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User Manual for ELD2 Servo

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8-9

P9.00

Mode

XXXX

10-11

P9.01

High position

XXXX

12-13

P9.02

Low position

XXXX

14-15

P9.03

Speed

XXXX

16-17

P9.04

Acceleration

XXXX

18-19

P9.05

Deceleration

XXXX

20-21

P9.06

Delay time

XXXX

22-23

P9.07

Trigger control

0x0010

CRC

Check code

Please refer to parameter specification for specific data setting.

7.4.5 Test Pr-Mode with Serial debugging assistant

Disconnect and close the debugging software

，

Test PR mode with Serial debugging assistant software

Pr-Mode communication trigger function description

7.4.5.1 Fixed trigger mode

Fixed trigger mode is to config no more than 16 segments homing and path. Then, replace

CTRG and HOME with Pr8.02(trigger register) to start the operation path. This mode apply to fixed

motion and simple operation system.

As below procedure

：

1. Firstly, configure homing and path 0~ path 15 which need to run, can transmit parameter

configuration temporarily after power on, also can configured to save with upper computer.

2. Enable drive.

3. Implement choice and start of actions by write corresponding instructions into 0x6002 (Pr8.02)

Write 0x01P, P segment positioning (write 0x01

to run path 0, write 0x01

to run path 3)

Write 0x020, Homing

Write 0x021, current position manual set to zero.

Write 0x040, E-stop.

Read 0x000p, means positioning accomplished, can receive new data

Read 0x01P, 0x020, 0x040 means still does not response to instructions.

Read 0x10P, means path is running.

Read 0x200, means instruction accomplished and wait for positioning.

7.4.5.2 Immediately trigger method

Fixed trigger is limited by 16 segment position, but immediately trigger method is flexible. It is written to

the current path at each time, at the same time trigger the operation of this path. Realize position, speed ,

homing and such actions by a data frame.

This method adopt PR0 to implement, PR0 has 8 data in total, the last data Pr9.07 of it will mapped to

Pr8.02, write in 0x10 can trigger PR0 operation immediately, realize data trigger running immediately.

Operating steps:

1. Firstly, configure homing and path which need to run, can power on and send parameter configuration

temporarily, also can configure and save with upper computer. (homing must be configured)

Summary of Contents for ELD2-RS70 Series

Page 1: ...1 ELD2 RS70 User Manual ELD2 RS70 User Manual www leadshine com ...

Page 2: ...ult in operator injured also make equipment damaged Attention indicates that the error use may damage product and equipment Safety precautions Warning The design and manufacture of product doesn t use in mechanic and system which have a threat to operator The safety protection must be provided in design and manufacture when using this product to prevent incorrect operation or abnormal accident Acc...

Page 3: ...rectly or damage the equipment We mustn t connect capacitors inductors or filters between servo motor and servo driver The wire and temperature resistant object must not be close to radiator of servo driver and motor The freewheel diode which connect in parallel to output signal DC relay mustn t connect reversely Debugging and running Caution Make sure the servo driver and servo motor installed pr...

Page 4: ...tion the design of the machine should be assured to avoid danger when restart occurs System selection Attention The rate torque of servo motor should be larger than effective continuous load torque The ratio of load inertia and motor inertia should be smaller than recommended value The servo driver should be matched with servo motor ...

Page 5: ... Interface 17 3 3 3 Pulse Input Interface 18 Chapter 4 Parameter 20 4 1 Parameter List 20 4 2 Parameter Function 22 4 2 1 Class 0 Basic Setting 22 4 2 2 Class 1 Gain Adjust 25 4 2 3 Class 2 Vibration Suppression 30 4 2 4 Class 3 Velocity Torque Control 31 4 2 5 Class 4 I F Monitor Setting 36 4 2 6 Class 5 Extended Setup 41 4 2 7 Class 6 Special Setup 43 Chapter 5 Alarm and Processing 45 5 1 Alarm ...

Page 6: ...rol mode 73 7 4 2 485 communication Installation wiring 75 7 4 3 Fixed trigger mode 76 7 4 4 Immediately trigger method 77 7 4 5 Test Pr Mode with Serial debugging assistant 78 7 5 Upper computer operation 83 7 6 RS485 Parameter address 85 Chapter 8 Product Specification 90 8 1 Driver Technical Specification 90 8 2 Accessory selection 90 Appendix 91 Quick guide for tuning the servo 91 Contact us 9...

Page 7: ...t A 10 15 20 30 Max output current A 30 45 60 90 Main power Voltage V DC24 70 recommended 24 60Vdc Current A 48 60Vdc 7Amp 60 70Vdc 6Amp 48 60Vdc 11Amp 60 70Vdc 9Amp 48 60Vdc 14Amp 60 70Vdc 12Amp 48 60Vdc 20Amp 60 70Vdc 17Amp Control power Voltage V DC12 24 DC12 24 DC12 24 DC12 24 Current mA 12 12 12 12 Control method IGBT PWM sinusoidal Wave Drive Overload 300 Brake resistor External connection P...

