Series LECP6. Step Motor Controller (Servo/24 VDC) LEHZ LEHF LEHS. LECP6 Specific Product Precautions. Options. I/O cable PLC

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1 LEHZ Step Motor Controller (Servo/24 VDC) Series LECP6 LEHF ctuator ctuator cable Controller power supply 24 VDC (Please prepare power cables and 24 VDC input power supplies [power supplies other than the inrush current prevention type] for the cotroller.) Controller To CN To CN2 To CN To CN To CN4 Power supply plug (accessory) I/O cable Conversion unit Communication cable US cable (-mini type) Options PC Teaching box (with m cable) PLC Power supply for I/O signal 24 VDC Controller setting software (Communication cable, US cable and conversion unit are included.) or Please prepare PLC and 24 VDC power supply for I/O signal. Software for input setting data of controller Equipment for input setting data of controller LEHS LECP6 Specific Product Precautions Specific Product Precautions 49

2 Step Motor Controller (Servo/24 VDC) Series LECP6 How to Order ctuator P LE C P 6 N Controller Compatible motor Step motor (Servo/24 VDC) Number of step data 6 64 points Parallel I/O type N NPN P PNP I/O cable length Nil Without cable. m m m ctuator part number (Except cable specifications and actuator options) Example: Enter [LEHZ0LK2-4] for LEHZ0LK2-4F-R6N Option Nil D Note) Screw mounting DIN rail mounting Note) DIN rail is not included. Order it separately. When controller equipped type (-P6 ) is selected when ordering the LE series, you do not need to order this controller. The controller is sold as single unit after the compatible actuator is set. Confirm that the combination of the controller and the actuator is compatible. <e sure to check the following before use.> q Check that actuator label for model number. This matches the controller. w Check Parallel I/O configuration matches (NPN or PNP). q w Specifications asic Specifications Item Compatible motor Power supply Note ) Parallel input Parallel output Compatible encoder Serial communication Memory LED indicator Lock control Cable length (m) Cooling system Operating temperature range ( C) Operating humidity range (%) Storage temperature range ( C) Storage humidity range (%) Insulation resistance (MΩ) Weight (g) Specifications Unipolar connection type 2-phase H step motor Power voltage: 24 VDC ±0% Current consumption: (Peak ) Note 2) [Including motor drive power, control power, stop, lock release] inputs (Photo-coupler isolation) outputs (Photo-coupler isolation) / phase, Line receiver input Resolution 800 p/r RS48 (Modbus protocol compliant) EEPROM LED (Green/) one of each Forced-lock release terminal Note ) I/O cable: or less ctuator cable: 20 or less Natural air cooling 0 to 40 (No condensation and freezing) to 8 (No condensation and freezing) 0 to 60 (No condensation and freezing) to 8 (No condensation and freezing) etween the housing (radiation fin) and SG terminal 0 (00 VDC) 0 (Screw mounting) 70 (DIN rail mounting) Note ) Do not use the power supply of inrush current prevention type for the controller power supply. Note 2) The power consumption changes depending on the actuator model. Refer to the specifications of actuator for more details. Note ) pplicable to non-energized lock control type. 0

3 Step Motor Controller (Servo/24 VDC) Series LECP6 How to Mount a) Screw mounting (LECP6 - ) (Installation with two M4 screws) b) DIN rail mounting (LECP6 D- ) (Installation with the DIN rail) Mounting direction Ground wire Ground wire DIN rail is locked. Ground wire LEHZ DIN rail LEHF Mounting direction DIN rail mounting adapter LEHS Hook the controller on the DIN rail and press the lever of section in the arrow direction to lock it. DIN rail XT00-DR- For, enter a number from the No. line in the below table. Refer to the dimensions on page 2 for the mounting dimensions. L Dimensions No. L dimension No. L dimension L () (2) LECP6 Specific Product Precautions DIN rail mounting adapter LEC-D0 (with 2 mounting screws) This should be used when the DIN rail mounting adapter is mounted onto the screw mounting type controller afterwards. Specific Product Precautions

4 Series LECP6 Dimensions a) Screw mounting (LECP6 - ) Power supply LED (Green) (: Power supply is.) ø4. for body mounting (8.7) 66 Power supply LED () (: larm is.) CN parallel I/O connector CN4 serial I/O connector CN encoder connector CN2 motor power connector CN power supply connector 4.6 for body mounting b) DIN rail mounting (LECP6 D- ) Refer to page for L dimension and part number of DIN rail..2.2 (8.7) (When removing DIN rail) 67. (When locking DIN rail) (9.7) 2

5 Step Motor Controller (Servo/24 VDC) Series LECP6 Wiring Example Power Supply Connector: CN CN Power Supply Connector Terminal Terminal name Function Function details 0V Common supply ( ) M24V terminal/c24v terminal/emg terminal/k RLS terminal are common ( ). M24V Motor power supply (+) This is the motor power supply (+) that is supplied to the controller. C24V Control power supply (+) This is the control power supply (+) that is supplied to the controller. EMG Stop (+) This is the input (+) that releases the stop. K RLS Lock release (+) This is the input (+) that releases the lock. Wiring Example 2 Power supply plug (Phoenix Contact FK-MC0./-ST-2.) is an accessory. Power supply plug 0V M24V C24V EMG K RLS LEHZ Parallel I/O Connector: CN Wiring diagram LECP6N - (NPN) CN COM+ When you connect a PLC, etc., to the CN parallel I/O connector, please use the I/O cable (LEC-CN- ). The wiring should be changed depending on the type of the parallel I/O (NPN or PNP). Please wire referring to the following diagram. 24 VDC for I/O signal LECP6P - (PNP) CN COM+ 24 VDC for I/O signal LEHF COM 2 COM 2 IN0 IN0 IN 4 IN 4 IN2 IN IN4 6 7 IN2 IN IN4 6 7 LEHS IN 8 IN 8 SETUP 9 SETUP 9 HOLD 0 HOLD 0 DRIVE RESET SV OUT0 OUT OUT2 OUT OUT Load DRIVE RESET SV OUT0 OUT OUT2 OUT OUT Load Specific Product Precautions OUT 6 OUT 6 USY 7 USY 7 RE 8 RE 8 SET INP SVRE 9 0 SET INP SVRE 9 0 LECP6 ESTOP 2 ESTOP 2 LRM LRM Input Signal Name COM+ COM IN0 to IN SETUP HOLD DRIVE RESET SV Contents Connects the power supply 24 V for input/output signal Connects the power supply 0 V for input/output signal Step data specified it No. (Input is instructed in the combination of IN0 to.) Instruction to return to the original position Operation is temporarily stopped. Instruction to drive larm reset and operation interruption Servo instruction Output Signal Name Contents OUT0 to OUT Outputs the step data No. during operation USY Outputs when the actuator is moving RE Outputs within the step data area output setting range SET Outputs when returning to the original position Outputs when target position or target force is reached INP (Turns on when the positioning or pushing is completed.) SVRE ESTOP Note) LRM Note) Outputs when servo is on Not output when EMG stop is instructed Not output when alarm is generated Note) These signals are output when the power supply of the controller is. (N.C.) Specific Product Precautions

6 Series LECP6 Step Data Setting. Step data setting for positioning In this setting, the actuator moves toward and stops at the target position. The following diagram shows the setting items and operation. The setting items and set values for this operation are stated below. 2. Step data setting for pushing The actuator moves toward the pushing start position, and when it reaches that position, it starts pushing with less than the set force. The following diagram shows the setting items and operation. The setting items and set values for this operation are stated below. cceleration Deceleration cceleration Deceleration Position Pushing speed INP output In position Force Pushing force Position In position Trigger LV INP output Step Data (Positioning) : Need to be set. : Need to be adjusted as required. : Setting is not required. Step Data (Pushing) : Need to be set. : Need to be adjusted as required. Necessity Item Description Necessity Item Description Movement MOD When the absolute position is required, set bsolute. When the relative position is required, set Relative. Movement MOD When the absolute position is required, set bsolute. When the relative position is required, set Relative. Position Transfer speed to the target position Target position Position Transfer speed to the pushing start position Pushing start position cceleration Parameter which defines how rapidly the actuator reaches the speed set. The higher the set value, the faster it reaches the speed set. cceleration Parameter which defines how rapidly the actuator reaches the speed set. The higher the set value, the faster it reaches the speed set. Deceleration Parameter which defines how rapidly the actuator comes to stop. The higher the set value, the quicker it stops. Deceleration Parameter which defines how rapidly the actuator comes to stop. The higher the set value, the quicker it stops. Pushing force Trigger LV Pushing speed Positioning force rea, rea 2 In position Set 0. (If values to 00 are set, the operation will be changed to the pushing operation.) Setting is not required. Setting is not required. Max. torque during the positioning operation (No specific change is required.) Condition that turns on the RE output signal. Condition that turns on the INP output signal. When the actuator enters the range of [in position], the INP output signal turns on. (It is unnecessary to change this from the initial value.) When it is necessary to output the arrival signal before the operation is completed, make the value larger. Pushing force Trigger LV Pushing speed Positioning force Pushing force ratio is defined. The setting range differs depending on the electric actuator type. Refer to the operation manual for the electric actuator. Condition that turns on the INP output signal. The INP output signal is turned on when the generated force exceeds the value. Threshold level should be less than the pushing force. Pushing speed When the speed is set fast, the electric actuator and work pieces might be damaged due to the impact when they hit the end, so this set value should be smaller. Refer to the operation manual of the electric actuator. Max. torque during the positioning operation (No specific change is required.) rea, rea 2 Condition that turns on the RE output signal. In position Transfer distance during pushing. If the transferred distance exceeds the setting, it stops even if it is not pushing. If the transfer distance is exceeded, the INP output signal will not be turned on. 4

7 Step Motor Controller (Servo/24 VDC) Series LECP6 Signal Timing Return to Origin Power supply SV Input SETUP USY SVRE 24 V 0 V LEHZ Output SET INP LRM LEHF ESTOP 0 mm/s Return to origin If the actuator is within the in position range of the basic parameter, INP will be turned, but if not, it will remain. LRM and ESTOP are expressed as negative-logic circuit. When Power supply is is shown on the timing chart, the power supply is. When Stop is is shown on the timing chart, the stop button is pressed (operation is stopped). LEHS Positioning Operation IN Input DRIVE OUT Output USY Scan the step data no. Output the step data no. Pushing Operation IN Input DRIVE OUT Output USY Scan the step data no. Output the step data no. Specific Product Precautions INP INP Positioning operation 0 mm/s If the actuator is within the in position range of the step data, INP will be turned, but if not, it will remain. Pushing operation If the current pushing force exceeds the threshold level of the step data, INP signal will be turned. 0 mm/s LECP6 OUT is output when DRIVE is changed from to. (When power supply is applied, DRIVE or RESET is turned or ESTOP is turned, all of the OUT outputs are turned.) HOLD Input Output HOLD USY Slow-down starting point HOLD during the operation When the actuator is in the positioning range in the pushing operation, it does not stop even if HOLD signal is input. 0 mm/s Reset Input Output RESET OUT LRM larm out larm reset It is possible to identify the alarm group by the combination of OUT signals when the alarm is generated. LRM and ESTOP are expressed as negative-logic circuit. Specific Product Precautions

8 Series LECP6 Options [ctuator cable] LE CP Cable length (L). m m m 8 8 m 0 m m C 20 m Produced upon receipt of order LE-CP- /Cable length:. m, m, m (Terminal no.) 6 (4.7) LE-CP- (4.7) 6 (Terminal no.) 6 6 (7.7) (7.7) ctuator side (0.7) ctuator side Connector /Cable length: 8 m, 0 m, m, 20 m ( Produced upon receipt of order) ø8 ø. Connector C (4.2) L Connector D () Connector C (4.2) ø6. Connector Connector D (0.7) L () Controller side (4) (8) Controller side (4) (8) (Terminal no.) (.) (0) (Terminal no.) (.) (0) Circuit COM-/COM COM-/ Connector Cable color rown Orange Yellow Green lue Connector C [I/O cable] LEC CN 6 Cable length (L). m m m Vcc GND Conductor size: WG28 (Terminal no.) (22.4) Controller side ø8.9 (4.4) L Connector Cable pin No. color Light brown 2 Light brown Yellow 4 Yellow Light green 6 Light green 7 Gray 8 Gray 9 White 0 White Light brown 2 Light brown Yellow Dot mark Shield Dot color Connector pin No Cable color rown Orange Cable color Yellow Light green Light green Gray Gray White White Light brown Light brown Yellow Yellow Light green Light green Connector D Dot mark Shield PLC side Dot color

9 Series LEC Controller Setting Software/LEC-W How to Order q Controller setting software LEC W Controller setting software (Japanese and English are available.) LEHZ w Communication cable r US cable Contents e Conversion unit PC q Controller setting software (CD-ROM) w Communication cable (Cable between the controller and the conversion unit) LEHF e Conversion unit r US cable (Cable between the PC and the conversion unit) Hardware Requirements PC/T compatible machine installed with Windows XP and equipped with US. or US2.0 ports. LEHS Windows and Windows XP are registered trademarks of Microsoft Corporation. Screen Example Easy mode screen example Easy operation and simple setting llowing to set and display actuator step data such as position, speed, force, etc. Setting of step data and testing of the drive can be performed on the same page. Can be used to jog and move at a constant rate. Normal mode screen example Detail setting Step data can be set in detail. Signals and terminal status can be monitored. Parameters can be set. JOG and constant rate movement, return to origin, test operation and testing of compulsory output can be performed. LECP6 Specific Product Precautions Specific Product Precautions 7

10 Series LEC Teaching ox/lec-t How to Order LEC T J G Enable switch (Option) Stop switch Teaching box Cable length m Initial language J Japanese E English Enable switch Nil None S Equipped with enable switch Interlock switch for jog test function Stop switch G Equipped with stop switch Specifications Standard functions Chinese character display Stop switch is provided. Option Enable switch is provided. Switch Cable length Enclosure Item Operating temperature range ( C) Operating humidity range (%) Weight (g) Description Stop switch, Enable switch (Option) m IP64 (Except connector) to 0 (No condensation) to 8 0 (Except cable) The EMC compliance for the teaching box was tested with LECP6 controller and applicable actuator only. Easy Mode Function Step data Jog Test Monitor larm T setting Jog operation Return to origin Description Setting of step data step operation Return to origin Display of axis and step data No. Display of two items selected (Position,, Force) Display of active alarm larm reset Reconnection of axis Setting of easy normal mode Setting of step data and selection of item for monitoring function Menu Operations Flowchart Menu Data Monitor Jog Test larm T setting Data Step data No. Setting of two items selected below (Position,, Force, cceleration, Deceleration) Monitor Display of step No. Display of two items selected below (Position,, Force) Jog Return to origin Jog operation Test step operation larm Display of active alarm larm reset T setting Reconnect Easy/Normal Set item 8

11 Teaching ox Series LEC Normal Mode Function Step data Parameter Test Monitor larm File T setting Reconnect Dimensions t 4. r q y Description Step data setting Parameters setting Jog operation/constant rate movement Return to origin Test drive (Specify a maximum of step data and operate.) Compulsory output (Compulsory signal output, Compulsory terminal output) Drive monitor Output signal monitor Input signal monitor Output terminal monitor Input terminal monitor ctive alarm display (larm reset) larm log record display Data saving Save the step data and parameters of the controller which is being used for communication (it is possible to save four files, with one set of step data and parameters defined as one file). Load to controller Loads the data which is saved in the teaching box to the controller which is being used for communication. Delete the saved data. Display setting (Easy/Normal mode) Language setting (Japanese/English) acklight setting LCD contrast setting eep sound setting Max. connection axis Distance unit (mm/inch) Reconnection of axis 4 u 02 i e w 8 Menu Operations Flowchart Menu Step data Step data Step data No. Parameter Movement MOD Monitor Test Position larm cceleration File Deceleration T setting Pushing force Reconnect Trigger LV Pushing speed Positioning force rea, 2 In position No LCD Ring Stop switch Stop switch guard Enable switch (Option) Key switch Cable Description Connector Parameter asic ORIG Monitor Drive Output signal Input signal Output terminal Input terminal Test JOG/MOVE Return to ORIG Test drive Compulsory output larm ctive LM LM Log record File Data saving Load to controller File deletion T setting Easy/Normal Language acklight LCD contrast eep Max. connection axis Password Distance unit Reconnect screen of liquid crystal display (with backlight) ring for hanging the teaching box Locks and stops operation when this switch is pressed. The lock is released when it is turned to the right. guard for the stop switch Switch for each input Length: meters Function asic setting ORIG setting DRV monitor Position,, Torque Step No. Last step No. Output signal monitor Input signal monitor Output terminal monitor Input terminal monitor ctive LM ctive alarm display larm reset LM Log record display Log entry display Prevents unintentional operation (unexpected operation) of the jog test function. Other functions such as data change are not covered. connector connected to CN4 of the controller LEHS LEHF LEHZ Specific Product Precautions LECP6 Specific Product Precautions 9

12 Series LEC Controller and Peripheral Devices/ Specific Product Precautions e sure to read before handling. Refer to back page for Safety Instructions. Warning Design/Selection. e sure to apply the specified voltage. Otherwise, malfunction and breakage may be caused. If the applied voltage is lower than the specified, it is possible that the load cannot be moved due to an internal voltage drop of the controller. Please check the operating voltage before use. 2. Do not operate the product beyond the specifications. Otherwise, a fire, malfunction or actuator damage can result. Please check the specifications before use.. Install an emergency stop circuit outside of the enclosure. Please install an emergency stop outside of the enclosure so that it can stop the system operation immediately and intercept the power supply. 4. In order to prevent damage due to the breakdown and the malfunction of the controller and its peripheral devices, a backup system should be established previously by giving a multiple-layered structure or a fail-safe design to the equipment, etc.. If a danger against the personnel is expected due to an abnormal heat generation, smoking, ignition, etc., of the controller and its peripheral devices, cut off the power supply for the product and the system immediately. Warning Handling. Do not touch the inside of the controller and its peripheral devices. It may cause an electric shock or damage to the controller. 2. Do not perform the operation or setting of the product with wet hands. It may cause an electric shock.. Product with damage or the one lacking of any components should not be used. It may cause an electric shock, fire, or injury. 4. Use only the specified combination between the electric actuator and controller. It may cause damage to the actuator or the controller.. e careful not to be caught or hit by the workpiece while the actuator is moving. It may cause an injury. 6. Do not connect the power supply or power on the product before confirming the area to which the workpiece moves is safe. The movement of the workpiece may cause an accident. 7. Do not touch the product when it is energized and for some time after power has been disconnected, as it is very hot. It may lead to a burn due to the high temperature. 8. Check the voltage using a tester for more than minutes after power-off in case of installation, wiring and maintenance. It may cause an electric shock, fire, or injury. Warning Handling 9. Static electricity may cause malfunction or break the controller. Do not touch the controller while power is supplied. When touching the controller for maintenance, take sufficient measures to eliminate static electricity. 0. Do not use the product in an area where dust, powder dust, water, chemicals or oil is in the air. It will cause failure or malfunction.. Do not use the product in an area where a magnetic field is generated. It will cause failure or malfunction. 2. Do not install the product in the environment of flammable gas, explosive gas and corrosive gas. It could lead to fire, explosion and corrosion.. Radiant heat from strong heat supplies such as a furnace, direct sunlight, etc., should not be applied to the product. It will cause failure of the controller or its peripheral devices. 4. Do not use the product in an environment subject to a temperature cycle. It will cause failure of the controller or its peripheral devices.. Do not use the product in a place where surges are generated. When there are units that generate a large amount of surge around the product (e.g., solenoid type lifters, high frequency induction furnaces, motors, etc.), this may cause deterioration or damage to the product s internal circuit. void supplies of surge generation and crossed lines. 6. Do not install the product in an environment under the effect of vibrations and impacts. It will cause failure or malfunction. 7. When a surge generating load such as a relay or solenoid valve is directly driven, use a product that incorporates a surge absorption element. Warning Installation. Install the controller and its peripheral devices on a fire-proof material. direct installation on or near a flammable material may cause fire. 2. Do not install the product in a place subject to vibrations and impacts. It will cause failure or malfunction.. Do not mount the controller and its peripheral devices together with a large-sized electromagnetic contactor or no-fuse breaker, which generates vibration, on the same panel. Mount them on different panels, or keep the controller and its peripheral devices away from such a vibration supply. 4. Install the controller and its peripheral devices on a flat surface. If the mounting surface is distorted or not flat, an unacceptable force may be added to the housing, etc., to cause troubles. 60

13 Series LEC Controller and Peripheral Devices/ Specific Product Precautions 2 e sure to read before handling. Refer to back page for Safety Instructions. Caution Power Supply. Use a power supply that has low noise between lines and between power and ground. In cases where noise is high, an isolation transformer should be used. 2. The power supplies should be separated between the controller power and the I/O signal power and both of them do not use the power supply of inrush current prevention type. If the power supply is inrush current prevention type, a voltage drop may be caused during the acceleration of the actuator.. To prevent surges from lightning, an appropriate measure should be taken. Ground the surge absorber for lightning separately from the grounding of the controller and its peripheral devices. Warning Grounding. e sure to carry out grounding in order to ensure the noise tolerance. 2. Dedicated grounding should be used. Grounding should be to a D-class ground. (Ground resistance of 00 Ω or less). Grounding should be performed near the controller and its peripheral devices to shorten the grounding distance. 4. In the unlikely event that malfunction is caused by ground, please disconnect the unit from ground. Warning Maintenance. Perform a maintenance check periodically. Confirm wiring and screws are not loose. Loose screws or wires may cause unintentional malfunction. 2. Conduct an appropriate functional inspection after completing the maintenance. t times where the equipment or machinery does not operate properly, conduct an emergency stop of the system. Otherwise, an unexpected malfunction may occur and it will become impossible to secure the safety. Conduct a test of the emergency stop in order to confirm the safety of the equipment.. Do not disassemble, modify or repair the controller and its peripheral devices. 4. Do not put anything conductive or flammable inside of the controller. It may cause a fire.. Do not conduct an insulation resistance test and withstand voltage test on this product. 6. Ensure sufficient space for maintenance activities. Design the system that allows required space for maintenance. Specific Product Precautions LEHS LEHF LEHZ LECP6 Specific Product Precautions 6

