function Communication Addr.: 0241H

Applicable Control Mode: Pr, Pt, S
Unit: N/A
Range: 0 ~ 3
Settings:
Bit15 Bit14 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8
Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
Bit1 Bit0
Bit0: DI SPD0/SPD1 speed command trigger mode
0: by level
1: by rising edge
Bit1: DI TCM0/TCM1 torque command trigger mode
0: by level
1: by rising edge
When the servo drive is rising-edge triggered, the internal commands work as
follows:
A: Execute internal command 1

B: Execute internal command 2
C: Execute internal command 3
D: Execute internal command 3
Bit4 Bit3 Bit2
Fast DI (digital input) function. When this function is activated, the function of
P2-17(DI8) will become invalid and change to Fast DI (digital input) function.
When Bit3 ~ Bit4 are all set to 0, this fast DI (digital input) function is disabled.
Bit2: Fast DI contact type
0: normal open or rising edge trigger
1: normal close or falling edge trigger
Bit3 ~ Bit4: Fast DI function definition
Bit4 Bit3 Function
0 0 Disable fast DI function
0 1 Fast position latch for DI8 :
When fast position latch function is enabled, the users can get latch
position from LED display by setting P0-02=15 (latch pulses) or setting
P0-02=16 (latch revolutions). The users also can get the position
through the communication by setting P0-04 ~ P0-08.
1 0 Fast DI INHIBIT for DI8
Response time of the normal DI is 0.4 ~ 0.6ms
Response time of this fast DI is 0.0 ~ 0.1ms
Please note that Bit3 and Bit4 cannot be activated simultaneously.
244 AC servo drive

Bit5: Reserved. Must be set to 0.

Bit6
Bit6: Abnormal pulse command detection
0: enable abnormal pulse command detection
1: disable abnormal pulse command detection,
Bit7 ~ Bit9: Reserved. Must be set to 0.
Bit10
Bit10: DI ZCLAMP function selection
0: Locked at the position when ZCLAMP conditions are satisfied.
1: Speed command is forced to 0 r/min when ZCLAMP conditions are satisfied.
How to select these two functions?
If the users want to use the edge of a D1 signal to stop the motor at the desired
position and do not care the speed deceleration curve, then set Bit10 of P2-65 to 0.
If the users want to eliminate the analog voltage offset to stop the motor at low
voltage and they want to keep the acceleration and deceleration speed curve,
then set Bit10 of P2-65 to 1. When the following conditions are all met, ZCLAMP
function will be activated.
Condition1: Speed mode
Condition2: DI ZCLAMP is activated.
Condition3: External analog speed command or internal registers speed
command is less than parameter P1-38.
Bit11: Reserved. Must be set to 0.
B13 B12
Bit 12: Undervoltage (Servo Drive Fault) clear mode selection
0: When the main circuit voltage is within its specified limit or after Servo
Off (the servo drive is disabled), the fault, Undervoltage will be cleared
automatically.
1: When turning ARST (DI signal) to be ON and the main circuit voltage is
within its specified limit also, the fault, Undervoltage will be cleared.
Bit 13: CWL/CCWL pulse input inhibit function
0: Disable CWL/CCWL pulse input inhibit function. In Pt mode, no matter
CWL or CCWL exists or not, external position pulse command will be
input into the servo drive.
1: Enable CWL/CCWL pulse input inhibit function. In Pt mode, if CWL
exists, the external CWL pulse input into the servo drive will be
inhibited and CCWL pulse input will be accepted. On the one hand, in
Pt mode, if CCWL exists, , the external CCWL pulse input into the servo
drive will be inhibited and CCWL pulse input will be accepted. Please
note that if CWL and CCWL both exist, CWL and CCWL pulse input
into the servo drive will be both inhibited.
Bit14 ~ Bit15: Reserved. Must be set to 0.
AC servo drive 245

246 AC servo drive

Group 3: P3-xx Communication Parameters

P3 - 00 ADR Communication Address Setting Communication Addr.: 0300H
Unit: N/A
Range: 1~254
Settings:
If the AC servo drive is controlled by RS-232/485/422 communication, each
drive (or device) must be uniquely identified and addressed between 1 and 254.
Access to program this number is via parameter P3-00.
One servo drive only can set one address. If the address is duplicate, there will
be a communication fault.
Note:
1) When the address of host (external) controller is set to 0, it is with broadcast
function. Then, the servo drive will receive from host (external) controller only
and will not respond to host (external) controller no matter the address is
matching or not.
2) When the address of host (external) controller is set to 255, it is with auto-
respond function. Then, the servo drive will receive from and respond to host
(external) controller both no matter the address is matching or not.
P3-01 BRT Transmission Speed Communication Addr.: 0301H

Unit: bps
Range: 0~5
Settings:
0: Baud rate 4800 (data transmission speed: bits / second)
This parameter is used to set the desired transmission speed between the computer
and AC servo drive. Users can set this parameter and control transmission speed to
reach the maximum baud rate of 115200 bps.
AC servo drive 247

P3-02 PTL Communication Protocol Communication Addr.: 0302H

Unit: N/A
Range: 0~8
Settings:
0: Modbus ASCII mode, <7,N,2>
1: Modbus ASCII mode, <7,E,1 >
2: Modbus ASCII mode, <7,O,1>
3: Modbus ASCII mode, <8,N,2 >
4: Modbus ASCII mode, <8,E,1>
6: Modbus RTU mode, <8,N,2>
7: Modbus RTU mode, <8,E,1>
8: Modbus RTU mode, <8,O,1>
This parameter is used to set the communication protocol. The alphanumeric
characters represent the following: 7 or 8 is the number of data bits; N, E or O refer
to the parity bit, Non, Even or Odd; the 1 or 2 is the numbers of stop bits.
P3-03 FLT Transmission Fault Treatment Communication Addr.: 0303H

Applicable Control Mode: P, S, T Section 8.2
Unit: N/A
Range: 0~1
Settings:
0: Display fault and continue operating
1: Display fault and stop operating
This parameter is used to determine the operating sequence once a communication
fault has been detected. If '1' is selected, the drive will stop operating upon
detection the communication fault. The mode of stopping is set by parameter
P1-32.
248 AC servo drive

Communication Time Out

P3-04 CWD Communication Addr.: 0304H
Detection
Unit: N/A
Range: 0~20
Settings:
0: Disabled
This parameter is used to set the maximum permissible time before detecting a
fault due to communication time out. When this parameter is set to a value over
than 0, it indicates this function is enabled. However, if not communicating with
the servo in this period of time, the servo drive will assume the communication
has failed and show the communication error fault message.
P3-05 CMM Communication Selection Communication Addr.: 0305H

Unit: N/A
Range: 0~2
Settings:
0: RS-232
1: RS-422
2: RS-485
Multiple communication modes RS232, RS-485, RS-422 cannot be used within
one communication ring.
AC servo drive 249

Digital Input Communication

P3-06b SDI Communication Addr.: 0306H
Function
Applicable Control Mode: ALL P4-07, Section 8.2
Unit: N/A
Range: 0~FFFF
Settings:
The setting of this parameter determines how the Digital Inputs (DI) accept
commands and signals. If the Digital Input Contact Control parameter for the DI
1 ~ DI 8 is set to "0", command is external, and via CN1; if it is set to "1" the DI
signal is via communication.
Bit0 ~ Bit 7 corresponds with DI1 ~ DI8. The least significant bit (Bit0) shows DI1
status and the most significant bit (Bit7) shows DI8 status. The new DI9 ~ DI16
for software communication corresponds with CTRG / POS0 / POS1 / POS2 /
ARST / SHOM / JOGU / JOGD these signals. The Digital Input Control Contact
parameter, P3-06 also works in conjunction with the Multi Function Digital Input
parameter P4-07 which has several functions. Please see section 8.2 for details.
Communication Response Delay

P3-07 CDT Communication Addr.: 0307H
Time
Unit: 0.5ms
Range: 0~255
Settings:
This parameter is used to delay the communication time that servo drive
responds to host controller (external controller).
Note: When the address of host (external) controller is set to 255, no matter
what the setting value of parameter P1-37 is, the communication response
delay time will be 0 always.
250 AC servo drive

Group 4: P4-xx Diagnosis Parameters

P4-00g ASH1 Fault Record (N) Communication Addr.: 0400H
Unit: N/A
Range: N/A
Settings:
The latest fault record.
P4-01g ASH2 Fault Record (N-1) Communication Addr.: 0401H

Unit: N/A
Range: N/A

Unit: N/A
Range: N/A

Unit: N/A
Range: N/A

Unit: N/A
Range: N/A
AC servo drive 251

P4-05 JOG JOG Operation Communication Addr.: 0405H

Unit: r/min
Range: 0~5000
Settings:
JOG operation command:
1. Operation Test
(1) Press the SET key to display the JOG speed. (The default value is 20 r/min).
(2) Press the UP or DOWN arrow keys to increase or decrease the desired JOG
speed. (This also can be undertaken by using the SHIFT key to move the
cursor to the desired unit column (the effected number will flash) then
changed using the UP and DOWN arrow keys).
(3) Press the SET when the desired JOG speed is displayed. The Servo Drive
will display "JOG".
(4) Press the UP or DOWN arrow keys to jog the motor either CCW or CW. The
motor will only rotation while the arrow key is activated.
(5) To change JOG speed again, press the MODE key. The servo Drive will
display "P4 - 05". Press the SET key
2. DI Signal Control
Set the value of DI signal as JOGU and JOGD (refer to Table 7.A).
Users can perform JOG run forward and run reverse control.
3. Communication Control
To perform a JOG Operation via communication command, use
communication address 0405H
(1) Enter 0 ~ 3000 for the desired JOG speed
(2) Enter 4998 to JOG in the CCW direction
(3) Enter 4999 to JOG in the CW direction
(4) Enter 5000 to stop the JOG operation
Note: If the communication write-in frequency is too high, please set P2-30 to 5.
252 AC servo drive

P4-06
FOT Force Output Control Communication Addr.: 0406H
r b
Unit: N/A
Range: 0~0x1F
Settings:
0: Disabled.
When the value of P4-06 is a non-zero value, it indicates this function is enabled.
This parameter is used to check if there is any damage DO terminal. This
parameter is not effective when the servo drive is enabled (Servo ON).
Note: When users select P4-06 and press the Set key, the display will show“OP
xx” . “xx”stands for the parameter range from 00 to 1F (For the example
display, refer to Section 4.4.4).
P4-07b ITST Input Status or Force Input Control Communication Addr.: 0407H
Applicable Control Mode: ALL P3-06, Section 4.4.5,
Unit: N/A Section 8.2
Range: 0~FFFF
Settings:
Please see P3-06 and Section 8.2 for setting method.
External Control: Display the status of DI input signal
Communication Control: Read the status of input signal (upon software)
For the status of DI input signal, please refer to P2-10 ~ P2-17.
The contents of P4-07 is "read only" via the drive keypad or the communication
software and will display the state on or off of the six Digital Inputs which have
been set in accordance to P3-06. The least significant bit (Bit 0) stands for
Digital Inputs 1 (DI 1) and the most significant bit (Bit7) stands for Digital Inputs
8 (DI 8).
P4-08 PKEY Digital Keypad Input of Servo Drive Communication Addr.: 0408H
Default: N/A Related Section: N/A
Unit: N/A
Range: N/A
AC servo drive 253

P4-09g MOT Output Status Display Communication Addr.: 0409H

Unit: N/A
Range: 0~0x1F
Settings:
External Control: Display the status of DO output signal
Communication Control: Read the status of output signal
The status of DO signal, please refer to P2-18 ~ P2-22.
P4-10r CEN Adjustment Function Communication Addr.: 040AH

Unit: N/A
Range: 0~6
Settings:
0: Reserved
1: Execute analog speed input drift adjustment
2: Execute analog torque input drift adjustment
3: Execute current detector (V phase) drift adjustment
4: Execute current detector (W phase) drift adjustment
5: Execute drift adjustment of the above 1~4
6: Execute IGBT NTC calibration
This adjustment function is enabled after parameter P2-08 is set to 20.
When executing any adjustment, the external wiring connected to analog speed
or torque must be removed and the servo system should be off (Servo off).
254 AC servo drive

Analog Speed Input Drift

P4-11 SOF1 Communication Addr.: 040BH
Adjustment 1
Unit: N/A
Range: 0~32767
Settings:
Manual Adjustment Operation:
Set parameter P2-08 to 22 and then change this parameter. This is an auxiliary
adjusting function, although this parameter allows the users can execute manual
adjustment, we still do not recommend users to change the default setting
manually.
Auto Adjustment Operation:
Set parameter P2-08 to 20 first and then set parameter P4-10 to 1. When
executing this auto adjustment, please short the internal circuit of the analog
input voltage first or connecting to a 0V output of the external controller in
advance and make sure that the status of the servo drive is
Note: When P2-08 is set to 10, users cannot reset this parameter.
Analog Speed Input Drift

P4-12 SOF2 Communication Addr.: 040CH
Adjustment 2
Unit: N/A
Range: 0~32767
Settings:
Please see P4-11 for explanation
AC servo drive 255

P4-13 TOF1 Analog Torque Drift Adjustment 1 Communication Addr.: 040DH

Unit: N/A
Range: 0~32767
Settings:
manually.
advance and make sure that the status of the servo drive is “Servo Off” .
P4-14 TOF2 Analog Torque Drift Adjustment 2 Communication Addr.: 040EH

Unit: N/A
Range: 0~32767
Settings:
Please see P4-13 for explanation.
256 AC servo drive

Current Detector Drift Adjustment

P4-15 COF1 Communication Addr.: 040FH
(V1 phase)
Unit: N/A
Range: 0~32767
Settings:
manually.
advance and make sure that the status of the servo drive is “Servo Off”and
the servo motor has stopped.

