Lexium 15 MP Servo Drive

Installation Manual LXM15MD28N4/LXM15MD40N4

LXM15MD56N4/ 208-480 V
Contents

Important information____________________________________________________________________________________1
Before you begin _______________________________________________________________________________________2
Steps for setting up the servo drive _________________________________________________________________________3
Preliminary recommendations _____________________________________________________________________________4
Servo drive rating ______________________________________________________________________________________5
Dimensions and weights _________________________________________________________________________________6
Mounting in a wall-mounted or floor-standing enclosure _________________________________________________________9
Wiring diagram overview ________________________________________________________________________________10
Wiring recommendations________________________________________________________________________________12
Braking circuit specifications _____________________________________________________________________________17
Braking circuit wiring overview ___________________________________________________________________________18
Encoder connection____________________________________________________________________________________23
Encoder emulation_____________________________________________________________________________________25
Master/Slave connection ________________________________________________________________________________26
External encoder emulation______________________________________________________________________________27
I/O wiring recommendations _____________________________________________________________________________28
Digital I/O connection __________________________________________________________________________________31
Power removal function connection________________________________________________________________________33
Pulse-direction control interface connection _________________________________________________________________34
Serial communications connection (X6) ____________________________________________________________________35
CANopen interface (X6) ________________________________________________________________________________36
Powering up and powering down the system ________________________________________________________________38
Procedure for verifying system operation ___________________________________________________________________39
Warning messages ____________________________________________________________________________________43
Error messages _______________________________________________________________________________________44
Important information

NOTICE

Read these instructions carefully, and look at the equipment to become familiar with the device before trying to install, operate, or
maintain it. The following special messages may appear throughout this documentation or on the equipment to warn of potential
hazards or to call attention to information that clarifies or simplifies a procedure.

The addition of this symbol to a Danger or Warning safety label indicates that an electrical hazard exists, which will result
in personnal injury if the instruction are not followed.

This is the safety alert symbol. It is used to alert you to potential personal injury hazards. Obey all safety messages that follow this
symbol to avoid possible injury or death.

DANGER
DANGER indicates an imminently hazardous situation, which, if not avoided, will result in death, serious injury, or
equipment damage.

WARNING
Warning indicates a potentially hazardous situation, which, if not avoided, can result in death, serious injury, or
equipment damage.

CAUTION
CAUTION indicates a potentially hazardous situation, which, if not avoided, can result in injury or equipment
damage.

PLEASE NOTE

Electrical equipment should be serviced only by qualified personnel. No responsibility is assumed by Schneider Electric for any
consequences arising out of the use of this material. This document is not intended as an instruction manual for untrained persons.
© 2005 Schneider Electric. All Rights Reserved.

1
Before you begin

Read the following precautions very carefully to ensure the safety of personnel at your site. Failure to comply will result in death,
serious injury or equipment damage.

DANGER
RISK OF ELECTRIC SHOCK, FIRE OR EXPLOSION
• Only qualified personnel who are familiar with and understand the contents of this manual are authorised to work on and with
this servo drive system.
• The system manufacturer is responsible for compliance with all applicable regulations regarding grounding of the servo drive
system.
• Many components, including printed wiring boards, operate at mains voltage. DO NOT TOUCH.
Do not touch unshielded components or screws of the terminals with voltage present.
• Control and power connections may be live even if the servo motor is not rotating.
• Install all covers and close the housing doors before applying power.
• The servo motor generates voltage when the shaft is rotating. Lock the shaft of the servo motor to prevent rotation before
starting work on the servo drive system.
• Before working on the servo drive system:
-Switch off power to all terminals.
-Place a sign "DO NOT SWITCH ON" on the switch and lock to prevent switching on.
-Wait 5 minutes (for discharge of DC bus capacitors). Do not short-circuit DC bus
-Measure voltage at DC bus and check for it to be less than 40 V
Failure to follow these instructions will result in death, serious injury, or equipment damage.

CAUTION
IMPROPER DRIVE OPERATION
• If the servo drive is not turned on for a long period, the performance of its electrolytic capacitors will be reduced.
• If the servo drive has been stored for more than 1 year, it will be necessary to re-form the capacitors in the DC bus link circuit.
To do this, disconnect all electrical connections and apply single-phase z 230 V to terminals R/L1 and S/L2 of the servo drive
for about 30 minutes. This will re-form the capacitors.
Failure to follow this instruction can result in injury or equipment damage.

WARNING
INJURY FROM UNEXPECTED MOVEMENTS
The servo drive may execute unexpected movements because of incorrect wiring, incorrect settings, incorrect data or others errors.
Malfunctions (EMC) may cause unpredictable responses in the system.
• Wire the servo drive carefully in accordance with the EMC requirements.
• Ensure that c 24 V is applied between the 2 analog inputs PWRI-/PWRI+.
• Do not operate a servo drive system with unknown settings or data.
• Carry out a comprehensive commissioning test.
Failure to follow this instruction can result in death, serious injury, or equipment damage.

2
Steps for setting up the servo drive

b 1 Take delivery of the servo drive

v Check that the catalog number printed on the label is the same
as that on the purchase order
v Remove the Lexium 15 MP from its packaging and check that it
has not been damaged in transit

b 2 Check the line voltage

v Check that the line voltage is compatible with the
voltage range of the device (See “Servo drive rating” on
Steps 1 to 4 must page 5)
be performed with
the power b 3 Install the product
disconnected v Check that the specified installation clearances
correspond to the operating conditions
v Fasten the device in place in accordance with the
EMC specifications and recommendations
included in this document

b 4 Wire the servo drive

v Connect the power supply, the servo motor
and any external components (e.g. braking
resistor)
v Connect the signal lines and the controller
supply voltage

PROGRAMMING

v Please refer to the Lexium 15 MP

programming manual

3
Preliminary recommendations

Equipment supplied
The package contains the following elements :

• The servo drive

• A simplified manual
• A documentation CD Rom
• Matting connectors X0A, X0B, X3, X4, X7, X8, X10

Handling and storage

To protect the servo drive prior to installation, handle and store the device in its packaging. Ensure that the ambient conditions are acceptable.

CAUTION
DAMAGED PACKAGING
If the packaging appears damaged, it can be dangerous to open it or handle it. Take precautions against all risks when performing
this operation.
Failure to follow this instruction can result in injury or equipment damage.

CAUTION
DAMAGED EQUIPMENT
Do not operate or install any servo drive that appears damaged.
Failure to follow this instruction can result in injury or equipment damage.

CAUTION
RISK OF MECHANICAL DAMAGE
Protect the servo drive from impermissible stresses. In particular, do not let any component become bent or any insulation distances
altered during transport and handling.
Failure to follow this instruction can result in injury or equipment damage.

Installing the servo drive

Mount the servo drive on a wall or the back of the enclosure in accordance with the recommendations described in this document.

CAUTION
INCOMPATIBLE LINE VOLTAGE
Before turning on and configuring the servo drive, ensure that the line voltage is compatible with the supply voltage range shown
in our catalogs. The servo drive may be damaged if the line voltage is not compatible.
Failure to follow this instruction can result in injury or equipment damage.

CAUTION
RISK OF EQUIPMENT DAMAGE
An isolating transformer is always required for 400...480 V networks which are asymmetrically grounded or not grounded.
Failure to follow this instruction can result in injury or equipment damage.

DANGER
UNINTENDED EQUIPMENT OPERATION
• Before turning on and configuring the Lexium 15 MP servo drive, check that c 24 V is applied between the 2 analog inputs
PWRI-/PWRI+ in order to prevent unintended operation. Do not forget to reactivate the Power Removal input to start the servo
motor.
• Before turning on or on exiting the configuration menus, check that the inputs assigned to the ENABLE command are
desactivated (at state 0) since they can cause the servo motor to start immediately.
Failure to follow this instruction will result in death, serious injury, or equipment damage.

4
Servo drive rating

The table below describes the servo drive rating for the Lexium 15 MP

Three phase power supply voltage : 208…480 V 50/60 HZ

Servo drive(output) Line supply (input) Lexium 15 MP

Nominal Max. Peak Nominal Power Max. line current Apparent Primary References
current In transient transient output loss power fuse (A)
current for current power at 208 V at 480 V
2 s Imax

Arms Arms Apk kW W A A kVA A

10 20 28 5.7 90 9.7 12.6 7 16 aM LXM15MD28N4

14 28 40 7.9 160 15.5 17.7 10 20 aM LXM15MD40N4

20 40 56 11.4 200 20 24.4 14 25 aM LXM15MD56N4

5
Dimensions and weights

Lexium 15 MP height, width and depth dimensions

The following diagram shows height, width and depth dimensions for the Lexium 15 MP servo drive.

