Table of contentsLXM32M3.7TUV certificate for functional safety...............534.1Functional safety...............555 Engineering.........................................575.1Electromagic patibility,EMC...............585.2625.2.1Overview of the required cables................635.3Residual current device ...................655.4Operation in an IT mains655.5Parallel connection DC bus .........665.6675.7675.7.1Deactivating the Y capacitors.................685.8Rating the braking resistor......................695.8.1Internal braking resistor......................705.8.2705.8.3Rating information..........................715.9Safety function STO ("Safe Torque Off")............755.9.1Definitions755.9.2755.9.3Requirements for using the safety function.......765.9.4Application examples STO....................785.10805.11815.12Configurable inputs and outputs..................816.1Mechanical installation.........................846.1.1Installing and removing modules...............856.1.2Mounting the device.........................886.1.3Mounting mains filter,mains reactor and braking resis-tor906.2Electrical installation...........................926.2.1Overview of procedure.......................936.2.2Connection overview........................946.2.3Connection grounding screw..................956.2.4Connecting the motor phases (CN 10,motor).....966.2.5Holding brake connection(CN11,Brake)........1016.2.6Connecting the DC bus (CN9,DC bus).........1026.2.7Braking resistor connection(CN8,Braking Resistor)...1036.2.8Connection of power stage supply voltage(CN1).1066.2.9Motor encoder connection(CN3)..............1106.2.10Connection PTO(CN4,Pulse Train Out)........112AC servo driveLXM32MTable of contents6.2.11Connection PTI (CN5,Pulse Train In)...........1136.2.12Connection the controller supply voltage and STO(CN2,DC Supply and STO)1166.2.13Connecting the digital inputs/outputs(CN6)......1196.2.14Connection of PC with missioning software CN7).1216.2.15Modules ................................1226.3Checking installation..............12371257.11257.2Overview..1277.2.1Commissioning steps1277.2.2Commissioning tools.1287.3Integrated HMI...............................1297.3.1Indication and operation.....................1307.3.21317.3.31377.4External graphic display terminal................1397.4.1Display and controls..........1407.4.2Connecting the external graphic display terminal toLXM321417.4.3Using the external graphic display terminal......1417.5Commissioning software.......................1437.6Commissioning procedure......................1447.6.1"First Setup"..............................1447.6.2Operating state(state diagram)...............1467.6.3Setting basic parameters and limit values1477.6.4Digital inputs /outputs......................1517.6.5Testing the signals of the limit switches.........1547.6.6Testing the safety function STO......1557.6.7Holding brake ............................1567.6.8Checking the direction of movement............1597.6.9Setting parameters for encoder .....1617.6.10Setting the braking resistor parameters1667.6.11Autotuning the device.......................1697.6.12Enhanced settings for autotuning......1727.7Controller optimization with step response1747.7.11747.7.21757.7.3Optimizing the velocity controller .............1767.7.4Checking and optimizing default settings1817.7.5Optimizing the position controller..............1827.81847.8.1Data exchange with the memory card..........1867.9Duplicating existing device settings...............187Operation ......189AC servo drive5Table of contentsLXM32M8.1Access channels...........1918.21938.2.1State diagram..1938.2.21968.2.3Indication of the operating state1978.2.4Changing the operating state.................1988.31998.3.1Starting and changing an operating mode.......1998.3.2Operating mode Jog2008.3.3Operating mode Electronic Gear..............2058.3.4Operating mode Profile Torque2148.3.5Operating mode Profile Velocity.2178.3.6Operating mode Profile Position2208.3.7Operating mode Homing .......2238.3.8Operating mode Motion Sequence2358.4Movement range....2508.4.1Zero point of the movement range2508.4.2Movement beyond the movement range2518.4.3Setting a modulo range.....................2548.52628.5.1Setting the PTO interface....................2628.5.2Setting the scaling.........................2648.5.3Setting the digital signal inputs and signal outputs2688.5.4Setting the motion profile for the velocity2828.5.5Setting the controller parameters..............2848.6Functions for target value processing3018.6.1Stopping a movement with Halt...............3018.6.2Stopping a movement with Quick Stop3038.6.3Limitation