P4-16 COF2 Communication Addr.: 0410H
(V2 phase)
Unit: N/A
Range: 0~32767
Settings:
AC servo drive 257


(W1 phase)
Unit: N/A
Range: 0~32767
Settings:
manually.
advance and make sure that the status of the servo drive is “Servo Off”and
the servo motor has stopped.

(W2 phase)
Unit: N/A
Range: 0~32767
Settings:
258 AC servo drive

P4-19 TIGB IGBT NTC Calibration Communication Addr.: 0413H

Unit: N/A
Range: 1~7
Settings:
manually.
executing this auto adjustment, please ensure to cool the servo drive to 25oC.

Adjustment (CH1)
Unit: mV
Range: -800~800
Settings:

Adjustment (CH2)
Unit: mV
Range: -800~800
Settings:
AC servo drive 259

P4-22 SAO Analog Speed Input Offset Communication Addr.: 0416H

Unit: mV
Range: -5000~5000
Settings:
In speed mode, the users can use this parameter to adjust analog speed input
offset value manually. Before using this function, please short the internal circuit
first or connecting to a 0V output of the external controller in advance, and then
use this parameter to adjust analog speed input offset value.
P4-23 TAO Analog Torque Input Offset Communication Addr.: 0417H

Applicable Control Mode: T
Unit: mV
Range: -5000~5000
Settings:
In torque mode, the users can use this parameter to adjust analog torque input
offset value manually. Before using this function, please short the internal circuit
first or connecting to a 0V output of the external controller in advance, and then
use this parameter to adjust analog torque input offset value.
P4 - 26 Reserved Communication Addr.: 041AH
260 AC servo drive

Table 7.A Input Function Definition

Setting
Sign Digital Input Function Description
Value
SON 01 Servo On. Switch servo to "Servo Ready". Check parameter P2-51.
ARST 02 Alarm Reset. A number of Faults (Alarms) can be cleared by activating ARST.
Gain switching in speed and position mode. When GAINUP is activated (P2-
GAINUP 03
27 is set to 1), the gain is switched to the gain multiplied by fluctuation
Pulse clear (see P2-50). When CCLR is activated, the parameter P2-
50 Pulse Deviation Clear Mode is executed.
0: Clear position pulse deviation number (available in Pt and Pr mode only)
1: Clear motor feedback pulse and rotation number (available in Pt
CCLR 04 and Pr mode only)
2: Clear remaining position pulses and interrupt the motor operation
(available Pr mode only).
3: Clear remaining position pulses and interrupt the motor operation. After
the motor is stopped, activate TPOS signal (available Pr mode only).
Zero speed CLAMP. When this signal is On and the motor speed value
is below the setting value of P1-38, it is used to lock the motor in the
instant position while ZCLAMP is On.
ZCLAMP 05
Command input reverse control. When the drive is in Pr, Speed and
CMDINV 06
Torque mode, and CMDINV is activated, the motor is in reverse rotation.
Position command pause (Internal position control only). When the drive
HOLD 07
is in Pr mode and HOLD is activated, the motor will pause.
Command triggered (available in Pr mode only). When the drive is in Pr
mode and CTRG is activated, the drive will command the motor to move
the stored position which correspond the POS 0, POS 1, POS 2 settings.
CTRG 08
Activation is triggered on the rising edge of the pulse. The next internal
position command will be triggered after the DO ZSPD (At Zero speed)
signal is activated (ZSPD=1).
AC servo drive 261

Setting
Value
Torque limit enabled. When the drive is in speed and position mode,
and TRQLM is activated, it indicates the torque limit command is
TRQLM 09
valid. The torque limit command source is internal parameter or
analog voltage.
Speed limit enabled. When the drive is in torque mode and TRQLM is
SPDLM 10 activated, it indicates the speed limit command is valid. The speed limit
command source is internal parameter or analog voltage.
Position command selection 0 ~ 2
When the Pr mode is selected, the 8 stored positions are
programmed via a combination of the POS 0, POS 1, and POS 2
POS0 11 commands.
Command POS2 POS1 POS0 CTRG Parameter
No.
P1-15
P1 OFF OFF OFF A P1-16
P1-17
P2 OFF OFF ON A P1-18
P1-19
POS1 12 P3 OFF ON OFF A P1-20
P1-21
P4 OFF ON ON A P1-22
P1-23
P5 ON OFF OFF A P1-24
P1-25
P6 ON OFF ON A P1-26
P1-27
POS2 13 P7 ON ON OFF A P1-28
P1-29
P8 ON ON ON A P1-30
262 AC servo drive

Setting
Value
Speed command selection 0 ~ 1
DI signal of
SPD0 14 Command CN1 Command Source Content Range
No.
SPD1 SPD0
External
Voltage between V-
S analog +/-10 V
S1 OFF OFF Mode REF and GND
command
Sz None Speed command is 0 0
SPD1 15 S2 OFF ON P1-09 0~5000 r/min
S3 ON OFF Internal parameter P1-10 +/- 5000 r/min
S4 ON ON P1-11 +/- 5000 r/min
Torque command selection 0 ~ 1

DI signal of
TCM0 16 Command CN1 Command Source Content Range
No.
SPD1 SPD0
Analog Voltage between V-
T +/-10 V
T1 OFF OFF Mode command REF and GND
Tz None Torque command is 0 0
TCM1 17 T2 OFF ON P1-12 +/- 300 %
T3 ON OFF Internal parameter P1-13 +/- 300 %
T4 ON ON P1-14 +/- 300 %
S-P 18 Speed / Position mode switching (OFF: Speed, ON: Position) (see section 6.5)
S-T 19 Speed / Torque mode switching (OFF: Speed, ON: Torque) (see section 6.5)
Torque / Position mode switching (OFF: Torque, ON: Position) (see
T-P 20
section 6.5)
Emergency stop. It should be contact “b”and normally ON or a fault
EMGS 21
(ALE13) will display.
Reverse inhibit limit. It should be contact“b”and normally ON or a fault
CWL 22
(ALE14) will display.
Forward inhibit limit. It should be contact “b”and normally ON or a
CCWL 23
fault (ALE15) will display.
Reference “Home”sensor. When ORGP is activated, the drive will
ORGP 24 command the motor to start to search the reference “Home”sensor.
[see P1-47]
Torque limit - Reverse operation (Torque limit function is valid only when
TLLM 25
P1-02 is enabled)
AC servo drive 263

Setting
Value
Torque limit - Forward operation (Torque limit function is valid only
TRLM 26
Move to“Home”. When SHOM is activated, the drive will command
SHOM 27
the motor to move to “Home” . [see P1-47]
INDEX0 28 Feed step selection input 0 (bit 0) When the drive is in Pr mode,
INDEX1 29 Feed step selection input 1 (bit 1) if users set P1-33 to 2, 3 and
INDEX2 30 Feed step selection input 2 (bit 2) 4 (Feed step control mode),
INDEX3 31 Feed step selection input 3 (bit 3) feed step control function are
provided (1~32 steps). [see
INDEX4 32 Feed step selection input 4 (bit 4) section 12.6 Feed Step
Control]
Feed step mode Mode function:
MD0 33
input 0 (bit 0) MDPn Status MD1 MD0 Explanation
Feed step mode 1 OFF OFF Torque decrease
MD1 34
input 1 (bit 1) 2 OFF ON Homing mode
OFF Feed step position
Manually continuous 3 ON OFF
MDP0 35 mode
operation 4 ON ON Emergency stop
X X Don’ t care
CCW manual
Manually single step OFF ON
MDP1 36 ON operation
operation ON OFF CW manual operation
X X Don't Don’ t care
Forward JOG input. When JOGU is activated, the motor will JOG in
JOGU 37
forward direction. [see P4-05]
Reverse JOG input. When JOGD is activated, the motor will JOG in
JOGD 38
reverse direction. [see P4-05]
Step up input. When Available when the drive is in Pr mode and users
STEPU is activated, must set P1-33 to 5 and 6. (Internal auto
STEPU 39
the motor will run to running mode) [see section 12-7 Internal Auto
next position. Running Mode]
264 AC servo drive

Setting
Value
Step down input. When STEPD is
STEPD 40 activated, the motor will run to
previous position.
Step back input. When STEPB is
STEPB 41 activated, the motor will return to first
position.
Available when the drive is in
Auto run input. When AUTOR is Pr mode and users must set
activated, the motor will run P1-33 to 5 and 6. (Internal
automatically according to internal auto running mode) [see
position command. For interval time section 12-7 Internal Auto
setting (Timer 0 ~ 7), please see Running Mode]
AUTOR 42 parameter P2-52 to P2-59. If the timer is
not set, the internal position command
without setting timer will be passed over
and not executed. The motor will run
according to the next internal position
command.
GNUM0 43 Electronic gear ratio (Numerator) selection 0 [see P2-60 ~ P2-62]
Electronic gear ratio (Numerator) selection 1 [see P2-60 ~ P2-62]
GNUM1 44
AC servo drive 265

Setting
Value
Pulse inhibit input. When the drive is in position mode, if INHP is
INHP 45
activated, the external pulse input command is not valid.
Enable motor forward operation. In speed mode, it is used to enable
STF 46
the motor forward operation.
Enable motor reverse operation. In speed mode, it is used to enable
the motor reverse operation.
STF STB Explanation
1 0 Forward operation of speed command (CCWL)
1 1 Stop
STB 47
0 0 Stop
0 1 Reverse operation of speed command (CWL)
0: indicates OFF (Normally Open); 1: indicates ON (Normally Closed)

Please note that never use DI STF and STB with DI SPD0 and SPD1
simultaneously.
Note:
1) 11~17: Single control mode, 18~20: Dual control mode
2) When P2-10 to P2-17 is set to 0, it indicates input function is disabled.
266 AC servo drive