14 Safety Instructions Caution: Warning: Danger : Caution indicates a hazard with a low level of risk which, if not avoided, could result in minor or moderate injury. Warning indicates a hazard with a medium level of risk which, if not avoided, could result in death or serious injury. Danger indicates a hazard with a high level of risk which, if not avoided, will result in death or serious injury. These safety instructions are intended to prevent hazardous situations and/or equipment damage. These instructions indicate the level of potential hazard with the labels of Caution, Warning or Danger. They are all important notes for safety and must be followed in addition to International Standards (ISO/IEC) ), and other safety regulations. ) ISO 444: Pneumatic fluid power General rules relating to systems. ISO 44: Hydraulic fluid power General rules relating to systems. IEC : Safety of machinery Electrical equipment of machines. (Part : General requirements) ISO 028-: Manipulating industrial robots - Safety. etc. Warning. The compatibility of the product is the responsibility of the person who designs the equipment or decides its specifications. Since the product specified here is used under various operating conditions, its compatibility with specific equipment must be decided by the person who designs the equipment or decides its specifications based on necessary analysis and test results. The expected performance and safety assurance of the equipment will be the responsibility of the person who has determined its compatibility with the product. This person should also continuously review all specifications of the product referring to its latest catalog information, with a view to giving due consideration to any possibility of equipment failure when configuring the equipment. 2. Only personnel with appropriate training should operate machinery and equipment. The product specified here may become unsafe if handled incorrectly. The assembly, operation and maintenance of machines or equipment including our products must be performed by an operator who is appropriately trained and experienced.. Do not service or attempt to remove product and machinery/equipment until safety is confirmed.. The inspection and maintenance of machinery/equipment should only be performed after measures to prevent falling or runaway of the driven objects have been confirmed. 2. When the product is to be removed, confirm that the safety measures as mentioned above are implemented and the power from any appropriate source is cut, and read and understand the specific product precautions of all relevant products carefully.. efore machinery/equipment is restarted, take measures to prevent unexpected operation and malfunction. 4. Contact SMC beforehand and take special consideration of safety measures if the product is to be used in any of the following conditions.. Conditions and environments outside of the given specifications, or use outdoors or in a place exposed to direct sunlight. 2. Installation on equipment in conjunction with atomic energy, railways, air navigation, space, shipping, vehicles, military, medical treatment, combustion and recreation, or equipment in contact with food and beverages, emergency stop circuits, clutch and brake circuits in press applications, safety equipment or other applications unsuitable for the standard specifications described in the product catalog.. n application which could have negative effects on people, property, or animals requiring special safety analysis. 4. Use in an interlock circuit, which requires the provision of double interlock for possible failure by using a mechanical protective function, and periodical checks to confirm proper operation. Caution. The product is provided for use in manufacturing industries. The product herein described is basically provided for peaceful use in manufacturing industries. If considering using the product in other industries, consult SMC beforehand and exchange specifications or a contract if necessary. If anything is unclear, contact your nearest sales branch. Limited warranty and Disclaimer/ Compliance Requirements The product used is subject to the following Limited warranty and Disclaimer and Compliance Requirements. Read and accept them before using the product. Limited warranty and Disclaimer. The warranty period of the product is year in service or. years after the product is delivered. 2) lso, the product may have specified durability, running distance or replacement parts. Please consult your nearest sales branch. 2. For any failure or damage reported within the warranty period which is clearly our responsibility, a replacement product or necessary parts will be provided. This limited warranty applies only to our product independently, and not to any other damage incurred due to the failure of the product.. Prior to using SMC products, please read and understand the warranty terms and disclaimers noted in the specified catalog for the particular products. 2) Vacuum pads are excluded from this year warranty. vacuum pad is a consumable part, so it is warranted for a year after it is delivered. lso, even within the warranty period, the wear of a product due to the use of the vacuum pad or failure due to the deterioration of rubber material are not covered by the limited warranty. Compliance Requirements. The use of SMC products with production equipment for the manufacture of weapons of mass destruction (WMD) or any other weapon is strictly prohibited. 2. The exports of SMC products or technology from one country to another are governed by the relevant security laws and regulations of the countries involved in the transaction. Prior to the shipment of a SMC product to another country, assure that all local rules governing that export are known and followed. Safety Instructions e sure to read Handling Precautions for SMC Products (M-E0-) before using. ack page

15 Step Motor Controller (Servo/24 VDC) Series LECP6 Servo Motor Controller (24 VDC) Series LEC6 I/O cable PLC Electric actuator/ Rod type Controller To CN Options Power supply for I/O signal 24 VDC Please prepare PLC and 24 VDC power supply for I/O signal. Controller setting software (Communication cable, US cable and conversion unit are included.) ctuator cable Controller power supply 24 VDC (Please prepare power cables and 24 VDC input power supplies [power supplies other than the inrush current prevention type] for the cotroller.) To CN To CN2 To CN To CN4 Power supply plug (accessory) Conversion unit Communication cable US cable (-mini type) or PC Teaching box (with m cable) Software for input setting data of controller Equipment for input setting data of controller 7

16 Step Motor Controller (Servo/24 VDC) Series LECP6 Servo Motor Controller (24 VDC) Series LEC6 Caution Note ) CE-compliant products q EMC compliance was tested by combining the electric actuator LEY series and the controller LEC series. The EMC depends on the configuration of the customer s control panel and the relationship with other electrical equipment and wiring. Therefore conformity to the EMC directive cannot be certified for SMC components incorporated into the customer s equipment under actual operating conditions. s a result it is necessary for the customer to verify conformity to the EMC directive for the machinery and equipment as a whole. w For the LEC6 series (servo motor controller), EMC compliance was tested by installing a noise filter set (LEC-NF). Refer to page 26 for the noise filter set. Refer to the LEC Operation Manual for installation. How to Order LE C P 6 N ctuator Controller Compatible motor P Step motor (Servo/24 VDC) Servo motor (24 VDC) Note ) Number of step data 6 64 points Parallel I/O type N NPN P PNP I/O cable length Nil ctuator part number Series LECP6 Series LEC6 (Except cable specifications and actuator options) Example: Enter [LEY6-00] for LEY6-00- R6N Without cable. m m m Option Nil Screw D Note 2) mounting DIN rail mounting Note 2) DIN rail is not included. Order it separately. When controller equipped type (-P6 ) is selected when ordering the LE series, you do not need to order this controller. The controller is sold as single unit after the compatible actuator is set. Confirm that the combination of the controller and the actuator is compatible. <e sure to check the following before use.> q Check that actuator label for model number. This matches the controller. w Check Parallel I/O configuration matches (NPN or PNP). q w Specifications asic Specifications Item LECP6 LEC6 Compatible motor Power supply Note ) Parallel input Parallel output Compatible encoder Serial communication Memory LED indicator Lock control Cable length (m) Cooling system Operating temperature range ( F) Operating humidity range (%) Storage temperature range ( F) Storage humidity range (%) Insulation resistance (MΩ) Weight (lb) Unipolar connection type 2-phase H step motor Power voltage: 24 VDC ±0% Current consumption: (Peak ) Note 2) [Including motor drive power, control power, stop, lock release] / phase, Line receiver input Resolution 800 p/r inputs (Photo-coupler isolation) outputs (Photo-coupler isolation) RS48 (Modbus protocol compliant) EEPROM LED (Green/) one of each Forced-lock release terminal I/O cable: or less ctuator cable: 20 or less Natural air cooling 2 to 04 (No condensation and freezing) to 8 (No condensation and freezing) 4 to 40 (No condensation and freezing) to 8 (No condensation and freezing) etween the housing (radiation fin) and SG terminal 0 (00 VDC) C servo motor Power voltage: 24 VDC ±0% Current consumption: (Peak 0 ) Note 2) [Including motor drive power, control power, stop, lock release] 0. (Screw mounting) 0.4 (DIN rail mounting) //Z phase, Line receiver input Resolution 800 p/r Note ) Do not use the power supply of inrush current prevention type for the controller power supply. Note 2) The power consumption changes depending on the actuator model. Refer to the specifications of actuator for more details. 8

17 Step Motor Controller (Servo/24 VDC) Series LECP6 Servo Motor Controller (24 VDC) Series LEC6 How to Mount a) Screw mounting (LEC 6 - ) (Installation with two M4 screws) b) DIN rail mounting (LEC 6 D- ) (Installation with the DIN rail) DIN rail is locked. Mounting direction Ground wire Ground wire Ground wire DIN rail Mounting direction DIN rail mounting adapter Hook the controller on the DIN rail and press the lever of section in the arrow direction to lock it. DIN rail XT00-DR- L 2. (Pitch).2 7. For, enter a number from the No. line in the below table. Refer to the dimensions on page 20 for the mounting dimensions.. () (2) L Dimensions.2 No L dimension No L dimension DIN rail mounting adapter LEC-D0 (with 2 mounting screws) This should be used when the DIN rail mounting adapter is mounted onto the screw mounting type controller afterwards. 9

18 Series LECP6 Series LEC6 Dimensions a) Screw mounting (LEC 6 - ) Power supply LED (Green) (: Power supply is.) ø4. for body mounting (8.7) 66 Power supply LED () (: larm is.) CN parallel I/O connector CN4 serial I/O connector CN encoder connector CN2 motor power connector CN power supply connector 4.6 for body mounting b) DIN rail mounting (LEC 6 D- ) Refer to page 9 for L dimension and part number of DIN rail. (8.7) 66 (.) 7.2 (When removing DIN rail) 67. (When locking DIN rail) (9.7) Note) When two or more controllers are used, keep the interval between them 0 mm or more (when the LEY2, 2 are used). 20

19 Step Motor Controller (Servo/24 VDC) Series LECP6 Servo Motor Controller (24 VDC) Series LEC6 Wiring Example Power Supply Connector: CN Power supply plug is an accessory. Power supply plug for LECP6 CN Power Supply Connector Terminal for LECP6 (Phoenix Contact FK-MC0./-ST-2.) Terminal name Function Function details 0V Common supply ( ) M24V terminal/c24v terminal/emg terminal/k RLS terminal are common ( ). M24V Motor power supply (+) This is the motor power supply (+) that is supplied to the controller. C24V Control power supply (+) This is the control power supply (+) that is supplied to the controller. EMG Stop (+) This is the input (+) that releases the stop. K RLS Lock release (+) This is the input (+) that releases the lock. CN Power Supply Connector Terminal for LEC6 (Phoenix Contact FK-MC0./7-ST-2.) Terminal name Function Function details 0V Common supply ( ) M24V terminal/c24v terminal/emg terminal/k RLS terminal are common ( ). M24V Motor power supply (+) This is the motor power supply (+) that is supplied to the controller. C24V Control power supply (+) This is the control power supply (+) that is supplied to the controller. EMG Stop (+) This is the input (+) that releases the stop. K RLS Lock release (+) This is the input (+) that releases the lock. RG+ Regenerative output These are the regenerative output terminals for external connection. (It is not RG Regenerative output 2 necessary to connect them in the combination with standard specification LEY series.) Wiring Example 2 0V M24V C24V EMG K RLS Power supply plug for LEC6 0V M24V C24V EMG K RLS RG+ RG Parallel I/O Connector: CN Wiring diagram LEC 6N - (NPN) CN COM+ COM IN0 IN IN2 IN IN4 IN SETUP HOLD DRIVE RESET SV OUT0 OUT OUT2 OUT OUT4 OUT USY RE SET INP SVRE ESTOP LRM When you connect a PLC, etc., to the CN parallel I/O connector, please use the I/O cable (LEC-CN- ). The wiring should be changed depending on the type of the parallel I/O (NPN or PNP). Please wire referring to the following diagram. 24 VDC for I/O signal Load LEC 6P - (PNP) CN COM+ COM IN0 IN IN2 IN IN4 IN SETUP HOLD DRIVE RESET SV OUT0 OUT OUT2 OUT OUT4 OUT USY RE SET INP SVRE ESTOP LRM VDC for I/O signal Load Input Signal Name COM+ COM IN0 to IN SETUP HOLD DRIVE RESET SV Contents Connects the power supply 24 V for input/output signal Connects the power supply 0 V for input/output signal Step data specified it No. (Input is instructed in the combination of IN0 to.) Instruction to return to the original position Operation is temporarily stopped. Instruction to drive larm reset and operation interruption Servo instruction Output Signal Name Contents OUT0 to OUT Outputs the step data No. during operation USY Outputs when the actuator is moving RE Outputs within the step data area output setting range SET Outputs when returning to the original position Outputs when target position or target force is reached INP (Turns on when the positioning or pushing is completed.) SVRE ESTOP Note) LRM Note) Outputs when servo is on Not output when EMG stop is instructed Not output when alarm is generated Note) These signals are output when the power supply of the controller is. (N.C.) 2

20 Series LECP6 Series LEC6 Step Data Setting. Step data setting for positioning 2. Step data setting for pushing In this setting, the actuator moves toward and stops at the target position. The following diagram shows the setting items and operation. The setting items and set values for this operation are stated below. The actuator moves toward the pushing start position, and when it reaches that position, it starts pushing with less than the set force. The following diagram shows the setting items and operation. The setting items and set values for this operation are stated below. cceleration Deceleration cceleration Deceleration Position Pushing speed In position Force Position In position INP output Pushing force Trigger LV INP output Step Data (Positioning) : Need to be set. : Need to be adjusted as required. : Setting is not required. Step Data (Pushing) : Need to be set. : Need to be adjusted as required. Necessity Item Description Necessity Item Description Movement MOD When the absolute position is required, set bsolute. When the relative position is required, set Relative. Movement MOD When the absolute position is required, set bsolute. When the relative position is required, set Relative. Position Transfer speed to the target position Target position Position Transfer speed to the pushing start position Pushing start position cceleration Parameter which defines how rapidly the actuator reaches the speed set. The higher the set value, the faster it reaches the speed set. cceleration Parameter which defines how rapidly the actuator reaches the speed set. The higher the set value, the faster it reaches the speed set. Deceleration Parameter which defines how rapidly the actuator comes to stop. The higher the set value, the quicker it stops. Deceleration Parameter which defines how rapidly the actuator comes to stop. The higher the set value, the quicker it stops. Pushing force Trigger LV Pushing speed Positioning force rea, rea 2 In position Set 0. (If values to 00 are set, the operation will be changed to the pushing operation.) Setting is not required. Setting is not required. Max. torque during the positioning operation (No specific change is required.) Condition that turns on the RE output signal. Condition that turns on the INP output signal. When the actuator enters the range of [in position], the INP output signal turns on. (It is unnecessary to change this from the initial value.) When it is necessary to output the arrival signal before the operation is completed, make the value larger. Pushing force Trigger LV Pushing speed Positioning force Pushing force ratio is defined. The setting range differs depending on the electric actuator type. Refer to the operation manual for the electric actuator. Condition that turns on the INP output signal. The INP output signal is turned on when the generated force exceeds the value. Threshold level should be less than the pushing force. Pushing speed When the speed is set fast, the electric actuator and work pieces might be damaged due to the impact when they hit the end, so this set value should be smaller. Refer to the operation manual of the electric actuator. Max. torque during the positioning operation (No specific change is required.) rea, rea 2 Condition that turns on the RE output signal. In position Transfer distance during pushing. If the transferred distance exceeds the setting, it stops even if it is not pushing. If the transfer distance is exceeded, the INP output signal will not be turned on. 22

21 Step Motor Controller (Servo/24 VDC) Series LECP6 Servo Motor Controller (24 VDC) Series LEC6 Signal Timing Return to Origin Power supply SV Input SETUP USY 24 V 0 V SVRE Output SET INP LRM ESTOP 0 mm/s Return to origin If the actuator is within the in position range of the basic parameter, INP will be turned, but if not, it will remain. LRM and ESTOP are expressed as negative-logic circuit. Positioning Operation IN Input DRIVE Scan the step data no. Output the step data no. Pushing Operation IN Input DRIVE Scan the step data no. Output the step data no. OUT OUT Output USY Output USY INP INP Positioning operation 0 mm/s Pushing operation 0 mm/s If the actuator is within the in position range of the step data, INP will be turned, but if not, it will remain. If the current pushing force exceeds the threshold level of the step data, INP signal will be turned. OUT is output when DRIVE is changed from to. (When power supply is applied, DRIVE or RESET is turned or ESTOP is turned, all of the OUT outputs are turned.) HOLD Input Output HOLD USY Slow-down starting point HOLD during the operation When the actuator is in the positioning range in the pushing operation, it does not stop even if HOLD signal is input. 0 mm/s Reset Input Output RESET OUT LRM larm out larm reset It is possible to identify the alarm group by the combination of OUT signals when the alarm is generated. LRM and ESTOP are expressed as negative-logic circuit. 2

22 Series LECP6 Series LEC6 Options [ctuator cable for step motor (Servo/24 VDC)] LE CP Cable length (L). m m m 8 8 m 0 m m C 20 m Produced upon receipt of order LE-CP- /Cable length:. m, m, m LE-CP- (Terminal no.) 6 8 C 6 (Terminal no.) 6 (4.7) (4.7) 6 (7.7) (7.7) ctuator side (0.7) ctuator side Connector ø8 /Cable length: 8 m, 0 m, m, 20 m ( Produced upon receipt of order) ø6. ø. Connector C Controller side L Connector D () Connector C (4.2) (Terminal no.) 2 6 (.) (4.2) (4) (8) Controller side (4) (8) 2 6 (0) (Terminal no.) 2 6 (.) 2 Connector 6 (0.7) L Connector D () (0) (Terminal no.) 6 6 (Terminal no.) 6 (4.7) (4.7) Circuit COM-/COM COM-/ Vcc GND 6 (7.7) (0.2) (7.7) (0.2) Connector [ctuator cable with lock and sensor for step motor (Servo/24 VDC)] LE CP Cable length (L). m m m 8 8 m 0 m m C 20 m 24 Produced upon receipt of order With lock and sensor LE-CP- /Cable length:. m, m, m LE-CP- 8 C Note) This is not used for the LEY series. Circuit COM-/COM COM-/ Vcc GND Circuit Lock (+) Lock ( ) Sensor (+) Note) Sensor ( ) Note) ctuator side ø.7 ø8 (4.2) Connector 6 (0.7) L Connector D () (0) ctuator side Connector Connector ø6. ø.7 ø. Shield Connector C Connector C Cable color rown Orange Yellow Green lue Cable color rown Orange Controller side (4.2) Connector C Connector D Connector 6 (0.7) L Connector D () (0) Connector Connector Shield Cable color rown Orange Yellow Green lue Cable color rown Orange rown lue (4) (8) Controller side (4) (8) (Terminal no.) 2 6 (.) 2 /Cable length: 8 m, 0 m, m, 20 m ( Produced upon receipt of order) (Terminal no.) 2 6 (.) 2 Connector C Connector D

23 Step Motor Controller (Servo/24 VDC) Series LECP6 Servo Motor Controller (24 VDC) Series LEC6 [ctuator cable for servo motor (24 VDC)] LE C LE-C- Cable length (L). m m m 8 8 m 0 m m C 20 m Produced upon receipt of order 4 2 (2.7) (4.7) Connector [ctuator cable with lock and sensor for servo motor (24 VDC)] LE C LE-C- - Cable length (L). m m m 8 8 m 0 m m C 20 m Produced upon receipt of order With lock and sensor ctuator side (Terminal no.) (6.6) (2.7) Connector (Terminal no.) (6.6) 4 2 (4.7) Connector Note) This is not used for the LEY series. (2.7) (0.2) (.6) Circuit (.6) U V W Circuit Vcc GND Z Z Circuit U V W Circuit Vcc GND Z Z Circuit (ø6.) (ø6.) (4.2) (0.7) L () ctuator side (0.7) rake (+) rake ( ) Sensor (+) Note) Sensor ( ) Note) (2.7) Connector 2 Connector Connector Connector 2 ø6. ø.7 ø6. Connector C Connector D Connector C (0.7) L () Connector 2 Connector Connector Shield Connection of shield material Shield Connection of shield material Cable color White Cable color rown Orange Yellow Connector D Cable color White Cable color rown Orange Yellow rown Controller side (8) (4.2) (8) (0.) (0.) (Terminal no.) Connector C 2 Connector D Controller side (.) Connector C 2 Connector D (0) (Terminal no.) (.) (0) 2

24 Series LECP6 Series LEC6 Options [I/O cable] LEC CN Cable length (L). m m m (Terminal no.) Controller side (22.4) ø8.9 (4.4) L PLC side Conductor size: WG28 Connector Cable pin No. color Light brown 2 Light brown Yellow 4 Yellow Light green 6 Light green 7 Gray 8 Gray 9 White 0 White Light brown 2 Light brown Yellow Dot mark Dot color Connector pin No Cable color Yellow Light green Light green Gray Gray White White Light brown Light brown Yellow Yellow Light green Light green Dot mark Shield Dot color [Noise filter set for Servo motor (24 VDC)] LEC NF Contents of the set: 2 noise filters (Produced by WURTH ELEKTRIK: ) (.) (2.) (42.2) (28.8) Refer to the LEC6 series Operation Manual for installation. 26

25 Series LEC Controller Setting Software/LEC-W How to Order LEC W w Communication cable r US cable q Controller setting software Controller setting software (Japanese and English are available.) Contents e Conversion unit PC q Controller setting software (CD-ROM) w Communication cable (Cable between the controller and the conversion unit) e Conversion unit r US cable (Cable between the PC and the conversion unit) Hardware Requirements PC/T compatible machine installed with Windows XP and equipped with US. or US2.0 ports. Windows and Windows XP are registered trademarks of Microsoft Corporation. Screen Example Easy mode screen example Normal mode screen example Easy operation and simple setting llowing to set and display actuator step data such as position, speed, force, etc. Setting of step data and testing of the drive can be performed on the same page. Can be used to jog and move at a constant rate. Detail setting Step data can be set in detail. Signals and terminal status can be monitored. Parameters can be set. JOG and constant rate movement, return to origin, test operation and testing of compulsory output can be performed. 27

