Lxm16d User Manual en Fw1.2.22

Easy Lexium 16
AC Servo Drive system

User Guide
Dec. 2021 for FW V01.02.22
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Before operating this product, please read the instructions carefully.
Read the the [Safety Operating Instructions] before using the products.
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This product is for industrial equipment. Don't use this product at general household.
TM
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The information provided in this documentation contains general descriptions and/or technical
characteristics of the performance of the products contained terein. This documentation is not
intended as a substitute for and is not to be used for determining suitability or reliability of these
products for specific user applications. It is the duty of any such user or integrator to perform
the appropriate and complete risk analysis, evaluation and testing of the products with respect
to the relevant specific application or use thereof. Neither Schneider Electric nor any of its
affiliates or subsidiaries shall be responsible or liable for misuse of the information contained
herein. If you have any suggestions for improvements or amendments or have found errors in
this publication, please notify us.
No part of this document may be reproduced in any form or by any means, electronic or
mechanical, including photocopying, without express written permission of Schneider Electric.
All pertinent state, regional, and local safety regulations must be observed when installing
and using this product. For reasons of safety and to help ensure compliance with documented
system data, only the manufacturer should perform repairs to components.
When devices are used for applications with technical satety requirements, the relevant
instructions must be followed.
Failure to use Schneider Electric software or approved software with our hardware products may
result in injury, harm, or improper operating results.
Failure to observe this information can result in injury or equipment damage.
© 2020 Schneider Electric. All Rights Reserved.
TM
Table of Contents
Before Use
I.- II.
Satety information and certification.
Overview
01.
Servo System Overview and Mating of Servo Drive and Servo Motor.
Type Selection
02.
Type Selection of Servo Drive, Servo Motor and Accessories
Installation
03.
Equipment Installation Information
Wiring
04.
Wiring Methods and Precautions for Servo System
Front Panel
05.
Introduction and Operation Methods of Integrated HMI
Operation
06.
Description of Operation Modes and Functions
Commissioning
07.
Description of Control Loop Parameters Adjustment
Diagnostics
08.
When in Trouble
Parameters
09.
Detailed List of Parameters
A-1 TM
Chap01. Overview
1.1 Overview of Easy Lexium 16 Servo Drive / Servo Motor System.......................... 1-1
1.2 About Servo Drive............................................................................................................... 1-2
1.2.1 Nameplate of Servo Drive.........................................................................................................1-2
1.2.2 Servo Drive Model Code Description.....................................................................................1-3
1.2.3 Designation of Parts of Servo Drive.......................................................................................1-4
1.3 About Servo Motor.............................................................................................................. 1-5
1.3.1 Nameplate of Servo Motor........................................................................................................1-5
1.3.2 Servo Motor Model Code Description....................................................................................1-6
1.3.3 Designation of Parts of Servo Motor......................................................................................1-7
1.4 Confirm the Mating of Servo Drive and Servo Motor................................................ 1-8
Chap02. Type Selection

2.1 Type Selection of Servo Drive......................................................................................... 2-1
2.1.1 Specifications of Servo Drive...................................................................................................2-1
2.1.2 Servo Drive Block Diagram.......................................................................................................2-3
2.1.3 Ratings of Servo Drive................................................................................................................2-4
2.1.4 Servo Drive Dimension...............................................................................................................2-4
2.2 Type Selection of Servo Motor........................................................................................ 2-5
2.2.1 Specifications of Servo Motor..................................................................................................2-5
2.2.2 Ratings of Servo Motor..............................................................................................................2-6
2.2.3 Permissible Load on Servo Motor Output Shaft..................................................................2-7
2.2.4 Servo Motor Dimension / T-N Curve / Overload Characteristics....................................2-8
2.3 System Accessories.......................................................................................................... 2-19
2.3.1 Standard Composition of Servo System with Peripheral Devices.............................. 2-19
2.3.2 List of Accessories................................................................................................................... 2-20
2.3.3 Connector.................................................................................................................................... 2-21
2.3.4 Motor Power / Holding Brake Control Cable..................................................................... 2-25
2.3.5 Motor Encoder Cable............................................................................................................... 2-29
2.3.6 I/O Control Cable and Adapter Module.............................................................................. 2-31
2.3.7 External Braking Resistor....................................................................................................... 2-32
2.3.8 Input Filter................................................................................................................................... 2-33
2.3.9 Motor Protection Circuit Breaker and Contactor............................................................. 2-33
Chap03. Installation
3.1 Before Installation................................................................................................................ 3-1
3.1.1 Electromagnetic Compatibility (EMC)....................................................................................3-1
3.1.2 Residual Current Device............................................................................................................3-2
3.1.3 Cables.............................................................................................................................................3-2
3.2 Drive Installation.................................................................................................................. 3-4
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Table of Contents
3.2.1 On opening the Drive Package................................................................................................3-4
3.2.2 Control Cabinet.............................................................................................................................3-4
3.2.3 Installation Orientation................................................................................................................3-5
3.2.4 Mounting Spacing and Ventilation...........................................................................................3-5
3.2.5 Mounting Footprint.......................................................................................................................3-6
3.3 Motor Installation................................................................................................................. 3-7
3.3.1 On Opening the Motor Package..............................................................................................3-7
3.3.2 Installation Orientation................................................................................................................3-8
3.3.3 Connecting the Motor to Machine...........................................................................................3-8
3.3.4 Other Precautions........................................................................................................................3-8
Chap04. Wiring
4.1 Wiring of Servo Drive......................................................................................................... 4-1
4.1.1 Precautions....................................................................................................................................4-1
4.1.2 Standard Composition of Servo System with Peripheral Devices.................................4-2
4.1.3 Connecting Main Circuit (CNP)................................................................................................4-2
4.1.4 Connecting Power Input to Servo Drive.................................................................................4-3
4.1.5 Connecting External Braking Resistor...................................................................................4-5
4.1.6 Connecting Servo Motor Power Output.................................................................................4-7
4.1.7 Connecting I/O Control Interface (CN1)................................................................................4-9
4.1.8 Connecting Encoder Interface (CN2) ................................................................................ 4-12
4.1.9 Connecting Commissioning Interface (CN3)..................................................................... 4-12
4.1.10 Connecting Grounding Screws.......................................................................................... 4-13
4.2 Wiring of Servo Motor...................................................................................................... 4-14
4.2.1 Servo Motor Connector Pin Assignment............................................................................ 4-14
4.2.2 Connecting Servo Motor Power and Encoder.................................................................. 4-15
4.2.3 Connecting Servo Motor Holding Brake............................................................................. 4-16
Chap05. Front Panel

5.1 Front Panel............................................................................................................................. 5-1
5.1.1 Front Panel Overview..................................................................................................................5-1
5.1.2 Front Panel Menu Structure.......................................................................................................5-2
5.1.3 Operation of Front Panel............................................................................................................5-2
5.1.4 7-segment LED Display..............................................................................................................5-3
5.1.5 Lock the Front Panel....................................................................................................................5-5
5.2 Operation of Menu Group FSU........................................................................................ 5-6
5.2.1 Operation Conditions of FSU...................................................................................................5-6
5.2.2 Configuration in FSU...................................................................................................................5-6
5.2.3 Code Description of Servo Motor Reference in FSU...................................................... 5-10
5.2.4 FSU Operation........................................................................................................................... 5-11
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5.3 Operation of Menu Group oP......................................................................................... 5-13
5.3.1 JOG............................................................................................................................................... 5-13
5.3.2 Easy Tuning................................................................................................................................. 5-16
5.3.3 Operation of Auto Adaptive Control Parameters............................................................. 5-17
5.3.4 Restore Factory Setting........................................................................................................... 5-18
5.4 Operation of Menu Group Mon..................................................................................... 5-19
5.4.1 Available Device Status Information.................................................................................... 5-19
5.4.2 Select Type of Device Status Information.......................................................................... 5-22
5.4.3 Set Type of Default Device Status Information................................................................ 5-23
5.4.4 Monitoring of Error Codes of Last / Saved Error Information..................................... 5-24
5.4.5 Monitoring of Digital Inputs and Outputs Status Information...................................... 5-25
5.5 Operation of Menu Group Conf .................................................................................... 5-26
5.5.1 Parameters of Numerical Type.............................................................................................. 5-26
5.5.2 Parameters of Selection Type............................................................................................... 5-27
5.5.3 Parameter P6-00 Motor File Name / P6-01 Type of Motor Encoder........................... 5-28
5.6 Warm Restart by Front Panel.......................................................................................... 5-33
Chap06. Operation
6.1 Access Channel.................................................................................................................. 6-1
6.1.1 Overview of Access Channel...................................................................................................6-1
6.1.2 Exclusive Access Channel.........................................................................................................6-1
6.2 Operating States................................................................................................................. 6-2
6.2.1 State Diagram...............................................................................................................................6-2
6.2.2 Operating States..........................................................................................................................6-3
6.2.3 State Transitions...........................................................................................................................6-3
6.3 Digital Inputs and Outputs................................................................................................ 6-5
6.3.1 Connecting the Digital Inputs and Outputs..........................................................................6-5
6.3.2 Parameterization of the Digital Inputs and Outputs Functions.......................................6-6
6.3.3 Digital Input Functions................................................................................................................6-7
6.3.4 Digital Outpot Functions............................................................................................................6-8
6.3.5 Digital Inputs and Outputs Default Functions......................................................................6-9
6.3.6 Parameterization of Software Debonucing...........................................................................6-9
6.4 Basic Functions for Operation....................................................................................... 6-11
6.4.1 Enable Power Stage................................................................................................................. 6-11
6.4.2 Selection of Motor Rotation Direction................................................................................. 6-13
6.4.3 Limit Switches............................................................................................................................ 6-14
6.4.4 Reset of Limit Switch Fault..................................................................................................... 6-15
6.4.5 Motor Holding Brake................................................................................................................ 6-17
6.4.6 Braking Resistor........................................................................................................................ 6-20
6.5 Operating Mode Jog......................................................................................................... 6-22
6.5.1 Precatuions and Checklist Before Starting the Jog........................................................ 6-22
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Table of Contents
6.5.2 Perform the Jog by Integrated HMI...................................................................................... 6-23
6.5.3 Perform the Jog by Digital Input........................................................................................... 6-26
6.5.4 Parameterization of Motion Profile for the Jog................................................................. 6-27
6.6 Operating Mode Electronic Gear.................................................................................. 6-28
6.6.1 Wiring Example.......................................................................................................................... 6-28
6.6.2 Basic Parameterization............................................................................................................ 6-29
6.6.3 Parameterization of Electronic Gear Ratio........................................................................ 6-30
6.6.4 Selection of the Pulse Reference Method.......................................................................... 6-32
6.6.5 Position Change with Power Stage Disabled.................................................................... 6-33
6.6.6 Velocity Limitation in Electronic Gear Mode...................................................................... 6-34
6.6.7 Release of Direction................................................................................................................. 6-34
6.6.8 Offset Movement....................................................................................................................... 6-35
6.6.9 Changing the Motion Profile for the Velocity..................................................................... 6-36
6.6.10 Encoder Simulation Output.................................................................................................. 6-38
6.6.11 Pulse Clear................................................................................................................................ 6-39
6.7 Operating Mode Homing................................................................................................. 6-41
6.7.1 Overview...................................................................................................................................... 6-41
6.7.2 Basic Parameterization............................................................................................................ 6-42
6.7.3 Parameterization of Monitoring Functions......................................................................... 6-46
6.7.4 Parameterization of Trigger of Reference Movement..................................................... 6-47
6.7.5 Reference Movement to a Limit Switch............................................................................... 6-48
6.7.6 Reference Movement to a Reference Switch in Positive Direction............................. 6-49
6.7.7 Reference Movement to a Reference Switch in Negative Direction........................... 6-51
6.7.8 Reference Movement to Motor Index.................................................................................. 6-53
6.7.9 Position Setting.......................................................................................................................... 6-54
6.7.10 Software Limist Switches...................................................................................................... 6-55
6.8 Auxiliary Functions for Operation................................................................................. 6-57
6.8.1 Jerk Limitation............................................................................................................................ 6-57
6.8.2 Stop Movement with Halt........................................................................................................ 6-58
6.8.3 Stop Movement with Quick Stop........................................................................................... 6-59
6.8.4 Motor Stopping Modes for Servo Off and Faults............................................................. 6-61
6.8.5 Limitation of the Velocity via Signal Input.......................................................................... 6-62
6.8.6 Limitation of the Current via Signal Input.......................................................................... 6-62
6.8.7 Zero Clamp................................................................................................................................. 6-63
6.8.8 Backlash Compensation......................................................................................................... 6-64
6.9 Monitoring Functions for Operation............................................................................. 6-66
6.9.1 Temperature Monitoring.......................................................................................................... 6-66
6.9.2 Load and Overload Monitoring............................................................................................. 6-66
6.9.3 Load-Dependent Position Deviation (Following Error)................................................... 6-68
6.9.4 Target Position Standstill Window......................................................................................... 6-68
6.9.5 Position Deviation Window..................................................................................................... 6-70
6.9.6 Velocity Deviation Window...................................................................................................... 6-72
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6.9.7 Velocity Threshold Value......................................................................................................... 6-74
6.9.8 Current Threshold Value......................................................................................................... 6-76
6.9.9 Maximum Velocity Threshold Value while Enabling the Power Stage........................ 6-78
6.9.10 Monitoring of Drive Power Stage Current Command Saturation.............................. 6-78
Chap07. Commissioning
7.1 Tuning Methods and Basic Procedures........................................................................ 7-1
7.1.1 About Tuning..................................................................................................................................7-1
7.1.2 Tuning Methods............................................................................................................................7-2
7.1.3 Basic Tuning Procedures...........................................................................................................7-3
7.1.4 Safety Precatuions for Tuning...................................................................................................7-4
7.1.5 Control Loop Model Selection..................................................................................................7-5
7.2 Easy Tuning........................................................................................................................... 7-6
7.2.1 Overview.........................................................................................................................................7-6
7.2.2 Operating Methods......................................................................................................................7-7
7.3 Comfort Tuning..................................................................................................................... 7-8
7.3.1 Overview.........................................................................................................................................7-8
7.3.2 Operating Methods......................................................................................................................7-8
7.3.2 Auto Adaptive Notch Filter Detection.....................................................................................7-9
7.4 Auto Adaptive Tuning....................................................................................................... 7-10
7.4.1 Overview...................................................................................................................................... 7-10
7.4.2 Conditions for Use.................................................................................................................... 7-12
7.4.3 Standard Auto Adaptive Tuning Mode................................................................................ 7-13
7.4.4 Passive Auto Adaptive Tuning Mode................................................................................... 7-14
7.4.5 Adaptive Auto Adaptive Tuning Mode................................................................................. 7-15
7.5 Auto Adaptive Notch Filters............................................................................................ 7-16
7.5.1 Overview...................................................................................................................................... 7-16
7.5.2 Operating Methods................................................................................................................... 7-17
7.6 Manual Tuning (Basic)...................................................................................................... 7-18
7.6.1 Overview...................................................................................................................................... 7-18
7.6.3 Mapping of Auto Adaptive Control Loop to PID Control Loop.................................... 7-19
7.6.3 Manual Tuning for Position Control Mode.......................................................................... 7-20
7.6.4 Optimize the Velocity Controller............................................................................................ 7-20
7.6.5 Optimize the Position Controller........................................................................................... 7-25
7.7 Gain Switching.................................................................................................................... 7-27
7.7.1 Auto Gain Switching between Contrl Loop Parameter Sets 1 and 2.......................... 7-27
7.7.2 Auto Gain Switching to Control Loop Parameter Set 3.................................................. 7-31
7.7.3 Auto Adaptive Control Stiffness Switching........................................................................ 7-36
7.8 Manual Tuning (Advanced)............................................................................................. 7-41
7.8.1 Feedforward Tuning.................................................................................................................. 7-41
7.8.2 Manual Notch Filters................................................................................................................ 7-43
7.8.3 Vibration Suppression............................................................................................................. 7-47
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Table of Contents
Chap08. Diagnostics
8.1 Diagnostics via HMI............................................................................................................ 8-1
8.1.1 Indicating the Operation State.................................................................................................8-1
8.1.2 Reading of Last Warning Message.........................................................................................8-2
8.1.2 Reading of Last Fault Message...............................................................................................8-4
8.1.3 Reading of Saved Fault Messages.........................................................................................8-6
8.2 Diagnostics via Signal Outputs....................................................................................... 8-8
8.2.1 Indicating the Operation State.................................................................................................8-8
8.2.2 Indicating Error Message..........................................................................................................8-9
8.3 Acknowledge Error Message......................................................................................... 8-11
8.3.1 Acknowledge Error Message via HMI................................................................................. 8-11
8.3.2 Acknowledge Error Message via Signal Input................................................................. 8-12
8.4 Error Messages.................................................................................................................. 8-13
8.4.1 Error Messages Overview...................................................................................................... 8-13
8.4.2 Table of Error Messages......................................................................................................... 8-14
Chap09. Parameters
9.1 Parameter Overview........................................................................................................... 9-1
9.2 P0 - Basic Settings.............................................................................................................. 9-4
9.3 P1 - Motor Control............................................................................................................. 9-11
9.4 P2 - Damping...................................................................................................................... 9-22
9.5 P3 - I/O.................................................................................................................................. 9-28
9.6 P4 - Velocity / Torque........................................................................................................ 9-35
9.7 P5 - External........................................................................................................................ 9-37
9.8 P6 - Special......................................................................................................................... 9-45
9.9 P7 - Motion Task................................................................................................................. 9-58
9.10 Pu - DYC User Defined................................................................................................... 9-59
Chap10. Communication
10.1 RS-485 communication hardware interface....................................................... 10-1
10.1.1 RS-485 communication hardware interface............................................................... 10-2
10.2 RS-485 communication parameter settings....................................................... 10-3
10.3 RS-485 communication protocol .......................................................................... 10-4
10.3.1 MODBUS communication protocol............................................................................... 10-4
10.3.2 MODBUS function codes................................................................................................... 10-4
10.3.3 FC 3(0x03) - read multiple registers.............................................................................. 10-5
10.3.4 FC 16(0x10) - write multiple registers........................................................................... 10-6
10.3.5 FC 23(0x17) - read / write multiple registers.............................................................. 10-8
10.4 Writing and reading parameters.......................................................................... 10-10
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10.4.1 Readable paramters through communication.........................................................10-10
10.4.2 Writeable parameters through communication......................................................10-10
10.4.3 Decimals................................................................................................................................10-11
10.4.4 Save parameters.................................................................................................................10-11
10.4.5 Read of device status........................................................................................................10-11
10.4.6 Node guarding function..................................................................................................10-13
10.5 RS-485 communication specification................................................................. 10-14
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I. Safety Information
IMPORTANT
Declaration
Read these instructions carefully, and look at the equipment to become familiar with the device
before trying to install, operate, service or maintain it. The following special messages may
appear throughout this documentation or on the equipment to warn of potential hazards or to
call attention to information that clarifies or simplifies a procedure.
The addition of this symbol to a "DANGER" or "Warning" safety label indicates that an
electrical hazard exists, which will result in personal injury if the instructions are not
followed.
This is the safety alert symbol. It is used to alert you to potential personal injury
hazards. Obey all asfety instructions that follow this symbol to avoid possible injury or
death.
DANGER
DANGER indicates a hazardous situation which, if not avoided, will result in death or
serious injury.
WARNING
WARNING indicates a hazardous situation which, if not avoided, could result in death
or serious injury.
NOTICE
NOTICE is used to address practices not related to physical injury.
Note: CAUTION indicates a hazardous situation which, if not avoided, could result in minor or
moderate injury.
Please note
Electrical equipment must 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.
A qualified person is one who has skills and knowledge related to the construction and operation
of electrical equipment and its installation, and has received safety training to recognize and
avoid the hazards involved.
Qualification of Personnel
Only appropriately trainde persons who are familiar with and understand the contents of this
manual and all other pertinent product documentation are authorized to work on and with this
product. These persons must have sufficient technical training, knowledge and experience and
be able to foresee and detect potential hazards that may be caused by using the product, by
modifying the settings and by the mechanical, electrical and electronic equipment of the entire
system in which the product is used.
The qualified person must be able to detect possible hazards that may arise from
parameterization, modifying parameter values and generally from mechanical, electrical, or
electronic equipment.
1 TM
The qualified person must be familiar with the standards, provisions, and regulations for the
1
Overview
prevention of industrial accidents, which they must observe when designing and implementing
the system.
Intended use 2
Selection
Type
The products described or affected by this document are servo-drive systems for three-phase
servo motors along with software, accessories and options.
The products are intended for industrial use according to the instructions, directions, examples
and safety information contained in the present user guide and other supporting documentation. 3
Installation
The product may only be used in compliance with all applicable safety regulations and
directives, the specified requirements and the technical data. Prior to using the products, you
must perform a risk assessment in view of the planned application. Based on the results, the
appropriate safety measures must be implemented. Since the products are used as components
in an entire system, you must ensure the safety of persons by means of the design of this entire 4
system. Operate the products only with the specified cables and accessories. Use only genuine
Wiring
accessories and spare parts. Any use other than the use explicitly permitted as described herein
is prohibited and may result in unanticipated hazards.
WARNING 5
Front Panel
DANGERUNGARDED EQUIPMENT
Do not use this software and related automation equipment on equipment which does not have
point-of-operation protection.
Do not reach into machinery during operation.
Failure to follow these instructions can result in death, serious injury, or equipment damage.
6
Operation
This automated equipment and relevant software are used to control a variety of industrial
processes. The type or model of automation equipment suitable for each application will vary
depending on factors such as the control function required, degree of protection required,
production methods, unusual conditions, government regulations, etc. In some applications,
more than one processor may be required, as when backup redundancy is needed. 7
Commissioning
Only you, the user, machine builder or system integrator can be aware of all the conditions
and factors present during setup, operation, and maintenance of the machine and, therefore,
can determine the automation equipment and the related safeties and interlocks which can
be properly used. When selecting automation and control equipment and related software for
a particular application, you should refer to the applicable local and national standards and
regulations. The National Safety Council's Accident Prevention Manual (nationally recognized in
8
Diagnostics
the United States of America) also provides much useful information.
In some applications, such as packaging machinery, additional operator protection such as

point-of-operation guarding must be provided. This is necessary if the operator's hands and
other parts of the body are free to enter the pinch points or other hazardous areas and serious
injury can occur. Software products alone cannot protect an operator from injury. For this reason 9
Parameters
the software cannot be substituted for or take the place of point-of-operation protection.
Ensure that appropriate safeties and mechanical/electrical interlocks related to point-of-

operation protection have been installed and are operational before placing the equipment into
service. All interlocks and safeties related to point-of-operation protection must be coordinated
with the related automation equipment and software programming. 10
Communication
Note: Coordination of safeties and mechanical/electrical interlocks for point-of-operation

protection is outside the scope of the Function Block Library, System User Guide, or other
implementation referenced in this documentation.
TM
2
Startup and Test
Before using electrical control and automation equipment for regular operation after installation,
the system should be given a startup test by qualified personnel to verify correct operation of
the equipment It is important that arrangements for such a check be made and that enough time
is allowed to perform complete and satisfactory testing.
WARNING
EQUIPMENT OPERATION HAZARD
Verify that all installation and setup procedures have been completed.
Before operational tests are performed, remove all blocks or other temporary holding means used for
shipment from all component devices.
Remove tools, meters and debris from the equipment.
Follow all start-up tests recommended in the equipment documentation. Store all equipment
documentation for future references.
Software testing must be done in both simulated and real environments.
Software testing must be done in both simulated and real environments.
Verify that the completed system is free from all short circuits and temporary grounds that are
not installed according to local regulations (according to the National Electrical Code in the U.S.A,
for instance). If high potential voltage testing is necessary, follow recommendations in equipment
documentation to prevent accidental equipment damage.
Before energizing equipment:

Remove tools, meters and debris from the equipment.
Close the equipment enclosure door.
Remove all temporary grounds from incoming power lines.
Perform all startup tests recommended by the manufacturer.
Operation and Adjustment
The following precautions are from the NEMA Standards Publication ICS 7.1-1995 (English
version prevails):
Regardless of the care exercised in the design and manufacture of equipment or in the
selection and ratings of components, there are hazards that can be encountered if such
equipment is improperly operated.
It is sometimes possible to misadjust the equipment and thus produce unsatisfactory or
unsafe operation. Always use the manufacturer's instructions as a guide for functional
adjustments. Personnel who have access to these adjustments should be familiar with the
equipment manufacturer’s instructions and the machinery used with the electrical equipment.
Only those operational adjustments actually required by the operator should be accessible to
the operator. Access to other controls should be restricted to prevent unauthorized changes
in operating characteristics.
3 TM
1
Safety Precautions
Overview
General Precautions
2
Selection
Type
The use and application of the information contained herein require expertise in the design and
programming of automated control systems.
Only you, the user, machine builder or integrator, can be aware of all the conditions and factors
present during installation and setup, operation, repair and maintenance of the machine or
process. 3
Installation
You must also consider any applicable standards and / or regulations with respect to grounding
of all equipment. Verify compliance with any safety information, different electrical requirements,
and normative standards that apply to your machine or process in the use of this equipment.
Many components of the equipment, including the printed circuit board, operate with mains
voltage, or present transformed high currents, and/or high voltages. 4
Wiring
The motor itself generates voltage when the motor shaft is rotated.
DANGER 5
Front Panel
ELECTRIC SHOCK, EXPLOSION, OR ARC FLASH
Disconnect all power from all equipment including connected devices prior to removing any covers or
doors, or installing or removing any accessories, hardware, cables, or wires.
Place a "Do Not Turn On" or equivalent hazard label on all power switches and lock them in the non-
energized position.
Wait 15 minutes to allow the residual energy of the DC bus capacitors to discharge. 6
Operation
Measure the voltage on the DC bus with a properly rated voltage sensing device and verify that the
voltage is less than 42.4 Vdc.
Do not assume that the DC bus is voltage-free when the DC bus LED is off.
Block the motor shaft to prevent rotation prior to performing any type of work on the drive system.
Do not create a short-circuit across the DC bus terminals or the DC bus capacitors.
Replace and secure all covers, accessories, hardware, cables, and wires and confirm that a proper 7
Commissioning
ground connection exists before applying power to the unit.
Failure to follow these instructions will result in death or serious injury.
This equipment has been designed to operate outside of any hazardous location Only install this
equipment in zones known to be free of a hazardous atmosphere. 8
Diagnostics
DANGER
POTENTIAL FOR EXPOLSION
Install and use this equipment in non-hazardous locations only.
9
Parameters
If the power stage is disabled unintentionally, for example as a result of power outage, errors or
functions, the motor is no longer decelerated in a controlled way. Overload, errors or incorrect
use may cause the holding brake to no longer operate properly and may result in premature 10
wear.
Communication
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4
WARNING
UNINTENDED EQUIPMENT OPERATION
Verify that movements without braking effect cannot cause injuries or equipment damage.
Verify the function of the holding brake at regular intervals.
Do not use the holding brake as a service brake.
Do not use the holding brake for safety-related purposes.
General Precautions
WARNING
UNINTENDED MOVEMENT OR MACHINE OPERATION
Carefully install the wiring in accordance with the EMC requirements.
Do not operate the product with undetermined settings and data.
Perform comprehensive commissioning tests that include verification of configuration settings and data
that determine position and movement.
WARNING
LOSS OF CONTROL
The designer of any control scheme must consider the potential failure modes of control paths and,
for certain critical control functions, provide a means to achieve a safe state during and after a path
failure. Examples of critical control functions are emergency stop and overtravel stop, power outage
and restart.
Separate or redundant control paths must be provided for critical control functions.
System control paths may include communication links. Consideration must be given to the implications
of unanticipated transmission delays or failures of the link.
Observe all accident prevention regulations and local safety guidelines (1).
Each implementation of this equipment must be individually and thoroughly tested for proper operation
before being placed into service.
(1): For additional information, refer to NEMA ICS 1.1 (latest edition), (<Safety Guidelines for the
Application, Installation, and Maintenance of Solid State Control" and to NEMA ICS 7.1 (latest
edition), "Safety Standards for Construction and Guide for Selection, Installation and Operation
of Adjustable-Speed Drive Systems or their equivalent governing your particular location.
Machines, controllers, and related equipment are usually integrated into networks.Unauthorized
persons and malware may gain access to the machine as well as to other devices on the
network/fieldbus of the machine and connected networks via insufficiently secure access to
software and networks.
Schneider Electric adheres to industry best practices in the development and implementation
of control systems. This includes a "Defense-in-Depth" approach to secure an Industrial Control
System. This approach places the controllers behind one or more firewalls to restrict access to
authorized personnel and protocols only.
5 TM
1
WARNING
Overview
UNAUTHENTICATED ACCESS AND SUBSEQUENT UNAUTHORIZED MACHINE OPERA-
TION
Evaluate whether your environment or your machines are connected to your critical infrastructure and,
if so, take appropriate steps in terms of prevention, based on Defense-in-Depth, before connecting the
automation system to any network.
2
Selection
Type
Limit the number of devices connected to a network to the minimum necessary.
Isolate your industrial network from other networks inside your company.
Protect any network against unintended access by using firewalls, VPN, or other, proven security
measures.
Monitor activities within your systems.
Prevent subject devices from direct access or direct link by unauthorized parties or unauthenticated
3
Installation
actions.
Prepare a recovery plan including backup of your system and process information.
For more information on organizational measures and rules covering access to infrastructures,
4
Wiring
refer to ISO/IEC 27000 series, Common Criteria for Information Technology Security Evaluation,
ISO/IEC 15408, IEC 62351, ISA/IEC 62443, NIST Cybersecurity Framework, Information Security
Forum - Standard of Good Practice for Information Security.
Front Panel
DC bus voltage measurement
The DC bus voltage can exceed 300 Vdc.The DC bus LED is not an indicator of the absence of
DC bus voltage.
6
Operation
DANGER
ELECTRIC SHOCK, EXPLOSION OR ARC FLASH
Disconnect the voltage supply to all connections.
Wait 15 minutes to allow the DC bus capacitors to discharge.

Use a properly rated voltage-sensing device for measuring (greater than 800 Vdc).
Measure the DC bus voltage between the DC bus terminals (PA/+ and PC/-) to verify that the voltage is
7
Commissioning
less than 42 Vdc.
Contact your local Schneider Electric representative if the DC bus capacitors do not discharge to less
than 42 Vdc within a period of 15 minutes.
Do not operate the product if the DC bus capacitors do not discharge properly.
Do not attempt to repair the product if the DC bus capacitors do not discharge properly. 8

Diagnostics
Connecting external braking resistor

9
Parameters
WARNING
HOT SURFACES
Ensure that it is not possible to make any contact with a hot braking resistor.
Do not allow flammable or heat-sensitive parts in the immediate vicinity of the braking resistor.
Verify that the heat dissipation is sufficient by performing a test run under maximum load conditions.
10
Communication
TM
6
II. Certification
Equipment Model Directives Standards

EN 61800-5-1:2007
Low Voltage Directive 2014/35/EU
EN 60034-1:2010/AC:2010
Servo drive LXM16…
EN 61800-3:2004/A1:2012
EMC Directive 2014/30/EU
EN 60034-1:2010/AC:2010
EN 61800-5-1:2007
EN 60034-1:2010/AC:2010
Servo motor BCH16…
EN 61800-3:2004/A1:2012
EN 60034-1:2010/AC:2010
EN 61800-5-1:2007
EN 60034-1:2010/AC:2010
Accessories VW3…
EN 61800-3:2004/A1:2012
EN 60034-1:2010/AC:2010
7 TM
10
Type
1
9
Overview Selection Installation Wiring Front Panel Operation Commissioning Diagnostics Parameters Communication
8 TM
Chap01.Overview
1.1 Overview of Easy Lexium 16 Servo Drive / Servo Motor System............................... 1-1
1.2 About Servo Drive.................................................................................................................... 1-2
1.2.1 Nameplate of Servo Drive............................................................................................................1-2
1.2.2 Servo Drive Model Code Description.......................................................................................1-3
1.2.3 Designation of Parts of Servo Drive.........................................................................................1-4
1.3 About Servo Motor................................................................................................................... 1-5
1.3.1 Nameplate of Servo Motor...........................................................................................................1-5
1.3.2 Servo Motor Model Code Description......................................................................................1-6
1.3.3 Designation of Parts of Servo Motor........................................................................................1-7
1.4 Confirm the Mating of Servo Drive and Servo Motor.................................................... 1-8
1
1.1
Overview
Overview of Easy Lexium 16 Servo Drive / Servo
Motor System
The servo system composed of LXM16D series servo drive and BCH16 series AC servo motor
2
Selection
Type
is a member of the Lexium 16 family designed to suit pulse control and offer high performance,
simple interface and easy operation.
This series include a variety of 0.1 kW~1.5 kW servo drives and AC servo motors. Incorporating
real-time adaptive tuning and adaptive notch filter, this series of servo drives are designed with
the selection and automatic switchover of stiffness levels to address various requirements on the
stability of low-stiffness machine and the high speed and accuracy of high-stiffness machine,
3
Installation
in addition with the AC servo motor equipped with 2500-line and 23bit Incremental encoder, the
servo system achieves the simplicity of interface and the simple operation of machinery and
positioning, thereby suiting a wide range of machines.
This manual is prepared for you to make correct and effective use of LXM16D series servo drive
system with above-noted merits. 4
Wiring
5
Front Panel
6
Operation
7
Commissioning
8
Diagnostics
9
Parameters
10
Communication
TM
1-1
Chap01. Overview
1.2 About Servo Drive
1.2.1 Nameplate of Servo Drive
Lexium16 1 1. Range Name

LXM16DU01M2X 2 2. Commercial Reference
0.1 kW 3 3. Continuous power
V1.0 IE00 4 4. Firmware & Hardware version on
5 delivery
Input a.c. 1-phase Output
50/60 Hz 6 5. Input Voltage & Current
continuous max. 7
1~200Vac-1.3Arms
6. Output Current & Power
0.9Arms-0.1kW 2.7Arms
7. Maximum Output Current
8. Tool & Cable
9. Protection Degree
Multiple rated equipment, see instruction manual 10. Certification
internal Motor Overload Protection 11. Serial Number
8
Cu 1 mm2 70° C IP20 9
10
20
4004500HL174412345 11
Made in China
www.schneider-electric.com/contact 施耐德（苏州）变频器有限公司
苏州工业园区葑亭大道555号
1-2 TM
1
1.2.2 Servo Drive Model Code Description
Overview
Item 1 2 3 4 5
Type Code
(Example)
LXM 16 D U04 M2X
2
Selection
Type
Item Description
1 Product Designation
LXM = Easy Lexium
2 Product Type
16 = AC servo drive for one axis
3
Installation
3 Interface
D = I/O interface, PTI, PTO
M = I/O interface, PTI, PTO, Modbus interface
4 Continuous Power
U01 = 0.1 kW 4
U02 = 0.2 kW
Wiring
U04 = 0.4 kW
U07 = 0.75 kW
U10 = 1.0 kW
U15 = 1.5 kW
5 Power Stage Supply [Vac] 5
Front Panel
M2X = Single phase, 200/240Vac, no built-in
EMC filter
Operation
7
Commissioning
8
Diagnostics
9
Parameters
10
Communication
TM
1-3
Chap01. Overview
1.2.3 Designation of Parts of Servo Drive
Size 1: Servo Drive - 0.1 / 0.2 / 0.4 kW

Servo Drive Front Panel:
1. Connection port CN3: MircoUSB connector
2. Connection port CN2: Encoder connector
6 1 3. Connection port CN1: Connection to host controller
4. CHARGE: Drive charge indicator LED

2
5. Connection port CNP: Motor, external braking resistor
3 and power input connector
6. HMI
7 4 7. QR code, which is scanned to obtain detailed technical
parameters and the guide for installation and wiring

5
8. Ground Terminal
8
Note: Size 1 servo drive is designed without

ventilation fan.
Size 2: Servo Drive - 0.75 / 1.0 / 1.5 kW

Servo Drive Front Panel:
1. Connection port CN3: MircoUSB connector
2. Connection port CN2: Encoder connector

6 3. Connection port CN1: Connection to host controller
1
4. CHARGE: Drive charge indicator LED
2
5. Connection port CNP: Motor, external braking resistor
and power input connector

3
6. HMI
7 4 7. QR code, which is scanned to obtain detailed technical
parameters and the guide for installation and wiring
8. Ground Terminal
8
1-4 TM
1
1.3 About Servo Motor
Overview
1.3.1 Nameplate of Servo Motor
2
Selection
Type
Servo motor nameplate:
1 BCH16HD02330A5C2
1. Motor type
2 Un 3 220 Vrms Pn 0.2 kW 3 2. Nominal voltage 3
4 5
Installation
In 1.6 Arms Imax 4.8 Arms
3. Nominal power
6 Mn 0.64 Nm Mmax 1.91 Nm 7
8 Nn 3000 rpm Nmax 5000 rpm 9 4. Nominal current
10 IEC 60034-1 Mass 1.1 Kg 11 5. Maximum current
3 Th-CL F-IP65 12 6. Nominal torque
RS 00 13 7. Maximum torque
14
15
|||||||||||||||||||||||
XXXXXXXX Made In China 16
8. Norminal speed of rotation 4
Wiring
9. Maximum speed of rotation
10. Applied standard
11. Mass
12. Number of motor phase,
temperature class, degree of
protection
5
Ubr XXX V 17
Front Panel
13. Hardware versoin
Pbr XXX W 18
14. Bar code
Mbr XXX Nm 19 15. Serial number
16. Country of manufacture
17. Nominal voltage of holding brake
18. Nominal power of holding brake
6
Operation
19. Nominal torque of holding brake
Nameplate of Motor Location

Nameplate of of motor
Motor
nameplate:
7
band-type brake nameplate band-type brake
nameplate
1. 40/60/80 mm
Commissioning
2. 100/130 mm
8
Diagnostics
Nameplate of
Motor
9
Parameters
band-type brake
nameplate
10
Communication
TM
1-5
Chap01. Overview
1.3.2 Servo Motor Model Code Description
Item 1 2 3 4 5 6 7 8 9 10 11
Type Code
BCH16 H D 04 3 3 0 A 5 C 2
(Example)
Item Description
1 Product designation
BCH16 = Brushless servo motor, in combination with LXM16 servo drives
2 Moment of inertia
L = Low inertia
M = Medium inertia
H = High inertia
3 Flange size (housing)
B = 40 mm Flange (Shaft 8mm)
C = 60 mm Flange (Shaft 11mm)
D = 60 mm Flange (Shaft 14mm)
F = 80 mm Flange (Shaft 19mm)
H = 100 mm Flange (Shaft 19mm)
J = 100 mm Flange (Shaft 22mm)
M = 130 mm Flange (Shaft 22mm)
4 Norminal power
01 = 0.1 kW
02 = 0.2 kW
04 = 0.4 kW
07 = 0.75 kW
08 = 0.85 kW
10 = 1.0 kW
15 = 1.5 kW
5 Type of winding and power supply grade
1 = Optimized in terms of torque (1000 rpm/1500 rpm); power supply 200/240 Vac
2 = Optimized in terms of torque and speed of rotation (2000 rpm); power supply
200/240 Vac
3 = Optimized in terms of speed of rotation (3000 rpm); power supply 200/240 Vac
6 Shaft and degree of protection
3 = Parallel keyed; degree of protection: shaft and housing IP65
7 Encoder system
0 = 2500 ppr incremental encoder
2 = 23bit High resolution encoder
8 Holding brake
A = Without holding brake
F = With holding brake
9 Connection version
5 = Free leads with plastic connectors (for BCH16*B, BCH16*C, BCH16*D, and
BCH16*F)
6 = Military connectors (for BCH16*H, BCH16*J and BCH16*M)
10 Mechanical interface - Mounting
C = Motor compatible with Asian style mounting style
11 Hardware version
2 = RS02
1-6 TM
1
1.3.3 Designation of Parts of Servo Motor
Overview
1
40 / 60 / 80 mm Flange servo motor 2
Selection
Type
1. Encoder connector, plastic
6 2. Power connector, plastic
2
3. Motor housing, RAL9005
3 4. Keyed motor shaft with oil seal
5. 4 * Mounting holes (Note 1)
6. Holding brake connector, plastic
3
Installation
Note 1: 40mm flange servo motor has 2
mounting holes
4
5 4
Wiring
5
Front Panel
6
Operation
2 100 / 130 mm Flange servo motor
1. Encoder connector, military
1
2. Power (& holding brake) connector, military
3
3. Motor housing, RAL9005
4. Keyed motor shaft with oil seal
5. 4 * Mounting holes
7
Commissioning
4
8
Diagnostics
5
9
Parameters
10
Communication
TM
1-7
Chap01. Overview
1.4 Confirm the Mating of Servo Drive and Servo Motor

Nominal Nominal Nominal Moment
Servo Drive Servo Motor Power Speed Torque of Inertia
kW rpm Nm
LXM16*U01M2X BCH16LB013***5C* 0.1 3000 0.32 Low
BCH16HC023***5C* 0.2 3000 0.64 High
LXM16*U02M2X
BCH16HD023***5C* 0.2 3000 0.64 High
LXM16*U04M2X BCH16HD043***5C* 0.4 3000 1.27 High
LXM16*U07M2X BCH16HF073***5C* 0.75 3000 2.39 High
BCH16LF103***5C* 1.0 3000 3.18 Low
BCH16LH103***6C* 1.0 3000 3.18 Low
LXM16*U10M2X
BCH16LJ103***6C* 1.0 3000 3.18 Low
BCH16HM102***6C* 1.0 2000 4.77 High
BCH16HM081***6C* 0.85 1500 5.39 High
LXM16*U15M2X
BCH16HM152***6C* 1.5 2000 7.16 High
1-8 TM
10
Type
1
9
1-9 TM
2.1 Type Selection of Servo Drive.............................................................................................. 2-1

2.1.1 Specifications of Servo Drive.....................................................................................................2-1
2.1.2 Servo Drive Block Diagram.........................................................................................................2-3
2.1.3 Ratings of Servo Drive..................................................................................................................2-4
2.1.4 Servo Drive Dimension..................................................................................................................2-4
2.2 Type Selection of Servo Motor............................................................................................. 2-5
2.2.1 Specifications of Servo Motor....................................................................................................2-5
2.2.2 Ratings of Servo Motor.................................................................................................................2-6
2.2.3 Permissible Load on Servo Motor Output Shaft....................................................................2-7
2.2.4 Servo Motor Dimension / T-N Curve / Overload Characteristics.......................................2-8
2.3 System Accessories.............................................................................................................. 2-19
2.3.1 Standard Composition of Servo System with Peripheral Devices................................ 2-19
2.3.2 List of Accessories..................................................................................................................... 2-20
2.3.3 Connector...................................................................................................................................... 2-21
2.3.4 Motor Power / Holding Brake Control Cable........................................................................ 2-25
2.3.5 Motor Encoder Cable................................................................................................................. 2-29
2.3.6 I/O Control Cable and Adapter Module................................................................................ 2-31
2.3.7 External Braking Resistor......................................................................................................... 2-32
2.3.8 Input Filter...................................................................................................................................... 2-33
2.3.9 Motor Protection Circuit Breaker and Contactor................................................................ 2-33
1
2.1 Type Selection of Servo Drive
Overview
2.1.1 Specifications of Servo Drive
2
Selection
Type
Item Specifications
o o
0 C ... 40 C: Without derating
Temperature
40oC ... 50oC: With derating
Relative
5% ... 95%, no condensation
Operation
Humidity 3
<= 1000M mean sea level: Without derating
Installation
Altitude
1000 ... 2000M mean sea level: With derating
Impact 3M4, 3mm [2..9Hz], Zone I
Vibration 3M4, 1G [9..200Hz], Zone I
Ambient Temperature -25oC ... 70oC
Storage
Relative
5% ... 95%, no condensation
4
Wiring
Humidity
Vibration 2M2, 3.5mm [2..9Hz] / 1G [9..200Hz] / 1.5G [200..500Hz]
Protection Degree IP20
Class 2:
Environmental Class
No corrosive or inflammable gas
No oil, water, or chemical splash
5
Front Panel
Free from dust, dirt, salts, or iron powders
Voltage 1~ 220Vac, 200Vac -15% ... 240Vac + 10%
Frequency 50Hz -5% ... 60Hz +5%
TT Grounding
Allowed
Input
System 6
Operation
Grounding TN Grounding
power Allowed
Type System
IT Grounding
Not allowed
System
Leakage Current <35 mA
Heat Dissipation Method
0.1 kW ... 0.4 kW: Natural cooling 7
Commissioning
0.75 kW ... 1.5 kW: Fan cooling
Overload Capacity 300%
2500 ppr incremental encoder，8-wire
Feedback Interface
23 bit high resolution encoder
Input
6 Digital inputs
The input function can be set through parameters
8
Diagnostics
Digital
3 Digital outputs
Output
The output function can be set through parameters
Control 2 Inputs:
Interface Input Open collector (24V)
Pulse
Line driver or differential high-speed pulse (3.3V) 9
Encoder simulation feedback output
Parameters
Output Resolution can be set through parameter

Motor index pulse open collector output
Mini-B USB
USB
Commissioning Commissioning and monitoring by PC software
Interface
HMI
5-digit 7-segment display 10
Communication
4 buttons
Regenerative Braking No built-in regenerative braking resistor
Braking
Built-in dynamic brake function, can be activated
Method Dynamic Braking
through parameter
TM
2-1
Item Specifications
P+D
Input Pulse
CW + CCW
Train Type
AqB (with quadruple)
Max. Pulse Open collector 24V: 200Kpps
Frequency Differential high-speed pulse (3.3V): 2Mpps
Position Internal
Pulse Train 131072 pulses/revolution
Control Counting
Electronic gear ratio is directly selected through
parameter
Electronic
Electronic gear ratio is computed through numerator/
Gear Ratio
denominator
Electronic gear ratio is switchable
Motion Task Control User can program own interal motion task by script
Easy The servo drive moves the motor with pre-defined
Tuning trajectory and optimize the control loop parameters
User can set trajectory parameters such as movement,
Comfort direction and velocity, the servo drive then drives the
Tuning motor following given criteria and yield optimized control
Auto
loop parameters
Control Tuning
Auto The servo drive automatically identifies the load inertia
Loop
Adaptive ratio in real time and sets the control loop parameters
Setting
Tuning with respect to the stiffness
Auto Notch The servo drive automatically detects the load resonance
Filters frequency and sets 1 or 2 sets of built-in notch filters
Cascade control loop
Manual Tuning Anti-vibration filters
Manual notch filters
1. Servo enable 2. Alarm clear 3. Parameter set
switchover 4. Halt 5. Electronic gear ratio switchover
Control Input
6.JOG 7. Hardware limit 8. HOME 9. Torque limit 10.
Speed limit
1. Servo alarm 2. Servo enable signal 3. Position
Control Output deviation reached 4. Motor standstill 5. Error monitor 6.
Warning monitor 7. Homed 8. Motor moving
2-2 TM
1
2.1.2 Servo Drive Block Diagram
Overview
2
External braking resistor
Servo drive
Selection
Type
PB
P+
3
Installation
Rectifier bridge
Servo
Inverter circuit
U
motor
L +
V
W
N
4
Wiring
power supply
Encoder
Switching
Protection Gate
circuit drive
Front Panel
Control circuit
Position pulse
6
CN 1
Digital input CN2
Operation
Digital output
Analog encoder
output
Mini-B
CN3
7
Commissioning
USB
8
Diagnostics
9
Parameters
10
Communication
TM
2-3
2.1.3 Ratings of Servo Drive
Model LXM16D*M2X U01 U02 U04 U07 U10 U15

Nominal Input Voltage [Vac] 1~ 200 ... 240 Vac, -10% ... +15%, 50Hz -5% ... 60Hz +5%
Continuous Iutput Current [Arms] 1.34 2.59 4.52 7.81 10.13 14.43
Nominal Output Power [kW] 0.1 0.2 0.4 0.75 1.0 1.5
Nominal Output Current [Arms] 0.9 1.55 2.6 5.1 7.3 8.3
Maximum Output Current [Arms] 2.7 4.65 7.8 15.3 21.9 24.9
2.1.4 Servo Drive Dimension
1~ 200Vac 0.1kW...0.4kW (U01/ U02/ U04)

52 155.2 6
5.5
150
φ5.3
4.5
1~ 200Vac 0.75kW...1.5kW (U07/ U10/ U15)

65 185.2 35.5
φ5.3 17
150
139
5.5
2-4 TM
1
2.2 Type Selection of Servo Motor
Overview
2.2.1 Specifications of Servo Motor
2
Selection
Type
Item Specificaitons
0oC ... 40oC: Without derating
Temperature
40oC ... 50oC: With derating
Relative
5% - 80%, no condensation
Operation
Humidity
<=1000M mean sea level: Without derating
3
Installation
Altitude
Ambient 1000～2000M mean sea level: With derating
Shock 150m/s2
Vibration 0.15mm (10Hz..60Hz), 20m/s2 (10Hz..60Hz)
Temperature -20oC ... 60oC
Storage Relative
<=75%, no condensation
4
Humidity
Wiring
Orientation IM B5, IM V1, IM V3
Shaft IP65 (With oil seal)
Housing IP65
Install
Protection Free Leads
Grade Connector
IP40 5
Front Panel
Military
IP65
Connector
Connection Method Flange connection
Excitation Method Permanent magnet synchronous motor
Insulation Class F(155oC) 6
Operation
7
Commissioning
8
Diagnostics
9
Parameters
10
Communication
TM
2-5
2.2.2 Ratings of Servo Motor
Model: BCH16 LB01 HC02 HD02 HD04 HF07

Voltage Level [Vac] 200 ... 240Vac
Nominal Output Power [kW] 0.1 0.2 0.2 0.4 0.75
Nominal Torque [Nm] 0.32 0.64 0.64 1.27 2.39
Maximum Torque [Nm] 0.95 1.91 1.91 3.81 7.16
Nominal Current [Arms] 1.0 1.6 1.6 2.6 4.3
Maximum Current [Arms] 3.0 4.8 4.8 8.1 14
Nominal Speed [rpm] 3000 3000 3000 3000 3000
Maximum Speed [rpm] 5000 5000 5000 5000 5000
Torque Constant-KT [Nm/Arms] 0.32 0.46 0.46 0.47 0.56
Voltage Constant-KE [V/krpm] 23.7 28.0 28.0 32.78 37.3
Rotor Moment of w/o brake 0.041 0.42 0.42 0.67 1.51
Inertia [kgcm2] with brake 0.047 0.48 0.48 0.73 1.64
Protection Degree Natural cooling, IP65
Flange [mm] 40 60 60 60 80
Nominal Voltage [V] 24VDC +/-10%
Nominal Current [A] 0.26 0.308 0.308 0.308 0.422
Holding Torque [Nm] 0.32 1.5 1.5 1.5 3.0
Holding Brake Moment of Inertia
0.005 0.049 0.049 0.049 0.129
[kgcm2]
Release Time [ms] 118 25 25 25 25
Apply Time [ms] 15 50 50 50 50
Model: BCH16 LF10 LH10 LJ10 HM10 HM08 HM15

Voltage Level [Vac] 200 ... 240Vac
Nominal Output Power [kW] 1.0 1.0 1.0 1.0 0.85 1.5
Nominal Torque [Nm] 3.18 3.18 3.18 4.77 5.39 7.16
Maximum Torque [Nm] 9.55 9.55 9.55 14.31 13.8 21.48
Nominal Current [Arms] 6.8 6.6 6.6 5.2 7.0 7.9
Maximum Current [Arms] 20.4 21.8 21.8 15.6 18.1 23.7
Nominal Speed [rpm] 3000 3000 3000 2000 1500 2000
Maximum Speed [rpm] 5000 5000 5000 3000 3000 3000
Torque Constant-KT [Nm/Arms] 0.51 0.48 0.48 1.0 0.78 1.0
Voltage Constant-KE [V/krpm] 31.1 31.2 31.2 60.8 51.7 60.0
Rotor Moment of w/o brake 1.24 2.65 2.65 10.88 14.08 14.8
Inertia [kgcm2] with brake 1.37 2.75 2.75 11.58 14.78 15.5
Protection Degree Natural cooling, IP65
Flange [mm] 80 100 100 130 130 130
Nominal Voltage [V] 24VDC +/-10%
Nominal Current [A] 0.422 0.612 0.612 0.816 0.816 0.816
Holding Torque [Nm] 3.0 6.5 6.5 15.0 15.0 15.0
Holding Brake Moment of Inertia
0.129 0.078 0.078 0.324 0.324 0.324
[kgcm2]
Release Time [ms] 25 100 100 76 76 76
Apply Time [ms] 50 10 10 27 27 2
2-6 TM
1
2.2.3 Permissible Load on Servo Motor Output Shaft
Overview
Allowable shaft load
FRadial
（shaft center） 2
Selection
Type
FThrust
= =
Installation
Model: BCH16 LB01 HC02 HD02 HD04 HF07
Maximum Allowable Radial Load [N]*1 73.5 197.96 197.96 220.5 221.48
Maximum Allowable Thrust Load [N]*1 12.74 61.74 61.74 61.74 61.74
Wiring
Model: BCH16 LF10 LH10 LJ10 HM10 HM08 HM15
Maximum Allowable Radial Load [N]*1 221.48 343.98 343.98 578.2 498.82 709.52
Maximum Allowable Thrust Load [N]*1 61.74 122.3 122.3 211.68 176.4 176.4
5
Front Panel
*1: Load [N]+/-10%
6
Operation
7
Commissioning
8
Diagnostics
9
Parameters
10
Communication
TM
2-7
φ
BCH16HM15230F6C 0 6 11.5

3 -0.2 109.4
PCDφ145
□130 4-φ9 55±1 （159.3）
（81.7）（99.5）
9）
2.2.4 Servo Motor Dimension / T-N Curnve / Overload Characteristics

BCH16LB01330A5C B
（117.8）
（118.4）
BCH16LB0133*A5C2
（79.5）
（79.5）
3 47
3
8 -0.036
39 12.5
-0.022
M3,D=6
0
300±30
6.2
φ110
φ22 -0.013
0
□40 300±30
0 6 11.5
6 3 -0.2 PCDφ145
φ4 152
（33）
（34）
□130 4-φ9 55±1 （201.9）
0
3 -0.025 14
-0.013
-0.02
0
□42
0
φ30
1.2 -0.1
φ8
0
（19.8）
BCH16LB01330F5C 2-φ4.5
2.5
58
25±1 （98.2）
300±30
BCH16LB0133*F5C2
BCH16LF10330A5C B
300±30
6
300±30
6
22
□40 300±30
M5,D=12 300±30
15.5
（33）
（34）
（33）
（43）
φ46
14
□42
□42
φ8 -0.013
4-φ6.5
φ30 -0.02
300±30
P.C.D.φ90
0
0
1.2-0.1
0
R8 （19.8）
0
（53）
3 -0.025
2-φ4.5 2.5
58
（131.3 注）
25
25±1
-0.013
-0.03
Note: BCH16LB01332F5C2 body length = 134.3

0
□80
0
φ70
φ19
□80
6 -0.03
1000
0
31
0.8
Torque (Nm)
BCH16LF10330F5C
100
Time (S)
3 0.6
0
2.5 -0.2 7
35±1 （142.2）
0.4
10
300±30
0.2
300±30
1 0
BCH16LH10330A6C
0 50 100 150 200 250 300 0 500 1000 1500 2000 2500 3000 3500 4000 4500 B
5000
Load factor (%) Speed (rpm)
300±30
6
28
6
4-φ6.5 （69.5）（46.95）