Table 7.B Output Function Definition

Setting
Sign Digital Output Function Description
Value
Servo ready. SRDY is activated when the servo drive is ready to run.
SRDY 01
All fault and alarm conditions, if present, have been cleared.
Servo On. SON is activated when control power is applied the servo
drive. The drive may or may not be ready to run as a fault / alarm
condition may exist. Servo ON (SON) is “ON”with control power
SON 02 applied to the servo drive, there may be a fault condition or not. The
servo is not ready to run. Servo ready (SRDY) is “ON”where the
servo is ready to run, NO fault / alarm exists. (P2-51 should turn servo
ready SRDY off / on)
At Zero speed. ZSPD is activated when the drive senses the motor is
equal to or below the Zero Speed Range setting as defined in
parameter P1-38. For Example, at default ZSPD will be activated
ZSPD 03
when the drive detects the motor rotating at speed at or below 10 r/
min. ZSPD will remain activated until the motor speed increases
above 10 r/min.
At Speed reached. TSPD is activated once the drive has detected the
motor has reached the Target Motor Speed setting as defined in
TSPD 04
parameter P1-39. TSPD will remain activated until the motor speed
drops below the Target Motor Speed.
At Positioning completed.
When the drive is in Pt mode, TPOS will be activated when the position
error is equal and below the setting value of P1-54.
When the drive is in Pr mode, TPOS will be activated when the drive
TPOS 05 detects that the position of the motor is in a – P1-54 to +P1-54 band
of the target position.
For Example, at factory default TPOS will activate once the motor is
in -99 pulses range of the target position, then deactivate after it
reaches +99 pulses range of the desired position.
AC servo drive 267

Setting
Sign Digital Output Function Description
Value
At Torques limit. TQL is activated when the drive has detected that
TQL 06 the motor has reached the torques limits set by either the
parameters P1-12 ~ P1-14 of via an external analog voltage.
Servo alarm (Servo fault) activated. ALRM is activated when the drive
has detected a fault condition. (However, when Reverse limit error,
ALRM 07
Forward limit error, Emergency stop, Serial communication error,
and Undervoltage these fault occur, WARN is activated first.)
Electromagnetic brake control. BRKR is activated (Actuation of
motor brake). (Please refer to parameters P1-42 ~ P1-43)
BRKR 08
Homing completed. HOME is activated when the servo drive has

detected that the “HOME”sensor (Digital Input 24) has been
HOME 09
detected and the home conditions set in parameters P1-47, P1-50,
and P1-51 have been satisfied.
268 AC servo drive

MODBUS Communications
8
At a Glance
What's in this
Topic Page
Communication Hardware Interface 270
Communication Parameter Settings 271
MODBUS Communication Protocol 275
Communication Parameter Write-in and Read-out 283
269
MODBUS Communications Lexium 23
8.1 Communication Hardware Interface
The Lexium 23 series servo drives have three modes of communication: RS-232,
RS-485, and RS-422. All aspects of control, operation and monitoring as well as
programming of the controller can be achieved via communication. However, only
one communication mode can be used at a time. Users can select the desired
communication mode via parameter P3-05.
Please refer to the following sections for connections and limitations.
RS-232 z Configuration
Lexium 23 Servo Drive
Personal Computer/ or
PLC or Controller
Connected to CN3
RS-232
z Cable Connection
Max. 15m
D-9 plug for PC Servo CN3 Connector
3 (Tx) 4 (Rx)
2 (Rx) 2 (Tx)
5 (GND) 1 (GND)
7 (RTS)
8 (CTS)
6 (DSR)
4 (DTR)
1 (CD)
Note:
1) Recommended maximum cable length is 15m (50ft.). Please note, RFI / EME
noise should be kept to a minimum, communication cable should kept apart
from high voltage wires. If a transmission speed of 38400 bps or greater is
required, the maximum length of the communication cable is 3m (9.84ft.) which
will ensure the correct and desired baud rate.
2) The number shown in the pervious figure indicates the terminal number of each
connector.
270 AC servo drive

Lexium 23 MODBUS Communications
8.2 Communication Parameter Settings
The following describes the communication addresses for the communication

parameters.
For communication parameters, please refer to the Chapter 7. Communication
Addresses 0301, 0302, and 0305 have to be set identically for all the drives and
devices to communicate correctly.
0300H
Default: 1
Communication
Range: 1~254
Address Setting
If the AC servo drive is controlled by RS-232/485/422 communication, each drive

(or device) must be uniquely identified and addressed between 1 and 254. Access
to program this number is via parameter P3-00.
RS-485/RS-422
01 02 03
Personal Computer
PLC or Controller
Lexium 23 Servo Drive
0301H Default: 1
Transmission Range: 0~5
Speed Settings:
This parameter is used to set the desired transmission speed between the
computer and AC servo drive.
Users can set this parameter and control transmission speed to reach the maximum
baud rate of 115200 bps.
AC servo drive 271

0302H Default: 0
Communication Range: 0~8
Protocol Settings:
0: Modbus ASCII mode, <7,N,2>
1: Modbus ASCII mode, <7,E,1 >
3: Modbus ASCII mode, <8,N,2 >
4: Modbus ASCII mode, <8,E,1>
6: Modbus RTU mode, <8,N,2>
7: Modbus RTU mode, <8,E,1>
8: Modbus RTU mode, <8,O,1>
This parameter is used to set the communication protocol. The alphanumeric

characters represent the following: 7 or 8 is the number of data bits; N, E or O refer
to the parity bit, Non, Even or Odd; the 1 or 2 is the numbers of stop bits.
0303H Default: 0
Transmission Fault Range: 0~1
Treatment Settings:
0: Display fault and continue operating
1: Display fault and stop operating
This parameter is used to determine the operating sequence once a communication

fault has been detected. If '1' is selected the drive will stop operating upon detection
the communication fault. The mode of stopping is set by parameter P1-32.
0304H Watch Dog Timer (It is not recommended to change the
Communication Time factory default setting if not necessary)
Out Detection Default: 0
Range: 0~20 sec.
The factory default setting is set to 0 and it indicates this
function is disabled.
When this parameter is set to any value over 0, it indicates that the timer is enabled.
The value set in this parameter is the communication time and the communication
time out detection should be completed within the time. Otherwise, a communication
error will occur.
For example, if the value set in this parameter is 5, it indicates that the
communication time out detection will be activated once in five seconds or a
communication error will occur.
272 AC servo drive

0305H Communication selection:

Communication Default: 0
Mode Range: 0~2
Settings:
0: RS-232
1: RS-422
2: RS-485
Multiple communication modes RS232, RS-485, RS-422 cannot be used within one
communication ring.
0306H Digital Input Contact Control:
Digital Input Default: 0
Communication Range: 0~FFFF (hexadecimal number)
Function
The setting of this parameter determines how the Digital Inputs (DI) accept
commands and signals.
Input commands or signals through the DI can be either from an external source,
through the CN 1 interface connector, or via communication, (RS-232, RS-485, RS-
422). If the Digital Input Contact Control parameter for the DI 1 ~ 8 is set to "0",
command is external, and via CN1; if it is set to "1" (decimal number) the DI signal
is via communication. Each of the eight Digital Inputs are accessed individually and
can be set independently of each other. They can be programmed either via the
drive's keypad or via communication and computer UI. If they are programmed via
the keypad a hexadecimal number is entered; if programmed via communication or
UI a decimal or hexadecimal number can be used. In both methods of
programming, a single number is used for all eight Digital Inputs. The following
example shows how each DI is addressed and converted to a single decimal or
hexadecimal number.
The eight Digital Inputs are noted from the right, DI 1 to left, DI 8 with their desired
input command or signal method, 0 or 1. Once all eight Digital Inputs have been
noted this binary number is converted to a decimal or hexadecimal number and
entered into P3-06.
Bit 8 7 6 5 4 3 2 1
Decimal value 128 64 32 16 8 4 2 1
Input DI8 DI7 DI6 DI5 DI4 DI3 DI2 DI1
State 1 1 0 1 1 0 0 0 = D8 Hex
(Keypad, Communication or UI)
(External CN1Communication) or = 216 Dec (Communication or UI only)
AC servo drive 273

Please see Chapter 4.4.5 DI Signal Display Diagnosis Operation for display layout of
the Digital Signal
selection.
The Digital Input Control Contact parameter, P3-06 also works in conjunction with
the Multi Function Digital Input parameter P4-07 which has several functions.
The contents of P4-07 is "read only" via the drive keypad and will display the state
on or off ("blank" or "|") of the eight Digital Inputs which have been set in
accordance to P3-06. For Example; if P3-06 has been set to 0 (All DI is external and
via the CN 1 interface) and the P4-07 display is indicating the following:
_ | | | _ _ _ | (for the manual this picture should be similar to the one shown on
page 4-8 (Ch 4.4.5))
The Digital Inputs 1, 5, 6, & 7 are "on" (high) and Digital Inputs 2, 3, 4, & 8 are "off"
(low).
If the contents of P4-07 is being read via communication the output will be a
decimal number that will represent the "binary" display. Therefore in the previous
example the decimal number being read would be 113.
However, in the communication mode the user can write to P4-07 to turn the
Digital Inputs either "on" or "off". Again this achieved by sending a decimal or
hexadecimal number that corresponds to the binary representation of the Digital
Inputs being addressed. Therefore in the previous example 113 or 71 hex would be
sent to 407H to switch on Digital Inputs 1, 5, 6, & 7. Remember, previous to this P3-
06 would have been set to either 255 / FF or 113 / 71 (This sets the Digital Inputs
1, 5, 6, & 7 to communication).
0307H Default: 0
Communication Range: 0~255
Response Delay
Time
This parameter is used to delay the communication time that servo drive respond
to host controller (external controller)
274 AC servo drive

8.3 MODBUS Communication Protocol
When using RS-232/485/422 serial communication interface, each Lexium 23

series AC servo drive has a pre-assigned communication address specified by
parameter "P3-00". The computer then controls each AC servo drive according to
its communication address. Lexium 23 series AC servo drives can be set up to
communicate on a MODBUS networks using on of the following modes: ASCII
(American Standard Code for Information Interchange) or RTU (Remote Terminal
Unit). Users can select the desired mode along with the serial port communication
protocol in parameter "P3-02".
Code Description: ASCII Mode:

Each 8-bit data is the combination of two ASCII characters. For example, a 1-byte
data: 64 Hex, shown as '64' in ASCII, consists of '6' (36Hex) and '4' (34Hex).
The following table shows the available hexadecimal characters and their
corresponding ASCII codes.
Character ‘0’ ‘1’ ‘2’ ‘3’ ‘4’ ‘5’ ‘6’ ‘7’

ASCII code 30H 31H 32H 33H 34H 35H 36H 37H
Character ‘8’ ‘9’ ‘A’ ‘B’ ‘C’ ‘D’ ‘E’ ‘F’
ASCII code 38H 39H 41H 42H 43H 44H 45H 46H
RTU Mode:
Each 8-bit data is the combination of two 4-bit hexadecimal characters. For
example, a 1-byte data: 64 Hex.
Data Format: 10-bit character frame (For 7-bit character)

7N2
Start Stop Stop
bit 0 1 2 3 4 5 6
bit bit
7-data bits
10-bits character frame
7E1
Start Even Stop
0 1 2 3 4 5 6 parity
bit bit
7-data bits
7O1
Start Odd Stop
0 1 2 3 4 5 6 parity
bit bit
7-data bits
AC servo drive 275

11-bit character frame (For 8-bit character)

8N2
Start 0 1 2 3 4 5 6 7 Stop Stop
bit bit bit
8-data bits
8E1
Start 0 1 2 3 4 5 6 7 Even Stop
bit parity bit
8-data bits
8O1
Start 0 1 2 3 4 5 6 7 Odd Stop
bit parity bit
8-data bits
Communication ASCII Mode:

Protocol:
STX Start character': ' (3AH)
ADR Communication address: 1-byte consists of 2 ASCII codes
CMD Command code: 1-byte consists of 2 ASCII codes
DATA (n-1)
…… Contents of data: n word = n x 2-byte consists of n x 4 ASCII codes, ny12
DATA (0)
LRC Command code: 1-byte consists of 2 ASCII codes
End 1 End code 1: (0DH) (CR)
End 0 End code 0: (0AH) (LF)
RTU Mode:
STX A silent interval of more than 10ms
ADR Communication address: 1-byte
CMD Command code: 1-byte
DATA(n-1)
…… Contents of data: n word = n x 2-byte, ny12
DATA(0)
CRC Command code: 1-byte
End 1 A silent interval of more than 10ms
276 AC servo drive

STX (Communication Start)

ASCII Mode: ':' character
RTU Mode: A silent interval of more than 10ms
ADR (Communication Address)