of the current via digital signal input...3048.6.4Limitation of the velocity via digital signal input ..3058.6.53068.6.63078.6.7Starting a movement via a signal input.........3088.6.8Position capture via signal input........3098.7Functions for monitoring movements.............3148.7.1Limit switches and reference switches..........3148.7.2Software limit switches...............3168.7.3Load-dependent position deviation (following error)3178.7.4Motor standstill.3208.7.53218.7.63228.7.7Standstill window.......3248.7.8Position register........3268.7.9Position deviation window3338.7.10Velocity deviation window3358.7.11Velocity threshold value..................3378.7.12Current threshold..........................3398.8Functions for monitoring internal device signals.....3418.8.1Temperature monitoring.....................3418.8.2Monitoring load and overload(12T monitoring)3426AC servo driveLXM32MTable of contents8.8.3Commutation monitoring....................3448.8.4Monitoring of mains phases..................3458.8.5Ground fault monitoring3473499.13499.2Example of operation with a module..............35010 Diagnostics and troubleshooting.....................35110.1Status request/status indication ................35110.1.1Diagnostics via the integrated HMI.............35210.1.2Diagnostics via the missioning software ....35310.1.3Diagnostics via the fieldbus..................35310.2Error memory.·35410.2.1Reading the error memory via the fieldbus .....35510.2.2Reading the error memory via the missioning soft-ware35710.3Special menus at the integrated HMI.............35810.3.1Reading and acknowledging warnings..35810.3.2Reading and acknowledging errors35910.3.3Acknowledging a module replacement.36010.3.4Acknowledging a motor change......10.436110.4.1Errors and warnings sorted by error bit36110.4.2Table of warnings and errors by range36411 Parameters........................................39511.1Representation of the parameters................39511.1.1Decimal numbers for fieldbus.................39711.2List of parameters.......39812 Accessories and spare parts...51912.1Commissioning tools....51912.2Memory cards........51912.3Additional modules ...51912.4Safety module eSM..................52012.5Application nameplate.........................52012.6CANopen cable with connectors.................52112.7CANopen connectors,distributors,terminating resistors52112.852212.9Adapter cable for encoder signals LXM05/LXM15 toLXM3252212.10Cables for PTO and PTI .......522AC servo driveTable of contentsLXM32M52312.11.1Motor cables 1.5 mm252312.11.2Motor cables 2.5 mm2......................52412.11.352512.12Encoder cables..............................52612.13Connector..................................52612.14 External braking resistors......................52712.1552712.1652812.1752812.18Spare parts connectors,fans,cover plates .......52813 Service,maintenance and disposal....................52913.152913.252913.2.1Lifetime STO safety function ................52913.353013.4Replacing modules...........................53113.5Changing the motor......................53213.6Shipping,storage,disposal.....................53314.1Units and conversion tables....................53514.1.153514.1.2MaSS ..................................53514.1.3Force..................................53514.1.4Power...................................53514.1.553614.1.6Torque..................................53614.1.753614.1.8Temperature..53614.1.953614.253710.60.0.18AC servo driveLXM32MAbout this manualAbout this manualThis manual is valid for LXM32M standard products.Chapter 1 "Intro-duction"lists the type code for this product.The type code allows you toidentify whether your product is a standard product or a customized ver-sion.The following manuals belong to this product:Product manual,describes the technical data,installation,-missioning and the operating modes and functions.Motor manual,describes the technical characteristics of themotors,including correct installation and missioning.Module manuals,descriptions required for using modules.Source manuals The latest versions of the manuals can be downloaded from the Interat:://www.schneider-electric.Source EPLAN MacrosFor easier engineering,macro files and product master data are availa-ble for download from the Inter at:://www.schneider-electric.Corrections and suggestions We always try to further optimize our manuals.We wele your sug-gestions and corrections.Please get in touch with us by e-mail:techm@schneider-electric..Work steps If work steps must be performed consecutively,this sequence of stepsis represented as follows:Special prerequisites for the following work stepsStep 1