Page 8: ...s 30Amp peak 7015 70Vdc 15Arms 45Amp peak 7020 70Vdc 20Arms 80Amp peak 7030 70Vdc 30Arms 90Amp peak RS RS485 Pulse Dir Analog Input Modbus CAN CANopen Low voltage AC servo drive b Servo motor type The ELD2 series AC servo driver can be matched with a variety of domestic and foreign servo motor Matched Motors Power Range Up to 1200W Voltage Range 24 70V Feedback supported 1000 2500lines incremental...

Page 9: ... ELDM low voltage servo motor Temperature 0 55 25 40 Humility Under 90 RH free from condensation Under 90 RH free from condensation Atmospheric environment Indoor no exposure no corrosive gas or flammable gas no oil or dust Indoor no exposure no corrosive gas or flammable gas no oil or dust Altitude Lower than 1000m Lower than 2500m Vibration Less than 0 5G 4 9m s2 10 60Hz non continuous working P...

Page 10: ...ser Manual Figure 2 1 B installation method of driver ELD2 RS7015 ELD2 RS7020 ELD2 RS7030 2 2 2 Installation Space Reserve enough surrounding space for effective cooling Figure 2 2 Installation Spacefor Single Driver ...

Page 11: ...or encoders prevent motor by vibration or shock The motor shaft can t bear the load beyond the limits Motor shaft does not bear the axial load radial load otherwise you may damage the motor Use a flexible with high stiffness designed exclusively for servo application in order to make a radial thrust caused by micro misalignment smaller than the permissible value Install must be steady prevent drop...

Page 12: ...ove external noise from the power lines and reduce an effect of the noise generated by the servo driver Install fuse NFB promptly to cut off the external power supply if driver error occurs 2 The control signal CN1 feedback signal CN2 Diameter shielded cable twisting shield cable is better the diameter 0 14mm2 AWG24 26 the shield should be connected to FG terminal Length of line cable length shoul...

Page 13: ...V 6 7 Vdc GND DC power supply RS485 2 270Ω 4 7K 4 7K 4 7K 4 7K NOT 9 DOT 8 10 11 12 13 A 15 B B 14 16 COM_OUT 24Vdc output 18 19 20 DO1 DO2 VIN VIN Analog Input A Encoder Output 17 DO DO Brake Output Pulse signal Figure 3 1 PositionalControl ModeWiring Attention 1 Only support 5V pulse and direction signal 24V pulse signal suggest connect 2 KΩ resistance ...

Page 14: ...ntial pulse input 5V 500KHz GPIO Pulse 2 DI1 Input Negative differential pulse input 5V 500KHz 3 DI2 Input Positive differential pulse input 5V 500KHz Optional analog Ain1 GPIO Direction Analog 4 DI2 Input Negative differential pulse input 5V 500KHz Optional analog GND 5 COMI Input Power supply positive terminal of the external input control signal 12V 24V 6 DI3 Input Digital input signal 3 defaul...

Page 15: ... output Maximum current 1A Selectable only for ELD2 RS70 B 17 DO Output 18 DO1 Output Digital output signal 1 default value is alarm output 24V 8mA 19 DO2 Output Digital output signal 2 default value is servo ready output 24V 8mA 20 COMO Output Digital output signal commonality ground 24V 3 2 2 Encoder Input Port CN2 Terminal Table 3 2 EncoderInput Port CN2Terminal Signal forELD2 RS7030 CN2 Pin Si...

Page 16: ...il Power terminal 1 VCC 2 GND 3 W 4 V 5 U 6 PE 3 2 5 Bus connector Cn8 Pin Signal Detail CN8 485 IN 1 RS485 485data 3 RS485 485 data 5 485GND 485 GND other NC Cn9 Pin Signal Detail CN8 485 IN 1 RS485 485data 3 RS485 485 data 5 485GND 485 GND other NC 3 2 6 Dip switch S1 NO 485 Slave ID NO 485 Slave ID S1 0 Default Pr5 31 16 8 8 1 1 9 9 2 2 A 10 3 3 B 11 4 4 C 12 5 5 D 13 6 6 E 14 7 7 F 15 ...

Page 17: ...rrent polar connect reversely servo driver doesn t run 3 3 2 Switch Output Interface Figure 3 5 Switch Output Interface 1 The user provide the external power supply However if current polarity connects reversely servo driver is damaged 2 The output of the form is open collector the maximum voltage is 25V and maximum current is 50mA Therefore the load of switch output signal must match the requirem...

Page 18: ...ternal power supply for single ended drive However if current polarity connect reversely servo driver is damaged 5 The form of pulse input is the following form 3 7 below while the arrows indicates the count Table 3 7 Pulse Input Form Pulse command form CCW CW Parameter setting value Pulse symbol PUL DIR Pulse direction The form of pulse input timing parameter is the following form 3 8 below The 4...

Page 19: ...19 ELD2 RS70 User Manual tqh 4μs 5μs tql 4μs 5μs tqrh 0 2μs 0 3μs tqrl 0 2μs 0 3μs tqs 1μs 2 5μs Figure 3 8 pulse direction input interface timing the maximum of pulsefrequency 500KHZ ...