LXM15MD28N4 LXM15MD40N4

)
m) mm
73m 7 3
2 r2
tor ”) cto 0.8”)
ec 10.8 ne
nn on r1
co tor th c ecto
w ith nec i
(w onn
( on
mm ith c 5 mm ith c
5
26 5” (w 26 5” (w
. .
10 10

m)
7 3m
r2
ecto 0.8”)
n
on r1
i th c ecto
(w on n
5 mm ith c
26 5” (w
.
10

LXM15MD56N4

6
Mounting and temperature conditions

Lexium 15 MP servo drive and mounting area dimensions

Install the servo drive vertically at ± 10°.
Do not place it close to heating elements.
Leave sufficient free space to ensure that the air required for cooling purposes can circulate from the bottom to the top of the unit.
(see figure below).

Servo drive mounting

The following diagrams show depth dimensions and mounting area requirements for the Lexium 15 MP servo drive.
You will need a 4 mm Allen key and material is 3 x M5 hexagon socket screws to DIN 912.

Cable duct

1.97
50
Note: All dimensions are
LXM15MD28N4

LXM15MD28N4

LXM15MD40N4

LXM15MD56N4
as follows mm/inch(“)

12.21
310

40 70 70 30 70 50 40
160
6.3

1.6 2.8 2.8 1.18 2.8 1.97 1.6

Cable duct
min. 2.5
0.1
> 273
10.8 Mounting panel
Cabinet door
Conductive (zinc-coated)

265 mm (with connector 273 mm)

10.5” (with connector 10.8”)
M5

screw for hex key DIN 912

Lexium 15 MP

CAUTION
CONTAMINATION AND THERMAL HAZARD
Ensure the Lexium 15 MP servo drive is mounted within a closed control cabinet. The site must be free from conductive or
corrosive materials. Keep the required space clear above and below the servo drive. (See Mounting in a wall-mounted or floor-
standing enclosure for more information).
Failure to follow this instruction can result in injury or equipment damage.

7
Mounting and temperature conditions

Derating curves
The following diagram describes the derating curve of the servo drive Current (In) as a function of the Altitude

I/In

100 %

80 %
1.5 %/100 m
0.46%/100 ft
60 %

40 %

20 %

0%
0m 500 m 1000 m 1500 m 2000 m 2500 m Altitude
(0 ft) (1640 ft) (3281 ft) (4921 ft) (6561 ft) (8202 ft)

The following diagram describes the derating curve of the servo drive Current (In) as a function of the Temperature

I/In

100 %

90 %
80 %

70 % 2.5 %/°C
60 %

50 %

40 %

30 %
20 %

10 %

0%
0 °C 10 °C 20 °C 30 °C 40 °C 45 °C 50 °C 55 °C Temperature
(32 °F) (50 °F) (68 °F) (86 °F) (104 °F) (113 °F) (122 °F) (131 °F)

8
Mounting in a wall-mounted or floor-standing enclosure

Observe the mounting recommendations on the previous pages.

To ensure proper air circulation in the servo drive:

z Fit ventilation grilles

z Ensure that the ventilation is adequate: if not, install forced
ventilation with a filter

Mounting the servo drive in the enclosure

Power dissipated
These power ratings are given for operation at nominal load and for the factory-set switching frequency:

LXM15M Power loss

D28N4 90

D40N4 160

D56N4 200

9
Wiring diagram overview

Overview of Lexium 15 MP wiring connections

The diagram below shows the wiring connections and the pin assignments for the Lexium 15 MP drive.

CAUTION
RISK OF EQUIPMENT DAMAGE
Do not connect a Modbus serial port to the X6 connector! Pin1 carries + c 8 V which would be shorted out by a Modbus cable.
Instead, use a 3-core cable (not a null-modem link cable) with only pins 2, 3 and 5 wired.
Failure to follow this instruction can result in injury or equipment damage.

Note:The connectors described above appear in many wiring diagrams throughout the remainder of this document and are
identified in those diagrams by their alphanumeric designations only (for example, X4); the term connector will afterwards be
excluded.

10
Wiring diagram overview

The following diagram shows the different connections for the Lexium 15 MP

See Before Lexium 15 MP Control

you begin
thermal control AI1+ +/-10V speed
included setpoint1 refer-
High AI1- red to CNC-GND
Sine-Cosine resolution
Encoder single / ACOM CNC-GND
multiturn
AI2+ +/-10V speed
setpoint2 refer-
AI2- red to CNC-GND
And or
thermal control AO1 Analog 1
included
ACOM CNC-GND

AO2 Analog 2
Resolver Resolver
CNC-GND

DCOM I/O-GND
+24V referred
to 0V/GND
W/T3 LI3
V/T2 LI4
U/T1 LI1

LI2
BR+
ENABLE
BR-
LO1 Digital1
Remove jumper if external LO2
braking resistor is connected Digital2
PBi
Braking R1A/R1C Safety
PBe circuit
Resistor

PA/+
PC/- Encoder-
ROD emulation,
SSI pulse-direction
Ma./SI. control,
slave/master
R/L1 Pulse servo drive
S/L2
T/L3

PE CAN
CAN-Master

+24V DC
COM1/COM2
0V DC PC

Supply unit S/L2 PE/ PC/- PC/- PE-connection (protective earth)

c 24 V R/L1 T/L3 PA/+ PA/+ chassis ground connection (panel)
Mains
contactor shield connection via plug

shield connection at the front panel

To other servo drives

11
Wiring recommendations

The drive must be connected to the protective ground. To comply with current regulations concerning high leakage currents, use at
least a 10 mm² (AWG 6) protective conductor or 2 protective conductors with the same cross-section as the power supply
conductors.

DANGER
HAZARDOUS VOLTAGE
Ground equipment using the provided ground connecting point as shown in the figure below. The drive panel must be properly
grounded before power is applied.
Failure to follow these instructions will result in death, serious injury, or equipment damage.

servo drive

Check whether the resistance to the protective ground is 1 ohm or less. Connect a number
servo drive of servo drives to the protective ground, as shown in the diagram (see left). Do not lay
protective grounding cables in a loop or in series.

Ensure the drive mounting plate, servo motor housing and ACOM for the controls are
servo drive connected to common panel earth ground point.

WARNING
IMPROPER WIRING PRACTICES
• The Lexium 15 MP servo drive will be damaged if input line voltage is applied to the output terminals (U/T1,V/T2,W/T3).

• Check the power connections before energizing the Lexium 15 MP servo drive.

• If replacing another servo drive, verify that all wiring connections to the Lexium 15 MP servo drive comply with all wiring
instructions in this manual.
Failure to follow this instruction can result in death, serious injury, or equipment damage.

WARNING
INADEQUATE OVERCURRENT PROTECTION
• Overcurrent protective devices must be properly coordinated.

• The Canadian Electricity Code and the National Electrical Code require branch circuit protection. Use the fuses recommended
in this manual (See AC power supply wire specifications) to achieve published short-circuit current ratings.

Failure to follow this instruction can result in death, serious injury, or equipment damage.

Keep the power cables separate from circuits in the installation with low-level signals (detectors, PLCs, measuring apparatus,
video, telephone).

CAUTION
IMPROPER USE OF A BRAKING RESISTOR
Only use the braking resistors recommended in our catalogs.
Failure to follow this instruction can result in injury or equipment damage.

Control
In order to improve the interference immunity required by EMC regulations, route power and control cables separately. We
recommend a separation of at least 20 cm.

12
Wiring recommendations

Connecting cable shields to the front panel

The following procedure and associated diagram describe how to connect cable shields to the front panel of the Lexium 15 MP
servo drive:

Step Action
1 Remove a length of the cable’s outer covering and braided shield sufficient to expose the required length of wires.
2 Secure the exposed wires with a cable tie.
3 Remove approximately 30 mm of the cable’s outer covering while ensuring the braided shield is not damaged during the
process.
4 At the front panel of the servo drive, insert a cable tie into a slot in the shielding rail.
5 Use the previously inserted cable tie to secure the exposed braided shield of the cable firmly against the shielding rail.