26 Series LEC Teaching ox/lec-t How to Order LEC T J G Enable switch (Option) Stop switch Teaching box Cable length m Initial language J Japanese E English Enable switch Nil None S Equipped with enable switch Interlock switch for jog test function Stop switch G Equipped with stop switch Specifications Standard functions Chinese character display Stop switch is provided. Option Enable switch is provided. Switch Cable length Enclosure Item Operating temperature range ( F) Operating humidity range (%) Weight (lb) Description Stop switch, Enable switch (Option) m IP64 (Except connector) 4 to 22 (No condensation) to (Except cable) The EMC compliance for the teaching box was tested with LECP6 controller and applicable actuator only. Easy Mode Function Step data Jog Test Monitor larm T setting Jog operation Return to origin Description Setting of step data step operation Return to origin Display of axis and step data No. Display of two items selected from Position,, Force. Display of active alarm larm reset Reconnection of axis Setting of easy/normal mode Setting of step data and selection of item for monitoring function Menu Operations Flowchart Menu Data Monitor Jog Test larm T setting Data Step data No. Setting of two items selected below (Position,, Force, cceleration, Deceleration) Monitor Display of step No. Display of two items selected below (Position,, Force) Jog Return to origin Jog operation Test step operation larm Display of active alarm larm reset T setting Reconnect Easy/Normal Set item 28

27 Teaching ox Series LEC Normal Mode Function Step data Parameter Test Description Step data setting Parameters setting Jog operation/constant rate movement Return to origin Test drive (Specify a maximum of step data and operate.) Compulsory output (Compulsory signal output, Compulsory terminal output) Menu Operations Flowchart Menu Step data Step data Step data No. Parameter Movement MOD Monitor Test Position larm cceleration File Deceleration T setting Pushing force Reconnect Trigger LV Pushing speed Positioning force rea, 2 In position Monitor larm File T setting Reconnect Drive monitor Output signal monitor Input signal monitor Output terminal monitor Input terminal monitor ctive alarm display (larm reset) larm log record display Data saving Save the step data and parameters of the controller which is being used for communication (it is possible to save four files, with one set of step data and parameters defined as one file). Load to controller Loads the data which is saved in the teaching box to the controller which is being used for communication. Delete the saved data. Display setting (Easy/Normal mode) Language setting (Japanese/English) acklight setting LCD contrast setting eep sound setting Max. connection axis Distance unit (mm/inch) Reconnection of axis Parameter asic ORIG Monitor Drive Output signal Input signal Output terminal Input terminal Test JOG/MOVE Return to ORIG Test drive Compulsory output larm ctive LM LM Log record File Data saving Load to controller File deletion T setting Easy/Normal Language acklight LCD contrast eep Max. connection axis Password Distance unit asic setting ORIG setting DRV monitor Position,, Torque Step No. Last step No. Output signal monitor Input signal monitor Output terminal monitor Input terminal monitor ctive LM ctive alarm display larm reset LM Log record display Log entry display Reconnect Dimensions t 4. r q y u 02 i e w 8 No LCD Ring Stop switch Stop switch guard Enable switch (Option) Key switch Cable Description Connector screen of liquid crystal display (with backlight) ring for hanging the teaching box Locks and stops operation when this switch is pressed. The lock is released when it is turned to the right. guard for the stop switch Switch for each input Length: meters Function Prevents unintentional operation (unexpected operation) of the jog test function. Other functions such as data change are not covered. connector connected to CN4 of the controller 29

28 Series LEC Controller and Peripheral Devices/ Specific Product Precautions e sure to read before handling. Refer to page 2 for Safety Instructions. Refer to the operation manual for using the products. Please download it via our website. Warning Design/Selection. e sure to apply the specified voltage. Otherwise, malfunction and breakage may be caused. If the applied voltage is lower than the specified, it is possible that the load cannot be moved due to an internal voltage drop of the controller. Please check the operating voltage before use. 2. Do not operate the product beyond the specifications. Otherwise, a fire, malfunction or actuator damage can result. Please check the specifications before use.. Install an emergency stop circuit outside of the enclosure. Please install an emergency stop outside of the enclosure so that it can stop the system operation immediately and intercept the power supply. 4. In order to prevent damage due to the breakdown and the malfunction of the controller and its peripheral devices, a backup system should be established previously by giving a multiple-layered structure or a fail-safe design to the equipment, etc.. If a danger against the personnel is expected due to an abnormal heat generation, smoking, ignition, etc., of the controller and its peripheral devices, cut off the power supply for the product and the system immediately. Warning Handling. Do not touch the inside of the controller and its peripheral devices. It may cause an electric shock or damage to the controller. 2. Do not perform the operation or setting of the product with wet hands. It may cause an electric shock.. Product with damage or the one lacking of any components should not be used. It may cause an electric shock, fire, or injury. 4. Use only the specified combination between the electric actuator and controller. It may cause damage to the actuator or the controller.. e careful not to be caught or hit by the workpiece while the actuator is moving. It may cause an injury. 6. Do not connect the power supply or power on the product before confirming the area to which the workpiece moves is safe. The movement of the workpiece may cause an accident. 7. Do not touch the product when it is energized and for some time after power has been disconnected, as it is very hot. It may lead to a burn due to the high temperature. 8. Check the voltage using a tester for more than minutes after power-off in case of installation, wiring and maintenance. It may cause an electric shock, fire, or injury. Warning Handling 9. Static electricity may cause malfunction or break the controller. Do not touch the controller while power is supplied. When touching the controller for maintenance, take sufficient measures to eliminate static electricity. 0. Do not use the product in an area where dust, powder dust, water, chemicals or oil is in the air. It will cause failure or malfunction.. Do not use the product in an area where a magnetic field is generated. It will cause failure or malfunction. 2. Do not install the product in the environment of flammable gas, explosive gas and corrosive gas. It could lead to fire, explosion and corrosion.. Radiant heat from strong heat supplies such as a furnace, direct sunlight, etc., should not be applied to the product. It will cause failure of the controller or its peripheral devices. 4. Do not use the product in an environment subject to a temperature cycle. It will cause failure of the controller or its peripheral devices.. Do not use the product in a place where surges are generated. When there are units that generate a large amount of surge around the product (e.g., solenoid type lifters, high frequency induction furnaces, motors, etc.), this may cause deterioration or damage to the product s internal circuit. void supplies of surge generation and crossed lines. 6. Do not install the product in an environment under the effect of vibrations and impacts. It will cause failure or malfunction. 7. When a surge generating load such as a relay or solenoid valve is directly driven, use a product that incorporates a surge absorption element. Warning Installation. Install the controller and its peripheral devices on a fire-proof material. direct installation on or near a flammable material may cause fire. 2. Do not install the product in a place subject to vibrations and impacts. It will cause failure or malfunction.. Do not mount the controller and its peripheral devices together with a large-sized electromagnetic contactor or no-fuse breaker, which generates vibration, on the same panel. Mount them on different panels, or keep the controller and its peripheral devices away from such a vibration supply. 4. Install the controller and its peripheral devices on a flat surface. If the mounting surface is distorted or not flat, an unacceptable force may be added to the housing, etc., to cause troubles. 0

29 Series LEC Controller and Peripheral Devices/ Specific Product Precautions 2 e sure to read before handling. Refer to page 2 for Safety Instructions. Refer to the operation manual for using the products. Please download it via our website. Caution Power Supply. Use a power supply that has low noise between lines and between power and ground. In cases where noise is high, an isolation transformer should be used. 2. The power supplies should be separated between the controller power and the I/O signal power and both of them do not use the power supply of inrush current prevention type. If the power supply is inrush current prevention type, a voltage drop may be caused during the acceleration of the actuator.. To prevent surges from lightning, an appropriate measure should be taken. Ground the surge absorber for lightning separately from the grounding of the controller and its peripheral devices. Warning Grounding. e sure to carry out grounding in order to ensure the noise tolerance. 2. Dedicated grounding should be used. Grounding should be to a D-class ground. (Ground resistance of 00 Ω or less). Grounding should be performed near the controller and its peripheral devices to shorten the grounding distance. 4. In the unlikely event that malfunction is caused by ground, please disconnect the unit from ground. Warning Maintenance. Perform a maintenance check periodically. Confirm wiring and screws are not loose. Loose screws or wires may cause unintentional malfunction. 2. Conduct an appropriate functional inspection after completing the maintenance. t times where the equipment or machinery does not operate properly, conduct an emergency stop of the system. Otherwise, an unexpected malfunction may occur and it will become impossible to secure the safety. Conduct a test of the emergency stop in order to confirm the safety of the equipment.. Do not disassemble, modify or repair the controller and its peripheral devices. 4. Do not put anything conductive or flammable inside of the controller. It may cause a fire.. Do not conduct an insulation resistance test and withstand voltage test on this product. 6. Ensure sufficient space for maintenance activities. Design the system that allows required space for maintenance.

30 Safety Instructions Caution: Warning: Danger : Caution indicates a hazard with a low level of risk which, if not avoided, could result in minor or moderate injury. Warning indicates a hazard with a medium level of risk which, if not avoided, could result in death or serious injury. Danger indicates a hazard with a high level of risk which, if not avoided, will result in death or serious injury. Warning. The compatibility of the product is the responsibility of the person who designs the equipment or decides its specifications. Since the product specified here is used under various operating conditions, its compatibility with specific equipment must be decided by the person who designs the equipment or decides its specifications based on necessary analysis and test results. The expected performance and safety assurance of the equipment will be the responsibility of the person who has determined its compatibility with the product. This person should also continuously review all specifications of the product referring to its latest catalog information, with a view to giving due consideration to any possibility of equipment failure when configuring the equipment. 2. Only personnel with appropriate training should operate machinery and equipment. The product specified here may become unsafe if handled incorrectly. The assembly, operation and maintenance of machines or equipment including our products must be performed by an operator who is appropriately trained and experienced.. Do not service or attempt to remove product and machinery/equipment until safety is confirmed.. The inspection and maintenance of machinery/equipment should only be performed after measures to prevent falling or runaway of the driven objects have been confirmed. 2. When the product is to be removed, confirm that the safety measures as mentioned above are implemented and the power from any appropriate source is cut, and read and understand the specific product precautions of all relevant products carefully.. efore machinery/equipment is restarted, take measures to prevent unexpected operation and malfunction. 4. Contact SMC beforehand and take special consideration of safety measures if the product is to be used in any of the following conditions.. Conditions and environments outside of the given specifications, or use outdoors or in a place exposed to direct sunlight. 2. Installation on equipment in conjunction with atomic energy, railways, air navigation, space, shipping, vehicles, military, medical treatment, combustion and recreation, or equipment in contact with food and beverages, emergency stop circuits, clutch and brake circuits in press applications, safety equipment or other applications unsuitable for the standard specifications described in the product catalog.. n application which could have negative effects on people, property, or animals requiring special safety analysis. 4. Use in an interlock circuit, which requires the provision of double interlock for possible failure by using a mechanical protective function, and periodical checks to confirm proper operation. These safety instructions are intended to prevent hazardous situations and/or equipment damage. These instructions indicate the level of potential hazard with the labels of Caution, Warning or Danger. They are all important notes for safety and must be followed in addition to International Standards (ISO/IEC), merican National Standards Institute (NSI) ) and other safety regulations. ) ISO 444: Pneumatic fluid power General rules relating to systems. ISO 44: Hydraulic fluid power General rules relating to systems. IEC : Safety of machinery Electrical equipment of machines. (Part : General requirements) ISO 028-: Manipulating industrial robots - Safety. NSI / (NFP) T2.2. R2: Pneumatic fluid power - Systems standard for industrial machinery. NFP (Fluid) T2.24. R: Hydraulic fluid power - Systems standard for stationary industrial machinery. NFP 79: Electrical Standard for Industrial Machinery. NSI / RI / ISO 028 -: Robots for Industrial Environment - Safety Requirements - Part - Robot. etc. Caution. The product is provided for use in manufacturing industries. The product herein described is basically provided for peaceful use in manufacturing industries. If considering using the product in other industries, consult SMC beforehand and exchange specifications or a contract if necessary. If anything is unclear, contact your nearest sales branch. Limited warranty and Disclaimer/ Compliance Requirements The product used is subject to the following Limited warranty and Disclaimer and Compliance Requirements. Read and accept them before using the product. Limited warranty and Disclaimer. The warranty period of the product is year in service or. years after the product is delivered. 2) lso, the product may have specified durability, running distance or replacement parts. Please consult your nearest sales branch. 2. For any failure or damage reported within the warranty period which is clearly our responsibility, a replacement product or necessary parts will be provided. This limited warranty applies only to our product independently, and not to any other damage incurred due to the failure of the product.. Prior to using SMC products, please read and understand the warranty terms and disclaimers noted in the specified catalog for the particular products. 2) Vacuum pads are excluded from this year warranty. vacuum pad is a consumable part, so it is warranted for a year after it is delivered. lso, even within the warranty period, the wear of a product due to the use of the vacuum pad or failure due to the deterioration of rubber material are not covered by the limited warranty. Compliance Requirements. The use of SMC products with production equipment for the manufacture of weapons of mass destruction (WMD) or any other weapon is strictly prohibited. 2. The exports of SMC products or technology from one country to another are governed by the relevant security laws and regulations of the countries involved in the transaction. Prior to the shipment of a SMC product to another country, assure that all local rules governing that export are known and followed. Safety Instructions e sure to read Handling Precautions for SMC Products (M-E0-) before using. 2

31 Step Motor Controller (Servo/24 VDC) Series LECP6 Servo Motor Controller (24 VDC) Series LEC6 I/O cable PLC ctuator Controller To CN Options Power supply for I/O signal 24 VDC Please prepare PLC and 24 VDC power supply for I/O signal. Controller setting software (Communication cable, US cable and conversion unit are included.) ctuator cable To CN To CN2 To CN4 Conversion unit Communication cable US cable To CN (-mini type) PC Controller power supply Power supply plug 24 VDC (accessory) or (Please prepare power cables and 24 VDC input power supplies [power supplies other than the inrush current prevention type] for the cotroller.) Teaching box (with m cable) Software for input setting data of controller Equipment for input setting data of controller 2

32 Step Motor Controller (Servo/24 VDC) Series LECP6 Servo Motor Controller (24 VDC) Series LEC6 Caution Note ) CE-compliant products q EMC compliance was tested by combining the electric actuator LES series and the controller LEC series. The EMC depends on the configuration of the customer s control panel and the relationship with other electrical equipment and wiring. Therefore conformity to the EMC directive cannot be certified for SMC components incorporated into the customer s equipment under actual operating conditions. s a result it is necessary for the customer to verify conformity to the EMC directive for the machinery and equipment as a whole. w For the LEC6 series (servo motor controller), EMC compliance was tested by installing a noise filter set (LEC-NF). Refer to page 0 for the noise filter set. Refer to the LEC Operation Manual for installation. How to Order LE C P 6 N ctuator Controller Compatible motor P Step motor (Servo/24 VDC) Servo motor (24 VDC) Note ) Number of step data 6 64 points Parallel I/O type N NPN P PNP I/O cable length Nil ctuator part number (Except cable specifications and actuator options) Example: Enter [LESH8RJ-0] for LESH8RJ-0- R6N Without cable. m m m Option Nil Screw D Note 2) mounting DIN rail mounting Note 2) DIN rail is not included. Order it separately. When controller equipped type (-P6 ) is selected when ordering the LE series, you do not need to order this controller. Series LECP6 Series LEC6 The controller is sold as single unit after the compatible actuator is set. Confirm that the combination of the controller and the actuator is compatible. <e sure to check the following before use.> q Check that actuator label for model number. This matches the controller. w Check Parallel I/O configuration matches (NPN or PNP). q w Specifications asic Specifications Item LECP6 LEC6 Compatible motor Power supply Note ) Parallel input Parallel output Compatible encoder Serial communication Memory LED indicator Lock control Cable length (m) Cooling system Operating temperature range ( C) Operating humidity range (%) Storage temperature range ( C) Storage humidity range (%) Insulation resistance (MΩ) Weight (g) Unipolar connection type 2-phase H step motor Power voltage: 24 VDC ±0% Current consumption: (Peak ) Note 2) [Including motor drive power, control power, stop, lock release] / phase, Line receiver input Resolution 800 p/r inputs (Photo-coupler isolation) outputs (Photo-coupler isolation) RS48 (Modbus protocol compliant) EEPROM LED (Green/) one of each Forced-lock release terminal I/O cable: or less ctuator cable: 20 or less Natural air cooling 0 to 40 (No condensation and freezing) to 8 (No condensation and freezing) 0 to 60 (No condensation and freezing) to 8 (No condensation and freezing) etween the housing (radiation fin) and SG terminal 0 (00 VDC) C servo motor Power voltage: 24 VDC ±0% Current consumption: (Peak 0 ) Note 2) [Including motor drive power, control power, stop, lock release] 0 (Screw mounting) 70 (DIN rail mounting) //Z phase, Line receiver input Resolution 800 p/r Note ) Do not use the power supply of inrush current prevention type for the controller power supply. Note 2) The power consumption changes depending on the actuator model. Refer to the specifications of actuator for more details. 22

33 Step Motor Controller (Servo/24 VDC) Series LECP6 Servo Motor Controller (24 VDC) Series LEC6 How to Mount a) Screw mounting (LEC 6 - ) (Installation with two M4 screws) b) DIN rail mounting (LEC 6 D- ) (Installation with the DIN rail) DIN rail is locked. Mounting direction Ground wire Ground wire Ground wire DIN rail Mounting direction DIN rail mounting adapter Hook the controller on the DIN rail and press the lever of section in the arrow direction to lock it. DIN rail XT00-DR- L 2. (Pitch).2 7. For, enter a number from the No. line in the below table. Refer to the dimensions on page 24 for the mounting dimensions. 2. L Dimensions.2 No L dimension No L dimension DIN rail mounting adapter LEC-D0 (with 2 mounting screws) This should be used when the DIN rail mounting adapter is mounted onto the screw mounting type controller afterwards. 2

34 Series LECP6 Series LEC6 Dimensions a) Screw mounting (LEC 6 - ) Power supply LED (Green) (: Power supply is.) ø4. for body mounting (8.7) 66 Power supply LED () (: larm is.) CN parallel I/O connector CN4 serial I/O connector CN encoder connector CN2 motor power connector CN power supply connector 4.6 for body mounting b) DIN rail mounting (LEC 6 D- ) Refer to page 2 for L dimension and part number of DIN rail. (8.7) 66 (.) 7.2 (When removing DIN rail) 67. (When locking DIN rail) (9.7) Note) When two or more controllers are used, keep the interval between them 0 mm or more (when the LESH2 is used). 24

35 Step Motor Controller (Servo/24 VDC) Series LECP6 Servo Motor Controller (24 VDC) Series LEC6 Wiring Example Power Supply Connector: CN Power supply plug is an accessory. Power supply plug for LECP6 CN Power Supply Connector Terminal for LECP6 Terminal name Function Function details 0V Common supply ( ) M24V terminal/c24v terminal/emg terminal/k RLS terminal are common ( ). M24V Motor power supply (+) This is the motor power supply (+) that is supplied to the controller. C24V Control power supply (+) This is the control power supply (+) that is supplied to the controller. EMG Stop (+) This is the input (+) that releases the stop. K RLS Lock release (+) This is the input (+) that releases the lock. CN Power Supply Connector Terminal for LEC6 Terminal name Function Function details 0V M24V C24V EMG K RLS RG+ RG Common supply ( ) Motor power supply (+) Control power supply (+) Stop (+) Lock release (+) Regenerative output Regenerative output 2 M24V terminal/c24v terminal/emg terminal/k RLS terminal are common ( ). This is the motor power supply (+) that is supplied to the controller. This is the control power supply (+) that is supplied to the controller. This is the input (+) that releases the stop. This is the input (+) that releases the lock. These are the regenerative output terminals for external connection. (It is not necessary to connect them in the combination with standard specification LES series.) Wiring Example 2 0V M24V C24V EMG K RLS Power supply plug for LEC6 0V M24V C24V EMG K RLS RG+ RG Parallel I/O Connector: CN Wiring diagram LEC 6N - (NPN) CN COM+ COM IN0 IN IN2 IN IN4 IN SETUP HOLD DRIVE RESET SV OUT0 OUT OUT2 OUT OUT4 OUT USY RE SET INP SVRE ESTOP LRM When you connect a PLC, etc., to the CN parallel I/O connector, please use the I/O cable (LEC-CN- ). The wiring should be changed depending on the type of the parallel I/O (NPN or PNP). Please wire referring to the following diagram. 24 VDC for I/O signal Load LEC 6P - (PNP) CN COM+ COM IN0 IN IN2 IN IN4 IN SETUP HOLD DRIVE RESET SV OUT0 OUT OUT2 OUT OUT4 OUT USY RE SET INP SVRE ESTOP LRM VDC for I/O signal Load Input Signal Name COM+ COM IN0 to IN SETUP HOLD DRIVE RESET SV Contents Connects the power supply 24 V for input/output signal Connects the power supply 0 V for input/output signal Step data specified it No. (Input is instructed in the combination of IN0 to.) Instruction to return to the original position Operation is temporarily stopped. Instruction to drive larm reset and operation interruption Servo instruction Output Signal Name Contents OUT0 to OUT Outputs the step data No. during operation USY Outputs when the actuator is moving RE Outputs within the step data area output setting range SET Outputs when returning to the original position Outputs when target position or target force is reached INP (Turns on when the positioning or pushing is completed.) SVRE ESTOP Note) LRM Note) Outputs when servo is on Not output when EMG stop is instructed Not output when alarm is generated Note) These signals are output when the power supply of the controller is. (N.C.) 2