Page 20: ...gain of position loop P S T 01 1st gain of velocity loop P S T 02 1st time constant of velocity loop integration P S T 03 1st filter of velocity detection P S T 04 1st time constant of torque filter P 05 2nd gain of position loop P S T 06 2nd gain of velocity loop P S T 07 2nd time constant of velocity loop integration P S T 08 2nd filter of velocity detection P S T 09 2nd time constant of torque ...

Page 21: ...Speed limit value 1 P S T 24 maximum speed of motor rotation P S T Class 4 I F Monitor Setting 00 input selection SI1 P S T 01 input selection SI2 P S T 02 input selection SI3 P S T 03 input selection SI4 P S T 04 input selection SI5 P S T 10 output selection SO1 P S T 11 output selection SO2 P S T 12 output selection SO3 P S T 13 output selection SO4 P S T 22 Analog input 1 AI 1 offset setup P S ...

Page 22: ...ner or the front panel of driver Contact tech leadshine com if you need more technical service 4 2 1 Class 0 Basic Setting Pr0 00 Model following control Range unit default Related control mode 0 32767 0 1Hz 0 P Set up the bandwidth of MFC it is similar to the response bandwidth Setup value Meaning 0 Disable the function 1 Enable the function set the bandwidth automatically recommended for most ap...

Page 23: ...s usually for point to point movement Caution If pr0 02 1 or 2 you can t modify the values of Pr1 01 Pr1 13 the values of them depend on the real time auto gain tuning all of them are set by the driver itself Pr0 03 Selection of machine stiffness at real time auto gain tuning Range unit default Related control mode 50 81 70 P S T You can set up response while the real time auto gain tuning is vali...

Page 24: ...value will reverse the direction of rotation Pr0 07 Command Pulse Input Mode Setup Range unit default Related control mode 0 3 1 P Pr0 06 Pr0 07 Command Pulse Format Signal Positive Direction Command Negative Direction Command 0 0 or 2 90 phase difference 2 phase pulse A phase B phase Pulse sign 1 Positive direction pulse negativedirection pulse Pulse sign 3 Pulse sign Pulse sign 1 0 or 2 90 phase...

Page 25: ... default Related control mode 0 1 0 P S T You can set up the B phase logic and the output source of the pulse output With this parameter you can reverse the phase relation between the A phase pulse and B phase pulse by reversing the B phase logic reversal of pulse output logic Pr0 12 B phase Logic CCW Direction Rotation CW Direction Rotation 0 Non Reversal A phase B phase A phase B phase 1 Reversa...

Page 26: ... oscillation Pr1 02 1st Time Constant of Velocity Loop Integration Range unit default Related control mode 0 10000 0 1ms 310 P S T You can set up the integration time constant of velocity loop Smaller the set up faster you can dog in deviation at stall to 0 The integration will be maintained by setting to 9999 The integration effect will be lost by setting to 10000 Pr1 03 1st Filter of Velocity De...

Page 27: ...l mode 0 6400 0 01ms 50 P Set the time constant of 1st delay filter which affects the input of speed feed forward usage example of velocity feed forward The velocity feed forward will become effective as the velocity feed forward gain is gradually increased with the speed feed forward filter set at approx 50 0 5ms The positional deviation during operation at a constant speed is reduced as shown in...

Page 28: ...ition and speed controls Shift to the 2nd gain when the absolute value of the speed command exceeded level hysteresis r min previously with the 1st gain Return to the 1st gain when the absolute value of the speed command was kept below level hysteresis r min previously during delay time with the 2nd gain 6 Position deviation is large Valid for position control Shift to the 2nd gain when the absolu...

Page 29: ... Mode dependent 33 P Combining Pr1 17 control switching level setup Notice when level hysteresis the hysteresis is internally adjusted so that it is equal to level Pr1 19 Position gain switching time Range unit default Related control mode 0 10000 0 1ms 33 P For position controlling if the difference between 1st gain and 2nd gain is large the increasing rate of position loop gain can be limited by...

Page 30: ...n will be invalidated by setting up this parameter to 2000 Pr2 02 1st notch width selection Range unit default Related control mode 0 20 2 P S T Set the width of notch at the center frequency of the 1st notch filter Notice Higher the setup larger the notch width you can obtain Use with default setup in normal operation Pr2 03 1st notch depth selection Range unit default Related control mode 0 99 0...

Page 31: ...the time constant of the1st delay filter in response to the positional command When a square wave command for the target speed Vc is applied set up the Vc arrival time as shown in the figure below Pr3 00 Speed setup Internal External switching Range unit default Related control mode 0 3 0 S This driver is equipped with internal speed setup function so that you can control the speed with contact in...

Page 32: ...ed command direction VC SIGN Position command direction 0 No effect Positive direction No effect Negative direction 1 Sign has no effect OFF Positive direction Sign has no effect ON Negative direction Pr3 02 Input gain of speed command Range unit default Related control mode 10 2000 r min v 500 S T Based on the voltage applied to the analog speed command SPR set up the conversion gain to motor com...

