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L7 Series

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Servo System with standard EtherCAT network-based/high-resolution serial encode

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Features

Easy to USE

· Easy Gain Tuning with Automatic Inertia Estimating Function
· Encoder with bi·directional high speed serial communication
· Sufficient input/output contacts and various functions
· Easy Setting Built·in Panel Operator
· Built·in regenerative braking resistance in the drive
· Plug·in type power connector
· Various homing functions
· Easy firmware upgrade

High Performance

· Serial encoder of high resolution (16bit· 21bit)
· Stable low·speed properties based on precise speed measurement
· Calculation speed improved
· Dedicated PC program

Reliability

· Main capacitor quality improved
· Convenient DC reactor installable
· Stable turn·off function based on the detection of the control power turn·off
· CE, RoHS certificated
· Upgraded protection function

Convenience

· High Performance and Open Network
· L7 Drive with Built·in EtherCAT Interface
· Various operation modes
· Safe torque off function
· Easy to Use
· High speed position capture function
· Adjustment function linked with XGT series from LSIS
· Have conformity of EtherCAT device
· Provide gain tuning tools an commissioning packages

Intelligent Control

· Notch filter for resonance suppression
· Various gain switching modes for improved control performance
· Various dynamin brake control modes

Specifications

L7SA Drive
ItemL7SA001□L7SA002□L7SA004□L7SA008□L7SA010□L7SA020□L7SA035□L7SA050□L7SA075BL7SA150B
Input PowerMain Power Supply3 Phase AC200 ~ 230[V](-15 ~ +10[%]), 50 ~ 60[Hz]
Control Power SupplySingle Phase AC200 ~ 230[V](-15 ~ +10[%]), 50 ~ 60[Hz]
Rated Current[A]1.41.73.05.26.7513.516.73239.476
Peak Current[A]4.25.19.015.620.2540.550.19698.5190
Encoder TypeQuad. Type Incremental Line Driver 2,000~10,000[P/R] Serial Type 18Bit(100WC M8 only), 19bit, 20bit(DD motor only)
Control
Performance
Speed
Control
Speed Control RangeMaximum 1: 5000
Frequency ResponseMaximum 1 [kHz] or above (When using 19bit Serial Encoder
Speed CommandDC -10 [V]~+10 [V] (Reverse rotation in case of negative voltage)
Accel/Decel TimeStraight or S-curve acceleration/deceleration (0-10,000 [ms], possible to be set by one [ms] unit)
Speed Variation Ratio±0.01 [%] or lower [when load changes between 0 and 100%] ±0.1[%] or lower [temperature 25 ±10°C]
Position
Control
Input Frequency1[Mpps], Line Driver / 200[kpps], Open Collector
Input Pulse TypeSymbol + Pulse Series, CW+CCW, A/B Phase
Electric
Gear Ratio
Four digital gear ratios can be set, selected and tuned.
Torque
Control
Torque
Command
DC-10~+10 [V] (Reverse direction torque in case of negative voltage)
Speed LimitDC 0~10 [V], internal speed command within ±1[%]
Repetition
accuracy
Within ±1[%]
Input/Output
Signal
Analog
Input
Input RangeDC -10 ~ 10[V]
Resolution12[bit]
Analog
Output
Output RangeDC -10 ~ 10[V]
Resolution12[bit]
Digital InputTotal 10 Input Channels(assignment available)
SVON, SPD1, SPD2, SPD3, ALMRST, DIR, CCWLIM, CWLIM, EMG, STOP, EGEAR1,
EGEAR2, PCON, GAIN2, P_CLR, T_LMT, MODE, ABS_RQ, ZCLAMP
Above 19 functions can be used selectively for assignment Signal can be set as positive logic or negative logic
Digital OutputTotal 5 Channels(assignment available), 3 Channels(set as alarm code)
ALARM, READY, ZSPD, BRAKE, INPOS, TLMT, VLMT, INSPD, WARN
Above 9 outputs can be used selectively for assignment Signal can be set as positive logic or negative logic
CommunicationRS-422Accessible to PC software and the RS422 server
USBStatus monitoring, JOG operation, parameter upload/download are available with PC Software
EncoderSerial BiSS encoder and quadrature encoder supported
Encoder Output TypeRandom pre-scale output through FPGA (maximum 6.4 Mpps)
Built-in functionsDynamic BrakingStandard built-in (activated when the servo alarm goes off or when the servo is off)
Regenerative BrakingBoth default built-in and external installation possible