36 Series LECP6 Series LEC6 Step Data Setting. Step data setting for positioning 2. Step data setting for pushing In this setting, the actuator moves toward and stops at the target position. The following diagram shows the setting items and operation. The setting items and set values for this operation are stated below. The actuator moves toward the pushing start position, and when it reaches that position, it starts pushing with less than the set force. The following diagram shows the setting items and operation. The setting items and set values for this operation are stated below. cceleration Deceleration cceleration Deceleration Position Pushing speed In position Force Position In position INP output Pushing force Trigger LV INP output Step Data (Positioning) : Need to be set. : Need to be adjusted as required. : Setting is not required. Step Data (Pushing) : Need to be set. : Need to be adjusted as required. Necessity Item Description Necessity Item Description Movement MOD When the absolute position is required, set bsolute. When the relative position is required, set Relative. Movement MOD When the absolute position is required, set bsolute. When the relative position is required, set Relative. Position Transfer speed to the target position Target position Position Transfer speed to the pushing start position Pushing start position cceleration Parameter which defines how rapidly the actuator reaches the speed set. The higher the set value, the faster it reaches the speed set. cceleration Parameter which defines how rapidly the actuator reaches the speed set. The higher the set value, the faster it reaches the speed set. Deceleration Parameter which defines how rapidly the actuator comes to stop. The higher the set value, the quicker it stops. Deceleration Parameter which defines how rapidly the actuator comes to stop. The higher the set value, the quicker it stops. Pushing force Trigger LV Pushing speed Positioning force rea, rea 2 In position Set 0. (If values to 00 are set, the operation will be changed to the pushing operation.) Setting is not required. Setting is not required. Max. torque during the positioning operation (No specific change is required.) Condition that turns on the RE output signal. Condition that turns on the INP output signal. When the actuator enters the range of [in position], the INP output signal turns on. (It is unnecessary to change this from the initial value.) When it is necessary to output the arrival signal before the operation is completed, make the value larger. Pushing force Trigger LV Pushing speed Positioning force Pushing force ratio is defined. The setting range differs depending on the electric actuator type. Refer to the operation manual for the electric actuator. Condition that turns on the INP output signal. The INP output signal is turned on when the generated force exceeds the value. Threshold level should be less than the pushing force. Pushing speed When the speed is set fast, the electric actuator and work pieces might be damaged due to the impact when they hit the end, so this set value should be smaller. Refer to the operation manual of the electric actuator. Max. torque during the positioning operation (No specific change is required.) rea, rea 2 Condition that turns on the RE output signal. In position Transfer distance during pushing. If the transferred distance exceeds the setting, it stops even if it is not pushing. If the transfer distance is exceeded, the INP output signal will not be turned on. 26

37 Step Motor Controller (Servo/24 VDC) Series LECP6 Servo Motor Controller (24 VDC) Series LEC6 Signal Timing Return to Origin Power supply SV Input SETUP USY 24 V 0 V SVRE Output SET INP LRM ESTOP 0 mm/s Return to origin If the actuator is within the in position range of the basic parameter, INP will be turned, but if not, it will remain. LRM and ESTOP are expressed as negative-logic circuit. Positioning Operation IN Input DRIVE Scan the step data no. Output the step data no. Pushing Operation IN Input DRIVE Scan the step data no. Output the step data no. OUT OUT Output USY Output USY INP INP Positioning operation 0 mm/s Pushing operation 0 mm/s If the actuator is within the in position range of the step data, INP will be turned, but if not, it will remain. If the current pushing force exceeds the threshold level of the step data, INP signal will be turned. OUT is output when DRIVE is changed from to. (When power supply is applied, DRIVE or RESET is turned or ESTOP is turned, all of the OUT outputs are turned.) HOLD Input Output HOLD USY Slow-down starting point HOLD during the operation When the actuator is in the positioning range in the pushing operation, it does not stop even if HOLD signal is input. 0 mm/s Reset Input Output RESET OUT LRM larm out larm reset It is possible to identify the alarm group by the combination of OUT signals when the alarm is generated. LRM and ESTOP are expressed as negative-logic circuit. 27

38 Series LECP6 Series LEC6 Options [ctuator cable for step motor (Servo/24 VDC)] LE CP Cable length (L). m m m 8 8 m 0 m m C 20 m Produced upon receipt of order LE-CP- /Cable length:. m, m, m LE-CP- (Terminal no.) 6 8 C 6 (Terminal no.) 6 (4.7) 6 (7.7) (7.7) ctuator side (0.7) ctuator side Connector ø8 /Cable length: 8 m, 0 m, m, 20 m ( Produced upon receipt of order) (4.7) ø6. ø. Connector C Controller side L Connector D () Connector C (4.2) (Terminal no.) 2 6 (.) (4.2) (4) (8) Controller side (4) (8) 2 6 (0) (Terminal no.) 2 6 (.) 2 Connector 6 (0.7) L Connector D () (0) [ctuator cable with lock and sensor for step motor (Servo/24 VDC)] LE CP Cable length (L). m m m 8 8 m 0 m m C 20 m 28 Produced upon receipt of order With lock and sensor (Terminal no.) 6 6 (Terminal no.) 6 (4.7) (4.7) Circuit COM-/COM COM-/ Vcc GND 6 (7.7) (0.2) (7.7) (0.2) Connector LE-CP- /Cable length:. m, m, m LE-CP- 8 C Note) This is not used for the LES series. ctuator side ctuator side Connector Connector ø.7 ø8 ø6. ø.7 ø. Shield Connector C Connector C Cable color rown Orange Yellow Green lue Cable color rown Orange Controller side (4.2) (4.2) Connector C Connector D Connector 6 (0.7) L Connector D () (0) (4) (8) Controller side (4) (8) (Terminal no.) 2 6 (.) 2 Connector 6 (0.7) L Connector D () (0) /Cable length: 8 m, 0 m, m, 20 m ( Produced upon receipt of order) Circuit COM-/COM COM-/ Vcc GND Circuit Lock (+) Lock ( ) Sensor (+) Note) Sensor (+) Note) Connector Connector Shield Cable color rown Orange Yellow Green lue Cable color rown Orange rown lue (Terminal no.) 2 6 (.) 2 Connector C Connector D

39 Step Motor Controller (Servo/24 VDC) Series LECP6 Servo Motor Controller (24 VDC) Series LEC6 [ctuator cable for servo motor (24 VDC)] LE C Cable length (L). m m m 8 8 m 0 m m C 20 m Produced upon receipt of order ctuator side (Terminal no.) (6.6) (2.7) Connector 4 2 (2.7) (4.7) Connector [ctuator cable with lock and sensor for servo motor (24 VDC)] LE C Cable length (L). m m m 8 8 m 0 m m C 20 m Produced upon receipt of order With lock and sensor LE-C- (Terminal no.) (6.6) 4 2 (4.7) Connector Note) This is not used for the LES series. (2.7) (0.2) (.6) LE-C- - Circuit (.6) U V W Circuit Vcc GND Z Z Circuit U V W Circuit Vcc GND Z Z Circuit (ø6.) (ø6.) Connector C (4.2) (0.7) L () ctuator side (0.7) rake (+) rake ( ) Sensor (+) Note) Sensor ( ) Note) (2.7) Connector 2 Connector Connector Connector 2 ø6. ø.7 ø6. Connector D (0.7) L () Connector 2 Connector Connector Shield Connection of shield material Shield Connection of shield material Cable color White Cable color rown Orange Yellow Controller side (8) Connector C (4.2) Connector D Cable color White Cable color rown Orange Yellow rown (0.) (Terminal no.) Connector C 2 Connector D Controller side (8) (0.) (.) (0) (Terminal no.) Connector C 2 Connector D (.) (0) 29

40 Series LECP6 Series LEC6 Options [I/O cable] LEC CN Cable length (L). m m m (Terminal no.) Controller side (22.4) ø8.9 (4.4) L PLC side Conductor size: WG28 Connector Cable pin No. color Light brown 2 Light brown Yellow 4 Yellow Light green 6 Light green 7 Gray 8 Gray 9 White 0 White Light brown 2 Light brown Yellow Dot mark Dot color Connector pin No Cable color Yellow Light green Light green Gray Gray White White Light brown Light brown Yellow Yellow Light green Light green Dot mark Shield Dot color [Noise filter set for Servo motor (24 VDC)] LEC NF Contents of the set: 2 noise filters (Produced by WURTH ELEKTRIK: ) (.) (2.) (42.2) (28.8) Refer to the LEC6 series Operation Manual for installation. 0

41 Series LEC Controller Setting Software/LEC-W How to Order LEC W w Communication cable r US cable q Controller setting software Controller setting software (Japanese and English are available.) Contents e Conversion unit PC q Controller setting software (CD-ROM) w Communication cable (Cable between the controller and the conversion unit) e Conversion unit r US cable (Cable between the PC and the conversion unit) Hardware Requirements PC/T compatible machine installed with Windows XP and equipped with US. or US2.0 ports. Windows and Windows XP are registered trademarks of Microsoft Corporation. Screen Example Easy mode screen example Normal mode screen example Easy operation and simple setting llowing to set and display actuator step data such as position, speed, force, etc. Setting of step data and testing of the drive can be performed on the same page. Can be used to jog and move at a constant rate. Detail setting Step data can be set in detail. Signals and terminal status can be monitored. Parameters can be set. JOG and constant rate movement, return to origin, test operation and testing of compulsory output can be performed.

42 Series LEC Teaching ox/lec-t How to Order LEC T J G Enable switch (Option) Stop switch Teaching box Cable length m Initial language J Japanese E English Enable switch Nil None S Equipped with enable switch Interlock switch for jog test function Stop switch G Equipped with stop switch Specifications Standard functions Chinese character display Stop switch is provided. Option Enable switch is provided. Switch Cable length Enclosure Item Operating temperature range ( C) Operating humidity range (%) Weight (g) Description Stop switch, Enable switch (Option) The EMC compliance for the teaching box was tested with LECP6 controller and applicable actuator only. m IP64 (Except connector) to 0 (No condensation) to 8 0 (Except cable) Easy Mode Function Step data Jog Test Monitor larm T setting Jog operation Return to origin Description Setting of step data step operation Return to origin Display of axis and step data No. Display of two items selected from Position,, Force. Display of active alarm larm reset Reconnection of axis Setting of easy/normal mode Setting of step data and selection of item for monitoring function Menu Operations Flowchart Menu Data Monitor Jog Test larm T setting Data Step data No. Setting of two items selected below (Position,, Force, cceleration, Deceleration) Monitor Display of step No. Display of two items selected below (Position,, Force) Jog Return to origin Jog operation Test step operation larm Display of active alarm larm reset T setting Reconnect Easy/Normal Set item 2

43 Teaching ox Series LEC Normal Mode Function Step data Parameter Test Description Step data setting Parameters setting Jog operation/constant rate movement Return to origin Test drive (Specify a maximum of step data and operate.) Compulsory output (Compulsory signal output, Compulsory terminal output) Menu Operations Flowchart Menu Step data Step data Step data No. Parameter Movement MOD Monitor Test Position larm cceleration File Deceleration T setting Pushing force Reconnect Trigger LV Pushing speed Positioning force rea, 2 In position Monitor larm File T setting Reconnect Drive monitor Output signal monitor Input signal monitor Output terminal monitor Input terminal monitor ctive alarm display (larm reset) larm log record display Data saving Save the step data and parameters of the controller which is being used for communication (it is possible to save four files, with one set of step data and parameters defined as one file). Load to controller Loads the data which is saved in the teaching box to the controller which is being used for communication. Delete the saved data. Display setting (Easy/Normal mode) Language setting (Japanese/English) acklight setting LCD contrast setting eep sound setting Max. connection axis Distance unit (mm/inch) Reconnection of axis Parameter asic ORIG Monitor Drive Output signal Input signal Output terminal Input terminal Test JOG/MOVE Return to ORIG Test drive Compulsory output larm ctive LM LM Log record File Data saving Load to controller File deletion T setting Easy/Normal Language acklight LCD contrast eep Max. connection axis Password Distance unit asic setting ORIG setting DRV monitor Position,, Torque Step No. Last step No. Output signal monitor Input signal monitor Output terminal monitor Input terminal monitor ctive LM ctive alarm display larm reset LM Log record display Log entry display Reconnect Dimensions t 4. r q y u 02 i e w 8 No LCD Ring Stop switch Stop switch guard Enable switch (Option) Key switch Cable Description Connector screen of liquid crystal display (with backlight) ring for hanging the teaching box Locks and stops operation when this switch is pressed. The lock is released when it is turned to the right. guard for the stop switch Switch for each input Length: meters Function Prevents unintentional operation (unexpected operation) of the jog test function. Other functions such as data change are not covered. connector connected to CN4 of the controller

44 Series LEC Controller and Peripheral Devices/ Specific Product Precautions e sure to read before handling. Refer to back page for Safety Instructions. Warning Design/Selection. e sure to apply the specified voltage. Otherwise, malfunction and breakage may be caused. If the applied voltage is lower than the specified, it is possible that the load cannot be moved due to an internal voltage drop of the controller. Please check the operating voltage before use. 2. Do not operate the product beyond the specifications. Otherwise, a fire, malfunction or actuator damage can result. Please check the specifications before use.. Install an emergency stop circuit outside of the enclosure. Please install an emergency stop outside of the enclosure so that it can stop the system operation immediately and intercept the power supply. 4. In order to prevent damage due to the breakdown and the malfunction of the controller and its peripheral devices, a backup system should be established previously by giving a multiple-layered structure or a fail-safe design to the equipment, etc.. If a danger against the personnel is expected due to an abnormal heat generation, smoking, ignition, etc., of the controller and its peripheral devices, cut off the power supply for the product and the system immediately. Warning Handling. Do not touch the inside of the controller and its peripheral devices. It may cause an electric shock or damage to the controller. 2. Do not perform the operation or setting of the product with wet hands. It may cause an electric shock.. Product with damage or the one lacking of any components should not be used. It may cause an electric shock, fire, or injury. 4. Use only the specified combination between the electric actuator and controller. It may cause damage to the actuator or the controller.. e careful not to be caught or hit by the workpiece while the actuator is moving. It may cause an injury. 6. Do not connect the power supply or power on the product before confirming the area to which the workpiece moves is safe. The movement of the workpiece may cause an accident. 7. Do not touch the product when it is energized and for some time after power has been disconnected, as it is very hot. It may lead to a burn due to the high temperature. 8. Check the voltage using a tester for more than minutes after power-off in case of installation, wiring and maintenance. It may cause an electric shock, fire, or injury. Warning Handling 9. Static electricity may cause malfunction or break the controller. Do not touch the controller while power is supplied. When touching the controller for maintenance, take sufficient measures to eliminate static electricity. 0. Do not use the product in an area where dust, powder dust, water, chemicals or oil is in the air. It will cause failure or malfunction.. Do not use the product in an area where a magnetic field is generated. It will cause failure or malfunction. 2. Do not install the product in the environment of flammable gas, explosive gas and corrosive gas. It could lead to fire, explosion and corrosion.. Radiant heat from strong heat supplies such as a furnace, direct sunlight, etc., should not be applied to the product. It will cause failure of the controller or its peripheral devices. 4. Do not use the product in an environment subject to a temperature cycle. It will cause failure of the controller or its peripheral devices.. Do not use the product in a place where surges are generated. When there are units that generate a large amount of surge around the product (e.g., solenoid type lifters, high frequency induction furnaces, motors, etc.), this may cause deterioration or damage to the product s internal circuit. void supplies of surge generation and crossed lines. 6. Do not install the product in an environment under the effect of vibrations and impacts. It will cause failure or malfunction. 7. When a surge generating load such as a relay or solenoid valve is directly driven, use a product that incorporates a surge absorption element. Warning Installation. Install the controller and its peripheral devices on a fire-proof material. direct installation on or near a flammable material may cause fire. 2. Do not install the product in a place subject to vibrations and impacts. It will cause failure or malfunction.. Do not mount the controller and its peripheral devices together with a large-sized electromagnetic contactor or no-fuse breaker, which generates vibration, on the same panel. Mount them on different panels, or keep the controller and its peripheral devices away from such a vibration supply. 4. Install the controller and its peripheral devices on a flat surface. If the mounting surface is distorted or not flat, an unacceptable force may be added to the housing, etc., to cause troubles. 4

45 Series LEC Controller and Peripheral Devices/ Specific Product Precautions 2 e sure to read before handling. Refer to back page for Safety Instructions. Caution Power Supply. Use a power supply that has low noise between lines and between power and ground. In cases where noise is high, an isolation transformer should be used. 2. The power supplies should be separated between the controller power and the I/O signal power and both of them do not use the power supply of inrush current prevention type. If the power supply is inrush current prevention type, a voltage drop may be caused during the acceleration of the actuator.. To prevent surges from lightning, an appropriate measure should be taken. Ground the surge absorber for lightning separately from the grounding of the controller and its peripheral devices. Warning Grounding. e sure to carry out grounding in order to ensure the noise tolerance. 2. Dedicated grounding should be used. Grounding should be to a D-class ground. (Ground resistance of 00 Ω or less). Grounding should be performed near the controller and its peripheral devices to shorten the grounding distance. 4. In the unlikely event that malfunction is caused by ground, please disconnect the unit from ground. Warning Maintenance. Perform a maintenance check periodically. Confirm wiring and screws are not loose. Loose screws or wires may cause unintentional malfunction. 2. Conduct an appropriate functional inspection after completing the maintenance. t times where the equipment or machinery does not operate properly, conduct an emergency stop of the system. Otherwise, an unexpected malfunction may occur and it will become impossible to secure the safety. Conduct a test of the emergency stop in order to confirm the safety of the equipment.. Do not disassemble, modify or repair the controller and its peripheral devices. 4. Do not put anything conductive or flammable inside of the controller. It may cause a fire.. Do not conduct an insulation resistance test and withstand voltage test on this product. 6. Ensure sufficient space for maintenance activities. Design the system that allows required space for maintenance.

46 Safety Instructions Caution: Warning: Danger : Caution indicates a hazard with a low level of risk which, if not avoided, could result in minor or moderate injury. Warning indicates a hazard with a medium level of risk which, if not avoided, could result in death or serious injury. Danger indicates a hazard with a high level of risk which, if not avoided, will result in death or serious injury. These safety instructions are intended to prevent hazardous situations and/or equipment damage. These instructions indicate the level of potential hazard with the labels of Caution, Warning or Danger. They are all important notes for safety and must be followed in addition to International Standards (ISO/IEC) ), and other safety regulations. ) ISO 444: Pneumatic fluid power General rules relating to systems. ISO 44: Hydraulic fluid power General rules relating to systems. IEC : Safety of machinery Electrical equipment of machines. (Part : General requirements) ISO 028-: Manipulating industrial robots - Safety. etc. Warning. The compatibility of the product is the responsibility of the person who designs the equipment or decides its specifications. Since the product specified here is used under various operating conditions, its compatibility with specific equipment must be decided by the person who designs the equipment or decides its specifications based on necessary analysis and test results. The expected performance and safety assurance of the equipment will be the responsibility of the person who has determined its compatibility with the product. This person should also continuously review all specifications of the product referring to its latest catalog information, with a view to giving due consideration to any possibility of equipment failure when configuring the equipment. 2. Only personnel with appropriate training should operate machinery and equipment. The product specified here may become unsafe if handled incorrectly. The assembly, operation and maintenance of machines or equipment including our products must be performed by an operator who is appropriately trained and experienced.. Do not service or attempt to remove product and machinery/equipment until safety is confirmed.. The inspection and maintenance of machinery/equipment should only be performed after measures to prevent falling or runaway of the driven objects have been confirmed. 2. When the product is to be removed, confirm that the safety measures as mentioned above are implemented and the power from any appropriate source is cut, and read and understand the specific product precautions of all relevant products carefully.. efore machinery/equipment is restarted, take measures to prevent unexpected operation and malfunction. 4. Contact SMC beforehand and take special consideration of safety measures if the product is to be used in any of the following conditions.. Conditions and environments outside of the given specifications, or use outdoors or in a place exposed to direct sunlight. 2. Installation on equipment in conjunction with atomic energy, railways, air navigation, space, shipping, vehicles, military, medical treatment, combustion and recreation, or equipment in contact with food and beverages, emergency stop circuits, clutch and brake circuits in press applications, safety equipment or other applications unsuitable for the standard specifications described in the product catalog.. n application which could have negative effects on people, property, or animals requiring special safety analysis. 4. Use in an interlock circuit, which requires the provision of double interlock for possible failure by using a mechanical protective function, and periodical checks to confirm proper operation. Caution. The product is provided for use in manufacturing industries. The product herein described is basically provided for peaceful use in manufacturing industries. If considering using the product in other industries, consult SMC beforehand and exchange specifications or a contract if necessary. If anything is unclear, contact your nearest sales branch. Limited warranty and Disclaimer/ Compliance Requirements The product used is subject to the following Limited warranty and Disclaimer and Compliance Requirements. Read and accept them before using the product. Limited warranty and Disclaimer. The warranty period of the product is year in service or. years after the product is delivered. 2) lso, the product may have specified durability, running distance or replacement parts. Please consult your nearest sales branch. 2. For any failure or damage reported within the warranty period which is clearly our responsibility, a replacement product or necessary parts will be provided. This limited warranty applies only to our product independently, and not to any other damage incurred due to the failure of the product.. Prior to using SMC products, please read and understand the warranty terms and disclaimers noted in the specified catalog for the particular products. 2) Vacuum pads are excluded from this year warranty. vacuum pad is a consumable part, so it is warranted for a year after it is delivered. lso, even within the warranty period, the wear of a product due to the use of the vacuum pad or failure due to the deterioration of rubber material are not covered by the limited warranty. Compliance Requirements. The use of SMC products with production equipment for the manufacture of weapons of mass destruction (WMD) or any other weapon is strictly prohibited. 2. The exports of SMC products or technology from one country to another are governed by the relevant security laws and regulations of the countries involved in the transaction. Prior to the shipment of a SMC product to another country, assure that all local rules governing that export are known and followed. Safety Instructions e sure to read Handling Precautions for SMC Products (M-E0-) before using. ack page

47 Controller Step data input type Page Programless type Step Motor (Servo/24 VDC) Series LECP6 Page 24 Step Motor (Servo/24 VDC) LECP LECP6 LEL Model Selection Specific Product Precautions Step Motor (Servo/24 VDC) Series LECP 2

48 Controller (Step data input type) Step Motor (Servo/24 VDC) Series LECP6 LE C P 6 N How to Order RoHS When controller equipped type (- 6N /- 6P ) is selected when ordering the LE series, you do not need to order this controller. The controller is sold as single unit after the compatible actuator is set. Confirm that the combination of the controller and the actuator is correct. <Check the following before use.> q Check the actuator label for model number. This matches the controller. w Check Parallel I/O configuration matches (NPN or PNP). Refer to the operation manual for using the products. Please download it via our website, Specifications asic Specifications Item Compatible motor Power supply Note ) Parallel input Parallel output Compatible encoder Serial communication Memory LED indicator Lock control Cable length [m] Cooling system Operating temperature range Operating humidity range [%RH] Storage temperature range Storage humidity range [%RH] Weight Controller Compatible motor Step motor P (Servo/24 VDC) Number of step data (Points) 6 64 Parallel I/O type N NPN P PNP I/O cable length [m] Nil Without cable. ctuator part number q Option Nil D Note) Specifications Step motor (Servo/24 VDC) Power voltage: 24 VDC ±0% Current consumption: (Peak ) Note 2) [Including motor drive power, control power, stop, lock release] inputs (Photo-coupler isolation) outputs (Photo-coupler isolation) Incremental / phase (800 pulse/rotation) RS48 (Modbus protocol compliant) EEPROM LED (Green/) one of each Forced-lock release terminal Note ) I/O cable: or less ctuator cable: 20 or less Natural air cooling 2 to 04 F (0 to 40 C) (No freezing) 90 or less (No condensation) 4 to 40 F ( 0 to 60 F) (No freezing) 90 or less (No condensation) etween the housing (radiation fin) and SG terminal 0 (00 VDC). oz (0 g) (Screw mounting) 6.0 oz (70 g) (DIN rail mounting) Screw mounting DIN rail mounting Note) DIN rail is not included. Order it separately. Note ) Do not use the power supply of inrush current prevention type for the controller power supply. Note 2) The power consumption changes depending on the actuator model. Refer to the specifications of actuator for more details. Note ) pplicable to non-magnetizing lock. Insulation resistance [MΩ] (Except cable specifications and actuator options) Example: Enter LEL2MT-00 for the LEL2MT-00-R6N. w