Page 33: ... mode 20000 20000 r min 0 S Pr3 08 5th speed of speed setup Range unit default Related control mode 20000 20000 r min 0 S Pr3 09 6th speed of speed setup Range unit default Related control mode 20000 20000 r min 0 S Pr3 10 7th speed of speed setup Range unit default Related control mode 20000 20000 r min 0 S Pr3 11 8th speed of speed setup Range unit default Related control mode 20000 20000 r min ...

Page 34: ...s with actual velocity which is controlled by the analog voltage input 1 even if the velocity is less than 10 rpm The motor runs no matter what the value of Pr3 16 is The actual velocity is controlled by external the analog voltage input 1 the function of zero clamp works It means motor will stop rotating in servo on condition no matter what the velocity of motor is and motor stop rotating no matt...

Page 35: ...he conversion gain to torque command Unit of the setup value is 0 1V 100 and set up input voltage necessary to produce the rated torque Default setup of 30 represents 3V 100 Pr3 20 Torque command input reversal Range unit default Related control mode 0 1 0 T Set up the polarity of the voltage applied to the analog torque command TRQR Setup value Direction of motor output torque 0 Non reversal volt...

Page 36: ...unit default Related control mode 0 00FFFFFFh 00000007h P S T Pr4 05 Input selection DI6 Range unit default Related control mode 0 00FFFFFFh P S T Pr4 06 Input selection DI7 Range unit Related control mode 0 00FFFFFFh P S T Pr4 07 Input selection DI8 Range unit default Related control mode 0 00FFFFFFh P S T Pr4 08 Input selection DI9 Range unit default Related control mode 0 00FFFFFFh P S T Set DI...

Page 37: ...o a value other than that specified in the table 4 Don t assign specific function to 2 or more signals Duplicated assignment will cause Err21 0 I F input multiple assignment error 1or Err21 1 I F input multiple assignment error 2 Pr4 10 Output selection DO1 Range unit default Related control mode 0 00FFFFFFh 00010101h P S T Pr4 11 Output selection DO2 Range unit default Related control mode 0 00FF...

Page 38: ...ignal will turn on when there is no position command and position deviation is smaller than Pr4 31 positioning complete range 2 The signal will turn on when there is no position command the zero speed detection signal is ON and the positional deviation is smaller than Pr4 31 positioning complete range 3 The signal will turn on when there is no position command and the positional deviation is small...

Page 39: ...000 r min 50 S Set the speed coincidence V COIN output detection timing Output the speed coincidence V COIN when the difference between the speed command and the motor speed is equal to or smaller than the speed specified by this parameter Because the speed coincidence detection is associated with 10 r min hysteresis actual detection range is as shown below Speed coincidence output OFF ON timing P...

Page 40: ...ical brake action at running setup Range unit default Related control mode 0 10000 1ms 0 P S T Mechanical brake start delay time setup mainly used to prevent servo off galloping phenomenon Set up time from when detecting the off of servo on input signal SRV ON is to when external brake release signal BRK OFF turns off while the motor turns to servo off during the motor in motion Set up to prevent ...

Page 41: ... 1 Free run Free run Pr5 08 LV trip selection at main power OFF Range unit default Related control mode 0 1 0 P S T You can select whether or not to activateErr0d 0 main power under voltage protection function while the main shutoff continues for the setup of Pr5 09 The main power OFF detection time Setup value Action of main power low voltage protection 0 When the main power is shut off during Se...

Page 42: ...11 Analog input value 28 Software version 2 Positional command speed 12 Error factor and reference of history 29 Driver serial number 3 Velocity control command 16 Inertia ratio 30 Motor serial number 4 Torque command 17 Factor of no motor running 31 Accumulated operation time 5 Feedback pulse sum 23 Communication axis address 33 Temperature information 6 Command pulse sum 24 Encoder positional de...

Page 43: ...G trial run torque control Pr6 04 JOG trial run command speed Range unit default Related control mode 0 500 r min 300 P S T You can set up the command speed used for JOG trial run velocity control Pr6 07 JOG trial run command speed Range unit default Related control mode 100 100 0 P S T Pr6 08 JOG trial run command speed Range unit default Related control mode 100 100 0 P S T Pr6 09 JOG trial run ...

Page 44: ...x8003 0x201 ACM604V60 1000 0x8002 0x201 ACM604V60 2500 0x8002 0x204 ELDM6020V36H A5 0x8004 0x201 ELDM602V36 T 2500 0x8006 0x204 ELDM602V24 T 2500 0x8007 0x204 ELDM4005V24HL B5 0x8008 0x204 ELDM4010V24HL B5 0x8009 0x204 ELDM6020V48HL A5 0x800B 0x201 ELDM6040V48HL A5 0x800C 0x201 ELDM6040V60HL A5 0x800D 0x201 ELDM6060V48HL A5 0x800E 0x201 ELDM8075V48HM A4 0x8010 0x201 Pr7 32 Threshold value setting ...

Page 45: ...cleared FPGA communication error Current detection circuit error Analog input circuit error Power line break DC bus circuit error Temperature detection circuit error Control power under voltage DC bus over voltage DC bus under voltage Over current over current of intelligent power module IPM Driver over heat Motor over load Motor overload driver overload Resistor discharged circuit overload over c...