R8
1 P.C.D.φ90
（53）
（53）
0.8
Torque (Nm)
M6,D=15 25
15.5
φ70 -0.03
φ19 -0.013
0.6
0
（102.8）
□80
4-φ9
0.4
6 -0.03
31
15
0
（64.5）
φ1
0.2
φ95 -0.035
0 0 3 7
200 250 300 0 500 1000 15002.5 -0.2
2000 2500 3000 3500 35±14500
4000 5000
（180.5）
0
) Speed (rpm)
6 -0.03
φ19 -0.013
0
31
0
BCH16LH10330F6C 3
9 96
2-8 0
（139）
2.5 -0.2 TM
45±1
） □100
（69.5）（87.45）
BCH16HC0233*A5C2
BCH16HC02330A5C 1BC
Overview
4
4
20
300±30
M4,D=15
8.5
2
Selection
Type
300±30
4-φ5.5
R5 P.C.D.φ70 R5
22
4 -0.03
0
3
-0.025
-0.011
□60
Installation
φ50
φ11
27
0 3
1.5 -0.2
8 （106.5）
4
30±1
BCH16HC02330F5C
Wiring
BCH16HC0233*F5C2
300±30 300±30
BCH16HD02330A5C BC
300±30
5
5
5
4-φ5.5 20
P.C.D.φ70
300±30
Front Panel
300±30
R5 M4,D=15
11
（43）
22
300±30
-0.025
-0.011
4-φ5.5
6
0
□60
R5 P.C.D.φ70 R5
φ50
φ11
Operation
5 -0.034 -0.03
27
0
22.5
0
-0.025
-0.011
0 3 8
1.5 -0.2
□60
30±1 （145）
φ50
φ14
7
25
1000 2
Commissioning
0 3
2 -0.2
8 （106.5）
30±1
BCH16HD02330F5C 1.5
Torque (Nm)
100
Time (S)
300±30 10
BCH16HD04330A5C 0.5
300±30
8BC
Diagnostics
300±30
5 0
1
5
0 4-φ50
5.5 100 150 200 20
250 300 0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000
P.C.D.φ70
Load factor (%) 300±30 Speed (rpm)
300±30
R5 M4,D=15
9
11
2
（43）
22.5
Parameters
300±30
1.5
-0.025
Torque (Nm)
4-φ5.5
0
□60
R5 P.C.D.φ70 R5
φ50
1
5 -0.035 -0.03
（43）
25
0
22.5
0.5
10
0
-0.011
-0.025
-0.011
0 3 8
0
2 -0.2
Communication
□60
30±1 （145）
φ14
0
φ50
φ14
200 250 300 0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000
25
(%) Speed (rpm)
0 3
2 -0.2
8 （128.5）
30±1
BCH16HD04330F5C
TM
2-9
300±30 300±30
BCH16HF07330A5C BC
3
1.5 -0.2
8 （106.5）
30±1
BCH16HC02330F5C

300±30 300±30
BCH16HD02330A5C
BCH16HD0233*A5C2 BC
300±30
5
5
4-φ5.5 20
P.C.D.φ70
300±30 300±30
R5 M4,D=15
11
（43）
22
300±30
-0.025
-0.011
0
4-φ5.5
□60
0
R5 P.C.D.φ70 R5
φ50
φ11
5 -0.034 -0.03
27
0
22.5
-0.025
-0.011
0 3 8
1.5 -0.2
□60
0
（145）
0
30±1
φ50
φ14
25
0 3
2 -0.2
8 （106.5）
30±1
BCH16HD02330F5C
BCH16HD0233*F5C2
300±30 300±30
BCH16HD04330A5C BC
300±30
5
5
4-φ5.5 20
P.C.D.φ70
300±30 300±30
R5 M4,D=15
11
（43）
22.5
300±30
-0.025
0
4-φ5.5
□60
R5 P.C.D.φ70 R5
φ50
5 -0.035 -0.03
（43）
25
0
22.5
0
-0.011
-0.025
-0.011
0 3 8
0
2 -0.2
□60
（145）
0
30±1
φ14
φ50
φ14
25
1000 2
0 3
2 -0.2
8 （128.5）
30±1
BCH16HD04330F5C 1.5
Torque (Nm)
100
Time (S)
300±30 10 300±30
BCH16HF07330A5C 0.5 BC
300±30
6
6
1 0
4-φ50
5.5 22
0 100 150 200 250 300 0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000
P.C.D.φ70
Load factor (%) 300±30 Speed (rpm)
R5 M5,D=12 300±30
15.5
2
（43）
（43）
22.5
4-φ6.5 300±30
-0.025
1.5 P.C.D.φ90
-0.011
Torque (Nm)
0
□60
R8
φ50
R8
φ14
1
5 -0.03
（53）
25
0
25
0.5
-0.013
-0.03
0 3 8
0
2 -0.2
□80
30±1 （167）
φ70
φ19
□80
0
6 -0.03
200 250 300 0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000
0
(%) Speed (rpm) 31
3
0
2.5 -0.2 7
35±1 （137）
BCH16HF07330F5C
2-10 TM
300±30
BCH16HM08130A6C BC
3
2 -0.2
8 （106.5）
30±1
BCH16HD02330F5C
300±30
BCH16HD04330A5C
BCH16HD0433*A5C2
300±30
1BC
300±30
Overview
5
5
4-φ5.5 20
P.C.D.φ70
300±30 300±30
R5 M4,D=15
11
2
（43）
22.5
Selection
Type
300±30
-0.025
0
4-φ5.5
□60
R5 P.C.D.φ70 R5
φ50
5 -0.035 -0.03
（43）
25
0
22.5
0
3
-0.011
-0.025
-0.011
0 3 8
0
2 -0.2
□60
（145）
0
30±1
Installation
φ14
φ50
φ14
25
0 3
2 -0.2
8 （128.5）
30±1
BCH16HD04330F5C
4
Wiring
BCH16HD0433*F5C2
300±30 300±30
BCH16HF07330A5C BC
300±30
6
5
6
4-φ5.5 22
P.C.D.φ70
300±30
Front Panel
R5 M5,D=12 300±30
15.5
（43）
（43）
22.5
4-φ6.5 300±30
-0.025
P.C.D.φ90
-0.011
6
0
0
□60
R8
φ50
φ14
R8
5 -0.03
Operation
（53）
25
0
25
-0.013
-0.03
0 3 8
0
2 -0.2
□80
30±1 （167）
φ70
φ19
□80
6 -0.03
7
0
31
Commissioning
1000 4
3
0
2.5 -0.2 7
35±1 （137）
BCH16HF07330F5C 3
Torque (Nm)
100
Time (S)
10
BCH16HM08130A6C 1
300±30
8BC
Diagnostics
300±30
8
7
1 35 0 76.7 56.9
0 50 100 150 200 250 300 0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000
300±30
M6,D=15 4-φ6.5
18
9
R8
P.C.D.φ90
（53）
（53）
4
（117.8）
Parameters
25
φ70 -0.03
3
（79.5）
□80(Nm)
0
8 -0.036
Torque
6 -0.03 0
2
φ19 -0.013
φ110 -0.022
31
0
1
10
-0.013
Communication
0 3 7 39
2.5 -0.2 35±1 （175.3）
0
0 47
φ22
200 250 300 0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000
%) Speed (rpm)
6
0 11.5 104.4
3 -0.2 PCDφ145
55±1 （154.3）
□130 4-φ9
BCH16HM08130F6C
TM
2-11
76.7 99.5
BCH16HM10230A6C BC
3
2 -0.2
8 （128.5）
30±1
BCH16HD04330F5C

300±30 300±30
BCH16HF07330A5C
BCH16HF0733*A5C2 BC
300±30
6
6
4-φ5.5 22
P.C.D.φ70
300±30
R5 M5,D=12 300±30
15.5
（43）
（43）
22.5
4-φ6.5 300±30
-0.025
P.C.D.φ90
-0.011
0
0
□60
R8
φ50
R8
φ14
5 -0.03
（53）
25
0
25
-0.013
-0.03
0 3 8
0
□80
0
2 -0.2 （167）
30±1
φ70
φ19
□80
-0.03
0
6 31
3
0
2.5 -0.2 7
35±1 （137）
BCH16HF07330F5C
BCH16HF0733*F5C2
300±30
BCH16HM08130A6C BC
300±30
8
7
35 76.7 56.9
300±30
M6,D=15
4-φ6.5
18
R8
P.C.D.φ90
（53）
（53）
（117.8）
25
φ70 -0.03
（79.5）
0
-0.036
□80
0
6 -0.03
φ19 -0.013
8
-0.022
31
0
0
0
φ110
-0.013
3 7 39
0
（175.3）
0
2.5 -0.2 35±1

47
φ22
1000 6 8
0 11.5 104.4
3 -0.2 PCDφ145
55±1 （154.3）
□130 4-φ9
BCH16HM08130F6C 6
Torque (Nm)
100
Time (S)
4
76.7 99.5
10
BCH16HM10230A6C 2 BC
8
7
1 35 0
（117.8）
（118.4）
0 50 100 150 200 250 300 0 500

（66.7） 1000（56.9）
1500 2000 2500 3000 3500 4000 4500 500
（79.5）
（79.5）
M6,D=15
18
8 -0.036
8 4-φ9
0
P.C.D.φ145
φ110 -0.022
（117.8）
0
6
Torque (Nm)
（79.5）
39
-0.013
8 -0.036
4 47
0
φ22
-0.022
0
3 -0.2
0
2
φ110
6
PCDφ145 11.5
39
-0.013
147
□130 4-φ9 55±1 （196.9）
0
0 47
φ22
200 250 300 0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000
(%) Speed (rpm)
0 6 11.5
3 -0.2 （94.4）
□130 55±1 （144.3）
BCH16HM10230F6C
2-12 TM
（66.7） 99.5
BCH16HM15230A6C BC
58
25±1 （98.2）
BCH16LB01330F5C
BCH16LF10330A5C
BCH16LF1033*A5C2
1B
Overview
6
300±30
6
22
300±30
300±30
M5,D=12 300±30
15.5 □40 300±30
2
Selection
Type
4-φ6.5
（33）
（34）
300±30
（33）
（43）
P.C.D.φ90
φ46
R8 14
□42
□42
φ8 -0.013
φ30 -0.02
（53）
0
0
1.2-0.1
0
25
（19.8）
0
3
-0.013
-0.03
3 -0.025
0
□80
0
2-φ4.5 2.5
φ70
Installation
58
φ19
注
□80
25±1 （131.3 ）
6 -0.03
0
31
3
0
2.5 -0.2 7
（142.2）
4
35±1
BCH16LF10330F5C
Wiring
BCH16LF1033*F5C2
300±30
BCH16LH10330A6C B
300±30
6
28 5
6
（69.5）（46.95）
Front Panel
300±30
M6,D=15 4-φ6.5
R8
15.5
P.C.D.φ90
（53）
（53）
（102.8）
4-φ9 25
6
φ70 -0.03
φ19 -0.013
15
（64.5）
0
φ1
0
□80
Operation
6 -0.03
31
φ95 -0.035
0
0
6 -0.03
φ19 -0.013
0
0 3 7
2.5 -0.2 35±1 31 （180.5）
0
Commissioning
1000 3 10
9 96
0
2.5 -0.2 45±1 （139）
8
BCH16LH10330F6C
Torque (Nm)
100 □100
6
Time (S)
）
10
BCH16LJ10330A6C
4
（69.5）（87.45） 8B
Diagnostics
2
8
35
7
1 0
0 50 100 150 200 250 300 （69.5）
0 1000 （46.95）
2000 3000 4000 5000 6000
（103.4）
（102.8）

4-φ9
M6,D=15
（64.5）
9
（64.5）
18
15
10 φ1
Parameters
（102.8）
8 4-φ9
φ95 -0.035
Torque (Nm)
15
（64.5）
6 φ1
-0.03
0
-0.013
31
6
4
φ95 -0.035
φ19
10
0
2
3
8 -0.036
Communication
0 9 136.5
φ22 -0.013
2.5 -0.2
0
0 45±1
39 (179.5)
□100
0
200 250 300 0 1000 2000 3000 4000 5000 6000

%) Speed (rpm)
3
9 96
0
4 -0.2 45±1 （139）
BCH16LJ10330F6C
□100
TM
2-13
）
（69.5）（87.45）
2.5 -0.2 7
35±1 （142.2）
BCH16LF10330F5C

300±30
BCH16LH10330A6C BC
BCH16LH1033*A6C2
300±30
6
28
6
（69.5）（46.95）
300±30
R8 M6,D=15 4-φ6.5
15.5 P.C.D.φ90
（53）
（53）
（102.8）
4-φ9 25
φ70 -0.03
φ19 -0.013
15
（64.5）
φ1
0
□80
6 -0.03
31
φ95 -0.035
0
0
6 -0.03
φ19 -0.013
3 7
0
0
2.5 -0.2 35±1 31 （180.5）
0
3
9 96
0
2.5 -0.2 45±1 （139）
BCH16LH10330F6C
□100
BCH16LH1033*F6C2
（69.5）（87.45）
BCH16LJ10330A6C BC
8
35
7
（69.5）（46.95）
（103.4）
（102.8）
4-φ9
M6,D=15
（64.5）
（64.5）
18
15
φ1
（102.8）
4-φ9
φ95 -0.035
0
15
（64.5）
φ1
6 -0.03
0
-0.013
31
0
φ95 -0.035
φ19
0
3
8 -0.036
0 9 136.5
φ22 -0.013
2.5 -0.2
0
45±1
39 (179.5)
□100
0
3
1000 109
96
0
4 -0.2 45±1 （139）
BCH16LJ10330F6C 8
□100
Torque (Nm)
100
6
Time (S)
4
（69.5）（87.45）
10
1 0
（103.4）
0 50 100 150 200 250 300 0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000
（102.8）
Load factor
4-φ9(%) Speed (rpm)
（64.5）
（64.5）
15
φ1
10
φ95 -0.035
8
0
Torque (Nm)
8 -0.036
6
φ22 -0.013
39
0
2 3
0 9 136.5
4 -0.2
45±1 （179.5）
0 □100
200 250 300 0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000
(%) Speed (rpm)
2-14 TM
9 96
0
BCH16LH10330F6C 2.5 -0.2 45±1 （139）
□100
BCH16LJ1033*A6C2
BCH16LJ10330A6C
（69.5）（87.45）
1BC
Overview
8
35
（103.4）
（69.5）（46.95）
（102.8）
4-φ9
（64.5）
（64.5）
M6,D=15
15
φ1
2
18
Selection
Type
φ95 -0.035
（102.8）
4-φ9
0
15
6 -0.03
（64.5）
φ1
φ19 -0.013
31
0
φ95 -0.035
3
0
3
0 9 136.5
8 -0.036
2.5 -0.2
Installation
(179.5)
φ22 -0.013
45±1
□100
0
39
0
3
9 96
0
BCH16LJ10330F6C （139）
4
4 -0.2 45±1
□100
Wiring
BCH16LJ1033*F6C2
（69.5）（87.45）
（103.4）
（102.8）
Front Panel
4-φ9
（64.5）
（64.5）
15
φ1
φ95 -0.035
0
6
8 -0.036
-0.013
39
0
Operation
0
φ22
3
0 9 136.5
4 -0.2
45±1 （179.5）
□100
Commissioning
1000 10
8
Torque (Nm)
100
6
Time (S)
10
4
8
Diagnostics
2
1 0
0 50 100 150 200 250 300 0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000
10
9
Parameters
8
Torque (Nm)
2 10
Communication
0
200 250 300 0 500 1000 1500 2000 2500 3000 3500 4000 4500 5000
(%) Speed (rpm)
TM
2-15
3 -0.2 PCDφ145
55±1 （154.3）
□130 4-φ9

BCH16HM08130F6C
76.7 99.5
BCH16HM10230A6C
BCH16HM1023*A6C2 BC
7
35
（66.7）（56.9）
（117.8）
（117.8）（118.4）
M6,D=15
18
（79.5）
（79.5）
4-φ9
P.C.D.φ145
8 -0.036
0
φ110 -0.022
（79.5）
0
8 -0.036
39
-0.013
0
-0.022
0
47
φ22
0
φ110
0
3 -0.2
39
-0.013
6
11.5
0
PCDφ145 47 147
φ22
□130 4-φ9 55±1 （196.9）
0 6 11.5
3 -0.2 （94.4）
□130 55±1 （144.3）
BCH16HM10230F6C
BCH16HM1023*F6C2
（66.7） 99.5
BCH16HM15230A6C BC
8
7
35
4-φ9 （81.7）（56.9）
（118.4）
（117.8）
P.C.Dφ145
M6,D=15
18
（79.5）
（79.5）
-0.036
（117.8）
0
φ110 -0.022
8
（79.5）
47
8 -0.03
39
-0.013
39
0
φ110 -0.022
0
47
φ22
-0.013
3 -0.2
0 6 11.5
（137）
0
φ22
□130 55±1 （186.9）
0 6 11.5
3 -0.2 109.4
PCDφ145
1000 15
□130 4-φ9 55±1 （159.3）
BCH16HM15230F6C 12
Torque (Nm)
100
9
Time (S)
（81.7）（99.5）
BCH16LB01330A5C 6 BC
10
3
3
3
1 12.5 0
（117.8）
（118.4）
0 50 100 150 200 250 300 0 500 1000 1500 2000 2500 300
（79.5）
（79.5）
M3,D=6 47 300±30
6.2
-0.036
39
15
0
8
-0.022
12 □40 300±30
0
Torque (Nm)
φ110
-0.013
9
6
φ4
0
（33）
（34）
φ22
0 6
3 -0.025 14
-0.013
-0.02
0
□42
6 11.5
0
3 0
3 -0.2
φ30
PCDφ145
1.2 -0.1
152
φ8
0
0
□130 4-φ9 55±1 （19.8）（201.9）
200 250 300 0 500 1000 1500 2000 2500 3000
2-φ4.5 2.5 3
%) Speed (rpm)
58
25±1 （98.2）
BCH16LB01330F5C
2-16 TM
BCH16LF10330A5C BC
3
0
2.5 -0.2 7
35±1 （137）
BCH16HF07330F5C
BCH16HM08130A6C
BCH16HM0813*A6C2 300±30 1B
Overview
300±30
8
7
35 76.7 56.9
300±30
M6,D=15
18
R8 4-φ6.5
P.C.D.φ90 2
（53）
（53）
（117.8）
Selection
Type
25
（79.5）
φ70 -0.03
8 -0.036
0
0
□80
φ110 -0.022
6 -0.03
φ19 -0.013
0
31
3
0
-0.013
39
Installation
0
0 3 7
47 （175.3）
φ22
2.5 -0.2 35±1
6
0 11.5 104.4
3 -0.2 PCDφ145
55±1 （154.3）
□130 4-φ9
BCH16HM08130F6C 4
Wiring
BCH16HM0813*F6C2
76.7 99.5
BCH16HM10230A6C B
5
7
35
（66.7）（56.9）
（117.8）
（118.4）
Front Panel
M6,D=15
（79.5）
（79.5）
18
4-φ9
8 -0.036
P.C.D.φ145
（117.8）
0
φ110 -0.022
0
（79.5）
6
8 -0.036
39
-0.013
Operation
0
47
-0.022
φ22
0
φ110
3 -0.2
6 39
φ22 -0.013
PCDφ145 11.5
147
0
4-φ9 47
□130 55±1 （196.9）
Commissioning
0 6 11.5
1000 3 -0.2 15 （94.4）
□130 55±1 （144.3）
12
BCH16HM10230F6C
Torque (Nm)
100
9
Time (S)
（66.7） 99.5
BCH16HM15230A6C
10
6
8B
Diagnostics
3
8
7
35
1 4-φ9 0 （81.7）（56.9）
（118.4）
（117.8）
0 50 100 P.C.Dφ145
150 200 250 300 0 500 1000 1500 2000 2500 300
M6,D=15
（79.5）
（79.5）
18
9
-0.036
0
15
φ110 -0.022
（117.8）
Parameters
8
（79.5）
12
47
Torque (Nm)
8 -0.03
φ22 -0.013
9 39 39
0
φ110 -0.022
47
0
3
10
φ22 -0.013
0 6 11.5
Communication
3 -0.2 （137）
0
0 □130 55±1 （186.9）

200 250 300 0 500 1000 1500 2000 2500 3000
%) Speed (rpm)
0 6 11.5
3 -0.2 109.4
PCDφ145
□130 4-φ9 55±1 （159.3）
BCH16HM15230F6C
TM
2-17
（81.7）（99.5）
）
BCH16LB01330A5C B
3 -0.2 （94.4）
□130 55±1 （144.3）
BCH16HM10230F6C
Chap02. Type Selection （66.7） 99.5
BCH16HM15230A6C
BCH16HM1523*A6C2 B
7
35
4-φ9
（81.7）（56.9）
（118.4）
（117.8）
P.C.Dφ145
M6,D=15
（79.5）
（79.5）
18
8 -0.036
0
φ110 -0.022
（117.8）
0
（79.5）
47
8 -0.03
-0.013
39 39
φ110 -0.022
47
φ22
-0.013
3 -0.2
0 6 11.5
（137）
0
□130 55±1 （186.9）
φ22
0 6 11.5
3 -0.2 109.4
PCDφ145
□130 4-φ9 55±1 （159.3）
BCH16HM15230F6C
BCH16HM1523*F6C2
（81.7）（99.5）
BCH16LB01330A5C B
3
3
12.5
（117.8）
（118.4）
（79.5）
（79.5）
47
M3,D=6
300±30
6.2
8 -0.036
39
0
-0.022
□40 300±30
0
φ110
-0.013
0
6
φ4
φ22
（33）
（34）
0
3 -0.025 14
-0.013
-0.02
0 6 11.5
0
3 -0.2
□42
PCDφ145
0
152
φ30
1.2 -0.1
φ8
□130 4-φ9 （201.9）

0
55±1 （19.8）
2-φ4.5 2.5
1000 25 58
25±1 （98.2）
20
BCH16LB01330F5C
Torque (Nm)
100
15
Time (S)
10
BCH16LF10330A5C
10 B
5
6
6
0±30 22
1 0
0 50 100 150 200 250 300 0 500 1000
300±30 1500 2000 2500 300
M5,D=12 300±30
300±30
15.5
□40 300±30
25
4-φ6.5 300±30
（33）
（34）
P.C.D.φ90
20
（33）
（43）
Torque (Nm)
φ46 R8
15 14
□42
（53）
□42
φ8 -0.013
φ30 -0.02
0
0
1.2-0.1
10 25
0
（19.8）
-0.013
-0.03
0
0
5
□80
3 -0.025
φ70
2.5
φ19
2-φ4.5
□80
58
（131.3 注）
6 -0.03
0 25±1
0
31
200 250 300 0 500 1000 1500 2000 2500 3000
(%) Speed (rpm)
3
0
2.5 -0.2 7
35±1 （142.2）
BCH16LF10330F5C
2-18 TM
BCH16LH10330A6C 300±30 B
1
2.3 Accessories
Overview
2.3.1 Standard Composition of Servo System with Peripheral Devices
2
Selection
Type
Motor protection 3
Installation
circuit breaker
MODBUS Master
I/O Control interface cable and adapter module

4
Wiring
Input filter
M S CN3
Holding brake control cable

CN2 5
Front Panel
Contactor
CN1
(L / N)
6
Operation
CHARGE
Motor power cable
U External
V
W braking resistor
PB CNP
7
P+
L
N
Commissioning
Motor encoder cable
Ground terminal
8
Diagnostics
9
Parameters
10
Communication
TM
2-19
2.3.2 List of Accessories
Type Reference Description

VW3M4A11 Connector kit for servo drive CN1 control interface
VW3M4A21 Connector for servo drive CNP main circuit
VW3M4A31 Connector kit for servo drive CN2 encoder
VW3M5A11 Plastic connector kit for motor power cable, motor end
Plastic connector kit for motor holding brake control
VW3M5A12
cable, motor end
Connector VW3M5A21 Military connector kit for motor power cable, motor end
Military connector kit for motor power and holding brake
VW3M5A22
control cable, motor end
VW3M8A11 Plastic connector kit for motor encoder cable, motor end
VW3M8A21 Military connector kit for motor encoder cable, motor end
EMC mounting plate for motor power cable shield layer
VW3M2A31
grounding
Motor power cable, plastic connector, 4G0.75mm2,
VW3M5A11R**
optional length
Motor power cable, plastic connector, 4G0.75mm2,
VW3M5A11R**S
optional length, with shield
Motor power cable, military connector, 4G2.0mm2,
VW3M5A21R**
optional length
Motor Power /
Motor power cable, military connector, 4G2.0mm2,
Holding Brake VW3M5A21R**S
optional length, with shield
Control Cable
Motor power and holding brake control cable, military
VW3M5A22R**
connector, 6G2.0mm2, optional length
Motor power and holding brake control cable, military
VW3M5A22R**S
connector, 6G2.0mm2, optional length, with shield
Motor holding brake control cable, plastic connector,
VW3M5A12R**
2*0.5mm2, optional length
Motor encoder cable for 2500 ppr incremental encoder,
VW3M8A11R**
plastic connector, 2*0.5 + 3*2*0.2mm2, optional length
Motor encoder cable for 23 bit high resolution encoder,
VW3M8A12R**
Motor Ecnoder plactic connector, 2*0.5 + 3*2*0.2mm2, optional length
Cable Motor encoder cable for 2500 ppr incremental encoder,
VW3M8A21R**
military connector, 2*0.5 + 1*2*0.2mm2, optional length
Motor encoder cable for 23 bit high resolution encoder,
VW3M8A22R**
military connector, 2*0.5 + 1*2*0.2mm2, optional length
Control cable and adapter module kit for servo drive
I/O Control Cable CN1 control interface; 1.0m preassembled cable, adapter
VW3M4A1*
and Adapter Module module with screw-type terminal suitable for DIN rail
mounting: optional dedicated pulse train voltage level
External Braking External braking resistor with connecting cable with
VW3A760*R**
Resistor optional length; optional power and resistance
Input Filter VW3A44** External input filter for servo drive; optional current
Motor Protection
GV2P** Motor protection circuit breaker; optional setting current
Circuit Breaker
Contactor LC1*** Main power contactor: optional control voltage and load
2-20 TM
1
2.3.3 Connector
Overview
Description Connector kit for servo drive CN1 control interface
Reference VW3M4A11 Suitable for LXM16DU01..15M2X
2
Selection
Type
3
Installation
Parts 4
Description Reference Qty. Vendor Remarks
Wiring
Connector kit 3-2232346-1 1 TE For CN1 (SCSI-26)
Description Connector for servo drive CNP main circuit

5
Front Panel
P+ PB
6
Operation
Parts 7
Commissioning
Description Reference Qyt. Vendor Remarks
Connector kit 0150-20-S1384507 1 Dinkle For CNP
Description Connector kit for servo drive CN2 encoder

8
Diagnostics
9
Parameters
Parts 10
Communication

Connector kit 54599-1019 1 Molex For CN2 (SCSI-10)
TM
2-21
Description Plastic connector kit for motor power cable, motor end
Reference VW3M5A11 Suitable for BCH16*B/C/D/F*****
2 1
4 3
Parts
Chassis 172159-1 1 TE
Pin 170362-1 4 TE
Description Plastic connector kit for motor holding brake control cable, motor end
2 1
Parts
Chassis 172157-1 1 TE
Pin 170362-1 2 TE
Description Military connector kit for motor power cable, motor end
Reference VW3M5A21 Suitable for BCH16*H/J/M*****A***
A D
B C
Parts
Connector kit MS3108E20-4S 1 Amphenol
2-22 TM
Military connector kit for motor power and holding brake control cable, motor
1
Overview
Description
end
Reference VW3M5A22 Suitable for BCH16*H/J/M*****F***
A
B G
F
E
2
Selection
Type
C D
Installation
Parts
4
Wiring
Description Plastic connector kit for motor encoder cable, motor end
Front Panel
3 2 1
6 5 4
9 8 7
6
Operation
Parts
Chassis 172161-1 1 TE 7
Pin 170361-1 9 TE
Commissioning
Description Military connector kit for motor encoder cable, motor end
Reference VW3M8A21 Suitable for BCH16*H/J/M*****
8
Diagnostics
20-18
A H G
B I F
C E
D
9
Parameters
Parts
Description Reference Qyt. Vendor Remarks 10
Communication
TM
2-23
Description EMC mounting plate for motor power cable shield layer grounding
Reference VW3M2A31 Suitable for LXM16DU01 .. 15M2X
2-24 TM
1
2.3.4 Motor Power / Holding Brake Control Cable
Overview
Description Motor power cable, plastic connector
Reference VW3M5A11R** Suitable for BCH16*B/C/D/F*****
1 U
2
Selection
Type
2 V
3 W 35 35
4 F/G
U
VW3M5A11R10
YYWWXXXXX
W
V
3
Installation
PE
40±5 20 20 100
L
L (m) Reference 4
Parts 1.5 VW3M5A11RA5
Wiring
Description Reference Qty. Vendor 3 VW3M5A11R03
Chassis 172159-1 1 TE 5 VW3M5A11R05
Pin 170362-1 4 TE 10 VW3M5A11R10
Cable
I-type lug
UL2586-SB18AWG-4C
AI 0.75-10
**
3
SK TEC 15
20
VW3M5A11R15
VW3M5A11R20
5
Front Panel
Phoenix Contact
Y-type lug C-FCI 1.5/M4 1 25 VW3M5A11R25
Description Motor power cable, plastic connector, with shield

Reference VW3M5A11R**S Suitable for BCH16*B/C/D/F*****
6
1 U
Operation
2 V
35 35
3 W
4 F/G 20 20
VW3M5A11R10S
U
V
7
Commissioning
YYWWXXXXX
PE
40±5 20 50 150
L
L(m) Reference 8
Diagnostics
Parts 1.5 VW3M5A11RA5S
Description Reference Qty. Vendor 3 VW3M5A11R03S
Chassis 172159-1 1 TE 5 VW3M5A11R05S
Pin 170362-1 4 TE 10 VW3M5A11R10S
Cable
I-type lug
UL2586-SB18AWG-4C-Shield **
AI 0.75-10 3
SK TEC 15
20
VW3M5A11R15S
VW3M5A11R20S
9
Parameters
Phoenix Contact
Y-type lug C-FCI 1.5/M4 1 25 VW3M5A11R25S
10
Communication
TM
2-25
Description Motor power cable, military connector
Reference VW3M5A21R** Suitable for BCH16*H/J/M*****A***
A U
B V 35
C W 20
D F/G U
VW3M5A21R10
YYWWXXXXX
V
PE
100
L
L(m) Reference
MIL Connector MS3108E20-4S 1 Amphenol 5 VW3M5A21R05
Cable UL2586-SB14AWG-4C ** SK TEC 10 VW3M5A21R10
I-type lug AI 2.5-12 3 15 VW3M5A21R15
Phoenix Contact
25 VW3M5A21R25
Description Motor power cable, military connector, with shield

Reference VW3M5A21R**S Suitable for BCH16*H/J/M*****A***
A U
B V 35
C W 20
D F/G U
VW3M5A21R10S
YYWWXXXXX
V
PE
20 50 150
L
L(m) Reference
MIL Connector MS3108E20-4S 1 Amphenol 5 VW3M5A21R05S
Cable UL2586-SB14AWG-4C-Shield ** SK TEC 10 VW3M5A21R10S
I-type lug AI 2.5-12 3 15 VW3M5A21R15S
Phoenix Contact
25 VW3M5A21R25S
2-26 TM
Description Motor power and holding brake control cable, military connector
1
Overview
Reference VW3M5A22R** Suitable for BCH16*H/J/M*****F***
B U 35
500
G V BK+
E W 20
2
BK-
F BK+
Selection
Type
U
A BK- VW3M5A22R10
YYWWXXXXX V
C F/G W
D PE
100
L
3
Installation
L(m) Reference
MIL Connector
Cable
MS3108E20-15S
UL2586-SB14AWG-6C
1
**
Amphenol
SK TEC
5
10
VW3M5A22R05
VW3M5A22R10
4
Wiring
I-type lug AI 2.5-12 5 15 VW3M5A22R15
Phoenix Contact
25 VW3M5A22R25
5
Description Motor power and holding brake control cable, military connector, with shield
Front Panel
Reference VW3M5A22R**S Suitable for BCH16*H/J/M*****F***
B U
35
G V 550
E W 20
6
BK+
BK-
F BK+
Operation
A BK- U
C F/G
VW3M5A22R10S
YYWWXXXXX V
W
D PE
20 50 150
7
Commissioning
L
L(m) Reference
MIL Connector MS3108E20-15S 1 Amphenol 5 VW3M5A22R05S 8
Cable UL2586-SB14AWG-6C-Shield ** SK TEC 10 VW3M5A22R10S
I-type lug AI 2.5-12 5
Phoenix Contact
15 VW3M5A22R15S Diagnostics
25 VW3M5A22R25S
9
Parameters
10
Communication
TM
2-27
Description Motor holding brake control cable, plastic connector
Reference VW3M5A12R** Suitable for BCH16*B/C/D/F*****F**
1 BK+
2 BK- 40±5 100
VW3M5A12R10
BK+
YYWWXXXXX
BK-
20 20
35 35
L
L(m) Reference
Pin 170362-1 2 TE 10 VW3M5A12R10
Cable UL2464-SB20AWG-2C ** SK TEC 15 VW3M5A12R15
I-type lug AI 0.75-10 2 Phoenix Contact 20 VW3M5A12R20
25 VW3M5A12R25
2-28 TM
1
2.3.5 Motor Encoder Cable
Overview
Description Motor encoder cable for 2500 ppr incremental encoder, plastic connector
Reference VW3M8A11R** Suitable for BCH16*B/C/D/F*****
1 5V 1 A
2
Selection
Type
2 0V 2 /A
3 A 50 3 B
4 /A 4 /B
5 B VW3M8A11R10
5 Z
3
YYWWXXXXX
6 /B L 6 Z
Installation
7 Z 7
8 /Z 8
9 9 5V
10 0V
Shield
4
Wiring
L(m) Reference
Pin 170361-1 9 TE 10 VW3M8A11R10 5
Front Panel
UL2464- 15 VW3M8A11R15
Cable ** SK TEC
SB20AWG-2C + 24AWG-3P 20 VW3M8A11R20
Connector kit 54599-1019 1 Molex 25 VW3M8A11R25
Description
Reference
Motor encoder cable for 23 bit high resolution encoder, plactic connector
VW3M8A12R** Suitable for BCH16*B/C/D/F*****
6
Operation
1 5V 1
2 0V 2
3 50 3
4 4
5 SD+ VW3M8A11R10
YYWWXXXXX 5 7
Commissioning
6 SD- L 6
7 7 SD+
8 8 SD-
9 9 5V
10 0V 8
Shield
Diagnostics
L(m) Reference
Chassis 172161-1 1 TE 5 VW3M8A12R05 9
Parameters
Pin 170361-1 5 TE 10 VW3M8A12R10

UL2464- 15 VW3M8A12R15
Cable ** SK TEC
10
Communication
TM
2-29
Description Motor encoder cable for 2500 ppr incremental encoder, military connector
Reference VW3M8A21R** Suitable for BCH16*H/J/M*****
B 5V 1 A
I 0V 2 /A
A A 3 B
C /A VW3M8A21R10
YYWWXXXXX
4 /B
H B 5 Z
D /B 50 6 /Z
G Z 7
E /Z 8
F 9 5V
L 10 0V
Shield
L(m) Reference
MIL Connector MS3108E20-18S 1 Amphenol 5 VW3M8A21R05
UL2464- 10 VW3M8A21R10
Cable ** SK TEC
25 VW3M8A21R25
Description Motor encoder cable for 23 bit high resolution encoder, military connector
Reference VW3M8A22R** Suitable for BCH16*H/J/M*****
B 5V 1
I 0V 2
A 3
C VW3M8A21R10
YYWWXXXXX
4
H SD+ 5
D SD- 50 6
G 7 SD+
E 8 SD-
F 9 5V
L 10 0V
Shield
L(m) Reference
Description Reference Qty. Vendor 3 VW3M8A22RA5
MIL Connector MS3108E20-18S 1 Amphenol 5 VW3M8A22RA5
UL2464- 10 VW3M8A22RA5
Cable ** SK TEC
SB20AWG-2C + 24AWG-1P 15 VW3M8A22RA5
Connector kit 54599-1019 1 Molex 20 VW3M8A22RA5
25 VW3M8A22RA5
2-30 TM
1
2.3.6 I/O Control Cable and Adapter Module
Overview
Description Control cable and adapter module kit for servo drive CN1 control interface
Reference VW3M4A1* Suitable for LXM16DU01..15M2X
2
Selection
Type
L=1m
Installation
85.8
86.8
4
Wiring
30.25
5
Front Panel
Parts
Control cable VW3M4A12 1 For 24V OC PTI
Schneider
& Adapter
module
VW3M4A15 1 Electric
For 3.3V high speed
PTI
6
Operation
7
Commissioning
8
Diagnostics
9
Parameters
10
Communication
TM
2-31
2.3.7 External Braking Resistor
Description External braking resistor with connecting cable

Reference VW3A760*R** Suitable for LXM16DU01..15M2X
Parts
VW3A7605R07 1 72 Ohm, 100 W, 0.75 m cable
VW3A7605R20 1 72 Ohm, 100 W, 2.0 m cable
VW3A7605R30 1 72 Ohm, 100 W, 3.0 m cable
VW3A7606R07 1 72 Ohm, 200 W, 0.75 m cable
VW3A7606R20 1 72 Ohm, 200 W, 2.0 m cable
External
VW3A7606R30 1 Schneider 72 Ohm, 200 W, 3.0 m cable
braking
VW3A7607R07 1 Electric 72 Ohm, 400 W, 0.75 m cable
resistor
VW3A7607R20 1 72 Ohm, 400 W, 2.0 m cable
VW3A7607R30 1 72 Ohm, 400 W, 3.0 m cable
VW3A7608R07 1 100 Ohm, 100 W, 0.75 m cable
VW3A7608R20 1 100 Ohm, 100 W, 2.0 m cable
VW3A7608R30 1 100 Ohm, 100 W, 3.0 m cable
Description External braking resistor with connecting cable

Reference VW3A760*R** Suitable for LXM16DU07/10/15M2X
Parts
VW3A7602R07 1 27 Ohm, 100 W, 0.75 m cable
VW3A7602R20 1 27 Ohm, 100 W, 2.0 m cable
VW3A7603R07 1 27 Ohm, 200 W, 0.75 m cable
External
VW3A7603R20 1 Schneider 27 Ohm, 200 W, 2.0 m cable
braking
VW3A7603R30 1 Electric 27 Ohm, 200 W, 3.0 m cable
resistor
VW3A7604R07 1 27 Ohm, 400 W, 0.75 m cable
VW3A7604R20 1 27 Ohm, 400 W, 2.0 m cable
VW3A7604R30 1 27 Ohm, 400 W, 3.0 m cable
2-32 TM
1
2.3.8 Input Filter
Overview
Description Noise filter for external power supply
Reference VW3A442*
2
Selection
Type
3
Installation
4
Wiring
Parts 5
Front Panel
Description Reference Remarks Vendor Suitable for
Single phase VW3A4420 9 A, 115/230 Vac Schneider LXM16DU01/02/04M2X
EMI filter VW3A4421 16 A, 115/230 Vac Electric LXM16DU07/10/15M2X
Operation
2.3.9 Motor Protection Circuit Breaker and Contactor
Description Motor protection circuit breaker

Reference GV2P**
7
Commissioning
8
Diagnostics
Parts 9
Parameters

Motor GV2P14 6..10 A LXM16DU01/02/04/07/10M2X
Schneider
protection
GV2P16 9..14 A Electric LXM16DU15M2X
circuit breaker
10
Communication
TM
2-33
Description Main power contactor, optional control voltage and load
Reference LC1D****
Parts
LC1D09** 9A LXM16DU01/02/04/07M2X
Schneider
Contactor LC1D12** 12 A LXM16DU10M2X
Electric
LC1D18** 18 A LXM16DU15M2X
(**)Control voltage:
• B7 - AC 24 V
• M7 - AC 220 V
• BD - DC 24 V
2-34 TM
10
Type
1
9
2-35 TM
3.1 Before Installation.................................................................................................................... 3-1

3.1.1 Electromagnetic Compatibility (EMC)......................................................................................3-1
3.1.2 Residual Current Device..............................................................................................................3-2
3.1.3 Cables................................................................................................................................................3-2
3.2 Drive Installation....................................................................................................................... 3-4
3.2.1 On opening the Drive Package...................................................................................................3-4
3.2.2 Control Cabinet...............................................................................................................................3-4
3.2.3 Installation Orientation..................................................................................................................3-5
3.2.4 Mounting Spacing and Ventilation.............................................................................................3-5
3.2.5 Mounting Footprint.........................................................................................................................3-6
3.3 Motor Installation...................................................................................................................... 3-7
3.3.1 On Opening the Motor Package.................................................................................................3-7
3.3.2 Installation Orientation..................................................................................................................3-8
3.3.3 Connecting the Motor to Machine.............................................................................................3-8
3.3.4 Other Precautions..........................................................................................................................3-8
1
3.1 Before Installation
Overview
3.1.1 Electromagnetic Compatibility (EMC)
2
Selection
Type
Signal interference can cause unexpected responses of the drive and of other equipment in the
vicinity of the drive.
WARNING
SIGNAL AND EQUIPMENT INTERFERENCE
Only operate the drive with the specified external mains filter.
3
Installation
Install the wiring in accordance with the EMC requirements described in the present document.
Verify compliance with the EMC requirements described in the present document.
Verify compliance with all EMC regulations and requirements applicable in the country in which the product is to be
operated and with all EMC regulations and requirements applicable at the installation site.
Failure to follow these Instructions can result in death, serious injury, or equipment damage. 4
Wiring
This product meets the EMC requirements according to the standard IEC 61800-3 if the
measures described in this manual, and in particular the installation of the mains filters, are
implemented during installation.
5
WARNING
Front Panel
ELECTROMAGNETIC DISTURBANCES OF SIGNALS AND DEVICES
Use proper EMC shielding techniques to help prevent unintended device operation in accordance with the standard
IEC 61800-3.
Failure to follow these Instructions can result in death, serious injury, or equipment damage.
6
Operation
These types of devices are not intended to be used on a low-voltage public network which
supplies domestic premises. Radio frequency interference is expected if used in such a network.
WARNING 7
Commissioning
RADIO INTERFERENCE
Do not use these products in domestic electrical networks.
As a system provider, you may have to include this information in the documentation to your 8
Diagnostics
customer.
Be sure to take into account the EMC requirements of control cabinet when installing the
equipment therein:
EMC Measures Objective

Use mounting plates with good electrical conductivity, connect large surface Good conductivity due to large 9
Parameters
areas of metal parts, remove paint from contact areas. surface contact.
Ground the control cabinet, the control cabinet door, and the mounting plate
with ground straps or ground wires. The conductor cross section must be at Reduces emissions.
least 10 mm2 (AWG 6).
Install switching devices such as power contactors, relays, or solenoid valves
10
with interference suppression units or arc suppressors (for example, diodes, Reduces mutual interference.
varistors, RC circuits).
Communication
Do not install power components and control components adjacent to one

Reduces mutual interference.
another.
TM
3-1
Depending on the application, the following measures can improve the EMC-dependent values:
EMC measures Objective

Reduces mains harmonics, prolongs
Use mains reactors.
product service life.
Mount in a closed control cabinet with shielded attenuation of radiated
Improves the EMC limit values.
interference
3.1.2 Residual Current Device
Direct current can be introduced in the protective ground conductor of this drive. If a residual
current device (RCD / GFCI) or a residual current monitor (RCM) is used for protection against
direct or indirect contact, the following specific types must be used:
WARNING
DIRECT CURRENT CAN BE INTRODUCED INTO THE PROTECTIVE GROUND CONDUCTOR
Use a Type A Residual Current Device (RCD / GFCI) or a Residual Current Monitor (RCM) for single-phase drives
connected to a phase and to the neutral conductor.
Use a Type B Residual Current Device (RCD / GFCI) or a Residual Current Monitor (RCM) that has approval for use
with frequency inverters and is sensitive to all types of current for three-phase drives and for single-phase drives
not connected to a phase and the neutral conductor.
The drive has an increased leakage current at the moment power is applied. Use residual
current devices with a response relay.
High-frequency currents must be filtered.
3.1.3 Cables
Cables must not be twisted, stretched, crushed or bent. Use only the cables that comply with the
cable specification. Consider the following in determining suitability of the cables:
Suitable for drag chain applicaitons

Temperature range
Outdoor installation
Underground installation
Potential differences can result in excessive currents on the cable shields. Use equipotential
bonding conductors to reduce currents on the cable shields.
WARNING
Ground cable shields for all fast I/O, analog I/O, and communication signals at a single point.” (1)
Route communications and I/O cables separately from power cables.
(1): Multipoint grounding is permissible if connections are made to an equipotential ground

plane dimensioned to help.
Avoid cable shield damage in the event of power system short-circuit currents.
3-2 TM
The equipotential bonding conductor must be rated for the maximum current. The following
1
Overview
conductor cross sections can be used:
16 mm2 (AWG 4) for equipotential bonding conductors up to a length of 200 m (656 ft)
20 mm2 (AWG 4) for equipotential bonding conductors with a length of more than 200 m (656
ft)
2
Selection
Type
The following sections describe the conductor cross sections for two methods of installation:
Method of installation B2:

Cables in conduits or cable trunking system
Method of installation E:
Cables on open cable trays 3
Installation
Cross section in mm2 Current carrying capacity with Current carrying capacity with
(AWG) (1) method of installation B2 in A (2) method of installation E in A (2)
0.75 (18) 8.5 10.4
1 (16) 10.1 12.4 4
Wiring
1.5 (14) 13.1 16.1
2.5 (12) 17.4 22
4 (10) 23 30
6 (8) 30 37
10 (6) 40 52 5
16 (4) 54 70
Front Panel
25 (2) 70 88
(1) See chapter “2.3 System Accessories” for available cables.
(2) Values as per IEC 60204-1 for continuous operation, copper conductors, and ambient air
temperature 40 oC (104 oF). See IEC 60240-1 for additional information.
6
Operation
Please note the derating factor for grouping of cables and the correction factors for other
ambient conditions (IEC 60204-1).
The conductors must have a sufficiently large cross section so that the upstream fuse can trip.
In the case of longer cables, it may be necessary to use a greater conductor cross section to
reduce the energy loss. 7
Commissioning
8
Diagnostics
9
Parameters
10
Communication
TM
3-3
3.2 Drive Installation
3.2.1 On Opening the Drive Package
Please check upon opening the product package:
• Make sure that the model is what you have ordered.

• Check if the product is damaged or not during transportation.
• Check if the Safety and Environment Statement is included or not.
• Check it the Quick Start Manual is included or not.
• Check if the protective film over the servo drive top ventilation holes is damaged or not.
• Check if the connector for servo drive power supply, external braking resistor and motor
output is included or not.
(Neither the I/O control connector nor encoder connector are included)
Contact your dealer for any failure.
3.2.2 Control Cabinet
With a protection degree of IP20, the servo drive must be installed in a control cabinet (enclosure)
designed with adequate protection degree. The control cabinet (enclosure) must have a
sufficient size so that all devices and components can be permanently installed and wired in
compliance with the EMC requirements.
The ventilation of the control cabinet must be sufficient to comply with the specified ambient
conditions for the devices and components operated in the control cabinet.
Install and operate this equipment in a control cabinet rated for its intended environment and
secured by a keyed or tooled locking mechanism.
3-4 TM
1
3.2.3 Installation Orientation
Overview
The servo drive must be mounted vertically (+/-10o); please use two mounting holes (the location
of the mounting holes varies with respect to the servo drive model) to securely mount the servo
drive to the mounting surface. Painted surfaces may create electrical resistance or isolation.
Before mounting the device to a painted mounting plate, remove all paint across a large area of
2
Selection
Type
the mounting points.
3.2.4 Mounting Spacing and Ventilation 3
Installation
When selecting the position of the device in the control cabinet (enclosure), note the following.
This requirement is also applicable when installing more than one servo drive in a line:
Mount the device so that the front panel (HMI displaying surface) is facing toward the
operator.
Mount the device in a vertical position ( ± 100). This is required for cooling the device.
4
Wiring
Adhere to the minimum installation distances for required cooling. Avoid heat accumulations.
Do not mount the device close to heat sources.
Do not mount the device on or near flammable materials.
The heated airflow from other devices and components must not heat up the air used for
cooling the device. 5
The connection cables of the devices are routed to the top and to the bottom. The minimum
Front Panel
distances must be adhered to for air circulation and cable installation.
a 6
Operation
c
d d d d
Commissioning
b 8
Diagnostics
Spacing Unit Value

Free space a: above the device mm >=50 mm
Free space b: under the device mm >=50 mm 9
Parameters
Free space c: in front of the device (1) mm >=70 mm

Free space d: between devices mm >=50 mm
(1) The free space is strictly for observing proper ventilation and be
sufficient for your wiring requirements.
10
Communication
TM
3-5
3.2.5 Mounting Footprint
Use mounting holes to securely mount the servo drive to the mounting surface. To mount the
servo drive, please use a phillips screwdriver that is longer than the depth of servo drive.
Mounting hole dimensions of Size1 0.1kW / 0.2kW / 0.4kW servo drives:
5.5
6
φ5.3
4.5
Mounting hole dimensions of Size2 0.75kW / 1.0kW / 1.5kW servo drives:
35.5
φ5.3 17
139
5.5
3-6 TM
1
3.3 Motor Installation
Overview
3.3.1 On Opening the Motor Package
2
Selection
Type
Please check upon opening the product package:
Make sure that the model is what you have ordered.

Check if the product is damaged or not during transportation.
Check if the Safety and Environment Statement is included or not.
Check if the servo motor is provided with a protective cap on its output shaft. 3
Installation
Contact your dealer for any failure.
Wiring
5
Front Panel
6
Operation
7
Commissioning
8
Diagnostics
9
Parameters
10
Communication
TM
3-7
3.3.2 Installation Orientation
The following mounting positions are defined and permissible as per IEC 60034-7:
IM B5 IM V1 IM V3
3.3.3 Connecting the Motor to Machine
Consider the extremely large mass of servo motor, essential care must be taken to avoid any
injury or equipment damage during mounting.
The servo motor output shaft is coated with anticorrosive oil. Thoroughly remove the oil prior to
installation.
Align the shaft of the servo motor with the shaft of the machine, and then couple the shafts.
Install the servo motor so that alignment accuracy falls within the following range. Vibration will
damage the bearings or encoders if the shafts are not properly aligned.
Core alignment accuracy

Measurement is 4 taken at
circumference, and the difference
between max. and min. values is
less than 0.03 mm (rotating with
coupling.)
When the servo motor is mounted to the mounting surface, it must be accurately aligned axially
and radially and make even contact with the mounting surface. No uneven mechanical load may
be applied while the mounting screws are tightened. All mounting screws must be tightened
with the specified tightening torque.
Refer to chapter 2 Type Selection of Servo Motor for flange dimensions and mounting screws
model.
Do not allow direct impact to be applied to the shafts when installing the coupling as the encoder
mounted on the opposite end of the shaft may be damaged.
3.3.4 Other Precautions
Oil and water countermeasures:

1. Keep the oil surface at servo motor mounting point under the oil seal lip
2. To avoid excessive wear of oil seal, use the oil seal in favorably lubricated condition
3. When using a servo motor with its shaft in upward direction (IM V3), be sure that the oil
will not stay in the oil seal lip.
Cable stress:
When handling or mounting the servo motor, hold the servo motor rather than its cables or
connectors, otherwise the connectors, power cable, holding brake control cable and encoder
cable will be damaged.
Make sure there are no bends or tension on the servo motor power cable, holding brake
control cable or encoder cable to avoid stress. Securely fix the servo motor power cable,
holding brake control cable and encoder cable so that they are not subject to any bends or
3-8 TM
tension or stress, also to avoid them from been damaged because of wear or fatigue.
1
Overview
Connectors:
Note the following precautions:
1. Visually check the connector and pins inside to make sure they are free from damage,
breakage or deformation.
2. Make sure there is no foreign matters such as dust and metal chips in the connector.
2
Selection
Type
3. Make sure of the pin arrangement.
4. Do not apply shock to connectors. Otherwise, they may be damaged.
5. Fix the connectors to 100mm/130mm flange servo motors with screw. Make sure the
connectors are securely fixed with screws.
Radial and thrust loads:

3
Installation
Design the mechanical system so radial and thrust loads applied to the servo motor shaft
end during operation fall within the allowable ranges of each motor. Refer to Chapter 2 Type
Selection of Servo Motor for the allowable ranges.
Wiring
5
Front Panel
6
Operation
7
Commissioning
8
Diagnostics
9
Parameters
10
Communication
TM
3-9
Chap04. Wiring
4.1 Wiring of Servo Drive.............................................................................................................. 4-1

4.1.1 Precautions......................................................................................................................................4-1
4.1.2 Standard Composition of Servo System with Peripheral Devices...................................4-2
4.1.3 Connecting Main Circuit (CNP)..................................................................................................4-2
4.1.4 Connecting Power Input to Servo Drive...................................................................................4-3
4.1.5 Connecting External Braking Resistor.....................................................................................4-5
4.1.6 Connecting Servo Motor Power Output...................................................................................4-7
4.1.7 Connecting I/O Control Interface (CN1)..................................................................................4-9
4.1.8 Connecting Encoder Interface (CN2) ................................................................................... 4-12
4.1.9 Connecting Commissioning Interface (CN3)....................................................................... 4-12
4.1.10 Connecting Grounding Screws............................................................................................. 4-13
4.2 Wiring of Servo Motor........................................................................................................... 4-14
4.2.1 Servo Motor Connector Pin Assignment............................................................................... 4-14
4.2.2 Connecting Servo Motor Power and Encoder..................................................................... 4-15
4.2.3 Connecting Servo Motor Holding Brake............................................................................... 4-16
1
4.1 Wiring of Servo Drive
Overview
4.1.1 Precatuions
2
Selection
Type
Please pay attention to the following precautions prior to the wiring of servo drive:
DANGER
INSUFFICIENT GROUNDING
Use a protective ground conductor with at least 10 mm2 (AWG 6) or two protective ground conductors with the
3
Installation
cross section of the conductors supplying the power terminals.
Verify compliance with all local and national electrical code requirements as well as all other applicable regulations
with respect to grounding of the entire drive system.
Ground the drive system before applying voltage.
Do not use conduits as protective ground conductors; use a protective ground conductor inside the conduit. 4
Do not use cable shields as protective ground conductors.
Wiring
Keep foreign objects from getting into the product.
Verify the correct seating of seals and cable entries in order to avoid contamination such as deposits and humidity.
Direct current can be introduced in the protective ground conductor of this drive. If a residual 5
Front Panel
current device (RCD / GFCI) or a residual current monitor (RCM) is used for protection against
direct or indirect contact, the following specific types must be used:
DANGER 6
Operation
DIRECT CURRENT CAN BE INTRODUCED INTO THE PROTECTIVE GROUND CONDUCTOR
Use a Type A Residual Current Device (RCD / GFCI) or a Residual Current Monitor (RCM) for single-phase drives
connected to a phase and to the neutral conductor.
Use a Type B Residual Current Device (RCD / GFCI) or a Residual Current Monitor (RCM) that has approval for use
with frequency inverters and is sensitive to all types of current for three-phase drives and for single-phase drives
not connected to a phase and the neutral conductor. 7
Commissioning
The entire installation procedure must be performed without voltage present.
8
Diagnostics
9
Parameters
10
Communication
TM
4-1
Chap04. Wiring
4.1.2 Standard Composition of Servo System with Peripheral Devices
Overview of Interfaces
I/O Control interface

cable and adapter Motor protection
module circuit breaker
Input filter
M S CN3
CN2
Band-type brake control cable
Contactor
CN1
(L, N)
CHARGE
Motor dynamic cable

U External
V
W
braking resistor
PB CNP
P+
L
N
Motor encoder cable

Ground terminal
Name Description
CNP Main circuit interface of servo drive
CN1 I/O control interface of servo drive
CN2 Encoder interface of servo dirve
CN3 Commissioning interface of servo drive
4.1.3 Connecting Main Circuit (CNP)
Main circuit interface (CNP) is a combined interface that includes:
Servo drive power input (L, N)

External braking resistor (P+, PB)
Servo motor power output (U, V, W)
4-2 TM
1
4.1.4 Connecting Power Input to Servo Drive
Overview
The equipment, drives and motors, are intended for industrial use and may only be operated with
a permanently installed connection.
Prior to connecting the equipment, verify the approved mains types, refer to “2.1 Type Selection
of Servo Drive” for further information.
2
Selection
Type
Wiring diagram:
U 3
Installation
V
W
PB
P+
N
L
~220V 4
Wiring
All servo drives must be connected via a single-phase.
Only TT and TN grounding system are approved rather than IT grounding system.
The contact current of this product is greater than 3.5mA.This product has a touch current 5
Front Panel
greater than 3.5 mA. If the protective ground connection is interrupted, a hazardous touch
current may flow if the housing is touched.
DANGER 6
Operation
Use a protective ground conductor with at least 10 mm2 (AWG 6) or two protective ground conductors with the
cross section of the conductors supplying the power terminals.
7
Commissioning
Do not use conduits as protective ground conductors; use a protective ground conductor inside the conduit.
Verify the correct seating of seals and cable entries in order to avoid contamination such as deposits and humidity
Failure to followthese instructions will result in death or serious injury. 8
Diagnostics
DANGER
INCORRECT MAINS VOLTAGE
Verify that the product is approved for the mains voltage before applying power and configuring the product.
Failure to follow these instructions can result in death, serious injury, or equipment damage. 9
Parameters
10
Communication
TM
4-3
Chap04. Wiring
Cable specifications:
Shield: -
Twisted pair: -
PELV: -
The conductors must have a sufficiently large cross section so that
Cable composition:
the fuse at the mains connection can trip if required.
Max. cable length: 3m
Special characteristics: -
Terminal specifications:
The terminals are approved for stranded conductors and solid conductors. Use type-I lugs if
stranded conductors are used.
LXM16D Unit U01,U02,U04,U07,U10,U15

Connection cross section mm2 0.5 ... 2.0
Stripping (lug) length mm 10 ... 15
4-4 TM
1
4.1.5 Connecting External Braking Resistor
Overview
WARNING
HOT SURFACES
Ensure that it Is not possible to make any contact with a hot braking resistor.
2
Selection
Type
Do not allow flammable or heat-sensitive parts In the immediate vicinity of the braking resistor.
Verify that the heat dissipation is sufficient by performing a test run under maximum load conditions.
When sizing an external braking resistor, note the following: 3
Installation
Min. resistance of external Max. power of external braking
Drive Reference
braking resistor ( Ω ) resistor (W)
LXM16DU01 / 02 / 04 36 200
LXM16DU07 / 10 / 15 20 600 4
Wiring
Wiring diagram:
U
V 5
W
Front Panel
PB
P+
L
N
Operation
An insufficiently rated braking resistor can cause overvoltage on the DC bus. Overvoltage on the
7
Commissioning
DC bus causes the power stage to be disabled.
WARNING
UNINTENDED EQUIPMENT OPERATION 8
Diagnostics
Verify that the braking resistor has a sufficient rating by performing a test run under maximum load conditions.
Verify that the parameter settings for the braking resistor are correct.
This device does not equip any internal braking resistor. An external braking resistor is required
for applications in which the motor must be decelerated quickly and the DC bus capitor cannot
9
Parameters
absorb the excess braking energy. Refer to "2.3.7 External Braking Resistor" when sizing an
external braking resistor.
10
Communication
TM
4-5
Chap04. Wiring
Shield: Required, both ends grounded

Twisted pair: -
PELV: -
Min. conductor cross section: Same cross section as logic supply.
Cable composition: The conductors must have a sufficiently large cross section so that
Max. cable length: 3m
Special characteristics: Temperature resistance
The braking resistors listed in chapter “2.3.7 External Braking Resistor” have a 3-wire,
temperature-resistant cable with length of 0.75m to 3m.