Cable shield connection diagram

The following diagram shows the cable shield connections at the front of the Lexium 15 MP servo drive.

Cable tie
1
2 3
Remove the outside shroud of the cable
and the shielded braid on the desired
core length. Secure the cores with a ca-
ble tie.
30 mm 30 mm Remove the outside shroud of the line on
1.18 ” 1.18 “ a length from, for instance, 30 mm wi-
thout damaging the shielding braid.
Pull a cable tie by the slot in the shielding
rail on the front panel of the servo drive.

Cable tie 4
Press the shielding of the cable firmly
against the front panel with the cable tie

Cable tie

13
Power wiring

AC power supply wire specifications

The following table describes the recommended wire specifications. Use only copper wire with insulation rated at 75 °C or greater,
unless otherwise specified.

Recommended wire size Tightening Primary fuse (A)

LXM15M Notes torque Three phase
mm² AWG Nm (lbf.in) 208…480 V

D28N4 1.5 14 16 aT
600 V,105° C
(221° F), 0.5...0.6
D40N4 20 aT
(4.4...5.3)
4 10 twisted
D56N4 25 aT

AC power supply connection

The following diagrams show the connections for the AC power supply input to the Lexium 15 MP servo drive.

Three phase
The three phase power supply EMC filter is integrated.

WARNING
INADEQUATE OVERCURRENT PROTECTION
• Fusing have to be provided by the user.
• Use the fuses recommended in the table above to achieve published short-circuit current ratings.
Failure to follow this instruction can result in death, serious injury, or equipment damage.

The following diagram show the connection for a 3-phase power supply.

Lexium 15 MP XOA

L1
R/L1

L2
S/L2

L3
T/L3

PE
PE/

CAUTION
RISK OF EQUIPMENT DAMAGE
An isolating transformer is always required for 400...480 V networks which are asymmetrically grounded or not grounded.
Failure to follow this instruction can result in injury or equipment damage.

14
Power wiring

c 24 V external control power supply connection

The c 24 V external control power supply is required to operate the Lexium 15 MP drive.

c 24 V external control power supply wire specifications

The following table describes the recommended wire specifications. Use only copper wire with insulation rated at 75 °C or greater,
unless otherwise specified.

LXM15M Wire size Tightening torque Notes

Fuse (A)
Nm (lbf.in)

D28N4, D40N4, 2.5 mm2 or 14 AWG 0.5...0.6 12 aF Check voltage drop

D56N4 maximum (4.4...5.3)

c 24 V external control power supply terminal (X4)

The table below describes the c 24 V external control power supply specifications

LXM15M Servo motor brake present External control power Value

supply input
D56N4 Voltage c 24 V -0 % +15 %
No
Current 1A
D40N4
Voltage c 24 V -0 % +15 %
Yes
D56N4 Current 3A

The external control c 24 V power supply has to be electrically isolated, e.g. via an isolating transformer.
An EMC filter for the c 24 V external control power supply is integrated.

The following diagram shows the required wiring for the c 24 V external control power supply terminal.

External control
Lexium 15 MP power supply
+24 V DC FUSE
+24 V L1

+24 V DC

L2
33 V 0 V DC

0 V DC (1)
PE

WARNING
RISK OF EQUIPMENT DAMAGE
(1) The current must not exceed 10 A between +24 V DC and 0 V DC pins.
Failure to follow this instruction can result in death, serious injury, or equipment damage.

15
Power wiring

DC bus link (X7) wire specifications

The following table describes the recommended wire specifications. Use only copper wire with insulation rated at 75 °C or greater,
unless otherwise specified

LXM15M Recommended wire size Notes Tightening torqueNm (lbf.in)

D28N4 1.5 mm² 14 AWG 1000 V,105°C 0.5...0.6

(221 °F),shielded for (4.4...5.3)
D40N4, D56N4 4 mm² 12 AWG lengths>20 cm

DC bus link (X7) connection

Terminals can be connected in parallel, whereby the braking power is divided between all the servo drives connected to the same
DC bus link circuit.
AC SUPPLY
Lexium 15 MP Lexium 15 MP Lexium 15 MP
X4 X4 X4
+24V DC +24V DC +24V DC
+24V DC +24V DC +24V DC
0V DC 0V DC 0V DC
0V DC 0V DC 0V DC

X0A X0B X0A X0B X0A X0B

L1 R/L1 R/L1 R/L1 R/L1 R/L1 R/L1

L2 S/L2 S/L2 S/L2 S/L2 S/L2 S/L2 To next

drive
L3 T/L3 T/L3 T/L3 T/L3 T/L3 T/L3
PE/ PE/ PE/ PE/ PE/ PE/

X7 X7 X7
PA/+ PA/+ PA/+
PC/- PC/- PC/-
PA/+ PA/+ PA/+

PC/- PC/- PC/-

DC SUPPLY
POWER SUPPLY c 24 V Lexium 15 MP Lexium 15 MP
Power supply
X4
+24V DC +24V DC
+24V DC +24V DC
0V DC 0V DC
0V DC 0V DC

X0A X0B X0A X0B

R/L1 R/L1 R/L1 R/L1
S/L2 S/L2 S/L2 S/L2 NC
To next
T/L3 T/L3 T/L3 T/L3 drive
PE/ PE/ PE/ PE/

X7 X7
+DC PA/+ PA/+
PC/-
-DC PC/-
PA/+ PA/+
Fuse
PC/- PC/-
Max fuse 20 A
Shielded if length > 20cm
Max. 10 A

Note:Inrush current must be limited to 20 A between power supply and servo drives.
Servo drives have to be configured (see Unilink commands) to suppress faults.

16
Braking circuit specifications

The following table provides technical data on the braking circuit.

Braking circuit: technical data LXM15M

Supply volt- Rated data Dim. D28N4, D40N4, D56N4
age
3 X 230 V Upper switch-on level of braking circuit V 400 - 430
Switch-off level of braking circuit V 380 - 410
Overvoltage F02 V 450
Continuous power of braking circuit (PC/-) W 200
Continuous power of braking circuit (PA/+) max. kW 0.75
Pulse power, internal (PC/- max. 1s) kW 5
Pulse power, external (PA/+ max. 1s) kW 5
External braking resistor Ohm 33
Internal braking resistor Ohm 33
3 X 400 V Upper switch-on level of braking circuit V 720 - 750
Switch-off level of braking circuit V 680 - 710
Overvoltage F02 V 800
Continuous power of braking circuit (PC/-) W 200
Continuous power of braking circuit (PA/+) max. kW 1.2
Pulse power, internal (PC/- max. 1s) kW 16
Pulse power, external (PA/+ max. 1s) kW 16
External braking resistor Ohm 33
Internal braking resistor Ohm 33
3 X 480 V Upper switch-on level of braking circuit V 840 - 870
Switch-off level of braking circuit V 800 - 830
Overvoltage F02 V 900
Continuous power of braking circuit (PC/-) W 200
Continuous power of braking circuit (PA/+) max. kW 1.5
Pulse power, internal (PC/- max. 1s) kW 21
Pulse power, external (PA/+ max. 1s) kW 21
External braking resistor Ohm 33
Internal braking resistor Ohm 33

17
Braking circuit wiring overview

External braking resistor wire specifications

The following table describes the recommended wire specifications. Use only copper wire with insulation rated at 75 °C or greater,
unless otherwise specified

LXM15M Wire Size Tightening torque Notes Fuse (A)

Nm (lbf.in)

D28N4, D40N4, 1.5 mm2 or 14 AWG 0.5...0.6 High temperature 6 aT

D56N4 (4.4...5.3) insulation 1000 V,
105 °C (221 °F) or
greater

External braking resistor connection

The following diagram shows the connections between the external braking resistor and the Lexium 15 MP servo drive. The servo
drive is shipped with a jumper installed on connector X8, terminals PBe and PBi. If you are going to use an external braking
resistor, then remove the jumper between PBe and PBi to disconnect (and thus disable) the internal braking resistor.

CAUTION
RISK OF EQUIPMENT DAMAGE
Fusing of the two lines to external braking resistor is mandatory.
Use high voltage AC/DC and fast fuses.
Failure to follow this instruction can result in injury or equipment damage.