The valid communication addresses are in the range of 1 to 254.
For example, communication to AC servo drive with address 16 decimal:
ASCII Mode: ADR='1','0' => '1'=31H,'0'=30H
RTU Mode: ADR = 10H
CMD (Command Codes) and DATA (Data Characters)

The format of data characters depends on the command code. The available
command codes and examples for AC servo drive are described as follows:
Command code: 03H, read N words. The maximum value of N is 10.
For example, reading continuous 2 words from starting address 0200H of AC servo
drive with address 01H.
ASCII Mode:
Command message: Response message:
STX ‘:’ STX ‘:’
‘0’ ‘0’
ADR ADR
‘1’ ‘1’
‘0’ ‘0’
CMD CMD
‘3’ ‘3’
‘0’ Number of data ‘0’
Starting data ‘2’ (Count by byte) ‘4’
address ‘0’ ‘0’
‘0’ Contents of starting ‘0’
‘0’ data address 0200H ‘B’
‘0’ ‘1’
Number of data
‘0’ ‘1’
‘2’ Contents of second ‘F’
‘F’ data address 0201H ‘4’
LRC Check
‘8’ ‘0’
End 1 (0DH) (CR) ‘E’
LRC Check
End 0 (0AH) (LF) ‘8’
End 1 (0DH) (CR)
End 0 (0AH) (LF)
AC servo drive 277

RTU Mode:
ADR 01H ADR 01H
CMD 03 CMD 03H
Starting data 02H (Upper bytes) Number of data
04H
address 00H (Lower bytes) (Count by byte)
Number of data 00H Contents of starting 00H (Upper bytes)
(Count by word) 02H data address 0200H B1H (Lower bytes)
CRC Check Low C5H (Lower bytes) Contents of second 1FH (Upper bytes)
CRC Check High B3H (Upper bytes) data address 0201H 40H (Lower bytes)
CRC Check Low A3H (Lower bytes)
CRC Check High D4H (Upper bytes)
Command code: 06H, write 1 word

For example, writing 100 (0064H) to starting data address 0200H of Lexium 23
series with address 01H.
ASCII Mode:
STX ‘:’ STX ‘:’
‘0’ ‘0’
ADR ADR
‘1’ ‘1’
‘0’ ‘0’
CMD CMD
‘6’ ‘6’
‘0’ ‘0’
Starting data ‘2’ Starting data ‘2'
address ‘0’ address ‘0’
‘0’ ‘0’
‘0’ ‘0’
‘0’ ‘0’
Content of data Content of data
‘6’ ‘6’
‘4’ ‘4’
‘9’ ‘9’
LRC Check LRC Check
‘3’ ‘3’
End 1 (0DH) (CR) End 1 (0DH) (CR)
End 0 (0AH) (LF) End 0 (0AH) (LF)
278 AC servo drive

RTU Mode:
ADR 01H ADR 01H
CMD 06H CMD 06H
Starting data 02H (Upper bytes) Starting data 02H (Upper bytes)
address 00H (Lower bytes) address 00H (Lower bytes)
00H (Upper bytes) 00H (Upper bytes)
Content of data Content of data
64H (Lower bytes) 64H (Lower bytes)
CRC Check Low 89H (Lower bytes) CRC Check Low 89H (Lower bytes)
CRC Check High 99H (Upper bytes) CRC Check High 99H (Upper bytes)
LRC (ASCII Mode):

LRC (Longitudinal Redundancy Check) is calculated by summing up, module 256,
the values of the bytes from ADR to last data character then calculating the
hexadecimal representation of the 2's-complement negation of the sum.
For example, reading 1 word from address 0201H of the Lexium 23 series servo
drive with address 01H.
STX ‘:’
‘0’
ADR
‘1’
‘0’
CMD
‘3’
‘0’
Starting data ‘2’
address ‘0’
‘1’
‘0’
‘0’
Number of data
‘0’
‘1’
‘F’
LRC Check
‘8’
End 1 (0DH) (CR)
End 0 (0AH) (LF)
01H+03H+02H+01H+00H+01H = 08H, the 2's complement negation of 08H is F8H.

Hence, we can know that LRC CHK is 'F','8'.
AC servo drive 279

CRC (RTU Mode):

CRC (Cyclical Redundancy Check) is calculated by the following steps:
Step 1: Load a 16-bit register (called CRC register) with FFFFH.
Step 2: Exclusive OR the first 8-bit byte of the command message with the low
order byte of the 16-bit CRC register, putting the result in the CRC register.
Step 3: Extract and examine the LSB. If the LSB of CRC register is 0, shift the CRC
register one bit to the right. If the LSB of CRC register is 1, shift the CRC
register one bit to the right, then Exclusive OR the CRC register with the
polynomial value A001H.
Step 4: Repeat step 3 until eight shifts have been performed. When this is done, a
complete 8-bit byte will have been processed, then perform step 5.
Step 5: Repeat step 2 to step 4 for the next 8-bit byte of the command message.
Continue doing this until all bytes have been processed. The final contents
of the CRC register are the CRC value.
Note:
1) When transmitting the CRC value in the message, the upper and lower bytes of the
CRC value must be swapped, i.e. the lower order byte will be transmitted first.
2) For example, reading 2 words from address 0101H of the AC servo drive with
address 01H. The final content of the CRC register from ADR to last data
character is 3794H, then the command message is shown as follows. What
should be noticed is that 94H have to be transmitted before 37H.
Command Message:
ARD 01H
CMD 03H
Starting data 01H (Upper byte)
address 01H (Lower bytes)
Number of data 00H (Upper bytes)
(Count by word) 02H (Lower bytes)
CRC Check Low 94H (Lower bytes)
CRC Check High 37H (Upper bytes)
End1, End0 (Communication End)

ASCII Mode:
In ASCII mode, (0DH) stands for character '\r' (carriage return) and (0AH) stands
for character '\n' (new line), they indicate communication end.
RTU Mode:
In RTU mode, a silent interval of more than 10ms indicates communication end.
280 AC servo drive

The following is an example of CRC generation using C language. The function

takes two arguments:
unsigned char* data;
unsigned char length
The function returns the CRC value as a type of unsigned integer.
unsigned int crc_chk(unsigned char* data, unsigned char length) {
int j;
unsigned int reg_crc=0xFFFF;
while( length-- ) {
reg_crc^= *data++;
for (j=0; j<8; j++ ) {
if( reg_crc & 0x01 ) { /*LSB(bit 0 ) = 1 */
reg_crc = (reg_crc >> 1)^0xA001;
} else {
reg_crc = (reg_crc>>1);
}
}
}
return reg_crc;
}
PC communication program example:

#include<stdio.h>
#include<dos.h>
#include<conio.h>
#include<process.h>
#define PORT 0x03F8 /* the address of COM 1 */
#define THR 0x0000
#define RDR 0x0000
#define BRDL 0x0000
#define IER 0x0001
#define BRDH 0x0001
#define LCR 0x0003
#define MCR 0x0004
#define LSR 0x0005
#define MSR 0x0006
unsigned char rdat[60];
/* read 2 data from address 0200H of ASD with address 1 */
unsigned char tdat[60]={':','0','1','0','3','0','2','0','0','0','0','0','2','F','8','\r','\n'};
void main() {
AC servo drive 281

int I;
outportb(PORT+MCR,0x08); /* interrupt enable */
outportb(PORT+IER,0x01); /* interrupt as data in */
outportb(PORT+LCR,( inportb(PORT+LCR) | 0x80 ) );
/* the BRDL/BRDH can be access as LCR.b7 == 1 */
outportb(PORT+BRDL,12);
outportb(PORT+BRDH,0x00);
outportb(PORT+LCR,0x06); /* set prorocol
<7,E,1> = 1AH, <7,O,1> = 0AH
<8,N,2> = 07H <8,E,1> = 1BH
<8,O,1> = 0BH */
for( I = 0; I<=16; I++ ) {

while( !(inportb(PORT+LSR) & 0x20) ); /* wait until THR empty */
outportb(PORT+THR,tdat[I]); /* send data to THR */
}
I = 0;
while( !kbhit() ) {
if( inportb(PORT+LSR)&0x01 ) { /* b0==1, read data ready */
rdat[I++] = inportb(PORT+RDR); /* read data from RDR */
}
}
}
282 AC servo drive

8.4 Communication Parameter Write-in and Read-out
There are following five groups for parameters:

Group 0: Monitor parameter (example: P0-xx)
Group 1: Basic parameter (example: P1-xx)
Group 2: Extension parameter (example: P2-xx)
Group 3: Communication parameter (example: P3-xx)
Group 4: Diagnosis parameter (example: P4-xx)
For a complete listing and description of all parameters, refer to Chapter 7.
Communication write-in parameters for Lexium 23 series are including:

Group 0: P0-02 ~ P0-17 (0002H to 0011H)
Group 1: P1-00 ~ P1-62 (0100H to 013EH)
Group 2: P2-00 ~ P2-65 (0200H to 0241H)
Group 3: P3-00 ~ P3-07 (0300H to 0307H)
Group 4: P4-05 ~ P4-23 (0405H to 0417H)
Note:
1) P3-01 After the new transmission speed is set, the next data will be written in
new transmission speed.
2) P3-02 After the new communication protocol is set, the next data will be
written in new communication protocol.
3) P4-05 JOG control of servo motor. For the description, refer to Chapter 7.
4) P4-06 Force output contact control. This parameter is for the users to test if
DO (Digit output) is normal. User can set 1, 2, 3, 4, 5 to test DO0, DO1,
DO2, DO3, DO4, respectively. After the test has been completed, please
set this parameter to 0 to inform the drive that the test has been
completed.
5) P4-10 Adjustment function selection. If user desires to change the settings of
this parameter, user has to set the value of the parameter P2-08 to 20
(hexadecimal: 14H) first and then restart.
After restarting, the settings of parameter P4-10 can become modified.
6) P4-11 ~ P4-21 These parameters are for offset adjustment. Do not change the
factory default setting if not necessary. If the user desires to
change the settings of these parameters, the user has to set the
value of the parameter P2-08 to 22 (hexadecimal: 16H) first
and then restart. After restarting, the settings of parameters
P4-11 to P4-21 can become modified.
AC servo drive 283

Communication read-out parameters for Lexium 23 series are including:

Group 0: P0-00 ~ P0-17 (0000H to 0011H)
Group 1: P1-00 ~ P1-62 (0100H to 013EH)
Group 2: P2-00 ~ P2-65 (0200H to 0241H)
Group 3: P3-00 ~ P3-07 (0300H to 0307H)
Group 4: P4-00 ~ P4-23 (0400H to 0417H)
284 AC servo drive

Maintenance and Inspection
9
At a Glance
Presentation Lexium 23 servo drives are based on solid state electronics technology. Preventive
maintenance is required to operate this Lexium 23 servo drives in its optimal
condition, and to ensure a long life. It is recommended to perform a periodic
maintenance and inspection of the Lexium 23 servo drive by a qualified technician.
Before any maintenance and inspection, always turn off the Lexium 23 input power
to the unit.
Warning
RISK OF ELECTRICAL CHOC
Be sure to disconnect AC power and ensure that the internal capacitors have fully
discharged before performing the maintenance and inspection!
Failure to follow this recommandation may result in death or serious injuries
What's in this
Topic Page
Basic Inspection 286
Maintenance 288
Life of Replacement Components 289
285
Maintenance and Inspection Lexium 23
9.1 Basic Inspection
After power is in connected to the Lexium 23 servo drive, the charge LED will be lit
which indicates that the Lexium 23 servo drive is ready.
Item Content
z Periodically inspect the screws of the servo drive, motor shaft,
terminal block and the connection to mechanical system. Tighten
screws as necessary as they may loosen due to vibration and
varying temperatures.
z Ensure that oil, water, metallic particles or any foreign objects do not
General Inspection fall inside the servo drive, motor, control panel or ventilation slots
and holes. As these will cause damage.
z Ensure the correct installation and the control panel. It should be
free from airborne dust, harmful gases or liquids.
z Ensure that all wiring instructions and recommendations are
followed; otherwise damage to the drive and or motor may result.
z Inspect the servo drive and servo motor to insure they were not
damaged.
z To avoid an electric shock, be sure to connect the ground terminal
of servo drive to the ground terminal of control panel.
z Before making any connection, wait 10 minutes for capacitors to
discharge after the power is disconnected, alternatively, use an
appropriate discharge device to discharge.
z Ensure that all wiring terminals are correctly insulated.
z Ensure that all wiring is correct or damage and or malfunction may
Inspection before
result.
operation (Control
z Visually check to ensure that there are not any unused screws, metal
power is not
strips, or any conductive or inflammable materials inside the drive.
applied)
z Never put inflammable objects on servo drive or close to the external
regenerative resistor.
z Make sure control switch is OFF.
z If the electromagnetic brake is being used, ensure that it is correctly
wired.
z If required, use an appropriate electrical filter to eliminate noise to
the servo drive.
z Ensure that the external applied voltage to the drive is correct and
matched to the controller.
286 AC servo drive