Connecting the External Braking Resistor:

Remove power from all supply voltages.Respect the safety instructions concerning electrical
installation.
Verify that no voltages are present.
Ground the ground connection (PE) of the braking resistor.
Connect the external braking resistor to the device.
Connect a large surface area of the cable shield to the central grounding point of your
system.
DANGER
Disconnect all power from all equipment including connected devices prior to removing any covers or doors, or
installing or removing any accessories, hardware, cables, or wires.
Place a "Do Not Turn On" or equivalent hazard label on all power switches and lock them in the non- energized
position.
Wait 15 minutes to allow the residual energy of the DC bus capacitors to discharge.
Do not create a short-circuit across the DC bus terminals or the DC bus capacitors.
Replace and secure all covers, accessories, hardware, cables, and wires and confirm that a proper ground
connection exists before applying power to the unit.
Use only the specified voltage when operating this equipment and any associated products.
4-6 TM
1
4.1.6 Connecting Servo Motor Power Output
Overview
Wiring diagram:
U
2
Selection
Type
V M
W
PB
3~
P+
N
L
3
Installation
High voltages may be present at the motor connection. The motor itself generates voltage when
the motor shaft is rotated. AC voltage can couple voltage to unused conductors in the motor
cable.
4
Wiring
DANGER
ELECTRIC SHOCK
Verify that no voltage is present prior to performing any type of work on the drive system.

Insulate both ends of unused conductors of the motor cable.
5
Front Panel
Supplement the motor cable grounding conductor with an additional protective ground conductor to the motor
housing.
with respect to grounding of all equipment.
6
Operation
Incorrect wiring of the motor connection may cause live wires to be exposed outside of the
motor connector.
DANGER 7
Commissioning
ELECTRIC SHOCK CAUSED BY INCORRECT WIRING
Verify that the protective ground connection (PE) of the device is connected to ground.
Do not remove the cable end (ferrule) from the protective ground terminal (PE) of the motor connector until you are
prepared.
Verify that no bare metal of the wires is exposed outside of the motor connector housing when wiring the motor
connector.
8
Diagnostics
Regularly, as part of a maintenance plan, assure that the motor wires are secured in the terminals of the motor
connector due to vibration or other influences.
Drive systems may perform unintended movements if unapproved combinations of drive and
9
Parameters
motor are used.Even if motors are similar, different adjustment of the encoder system may be a
source of hazards.Even if the connectors for motor connection and encoder connection match
mechanically, this does not imply that the motor is approved for use.
10
Communication
WARNING
UNINTENDED MOVEMENT
Only use approved combinations of drive and motor.
TM
4-7
Chap04. Wiring
Compatibility between Servo Drive and Servo Motor is defined in the table in chapter “1.4
Confirming the Mating of Servo Drive and Servo Motor”.

Twisted pair: -
PELV: The holding brake control wire must be PELV-compliant.
3 wires for motor phases
Cable composition: The conductors must have a sufficiently large cross section so that
Depends on the required limit values for conducted interference.
Max. cable length:
Max. length: 25m
Special characteristics: Temperature resistance

4-8 TM
1
4.1.7 Connecting I/O Control Interface (CN1)
Overview
CN1 interface is a SCSI-26 connector for I/O control connection between controller and servo
drive. The connector consists of:
• Pulse train input interface 2
Selection
Type
• Digital input/output interface
• Encoder simulation output interface
CN1 connector pin assignment:

3
Installation
Pin Signal Function Pin Signal Function
8 DI_COM 11 PA+24V
Pulse train input
9 DI0 13 PA+
Interface A
10 DI1 12 PA-
6 * digital input
20 DI2
(Dual-polarity)
24 PB+24V
Pulse train input 4
21 DI3 26 PB+
Wiring
Interface B
22 DI4 25 PB-
23 DI5 14 PTOA+
6 DO_COM 15 PTOA-
7 DO0 3 * digital output 16 PTOB+
18 DO1 (open collector) 17 PTOB-
Encoder simulation output 5
Front Panel
19 DO2 2 PTOZ+
4 OCZ+ Motor index signal output 3 PTOZ-
5 OCZ- (open collector) 1 0VM Signal ground
1 13 12 10 8 6 4 2 6
Operation
PA- DI1 DI_COM DO_COM CZ+ PTOZ+
13 11 9 7 5 3 1
PA+ PA+24V DI0 DO0 CZ- PTOZ- 0VM
25 23 21 19 17 15
PB- DI5 DI3 DO2 PTOB- PTOA-
26 24 22 20 18 16 14
14 26 PB+ PB+24V DI4 DI2 DO1 PTOB+ PTOA+
Commissioning
12 2
2
13 1
1
25 15 8
Diagnostics
26 14
9
Parameters

Connection cross section mm2
Stripping (lug) length mm
0.5 ... 2.0
10 ... 15
10
Communication
TM
4-9
Chap04. Wiring
Typical wiring diagram of CN1:
CN1 LXM16DU01..15M2X
8 14
DI_COM OA
Servo enable input
(servo enabled when signal is ON) 9 15 A Phase output
Enable OA-
Alarm clear input
(alarm cleared when signal is ON) 10 16
ALM-RST OB+
Positive limit input
(there is limit when signal is OFF) 20 17 B Phase output
/LIMP OB-
Negative limit input
(there is limit when signal is OFF) 21 2
/LIMN OZ+
Electronic gear ratio switching input
(switched when signal is ON) 22 3 Z Phase output
G-SEL OZ-
Halt enable input
(Halt is available when signal is OFF) 23 1
/HALT GND
11 4
PLS_24 CZ+
Z Phase output
PT 13 5 (Open collector electrode)
Pulse PLS CZ-
input
12
/PLS Output when servo has no error
7 (output is ON when there is no error)
24 NO-FLT
Output upon arrival at position
SIGN_24
18 (output is ON when the position error
PT is below limit)
26 InPos
Motor at a standstill
Direction SIGN (output is ON when motor speed is
input 19 below limit)
25 STILL
/SIGN
6
DO_COM
Notes:
• It is a must to use a cable with shield, among which the wires for pulse train must be twist-
paired.
• Connect the shield to the chassis of CN1 connector, then properly ground the connector
chassis.
Input and output wiring:

The common terminals of the 6 input points are suitable for both positive and negative
polarity.
The 3 output points are independent open collector outputs that share the same emitter.
4-10 TM
Wiring of Pulse Train Input (PTI)
1
Overview
Open Collector (24VDC)
11
13
PLS_24
2
Selection
Type
24VDC PT Pulse input PLS
12
/PLS
24
SIGN_24
PT Direction input
26
SIGN
3
Installation
25
/SIGN
Wiring
Open collector pulse train input with other voltage level (external resistors required)
11 VDC Resistor
PLS_24
12VDC 500 ohm / 1W
R 13
PLS
5VDC 120 ohm / 1W 5
Front Panel
VDC PT Pulse input 12
/PLS
24
SIGN_24
R 26
SIGN 6
Operation
PT Direction input
25
/SIGN
Commissioning
Differential Signal
11
PLS_24
5VDC
13
PLS
8
Diagnostics
PT Pulse
input 12
/PLS
24
SIGN_24
5VDC
26
SIGN
9
Parameters
PT Direction
25
input
/SIGN
10
Communication
TM
4-11
Chap04. Wiring
4.1.8 Connecting Encoder Interface (CN2)
CN2 connector is an IEEE-1394-10 connector for connection with servo motor encoder.
Description
Pin
2500 ppr 23 bit
1 A
2 /A
3 B
4 /B
9 5 Z
6 /Z
7 SD+
9 7 5 3 1
8 SD-
9 5V 5V
10 0V 0V

Twisted pair: Required
PELV: The holding brake control wire must be PELV-compliant.
2 * 0.5 + 3 * 2 * 0.2 mm2 or 2 * 0.5 + 1 * 2 * 0.2 mm2
The 2 conductors in 0.5 mm2 cross section is dedicated to power
Cable composition:
supply, the other conductors in 0.2 mm2 cross section is dedicated
to signal transmission.
Depends on the required limit values for conducted interference.
Max. cable length:
Max. length: 25m
4.1.9 Connecting Commissioning Interface (CN3)
CN3 is a Mini-B USB connector. CN3 interface is dedicated to the connection with PC
commissioning software and cannot be used as field bus interface.
CAUTION
INOPERABLE EQUIPMENT
Cannot be used as field bus interface.
Failure to follow these instructions can result in equipment damage.
A PC with the commissioning software SoMove and LXM16D DTM Library can be connected for
commissioning.
4-12 TM
1
4.1.10 Connecting Grounding Screws
Overview
M than 3.5 mA.
This product has a touch current greater S If theCN3
protective ground connection is
interrupted, a hazardous touch current may flow if the housing is touched.
2
CN2
Selection
Type
DANGER
Use a protective ground conductor with at least 10 mm2 (AWG 6) or two protective ground conductors with the cross
section of the conductors supplying the power terminals.
3
Installation
CN1
Do not use conduits as protective ground conductors, use a protective ground conductor inside the conduit.
Verify the correct seating of seals and cable entries in order to avoid contamination such as deposits and humidity.
Failure tofollowthese instructions will result in death or serious injury.
CHARGE
4
Wiring
The central grounding screw of the product is located
U at the bottom of the front side.
V
W
CNP
PB
P+ 5
Front Panel
L
N
Note:
6
Operation
Use ring-type cable lugs or Y-type cable lugs.
Connect the ground connection of the device to the equipotential ground plane of your
system.
7
Tightening torque of grounding screw Nm 1.5
Commissioning
Screw type Philips head M4×8
8
Diagnostics
9
Parameters
10
Communication
TM
4-13
Chap04. Wiring
4.2 Wiring of Servo Motor
4.2.1 Servo Motor Connector Pin Assignment
Plastic Connector: 40 / 60 / 80 mm Flange Motor encoder connector

Description
Pin
2500 ppr 23 bit
1 2 3 1 5V 5V
Motor band-type brake connector 2 0V 0V
4 5 6
3 A
1 BK+
7 8 9 4 /A
2 BK- 5 B SD+
1
6 /B SD-
2 7 Z
8 /Z
9 Shield Shield
Motor dynamics connector
1 U
1 2 2 V 21
3 W
3 4 4 GND
Military Connector: 100 / 130 mm Flange

Motor dynamics connector Motor dynamics and band-type brake connectors
F A B U
D A A U G V
B V
E G B E W
A BK-
C W D C
C B F BK+
D FG C GND
Motor encoder connector Description

Pin
2500 ppr 23 bit
B 5V 5V
H A I 0V 0V
G A A
F I B C /A
H B SD+
E C D /B SD-
D G Z
E /Z
F Shield Shield
4-14 TM
1
4.2.2 Connecting Servo Motor Power and Encoder
Overview
The motor is designed for operation via a drive. Connecting the motor directly to line voltage will
damage the motor and can cause fires.
2
Selection
Type
DANGER
FIRE HAZARD DUE TO INCORRECT CONNECTION
Only connect the motor to a matching, approved drive.
3
Installation
Compatibility between Drive and Motor is defined in chapter “1.4 Confirming the Mating of Servo
Drive and Servo Motor”.
High voltages may be present at the motor connection. The motor itself generates voltage when
the motor shaft is rotated. AC voltage can couple voltage to unused conductors in the motor
cable.
4
Wiring
DANGER
ELECTRIC SHOCK
Verify that no voltage is present prior to performing any type of work.
Block the motor shaft to prevent rotation prior to performing any type of work on the drive system on the drive 5
Front Panel
system.
Supplement the motor cable grounding conductor with an additional protective ground conductor to the motor
housing.
with respect to grounding of all equipment.
Failure to follow these instructions will result in death or serious injury. 6
Operation
Drive systems may perform unintended movements if unapproved combinations of drive and
motor are used. Even if motors are similar, different adjustment of the encoder system may be a
source of hazards. Even if the connectors for motor connection and encoder connection match
mechanically, this does not imply that the motor is approved for use. 7
Commissioning
WARNING
UNINTENDED MOVEMENT
Only use approved combinations of drive and motor.
8
Diagnostics
9
Parameters
10
Communication
TM
4-15
Chap04. Wiring
Incorrect installation of the cable may destroy the insulation. Broken conductors in the cable or
improperly connected connectors may be melted by arcs.
DANGER
ELECTRIC SHOCK, ARC FLASH AND FIRE CAUSED BY INCORRECT INSTALLATION OF THE
CABLE
Disconnect all power before plugging in or unplugging the connectors.
Verify correct pin assignment of the connectors according to the specifications in this chapter before connecting
the cables.
Verify that the connectors are properly inserted and locked before applying power.
Avoid forces or movements of the cable at the cable entries.
Connect the motor cable and the encoder cable to the drive according to the wiring diagram of
the drive.
4.2.3 Connecting Servo Motor Holding Brake
The holding brake in the motor has the task of holding the motor position when the power stage
is disabled.
The holding brake is not a safety function and not a service brake.
As a result of damage to the insulation of the motor cable, mains voltage may get to the wires for
the holding brake.
DANGER
ELECTRICAL SHOCK CAUSED BY DAMAGE TO THE MOTOR CABLE
Use a PELV power supply for the holding brake.
When the product is operated for the first time, there is a risk of unanticipated movements
caused by, for example, incorrect wiring or unsuitable parameter settings. Releasing the holding
brake can cause an unintended movement, for example, lowering of the load in the case of
vertical axes.
DANGER
UNINTENDED MOVEMENT
Verify that there are no persons or obstacles in the zone of operation when performing a test of the holding brake.
Take appropriate measures to avoid damage caused by falling or lowering loads or other unintended movements.
Run initial tests without coupled loads.
Verify that a functioning emergency stop push-button is within reach of all persons involved in running tests.
Anticipate movements in unintended directions or oscillations of the motor.
4-16 TM
10
Type
1
9
4-17 TM
Chap05. Front Panel
5.1 Front Panel................................................................................................................................. 5-1

5.1.1 Front Panel Overview....................................................................................................................5-1
5.1.2 Front Panel Menu Structure.........................................................................................................5-2
5.1.3 Operation of Front Panel..............................................................................................................5-2
5.1.4 7-segment LED Display................................................................................................................5-3
5.1.5 Lock the Front Panel......................................................................................................................5-5
5.2 Operation of Menu Group FSU............................................................................................ 5-6
5.2.1 Operation Conditions of FSU......................................................................................................5-6
5.2.2 Configuration in FSU.....................................................................................................................5-6
5.2.3 Code Description of Servo Motor Reference in FSU........................................................ 5-10
5.2.4 FSU Operation.............................................................................................................................. 5-11
5.3 Operation of Menu Group oP............................................................................................. 5-13
5.3.1 JOG................................................................................................................................................. 5-13
5.3.2 Easy Tuning................................................................................................................................... 5-16
5.3.3 Operation of Auto Adaptive Control Parameters............................................................... 5-17
5.3.4 Restore Factory Setting............................................................................................................. 5-18
5.4 Operation of Menu Group Mon.......................................................................................... 5-19
5.4.1 Available Device Status Information...................................................................................... 5-19
5.4.2 Select Type of Device Status Information............................................................................ 5-22
5.4.3 Set Type of Default Device Status Information................................................................... 5-23
5.4.3 Monitoring of Error Codes of Last / Saved Error Information........................................ 5-24
5.4.5 Monitoring of Digital Inputs and Outputs Status Information......................................... 5-25
5.5 Operation of Menu Group Conf ........................................................................................ 5-26
5.5.1 Parameters of Numerical Type................................................................................................ 5-26
5.5.2 Parameters of Selection Type.................................................................................................. 5-27
5.5.3 Parameter P6-00 Motor File Name / P6-01 Type of Motor Encoder.............................. 5-28
5.6 Warm Restart by Front Panel.............................................................................................. 5-33
1
5.1 Front Panel
Overview
5.1.1 Front Panel Overview
2
Selection
Type
The integrated HMI allows you to edit parameters and operate the device via the integrated
Human-Machine Interface (HMI). Diagnostics information (such as parameter values or error
codes) can also be displayed.
Installation
1
Wiring
2 3 4 5 5
Front Panel
The front panel includes:
Item Description 6
1 5 digital 7-segment LED display with 5 decimal points
Operation
2 M key
3 UP key
4 DOWN key
5 S key
7
Commissioning
The following table shows the assignment of the characters to the symbols displayed by the 5
digital 7-segment display.
8
A B C c D E F G H I J L M N O P Q R
Diagnostics
S T U V W X Y Z 0 1 2 3 4 5 6 7 8 9 9
Parameters
10
Communication
TM
5-1
Chap05. Front Panel
5.1.2 Front Panel Menu Structure
5.1.3 Operation of Front Panel
Item Description
If an error is detected, the M key lets you switch between the error code / Menu
M key Press the M key allows you to exit current parameter and menus. Any unsaved
parameter edit will be invalid.
In Menu level, the UP key lets you navigate status information and parameters
UP key within a parameter group.
In Editing level, the UP key lets you increase value.
In Menu level, the DOWN key lets you navigate status information and parameters
DOWN key within a parameter group.
In Editing level, the DOWN key lets you increase value.
In Menu level, the S key lets you enter and display current parameter.
In Parameter level, the S key lets you start the editing of current parameter
S key In Editing level, the S key lets you move the cursor by one position to the left.
In Editing level, press and hold S key for more than 1.5s to save the value and stop
the editing of current parameter
5-2 TM
1
5.1.4 7-segment LED Display
Overview
It is possible to indicate the device operating states via message displayed on the LED display:
HMI Display Operation State Description 2
Selection
Type
init 1 Initialize Electronics are initialized
nrdy 2 Not ready to start The power stage is not ready to switch on
dis 3 Cannot start Impossible to enable the power stage
rdy 4 Ready to start The power stage is ready to switch on.
son 5 Start Power stage is switched on 3
Power stage is enabled / Selected operating mode is
Installation
run 6 Equipment enable
active
stop 7 Quick stop started "Quick Stop" is being executed
flt 8 Fault response started Error response is active
flt 9 Fault Error response terminated / Power stage is disabled
4
Wiring
If the user performed any operation by press the S key or save the value by press and hold the
S key for more than 1.5s, a message is displayed to provide the feedback.
5
Front Panel
HMI Display Description
Blink 1 time New parameter value was saved successfully.
buSy Access occupied by another channel (e.g. Commissioning software is active).
Rd-oL The parameter value is a read-only value and cannot be saved (Read-Only).
outr
The new parameter value is outside the permissible value range and cannot 6
Operation
be saved (Out of range).
Prot MHI is locked by parameter and cannot be saved.
The new parameter value can only be saved when the power stage is disabled
Sv-on
and cannot be saved (Servo On).
AdPon Auto adaptive tuning active, cannot start easy tuning.
Main power supply to the servo drive is off, new parameter value cannot be 7
noPoW
Commissioning
saved.
dEnid The new parameter value saving was denied.
8
Diagnostics
9
Parameters
10
Communication
TM
5-3
Chap05. Front Panel
The display indicates the positive and negative nature of value by the rightmost decimal point.
Decimal point indicates a negative sign when it presents, for example:
-1285:
Negative sign
The display has 5 digits. Where the value has more than 5 digits, you may use UP and DOWN
key to switch over between high and low bytes of the value. When the parameter is in Editing
level, you can press the S key to move the cursor by one position to the left each time.
The display indicates the high and low bytes of the values by the two leftmost decimal points;
the leftmost decimal point indicates the low byte, wherevers the second leftmost decimal point
indicates the high byte.
For example:
2147483647:
Low byte
High byte
-2147483648:
Negative sign Low byte
Negative sign High byte
5-4 TM
1
5.1.5 Lock the Front Panel
Overview
To prevent unintended parameter value editing, the user may lock the front panel by parameter.
Min. 0 Unit Relatd Mode 2
Selection
Type
P5-00 Lock HMI Default 0 P - -
-
Max. 1 DYC - -
Function: MODBUS Addr: 14850
Choose whether to lock the front panel HMI integrated with the drive
0 / Not Locked: HMI not locked
1 / Locked: HMI locked
3
Installation
The following functions can no longer be started when the HMI is locked:
- Parameter change
- Jog (test run)
- Easy tuning
- Fault Reset 4
Wiring
Changed settings become active immediately.
Front Panel
6
Operation
7
Commissioning
8
Diagnostics
9
Parameters
10
Communication
TM
5-5
Chap05. Front Panel
5.2 Operation of Menu Group FSU

A FSU or "First Setup" is required when the servo drive is powered on for the first time or after
the factory settings have been restored. First Setup is used to perform basic configuration of the
servo drive.
5.2.1 Operation Conditions of FSU
The First Setup is required when the servo drive is powered on for the first time or after the
factory settings have been restored.
5.2.2 Configuration in FSU
The servo motor reference connected to the drive needs to be configured in parameter P6-00 in
FSU.
The encoder type of the servo motor connected to the drive needs to be configured in parameter
P6-01 in FSU.
When the servo drive is powered on for the first time or after the factory settings have been
restored, default value in parameter P6-01 is 9 - 2500 ppr incremental. User needs to configure
the motor reference connected to the drive in parameter P6-00 then reboot servo drive to finish
the First Setup.
If a servo motor equipped with high resolution encoder is connected to the servo drive, user
needs to change the value in parmanter P6-01 to 8 - BISS then reboot the servo drive to finish
the First Setup. When servo drive is powered on again, the servo drive will automatically upload
motor information from electric nameplate saved in high resolution encoder. Parmater P6-00 will
be read-only and display the motor reference connected to the servo drive currently.
Min. 0 Unit Related Mode

P6-00 Motor type Default 0 P - -
-
Max. 65535 DYC - -
Motor file name
Noest / Not Exist: Motor type doesn't exist
None / No Motor Selected: No motor selected
LB01A / BCH16LB013*0A5C*: 0.1 kW motor, low inertia, 40 mm flange, 8 mm shaft diameter,
rated speed 3000 rpm, 2500 ppr incremental encoder, no holding brake, plastic connector,
Asian style mounting interface
LB01F / BCH16LB013*0F5C*: 0.1 kW motor, low inertia, 40 mm flange, 8 mm shaft diameter,
rated speed 3000 rpm, 2500 ppr incremental encoder, with holding brake, plastic connector,
rated speed 3000 rpm, 23 bit high resolution encoder, no holding brake, plastic connector,
rated speed 3000 rpm, 23 bit high resolution encoder, with holding brake, plastic connector,
5-6 TM
1
Overview
P6-00 Motor type (continue) Default 0 P - -
-
Max. 65535 DYC - -
HC02A / BCH16HC023*0A5C*: 0.2 kW motor, high inertia, 60 mm flange, 11 mm shaft diameter,
rated speed 3000 rpm, 2500 ppr incremental encoder, no holding brake, plastic connector, 2
Selection
Type
HC02F / BCH16HC023*0F5C*: 0.2 kW motor, high inertia, 60 mm flange, 11 mm shaft diameter,
rated speed 3000 rpm, 23 bit high resolution encoder, no holding brake, plastic connector, 3
Installation
HD02A / BCH16HD023*0A5C*: 0.2 kW motor, high inertia, 60 mm flange, 14 mm shaft diameter,
Wiring
HD02F / BCH16HD023*0F5C*: 0.2 kW motor, high inertia, 60 mm flange, 14 mm shaft diameter,
Front Panel
6
Operation
7
Commissioning
rated speed 3000 rpm, 23 bit high resolution encoder, with holding brake, free leads, Asian
style mounting interface
HF07A / BCH16HF073*0A5C*: 0.75 kW motor, high inertia, 80 mm flange, 19 mm shaft diameter,
8
Diagnostics
HF07F / BCH16HF073*0F5C*: 0.75 kW motor, high inertia, 80 mm flange, 19 mm shaft diameter,
HF07A / BCH16HF073*2A5C*: 0.75 kW motor, high inertia, 80 mm flange, 19 mm shaft diameter, 9
Parameters

10
Communication
TM
5-7
Chap05. Front Panel
-
Max. 65535 DYC - -
LF10A / BCH16LF103*0A5C*: 1.0 kW motor, high inertia, 80 mm flange, 19 mm shaft diameter,
LF10F / BCH16LF103*0F5C*: 1.0 kW motor, high inertia, 80 mm flange, 19 mm shaft diameter,
LH10A / BCH16LH103*0A6C*: 1.0 kW motor, high inertia, 100 mm flange, 19 mm shaft diameter,
rated speed 3000 rpm, 2500 ppr incremental encoder, no holding brake, MIL connector, Asian
LH10F / BCH16LH103*0F6C*: 1.0 kW motor, high inertia, 100 mm flange, 19 mm shaft diameter,
rated speed 3000 rpm, 2500 ppr incremental encoder, with holding brake, MIL connector,
rated speed 3000 rpm, 23 bit high resolution encoder, no holding brake, MIL connector, Asian
rated speed 3000 rpm, 23 bit high resolution encoder, with holding brake, MIL connector, Asian
LJ10A / BCH16LJ103*0A6C*: 1.0 kW motor, high inertia, 100 mm flange, 22 mm shaft diameter,
LJ10F / BCH16LJ103*0F6C*: 1.0 kW motor, high inertia, 100 mm flange, 22 mm shaft diameter,
HM10A / BCH16HM102*0A6C*: 1.0 kW motor, high inertia, 130 mm flange, 22 mm shaft
diameter, rated speed 2000 rpm, 2500 ppr incremental encoder, no holding brake, MIL
connector, Asian style mounting interface
HM10F / BCH16HM102*0F6C*: 1.0 kW motor, high inertia, 130 mm flange, 22 mm shaft diameter,
diameter, rated speed 2000 rpm, 23 bit high resolution encoder, no holding brake, MIL
5-8 TM
1
Overview
-
Max. 65535 DYC - -
diameter, rated speed 1500 rpm, 2500 ppr incremental encoder, no holding brake, MIL 2
Selection
Type
HM08F / BCH16HM081*0F6C*: 0.85 kW motor, high inertia, 130 mm flange, 22 mm shaft
diameter, rated speed 1500 rpm, 2500 ppr incremental encoder, with holding brake, MIL
diameter, rated speed 1500 rpm, 23 bit high resolution encoder, no holding brake, MIL 3
Installation
diameter, rated speed 1500 rpm, 23 bit high resolution encoder, with holding brake, MIL
diameter, rated speed 2000 rpm, 2500 ppr incremental encoder, no holding brake, MIL 4
Wiring
diameter, rated speed 2000 rpm, 23 bit high resolution encoder, no holding brake, MIL 5
Front Panel
Select reference of servo motor connected to servo drive by this parameter when P6-01 = 9 /
6
Operation
2500 ppr.
This parameter becomes read-only when P6-01 = 8 / BISS.
Setting can only be changed if power stage is disabled.

Changed settings become active the next time the product is powered on. 7
Commissioning
P6-01 Type of motor encoder Default 9 P - -
-
Max. 65535 DYC - -
Type of motor encoder: 8
Diagnostics
8 / BISS: Communication high resolution encoder.
9 / 2500ppr: 2500 ppr incremental encoder.
Read-only parameter.
9
Parameters
10
Communication
TM
5-9
Chap05. Front Panel
5.2.3 Code Description of Servo Motor Reference in FSU
When performing the configuration of servo motor reference in FSU, all available servo motor
references supported by current servo drive will be listed out. The servo motor references is
expressed by abbreviation, where the meaning of each character is shown as following:
Motor L - Low inertia motor

inertia： H - High inertia motor
Motor B – 40 mm (Shaft 8 mm) C – 60 mm (Shaft 11 mm)

flange： D – 60 mm (Shaft 14 mm) F – 80 mm (Shaft 19 mm)
H – 100 mm (Shaft 19 mm) J – 100 mm (Shaft 22 mm)
M – 130 mm (Shaft 22 mm)
Nominal 01 - 0.1 kW 02 - 0.2 kW

power： 04 - 0.4 kW 07 - 0.75 kW
08 - 0.85 kW 10 - 1.0 kW
15 - 1.5 kW
Holding A - No holding brake

brake： F - With holding brake
Servo motor reference abbreviation:
Servo drive Servo Motor Abbreviation

BCH16LB0133*A5C2 LB01A
LXM16DU01M2X
BCH16LB0133*F5C2 LB01F
BCH16HC0233*A5C2 HC02A
BCH16HC0233*F5C2 HC02F
LXM16DU02M2X
BCH16HD0233*A5C2 HD02A
BCH16HD0233*F5C2 HD02F
BCH16HD0433*A5C2 HD04A
LXM16DU04M2X
BCH16HD0433*A5C2 HD04F
BCH16HF0733*A5C2 HF07A
LXM16DU07M2X
BCH16HF0733*F5C2 HF07F
BCH16LF1033*A5C2 LF10A
BCH16LF1033*F5C2 LF10F
BCH16LH1033*A6C2 LH10A
BCH16LH1033*F6C2 LH10F
LXM16DU10M2X
BCH16LJ1033*A6C2 LJ10A
BCH16LJ1033*F6C2 LJ10F
BCH16HM1023*A6C2 HM10A
BCH16HM1023*F6C2 HM10F
LXM16DU15M2X
5-10 TM
1
5.2.4 FSU Operation
Overview
Change reference of motor connected to servo drive by configurate parameter P6-00:
Step HMI Display Operation Description 2
Selection
Type
0 M S Press S key, HMI shows P6-00.
Press S key, HMI shows current value of

1 M S
parameter P6-00. 3
Installation
Press S key to start edit, all letters on HMI
2 M S
start blinking.
Press UP or DOWN key to navigate motor
3 M S references. Refer to chapter 5.2.3 for motor 4
reference abbreviations.
Wiring
Press and hold S key for longer than 1.5 s,
4 M S current value blinks once and becomes still.
>1.5s Value saved.
5 M S
Press M key multi times until "boot" is shown
on HMI.
5
Front Panel
6 M S Press S key to warm restart servo drive (*).
7
HMI shows "Warm" to indicate the servo 6
drive is performing warm restart.
Operation
HMI shows "rdy", motor reference
8 configuration is successful. Servo drive is
now ready for operation.
7
Commissioning
(*) Note:
All changed settings in FSU menu group will not become active until warm restart the device
by press S key when HMI shows "boot". If the user restart the device by power cycle the
device or by press M+S buttons, all changed settings in FSU menu group will be ignored,
thus the device will enter FSU status again. 8
Diagnostics
9
Parameters
10
Communication
TM
5-11
Chap05. Front Panel
Change encoder type of servo motor connected to servo drive by configurate parameter P6-01:
Step HMI Display Operation Description
0 M S Press S key, HMI shows P6-00.
1 M S Press UP or DOWN key and select P6-01.

2 M S
parameter P6-01.
Press S key to start edit, current value starts

3 M S
flashing.
4 M S Press DOWN key, select value <8 - BISS>

5 M S current value will blink once and become
>1.5s still. Value saved.
Press M key multi times until "boot" is shown
6 M S
on HMI.
7 M S Press S key to warm restart servo drive (*).
HMI shows "Warm" to indicate the servo

8
HMI shows "rdy", encoder type configuration
9 is successful. Servo drive is now ready for
operation.
(*) Note:
All changed settings in FSU menu group will not become active until warm restart the device
by press S key when HMI shows "boot". If the user restart the device by power cycle the
device or by press M+S buttons, all changed settings in FSU menu group will be ignored,
thus the device will enter FSU status again.
5-12 TM
1
5.3 Operation of Menu Group oP
Overview
Press the S key in rdy state or press the M key in flt state to enter oP menu group. You may
perform manual operation (JOG), easy tuning, mapping auto adaptive tuning parmaters and
factory setting restore in OP menu group. 2
Selection
Type
5.3.1 JOG
Users can set JOG velocity and direction then perform JOG operation in "JoG" menu group. 3
Installation
• Set JOG speed:
0 M S Press S key, HMI shows "oP." 4
Wiring
1 M S Press S key, HMI shows "JoG".
2 M S Press S key, HMI shows "JGSt". 5
Front Panel
Press UP or DOWN key to select JOG
3 M S
operation or JOG parameters configuration.
Press S key, HMI shows current value of 6
Operation
parameter P4-01.
4 M S
parameter P4-02.
Press S key to start edit, the LSB digit with 7

5 M S
Commissioning
cursor starts flashing.
Press UP or DOWN key to edit the value of
the digit with cursor. Press UP key once will
6 M S
increase value by 1, press DOWN key once
will decrease value by 1. 8
Diagnostics
Press S key to shift cursor from right to left.
7 M S Press S key once to shift cursor by 1 digit.
Press UP or DOWN key to edit the value

of the digit with cursor. Press UP key once
8 M S
increases value by 1, press DOWN key once 9
Parameters
decreases value by 1.
>1.5s Value saved.
10 M S Press M key to exit edit.

10
Communication
TM
5-13
Chap05. Front Panel
(Continue)
HMI shows parameter P4-01, parameter
value edit finished.
11 M S
Perform JOG operation. Servo motor will move during this operation.
0 M S Press S key, HMI shows "oP".
2 M S Press S key, HMI shows "JGSt".
Press S key to enable JOG operation.

3 M S The servo drive power stage turns on and
servo drive switches to run state.
Press UP or DOWN key to select JOG speed

4 M S
and direciton.
Press and hold S key ot JOG servo motor

in positive direcion with velocity set in
parameter P4-01. Servo motor will stop when
S key is released.
5 M S S key is released.
in negative direcion with velocity set in
S key is released.
S key is released.
5-14 TM
(Continue)
1
Overview
Selection
Type
6 M S Press M key to exit JOG operation.
Installation
HMI shows "JoG".
7
The servo drive power stage turns off.
4
Wiring
Related parameters
5
Min. 1 Unit Relatd Mode
Front Panel
P4-01 Velocity for slow JOG movement Default 100 P - -
usr_v
Max. 2147483647 DYC - -
Velocity for slow JOG movement
The adjustable value is internally limited to the parameter setting in P4-03. 6
Operation

P4-02 Velocity for fast JOG movement Default 200
usr_v
P - - 7
Max. 2147483647 DYC - -
Commissioning
Velocity for fast JOG movement
The adjustable value is internally limited to the parameter setting in P4-03.
Changed settings become active immediately. 8

Diagnostics
9
Parameters
10
Communication
TM
5-15
Chap05. Front Panel
5.3.2 Easy Tuning
User can perform easy tuning to optimize servo motor control loop in "tun" menu group.
2 M S Press UP or DOWN key to select tun.
3 M S Press S key, HMI shows "tuSt".
Press S key to start easy tuning.

Servo drive power stage turns on and servo
drive switches to run state. Servo drive
4 M S controls servo motor to run back and forth
serveral rounds and tunes the control loop
parameters automatically. No additional
parameters need to be adjusted.
During process of easy tuning, HMI shows
progress in formation of percentage.
5
HMI will show "donE" to indicate that the
easy tuning has finished successfully.
Press S key to save the tuning result.
6 M S Servo drive power stage turns off and servo
drive switches to rdy state.
7 HMI shows "tun", easy tuning has finished.
5-16 TM
1
5.3.3 Operation of Auto Adaptive Control Parameters
Overview
In "Atu" menu group, user can perform following operations to auto adaptive control parameters:
- Map auto adaptive control parameters to PID control parameters in <P1 - Motor Control>
parameter group.
- Reset auto adaptive control parameters to default.
2
Selection
Type
Map auto adaptive control parameters to PID control parameters
Step HMI Display Operation Description 3
Installation

4
Wiring
2 M S Press UP or DOWN key to select "Atu".
3 M S Press S key, HMI shows "cPYA". 5
Front Panel
Press S key, all letters on HMI blink once to
indicate auto adaptive control parameters
4 M S have been mapped to PID control
parameters in <P1 - Motor Contrl> paramnter
group. 6
Operation
Reset auto adaptive control paramters to default
7
Commissioning
1 M S Press S key, HMI shows "JoG". 8

Diagnostics
2 M S Press UP or DOWN key to select "Atu".
3 M S Press S key, HMI shows "cPYA". 9

Parameters
4 M S Press UP or DOWN key to select "rStA".
5 M
Press S key, all letters on HMI blink once to
S indicate auto adaptive control parameters
10
Communication
have been reset to default.
TM
5-17
Chap05. Front Panel
5.3.4 Restore Factory Setting
User can restore servo drive to factory setting in "Frt" menu group.
2 M S Press UP or DOWN key to select "Frt".
3 M S Press S key, HMI shows "rStF".
4 M S Press S key, HMI shows "no".
5 M S Press S key, all letters on HMI start flashing.
6 M S Press UP key, HMI shows "YES" in flashing.
Press and hold S key for longer than 1.5 s, all

letters on HMI will blink once. HMI will then
7 M S
show "Fsu" to indicate the servo drive has
>1.5s been restore to factory setting.
5-18 TM
1
5.4 Operation of Menu Group Mon
Overview
After the servo drive power stage turned on, status information is displayed via the HMI. Users
may select the type of device status information to be displayed in Menu Group Mon. Moreover,
users may also select the default type of device status information to be displayed after the 2
Selection
Type
servo drive power stage turned on.
5.4.1 Available Device Status Information

3
Installation
HMI Display Name Description
Default status information to be displayed after the servo
SuPV
drive power stage turned on.
StAt Servo drive current operation states (found in SuPV only)

4
Wiring
Reference position in the unit of external pulse train
PrEP
increments
5
Front Panel
PAcP Actual position in the unit of external pulse train increments
PrEF Reference position in the unit of usr_p
Operation
PAct Actual position in the unit of usr_p
Pdif Position deviation in the unit of usr_p

7
Commissioning
nrEF Reference speed of rotation
nAct Actual speed of rotation

8
Diagnostics
Reference motor current (q component, generating
qrEF
torque)
qAct Actual motor current (q component, generating torque)

9
Parameters
iAct Total motor current
diMo Status of digital inputs

10
Communication
doMo Status of digital outputs
TM
5-19
Chap05. Front Panel
(Continue)
udcA Voltage at DC bus
udcr Degree of utilization of DC bus voltage
PoWM Mean output power
LdFP Load of power stage
LdFM Load of servo motor
LdFb Load of braking resistor
oVLP Overload of power stage (%)
tPS Temperature of power stage
tdEV Temperature of device
SiGS Saved status of monitoring signals
Wrns Detected error of error class 0, bit-coded (error class 0)
ErrM Device saved error memory
oPh Operating hours counter
PoWo Number of power on cycles
Md0 MD0 value in DYC operation mode
5-20 TM
(Continue)
1
Overview
Selection
Type

3
Installation
LWrn Last warning of error class 0

4
Wiring
LFlt Last fault of error classes 1 .. 4
Flt1 Saved fault 1 of error classes 1 .. 4

5
Front Panel

6
Operation

7
Commissioning
Flt7 Saved fault 7 of error classes 1 .. 4 8

Diagnostics
Flt9 Saved fault 9 of error classes 1 .. 4 9

Parameters
10
Communication
TM
5-21
Chap05. Front Panel
5.4.2 Select Type of Device Status Information
Users may select the type of device status information to be displayed in menu group "Mon"
1 M S Press S key, HMI shows "Mon".
2 M S Press S key, HMI shows "SuPV".
Press UP or DOWN key to select type of

device status information. Refer to "5.4.1
3 M S Available Device Information" for detailed
information.
Press S key, HMI shows value of selected
4 M S type of device information.
5-22 TM
1
5.4.3 Set Default Type of Device Status Information
Overview
Users may select the default type of device status information to be displayed in menu group
"Mon"
2
Selection
Type

3
Installation
4
3 M S Press S key, HMI shows "StAt".
Wiring
4 M S
start flashing.
Press UP or DOWN key to select the default 5
Front Panel
type of device status information. Refer
5 M S to "5.4.1 Available Device Information" for
detailed information.
Press and hold S key for longer than 1.5 s, all
6 M S letters on HMI flash once and become still.
>1.5s Value saved.
6
Operation
Press M key multi times until selected device
7 M S status information is shown on HMI.
The device status information selected in

8 step 6 will be displayed after servo drive is
enabled.
7
Commissioning
8
Diagnostics
9
Parameters
10
Communication
TM
5-23
Chap05. Front Panel
5.4.4 Monitoring of Error Codes of Last / Saved Error Information
Users may monitor the error code of last / saved error information in menu group "Mon":
• The error code of last warning of error class 0 will be saved in MON -> ErrM -> LWrn.
• The error code of last fault of error classes 1 .. 4 will be saved in MON -> ErrM -> LFlt.
• The error codes of last 9 faults of error classes 1 .. 4 will be saved in MON -> ErrM -> Fltn in
chronological order.
3 M S Press UP or DOWN key to select "ErrM".
4 M S Press S key to enter error memory.
Press UP or DOWN key to select interested

5 M S
saved fault message.
Press S key to display selected saved fault

6 M S
of error class 1 ... 4.
5-24 TM
1
5.4.5 Monitoring of Digital Inputs and Outputs Status Information
Overview
The device has configurable inputs and outputs.
The signal states of the digital inputs and outputs can be monitored on the integrated HMI,
however, they cannot be modified.
2
Selection
Type
DIn / DOn = 1
DIn / DOn = 0 3
98 76 54 32 10
Installation
Inputs:
• Open the menu item Mon -> diMo.
The digital inputs are displayed in a bit-coded way. 4
Wiring
Bit Signal
0 DI0
1
2
DI1
DI2
5
Front Panel
3 DI3
4 DI4
5 DI5
Operation
Outputs:
• Open the menu item Mon -> doMo.
The digital outputs are displayed in a bit-coded way.
7
Commissioning
Bit Signal
0 DO0
1 DO1
2 DO2
8
Diagnostics
9
Parameters
10
Communication
TM
5-25
Chap05. Front Panel
5.5 Operation of Menu Group Conf
5.5.1 Parameters of Numerical Types
If the parameter is one of the numerical type parameters, its value can be edited in each digit,
respectively.
Example of editing parameter P1-00:
1 M S Press UP or DOWN key to select "Conf".
2 M S Press S key, HMI shows P0.
3 M S Press Up or Down key to select P1.
4 M S Press S key, HMI shows parameter P1-00.

5 M S
parameter P1-00.
Press S key to start edit, the LSB digit with

6 M S

7 M S
Press S key once to shift cursor by 1 digit.
8 M S increases value by 1, press DOWN key once
>1.5s Value saved.

11
5-26 TM
1
5.5.2 Parameters of Selection Type
Overview
If the parameter is one of the selection type parameters, its value consists of limited selections
in the form of a list.
2
Selection
Type
Example of editing parameter P0-10:
0 M S Press S key, HMI shows "oP". 3
Installation
2 M S Press S key, HMI shows P0. 4
Wiring
4 M S
Press UP or DOWN key to select parameter 5
Front Panel
P0-10.

5 M S
parameter P0-10.
Press S key to start edit, all letters on HMI 6

6 M S
Operation
start flashing.
Press UP or DOWN key to select value out of

7 M S
current parameter's value list.
Press and hold S key for longer than 1.5 s, 7
Commissioning
>1.5s Value saved.
8
Diagnostics
10
9
Parameters
10
Communication
TM
5-27
Chap05. Front Panel
5.5.3 Parameter P6-00 Motor File Name / P6-01 Type of Motor Encoder
When parameter P6-01 is configured as <9 - 2500 ppr incremental encoder>, users need to
configure the servo motor reference connected to the servo drive manually in parameter P6-00.
When parameter P6-01 is configured as <8 - Communication high resolution encoder>, the servo
drive will try to communicate with the servo motor and upload servo motor information from
electric nameplate saved in high resolution encoder. Meanwhile, parameter P6-00 will be read-
only and display the motor reference connected to the servo drive currently.
• Example of editing parameter P6-00:
3 M S Press UP or DOWN key to select P6.

5 M S
parameter P6-00.

6 M S
start flashing.
Press UP or DOWN key to navigate motor
7 M S references. Refer to chapter 5.2.3 for motor
reference abbreviations.
Press and hold S key for longer than 1.5
s, current value blinks once and becomes
8 M S still. HMI will then show "Mot" to indicate the
>1.5s motor reference has been changed.
9 M S Press S key, HMI shows "boot".
10 M S Press S key to warm restart servo drive.

11
now ready for operation.
Set the servo motor reference with care. Improper setting of servo motor reference that is
inconsistent with the physical motor will result in system performance degradation or equipment
damage.
5-28 TM
• Example of editing parameter P6-01:
1
Overview

2
Selection
Type

3
Installation
3 M S Press UP or DOWN key to select P6.
4 M S Press S key, HMI shows parameter P6-00. 4
Wiring
Press UP or DOWN key to select parameter
5 M S
P6-01.
6 M S
parameter P6-01.
5
Front Panel
Press S key to start edit, current value starts
7 M S
flashing.
8 M S Press DOWN key, select value <8 - BISS> 6
Operation
current value will blink once and become
9 M S still. HMI will then show "Mot" to indicate the
>1.5s motor reference has been changed.
7
Commissioning
10 M S Press S key, HMI shows "boot".
11 M S Press S key to warm restart servo drive.

8
Diagnostics
12
now ready for operation. 9
Parameters
10
Communication
TM
5-29
Chap05. Front Panel
-
Max. 65535 DYC - -
Motor file name
5-30 TM
1
Overview
-
Max. 65535 DYC - -
Selection
Type
Installation
Wiring
Front Panel
6
Operation
7
Commissioning
8
Diagnostics
LJ10A / BCH16LJ103*2A6C*: 1.0 kW motor, high inertia, 100 mm flange, 22 mm shaft diameter, 9
Parameters

HM10A / BCH16HM102*0A6C*: 1.0 kW motor, high inertia, 130 mm flange, 22 mm shaft 10
Communication
TM
5-31
Chap05. Front Panel
-
Max. 65535 DYC - -
diameter, rated speed 1500 rpm, 2500 ppr incremental encoder, with holding brake, MIL
diameter, rated speed 1500 rpm, 23 bit high resolution encoder, with holding brake, MIL
2500 ppr.
This parameter becomes read-only when P6-01 = 8 / BISS.

Changed settings become active the next time the product is powered on.

P6-01 Type of motor encoder Default 9 P - -
-
Max. 65535 DYC - -
Type of motor encoder:
9 / 2500ppr: 2500 ppr incremental encoder.
5-32 TM
1
5.6 Warm Restart by Front Panel
Overview
User can performe warm restart by HMI when the servo drive power stage has been turned off.