Remove
X8 bridge!
Lexium 15 MP

PBe Fb1
- DC

Rbint PBi
+ DC RBext

PA/+ Fb2

PC/-

CAUTION
IMPROPER USE OF A BRAKING RESISTOR
Only use the braking resistors recommended in our catalogs.
Failure to follow this instruction can result in injury or equipment damage.

18
Power wiring

Servo motor wire specifications

The following table describes the recommended wire specifications. Use only copper wire with insulation rated at 75 °C or greater,
unless otherwise specified

LXM15M Item Wire Size Notes

D28N4, D40N4, D56N4 Power Depends on the servo motor

model.
-
Please see the Lexium 15
servo drive catalog

Brake Min. 0.75 mm² (18 AWG) 600 V, 105 °C (221°F)

shielded, check voltage drop

Servo motor power connection

The following diagrams show the connections between a BDH or BSH servo motor and the Lexium 15 MP servo drive. When the
interface cable length exceeds 25 m, a servo motor choke must be installed as shown and at a distance of one meter or less from
the servo drive.

Connection between servo motor and servo drive when interface cable length is 25 m or less:

Lexium 15 MP X9
B
XGND BR-

24 V A
BR+
Servo motor power
2 connector

U/T1 1

V/T2 4

W/T3 3

Connection between servo motor and servo drive when interface cable length exceeds 25 m:

Lexium 15 MP
X9
XGND BR- B

24 V BR+ A

2
Servo motor power
1 connector
U/T1

4
V/T2

W/T3 3

VW3 M5 3pp

If a servo motor power cable is used that includes cores for brake control, the brake control cores must be separately shielded.
Ground the shielding at both ends.

19
Power wiring

Servo motor (with optional dynamic brake resistors and contactor) connection
The following diagram shows the connections between a servo motor and the Lexium 15 MP servo drive when the optional
dynamic brake resistors and associated contactor are incorporated.

LEXIUM 15 MP
X9
Com c 24 V 1 BR- B

2 BR+ A
c 24 V
3 2

4 U/T1 1
Servo
Motor
5 V/T2 4

6 W/T3 3

Rb Rb

Square D
LPID25008BD
or equivalent

Note:If possible, disable the servo drive before opening relay

Braking resistors value

To determine the values of the braking resistors, use these formulas:

MINIMUM RESISTANCE (Rdb) RESISTOR POWER RATING (Pb)

⎛ Maxspeed ⎞
⎜ ⎟ * BEMF
Rb = ⎝ 1000 ⎠
Pb =
(I max * 0.8)2 * Rb
I max * 0.8 10

where : Maxspeed is the maximum speed of the servo motor in RMP*

BEMF is the back electromotive force of the servo motors in V/KPRM*

Imax is the maximum current of the servo motor in Amps RMS*

*These values are provided in the servo motor specification sheet

20
Holding brake control

Servo motor holding-brake control functional description

A 24 V / max.1.5 A holding brake in the servo motor can be controlled directly by the servo drive. The brake function must be
enabled through the BRAKE parameter (See Lexium 15 MP programming manual). In the diagram below you can see the timing
and functional relationships between the ENABLE signal, speed setpoint, speed and braking force

U
Analog In(AI)
terminal
X3/4-5,6-7
U
Enable
terminal
X3/15 TBRAKE0 def. 20 ms
U Emergency stop
ramp
SW terminal

ramp
n
Speed
VELO

U
ENABLE
internal

TBRAKE def. 100 ms

Brake U
terminal
X9/2-1
F
Braking force

tbrH tbrL

During the internal ENABLE delay time of 100 ms, the speed setpoint of the servo drive is internally driven down an adjustable
ramp to 0 V. The output for the brake is switched on when the speed has fallen to 3 % of the preset final speed, at the latest after
1 second. The connection and separation time of the holding brake that is built into the servo motor are different for the various
types of servo motor. For a description of the interface see the Lexium 15 MP programming manual.

WARNING
ELECTRICAL HAZARD
The holding brake function of the Lexium 15 MP does not ensure personnel safety! Operation of the brake in a manner that provides
personnel safety requires an additional “make” contact in the brake circuit, and a suppressor device, such as a varistor, for the brake
circuit.
Failure to follow this instruction can result in death, serious injury, or equipment damage.

The recommended circuit is as follow :

Com c 24 V
BR-

c 24 V BR+

Varistor or transient
voltage suppressor
External safety
circuit

21
Resolver connection

BDH servo motor resolver connection

The following diagram shows the connections between the resolver and the Lexium 15 MP servo drive.

Connector Connector (X2)

SERVO MOTOR END DRIVE END

9 8 Green
1 9 7 Cosine+
Yellow
2 10 12 7 5 3 Cosine-
P White
11 8 4 Sin+
3 6 Brown
4 8 Sin-
4 5 Grey
6 5 Reference+
Pink
7 9 Reference-
Black Over-
Bottom view 1 2
Grey/Pink temperature
2 6 sensor
3 1
10
11
12

Resolver input specifications table

The following table provides resolver input specifications.

RESOLVER
Reference 1 kHz ± 0.5 %
Servo drive capability 35 mA RMS max.
Amplitude 7 V ± 10 % RMS
Pair of poles 1 (default)
Accuracy < 30 arc minutes
Resolver transformation ratio 0.5 ± 10 %
Loss of feedback Detection circuit included
Maximum cable length 75 m
Maximum cable capacitance 120 pF/m
(signal connector to shield)

22
Encoder connection

Servo motor encoder connection

The following diagram shows the encoder input connections between the encoder and the Lexium 15 MP servo drive.

Connector Connector (X1)

SERVO MOTOR END SERVO DRIVE END
Black
1 14 Overheat
Gray/Pink temperature
2 7
Brown
4 9 Sine-
White
8 1 Sine+
Grey
6 5 Data+
Pink
7 13 Data-
Bottom view Yellow
5 11 Cosine-
Green
9 3 Cosine+
Red/Blue
10 4 V+ supply voltage
11 Blue
2 GND
3 6
12 8
10
12
15

Note:The servo motors can be optionally fitted with a single-turn or multi-turn sine-cosine encoder, which is used by the
Lexium 15 MP positioning or extremely smooth running. In addition, the thermistor contact in the servo motor is connected
via the encoder cable to the Lexium 15 MP servo drive.

Encoder Input Specifications Table

The following table provides Lexium 15 MP encoder input specifications

ENCODER INPUT
Internal power supply Voltage 7 V...12 V RMS
Current (maximum) 60 mA
Input Signal Sin-Cos encoder (cyclic absolute) Absolute accuracy ± 5.3 arc minutes
Resolution ± 1.3 arc minutes
Sin-Cos encoder (multi-turn Turn counter 12 bits
absolute)
Absolute accuracy within ± 5.3 arc minutes
one turn
Resolution within one ± 1.3 arc minutes
turn

23
Encoder emulation

Incremental encoder output (X5)

The incremental-encoder interface is part of the package supplied. Select encoder function ROD (“Encoder” screen page). The
servo drive calculates the servo motor shaft position from the cyclic-absolute signals of the resolver or encoder, generating
incremental-encoder compatible pulses from this information. Pulse outputs on the SubD connector X5 are 2 signals, A and B, with
90 ° phase difference (i.e. in quadrature, hence the alternative term “A quad B” output), with a zero pulse. The resolution (before
multiplication) can be set by the RESOLUTION function:

Enc. function (ENCMODE) Feedback system Resolution (lines) Zero pulse (NI)
ROD Resolver 16 … 1024 once per turn (only at
A=B=1)

EnDat / HIPERFACE 16 … 4096 and 8192 … once per turn (only at

524288 (2 n) A=B=1)

ROD interpolation Incremental encoder without 4...128 analog pass through from
data channel TTL lines per sine line X1 to X5

Use the NI-OFFSET parameter to adjust + save the zero pulse position within one mechanical turn.
The maximum permissible cable length is 10 meters.

