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User Manual for ELD5 Servo

(V1.00)

www.leadshine.com

39

Pr4.01* Input selection SI2

Range

unit default

Related

control mode

0-00FFFFFFh

-

00828282h

P

S T

Pr4.02* Input selection SI3

Range

unit default

Related

control mode

0-00FFFFFFh

-

00818181h

P

S T

Pr4.03* Input selection SI4

Range

unit default

Related

control mode

0-00FFFFFFh

-

00919191h

P

S T

Pr4.04* Input selection SI5

Range

unit default

Related

control mode

0-00FFFFFFh

-

00000007h

P

S T

S Set SI1 input function allocation.
This parameter use 16 binary system to set up the values, as following :
00- - - - * * h: position control
00- - * * - - h: velocity control
00* * - - - - h: torque control
Please at [**] partition set up function number
For the function number, please refer to the following Figure.

Signal name

symbol

Set value

a-contact

b- contact

Invalid

-

00h

Do not setup

Positive direction over-travel inhibition input

POT

01h

81h

negative direction over-travel inhibition input

NOT

02h

82h

Servo-ON input

SRV-ON

03h

83h

Alarm clear input

A-CLR

04h

Do not setup

Control mode switching input

C-MODE

05h

85h

Gain switching input

GAIN

06h

86h

Deviation counter clear input

CL

07h

Do not setup

Command pulse inhibition input

INH

08h

88h

Electronic gear switching input 1

DIV1

0Ch

8Ch

Electronic gear switching input 2

DIV2

0Dh

8Dh

Selection 1 input of internal command speed

INTSPD1

0Eh

8Eh

Selection 2 input of internal command speed

INTSPD2

0Fh

8Fh

Selection 3 input of internal command speed

INTSPD3

10h

90h

Speed zero clamp input

ZEROSPD

11h

91h

Speed command sign input

VC-SIGN

12h

92h

Torque command sign input

TC-SIGN

13h

93h

Forced alarm input

E-STOP

14h

94h

Note:
1.

a-contact means input signal comes from external controller or component ,for example: PLC .

2.

b-contact means input signal comes from driver internally.

3.

Don’t setup to 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 SO1

Range

unit default

Related

control mode

0-00FFFFFFh

-

00010101h

P

S T

Pr4.11* Output selection SO2

Range

unit

Related

control mode

0-00FFFFFFh

-

00020202h

(131586)

P

S T

Pr4.12* Output selection SO3

Range

unit

Related

control mode

0-00FFFFFFh

-

00000704h

(65793)

P

S T

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Summary of Contents for ELD5 Series

Page 1: ...User Manual for ELD5 Servo V1 00 www leadshine com 1 User Manual Of ELD5 Servo V1 00 ...

Page 2: ...esult in loss of life or serious injury Caution indicates that the error operation could result 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...

Page 3: ...r and servo motor installed correctly After correctly connecting cables insulate the live parts with insulator Caution The wiring must be connected correctly and steadily otherwise servo motor may run incorrectly 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 ...

Page 4: ...signal before restart Keep away from machine because of restart suddenly if the driver is powered on again after momentary interruption 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 reco...

Page 5: ...3 2 Driver Terminals Function 16 3 2 1 Control Signal Port CN1 Terminal 16 3 2 2 Encoder Input Port CN2 Terminal 17 3 2 3 Communication Port 18 3 2 4 Power Port 18 3 2 5 Bus connector 18 3 3 I O Interface Principle 19 3 3 1 Switch Input Interface 19 3 3 2 Switch Output Interface 19 3 3 3 Pulse Input Interface 20 3 3 4 Analog Value Input Interface 21 3 3 5 Servo Motor Encoder Input Interface 21 Cha...

Page 6: ...trial Run 64 7 1 1 Inspection on wiring 64 7 1 2 Timing chart on power up 65 7 1 3 Timing chart on fault 65 7 1 4 holding brake 65 7 2 Trial Run 66 7 2 1 Jog Control 66 7 2 2 Position Control 67 7 2 3 Velocity Control 68 7 2 4 Torque Control 69 7 3 Automatic Control Mode Run 70 7 3 1 Operation Mode Selection 70 7 3 2 Position Mode 71 7 3 3 Velocity Mode 74 7 3 4 Torque Mode 77 Chapter 8 Product Sp...

Page 7: ...to 1 223 r Simple flexible to control By modifying the parameters of the servo system the operating characteristics make the appropriate setting to suit different requirements 1 2 Inspection of product 1 You must check the following thing before using the products a Check if the product is damaged or not during transportation b Check if the servo driver motor are complete or not c Check the packin...