49 Controller (Step data input type)/step Motor (Servo/24 VDC) Series LECP6 How to Mount a) Screw mounting (LECP6 - ) (Installation with two M4 screws) Mounting direction Mounting direction DIN rail XT00-DR- Ground wire b) DIN rail mounting (LECP6 D- ) (Installation with the DIN rail) Ground wire L DIN rail Hook the controller on the DIN rail and press the lever of section in the arrow direction to lock it. 2. (Pitch).2 DIN rail is locked. 7. Ground wire DIN rail mounting adapter Step Motor (Servo/24 VDC) LECP LECP6 LEL Model Selection For, enter a number from the No. line in the table below. Refer to the dimensions on page for the mounting dimensions. () (2) L Dimension [mm] No. 2 L 2. No. L Specific Product Precautions DIN rail mounting adapter LEC-D0 (with 2 mounting screws) This should be used when the DIN rail mounting adapter is mounted onto the screw mounting type controller afterwards. 4

50 Series LECP6 Dimensions a) Screw mounting (LECP6 - ) (8.7) Power supply LED (Green) (: Power supply is.) ø4. for body mounting 66 Power supply LED () (: larm is.) CN parallel I/O connector CN4 serial I/O connector CN encoder connector CN2 motor power connector CN power supply connector 4.6 for body mounting b) DIN rail mounting (LECP6 D- ) Refer to page 4 for L dimension and part number of DIN rail. (8.7) (.) (When removing DIN rail) 67. (When locking DIN rail) (9.7)

51 Controller (Step data input type)/step Motor (Servo/24 VDC) Series LECP6 Wiring Example Power Supply Connector: CN CN Power Supply Connector Terminal for LECP6 (PHOENIX CTCT FK-MC0./-ST-2.) Terminal name Function Details 0V M24V C24V EMG K RLS Common supply ( ) Motor power supply (+) Control power supply (+) Stop (+) Lock release (+) M24V terminal/c24v terminal/emg terminal/k RLS terminal are common ( ). Motor power supply (+) supplied to the controller Control power supply (+) supplied to the controller Input (+) for releasing the stop Input (+) for releasing the lock Wiring Example 2 Parallel I/O Connector: CN Wiring diagram LECP6N - (NPN) Input Signal Name COM+ COM IN0 to IN SETUP HOLD DRIVE RESET SV CN COM+ COM IN0 IN IN2 IN IN4 IN SETUP HOLD DRIVE RESET SV OUT0 OUT OUT2 OUT OUT4 OUT USY RE SET INP SVRE ESTOP LRM Power supply 24 VDC for I/O signal Load Power supply plug is an accessory. LECP6P - (PNP) CN COM+ COM IN0 IN IN2 IN IN4 IN SETUP HOLD DRIVE RESET SV OUT0 OUT OUT2 OUT OUT4 OUT USY RE SET INP SVRE ESTOP LRM Power supply plug for LECP V M24V C24V EMG K RLS When you connect a PLC, etc., to the CN parallel I/O connector, please use the I/O cable (LEC-CN- ). The wiring should be changed depending on the type of the parallel I/O (NPN or PNP). Details Connects the power supply 24 V for input/output signal Connects the power supply 0 V for input/output signal Step data specified it No. (Input is instructed in the combination of IN0 to.) Instruction to return to the original position Operation is temporarily stopped Instruction to drive larm reset and operation interruption Servo instruction Power supply 24 VDC for I/O signal Output Signal Name Details OUT0 to OUT Outputs the step data no. during operation USY Outputs when the actuator is moving RE Outputs within the step data area output setting range SET Outputs when returning to the original position INP Outputs when target position or target force is reached (Turns on when the positioning or pushing is completed.) SVRE Outputs when servo is on ESTOP Note) Not output when EMG stop is instructed LRM Note) Not output when alarm is generated Note) Signal of negative-logic circuit (N.C.) Load Step Motor (Servo/24 VDC) LECP LECP6 LEL Model Selection Specific Product Precautions 6

52 Series LECP6 Step Data Setting Step data setting for positioning In this setting, the actuator moves toward and stops at the target position. The following diagram shows the setting items and operation. The setting items and set values for this operation are stated below. cceleration In position Deceleration INP output Position Step Data (Positioning) Necessity Item Movement method Position cceleration Deceleration Pushing force : Need to be set. : Need to be adjusted as required. : Setting is not required. Details When the absolute position is required, set bsolute. When the relative position is required, set Relative. Transfer speed to the target position Target position Parameter which defines how rapidly the actuator reaches the speed set. The higher the set value, the faster it reaches the speed set. Parameter which defines how rapidly the actuator comes to stop. The higher the set value, the quicker it stops. Set 0. (If values to 00 are set, the operation will be changed to the pushing operation.) Trigger LV Pushing speed Positioning force rea, rea 2 In position Setting is not required. Setting is not required. Max. torque during the positioning operation (No specific change is required.) Condition that turns on the RE output signal. Condition that turns on the INP output signal. When the actuator enters the range of [in position], the INP output signal turns on. (It is unnecessary to change this from the initial value.) When it is necessary to output the arrival signal before the operation is completed, make the value larger. 7

53 Controller (Step data input type)/step Motor (Servo/24 VDC) Series LECP6 Signal Timing Return to Origin Power supply Input Output Input SV SETUP USY SVRE SET INP LRM ESTOP IN DRIVE OUT Return to origin 24 V 0 V 0 mm/s If the actuator is within the in position range of the basic parameter, INP will be turned, but if not, it will remain. LRM and ESTOP are expressed as negative-logic circuit. Positioning Operation ms or more Scan the step data no. Output the step data no. Step Motor (Servo/24 VDC) LECP LECP6 Model Selection LEL Output USY INP Positioning operation 0 mm/s If the actuator is within the in position range of the step data, INP will be turned, but if not, it will remain. Specific Product Precautions OUT is output when DRIVE is changed from to. (When power supply is applied, DRIVE or RESET is turned or ESTOP is turned, all of the OUT outputs are turned.) HOLD Input HOLD Reset Input RESET larm reset Output USY Slow-down starting point HOLD during the operation When the actuator is in the positioning range in the pushing operation, it does not stop even if HOLD signal is input. 0 mm/s Output OUT LRM larm out It is possible to identify the alarm group by the combination of OUT signals when the alarm is generated. LRM is expressed as negative-logic circuit. 8

54 Series LECP6 Options: ctuator Cable [Robotic cable, standard cable for step motor (servo/24 VDC)] LE CP Cable length(l)[m] C 20 Produced upon receipt of order (Robotic cable only) Nil S Cable type Robotic cable (Flexible cable) Standard cable LE-CP- /Cable length:. m, m, m (Terminal no.) 6 6 (4.7) (Terminal no.) 6 6 (4.7) (7.7) (7.7) Signal COM-/COM COM-/ Vcc GND ctuator side (0.7) Connector 8 LE-CP- C /Cable length: 8 m, 0 m, m, 20 m ( Produced upon receipt of order) (Terminal no.) 6 6 (4.7) 8 C (Terminal no.) 6 6 (4.7) (7.7) (0.2) (7.7) (0.2) (ø8) (ø6.) (ø.) Controller side Connector C (4.2) (Terminal no.) 2 6 (.) 2 L Connector D () 6 (0) Connector C (4.2) (Terminal no.) ctuator side 2 6 (.) 2 (0.7) Connector 6 L Connector D () (0) Connector [Robotic cable, standard cable with lock and sensor for step motor (servo/24 VDC)] LE-CP- /Cable length:. m, m, m LE CP Cable length(l)[m] C 20 Produced upon receipt of order (Robotic cable only) With lock and sensor Nil S Cable type Robotic cable (Flexible cable) Standard cable Note) This is not used for the LEL series. Signal COM-/COM COM-/ Vcc GND Signal Lock (+) Lock ( ) Sensor (+) Note) Sensor ( ) Note) (ø.7) (ø8) Shield Cable color rown Orange Yellow Green lue Cable color rown Orange (4) (8) Controller side (4) (8) Connector C Connector D ctuator side Controller side Connector Connector C (4.2) (Terminal no.) 2 6 (.) 2 (0.7) Connector 6 L Connector D () (0) LE-CP- /Cable length: 8 m, 0 m, m, 20 m ( Produced upon receipt of order) ctuator side Connector (ø6.) (ø.) Connector (0.7) L Connector D () Connector Connector (ø.7) Shield Connector C (4.2) Cable color rown Orange Yellow Green lue Cable color rown Orange rown lue (4) (8) Controller side (4) (8) (Terminal no.) 2 6 (.) 2 6 (0) Connector C Connector D

55 Controller (Step data input type)/step Motor (Servo/24 VDC) Series LECP6 Options: I/O Cable I/O cable LEC CN Cable length(l) [m]. Conductor size: WG28 (Terminal no.) (22.4) Controller side (ø8.9) (4.4) L Connector Insulation pin no. color Light brown 2 Light brown Yellow 4 Yellow Light green 6 Light green 7 Gray 8 Gray 9 White 0 White Light brown 2 Light brown Yellow LECP LECP6 Model Selection LEL Specific Product Precautions Dot mark Dot color Connector pin no Insulation color Yellow Light green Light green Gray Gray White White Light brown Light brown Yellow Yellow Light green Light green Dot mark Shield PLC side Dot color Step Motor (Servo/24 VDC) 20

56 HRS Series LEC Controller Setting Kit/LEC-W How to Order LEC W w Communication cable e US cable (-mini type) q Controller setting software PC Controller setting kit (Japanese and English are available.) Contents q Controller setting software (CD-ROM) w Communication cable e US cable (Cable between the PC and the conversion unit) Hardware Requirements PC/T compatible machine installed with Windows XP and equipped with US. or US2.0 ports. Windows and Windows XP are registered trademarks of Microsoft Corporation. Screen Example Easy mode screen example Normal mode screen example Easy operation and simple setting llowing to set and display actuator step data such as position, speed, force, etc. Setting of step data and testing of the drive can be performed on the same page. Can be used to jog and move at a constant rate. Detailed setting Step data can be set in detail. Signals and terminal status can be monitored. Parameters can be set. JOG and constant rate movement, return to origin, test operation and testing of forced output can be performed. 2

57 Enable switch (Option) Standard functions Chinese character display Stop switch is provided. Option Enable switch is provided. Easy Mode Series LEC Teaching ox/lec-t Stop switch How to Order Specifications LEC T J G Teaching box Cable length [m] Initial language J Japanese E English Enable switch Nil None S Equipped with enable switch Interlock switch for jog and test function Stop switch G Equipped with stop switch RoHS Item Description Switch Stop switch, Enable switch (Option) Cable length [m] Enclosure IP64 (Except connector) Operating temperature range 4 to 22 F ( to 0 C) Operating humidity range [%RH] 90 or less (No condensation) Weight 2. oz (0g) (Except cable) Note) CE-compliance The EMC compliance of the teaching box was tested with the LECP6 series step motor controller (servo/24 VDC) and an applicable actuator. Step Motor (Servo/24 VDC) LECP LECP6 Model Selection LEL Function Step data Jog Test Monitor Jog operation Return to origin Details Setting of step data step operation Return to origin Display of axis and step data no. Display of two items selected from Position,, Force. Menu Operations Flowchart Menu Data Monitor Jog Test LM T setting Data Step data no. Setting of two items selected below (Position,, Force, cceleration, Deceleration) Monitor Display of step no. Display of two items selected below (Position,, Force) Specific Product Precautions LM T setting ctive alarm display larm reset Reconnection of axis Setting of easy/normal mode Setting of step data and selection of items from easy mode monitor Jog Return to origin Jog operation Test step operation LM ctive alarm display larm reset T setting Reconnect Easy/Normal Set item 22

58 Series LEC Normal Mode Function Step data Parameter Test Monitor LM File T setting Reconnect Dimensions Details Step data setting Parameters setting Jog operation/constant rate movement Return to origin Test drive (Specify a maximum of step data and operate.) Forced output (Forced signal output, Forced terminal output) Drive monitor Output signal monitor Input signal monitor Output terminal monitor Input terminal monitor ctive alarm display (larm reset) larm log record display Data saving Save the step data and parameters of the controller which is being used for communication (it is possible to save four files, with one set of step data and parameters defined as one file). Load to controller Loads the data which is saved in the teaching box to the controller which is being used for communication. Delete the saved data. Display setting (Easy/Normal mode) Language setting (Japanese/English) acklight setting LCD contrast setting eep sound setting Max. connection axis Distance unit (mm/inch) Reconnection of axis Menu Operations Flowchart Menu Step data Step data Step data no. Parameter Movement method Monitor Test Position LM cceleration File Deceleration T setting Pushing force Reconnect Trigger LV Pushing speed Positioning force rea, 2 In position Parameter asic ORIG Monitor Drive Output signal Input signal Output terminal Input terminal Test JOG/MOVE Return to ORIG Test drive Forced output LM Status LM Log record File Data saving Load to controller File deletion T setting Easy/Normal Language acklight LCD contrast eep Max. connection axis Password Distance unit Reconnect asic setting ORIG setting DRV monitor Position,, Torque Step no. Last step no. Output signal monitor Input signal monitor Output terminal monitor Input terminal monitor Status ctive alarm display larm reset LM Log record display Log entry display t 4. r q y 4 02 e w 8 No. 2 4 Description LCD Ring Stop switch Stop switch guard Enable switch (Option) Function screen of liquid crystal display (with backlight) ring for hanging the teaching box When switch is pushed in, the switch locks and stops. The lock is released when it is turned to the right. guard for the stop switch Prevents unintentional operation (unexpected operation) of the jog test function. Other functions such as data change are not covered u i Key switch Cable Connector Switch for each input Length: meters connector connected to CN4 of the controller 2

59 Safety Instructions Caution: Warning: Danger : Caution indicates a hazard with a low level of risk which, if not avoided, could result in minor or moderate injury. Warning indicates a hazard with a medium level of risk which, if not avoided, could result in death or serious injury. Danger indicates a hazard with a high level of risk which, if not avoided, will result in death or serious injury. These safety instructions are intended to prevent hazardous situations and/or equipment damage. These instructions indicate the level of potential hazard with the labels of Caution, Warning or Danger. They are all important notes for safety and must be followed in addition to International Standards (ISO/IEC) ), and other safety regulations. ) ISO 444: Pneumatic fluid power General rules relating to systems. ISO 44: Hydraulic fluid power General rules relating to systems. IEC : Safety of machinery Electrical equipment of machines. (Part : General requirements) ISO 028-: Manipulating industrial robots - Safety. etc. Warning. The compatibility of the product is the responsibility of the person who designs the equipment or decides its specifications. Since the product specified here is used under various operating conditions, its compatibility with specific equipment must be decided by the person who designs the equipment or decides its specifications based on necessary analysis and test results. The expected performance and safety assurance of the equipment will be the responsibility of the person who has determined its compatibility with the product. This person should also continuously review all specifications of the product referring to its latest catalog information, with a view to giving due consideration to any possibility of equipment failure when configuring the equipment. 2. Only personnel with appropriate training should operate machinery and equipment. The product specified here may become unsafe if handled incorrectly. The assembly, operation and maintenance of machines or equipment including our products must be performed by an operator who is appropriately trained and experienced.. Do not service or attempt to remove product and machinery/equipment until safety is confirmed.. The inspection and maintenance of machinery/equipment should only be performed after measures to prevent falling or runaway of the driven objects have been confirmed. 2. When the product is to be removed, confirm that the safety measures as mentioned above are implemented and the power from any appropriate source is cut, and read and understand the specific product precautions of all relevant products carefully.. efore machinery/equipment is restarted, take measures to prevent unexpected operation and malfunction. 4. Contact SMC beforehand and take special consideration of safety measures if the product is to be used in any of the following conditions.. Conditions and environments outside of the given specifications, or use outdoors or in a place exposed to direct sunlight. 2. Installation on equipment in conjunction with atomic energy, railways, air navigation, space, shipping, vehicles, military, medical treatment, combustion and recreation, or equipment in contact with food and beverages, emergency stop circuits, clutch and brake circuits in press applications, safety equipment or other applications unsuitable for the standard specifications described in the product catalog.. n application which could have negative effects on people, property, or animals requiring special safety analysis. 4. Use in an interlock circuit, which requires the provision of double interlock for possible failure by using a mechanical protective function, and periodical checks to confirm proper operation. Caution. The product is provided for use in manufacturing industries. The product herein described is basically provided for peaceful use in manufacturing industries. If considering using the product in other industries, consult SMC beforehand and exchange specifications or a contract if necessary. If anything is unclear, contact your nearest sales branch. Limited warranty and Disclaimer/ Compliance Requirements The product used is subject to the following Limited warranty and Disclaimer and Compliance Requirements. Read and accept them before using the product. Limited warranty and Disclaimer. The warranty period of the product is year in service or. years after the product is delivered. 2) lso, the product may have specified durability, running distance or replacement parts. Please consult your nearest sales branch. 2. For any failure or damage reported within the warranty period which is clearly our responsibility, a replacement product or necessary parts will be provided. This limited warranty applies only to our product independently, and not to any other damage incurred due to the failure of the product.. Prior to using SMC products, please read and understand the warranty terms and disclaimers noted in the specified catalog for the particular products. 2) Vacuum pads are excluded from this year warranty. vacuum pad is a consumable part, so it is warranted for a year after it is delivered. lso, even within the warranty period, the wear of a product due to the use of the vacuum pad or failure due to the deterioration of rubber material are not covered by the limited warranty. Compliance Requirements. The use of SMC products with production equipment for the manufacture of weapons of mass destruction (WMD) or any other weapon is strictly prohibited. 2. The exports of SMC products or technology from one country to another are governed by the relevant security laws and regulations of the countries involved in the transaction. Prior to the shipment of a SMC product to another country, assure that all local rules governing that export are known and followed. Safety Instructions e sure to read Handling Precautions for SMC Products (M-E0-) before using.

60 Step data input type Controller Page 2 Model Selection Specific Product Precautions Step Motor (Servo/24 VDC) Step Motor (Servo/24 VDC) Series LECP6 Programless type Page Step Motor (Servo/24 VDC) Series LECP 24

61 Controller (Step data input type) Step Motor (Servo/24 VDC) Series LECP6 How to Order RoHS LE C P 6 N The controller is sold as single unit after the compatible actuator is set. Confirm that the combination of the controller and the actuator is correct. <Check the following before use.> q Check the actuator label for model number. This matches the controller. w Check Parallel I/O configuration matches (NPN or PNP). Specifications Controller Compatible motor Step motor P (Servo/24 VDC) Number of step data (Points) 6 64 Parallel I/O type N NPN P PNP I/O cable length [m] Nil Without cable. ctuator part number Specifications Step motor (Servo/24 VDC) Power voltage: 24 VDC ±0% Current consumption: (Peak ) Note 2) [Including motor drive power, control power, stop, lock release] inputs (Photo-coupler isolation) outputs (Photo-coupler isolation) Incremental / phase (800 pulse/rotation) RS48 (Modbus protocol compliant) EEPROM LED (Green/) one of each Forced-lock release terminal Note ) I/O cable: or less ctuator cable: 20 or less Natural air cooling 2 to 04 F (0 to 40 C) (No freezing) 90 or less (No condensation) 4 to 40 F ( 0 to 60 C) (No freezing) 90 or less (No condensation) etween the housing (radiation fin) and SG terminal 0 (00 VDC). oz (0 g) (Screw mounting) 6.0oz (70 g) (DIN rail mounting) (Except cable specifications and actuator options) Example: Enter LEPY0K-0 for the LEPY0K-0U-R6NI. q Option Nil D Note) When controller equipped type (- 6N /- 6P ) is selected when ordering the LE series, you do not need to order this controller. Refer to the operation manual for using the products. Please download it via our website, asic Specifications Item Compatible motor Power supply Note ) Parallel input Parallel output Compatible encoder Serial communication Memory LED indicator Lock control Cable length [m] Cooling system Operating temperature range Operating humidity range [%RH] Storage temperature range Storage humidity range [%RH] Insulation resistance [MΩ] Weight [g] Note ) Do not use the power supply of inrush current prevention type for the controller power supply. Note 2) The power consumption changes depending on the actuator model. Refer to the specifications of actuator for more details. Note ) pplicable to non-magnetizing lock. 2 w Screw mounting DIN rail mounting Note) DIN rail is not included. Order it separately.