Connections and signals for the incremental encoder interface are as follows:

Lexium 15 MP

track A

zero I

track B

*A line impedance implementation is required to ensure a correct working of the servo drive

Edge spacing a ≥ 0.20 µs

Edge steepness tv ≤0.1 µs

Delay N-I-td ≤ 0.1 µs

|ΔU| ≥ 2 V/20 mA

24
Encoder emulation

SSI output (X5)

The SSI interface (synchronous serial absolute-encoder simulation) is part of the delivered package. Select the encoder function
SSI (screen page “Encoder”). In the servo drive, the position of the motor shaft is calculated from the cyclically absolute signals
from the resolver or encoder. This information is used to create a position output in a format that is compatible with the standard
SSI-absolute-encoder format. 24 bits are transmitted.

SINGLE TURN selected: The upper 12 bits are fixed to ZERO, the lower 12 bits contain the position information. For 2-pole
resolvers, the position value refers to the position within one turn of the motor, for 4-pole resolvers it is within half a turn, and for 6-
pole resolvers it is within a third of a turn.

Exception: If an encoder with a commutation track is used as the feedback unit, then the upper 12 bits are set to 1 (data invalid!)
until a homing run is performed.

MULTI TURN selected: The upper 12 bits contain the number of motor turns, the lower 12 bits contain the position information.

The signal sequence can be output in Gray code (standard) or in binary code (parameter SSI-CODE). The servo amplifier can be
adjusted to the clock frequency of your SSI-evaluation with the SSI-TAKT parameter (200 kHz or 1.5 MHz and inverted).

Drivers are supplied from internal supply voltage. PGND must always be connected.

Connection and signals for the SSI interface are described below:

Lexium 15 MP

DATA

CLOCK

*A line impedance implementation is required to ensure a correct working of the servo drive

Clock

Monoflop

Binary
Singleturn
Gray

Binary
Multiturn
Gray

Output |ΔU| ≥ 2 V/20 mA

Transfert bit rate Monoflop stabilize time
Input |ΔU| ≥ 0.3 V
200 KBaud Tp ≈ 13µs
Switch over time Data tv ≤ 300 ns
1.5 MBaud Tp ≈ 3µs
Period T = 600 ns

Note:The count direction for the SSI interface is UP when the servo motor shaft is rotating clockwise (looking at the end of the servo
motor shaft).

25
Master/Slave connection

This interface can be used to link several Lexium 15 MP servo drives together in master-slave operation. Parameter setting for the
slave servo drive is carried out with the aid of the setup software (electrical gearing). The resolution (no. of pulses/turn) can be
adjusted, and the analog setpoint inputs are out of action.

The signal diagram (for encoders with RS422 or 24 V output) is as follow:

Connection to a LEXIUM master, 5 V signal level (X5)

This interface can be used to link several Lexium 15 MP servo drives together in master-slave operation as shown in the following
diagram. Up to 16 slave servo drives can be controlled by the master, via the encoder output. The SubD connector X5 is used for
this purpose.
Slave X3
Lexium 15 MP
Master

X5 Lexium 15 MP

Track A

+5 V

PGND

Track B

*A line impedance implementation is required to ensure a correct working of the servo drive

Encoder input (slave) specifications table

The following table provides Lexium 15 MP encoder input (slave) specifications.

ENCODER INPUT (SLAVE)

Channels A and B
Type Differential, RS-485 compliant
Voltage 8 V nominal
Current 200 mA (maximum)
Maximum frequency 1.5 MHz
Rise time < 0.1 ms
Fall time < 0.1 ms

26
External encoder emulation

External incremental encoder connection

The following diagram shows the incremental encoder input connections between the Lexium 15 MP servo drive and an external
incremental encoder.

Lexium 15 MP Incremental encoder

X5
5 A+
RS-485
Chan A
4
RS-485 A-

2 M+
RS-485
Marker
3
RS-485 M-
8
= Reserved
=
c 5V 1 PCom
Gnd

6 B+
RS-485
7 Chan B
RS-485 B-

+c V
Power V
Supply Gnd
Gnd

Note:The receivers are supplied with an internal supply voltage.

PCom must always be connected to the encoder ground.
Incremental encoder is powered by an external control power supply.

External SSI encoder connection

The following diagram shows the connections between an external SSI encoder and the Lexium 15 MP servo drive.

Lexium 15 MP X5 SSI encoder *

6 Data+
RS-485
7
RS-485
8 Data -
= Reserved
c 5V PCom
= 1
Gnd
5 Clock +
RS-485
4
RS-485
Clock -

+c V
c V
Power
Supply Gnd
Gnd
* See Telemecanique XCC range

Note:The drivers are supplied with an internal supply voltage.

PCom must always be connected to the encoder ground.
SSI encoder is powered by an external control power supply

27
I/O wiring recommendations

CAUTION
RISK OF EQUIPMENT DAMAGE
ACOM is the ground for analog inputs, internal analog ground, encoder emulation, RS232 and CAN.
DCOM is the ground for digital inputs/outputs and the external control power supply, optically isolated.
Failure to follow this instruction can result in injury or equipment damage.

Connecting cable shields to the front panel

The following procedure and associated diagram describe how to connect cable shields to the front panel of the Lexium 15 MP
servo drive:

Step Action
1 Remove a length of the cable’s outer covering and braided shield sufficient to expose the required length of wires.
2 Secure the exposed wires with a cable tie.
3 Remove approximately 30 mm of the cable’s outer covering while ensuring the braided shield is not damaged during the process.
4 At the front panel of the servo drive, insert a cable tie into a slot in the shielding rail.
5 Use the previously inserted cable tie to secure the exposed braided shield of the cable firmly against the shielding rail.

Cable tie
1
2 3
Remove the outside shroud of the
cable and the shielded braid on the
desired core length. Secure the co-
res with a cable tie.
30 mm 30 mm
Remove the outside shroud of the
1.18 ” 1.18 “ line on a length from, for instance,
30 mm without damaging the shiel-
ding braid.
Pull a cable tie by the slot in the shiel-
ding rail on the front panel of the ser-
vo drive.
Cable tie 4

Press the shielding of the cable fir-

mly against the front panel with the
cable tie

Cable tie
5

28
Analog I/O connection

Analog I/O wire specifications

The following table describes the recommended wire specifications. Use only copper wire with insulation rated at 75 °C or greater,
unless otherwise specified

LXM15M Wire Size Tightening torque Notes

Nm (lbf.in)

D28N4, D40N4, D56N4 0.25 mm2 or 0.5...0.6 Twisted pairs, shielded

22 AWG minimum (4.4...5.3)

Analog inputs (X3)

The servo drive is fitted with two programmable differential inputs for analog setpoints. ACOM (X3/7) must always be joined to the
ground reference.

The following diagram shows the connections between the two fully programmable, differential analog inputs on the Lexium 15 MP
servo drive and a user device.

Lexium 15 MP Control
X3

10 kΩ 10 kΩ AI1+ 4
+ +/- 10V
10 kΩ 10 kΩ AI1- 5 referenced to Com
-

10 n 10 n ACOM 1
Com

10 kΩ 10 kΩ AI2+ 6
+
+/- 10V
10 kΩ 10 kΩ 7 referenced to Com
AI2-
-

10 n 10 n

The list below describes the technical characteristics for the analog inputs (X3):
z Ground reference : ACOM, terminal X3/1
z Input resistance 20 kΩ
The table below describes terminals X3/4-5 (AI1+/AI2-) and X3/6-7 (AI2+/AI2-)caracteristics:

Terminals Caracteristics Application examples for setpoint input

Analog-In 1 input (terminals X3/4-5) Differential input voltage max. ± 10 V
Resolution 14-bit
Scalable -
Standard setting : speed setpoint
Analog-In 2 input (terminals X3/6-7) Differential input voltage max. ± 10 V Adjustable external current limit
Resolution 12-bit Reduced-sensitivity input for setting-up/jog
Scalable operation
Standard setting : torque setpoint Pre-control / override

Defining the direction of rotation

The standard setting is a clockwise rotation of the servo motor shaft (looking at the shaft end):

z Positive voltage between terminal X3/4 ( + ) and terminal X3/5 ( - ) or

z Positive voltage between terminal X3/6 ( + ) and terminal X3/7 ( - )
To reverse the direction of rotation, swap the connections to terminals X3/4-5 or X3/6-7 respectively, or change the ROTATION
DIRECTION parameter in the “Speed controller” screen page.

29
Analog I/O connection

Analog outputs (X3)

Reference ground for the analog outputs (X3) is ACOM (terminal X3/1 and X3/10).