Page 8: ...otor appearance 3 Accessory ELD5 series servo driver standard accessories a user manual b CN1 connector DB26 c CN2 plug DB15 pin Connection to controller key 6 bit LED Connection to encoder Connection to PC for configuration Power supply Connection for motor power ...

Page 9: ...00w 60mm 36V 3000rpm 0 64Nm 5000line encoder Brake ELDM 6040V48HL C5 400w 60mm 48V 3000rpm 1 27Nm 5000line encoder ELDM 6040V48HM C5 400w 60mm 48V 3000rpm 1 27Nm 5000line encoder Medium inertia ELDM 6040V48GL C5 400w 60mm 48V 3000rpm 1 27Nm 5000line encoder Brake ELDM 6040V60HL C5 400w 60mm 60V 3000rpm 1 27Nm 5000line encoder ELDM 6040V60GL C5 400w 60mm 60V 3000rpm 1 27Nm 5000line encoder Brake EL...

Page 10: ...LD5 series driver ACM 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...

Page 11: ...ervo V1 00 www leadshine com 11 Figure 2 1 installation method of driver ELD5 400 U ELD5 400 U Z 2 2 2 Installation Space Reserve enough surrounding space for effective cooling Figure 2 2 Installation Space for Single Driver ...

Page 12: ...ing motor shaft 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 ste...

Page 13: ...nd 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 12mm2 AWG24 26 the shield should be connected to FG terminal Length of line cable length should be as short as possible and control CN1...

Page 14: ...for configuration with RS232 220Ω 3 PUL 4 PUL 5 DIR 220Ω 6 DIR CN2 U PE W V 2 7 8 9 20 A 21 A 22 B 23 B 25 GND 24 OCZ Vdc GND DC power supply 19 26 5V GND 5V 24v pulse signal no need to add resistor even if voltage of pulse larger than 5V Use twisted wire with shield for pulse input Encoder signal output Use twisted wire with shield for encoder signal output Figure 3 1 Positional Control Mode Wiri...

Page 15: ... 4 7K NOT 4 7K ZEROSPD 4 7K 12 24Vdc 13 S RDY 14 ALM INP COM 15 BRK OFF 18 16 CN3 CN2 U PE W V 2 7 8 20 A 21 A 22 B 23 B 25 GND 24 OCZ Vdc GND DC power supply 19 26 5V GND 11 12 Vin Vin 10V 10V analoginput 9 Encoder signal output Connection for configuration with RS232 Figure 3 2 Torque Velocity Control Mode Wiring ...

Page 16: ... input respectively TTL level 5V the rising edge available in default 4 PUL Input 5 DIR Input Positive and negative direction input respectively TTL level 5V optical coupling deadline available in default 6 DIR Input 7 SI2 FL Input Digital input signal 2 default value is forward run prohibited POT signal in position mode low level available in default max voltage is 24V input 8 SI3 RL Input Digita...

Page 17: ... 23 B Output 24 Z Output Positive negative differential output terminal of motor encoder Z phase 25 Z Output 26 GND Output Power ground 3 2 2 Encoder Input Port CN2 Terminal Table 3 2 Encoder Input Port CN2 Terminal Signal for ELD5 400 or ELD5 400U Pin Signal Name Terminal Arrangement Figure 1 EA Encoder channel A input EA FG EA EB EZ EB 3 GND EZ 13 4 9 14 5 10 15 5V HW HV HW HV HU HU 1 6 11 2 7 1...

Page 18: ... name 1 GND Power ground 2 TxD sending terminal of RS232 3 5V Reserved the current is less than 50mA 4 RxD received terminal of RS232 5 RS485 Reserve RS485 A 6 RS485 Reserve RS485 B 3 2 4 Power Port Table 3 5 Main Power Input Port CN4 CN4 Pin Signal Detail CN4 1 VDC 24V 60V 2 GND Power Ground 3 RBr Brake input 4 W Motor W 5 V Motor V 6 U Motor U 7 PE Shield 3 2 5 Bus connector CN5 Pin Signal Detai...

Page 19: ...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 requirements If you exceed the requirements or output directly connected with the power supply the servo drive is dama...

Page 20: ...ng of single ended drive will cause reduction of the operation frequency 4 The user provide external 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 ...

Page 21: ... 3μs ts 1μs 2 5μs tqck 8μs 10μs 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 pulse frequency 500KHZ 3 3 4 Analog Value Input Interface Figure 3 9 Analog Input Interface 3 3 5 Servo Motor Encoder Input Interface Driver side Figure 3 11 Servo Motor optical electrical Encoder Input Interface ...