62 Controller (Step data input type)/step Motor (Servo/24 VDC) Series LECP6 How to Mount a) Screw mounting (LECP6 - ) (Installation with two M4 screws) Mounting direction Ground wire b) DIN rail mounting (LECP6 D- ) (Installation with the DIN rail) Ground wire DIN rail is locked. Ground wire Model Selection DIN rail Step Motor (Servo/24 VDC) Mounting direction DIN rail mounting adapter Hook the controller on the DIN rail and press the lever of section in the arrow direction to lock it. DIN rail XT00-DR- L 2. (Pitch).2 7. For, enter a number from the No. line in the table below. Refer to the dimensions on page 27 for the mounting dimensions. () (2) L Dimension [mm] No. 2 L 2. No. L Specific Product Precautions DIN rail mounting adapter LEC-D0 (with 2 mounting screws) This should be used when the DIN rail mounting adapter is mounted onto the screw mounting type controller afterwards. 26

63 Series LECP6 Dimensions a) Screw mounting (LECP6 - ) Power supply LED (Green) (: Power supply is.) ø4. for body mounting (8.7) 66 Power supply LED () (: larm is.) CN parallel I/O connector CN4 serial I/O connector CN encoder connector CN2 motor power connector CN power supply connector 4.6 for body mounting b) DIN rail mounting (LECP6 D- ) Refer to page 26 for L dimension and part number of DIN rail. (8.7) 66 (.) 7.2 (When removing DIN rail) 67. (When locking DIN rail) (9.7) 27

64 Controller (Step data input type)/step Motor (Servo/24 VDC) Series LECP6 Wiring Example Power Supply Connector: CN CN Power Supply Connector Terminal for LECP6 (PHOENIX CTCT FK-MC0./-ST-2.) Terminal name Function Details 0V Common supply ( ) M24V terminal/c24v terminal/emg terminal/k RLS terminal are common ( ). M24V Motor power supply (+) Motor power supply (+) supplied to the controller C24V Control power supply (+) Control power supply (+) supplied to the controller EMG Stop (+) Input (+) for releasing the stop K RLS Lock release (+) Input (+) for releasing the lock Wiring Example 2 Parallel I/O Connector: CN Wiring diagram LECP6N - (NPN) Input Signal Name COM+ COM IN0 to IN SETUP HOLD DRIVE RESET SV CN COM+ COM IN0 IN IN2 IN IN4 IN SETUP HOLD DRIVE RESET SV OUT0 OUT OUT2 OUT OUT4 OUT USY RE SET INP SVRE ESTOP LRM Power supply 24 VDC for I/O signal Load Power supply plug is an accessory. Details Connects the power supply 24 V for input/output signal Connects the power supply 0 V for input/output signal Step data specified it No. (Input is instructed in the combination of IN0 to.) Instruction to return to the original position Operation is temporarily stopped Instruction to drive larm reset and operation interruption Servo instruction LECP6P - (PNP) CN COM+ COM IN0 IN IN2 IN IN4 IN SETUP HOLD DRIVE RESET SV OUT0 OUT OUT2 OUT OUT4 OUT USY RE SET INP SVRE ESTOP LRM Power supply plug for LECP6 When you connect a PLC, etc., to the CN parallel I/O connector, please use the I/O cable (LEC-CN- ). The wiring should be changed depending on the type of the parallel I/O (NPN or PNP) V M24V C24V EMG K RLS Power supply 24 VDC for I/O signal Load Output Signal Name Details OUT0 to OUT Outputs the step data no. during operation USY Outputs when the actuator is moving RE Outputs within the step data area output setting range SET Outputs when returning to the original position Outputs when target position or target force is reached INP (Turns on when the positioning or pushing is completed.) SVRE Outputs when servo is on ESTOP Note) Not output when EMG stop is instructed LRM Note) Not output when alarm is generated Note) Signal of negative-logic circuit (N.C.) Step Motor (Servo/24 VDC) Model Selection Specific Product Precautions 28

65 Series LECP6 Step Data Setting. Step data setting for positioning 2. Step data setting for pushing In this setting, the actuator moves toward and stops at the target position. The following diagram shows the setting items and operation. The setting items and set values for this operation are stated below. The actuator moves toward the pushing start position, and when it reaches that position, it starts pushing with less than the set force. The following diagram shows the setting items and operation. The setting items and set values for this operation are stated below. cceleration Deceleration cceleration Deceleration Position Pushing speed INP output In position Force Position In position Pushing force Trigger LV INP output Step Data (Positioning) : Need to be set. : Need to be adjusted as required. : Setting is not required. Step Data (Pushing) : Need to be set. : Need to be adjusted as required. Necessity Item Details Necessity Item Details Movement method Position When the absolute position is required, set bsolute. When the relative position is required, set Relative. Transfer speed to the target position Target position Movement method Position When the absolute position is required, set bsolute. When the relative position is required, set Relative. Transfer speed to the pushing start position Pushing start position cceleration Parameter which defines how rapidly the actuator reaches the speed set. The higher the set value, the faster it reaches the speed set. cceleration Parameter which defines how rapidly the actuator reaches the speed set. The higher the set value, the faster it reaches the speed set. Deceleration Parameter which defines how rapidly the actuator comes to stop. The higher the set value, the quicker it stops. Deceleration Parameter which defines how rapidly the actuator comes to stop. The higher the set value, the quicker it stops. Pushing force Trigger LV Pushing speed Positioning force rea, rea 2 In position Set 0. (If values to 00 are set, the operation will be changed to the pushing operation.) Setting is not required. Setting is not required. Max. torque during the positioning operation (No specific change is required.) Condition that turns on the RE output signal. Condition that turns on the INP output signal. When the actuator enters the range of [in position], the INP output signal turns on. (It is unnecessary to change this from the initial value.) When it is necessary to output the arrival signal before the operation is completed, make the value larger. Pushing force Trigger LV Pushing speed Pushing force ratio is defined. The setting range differs depending on the electric actuator type. Refer to the operation manual for the electric actuator. Condition that turns on the INP output signal. The INP output signal is turned on when the generated force exceeds the value. Threshold level should be less than the pushing force. Pushing speed When the speed is set fast, the electric actuator and work pieces might be damaged due to the impact when they hit the end, so this set value should be smaller. Refer to the operation manual of the electric actuator. Positioning force Max. torque during the positioning operation (No specific change is required.) rea, rea 2 Condition that turns on the RE output signal. In position Transfer distance during pushing. If the transferred distance exceeds the setting, it stops even if it is not pushing. If the transfer distance is exceeded, the INP output signal will not be turned on. 29

66 Controller (Step data input type)/step Motor (Servo/24 VDC) Series LECP6 Signal Timing Return to Origin Power supply SV Input SETUP 24 V 0 V Model Selection USY Output SVRE SET INP LRM ESTOP Step Motor (Servo/24 VDC) 0 mm/s Return to origin If the actuator is within the in position range of the basic parameter, INP will be turned, but if not, it will remain. LRM and ESTOP are expressed as negative-logic circuit. Positioning Operation Input IN DRIVE ms or more Scan the step data no. Output the step data no. Pushing Operation Input IN DRIVE ms or more Scan the step data no. Output the step data no. OUT OUT Output USY Output USY INP Positioning operation 0 mm/s INP Pushing operation 0 mm/s Specific Product Precautions OUT is output when DRIVE is changed from to. (When power supply is applied, DRIVE or RESET is turned or ESTOP is turned, all of the OUT outputs are turned.) HOLD Input Output If the actuator is within the in position range of the step data, INP will be turned, but if not, it will remain. HOLD USY Slow-down starting point HOLD during the operation When the actuator is in the positioning range in the pushing operation, it does not stop even if HOLD signal is input. 0 mm/s Reset Input Output If the current pushing force exceeds the trigger LV value of the step data, the INP signal will be turned. RESET OUT LRM larm out larm reset LRM is expressed as negative-logic circuit. It is possible to identify the alarm group by the combination of OUT signals when the alarm is generated. 0

67 Series LECP6 Options: ctuator Cable, I/O Cable ctuator cable [Robotic cable, standard cable for step motor (servo/24 VDC)] LE-CP- /Cable length:. m, m, m LE CP Cable length(l)[m] C 20 Produced upon receipt of order (Robotic cable only) Nil S Cable type Robotic cable (Flexible cable) Standard cable (Terminal no.) 6 6 (4.7) (Terminal no.) 6 6 (4.7) (7.7) (7.7) Signal COM-/COM COM-/ Vcc GND ctuator side (0.7) (ø8) Connector 8 LE-CP- C /Cable length: 8 m, 0 m, m, 20 m ( Produced upon receipt of order) (ø6.) (ø.) Connector C Controller side L Connector D () (4.2) (Terminal no.) 2 6 (.) (4) (8) Controller side (4) (8) 2 6 (0) Connector C (4.2) (Terminal no.) ctuator side 2 6 (.) 2 (0.7) Connector 6 L Connector D () (0) Connector Shield Cable color rown Orange Yellow Green lue Cable color rown Orange Connector C Connector D I/O cable LEC CN Cable length(l)[m]. (Terminal no.) Controller side (22.4) (ø8.9) (4.4) L PLC side Conductor size: WG28 Connector Insulation pin no. color Light brown 2 Light brown Yellow 4 Yellow Light green 6 Light green 7 Gray 8 Gray 9 White 0 White Light brown 2 Light brown Yellow Dot mark Dot color Connector pin no Insulation color Yellow Light green Light green Gray Gray White White Light brown Light brown Yellow Yellow Light green Light green Dot mark Shield Dot color

68 HRS Series LEC Controller Setting Kit/LEC-W w Communication cable e US cable (-mini type) q Controller setting software PC How to Order Contents q Controller setting software (CD-ROM) w Communication cable LEC W Controller setting kit (Japanese and English are available.) e US cable (Cable between the PC and the conversion unit) Step Motor (Servo/24 VDC) Model Selection Hardware Requirements PC/T compatible machine installed with Windows XP and equipped with US. or US2.0 ports. Windows and Windows XP are registered trademarks of Microsoft Corporation. Screen Example Easy mode screen example Normal mode screen example Specific Product Precautions Easy operation and simple setting llowing to set and display actuator step data such as position, speed, force, etc. Setting of step data and testing of the drive can be performed on the same page. Can be used to jog and move at a constant rate. Detailed setting Step data can be set in detail. Signals and terminal status can be monitored. Parameters can be set. JOG and constant rate movement, return to origin, test operation and testing of forced output can be performed. 2

69 Series LEC Teaching ox/lec-t How to Order RoHS Enable switch (Option) LEC T J G Teaching box Cable length [m] Enable switch Nil None S Equipped with enable switch Interlock switch for jog and test function Stop switch Initial language J Japanese E English Stop switch G Equipped with stop switch Specifications Standard functions Chinese character display Stop switch is provided. Option Enable switch is provided. Item Description Switch Stop switch, Enable switch (Option) Cable length [m] Enclosure IP64 (Except connector) Operating temperature range 4 to 22 F ( to 0 C) Operating humidity range [%RH] 90 or less (No condensation) Weight 2. oz (0 g) (Except cable) Note) CE-compliance The EMC compliance of the teaching box was tested with the LECP6 series step motor controller (servo/24 VDC) and an applicable actuator. Easy Mode Function Step data Jog Test Monitor LM T setting Jog operation Return to origin Details Setting of step data step operation Return to origin Display of axis and step data no. Display of two items selected from Position,, Force. ctive alarm display larm reset Reconnection of axis Setting of easy/normal mode Setting of step data and selection of items from easy mode monitor Menu Operations Flowchart Menu Data Monitor Jog Test LM T setting Data Step data no. Setting of two items selected below (Position,, Force, cceleration, Deceleration) Monitor Display of step no. Display of two items selected below (Position,, Force) Jog Return to origin Jog operation Test step operation LM ctive alarm display larm reset T setting Reconnect Easy/Normal Set item

70 Teaching ox Series LEC Normal Mode Function Step data Parameter Test Monitor LM File T setting Reconnect Dimensions Details Step data setting Parameters setting Jog operation/constant rate movement Return to origin Test drive (Specify a maximum of step data and operate.) Forced output (Forced signal output, Forced terminal output) Drive monitor Output signal monitor Input signal monitor Output terminal monitor Input terminal monitor ctive alarm display (larm reset) larm log record display Data saving Save the step data and parameters of the controller which is being used for communication (it is possible to save four files, with one set of step data and parameters defined as one file). Load to controller Loads the data which is saved in the teaching box to the controller which is being used for communication. Delete the saved data. Display setting (Easy/Normal mode) Language setting (Japanese/English) acklight setting LCD contrast setting eep sound setting Max. connection axis Distance unit (mm/inch) Reconnection of axis Menu Operations Flowchart Menu Step data Step data Step data no. Parameter Movement method Monitor Test Position LM cceleration File Deceleration T setting Pushing force Reconnect Trigger LV Pushing speed Positioning force rea, 2 In position Parameter asic ORIG Monitor Drive Output signal Input signal Output terminal Input terminal Test JOG/MOVE Return to ORIG Test drive Forced output LM Status LM Log record File Data saving Load to controller File deletion T setting Easy/Normal Language acklight LCD contrast eep Max. connection axis Password Distance unit Reconnect asic setting ORIG setting DRV monitor Position,, Torque Step no. Last step no. Output signal monitor Input signal monitor Output terminal monitor Input terminal monitor Status ctive alarm display larm reset LM Log record display Log entry display Step Motor (Servo/24 VDC) Model Selection Specific Product Precautions t 4. r q y u 02 i e w 8 No Description LCD Ring Stop switch Stop switch guard Enable switch (Option) Key switch Cable Connector Function screen of liquid crystal display (with backlight) ring for hanging the teaching box When switch is pushed in, the switch locks and stops. The lock is released when it is turned to the right. guard for the stop switch Prevents unintentional operation (unexpected operation) of the jog test function. Other functions such as data change are not covered. Switch for each input Length: meters connector connected to CN4 of the controller 4

71 Controller Step Data Input Type Page 2 Step Motor (Servo/24 VDC) Series LECP6 Servo Motor (24 VDC) Series LEC6 Programless Type Page 7 C Servo Motor Servo Motor (24 VDC)/Step Motor (Servo/24 VDC) Model Selection Step Motor (Servo/24 VDC) Series LECP Specific Product Precautions 24

72 Caution Note ) CE-compliant products qemc compliance was tested by combining the electric actuator LEF series and the controller LEC series. The EMC depends on the configuration of the customer s control panel and the relationship with other electrical equipment and wiring. Therefore conformity to the EMC directive cannot be certified for SMC components incorporated into the customer s equipment under actual operating conditions. s a result it is necessary for the customer to verify conformity to the EMC directive for the machinery and equipment as a whole. wfor the LEC6 series (servo motor controller), EMC compliance was tested by installing a noise filter set (LEC-NF). Refer to page for the noise filter set. Refer to the LEC Operation Manual for installation. Controller (Step Data Input Type) Step Motor (Servo/24 VDC) Series LECP6 Servo Motor (24 VDC) Series LEC6 The controller is sold as single unit after the compatible actuator is set. Confirm that the combination of the controller and the actuator is correct. <Check the following before use.> q Check that actuator label for model number. This matches the controller. w Check Parallel I/O configuration matches (NPN or PNP). Specifications How to Order asic Specifications Item LECP6 LEC6 Compatible motor Power supply Note ) Parallel input Parallel output Compatible encoder Serial communication Memory LED indicator Lock control Cable length [m] Cooling system Operating temperature range Operating humidity range [%RH] Storage temperature range Storage humidity range [%RH] Insulation resistance [MΩ] Weight lbs [g] LE C P 6 N Compatible motor Step motor P (Servo/24 VDC) Servo motor (24 VDC) Note ) Number of step data (Points) 6 64 Parallel I/O type N NPN P PNP Step motor (Servo/24 VDC) Power voltage: 24 VDC ±0% Current consumption: (Peak ) Note 2) [Including motor drive power, control power, stop, lock release] I/O cable length [m] Servo motor (24 VDC) RoHS Power voltage: 24 VDC ±0% Current consumption: (Peak 0 ) Note 2) [Including motor drive power, control power, stop, lock release] inputs (Photo-coupler isolation) outputs (Photo-coupler isolation) Incremental / phase (800 pulse/rotation) Incremental //Z phase (800 pulse/rotation) RS48 (Modbus protocol compliant) EEPROM LED (Green/) one of each Forced-lock release terminal Note ) I/O cable: or less ctuator cable: 20 or less Natural air cooling 2 to 04 F [0 to 40 C] (No freezing) 90 or less (No condensation) 4 to 40 F [ 0 to 60 C] (No freezing) 90 or less (No condensation) etween the housing (radiation fin) and SG terminal 0 (00 VDC) 0. [0] (Screw mounting) 0.7 [70] (DIN rail mounting) Note ) Do not use the power supply of inrush current prevention type for the controller power supply. Note 2) The power consumption changes depending on the actuator model. Refer to the specifications of actuator for more details. Note ) pplicable to non-magnetizing lock. 2 Controller Nil Series LECP6 ctuator part number (Except cable specifications and actuator options) Example: Enter [LEFS6-400] for LEFS6-400-R6N Without cable. Option Nil Screw D Note 2) mounting DIN rail mounting Note 2) DIN rail is not included. Order it separately. When controller equipped type (- 6N /- 6P ) is selected when ordering the LE series, you do not need to order this controller. LEFS6-400 Refer to the operation manual for using the products. Please download it via our website. q w Series LEC6

73 Controller (Step Data Input Type)/Step Motor (Servo/24 VDC) Series LECP6 Controller (Step Data Input Type)/Servo Motor (24 VDC) Series LEC6 How to Mount a) Screw mounting (LEC 6 - ) (Installation with two M4 screws) b) DIN rail mounting (LEC 6 D- ) (Installation with the DIN rail) Model Selection DIN rail is locked. Mounting direction Ground wire Ground wire DIN rail Ground wire Servo Motor (24 VDC)/Step Motor (Servo/24 VDC) Mounting direction DIN rail mounting adapter Hook the controller on the DIN rail and press the lever of section in the arrow direction to lock it. DIN rail XT00-DR- L 2. (Pitch).2 7. For, enter a number from the No. line in the table below. Refer to the dimensions on page 27 for the mounting dimensions. () (2) L Dimension [mm] No. L C Servo Motor No. L DIN rail mounting adapter LEC-D0 (with 2 mounting screws) This should be used when the DIN rail mounting adapter is mounted onto the screw mounting type controller afterwards. Specific Product Precautions 26

74 Series LECP6 Series LEC6 Dimensions a) Screw mounting (LEC 6 - ) Power supply LED (Green) (: Power supply is.) ø4. for body mounting (8.7) 66 Power supply LED () (: larm is.) CN parallel I/O connector CN4 serial I/O connector CN encoder connector CN2 motor power connector CN power supply connector 4.6 for body mounting b) DIN rail mounting (LEC 6 D- ) Refer to page 26 for L dimension and part number of DIN rail. (8.7) 66 (.) 7.2 (When removing DIN rail) 67. (When locking DIN rail) (9.7) 27

75 Wiring Example Power Supply Connector: CN Power supply plug is an accessory. Power supply plug for LECP6 CN Power Supply Connector Terminal for LECP6 (PHOENIX CTCT FK-MC0./-ST-2.) Terminal name Function Function details 0V M24V C24V EMG K RLS Common supply ( ) Motor power supply (+) Control power supply (+) Stop (+) Lock release (+) M24V terminal/c24v terminal/emg terminal/k RLS terminal are common ( ). This is the motor power supply (+) that is supplied to the controller. This is the control power supply (+) that is supplied to the controller. This is the input (+) that releases the stop. This is the input (+) that releases the lock. CN Power Supply Connector Terminal for LEC6 (PHOENIX CTCT FK-MC0./7-ST-2.) Terminal name Function Function details 0V M24V C24V EMG K RLS RG+ RG Common supply ( ) Motor power supply (+) Control power supply (+) Stop (+) Lock release (+) Regenerative output Regenerative output 2 M24V terminal/c24v terminal/emg terminal/k RLS terminal are common ( ). This is the motor power supply (+) that is supplied to the controller. This is the control power supply (+) that is supplied to the controller. This is the input (+) that releases the stop. This is the input (+) that releases the lock. These are the regenerative output terminals for external connection. (It is not necessary to connect them in the combination with standard specification LE series.) Wiring Example 2 Parallel I/O Connector: CN Wiring diagram LEC 6N - (NPN) Input Signal Name COM + COM IN0 to IN SETUP HOLD DRIVE RESET SV CN COM+ COM IN0 IN IN2 IN IN4 IN SETUP HOLD DRIVE RESET SV OUT0 OUT OUT2 OUT OUT4 OUT USY RE SET INP SVRE ESTOP LRM VDC for I/O signal Load Contents Connects the power supply 24 V for input/output signal Connects the power supply 0 V for input/output signal Step data specified it No. (Input is instructed in the combination of IN0 to.) Instruction to return to the original position Operation is temporarily stopped Instruction to drive larm reset and operation interruption Servo instruction Controller (Step Data Input Type)/Step Motor (Servo/24 VDC) Series LECP6 Controller (Step Data Input Type)/Servo Motor (24 VDC) Series LEC6 LEC 6P - (PNP) 0V M24V C24V EMG K RLS Power supply plug for LEC6 0V M24V C24V EMG K RLS RG+ RG When you connect a PLC, etc., to the CN parallel I/O connector, please use the I/O cable (LEC-CN- ). The wiring should be changed depending on the type of the parallel I/O (NPN or PNP). Please wire referring to the following diagram. 24 VDC CN for I/O signal COM+ COM 2 IN0 IN 4 IN2 IN 6 IN4 7 IN 8 SETUP 9 HOLD 0 DRIVE RESET 2 SV OUT0 Load OUT 2 OUT2 OUT 4 OUT4 OUT 6 USY 7 RE 8 SET 9 INP 0 SVRE ESTOP 2 LRM Output Signal Name Contents OUT0 to OUT Outputs the step data No. during operation USY Outputs when the actuator is moving RE Outputs within the step data area output setting range SET Outputs when returning to the original position INP Outputs when target position or target force is reached (Turns on when the positioning or pushing is completed.) SVRE Outputs when servo is on ESTOP Note) Not output when EMG stop is instructed LRM Note) Not output when alarm is generated Note) These signals are output when the power supply of the controller is. (N.C.) 28 C Servo Motor Servo Motor (24 VDC)/Step Motor (Servo/24 VDC) Specific Product Precautions Model Selection

76 Series LECP6 Series LEC6 Step Data Setting. Step data setting for positioning In this setting, the actuator moves toward and stops at the target position. The following diagram shows the setting items and operation. The setting items and set values for this operation are stated below. cceleration Deceleration Position In position INP output Step Data (Positioning) : Need to be set. : Need to be adjusted as required. : Setting is not required. Necessity Item Movement MOD Position cceleration Deceleration Pushing force Trigger LV Pushing speed Positioning force rea, rea 2 In position Description When the absolute position is required, set bsolute. When the relative position is required, set Relative. Transfer speed to the target position Target position Parameter which defines how rapidly the actuator reaches the speed set. The higher the set value, the faster it reaches the speed set. Parameter which defines how rapidly the actuator comes to stop. The higher the set value, the quicker it stops. Set 0. (If values to 00 are set, the operation will be changed to the pushing operation.) Setting is not required. Setting is not required. Max. torque during the positioning operation (No specific change is required.) Condition that turns on the RE output signal. Condition that turns on the INP output signal. When the actuator enters the range of [in position], the INP output signal turns on. (It is unnecessary to change this from the initial value.) When it is necessary to output the arrival signal before the operation is completed, make the value larger. 29