2
Selection
Type
When the servo drive power stage has been
turned off, press and hold both M and S key
0 M S for longer than 2.5 s, HMI will show "Warm" to
>2.5s indicate the servo drive is ready to perform
warm retart. 3
Installation
Release both M and S key, servo drive starts
1
warm restart.
HMI shows "rdy". Servo drive is now ready

2
for operation. 4
Wiring
5
Front Panel
6
Operation
7
Commissioning
8
Diagnostics
9
Parameters
10
Communication
TM
5-33
Chap06. Operation
6.1 Access Channel...................................................................................................................... 6-1

6.1.1 Overview of Access Channel.....................................................................................................6-1
6.1.2 Exclusive Access Channel...........................................................................................................6-1
6.2 Operating States..................................................................................................................... 6-2
6.2.1 State Diagram..................................................................................................................................6-2
6.2.2 Operating States.............................................................................................................................6-3
6.2.3 State Transitions..............................................................................................................................6-3
6.3 Digital Inputs and Outputs.................................................................................................... 6-5
6.3.1 Connecting the Digital Inputs and Outputs.............................................................................6-5
6.3.2 Parameterization of the Digital Inputs and Outputs Functions.........................................6-6
6.3.3 Digital Input Functions..................................................................................................................6-7
6.3.4 Digital Outpot Functions...............................................................................................................6-8
6.3.5 Digital Inputs and Outputs Default Functions........................................................................6-9
6.3.6 Parameterization of Software Debonucing.............................................................................6-9
6.4 Basic Functions for Operation........................................................................................... 6-11
6.4.1 Enable Power Stage.................................................................................................................... 6-11
6.4.2 Selection of Motor Rotation Direction................................................................................... 6-13
6.4.3 Limit Switches............................................................................................................................... 6-14
6.4.4 Reset of Limit Switch Fault....................................................................................................... 6-15
6.4.5 Motor Holding Brake................................................................................................................... 6-17
6.4.6 Braking Resistor.......................................................................................................................... 6-20
6.5 Operating Mode Jog............................................................................................................. 6-22
6.5.1 Precatuions and Checklist Before Starting the Jog.......................................................... 6-22
6.5.2 Perform the Jog by Integrated HMI........................................................................................ 6-23
6.5.3 Perform the Jog by Digital Input.............................................................................................. 6-26
6.5.4 Parameterization of Motion Profile for the Jog.................................................................... 6-27
6.6 Operating Mode Electronic Gear...................................................................................... 6-28
6.6.1 Wiring Example............................................................................................................................ 6-28
6.6.2 Basic Parameterization.............................................................................................................. 6-29
6.6.3 Parameterization of Electronic Gear Ratio.......................................................................... 6-30
6.6.4 Selection of the Pulse Reference Method............................................................................ 6-32
6.6.5 Position Change with Power Stage Disabled....................................................................... 6-33
6.6.6 Velocity Limitation in Electronic Gear Mode........................................................................ 6-34
6.6.7 Release of Direction................................................................................................................... 6-34
6.6.8 Offset Movement.......................................................................................................................... 6-35
6.6.9 Changing the Motion Profile for the Velocity........................................................................ 6-36
6.6.10 Encoder Simulation Output.................................................................................................... 6-38
6.6.11 Pulse Clear.................................................................................................................................. 6-39
6.7 Operating Mode Homing..................................................................................................... 6-41
6.7.1 Overview........................................................................................................................................ 6-41
6.7.2 Basic Parameterization.............................................................................................................. 6-42
6.7.3 Parameterization of Monitoring Functions........................................................................... 6-46
6.7.4 Parameterization of Trigger of Reference Movement....................................................... 6-47
6.7.5 Reference Movement to a Limit Switch................................................................................. 6-48
6.7.6 Reference Movement to a Reference Switch in Positive Direction................................ 6-49
6.7.7 Reference Movement to a Reference Switch in Negative Direction............................. 6-51
6.7.8 Reference Movement to Motor Index..................................................................................... 6-53
6.7.9 Position Setting............................................................................................................................. 6-54
6.7.10 Software Limist Switches........................................................................................................ 6-55
6.8 Auxiliary Functions for Operation...................................................................................... 6-57
6.8.1 Jerk Limitation.............................................................................................................................. 6-57
6.8.2 Stop Movement with Halt........................................................................................................... 6-58
6.8.3 Stop Movement with Quick Stop............................................................................................. 6-59
6.8.4 Motor Stopping Modes for Servo Off and Faults............................................................... 6-61
6.8.5 Limitation of the Velocity via Signal Input............................................................................ 6-62
6.8.6 Limitation of the Current via Signal Input............................................................................. 6-62
6.8.7 Zero Clamp.................................................................................................................................... 6-63
6.8.8 Backlash Compensation............................................................................................................ 6-64
6.9 Monitoring Functions for Operation.................................................................................. 6-66
6.9.1 Temperature Monitoring............................................................................................................ 6-66
6.9.2 Load and Overload Monitoring................................................................................................ 6-66
6.9.3 Load-Dependent Position Deviation (Following Error)...................................................... 6-68
6.9.4 Target Position Standstill Window........................................................................................... 6-68
6.9.5 Position Deviation Window........................................................................................................ 6-70
6.9.6 Velocity Deviation Window........................................................................................................ 6-72
6.9.7 Velocity Threshold Value........................................................................................................... 6-74
6.9.8 Current Threshold Value........................................................................................................... 6-76
6.9.9 Maximum Velocity Threshold Value while Enabling the Power Stage.......................... 6-78
6.9.10 Monitoring of Drive Power Stage Current Command Saturation................................ 6-79
Chap05. Front Panel
6.1 Access Channel
6.1.1 Overview of Access Channel
Easy Lexium 16 servo drive incorporates the concept of access channel. LXM16D series servo
drive can be accessed via different types of access channels.
Access channels are:

Integrated HMI
Digital inputs
Commissioning software
Please note simultaneous access via multiple access channels or the use of exclusive access
may cause unintended equipment operation.
WARNING
Verify that simultaneous access via multiple access channels cannot cause unintended triggering or blocking of
commands.
Verify that the use of exclusive access cannot cause unintended triggering or blocking of commands.
Verify that the required access channels are available.
6.1.2 Exclusive Access Channel
Easy Lexium 16 servo drive can be accessed via exclusive access channel, only one access
channel can have exclusive access to the product.
An exclusive access can be provided via different access channels:

Via integrated HMI:
The operating mode Jog or Autotuning can be started via the HMI
Via commissioning software:
The commissioning software receives exclusive access viathe switch "Exclusive access" in
position "On".
When this product is powered on, no exclusive access channel exists, in which case the
instruction obtained through pulse input signal will take effect. When the product is powered on,
there is no exclusive access via an access channel.
The digital input functions Halt / Fault Reset / Enable / Positive Limit Switch (LIMP) / Negative
Limit Switch (LIMN) / Reference Switch (REF) are always effective during exclusive access.
6-1 TM
1
6.2 Operating States
Overview
When the Easy Lexium 16 servo drive is powered on and when an operating mode is started, the
product goes through a number of operating states.
2
Selection
Type
6.2.1 State Diagram
The state diagram (state machine) shows the relationships between the operating states and the 3
state transitions.
Installation
The operating states are internally monitored and influenced by monitoring functions.
Power-up
4
Wiring
Motor not powered-on
1
init Start
T0
2
nrdy Not Ready
To Switch On 5
Front Panel
T1
Switch On 3
dis Disabled T15
T9 T2 T7
Ready To 4
T12
6
rdy
Operation
T10
Switch On
9
T8 T3 T6 Fault
5 fLt 88888
son Start
T14
8 7
Commissioning
T4 T5
fLt Fault Reaction
Active
6 7
run Operation
T16
Quick Stop Active
T13
HALT enabled stop
hALt
T11 Error class 1 Error class 2/3/(4)
8
Motor powered-on Diagnostics
Equipment state State transition Error report
9
Parameters
10
Communication
TM
6-2
Chap05. Front Panel
6.2.2 Operating States
HMI Display Operation State Description

son 5 Start Power stage is switched on
active
6.2.3 State Transitions
State transitions are triggered by integrated HMI, an input signal or a response to a monitoring
function.
State Operating
Condition / Event(1) Response
transition state
Device electronics successfully
T0 1 -> 2
initialized
T1 2 -> 3 Parameter successfully initialized
No undervoltage
T2 3 -> 4 Encoder successfully checked
Motor at standstill
Request for enabling the power
T3 4 -> 5
stage
Power stage is enabled.
User parameters are checked.
T4 5 -> 6 Automatic transition
Holding brake is released (if
available).
T5 6 -> 5 N/A
T6 5 -> 4 N/A
Undervoltage
Actual velocity: >1000 rpm (for
T7 4 -> 3
example by external driving
force)
T8 6 -> 4 N/A
Movement is canceled with "Halt"
or power stage is immediately
Request for disabling the power
T9 6 -> 3 disabled.
stage
Holding brake is applied (if
available)
Request for disabling the power
T10 5 -> 3 Power stage is disabled immediately
stage
Error of error class 1
Movement is canceled with "Quick
T11 6 -> 7 Commissioning software:
Stop".
Disable
6-3 TM
(Continue)
1
Overview
State Operating
Condition / Event(1) Response
transition state
Request for disabling the power Power stage is disabled immediately
T12 7 -> 3
stage even if "Quick Stop" is still active.
T13 x -> 8 Error of error classes 2, 3 or 4 Error response is carried out 2
Selection
Type
Error response terminated
T14 8 -> 9 (error class 2)
Error of error classes 3 or 4
Error is reset (cause of error must
T15 9 -> 3 Function: "Fault Reset"
have been corrected).
In the event of a "Quick Stop" 3
Installation
triggered by a detected error of
T16 7 -> 6 Function: "Fault Reset" class 1, a "Fault Reset" causes a
direct transition to the operating
state 6 Operation Enabled.
(1) In order to trigger a state transition it is sufficient if one condition is met
4
Wiring
5
Front Panel
6
Operation
7
Commissioning
8
Diagnostics
9
Parameters
10
Communication
TM
6-4
Chap05. Front Panel
6.3 Digital Inputs and Outputs

Various digital input and output functions can be assigned to the digital inputs and output of
Easy Lexium 16 servo drive.
6.3.1 Connecting the Digital Inputs and Outputs
When connecting digital inputs:

Connect to contacts of switches and relays, or open collector output transistors.
All digital inputs equip a bi-directional photocouplers, please select proper power supply
polarity connected to the digital input common terminal pin with respect to the actual loads.
In order to secure sufficient primary current for photocouplers and to protect the primary
side of the photocouplers, please make sure the upper and lower limits of voltage connected
to digital inputs as between 12V-15% and 24V+15%.
Typical examples of wiring for digital input:
8 8
12～24V 12～24V
9/10/20/ 9/10/20/
21/22/23 21/22/23
Contact
When connecting digital outputs:

The output circuit is composed of open collector transistor outputs and connect to relays or
photocouplers.
When connecting an inductive load to the digital output, please use appropriate external
protection circuit or device (e.g. fly-wheel diode) to prevent possible damage to the device.
When connecting a photocoupler load, please use proper current limiting resistance
with respect to the power supply connected. The recommended primary current value of
photocoupler is 10mA, decide the resistor value using the formula of the below figure.
All digital outputs are designed with independent collectors and common emitters, choose
power supply polarity with care when connecting loads. The digital output common terminal
pin shall be connected to the negative pole of power supply, connection in the opposite
polarity will damage the device.
Please pay attention to the maximum current carrying capacity of transistor at each digital
output, and make sure the load current at each digital output does not exceed 100mA (at
50°C).
Typical examples of wiring for digital output:
Please pay attention to the installation

orientation of protection.
The protection must be installed VDC
7 / 18 / 19
in the orientation as per drawing.
7 / 18 / 19
12～24V
6 VDC[V]-2.5[V]
6 R[kΩ]= 10[mA]
Please pay attention to the power
polarity. Reversed polarity connection
may cause damage to equipment.
6-5 TM
1
6.3.2 Parameterization of the Digital Inputs and Outputs
Overview
The digital input functions for the inputs DI0 ... DI5 are configured via the parameters P3-00 ...
P3-05.
The digital output functions for the outputs DQ0 ... DQ2 are configured via the parameters P3-06 ...
P3-08.
2
Selection
Type
A digital input function can only be assigned to one of the digital inputs.
The parameterization of digital input/output functions is shown in the figure below:
Installation
I/O feature
0 : NO logic
4
Wiring
1 : NC logic
Front Panel
WARNING
Only start the system if there are no persons or obstructions in the zone of operation.
Verify that the wiring is appropriate for the settings.
Carefully run tests for all operating states and potential error situations when commissioning, 6
Operation
upgrading or otherwise modifying the operation of the drive.
Commissioning
8
Diagnostics
9
Parameters
10
Communication
TM
6-6
Chap05. Front Panel
6.3.3 Digital Input Functions
Overview of available digital input functions:
Digital Input Functions CN1 pin Parameter

IOfunct_DI0 9 P3-00
IOfunct_DI1 10 P3-01
DI_COM 8 -
Code Related Mode

Function Description
NO NC P DYC
No function assigned, available as
Freely Available 1 - √ √
required
Fault Reset Reset after error 2 102 √ √
Enable Enables the power stage 3 103 √ √
Halt Halt 4 104 √ √
Current Limitation Limits the current to parameter value 6 106 √ √
Zero Clamp Zero clamping 7 107 √ √
Velocity Limitation Limits the velocity to parameter value 8 108 √ √
Jog Positive Jog: Moves in positive direction 9 109 √
Jog Negative Jog: Moves in negative direction 10 110 √
Jog: Switches between slow and fast
Jog Fast/Slow 11 111 √
movement
Electronic Gear: Switches between two
Gear Ratio Switch 12 112 √
gear ratios
Gear Offset 1 Electronic Gear: Adds first gear offset 19 119 √
Electronic Gear: Adds second gear
Gear Offset 2 20 120 √
offset
Reference Switch
Reference switch 21 121 √ √
(REF)
Positive Limit
Positive limit switch 22 122 √ √
Switch(LIMP)
Negative Limit
Negative limit switch 23 123 √ √
Switch(LIMN)
Switch Controller
Switches control loop parameter set 24 124 √ √
Parameter Set
Velocity Controller Switches off velocity controller integral
28 128 √ √
Integral Off term
ORGP Start homing movement 42 142 √ √
CCLR Following error counts clear 43 143 √ √
6-7 TM
1
6.3.4 Digital Output Functions
Overview
Overview of available digital output functions:
Digital output functions CN1 pin Parameter 2
Selection
Type
IOfunct_DQ0 7 P3-06
IOfunct_DQ1 18 P3-07
IOfunct_DQ2 19 P3-08
DO_COM 6 -
IOfunct_DQ3 (*) 4, 5 P3-21 3
Installation
Code Related Mode
NO NC P DYC
required
No Fault No fault found on device 2 102 √ √ 4
Wiring
Active Device power stage is enabled 3 103 √ √
In Position Deviation
Position deviation is within window 5 105 √ √
Window
In Velocity Deviation
Velocity deviation is within window 6 106 √ √
Window 5
Velocity Below
Front Panel
Motor velocity below threshold 7 107 √ √
Threshold
Torque Below
Motor torque below threshold 8 108 √ √
Threshold
Halt Acknowledge Halt acknowledgement 9 109 √ √
Motor Standstill Motor at a standstill 13 113 √ √ 6
Operation
One of the specified errors of error
Selected Error 14 114 √ √
classes 1 … 4 is active
Valid Reference (ref_
Zero point is valid (ref_ok) 15 115 √ √
ok)
Selected Warning
One of the specified errors of error class
0 is active
16 116 √ √ 7
Commissioning
Motor Moves Positive Motor moves in positive direction 22 122 √ √
Motor Moves Negative Motor moves in negative direction 23 123 √ √
Release Brake Motor holding brake control 24 124 √ √
Torque Over Threshold Motor torque over threshold 25 125 √ √
Motor Index (**) Motor index position signal 26 126 √ √ 8
(*) Note: Digital output IOfunct_DQ3 has special funcitons: Diagnostics
• (**) Output function "26 - Motor Index" (Motor index position signal) can only be
assigned to digital output IOfunct_DQ3 via parameter P3-21.
• (**) If user assigned output functions other than "26 - Motor Index" (Motor index position
signal) to digital output IOfunct_DQ3 via parameter P3-21, channel Z signal of encoder 9
Parameters
simulation (ESIM) would be disabled at the same time. If the application needs channel
Z signal of encoder simulation (ESIM) (e.g.: homing function), make sure output function
"26 - Motor Index" (Motor index position signal) has been assgiend to IOfunct_DQ3 via
P3-21 properly.
10
Communication
TM
6-8
Chap05. Front Panel
6.3.5 Digital Inputs and Outputs Default Functions
The Easy Lexium 16 servo drive is delivered with default digital input and output functionss.
Users can also parameterize digital input and output functions as per their own requirements.
Overview of digital inputs function default settings:
Digital Input Functions Parameter Code Function

IOfunct_DI0 P3-00 3 Enable (NO)
IOfunct_DI1 P3-01 2 Fault Reset (NO)
IOfunct_DI2 P3-02 122 Positive Limit Switch(LIMP) (NC)
IOfunct_DI3 P3-03 123 Negative Limit Switch(LIMN) (NC)
IOfunct_DI4 P3-04 12 Gear Ratio Switch (NO)
IOfunct_DI5 P3-05 104 Halt (NC)
Overview of digital outputs function default settings:

Digital Input Functions Parameter Code Function
IOfunct_DQ0 P3-06 2 No Fault (NO)
IOfunct_DQ1 P3-07 5 In Position Deviation Window (NO)
IOfunct_DQ2 P3-08 13 Motor Standstill (NO)
IOfunct_DQ3 P3-21 26 Motor Index (NO)
6.3.6 Parameterization of Software Debonucing
Signal input debouncing comprises hardware debouncing and software debouncing.

The hardware debounce time is permanently set, the software debounce time can be set via
parameters.
When a set signal function is changed and when the product is powered off and on again,
software debouncing is reset to the default setting.

P3-09 Debounce time of DI0 Default 6 P - -
-
Max. 6 DYC - -
Debounce time of DI0
0 / No: No software debouncing
1 / 0.25 ms: 0.25 ms
2 / 0.5 ms: 0.5 ms
3 / 0.75 ms: 0.75 ms
4 / 1.0 ms: 1.0 ms
5 / 1.25 ms: 1.25 ms
6 / 1.50 ms: 1.50 ms

6-9 TM
1
Overview
-
Max. 6 DYC - -
Refer to parameter P3-09 2
Selection
Type
P3-11 Debounce time of DI2

Min.
Default
0
6
Unit Relatd Mode
P - -
3
Installation
-
Max. 6 DYC - -
Refer to parameter P3-09
4
Wiring

P3-12 Debounce time of DI3 Default
Max.
6
6
-
P
DYC
-
-
-
-
5
Front Panel
Setting can only be changed if power stage is disabled. 6

Operation
-
Max. 6 DYC - -
7
Commissioning

Min. 0 Unit Relatd Mode Diagnostics
-
Max. 6 DYC - -
Debounce time of DI5 9
Parameters

10
Communication
TM
6-10
Chap05. Front Panel
6.4 Basic Functions for Operation

Unsuitable parameter values or unsuitable data may trigger unintended movements, trigger
signals, damage parts and disable monitoring functions. Some parameter values or data do not
become active until after a restart.
WARNING
Do not operate the drive system with undetermined parameter values or data.
Never modify a parameter value unless you fully understand the parameter and all effects of the modi-
fication.
Restart the drive and verify the saved operational data and/or parameter values after modifications.
Carefully run tests for all operating states and potential error situations when commissioning, upgrad-
ing or otherwise modifying the operation of the drive.
Verify the functions after replacing the product and also after making modifications to the parameter
values and/or other operational data
6.4.1 Enable Power Stage
Parameterization for enable/disable servo drive power stage.
After the request for servo enabling is given with all criteria met, the power stage of equipment is
switched on while the equipment operating state changes to enabled. After the request for servo
disabling is given, the power stage of equipment is switched off while the equipment operating
state changes to disabled.
The equipment also automatically switches off the power stage and changes the operating state
to disabled when a error with error class 2, 3 and 4 is detected.
By default setting, the digital input IOfunc_DI0 with pin 9 on CN1 is set to "Enable" function.
The "Enable" function can also be assigned to other digital inputs via parameters P3-00 ... P3-05.

P3-00~05 Function Input of DIx Default - P - -
-
Max. 143 DYC - -
Function: MODBUS Addr: -
Function Input of DIx
Code Related Mode
NO NC P DYC

6-11 TM
User can define the logic of how the equipment enable the power stage with Enable signal via
1
Overview
parameter P3-15: to enable the power stage with the rising edge or high level of signal.
The equipment can also be set to automatically enable the power stage via parameter P3-15.
By default, the equipment enables the power stage with the rising edge of Enable signal. 2
Selection
Type
P3-15 Enabling the power stage at PowerOn Default 0 P - -
-
Max. 2 DYC - -
Enabling the power stage at PowerOn 3
Installation
0 / RisingEdge: A rising edge with the signal input function "Enable" enables the power stage
1 / HighLevel: An active signal input with signal input function "Enable" enables the power
stage
2 / AutoOn: The power stage is automatically enabled
Changed settings become active the next time the power stage is enabled. 4
Wiring
User can define action method of enabling the power stage as set in parameter P3-15 even after
error by parameter P3-16.
5
Front Panel
Enabling the power stage even after
P3-16 Default 0 P - -
error -
Max. 1 DYC - -
Action method of enabling the power stage as set via P3-15 even after error
0 / Off: Setting in parameter P3-15 is only used after start-up 6
Operation
1 / On: Setting in parameter P3-15 is used after startup and after detected error
Changed settings become active the next time the power stage is enabled. led.
Note:
If the equipment is set to automatically enable the power stage, the equipment will immediately
7
Commissioning
enable the power stage and change the operating mode to enabled when main power supply is
switched on. Unintended equipment operation may occur with position command being given.
Carefully perform all essential checks and necessary safety measures before main power supply
is switched on.
8
Diagnostics
WARNING
Do not operate the drive system with undetermined parameter values or data.
Never modify a parameter value unless you fully understand the parameter and all effects of the modi-
fication.
9
Parameters
Restart the drive and verify the saved operational data and/or parameter values after modifications.
Carefully run tests for all operating states and potential error situations when commissioning, upgrad-
ing or otherwise modifying the operation of the drive.
Verify the functions after replacing the product and also after making modifications to the parameter
values and/or other operational data. 10
Communication
TM
6-12
Chap05. Front Panel
6.4.2 Selection of Motor Rotation Direction
By modify the value of parameter P0-06, it is possible to change the motor rotation direction
without changing the wiring or the polarity (direction logical) of the pulse train command input.
Meanwhile, although the motor rotation direction has been changed, the polarity of output
signals generated by servo drive, for example encoder simulation output, will remain unchanged.
By factory default, the servo motor turns CCW in response to positive direction pulse train
command input when viewed from load side shaft end.

P0-06 Inversion of direction of movement Default 0 P - -
-
Max. 1 DYC - -
Inversion of direction of movement
0 / Inversion Off: Inversion of direction of movement is off
1 / Inversion On: Inversion of direction of movement is on

6-13 TM
1
6.4.3 Limit Switches
Overview
Movements can be monitored using limit switches. A positive limit switch and a negative limit
switch can be used for monitoring. When movement expired the safety stroke, the movement of
servo motor will be stopped by input signal of triggered limit switch. 2
Selection
Type
If the positive or negative limit switch are tripped, the movement stops. An error message is
generated and the operating state switches to 7 Quick Stop Active “7 Quick Stop Active.
Note:
The limit switch only provides protection against certain hazardous circumstances (e.g. incorrect 3
instructions-induced collisions). To avoid accidents resulting from poor contact or line break, the
Installation
limit switch function is recommended to be employed in “NC” logical.
WARNING 4
Loss of Control
Wiring
Ensure that limit switches are installed as determined by your risk assessment.
Verify correct connection of the limit switches.
Verify that the limit switches are sufficiently distant from the mechanical stop to allow an adequate
stopping distance.
Verify correct parameterization and function of the limit switches. 5
Front Panel
By factory default, the digital input IOfunc_DI2 with pin 20 on CN1 is set to "LIMP" the positive
limit switch, while the digital input IOfunc_DI3 with pin 21 on CN1 is set to "LIMN" the negative
limit switch. 6
The "LIMP" / "LIMN" function can also be assigned to other digital inputs via parameters P3-00 ...
Operation
P3-05.

P3-00~05 Function Input of DIx Default -
-
P - - 7
Commissioning
Max. 143 DYC - -
Code Related Mode
NO NC P DYC 8
Diagnostics
Positive Limit
Switch(LIMP)
Negative Limit
Switch(LIMN)

9
Parameters
10
Communication
TM
6-14
Chap05. Front Panel
6.4.4 Reset of Limit Switch Fault
Movements can be monitored using limit switches. A positive limit switch and a negative limit
switch can be used for monitoring. When movement expired the safety stroke, the movement of
servo motor will be stopped by input signal of triggered limit switch.
If the positive or negative limit switch are tripped, the movement stops. An error message is
generated and the operating state switches to 7 Quick Stop Active “7 Quick Stop Active.
In case a limit switch fault EA302 / EA303 is actived, user can select limit switch fault reset
method via LSB of parameter P6-34:
• When LSB of P6-34 is 0, the error message EA302 / EA303 can be reset by means of a "Fault
Reset" signal. The operating state switches back to 6 Operation Enabled. The movement can
continue, however, only in the negative direction.
• When LSB of P6-34 is 1, the error message EA302 / EA303 can be automatically reset when
receives a motion command in opposite direction of the triggered limit switch. The movement
will continue in opposite direction of the triggered limit switch, too.
For example, if the positive limit switch was triggered, an error message EA302 is generated and
the operating state switches to 7 Quick Stop Active.
• If LSB of P6-34 is 0, the error message EA302 can be reset by means of a "Fault Reset"
signal. The operating state switches back to 6 Operation Enabled. The movement can
continue, however, only in the negative direction. If the subsequent motion is still in positive
direction, the error message EA302 will be generated again and the operating state switches
to7 Quick Stop Active.
• If LSB of P6-34 is 1, when the drive receives a motion command in negative direction the
error message EA302 will be automatically reset, the operating state switches back to 6
Operation Enabled and the movement will continue in negative direction.
6-15 TM
1
Overview
P6-34 Special Function Settings Default 0 P - -
-
Max. 1 DYC - -
Function: MODBUS addr: 1686
Special function settings:
Digital Bit Description Function 2
Selection
Type
Limit switch fault A302 / A303 will be latched until
0
receives an additional Fault Reset signal.
Auto limit switch
0 Limit switch fault A302 / A303 can be reset
fault reset method 1 automatically when receives motion command in
L XXXX[ ] opposite direction of the triggered limit switch.
1 Reserved - - 3
2
Installation
Reserved - -
3 Reserved - -
4 Reserved - -
5 Reserved - -
L XXX[ ]X
6
7
Reserved
Reserved
-
-
-
-
4
Wiring
8 Reserved - -
9 Reserved - -
L XX[ ]XX
10 Reserved - -
11 Reserved - -
12 Reserved - - 5
Front Panel
13 Reserved - -
L X[ ]XXX
14 Reserved - -
15 Reserved - -
16 Reserved - -
L [ ]XXXX
17
18
Reserved
Reserved
-
-
-
-
6
Operation
19 Reserved - -
20 Reserved - -
21 Reserved - -
H XXXX[ ]
22 Reserved - -
23 Reserved - - 7
Commissioning
24 Reserved - -
25 Reserved - -
H XXX[ ]X
26 Reserved - -
27 Reserved - -
28
29
Reserved
Reserved
-
-
-
-
8
Diagnostics
H XX[ ]XX
30 Reserved - -
31 Reserved - -

Changed settings become active the next time the power stage is enabled.
9
Parameters
10
Communication
TM
6-16
Chap05. Front Panel
6.4.5 Motor Holding Brake
Motor holding brake is a built-in component of servo motor designed with motor holding brake.
The motor holding brake is used to hold the motor’s position and keep the moving part of the
mechanical from been moved by external force or gravity when the servo drive power stage
switched off.
Please use motor with holding brake in following applications:
Vertical axis Axis under external force

Servo motor
Moving part of machinery
Holding brake (for fixation) External force Servo motor
When the power is OFF, movement is

Holding brake
avoided by dead weight
(for fixation)
Moving part of machinery Prevent the sliding table moving
due to external force
When using a motor with holding brake, please note:

Motor holding brake is not a safety-related measure.
The motor holding brake is designed only to hold the motor position of when the power stage
is disabled, it can not be used as a service brake.
WARNING
UNINTENDED AXIS MOVEMENT
Do not use the internal holding brake as a safety-related measure.
Only use certified external brakes as safety-related measures.
The motor holding brake is operated in NO logical, when motor holding brake is applied with
required current, it is excited and released. When the current applied to the motor holding brake
is off, it is applied.
Release and apply the motor holding brake requires a certain amount time of delay:
Motor type Brake voltage Release time(ms) Apply time(ms)

BCH16*B**F* 118 15
BCH16*C**F* 25 50
BCH16*D**F* 25 50
BCH16*F**F* 24VDC 25 50
BCH16*H**F* 76 27
BCH16*J**F* 76 27
BCH16*M**F* 76 27
The "Release Brake" function can be assigned to a digital output via the parameters P3-06
... P3-08. With "Release Brake" function been assigned to a digital output, the equipment can
automatically control the release and apply of the motor holding brake, which is to say, the brake
is released automatically when the power stage is enabled and is applied automatically when the
power stage is disabled.
Note: Restore the factory settings can modify the assignment of the signal output functions in
such a way that the motor holding brake is released unintentionally.
6-17 TM
1
WARNING
Overview
UNINTENDED AXIS MOVEMENT
Verify that the digital output to which you have assigned the digital output function Release Brake has
been properly wired and configured.
Before restore the factory setting, verify that the digital output function Release Brake for the holding
brake has been assigned to any digital output to prevent unintended movement of the load caused by
2
Selection
Type
a release of the holding brake. or reassign the digital output function Release Brake after the factory
setting restore according to the requirements of your application prior to enable the power stage.
In all cases, take all necessary measures to prevent unintended movements of the load caused by a
release of the holding brake.
Failure to follow these instructions can result in death, serious injury, or equipment damage. 3
Installation
P3-06~08 Function Output of DQx Default - P - -
-
Max. 125 DYC - -
Function: MODBUS Addr: - 4
Wiring
Function Input of DQx
Code Related Mode
NO NC P DYC
5
Front Panel
If Easy Lexium 16 servo drive is driving to a servo motor with holding brake, a certain amount of
delay time is automatically added when the power stage is enabled. Transition to the operating 6
Operation
state "6 Operation Enabled" is only possible the holding brake is released after this time delay
has elapsed. During this period the current is also applied to the motor. An additional holding
brake release time delay can be set via the parameter P5-20, Transition to the operating state "6
Operation Enabled" is only possible after the entire time delay has elapsed.
In like manner, if Easy Lexium 16 servo drive is driving to a servo motor with holding brake, a 7
Commissioning
certain amount of delay time is automatically added when the power stage is disabled. Current
remains to be applied to the motor during this entire time delay. An additional holding brake
apply time delay can be set via the parameter P5-21, the current remains to be applied to the
motor during the entire time delay.
8
1 Diagnostics
Enable 0
Motor 1
power-on 0
Band-type 1
9
Parameters
brake
0
Operating
state 1
6 Operation 0
enabled
t
Automatic delay
based on motor
P5-20
Additional
Automatic delay
based on motor
P5-21
Additional 10
Communication
model No. delay model No. delay
TM
6-18
Chap05. Front Panel
Additional time delay for releasing
the holding brake ms
Max. 400 DYC - -
Additional time delay for releasing the holding brake
The overall time delay for releasing the holding brake is the time delay from the motor holding
brake and the additional time delay in this parameter.


Additional time delay for applying the
holding brake ms
Max. 1000 DYC - -
Additional time delay for applying the holding brake
The overall time delay for applying the holding brake is the time delay from the motor holding

Typical wiring of motor holding brake:

Emergency stop
VDC
Servo drive Surge absorber
Motor Band
7/18/19 type
RY brake
DC
6
Power supply for brake

VDC
Note:
The motor holding brake has no polarity.
Please consider a circuit which uses a relay to control motor holding brake. Do not connect
the motor holding brake directly to servo drive digital output or it will result in equipment
damage.
Please design an EMERGENCY STOP SWITCH in the control circuit, by triggering the
EMERGENCY STOP SWITCH the motor holding brake should be applied.
To suppress the surge generated during release / apply of the motor holding brake, please
design a surge protection device in the motor holding brake control circuit as following:
Please note: by using of a fly-wheel diode, the time consumed for release the motor holding
brake may be longer than with a surge protection device.
Be sure to separate the 24VDC power supply for motor holding brake from the power supply
for I/O signal (CN1) of the equipment; or it may result in malfunction of I/O signal.
6-19 TM
1
6.4.6 Braking Resistor
Overview
All the Easy Lexium 16 servo drives are designed without built-in braking resistor. If the
regenerated power becomes greater than the power that can be absorbed by the servo drive, it
is necessary to use an external braking resistor. 2
Selection
Type
When sizing an external braking resistor, note the following:
Minimum resistance of external Maximum power of external

Drive Sizing
braking resistor (Ω) braking resistor (W)
LXM16DU01 / 02 / 04 36 200 3
LXM16DU07 / 10 / 15 20 600
Installation
Connecting an external braking resistor:
Connect the external braking resistor between P+ and PB of servo drive connector CNP.
4
Wiring
M S CN3 5
Front Panel
CN2
Operation
CN1
Commissioning
CHARGE
U
V 8
W
Diagnostics
PB CNP
P+
L
N
9
Parameters
10
Communication
TM
6-20
Chap05. Front Panel
After the connection of external braking resistor, please set the power, resistance and protection
parameters of external braking resistor through parameters, and activate the external braking
resistor.

Nominal power of external braking
resistor W
Max. 32767 DYC - -
Nominal power of external braking resistor


Resistance value of external braking
P0-23 Default 10000 P - -
resistor 0.01 Ω
Max. 32767 DYC - -
Resistance value of external braking resistor
The minimum value depends on the type of drive
In increments of 0.01 Ω


Maximum permissible switch-on time
P0-24 Default 100 P - -
of external braking resistor ms
Max. 30000 DYC - -
Maximum permissible switch-on time of external braking resistor


P0-25 Selection of type of braking resistor Default 0 P - -
-
Max. 1 DYC - -
Selection of type of braking resistor
0 / No External Braking Resistor: External braking resistor not activated
1 / External Braking Resistor: External braking resistor activated

6-21 TM
1
6.5 Operating Mode Jog
Overview
In operation mode Jog, a movement is performed to jog the servo motor.
The purpose of Jog is to verify the wiring between servo drive and servo motor, also to check 2
Selection
Type
whether the servo motor could run properly.
3
6.5.1 Precatuions and Checklist Before Starting the Jog
Installation
To make sure the Jog can be performed properly and safely, check and confirm the following
items prior to the operation:
Servo drive:
Check whether the wiring and settings of servo drive are correct.
4
Wiring
Check whether the main power supply voltage to the servo drive is normal.
Servo motor:
Check whether the wiring between servo motor and servo drive is correct.
Check whether all accessories are securely fastened.
5
In the case a servo motor with holding brake is connected, proper voltage (DC24V) must be
Front Panel
applied to the motor holding brake to release it prior to the operation.
WARNING 6
Operation
UNINTENDED MOVEMENT
Verify that a functioning emergency stop push-button is within reach of all persons involved in the
operation.
7
Commissioning
8
Diagnostics
9
Parameters
10
Communication
TM
6-22
Chap05. Front Panel
6.5.2 Perform the Jog by Integrated HMI
Users can set JOG velocity and direction then perform JOG operation in "JoG" menu group.
• Set JOG speed:
0 M S Press S key, HMI shows "oP."
Press UP or DOWN key to select JOG

3 M S
operation or JOG parameters configuration.

parameter P4-01.
4 M S
parameter P4-02.
Press S key to start edit, the LSB digit with

5 M S
Press UP or DOWN key to edit the value of
the digit with cursor. Press UP key once will
6 M S
increase value by 1, press DOWN key once
will decrease value by 1.
7 M S Press S key once to shift cursor by 1 digit.

8 M S
increases value by 1, press DOWN key once
>1.5s Value saved.

11 M S
6-23 TM
Perform JOG operation. Servo motor will move during this operation.
1
Overview
Selection
Type
Press S key to enable JOG operation. 3
Installation
3 M S The servo drive power stage turns on and
servo drive switches to run state.
Wiring
Press UP or DOWN key to select JOG speed
4 M S
and direciton.
Front Panel
parameter P4-01. Servo motor will stop when 6
Operation
S key is released.
S S key is released.
5 M
Press and hold S key ot JOG servo motor 7
Commissioning
S key is released.
8
Diagnostics
S key is released.
9
Parameters
6 M S Press M key to exit JOG operation.
10
Communication
HMI shows "JoG".

7
The servo drive power stage turns off.
TM
6-24
Chap05. Front Panel
Related parameters

usr_v
Max. 2147483647 DYC - -

P4-02 Velocity for fast JOG movement Default 200 P - -
usr_v
Max. 2147483647 DYC - -
6-25 TM
1
6.5.3 Perform the Jog by Digital Input
Overview
Users can assign Jog velocity and direction selection functions to digital inputs then perform
JOG operation by external input signals:
The "Jog Positive" / "Jog Negative" / "Jog Fast / "Jog Slow" functions can be assigned to
2
Selection
Type
digital intputs via parameters P3-00...P3-05.
The slow Jog speed is set via parameter P4-01
The fast Jog speed is set via parameter P4-02
Min. 1 Unit Related Mode 3
Installation
-
Max. 143 DYC - -
Code Related Mode 4
Wiring
NO NC P DYC
movement 5
Front Panel

P4-01 Velocity for slow JOG movement Default 100 P - - 6
Operation
usr_v
Max. 2147483647 DYC - -

7
Commissioning
usr_v
Max. 2147483647 DYC - -
8
Diagnostics

9
Parameters
10
Communication
TM
6-26
Chap05. Front Panel
6.5.4 Parameterization of Motion Profile for the Jog
It is possible to change the parameterization of motion profile for the Jog.
The motion profile for the Jog consists of an acceleration, a deceleration and a maximum
velocity. A linear ramp for both directions of movement is available.
The ramp slope determines the velocity changes of the motor per time unit. The ramp slope can
be set for acceleration and deceleration.
Following parameters can be used to change the parameterization of motion profile for the Jog.

Activation of the motion profile for
velocity -
Max. 1 DYC - -
Activation of the motion profile for velocity
0 / Profile Off: Profile off
1 / Profile On: Profile on


Maximum velocity of the motion
P4-03 Default 100 P - -
profile for velocity usr_v
Max. 2147483647 DYC - -
Maximum velocity of the motion profile for velocity
If a greater reference velocity is set in one of these operating modes, it is automatically limited
to value of this parameter.

Changed settings become active the next time the motor moves.

Acceleration of the motion profile for
P4-04 Default 6000 P - -
velocity usr_a
Max. 2147483647 DYC - -
Acceleration of the motion profile for velocity
Writing the value 0 has no effect on the parameter.

Deceleration of the motion profile for
P4-05 Default 6000 P - -
velocity usr_a
Max. 2147483647 DYC - -
Deceleration of the motion profile for velocity
6-27 TM
1
6.6 Operating Mode Electronic Gear
Overview
In the operating mode Electronic Gear, movements are carried out according to externally
supplied reference value signals. The position reference value is calculated on the basis of these
external reference values plus an adjustable gear ratio. The reference value signals can be A/B 2
Selection
Type
signals, P/D signals or CW/CCW signals.
6.6.1 Wiring Example

3
Installation
In electronic gear mode, the pulse train input interface supports common pulse train formats
given by controller. Typical wiring examples are as following:
24VDC open collector pulse train can be directly connected to the servo drive PTI interface:
Open collector electrode (24VDC)
11
13
PLS_24
4
Wiring
24VDC PT Pulse PLS
input 12
/PLS
24
SIGN_24
26
PT Direction SIGN
input
5
25
/SIGN
Front Panel
External resistors are required when open colector pulse train on other voltage classes are
connected. Recommended resistor specifications are shown in the figure:
Other power supply-grade open collector output
(connection of resistors in series needed) 6
Operation
11
PLS_24
R 13
PLS
VDC R specifications
PT Pulse
VDC input 12 12VDC 500 ohm / 1W
/PLS
24
5VDC 120 ohm / 1W
SIGN_24
PT Direction
input
R 26
SIGN
7
Commissioning
25
/SIGN
High-speed pulse train can be directly connected to the servo drive PTI interface:
Differential Output
8
11
PLS_24
5VDC
13
Diagnostics
PLS
PT Pulse 12
input /PLS
24
SIGN_24
5VDC
26
SIGN
9
PT Direction
input 25
/SIGN
Parameters
Note: Please use shielded twisted pair cable and ground both ends of the shield layer.
Electrical specifications of various pulse train commands:

10
Communication
Type of pulse train Open collector 24V Line driver High-speed pulse
Pulse + Direction 200kHz 500kHz 2MHz
CW + CCW 200kHz 500kHz 2MHz
A/B 200kHz 500kHz 500kHz (quadrupled)
TM
6-28
Chap05. Front Panel
6.6.2 Basic Parameterization
The illustration below provides an overview of the parameters that can be adjusted in electronic
gear mode:
Given pulse
PTI Pulse type

P0-08
A/B = 0 P/D = 1 CW/CCW = 2
Switching electronic gear ratio

P3-04
(P3-00...P3-05 = 12)
Without input With input
Electronic gear ratio Electronic gear ratio of group 2

P0-10 P0-14
=0 Select from the list P0-13
Electronic gear ratio

P0-12
P0-11
Run mode in the electronic gear mode

P0-15
Position Sync Immediate = 1 Position Sync Compensated = 2 Velocity Sync = 3
Ignore the pulse received when Enable the internal speed

the motor is not enabled? curve of drive
P0-16 P4-00
Off = 0 On = 1 Profile Off = 0 Profile On = 1
Internal speed curve

Position offset in electronic limits
gear mode P4-03
Select the position offset P5-10 P4-04
P3-00 ... P3-05 = 19 / 20 P5-11 P4-05
P5-12
P5-13
Speed limitation in the pulse position mode

P0-17
Motor rotation direction limitation

P0-07
Positive = 1 Negative = 2 Both = 3
Motor rotation direction setup

P0-06
Inversion Off = 0 Inversion On = 1
6-29 TM
1
6.6.3 Parameterization of Electronic Gear Ratio
Overview
The position of movement is calculated by internal position increments. The internal position
scaling of Easy Lexium 16 is 131072 increments per motor revolution.
The gear ratio is the ratio of the number of motor increments and the number of externally
2
Selection
Type
supplied reference increments. External pulse train commands are converted into internal
position increments with respect to the electronic gear ratio.
Two methods are available for parameterization of electronic gear ratio:

Select an electronic gear ratio from the list directly via parameter P0-10 3
Calculate electronic gear ratio by parameters P0-12/P0-11 or P0-14/P0-13.
Installation
Gear ratio selected from P0-10 priors to the one calculated by parmater P0-12 / P0-11 or P0-14
/ P0-13. In case there is no appropriate electronic gear ratio found in the list of parameter P0-
10, user may customize the electronic gear ratio by first set parameter P0-10 to 0, then calculate
electronic gear ratio by parameters P0-12/P0-11 or P0-14/P0-13. 4
Wiring
For example: Where 10,000 external pulses stand for 1 motor revolution is required, following
methods are considered:
Select 10000 in parameter P0-10
Select 0 in parameter P0-10 first, then calculate electronic gear ratio as following:
Electronic gear ratio = Internal position scaling / Reference pulse = 131072 / 10000 5
Front Panel
= Electronic gear numerator / denominator
Hence, set P0-12 = 131072 / P0-11 = 10000 or P0-14 = 131072 / P0-13 = 10000.

P0-10 Selection of gear ratio Default 8 P - -
Max. 11
-
DYC - - 6
Operation
Selection of predefined gear ratios
0 / Gear Factor: Usage of gear ratio adjusted with GERRnum / GERRdenom
1 / 200: 200
2 / 400: 400
3 / 500: 500
7
Commissioning
4 / 1000: 1000
5 / 2000: 2000
6 / 4000: 4000
7 / 5000: 5000
8 / 10000: 10000
9 / 4096: 4096
8
Diagnostics
10 / 8192: 8192
11 / 16384: 16384

9
Parameters
P0-11 1st Denominator of gear ratio Default 10000 P - -

-
Max. 2147483647 DYC - -
Denominator of the 1st set of electronic gear parameters
Electronic gear ratio = P0-12 (GEAR Numerator) / P0-11 (GEAR Denominator) 10
Communication
Number of input PTI pulses * P0-12 (GEAR Numerator) / P0-11 (GEAR Denominator) = Motor
location (unit: revolution) * 131072
The new gear ratio is applied when the numerator value is supplied.
TM
6-30
Chap05. Front Panel
P0-12 1st Numerator of gear ratio Default 131072 P - -
-
Max. 2147483647 DYC - -
Numerator of the 1st set of electronic gear parameters

P0-13 2nd Denominator of gear ratio Default 10000 P - -
-
Max.2147483647 DYC - -
Denominator of the 2nd set of electronic gear parameters
Electronic gear ratio = P0-14 (GEAR Numerator) / P0-13 (GEAR Denominator)

P0-14 2nd Numerator of gear ratio Default 131072 P - -
-
Max. 2147483647 DYC - -
Numerator of the 2nd set of electronic gear parameters
By digital input been assigned as "Gear Ratio Switch" function, the user may switch between two
different electronic gear ratio.
By factory default setting, the digital input IOfunc_DI4 with pin 22 on CN1 is set to "Gear Ratio
Switch function". The "Gear Ratio Switch" function can also be assigned to other digital inputs
with parameters P3-00 ... P3-05.

-
Max. 143 DYC - -
Code Related Mode
NO NC P DYC
gear ratios

6-31 TM
1
6.6.4 Selection of the Pulse Reference Method
Overview
The Easy Lexium 16D servo drive supports 3 methods the movement is to be performed, pulse
reference method is selected with parameter P0-15:
1 / Position Synchronization Immediate:
In the case of position synchronization without compensation movement, the movement is
2
Selection
Type
made synchronously
(position synchronicity) with the supplied reference value signals.Reference value signals
supplied during an interruption caused by Halt or by a detected error of error class 1 are not
taken into account.
2 / Position Synchronization Compensated: 3
In the case of position synchronization with compensation movement, the movement is made
Installation
synchronously (position synchronicity) with the supplied reference value signals.Reference
value signals supplied during an interruption caused by Halt or by a detected error of error
class 1 are taken into account and compensated for.
3 / Velocity Synchronization:
In the case of velocity synchronization, the movement is made synchronously (velocity 4
synchronicity) with the supplied reference value signals.
Wiring
Processing mode for operating mode
Electronic Gear
Max. 3
-
DYC - - 5
Front Panel
Processing mode for operating mode Electronic Gear
1 / Position Synchronization Immediate: Position synchronization without compensation
movement
2 / Position Synchronization Compensated: Position synchronization with compensation
movement 6
Operation
3 / Velocity Synchronization: Velocity synchronization
Commissioning
8
Diagnostics
9
Parameters
10
Communication
TM
6-32
Chap05. Front Panel
6.6.5 Position Change with Power Stage Disabled
If the method "2 - Synchronization With Compensation Movement" is selected via parameter P0-
15, the parameter P0-16 determines the way changes to the motor position and to the reference
value signals are handled with disabled power stage.
Position changes can be ignored or taken into account during a transition to operating state "6
Operation Enabled":
Off: Position changes with disabled power stage are ignored.
On: Position changes with disabled power stage are taken into account.
Position changes between starting the operating mode and the subsequent enabling of the
power stage are not taken into account.
By factory default, parameter P0-16 is set to “0 - Off”.

Electronic Gear -
Max. 3 DYC - -
movement
movement

Treatment of position changes with
inactive power stage -
Max. 1 DYC - -
Treatment of position changes with inactive power stage
0 / Off: Position changes in states with disabled power stage are ignored.
1 / On: Position changes in states with disabled power stage are taken into account.
This parameter is effective only when P0-015 is set to "2 - Position synchronization with position
compensation”
6-33 TM
1
6.6.6 Velocity Limitation in Electronic Gear Mode
Overview
A velocity limitation can be activated with parameter P0-17 for the methods "1 / Position
Synchronization Immediate" and "2 / Position Synchronization Compensated".
2
Selection
Type
Velocity limitation for the method
Position Synchronization usr_v
Max. 2147483647 DYC - -
Velocity limitation for the method Position Synchronization
0: No velocity limitation
3
Installation
>0: Velocity limitation in usr_v
Wiring
6.6.7 Release of Direction
Release of direction allows you to limit movements to positive or negative direction. Release of
direction is set with the parameter P0-07.
5
Front Panel
By factory default, parameter P0-07 is set to "3 - BOTH" to release movement in both direction.

Enabled direction of movement for
P0-07
operating mode Electronic Gear
Default 3
-
P - - 6
Max. 3 DYC - -
Operation
Choose whether the motor is allowed to move in forward, reverse or both directions
1 / POSITIVE: Positive direction
2 / NEGATIVE: Negative direction
3 / BOTH: Both directions 7
Commissioning
This allows you to activate a return movement lock function.
8
Diagnostics
9
Parameters
10
Communication
TM
6-34
Chap05. Front Panel
6.6.8 Offset Movement
The offset movement allows you to perform a movement with a parameterizable number of
increments.
Offset movements are only available for the methods "1 / Position Synchronization Immediate"
and "2 / Position Synchronization Compensated".
Two parameterizable offset positions are available. The parameters P5-10 and P5-11 are used to
set the offset positions. The velocity and the acceleration for the offset movement are set via the
parameters P5-12 and P5-13.
The offset movement is started via a signal input. In order to start offset movements via the
signal input, you must parameterize the signal input functions "Gear Offset 1" and "Gear Offset
2" with parameters P3-00 ... P3-05.

-
Max. 143 DYC - -
Code Related Mode
NO NC P DYC
offset

Min. -2147483648 Unit Relatd Mode

Relative offset position 1 for offset
movement Inc
Max. 2147483647 - - -
Relative offset position 1 for offset movement

movement Inc
Max. 2147483647 - - -

P5-12 Target velocity for offset movement Default 60 P - -
usr_v
Max. 2147483647 - - -
Target velocity for offset movement
6-35 TM
1
Overview
Acceleration and deceleration for
P5-13 Default 600 P - -
offset movement usr_a
Max. 2147483647 DYC - -
Acceleration and deceleration for offset movement
2
Selection
Type
Changed settings become active the next time the power stage is enabled
3
6.6.9 Changing the Motion Profile for the Velocity
Installation
If the method "3 / Velocity Synchronization" is selected, the motion profile for the velocity can be
changed.
The motion profile for the velocity consists of an acceleration, a deceleration and a maximum
4
Wiring
velocity. A linear ramp for both directions of movement is available.
The ramp slope determines the velocity changes of the motor per time unit. The ramp slope can
be set for acceleration and deceleration.
5
Following parameters can be used to change the parameterization of motion profile for the
Front Panel
velocity.

P0-15
Electronic Gear
Default 1
-
P - - 6
Operation
Max. 3 DYC - -
movement
7
Commissioning
movement
8
Diagnostics
velocity -
Max. 1 DYC - -
0 / Profile Off: Profile off 9
Parameters

10
Communication
TM
6-36
Chap05. Front Panel
P4-03 Default 100 P - -
Max. 2147483647 DYC - -


P4-04 Default 6000 P - -
velocity usr_a
Max. 2147483647 DYC - -

P4-05 Default 6000 P - -
velocity usr_a
Max. 2147483647 DYC - -
6-37 TM
1
6.6.10 Encoder Simulation Output
Overview
The Easy Lexium 16 servo drives support encoder simulation output function.
The protocol of encoder simulation output is RS-422 of 3.3VDC voltage level with A/B signals.
There will be one Index signal per each motor movement.
2
Selection
Type
+ -
1
A
0
1
3
Installation
B
0
..-2 -1 0 ... 3 4 5 6 5 4 ... 0 -1..
1
I
0 4
Wiring
The resolution for the encoder simulation output is set with the parameter P0-18, the direction for
the encoder simulation output is set with the parameter P0-19.
P0-18 Resolution of encoder simulation

Min.
Default
0
10000
Unit Relatd Mode
P - -
5
Front Panel
EncInc
Max. 65535 DYC - -
Resolution of encoder simulation
Resolution defines the number of increments per revolution (AB signal with quadruple
evaluation). The index pulse is created once per revolution at an interval where signal A and 6
Operation
signal B are high.


7
Commissioning
Inversion of direction of encoder
P0-19 Default
0 P - -
simulation -
Max. 1 DYC - -
Set whether the analog encoder output direction is opposite to the rotation direction of motor
0 / Inversion Off: Analog encoder output direction is the same with the rotation direction of 8
motor
1 / Inversion On: Analog encoder output direction is opposite to the rotation direction of motor Diagnostics

9
Parameters
The electric characteristics of encoder simulation output is as following:
Logic level Unit As per RS-422(1)

Output frequency per signal KHz <= 500 10
Motor increments per second Inc/s <= 1.6×106
Communication
(1) Due to the input current of the optocoupler in the input circuit, a parallel
connection of a driver output to several devices is not permitted.
TM
6-38
Chap05. Front Panel
6.6.11 Pulse Clear
Pulse clear in Electronic Gear mode is used to clear the position deviation in position deviation
counter to zero.
The pulse clear function in Electronic Gear mode is realized via "Halt" signal input. You must
parameterize the signal input functions "Halt" with parameters P3-00 ... P3-05.
By factory default setting, the digital input IOfunc_DI5 with pin 23 on CN1 is set to "Halt". The
"Halt" function can also be assigned to other digital inputs with parameters P3-00 ... P3-05.

-
Max. 143 DYC - -
Code Related Mode
NO NC P DYC

Once the "Halt" function is activated, the servo drive will reset all position deviation in position
deviation counter of the servo drive and the movement will be interrupted.
The movement can be interrupted with 2 different deceleration types. The parameter P5-14 lets
you set the type of deceleration:
Deceleration via deceleration ramp
The deceleration ramp is set with the parameter P4-05 via the motion profile for the velocity
Deceleration via torque ramp
The torque ramp is set with the parameter P5-15.

P5-14 Halt option code Default 1 P - -
-
Max. 3 DYC - -
Halt option code
1 / Deceleration Ramp: Deceleration ramp
3 / Torque Ramp: Torque ramp
When P5-14 = 1 / Deceleration Ramp, the stop mode will be based on the deceleration curve
set up through parameter P4-05
When P5-14 = 3 / Torque Ramp, the stop mode will be based on the deceleration torque set up
through parameter P5-15
If a deceleration ramp is already active, the parameter cannot be written.
6-39 TM
1
Overview
P4-05 Default 6000 P - -
velocity usr_a
Max. 2147483647 DYC - -
Writing the value 0 has no effect on the parameter. 2
Selection
Type

P5-15 Current for Halt Default
Max.
1
46300
0.01 P
Arms DYC
-
-
-
-
3
Installation
Current for Halt
This value is only limited by the minimum/maximum value range (no limitation of this value by
motor/power stage).
In the case of a Halt, the current limit is one of the following values (whichever is lowest): 4
- Value in this parameter
Wiring
- Maximum current of the motor
- Maximum current of the drive
In increments of 0.01 Arms

5
Front Panel
6
Operation
7
Commissioning
8
Diagnostics
9
Parameters
10
Communication
TM
6-40
Chap05. Front Panel
6.7 Operating Mode Homing

In the operating mode Homing, Easy Lexium 16 generates a reference between a mechanical
position and the actual position of the motor.
A successful reference movement or position setting homes the motor and the zero point
becomes valid, it could be indicated by means of a digital output. The zero point is the point of
reference for absolute movements.
A reference movement must be terminated without interruption for the new zero point to be valid.
If the reference movement is interrupted, it must be started again.
6.7.1 Overview
The reference movement is triggered via a digital input signal. Some reference methods requires
an external switch signal as the reference signal, it could be the positive limit switch, negative
limit switch or reference switch with respect to the reference method chose.
Home return: Home return mode

P5-09
=1,2,7...14 =17,18,23...30 =33，34 =35
Home return:
Home offset distance
P5-07
Target position
Home return: value set a home
Zero position value (DTM operating panel)
P4-08
Home return:
Search switching speed(fast)
P5-03
Home return: Rate of

departure from switch(slow)
P5-04
Internal speed curve limits

P4-03
P4-04
P4-05
6-41 TM
1
6.7.2 Basic Parameterization
Overview
The limit switches and reference switches must be set to meet the requirements.
By factory default, the digital input IOfunc_DI2 with pin 20 on CN1 is set to "LIMP" the positive
limit switch, while the digital input IOfunc_DI3 with pin 21 on CN1 is set to "LIMN" the negative
limit switch.
2
Selection
Type
The "LIMP" / "LIMN" function can also be assigned to other digital inputs via parameters P3-00 ...
P3-05.
On the other hand, the "Ref" function can also be assigned to a digital output via the parameters
P3-06 ... P3-08.
3
Installation
-
Max. 143 DYC - -
Function Input of DIx 4
Wiring
Code Related Mode
NO NC P DYC
Reference Switch
(REF)
Positive Limit
Positive limit switch 22 122 √ √ 5
Switch(LIMP)
Front Panel
Negative Limit
Switch(LIMN)

Operation
7
Commissioning
8
Diagnostics
9
Parameters
10
Communication
TM
6-42
Chap05. Front Panel
There are various Homing methods which can be selected via the parameter P5-09.
The Homing methods parameter is used to save the preferred method to the EEPROM (persistent).
When the preferred method has been set in this parameter, the method is performed during
homing even after the device is powered off and on.

P5-09 Homing: Preferred homing method Default 18 P - -
-
Max. 35 DYC - -
Preferred homing method
Switch
Step 1 Step 2 Step 3 Step 4 Value
type
Move to index pulse outside
Move to switch of LIMN switch in positive 1
Move to LIMN in point of the LIMN direction at velocity P5-04
negative direction switch in positive - Move to distance given
at velocity P5-03 direction at in parameter P5-07 from
velocity P5-04
17
switching point in positive
Limit direction at velocity P5-04
switch Move to index pulse outside
Move to switch of LIMP switch in negative 2
Move to LIMP in point of the LIMP direction at velocity P5-04
positive direction switch in negative - Move to distance given
velocity P5-04
18
switching point in negative
direction at velocity P5-04
of REF switch in negative 7
- Move to distance given
in parameter P5-07 from
Move to switch 23
point of the REF
switch in negative
Move to index pulse inside
direction at
velocity P5-04
of REF switch in positive 8
Move to REF in direction at velocity P5-04
positive direction Move to distance given
at velocity P5-04 in parameter P5-07 from
24
Move to REF in
Reference direction at velocity P5-04
positive direction
switch Move to index pulse inside
at velocity P5-03
negative direction Move to distance given
Move to switch 25
point of the REF
switch in positive
direction at
velocity P5-04
26
6-43 TM
1
Overview
Homing: Preferred homing method
(Continue) -
Max. 35 DYC - -
Switch
2
type
Selection
Type
Move to switch
27 3
Installation
point of the REF
switch in positive
direction at
velocity P5-04
at velocity P5-04 in parameter P5-07 from 4
28
Wiring
Move to REF in
negative direction
at velocity P5-03
positive direction Move to distance given 5
Front Panel
Move to switch 29
point of the REF
switch in negative
direction at
velocity P5-04
-
Move to distance given
6
Operation
30
Move to index
pulse in negative
direction at
- - - 33 7
Commissioning
Index velocity P5-04
pulse Move to index
pulse in positive
- - - 34
direction at
velocity P5-04
Position setting - - - 35 8
Diagnostics
9
Parameters
10
Communication
TM
6-44
Chap05. Front Panel
The parameters P5-03 and P5-04 are used to set the velocities for searching the switch and for
moving away from the switch.

Homing: Target velocity for searching
the switch (fast) usr_v
Max. 2147483647 DYC - -
Target velocity for searching the switch (fast)
The available value is internally limited to the parameter setting in P4-03

Homing: Target velocity for moving
away from switch (slow) usr_v
Max. 2147483647 DYC - -
Target velocity for moving away from switch (slow)
A distance to the switching point of the limit switch or the reference switch must be
parameterized for a reference movement without index pulse. The parameter P5-07 lets you set
the distance to the switching limit switch or the reference switch.

Homing: Distance from switching
P5-07 Default 200 P - -
point usr_p
Max. 2147483647 DYC - -
Distance from switching point
The distance from the switching point is defined as the reference point.
The parameter is only effective during a reference movement without index pulse.
The parameter P5-08 is used to specify a desired position value, which is set at the reference
point after a successful reference movement. The desired position value at the reference point
defines the zero point.
If the value 0 is used, the zero point corresponds to the reference point.

P5-08 Homing: Position at reference point Default 0 P - -
usr_p
Max. 2147483647 DYC - -
Position at reference point
After a successful reference movement, this position is automatically set at the reference point.
6-45 TM
1
6.7.3 Parameterization of Monitoring Functions
Overview
The parameters P5-05 and P5-06 allow you to activate monitoring of the limit switches and the
reference switch.
2
Selection
Type
Homing: Maximum search distance
after overtravel of switch usr_p
Max. 2147483647 DYC - -
Maximum search distance after overtravel of switch
0: Search distance monitoring disabled
3
Installation
>0: Search distance
The switch must be activated again within this search distance, otherwise the reference
movement is canceled.
Changed settings become active the next time the motor moves. 4
Wiring
Homing: Maximum distance for
search for switching point usr_p
Max. 2147483647 DYC - -
Function: MODBUS Addr: 10252 5
Maximum distance for search for switching point
Front Panel
0: Monitoring of distance inactive
>0: Maximum distance
After detection of the switch, the drive starts to search for the defined switching point. If the
defined switching point is not found within the distance defined here, the reference movement
is canceled and an error is detected. 6
Operation
Commissioning
8
Diagnostics
9
Parameters
10
Communication
TM
6-46
Chap05. Front Panel
6.7.4 Parameterization of Trigger of Reference Movement
Reference movement is triggered via a digital input signal.
The user could assign "ORGP" function to a digital input via parameter P3-00 ... P3-05 to trigger
the reference movement.
In addition, the user could also assign "Valid REference" function to a digital output via parameter
P3-06 ... P3-08 to indicate a successful reference movement.