Page 22: ...4 position deviation excess setup P Class 1 Gain Adjust 00 1st 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 fil...

Page 23: ... 6th speed setup S 10 7th speed setup S 11 8th speed setup S 12 time setup acceleration S 13 time setup deceleration S 14 Sigmoid acceleration deceleration time setup 15 Speed zero clamp function selection S T 16 Speed zero clamp level T 18 Torque command direction selection T 19 Torque command input gain T 20 Torque command input reversal T 21 Speed limit value 1 P S T 24 maximum speed of motor r...

Page 24: ... P S T 08 Main power off LV trip selection P S T 09 Main power off detection time P S T 13 Over speed level setup P S T 15 I F reading filter P S T 28 LED initial status P S T 29 RS232 baud rate setup P S T 30 RS485 baud rate setup P S T 31 Axis address P S T 35 Front panel lock setup P S T Class 6 Special Setup 03 JOG trial run command torque P S T 04 JOG trial run command speed P S T 08 Positive...

Page 25: ...on a Choose the right control mode Pr001 20 b Set up the inertia of ratio Pr004 c Set up the rigidity Pr003 d Set up the Pr000 1 If no multi axis synchronous movement set Pr000 as 1 or more than 10 2 If multi axis synchronous movement needed set Pr000 as the same for all the axes 3 If Pr000 is more than 10 start with 100 or 150 200 250 Caution 1 Set up the right control mode the right inertia of r...

Page 26: ...igher the velocity response and servo stiffness will be obtained However when decreasing the value check the resulting operation to avoid oscillation or vibration Control gain is updated while the motor is stopped If the motor can t be stopped due to excessively low gain or continuous application of one way direction command any change made to Pr0 03 is not used for update If the changed stiffness...

Page 27: ...x Input Frequency Smallest Time Width t1 t2 t3 t4 t5 t6 Pulse series interface Long distance interface 500kpps 2 1 1 1 1 1 Open collector output 200kpps 5 2 5 2 5 2 5 2 5 2 5 Pr0 08 Command pulse counts per one motor revolution Range unit default Related control mode 0 32767 pulse 0 P Set the command pulse that causes single turn of the motor shaft When this setting is 0 Pr009 1st numerator of ele...

Page 28: ...00 Pr0 11set value Pr5 03 set value output pulse encoder pulse Pulse output resolution after dividing double frequency 4 times Pr0 11 pulse output divide frequency molecule Pr5 03 pulse output divide frequency denominator Pulse output resolution encoder 4 Pr0 12 Reversal of pulse output logic Range unit default Related control mode 0 1 0 P S T You can set up the B phase logic and the output source...

Page 29: ...in you need higher setup of this velocity loop gain as well However too high setup may cause 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 9...

Page 30: ... Range unit default Related control 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 con...

Page 31: ...kept below level hysteresis previously during delay time with the 2nd gain 4 reserve reserve 5 Speed command is large Valid for position 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...

Page 32: ...speed r min torque Notice set the level equal to or higher than the hysteresis Pr1 18 Hysteresis at position control switching Range unit default Related control mode 0 20000 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...

Page 33: ...h depth selection Range unit default Related control mode 0 99 0 P S T Set the depth of notch at the center frequency of the 1st notch filter Notice Higher the setup shallower the notch depth and smaller the phase delay you can obtain Pr2 04 2nd notch frequency Range unit default Related control mode 50 2000 HZ 2000 P S T Set the center frequency of the 2nd notch filter Notice the notch filter fun...

Page 34: ...r3 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 inputs only Setup value Speed setup method 0 Analog speed command SPR 1 Internal speed command 1st to 4th speed PR3 04 PR3 07 2 Internal speed command 1st to 3rd speed PR3 04 PR3 06 Analog speed comma...

Page 35: ...irection 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 command speed You can set up slope of relation between the command input voltage and motor speed with Pr3 02 Default is set to Pr3 02 500 r min V hence in...

Page 36: ...3 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 0 S Set up internal command sp...

Page 37: ...The motor runs no matter what the value of Pr3 16 is The actual velocity is controlled by external the analog voltage input 2 If Pr3 15 1 and the input signal of Zero Speed is available in the same time 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 matter what the value of Pr3 16 is 3 If P...

Page 38: ...ge 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 voltage direction voltage direction 1 reversal voltage direction voltage direction Pr3 21 Speed lim...