The following diagram shows the connections between the two fully programmable, differential analog inputs on the Lexium 15 MP
servo drive and a user device.

Lexium 15 MP Control

X3

AO1
Analog 1

ACOM
CNC-GND

ACOM
CNC-GND

AO2 Analog 2

CNC-GND

Analog output specifications table

The following table lists the analog output specifications.

Analog outputs

Channels Two

Type Single-ended, non-isolated

referenced to ACOM

VOUT ± 10 V

IOUT ± 5 mA

Output impedance 2.2 kΩ

Maximum load capacitance 0.1 µF

Resolution 10 bits

Update time 5 ms

Programmable analog outputs Analog-out 1 / Analog-out 2

The terminals X3/8 (AO1) or X3/9 (AO2) can have the following analog signals assigned to them:

Standard setting :

Analog-out 1 : Tachometer voltage VTA (speed)

The output delivers 10 V at the preset limit speed.

Analog-out 2 : Current setpoint IDC (torque)

The IDC-monitor delivers 10 V at the preset peak current Ipeak (effective r.m.s. value).

You can use the terminals X3/8 (AO1) or X3/9 (AO2) to output converted analog values for digital measurements which are
contained in the servo drive.

You can find a list of pre-programmed functions on the "analog I/O" screen of our setup software.

30
Digital I/O connection

Digital I/O wire specifications

The following table describes the recommended wire specifications. Use only copper wire with insulation rated at 75 °C or greater,
unless otherwise specified

LXM15M Wire Size Tightening torque

Nm (lbf.in)

D28N4, D40N4, D56N4 0.5 mm2 or 0.5...0.6

20 AWG minimum (4.4...5.3)

Digital control inputs(X3)

All digital inputs are electrically isolated via optocouplers.

Lexium 15 MP Controls
X3

LI1

LI2

LI3
LI3

LI4
LI4

ENABLE
ENABLE

+24 V against CNC-GND

DCOM
I/O GND

Discrete Input Specifications Table

The following table provides Lexium 15 MP discrete input specifications.

DISCRETE INPUT
Channels Five (four programmable and one dedicated for enable)
Type Solid state, optically isolated, compatible IEC61131-2 type1.
Transient z 250 V (channel to chassis)

isolation voltage
VIN maximum c 30 V
IIN @ VIN = 24 V 5 mA
VIH minimum 12 V (minimum input voltage to be recognized as high – true)
VIL maximum 7 V (maximum input voltage to be recognized as low – false)
Scan time:

Normal 1 ms

High speed < 50 µs

31
Digital I/O connection

Digital I/O wire specifications

The following table describes the recommended wire specifications. Use only copper wire with insulation rated at 75 °C or greater,
unless otherwise specified

LXM15M Wire Size Tightening torque

Nm (lbf.in)

D28N4, D40N4, D56N4 0.5 mm2 or 0.5...0.6

20 AWG minimum (4.4...5.3)

Digital control outputs(X3)

The following diagram shows the different control outputs:

X3 Control
R1A

Safety circuit

R1C +24V ref. to I/O

GND

LO1
Digital 1

+24V ref. to I/O

GND
LO2
Digital 2

DCOM
I/O GND

Note:The Lexium 15 MP logic outputs are open collectors therefore they need to be relayed to be connected to a PLC

Discrete Output Specifications Table

The following table provides Lexium 15 MP discrete output specifications.

DISCRETE OUTPUT
Channels Two
Type Solid state: open collector c 30 V max., optically isolated
Transient z 250 V (channel to chassis)
isolation voltage
Sense True low, sinking
IOUT 10 mA maximum
Protection Yes (PTC resistor 25 Ohm)
Scan time 1 ms

Fault Relay Output Specifications Table

The following table provides Lexium 15 MP fault relay output specifications.

FAULT RELAY OUTPUT

Type Relay contact
Sense True (open)
VMAX c 30 V; z 42 V
IOUT 500 mA resistive

32
Power removal function connection

Power removal function wire specifications

The following table describes the recommended wire specifications. Use only copper wire with insulation rated at 75 °C or greater,
unless otherwise specified

LXM15M Wire Size Tightening torque

Nm (lbf.in)

D28N4, D40N4, D56N4 0.5 mm2 or 0.5...0.6

20 AWG minimum (4.4...5.3)

Power removal function inputs

The following diagram shows the power removal function inputs

X3
LEXIUM 15 MP Control
ACOM
CNC-GND

CNC-GND
R1A

R1C

X10 Safety circuit

PWRO1

PWRO2

PWRI-
I/O GND

PWRI+
PWR
+24 V acc.
to I/O-GND
ENABLE ENABLE

DCOM
I/O GND

DANGER
RISK OF INJURY FROM UNEXPECTED MOVEMENT
The power removal function (PWR) must be properly wired using a safety circuit as recommended in our catalogs.
Failure to follow these instructions will result in death, serious injury, or equipment damage.

33
Pulse-direction control interface connection

Pulse-direction control interface connection functional description

This interface can be used to connect the servo drive to a third-party pulse-direction controller. The parameters for the servo drives
are set using the UniLink software and the number of steps are adjustable to allow the servo drive to correlate to the step-direction
signals of any pulse-direction controller. In this configuration, the analog inputs are disabled and the servo drive can provide various
monitoring signals.
Connection to a pulse-direction controller with 5 V signal level (X5)
This interface can be used to connect the servo drive to a pulse-direction controller with a 5 V signal level.

Frequency limit: 1.5 MHz

X3
Lexium 15 MP

Master
Pulse+
Pulse
Pulse-
+5 V
AGND

PGND
Direction+
Direction
Direction-

*A line impedance implementation is required to ensure a correct working of the servo drive

Connection to a pulse-direction controller with c 24 V signal level (X3)

This interface can be used to connect the servo drive to a pulse-direction controller with a 24 V signal level.

Frequency limit: 250 kHz

Lexium 15 MP Master

LI1 Direction
Direction

LI2 Pulse
Pulse

+ c 24 V ref. to GND
DCOM
GND

ACOM

34
Serial communications connection (X6)

CAUTION
RISK OF EQUIPMENT DAMAGE
Do not connect a Modbus serial port to the X6 connector! Pin1 carries + c 8 V which would be shorted out by a Modbus cable.
Instead, use a 3-core cable (not a null-modem link cable) with only pins 2, 3 and 5 wired.
Failure to follow this instruction can result in injury or equipment damage.

Serial communications connection diagram

Operating, position control, and motion-block parameters can be set up by using the setup software on an ordinary commercial PC.

Connect the PC interface (X6) of the servo drive to a serial interface on the PC via a null-modem cable, while the supply to the
equipment is switched off.

Do not use a null-modem power link cable!

This interface has the same electrical potential as the CANopen interface.
The interface is selected and set up in the setup software.

With the optional -2CAN- expansion card, the two interfaces for RS232 and CAN, which would otherwise use the same connector
X6, are separated out onto three connectors.

Lexium 15 MP X6 Pin-No PC
see below

PGND

PGND

The following diagram shows the interface cable between the PC and servo drives of the Lexium 15 MP series:

(View : looking at the solder side of the SubD sockets on the cable)

AGND
AGND AGND

AGND

Female Female Female

Female

Serial communications specifications table

The following table lists the serial communications specifications.

SERIAL I/O
Data bits Eight
Stop bits One
Parity None
Baud rate 9600

35
CANopen interface (X6)

CAUTION
RISK OF EQUIPMENT DAMAGE
Do not connect a Modbus serial port to the X6 connector! Pin1 carries + c 8 V which would be shorted out by a Modbus cable.
Instead, use a 3-core cable (not a null-modem link cable) with only pins 2, 3 and 5 wired.
Failure to follow this instruction can result in injury or equipment damage.

The interface for connection to the CAN bus (default 500 kBaud). The integrated profile is based on the communication profile
CANopen DS301 and the servo drive profile DSP402.

The following functions are available in connection with the integrated position controller:

z Jogging with variable speed

z reference traverse (zeroing)
z start motion task
z start direct task
z digital setpoint provision
z data transmission functions
z many others.
Detailed information can be found in the CANopen manual. The interface is electrically isolated by optocouplers, and is at the same
potential as the RS232 interface. The analog setpoint inputs can still be used.