DisplaySeven segments (5 DIGIT)
Setting FunctionLoader (SET, MODE, UP, and [DOWN] keys)
Additional FunctionAuto gain tuning, phase Z detection, manual JOG operation,
program JOG operation, automatic analog input calibration
Protective FunctionOvercurrent, overload, overvoltage, insufficient voltage, main power input problem, control power input problem,
overspeed, motor cable, overheat(power module overheat, abnormal drive operation’s temp),
encoder problem, over-regenerative, sensor problem, communication problem
Operation
Environment
Operating Temperature/Storage
Temperature
0 ~ 50[°C] / -20 ~ 70[°C]
Operating Humidity/Storage
Humidity
Below 80[%]RH / Below 90[%]RH(avoid dew-condensation)
EnvironmentIndoor, Avoid corrosive, inflammable gas or liquid, and electrically conductive dust.
L7NHA Drive
ItemL7NHA
001U
L7NHA
002U
L7NHA
004U
L7NHA
008U
L7NHA
010U
L7NHA
020U
L7NHA
035U
L7NHA
050U
L7NHA
075U
L7NHA
150U
Input PowerMain Power Supply3 Phase AC200 ~ 230[V](-15 ~ +10[%]), 50 ~ 60[Hz]
Control Power SupplySingle Phase AC200 ~ 230[V](-15 ~ +10[%]), 50 ~ 60[Hz]
Rated Current[A]1.41.73.05.26.7513.516.73239.476
Peak Current[A]4.25.19.015.620.2540.550.190.8898.5190
Encoder TypeQuadrature(Incremental)
BiSS-B, BiSS-C(Absolute, Incremental)
Tamagawa Serial(Absolute, Incremental)
EnDat 2.2
Sinusoidal
Analog Hall
Control
Performance
Speed Control RangelMaximum 1: 5000
Frequency ResponseMaximum 1[kHz] or above(When the 19-bit Serial Encoder is applied)
Speed Variation Ratio±0.01[%] or lower(When the load changes between 0 and 100%)
±0.1[%] or less(Temperature of 25°C[±10]
Torque Control Repetition
Accuracy
Within ±1%
EtherCAT Communication
Specifications
Communication StandardFoE (Firmware download)
EoE (Parameter setting by UDP, Tuning, Secondary function, Parameter copy)
CoE (IEC 61158 Type12, IEC 61800-7 CIA 402 Drive profile)
Physical Layer100BASE-TX(IEEE802.3)
ConnectorRJ45 x 2
Communication distanceWithin connection between nodes 100[m]
DC(Distributed Clock)By DC mode synchronism. minimum DC cycle: 250[us]
LED DisplayLinkAct IN, LinkAct OUT, RUN, ERR
Cia402 Drive ProfileProfile Position Mode
Profile Velocity Mode
Profile Torque Mode
Cyclic Synchronous Position Mode
Cyclic Synchronous Velocity Mode
Cyclic Synchronous Torque Mode
Homing Mode
Digital Input / OutputDigital InputInput Voltage range : DC 12[V] ~ DC 24[V] Total 8 input channels (allocable)
Above 12 functions can be used selectively for assignment.
(*POT, *NOT, *HOME, *STOP, *PCON, *GAIN2, *P_CL, *N_CL, PROBE1, PROBE2, EMG, A_RST)
Digital OutputService rating: DC 24[V] ±10%, 120[mA] Total 4 input channels (allocable)
Above 11 functions can be used selectively for assignment.
(*BRAKE±, *ALARM±, *READY±, *ZSPD±, INPOS±, TLMT±, VLMT±, INSPD±, WARN±, TGON±, INPOS±)
Safety Function2 Input Channels (STO1, STO2), 1 Output Channels (EDM±)
USB CommunicationFunctionFirmware download, Parameter setting, Tuning, Secondary function, Parameter copy
Communication StandardUSB 2.0 Full Speed (applies standard)
ConnectPC or USB storing medium
Internal FunctionDynamic BrakingStandard built-in brake (activated when the servo alarm goes off or when the servo is off).
Regenerative BrakingDefault built-in(excluding 15kW), external installation possible
Display Function7 segments(5DIGIT)
Self-setting FunctionThe [MODE] key changes the content displayed in 7 segments
Additional FunctionAuto gain tuning function
Protection FunctionOvercurrent, overload, overvoltage, insufficient voltage, main power input problem, control power input problem,
overspeed, motor cable, overheat(power module overheat, abnormal drive operation’s temp), encoder problem,
over-regenerative, sensor problem, communication problem
Operation Environment
Environment
Operating Temperature/
Storage Temperature
0 ~ 50[°C] / -20 ~ 70[°C]
Operating Humidity/
Storage Humidity
Below 80[%]RH / Below 90[%]RH(avoid dew-condensation)
EnvironmentIndoor, Avoid corrosive, inflammable gas or liquid, and electrically conductive dust.

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