Page 39: ...ng input GAIN 06h 86h Deviation counter clear input CL 07h Do not setup Command pulse inhibition input INH 08h 88h Electronic gear switching input 1 DIV1 0Ch 8Ch Electronic gear switching input 2 DIV2 0Dh 8Dh Selection 1 input of internal command speed INTSPD1 0Eh 8Eh Selection 2 input of internal command speed INTSPD2 0Fh 8Fh Selection 3 input of internal command speed INTSPD3 10h 90h Speed zero ...

Page 40: ...g input 1 Pr4 23 Analog input 1 AI1 filter Range unit default Related control mode 0 6400 0 01ms 0 S Set up the time constant of 1st delay filter that determines the lag time behind the voltage applied to the analog input 1 Pr4 31 Positioning complete range Range unit default Related control mode 0 10000 Encoder unit 10 P Set up the timing of positional deviation at which the positioning complete ...

Page 41: ...mmand is received during hold time Pr4 34 Zero speed Range unit default Related control mode 10 20000 r min 50 P S T You can set up the timing to feed out the zero speed detection output signal ZSP or TCL in rotate speed r min The zero speed detection signal ZSP will be fed out when the motor speed falls below the setup of this parameter Pr4 34 the setup of pr4 34 is valid for both positive and ne...

Page 42: ...1ms 0 P S T Motor brake delay time setup mainly used to prevent servo on galloping phenomenon Set up the time from when the brake release signal BRK OFF turns off to when the motor is de energized servo free when the motor turns to servo off while the motor is at stall Set up to prevent a micro travel drop of the motor work due to the action delay time tb of the brake After setting up Pr4 37 tb th...

Page 43: ...ve motor lost power Pr5 00 2nd numerator of electronic gear Range unit default Related control mode 1 32767 1 P S T Pr5 01 3rd numerator of electronic gear Range unit default Related control mode 1 32767 1 P S T Pr5 02 4th numerator of electronic gear Range unit default Related control mode 1 32767 1 P S T Pr5 03 Denominator of pulse output division Range unit default Related control mode 1 2500 2...

Page 44: ...hutoff while the main power is kept shut off continuously The main power off detection is invalid when you set up this to 2000 Pr5 13 Over speed level setup Range unit default Related control mode 0 20000 r min 0 P S T If the motor speed exceeds this setup value Err1A 0 over speed protect occurs The over speed level becomes 1 2 times of the motor max speed by setting up this to 0 Pr5 15 I F readin...

Page 45: ...s 5 57600 115200bps 2 Pr5 31 Axis address Range unit default Related control mode 0 127 1 P S T During communication with the host e g PC to control multiple shafts the shaft being accessed by the host should be identified Notice when using RS232 RS485 the maximum valid value is 31 Pr5 35 Front panel lock setup Range unit default Related control mode 0 1 0 P S T Lock the operation on the front pan...

Page 46: ... T This three parameters may apply feed forward torque superposition directly to torque command Pr6 20 Trial run distance Range unit default Related control mode 0 200 0 1rev 10 P The distance of running each time in JOG run position control Pr6 21 Trial run waiting time Range unit default Related control mode 0 30000 Ms 1000 P The waiting time after running each time in JOG run position control P...

Page 47: ... 1 Error Code List Error code content Attribute Main Sub history Immediate stop Can be cleared FPGA communication error Current detection circuit error Analog input circuit error 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 Resi...

Page 48: ...l 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 U V W terminal wiring correctly Vdc GND under voltage Check the voltage of Vdc GND terminal Make sure voltage of Vdc GND in proper range Driver inner fault ...

Page 49: ...place the driver with a new one Driver inner fault replace the driver with a new one Error code Main Extra Display Content DC bus under voltage 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 over current Cause Confirmation ...

Page 50: ...r the temperature is too high or not Strengthen cooling conditions promote the capacity of driver and motor enlarge acceleration deceleration time reduce load Error code Main Extr a Display Content motor over load Cause Confirmation Solution Load is too heavy Check actual load if the value of parameter exceed maximum or not Decrease load adjust limit parameter Oscillation of machine Check the mach...

Page 51: ...with a new one Error code Main Extra Display Content encoder data error Cause Confirmation Solution Communication data abnormal Check encoder power voltage if it is DC5V 5 or not check encoder cable and shielded line if it is damaged or not check encoder cable whether it is intertwined with other power wire or not Ensure power voltage of encoder normally ensure encoder cable and shielded line well...