Lexium 23 Maintenance and Inspection
Item Content
z Ensure that the cables are not damaged, stressed excessively or
loaded heavily. When the motor is running, pay close attention on
the connection of the cables and notice that if they are damaged,
frayed or over extended.
z Check for abnormal vibrations and sounds during operation. If the
servo motor is vibrating or there are unusual noises while the motor
is running, please contact the dealer or manufacturer for assistance.
z Ensure that all user-defined parameters are set correctly. Since the
characteristics of various machinery are different, in order to avoid
Inspection during
accident or cause damage, do not adjust the parameter abnormally
operation (Control
and ensure the parameter setting is not an excessive value.
power is applied))
z Ensure to reset some parameters when the servo drive is off (Please
refer to Chapter 7). Otherwise, it may result in malfunction.
z If there is no contact sound or there be any unusual noises when the
relay of the servo drive is operating, please contact your distributor
for assistance or contact with Schneider electric.
z Check for abnormal conditions of the power indicators and LED
display. If there is any abnormal condition of the power indicators
and LED display, please contact your distributor for assistance or
contact with Schneider electric.
AC servo drive 287

9.2 Maintenance
z Use and store the product in a proper and normal environment.
z Periodically clean the surface and panel of servo drive and motor.
z Make sure the conductors or insulators are corroded and/or damaged.
z Do not disassemble or damage any mechanical part when performing

maintenance.
z Clean off any dust and dirt with a vacuum cleaner. Place special emphasis on
cleaning the ventilation ports and PCBs. Always keep these areas clean, as
accumulation of dust and dirt can cause unforeseen failures.
288 AC servo drive

Lexium 23 Maintenance and Inspection
9.3 Life of Replacement Components
z Smooth capacitor
The characteristics of smooth capacitor would be deteriorated by ripple current
affection. The life of smooth capacitor varies according to ambient temperature
and operating conditions. The common guaranteed life of smooth capacitor is
ten years when it is properly used in normal air-conditioned environment.
z Relay
The contacts will wear and result in malfunction due to switching current. The life
of relay varies according to power supply capacity. Therefore, the common
guaranteed life of relay is cumulative 100,000 times of power on and power off.
z Cooling fan
The cooling fan life is limited and should be changed periodically. The cooling fan
will reach the end of its life in 2~3 years when it is in continuous operation.
However, it also must be replaced if the cooling fan is vibrating or there are
unusual noises.
AC servo drive 289

290 AC servo drive

Troubleshooting
10
At a Glance
Presentation If a fault is detected on the servo drive or motor a corresponding fault code will be
shown on the drive's LED display. Fault codes can also be transmitted via
communication, see P0-01 and P4-00 ~ P4-04 for display on controller or HMI.
What's in this
Topic Page
Fault Messages Table 292
Potential Cause and Corrective Actions 294
Clearing Faults 302
291
Troubleshooting Lexium 23
10.1 Fault Messages Table
Servo Drive Fault Messages

Fault Messages
Display Fault Name Fault Description
Main circuit current is higher than 1.5 multiple of motor's
-71#$ Overcurrent
instantaneous maximum current value.
Main circuit voltage has exceeded its maximum allowable
-71#% Overvoltage
value.
-71#& Undervoltage Main circuit voltage is below its minimum specified value.
-71#' Reserved
-71#( Regeneration error Regeneration control operation is in error.
-71#) Overload Servo motor and drive is overload.
-71#* Overspeed Motor's control speed exceeds the limit of normal speed.
Abnormal pulse Input frequency of pulse command exceeds the limit of
-71#+
control command its allowable setting value.
Position control deviation value exceeds the limit of its
-71#, Excessive deviation
allowable setting value.
Watch dog
-71$# Watch dog execution time out.
execution time out
-71$$ Encoder error Pulse signal is in error.
Adjusted value exceeds the limit of its allowable setting
-71$% Adjustment error
value when perform electrical adjustment.
Emergency stop
-71$& Emergency stop switch is activated.
activated
Reverse limit
-71$' Reverse limit switch is activated.
switch error
Forward limit
-71$( Forward limit switch is activated.
switch error
IGBT temperature
-71$) The temperature of IGBT is over high.
error
-71$* Memory error EE-PROM write-in and read-out is in error.
DSP The communication between DSP and MCU is in error.
-71$+ communication DSP do not respond to MCU command. The problem is on
error DSP side.
Serial
-71$, communication RS232/485 communication is in error.
error
292 AC servo drive

Lexium 23 Troubleshooting
Fault Messages
Serial communication
-71%# RS232/485 communication time out.
time out
Command write-in
-71%$ Control command write-in error.
error
Input power phase
-71%% One phase of the input power is loss.
loss
To warn that the servo motor and drive is going to
overload. This alarm will display before ALM06. When
Pre-overload the servo motor reach the setting value of P1-56, the
-71%&
warning motor will send a warning to the drive. After the drive
has detected the warning, the DO signal OLW will be
activated and this fault message will display.
Internal command
-71,* An error occurs when internal command is executing.
execution time out
1. DSP do not respond to MCU command.
DSP communication 2. DSP has responded to MCU command but there is
-71,+
error error in response message. Maybe the hardware is
damaged.
1. DSP do not respond to MCU command.
DSP communication 2. DSP has responded to MCU command but there is
-71,,
error error in response message. Maybe the hardware is
damaged.
Servo Drive Fault Messages (LEXIUM 23M Series Only)

Fault Messages
The servo drive and servo motor are not correctly
-71#' "Mismatch" error
match for size (power rating)
Z pulse shift. The corresponding angle of magnetic field
-71%' Encoder error
of Z phase is error.
The servo drive automatically detect the servo motor is
-71%( Encoder error
in error.
Note: If there is any unknown fault code that is not listed on the above table, please
inform the distributor or contact with your nearest Schneider electric agency for
assistance.
AC servo drive 293

10.2 Potential Cause and Corrective Actions
Servo Drive Fault Messages

-71#$ : Overcurrent
Potential Cause Checking Method Corrective Actions

Short-circuit at drive 1. Check the wiring connections Repair the short-circuited and
output (U, V, W) between drive and motor. avoid metal conductor being
2. Check if the wire is short- exposed.
circuited.
Motor wiring error Check if the wiring steps are all Follow the wiring steps in the
correct when connecting motor to user manual to reconnect
drive. wiring.
IGBT error Heat sink overheated Please contact your distributor
for assistance or contact your
nearest Schneider electric
agency.
Control parameter Check if the setting value exceeds Set the setting back to factory
setting error the factory default setting. default setting and then reset
and adjust the parameter
setting again.
Control command Check if the control input 1. Ensure that input command
setting error command is unstable (too much frequency is stable (too
fluctuation). much fluctuation).
2. Activate filter function.
-71#% : Overvoltage

The main circuit Use voltmeter to check whether Use correct power supply or
voltage has exceeded the input voltage falls within the stabilizing power.
its maximum rated input voltage. (For voltage
allowable value. specification, please refer to
section 11.1 in Chapter11.)
Input power error Use voltmeter to check whether Use correct power supply or
(Incorrect power the input voltage is within the stabilizing power.
input) specified limit.
294 AC servo drive

-71#& : Undervoltage

The main circuit Check whether the wiring of main Reconfirm voltage wiring.
voltage is below its circuit input voltage is normal.
minimum specified
value.
No input voltage at Use voltmeter to check whether Reconfirm power switch.
main circuit. input voltage at main circuit is
normal.
Input power error Use voltmeter to check whether Use correct power supply or
(Incorrect power the input voltage is within the serial stabilizing power.
input) specified limit.
-71#' : Reserved
-71#( : Regeneration error

Regenerative resistor Check the wiring connection of Reconnect regenerative
is not connected. regenerative resistor. resistor.
Regenerative switch Check if regenerative switch Please contact your distributor
transistor fault transistor is shortcircuited. for assistance or contact your
agency.
Parameter setting is Confirm the parameter setting and Correctly reset parameter
in error specifications of regenerative again.
resistor.
-71#) : Overload

The drive has Check if the drive is overloaded. Increase motor capacity or
exceeded its rated reduce load.
load during
continuous operation.
Control system Check if there is mechanical Adjust gain value of control
parameter setting is vibration circuit.
incorrect.
Accel/Decel time setting is too fast. Decrease Accel/Decel time
setting.
The wiring of drive and Check the wiring of U, V, W and Ensure all wiring is correct.
encoder is in error. encoder.
AC servo drive 295

-71#* : Overspeed

Speed input command Use signal detector to detect if Ensure that input command
is not stable (too much input signal is abnormal. frequency is stable (not
fluctuation). fluctuate too much) and
activate filter function (P1-06,
P1-07 and P1-08).
Over-speed parameter Check if over-speed parameter Correctly set over-speed
setting is defective. setting value is too low. parameter setting (P2-34).
-71#+ : Abnormal pulse control command

Pulse command Use pulse frequency detector to Correctly set the input pulse
frequency is higher measure input frequency. frequency.
than rated input
frequency.
-71#, : Excessive deviation

Maximum deviation Check the maximum deviation Increases the parameter
parameter setting is parameter setting and observe the setting value of P2-35.
too small. position error value when the
motor is running.
Gain value is too Check for proper gain value. Correctly adjust gain value.
small.
Torque limit is too Check torque limit value. Correctly adjust torque limit
low. value.
There is an overload. Check for overload condition. Reduce external applied load
or reestimate the motor
capacity.
-71$# : Watch dog execution time out

Watch dog execution Check and reset the power supply. If there are any abnormal
error. conditions after resetting the
power supply, please contact
your distributor for assistance
or contact your nearest
Schneider electric agency.
296 AC servo drive

-71$$ : Encoder error (Position detector fault)

The wiring of 1. Check if all wiring is correct. Ensure all wiring is correct.
encoder is in error. 2. Check if the users conduct the
wiring by the wiring information
in the user manual.
Encoder is loose Examine the encoder connector. Install the motor again.
The wiring of Check if all connections are tight. Conduct the wiring again.
encoder is defective.
Encoder is damage Check the motor for the damage. Repair or replace the motor.
The circuit (loop) of Check the drive for the damage. Repair or replace the drive.
Encoder is in error.
-71$% : Adjustment error

The setting value of 1. Remove CN1 wiring. executing the drift adjustment
drift adjustment has 2. Execute the drift adjustment again, please contact your
exceeded its again. (Set P2-08 to 20 first, and distributor for assistance or
maximum allowable then set P4-10 to 5.) contact your nearest
value. Schneider electric agency.
-71$& : Emergency stop activated

Emergency stop Check if emergency stop switch is Activate emergency stop
switch is activated. On or Off. switch.
-71$' : Reverse (CWL) limit switch error

Reverse limit switch is Check if reverse limit switch is On Activate reverse limit switch.
activated. or Off.
Servo system is not Check the value of control Modify parameter setting and
stable. parameter setting and load inertia. reestimate motor capacity.
AC servo drive 297

-71$( : Forward (CCWL) limit switch error

Forward limit switch Check if forward limit switch is On Activate forward limit switch.
is activated. or Off.
Servo system is not Check the value of control Modify parameter setting and
stable. parameter setting and load inertia. reestimate motor capacity.
-71$) : IGBT temperature error

