User Manual of EL6-CAN AC Servo
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work (moving load) from falling gravity while the power to the servo is shut off .
About the wire of brake ,there should be an 24Vdc for brake, the brake will be released with the
24Vdcinput, and the drive provide an output signal to control the connection or disconnection of the 24Vdc ,
and it is forbidden to connect these signal directly for the power of 24Vdc , it will destroy the hardware of
servo drive
6.4 EL6-CAN motion control procedure
A
．
The CANopen master sends "control word (6040h)" to initialize the drive.
B
．
Drive feedback "status word (6041h)" to the master to show ready status (status word indication).
C
．
Master send enable command (control word switch).
D
．
The drive enables and feeds back to the master.
E
．
The master station sends homing command to return to homing position
F
．
Drive returns to homing position complete and notifies master station (status word indication)
G
．
The master station sends the position mode command for position movement (position motion parameters
and control word) or sends the speed command for speed movement (speed motion parameters and
control word).
H
．
When the drive is finished executing the movement (position motion/velocity motion), EL6-CAN feeds
back the position/speed to the master station for monitoring during the motion
I
．
The master station sends commands for the next motion.
Pin7
Servo Motor
Brake
COM_O
24Vdc
24Vdc
Drive side
DO1
Pin6