77 Signal Timing Return to Origin Power supply SV Input SETUP USY SVRE SET Output INP LRM ESTOP Controller (Step Data Input Type)/Step Motor (Servo/24 VDC) Series LECP6 Controller (Step Data Input Type)/Servo Motor (24 VDC) Series LEC6 24 V 0 V 0 mm/s Servo Motor (24 VDC)/Step Motor (Servo/24 VDC) Model Selection Return to origin If the actuator is within the in position range of the basic parameter, INP will be turned, but if not, it will remain. LRM and ESTOP are expressed as negative-logic circuit. Scan the step data no. Positioning Operation Input IN DRIVE ms or more Output the step data no. OUT Output USY INP Positioning operation 0 mm/s C Servo Motor If the actuator is within the in position range of the step data, INP will be turned, but if not, it will remain. OUT is output when DRIVE is changed from to. (When power supply is applied, DRIVE or RESET is turned or ESTOP is turned, all of the OUT outputs are turned.) HOLD Input HOLD Reset Input RESET larm reset Output USY Slow-down starting point HOLD during the operation When the actuator is in the positioning range in the pushing operation, it does not stop even if HOLD signal is input. 0 mm/s Output OUT LRM larm out LRM is expressed as negative-logic circuit. It is possible to identify the alarm group by the combination of OUT signals when the alarm is generated. 0 Specific Product Precautions

78 Series LECP6 Series LEC6 Options: ctuator Cable (mm) [Robotic cable for step motor (Servo/24 VDC), standard cable] LE CP Cable length (L)[m] C 20 Produced upon receipt of order (Robotic cable only) Nil Cable type Robotic cable (Flexible cable) Standard cable LE-CP- /Cable length:. m, m, m (Terminal no.) 6 6 (4.7) (Terminal no.) 6 6 (4.7) (7.7) (7.7) Circuit COM-/COM COM-/ Vcc GND ctuator side (0.7) Connector 8 LE-CP- C/Cable length: 8 m, 0 m, m, 20 m ( Produced upon receipt of order) (ø8) (ø6.) (ø.) Connector C (4.2) (Terminal no.) 2 6 (.) 2 L Connector D () 6 (0) Connector C (4.2) (Terminal no.) ctuator side 2 6 (.) 2 (0.7) Connector 6 L Connector D () (0) Connector [Robotic cable with lock and sensor for step motor (Servo/24 VDC), standard cable] LE-CP- /Cable length:. m, m, m LE CP Cable length (L)[m] C 20 Produced upon receipt of order (Robotic cable only) S With lock and sensor Nil S Cable type Robotic cable (Flexible cable) Standard cable Note) This is not used for the LEF series. (Terminal no.) 6 6 (4.7) 8 C (Terminal no.) 6 6 (4.7) (7.7) (0.2) (7.7) (0.2) (ø8) (ø.7) Shield Cable color rown Orange Yellow Green lue Cable color rown Orange (4) (8) Controller side (4) (8) Connector C Connector D ctuator side Controller side Connector Connector C (4.2) (Terminal no.) 2 6 (.) 2 (0.7) Connector 6 L Connector D () (0) LE-CP- /Cable length: 8 m, 0 m, m, 20 m ( Produced upon receipt of order) Circuit COM-/COM COM-/ Vcc GND Circuit Lock (+) Lock ( ) Sensor (+) Note) Sensor ( ) Note) (ø6.) (ø.) (ø.7) Controller side ctuator side Controller side Connector Connector C (4.2) (Terminal no.) 2 6 (.) 2 (0.7) Connector 6 L Connector D () (0) Connector Connector C Cable color - rown Orange 6-2 Yellow - Green - lue Connector Shield Cable color rown Orange rown lue (4) (8) (4) (8) Connector D

79 [Robot cable for servo motor (24 VDC)] LE C Cable length (L)[m] C 20 Produced upon receipt of order ctuator side (Terminal no.) (6.6) (2.7) 4 2 (2.7) (4.7) Connector (Terminal no.) (6.6) 4 2 (.6) Connector [Robot cable with lock and sensor for servo motor (24 VDC)] LE C Cable length (L)[m] C 20 Produced upon receipt of order With lock and sensor LE-C- (4.7) Connector Note) This is not used for the LEF series. LE-C- - (2.7) (0.2) (.6) Circuit U V W Circuit Vcc GND Z Z Circuit U V W Circuit Vcc GND Z Z Circuit (ø6.7) (ø7.0) Connector C (4.2) (0.7) L () ctuator side Lock (+) Lock ( ) Sensor (+) Note) Sensor ( ) Note) (0.7) (2.7) Controller (Step Data Input Type)/Step Motor (Servo/24 VDC) Series LECP6 Controller (Step Data InputType)/Servo Motor (24 VDC) Series LEC6 Connector 2 Connector Connector Connector 2 (ø6.7) (ø.7) (ø7.0) Connector D Connector C (4.2) (0.7) L () Connector 2 Connector Connector Shield Connection of shield material Shield Connection of shield material Connector D Cable color White Cable color rown Orange Yellow Cable color White Cable color rown Orange Yellow rown Controller side (8) (0.) (mm) (Terminal no.) Connector C 2 Connector D Controller side (8) (0.) (.) (0) (Terminal no.) Connector C 2 Connector D (.) 2 6 (0) C Servo Motor Servo Motor (24 VDC)/Step Motor (Servo/24 VDC) Specific Product Precautions Model Selection 2

80 Series LECP6 Series LEC6 Option: I/O Cable (mm) LEC CN Cable length (L) [m]. (Terminal no.) Controller side (22.4) (ø8.9) (4.4) L PLC side Conductor size: WG28 Connector pin No Insulation color Light brown Light brown Yellow Yellow Light green Light green Gray Gray White White Light brown Light brown Yellow Dot mark Dot color Connector pin No Insulation Dot color mark Yellow Light green Light green Gray Gray White White Light brown Light brown Yellow Yellow Light green Light green Shield Dot color Option: Noise Filter Set for Servo Motor (24 VDC) LEC NF Contents of the set: 2 noise filters (Produced by WURTH ELEKTRIK: ) (.) (42.2) (28.8) (2.) Refer to the LEC6 series Operation Manual for installation.

81 HRS Series LEC Controller Setting Kit/LEC-W How to Order Model Selection w Communication cable r US cable (-mini type) e Conversion unit q Controller setting software PC LEC W Controller setting kit (Japanese and English are available.) Contents q Controller setting software (CD-ROM) w Communication cable (Cable between the controller and the conversion unit) e Conversion unit r US cable (Cable between the PC and the conversion unit) Servo Motor (24 VDC)/Step Motor (Servo/24 VDC) Hardware Requirements PC/T compatible machine installed with Windows XP and equipped with US. or US2.0 ports. Windows and Windows XP are registered trademarks of Microsoft Corporation. Screen Example Easy mode screen example Normal mode screen example C Servo Motor Easy operation and simple setting llowing to set and display actuator step data such as position, speed, force, etc. Setting of step data and testing of the drive can be performed on the same page. Can be used to jog and move at a constant rate. Detail setting Step data can be set in detail. Signals and terminal status can be monitored. Parameters can be set. JOG and constant rate movement, return to origin, test operation and testing of compulsory output can be performed. Specific Product Precautions 4

82 Series LEC Teaching ox/lec-t How to Order RoHS LEC T J G Enable switch (Option) Stop switch Teaching box Cable length [m] Initial language J Japanese E English Enable switch Nil None S Equipped with enable switch Interlock switch for jog test function Stop switch G Equipped with stop switch Specifications Standard functions Chinese character display Stop switch is provided. Option Enable switch is provided. Item Switch Cable length [m] Enclosure Operating temperature range Operating humidity range [%RH] Weight [g] Description Stop switch, Enable switch (Option) IP64 (Except connector) 4 to 22 F ( to 0 C) 90 or less (No condensation) 0 (Except cable) Note) CE-compliance The EMC compliance of the teaching box was tested with the LECP6 series step motor controller (servo/24 VDC) and an applicable actuator. Easy Mode Function Step data Jog Test Monitor larm T setting Jog operation Return to origin Description Setting of step data step operation Return to origin Display of axis and step data No. Display of two items selected from Position,, Force. Display of active alarm larm reset Reconnection of axis Setting of easy/normal mode Setting step data and selection of items from easy mode monitor Menu Operations Flowchart Menu Data Monitor Jog Test larm T setting Data Step data No. Setting of two items selected below (Position,, Force, cceleration, Deceleration) Monitor Display of step No. Display of two items selected below (Position,, Force) Jog Return to origin Jog operation Test step operation larm Display of active alarm larm reset T setting Reconnect Easy/Normal Set item

83 Teaching ox Series LEC Normal Mode Function Step data Parameter Test Monitor larm File T setting Reconnect Dimensions Description Step data setting Parameters setting Jog operation/constant rate movement Return to origin Test drive (Specify a maximum of step data and operate.) Compulsory output (Compulsory signal output, Compulsory terminal output) Drive monitor Output signal monitor Input signal monitor Output terminal monitor Input terminal monitor ctive alarm display (larm reset) larm log record display Data saving Save the step data and parameters of the controller which is being used for communication (it is possible to save four files, with one set of step data and parameters defined as one file). Load to controller Loads the data which is saved in the teaching box to the controller which is being used for communication. Delete the saved data. Display setting (Easy/Normal mode) Language setting (Japanese/English) acklight setting LCD contrast setting eep sound setting Max. connection axis Distance unit (mm/inch) Reconnection of axis Menu Operations Flowchart Menu Step data Step data Step data No. Parameter Movement MOD Monitor Test Position larm cceleration File Deceleration T setting Pushing force Reconnect Trigger LV Pushing speed Positioning force rea, 2 In position Parameter asic ORIG Monitor Drive Output signal Input signal Output terminal Input terminal Test JOG/MOVE Return to ORIG Test drive Compulsory output larm ctive LM LM Log record File Data saving Load to controller File deletion T setting Easy/Normal Language acklight LCD contrast eep Max. connection axis Password Distance unit Reconnect asic setting ORIG setting DRV monitor Position,, Torque Step No. Last step No. Output signal monitor Input signal monitor Output terminal monitor Input terminal monitor ctive LM ctive alarm display larm reset LM Log record display Log entry display Servo Motor (24 VDC)/Step Motor (Servo/24 VDC) C Servo Motor Model Selection t 4. r q y u 02 i e w 8 No Description LCD Ring Stop switch Stop switch guard Enable switch (Option) Key switch Cable Connector Function screen of liquid crystal display (with backlight) ring for hanging the teaching box When switch is pushed in, the switch locks and stops. The lock is released when it is turned to the right. guard for the stop switch Prevents unintentional operation (unexpected operation) of the jog test function. Other functions such as data change are not covered. Switch for each input Length: meters connector connected to CN4 of the controller Specific Product Precautions 6

84 C Servo Motor Controller (Pulse Input Type) Model Selection Servo Motor (24 VDC)/Step Motor (Servo/24 VDC) Incremental Type Series LECS bsolute Type Series LECS Incremental encoder compatible Series LECS bsolute encoder compatible Series LECS Supplied by customer Power supply Single phase 00 to 20 VC (0/60 Hz) 200 to 20 VC (0/60 Hz) Regeneration option Electric actuator Controller Control circuit power supply 24 VDC US cable Supplied by customer Power supply Single phase 00 to 20 VC (0/60 Hz) 200 to 20 VC (0/60 Hz) Three phase 200 to 20 VC (0/60 Hz) Controller MR Configurator Setup software US cable PC nalog monitor output RS-422 communication C Servo Motor PLC Supplied by customer Regeneration option Power supply for I/O signal 24 VDC Supplied by customer PLC MR Configurator Setup software PC Electric actuator attery (included) Power supply for I/O signal 24 VDC Specific Product Precautions 6

85 C Servo Motor Controller (Pulse Input Type) Incremental Type Series LECS bsolute Type Series LECS RoHS How to Order 2 Dimensions LECS LECS Controller type Pulse input type (For incremental encoder) Pulse input type (For absolute encoder) Power supply voltage 00 to 20 VC, 0/60 Hz 200 to 20 VC, 0/60 Hz 2 x ø6 Mounting hole S Motor type Symbol S S S4 S S7 S8 0 Type C servo motor (S2) C servo motor (S) C servo motor (S4) C servo motor (S6) C servo motor (S7) C servo motor (S8) Capacity 00 W 200 W 400 W 00 W 200 W 400 W Encoder Incremental bsolute 2 x ø6 Mounting hole (earing surface thickness ) LECS Select controller type and compatible motor from the combinations in the table below. Part no. list Controller part no. Controller type LECS-S LECS-S Pulse input type LECS2-S (For incremental LECS2-S encoder) LECS2-S4 LECS-S LECS-S7 Pulse input type LECS2-S (For absolute LECS2-S7 encoder) LECS2-S8 Motor type C servo motor (S2) C servo motor (S) C servo motor (S2) C servo motor (S) C servo motor (S4) C servo motor (S6) C servo motor (S7) C servo motor (S6) C servo motor (S7) C servo motor (S8) 40 LECS Power supply voltage 00 to 20 VC 0/60 Hz 200 to 20 VC 0/60 Hz 00 to 20 VC 0/60 Hz 200 to 20 VC 0/60 Hz (mm) CNP CNP2 CNP CNP CN CN CN CN CN2 CN LECS LECS -S4 ø6 Mounting hole (earing surface thickness 4) 6 40 (70: LECS -S8) CNP CNP2 CNP CN CN6 CN CN CN2 CN attery (4) attery included.

86 Specifications Model LECS-S LECS-S LECS2-S LECS2-S LECS2-S4 Compatible motor capacity [W] Compatible encoder Incremental 7-bit encoder (Resolution: 072 p/rev) Main power supply Control power supply Power voltage [V] llowable voltage range [V] Rated voltage [] Control power supply voltage [V] llowable voltage range for control power supply [V] Rated voltage [] Parallel input Parallel output Max. input pulse frequency [pps] Positioning completion width setting range [pulse] Error excessive Function Torque limit Communication Operating temperature range Operating humidity range [%RH] Storage temperature range Storage humidity range [%RH] Insulation resistance [M ] Weight Parallel input Parallel output Max. input pulse frequency [pps] Positioning completion width setting range [pulse] Error excessive Function Torque limit Communication Operating temperature range Operating humidity range [%RH] Storage temperature range Storage humidity range [%RH] Insulation resistance [M ] Weight Single phase 00 to 20 VC (0/60 Hz) Single phase 8 to 2 VC Single phase 200 to 20 VC (0/60 Hz) Single phase 70 to 2 VC VDC 2.6 to 26.4 VDC 0. 6 inputs 4 outputs M (when differential receiver), 200 k (when open collector) 0 to ±6 (Pulse command unit) ± rotations Parameter setting US communication 2 to 04 F (0 to 40 C (No freezing)) 90 or less (No condensation) 4 to 49 F ( 20 to 6 F (No freezing)) 90 or less (No condensation) etween case and SG: 0 (00 VDC).2 lbs (600g). lbs (700g) Model LECS-S LECS-S7 LECS2-S LECS2-S7 LECS2-S8 Compatible motor capacity [W] Compatible encoder bsolute 8-bit encoder (Resolution: p/rev) Three phase 200 to 20 VC (0/60 Hz) Power voltage [V] Single phase 00 to 20 VC (0/60 Hz) Single phase 200 to 20 VC (0/60 Hz) Main power Three phase 70 to 2 VC supply llowable voltage range [V] Single phase 8 to 2 VC Single phase 70 to 2 VC Rated voltage [] Control Control power supply voltage [V] Single phase 00 to 20 VC (0/60 Hz) Single phase 200 to 20 VC (0/60 Hz) power llowable voltage range for control power supply [V] Single phase 8 to 2 VC Single phase 70 to 2 VC supply Rated voltage [] US communication and RS422 communication cannot be performed at the same time. 0 inputs 6 outputs M (when differential receiver), 200 k (when open collector) 0 to ±0000 (Pulse command unit) ± rotations Parameter setup or external analog input setup (0 to 0 VDC) US communication, RS422 communication 2 to 04 F (0 to 40 C (No freezing)) 90 or less (No condensation) 4 to 49 F ( 20 to 6 C (No freezing)) 90 or less (No condensation) etween case and SG: 0 (00 VDC).76 lbs (800g) Incremental Type Series LECS bsolutetype Series LECS 2.2 lbs (000g) Specific Product Precautions Servo Motor (24 VDC)/Step Motor (Servo/24 VDC) C Servo Motor Model Selection 8

87 Series LECS Series LECS Power Supply Wiring Example: LECS LECS - Main circuit power supply Single phase 200 to 20 VC or Single phase 00 to 20 VC NF Regeneration option MC CNP L uilt-in L2 regenerative resistor U P V C W U V W Motor M Control circuit power supply 24 VDC Circuit protector CNP2 +24 V 0 V CN2 Detector Main Circuit Power Supply Connector: CNP ccessory Terminal name Function Function details Protective earth (PE) Should be grounded via servo motor s earth terminal and control panel s protective earth (PE) after connecting them. L Connect the main circuit power supply. Main circuit power supply LECS: Single phase 00 to 20 VC, 0/60 Hz L2 LECS2: Single phase 200 to 20 VC, 0/60 Hz P Terminal to connect regeneration option LECS -S: No need for connection Regeneration option LECS -S, S4: Connected at time of shipping. C If regeneration option is required for Model Selection, connect to this terminal. U V W Servo motor power (U) Servo motor power (V) Servo motor power (W) Connect to motor cable (U, V, W) Control Circuit Power Supply Connector: CNP2 ccessory Terminal name Function Function details 24V Control circuit power supply (24V) 24V side of the control circuit power supply (24 VDC) which supplies the controller. 0V Control circuit power supply (0V) 0V side of the control circuit power supply (24 VDC) which supplies the controller. L L2 P C U V W 24V 0V 9

88 Power Supply Wiring Example: LECS LECS- LECS2- For three phase 200 VC Three phase 200 to 20 VC NF MC Single phase 00 to 20 VC Regeneration option CNP L L2 L N ( ) CNP U V W NF U V W MC Motor M CNP L Open L2 N P P2 CNP2 P C D L L2 CNP U V W PE CN2 For single phase 200 VC Single phase 200 to 20 VC U V W NF Motor M Detector MC Incremental Type Series LECS bsolutetype Series LECS CNP L L2 L N CNP U V W U V W Motor M Servo Motor (24 VDC)/Step Motor (Servo/24 VDC) Model Selection P P P2 PE P2 PE CNP2 CNP2 Regeneration option P (+) C Regeneration option P C D L CN2 Detector D L CN2 Detector L2 L2 Note) For single phase 200 to 20 VC, power supply should be connected to L and L2 terminals, with nothing connected to L. Main Circuit Power Supply Connector: CNP Terminal name Function Function details L L2 L N Main circuit power supply Regenerative converter Connect the main circuit power supply. LECS: Single phase 00 to 20 VC, 0/60 Hz Connection terminal: L,L2 LECS2: Single phase 200 to 20 VC, 0/60 Hz Connection terminal: L,L2 Three phase 200 to 20 VC, 0/60 Hz Connection terminal: L,L2,L Do not connect. P P2 DC reactor ccessory Connect between P and P2. (Connected at time of shipping.) L L2 L N P C Servo Motor Control Circuit Power Supply Connector: CNP2 ccessory P2 Terminal name Function Function details P C D L L2 Regeneration option Control circuit power supply (24V) Control circuit power supply (0 V) Motor Connector: CNP Connect between P and D. (Connected at time of shipping.) If regeneration option is required for Model Selection, connect to this terminal. 24V side of the control circuit power supply (24 VDC) which supplies the controller. 0V side of the control circuit power supply (24 VDC) which supplies the controller. ccessory Terminal name Function Function details U V W Servo motor power (U) Servo motor power (V) Servo motor power (W) Connect to motor cable (U, V, W) P C D L L2 U V W 60 Specific Product Precautions

89 Series LECS Series LECS Control Signal Wiring Example: LECS LECS - PLC FXU- MT/ES (Manufactured by Mitsubishi Electric) 2 m or less Note ) Sequencer power supply S/S 24V 0V L. N Y000 S/S COM Y00 COM Y004 COM2 X X X Note 2) 24 VDC DICOM OPC DOCOM PP NP CR INP RD OP LG SD Note 4) CN Plate LECS Note 4) CN 9 LM 2 MR L 6 LR 7 L 8 LR 9 LZ 20 LZR 4 LG Plate SD R R2 0 m or less Failure Note ) Electromagnetic brake interlock phase pulse detector (Differential line driver) phase pulse detector (Differential line driver) Z phase pulse detector (Differential line driver) Control common Note 4) CN Forced stop EM 8 Servo Reset Forward rotation stroke end Reverse rotation stroke end S 4 RES LSP 6 LSN 7 0 m or less LEC-MR-SETUP22 PC + US cable CN CNP PE Note ) Note ) For preventing electric shock, be sure to connect the main circuit power supply connector for the servo amplifier (CNP), s protective earth (PE) terminal to the control panel, s protective earth (PE). Note 2) For interface use, supply 24 VDC ±0% 200 m using an external source. 200 m is the value when all I/O command signals are used and reducing the number of inputs/outputs can decrease current capacity. Refer to Operation Manual for required current for interface. Note ) The failure (LM) is during normal conditions. When it is (alarm occurs), stop the sequencer signal using the sequence program. Note 4) The same name signals are connected inside the servo amplifier. Note ) For command pulse input with an open collector method. When a positioning unit loaded with a differential line driver method is used, it is 0 m or less. 6