Page 46: ...ion error Cause Confirmation Solution Vdc GND under voltage Check the voltage of Vdc GND terminal Make sure voltage of Vdc GND in proper range Driver internal fault replace the driver with a new one Error code Main Extra Display Content current detection circuit error Cause Confirmation Solution Wiring error of motor output U V W terminal Check wiring of motor output U V W terminal Make sure motor...

Page 47: ...peraturedetection circuit error Cause Confirmation Solution Vdc GND under voltage Check the voltage of Vdc GND terminal Make sure voltage of Vdc GND in proper range Driver inner fault replace the driver with a new one Error code Main Extra Display Content control power under voltage Cause Confirmation Solution Vdc GND under voltage Check the voltage of Vdc GND terminal Make sure voltage of Vdc GND...

Page 48: ...t of driver output wire Short of driver output wire whether short circuit to PG ground or not Assure driver output wire no short circuit assure motor no damage Abnormal wiring of motor Check motor wiring order Adjust motor wiring sequence Short of IGBT module Cut off driver output wiring make srv_on available and drive motor check whether over current exists or not replace the driver with a new on...

Page 49: ...acity of regenerative resistor Check the speed if it is too high Check the load if it is too large or not lower motor rotational speed decrease load inertia increase external regenerative resistor improve the capacity of the driver and motor Resistance discharge circuit damage Increase external regenerative resistor replace the driver with a new one Error code Main Extra Display Content Leakage tr...

Page 50: ...elded line well with FG ground ensure encoder cable separated with other power wire Encoder damaged replace the motor with a new one Encoder measuring circuit damaged replace the driver with a new one Error code Main Extra Display Content position error over largeerror Cause Confirmation Solution Unreasonable set of position error parameter Check parameter PA_014 value if it is too small or not En...

Page 51: ...value of PA_321 if it is too small or not check input frequency and division frequency coefficient of command pulse if it is proper or not check encoder if the wiring is correct or not Adjust the value of input speed command enlarge the value PA_321 value modify command pulse input frequency and division frequency coefficient assure encoder wiring correctly Error code Main Extra Display Content Mo...

Page 52: ...d with two or more functions Check the value of PA_410 PA_411 PA_412 PA_413 if it is proper or not Assure the value of PA_410 PA_411 PA_412 PA_413 set correctly The input signal aren t assigned with any functions Check the value of PA_410 PA_411 PA_412 PA_413 if it is proper or not Assure the value of PA_410 PA_411 PA_412 PA_413 set correctly Error code Main Extra Display Content CRC verification ...

Page 53: ...error limit Error code Main Extra Display Content forced alarm input valid Cause Confirmation Solution Forced alarm input signal has been conducted Check forced alarm input signal Assure input signal wiring correctly Error code Main Extra Display Content Motor code error Cause Confirmation Solution Motor code error Motor code error Set Pr7 15 correctly ...

Page 54: ...un with load The user need to test the driver without load for safetyfirst Contact tech leadshine com for more technical service 6 1 InspectionBefore trial Run 6 1 1 Inspection on wiring Table 7 1 Inspection ItemBeforeRun No Item Content 1 Inspection on wiring 1 Ensure the following terminals are properly wired and securely connected the input power terminals motor output power terminal encoder in...

Page 55: ...arm 150ms 6 1 4 Holding brake In applications where the motor drives the vertical axis this brake would be used to hold and prevent the work moving load from falling gravity while the power to the servo is shut off Never use this for Brake purpose to stop the load in motion Use this built in brake for holding purpose only That is to hold the stalling status For the brake release timing at power on...

Page 56: ...n time setup User specified millisecond 4 Pr314 Sigmoid acceleration deceleration time setup User specified millisecond 5 Pr005 Command pulse input select 0 6 Pr007 Command pulse mode select 3 7 Pr402 DI3 input selection Srv on hex 83 8 Pr518 Command pulse prohibit input invalidation 1 9 Pr7 15 Motor model input 10 Pr7 16 Encoder selection SI1and SI2 function select Pulse Direction Pr4 00 Pr4 01 P...

Page 57: ...controller or the speed command set in the servo driver 3 Torque mode Pr0 01 2 The torque control is performed according to the torque command specified in the form of analog voltage or the command set in the servo driver 4 1st mode position mode 2nd mode speed mode Pr0 01 3 The control mode is switched through external input 5 1st mode position mode 2nd Mode torque mode Pr0 01 4 The control mode ...

Page 58: ...ram Corresponding parameters setup of position control mode 1 Process of command pulse input The positional commands of the following 3 types pulse train are available A B phase pulse Positive direction pulse negative direction pulse Pulse Direction Please set the pulse configuration and pulse counting method based on the specification and configuration of installation of the host controller Table...

Page 59: ...ver EncoderPulseOutput No Parameter Name Setup method 1 Pr0 11 Encoder pulse output molecular Please refer to chapter 4 2 Pr0 12 Pulse output logic reverse 3 Pr5 03 Pulse output divide frequency denominator 4 Pr5 33 Pulse regeneration output boundary set 5 Deviation Counter clear The deviation counter clear input CL clears the counts of positional deviation counter at the position control to 0 Tab...