Lexium 15 MP
ACOM
CAN-Server/client
DCOM

CAN H

CAN L CAN
CAN
+5V PGND

PGND
*A line impedance implementation is required to ensure a correct working of the servo drive

CAN ref. to ISO 11898

36
CANopen interface (X6)

CAN bus cable

To meet ISO 11898 you should use a bus cable with a characteristic impedance of 120 Ω. The maximum usable cable length for
reliable communication decreases with increasing transmission speed. As a guide, you can use the following values which we
have measured, but they are not to be taken as assured limits:

The following table lists the different cable data

Cable caracteristics Value

Characteristic impedance 100-120 Ω
Cable capacitance max. 60 nF/km
Lead resistance (loop) 159.8 Ω/km

The following table shows cable lenght, depending on the transmission rate

Transmission rate (kBauds) max. cable lenght (m)

1000 20
500 70
250 115

For EMC reasons, the SubD connector housing must fulfill the following conditions:

z metal or metallized housing

z shield connection to housing.

Master

CANL CANL

CANH CANH
AGND AGND
Shield Shield
*A line impedance implementation (about 120 Ω) is required to ensure a correct working of the servo drive

37
Powering up and powering down the system

Power-on and power-off characteristics

The following diagram illustrates the functional sequence that occurs when the servo drive is turned on and off.

+24 V DC
X4
U
R1A/R1C
X3/2,3
<5s
U

R/L1,S/L2,T/L3
X0

DC bus link
X7

U ≈500 ms ≈5 min.

ENABLE
X3/15

38
Procedure for verifying system operation

Overview
The following procedure and associated information verifies operation of the system without creating a hazard to personnel or
jeopardizing the equipment. This procedure presumes the servo drive has been configured with UniLink software in OpMode 1 as
a speed controller with analog input command. An exact description of all parameters and the possibilities for optimizing the control
loop characteristics can be found in the Lexium 15 MP programming manual.

Note:Default parameters for BDH or BSH servo motor series are loaded into your servo drive at the factory and contain valid and
safe values for the current and speed controllers. A database for the servo motor parameters is stored in the servo drive.
During commissioning, you must select the data set for the connected servo motor and store it in the servo drive. For most
applications, these settings will provide good servo loop efficiency. For a description of all parameters and servo motor
tuning, see the UniLink online help.

DANGER
RISK OF ELECTRIC SHOCK, FIRE OR EXPLOSION
Ensure that the wiring procedure has been properly followed before powering up the servo drive.
Failure to follow these instructions will result in death, serious injury, or equipment damage.

WARNING
UNEXPECTED MOTION MAY CAUSE INJURY AND DAMAGE TO THE SYSTEM
When the servo drive is operated for the first time, there is a high risk of unexpected motion because of possible wirings faults or
unsuitable parameters.
• If possible, run the first test movement without coupled loads.
• Make sure that a functioning button for EMERGENCY STOP is within reach.
• Also anticipate a movement in the incorrect direction or oscillation of the servo drive.
• Make sure that the system is free and ready for the motion before starting the function.
Failure to follow this instruction can result in death, serious injury, or equipment damage.

39
Procedure for verifying system operation

Quick Tuning Procedure

This procedure will enable you to rapidly assess the operational readiness of the system.

Step Action Description

1 Check installation See safety precautions on previous page.
2 Block the Enable Apply c 0 V to terminal X3/15 (Enable) and between the 2 analog inputs PWRI-/PWRI+.
signals
3 Switch on c 24 V Apply c 24 V to terminal X4/1(+24 V DC), ground terminal X4/3 (0 V DC). After the initialization
external control procedure (about 0.5 sec.) the status will be shown in the LED display.
power supply
4 Switch on PC, start Select the interface to which the servo drive is connected. The parameters which are stored in the
setup software SRAM of the servo drive are then transferred to the PC.
5 Check the displayed
parameters, and
correct if necessary
WARNING
RISK OF UNEXPECTED EQUIPMENT OPERATION
It is VERY important to check the displayed parameters and to correct them if necessary. Please, see
the Lexium 15 MP programing manual.
Failure to follow this instruction can result in death, serious injury, or equipment damage.
Supply voltage Set to the actual electrical supply voltage.
Rated servo motor At least as high as the DC bus link voltage of the servo drive.
voltage
Servo motor pole- Must match the servo motor (see servo motor manual).
no.
Feedback Must match the feedback device in the servo motor.
IRMS Maximum is the servo motor standstill current I0 (on: nameplate).
IPEAK Maximum is 4 x servo motor standstill current I0.
Limit speed Maximum is the rated servo motor speed (on nameplate).
Braking power Maximum is the permitted braking resistor dissipation.
Station address Unique address (See the Lexium 15 MP programming manual).
6 Check safety devices
WARNING
IMPACT HAZARD
Make sure that any unintended movement of the servo drive cannot cause any danger to
personnel or machinery.
Failure to follow this instruction can result in death, serious injury, or equipment damage.
7 Switch on Use the ON/OFF button of the contactor controls.

supply power
8 Apply 0 V command Apply 0 V to terminals X3/4-5 (AI1+/AI1-) or X3/6-7 (AI2+/AI2-) respectively.
9 Enable Apply c 24 V (500 ms after switching on the supply power) to terminal X3/15 (ENABLE), servo
motor stands with standstill torque M0.
10 Setpoint Apply a small analog setpoint (about 0.5 V is recommended) to terminals X3/4-5 (AI1+/AI1-) or X3/
6-7 (AI2+/AI2-) respectively.

CAUTION
RISK OF EQUIPMENT DAMAGE
If the servo motor oscillates, the parameter Kp on the menu page “Speed controller” must be
reduced, the servo motor is in danger!
Failure to follow this instruction can result in injury or equipment damage.
11 Optimization Optimize speed, current and position controllers (see the Lexium 15 MP programming manual).
12 Set up the expansion See setup instructions in the corresponding manual on the CD-ROM.
card

40
Procedure for verifying system operation

Keypad operation / LED display

This section illustrates the two possible operating menus and the use of the keys on the front panel.

Normally, the Lexium 15 MP only presents the standard menu for your use. If you want to operate the servo drive via the detailed
menu, you must keep the right key pressed while switching on the external control power supply.

Keypad operation
The two keys can be used to perform the following functions:

Key symbol Functions

Press once: move up to next menu or increase number by one

Press twice in rapid succession: increase number by ten

Press once: move down to previous menu or decrease number by one

Press twice in rapid succession: decrease number by ten

Hold right key pressed, and then press left key as well: this action enables you to enter a number, or to serve as a
“Return” function

41
Front panel controls and indicators

Status display
The alphanumeric display indicates servo drive power status conditions, error codes and warning codes. The power status
conditions are shown below; error and warning codes are described further in the document

Switch on

24 V Data are being read from EnDat

Option -AS- is active

Reset input active

The reset function is assigned to a digital input
where a High signal is connected
status 1: 24 V switched on
Unit indicates software version
after 1 s shift to status 2, 3 or 4
status 2: 24 V switched on
Unit indicates current (here 6 A)
flashing dot
status 3: 24 V switched on, supply power switched on
Unit indicates current and supply power on
flashing dot
status 4: 24 V and supply power on, unit enabled
Unit indicates current, supply power on an enable
flashing dot

Fault/Warning signal : each error/warning

that has occured will be indicated
successively by 4 blinks each

Parameters

Standard menu
The following diagram describes the standard menu

State

Station adress
to The entry will be automatically stored
when you exit the input field.

42
Warning messages

Warning identification and description

Faults which occur, but which do not cause a switch-off of the servo drive output stage (R1A/R1C contact remains closed), are
indicated in the LED display on the front panel by a coded warning number.