The drive has Check if there is overload or the Increase motor capacity or
exceeded its rated motor current is too high. reduce load.
load during continuous
operation.
Short-circuit at drive Check the drive input wiring. Ensure all wiring is correct.
output.
-71$* : Memory error

Data error in Memory Reset parameter or power supply. If the error does not clear after
read-out / write-in. resetting the power supply,
please contact your distributor
agency.
-71$+ : DSP communication error

Control power is in Check and reset control power If the error does not clear after
error. resetting the power supply,
agency.
298 AC servo drive

-71$, : Serial communication error

Communication Check the communication Correctly set parameter
parameter setting is parameter setting. setting.
defective.
Communication Check the communication address. Correctly set communication
address is incorrect. address.
Communication Check the communication value. Correctly set communication
value is incorrect. value.
-71%# : Serial communication time out

Setting value in time Check communication time out Correctly set P3-07.
out parameter is not parameter setting.
correct.
Not receiving Check whether communication Tighten the communication
communication cable is loose or broken. cable, make sure the
command for a long communication cable is not
time. damaged and ensure all wiring
is correct.
-71%$ : Command write-in error

Control power is in Check and reset control power If the error does not clear after
error. resetting the power supply,
agency.
-71%% : Input power phase loss

Control power supply Check the power cable and If the fault does not clear even
is in error. connections of R, S, T. Check when the three-phase power is
whether the power cable is loose or connected correctly, please
the possible loss of phase on input contact your distributor for
power. assistance or contact your
agency.
AC servo drive 299

-71%& : Pre-overload warning

The drive is going to 1. Check the load condition of the 1. Please refer to the
overload. servo motor and drive. correction actions of ALE06.
2. Check the setting value of P1- 2. Increase the setting value of
56. Check whether the setting P1-56 or set P1-56 to 100
value of P1-56 is to small. and above.
-71,* : Internal command execution time out

An error occurs when Check and reset control power If the error does not clear after
internal command is resetting the power supply,
executing. please contact your distributor
agency.
-71,+ : DSP communication error

Maybe the hardware is Check and reset control power If the error does not clear after
damaged. resetting the power supply,
agency.
-71,, : DSP communication error

Maybe the hardware is Check and reset control power If the error does not clear after
damaged. resetting the power supply,
agency.
300 AC servo drive

Servo Drive Fault Messages (Lexium 23M Series Only)

-71#' : "Mismatch" error

The type of the servo Check if the servo drive and servo Repair or replace the servo
motor is incorrect. motor are not correctly matched drive or the servo motor.
for size (power rating).
-71%' : Encoder error (Position detector fault)

Maybe the Encoder is If the error does not clear after resetting the power supply, please
damaged. contact your distributor for assistance or contact your nearest
Schneider electric agency.
-71%( : Encoder error (Position detector fault)

The servo drive 1. Check if the servo motor is 1. Please connect the grounding
automatically detect properly grounded. (green color) of U, V, W
the servo motor is in 2. Check if the encoder signal terminal to the heatsink of
error. cables are placed in separate the servo drive.
conduits from the cables 2. Ensure that the encoder
connected to R, S, T and U, V, W signal cables are placed in
terminals to prevent the separate conduits from the
interference. cables connected to R, S, T
3. Check if the shielded cables are and U, V, W terminals to
used when performing Encoder prevent the interference.
wiring. 3. Please use shielded cables for
Encoder wiring.
AC servo drive 301

10.3 Clearing Faults
Display Fault Name Clearing Method

Turn ARST (DI signal) ON to clear the fault or
-71#$ Overcurrent
restart the servo drive.
-71#% Overvoltage
This fault message can be removed automatically
-71#& Undervoltage after the voltage has returned within its
specification.
-71#' Reserved
-71#( Regeneration error
-71#) Overload
-71#* Overspeed
Abnormal pulse control Turn ARST (DI signal) ON to clear the fault or
-71#+
command restart the servo drive.
-71#, Excessive deviation
Watch dog execution time
-71$# This fault message cannot be cleared.
out
This fault message can be removed by restarting
-71$$ Encoder error
the servo drive.
This fault message can be removed after the
wiring of CN1 connector (I/O signal connector) is
-71$% Adjustment error
removed and auto adjustment function is
executed.
This fault message can be removed automatically
-71$& Emergency stop activated
by turning off EMGS (DI signal).
Turn ARST (DI signal) ON to clear the fault. This
-71$' Reverse limit switch error fault message can be removed when the servo
drive is Off (Servo Off)
-71$( Forward limit switch error fault message can be removed when the servo
drive is Off (Servo Off)
-71$) IGBT temperature error
-71$* Memory error
302 AC servo drive

Display Fault Name Clearing Method

-71$+ DSP communication error
Serial communication
-71$, fault message can also be removed automatically
error
after the communication is normal.
Serial communication time Turn ARST (DI signal) ON to clear the fault or
-71%#
out restart the servo drive.
-71%$ Command write-in error
-71%% Input power phase loss fault message can be removed automatically
after input power phase lost problem is solved.
-71%& Pre-overload warning
Internal command Turn ARST (DI signal) ON to clear the fault or
-71,*
execution time out restart the servo drive.
-71,+ DSP communication error
-71,, DSP communication error
Lexium 23M Series Only

-71#$ Overcurrent
the servo drive.
-71#' "Mismatch" error
the servo drive.
This fault message can be removed by rotating
Encoder error (Position
-71%' the motor shaft first and then restarting the servo
detector fault)
drive.
Encoder error (Position This fault message can be removed by restarting
-71%(
detector fault) the servo drive.
AC servo drive 303

304 AC servo drive

Specifications
11
At a Glance
What's in this
Topic Page
Specifications of Lexium 23 Servo Drive 306
BCH servo motor specifications 309
BCH Servo Motor Speed-Torque Curves 312
Overload Characteristics 316
Dimensions of Lexium 23 Servo Drive 318
Dimensions of BCH Servo Motor 321
305
Specifications Lexium 23
11.1 Specifications of Lexium 23 Servo Drive
Environmental characteristics
Conformity to standards Lexium 23 servo drives have been developed to conform
to the strictest international standards and the
recommendations relating to electrical industrial control
equipment (IEC, EN), including: low voltage, IEC/EN
61800-5-1, IEC/EN 61800-3(conducted and radiated E
MC immunity and emissions)
EMC immunity IEC/EN 61800-3, environments 1 and 2
IEC/EN 61000-4-2 level 3
Conducted and IEC/EN 61800-3, environments 1 and 2, categories
radiated EMC emissions C2, C3
for servo drives
Installation Site Indoor location (no direct sunlight), no corrosive liquid
and gas (far away from oil mist, flammable gas, dust)
e marking The drives are e marked in accordance with the European
low voltage (73/23/EECand 93/68/EEC) and EMC (89/
336/EEC) directives
Product certification UL (USA), C-tick (1)
Degree of protection IEC/EN 61800-5-1， IEC/EN 60529
IP20
Vibration resistance 9.80665m/s2 (1G) under 20Hz
5.88m/s2 (0.6G) 20~50 Hz
Relative humidity 0~90 %RH (without condensation)
Ambient air Operation °C 0...+ 55 (if operating temperature is above specified
temperature range, forced cooling will be required)
Storage °C -20~65
Type of cooling LXM 23 CU01M3X...04M3X Natural convection
LXM 23 CU07M3X...MU75M3X Fan
Maximum operating altitude m 1000 without derating
Atmospheric pressure kPA 86~106
Power system TN system(2)
Operating position 10° 10°
Maximum permanent angle in relation
to the normal vertical mounting
position
(1) For above 2 Kw type pls consult our sales branch.

(2) TN system: A power distribution having one point directly earthed,the exposed conductive parts of the
installation being connected to that points by protective earth conductor.
306 AC servo drive

Lexium 23 Specifications
Control signal characteristic

Protective function Overcurrent, Overvoltage, Undervoltage, Motor
Overheated, Regeneration Error, Overload, Overspeed,
Abnormal pulse control command, Encoder error,
memory error, Communication error, U,V,W and
CN1,CN2 and CN3 terminals with short circuit protection.
Digital Input
Servo ON, Reset, Gain Switching, Pulse Clear, Emergency
stop, Forward /Reverse inhibit limit, Internal parameter
selection, Torque limit activation, Speed limit activation,
Control mode selection (Position / Speed / Torque mode
selection, Dual mode selection, Position register), Internal
auto running mode, Electronic gear ratio selection (1).
Digital Output
Encoder Signal output (A,B,Z Line Driver)
Servo ready, Servo On, Zero Speed, Speed Reached,
Positionning completed, At torque limit, Servo alarm
output (Servo Fault), Electromagnetic brake, Home
completed, Ready, Overload Alarm, Servo Pre-alarm
Communication interface
RS-232/ RS-485/ RS-422
(1) Lexium 23 M also have other advanced function like automatically postioning mode control.
AC servo drive 307

Driver features
Control of main Circuit SVPWM Control
Tuning Modes Auto/ Manual
Dynamic brake Built-in
Electric power features
Power Voltage V 220 VAC single phase or three phase LXM
23CU01M3X...15M3X
220 VAC three phase LXM 23CU20M3X...MU75M3X
Permissible Voltage Range V 170~255 VAC three phase, 220~255 VAC single phase
LXM 23CU01M3X...15M3X
170~255 VAC three phase LXM 23CU20M3X..MU75M3X
Permissible Frequency Range Hz 50/60 HZ +/- 5%
Control mode
Position Max. Input Pulse Frequency Kpps Line driver : 500 Kpps, Open collector : 200 Kpps (1)
control Pulse Type Pulse/direction, A phase + B phase, CCW Pulse + CW Pulse
mode Command Source External pulse train / Internal parameters
Smoothing strategy Low Pass and P-Curve filter
Electronic Gear Electronic gear N/M multiple N: 1~32767, M : 1:32767
(1/50<N/M<200)
Torque limit operation Set by parameters
Feedforward compensation Set by parameters
Speed Analog input command VDC 0~+/- 10 VDC
control Voltage Range
mode Input Resistance kΩ 10
Time constant μs 2.2
Speed control range (2) LXM 23CU01M3X...30M3X 1:5000
LXM 23MU45M3X...MU75M3X 1:3000
Command Source External Analog signal/Internal parameters
Smoothing strategy Low Pass and S-Curve filter
Torque limit operation Set by parameters or via Analog input
Band with characteristics Hz LXM 23CU01M3X...30M3X Maximum 450 Hz
LXM 23MU45M3X...MU75M3X Maximum 550 Hz
Speed Fluctuation Rate (3) 0,01% or less at load fluctuation 0 to 100% (rated speed)
0,01% or less at power fluctuation +/-10% (rated speed)
0,01% or less at amabiant temperature fluctuation 0°C to
50°C (rated speed)
Torque Analog inputcommand VDC 0~+/- 10 VDC
control Voltage Range
mode Input Resistance kΩ 10
Time constant μs 2.2
Permissible time for S LXM 23CU01M3X...30M3X 8 sec. Under 200% rated output
overload (4) LXM 23MU45M3X...MU75M3X 16 sec. Under 200% rated
output
Command Source External Analog signal/Internal parameters
Smoothing strategy Low pass filter
Speed limit operation Set by parameters or via Analog input
Analog monitor output Monitor signal can be set by parameters (Output voltage
range : +/- 8V)
(1) 4.5 ~7.5 Kw add high speed pulse input function, max. frequency is 4 Mpps.
(2) During full load, the speed ratio is defined as min. speed (no go and stop)/rated speed.
(3) When command is rated speed, speed fluctuation rate is defined as (empty load speed -full load
speed)/rated speed.
(4) Pls refer to the over load sector of the user manual.
308 AC servo drive

11.2 BCH servo motor specifications
Ultra low /
Low inertia Servo motor reference BCH0401O BCH0601O BCH0602O BCH0801O
Supply power V Single phase 220
Torque Continuous stall Nm 0.32 0.64 1.27
Peak stall Nm 0.96 1.92 3.82
Rated work Rated toruqe Nm 0.32 0.64 1.27
point Rated speed rpm 3000
Rated power kW 0.1 0.2 0.4
Peak current A rms 2.7 4.65 7.8
Maximum speed rpm 5000
Constant Torque Nm/A rms 0.36 0.41 0.49
Inertia No brake kgcm2 0.037 0.177 0.277 0.68
With brake kgcm2 - 0.192 0.3 0.73
Stator Armature resistance Ω 9.3 2.79 1.55 0.93
(at 20°C) (phase/phase)
Armature inductance mH 24 12.07 6.71 7.39
(phase/phase)
Electrical time ms 2.58 4.3 4.3 7.96
constant
Servo motor reference BCH0802O BCH1001O BCH1002O