Page 60: ...bit input invalid setup Please refer to chapter 4 2 Pr5 19 Command pulse prohibit input read setup And the input port should be assigned for INH for details of these parameters refer to Pr4 02 Pr4 09 8 Other setup for SI SO function For details of SI input function refer to Pr4 02 Pr4 09 For details of SO output function refer to Pr4 10 Pr4 15 ...

Page 61: ...e signal So the coordinate system zero of mechanical motion is determined Limit signal homing home signal homing and manual homing selectable Homing direction settable set Home shift position settable Can be positioned to the specified location after homing Homing acceleration and deceleration settable Remark Cannot input external pulse during homing JOG Control positive negative point move by I O...

Page 62: ...pt unit 10000P r 2 PRonly effective under PR position control mode P0 01 0 7 1 2 Installation wiring IO terminal wiring and parameter configuration Newly added IO of PR on the base of standard IO Relevant parameters Parameter Name Specification Pr4 02 Pr4 07 DI input selection Specific of the 8 input terminals function distribution refer to functional allocation table Pr4 10 Pr4 15 DO output selec...

Page 63: ...tch TC SEL 09h 89h Remark CMD_OK means PR instruction is sent maybe motor is not yet in place MC_OK means PR instruction is sent and motor is in place CTRG HOME is edge trigging but effective level need to last more than 1ms 232 terminal connection diagram CN7 Pin Detail RS232 1 5V 2 TX 3 GND 4 RX 485 terminal connection diagram Cn8 Pin Signal Detail CN8 485 IN 1 RS485 485data 3 RS485 485 data 5 4...

Page 64: ...ive software limit H 32 2 31 0x7FFF Positive software limit high16bit during homing software limit invalid Pr8 07 Positive software limit L 0XFFFF Positive software limit low16bit Pr8 08 Negative software limit H 32 2 31 0x8000 Negative software limit high16bit The precision of software limit is 0 1 round Pr8 09 Negative software limit L 0 Negative software limit low16bit Pr8 10 Homing Method hex ...

Page 65: ...n when the limit is encountered P8 23 STP e stop speed 16 1 32767 50 E stop speed when the STOP signal is encountered P8 24 Reserved 16 0 0 P8 25 Reserved 16 0 0 P8 26 Reserved 16 0 0 P8 27 Reserved 16 0 0 P8 28 Reserved 16 0 0 P8 29 Reserved 16 0 0 P8 30 Reserved 16 0 0 P8 31 Reserved 16 0 0 P8 32 Reserved 16 0 0 P8 33 Reserved 16 0 0 P8 34 Reserved 16 0 0 P8 35 Reserved 16 0 0 P8 36 Reserved 16 ...

Page 66: ... running 3 Homing 4 Stop use P V H to express Bit4 INS 0 do no interrupt 1interrupt Use to express not interrupt Bit5 OVLP 0do not overlap 1overlap Use SJ to express no overlap jump CJ to express overlap jump right now no Bit6 7 0absolute 1 relative instruction 2 relative to the motor ABS INC REL Bit8 13 0 15Jump to the corresponding path Use SJ0x or CJ0x to express Bit14 JUMP 0 No jump 1 jump use...

Page 67: ...tion type for specific meaning Pr9 06 PR 1 Pause time 16 0 327 67 0 The pause of path delay time parameter etc Refer to PR motion type for specific meaning Pr9 07 PR 1 Reserved 16 0 0 PR 0 path is mapped toP8 02 parameters Used to trigger actions Other paths standby is invalid Pr9 08 15 PR2 As above As above As above As above Pr9 16 23 PR3 Pr9 24 31 PR4 Pr9 32 39 PR5 Pr9 40 PR6 Pr9 48 PR7 Pr9 56 P...

Page 68: ...Bit8 0 homing process without Z signal detect 1 homing process with Z signal detect Pr8 11 Pr8 12 Zero point position Zero point position on the coordinate axes Pr8 11 for high 16bit Pr8 12 for low 16bit Pr8 13 Pr8 14 Homing jump position Motor move to the specified location and stop after homing If homing mode bit1 enable then move to the absolute position after homing P813 for high 16bit P814 fo...

Page 69: ...n Pr9 00 Motion mode path 0 PR path mode determine the action according to type property Bit0 3 Motion Type 0 No Action 1 Position Mode 2 Speed running 3 Homing 4 Stop use P V H to express Bit4 INS 0 do no interrupt 1interrupt Use to express not interrupt Bit5 OVLP 0do not overlap 1overlap Use SJ to express no overlap jump CJ to express overlap jump right now no Bit6 7 0absolute 1 relative instruc...

Page 70: ...5 finished ADD0 3 Path5 Path X Single path motion 2 Multi path interrupt motion Interrupt function means a higher path s priority Interrupt the current valid path give up the current path and run the new path directly Similar to the interrupt priority level of functions P9 00 bit4 0 interrupt Path 5 unfinished Speed CTRG rising edge ADD0 3 Path5 Path 9 Path 9 interrupt valid rising edge INS give u...