-
Max. 143 DYC - -
Code Related Mode
NO NC P DYC


P3-06~08 Function Input of DQx Default - P - -
-
Max. 125 DYC - -
Code Related Mode
NO NC P DYC
ok)

6-47 TM
1
6.7.5 Reference Movement to a Limit Switch
Overview
Follwoing reference movement method to a limit switch can be select via parameter P5-09:
Selection
Type
-
Max. 35 DYC - -
Origin switch
Switch
3
Installation
type
M Move to index pulse outside
1
negative direction switch in positive - Move to distance given
Motordirection
P5-09=7at velocity P5-03 Index at
3 P5-042
17
4
velocity switching point in positive
Wiring
switch 1 Move to index pulse outside
23 to LIMP in P5-07
P5-09 =Move point of the LIMP direction at velocity P5-04
5
3 2
positive direction switch in negative - Move to distance given
Front Panel
1velocity P5-04 18
P5-09 = 8 2 Motor Index direction at velocity P5-04
3
1
P5-07
6
Operation
2
P5-09 = 24 below shows a reference
The illustration movement to a limit switch:
3
Reverse limit switch Forward limit switch
1
P5-09 = 9
7
Motor Index 2
M
3
Commissioning
1
1
P5-09 = 1 Motor Index
P5-07 2
P5-09 = 25 2 3
3
1 8
Diagnostics
P5-09 = 17 1 P5-07
2 3 Motor Index
P5-09 = 10 2 3
P5-09 = 2 Motor Index

1
2
P5-07
3 2
9
P5-09 = 26 3
Parameters
P5-09 = 18 P5-07
3 2
Speed = P5-03 Speed = P5-03

10
Communication
1 Search for limit switch signal with speed P5-03

1 Search for limit switch signal with speed P5-03
2 Search for switch signal switching pointwith speed P5-04
2 Search for switch signal
3 Search switching
for motorwith pointwith
speed speed
P5-04 Index P5-04
Signal or movement
3 Search for motorwith speed
P5-07 The P5-04
set offset Index Signal or movement
distance
P5-07 The set offset distance
TM
6-48
Chap05. Front Panel
6.7.6 Reference Movement to a Reference Switch in Positive Direction
Follwoing reference movement method to a reference switch in positive direction can be select
via parameter P5-09:

-
Max. 35 DYC - -
Switch
type
Move to switch 23
point of the REF
switch in negative
direction at
velocity P5-04
24
Move to REF in
positive direction
at velocity P5-03
Move to switch 25
point of the REF
switch in positive
direction at
velocity P5-04
26
6-49 TM
The illustration below shows a reference movement to a reference switch in positive direciton:
1
Overview
Origin switch Origin switch
M M 2
Selection
Type
1
1
P5-09=7 Motor Index Motor Index
P5-09=7 3 2
3 2
1
3
Installation
1
P5-09 = 23 P5-09 = 23P5-07 P5-07
3 2
3 2
P5-09 = 8 P5-09 = 8
2
1
Motor Index
2 Motor Index 4
Wiring
3
3
1
1
2 P5-07 P5-07
P5-09 = 24 P5-09 = 24 2
3
3 5
Front Panel
1
1
P5-09 = 9 P5-09 Motor
= 9 Index 2
2
Motor Index
3
3
1
1
6
Operation
P5-07 2
P5-09 = 25 P5-09 = 25 P5-07 2
3
3
1
1 Motor Index
P5-09 = 10 P5-09 = 10
2 3 2 3
Motor Index
7
Commissioning
1
1 P5-07 P5-07
2
P5-09 = 26 P5-09 = 26
3 2 3
8
Diagnostics
Speed = P5-03Speed = P5-03
Speed = P5-04Speed = P5-04
1 Search for limit switchfor
1 Search signal
limitwith speed
switch P5-03
signal with speed P5-03 9
2 Search for switch signal switching pointwith speed P5-04 speed P5-04
Parameters
2 Search for switch signal switching pointwith

3 Search for motorwith speed P5-04 Index Signal or movement
3 Search for motorwith speed P5-04 Index Signal or movement
P5-07 The set offset
P5-07 distance
The set offset distance
10
Communication
TM
6-50
Chap05. Front Panel
6.7.7 Reference Movement to a Reference Switch in Negative Direction
Follwoing reference movement method to a reference switch in negative direction can be select
via parameter P5-09:

-
Max. 35 DYC - -
Switch
type
Move to switch 27
point of the REF
switch in positive
direction at
velocity P5-04
28
Move to REF in
negative direction
at velocity P5-03
Move to switch 29
point of the REF
switch in negative
direction at
velocity P5-04
30
6-51 TM
The illustration below shows a reference movement to a reference switch in negative direciton:
1
Overview
Origin switch
Origin switch
M M 2
Selection
Type
1
1
P5-09=7 Motor
P5-09Index
= 11
3 2
Motor Index
2 3
1
3
Installation
1
P5-09 = 23 P5-07
P5-09 = 27
3 2
P5-07
2 3
P5-09 = 8
Motor Index
P5-09 = 12
2 Motor Index
2
1
4
Wiring
3
3
1
1
P5-09 = 28 2P5-07 P5-07
P5-09 = 24 2
3
3 5
Front Panel
1
1
P5-09 = 9 P5-09Index
Motor = 13 2
2 Motor Index
3
3
1
1
6
Operation
P5-09 = 25 P5-09 = 29
P5-07 2 2 P5-07
3
3
1
Motor Index Motor Index 1
P5-09 = 10
P5-09 = 14
2
3
32 7
Commissioning
1
P5-07 1
P5-09 = 26 P5-09 = 30 P5-072 32
3
8
Diagnostics
1 Search for limit1switch

Search
2 signal
for limit
signal with switch
Searchswitching
speed signal
P5-03 with speed P5-03
for switchpointwith
signal switching pointwith speed P5-04
9
2 Search for switch speed P5-04
Parameters
3 Search
3 Search for motorwith forP5-04
speed motorwith
Indexspeed
SignalP5-04 Index Signal or movement
or movement
P5-07
P5-07 The set offset The set offset distance
distance
10
Communication
TM
6-52
Chap05. Front Panel
6.7.8 Reference Movement to Motor Index
Follwoing reference movement method to motor index can be select via parameter P5-09:

(Continue) -
Max. 35 DYC - -
Switch
type
Move to index
pulse in negative
- - - 33
direction at
pulse Move to index
pulse in positive
- - - 34
direction at
velocity P5-04
The illustration below shows a reference movement to motor index:
1 1
P5-09 = 33 P5-09 = 34
1 Search for motor with speed P5-04 Index Signal
6-53 TM
1
6.7.9 Position Setting
Overview
Position setting function can be select via parameter P5-09
By means of position setting, the actual position of the motor is set to zero. This also defines the
zero point.
2
Selection
Type
Position setting is only possible when the motor is at a standstill. Any active position deviation
remains active and can still be compensated for by the position controller after position setting.
Installation
-
Max. 35 DYC - -
Switch
type
Step 1 Step 2 Step 3 Step 4 Value 4
Wiring
Position setting - - - 35
5
Front Panel
6
Operation
7
Commissioning
8
Diagnostics
9
Parameters
10
Communication
TM
6-54
Chap05. Front Panel
6.7.10 Software Limit Switches
Movements can be monitored using software limit switches. A positive position limit and a
negative position limit can be set for monitoring.
If the positive or negative position limit switch are reached, the movement stops. An error
message is generated and the operating state switches to "7 Quick Stop Active".
The error message can be reset by means of a “Fault Reset”. The operating state switches back
to "6 Operation Enabled".
The movement can continue, however, only in the opposite direction of the position limit.
For example, if the positive position limit was reached, further movement is only possible in
negative direction. In the case of further movement in positive direction, a new error message is
generated and the operating state switches back to "7 Quick Stop Active".
Software limit switch monitoring only works with a valid zero point
Following parameters shall be parameterized where software limit switches function is used:
The software limit switches are activated via the parameter P6-11
Use the parameter P6-12 to set the behavior for reaching a position limit.
Standstill at the position limit in operating modes without target position requires the
parameter P5-16 to be set to "6 / Deceleration ramp (Quick Stop)",
The software limit switches position are set via the parameters P6-13 and P6-14.

P5-16 Quick Stop option code Default 6 P - -
-
Max. 7 DYC - -
Choose the stop mode when quick stop is activated
-2 / Torque Ramp (Fault): Use torque ramp and transit to operating state 9 Fault
-1 / Deceleration Ramp (Fault): Use deceleration ramp and transit to operating state 9 Fault
6 / Deceleration Ramp (Quick Stop): Use deceleration ramp and remain in operating state 7
Quick Stop
7 / Torque Ramp (Quick Stop): Use torque ramp and remain in operating state 7 Quick Stop
When P5-16 = -1 / Deceleration Ramp (Fault) or 6 / Deceleration Ramp (Quick Stop), the motion
will be stopped based on the deceleration curve set by parameter P5-17
When P5-16 = -2 / Torque Ramp (Fault) and 7 or Torque Ramp (Quick Stop), the motion will be
stopped based on the deceleration torque set by parameter P5-18
6-55 TM
1
Overview
P6-11 Activation of software limit switches Default 0 P - -
-
Max. 3 DYC - -
Activation of software limit switches
0 / None: Deactivated 2
1 / SWLIMP: Activation of software limit switches positive direction
Selection
Type
2 / SWLIMN: Activation of software limit switches negative direction
3 / SWLIMP + SWLIMN: Activation of software limit switches both directions
Software limit switches can only be activated if the zero point is valid.
Installation
Behavior when position limit is
reached -
Max. 1 DYC - -
Function: MODBUS addr: 1678 4
Behavior when position limit is reached
Wiring
0 / Standstill Behind Position Limit: Quick Stop is triggered at position limit and standstill is
reached behind position limit
1 / Standstill At Position Limit: Quick Stop is triggered in front of position limit and standstill is
reached at position limit
5
Front Panel
Min. -2147483648 Unit Related Mode

Positive position limit for software
P6-13 Default 2147483647 P - -
limit switch -
Max. 2147483647 DYC - - 6
Operation
Positive position limit for software limit switch
If a user-defined value entered is outside of the permissible range, the limit switch limits are
automatically set to the maximum permissible value.
Commissioning

Negative position limit for software
P6-14 Default 2147483647 P - -
limit switch -
Max. 2147483647 DYC - - 8
Negative position limit for software limit switch Diagnostics

Parameters
10
Communication
TM
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Chap05. Front Panel
6.8 Auxiliary Functions for Operation
6.8.1 Jerk Limitation
Jerk limitation smoothes sudden acceleration changes to allow for smooth transitions with almost
no jerking.
v
t
Jerk limitation is available in the following operating modes:
Jog
Electronic Gear (position synchronizaiton)
Homing
DYC
Jerk limitation is activated for the operating mode Electronic Gear (position sychronization) by
means of the parameter P1-23. Jerk limitation is set via the parameter P1-24.

P1-23 Activation of jerk limitation Default 0 P - -
-
Max. 1 DYC - -
Activation of jerk limitation
0 / Off: Jerk limitation deactivated
1 / PosSyncOn: Jerk limitation active
The time for jerk limitation must be set via parameter P1-24.

Jerk limitation of the motion profile
for velocity -
Max. 1 DYC - -
Jerk limitation of the motion profile for velocity
0 / Off: Off
1 / 1: 1 ms
2 / 2: 2 ms
4 / 4: 4 ms
8 / 8: 8 ms
16 / 16: 16 ms
32 / 32: 32 ms
64 / 64: 64 ms
128 / 128: 128 ms
Settings can not be changed when motor is moving.

6-57 TM
1
6.8.2 Stop Movement with Halt
Overview
With a Halt, the ongoing movement is interrupted and it can be resumed.
In Easy Lexium 16 servo drive a Halt can be triggered via a digital signal input or a command
sent from commissioning software.
2
Selection
Type
By factory default, the digital input IOfunc_DI5 with pin number 23 on CN1 is assigned as "Halt"
function. The "Halt" function can also be assigned to other digital inputs via parameters P3-00 ...
P3-05.
3
Installation
-
Max. 143 DYC - -
Function Input of DIx 4
Wiring
Code Related Mode
NO NC P DYC
Front Panel
The movement can be interrupted with 2 different deceleration types. The parameter P5-14 lets
you select the type of deceleration:
• Deceleration via deceleration ramp, the deceleratoin ramp is set with the parameter P4-05 6
• Deceleration via torque ramp, the torque ramp is set with the parameter P5-15
Operation
P4-05 Default 6000 P - -
velocity
Max. 2147483647
usr_a
DYC - - 7
Commissioning
8
Diagnostics
P5-14 Halt option code Default 1 P - -
-
Max. 3 DYC - -
Halt option code 9
Parameters

When P5-14 = 1 / Deceleration Ramp, the stop mode will be based on the deceleration curve
through parameter P5-15 10
Communication
TM
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Chap05. Front Panel
P5-15 Current for Halt Default 1 0.01 P - -
Max. 46300 Arms DYC - -
Current for Halt
motor/power stage).
In the case of a Halt, the current limit is one of the following values (whichever is lowest):
6.8.3 Stop Movement with Quick Stop
With a Quick Stop, the ongoing movement is stopped and it cannot be resumed.
In Easy Lexium 16 servo drive a Quick Stop can be triggered by a detected error of error classes
1 or 2 or a command sent from commissioning software.
The movement can be stopped with 2 different deceleration types. The parameter P5-16 lets you
select the type of deceleration:
• Deceleration via deceleration ramp,the deceleration ramp is set with the parameter P5-17
• Deceleration via torque ramp, the torque ramp is set with the parameter P5-18
In addition, you can set the operating state to switch to after the deceleration.
• Transition to operating state "9 Fault"
• Transition to operating state "7 Quick Stop Active"

-
Max. 7 DYC - -
Quick Stop
6-59 TM
1
Overview
P5-17 Deceleration ramp for Quick Stop Default 6000 P - -
usr_a
Max. 2147483647 DYC - -
Deceleration ramp for Quick Stop
Deceleration ramp for a software stop or an error with error class 1 or 2. 2
Selection
Type

P5-18 Current for Quick Stop Default
Max.
1
46300
0.01 P
Arms DYC
-
-
-
-
3
Installation
Current value for Quick Stop
In the case of a Quick Stop, the current limit is one of the following values (whichever is lowest):
- Maximum current of the motor 4
Wiring
Further current limitations caused by I2t monitoring are also taken into account during a Quick
Stop

5
Front Panel
Operation
7
Commissioning
8
Diagnostics
9
Parameters
10
Communication
TM
6-60
Chap05. Front Panel
6.8.4 Motor Stopping Modes for Servo Off and Faults
The user can choose motor stopping modes for servo off and faults of error class 2, 3 and 4, as
well as the status after motor stops via parameter P5-19.
The available stopping modes and status after motor stops including dynamic brake (DB) and
free coasting.
Note:
• Do not start / stop the motor by turning on / off the Servo-On signal (Enable), otherwise it
may damage the dynamic brake (DB) circuit of the drive.
• Dynamic brake (DB) function is designed for emergency stop only. When dynamic brake (DB)
is actived during high speed motor running, mechnical impact and acoustic noise will be
expected.
• Do not apply the dynamic brake (DB) function too frequently. Keep at least 10 minutes of time
interval if dynamic brake (DB) is actived during high speed motor running.
• The servo motor becomes a generator when it is driven by external force and short-circuit
current will pass through the equipment and servo motor when dynamic brake function is
activated. If the servo motor is continuously driven by external forces, the equipment may
cause smoking or fire.
WARNING
FIRE DUE TO EXTERNAL DRIVING FORCES ACTING ON MOTOR
Verify that no external forces can act on the motor in the case of main power supply to the servo drive
is switched off.
Verify that no external forces can act on the motor if motor stays in dynamic brake (DB) status after
stops.

Motor Stopping modes for Servo Off
and Faults -
Max. 42 DYC - -
Motor stopping modes for servo off and faults
Digital Function Value Stopping mode Status after Motor Stops
Stopping modes for 0 Free coasting Free coasting
L XXXX[ ] faults of error class 3 1 Dynamic brake (DB) Dynamic brake (DB)
and 4 2 Dynamic brake (DB) Free coasting
0 Free coasting Free coasting
1 Dynamic brake (DB) Dynamic brake (DB)
Stopping modes for
L XXX[ ]X 2 Dynamic brake (DB) Free coasting
servo off
3 Deceleration ramp (DEC) Dynamic brake (DB)
4 Deceleration ramp (DEC) Free coasting
When stopping mode for servo off 3 or 4 is selected, the stop will be based on the deceleration
curve set up through parameter P4-05.
Example:
When P5-19 = 0021:
- In case a fault of error class 3 and 4 happens, the motor will start deceleration in stopping
mode of dynamic brake (DB). After motor stops it will stay in dynamic brake (DB) status.
- If servo off happens when motor is running, the motor will start deceleration in stopping
mode of dynamic brake (DB). After motor stops it will stay in free coasting status.

6-61 TM
1
6.8.5 Limitation of the Velocity via Signal Input
Overview
The velocity can be limited to a specific value via a digital signal input. The parameter P3-18 lets
you set the velocity limitation.
The user could assign "Velocity Limitation" function to a digital input via parameter P3-00 ... P3-
2
Selection
Type
05 to trigger the velocity limitation.

Max. 143
-
DYC - - 3
Installation
Code Related Mode
NO NC P DYC
Velocity Limitation Limits the velocity to parameter value 8 108 √ √ 4
Wiring

P3-18 Velocity limitation via input Default 10 P - -
Front Panel
usr_v
Max. 2147483647 DYC - -
Velocity limitation via input
A velocity limitation can be activated via a digital input.
6
Operation
6.8.6 Limitation of the Current via Signal Input 7
Commissioning
The current can be limited to a specific value via a digital signal input. The parameter P3-19 lets
you set the current limitation.
The user could assign "Current Limitation" function to a digital input via parameter P3-00 ... P3-
05 to trigger the current limitation. 8
Diagnostics
-
Function:
Max. 143
MODBUS Addr: -
DYC - - 9
Parameters

Code Related Mode
NO NC P DYC
Current Limitation Limits the current to parameter value 6 106 √ √ 10
Communication

TM
6-62
Chap05. Front Panel
P3-19 Current limitation via input Default 20 0.01 P - -
Current limitation via input
A current limit can be activated via a digital input.
6.8.7 Zero Clamp
The motor can be stopped via a digital signal input. The velocity of the motor must be below a
parameterizable velocity value. The parameter P4-06 lets you set the velocity value.
The signal input function “Zero Clamp” is available in the Electronic Gear (velocity
sychronization) operating mode.
In order to stop the motor via a digital signal input, you must first assign “Zero Clamp” function to
a digital input via parameter P3-00 ... P3-05.

-
Max. 143 DYC - -
Code Related Mode
NO NC P DYC


P4-06 Velocity limit for Zero Clamp Default 10 P - -
usr_v
Max. 2147483647 DYC - -
Velocity limit for Zero Clamp
The zero speed lock feature is applicable only when the given speed is lower than the low
speed threshold of zero speed lock
6-63 TM
1
6.8.8 Backlash Compensation
Overview
By setting backlash compensation, you can compensate for mechanical backlash.
Example of mechanical backlash: 2
Selection
Type
1
3
2
Installation
1 Narrow reverse backlash
2 Wide reverse backlash 4
Wiring
When backlash compensation is activated, the drive automatically compensates for the
mechanical backlash during each movement.
Backlash compensation is possible in the following operating modes:

Jog 5
Electronic Gear
Front Panel
Homing
DYC
Before you can activate backlash compensation, there must be a movement in positive or
negative direction. Backlash compensation is activated with the parameter P5-22. 6
Operation
In order to compensate the backlash, follwoing parameters must be set:
The parameter P5-23 lets you set the amount of backlash in user-defined units.
The parameter P5-24 lets you set the processing time in ms.
7
Commissioning
Processing mode of backlash
compensation -
Max. 3 DYC - -
Processing mode of backlash compensation
0 / Off: Backlash compensation is off 8
Diagnostics
1 / OnAfterPositiveMovement: Backlash compensation is on, last movement was in positive
direction
2 / OnAfterNegativeMovement: Backlash compensation is on, last movement was in negative
direction
3 / OnAfterBothMovement: Backlash compensation is on, last movement was in both positive
and negative direction 9
Parameters
10
Communication
TM
6-64
Chap05. Front Panel
Position value for backlash
compensation usr_p
Max. 2147483647 DYC - -
Position value for backlash compensation


Processing time for backlash
compensation ms
Max. 16383 DYC - -
Processing time for backlash compensation
0: Immediate backlash compensation
>0: Processing time for backlash compensation

6-65 TM
1
6.9 Monitoring Funcitons for Operation
Overview
The Easy Lexium 16 servo drive offers the following monitoring functions:
Temperature monitoring
Load and overload monitoring 2
Selection
Type
Load-dependent position deviation (following error)
Target position standstill window
Position deviation window
Velocity deviation window
Velocity threshold value
Current threshold value 3
Installation
Current command saturation
6.9.1 Temperature Monitoring

4
Wiring
The Easy Lexium 16 servo drive monitors the power stage temperature and the CPU temperature,
the values can be displayed by means of HMI:
• The current temperature of CPU is displayed via parameter Mon->tdeV
• The current power stage temperature of drive is displayed via parameter Mon->tPS
If the current power stage temperature expires the warning threshold (90oC), the monitoring 5
Front Panel
function will generate error with error class 0. If the current power stage temperature expires the
error threshold (95oC), the monitoring functoin will generate error with error class 3 and stop the
operation.
Operation
6.9.2 Load and Overload Monitoring
The load is the thermal load on the power stage, the motor and the braking resistor. The servo
drive calculates the load and overload using I2T algorithm and monitoring the load and overload
of various components internally. The load and overload values can be read by means of
7
Commissioning
parameters.
Overload starts at a load value of 100 %. the overload is calculated as following:

1
0% 100 % 200 % 8
2 Diagnostics
0% 100 %
1 Load
2 Overload
Load and overload on the individual components are monitored internally, the values can be read
9
Parameters
by means of HMI:
The current load of drive power stage is displayed via parameter Mon->LdFP
The current load of motor is displayed via parameter Mon->LdFM
The current load of external brake resistor is displayed via parameter Mon->LdFb
The current overload of drive power stage is displayed via parameter Mon->oVLP 10
Communication
TM
6-66
Chap05. Front Panel
In the case of 100% overload of the power stage or the motor, I2T protectin will be engaged. User
can select the action method via parameter P6-33:
The power stage current output will be limited internally.
The monitoring function will generate error with error class 3 and stop the operation.
P6-33 Suppressing errors Default 0 P - -
-
Max. 0x0280 DYC - -
Suppressing errors:
Related
Digital Bits Description Function
Errors
0 Reversed - - -
1 Reversed - - -
L XXXX[ ]
2 Reversed - - -
3 Reversed - - -
4 Reversed - - -
5 Reversed - - -
6 Reversed - - -
L XXX[ ]X Limit power stage current output when
0
Power stage or 4102 overload (I2T) happens
7
motor overload (I2T) 4302
1
Activate fault 4102 or 4302 of error class
3 when overload (I2T) happens
8 Reversed - - -
Fault 3201 or 3202 will NOT be stored in
0
3201 error memory of the device
9 DC bus undervoltage
L XX[ ]XX 3202 Fault 3201 or 3202 will be stored in error
1
memory of the device
10 Reserved - - -
11 Reserved - - -
12 Reserved - - -
13 Reserved - - -
L X[ ]XXX
14 Reserved - - -
15 Reserved - - -
16 Reserved - - -
17 Reserved - - -
L [ ]XXXX
18 Reserved - - -
19 Reserved - - -
20 Reserved - - -
21 Reserved - - -
H XXXX[ ]
22 Reserved - - -
23 Reserved - - -
24 Reserved - - -
25 Reserved - - -
H XXX[ ]X
26 Reserved - - -
27 Reserved - - -
28 Reserved - - -
29 Reserved - - -
H XX[ ]XX
30 Reserved - - -
31 Reserved - - -
Example:
P6-33 = 0x0080 will active error code 4102 or 4302 of error class 3 when overload (I2T)
happens
P6-33 = 0x0200 will store error code 3201 or 3202 in error memory of the device

6-67 TM
1
6.9.3 Load-Dependent Position Deviation (Following Error)
Overview
The load-dependent position deviation is the difference between the reference position and the
actual position caused by the load.
The maximum permissible load-dependent position deviation can be parameterized by

2
Selection
Type
parameter P0-20. In addition, user can set the error class by parameter P0-21.

P0-20
Maximum load-dependent position
deviation
Default 393216
usr_p
P - - 3
Installation
Max. 2147483647 DYC - -
Maximum load-dependent position deviation
The load-dependent position deviation is the difference between the reference position and
the actual position caused by the load.
4
Wiring

Error response to excessivly high
load-dependent position deviation
Max. 3
-
DYC - - 5
Front Panel
Error response to excessively high load-dependent position deviation
1 / Error Class 1: Error class 1
6
Operation
7
6.9.4 Target Position Standstill Window
Commissioning
The target position standstill window monitoring function allows you to monitor whether the motor
has reached the target position.
If the difference between the target position and the actual position remains in a parameterizable 8
Diagnostics
standstill window during a certain time, the target position is considered to have been reached.
Additionally, a parameter can be used to set the period of time after which a detected error is
signaled if the standstill window was not reached.
Following parameters shall be parameterized where target position standstill window monitoring
function is used: 9
Parameters
• The target position standstill window is set via parameter P6-16

• The actual position must not exceed the position standstill window during the time set via
parameter P6-16 until target position consider to be reached.
• Timeout time for position standstill window monitoring is set via parameter P6-17
10
Communication
TM
6-68
Chap05. Front Panel
Position error
P6-15
0 t
2 * P6-16
Output stopped upon arrival at destination

Target position reached: standstill
window, time ms
Max. 32767 DYC - -
Standstill window, time
0: Monitoring of standstill window deactivated
>0: Time in ms during which the control deviation must be in the standstill window defined in
parameter P6-16
Target position reached: standstill Min. 0 Unit Related Mode

P6-16 w i n d o w, p e r m i s s i b l e c o n t r o l Default 128 P - -
usr_p
deviation Max. 2147483647 DYC - -
Standstill window, permissible control deviation
The control deviation for the standstill window time must be within this range for a standstill of
the drive to be detected.
Processing of the standstill window must be activated via the parameter P6-15.
The minimum value, the factory setting and the maximum value depend on the scaling factor.

Target position reached: timeout time
for standstill window monitoring ms
Max. 32767 DYC - -
Timeout time for standstill window monitoring
0: Timeout monitoring deactivated
>0: Timeout time in ms
Standstill window processing values are set via the parameter P6-15 and P6-16.
Time monitoring starts when the target position (reference position of position controller) is
reached or when the profile generator has finished processing.
6-69 TM
1
6.9.5 Position Deviation Window
Overview
The position deviation window monitoring function allows you to monitor whether the motor is
within a parameterizable position deviation.
The position deviation is the difference between reference position and actual position. The
2
Selection
Type
system monitors whether the motor is within the defined position deviation during a certain time.
The position deviation window monitoring function is available in the following operating modes.
Jog
Electronic gear (position synchronization) 3
Homing
Installation
In Easy Lexium 16 servo drive, the position deviation status is available via a signal output.
By factory default, the digital output IOfunc_DQ1 with pin 18 on CN1 is assigned as "In Position
Deviation Window" function (NO). The "In Position Deviation Window" function can also be 4
assigned to other digital outputs via parameters P3-06...P3-08.
Wiring
Following parameters shall be parameterized where position deviation window monitoring
function is used:
The monitoring of time window is set via parameter P6-18
The monitoring of position deviation threshold is set via parameter P6-19 5
Front Panel
Position error
v
P6-18 P6-18
Operation
0 t
2 * P6-19
1 7
=0
Commissioning
0
P5-12
1
>0
0
8
Diagnostics
-
Max. 125 DYC - -
9
Code Related Mode
Parameters
NO NC P DYC
Window

Communication
TM
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Chap05. Front Panel
P6-18 Monitoring of time window Default 0 P - -
ms
Max. 9999 DYC - -
Monitoring of time window
Adjustment of a time for monitoring of position deviation, velocity deviation, velocity value and
current value. If the monitored value is in the permissible range during the adjusted time, the
monitoring function delivers a positive result.
The status can be output via a parameterizable output.

P6-19 Monitoring of position deviation Default 128 P - -
usr_p
Max. 2147483647 DYC - -
Monitoring of position deviation
The system checks whether the drive is within the defined deviation during the period set with
parameter P6-18.
6-71 TM
1
6.9.6 Velocity Deviation Window
Overview
The velocity deviation window monitoring function allows you to monitor whether the motor is
within a parameterizable velocity deviation.
The velocity deviation is the difference between the reference velocity and the actual velocity.
2
Selection
Type
The system monitors whether the motor is within the defined velocity deviation during a certain
time.
The velocity deviation window monitoring function is available in the following operating modes.
Jog 3
Electronic gear (speed synchronization)
Installation
Homing
In Easy Lexium 16 servo drive, the velocity deviation status is available via a signal output.
The "In Velocity Deviation Window" function can be assigned to a digital output via parameters 4
P3-06...P3-08.
Wiring
Following parameters shall be parameterized where velocity deviation window monitoring
function is used:
The monitoring of velocity deviation threshold is set via parameter P6-20 5
Front Panel
P6-18 2 * P6-20
v
6
Operation
0 t
1
7
Commissioning
=0
0
P6-18
1
>0
0
8
Min. 1 Unit Related Mode Diagnostics
-
Max. 125 DYC - -
Function Input of DQx 9
Parameters
Code Related Mode

NO NC P DYC
Window
10
Communication

TM
6-72
Chap05. Front Panel
ms
Max. 9999 DYC - -

P6-20 Monitoring of velocity deviation Default 10 P - -
usr_v
Max. 2147483647 DYC - -
Monitoring of velocity deviation
The system monitors whether the drive is within the defined deviation during the period set
with parameter P6-18.
6-73 TM
1
6.9.7 Velocity Threshold Value
Overview
The velocity threshold value monitoring function allows you to monitor whether the actual velocity
is below a parameterizable velocity value.
The system monitors whether the actual motor velocity is below the defined velocity threshold
2
Selection
Type
during a certain time.
In Easy Lexium 16 servo drive, the velocity threshold status is available via a signal output
The "Velocity Below Threshold" function can be assigned to a digital output via parameters P3- 3
06...P3-08.
Installation
Following parameters shall be parameterized where velocity threshold value monitoring function
is used:
The monitoring of velocity threshold is set via parameter P6-21 4
Wiring
v
P6-18 2 * P6-21
0
5
Front Panel
t
=0
1 6
Operation
0
P6-18
1
>0
0
Commissioning
-
Max. 125 DYC - -
Function Input of DQx 8
Code Related Mode Diagnostics
NO NC P DYC
Velocity Below
Threshold
9
Parameters

10
Communication
TM
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Chap05. Front Panel
ms
Max. 9999 DYC - -

P6-21 Monitoring of velocity threshold Default 10 P - -
usr_v
Max. 2147483647 DYC - -
Monitoring of velocity threshold
The system monitors whether the drive is below the defined value during the period set with
parameter P6-18.
6-75 TM
1
6.9.8 Current Threshold Value
Overview
The current threshold value monitoring function allows you to monitor whether the actual current
is below or over a parameterizable current value.
The system monitors whether the actual current is below or over the defined current threshold
2
Selection
Type
during a certain time.
In Easy Lexium 16 servo drive, the current threshold status is available via a signal output
The "Current Below Threshold" function can be assigned to a digital output via Parameters P3- 3
06...P3-08 to indicate the actual current is below the defined threshold, or the "Current Over
Installation
Threshold" function can be assigned to a digital output via Parameter P3-06...P3-08 to indicate
the actual current is over the defined threshold.
Following parameters shall be parameterized where current threshold value monitoring function
is used 4
The monitoring of time window is specified via parameter P6-18
Wiring
The monitoring of current threshold is specified via parameter P6-22
I P6-18 2 * P6-22
I P6-18 2 * P6-22 5
Front Panel
0
0 t
t
1
6
Operation
=0
P6-18
01
= 01
P6-18
>0 0
01
> 0The motor current is below the set threshold
0 7
Commissioning
The motor current is below the set threshold
P6-18 2 * P6-22
I
I
P6-18 2 * P6-22
8
Diagnostics
0
0 9
Parameters
1
=0
P6-18
01
= 01
P6-18
>0 0
01
> 0The motor current is above the set threshold 10
Communication
0
The motor current is above the set threshold
TM
6-76
Chap05. Front Panel
-
Max. 125 DYC - -
Code Related Mode
NO NC P DYC
Current Below
Motor current below threshold 8 108 √ √
Threshold
Current Over
Motor current over threshold 25 125 √ √
Threshold


ms
Max. 9999 DYC - -

P6-22 Monitoring of current threshold Default 20 0.01 P - -
Monitoring of current threshold
The system monitors whether the drive is below or over the defined value during the period set
In increments of 0.01 Arms.
6-77 TM
1
6.9.9 Maximum Velocity Threshold Value while Enabling the Power Stage
Overview
The maximum velocity threshold value while enabling the power stage monitoring functions
allows you to monitor whether the maximum velocity of the motor expired a parameterizable
velocity value. 2
Selection
Type
In case the maximum velocity threshold is expired while enabling the power stage, the drive will
active fault 1B0F and stop the motor.
This monitoring function helps to suppress unexpected motor movement caused by incorrect
motor wiring. 3
Installation
Following parameters shall be parameterized where maximum velocity threshold value while
enabling the power stage monitoring function is used
The monitoring of maximum velocity threshold value while enabling of the power stage is
specified via parameter P6-35
4
Wiring
Maximum Velocity Threshold while
P6-35 Default 100 P - -
Enabling the Power Stage usr_v
Max. 500 DYC - -
Maximum velocity threshold when enabling power stage 5
The system monitors whether the motor velocity expired the defined value while enabling the
Front Panel
power stage. In case the threshold is expired the drive will active fault 1B0F and stop the motor.
Operation
7
Commissioning
8
Diagnostics
9
Parameters
10
Communication
TM
6-78
Chap05. Front Panel
6.9.10 Monitoring of Drive Power Stage Current Command Saturation
When drive power stage current command has reached the maximum current of current
servo system, the drive caculates the current command saturation using I2T algorithm and
monitoring the saturation status.
When drive power stage current command Icmd is equal to the saturation current Isat, and the
saturation current Isat is at least 115% higher than the motor nominal current M_In, system
enables a countdown timer to monitor the drive power stage current command saturation.
The saturation current Isat is one of the following values (whichever is lowest):
• Current limitation of the system (P6-25)
• Maximum current of the motor (M_Imax)
• Maximum current of the drive power stage (PS_Imax)
The countdown time T = M_Imax2 * P6-24 / Isat2。

When timer countdown is finished, fault 5604 of error class 3 will be triggered.
Once Icmd is lower than Isat during the countdown, the timer will be reset.
This function is used to protect the servo drive in case the mal-function of the current
detection system cased by incorrect wiring.
Following parameters shall be parameterized where drive power stage current command
saturation monitoring function is used:
The drive power stage current command saturation window time is specified via
parameter P6-24.

Drive power stage current command
P6-24 Default 5500 P - -
saturation window time ms
Max. 10000 DYC - -
Drive power stage current command saturation window time
When drive power stage current command Icmd is equal to the saturation current Isat, and
the saturation current Isat is at least 115% higher than the motor nominal current M_In,
system enables a countdown timer to monitor the drive power stage current command
saturation.
- Current limitation of the system (P6-25)
- Maximum current of the motor (M_Imax)
- Maximum current of the drive power stage (PS_Imax)

6-79 TM
10
Type
1
9
6-80 TM
Chap07. Commissioning
7.1 Tuning Methods and Basic Procedures............................................................................ 7-1

7.1.1 About Tuning....................................................................................................................................7-1
7.1.2 Tuning Methods...............................................................................................................................7-2
7.1.3 Basic Tuning Procedures.............................................................................................................7-3
7.1.4 Safety Precatuions for Tuning.....................................................................................................7-4
7.1.5 Control Loop Model Selection....................................................................................................7-5
7.2 Easy Tuning................................................................................................................................ 7-6
7.2.1 Overview...........................................................................................................................................7-6
7.2.2 Operating Methods........................................................................................................................7-7
7.3 Comfort Tuning......................................................................................................................... 7-8
7.3.1 Overview...........................................................................................................................................7-8
7.3.2 Operating Methods........................................................................................................................7-9
7.4 Auto Adaptive Tuning............................................................................................................ 7-10
7.4.1 Overview........................................................................................................................................ 7-10
7.4.2 Conditions for Use....................................................................................................................... 7-12
7.4.3 Standard Auto Adaptive Tuning Mode................................................................................... 7-13
7.4.4 Passive Auto Adaptive Tuning Mode...................................................................................... 7-14
7.4.5 Adaptive Auto Adaptive Tuning Mode................................................................................... 7-15
7.5 Auto Adaptive Notch Filters................................................................................................ 7-16
7.5.1 Overview........................................................................................................................................ 7-16
7.5.2 Operating Methods..................................................................................................................... 7-16
7.5.3 Auto Adaptive Notch Filter Detection.................................................................................... 7-17
7.6 Manual Tuning (Basic).......................................................................................................... 7-18
7.6.1 Overview........................................................................................................................................ 7-18
7.6.3 Mapping of Auto Adaptive Control Loop to PID Control Loop....................................... 7-19
7.6.3 Manual Tuning for Position Control Mode............................................................................. 7-20
7.6.4 Optimize the Velocity Controller.............................................................................................. 7-20
7.6.5 Optimize the Position Controller.............................................................................................. 7-25
7.7 Gain Switching........................................................................................................................ 7-27
7.7.1 Auto Gain Switching between Contrl Loop Parameter Sets 1 and 2............................ 7-27
7.7.2 Auto Gain Switching to Control Loop Parameter Set 3..................................................... 7-31
7.7.3 Auto Adaptive Control Stiffness Switching........................................................................... 7-36
7.8 Manual Tuning (Advanced)................................................................................................. 7-41
7.8.1 Feedforward Tuning.................................................................................................................... 7-41
7.8.2 Manual Notch Filters................................................................................................................... 7-43
7.8.3 Vibration Suppression................................................................................................................ 7-47
1
7.1 Tuning Methods and Basic Procedures
Overview
7.1.1 About Tuning
2
Selection
Type
The purpose of tuning (commissioning) is to optimize the servo system response. The servo
system response is dependent on the control loop gain set in servo drive. Higher the servo
response will result in the servo drive to run the servo motor in least time delay and as faithful as
possible against the commands given by controller.
The control loop gains are set using a combination of parameters (position controller P gain, 3
Installation
velocity controller P gain, velocity feedforward, various filters, inertia ratio, etc.), by optimize the
parameters the control loop can optimum the performance of the servo drive. These control loop
parameters influence each other, so you must consider the balance between them.
Generally, the response of a machine with high rigidity can be improved by increasing the
servo gain. If the servo gain of a machine with low rigidity is increased, however, the machine 4
Wiring
will vibrate and the response may not be improved. In such case, it is possible to suppress the
vibration with a variety of vibration suppression functions
Front Panel
6
Operation
7
Commissioning
8
Diagnostics
9
Parameters
10
Communication
TM
7-1
Chap05. Front Panel
7.1.2 Tuning Methods
The servo gains are set to stable settings by factory default. Use the various tuning functions to
increase the response even further for the conditions of your machine.
Tool
Tuning method Description Commissioning
Integrated HMI
software
Easy tuning moves the motor without user
intervention and optimizes the settings of
Easy tuning
the control loop parameters while running √ √
the motor.
Comfort tuning moves the motor with user
intervention, parameters for trajectory
Comfortable
tuning
can be set by the user. Comfort tuning × √
optimizes the settings of the control loop
parameters while running the motor.
The motor is driven by command given
by either controller or Jog operation, the
Auto adaptive servo drive estimates the system real time
tuning inertia load ratio and tune the control loop √ √
parameter with respect to the stiffness
been given.
The servo drive automatically measures
Auto adaptive
notch filters
and optimizes the notch filter (up to 2 √ √
sets) to suppress mechanical resonance.
Tune the control loop gain and various
Manual tuning
filters manually
△ √
√- Available / × - Not Supported / △- Limited Function
The control loop types are different with respect to different tuning methods:
Control
Cascade control loop Auto adaptive control loop
loop type
Mode
P0-01 = 0 - Invalid P0-01 = 1 - Starndard P0-01 = 2 - Passive P0-01 = 3 - Adaptive
selection
Easy tuning Realtime inertia ratio Manual setup of inertia Realtime inertia ratio
(HMI / SoMove) estimation (P0-03) ratio(P0-03) estimation
Control
Comfort tuning
loop tuning (SoMove)
Automatically find the most
method Manual setup of stiffness Manual setup of stiffness suitable stiffness (increase
Manual tuning
stiffness by 4 at the most)
(HMI / SoMove)
Control loop
parameter set 1 is The load type parameter (P0-04) determines the default initial stiffness
used by default
Switch between
Parameter control loop
Map to Control loop parameter set 1/3 by software SoMove or via HMI
parameter set 1/2 by
digital input function
Velocity feedforward gain P1-03 is valid
Control Control loop
parameter set 3 is Parameter P1-44 is used for lower stiffness
loop used for lower gain
parameter Switch condition: Switch condition:
set switch P1-36 ... P1-42 P1-36 ... P1-42
Details Chapter 7.2/7.3 Chapter 7.4
7-2 TM
1
7.1.3 Basic Tuning Procedures
Overview
The basic tuning procedure is shown as following, make suitable adjustments considering the
conditions and operating requirements of the machine:
Adjustment
started
2
Selection
Type
N Manual Gain
Auto tuning?
Adjustment
Y
Adaptive N Start simple Normal N
3
adjustment? auto tuning operation?
Y Y Contact the
Select the appropriate
Installation
Peraforme N Choose comfortable manufacturer
type of mechanical load successfully? auto tuning*
Use the test
Active run function to Y
Standard or Set up comfortable auto
active mode? run the motor Use the test tuning parameter as required
run function to
Standard run the motor
Automatically go Start simple
back to standard
mode if the rigidity
level is stable
Normal
operation?
N auto tuning
4
Wiring
Use the test run function Peraforme N
to run the motor Y successfully?
Manually increase Y
N Normal N Use the test run function
or decrease
operation? to run the motor
the rigidity level
Y
Switch to
passive mode
Normal
operation?
N
5
Front Panel
Y
Parameter
saved to EEPROM
Adjustment
(*) must be performed with SoMove software:
completed
Operation
7
Commissioning
8
Diagnostics
9
Parameters
10
Communication
TM
7-3
Chap05. Front Panel
7.1.4 Safety Precautions for Tuning
WARNING
UNINTENDED MOVEMENT
Do not touch the rotating section of the servomotor while power is being supplied to the motor.
Before starting the servomotor, make sure that the servo drive can come to an emergency stop at any time.
Make sure that a Jog operation has been performed without any trouble.
To make sure the safety, install a safety brake on the machine.
When tuning the servo control loop, following safety precautions must be followed:
Set limit switch functions, make sure the movement can be stopped by and the operating
state switched to "7 - Quick Stop Active" when either of positive limit switch or negative limit
switch has been triggered.
See chapter "6.4.3 Limit Switches" for detailed information.
Enable load-dependent position deviation monitoring function.
See chapter "6.9.3 Load-Dependent Position Deviation (Following Error)" for detailed
information.
Make sure there are no obstructions in the zone of tuning.
7-4 TM
1
7.1.5 Control Loop Model Selection
Overview
Easy Lexium 16 servo drive provides two control loop models: the cascade PID control loop and
auto adaptive control loop. Either of the two control loop models takes effective at one time. User
can select which one is effective via parameter P0-01. 2
Selection
Type
When parameter P0-01 = 0 / Invalid, the servo drive is controlled by PID control loop model.
There are 3 PID control loop parameter sets in Easy Lexium 16 servo drive:
P1-00 ... P1-06: Control loop parameter set 1.
3
Installation
Control loop parameter set 1 Control loop parameter set 2 Control loop parameter set 3
P1-00 Position controller P gain P1-07 Position controller P gain P1-14 Position controller P gain
P1-01 Velocity controller P gain P1-08 Velocity controller P gain P1-15 Velocity controller P gain
Velocity controller integral Velocity controller integral Velocity controller integral
P1-02 P1-09 P1-16
action time action time action time
Filter time constant of the 4
P1-03 Velocity feed-forward control P1-10 Velocity feed-forward control P1-17
Wiring
reference velocity value filter
Filter time constant of the Filter time constant of the Filter time constant of the
P1-04 reference velocity value filter
P1-11 reference velocity value filter
P1-18 reference current value filter
Filter time constant of the Filter time constant of the
P1-06 Friction compensation gain P1-13 Friction compensation gain 5
P2-07 P2-15
Front Panel
Notch filter 1: Damping Notch filter 1: Damping
P2-08 Notch filter 1: Frequency P2-16 Notch filter 1: Frequency
P2-09 Notch filter 1: Bandwidth P2-17 Notch filter 1: Bandwidth
P2-10 Notch filter 2: Damping P2-18 Notch filter 2: Damping
P2-11 Notch filter 2: Frequency P2-19 Notch filter 2: Frequency
P2-12 Notch filter 2: Bandwidth P2-20 Notch filter 2: Bandwidth 6
Operation
Overshoot suppression filter: Overshoot suppression filter:
P2-13 Damping
P2-21 Damping
Overshoot suppression filter: Overshoot suppression filter:
P2-14 Time delay
P2-22 Time delay
Commissioning
When parameter P0-01 = 1 / Standard, 2 / Passive or 3 / Adaptive,the servo drive is controlled by
auto adaptive control loop model.
There are 2 auto adaptive control stiffness in Easy Lexium 16 servo drive:
P0-02: Stiffness index.
8
Diagnostics
P1-44: Dynamic gain switching: Stiffness for lower gain.
9
Parameters
10
Communication
TM
7-5
Chap05. Front Panel
7.2 Easy Tuning
7.2.1 Overview
asy tuning moves the motor without user intervention and optimizes the settings of the control
loop parameters while running the motor. Easy tuning determines the friction torque as a
constantly acting load torque and considers it in the calculation of the moment of inertia of the
entire system. External factors such as a load at the motor are considered. Easy tuning optimizes
the settings of the control loop parameters. Easy tuning also supports vertical axes.
Easy tuning will optimize parameters P1-00 ... P1-06 (Control loop parameter set 1) as well as P1-
14 ... P1-8 (Control loop parameter set 3) in parameter group “P1 – Gain”. Meanwhile estimation
results of system characters can be monitored in parameter P6-26 ... P6-30.
Note, during easy tuning the motor is activated and small movements are made. Noise
development and mechanical oscillations of the system are normal.
WARNING
UNINTENDED MOVEMENT
Include in your calculations when determining the available movement range, the additional distance for the deceler-
ation ramp in the case of an emergency stop.
Verify that the parameter settings for a Quick Stop are correct.
Verify correct operation of the limit switches
Verify that a functioning emergency stop push-button is within reach of all persons involved in all phases of machine
operation and maintenance involving this equipment.
7-6 TM
1
7.2.2 Operating Methods
Overview
No parameter needed to be set prior to start an easy tuning.
Easy tuning can be started in two ways:

• Use the integrated HMI on the equipment:
2
Selection
Type
HMI -> oP -> tun -> tuSt
See chapter “5.3.2 Simple Auto Tuning” for further information.
• Use commissioning software SoMove:
SoMove -> Tuning -> Auto -> Start
The tuning process is indicated by a progress bar. Upon successful completion of the tuning, 3
use the SoMove software to save the control loop parameter into drive EEPROM.
Installation
4
Wiring
5
Front Panel
6
Operation
7
Commissioning
8
Diagnostics
9
Parameters
10
Communication
TM
7-7
Chap05. Front Panel
7.3 Comfort Tuning
7.3.1 Overview
Comfort tuning moves the motor with user intervention, parameters for trajectory such as velocity,
acceleration, distance, mechanical system can be set by the user with respect to the application,
in order to further optimize the control loop parameters. Comfort tuning determines the friction
torque as a constantly acting load torque and considers it in the calculation of the moment of
inertia of the entire system. External factors such as a load at the motor are considered. Comfort
tuning optimizes the settings of the control loop parameters. Comfort tuning also supports
vertical axes.
Comfort tuning will optimize parameters P1-00 ... P1-06 (Control loop parameter set 1) as well
as P1-14 ... P1-8 (Control loop parameter set 3) in parameter group “P1 – Gain”. Meanwhile
estimation results of system characters can be monitored in parameter P6-26 ... P6-30.
Note, during easy tuning the motor is activated and small movements are made. Noise
development and mechanical oscillations of the system are normal.
WARNING
UNINTENDED MOVEMENT
7-8 TM
1
7.3.2 Operation Methods
Overview
Comfortable tuning can only be started using commissioning software SoMove:
SoMove -> Tuning -> Comfort -> Set parameters for comfortable tuning trajectory -> Start
The tuning process is indicated by a progress bar. Upon successful completion of the tuning,
use the SoMove software to save the control loop parameter into drive EEPROM.
2
Selection
Type
3
Installation
4
Wiring
5
Front Panel
6
Operation
7
Commissioning
8
Diagnostics
9
Parameters
10
Communication
TM
7-9
Chap05. Front Panel
7.4 Auto Adaptive Tuning
7.4.1 Overview
The auto adaptive tuning estimates the load inertia over rotor inertia in real time with respect to
the load characteristics of the system in real time and tune the control loop parameters based on
the stiffness automatically.
The Easy Lexium 16D servo drive supports 3 methods of auto adaptive tuning mode, user can
select freely via parameter P0-01:
P0-01 = 1 / Standard
P0-01 = 2 / Passive
P0-01 = 3 / Adaptive
Auto adaptive tuning will not move the servo motor. After the auto adaptive tuning function is
enabled, it monitors the movement characteristics such as velocity and acceleration in real time.
The movement can be driven either by commands from controller or by Jog operation. Please
refer to chapter “6.5 Operation Mode Jog” for information about Jog operation.
By selecting different auto adaptive tuning mode via parameter P0-01, the auto adaptive tuning
can either actively estimate the load inertia ratio or passively accept the load inertia ratio entered
by user. Alternatively, it’s possible to actively try to optimize the most suitable stiffness (increase
stiffness by 4 at the most) or passively accept the stiffness selected by user.
Note, the auto adaptive tuning may bring about a incorrect estimation result if the load inertia
changes too quickly. Noise development and mechanical oscillations of the system are normal.
WARNING
UNINTENDED MOVEMENT
7-10 TM
Different stiffnesses stands for different servo system response levels. Higher the stiffness value,
1
Overview
higher the velocity response and servo rigidity will be achieved. However, when increasing the
value, more system vibration could be expected. Gradually increase the stiffness value from
lower to higher when selecting.
Low Mechanical rigidity High

Low Servo gain High 2
Selection
Type
1·2 14 31 · 32
Low Responsiveness High
Response
1.4
3
High rigidity level (P0-P2)
Installation
1.2 Low rigidity level (P0-P2)
4
Amplitude
0.8
Wiring
0.6
0.4
5
Front Panel
0.2
0
0 10 20 30 40 50 60 70 80
Time (ms)
6
Operation
7
Commissioning
8
Diagnostics
9
Parameters
10
Communication
TM
7-11
Chap05. Front Panel
7.4.2 Conditions for Use
To assure the accuracy of auto adaptive tuning estimation, please note that auto adaptive tuning
may not be executed properly under the conditions described below:
The load is too large compared to the rotor inertia (more than 30 times).
The machine rigidity is extremely low.
Large backlash exists
The motor is running continuously at low speed of 100 rpm or lower.
Acceleration / deceleration is slower than 2000 rpm/s
Under these conditions, change the load condition or operation pattern, or perform manual
tuning.
7-12 TM
1
7.4.3 Standard Auto Adaptive Tuning Mode
Overview
Standard auto adaptive tuning mode is activated when P0-01 = 1 / Standard. In this mode, the
servo drive automatically estimates the system load inertia ratio, while the stiffness needs to be
set manually. 2
Selection
Type
Standard auto adaptive tuning mode can be activated in two ways:
Use the integrated HMI on the equipment:
1. Select appropriate type of mechanical load via parameter P0-04 with respect to the
application conditions.
2. Set parameter P0-01 = 1 / Standard. 3
3. Drive the servo motor either by command from controller or by Jog operation using HMI.
Installation
4. After several cycles of movement including effective acceleration, plateau and deceleration
phases , tune the stiffness via parameter P0-02 with respect to the system performance,
then drive the servo motor again.
5. If the system performance meets requirements, set parameter P0-01 to 2 and the real
time estimation of system load inertia ratio is deactivated to prevent accidental incorrect 4
estimation result because of quick inertia changes.
Wiring
6. After that the parameter P0-03 system load inertia ratio can be further tuned manually
depending on system performance so that the servo system offers better response and
stability.
Use commissioning software SoMove: 5
Front Panel
1. SoMove -> Tuning -> Adaptive
2. Select type of mechanical load in “Load Type Selection” with respect to the application
conditions.
3. Select Standard mode in “Tuning Mode Selection”.
4. Drive the servo motor either by command from controller or by Jog operation using auto
adaptive tuning control panel in SoMove. 6
Operation
5. After several cycles of movement including effective acceleration, plateau and
deceleration phases , tune the stiffness in “Real Time Inertia Ratio” with respect to the
system performance, then drive the servo motor again.
6. If the system performance meets requirements, select Passive mode in “Tuning Mode
Selection” and the real time estimation of system load inertia ratio is deactivated to
prevent accidental incorrect estimation result because of quick inertia changes. 7
Commissioning
7. After that the system load inertia ratio in “Real Time Inertia Ratio” can be further tuned
manually depending on system performance so that the servo system offers better
response and stability.
8
Diagnostics
9
Parameters
10
Communication
TM
7-13
Chap05. Front Panel
7.4.4 Passive Auto Adaptive Tuning Mode
Passive auto adaptive tuning mode is activated when P0-01 = 2 / Passive. In this mode, both
system load inertia ratio and the stiffness need to be set manually.
Passive auto adaptive tuning mode can be activated in two ways:

2. Set parameter P0-01 to 2.
3. Tune the stiffness via parameter P0-02 as well as system inertia ratio via parameter P0-03.
5. Parameter P0-02 and P0-03 can be further tuned manually depending on system
performance so that the servo system offers better response and stability.
Use commissioning software SoMove:

2. Select type of mechanical load in “Load Type Selection” with respect to the application
conditions.
3. Select Passive mode in “Tuning Mode Selection”.
4. Tune the system inertia ratio in “Real Time Inertia Ratio” and the stiffness in “Real Time
Inertia Ratio”.
adaptive tuning control panel in SoMove.
7-14 TM
1
7.4.5 Adaptive Auto Adaptive Tuning Mode
Overview
Adaptive auto adaptive tuning mode is activated when P0-01 = 3 / Adaptive. In this mode, the
servo drive automatically estimates the system load inertia ratio and try to optimize the most
suitable stiffness (increase stiffness by 4 at the most). 2
Selection
Type
Adaptive auto adaptive tuning mode can be activated in two ways:
2. Set parameter P0-01 to 3. 3
3. Enter parameter P0-02 to observe the system stiffness.
Installation
5. After several cycles of movement including effective acceleration, plateau and deceleration
phases, check the variation of parameter P0-02. The adaptive auto adaptive tuning will try
to gradually increase the stiffness to optimize the most suitable one with respect to the
system performance. When the most suitable stiffness is achieved, parameter P0-01 will 4
be set to 1 / Standard. Adaptive auto adaptive tuning will increase the stiffness by 4 at the
Wiring
most.
6. If the system performance meets requirements, set parameter P0-01 to 2 and the real
time estimation of system load inertia ratio is deactivated to prevent accidental incorrect
estimation result because of quick inertia changes.
7. After that the parameter P0-03 system load inertia ratio can be further tuned manually 5
Front Panel
depending on system performance so that the servo system offers better response and
stability.
Use commissioning software SoMove:

2. Select type of mechanical load in “Load Type Selection” with respect to the application 6
Operation
conditions.
3. Select Adaptive mode in “Tuning Mode Selection”.
adaptive tuning control panel in SoMove.
5. After several cycles of movement including effective acceleration, plateau and
deceleration phases, check the variation of stiffness in “Real Time Inertia Ratio” as well 7
Commissioning
as the system inertia ratio in “Real Time Inertia Ratio”. The adaptive auto adaptive tuning
will try to gradually increase the stiffness to optimize the most suitable one. When the most
suitable stiffness is achieved, “Tuning Mode Selection” will be set to Standard. Adaptive
auto adaptive tuning will increase the stiffness by 4 at the most.
6. If the system performance meets requirements, select Passive mode in “Tuning Mode
Selection” and the real time estimation of system load inertia ratio is deactivated to 8
Diagnostics
prevent accidental incorrect estimation result because of quick inertia changes.
9
Parameters
10
Communication
TM
7-15
Chap05. Front Panel
7.5 Auto Adaptive Notch Filters
7.5.1 Overview
In case of low machine rigidity, high order vibration may be introduced during system movement
and cause the mechanical resonance. As a result, oscillation and noise will occur. Notch filter can
be used to damp the resonance at vicinity of resonance frequency so as to improve the system
bandwidth.
The auto adaptive notch filters function estimates the resonance frequency out of vibration
components presented in velocity characteristics in real time, then damp the resonance
component by setting up the notch filter coefficient automatically, hence reduces the resonance
vibration.
7.5.2 Operating Methods
Easy Lexium 16 servo drive supports two sets of auto adaptive notch filters. User can select the
adaptive notch filter mode via parameter P2-00 to enable one or two sets of adaptive notch filters
at a time.
If the resonance point affects the motor speed, parameters of auto adaptive notch filters
are automatically set according to how many adaptive notch filters have been enabled. If
the resonance point shift during the movement, the servo drive will automatically update the
parameters of auto adaptive notch filters at the same time.
The parameters of the auto adaptive notch filters detected by the servo drive will firstly be
saved in servo drive RAM. If the user failed to save the parameters to servo drive EEPROM
these parameters will be restore to last saved onces in EEPROM after drive reboot.
Specially, the servo drive will automatically save all the parameters to the servo drive
EEPROM every 30 minutes:
• The parameters of the auto adaptive notch filters will be saved automatically every 30
minutes to prevent the parameters loose because of drive reboot.
• In case the servo drive selelcted an incorrect auto notch filter parameter and lead to
system vibration even out of control, the user can reboot the drive immediately to restore
the auto adatpive notch filter parameters to last saved ones.