Supply power V Single phase 220 Three phase 220
Peak stall Nm 7.16 9.54 19.11
Rated power kW 0.75 1 2
Inertia No brake kgcm2 1.13 2.65 4.45
With brake kgcm2 1.18 3.33 4.953
Stator Armature resistance Ω 0.42 0.2 0.13
Armature inductance mH 3.53 1.81 1.5
(phase/phase)
Electrical time ms 8.37 9.3 11.4
constant
AC servo drive 309

Medium inertia
Servo motor reference BCH1301M BCH1301N BCH1302M BCH1302N
Supply power V Single phase 220
Torque Continuous stall Nm 2.86 2.39 5.73 4.77
Peak stall Nm 8.59 7.16 17.19 14.32
Rated work Rated toruqe Nm 2.86 2.39 5.73 4.77
point Rated speed rpm 1000 2000 1000 2000
Rated power kW 0.3 0.5 0.6 1
Peak current A rms 7.5 8.7 14.4 16.8
Maximum speed rpm 2000 3000 2000 3000
Constant Torque Nm/A rms 1.15 0.83 1.19 0.85
Inertia No brake kgcm2 8.17 8.17 8.41 8.41
With brake kgcm2 8.94 8.94 9.14 9.14
Stator Armature resistance Ω 1.06 0.57 0.82 0.47
Armature inductance mH 14.29 7.39 11.12 5.99
(phase/phase)
Electrical time ms 13.55 12.96 13.5 12.88
constant
Servo motor reference BCH1303M BCH1303N BCH1304N

Supply power V Single phase 220 Three phase 220
Peak stall Nm 25.78 21.48 28.65
point Rated speed rpm 1000 2000 2000
Rated power kW 0.9 1.5 2
Maximum speed rpm 2000 3000 3000
Inertia No brake kgcm2 11.18 14.59
With brake kgcm2 11.9 15.88
(phase/phase)
constant
310 AC servo drive

High inertia
Servo motor reference BCH1801N BCH1802M BCH1802N
Supply power V Three phase 220
Peak stall Nm 28.65 57.29 50.31
point Rated speed rpm 2000 1500 2000
Rated power kW 2 3 3.5
With brake kgcm2 37.86 - -
(phase/phase)
constant
Servo motor reference BCH1803M BCH1804M BCH1805M

Supply power V Three phase 220
Peak stall Nm 71.62 87.53 119.36
Rated power kW 4.5 5.5 7.5
Peak current A rms 81.3 100 118.8
With brake kgcm2 -
(phase/phase)
Electrical time ms 27.8 24 26.7
constant
AC servo drive 311

11.3 BCH Servo Motor Speed-Torque Curves
BCH0401O servo motor BCH0601O servo motor
Torque in Nm Torque in Nm
1.0 2.0
Mmax Mmax
1 1
0.8 1.5
0.6
1.0
0.4
M0
2
M0
0.2
2 0.5
0 0
0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000
Speed in rpm Speed in rpm
4.0 4.0
Mmax Mmax
3.5 1 3.5 1
3.0 3.0
2.5 2.5
2.0 2.0
1.5 1.5
M0 M0
1.0 2 1.0 2
0.5 0.5
0 0
0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000
8 10
1 Mmax
Mmax 1
8
6
5 6
4
3 4
M0 M0
2 2 2
2
1
0 0
0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000
312 AC servo drive

BCH1002O servo motor BCH1301N servo motor
20 8
Mmax 1
1 Mmax
15 6
5
10 4
2 3
M0 M0
5 2 2
1
0 0
0 1000 2000 3000 4000 5000 0 1000 2000 3000
BCH1302N servo motor BCH1303N servo motor
20 25
Mmax 1
15 20
Mmax
1
15
10
10
M0
2
5
M0
2 5
0 0
0 1000 2000 3000 0 1000 2000 3000
BCH1304N servo motor BCH1801N servo motor
30 30
Mmax Mmax
25 1 25 1
20 20
15 15
M0
2 M0
2
5 5
0 0
0 1000 2000 3000 0 1000 2000 3000
AC servo drive 313

BCH1301M servo motor BCH1302M servo motor
10 20
Mmax 1 Mmax 1
8
15
6
10
4
2 M0 2
M0 5
2
0 0
0 1000 2000 0 1000 2000
30 60
1 Mmax
Mmax 50 1
20 40
15 30
M0 M0
2
2
5 10
0 0
0 1000 2000 0 1500 3000
BCH1802N servo motor BCH1803M servo motor
60 80
Mmax 1 Mmax 1
50
60
40 50
30 40
30
20 M0 2
M0 20
2
10 10
0 0
0 1000 2000 3000 0 1500 3000
314 AC servo drive

100 120
1 Mmax
Mmax 1
80 100
80
60
60
40 M0 2
M0 40
2
20
20
0 0
0 1500 3000 0 1500 3000
AC servo drive 315

11.4 Overload Characteristics
z Overload Protection Function

Overload protection is a built-in protective function to prevent a motor from
overheating.
z Occasion of Overload
1. Motor was operated for several seconds under a torque exceeding 100%
torque.
2. Motor had driven high inertia machine and had accelerated and decelerated at
high frequency.
3. Motor UVW cable or encoder cable was not connected correctly.
4. Servo gain was not set properly and caused motor hunting.
5. Motor holding brake was not released.
z Chart of load and operating time (Low Inertia Servo Motor)
104
Load Operating
Time
120% 263.8s
103
140% 35.2s
160% 17.6s
180% 11.2s
102
200% 8s
220% 6.1s
240% 4.8s
101
260% 3.9s
280% 3.3s
300% 2.8s
100
100 120 140 160 180 200 220 240 260 280 300
316 AC servo drive

z Chart of load and operating time (Medium and Medium / High Inertia Servo Motor)
105
Load Operating
Time
104 120% 527.6s

140% 70.4s
160% 35.2s
103
180% 22.4s
200% 16s
10 2
220% 12.2s
240% 9.6s
260% 7.8s
101
280% 6.6s
300% 5.6s
100
100 120 140 160 180 200 220 240 260 280 300
AC servo drive 317

11.5 Dimensions of Lexium 23 Servo Drive
LXM23CU01M3X, CU02M3X, CU04M3X
75(2.95)
M4 x 0.7
Screw
PE Terminal
Unit: mm (inch)
LXM23CU07M3X, CU10M3X, CU15M3X
M4 x 0.7
Screw
PE Terminal
Unit: mm (inch)
318 AC servo drive

LXM23CU20M3X, CU30M3X, MU45M3X
M4 x 0.7
Screw
PE Terminal
Unit: mm (inch)
LXM23MU55M3X
Unit: mm (inch)
AC servo drive 319

LXM23MU75M3X
Unit: mm (inch)
320 AC servo drive

11.6 Dimensions of BCH Servo Motor
BCH040 (Servo motor/brake and Motor Power Connector 1 and Encoder Connector 2)
Key shaft (optional)
300 50
300 50
4 4.5
20 3
3
3
16 30h7
8h6
40
6.2
5 2.5
c 25 46
c (without brake) c (with
brake)
BCH0401 100.6 -
300 50
300 50
4 5.5
24 5 5
5
20
50h7
14h6
60
11
7.5 3
c 30 70
c (without brake) c (with brake)
BCH0601 105.5 141.6
BCH0602 130.7 166.8
AC servo drive 321

300 50
300 50
4 6.6
LS T
Wk
W
c2
70h7
Sh6
80
RH
8 3
c c1 90
c (without brake) c (with brake) S c1 c2 LS RH Wk W T

BCH0801 112.3 152.8 14 30 20 24.5 11 5 5 5
BCH0802 138.3 178.0 19 35 25 29.5 15.5 6 6 6
4- 9
37
32 7
8
95h7
8
100
22h6
18
12 5
115
c 45
BCH1001 153.5 192.5
BCH1002 199.0 226.0
322 AC servo drive

4- 9
47
36 7
110h7
8
8
130
22h6
18
11.5 6
145
c 55

BCH1301 147.5 183.5
BCH1302 147.5 183.5
BCH1303M 163.5 198.0
BCH1303N 167.5 202.0
BCH1304 187.5 216.0
4- 13.5
LS
c2
114.3h7
Wk
W
Sh6
180
RH
20 4
c c1
200
c (without brake) c (with brake) S c1 c2 LS RH Wk W
BCH1801 169.0 203.1 35 79 63 73 30 10 10
BCH1802M 202.1 - 35 79 63 73 30 10 10
BCH1802N 202.1 - 35 65 50 30 10 10
BCH1803 235.3 - 35 79 63 73 30 10 10
BCH1804 279.7 - 42 113 90 37 12 12
BCH1805 342.0 - 42 113 90 37 12 12
AC servo drive 323

324 AC servo drive

Accessories
Appendix
At a Glance
What's in this
Topic Page
Power Connectors 326
Power Cables 327
Encoder Connectors 331
Encoder Cables 332
I/O Signal Connector (CN1) 332
Communication Cable between Drive and Computer (for PC) 333
Terminal Block Module 333
Connector and cable 334
Regenerative Resistor Specifications 338
325
Accessories Lexium 23
Power Connectors Part Number: VW3M5111

Housing：AMP 350780-1
Terminal：AMP 350537-3
Part Number: VW3M5112

Housing：AMP 350781-1
UVW Terminal：AMP 350537-3
Brake Terminal：AMP 350570-3

CLAMP：MS3057-12A
Straight Plug MS 3106-20-18S

CLAMP：MS3057-16A
326 AC servo drive

Lexium 23 Accessories
Power Cables Part Number: VW3M5111R30,VW3M5111R50

(50 mm)
(1.97 inch)
L (80 mm)
(3.15 inch)
L
Title Part No.
mm inch
1 VW3M5111R30 3000 ± 10 118 ± 0.4
2 VW3M5111R50 5000 ± 10 197 ± 0.4
Part Number: VW3M5112R30,VW3M5112R50

L (50 mm)
(1.97 inch)
(80 mm)
(3.15 inch)
L
Title Part No.
mm inch
1 VW3M5112R30 3000 ± 10 118 ± 0.4
2 VW3M5112R50 5000 ± 10 197 ± 0.4
AC servo drive 327


(50mm)
(1.97 inch)
L (80 mm)
(3.15 inch)
L
Title Part No. Straight
mm inch
1 VW3M5121R30 MS 3106-20-18S 3000 ± 10 118 ± 0.4
2 VW3M5121R50 MS 3106-20-18S 5000 ± 10 197 ± 0.4
(50mm)
(1.97 inch)
L (80 mm)
(3.15 inch)
L
mm inch
1 VW3M5131R30 MS 3106-20-18S 3000 ± 10 118 ± 0.4
2 VW3M5131R50 MS 3106-20-18S 5000 ± 10 197 ± 0.4
328 AC servo drive


(80mm)
(3.15 inch)
L (100 mm)
(3.94 inch)
L
mm inch
1 VW3M5122R30 MS 3106-20-18S 3000 ± 10 118 ± 0.4
2 VW3M5122R50 MS 3106-20-18S 5000 ± 10 197 ± 0.4
(80 mm)
(3.15 inch)
L (100 mm)
(3.94 inch)
L
mm inch
1 VW3M5132R30 MS 3106-20-18S 3000 ± 10 118 ± 0.4
2 VW3M5132R50 MS 3106-20-18S 5000 ± 10 197 ± 0.4
AC servo drive 329