Page 71: ...nuous path motion without overlap 4 Continuous path motion with overlap After arriving at the first path position start another path motion automatically without trigger signal P9 00 bit5 1 continuous path motion with overlap Path 5 unfinished Speed CTRG rising edge ADD0 3 Path5 Path 9 Path 9 interrupt valid After arriving at path 5 position switch to the path 9 Continuous path motion with overlap...

Page 72: ...22 Position limit E stop time Acceleration deceleration after position limit Pr8 23 E stop time Acceleration deceleration after E stop Pr3 12 JOG Acceleration time Unit ms 1000rpm Pr3 13 JOG Deceleration time Unit ms 1000rpm Pr6 04 JOG speed Unit rpm DI Input terminal Forced E stop STP 22h Positive JOG JOG 23h Negative JOG JOG 24h Positive position limit PL 25h Negative position limit NL 26h 1 JOG...

Page 73: ...ion no need to change 21 to 53 For EL5 485 communication need to change 21 to 53 For ELP 485 communication need to change 21 to 53 Pr5 30 Communication baud rate Setting value Baud rate Setting value Baud rate 0 2400bps 4 38400bps 1 4800bps 5 57600bps 2 9600bps 6 115200bps 3 19200bps Baud rate deviation is 2400 38400bps 5 57600 115200bps 2 Pr5 31 Device No Modbus sub stationaddressnumber SlaveID P...

Page 74: ...ommand positionH Read only 0x602b Pr8 43 Command positionL Read only 0x602c Pr8 44 Motor position H Read only 0x602d Pr8 45 Motor position L Read only 0x602e Pr8 46 Input IO status Read only 0x602f Pr8 47 Output IO status Read only Pr9 00 Pr9 07 PR0 parameters 0x6200 Pr9 00 PR0 mode HEX 0x6201 Pr9 01 PR0 position H Pulse 0x6202 Pr9 02 PR0 position L Pulse 0x6203 Pr9 03 PR0 speed r min 0x6204 Pr9 0...

Page 75: ...ameters The same with Pr9 00 Pr9 07 0x6260 0x6267 Pr9 96 Pr9 103 PR12 parameters The same with Pr9 00 Pr9 07 0x6268 0x626f P9 104 Pr9 11 1 PR13 parameters The same with Pr9 00 Pr9 07 0x6270 0x6277 Pr9 112 Pr119 PR14 parameters The same with Pr9 00 Pr9 07 0x6278 0x627f Pr9 120 Pr127 PR15 parameters The same with Pr9 00 Pr9 07 7 4 2 485 communication Installation wiring Bus connector Cn8 Pin Signal ...

Page 76: ...Write 0x020 homing Write 0x021 current position manual set to zero Write 0x040 E stop Read 0x000p means positioning accomplished can receive new data Read 0x01P 0x020 0x040 means still does not response to instructions Read 0x10P means path is running Read 0x200 means instruction accomplished and wait for positioning Set path 0 parameters as the table showing path 1 path15 parameters are the same ...

Page 77: ...he current path at each time at the same time trigger the operation of this path Realize position speed homing and such actions by a data frame This method adopt PR0 to implement PR0 has 8 data in total the last data P9 07 of it will mapped to P8 02 write in 0x10 can trigger PR0 operation immediately realize data trigger running immediately Operating steps 1 Firstly configure homing and path which...

Page 78: ... 2 Enable drive 3 Implement choice and start of actions by write corresponding instructions into 0x6002 Pr8 02 Write 0x01P P segment positioning write 0x010 to run path 0 write 0x013 to run path 3 Write 0x020 Homing Write 0x021 current position manual set to zero Write 0x040 E stop Read 0x000p means positioning accomplished can receive new data Read 0x01P 0x020 0x040 means still does not response ...

Page 79: ...1 ID Sub station No 0 31 ID Sub station No 0 31 2 FC Function code 0x10 FC Function code 0x10 3 ADDR Address 0x62 ADDR Address 0x62 4 0x00 0x00 5 NUM1 Data quantity Word 0x00 NUM Actually written data quantity 0x00 6 0x08 0x08 7 NUM2 Data quantity Byte 0x10 CRC Check code Lo Hi 8 9 P9 00 Mode XXXX 10 11 P9 01 High position XXXX 12 13 P9 02 Low position XXXX 14 15 P9 03 Speed XXXX 16 17 P9 04 Accel...

Page 80: ...0 08 10 00 01 00 01 86 A0 01 F4 00 64 00 64 00 00 00 10 67 B3 11 slave ID 17 10 function code write multi data Example for writing 2 data as blow FC 0x10 write multi data Order Sending orders Master Slave Return command Slave Master 1 ID Sub station No 0 31 ID Sub station No 0 31 2 FC Function code 0x10 FC Function code 0x10 3 ADDR Address 0x62 ADDR Address 0x62 4 0x00 0x00 5 NUM1 Data quantity Wo...

Page 81: ...decimal data of the delay time 0ms 00 10 data written down to the eight addresses of 6207 mapped to Pr9 07 to trigger the action Immediately trigger method 1P Immediately trigger path P The sample Pr9 00 9 07 is the positioning related data of path 0 67 B3 the CRC verification code do not have to directly input click the corresponding send area verification button automatically generated The final...