P2-00 Adaptive notch filter mode selection Default 0 P - -
-
Max. 3 DYC - -
Selection of adaptive notch filter mode
0 / Invalid: The adaptive notch filters are not set automatically, parameters of adaptive notch
filters remain unchanged
1 / Enable 1: Enable the 1st set of adaptive notch filters
2 / Enable 2: Enable the 1st and 2nd sets of adaptive notch filters
3 / Reset: Reset all adaptive notch filters
7-16 TM
1
7.5.3 Auto Adaptive Notch Filter Detection
Overview
User can set the auto adaptive notch filter detection standard via parameters.
If the motor velocity vibration level expired the detection level threshold for a certain time
then the resonace is spotted.
2
Selection
Type
Following parameters shall be parameterized to set the auto adaptive notch filter detection
standard:
• The detection level is set via parameter P2-24
• The detection time delay is set via parameter P2-25 3
Installation
Detection level
Detection
4
Wiring
time delay Resonance spotted
Front Panel
Auto adaptive notch filter detection
P2-24
level
Default
Max.
20
100
usr_v
P
DYC
-
-
-
-
6
Operation
Auto adaptive notch filter detection level

7
Commissioning
time delay 0.1 ms
Max. 10 DYC - -
Auto adaptive notch filter detection time delay 8
Diagnostics
In increments of 0.1 ms
9
Parameters
10
Communication
TM
7-17
Chap05. Front Panel
7.6 Manual Tuning (Basic)
7.6.1 Overview
Easy Lexium 16 offers good auto tuning functions which, for most applications, yields good,
highly dynamic results. However, there might be some cases where auto tuning cannot deliver
proper result depending on the limitation on load conditions. Or you might need to retune the
system to obtain the optimum response or stability corresponding to each load. Here the manual
tuning should be used.
Commissioning software SoMove is recommended for manual tuning. By monitoring waveforms

using the scope function of the commissioning software SoMove, accurate manual tuning can
be positively, quickly and easily done when compared with that performed on the HMI on the
equipment.
For the manual tuning of control loop parameters in position control mode, the controllers should
be tuned in following sequence: first the velocity controller then the position controller.
M S CN3
Mini-USB
CN2
CN1
CHARGE
U
V
W
PB CNP
P+
L
N
7-18 TM
7.6.2
Internal
speed curve
PTI Pulse
speed
Speed
P4-00 feedforward
P4-03
P4-04
P4-05 P1-03 Speed
Postion Max. speed Overshoot command
Electronic 加速度平 command Position limitation inhibition smoothing
PTI Pulse gear 滑 smoothing controller
position
-
P4-17 P2-13 P1-04
P0-10 P1-23 P1-25 P1-00 P2-14
P0-11 P1-24
P0-12
Acceleration
feedforward
TM
P1-21
Friction
compensation
Manual Tuning for Position Control Mode
P1-06
The control loop structure of Easy Lexium 16 is shown as below:
P1-19
Speed Current
control Max. command Current Drive
current limit Notch filter smoothing control output stage
- -
P1-01 P0-24 P2-01 P1-05

P1-02 P2-02 M
P2-03
... Current 3~
P2-12 feedback
Position Speed
feedback feedback
E
7-19
Selection
Communication Parameters Diagnostics Commissioning Operation Front Panel Wiring Installation Overview
9
8
7
6
5
4
3
2
1
Type
10
Chap05. Front Panel
7.6.3 Mapping of Auto Adaptive Control Loop to PID Control Loop
If auto adaptive tuning control has been done prior to manual tuning, it is possible to equivalently
map the parameters of auto adaptive tuning into cascade PID control loop parameters then
switch the control mode into cascade PID control loop.
There are two ways to map control loop parameter:

SoMove:
SoMove -> Tuning -> Adaptive -> Press button “Map” on the software panel and acknowledge
the message box.
Integrated HMI:
Op -> Atu -> cPYA -> Press button "S" and all contents on HMI will flash once.
7.6.4 Optimize the Velocity Controller
Parameters in control loop parameter set 1 used for optimization of velocity controller:
P1-01: Control set 1: Velocity controller P Gain
P1-02: Control set 1: Velocity controller integral action time

Control set 1: Velocity controller P
P1-01 Default 1 0.01 A/ P - -
gain
Max. 25400 (1/min) DYC - -
Control set 1: Velocity controller P gain
In increments of 0.0001 A/(1/min)

Control set 1: Velocity controller
integral action time 0.01 ms
Max. 32767 DYC - -
Control set 1: Velocity controller integral action time
7-20 TM
1
Overview
P1-09: Control set 2: Velocity controller integral action time
P1-08
Min.
Default
1
1
Unit
0.01 A/ P
Relatd Mode
- -
2
gain
Selection
Type
Max. 25400 (1/min) DYC - -
In increments of 0.0001 A/(1/min) 3
Installation

integral action time
Max. 32767
0.01 ms
DYC - -
4
Wiring
5
Front Panel
P1-16: Control set 3: Velocity controller integral action time 6
Operation
P1-15 Default 1 0.01 A/ P - -
gain
Max. 25400 (1/min) DYC - -
7
Commissioning

Max. 32767 DYC - -
Control set 3: Velocity controller integral action time 9
Parameters

10
Communication
TM
7-21
Chap05. Front Panel
To assess and optimize the transient response behavior of your system, first identify if your
mechanical system is a rigidity mechanical system with fast response or is a less rigidity
mechanical system with slow response.
Rigid connection system Flexible connection system
Low elasticity High elasticity
Narrow Gear with

gear backlash wide backlash
For example Direct drive For example Belt drive
rigid connection Weak drvie shaft
Flexible connection
Determining Values for Rigid Mechanical Systems:

When moment of inertia of load and the motor are known and constant, determine the values
the velocity controller P gain P1-01 and the integral action time P1-02 based on the following
table, Where:
JL: Moment of inertia of the load
JM: Moment of inertia of the motor
JL = JM JL = 5 * JM JL = 10 * JM
JL P1-01 P1-02 P1-01 P1-02 P1-01 P1-02
1 kgcm2 0.0125 8 0.008 12 0.007 16
2 kgcm2 0.0250 8 0.015 12 0.014 16
5 kgcm2 0.0625 8 0.038 12 0.034 16
10 kgcm2 0.125 8 0.075 12 0.069 16
20 kgcm2 0.250 8 0.150 12 0.138 16
Determine values for less rigidity mechanical systems:

For optimization purpose, determine a Velocity controller P gain at which the controller adjust
the velocity as quickly as possible without overshoot. Consider the following procedures:
1. Set the parameter P1-02 Velocity controller integral action time to infinite (327.67 ms).
If a load torque acts on the motor when the motor is at a standstill causes unwanted
change of motor position (e.g. vertical axes), the integral action time must not exceed,
reduce the integral action time if the position deviation is unacceptable. However, reducing
the integral action time can adversely affect optimization results.
WARNING
UNINTENDED MOVEMENT
Verify that the values for the velocity and the time do not exceed the available movement range.
operation.
7-22 TM
2. Trigger a step command for example, a parameterized velocity reference value using the
1
Overview
Profile Velocity function of commissioning software SoMove. Meanwhile, start the scope
feature of SoMove to trace the reference value for the current and actual velocity for the
motor.
3. After the first test, verify the maximum amplitude for the reference value for the current Set
the amplitude of the step velocity reference value just high enough so the reference value
2
Selection
Type
for the current remains below the maximum value. On the other hand, the value selected
should not be too low, otherwise friction effects of the mechanical system will determine the
performance of the control loop.
4. Trigger another step function if you had to modify the velocity reference and verify the
amplitude of reference value for the current.
3
Installation
5. Increase or decrease the P1-01 Velocity controller P gain in small increments until actual
velocity for the motor is obtained as fast as possible. The following diagram shows the step
response where the velocity controller P gain is too much and the improvement by reducing
velocity controller P gain. Differences between velocity reference and actual velocity for 4
motor result from P1-02 Velocity controller integral action time.
Wiring
Command speed Command speed
100% 100%
Actual speed 63% Actual speed 5
Front Panel
This can be improved
by reducting the speed
loop gain
0% 0%
t Speed loop t
integration time 6
Operation
In the case of drive systems in which oscillations occur before the aperiodic limit is reached,
the velocity controller P gain must be reduced until oscillations can no longer be detected.
This occurs frequently in the case of linear axes with a toothed belt drive.
7
Commissioning
Graphic Determination of the 63% Value
Graphically determine the point at which the actual velocity reaches 63% of the final value.
The integral action time P1-02 then results as a value on the time axis.
8
Diagnostics
100% 100%
Actual speed Actual speed
Rigid connection
system
Flexible connection
system
9
Parameters
0% 0%
t t
10
Communication
TM
7-23
Chap05. Front Panel
Verifying and Optimizing the P Gain:
The controller is properly set when the step response is approximately identical to the signal
shown. Good control performance is characterized by:
i. Fast transient response
ii. Overshooting up to a maximum of 40%, 20%.
If the control performance does not correspond to the curve shown, change P1-01 velocity
controller P gain in increments of about 10% and then trigger another step function:
i. If the control is too slow: Use a higher P1-01 velocity controller P gain value.
i. If the control tends to oscillate: Use a lower P1-01 velocity controller P gain value.
Oscillation ringing is characterized by continuous acceleration and deceleration of the motor.

Optimizing insufficient velocity controller settings

100% 100%
Actual speed
Actual speed
Excessive slow
response; try to Excessive vibration;
increase P1-01 try to reduce the
proportional gain proportional gain
of speed loop of speed loop
0% 0%
t t
7-24 TM
1
7.6.5 Optimize the Position Controller
Overview
An optimized velocity controller is a prerequisite for optimization of the position controller. When
tuning the position controller, you must optimize the position controller P gain:
P gain too high: Overshooting, instability
P gain too low: High position deviation
2
Selection
Type
Parameters in control loop parameter set 1 used for optimization of position controller:

P1-00
Control set 1: Position controller P
gain
Default 20
0.1 1/s
P - - 3
Installation
Max. 9000 DYC - -
Control set 1: Position controller P gain
In increments of 0.1 1/s

4
Wiring

Front Panel
gain 0.1 1/s
Max. 9000 DYC - -

6
Operation
7
Commissioning
gain 0.1 1/s
Max. 9000 DYC - -
Control set 3: Position controller P gain 8
In increments of 0.1 1/s Diagnostics
9
Parameters
10
Communication
TM
7-25
Chap05. Front Panel
To assess and optimize the transient response behavior of the position controller, you need to
trigger a step command. For example, a parameterized step position reference value using the
Profile Position function of commissioning software SoMove. Meanwhile, start the scope feature
of SoMove to trace the reference value for the reference and actual position of the position
controller, the current and actual velocity for the motor.
Note, the step function moves the motor at constant velocity until the movement finishes.
WARNING
UNINTENDED MOVEMENT
Verify that the values for the velocity and the time do not exceed the available movement range.
operation.
After the first test, verify the values achieved for actual velocity and reference current for current
control and velocity control. The values must not reach the current and velocity limitation range.
Step responses of a position controller with good control performance with respect to different
mechanical system are shown as below:
100% 100%
Actual speed Actual speed

Rigid connection Flexible connection
system system
0% 0%
t t
The position controller P gain setting is optimal if the reference value is reached rapidly and with
little or no overshooting.
If the control performance does not correspond to the curve shown, change the position
controller P gain in increments of approximately 10% and trigger another step function.
If the control tends to oscillate: Use a lower P gain value.
If the actual value is too slow reaching the reference value: Use a higher P gain value.
100% 100%
Excessive slow
response; try to
Actual speed Oscillation; try to Actual speed increase P1-01
reduce proportional proportional gain
gain of position loop of speed loop
0% 0%
t t
7-26 TM
1
7.7 Gain Switching
Overview
Easy Lexium 16 servo drive can switch between 2 control loop parameter sets manually or
automatically to deliver better performance with respect to various response requirements.
2
Selection
Type
7.7.1 Auto Gain Switching Between Control Loop Parameter Sets 1 and 2
When parameter P0-01 is set to 0 / Invalid, the cascade PID control loops take effective. Easy
Lexium 16 servo drive has three cascade PID control loop parameter sets: 3
P1-00 .. P1-06: Control loop parameter set 1
Installation
Control loop parameter sets 1 and 2 take effective during motion, while control loop parameter
set 3 is effective when servo motor is at low speed or rest. 4
Wiring
It is possible to set criteria for switching between the control loop parameter sets 1 and 2.
During motion During motion
Control loop P1-25 Control loop 5
Front Panel
parameter set 1 P1-26 parameter set 2
P1-01 P2-07 P1-27 P1-08 P2-15
P1-02 P2-08 P1-28 P1-09 P2-16
P1-00 P2-09 P1-29 P1-07 P2-17
P1-05 P2-10 P1-30 P1-12 P2-18
P1-04 P2-11 P1-11 P2-19 6
Operation
P1-03 P2-12 P1-10 P2-20
P2-13 P2-21
P2-14 P2-22
P1-06 P1-13
Commissioning
P1-36
P1-37
P1-38
P1-39
P1-40 8
P1-41
Diagnostics
P1-42
At low speed or rest

Control loop
parameter set 3
P1-15
9
Parameters
P1-16
P1-14
P1-18
P1-17
10
Communication
TM
7-27
Chap05. Front Panel
The default control loop parameter set actived after power-on is selected via parameter P1-30

Selection of control loop parameter
set at power up -
Max. 2 DYC - -
Selection of control loop parameter set at power up
0 / Switching Condition: The switching condition is used for control loop parameter set
switching
1 / Parameter Set 1: Control loop parameter set 1 is used
The following criteria can be set for switching between the control loop parameter sets 1 and 2:
Digital input signal
Position deviation window
Target velocity below parameterizable value
Actual velocity below parameterizable value
The criteria for parameter set switching can be selected via parameter P1-31

P1-31 Condition for parameter set switching Default 0 P - -
ms
Max. 1000 DYC - -
Condition for parameter set switching
0 / None or Digital Input: None or digital input function selected
1 / Inside Position Deviation: Inside position deviation (value definition in parameter P1-33)
2 / Below Reference Velocity: Below reference velocity (value definition in parameter P1-34)
3 / Below Actual Velocity: Below actual velocity (value definition in parameter P1-33)
4 / Reversed: Reserved
In the case of parameter set switching, the values of the following parameters are changed
gradually:
P1-00 / P1-07
P1-01 / P1-08
P1-02 / P1-09
P1-03 / P1-10
P1-04 / P1-11
P1-05 / P1-12
The following parameters are changed immediately after the time for parameter set switching
(P1-35):
P2-07 / P2-15
P2-08 / P2-16
P2-09 / P2-17
P2-10 / P2-18
P2-11 / P2-19
P2-12 / P2-20
P2-13 / P2-21
P2-14 / P2-22
P1-06 / P1-13
7-28 TM
When switching criteria is selected as position deviation or velocity threshold, parameters P1-
1
Overview
32/P1-33/P1-34 can be used to set position deviation and velocity threshold, as well as the
monitoring window time.
P1-32
Time window for parameter set
Min.
Default
0
0
Unit Relatd Mode
P - -
2
switching
Selection
Type
ms
Max. 1000 DYC - -
Control loop parameter set switches the time window for monitoring of position error and
speed threshold:
0: Monitoring window disabled 3
>0: Window time for the parameters switching
Installation
P1-33
Position deviation for control loop
Min.
Default
0
1310
Unit Relatd Mode
P - -
4
parameter set switching
Wiring
usr_p
Max. 2147483647 DYC - -
Position deviation for parameter set switching
When parameter P1-31 = 1 / Inside Position Deviation, if the position error is smaller than this
parameter value, control loop parameter set 2 will be used; otherwise, control loop parameter 5
Front Panel
set 1 will be used
P1-34
Velocity threshold for control loop
Min.
Default
0
50
Unit Relatd Mode
P - -
6
Operation
parameter set switching usr_v
Max. 2147483647 DYC - -
Velocity threshold for parameter set switching
When parameter P1-31 = 2 / Below Reference Velocity, if the target speed is smaller than this
parameter value, control loop parameter set 2 will be used, otherwise, control loop parameter 7
Commissioning
set 1 will be used
When parameter P1-31 = 3 / Below Actual Velocity, if the actual speed is smaller than this
parameter value, control loop parameter set 2 will be used, otherwise, control loop parameter
set 1 will be used

Diagnostics
9
Parameters
10
Communication
TM
7-29
Chap05. Front Panel
The linear switching between control loop parameter sets takes place during the period defined
in parameter P1-35.
Other control loop parameters are directly changed to the values of the other control loop
parameter set after the parameterizable time P1-35 has passed.
The figure below shows the time chart for switching the control loop parameters.

Period of time for control loop
parameter set switching ms
Max. 2000 DYC - -
Period of time for parameter switching
In the case of control loop parameter set switching, the values of the following parameters are
changed gradually:
P1-00 / P1-07
P1-01 / P1-08
P1-02 / P1-09
P1-03 / P1-10
P1-04 / P1-11
P1-05 / P1-12
P1-01 P1-08
P1-02 1
P1-09
P1-00 P1-07
P1-05 P1-12
P1-04 P1-11
P1-03 P1-10
P2-07 P2-15
P2-08 2
P2-16
P2-09 P2-17
P2-10 P2-18
P2-11 P2-19
P2-12 P2-20
P2-13 P2-21
P2-14 P2-22
P1-06 P1-13
P1-35
7-30 TM
1
7.7.2 Auto Gain Switching to Control Loop Parameter Set 3
Overview
When parameter P0-01 is set to 0 / Invalid, the cascade PID control loops take effective. Easy
Lexium 16 servo drive has three cascade PID control loop parameter sets:
2
Selection
Type
Control loop parameter sets 1 and 2 take effective during motion, while control loop parameter
set 3 is effective when servo motor is at low speed or rest.
It is possible to set criteria for switching between the control loop parameter sets 1 and 2. See
3
Installation
chapter "7.7.1 Auto Gain Switching Between Control Loop Parameter Sets 1 and 2" for detailed
information.
However, no matter control loop parameter set 1 or 2 is actived, control loop parameter set 3 will
be actived when motor at low speed or rest.
4
Wiring
During motion During motion
Control loop P1-25 Control loop

parameter set 1 P1-26 parameter set 2
P1-01 P2-07 P1-27 P1-08 P2-15 5
Front Panel
P1-02 P2-08 P1-28 P1-09 P2-16
P1-00 P2-09 P1-29 P1-07 P2-17
P1-05 P2-10 P1-30 P1-12 P2-18
P1-04 P2-11 P1-11 P2-19
P1-03 P2-12 P1-10 P2-20
P2-13 P2-21 6
Operation
P2-14 P2-22
P1-06 P1-13
P1-36 7
P1-37
Commissioning
P1-38
P1-39
P1-40
P1-41
P1-42
8
Diagnostics
Control loop
parameter set 3
P1-15
P1-16
P1-14 9
Parameters
P1-18
P1-17
10
Communication
TM
7-31
Chap05. Front Panel
The conditions for switching to control loop parameter set 3 consists of position and velocity:
Position condition for switching to control loop parameter set 3

P1-40 P1-38
Position deviation filter Position deviation
P1-39
delay time
Position deviation
threshold
Position
command
P1-37
Control loop Gain switching period
parameter set 1 or 2
Control loop
parameter set 3
Upon completion of the movement, if the position deviation filtered by filter defined by parameter
P1-40 is less than the position deviation threshold in parameter P1-39 for longer than the period
defined in parameter P1-38, the position condition for switching to control loop parameter set 3
is met.
Velocity condition for switching to control loop parameter set 3
P1-41
P1-42 Low speed
Low speed delay time
threshold
Actual speed
P1-37
Control loop Gain switching period
parameter set 1 or 2
Control loop
parameter set 3
Upon completion of the movement, if the actual velocity for motor is lower than the velocity
threshold in parameter P1-42 for longer than the period defined in parameter P1-41, the position
condition for switching to control loop parameter set 3 is met.
7-32 TM
1
Overview
Dynamic gain switching: Position
deviation delay time 0.1 ms
Max. 2000 DYC - -
Period of time for position detection after motion is finished.
When motion is finished, if the position deviation after filtering by the filter defined in P1-40 is 2
within the position thresholds defined in P1-39 for a period of time longer than the value given
Selection
Type
in this parameter, dynamic gain switching "Position" condition is met.
Installation
deviation threshold 0.1 deg
Max. 100 DYC - -
Position deviation thresholds for dynamic gain switching.
Wiring
In increments of 0.1 deg
Front Panel
Dynamic gain switching: Filter time
P1-40 Default 100 P - -
constant for position deviation 0.1 ms
Max. 2000 DYC - -
Filter time constant for position deviation for dynamic gain switching.
Operation
Commissioning
Dynamic gain switching: Low speed
delay time 0.1 ms
Max. 2000 DYC - -
Period of time for speed detection after motion is finished.
8
Diagnostics
When motion is finished, if the actual speed is lower than the thresholds defined in P1-42 for a
period of time longer than the value given in this parameter, dynamic gain switching "Speed"
condition is met.
In increments of 0.1 ms 9
Parameters

threshold
Max. 50
1/min
DYC - - 10
Communication

Low speed threshold for dynamic gain switching.
TM
7-33
Chap05. Front Panel
Following methods of switching to control loop parameter set 3 can be set via parameter P1-36:
P1-36 = 0 / Dynamic Gain Switch Disable:

Disable the adaptive stiffness index switching
P1-36 = 1 / Dynamic Gain Switch No Ramp:

Direct parameter switching for adaptive stiffness index switching
P1-36 = 2 / Dynamic Gain Switch Deep Sleep Mode:

Switching to stiffness index even lower than the lower stiffness in P1-44
P1-36 = 3 / Dynamic Gain Switch With Ramp:

Adaptive stiffness index switching with slope
When parameter P1-36 = 3 / Dynamic Gain Switch With Ramp is select and when the switching
conditions are met, linear switching of dynamic gain takes place during the period defined in
parameter P1-37.

Dynamic gain switching: Selection of
switching method -
Max. 3 DYC - -
Dynamic gain switching selection
0 / Dynamic Gain Switch Disable: Disable the adaptive stiffness index switching
1 / Dynamic Gain Switch No Ramp: Direct parameter switching for adaptive stiffness index
switching
2 / Dynamic Gain Switch Deep Sleep Mode: Switching to stiffness index even lower than the
lower stiffness in P1-44
3 / Dynamic Gain Switch With Ramp: Adaptive stiffness index switching with slope
When parameter P0-01 = 0 / Invalid, when the switching conditions are met, the values of the
following parameters are changed gradually:
P1-00 / P1-14
P1-01 / P1-15
P1-02 / P1-16
P1-04 / P1-17
P1-05 / P1-18
When parameter P0-01 = 1 / Standard, 2 / Passive or 3 / Adaptive, when the switching
conditions are met, the values of the following parameters are changed gradually:
P0-02 / P1-44
When this parameter is set to 2 / Dynamic Gain Switch Deep Sleep Mode, after the switch of
dynamic gain to lower ones, the dynamic gain will further decrease to half of the lower gain.

Dynamic gain switching: Period of
time for dynamic gain switching 0.1 ms
Max. 2000 DYC - -
Period of time for dynamic gain switching with ramp.
When parameter P1-36 = 3 / Dynamic Gain Switch With Ramp, when the switching conditions
are met, values of dynamic gain will change gradually within the given period in this parameter.
7-34 TM
The mode of switching to control loop parameter set 3 can be set via parameter P1-43:
1
Overview
P1-43 = 0 / Position And Velocity:
Control loop gain will switch when both dynamic gain switching "Position" and "Speed"
conditions are met.
P1-43 = 1 / Position Or Velocity:

2
Selection
Type
Position controller gain will switch seperately when dynamic gain switching "Position"
condition is met, velocity controller gain will switch seperately when dynamic gain switching
"Speed" condition is met.

3
Installation
low speed optimization mode -
Max. 1 DYC - -
Selection of low speed optimization mode
0 / Position And Velocity: Control loop gain will switch when both dynamic gain switching 4
"Position" and "Speed" conditions are met
Wiring
1 / Position Or Velocity: Position controller gain will switch seperately when dynamic gain
switching "Position" condition is met, velocity controller gain will switch seperately when
dynamic gain switching "Speed" condition is met.
Front Panel
Upon receive new motion command again, the control loop parameter set 1 or 2 will be enabled.
Operation
7
Commissioning
8
Diagnostics
9
Parameters
10
Communication
TM
7-35
Chap05. Front Panel
7.7.3 Auto Adaptive Control Stiffness Switching
When parameter P0-01 is set to 1 / Standard, 2 / Passive or 3 / Adaptive, the auto adaptive control
loop takes effective. Easy Lexium 16 servo drive provides two auto adaptive control stiffnesses:
P0-02 Auto adaptive stiffness index
P1-44 Dynamic gain switching: stiffness for lower gain
The auto adaptive control loop parameters are calculated based on either of the 2 stiffness
indexes and the system inertia ratio in P0-03.
Auto adaptive stiffness index takes effective during motion, while stiffness for lower gain is
effective when servo motor is at low speed or rest.
During motion
Auto adaptive stiffness index
P0-02
P1-36
P1-37
P1-38
P1-39
P1-40
P1-41
P1-42
Stiffness for lower gain
P1-44
7-36 TM
The conditions for switching to stiffness for lower gain consists of position and velocity:
1
Overview
Position condition for switching to stiffness for lower gain
P1-40 P1-38
Position deviation filter Position deviation
P1-39
Position deviation
threshold
delay time
2
Selection
Type
Position
command
P1-37 3
Installation
Auto adaptive Gain switching period
stiffness index
Stiffness for
lower gain
t 4
Wiring
Upon completion of the movement, if the position deviation filtered by filter defined by parameter
P1-40 is less than the position deviation threshold in parameter P1-39 for longer than the period
defined in parameter P1-38, the position condition for switching to stiffness for lower gain is met.
5
Front Panel
Velocity condition for switching to stiffness for lower gain
P1-41
P1-42
Low speed
Low speed
delay time 6
Operation
threshold
Actual speed
P1-37
Auto adaptive Gain switching period
stiffness index 7
Commissioning
Stiffness for
lower gain
Upon completion of the movement, if the actual velocity for motor is lower than the velocity
8
Diagnostics
threshold in parameter P1-42 for longer than the period defined in parameter P1-41, the position
condition for switching to stiffness for lower gain is met.
9
Parameters
10
Communication
TM
7-37
Chap05. Front Panel
Max. 2000 DYC - -
When motion is finished, if the position deviation after filtering by the filter defined in P1-40 is

Max. 100 DYC - -

P1-40 Default 100 P - -
Max. 2000 DYC - -

delay time 0.1 ms
Max. 2000 DYC - -
When motion is finished, if the actual speed is lower than the thresholds defined in P1-42 for a
condition is met.

threshold 1/min
Max. 50 DYC - -
7-38 TM
Following methods of switching to stiffness for lower gain can be set via parameter P1-36:
1
Overview
P1-36 = 0 / Dynamic Gain Switch Disable:
Disable the adaptive stiffness index switching
P1-36 = 1 / Dynamic Gain Switch No Ramp:

Direct parameter switching for adaptive stiffness index switching
2
Selection
Type
P1-36 = 2 / Dynamic Gain Switch Deep Sleep Mode:
Switching to stiffness index even lower than the lower stiffness in P1-44
P1-36 = 3 / Dynamic Gain Switch With Ramp:

Adaptive stiffness index switching with slope
3
Installation
When parameter P1-36 = 3 / Dynamic Gain Switch With Ramp is select and when the switching
conditions are met, linear switching of dynamic gain takes place during the period defined in
parameter P1-37.
4
Wiring
switching method -
Max. 3 DYC - -
Dynamic gain switching selection 5
Front Panel
switching
3 / Dynamic Gain Switch With Ramp: Adaptive stiffness index switching with slope 6
Operation
When parameter P0-01 = 0 / Invalid, when the switching conditions are met, the values of the
P1-00 / P1-14
P1-01 / P1-15
P1-02 / P1-16 7
Commissioning
P1-04 / P1-17
P1-05 / P1-18
P0-02 / P1-44
8
Diagnostics

Parameters
Max. 2000 DYC - -
10
Communication
TM
7-39
Chap05. Front Panel
The mode of switching to stiffness for lower gain can be set via parameter P1-43:
P1-43 = 0 / Position And Velocity:

Control loop gain will switch when both dynamic gain switching "Position" and "Speed"
conditions are met.
P1-43 = 1 / Position Or Velocity:

Position controller gain will switch seperately when dynamic gain switching "Position"
condition is met, velocity controller gain will switch seperately when dynamic gain switching
"Speed" condition is met.

Max. 1 DYC - -
0 / Position And Velocity: Control loop gain will switch when both dynamic gain switching
Upon receive new motion command again, the auto adaptive stiffness index will be enabled.
7-40 TM
1
7.8 Manual Tuning (Advanced)
Overview
7.8.1 Feedforward Tuning
2
Selection
Type
In cascade control loop, the position controller compares the difference between reference
position and the actual position of the motor, then calculates the reference value for velocity
controller based on the deviation. With velocity feedforward control, additional velocity command
calculated based on velocity controller reference value will be added on the velocity controller
reference value. Thus, position deviation can be further reduced also better system response
can be achieved. 3
Installation
Moreover, additional current feedforward command calculated based on current controller
reference value can be added to the current controller reference value, in order to optimize the
response time of the velocity controller.
Easy Lexium 16 servo drive provides both velocity feedforward and current feedforward 4
Wiring
functions. There are 2 individual velocity feedforward parameters in Ctrl1 and Ctrl2 respectively,
and 1 current feedforward parameter for all control parameter sets.
By using of velocity feedforward control the position deviation at a constant velocity can be
further reduced as shown in the equation below in proportion to the value of velocity feedforward
gain:
5
Front Panel
Position deviation = Velocity command / Position controller proportion gain * (100% - Velocity
feedforward gain)
With the gain set at 100% the calculated position deviation is 0, but significant overshoot occurs
during acceleration and deceleration. Meanwhile, the operating noise may increase while the
6
Operation
velocity feedforward gain is increasing. In such a case, please use PTI command smooth filter via
parameter P1-23 and P1-24 or reduce the velocity feedforward gain.

P1-03
Control set 1: Velocity feed-forward
control
Default 550
0.1 %
P - - 7
Commissioning
Max. 2000 DYC - -
Parameter set 1: Velocity feed-forward control
In increments of 0.1%
8
Diagnostics

P1-10 Default 550 P - -
control
Max. 2000
0.1 %
DYC - - 9
Parameters


Communication
TM
7-41
Chap05. Front Panel
P1-26 Acceleration feed-forward control Default 0 P - -
0.1 %
Max. 3000 DYC - -
Acceleration feed-forward control
In increments of 0.1 %

P1-10 Default 550 P - -
control 0.1 %
Max. 2000 DYC - -

for velocity -
Max. 1 DYC - -
0 / Off: Off
1 / 1: 1 ms
2 / 2: 2 ms
4 / 4: 4 ms
8 / 8: 8 ms
16 / 16: 16 ms
32 / 32: 32 ms
64 / 64: 64 ms
128 / 128: 128 ms
7-42 TM
1
7.8.2 Manual Notch Filters
Overview
In case of mechanical resonance, you cannot set up a higher gain because of vibration and
noise occur due to oscillation. By suppressing the resonance peak at the notch filter, higher gain
can be obtained or the level of vibration and noise can be lowered. 2
Selection
Type
Easy Lexium 16 servo drive supports 4 sets of manual notch filters, each control loop parameter
set contains 2 sets respectively. Depending on the control loop parameter set enabled, 2 manual
notch filters are enabled at a time.
CTRL1 / Control Loop Parameter Set 1 CTRL2 / Control Loop Parameter Set 2 3
Installation
P2-07 Control Set 1 Notch filter 1: Damping P2-15 Control Set 2 Notch filter 1: Damping
P2-08 Control Set 1 Notch filter 1: Frequency P2-16 Control Set 2 Notch filter 1: Frequency
P2-09 Control Set 1 Notch filter 1: Bandwidth P2-17 Control Set 2 Notch filter 1: Bandwidth
P2-10 Control Set 1 Notch filter 2: Damping P2-18 Control Set 2 Notch filter 2: Damping
P2-11 Control Set 1 Notch filter 2: Frequency P2-19 Control Set 2 Notch filter 2: Frequency 4
P2-12 Control Set 1 Notch filter 2: Bandwidth P2-20 Control Set 2 Notch filter 2: Bandwidth
Wiring
Mechanical properties at resonance
Resonance
5
Front Panel
Antiresonance
Characteristics Frequency
of notch filter 6
Operation
Width
Damping 7
Commissioning
Frequency
When setting the manual notch filters, it is necessary to estimate the mechanical resonance
frequency. It is recommended to use the scope function of commissioning software SoMove for
8
Diagnostics
the estimation:
Start the scope function of commissioning software SoMove, add the actual velocity for motor
in the channel list.
Set sampling interval of scope. According to the law of sampling, the sampling period of
scope determines the maximum range frequency domain. The sampling period shall be
set to a smaller value for higher frequency domain estimation and a larger value for lower
9
Parameters
frequency domain estimation.

Drive the servo motor either by command from controller or by Jog operation, transmit
the trace of actual velocity for motor into frequency domain by FFT and try to identify the
resonance frequency.
Gradually increase P1-01 Velocity controller P gain of speed or P0-02 auto adaptive tuning
stiffness, trace the actual velocity for motor and transmit it into frequency by FFT again, then
10
Communication
try to identify the resonance frequency.

After the resonance frequency is identified, set the notch filters parameters with the
frequency identified as well as the bandwidth and damping. Drive the servo motor again to
see if the mechanical resonance has been suppressed successfully.
TM
7-43
Chap05. Front Panel
P2-07 Control Set 1 Notch filter 1: Damping Default 900 P - -
0.1 %
Max. 990 DYC - -
Control Set 1 Notch filter 1: Damping

P2-08 Control Set 1 Notch filter 1: Frequency Default 15000 P - -
0.1 Hz
Max. 15000 DYC - -
Control Set 1 Notch filter 1: Frequency
In increments of 0.1 Hz

Control Set 1 Notch filter 1:
P2-09 Default 700 P - -
Bandwidth 0.1 %
Max. 900 DYC - -
Control Set 1 Notch filter 1: Bandwidth

0.1 %
Max. 990 DYC - -

0.1 Hz
Max. 15000 DYC - -
7-44 TM
1
Overview
P2-12 Default 700 P - -
Bandwidth 0.1 %
Max. 900 DYC - -
2
Selection
Type
Min.
P2-15 Control Set 2 Notch filter 1: Damping Default
550
900
Unit Relatd Mode
P - -
3
Installation
0.1 %
Max. 990 DYC - -
In increments of 0.1 % 4
Wiring

P2-16 Control Set 2 Notch filter 1: Frequency Default
Max.
15000
15000
0.1 Hz
P
DYC
-
-
-
-
5
Front Panel
6
Operation
P2-17 Default 700 P - -
Bandwidth 0.1 %
Max. 900 DYC - -
7
Commissioning

0.1 %
Max. 990 DYC - -
Control Set 2 Notch filter 2: Damping 9
Parameters

10
Communication
TM
7-45
Chap05. Front Panel
0.1 Hz
Max. 15000 DYC - -

P2-20 Default 700 P - -
Bandwidth 0.1 %
Max. 900 DYC - -
7-46 TM
1
7.8.3 Vibration Suppression
Overview
This function reduces vibration at the top of the long rod-shaped load by removing the vibration
frequency components specified by the position command.
2
Set the end vibration frequency End vibration
Selection
Type
Observed with
external sensor
End vibration
Position Torquecommand
command Damping
filter
Position/
speed
Current
control
Motor
Movement
3
Installation
control Motor current Machine
Position/speed feedback
Encoder
Drive
4
Wiring
Easy Lexium 16 servo drive supports 2 sets of anti-vibration filters:

P2-26 Frequency for anti vibration filter 1 Default
Max.
500
3000
0.1 %
P
DYC
-
-
-
-
5
Front Panel
Frequency for anti vibration filter 1
6
Operation
Damping fator for anti vibration filter
1 0.1 Hz
Max. 2000 DYC - -
7
Commissioning
Damping fator for anti vibration filter 1

P2-28 Frequency for anti vibration filter 2 Default 500 P - -
0.1 %
Max. 3000 DYC - -
Frequency for anti vibration filter 2 9
Parameters

10
Communication
TM
7-47
Chap05. Front Panel
2 0.1 Hz
Max. 2000 DYC - -
The vibration suppression function does not work properly, or no effect is obtained under the
following conditions:
Vibration is triggered by other factors than command (such as external disturbance).
The vibration frequency is out of the range of 1~200Hz
Where vibration suppression filter is used, first measure the vibration frequency at the top of the
load with displacement sensor, read out the vibration frequency in unit of Hz, set the frequency
as well as the damping factor in the parameters based on the measured result. If no measuring
device is available, measure the frequency based on the residual vibration of the position
deviation waveform using the scope function of the commissioning software SoMove, then
continue the settings accordingly.
Position error
Command
speed
Calculate vibration
frequency
7-48 TM
10
Type
1
9
7-49 TM
Chap08. Diagnostics
8.1 Diagnostics via HMI................................................................................................................ 8-1

8.1.1 Indicating the Operation State...................................................................................................8-1
8.1.2 Reading of Last Warning Message...........................................................................................8-2
8.1.3 Reading of Last Fault Message..................................................................................................8-4
8.1.4 Reading of Saved Fault Messages............................................................................................8-6
8.2 Diagnostics via Signal Outputs............................................................................................ 8-8
8.2.1 Indicating the Operation State...................................................................................................8-8
8.2.2 Indicating Error Message.............................................................................................................8-9
8.3 Acknowledge Error Message............................................................................................. 8-11
8.3.1 Acknowledge Error Message via HMI................................................................................... 8-11
8.3.2 Acknowledge Error Message via Signal Input.................................................................... 8-12
8.4 Error Messages...................................................................................................................... 8-13
8.4.1 Error Messages Overview........................................................................................................ 8-13
8.4.2 Table of Error Messages........................................................................................................... 8-14
1
8.1 Diagnostics via HMI
Overview
8.1.1 Indicating the Operation State
2
Selection
Type
The integrated HMI provides the user with operating states.
With the factory setting, the 7-segment display shows the operating states. The table below
provides an overview of information about the operating states that can be displayed.
HMI Display Operation State Description 3
Installation
son 5 Start Power stage is switched on 4
Wiring
active
5
Front Panel
6
Operation
7
Commissioning
8
Diagnostics
9
Parameters
10
Communication
TM
8-1
Chap08. Diagnostics
8.1.2 Reading of Last Warning Message
In the case of a detected warning of error class 0, all contents displayed on HMI will start
blinking as an indication. Meanwhile, no interruption of the movement will happen.
User can however read last detected warning of error class 0 via HMI:
When there is an active detected warning of error class 0, the user can read the error code via
HMI in following two ways:
• Press and hold S key for more than 2.5 seconds, the HMI will display the error code of
detected warning of error class 0.
• The error code of detected warning of error class 0 will also be saved in HMI parameter
group MON -> ErrM -> LWrn.
Please refer to chapter “8.4.2 Table of Error Messages” for detailed meaning of error codes.
Press S key to display last detected warning

5 M S
of error class 0.
8-2 TM
Users can also read last warning of error class 0 in "Error Memory" tab in SoMove with more
1
Overview
detiled information.
Selection
Type
3
Installation
4
Wiring
5
Front Panel
6
Operation
7
Commissioning
8
Diagnostics
9
Parameters
10
Communication
TM
8-3
Chap08. Diagnostics
8.1.3 Reading of Last Fault Message
In the case of a detected fault of error class 1, the error code and "stop" are alternately shown
on the 7-segment display.
In the case of a detected fault of error class 2 ... 4, the error code and flt are alternately shown
on the 7-segment display.
User can read the error code of last detected fault of error class 1 ... 4 via HMI parameter group
MON -> ErrM -> LFlt.
5 M S Press UP or DOWN key to select "LFlt".
Press S key to display last detected fault of

6 M S
error class 1 ... 4.
8-4 TM
Users can also read last fault of error class 1 ... 4 in "Error Memory" tab in SoMove with more
1
Overview
detiled information.
Selection
Type
3
Installation
4
Wiring
5
Front Panel
6
Operation
7
Commissioning
8
Diagnostics
9
Parameters
10
Communication
TM
8-5
Chap08. Diagnostics
8.1.4 Reading of Saved Fault Messages
Besides the last fault of error class 1 ... 4, user can read error codes of last 9 saved fault of error
class 1 ... 4 via HMI parameter group MON -> ErrM -> Fltn in chronological order.
Note, the number of sub-nodes under "History" are dynamic in nature. If the number of faults are
more than one, then the sub-nodes are Error n-1, Error n-2 ... Error n-9.
Press UP or DOWN key to select interested

5 M S
saved fault message.
Press S key to display selected saved fault

6 M S
of error class 1 ... 4.
8-6 TM
Besides the last fault of error class 1 ... 4, users can also read last 9 saved faults of error class 1 ...
1
Overview
4 in "Error Memory" tab in SoMove with more detailed information in chronological order.
Note, the number of sub-nodes under "History" are dynamic in nature. If the number of faults are
more than one, then the sub-nodes are Error n-1, Error n-2 ... Error n-9.
2
Selection
Type
3
Installation
4
Wiring
5
Front Panel
6
Operation
7
Commissioning
8
Diagnostics
9
Parameters
10
Communication
TM
8-7
Chap08. Diagnostics
8.2 Diagnostics via Signal Output
8.2.1 Indicating the Operation State
Information on the operating state is available via the signal outputs.

The table below provides an overview:
Signal output function

Operating state "No fault" "Active"
1 Start 0 0
2 Not Ready To Switch On 0 0
3 Switch On Disabled 0 0
4 Ready To Switch On 1 0
5 Switched On 1 0
6 Operation Enabled 1 1
7 Quick Stop Active 0 0
8 Fault Reaction Active 0 0
9 Fault 0 0

-
Max. 125 DYC - -
Function Output of DQx
Code Related Mode
NO NC P DYC
No Fault No fault found on device 2 102 √ √

8-8 TM
1
8.2.2 Indicating Error Message
Overview
Selected error messages can be output via the signal outputs.
In order to output an error message via a signal output, you must first parameterizes the signal
output functions “Selected Fault” or “Selected Warning” via parameters P3-06 ... P3-08.
2
Selection
Type
The parameters P6-07 and P6-08 are used to specify error codes with the error classes 1 ... 4.
If a fault with error classes 1 ... 4 specified in these parameters is detected the corresponding
signal output with function “Selected Fault” is to be set.
3
The parameters P6-09 and P6-10 are used to specify error codes with the error class 0. If a
Installation
warning with error class 0 specified in these parameters is detected the corresponding signal
output with function “Selected Warning” is to be set.
4
Wiring
-
Max. 125 DYC - -
Function Output of DQx 5
Front Panel
Code Related Mode
NO NC P DYC
Selected Warning
16 116 √ √
6
Operation
0 is active

7
Commissioning
First error code for the signal output
function selected fault -
Max. 65535 DYC - -
First number for the signal output function selected fault
This parameter specifies the error code of a fault of error classes 1...4 which is to activate the 8
Diagnostics
signal output function.
Second error code for the signal

Min. 0 Unit Related Mode 9
Parameters
output function selected Fault -

Max. 65535 DYC - -
Second number for the signal output function selected fault
This parameter specifies the error code of a fault of error classes 1...4 which is to activate the
signal output function. 10
Communication
TM
8-9
Chap08. Diagnostics
function selected warning -
Max. 65535 DYC - -
First error code for the signal output function selected warning
This parameter specifies the error code of a warning of error class 0 which is to activate the

output function selected warning -
Max. 65535 DYC - -
Second error code for the signal output function selected warning
8-10 TM
1
8.3 Acknowledge Error Message
Overview
8.3.1 Acknowledge Error Message via HMI
2
Selection
Type
In the case of an error, it can be reset via HMI through the following operations:

The error code and flt are alternately shown
on the HMI.
3
0 M S
Installation
After remedy of the error cause, press S key,
HMI shows "FrES"
1 M S Press S key, try to reset error.

4
Wiring
If the error has been reset successfully, HMI
2 shows "rdy", servo drive is now ready for
operation.
Front Panel
6
Operation
7
Commissioning
8
Diagnostics
9
Parameters
10
Communication
TM
8-11
Chap08. Diagnostics
8.3.2 Acknowledge Error Message via Signal Input
In the case of an error, it can be reset via signal input through following steps:
• Assign function "Fault Reset" to one of the signal inputs via parameter P3-00 ... P3-05.
• After remedy of the error cause,the error will be reset when an input is detected on the signal
input assigned as "Fault Reset".

-
Max. 143 DYC - -
Code Related Mode
NO NC P DYC

It is also possible to add an additional "Fault Reset" with rising or falling edge of the detected
input on the signal input assigned as "Enable" via parameter P3-17.

-
Max. 143 DYC - -
Code Related Mode
NO NC P DYC


Additional 'Fault Reset' for the signal
input function 'Enable' -
Max. 2 DYC - -
Additional 'Fault Reset' for the signal input function 'Enable'
0 / Off: No additional 'Fault Reset'
1 / OnFallingEdge: Additional 'Fault Reset' with falling edge
2 / OnRisingEdge: Additional 'Fault Reset' with rising edge
8-12 TM
1
8.4 Error Messages
Overview
8.4.1 Error Messages Overview
2
Selection
Type
If monitoring functions of the drive detect an error, the drive generates an error message. Each
fault message is identified by an error code.
The error messages are classified according to the following error classes:
Installation
Error State Resetting the error
Error response
class transition(1) message
0 - No interruption of the movement
1 T11 Stop movement with “Quick Stop”
• Fault reset via HMI
2 T13, T14
Stop movement with “Quick Stop” and disable
the power stage when the motor has come to a
4
• Fault reset via
Wiring
standstill signal input
Disable the power stage immediately without
3 T13, T14
stopping the movement first
Disable the power stage immediately without
4 T13, T14
stopping the movement first
Restart device
5
Front Panel
(1) Please refer to chapter “6.2.3 Error Class and Response” for further information.
The table below summarizes the error codes classified by range:

6
Operation
Error code Range
E 1xxx General
E 2xxx Overcurrent
E 3xxx Voltage
E 4xxx Temperature 7
Commissioning
E 5xxx Hardware
E 6xxx Software
E 7xxx Interface, wiring
E Axxx Motor movement
E Bxxx
E Cxxx
Communication
DYC
8
Diagnostics
E Exxx User defined error in DYC mode
9
Parameters
10
Communication
TM
8-13
Chap08. Diagnostics
8.4.2 Table of Error Messages
The following information is available for each error message:
Error code
Error class
Error description
Possible cause
Recommended remedies
E 1xxx: General
Error Error
Error description Possible cause Recommended remedies
code class
The value entered was
The entered value must be
Parameter out of outside of the permissible
1100 0 within the permissible value
permissible value range value range for this
range.
parameter.
Error detected by
parameter management: Select a different parameter
1101 0 Parameter does not exist
Parameter (subindex) does (index).
not exist.
Error detected by
parameter management: Select a different parameter
1102 0 Parameter does not exist
Parameter (subindex) does (sub-index).
not exist.
Parameter write not Write access to read only Write only to parameters
1103 0
permissible (READ only) parameter. that are not read-only.
Write access denied (no Parameter only accessible The write access level
1104 0
access authorization) at expert level. expert is required.
Block upload / Download
1105 0
not initialized
Command not permissible
while the power stage is
Command not permissible Disable the power stage
1106 0 enabled (operating state
while power stage is active and repeat the command.
Operation Enabled or Quick
Stop Active).
Access occupied by
another channel (for
Access via other interfaces example: Commissioning Verify the channel that
1107 0
blocked software is active and blocks access.
fieldbus access was tried
at the same time).
File cannot be uploaded:
1108 0
Incorrect file ID
Data stored after a power
1109 1
outage is invalid
System error detected: No
110A 0
Bootloader available
Error detected during
Value in additional error
parameter check (for
Configuration download information shows the
example, reference velocity
error detected (additional Modbus register address
110B 3 value for operating mode
info=Modbus register of the parameter where
Profile Position is greater
address) the initialization error was
than maximum permissible
detected.
velocity of drive).
Basic configuration of “The "First Setup" (FSU)
110D 1 drive required after factory was not run at all or not Perform a First Setup.
setting completed.
8-14 TM
1
(Continue)
Overview
Error Error
code class
Restart the drive to activate
Only displayed by the
the parameter functionality.
110E 0
Parameter changed that
requires a restart of the
commissioning software.
A parameter modification
See the chapter Parameters 2
for the parameter that
Selection
Type
drive requires the drive to be
requires a restart of the
powered off and on.
drive.
Verify that you have the
The specific type of device
correct device type, in
Function not available in does not support this
110F 0
this type of device function or this parameter
particular type of motor,
type of encoder, holding
3
value.
Installation
brake.
The specific type of device Verify that you have the
Incorrect file ID for upload
1110 0 does not support this kind correct device type or the
or download
of file. correct configuration file.
File transfer not correctly A previous file transfer has
1111 0
initialized been aborted. 4
Wiring
An external tool has tried
to lock the configuration
of the drive for upload or
download. This may not
Locking of configuration work because another tool
1112 0
denied had already locked the
configuration of the drive or
5
Front Panel
the drive is in an operating
state that does not allow
locking.
An external tool has tried to
System not locked for
1113 0
configuration transfer
transfer the configuration
without locking the drive. 6
Operation
During a configuration
download, a communication
error or an error in the Power the drive off/on
Configuration download external tool was detected. and retry to download the
1114 4
aborted The configuration was configuration or restore the
only partially transferred factory settings. 7
to the drive and might be
Commissioning
inconsistent now.
An external tool has
Incorrect configuration file downloaded a configuration
1115 0
format which has an incorrect
Request is processed
format.
8
1116 0
Diagnostics
asynchronously
Request to a module
is blocked because
Asynchronous request
1117 0 the module is currently
blocked
processing another
request. 9
Parameters
The configuration data

Configuration data Verify device type including
1118 0 contains data from a
incompatible with device type of power stage.
different device.
Incorrect data length, too
1119 0
many bytes
111A 0
Incorrect data length,
insufficient number of bytes
10
Communication
TM
8-15
Chap08. Diagnostics
(Continue)
Error Error Recommended
Error description Possible cause
code class remedies
Verify that the configuration
file is valid and matches
the type and version of
Configuration download During a configuration
the drive. The value in
error detected (additional download, one or more
111B 4 the additional error info
info=Modbus register configuration values were
shows the Modbus register
address) not accepted by the drive.
address of the parameter
where the initialization
error was detected.
The address of the
parameter that caused the
Not possible to initialize A parameter could not be
111C 1 detected error can be read
recalculation for scaling initialized.
via the parameter _PAR_
ScalingError.
Power the drive off and on
again. This may help you
Original state of a The drive contained an
to identify the affected
parameter cannot be invalid configuration
parameter(s). Change the
restored after an error before the recalculation
111D 3 parameters as required.
was detected during was started. An error
Verify that the parameter
recalculation of parameters was detected during the
configuration is valid before
with user-defined units. recalculation.
starting the recalculation
procedure.
Wait for the running
Parameter cannot be Recalculation for scaling is
1123 0 recalculation for scaling to
changed running.
finish.
The time between the
initialization of the
Recalculation must be
Timeout during recalculation and the
1124 1 started within 30 seconds
recalculation for scaling start of the recalculation
after initialization.
has been exceeded (30
seconds).
The scaling factors for
position, velocity or
Retry with different scaling
1125 1 Scaling not possible acceleration/deceleration
factors.
are beyond internal
calculation limits.
Close other access
Configuration is blocked channel (for example, other
1126 0
by another access channel instance of commissioning
software).
1127 0 Invalid key received
The selected capture input
Configuration of edges is does not support rising Set the edge to either
112D 0
not supported and falling edge at the “rising” or “falling”.
same time.
Home return is not
PTI pulse conflicts with Don’t perform home return
1130 0 allowable when PTI has
home return in gear mode when PTI has pulse
pulse
PTI pulse conflicts with Jog Jog test run is not allowable Don’t perform Jog test run
1131 0
test run in gear mode when PTI has pulse when PTI has pulse
The frequency of the Verify the frequency of the
Frequency of the external external reference signals external reference values.
1310 2 reference value signal too (A/B signals, P/D signals or Verify the gear ratio in the
high CW/CCW signals) is higher operating mode Electronic
than the permissible value. Gear.
8-16 TM
1
(Continue)
Overview
code class remedies
The selected signal input
The selected signal
function or signal output
1311 0
input function or signal
output function cannot be
function cannot be used
Select another function or
change the operating mode.
2
in the selected operating
Selection
Type
configured
mode.
Assign the signal input
Reference movements
Limit switch or reference functions Positive Limit
require limit switches.
1312 0 switch signal not defined Switch, Negative Limit
These limit switches are not
for signal input function
assigned to inputs.
Switch, and Reference
Switch.
3
Installation
Configured debounce time The signal input function
Set the debounce time to a
1313 0 not possible for this signal does not support the
valid value.
input function selected debounce time.
The same signal input
At least two inputs have the
1314 4 function has been assigned Reconfigure the inputs.
same signal input function.
to at least two inputs. 4
Wiring
Adapt the frequency
of the reference value
The frequency of the pulse
signal to match the input
signal (A/B, Pulse/Direction,
specification of the drive.
CW/CCW) exceeds the
Frequency of reference Also adapt the gear ratio
1315 0
value signal is too high.
specified range. Received
pulses may be lost.
in the operating mode
Electronic Gear to the
5
Front Panel
Received pulses may be
application requirements
lost.
(position accuracy and
velocity).
Interfering pulses or
1317 0 Interference at PTI input

impermissible edge
transitions (A and B signal
Verify cable specifications,
shield connection and EMC.
6
Operation
simultaneously) have been
detected.
Oscilloscope: No additional
1600 0
data available
Oscilloscope:
1601 0 Parameterization 7
Commissioning
incomplete
Oscilloscope: Trigger
1602 0
variable not defined
1606 0 Logging still active
1607 0 Logging: No trigger defined
1608 0
Logging: Invalid trigger 8
Diagnostics
option
Logging: No channel
1609 0
selected
160A 0 Logging: No data available
Parameter cannot be
160B 0
logged 9
Verify that the system can
Parameters
Autotuning: Moment of easily be moved. Verify the

160C 1 inertia outside permissible The load inertia is too high. load.
range Use a differently rated
drive.
160E 1
Autotuning: Test movement
could not be started 10
Communication
Autotuning was not started Start Autotuning when the