Number Designation Explanation

n01 I²t I²t threshold exceeded
n02 braking power reached preset braking power limit
n03* S_fault exceeded preset contouring error limit
n04* response monitoring response monitoring (fieldbus) has been activated
n05 supply phase power supply phase missing
n06* Sw limit switch 1 passed software limit switch 1
n07* Sw limit switch 2 passed software limit switch 2
n08 motion task error a faulty motion task was started
n09 no reference point no reference point (Home) set at start of motion task
n10* PSTOP PSTOP limit-switch activated
n11* NSTOP NSTOP limit-switch activated
n12 servo motor default only for ENDAT or HIPERFACE® : discrepancy between servo motor number saved in the
values loaded encoder and the servo motor default values loaded
n13* expansion card expansion card not operating correctly
n14 SinCos feedback SinCos commutation (wake & shake) not completed will be canceled when servo drive is
enabled and wake & shake carried out
n15 table error fault accordiing to speed/current table INXMODE 35
n16 summarized warning summarized warning for n17 to n31
n17 CAN-Sync CAN-Sync is not logged in
n18 multiturn overflow max. number of turns exceeded
n19-n31 reserved reserved
n32 firmware beta version firmware is an unreleased beta version
A reset RESET is present on input DIGITAL INx
* = these warning messages result in a controlled shut-down of the servo drive (braking by emergency stop ramp)

43
Error messages

Error identification and description

Any errors that occur are displayed as coded into an error number on the front panel, in the LED display.

All error messages result in:

z the R1A/R1C contact being opened,

z the output stage of the servo drive being switched off (servo motor loses all torque), and
z the servo motor-holding brake being activated.

Number Designation Explanation

F01* heat sink temperature heat sink temprature too high limit is set by manufacturer to 80 °C
F02* DC bus overvoltage overvoltage in DC bus link limit depends on the electrical supply voltage
F03* contouring error message from the position controller
F04 feedback cable break, short-circuit, short to ground
F05* DC bus undervoltage undervoltage in DC bus link limit is set by manufacturer to 100 V
F06 servo motor temperature servo motor temperature too high or temp. sensor defect limit is set by manufacturer to 145 °C
F07 reserved reserved
F08* overspeed servo motor runs away, speed is too high
F09 EEPROM checksum error
F10 flash-EPROM checksum error
F11 brake cable break, short-circuit, short to ground
F12 servo motor phase servo motor phase missing (cable break or similar)
F13* internal temperature internal temperature too high
F14 output stage fault in the power output stage
F15 I²t max. I²t maximum value exceeded
F16* supply BTB/RTO 2 or 3 phases missing in the power supply feed
F17 A/D converter error in the analog-digital conversion, normally caused by extreme electromagnetic
interference
F18 braking braking circuit faulty or incorrect setting
F19* supply phase a phase is missing in the power supply power feed (can be switched off for 2-phase operation)
F20 slot fault slot error (hardware fault on expansion card)
F21 handling error software error on the expansion card
F22 "reserved " reserved
F23 "CAN-bus off " severe CAN bus communication error
F24 warning warning is displayed as fault
F25 commutation error commutation error
F26 limit switch homing error (machine has driven onto hardware limit switch)
F27 PWR option operational error with PWR option (control signal for PWR option appears simultaneously
with the ENABLE signal)
F28 reserved reserved
F29 field bus field bus option card operation issue
F30 emergency timeout timeout emergency stop
F31 reserve reserve
F32 system error system software not responding correctly
* = these error messages can be cleared without a reset, by using the ASCII command CLRFAULT.
If only one of these errors is present and the RESET button or the I/O RESET function is used, only the CLRFAULT
command will be executed

44
Error messages

Finding and removing faults

The table below should be regarded as a “First-aid” box. There may be a wide variety of reasons for the fault, depending on the
conditions in your installation. In multi-axis systems there may be further hidden causes of a fault.

Our customer service can give you further assistance with problems.

Fault Possible causes Measures to remove the cause of the fault

F01 message: Permissible heat sink temperature exceeded. Improve ventilation.
Heat sink
temperature
F02 message: Braking power is insufficient. Braking power limit Reduce the RAMP braking time. Use an external braking
Overvoltage was reached and the braking resistor was switched resistor with a higher power rating and adjust the braking
off. This causes excessive voltage in the DC bus power parameter.
link circuit.
Supply voltage too high. Use a supply transformer.
F04 message: Feedback connector not properly inserted. Check connectors.
Feedback Unit Feedback cable is broken, crushed, or otherwise Check cables.
damaged.
Feedback unit is damaged or wrongly configured. Check feedback unit and settings.
F05 message: Supply voltage is not present, or too low when the Only ENABLE the servo drive when the electrical supply
Undervoltage servo drive is enabled. voltage has been switched on delay > 500 ms.
F06 message: Servo motor thermostat has been activated. Wait until servo motor has cooled down, then check for
Servo motor possibles reasons for overheating.
temperature Feedback connector is loose, or a break in the Tighten connector screw, or use new feedback cable.
feedback cable.
F07 message: The aux. voltage produced by the servo drive is Return the servo drive to the manufacturer for servicing.
Aux. voltage incorrect.
F08 message: Servo motor phases swapped. Correct servo motor phase sequence.
Overspeed Feedback device set up incorrectly. Set up correct offset angle.
F11 message: Short-circuit in the supply cable for the servo motor- Remove the short-circuit.
holding brake.
Brake
Servo motor-holding brake is faulty. Replace servo motor.
Fault in brake cable. Check shielding of brake cable.
No brake connected, although the brake parameter Set brake parameter to WITHOUT.
is set to WITH.
F13 message: Permissible internal temperature has been Improve ventilation.
exceeded.
Internal temp.
F14 message: Servo motor has short-circuit or earth/ground short. Replace servo motor.

Output stage Servo motor cable has a short-circuit or earth/ Replace cable.
fault ground short.
Output module is overheated. Improve ventilation.
Output stage is faulty. Return the servo drive to the manufacturer for repair.
Short-circuit or short to ground in the external Remove short-circuit / ground short.
braking resistor.
F16 message: Enable was applied, although the supply voltage Only ENABLE the servo drive when the electrical supply
was not present. voltage has been switched on.
Mains BTB/
RTO At least 2 supply phases are missing. Check the electrical supply.

F17 message: Error in the analog-digital conversion, usually Reduce EMC interference check shielding and grounding.
caused by EMC interference.
A/D converter

45
Error messages

Finding and removing faults

Fault Possible causes Measures to remove the cause of the fault

F25 message: Wrong cable used. Check cable.

Commutation Offset is too large. Check resolver pole number (RESPOLES), servo motor
error pole number (MPOLES) and offset (MPHASE).
Wake & shake missed. Execute wake & shake.
F27 message: Power digital input AND hardware enable AND Check programming and wiring of the PLC / control
software enable are active. system.
error PWR
fonction
Servo motor Servo drive not enabled. Apply ENABLE signal.
does not rotate
Software enable not set. Set software enable.
Break in setpoint cable. Check setpoint cable.
Servo motor phases swapped. Correct servo motor phase sequence.
Brake not released. Check brake control.
Servo drive is mechanically blocked. Check mechanism.
Servo motor pole no. set incorrectly. Set servo motor pole no.
Feedback set up incorrectly. Set up feedback correctly.
Servo motor Gain is too high (speed controller). Reduce Kp (speed controller).
oscillates
Shielding in feedback cable has a break. Replace feedback cable.
AGND not wired up. Join AGND to CNC-GND.
Servo drive Irms or Ipeak set too low. Increase Irms or Ipeak (keep within servo motor ratings!).
reports
Accel/decel ramp is too long. Shorten ramp +/-.
following error
Servo motor Irms/Ipeak is set too high. Reduce Irms/Ipeak.
overheating
Servo drive Kp (speed controller) too low. Increase Kp (speed controller).
too soft
Tn (speed controller) too high. Use servo motor default value for Tn (speed controller).
ARLPF / ARHPF too high. Reduce ARLPF / ARHPF.
ARLP2 too high. Reduce ARLP2.
Servo drive Kp (speed controller) too high. Reduce Kp (speed controller).
runs roughly
Tn (speed controller) too low. Use servo motor default value for Tn (speed controller).
ARLPF / ARHPF too low. Increase ARLPF / ARHPF.
ARLP2 too low. Increase ARLP2.
Axis drifts at Offset not correctly adjusted for analog setpoint Adjust offset (analog I/O).
provision.
setpoint = 0 V
AGND not joined to the controller-GND of the Join AGND and controller-GND.
controls.
n12 message: Servo motor numbers stored in the encoder and Default values for the servo motor have been loaded,
servo drive do not match the parameters that have SAVE automatically stores the servo motor number in the
Servo motor been set. EEPROM.
default values
loaded
n14 message: SinCos commutation (wake & shake) not ENABLE the servo drive.
completed.
SinCos
feedback

46
47
LXM15_MP_installation_manual_en_v2

2006-05