Page 82: ...slave ID 17 10 function code write multi data 62 00 first address mapped to Pr9 00 00 08 8 consecutive operating addresses from 62 00 to 62 07 mapped to Pr9 00 Pr9 07 10 Hexadecimal data of the number of data 8 register each address data is divided into high and low bits 8 2 16 00 02 data written down to the first addresses of 6200 mapped to Pr9 00 Motion Model Speed mode 00 00 00 00 data written ...

Page 83: ...or drive parameter setting and save steps for debugging is 1 Three loop control parameters According to the position mode debugging method 2 Set the work mode to be PR mode Pr0 01 0 Internal SERVO enabled Pr4 00 383 set the distribution of IO register P4 0 P4 13 Confirm the running direction and so on 3 Setting up the PR basic control parameters through upper computer s Pr MODE interface Include t...

Page 84: ...th is speed running jump to No 1 path with delay and can interrupt running _HOME means that path is homing movement _END means that path is E stop 5 Test run After confirming that the parameters are set correctly the test begins The interface is shown below Click the number marked red in the figure and click start to run according to the speed in the path parameter configuration diagram Click the ...

Page 85: ...ber communication protocol is Modbus RTU protocol Parameter Address decimalism Address HEX Data Width Pr0 00 Pr0 24 0 24 0x0 0x18 16 bit data Pr1 00 Pr1 39 25 64 0x19 0x40 Pr2 00 Pr2 29 65 94 0x41 0x5E Pr3 00 Pr3 29 95 124 0x5F 0xD6 Pr4 00 Pr4 49 125 174 0x7D 0xFE Pr5 00 Pr5 39 175 214 0xAF 0xD6 Pr6 00 Pr6 39 215 254 0xD7 0xFE Pr7 00 Pr7 91 255 349 0xFF 0x15D Pr8 00 Pr8 49 24576 24625 0x6000 0x603...

Page 86: ...onitoring data 4 0x1F6 R Specification 2 2 1 Status monitoring status monitoring X pointer 0x191 0x194 status monitoring X Data 0x1F3 0x1F6 X 1 2 3 4 Status monitoring X data and status monitoring X pointer one to one correspondence Status monitoringX data feedback status monitoring X pointer points to the data The corresponding data of status monitoring X pointer are as below Pointer value Name U...

Page 87: ...pulse input is prohibited INH R W 1 valid 0 invalid 8 Reserved 9 Reserved 10 Reserved 11 Electronic gear selection 1 DIV1 R W 1 valid 0 invalid 12 Electronic gear selection 2 DIV2 R W 1 valid 0 invalid 13 Internal instruction speed choice 1 INTSPD1 R W 1 valid 0 invalid 14 Internal instruction speed choice 2 INTSPD2 R W 1 valid 0 invalid 15 Internal instruction speed choice 3 INTSPD3 R W 1 valid 0...

Page 88: ... Reserved 12 Reserved 13 Speed command have output or not VCMD R 1 valid 0 invalid 14 alarm signal ALARM R 1 valid 0 invalid 15 Reserved Reserved 3 Alarm signal Sort Name Address Operation Unit Specification Alarm signal Servo error alarm 0x1f2 R Refer to explain 3 Explain3 3 Alarm signal define ADD 0x1f2 The value of the bit 11 0 HEX High 4 bit 15 12 must be shielded Alarm List The value of the b...

Page 89: ...tion command 1 Control word 0x19A W Refer to explain 4 Status word 0x1F7 R Explain4 3 Auxiliary function operation procedure Start the related functions by transmit control word estimate completion by querying status wordState word back to initial status automatically after been read Auxiliary function as below Address Control word Auxiliary function 0x19A 0x4444 Download default parameters Except...

Page 90: ... Control power Voltage V DC12 24 DC12 24 DC12 24 DC12 24 Current mA 12 12 12 12 Control method IGBT PWM sinusoidal Wave Drive Overload 300 Brake resistor External connection Protection rank IP20 Communication Connection Pulse input 2 fast pulse input 5V only Digital input output 6 programmable OC inputs 24V 1programmable differential outputs 2 programmable OC outputs 24V Analog input 1 analog outp...

Page 91: ...rameters to the driver and save it and restart the driver to make the new value available Refer to Quick Reference Of ELD2 series Servo Product pdf for details about tuning the servo Notice Please contact tech leadshine com for technical service for 3rd party motor Motor type Pr715 Pr716 ELDM6020V36HL A5 4 1 ELDM6020V48HL A5 B 1 ELDM6040V48HL A5 C 1 ELDM6040V60HL A5 D 1 ELDM4005V24HL B5 8 4 ELDM40...

Page 92: ...l Support Tel 86 755 2641 8447 86 755 2641 8774 for Asia Australia Africa areas 86 755 2665 5136 for America areas 86 755 8654 2465 for Europe areas Fax 86 755 2640 2718 Email tech leadshine com for All Sales Hot Line Tel 86 755 2641 7674 forAsia Australia Africa areas 86 755 2640 9254 forEurope areas 86 755 2641 7617 forAmerica areas Email sales leadshine com ...

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