Autotuning: Power stage
160F 1 in the operating state drive is in the operating
cannot be enabled
Ready to Switch On. state Ready to Switch On.
TM
8-17
Chap08. Diagnostics
(Continue)
code class remedies
Autotuning stopped by user
command or by detected
error (see additional error
Autotuning: Processing Remove the cause of the
1610 1 message in error memory,
stopped stop and restart Autotuning.
for example, DC bus
undervoltage, limit switches
triggered)
System error detected:
1611 1 Parameter could not be
written during Autotuning
1612 1 Parameter could not be
read during Autotuning
Autotuning: Maximum The movement exceeded
Increase the movement
1613 1 permissible movement the adjusted movement
range value
range exceeded range during Autotuning.
Autotuning has
been started twice Wait for Autotuning to
1614 0 Autotuning: Already active simultaneously or an finish before restarting
Autotuning parameter is Autotuning.
modified during Autotuning.
Autotuning: This parameter Parameter AT_gain or Wait for Autotuning to
1615 0 cannot be changed while AT_J are written during finish before changing the
Autotuning is active Autotuning. parameter.
easily be moved.
Autotuning: Friction torque The current limit has been
1617 1 Verify the load.
or load torque too great reached (parameter P4-08).
Use a differently rated
drive.
The internal Autotuning
See the additional
Autotuning: Optimization sequence has not been
1618 1 information provided in the
aborted finished, there may have
error memory.
been a following error.
Parameter AT_n_ref < 2 *
Autotuning: Velocity jump in Modify the parameter AT_
AT_n_tolerance.
1619 0 parameter AT_n_ref is not n_ref or AT_n_tolerance to
The drive only checks this
sufficient meet the required condition.
for the first velocity jump.
Product rating is not
suitable for the machine
Autotuning: Load torque
1620 1 load. Detected machine Reduce load, verify rating.
too high
inertia is too high compared
to the inertia of the motor.
1621 1
Calculation error
Autotuning can only be Terminate the active
Autotuning: Not possible to
1622 0 performed if no operating operating mode or disable
perform Autotuning
mode is active. the power stage.
Autotuning: HALT request Autotuning can only be Terminate the active
1623 1 has stopped the autotuning performed if no operating operating mode or disable
process mode is active. the power stage.
Auto adaptive tuning: Acceleration below
Increase the operational
The acceleration and lower limit; inaccurate
1624 0 acceleration and
deceleration below the identification of real-time
deceleration
lower limit: 2,000 rpm auto tuning
When the oscillation
Adaptive notch filter: frequency is less than
1625 0 Oscillation frequency below 150Hz, the adaptive notch
the lower limit: 150Hz filter exhibits no obvious
suppression effect
8-18 TM
1
(Continue)
Overview
Error Error
code class
1A00 0
FIFO memory overflow
Motor has been changed
Detected motor type is 2
1A01 3 different from previously Confirm the change.
Selection
Type
(different type of motor)
detected motor.
1A03 4 Hardware and firmware do
not match
1A04 0
SDFM value not read in time
Please contact the Technical
Support Department
3
Installation
System error detected: Incorrect manufacturer
1B00 3 Incorrect parameters for parameter value (data) non- Replace device.
motor and power stage volatile memory of device.
1B02 3 Target value too high.
Product of encoder Value in parameter
Reduce the resolution of
the encoder simulation
4
simulation resolution and P4-07 or resolution or the
Wiring
1B04 2 in parameter P0-18 or
the maximum velocity is too encoder simulation P0-18
the maximum velocity in
high are too high.
parameter P4-07.
Error detected during
1B05 2 parameter switching
5
Front Panel
The operating state at
Set the operating state to
the beginning of the
Ready To Switch On and
1B0B 3 commutation offset
restart commutation offset
identification must be Ready
identification.
To Switch On.
1B0C 3 Motor velocity too high. 6
Operation
1B0F 3 Velocity deviation too high
Commissioning
8
Diagnostics
9
Parameters
10
Communication
TM
8-19
Chap08. Diagnostics
E 2xxx: Overcurrent
Error Error
code class
System error detected: DC
2201 3
bus transfer error
Motor short circuit and
disabling of the power Verify the motor power
2300 3 Power stage overcurrent
stage. Motor phases are connection.
inverted.
If you use an external
Braking resistor short braking resistor, verify
2301 3 Braking resistor overcurrent
circuit. correct wiring and rating of
the braking resistor.
Short circuit of the U phase
of motor to the ground and Eliminate the short circuit
Output stage U-phase other phases occurs or the and ensure the power cable
2302 3
Sigma Delta overcurrent output stage is disabled. connection of motor is
Wrong wiring of phase line correct.
for motor
Short circuit of the W phase
of motor to the ground and Eliminate the short circuit
Output stage W-phase other phases occurs or the and ensure the power cable
2303 3
Sigma Delta overcurrent output stage is disabled. connection of motor is
Wrong wiring of phase line correct.
for motor
Short circuit of the U and
W phases of motor to the Eliminate the short circuit
Output stage U- and
ground and other phases and ensure the power cable
2304 3 W-phase Sigma Delta
occurs or the output stage connection of motor is
overcurrent
is disabled. Wrong wiring of correct.
phase line for motor
Excessively high load, motor Check the connection
stalling, loss of encoder between motor and
Excessively large output
2305 3 connection, or incorrect load; check the encoder
stage current offset
connection of motor phase connection; check the power
lines cable connection of motor
E 3xxx: Voltage
Error Error
code class
The absence of phase lasts
longer than 50 ms.
Assure the consistency of
Absence of power supply, The supply voltage is
3100 2 supply voltage with technical
undervoltage or overvoltage outside the valid range. The
parameters.
supply frequency is outside
the valid range
Absence of 24V output of Switching power supply is Please contact the Technical
3101 0
switching power supply out of service Support Department
Verify correct deceleration
Excessively regeneration
3200 3 DC bus overvoltage ramp, rating of drive and
during deceleration.
braking resistor.
DC bus undervoltage Power supply outage,
3201 3 Verify mains supply.
(shutdown threshold) insufficient power supply.
DC bus undervoltage (Quick Power supply outage,
3202 2 Verify mains supply.
Stop threshold) insufficient power supply.
Undervoltage DC bus, Verify that the values of the
missing mains supply, Lack of power supply or mains power supply network
3206 0
undervoltage mains supply insufficient supply voltage comply with the technical
or overvoltage mains supply data.
8-20 TM
1
E 4xxx: Temperature
Overview
Error Error
code class
Transistors
Verify the fan, improve
Power stage overtemperature: Ambient
4100 3
overtemperature temperature is too high, fan
the heat dissipation in the
cabinet.
2
is inoperative, dust.
Selection
Type
Transistors
Verify the fan, improve
Power stage overtemperature: Ambient
4101 0 the heat dissipation in the
overtemperature temperature is too high, fan
cabinet.
is inoperative, dust.
4102 0 or 3 Power stage overload (I2t)

The current has exceeded
the nominal value for an
Verify rating, reduce cycle 3
Installation
time.
extended period of time.
Improve heat dissipation in
the control cabinet.
If a fan is installed, verify
Excessively high ambient correct operation of the fan.
4200 3 Device overtemperature temperature due to, for Install a fan in the control 4
Wiring
example, dust. cabinet.. Improve heat
transfer from the rear wall
of the device to the control
cabinet.
Improve the heat dissipation
of control cabinet.
Please assure the proper
5
Front Panel
Excessively high ambient functioning of fan (if any).
Excessively high temperature, dust or other Please install a fan in the
4201 0
temperature of CPU factors impair the heat control cabinet. Please
dissipation. improve the thermal
conductivity from the back
of equipment to the control 6
Operation
cabinet.
The current has exceeded easily be moved.
4302 0 or 3 Motor overload (I2t) the nominal value for an Verify the load.
extended period of time. Use a differently sized motor,
if necessary. 7
Regeneration energy too
Commissioning
2 high. External loads too Reduce load, velocity,
Braking resistor overload (I t
4402 0 high. Motor velocity too deceleration. Verify correct
> 75%)
high. Deceleration too fast. braking resistor rating
Insufficient braking resistor.
Regeneration energy too
2 high. External loads too Reduce load, velocity, 8
Braking resistor overload (I t
Diagnostics
4403 0 high. Motor velocity too deceleration. Verify correct
> 100%)
high. Deceleration too fast. braking resistor rating
Insufficient braking resistor.
9
Parameters
10
Communication
TM
8-21
Chap08. Diagnostics
E 5xxx: Hardware
Error Error
code class
The hardware revision does
5207 1 Function is not supported
not support the function.
5430 4
EEPROM read error
System error: EEPROM
5431 3
write error
5432 3
state machine
5433 3
address error
5434 3
incorrect data length
System error: EEPROM not
5435 4
formatted
5436 4
incompatible structure
5437 4 EEPROM checksum error
(manufacturer data)
(user parameters)
System error detected: No
543B 4
valid manufacturer data
543E 3
EEPROM checksum error
543F 3 EEPROM checksum error
(motor parameters)
EEPROM checksum
5441 4
error (global control loop
parameter set)
5442 4
(control loop parameter set
1)
5443 4
(control loop parameter set
2)
(NoReset parameter)
(hardware information)
Restart the drive. If the
EEPROM checksum error Internal EEPROM not
5446 4 detected error persists,
(used for power outage operative.
contact Technical Support.
data)
544A 4 EEPROM checksum error
(administration data)
544C 4
EEPROM is write protected
8-22 TM
1
(Continue)
Overview
Error Error
code class
5468 4
(control loop parameter set 2
3)
Selection
Type
5469 4
(real-time auto tuning
parameter set)
5600 3
Motor connection phase
error detected
Missing motor phase.
Verify connection of motor
phases.
3
Installation
Incorrect wiring of motor
Verify motor phases, verify
cable. Encoder signals
encoder wiring.
are lost or subject to
Improve EMC, verify
interference.
grounding and shield
The load torque is greater
5603 3
Commutation error
detected
than the motor torque.
connection.
Use a differently sized motor
4
Wiring
The encoder EEPROM
that can withstand the load
contains incorrect data
torque.
(encoder phase offset is
Verify the motor data.
incorrect).
Contact Technical Support.
Motor is not adjusted.
Output stage overcurrent

Assure the correct
connection of encoder/
5
Front Panel
is detected; the current ensure the correct power
Incorrect encoder signal/
loop command is equal to connection for motor/check
incorrect connection of
5604 3 the max. current threshold the mechanical system
motor phase line/motor
(300%) for a period of time to avoid stalling; check
overload
that is longer than the time the matching between
set in P6-24 motor and load; check the 6
Operation
acceleration ramp
Commissioning
8
Diagnostics
9
Parameters
10
Communication
TM
8-23
Chap08. Diagnostics
E 6xxx: Software
Error Error
code class
6102 4
Internal software error
6103 4
System stack overflow
6104 0
Division by zero (internal)
6105 0 Overflow during 32 bit
operation (internal)
System error detected: Size
6106 4 of data interface does not
match
Parameter outside of value
6107 0 range (calculation error
detected)
6108 0 Function not available
6109 0
Internal range exceeded
Calculated value cannot
610A 2
be represented as a 32 bit
value
Error detected in selection Incorrect parameter value
610D 0 Verify the value to be written.
parameter selected.
System error detected: 24
610E 4 VDC, below undervoltage
threshold for shutdown
610F 4 Internal timer basis missing
(Timer0)
6111 2
Memory area locked
System error detected: Out
6112 2
of memory
Calculated value cannot
6113 1
be represented as a 16 bit
value
Impermissible function
6114 4 Incorrect programming
call from interrupt service
routine
8-24 TM
1
E 7xxx: Interface, wiring
Overview
Error Error
code class
Error detected in power
stage data stored in device
7100 4
Invalid power stage data
(incorrect CRC), error
Contact Technical Support
or replace the device.
2
detected in internal memory
Selection
Type
data.
An attempt is made
Verify that the external
Parameter cannot be to change one of the
braking resistor is not active
changed because the parameters P0-22, P0-23
7111 0 if one of the parameters P0-
external braking resistor is or P0-24 even though the
active. external braking resistor is
22, P0-23 or P0-24 has to be 3
changed.
Installation
active.
Error detected in motor
Invalid motor data data stored in motor Contact Technical Support
7122 4
parameter encoder, error detected in or replace the motor.
internal memory data.
712D 4
Motor model data not Motor model data not Perform FSU “first setup” or 4
Wiring
configured configured set the parameter P6-00
No data segment of the
712F 0
electronic motor nameplate
7132 0 Motor configuration cannot
be written 5
Front Panel
Not possible to write motor
7133 0
configuration
Incomplete motor
7134 4
configuration
7135 4 Format is not supported
7136 4
Incorrect encoder type
selected with parameter P6-
Perform FSU “first setup” or 6
Operation
set the parameter P6-01
01
Error detected during the
7137 4 internal conversion of the
motor configuration
7138 4
Parameter of the motor
configuration out of 7
Commissioning
permissible range
Encoder offset: Data
7139 0 segment in encoder is
incorrect.
Power-on the servo drive
Detected motor type is
again. 8
Diagnostics
Motor has been changed Restore the servo drive to
713B 4 different from previously
(different type of motor) factory default.
detected motor.
7200 4
Calibration analog/
digital converter during
9
Parameters
manufacturing / incorrect
BLE file
Reduce encoder signal
System error detected: Analog and digital encoder
interference, verify shield
7347 0 Position initialization not signals subject to massive
connection.
possible interference.
Contact Technical Support. 10
Communication
Index pulse is not available

734D 0
for the encoder
RS485/Modbus: Overflow
7500 0 EMC, cabling. Verify cables.
error detected
TM
8-25
Chap08. Diagnostics
(Continue)
Error Error
code class
RS485/Modbus: Framing
error detected
RS485/Modbus: Parity error
detected
RS485/Modbus: Receive
error detected
7601 4 Indeterminable type of
encoder
Maximum encoder Velocity too high for the
760C 2
frequency exceeded encoder.
Incorrect encoder Verify encoder cable: wiring
Incorrect communication
wiring/adjustment or and shield connection.. Verify
7619 4 between module and
incorrect encoder encoder parameter settings.
encoder
parameter settings Verify encoder adjustment.
Incorrect communication
Verify encoder cable: wiring
761A 0 between module and Incorrect encoder wiring.
and shield connection.
encoder
Velocity too high for the
encoder.In the case of
Maximum velocity of the
761D 3 BISS, the reason may also
encoder is exceeded
be a detected encoder
communication error.
Please check the cable
Encoder is not connected
Incremental encoder connection. Please check
762A 3 or the communication is
initialization failed the cable specifications,
disturbed, EMC
shield connection and EMC
Incremental encoder The motor rotates when the
initialization failed: The drive is powered on, which Stop and perform the power-
762B 3
motor rotates when results in the failure of initial on again
powered on position identification
Motor velocity detected Reduce encoder signal
Encoder signal is disturbed,
by incremental encoder interference, verify shield
762C 3 velocity is too high for the
exceeds maximum connection.
encoder.
threshold. Reduce motor velocity.
Encoder internal
762D 3
communication error
8-26 TM
1
E Axxx: Motor movement
Overview
Error Error
code class
Position reference change
Position change in reference Reduce the resolution of the
is too high. Error detected
A061 2 value for operating mode
Electronic Gear too high
at signal input for reference
master. Verify signal input
for reference value signal.
2
value.
Selection
Type
Wait until the currently
A065 0 Parameter cannot be written A data set is still active. active data set has been
terminated.
Operating mode Electronic Start operating mode
Offset positioning not
A068 0
possible
Gear inactive or no gear
method selected.
Electronic Gear and/or
select a gear method.
3
Installation
If offset positioning is
Setting the offset position is Wait until ongoing offset
A069 0 active, it is not possible to
not possible positioning has finished.
set the position offset.
The position deviation has Verify the velocity of the
Position deviation in
become excessively high external reference values
A06B 2 operating mode Electronic
Gear too high
due to a velocity limitation and the velocity limitation. 4
Wiring
or the release of direction. Verify release of direction.
HALT was removed too
Wait for complete stop
soon.
before removing HALT
Deceleration after HALT New command was sent
A300 0 signal.
request still running before motor standstill
was reached after a HALT
Wait until motor has come to
a complete standstill. 5
request.
Front Panel
Error with error class 1
Drive in operating state
A301 0 detected. Drive stopped
Quick Stop Active
with Quick Stop.
The positive limit switch
was activated because
movement range was
Verify application. 6
Operation
A302 1 Stop by positive limit switch Verify limit switch function
exceeded, incorrect
and connection.
operation of limit switch or
signal disturbance.
The negative limit switch
was activated because
A303 1 Stop by negative limit switch
movement range was
Verify application.
Verify limit switch function
7
Commissioning
exceeded, incorrect
and connection.
operation of limit switch or
signal disturbance.
A304 1 Stop by reference switch
Drive is in operating state
Quick Stop Active due to
a software stop request.
8
Diagnostics
Stop by user-initiated The activation of a new Clear break condition with
A306 1
software stop operating mode is not command Fault Reset.
possible, the error code is
sent as the response to the
activation command.
In the operating modes 9
Parameters
Homing
and Jog, the movement is
internally interrupted by
Interruption by internal an internal software stop.
A307 0 Perform a Fault Reset.
software stop The activation of a new
operating mode is not
possible, the error code is
10
Communication
sent as the response to the

activation command.
TM
8-27
Chap08. Diagnostics
(Continue)
Error Error
code class
Verify the error code (HMI
Drive is in operating state
Error with error class 2 or or commissioning software),
A308 0 Fault or Fault Reaction
higher detected. remove the cause and
Active
perform a Fault Reset.
A command was sent
that requires the drive to
be in the operating state Set drive to operating state
Drive not in operating state
A309 0 Operation Enabled (for Operation Enabled and
Operation Enabled
example, a command to repeat the command.
change the operating
mode).
Command cannot be used
Set drive to an operating
because the power stage
state in which the power
A310 0 Power stage not enabled is not enabled (operating
stage is enabled, see state
state Operation Enabled or
diagram.
Quick Stop Active).
A start request for an
operating mode has been
Operating mode change
A311 0 received while a change
active
of the operating mode was
active.
Profile generation
A312 0
interrupted
The movement range limits
Position overflow, zero point were exceeded and the Define a valid zero point
A313 0 is therefore no longer valid zero point is no longer valid. by means of the operating
(ref_ok=0) An absolute movement mode Homing.
requires a valid zero point.
Overflow during calculation
A316 0
of acceleration
Command sent which is not
permissible when the motor
is not at a standstill.
For example:
Wait until the motor has
- Change of software limit
A317 0 Motor is not at a standstill come to a standstill (x_end =
switches
1).
- Change of handling of
monitoring signals
- Setting of reference point
Activation of a new Wait until the command

operating mode is not in the operating mode
Operating mode active (x_
A318 0 possible while another has finished (x_end=1) or
end=0)
operating mode is still terminate active operating
active. mode with HALT command.
The movement exceeds the Verify permissible movement
Manual tuning/Autotuning:
A319 1 parameterized maximum range value and time
Movement out of range
movement range. interval.
Amplitude plus offset for
Manual tuning/Autotuning: Choose lower amplitude and
A31A 0 tuning exceed internal
Amplitude/offset too high offset values.
velocity or current limitation.
Command not permissible Clear Halt request and
A31B 0 Halt requested
while Halt is requested. repeat command.
Value for negative (positive)
software limit switch is
Invalid position setting with
A31C 0 greater (less) than value for Set correct position values.
software limit switch
positive (negative) software
limit switch.
8-28 TM
1
(Continue)
Overview
Error Error
code class
The velocity was set to
a value greater than the
A31D 0
Velocity range exceeded maximum permissible
Reduce the velocity value.
2
parameter P4-07 velocity in parameter P4-07
Selection
Type
or current motor maximum
velocity, whichever is lower.
Not possible to execute
Stop by positive software command because positive Return to the permissible
A31E 1
limit switch software limit switch was
triggered.
movement range.
3
Installation
Not possible to execute
Stop by negative software command because negative Return to the permissible
A31F 1
limit switch software limit switch was movement range.
triggered.
Reduce external load
or acceleration. Use a 4
Wiring
differently rated drive, if
Permissible position External load or
A320 3 necessary.
deviation exceeded acceleration are too high.
Error response can be
adjusted via parameter P0-
20
A321 0
Invalid setting for RS422
position interface
5
Front Panel
Error detected in ramp
A322 0
calculation
A323 3 Processing error detected
during generation of profile
Homing movement was
6
Operation
Error detected during stopped in response to a
Possible sub-error codes:
homing detected error, the detailed
A324 1 E A325, E A326, E A327,
(additional info = detailed reason is indicated by the
EA328 or E A329.
error code) additional info in the error
memory.
Limit switch to be
Homing to positive limit
Enable limit switch via
7
Commissioning
A325 1 switch or negative limit
approached not enabled 'IOsigLimP' or 'IOsigLimN'.
switch is disabled.
Reference switch not found Reference switch
Verify the function and wiring
A326 1 between positive limit switch inoperative or not correctly
of the Reference switch.
and negative limit switch connected.
More than one signal
positive limit switch/negative
Reference switch or limit
switch not connected Verify the wiring and 24
8
Diagnostics
A329 1
limit switch/reference switch correctly or supply voltage VDC supply voltage.
active for switches too low.
Start reference movement
Verify correct connection
with negative direction
and function of limit switch.
(for example, reference
A32A 1
Positive limit switch
triggered with negative
movement to negative limit
Activate a jog movement
with negative direction
9
Parameters
switch) and activate the

direction of movement of movement (target limit
positive limit switch (switch
switch must be connected to
in opposite direction of
the negative limit switch).
movement).
Start reference movement Verify correct connection
with positive direction
(for example, reference
and function of limit switch.
Activate a jog movement
10
Communication
Negative limit switch

movement to positive limit with positive direction of
A32B 1 triggered with positive
switch) and activate the movement
direction of movement
negative limit switch (switch (target limit switch must be
in opposite direction of connected to the positive
movement). limit switch).
TM
8-29
Chap08. Diagnostics
(Continue)
Error Error
code class
Reference switch error Switch signal disturbance. Verify supply voltage, cabling
detected Motor subjected to vibration and function of switch.
A32C 1 (switch signal briefly or shock when stopped Verify motor response after
enabled or switch after activation of the switch stopping and optimize
overtraveled) signal. control loop settings.
Positive limit switch error Switch signal disturbance. Verify supply voltage, cabling
detected Motor subjected to vibration and function of switch.
A32D 1 (switch signal briefly or shock when stopped Verify motor response after
enabled or switch after activation of the switch stopping and optimize
overtraveled) signal. control loop settings.
Verify supply voltage,
Switch signal disturbance.
Negative limit switch error cabling and function of
Motor subjected to vibration
detected (switch signal switch.
A32E 1 or shock when stopped
briefly enabled or switch Verify motor response after
after activation of the switch
overtraveled) stopping and optimize
signal.
control loop settings.
Index pulse signal not
Verify index pulse signal and
A32F 1 Index pulse not found connected or not working
connection.
properly.
Increase the distance
Reference movement to between the index pulse
The position difference
index pulse cannot be and the switching point.
between the index pulse
A330 0 Reproduced. Index pulse If possible, the distance
and the switching point is
is too close to the switch between the index pulse and
insufficient.
Parameter the switching point should
be a half motor revolution.
Jog error detected Jog movement was stopped For additional info, verify the
A332 1 (additional info = detailed in response to a detected detailed error code in the
error code) error. error memory.
Position deviation after Verify load.
movement greater than Verify settings for standstill
Timeout Standstill Window
A334 2 standstill window. This may window (parameter P6-15,
monitoring
have been caused by an P6-16 and P6-17). Optimize
external load. control loop settings.
System error detected: Jerk
limitation with position offset
A336 1 after end of movement
(additional info = offset in
Inc.)
The selected operating
A338 0 Operating mode unavailable
mode is not available.
No zero point defined
by means of operating
mode Homing. Zero Use operating mode Homing
No valid zero point (ref_ point no longer valid due to define a valid zero point.
A33A 0
ok=0) to movement beyond Use a motor with an absolute
permissible movement encoder.
range. Motor does not have
an absolute encoder.
Activation of a function
which is not available in
the active operating mode.
Function not available in
A33C 0 Example: Start of backlash
this operating mode
compensation while
autotuning/manual tuning is
active.
Reduce external load or
Permissible position External load or acceleration. Threshold
A347 0
deviation exceeded acceleration are too high. value can be adjusted via
the parameter P0-20.
8-30 TM
1
(Continue)
Overview
Error Error
code class
Position scaling of P5-
Change P5-01 and P5-02 in
Position setting exceeds 01 and P5-02 results in a
A349 0
system limits scaling factor that is too
such a way as to increase
the resulting scaling factor.
2
small.
Selection
Type
Operating mode Electronic
Gear with processing
Deactivate jerk filter
method 'Position
processing for Electronic
synchronization with
Change for jerk filter input Gear or use processing
A350 1
position too great
compensation movement'
has been activated which
method 'Position 3
synchronization without
Installation
resulted in a position
compensation movement'.
change greater than 0.25
revolutions.
The positions scaling factor
Function cannot be is set to a value less than Use a different position
A351 1 executed with this position 1rev/131072usr_p, which scaling factor or deactivate 4
scaling factor is less than the internal the selected function.
Wiring
resolution.
The triggered limit switch
The limit switch trigger
fails to move to the new Remove the limit switch
A35C 1 signal holds, and the motor
reference position, even if signal
fails to move any more
the error has been reset 5
Front Panel
6
Operation
E Bxxx: Communicaiton
code class remedies
RS485/Modbus: Unsupported Modbus Verify application on the
B100 0
Indeterminable service service was received. Modbus master.
Incorrect I/O data The I/O data configuration 7
Commissioning
configuration (additional or the Modbus I/O scanning Verify the configuration of
B101 1
info = Modbus register configuration contains an the I/O data.
address) invalid parameter.
Logical protocol error
RS485/Modbus: Protocol detected: Incorrect Verify application on the
B200 0
error detected length or unsupported
subfunction.
Modbus master. 8
Diagnostics
Verify all connections
RS485/Modbus: Connection monitoring has
and cables used for data
B201 2 Interruption of the detected an interruption of
exchange. Verify that the
connection the connection.
device is on.
RS485/Modbus: Connection monitoring has
Verify all connections
and cables used for data 9
B202 0 Interruption of the detected an interruption of
Parameters
exchange. Verify that the

connection the connection.
device is on.
RS485/Modbus: Incorrect
B203 0
number of monitor objects
10
Communication
TM
8-31
Chap08. Diagnostics
E Cxxx: DYC
Error Error
code class
One of the MD index
One of the MD index exceed border. Available
C200 3 Please check script content.
exceeds border MD index is between 0 ...
47.
Power-on servo drive angain.
Perform factory restore to
Error when loading script Error when loading script
C201 3 device.
from EEPROM from EEPROM
Download script to servo
drive again.
C202 3 No script available. No script available.
Too much script content,
Script operation cycletime script can not be finished Increase value of parameter
C203 3
is exceeded. within cycletime defined in P7-00 or set P7-00 to 0.
parameter P7-00.
Try to simplify script content.
Insufficient RAM when Insufficient RAM when
C204 3 Contact Technical Support
saving script to EEPROM. saving script to EEPROM.
Illegal operation of divided Illegal operation of divided
C205 3 Check script content.
by 0 found in script. by 0 found in script.
One of the timer base
One of the timer base exceeds border. Available
C206 3 Check script content.
exceeds border timer base is between 1 ...
20000 ms.
E Exxx: User defined error in DYC mode

Error Error
code class
User defined error in DYC
Exxx 3
mode
8-32 TM
10
Type
1
9
8-33 TM
Chap09. Parameters
9.1 Parameter Overview................................................................................................................ 9-1

9.2 P0 - Basic Settings.................................................................................................................. 9-4
9.3 P1 - Motor Control.................................................................................................................. 9-11
9.4 P2 - Damping........................................................................................................................... 9-22
9.5 P3 - I/O...................................................................................................................................... 9-28
9.6 P4 - Velocity / Torque............................................................................................................ 9-35
9.7 P5 - External............................................................................................................................ 9-37
9.8 P6 - Special.............................................................................................................................. 9-45
9.9 P7 - Motion Task..................................................................................................................... 9-58
9.10 Pu - DYC User Defined....................................................................................................... 9-59
1
9.1 Parameter Overview
Overview
• Parameter NO. Parameter Related
No. Description Mode Page
Parameter Group
P0.00
Sub Index
Group Sub
13 Control set 2: Friction compensation gain
P
o o
D
2
Selection
Type
9-13
14 Control set 3: Position controller P gain o o
• Related Mode 15 Control set 3: Velocity controller P gain o o
P: Electronic Gear Position Control set 3: Velocity controller integral action
D: Dynamic PLC (Internal motion task) 16
time
o o
Control set 3: Filter time constant of the
17 o o 9-14
3
Parameter Related reference velocity value filter
No. Description Mode Page Control set 3: Filter time constant of the
18
reference current value filter
o o
Group Sub P D
Installation
Speed of rotation up to which the friction
00 Operating mode o o 19
compensation is linear
o o
01 Tuning mode selection o o 9-4 20 PID velocity controller: D gain o o
02 Stiffness index o o PID velocity controller: Time constant of D term
21
smoothing filter
o o
03 Real time inertia ratio o o 9-15
Velocity controller integral action time of
o o
4
22
04 Load type selection o o parameter set 2
9-5
05 Control table selection o o 23 Activation of jerk limitation o -
Wiring
06 Inversion of direction of movement o o 24 Jerk limitation of the motion profile for velocity o o
Enabled direction of movement for operating 25 Filter time constant for Position Reference o o
07
mode Electronic Gear
o o 9-16
08 Type of reference value signal for PTI interface o o 9-6 26 Acceleration feed-forward control o o
【
09 Filter time for input signals at the PTI interface o o P 27 Torque load feed-forward control o o
【
P
10 Selection of gear ratio o
o
o
o 】
1 28 Filter time constant to smooth velocity of motor
Maximum current for field weakening (d
o
o
o
o
5
Front Panel
11 1st Denominator of gear ratio 29 9-17
component)
Motor Control
9-7
0 12 1st Numerator of gear ratio o o Selection of control loop parameter set at
】 30
power up
o o
13 2nd Denominator of gear ratio o o
31 Condition for parameter set switching o o
Basic Settings
14 2nd Numerator of gear ratio o o

32 Time window for parameter set switching o o 9-18
15
Electronic Gear
o o Position deviation for control loop parameter
16
Treatment of position changes with inactive
power stage
o o
9-8
33
34
set switching
Velocity threshold for control loop parameter
o
o
o
o
6
Operation
Velocity limitation for the method Position set switching
17
Synchronization
o o Period of time for control loop parameter set
35
switching
o o 9-19
18 Resolution of encoder simulation o o
Dynamic gain switching: Selection of switching
19 Inversion of direction of encoder simulation o o 36
method
o o
20 Maximum load-dependent position deviation o o Dynamic gain switching: Period of time for
9-9 37
dynamic gain switching
o o
21
Error response to excessivly high load-
dependent position deviation
o o
38
Dynamic gain switching: Position deviation
delay time
o o 7
Commissioning
22 Nominal power of external braking resistor o o 9-20
Dynamic gain switching: Position deviation
39 o o
23 Resistance value of external braking resistor o o threshold
Maximum permissible switch-on time of Dynamic gain switching: Filter time constant for
24 o o 9-10 40
position deviation
o o
external braking resistor
25 Selection of type of braking resistor o o 41 Dynamic gain switching: Low speed delay time o o
42 Dynamic gain switching: Low speed threshold o o
Parameter Related
43
Dynamic gain switching: Selection of low
speed optimization mode
o o
9-21 8
Diagnostics
No. Description Mode Page Dynamic gain switching: Stiffness for lower
44
gain
o o
Group Sub P D
00 Control set 1: Position controller P gain o o
01 Control set 1: Velocity controller P gain o o Parameter Related
Control set 1: Velocity controller integral action No. Description Mode Page
02 o o
9
time 9-11
Group Sub P D
【 03 Control set 1: Velocity feed-forward control o o 00 Adaptive notch filter mode selection o o
Parameters
P Control set 1: Filter time constant of the

1 04
o o 01 Adaptive Notch filter 1: Damping o o
9-22
】 05
Control set 1: Filter time constant of the
o o 【 02 Adaptive Notch filter 1: Frequency o o
P 03 Adaptive Notch filter 1: Bandwidth o o
Motor Control
06 Control set 1: Friction compensation gain o o

2 04 Adaptive Notch filter 2: Damping o o
07 Control set 2: Position controller P gain o o 9-12
】
08 Control set 2: Velocity controller P gain o o
05 Adaptive Notch filter 2: Frequency o o
10
Damping
06 Adaptive Notch filter 2: Bandwidth o o 9-23

Communication
Control set 2: Velocity controller integral action

】 09
time
o o 07 Control Set 1 Notch filter 1: Damping o o
10 Control set 2: Velocity feed-forward control o o 08 Control Set 1 Notch filter 1: Frequency o o
Control set 2: Filter time constant of the 09 Control Set 1 Notch filter 1: Bandwidth o o
11
o o 9-13
Control set 2: Filter time constant of the 10 Control Set 1 Notch filter 2: Damping o o 9-24
12
o o
11 Control Set 1 Notch filter 2: Frequency o o
TM
10-1
Chap09. Parameters
Special
Parameter Related Parameter Related
No. Description Mode Page No. Description Mode Page
Group Sub P D Group Sub P D
12 Control Set 1 Notch filter 2: Bandwidth o o 00 Lock HMI o o
Control Set 1 Overshoot suppression filter: 9-24
13 o o 01 Position scaling (usr_p): Denominator o o
Damping 9-37
Control Set 1 Overshoot suppression filter:
02 Position scaling (usr_p): Numerator o o
14
Time delay
o o Homing: Target velocity for searching the
03
switch (Fast)
o o
15 Control Set 2 Notch filter 1: Damping o o
Homing: Target velocity for moving away from
16 Control Set 2 Notch filter 1: Frequency o o 9-25 04
switch (Slow)
o o
【
17 Control Set 2 Notch filter 1: Bandwidth o o Homing: Maximum search distance after
P 05
overtravel of switch
o o
2 18 Control Set 2 Notch filter 2: Damping o o Homing: Maximum distance for search for 9-38
06 o o
】 19 Control Set 2 Notch filter 2: Frequency o o switching point
20 Control Set 2 Notch filter 2: Bandwidth o o 07 Homing: Distance from switching point o o
【
Damping
Control Set 2 Overshoot suppression filter: P 08 Homing: Position at reference point o o

21
Damping
o o
9-26 5 09 Homing: Preferred homing method o o 9-39
Control Set 2 Overshoot suppression filter:
22
Time delay
o o 】 10 Relative offset position 1 for offset movement o - 9-40
23 Vibration detection Cycle number o o 11 Relative offset position 2 for offset movement o -
External
24 Vibration detection level o o 12 Target velocity for offset movement o -
Acceleration and deceleration for offset 9-41
25 Vibration detection time delay o o 13 o o
movement
26 Frequency for anti vibration filter 1 o o
14 Halt option code o o
27 Damping fator for anti vibration filter 1 o o 9-27
15 Current for Halt o o
28 Frequency for anti vibration filter 2 o o
16 Quick Stop option code o o 9-42
29 Damping fator for anti vibration filter 2 o o
17 Deceleration ramp for Quick Stop o o
18 Current for Quick Stop o o
Parameter Related
No. Mode Page
19 Enable dynamic braking function o o 9-43
Description
Additional time delay for releasing the holding
Group Sub P D 20
brake
o o
00 Function of input DI0 o o Additional time delay for applying the holding
9-28 21
brake
o o
01 Function of input DI1 o o
22 Processing mode of backlash compensation o o
02 Function of input DI2 o o 9-44
23 Posiiton value for backlash compensation o o
9-29 24 Processing time of backlash compensation o o
06 Function of output DQ0 o o
Parameter Related
07 Function of output DQ1 o o 9-30
No. Mode Page
【 Description
P
08 Function of output DQ2 o o Group Sub P D
3 09 Debounce time of DI0 o o 00 Motor type o o 9-45
】 10 Debounce time of DI1 o o 9-31 01 Type of motor encoder o o 9-47
11 Debounce time of DI2 o o 02 MODBUS address o o
I/O
12 Debounce time of DI3 o o 03 MODBUS baud rate o o

13 Debounce time of DI4 o o 9-32 04 MODBUS data format o o
9-48
14 Debounce time of DI5 o o First error code for the signal output function
07
selected fault
o o
15 Enabling the power stage at PowerOn o o
Second error code for the signal output
16 Enabling the power stage even after error o o 08
function selected fault
o o
Additional 'Fault Reset' for the signal input First error code for the signal output function
17 o o 9-33 09 o o
function 'Enable' 【 selected warning
18 Velocity limitation via input o o P Second error code for the signal output 9-49
10
function selected warning
o o
19 Current limitation via input o o 6
】 11 Activation of software limit switches o o
20 CCLR mode o o
9-34 12 Behavior when position limit is reached o o
o o
Special
21 Function of output DQ3

13 Positive position limit for software limit switch o o
14 Negative position limit for software limit switch o o
9-50
Parameter Related
15 Target position reached: standstill window, time o o
No. Mode Page Target position reached: standstill window,
Description 16
permissible control deviation
o o
Group Sub P D
Target position reached: timeout time for
00 Activation of the motion profile for velocity o o 17 o o
【 standstill window monitoring
P 01 Velocity for slow JOG movement o o 18 Monitoring of time window o o 9-51
4 02 Velocity for fast JOG movement o o 9-35 19 Monitoring of position deviation o o
】 Maximum velocity of the motion profile for 20 Monitoring of velocity deviation o o
03
velocity
o o
Velocity / Torque
21 Monitoring of velocity threshold o o

04 Acceleration of the motion profile for velocity o o
22 Monitoring of current threshold o o 9-52
05 Deceleration of the motion profile for velocity o o
Error response to 100% I2t external braking
06 Velocity limit for Zero Clamp o o 23
resistor
o o
9-36
07 Velocity limitation o o
08 Current limitation o o
10-2 TM
Parameter Related
1
Overview
Group Sub P D
24 Current Saturation window time o o 9-52
25 Current limitation of the system o o
Autotuning: Moment of inertia of the entire
26 o o
2
system
【 27 Autotuning: Additional information 1 o o 9-53
P
Selection
Type
28 Autotuning: Additional information 2 o o
6
29 Autotuning: Friction torque of the system o o
】
30 Autotuning: Constant load torque o o
Special
31 Firmware version of device o o 9-52

32 Firmware revision of device o o
33 Suppressing errors o o 9-55 3
Installation
34 User defined special functions o o
Maximun speed during enabling of power 9-56
35
stage
o o
Maximum current load percentage of motor
36
(I2T) at standstill
o o 9-57
Parameter Related
4
Wiring
Group Sub P D
【
P 00 DYC mode cycle time - o
7
】
9-58
5
Front Panel
Motion Task
01 DYC script version No. - o
Operation
Parameter Related
Group Sub P D
00 DYC user defined parameter 0 - o
02
03
DYC user defined parameter 2
-
-
o
o
9-59 7
Commissioning
【 07 DYC user defined parameter 7 - o
P
】
u
08
09
-
-
o
o
9-60 8
Diagnostics
DYC User Defined

- o
9
14 DYC user defined parameter 14
9-61
Parameters

9-62
10
Communication

TM
10-3
Chap09. Parameters
9.2 P0 - Basic Settings

P0-00 Operating mode Default 3 P - -
-
Max. 7 DYC - -
Operating mode
3 / Electronic Gear: Electronic Gear
7 / Dynamic PLC: Internal motion task


P0-01 Tuning mode selection Default 0 P - -
-
Max. 3 DYC - -
Tuning mode selection
0 / Invalid: Auto adaptive tuning is invalid; use the cascade PID control loop parameter
1 / Standard: Standard auto adaptive tuning mode: the system inertia ratio is estimated
automatically, stiffness index is set manually, auto adaptive control loop takes effect.
2 / Passive: Passive auto adaptive tuning mode: both system inertia ratio and stiffness index
are set manually, auto adaptive control loop takes effect.
3 / Adaptive: Adaptive auto adaptive tuning mode: the system inertia ratio is estimated
automatically, stiffness index is also estimated automatically (increase 4 levels at the maximum),
auto adaptive control loop takes effect

P0-02 Stiffness index Default 14 P - -
-
Max. 32 DYC - -
Set the rigidity level for auto adaptive control loop parameters
The control loop parameter is automatically calculated in combination of this parameter and
system load inertia ratio when auto adaptive tuning control loop mode is active.
Higher the stiffness index selected, higher the system response will be achieved. However,
when increasing the value, more system vibration could be expected. Lower the stiffness index
selected, lower the system response will be achieved. Also, there will be less system vibration.
Please change the set values in ascending order.
Changed settings become active immediately
9-4 TM
1
Overview
P0-03 Real time inertia ratio Default 250 P - -
0.01
Max. 10000 DYC - -
Show / set the ratio of load inertia over rotor inertia for auto adaptive control.
This parameter is invalid when parameter P0-01 is set to 0 - invalid. 2
When auto adaptive control loop is in standard mode (P0-01=1) or active mode (P0-01=3),
Selection
Type
the drive automatically estimates the system inertia ratio. The adjustment of this parameter
therefore takes no effect at this moment.
When auto adaptive control loop is in passive mode (P0-01=2), the drive does not estimate
the system inertia ratio, but this parameter still takes effect in the calculation of control loop
parameters. User could manually adjust this parameter. 3
Installation

P0-04 Load Type Selection Default
Max.
1
3
-
P
DYC
-
-
-
-
4
Wiring
Set the load type for auto adaptive tuning
0 / Rotary Disk: Direct connection
1 / Ball Screw: Lead screw
2 / Belt: Belt 5
Front Panel
3 / Large Inertia: Large inertia
The default of P0-02 auto adaptive tuning stiffness index varies depending on the type of load
selected.

6
Operation
P0-05 Control table selection Default 0 P - -
-
Max. 1 DYC - -
Auto adaptive control table selection 7
0 / Standard Mode (Table 1): Standard mode that balances system overshoot and steady-state
Commissioning
time
1 / Positioning Mode (Table 2): Position priority mode; the control loop parameter set employs
long integration time, and the system positioning is free of overshoot
When this parameter is set to “1 / Positioning Mode (Table 2)”, parameter P1-22 can be set and
used to replace the integration time in current parameter set 8
Changed settings become active immediately. Diagnostics

P0-06 Inversion of direction of movement Default
Max.
0
1
-
P
DYC
-
-
-
-
9
Parameters

Inversion of direction of movement
0 / Inversion Off: Inversion of direction of movement is off
1 / Inversion On: Inversion of direction of movement is on
10
Communication

TM
9-5
Chap09. Parameters
Enabled direction of movement for
operating mode Electronic Gear -
Max. 3 DYC - -
Choose whether the motor is allowed to move in forward, reverse or both directions
1 / POSITIVE: Positive direction
2 / NEGATIVE: Negative direction
3 / BOTH: Both directions
This allows you to activate a return movement lock function.

Type of reference value signal for PTI
interface -
Max. 2 DYC - -
Type of reference value signal for PTI interface
0 / A/B Signals: Phase A + Phase B orthogonal signal, with quadruplicated frequency
1 / P/D Signals: Signals PULSE and DIR
2 / CW/CCW Signals: Signals CW and CCW


Filter time for input signals at the PTI
interface -
Max. 2000 DYC - -
A signal at the PTI interface is only evaluated if it is available for a time that is longer than the
set filter time.
0 / Without filter: Invalid low pass filter
2000 / 2000 kHz: The max. frequency of low pass filter is 2000 kHz
50 / 50kHz: The max. frequency of low pass filter is 50 kHz
When parameter P0-06 is set to 0, since phase A + phase B orthogonal signal has
quadruplicated frequency, the minimum value of this parameter shall start from 250kHz

9-6 TM
1
Overview
P0-10 Selection of gear ratio Default 8 P - -
-
Max. 11 DYC - -
Selection of predefined gear ratios
0 / Gear Factor: Usage of gear ratio adjusted with GERRnum / GERRdenom 2
1 / 200: 200
Selection
Type
2 / 400: 400
3 / 500: 500
4 / 1000: 1000
5 / 2000: 2000
6 / 4000: 4000 3
Installation
7 / 5000: 5000
8 / 10000: 10000
9 / 4096: 4096
10 / 8192: 8192
11 / 16384: 16384
4
Wiring

P0-11 1st Denominator of gear ratio Default 10000 P - -
Max. 2147483647
-
DYC - - 5
Front Panel
Denominator of the 1st set of electronic gear parameters
The new gear ratio is applied when the numerator value is supplied. 6
Operation

P0-12 1st Numerator of gear ratio Default 131072
-
P - - 7
Commissioning
Max. 2147483647 DYC - -
Numerator of the 1st set of electronic gear parameters

Diagnostics
P0-13 2nd Denominator of gear ratio Default 10000 P - -
-
Max. 2147483647 DYC - -
Parameters
Denominator of the 2nd set of electronic gear parameters

10
Communication
TM
9-7
Chap09. Parameters
P0-14 2nd Numerator of gear ratio Default 131072 P - -
-
Max. 2147483647 DYC - -
Numerator of the 2nd set of electronic gear parameters

Electronic Gear -
Max. 3 DYC - -
movement
movement

Treatment of position changes with
inactive power stage -
Max. 1 DYC - -
Treatment of position changes with inactive power stage
0 / Off: Position changes in states with disabled power stage are ignored.
1 / On: Position changes in states with disabled power stage are taken into account.
This parameter is effective only when P0-015 is set to "2 - Position synchronization with position
compensation”

Velocity limitation for the method
Position Synchronization usr_v
Max. 2147483647 DYC - -
Velocity limitation for the method Position Synchronization
0: No velocity limitation
>0: Velocity limitation in usr_v
9-8 TM
1
Overview
P0-18 Resolution of encoder simulation Default 10000 P - -
EncInc
Max. 65535 DYC - -
Resolution of encoder simulation
Resolution defines the number of increments per revolution (AB signal with quadruple 2
evaluation). The index pulse is created once per revolution at an interval where signal A and
Selection
Type
signal B are high.

3
Installation
Inversion of direction of encoder
simulation -
Max. 1 DYC - -
Set whether the analog encoder output direction is opposite to the rotation direction of motor 4
0 / Inversion Off: Analog encoder output direction is the same with the rotation direction of
Wiring
motor
1 / Inversion On: Analog encoder output direction is opposite to the rotation direction of motor

Front Panel
Maximum load-dependent position
P0-20 Default 393216 P - -
deviation usr_p
Max. 2147483647 DYC - -
Operation
Maximum load-dependent position deviation
The load-dependent position deviation is the difference between the reference position and
the actual position caused by the load.

7
Commissioning
Error response to excessivly high
load-dependent position deviation -
Max. 3 DYC - -
Error response to excessively high load-dependent position deviation 8
2 / Error Class 2: Error class 2 Diagnostics

Changed settings become active the next time the power stage is enabled. 9
Parameters

Nominal power of external braking
resistor W
Max. 32767 DYC - -
Nominal power of external braking resistor
Communication

TM
9-9
Chap09. Parameters
Resistance value of external braking
P0-23 Default 10000 P - -
resistor 0.01 Ω
Max. 32767 DYC - -
Resistance value of external braking resistor
The minimum value depends on the type of drive
In increments of 0.01 Ω


Maximum permissible switch-on time
P0-24 Default 100 P - -
of external braking resistor ms
Max. 30000 DYC - -
Maximum permissible switch-on time of external braking resistor


P0-25 Selection of type of braking resistor Default 0 P - -
-
Max. 1 DYC - -
Selection of type of braking resistor
0 / No External Braking Resistor: External braking resistor not activated
1 / External Braking Resistor: External braking resistor activated

9-10 TM
1
9.3 P1 - Motor Control
Overview
gain
Max. 9000
0.1 1/s
DYC - -
2
Selection
Type

3
Installation
P1-01 Default 1 0.01 A/ P - -
gain
Max. 25400 (1/min) DYC - -
Wiring
Front Panel
Max. 32767 DYC - -
Control set 1: Velocity controller integral action time 6
Operation

7
Commissioning
P1-03 Default 550 P - -
control 0.1 %
Max. 2000 DYC - -
8
Diagnostics
P1-04
Control set 1: Filter time constant of
Min.
Default
0
900
Unit Relatd Mode
P - -
9
Parameters
the reference velocity value filter 0.01 ms

Max. 32767 DYC - -
Control set 1: Filter time constant of the reference velocity value filter
Communication
TM
9-11
Chap09. Parameters
the reference current value filter 0.01 ms
Max. 400 DYC - -
Control set 1: Filter time constant of the reference current value filter

Control set 1: Friction compensation
P1-06 Default 0 0.01 P - -
gain
Control set 1: Friction compensation gain

gain 0.1 1/s
Max. 9000 DYC - -

P1-08 Default 1 0.01 A/ P - -
gain
Max. 25400 (1/min) DYC - -

Max. 32767 DYC - -
9-12 TM
1
Overview
P1-10 Default 550 P - -
control 0.1 %
Max. 2000 DYC - -
2
Selection
Type
P1-11
Min.
Default
0
900
Unit Relatd Mode
P - -
3
the reference velocity value filter
Installation
0.01 ms
Max. 32767 DYC - -
Wiring

P1-12
the reference current value filter
Default
Max.
50
400
0.01 ms
P
DYC
-
-
-
-
5
Front Panel
6
Operation
Control set 2: Friction compensation
P1-13 Default 0 0.01 P - -
gain
7
Commissioning
Control set 2: Friction compensation gain

gain 0.1 1/s
Max. 9000 DYC - -
Control set 3: Position controller P gain 9
Parameters

10
Communication
TM
9-13
Chap09. Parameters
P1-15 Default 1 0.01 A/ P - -
gain
Max. 25400 (1/min) DYC - -

Max. 32767 DYC - -

P1-17 Default 900 P - -
the reference velocity value filter 0.01 ms
Max. 32767 DYC - -

the reference current value filter 0.01 ms
Max. 400 DYC - -

Speed of rotation up to which the
friction compensation is linear 1/min
Max. 20 DYC - -
Speed of rotation up to which the friction compensation is linear
9-14 TM
1
Overview
P1-20 PID velocity controller: D gain Default 0 P - -
0.1 %
Max. 4000 DYC - -
PID velocity controller: D gain
2
Selection
Type
P1-21
PID velocity controller: Time constant
Min.
Default
1
25
Unit Relatd Mode
P - -
3
of D term smoothing filter
Installation
0.01 ms
Max. 1000 DYC - -
PID velocity controller: Time constant of D term smoothing filter
Wiring

Velocity controller integral action time
P1-22
of positioning mode (table 2)
Default
Max.
0
32767
0.01 ms
P
DYC
-
-
-
-
5
Front Panel
Velocity controller integral action time of positioning mode (table 2)
When parameter P0-05 = 1 / Positioning Mode (Table 2), this parameter is used as the
integration time of auto adaptive control loop
0: Use the default integration time of auto adaptive control loop in position mode 6
>0: This parameter is used as the integration time of auto adaptive control loop in positioning
Operation
mode
This parameter takes effect when P0-01 = 1 / Standard, 2 / Passive or 3 / Adaptive.
Commissioning

P1-23 Activation of jerk limitation Default
Max.
0
1
-
P
DYC
-
-
-
-
8
Diagnostics
Activation of jerk limitation
0 / Off: Jerk limitation deactivated
1 / PosSyncOn: Jerk limitation active
9
The time for jerk limitation must be set via parameter P1-24.
Parameters
10
Communication
TM
9-15
Chap09. Parameters
for velocity -
Max. 1 DYC - -
0 / Off: Off
1 / 1: 1 ms
2 / 2: 2 ms
4 / 4: 4 ms
8 / 8: 8 ms
16 / 16: 16 ms
32 / 32: 32 ms
64 / 64: 64 ms
128 / 128: 128 ms

Filter time constant for Position
Reference 0.01 ms
Max. 25600 DYC - -
Filter time constant for Position Reference

P1-26 Acceleration feed-forward control Default 0 P - -
0.1 %
Max. 3000 DYC - -
Acceleration feed-forward control

P1-27 Torque load feed-forward control Default 0 P - -
0.1 %
Max. 3000 DYC - -
Torque feed-forward control
9-16 TM
1
Overview
Filter time constant to smooth velocity
of motor 0.01 ms
Max. 3000 DYC - -
Filter time constant to smooth velocity of motor
2
Selection
Type
P1-29
Maximum current for field weakening
Min.
Default
0
0
Unit
0.01 P
Relatd Mode
- -
3
(d component)
Installation
Maximum current for field weakening (d component)
This value is only limited by the minimum/maximum parameter range (no limitation of this value
by motor/power stage). 4
The actually effective field weakening current is the minimum of P1-29 and one half of the lower
Wiring
value of the nominal current of the power stage and the motor

5
Front Panel
Selection of control loop parameter
set at power up -
Max. 2 DYC - -
6
Operation
Selection of control loop parameter set at power up
0 / Switching Condition: The switching condition is used for control loop parameter set
switching
2 / Parameter Set 2: Control loop parameter set 2 is used 7
Commissioning
8
Diagnostics
9
Parameters
10
Communication
TM
9-17
Chap09. Parameters
P1-31 Condition for parameter set switching Default 0 P - -
ms
Max. 1000 DYC - -
Condition for parameter set switching
0 / None or Digital Input: None or digital input function selected
1 / Inside Position Deviation: Inside position deviation (value definition in parameter P1-33)
2 / Below Reference Velocity: Below reference velocity (value definition in parameter P1-34)
3 / Below Actual Velocity: Below actual velocity (value definition in parameter P1-33)
4 / Reversed: Reserved
In the case of parameter set switching, the values of the following parameters are changed
gradually:
P1-00 / P1-07
P1-01 / P1-08
P1-02 / P1-09
P1-03 / P1-10
P1-04 / P1-11
P1-05 / P1-12
The following parameters are changed immediately after the time for parameter set switching
(P1-35):
P2-07 / P2-15
P2-08 / P2-16
P2-09 / P2-17
P2-10 / P2-18
P2-11 / P2-19
P2-12 / P2-20
P2-13 / P2-21
P2-14 / P2-22
P1-06 / P1-13

Time window for parameter set
switching ms
Max. 1000 DYC - -
Control loop parameter set switches the time window for monitoring of position error and
speed threshold:
0: Monitoring window disabled
>0: Window time for the parameters switching

Position deviation for control loop
P1-33 Default 1310 P - -
parameter set switching usr_p
Max. 2147483647 DYC - -
Position deviation for parameter set switching
When parameter P1-31 = 1 / Inside Position Deviation, if the position error is smaller than this
parameter value, control loop parameter set 2 will be used; otherwise, control loop parameter
set 1 will be used
9-18 TM
1
Overview
Velocity threshold for control loop
parameter set switching usr_v
Max. 2147483647 DYC - -
Velocity threshold for parameter set switching
When parameter P1-31 = 2 / Below Reference Velocity, if the target speed is smaller than this 2
Selection
Type
set 1 will be used
When parameter P1-31 = 3 / Below Actual Velocity, if the actual speed is smaller than this
set 1 will be used
3
Installation

Period of time for control loop
parameter set switching ms
Max. 2000 DYC - - 4
Wiring
Period of time for parameter switching
In the case of control loop parameter set switching, the values of the following parameters are
changed gradually:
P1-00 / P1-07
P1-01 / P1-08 5
Front Panel
P1-02 / P1-09
P1-03 / P1-10
P1-04 / P1-11
P1-05 / P1-12
Operation
switching method -
Max. 3 DYC - -
Function:
Dynamic gain switching selection
MODBUS Addr: 4450
7
Commissioning
switching
3 / Dynamic Gain Switch With Ramp: Adaptive stiffness index switching with slope
8
When parameter P0-01 = 0 / Invalid, when the switching conditions are met, the values of the Diagnostics
P1-00 / P1-14
P1-01 / P1-15
P1-02 / P1-16 9
Parameters
P1-04 / P1-17
P1-05 / P1-18
P0-02 / P1-44
10
Communication
TM
9-19
Chap09. Parameters
Max. 2000 DYC - -

Max. 2000 DYC - -
When motion is finished, if the position deviation after filtering by the filter defined in P1-40 is

Max. 100 DYC - -

P1-40 Default 100 P - -
Max. 2000 DYC - -
9-20 TM
1
Overview
delay time 0.1 ms
Max. 2000 DYC - -
When motion is finished, if the actual speed is lower than the thresholds defined in P1-42 for a 2
Selection
Type
condition is met.
Installation
threshold 1/min
Max. 50 DYC - -
Wiring

Front Panel
Max. 1 DYC - -
0 / Position And Velocity: Control loop gain will switch when both dynamic gain switching
6
Operation

7
Commissioning
Dynamic gain switching: Stiffness for
lower gain 1/min
Max. 50 DYC - -
Stiffness for lower gain 8
Diagnostics
P0-02 / P1-44

9
Parameters
10
Communication
TM
9-21
Chap09. Parameters
9.4 P2 - Damping
P2-00 Adaptive notch filter mode selection Default 0 P - -
-
Max. 3 DYC - -
Selection of adaptive notch filter mode
0 / Invalid: The adaptive notch filters are not set automatically, parameters of adaptive notch
filters remain unchanged
1 / Enable 1: Enable the 1st set of adaptive notch filters
2 / Enable 2: Enable the 1st and 2nd sets of adaptive notch filters
3 / Reset: Reset all adaptive notch filters

P2-01 Adaptive Notch filter 1: Damping Default 900 P - -
0.1 %
Max. 990 DYC - -
Adaptive Notch filter 1: Damping

P2-02 Adaptive Notch filter 1: Frequency Default 15000 P - -
0.1 Hz
Max. 15000 DYC - -
Adaptive Notch filter 1: Frequency

P2-03 Adaptive Notch filter 1: Bandwidth Default 700 P - -
0.1 %
Max. 900 DYC - -
Adaptive Notch filter 1: Bandwidth
9-22 TM
1
Overview
P2-04 Adaptive Notch filter 2: Damping Default 900 P - -
0.1 %
Max. 990 DYC - -
Adaptive Notch filter 2: Damping
2
Selection
Type
P2-05 Adaptive Notch filter 2: Frequency

Min.
Default
500
15000
Unit Relatd Mode
P - -
3
Installation
0.1 Hz
Max. 15000 DYC - -
Adaptive Notch filter 2: Frequency
In increments of 0.1 Hz 4
Wiring

P2-06 Adaptive Notch filter 2: Bandwidth Default
Max.
700
900
0.1 %
P
DYC
-
-
-
-
5
Front Panel
Adaptive Notch filter 2: Bandwidth
6
Operation
0.1 %
Max. 990 DYC - -
7
Commissioning

0.1 Hz
Max. 15000 DYC - -
Control Set 1 Notch filter 1: Frequency 9
Parameters

10
Communication
TM
9-23
Chap09. Parameters
P2-09 Default 700 P - -
Bandwidth 0.1 %
Max. 900 DYC - -

0.1 %
Max. 990 DYC - -

0.1 Hz
Max. 15000 DYC - -

P2-12 Default 700 P - -
Bandwidth 0.1 %
Max. 900 DYC - -

Control Set 1 Overshoot suppression
filter: Damping 0.1 %
Max. 500 DYC - -
Control Set 1 Overshoot suppression filter: Damping
9-24 TM
1
Overview
filter: Time delay 0.01 ms
Max. 7500 DYC - -
Control Set 1 Overshoot suppression filter: Time delay
2
Selection
Type
Min.
P2-15 Control Set 2 Notch filter 1: Damping Default
550
900
Unit Relatd Mode
P - -
3
Installation
0.1 %
Max. 990 DYC - -
Wiring

P2-16 Control Set 2 Notch filter 1: Frequency Default
Max.
15000
15000
0.1 Hz
P
DYC
-
-
-
-
5
Front Panel
6
Operation
P2-17 Default 700 P - -
Bandwidth 0.1 %
Max. 900 DYC - -
7
Commissioning

0.1 %
Max. 990 DYC - -
Control Set 2 Notch filter 2: Damping 9
Parameters

10
Communication
TM
9-25
Chap09. Parameters
0.1 Hz
Max. 15000 DYC - -

P2-20 Default 700 P - -
Bandwidth 0.1 %
Max. 900 DYC - -

filter: Damping 0.1 %
Max. 500 DYC - -
Control Set 2 Overshoot suppression filter: Damping

filter: Time delay 0.01 ms
Max. 7500 DYC - -
Control Set 2 Overshoot suppression filter: Time delay

cycle number -
Max. 10 DYC - -
Auto adaptive notch filter detection cycle number

level usr_v
Max. 100 DYC - -
Auto adaptive notch filter detection level
9-26 TM
1
Overview
time delay 0.1 ms
Max. 10 DYC - -
Auto adaptive notch filter detection time delay
2
Selection
Type
P2-26 Frequency for anti vibration filter 1

Min.
Default
0
500
Unit Relatd Mode
P - -
3
Installation
0.1 %
Max. 3000 DYC - -
Wiring

P2-27
1
Default
Max.
0
2000
0.1 Hz
P
DYC
-
-
-
-
5
Front Panel
6
Operation
P2-28 Frequency for anti vibration filter 2 Default 500 P - -
0.1 %
Max. 3000 DYC - -
7
Commissioning

2 0.1 Hz
Max. 2000 DYC - -
Damping fator for anti vibration filter 2 9
Parameters

10
Communication
TM
9-27
Chap09. Parameters
9.5 P3 - I/O
P3-00 Function Input of DI0 Default 3 P - -
-
Max. 143 DYC - -
Function Input of DI0
Code Related Mode
NO NC P DYC
required
Current Limitation Limits the current to parameter value 6 106 √ √
Velocity Limitation Limits the velocity to parameter value 8 108 √ √
movement
gear ratios
offset
Reference Switch
(REF)
Positive Limit
Switch(LIMP)
Negative Limit
Switch(LIMN)
Switch Controller
Switches control loop parameter set 24 124 √ √
Parameter Set
Velocity Controller Switches off velocity controller integral
28 128 √ √
Integral Off term


-
Max. 143 DYC - -

9-28 TM
1
Overview
-
Max. 143 DYC - -
Refer to parameter P3-00 2
Selection
Type
P3-03 Function Input of DI3

Min.
Default
1
123
Unit Relatd Mode
P - -
3
Installation
-
Max. 143 DYC - -
4
Wiring

P3-04 Function Input of DI4 Default
Max.
12
143
-
P
DYC
-
-
-
-
5
Front Panel

Operation
-
Max. 143 DYC - -
7
Commissioning

Diagnostics
9
Parameters
10
Communication
TM
9-29
Chap09. Parameters
P3-06 Function Output of DQ0 Default 2 P - -
-
Max. 125 DYC - -
Function Output of DQ0
Code Related Mode
NO NC P DYC
required
Window
Window
Velocity Below
Threshold
Current Below
Threshold
Motor Standstill Motor at a standstill 13 113 √ √
One of the specified faults of error
Selected Fault 14 114 √ √
ok)
Selected Warning 16 116 √ √
0 is active
Current Over
Threshold


-
Max. 125 DYC - -


-
Max. 125 DYC - -

9-30 TM
1
Overview
-
Max. 6 DYC - -
0 / No: No software debouncing 2
1 / 0.25 ms: 0.25 ms
Selection
Type
2 / 0.5 ms: 0.5 ms
3 / 0.75 ms: 0.75 ms
4 / 1.0 ms: 1.0 ms
5 / 1.25 ms: 1.25 ms
6 / 1.50 ms: 1.50 ms 3
Installation

Wiring
-
Max. 6 DYC - -
5
Front Panel

P3-11 Debounce time of DI2 Default 6
-
P - - 6
Max. 6 DYC - -
Operation
Commissioning

-
Function:
Max. 6
MODBUS Addr: 2118
DYC - - 8
Diagnostics

Parameters

-
Max. 6 DYC - -
Function:
MODBUS Addr: 2120
10
Communication

TM
9-31
Chap09. Parameters
-
Max. 6 DYC - -


P3-15 Enabling the power stage at PowerOn Default 0 P - -
-
Max. 2 DYC - -
Enabling the power stage at PowerOn
0 / RisingEdge: A rising edge with the signal input function "Enable" enables the power stage
1 / HighLevel: An active signal input with signal input function "Enable" enables the power
stage
2 / AutoOn: The power stage is automatically enabled

Enabling the power stage even after
error -
Max. 1 DYC - -
Action method of enabling the power stage as set via P3-15 even after error
0 / Off: Setting in parameter P3-15 is only used after start-up
1 / On: Setting in parameter P3-15 is used after startup and after detected error
Changed settings become active the next time the power stage is enabled. led.