(80mm)
(3.15 inch)
L (100 mm)
(3.94 inch)
L
mm inch
1 VW3M5123R30 MS 3106-24-11S 3000 ± 10 118 ± 0.4
2 VW3M5123R50 MS 3106-24-11S 5000 ± 10 197 ± 0.4
(80mm)
(3.15 inch)
L (100 mm)
(3.94 inch)
L
mm inch
1 VW3M5133R30 MS 3106-24-11S 3000 ± 10 118 ± 0.4
2 VW3M5133R50 MS 3106-24-11S 5000 ± 10 197 ± 0.4
330 AC servo drive


(80 mm)
(3.15 inch)
L (100 mm)
(3.94 inch)
L
mm inch
1 VW3M5124R30 MS 3106-24-11S 3000 ± 10 118 ± 0.4
2 VW3M5124R50 MS 3106-24-11S 5000 ± 10 197 ± 0.4
Encoder Part Number: VW3M8111

Connectors
Vendor Name Vendor P/N

3M 10120-3000PE HOUSING:AMP (1-172211-0)
3M 10320-52A0-008 TERMINAL:AMP (170376-3)
Straight plug MS 3106-20-29S
AC servo drive 331

Encoder Cables Part Number: VW3M8111R30,VW3M8111R50
(32 mm) L (20 mm)

(1.3 inch) (0.787 inch)
L
Title Part No.
mm inch
1 VW3M8111R30 3000 ± 10 118 ± 0.4
2 VW3M8111R50 5000 ± 10 197 ± 0.4
L
mm inch
1 VW3M8112R30 MS 3106-20-29S 3000 ± 10 118 ± 0.4
2 VW3M8112R50 MS 3106-20-29S 5000 ± 10 197 ± 0.4
I/O Signal Part Number: VW3M4112

Connector (CN1)
Vendor Name Vendor P/N

3M 10150-3000PE
3M 10350-52A0-008
332 AC servo drive

Communication Part Number: VW3M1111R30

Cable between
Drive and
Computer (for PC)
L
Title Part No.
mm inch
1 VW3M111R30 3000 ± 10 118 ± 0.4
Terminal Block Part Number: VW3M4113

Module
0.5 m
86.8 mm
50.7 mm
146.4 mm
AC servo drive 333

Connector and
cable Connector
Name Description Reference Weight
kg
Replaced connector set Power connector set,drive side VW3 M4 111 –
I/O connector I/O connector of CN1 interface VW3 M4 112 –
I/O terminal block module Terminal block module,with 0.5 m cable VW3 M4 113 –
Cable
Name Description Length Reference Weight
From To m kg
PC serial communication PC serial port Servo drive 3 VW3M1111R30 –
cable
Connection accessory
Connector for power cable
Description For Item Reference Weight
no.
kg
For motor with flying cable,no BCH0401OppA1C 1 VW3M5111 -
brake BCH0601OppA1C
BCH0602OppA1C
BCH0801OppA1C
BCH0802OppA1C
For motor with flying BCH0601OppF1C 1 VW3M5112 -

cable,with brake BCH0602OppF1C
BCH0801OppF1C
2
BCH0802OppF1C
1 Military connector BCH1001Oppp1C 1 VW3M5121 -

for motor under 2 KW BCH1301Mppp1C
BCH1301Nppp1C
BCH1302Mppp1C
BCH1302Nppp1C
BCH1303Mppp1C
BCH1303Nppp1C
BCH1002Oppp1C
BCH1304Nppp1C
BCH1801Nppp1C
Military connector BCH1802Nppp1C 1 VW3M5131 -

for motor above 3 kW BCH1802Mppp1C
BCH1803Mppp1C
BCH1804Mppp1C
BCH1805Mppp1C
334 AC servo drive

Connection accessory (continue)

Connector for encoder cable
Description For Item Reference Weight
no.
kg
For motor with flying cable BCH0401O 2 VW3M8111 -
BCH0601O
BCH0602O
BCH0801O
BCH0802O
For motor with military BCH1001O 2 VW3M8112 -

connector BCH1301M
BCH1301N
BCH1302M
BCH1302N
BCH1303M
BCH1303N
BCH1002O
BCH1304N
BCH1801N
BCH1802M
BCH1803M
AC servo drive 335


Power cable
Description From servo motor To servo drive Composition Length Reference Weight
m kg
Servo motor side with BCH0401OppA1C LXM23CU01M3X 4 x 0.82 mm2 3 VW3M5111R30 -
plastic connector BCH0601OppA1C LXM23CU02M3X 5 VW3M5111R50 -
Drive side with flying BCH0602OppA1C LXM23CU04M3X
lead,no brake BCH0801OppA1C LXM23CU04M3X
BCH0802OppA1C LXM23CU07M3X
Servo motor side with BCH0601OppF1C LXM23CU02M3X 6 x 0.82 mm2 3 VW3M5112R30 -

plastic connector BCH0602OppF1C LXM23CU04M3X 5 VW3M5112R50 -
Drive side with flying BCH0801OppF1C LXM23CU04M3X
lead,with brake BCH0802OppF1C LXM23CU07M3X

military connector BCH1301MppA1C LXM23CU04M3X 5 VW3M5121R50 -
Drive side with flying BCH1301NppA1C LXM23CU04M3X
lead,no brake BCH1302MppA1C LXM23CU07M3X
VW3M5 111/121/131 BCH1302NppA1C LXM23CU10M3X
112/122/132/133 BCH1303MppA1C LXM23CU10M3X
/124 Rppp BCH1303NppA1C LXM23CU15M3X

military connector BCH1301MppF1C LXM23CU04M3X 5 VW3M5131R50 -
Drive side with flying BCH1301NppF1C LXM23CU04M3X
lead,with brake BCH1302MppF1C LXM23CU07M3X
BCH1302NppF1C LXM23CU10M3X
BCH1303MppF1C LXM23CU10M3X
BCH1303NppF1C LXM23CU15M3X

military connector BCH1304NppA1C LXM23CU20M3X 5 VW3M5122R50 -
Drive side with flying
lead,no brake
military connector BCH1304NppF1C LXM23CU20M3X 5 VW3M5132R50 -
Drive side with flying
lead,with brake
Servo motor side with BCH1801NppA1C LXM23CU20M3X 4 x 3.3 mm2 3 VW3M5123R30 -
military connector BCH1802MppA1C LXM23CU30M3X 5 VW3M5123R50 -
Drive side with flying BCH1802MppA1C LXM23MU45M3X
lead,no brake BCH1802NppA1C LXM23MU45M3X
Servo motor side with BCH1801NppF1C LXM23CU20M3X 6 x 3.3 mm2 3 VW3M5133R30 -

military connector BCH1802MppF1C LXM23CU30M3X 5 VW3M5133R50 -
Drive side with flying BCH1802MppF1C LXM23MU45M3X
lead,with brake BCH1802NppF1C LXM23MU45M3X
Servo motor side with BCH1803MppA1C LXM23MU45M3X 4 x 8.4 mm2 3 VW3M5124R30 -

military connector BCH1804MppA1C LXM23MU55M3X 5 VW3M5124R50 -
Drive side with flying BCH1805MppA1C LXM23MU75M3X
lead,no brake
336 AC servo drive


Encoder cable
Description From servo motor To servo drive Composition Length Reference Weight
m kg
Servo motor side and BCH0401O LXM23CU01M3X 10 x 0.13 3 VW3M8111R30 -
drive side with plastic BCH0601O LXM23CU02M3X mm2 5 VW3M8111R50 -
connector BCH0602O LXM23CU04M3X
BCH0801O LXM23CU04M3X
Servo motor side with BCH1001O LXM23CU10M3X 10 x 0.13 3 VW3M8112R30 -

military connector BCH1301M LXM23CU04M3X mm2 5 VW3M8112R50 -
Drive side with plastic BCH1301N LXM23CU04M3X
connector BCH1302M LXM23CU07M3X
BCH1302N LXM23CU10M3X
BCH1303M LXM23CU10M3X
VW3M8 111/112 Rppp BCH1801N LXM23CU20M3X
BCH1802M LXM23CU30M3X
BCH1802M LXM23MU45M3X
BCH1803M LXM23MU45M3X
AC servo drive 337

Regenerative
Resistor Regenerative Resistor Specifications
Specifications LXM23C LXM23C LXM23C LXM23C LXM23C LXM23C
U01M3X U02M3X U04M3X U07M3X U10M3X U15M3X
Supply voltage V 220
Number of phases Single-phase
Load threshold Vc 400
Energy absorption of Edrive Joule (Ws) 0.15 0.89 1.68 5.34 12.86 17.8
the internal capacitors
Internal Resistance Ω 40
resistor Continuous PPr W 30
power
Peak energy EPk Joule (Ws) 3 4 8 14 18 18
External Min. resistance Ω 40 40 20 20 20 20
resistor Degree of protection IP21
LXM23CU20M3X LXM23CU30M3X LXM23MU45M3X

Supply voltage V 220
Number of phases Three-phase
Load threshold Vc 400
Energy absorption of Edrive Joule (Ws) 23.24 217.73 384.47
the internal capacitors
Internal Resistance Ω 20
resistor Continuous PPr W 60
power
Peak energy EPk Joule (Ws) 21 28 28
External Min. resistance Ω 10
resistor Degree of protection IP21
External braking resistors

Value Continuous power Peak energy EPk Reference
PPr 220 V
Ω W Ws
40 400 4000 VW3M7111
20 1000 4000 VW3M7112
338 AC servo drive

Schneider Electric Lexium LMX23 Product Manual

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Schneider Electric Lexium LMX23 Product Manual

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Motion Control

About the Book . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Chapter 1 Unpacking Check and Model Explanation . . . . . . . . . . . . . . 13

Chapter 2 Installation and Storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Chapter 3 Connections and Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Chapter 4 Display and Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

Chapter 5 Trial Run and Tuning Procedure . . . . . . . . . . . . . . . . . . . . . . . 85

Chapter 6 Control Modes of Operation . . . . . . . . . . . . . . . . . . . . . . . . . .113

Chapter 7 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .169

Chapter 9 Maintenance and Inspection . . . . . . . . . . . . . . . . . . . . . . . . . 285

Chapter 10 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 291

Chapter 11 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305

Using This Manual

Who should use this manual

PLEASE READ PRIOR TO INSTALLATION FOR SAFETY.

Indicates a potentially hazardous situation and if not avoided, may result in

Indicates a potentially hazardous situation and if not avoided, may result in

1.1 Unpacking Check

Part I : Schneider electric standard supplied parts

1.2 Model Explanation

1.2.1 Nameplate Lexium 23 Series Servo Drive

Made in China LX23C01T8210001

BCH Series Servo Motor

BCH0602011F1C DOM: 20-05-08

1.2.2 Model Name Lexium 23 Series Servo Drive

LXM = Lexium Lexium Servo Drive

23 = New generation compact I/O drive

BCH Series Servo Motor

BCH = BCH servo motor series

Length ( Number of stacks)

1.3 Servo Drive and Servo Motor Combinations

1.4 Servo Drive Features

Lexium 23C Series Servo Drive

Lexium 23M Series Servo Drive

1.5 Control Modes of Servo Drive

1.6 Molded-case Circuit Breaker and Fuse Current

Lexium 23 Series Servo Drive

LXM23CU02M3X 0.2 6.3 5

LXM23MU45M3X 4.5 50 120

LXM23MU55M3X 5.5 100 120

LXM23MU75M3X 7.5 100 120

2.1 Installation Notes

Pay close attention on the following installation notes:

2.2 Storage Conditions

2.3 Installation Conditions

2.4 Installation Procedure and Minimum Clearances

z Side by Side Installation

40mm 10mm 10mm 10mm 40mm

Air flow Air flow

No Fuse Breaker (NFB)

Terminal Block Module

Figure 3.2 (Lexium 23M Series)

No Fuse Breaker (NFB)

Terminal Block Module

PA/+ CN3 Connector

3.1.2 Servo Drive

Note: U, V, W, CN1, CN2, CN3 terminals provide short circuit protection.

Terminal U V W CASE GROUND BRAKE1 BRAKE2

Encoder Cable - Wire Gauge mm2 (AWG)

3.2 Basic Wiring

Figure 3.5 Basic Wiring Schematic of 100W ~ 1.5kW models

External speed Position Speed Current

Figure 3.6 Basic Wiring Schematic of 2kW ~ 3kW models