90 Control Signal Wiring Example: LECS LECS - LEC-MR-SETUP22 Positioning unit QD7D (Manufactured by Mitsubishi Electric) Emergency stop Servo Reset Proportion control External torque limit selection Forward rotation stroke end Reverse rotation stroke end Upper limit setting nalog torque limit +0 V/Maximum torque + CLERCOM 4 CLER RDYCOM 2 REDY PULSE F + PULSE F 6 PULSE R + 7 PULSE S/SR 8 PG0 9 PG0 COM 0 PC 24 VDC Note 2) Note 4) CN DICOM 20 DOCOM 46 CR 4 RD 49 PP PG 0 NP NG LZ LZR LG SD Plate 0 m or less Note ) 0 m or less Note 4) CN EMG 42 S RES 9 PC 7 TL 8 LSP 4 LSN 44 DOCOM 47 PR TL 27 LG 28 SD plate 2 m or less US cable CN LECS Note 4) CN LG OP PR Plate SD Note 4) CN6 MO ±0 VDC nalog monitor LG ±0 VDC 2 MO2 nalog monitor 2 2 m or less PE DICOM LM 2 ZSP 2 TLC 24 INP 4 L LR 6 L 7 LR Note ) R R2 R R4 2 m or less Incremental Type Series LECS bsolute Type Series LECS 0 m or less Failure Note ) Zero speed detection Torque limiting Positioning completion phase pulse detector (Differential line driver) phase pulse detector (Differential line driver) Control common Control common Z phase pulse detector (Open collector) Servo Motor (24 VDC)/Step Motor (Servo/24 VDC) C Servo Motor Model Selection Note ) For preventing electric shock, be sure to connect the servo amplifier, s protective earth (PE) terminal to the control panel, s protective earth (PE). Note 2) For interface use, supply 24 VDC ±0% 00 m using an external source. Note ) The failure (LM) is during normal conditions. When it is (alarm occurs), stop the sequencer signal using the sequence program. Note 4) The same name signals are connected inside the servo amplifier. Note ) For command pulse input with a differential line driver method. For open collector method, it is 2 m or less. Specific Product Precautions 62

91 Series LECS Series LECS Options (mm) Motor cable, Lock cable, Encoder cable S M E LE CS M S Motor type C servo motor Cable contents Motor cable Lock cable Encoder cable Direction of connector xis side Counter axis side Cable length (L) [m] LE-CSM- : Motor cable (.7) (0) L LE-CS- : Lock cable (.8) (29.6) L Cable type S Standard cable R Robotic cable LE-CSE- : Encoder cable () (8.8) (0) L (7.4) I/O connector LE-CSN LE-CSN LE C SN SN SN Controller type I/O connector (LECS ) I/O connector (LECS ) Regeneration option LEC MR R L (6) ø6 Mounting hole (2) Regeneration option type 02 llowable regenerative power 0 W 2 llowable regenerative power 00 W Confirm regeneration option to be used in Model Selection. Dimensions [mm] Model LEC-MR-R-02 LEC-MR-R-2 L 0 40 L 9 69 LC LD (20) LC L LD 6

92 Options MR Configurator (setup software Japanese version) Compatible PC When using MR Configurator (setup software), use an IM PC/T compatible PC that meets the following operating conditions. Hardware Requirements Note ) Note 2) Note ) PC Display Equipment OS Keyboard Mouse Printer Communication cable LEC MR SETUP22 MRZJW-SETUP22 manufactured by Mitsubishi Electric. Refer to Mitsubishi Electric s website for operating environment and update information. vailable HD space Communication interface MR Configurator (setup software) LEC-MR-SETUP22 Windows 98, Windows Me, Windows 2000 Professional, Windows XP Professional/Home Edition, Windows Vista Home asic/home Premium, usiness/ultimate/enterprise Windows 7 Starter/Home Premium/Professional/ Ultimate/Enterprise IM PC/T compatible PC (Japanese version) 0 M or more Use US port Resolution 024 x 768 or more Must be capable of high color (6 bits) display. The connectable with the above PC The connectable with the above PC The connectable with the above PC The connectable with the above PC LEC-MR-JUS Incremental Type Series LECS bsolute Type Series LECS Servo Motor (24 VDC)/Step Motor (Servo/24 VDC) Model Selection Note ) Windows, Windows Vista, Windows 7 are registered trademarks of Microsoft Corporation in the United States and/or other countries. Note 2) This software may not run correctly depending on the PC that you are using. Note ) Not compatible with 64-bit Windows XP and 64-bit Windows Vista. For MR Configurator (setup software English version), contact your nearest sales branch. US cable ( m) for setup software LEC MR JUS C Servo Motor Specific Product Precautions attery LEC MR JT 64

93 Series LECS/LECS Specific Product Precautions e sure to read before handling. Refer to back cover for Safety Instructions and the Operation Manual for Electric ctuator Precautions. Please download it via our website. Warning Design/Selection. e sure to apply the specified voltage. Otherwise, malfunction and breakage may be caused. If the applied voltage is lower than the specified, it is possible that the load cannot be moved due to an internal voltage drop of the controller. Please check the operating voltage before use. 2. Do not operate the product beyond the specifications. Otherwise, a fire, malfunction or actuator damage can result. Please check the specifications before use.. Install an emergency stop circuit outside of the enclosure. Please install an emergency stop outside of the enclosure so that it can stop the system operation immediately and intercept the power supply. 4. In order to prevent damage due to the breakdown and the malfunction of the controller and its peripheral devices, a backup system should be established previously by giving a multiple-layered structure or a fail-safe design to the equipment, etc.. If a danger against the personnel is expected due to an abnormal heat generation, smoking, ignition, etc., of the controller and its peripheral devices, cut off the power supply for the product and the system immediately. Warning Handling. Do not touch the inside of the controller and its peripheral devices. It may cause an electric shock or damage to the controller. 2. Do not perform the operation or setting of the product with wet hands. It may cause an electric shock.. Product with damage or the one lacking of any components should not be used. It may cause an electric shock, fire, or injury. 4. Use only the specified combination between the electric actuator and controller. It may cause damage to the actuator or the controller.. e careful not to be caught or hit by the workpiece while the actuator is moving. It may cause an injury. 6. Do not connect the power supply or power on the product before confirming the area to which the workpiece moves is safe. The movement of the workpiece may cause an accident. 7. Do not touch the product when it is energized and for some time after power has been disconnected, as it is very hot. It may lead to a burn due to the high temperature. 8. Check the voltage using a tester for more than minutes after power-off in case of installation, wiring and maintenance. It may cause an electric shock, fire, or injury. Warning Handling 9. Static electricity may cause malfunction or break the controller. Do not touch the controller while power is supplied. When touching the controller for maintenance, take sufficient measures to eliminate static electricity. 0. Do not use the product in an area where dust, powder dust, water, chemicals or oil is in the air. It will cause failure or malfunction.. Do not use the product in an area where a magnetic field is generated. It will cause failure or malfunction. 2.Do not install the product in the environment of flammable gas, explosive gas and corrosive gas. It could lead to fire, explosion and corrosion.. Radiant heat from strong heat supplies such as a furnace, direct sunlight, etc., should not be applied to the product. It will cause failure of the controller or its peripheral devices. 4. Do not use the product in an environment subject to a temperature cycle. It will cause failure of the controller or its peripheral devices.. Do not use the product in a place where surges are generated. When there are units that generate a large amount of surge around the product (e.g., solenoid type lifters, high frequency induction furnaces, motors, etc.), this may cause deterioration or damage to the product s internal circuit. void supplies of surge generation and crossed lines. 6. Do not install the product in an environment under the effect of vibrations and impacts. It will cause failure or malfunction. 7. When a surge generating load such as a relay or solenoid valve is directly driven, use a product that incorporates a surge absorption element. Warning Installation. Install the controller and its peripheral devices on a fireproof material. direct installation on or near a flammable material may cause fire. 2. Do not install the product in a place subject to vibrations and impacts. It will cause failure or malfunction.. The controller should be affixed verticallyto a vertical wall. Do not cover the controller's exhaust opening. 4. Install the controller and its peripheral devices on a flat surface. If the mounting surface is distorted or not flat, an unacceptable force may be added to the housing, etc., to cause troubles. 6

94 Series LECS/LECS Specific Product Precautions 2 e sure to read before handling. Refer to back cover for Safety Instructions and the Operation Manual for Electric ctuator Precautions. Please download it via our website. Model Selection Caution Power Supply. Use a power supply that has low noise between lines and between power and ground. In cases where noise is high, an isolation transformer should be used. 2. To prevent surges from lightning, an appropriate measure should be taken. Ground the surge absorber for lightning separately from the grounding of the controller and its peripheral devices. Warning Wiring. The controller will be damaged if a commercial power supply (00V/200V) is added to the controller, s servo motor power (U, V, W). e sure to check wiring such as wiring mistakes when the power supply is turned on. 2. Connect the ends of the U, V, W wires from the motor cable correctly to the phases (U, V, W) of the servo motor power. If these wires do not match up, it is unable to control the servo motor. Warning Maintenance. Perform a maintenance check periodically. Confirm wiring and screws are not loose. Loose screws or wires may cause unintentional malfunction. 2. Conduct an appropriate functional inspection after completing the maintenance. t times where the equipment or machinery does not operate properly, conduct an emergency stop of the system. Otherwise, an unexpected malfunction may occur and it will become impossible to secure the safety. Conduct a test of the emergency stop in order to confirm the safety of the equipment.. Do not disassemble, modify or repair the controller and its peripheral devices. 4. Do not put anything conductive or flammable inside of the controller. It may cause a fire.. Do not conduct an insulation resistance test and withstand voltage test on this product. 6. Ensure sufficient space for maintenance activities. Design the system that allows required space for maintenance. Servo Motor (24 VDC)/Step Motor (Servo/24 VDC) Warning Grounding. e sure to carry out grounding in order to ensure the noise tolerance. For grounding actuator, connect the copper wire of the actuator to the controller, s protective earth (PE) terminal and connect the copper wire of the controller to the earth via the control panel, s protective earth (PE) terminal. Do not connect them directly to the control panel, s protective earth (PE) terminal. Control panel C Servo Motor Controller PE terminal ctuator 2. In the unlikely event that malfunction is caused by ground, please disconnect the unit from ground. Specific Product Precautions 66

95 Controller Step Data Input Type Page Model Selection Step Motor (Servo/24 VDC) Step Motor (Servo/24 VDC) Series LECP6 Specific Product Precautions 4

96 Controller (Step Data Input Type) Step Motor (Servo/24 VDC) Series LECP6 LE C P 6 N How to Order RoHS The controller is sold as single unit after the compatible actuator is set. Confirm that the combination of the controller and the actuator is correct. <Check the following before use.> q Check that actuator label for model number. This matches the controller. w Check Parallel I/O configuration matches (NPN or PNP). Specifications asic Specifications Controller Compatible motor Step motor P (Servo/24 VDC) Number of step data (Points) 6 64 Parallel I/O type N NPN P PNP I/O cable length [m] Nil ctuator part number (Except cable specifications and actuator options) Example: Enter [LER0K-2] for LER0K-2L-R6N Without cable. Specifications Step motor (Servo/24 VDC) Power voltage: 24 VDC 0% Current consumption: (Peak ) Note 2) [Including motor drive power, control power, stop, lock release] inputs (Photo-coupler isolation) outputs (Photo-coupler isolation) Incremental / phase (800 pulse/rotation) RS48 (Modbus protocol compliant) EEPROM LED (Green/) one of each Forced-lock release terminal Note ) I/O cable: or less ctuator cable: 20 or less Natural air cooling 2 to 04 F (0 to 40 C (No freezing)) 90 or less (No condensation) 4 to 40 F ( 0 to 60 C) (No freezing)) 90 or less (No condensation) etween the housing (radiation fin) and SG terminal 0 (00 VDC) 0. (0) (Screw mounting) 0.4 (70) (DIN rail mounting) q Option Nil D Note) When controller equipped type (- 6N /- 6P ) is selected when ordering the LE series, you do not need to order this controller. Refer to the operation manual for using the products. Please download it via our website. Item Compatible motor Power supply Note ) Parallel input Parallel output Compatible encoder Serial communication Memory LED indicator Lock control Cable length [m] Cooling system Operating temperature range Operating humidity range [%RH] Storage temperature range Storage humidity range [%RH] Insulation resistance [MΩ] Weight lb [g] Note ) Do not use the power supply of inrush current prevention type for the controller power supply. Note 2) The power consumption changes depending on the actuator model. Refer to the specifications of actuator for more details. Note ) pplicable to non-magnetizing lock. Screw mounting DIN rail mounting Note) DIN rail is not included. Order it separately. w

97 Controller (Step Data Input Type)/Step Motor (Servo/24 VDC) Series LECP6 How to Mount a) Screw mounting (LECP6 - ) (Installation with two M4 screws) Ground wire b) DIN rail mounting (LECP6 D- ) (Installation with the DIN rail) Ground wire DIN rail is locked. Ground wire Model Selection Mounting direction DIN rail Step Motor (Servo/24 VDC) Mounting direction DIN rail mounting adapter Hook the controller on the DIN rail and press the lever of section in the arrow direction to lock it. DIN rail XT00-DR- L 2. (Pitch).2 7. For, enter a number from the No. line in the table below. * Refer to the dimensions on page 7 for the mounting dimensions. () (2) L Dimension [mm] No. L 2 2. No. L Specific Product Precautions DIN rail mounting adapter LEC-D0 (with 2 mounting screws) This should be used when the DIN rail mounting adapter is mounted onto the screw mounting type controller afterwards. 6

98 Series LECP6 Dimensions a) Screw mounting (LECP6 - ) Power supply LED (Green) (: Power supply is.) ø4. for body mounting (8.7) 66 Power supply LED () (: larm is.) CN parallel I/O connector CN4 serial I/O connector CN encoder connector CN2 motor power connector CN power supply connector 4.6 for body mounting b) DIN rail mounting (LECP6 D- ) Refer to page 6 for L dimension and part number of DIN rail. (8.7) 66 (.) 7.2 (When removing DIN rail) 67. (When locking DIN rail) (9.7) 7

99 Controller (Step Data Input Type)/Step Motor (Servo/24 VDC) Series LECP6 Wiring Example Power Supply Connector: CN Power supply plug is an accessory. CN Power Supply Connector Terminal for LECP6 (PHOENIX CTCT FK-MC0./-ST-2.) Terminal name Function Function details 0V M24V C24V EMG K RLS Common supply ( ) Motor power supply (+) Control power supply (+) Stop (+) Lock release (+) M24V terminal/c24v terminal/emg terminal/k RLS terminal are common ( ). This is the motor power supply (+) that is supplied to the controller. This is the control power supply (+) that is supplied to the controller. This is the input (+) that releases the stop. This is the input (+) that releases the lock. Power supply plug for LECP6 0V M24V C24V EMG K RLS Model Selection Wiring Example 2 Parallel I/O Connector: CN Wiring diagram LECP6N - (NPN) Input Signal Name COM + COM IN0 to IN SETUP HOLD DRIVE RESET SV CN COM+ COM IN0 IN IN2 IN IN4 IN SETUP HOLD DRIVE RESET SV OUT0 OUT OUT2 OUT OUT4 OUT USY RE SET INP SVRE ESTOP LRM When you connect a PLC, etc., to the CN parallel I/O connector, please use the I/O cable (LEC-CN- ). The wiring should be changed depending on the type of the parallel I/O (NPN or PNP). Please wire referring to the following diagram. 24 VDC for I/O signal Load Contents Connects the power supply 24 V for input/output signal Connects the power supply 0 V for input/output signal Step data specified it No. (Input is instructed in the combination of IN0 to.) Instruction to return to the original position Operation is temporarily stopped Instruction to drive larm reset and operation interruption Servo instruction LECP6P - (PNP) CN COM+ COM IN0 IN IN2 IN IN4 IN SETUP HOLD DRIVE RESET SV OUT0 OUT OUT2 OUT OUT4 OUT USY RE SET INP SVRE *ESTOP *LRM VDC for I/O signal Output Signal Name Contents OUT0 to OUT Outputs the step data No. during operation USY Outputs when the actuator is moving RE Outputs within the step data area output setting range SET Outputs when returning to the original position Outputs when target position or target force is reached INP (Turns on when the positioning or pushing is completed.) SVRE Outputs when servo is on ESTOP Note) Not output when EMG stop is instructed LRM Note) Not output when alarm is generated Note) These signals are output when the power supply of the controller is. (N.C.) Load Step Motor (Servo/24 VDC) Specific Product Precautions 8

100 Series LECP6 Step Data Setting. Step data setting for positioning 2. Step data setting for pushing In this setting, the actuator moves toward and stops at the target position. The following diagram shows the setting items and operation. The setting items and set values for this operation are stated below. cceleration Deceleration The actuator moves toward the pushing start position, and when it reaches that position, it starts pushing with less than the set force. The following diagram shows the setting items and operation. The setting items and set values for this operation are stated below. cceleration Deceleration Position Pushing speed In position Force Position In position INP output Pushing force Trigger LV Step Data (Positioning) : Need to be set. : Need to be adjusted as required. : Setting is not required. INP output Step Data (Pushing) : Need to be set. : Need to be adjusted as required. Necessity Item Description Necessity Item Description Movement MOD When the absolute position is required, set bsolute. When the relative position is required, set Relative. Movement MOD When the absolute position is required, set bsolute. When the relative position is required, set Relative. Position Transfer speed to the target position Target position Position Transfer speed to the pushing start position Pushing start position cceleration Parameter which defines how rapidly the actuator reaches the speed set. The higher the set value, the faster it reaches the speed set. cceleration Parameter which defines how rapidly the actuator reaches the speed set. The higher the set value, the faster it reaches the speed set. Deceleration Parameter which defines how rapidly the actuator comes to stop. The higher the set value, the quicker it stops. Deceleration Parameter which defines how rapidly the actuator comes to stop. The higher the set value, the quicker it stops. Pushing force Trigger LV Pushing speed Positioning force rea, rea 2 In position Set 0. (If values to 00 are set, the operation will be changed to the pushing operation.) Setting is not required. Setting is not required. Max. torque during the positioning operation (No specific change is required.) Condition that turns on the RE output signal. Condition that turns on the INP output signal. When the actuator enters the range of [in position], the INP output signal turns on. (It is unnecessary to change this from the initial value.) When it is necessary to output the arrival signal before the operation is completed, make the value larger. Pushing force Trigger LV Pushing speed Pushing force ratio is defined. The setting range differs depending on the electric actuator type. Refer to the operation manual for the electric actuator. Condition that turns on the INP output signal. The INP output signal is turned on when the generated force exceeds the value. Threshold level should be less than the pushing force. Pushing speed When the speed is set fast, the electric actuator and work pieces might be damaged due to the impact when they hit the end, so this set value should be smaller. Refer to the operation manual of the electric actuator. Positioning force Max. torque during the positioning operation (No specific change is required.) rea, rea 2 Condition that turns on the RE output signal. In position Transfer distance during pushing. If the transferred distance exceeds the setting, it stops even if it is not pushing. If the transfer distance is exceeded, the INP output signal will not be turned on. 9

101 Controller (Step Data Input Type)/Step Motor (Servo/24 VDC) Series LECP6 Signal Timing Return to Origin Power supply SV Input SETUP USY 24 V 0 V Model Selection Output SVRE SET INP LRM ESTOP Step Motor (Servo/24 VDC) 0 mm/s Return to origin If the actuator is within the in position range of the basic parameter, INP will be turned, but if not, it will remain. LRM and ESTOP are expressed as negative-logic circuit. Positioning Operation Input IN DRIVE ms or more Scan the step data no. Output the step data no. Pushing Operation Input IN DRIVE ms or more Scan the step data no. Output the step data no. OUT OUT Output USY Output USY INP Positioning operation 0 mm/s If the actuator is within the in position range of the step data, INP will be turned, but if not, it will remain. OUT is output when DRIVE is changed from to. (When power supply is applied, DRIVE or RESET is turned or ESTOP is turned, all of the OUT outputs are turned.) INP Pushing operation If the current pushing force exceeds the trigger LV value of the step data, the INP signal will be turned. 0 mm/s Specific Product Precautions HOLD Input HOLD Reset Input RESET larm reset Output USY Slow-down starting point HOLD during the operation When the actuator is in the positioning range in the pushing operation, it does not stop even if HOLD signal is input. 0 mm/s Output OUT LRM larm out It is possible to identify the alarm group by the combination of OUT signals when the alarm is generated. LRM is expressed as negative-logic circuit. 20

102 Series LECP6 Options: ctuator Cable, I/O Cable ctuator cable [Robotic cable for step motor (Servo/24 VDC), standard cable] LE CP Cable length (L)[m] C 20 Produced upon receipt of order (Robotic cable only) Nil S Cable type Robotic cable (Flexible cable) Standard cable LE-CP- /Cable length:. m, m, m (Terminal no.) 6 6 (4.7) (Terminal no.) 6 6 (4.7) (7.7) (7.7) Circuit COM-/COM COM-/ Vcc GND ctuator side (0.7) (ø8) Connector 8 LE-CP- C/Cable length: 8 m, 0 m, m, 20 m ( Produced upon receipt of order) (ø6.) (ø.) Connector C Controller side L Connector D () (4.2) (Terminal no.) 2 6 (.) (4) (8) Controller side (4) (8) 2 6 (0) Connector C (4.2) (Terminal no.) ctuator side 2 6 (.) 2 (0.7) Connector 6 L Connector D () (0) Connector Shield Cable color rown Orange Yellow Green lue Cable color rown Orange Connector C Connector D I/O cable LEC CN Cable length (L) [m]. (Terminal no.) Controller side (22.4) (ø8.9) (4.4) L PLC side Conductor size: WG28 Connector Insulation pin No. color Light brown 2 Light brown Yellow 4 Yellow Light green 6 Light green 7 Gray 8 Gray 9 White 0 White Light brown 2 Light brown Yellow Dot mark Dot color Connector pin No Insulation color Yellow Light green Light green Gray Gray White White Light brown Light brown Yellow Yellow Light green Light green Dot mark Shield Dot color 2

103 HRS Series LEC Controller Setting Kit/LEC-W w Communication cable e Conversion unit rus cable (-mini type) q Controller setting software PC How to Order Contents LEC W Controller setting kit (Japanese and English are available.) q Controller setting software (CD-ROM) w Communication cable (Cable between the controller and the conversion unit) e Conversion unit r US cable (Cable between the PC and the conversion unit) Step Motor (Servo/24 VDC) Model Selection Hardware Requirements PC/T compatible machine installed with Windows XP and equipped with US. or US2.0 ports. Windows and Windows XP are registered trademarks of Microsoft Corporation. Screen Example Easy mode screen example Normal mode screen example Specific Product Precautions Easy operation and simple setting llowing to set and display actuator step data such as position, speed, force, etc. Setting of step data and testing of the drive can be performed on the same page. Can be used to jog and move at a constant rate. Detail setting Step data can be set in detail. Signals and terminal status can be monitored. Parameters can be set. JOG and constant rate movement, return to origin, test operation and testing of compulsory output can be performed. 22