Additional 'Fault Reset' for the signal
input function 'Enable' -
Max. 2 DYC - -
Additional 'Fault Reset' for the signal input function 'Enable'
0 / Off: No additional 'Fault Reset'
1 / OnFallingEdge: Additional 'Fault Reset' with falling edge
2 / OnRisingEdge: Additional 'Fault Reset' with rising edge

P3-18 Velocity limitation via input Default 10 P - -
usr_v
Max. 2147483647 DYC - -
Velocity limitation via input
A velocity limitation can be activated via a digital input.
9-32 TM
1
Overview
P3-19 Current limitation via input Default 20 0.01 P - -
Current limitation via input
A current limit can be activated via a digital input. 2
Selection
Type

3
Installation
P3-20 CCLR mode Default 0 P - -
-
Max. 1 DYC - -
Operating mode of CCLR function via input
0 / RisingEdge: A rsing edge with the signal input function "CCLR" enables the following error 4
counts clear
Wiring
1 / HighLevel: An active signal input with signal input function "CCLR" enables the following
error counts clear

Front Panel
6
Operation
7
Commissioning
8
Diagnostics
9
Parameters
10
Communication
TM
9-33
Chap09. Parameters
P3-21 Function of output DQ3 Default 26 P - -
-
Max. 126 DYC - -
Code Related Mode
NO NC P DYC
required
Window
Window
Velocity Below
Threshold
Current Below
Threshold
Motor Standstill Motor at a standstill 13 113 √ √
ok)
Selected Warning 16 116 √ √
0 is active
Current Over
Threshold
Motor Index Motor index position signal 26 126 √ √

9-34 TM
1
9.6 P4 - Velocity / Torque
Overview
velocity
Max. 1
-
DYC - -
2
Selection
Type
0 / Profile Off: Profile off

3
Installation

Max. 2147483647
usr_v
DYC - -
4
Wiring
Front Panel
usr_v
Max. 2147483647 DYC - -
Function:
MODBUS Addr: 10506
6
Operation

Commissioning
P4-03 Default 100 P - -
Max. 2147483647 DYC - -
8
Setting can only be changed if power stage is disabled. Diagnostics

Parameters
P4-04 Default 6000 P - -

velocity usr_a
Max. 2147483647 DYC - -
10
Communication
TM
9-35
Chap09. Parameters
P4-05 Default 6000 P - -
velocity usr_a
Max. 2147483647 DYC - -

P4-06 Velocity limit for Zero Clamp Default 10 P - -
usr_v
Max. 2147483647 DYC - -
Velocity limit for Zero Clamp
The zero speed lock feature is applicable only when the given speed is lower than the low
speed threshold of zero speed lock

P4-07 Velocity limitation Default 13200 P - -
usr_v
Max. 2147483647 DYC - -
Velocity limitation
During operation, the velocity limit is one of the following values (whichever is lowest):
- Maximum velocity of the motor
- Value in parameter P3-18 when velocity is limited by input function

P4-08 Current limitation Default 0 0.01 P - -
Current limitation
During operation, the actual current limit is one of the following values (whichever is lowest):
- Value in parameter P3-19 when current is limited by input function
Limitations caused by I2T monitoring are also taken into account.
9-36 TM
1
9.7 P5 - External
Overview
P5-00 Lock HMI Default 0 P - -
Max. 1
-
DYC - -
2
Selection
Type
Choose whether to lock the front panel HMI integrated with the drive
0 / Not Locked: HMI not locked
1 / Locked: HMI locked
The following functions can no longer be started when the HMI is locked:
- Parameter change
3
Installation
- Jog (test run)
- Easy tuning
- Fault Reset
Wiring
P5-01 Position scaling (usr_p): Denominator Default 131072 P - -
usr_p
Max. 2147483647 DYC - -
Function:
Position scaling (usr_p): Denominator
MODBUS Addr: 1550
5
Front Panel
Used to calculate the proportionality coefficient between the revolution count of motor (rev)
and the desired internal position unit (usr_p):
Motor revolution count = Internal position unit (usr_p) * P5-02 / P5-01
A new scaling is activated when the numerator value is supplied.

6
Operation

P5-02 Position scaling (usr_p): Numerator Default 1 P - -
Max. 2147483647
Rev
DYC - - 7
Commissioning
Position scaling (usr_p): Numerator

8
Diagnostics
Homing: Target velocity for searching
the switch (fast) usr_v
Max. 2147483647 DYC - -
Parameters
Target velocity for searching the switch (fast)


10
Communication
TM
9-37
Chap09. Parameters
Homing: Target velocity for moving
away from switch (slow) usr_v
Max. 2147483647 DYC - -
Target velocity for moving away from switch (slow)

Homing: Maximum search distance
after overtravel of switch usr_p
Max. 2147483647 DYC - -
Maximum search distance after overtravel of switch
0: Search distance monitoring disabled
>0: Search distance
The switch must be activated again within this search distance, otherwise the reference
movement is canceled.

Homing: Maximum distance for
search for switching point usr_p
Max. 2147483647 DYC - -
Maximum distance for search for switching point
0: Monitoring of distance inactive
>0: Maximum distance
After detection of the switch, the drive starts to search for the defined switching point. If the
defined switching point is not found within the distance defined here, the reference movement
is canceled and an error is detected.

Homing: Distance from switching
P5-07 Default 200 P - -
point usr_p
Max. 2147483647 DYC - -
Distance from switching point
The distance from the switching point is defined as the reference point.
The parameter is only effective during a reference movement without index pulse.

P5-08 Homing: Position at reference point Default 0 P - -
usr_p
Max. 2147483647 DYC - -
Position at reference point
After a successful reference movement, this position is automatically set at the reference point.
9-38 TM
1
Overview
-
Max. 35 DYC - -
Switch
2
Selection
Type
type
negative direction switch in positive
at velocity P5-03 direction at
3
17
Installation
velocity P5-04 switching point in positive
switch Move to index pulse outside
Move to LIMP in point of the LIMP direction at velocity P5-04
positive direction switch in negative - Move to distance given 4
at velocity P5-03 direction at
Wiring
velocity P5-04
18
-
direction at velocity P5-04 5
Move to distance given
Front Panel
Move to switch 23
point of the REF
switch in negative
direction at
velocity P5-04
Move to REF in
of REF switch in positive
8
6
Operation
24
Move to REF in
positive direction
at velocity P5-03
of REF switch in negative 9 7
Commissioning
Move to switch 25
point of the REF
switch in positive
direction at
8
Diagnostics
velocity P5-04
26
9
Parameters
10
Communication
TM
9-39
Chap09. Parameters
(Continue) -
Max. 35 DYC - -
Switch
type
Move to switch 27
point of the REF
switch in positive
direction at
velocity P5-04
28
Move to REF in
negative direction
at velocity P5-03
Move to switch 29
point of the REF
switch in negative
direction at
velocity P5-04
30
Move to index
pulse in negative
- - - 33
direction at
pulse Move to index
pulse in positive
- - - 34
direction at
velocity P5-04
Position setting - - - 35

movement Inc
Max. 2147483647 - - -
9-40 TM
1
Overview
movement Inc
Max. 2147483647 - - -
2
Selection
Type
P5-12 Target velocity for offset movement Default 60 P - -
usr_v
Max. 2147483647 - - - 3
Installation
Target velocity for offset movement

Acceleration and deceleration for
Wiring
P5-13 Default 600 P - -
offset movement usr_a
Max. 2147483647 DYC - -
Acceleration and deceleration for offset movement
5
Front Panel
Changed settings become active the next time the power stage is enabled

P5-14 Halt option code Default
Max.
1
3
-
P
DYC
-
-
-
-
6
Operation
Halt option code
When P5-14 = 1 / Deceleration Ramp, the stop mode will be based on the deceleration curve 7
Commissioning
through parameter P5-15

8
Diagnostics
9
Parameters
10
Communication
TM
9-41
Chap09. Parameters
P5-15 Current for Halt Default 1 0.01 P - -
Current for Halt
motor/power stage).
In the case of a Halt, the current limit is one of the following values (whichever is lowest):

-
Max. 7 DYC - -
Quick Stop

P5-17 Deceleration ramp for Quick Stop Default 6000 P - -
usr_a
Max. 2147483647 DYC - -
Deceleration ramp for Quick Stop
Deceleration ramp for a software stop or an error with error class 1 or 2.
9-42 TM
1
Overview
P5-18 Current for Quick Stop Default 1 0.01 P - -
Current value for Quick Stop
In the case of a Quick Stop, the current limit is one of the following values (whichever is lowest): 2
Selection
Type
Further current limitations caused by I2t monitoring are also taken into account during a Quick
Stop
3
Installation
Motor Stopping modes for Servo Off

Wiring
and Faults -
Max. 42 DYC - -
Motor stopping modes for servo off and faults
Digital Function Value Stopping mode Status after Motor Stops 5
Front Panel
Stopping modes for
L XXXX[ ] faults of error class 3 1 Dynamic brake (DB) Dynamic brake (DB)
and 4 2 Dynamic brake (DB) Free coasting
1 Dynamic brake (DB) Dynamic brake (DB)
L XXX[ ]X
Stopping modes for
servo off
2 Dynamic brake (DB) Free coasting 6
3 Deceleration ramp (DEC) Dynamic brake (DB)
Operation
4 Deceleration ramp (DEC) Free coasting
When stopping mode for servo off 3 or 4 is selected, the stop will be based on the deceleration
curve set up through parameter P4-05.
7
Commissioning
Example:
When P5-19 = 0021:
- In case a fault of error class 3 and 4 happens, the motor will start deceleration in stopping
mode of dynamic brake (DB). After motor stops it will stay in dynamic brake (DB) status.
- If servo off happens when motor is running, the motor will start deceleration in stopping
mode of dynamic brake (DB). After motor stops it will stay in free coasting status.
8
Changed settings become active immediately. Diagnostics

P5-20
Additional time delay for releasing
the holding brake
Default 0
ms
P - - 9
Parameters
Max. 400 DYC - -

Additional time delay for releasing the holding brake
The overall time delay for releasing the holding brake is the time delay from the motor holding
10
Communication

TM
9-43
Chap09. Parameters
Additional time delay for applying the
holding brake ms
Max. 1000 DYC - -
Additional time delay for applying the holding brake
The overall time delay for applying the holding brake is the time delay from the motor holding


Processing mode of backlash
compensation -
Max. 3 DYC - -
Processing mode of backlash compensation
0 / Off: Backlash compensation is off
1 / OnAfterPositiveMovement: Backlash compensation is on, last movement was in positive
direction
2 / OnAfterNegativeMovement: Backlash compensation is on, last movement was in negative
direction
3 / OnAfterBothMovement: Backlash compensation is on, last movement was in both positive
and negative direction

Position value for backlash
compensation usr_p
Max. 2147483647 DYC - -
Position value for backlash compensation


Processing time for backlash
compensation ms
Max. 16383 DYC - -
Processing time for backlash compensation
0: Immediate backlash compensation
>0: Processing time for backlash compensation

9-44 TM
1
9.8 P6 - Special
Overview
Max. 65535
-
DYC - -
2
Selection
Type
Motor file name
3
Installation
4
Wiring
HC02A / BCH16HC023*0A5C*: 0.2 kW motor, high inertia, 60 mm flange, 11 mm shaft diameter, 5
Front Panel
HC02A / BCH16HC023*2A5C*: 0.2 kW motor, high inertia, 60 mm flange, 11 mm shaft diameter, 6
Operation
HD02A / BCH16HD023*0A5C*: 0.2 kW motor, high inertia, 60 mm flange, 14 mm shaft diameter, 7
Commissioning
Diagnostics
Parameters
10
Communication
TM
9-45
Chap09. Parameters
-
Max. 65535 DYC - -
9-46 TM
1
Overview
-
Max. 65535 DYC - -
rated speed 2000 rpm, 2500 ppr incremental encoder, with holding brake, MIL connector, 2
Selection
Type
rated speed 2000 rpm, 23 bit high resolution encoder, with holding brake, MIL connector, Asian 3
Installation
diameter, rated speed 1500 rpm, 2500 ppr incremental encoder, with holding brake, MIL 4
Wiring
diameter, rated speed 1500 rpm, 23 bit high resolution encoder, with holding brake, MIL 5
Front Panel
6
Operation
7
Commissioning
2500 ppr.
This parameter becomes read-only when P6-01 = 8 / BISS. 8
Diagnostics

P6-01 Type of motor encoder Default 9 P - - 9
Parameters
-
Max. 65535 DYC - -
Type of motor encoder:
9 / 2500ppr: 2500 ppr incremental encoder. 10
Communication
TM
9-47
Chap09. Parameters
Min. 1 Unit Related mode
P6-02 MODBUS address Default 1 P - -
-
Max. 247 DYC - -
MODBUS address.
Set the address of MODBUS slave device.
When using RS-485 to communicate, the address of the MODBUS slave device in same
network must be unique, any address duplication will cause abnormal communications.


P6-03 MODBUS baud rate Default 19200 P - -
bps
Max. 38400 DYC - -
MODBUS baud rate.
1 / 9600 bps: MODBUS baud rate is 9600 bps
Set the MDOBUS communication baud rate of the device. The longer the transmission
distance, the slower the tranmission baud rate.


P6-04 MODBUS data format Default 2 P - -
-
Max. 4 DYC - -
MODBUS data format.
1 / 8, N, 1: 8 bits, No parity bit, 1 stop bit
2 / 8, E, 1: 8 bits, Even parity bit, 1 stop bit
3 / 8, O, 1: 8 bits, Odd parity, 1 stop bit
4 / 8, N, 2: 8 bits, No parity bit, 2 stop bits
Set the MODBUS communication data format.


function selected fault -
Max. 65535 DYC - -
First number for the signal output function selected fault
This parameter specifies the error code of a fault of error classes 1...4 which is to activate the
9-48 TM
1
Overview
output function selected Fault -
Max. 65535 DYC - -
Second number for the signal output function selected fault
This parameter specifies the error code of a fault of error classes 1...4 which is to activate the 2
Selection
Type
P6-09
Min.
Default
0
0
Unit Related Mode
P - -
3
function selected warning
Installation
-
Max. 65535 DYC - -
First error code for the signal output function selected warning
signal output function. 4
Wiring

P6-10
output function selected warning
Default
Max.
0
65535
-
P
DYC
-
-
-
-
5
Front Panel
Second error code for the signal output function selected warning
6
Operation
P6-11 Activation of software limit switches Default 0 P - -
-
Max. 3 DYC - -
7
Commissioning
Activation of software limit switches
0 / None: Deactivated
1 / SWLIMP: Activation of software limit switches positive direction
2 / SWLIMN: Activation of software limit switches negative direction
3 / SWLIMP + SWLIMN: Activation of software limit switches both directions
Software limit switches can only be activated if the zero point is valid.
8
Diagnostics

P6-12
Behavior when position limit is
reached
Default 0
-
P - - 9
Parameters
Max. 1 DYC - -
Behavior when position limit is reached
0 / Standstill Behind Position Limit: Quick Stop is triggered at position limit and standstill is
reached behind position limit
1 / Standstill At Position Limit: Quick Stop is triggered in front of position limit and standstill is
10
Communication
reached at position limit
TM
9-49
Chap09. Parameters
Positive position limit for software
P6-13 Default 2147483647 P - -
limit switch -
Max. 2147483647 DYC - -
Positive position limit for software limit switch


Negative position limit for software
P6-14 Default 2147483647 P - -
limit switch -
Max. 2147483647 DYC - -
Negative position limit for software limit switch


Target position reached: standstill
window, time ms
Max. 32767 DYC - -
Standstill window, time
0: Monitoring of standstill window deactivated
>0: Time in ms during which the control deviation must be in the standstill window defined in
parameter P6-16
Target position reached: standstill Min. 0 Unit Related Mode

P6-16 w i n d o w, p e r m i s s i b l e c o n t r o l Default 128 P - -
usr_p
deviation Max. 2147483647 DYC - -
Standstill window, permissible control deviation
The control deviation for the standstill window time must be within this range for a standstill of
the drive to be detected.
Processing of the standstill window must be activated via the parameter P6-15.
9-50 TM
1
Overview
Target position reached: timeout time
for standstill window monitoring ms
Max. 32767 DYC - -
Timeout time for standstill window monitoring
0: Timeout monitoring deactivated 2
>0: Timeout time in ms
Selection
Type
Standstill window processing values are set via the parameter P6-15 and P6-16.
Time monitoring starts when the target position (reference position of position controller) is
reached or when the profile generator has finished processing.
Installation
ms
Max. 9999 DYC - -
Function: MODBUS addr: 1594 4
Wiring
5
Front Panel

P6-19 Monitoring of position deviation Default 128 P - -
usr_p
Max. 2147483647 DYC - - 6
Operation
Monitoring of position deviation
The system checks whether the drive is within the defined deviation during the period set with
parameter P6-18.
The minimum value, the factory setting and the maximum value depend on the scaling factor. 7
Commissioning

P6-20 Monitoring of velocity deviation Default 10
usr_v
P - - 8
Max. 2147483647 DYC - -
Function: MODBUS addr: 1588 Diagnostics
Monitoring of velocity deviation
The system monitors whether the drive is within the defined deviation during the period set
The status can be output via a parameterizable output. 9
Parameters
10
Communication
TM
9-51
Chap09. Parameters
P6-21 Monitoring of velocity threshold Default 10 P - -
usr_v
Max. 2147483647 DYC - -
Monitoring of velocity threshold
The system monitors whether the drive is below the defined value during the period set with
parameter P6-18.

P6-22 Monitoring of current threshold Default 20 0.01 P - -
Monitoring of current threshold
The system monitors whether the drive is below or over the defined value during the period set

Error response to 100% I2t braking
resistor -
Max. 2 DYC - -
Error response to 100% I2t braking resistor


Drive power stage current command
P6-24 Default 5500 P - -
saturation window time ms
Max. 10000 DYC - -
Drive power stage current command saturation window time
When drive power stage current command Icmd is equal to the saturation current Isat, and
the saturation current Isat is at least 115% higher than the motor nominal current M_In,
system enables a countdown timer to monitor the drive power stage current command
saturation.
- Current limitation of the system (P6-25)
- Maximum current of the motor (M_Imax)
- Maximum current of the drive power stage (PS_Imax)

9-52 TM
1
Overview
P6-25 Current limitation of the system Default 0 0.01 P - -
Current limitation of the system
This parameter specifies the maximum system current. This is the lower value of the maximum 2
motor current and the maximum drive power stage current.
Selection
Type
Read-only parameter
3
Installation
Autotuning: Moment of inertia of the
P6-26 Default 1 0.1 P - -
entire system
Max. 65535 Kgcm2 DYC - -
Inertia of the entire system 4
The parameter value is automatically calculated during Autotuning.
Wiring
In increments of 0.1 kgcm2
5
Front Panel
P6-27 Autotuning: Additional information 1 Default 0 P - -
-
Max. 4294967295 DYC - -
Auto tuning: Fault diagnosis message 1 for customer service 6
Operation

P6-28 Autotuning: Additional information 2 Default 0
-
P - - 7
Max. 4294967295 DYC - -
Commissioning
Auto tuning: Fault diagnosis message 2 for customer service
8
Diagnostics
Autotuning: Friction torque of the
P6-29 Default 1 0.01 P - -
system
Friction torque of the system 9
The parameter value is automatically measured during auto tuning
Parameters
10
Communication
TM
9-53
Chap09. Parameters
P6-30 Autotuning: Constant load torque Default 0 0.01 P - -
Constant load torque
The parameter value is automatically measured during auto tuning

P6-31 Firmware version of device Default 0 P - -
-
Max. 65535 DYC - -
Firmware version of device
The version format is ZZ.YY.ZZ.
Part XX.YY is contained in parameter P6-31 and part ZZ is contained in parameter P6-21

P6-32 Firmware revision of device Default 0 P - -
-
Max. 65535 DYC - -
Firmware reversion of device
9-54 TM
1
Overview
P6-33 Suppressing errors Default 0 P - -
-
Max. 0x0280 DYC - -
Suppressing errors:
Digital Bits Description
Related
Function
2
Selection
Type
Errors
0 Reversed - - -
1 Reversed - - -
L XXXX[ ]
2 Reversed - - -
3
4
Reversed
Reversed
-
-
-
-
-
-
3
Installation
5 Reversed - - -
6 Reversed - - -
L XXX[ ]X Limit power stage current output when
0
Power stage or 4102 overload (I2T) happens
7
motor overload (I2T) 4302
1
Activate fault 4102 or 4302 of error class
3 when overload (I2T) happens
4
Wiring
8 Reversed - - -
Fault 3201 or 3202 will NOT be stored in
0
3201 error memory of the device
9 DC bus undervoltage
L XX[ ]XX 3202 Fault 3201 or 3202 will be stored in error
1
10 Reserved - -
memory of the device
-
5
Front Panel
11 Reserved - - -
12 Reserved - - -
13 Reserved - - -
L X[ ]XXX
14 Reserved - - -
15 Reserved - - - 6
Operation
16 Reserved - - -
17 Reserved - - -
L [ ]XXXX
18 Reserved - - -
19 Reserved - - -
20
21
Reserved
Reserved
-
-
-
-
-
-
7
Commissioning
H XXXX[ ]
22 Reserved - - -
23 Reserved - - -
24 Reserved - - -
25 Reserved - - -
H XXX[ ]X
26 Reserved - - - 8
Diagnostics
27 Reserved - - -
28 Reserved - - -
29 Reserved - - -
H XX[ ]XX
30 Reserved - - -
31 Reserved - - -
9
Parameters
Example:
P6-33 = 0x0080 will active error code 4102 or 4302 of error class 3 when overload (I2T)
happens
P6-33 = 0x0200 will store error code 3201 or 3202 in error memory of the device

10
Communication
TM
9-55
Chap09. Parameters
P6-34 Special Function Settings Default 0 P - -
-
Max. 1 DYC - -
Special function settings:
Digital Bit Description Function
Limit switch fault A302 / A303 will be latched until
0
receives an additional Fault Reset signal.
Auto limit switch
0 Limit switch fault A302 / A303 can be reset
fault reset method 1 automatically when receives motion command in
L XXXX[ ] opposite direction of the triggered limit switch.
1 Reserved - -
2 Reserved - -
3 Reserved - -
4 Reserved - -
5 Reserved - -
L XXX[ ]X
6 Reserved - -
7 Reserved - -
8 Reserved - -
9 Reserved - -
L XX[ ]XX
10 Reserved - -
11 Reserved - -
12 Reserved - -
13 Reserved - -
L X[ ]XXX
14 Reserved - -
15 Reserved - -
16 Reserved - -
17 Reserved - -
L [ ]XXXX
18 Reserved - -
19 Reserved - -
20 Reserved - -
21 Reserved - -
H XXXX[ ]
22 Reserved - -
23 Reserved - -
24 Reserved - -
25 Reserved - -
H XXX[ ]X
26 Reserved - -
27 Reserved - -
28 Reserved - -
29 Reserved - -
H XX[ ]XX
30 Reserved - -
31 Reserved - -


Maximum Velocity Threshold while
P6-35 Default 100 P - -
Enabling the Power Stage usr_v
Max. 500 DYC - -
Maximum velocity threshold when enabling power stage
The system monitors whether the motor velocity expired the defined value while enabling the
power stage. In case the threshold is expired the drive will active fault 1B0F and stop the motor.
9-56 TM
1
Overview
Maximum current load percentage
P6-36 Default 866 P - -
of motor (I2T) at standstill 0.1 %
Max. 1000 DYC - -
Maximum current load percentage of motor (I2T) at standstill
Limit the maximum current load percentange of motor at standstill, to prevent the motor sator 2
damage from being damaged by excessive heat, thus to protect the motor.
Selection
Type
This parameter will also limit the motor torque output performance at standstill.
In increments of 0.1 %.
Installation
4
Wiring
5
Front Panel
6
Operation
7
Commissioning
8
Diagnostics
9
Parameters
10
Communication
TM
9-57
Chap09. Parameters
9.9 P7 - Motion Task

P7-00 DYC mode cycle time Default 0 - - -
ms
Max. 2147483647 DYC - -
DYC mode cycle time
0: Free cycle time of main task
>0: Fixed cycle time in ms


P7-01 DYC script version No. Default 0 - - -
-
Max. 2147483647 DYC - -
DYC script version number
Read-only parameter
9-58 TM
1
9.10 Pu - DYC User Defined
Overview
Pu-00 DYC user defined parameter 0 Default 0 - - -
Max. 2147483647
-
DYC - -
2
Selection
Type

3
Installation
-
Max. 2147483647 DYC - -
4
Wiring

Max. 2147483647
-
DYC - - 5
Front Panel

6
Operation
-
Max. 2147483647 DYC - -
7
Commissioning

Max. 2147483647
-
DYC - - 8
Diagnostics
9
Parameters

-
Max. 2147483647 DYC - -
10
Communication
TM
9-59
Chap09. Parameters
-
Max. 2147483647 DYC - -

-
Max. 2147483647 DYC - -

-
Max. 2147483647 DYC - -

-
Max. 2147483647 DYC - -

-
Max. 2147483647 DYC - -

-
Max. 2147483647 DYC - -
9-60 TM
1
Overview
-
Max. 2147483647 DYC - -
2
Selection
Type
-
Max. 2147483647 DYC - - 3
Installation
Min. -2147483648 Unit Relatd Mode 4
Wiring
-
Max. 2147483647 DYC - -
5
Front Panel
-
Function:
Max. 2147483647
MODBUS addr: 24888
DYC - - 6
Operation
Min. -2147483648 Unit Relatd Mode 7
Commissioning
-
Max. 2147483647 DYC - -

8
Diagnostics
-
Max. 2147483647 DYC - -
9
Parameters
10
Communication
TM
9-61
Chap09. Parameters
-
Max. 2147483647 DYC - -

-
Max. 2147483647 DYC - -

-
Max. 2147483647 DYC - -

-
Max. 2147483647 DYC - -

-
Max. 2147483647 DYC - -

-
Max. 2147483647 DYC - -
9-62 TM
10
Type
1
9
9-63 TM
10.1 RS-485 communication hardware interface........................................................... 10-1

10.1.1 RS-485 communication hardware interface.................................................................. 10-2
10.2 RS-485 communication parameter settings........................................................... 10-3
10.3 RS-485 communication protocol .............................................................................. 10-4
10.3.1 MODBUS communication protocol.................................................................................. 10-4
10.3.2 MODBUS function codes..................................................................................................... 10-4
10.3.3 FC 3(0x03) - read multiple registers................................................................................. 10-5
10.3.4 FC 16(0x10) - write multiple registers............................................................................. 10-6
10.3.5 FC 23(0x17) - read / write multiple registers................................................................ 10-8
10.4 Writing and reading parameters.............................................................................. 10-10
10.4.1 Readable paramters through communication...........................................................10-10
10.4.2 Writeable parameters through communication........................................................10-10
10.4.3 Decimals...................................................................................................................................10-11
10.4.4 Save parameters....................................................................................................................10-11
10.4.5 Read of device status..........................................................................................................10-11
10.4.6 Node guarding function....................................................................................................10-13
10.5 RS-485 communication specification..................................................................... 10-14
10.1 RS-485 communication hardware interface

Easy Lexium 16 series servo drive supports RS-485 serial communication function, through
which the user can get access to the servo drive to read, wirte parameters of the servo drive
and monitor the system status.
A PC with commissioning software Lexium DTM library can also be connected via the RS-485
connection interface at the servo drive for commissioning purpose. The PC is connected via a
bidirectional USB/RS485 conveter.
If the RS-485 connection interface at the servo drive is directly connected to an Ethernet
interface at the PC, the PC interface may be damaged.
10-1 TM
1
10.1.1 RS-485 communication hardware interface
Overview
2
Selection
Type
3
Installation
4
Wiring
5
Front Panel
CN4
1
6
Operation
RS-485 hardware interface wiring diagram:
7
Pin Signal Meaning
Commissioning
1 ... 3 - Reversed
4 MOD_D+ RS-485 bidirectional transmit/receive signal
5 MOD_D- RS-485 bidirectional transmit/receive signal inverted
6 ... 7 - Reversed
8 MOD_GND Reference ground 8
Diagnostics
WARNING
UNINTENDED MOVEMENT 9
Parameters
Do not connect any wiring to reversed, unused connections, or to connections designed as No

Connection (N.C.)
10
Communication
TM
10-2
10.2 RS-485 communication parameter settings

To use the RS-485 communication following parameter settings are required:
• P6-02 MODBUS address.
• P6-03 MODBUS baud rate.
• P6-04 MODBUS data format..

P6-02 MODBUS address Default 1 P - -
-
Max. 247 DYC - -
MODBUS address.
Set the address of MODBUS slave device.


P6-03 MODBUS baud rate Default 19200 P - -
bps
Max. 38400 DYC - -
MODBUS baud rate.
Set the MDOBUS communication baud rate of the device. The longer the transmission
distance, the slower the tranmission baud rate.


P6-04 MODBUS data format Default 2 P - -
-
Max. 4 DYC - -
MODBUS data format.
1 / 8, N, 1: 8 bits, No parity bit, 1 stop bit
2 / 8, E, 1: 8 bits, Even parity bit, 1 stop bit
3 / 8, O, 1: 8 bits, Odd parity, 1 stop bit
4 / 8, N, 2: 8 bits, No parity bit, 2 stop bits
Set the MODBUS communication data format.

10-3 TM
1
10.3 RS-485 communication protocol
Overview
10.3.1 MODBUS communication protocol
2
Selection
Type
There are two different serial transmission modes: The RTU mode and the ASCII mode.
It defines the bit contents of message fields transmitted serially on the line. It defines how
information is packed into the message fields and decoded.
Easy Lexium 16 servo drive implements RTU mode only.

3
Installation
A RTU MODBUS frame is formatted like the following schema:
Slave Address Function code Data CRC

1 byte 1 byte n bytes 2 bytes
4
Wiring
• The Slave Address:
The unique address in network that enables the master to choose the slave to order.
• The Function Code:
Identifies the action to be performed by the slave.
• The Data:
Comprises the infomation required to perform the action. 5
Front Panel
• The CRC:
Enables the slave to check the transmission.
Easy Lexim 16 servo drive implements 32-bit double word (DWord) data format only with big
endian first. e.g.:
When transmitting number 1500 (0x05DC), the contents filled in Data field are: 0x 00 00 05 DC.
6
Operation
7
Commissioning
10.3.2 MODBUS function code
Every MODBUS frame function is identified by a one-byte code (Function code, FC).
The following tables shows the MODBUS Function Codes provided by Easy Lexium 16 drives: 8
Diagnostics
Function Code (FC) Description
3 (FC 0x03) Read multiple registers
16 (FC 0x10) Write multiple registers
23 (FC 0x17) Read / Write multiple registers 9
Parameters
10
Communication
TM
10-4
10.3.3 FC 3(0x03) - Read multiple registers
Frame description:
Description Data length

Slave address. 1 byte
Function code = 3 (0x03). 1 byte
Request
Logical address of the first parameter to read. 2 bytes (H, L)
Number of logical address to read.(in words). 2 bytes (H, L)
CRC 16 bits of all the bytes. 2 bytes (L, H)

Answer Code:
1 byte
Positive answer OK = 0x03
Number of read bytes (in bytes). 1 byte
Numeric values of read parameters. n * (2 bytes (H, L))

Answer code:
1 byte
Not OK = 3 (0x03) + 128 (0x80) = 131 (0x83)
Exception Code:
Negative answer
0x01 = Illegal Function
0x02 = Illegal Data Address 1 byte
0x03 = Illegal Data Value
0x04 = Slave Device Failure
Example of Read multiple registers FC 03(0x03):

• Read numeric value from parameter Pu-00 of servo drive with slave address 2 (0x02).
• Logical address of parameter Pu-00 is 24858(0x611A), currently the content of Pu-00 is
1500 (0x05DC), the data length is 1 DWrod.
Description Data length Data

Slave address. 1 byte 0x02
Function code. 1 byte 0x03
Logical address of the first parameter to 1 byte (H) 0x61
Request read. 1 byte (L) 0x1A
Number of logical address to read.(in 1 byte (H) 0x00
words). 1 byte (L) 0x02
1 byte (L) 0xFA
CRC 16 bits of all the bytes.
1 byte (H) 0x03
10-5 TM
1
Overview
Answer code = OK 1 byte 0x03
Number of read bytes (in bytes). 1 byte 0x04
1 byte (H) 0x00
Positive answer Numeric value of first data (1 Word).
1 byte (L) 0x00 2
Selection
Type
1 byte (H) 0x05
Numeric value of second data (1 Word).
1 byte (L) 0xDC
1 byte (L) 0xCB
1 byte (H) 0xFA
3
Installation
Answer code = Not OK 1 byte 0x83
Negative answer
Exception code. 1 byte 0x04
1 byte (L) 0xB0
1 byte (H) 0xF3 4
Wiring
10.3.4 FC 16(0x10) - Write multiple registers 5
Front Panel
Frame description:

Slave address. 1 byte 6
Operation
Logical address of the first parameter to write. 2 bytes (H, L)
Request
Number of logical address to write (in words). 2 bytes (H, L)
Number of bytes to write (in bytes). 1 byte
Numeric values to write.
n * (2 bytes (H, L))
2 bytes (L, H)
7
Commissioning
Answer Code:
Positive answer OK = 0x10
1 byte 8
Diagnostics
Logical address of the first written parameter. 2 bytes (H, L)
Number of written logical address 2 bytes (H, L)
Description Data length 9

Parameters

Answer code:
1 byte
Not OK = 16 (0x10) + 128 (0x80) = 144 (0x90)
Exception Code:
Negative answer
0x02 = Illegal Data Address 1 byte 10
Communication

0x04 = Slave Device Failure
TM
10-6
Example of Write multiple registers FC 16(0x10):
• Write numeric value 1500 (0x05DC) to parameter Pu-00 of servo drive with slave address 2
(0x02).
• Logical address of parameter Pu-00 is 24858(0x611A), the data length is 1 DWord.

write. 1 byte (L) 0x1A
Number of logical address to write (in 1 byte (H) 0x00
Request
Number of bytes to write (in bytes). 1 byte 0x04
1 byte (H) 0x00
First numeric value to write (1 Word).
1 byte (L) 0x00
1 byte (H) 0x05
Second numeric value to write (1 Word).
1 byte (L) 0xDC
1 byte (L) 0xDA
1 byte (H) 0xC3

Logical address of the first written 1 byte (H) 0x61
Positive answer parameter. 1 byte (L) 0x1A
1 byte (H) 0x00
Number of written logical address
1 byte (L) 0x02
1 byte (L) 0x7F
1 byte (H) 0xC0

Negative answer
1 byte (L) 0xBD
1 byte (H) 0xC3
10-7 TM
1
10.3.5 FC 23(0x17) - Read / Write multiple registers
Overview
Frame description:
Selection
Type
Logical address of the first parameter to read. 2 bytes (H, L)
Number of logical address to read.(in words). 2 bytes (H, L)
Request
Logical address of the first parameter to write.
Number of logical address to write (in words).
2 bytes (H, L)
2 bytes (H, L)
3
Installation
Number of bytes to write (in bytes). 1 byte
Numeric values to write. n * (2 bytes (H, L))
Wiring
Answer Code:
1 byte
Positive answer OK = 23 (0x17)
Number of read bytes (in bytes). 2 bytes (H, L)
Numeric values of read parameters. n * (2 bytes (H, L)) 5
Front Panel

Answer Code:
Not OK= 23 (0x17) + 128 (0x80) = 151 (0x97)
1 byte 6
Operation
Exception Code:
Negative answer
0x02 = Illegal Data Address 1 byte
0x04 = Slave Device Failure 7
Commissioning
8
Diagnostics
9
Parameters
10
Communication
TM
10-8
Example of Write multiple registers FC 23(0x17):
• Read numeric value from parameter P4-01 of servo drive with slave address 2 (0x02),
meanwhie wirte numeric value 4 (0x0004) to parameter P4-02 of same servo derive.
• Logical address of parameter P4-01 is 10504(0x2908), currently the content of P4-01 is 2
(0x0002), the data length is 1 DWord.
• Logical address of parameter P4-02 is 10506(0x290A), the data length is 1 DWord.

read. 1 byte (L) 0x08
Number of logical address to read.(in 1 byte (H) 0x00
write. 1 byte (L) 0x0A
Request
Number of logical address to write (in 1 byte (H) 0x00
Number of bytes to write (in bytes). 1 byte 0x04
1 byte (H) 0x00
First numeric value to write (1 Word).
1 byte (L) 0x00
1 byte (H) 0x00
Second numeric value to write (1 Word).
1 byte (L) 0x04
1 byte (L) 0x75
1 byte (H) 0x1A

Number of read bytes (in bytes). 1 byte 0x04
1 byte (H) 0x00
Positive answer Numeric value of first data (1 Word).
1 byte (L) 0x00
1 byte (H) 0x00
Numeric value of second data (1 Word).
1 byte (L) 0x02
1 byte (L) 0x4B
1 byte (H) 0xE6

Negative answer
1 byte (L) 0xBF
1 byte (H) 0xF3
10-9 TM
1
10.4 Writing and reading parameters
Overview
Easy Lexium 16 servo drives currently provides 9 groups of P-parameters:
• P0 - Basuc Settings.
• P1 - Motor Control. 2
Selection
Type
• P2 - Damping.
• P3 - I/O.
• P4 - Velocity / Torque.
• P5 - External.
• P6 - Special.
• P7 - Motion Task. 3
Installation
• Pu - DYC User Defined.
Besides those P-parameters, when the servo drive is operting under DYC mode there are another
47 temporary internal variables named as MD0 ... MD47 as well as 2 power-off latching variables
names as LD0 / LD1.
4
Wiring
Please refer to chapter "Chap09 Parameters" for details of P-parameters. Parameters that the
user can read or write through the communication interface are as following:
Front Panel
10.4.1 Readable parameters through communication
User can read following parameters through communication：

• P0 parameter group.
• P1 parameter group. 6
Operation
• P7 parameter group, when servo drive is operating under DYC mode. 7
• Pu parameter group, when servo drive is operating under DYC mode.
Commissioning
• MD0 … MD47, when servo drive is operating under DYC mode.
• LD0 / LD1, when servo drive is operating under DYC mode.
8
10.4.2 Writeable parameters through communication Diagnostics
User can write following parameters through communication：

9
Parameters
• P6 parameter group, except for P6-00, P6-01, P6-25 … P6-32.
• P7-00, when servo drive is operating under DYC mode.
10
Communication
• Pu parameter group, when servo drive is operating under DYC mode.

• MD0 … MD47, when servo drive is operating under DYC mode.
• LD0 / LD1, when servo drive is operating under DYC mode.
TM
10-10
10.4.3 Decimals
All values transmitted through MODBUS communication are integral numbers. Therefore all
decimals are transmitted as integral numbers first then multipied by a factor to recovery their
real value with fraction.
Please refer to chapter "Chap09 Parameters" for factor number of each parameter, repectively.
10.4.4 Save parameters
Values transmitted through MODBUS communication are firstly placed in the memory area of the
servo drive which, as a result, will be lost after power-off.
To save the values persistently, the user can write value 1 to address 1026 (0x0402) and all
values will be written to EEPROM and become non-volatile.
Please note, excessive operatoin of the non-volatile memory will shorten the number of its wrting
cycles.
10.4.5 Read of device status
Besides parameters the user can also read the device status through the communication.
The following table shows the information of the device status that can be read from the servo
drive:
Status MODBUS Address Description

Bit0 … 3: Device status mask:
• 1 / init
• 2 / nrdy
• 3 / dis
• 4 / rdy
• 5 / son
• 6 / run
Device status 7172 (0x1C04) • 7 / stop
• 8 / flt
• 9 / flt
Bit4/5: Reversed.
Bit6: Fault of error class 1 ... 4 active.
Bit7: Warning of error class 0 active.
Bit8: HALT request ative.
Bit9 … 31: Reversed.
Reference position (Pulse).
PrEP 2058 (0x080A) In the unit of external pulse train
increments.
Actual position (Pulse).
PAcP 7768 (0x1E58) In the unit of external pulse train
increments.
Reference position.
PrEF 7704 (0x1E18)
In the unit of usr_p.
Actual position.
PAct 7706 (0x1E1A)
In the unit of usr_p.
10-11 TM
(Continue)
1
Overview
Status MODBUS Address Description
Position deviation
Pdif 7720 (0x1E28)
In the unit of usr_p
Reference speed of rotation
nrEF 7694 (0x1E0E)
In the unit of rpm 2
Actual speed of rotation
Selection
Type
nAct 7696 (0x1E10)
In the unit of rpm
Total motor current
iAct 7686 (0x1E06)
In the unit of 0.01 Arms
Voltage at DC bus
udcA 7198 (0x1C1E)
In the unit of 0.1 VDC 3
Installation
Load of power stage
LdFP 7214 (0x1C2E)
In the unit of %
Load of servo motor
LdFM 7220 (0x1C34)
In the unit of %
LdFb 7208 (0x1C28)
Load of braking resistor
In the unit of %
4
Wiring
Overload of power stage
oVLP 7240 (0x1C48)
In the unit of %
Temperature of power stage
tPS 7200 (0x1C20)
In the unit of oC
tdEV 7204 (0x1C24)
Temperature of device 5
In the unit of oC
Front Panel
LWrn 7186 (0x1C12) Active warning of error class 0
Saved histrory fault of error class 1 ... 4,
LFLt0 15384 (0x3C18)
Error0
Saved histrory fault of error class 1 ... 4, 6
LFLt1 15386 (0x3C1A)
Operation
Error1
LFLt2 15388 (0x3C1C)
Error2
LFLt3 15390 (0x3C1E)
Error3
7
Commissioning
LFLt4 15392 (0x3C20)
Error4
LFLt5 15394 (0x3C22)
Error5
LFLt6 15396 (0x3C24)
Error6 8
Diagnostics
LFLt7 15398 (0x3C26)
Error7
LFLt8 15400 (0x3C28)
Error8
LFLt9 15402 (0x3C2A)
Error9 9
Parameters
10
Communication
TM
10-12
10.4.6 Node guarding function
Easy Lexium 16D servo drive offers MODBUS node guarding fucntion.
Node guarding parameters:

The node guarding time can be set by an internal parameter NGUARD:
• NGUARD = 0: Node guarding function inactive.
• NGUARD > 0: Noide guarding functin active with monitoring timer in milliseconds (ms).
The default value is 0ms, the node guarding function is incative by default.
Starting and stopping node guarding:

Any external tool which connects via MODBUS communication can set NGUARD parameter to
a value > 0ms to active the node guarding function.
The drive retriggers the internal node guarding timer each time it receives valid MODBUS frame
which is addressed to the drive.
When the parameter value is set to value 0, the node guarding mechanism is stopped.
Node guarding error reaction:

If no valid MODBUS frame addressed to the drive is received before the internal timer reaches
the time limit, an error reaction is raised by the drive:
• Current exclusive access channel is MODBUS: Fault B201 of error class 2 (Quick stop and
swtich off power stage when the motor has come to a standstill).
• Current exclusive access channel is not MODBUS: Warning B202 of error class 0 (No
interruption of the movement).

only Node guarding internal timer Default 0 P - -
ms
Max. 10000 DYC - -
Node guarding internal timer
• NGUARD = 0: Node guarding function inactive.
• NGUARD > 0: Noide guarding functin active with monitoring timer in milliseconds (ms).
Any external tool which connects via MODBUS communication can set NGUARD parameter to
a value > 0ms to active the node guarding function.
The drive retriggers the internal node guarding timer each time it receives valid MODBUS frame
which is addressed to the drive.
If no valid MODBUS frame addressed to the drive is received before the internal timer reaches
the time limit, an error reaction is raised by the drive.
Internal parameter, can only be set through MODBUS communication.
10-13 TM
1
10.5 RS-485 communication specification
Overview
RS-485 uses a balanced transmission line for signal reception and transmission. The transmitter
converts the TTL signal into a differential signal and then sends it to the receiver. The receiver
receives the differential signal and then converts it back to the TTL signal. Since the transmission 2
Selection
Type
process uses the differential signal, it has better anti-interference capability. However, there are
still restrictions to follow when wiring:
Maximum number of slaves:

Easy Lexium 16 servo drive supports Max. 32 slaves. User can set the slave address via
parameter P6-02 between 1 ... 247. 3
Installation
Maximum transmission speed (baud rate):

Althrough RS-485 transmission process uses the differential signal with better anti- 4
Wiring
interference capability, the maximum transmission speed is affected by the transmission
distance. The longer the transmission distance, the slower the transmission speed.
If the required transmission speed is over 38,400 bps, a 15-meter cable is recommended to
ensure data transmission accuracy. User can set the transmission baud rate via parameter
P6-03.
5
Front Panel
Transmission line:
The quality of the transmission line affects the signal transmission process. If there is
interference during the transmission process, it may result in data loss.
It is suggested to use a shielded twisted-pair cable as it has metal shielded cover and a
6
Operation
grounding wire, which ensures better anti-interference capability.
Terminal resistor:
In the communication transmission process, if the impedance is not continuous, it causes
signal reflection and signal distortion. This usually happens to the device that is configured
at the end of the transmission line.
7
Commissioning
To solve this problem the user can add a resistor with the same characteristic impedance as
the transmission cable at the end of the cable, which is called a terminal resistor. In general,
the characteristic impedance of the RS-485 signal transmission line is about 120 Ω, so the
recommended impedance of the terminal resistor is also 120 Ω. 8
Diagnostics
9
Parameters
10
Communication
TM
10-14

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Easy Lexium 16

AC Servo Drive system

 Thanks for purchasing this Schneider Electric product.

Failure to observe this information can result in injury or equipment damage.

© 2020 Schneider Electric. All Rights Reserved.

Chap02. Type Selection

Chap05. Front Panel

In some applications, such as packaging machinery, additional operator protection such as

Ensure that appropriate safeties and mechanical/electrical interlocks related to point-of-

Note: Coordination of safeties and mechanical/electrical interlocks for point-of-operation

Software testing must be done in both simulated and real environments.

Software testing must be done in both simulated and real environments.

Before energizing equipment:

Operation and Adjustment

Connecting external braking resistor

Equipment Model Directives Standards

1.2 About Servo Drive

1.2.1 Nameplate of Servo Drive

Lexium16 1 1. Range Name

Size 1: Servo Drive - 0.1 / 0.2 / 0.4 kW

1. Connection port CN3: MircoUSB connector

2. Connection port CN2: Encoder connector

6 1 3. Connection port CN1: Connection to host controller

4. CHARGE: Drive charge indicator LED

3 and power input connector

parameters and the guide for installation and wiring

Note: Size 1 servo drive is designed without

Size 2: Servo Drive - 0.75 / 1.0 / 1.5 kW

1. Connection port CN3: MircoUSB connector

2. Connection port CN2: Encoder connector

and power input connector

parameters and the guide for installation and wiring

Nameplate of Motor Location

1.4 Confirm the Mating of Servo Drive and Servo Motor

2.1 Type Selection of Servo Drive.............................................................................................. 2-1

Output Resolution can be set through parameter

Digital input CN2

Model LXM16D*M2X U01 U02 U04 U07 U10 U15

2.1.4 Servo Drive Dimension

 1~ 200Vac 0.1kW...0.4kW (U01/ U02/ U04)

 1~ 200Vac 0.75kW...1.5kW (U07/ U10/ U15)

Model: BCH16 LB01 HC02 HD02 HD04 HF07

Model: BCH16 LF10 LH10 LJ10 HM10 HM08 HM15

Chap02. Type Selection

2.2.4 Servo Motor Dimension / T-N Curnve / Overload Characteristics

Note: BCH16LB01332F5C2 body length = 134.3

4-φ6.5 （69.5） （46.95）

Chap02. Type Selection

(%) Speed (rpm) 31

Chap02. Type Selection

2.5 -0.2 35±1

0 50 100 150 200 250 300 0 500

Load factor (%) Speed (rpm)

200 250 300 0 1000 2000 3000 4000 5000 6000

Chap02. Type Selection

Chap02. Type Selection

□130 55±1 （186.9）

0 □130 55±1 （186.9）

□130 4-φ9 （201.9）

I/O Control interface cable and adapter module

Thanks for purchasing this Schneider Electric product.

1~ 200Vac 0.1kW...0.4kW (U01/ U02/ U04)

1~ 200Vac 0.75kW...1.5kW (U07/ U10/ U15)

4-φ6.5 （69.5）（46.95）

Suitable for drag chain applicaitons

Method of installation B2:

Mounting hole dimensions of Size1 0.1kW / 0.2kW / 0.4kW servo drives:

Mounting hole dimensions of Size2 0.75kW / 1.0kW / 1.5kW servo drives:

Make sure that the model is what you have ordered.

Oil and water countermeasures:

Radial and thrust loads:

Servo drive power input (L, N)