Page 52: ...ded the first speed limit PA_321 Check speed command if it is too large or not check the voltage of analog speed command if it is too large or not check the 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 ...

Page 53: ...en EEPROM parameter is saved Cause Confirmation Solution Vdc GND under voltage Check the voltage of Vdc GND terminal Make sure voltage of Vdc GND in proper range Driver is damaged save the parameters for several times replace the driver with a new one The setting of driver maybe default setting which isn t suitable for motor Check the setting of driver if it is suitable for your motor Download the...

Page 54: ...nd function of keys Name Key Function Display There are 6 LED nixie tubes to display monitor value parameter value and set value Key of mode switch M Press this key to switch among 4 mode 1 data monitor mode 2 parameter setting mode 3 auxiliary function mode 4 EEPROM written mode Confirming key ENT Entrance for submenu confirming input Up key Press this key to increase the set value of current fla...

Page 55: ...layed 2 Press M key to switch the data monitor mode parameter setting mode auxiliary function mode EEPROM written mode 3 If new abnormal alarm occurs the abnormal alarm will be displayed immediately in abnormal mode no matter what the current mode is press M key to switch to the other mode 4 In data monitor mode press or to select the type of monitor parameter Press ENT to enter the parameter type...

Page 56: ...xxxx 8 d08FPS External scale feedback pulse sum pulse Low bit L xxxx High bit H xxxx 9 d09cnt Control mode Position Speed Torque Composite mode 10 d10Io I O signal status Input In0x y x interface number arbitrary value between1 8 y invalid valid A output ot0x y x interface series number arbitrary value between1 8 y invalid valid A 11 d11Ain Analog input value v x yyyy x AI1 A AI2 b AI3 c 12 d12Err...

Page 57: ...external scale unit pulse Low bit L xxxx High bit H xxxx 26 d26hyb hybrid deviation command unit pulse Low bit L xxxx High bit H xxxx 27 d27 Pn Voltage across PN V V u xxx 28 d28 no Software version d xxx F xxx P xxx 29 d29ASE Driver serial number n xxx 30 d30NSE Motor serial number Low bit L xxxx High bit H xxxx 31 d31 tE Accumulated operation time Low bit L xxxx High bit H xxxx 32 d32Aud Automat...

Page 58: ...No Name Display Code 0 01 control mode setup 0 02 real time auto gain tuning 0 03 selection of machine stiffness at real time auto gain tuning 0 04 Inertia ratio 0 06 command pulse rotational direction setup 0 07 command pulse input mode setup 0 09 1st numerator of electronic gear 0 10 denominator of electronic gear 0 11 output pulse counts per one motor revolution 0 12 reversal of pulse output lo...

Page 59: ...filter time constant of velocity command 1 35 Positional command filter setup 1 36 Encoder feedback pulse digital filter setup 2 00 adaptive filter mode setup 2 01 1st notch frequency 2 02 1st notch width selection 2 03 1st notch depth selection 2 04 2nd notch frequency 2 05 2nd notch width selection 2 06 2nd notch depth selection 2 22 Positional command smooth filter 2 23 Positional command FIR f...

Page 60: ...mmand input gain 3 20 Torque command input reversal 3 21 Speed limit value 1 3 24 maximum speed of motor rotation 4 00 SI 1 input selection 4 01 SI 2 input selection 4 02 SI 3 input selection 4 03 SI 4 input selection 4 04 SI 5 input selection 4 10 SO 1 output selection 4 11 SO 2 output selection 4 12 SO 3 output selection 4 13 SO 4 output selection 4 22 Analog input 1 AI 1 offset setup 4 23 Analo...

Page 61: ... 15 I F reading filter 5 28 LED initial status 5 29 RS232 baud rate setup 5 30 RS485 baud rate setup 5 31 Axis address 6 03 JOG trial run command torque 6 04 JOG trial run command speed 6 08 Positive direction torque compensation value 6 09 Negative direction torque compensation value 6 20 distance of trial running 6 21 waiting time of trial running 6 22 cycling times of trial running 6 2 4 Auxili...

Page 62: ... display indicated start to correct the offset then display indicated that correction finished 6 AF_oF3 A3 automatic offset adjustment 1 press ENT to enter operation display 2 press once display indicated start to correct the offset then display indicated correction finished Table 6 6 The Locked panel conditions Mode The Locked panel conditions Monitor mode No limitation all monitored data can be ...

Page 63: ...eed to repair 5 The driver need to power off and restart again if writing is successful NOTE Don t turn off the power if EEPROM writing operation goes on otherwise it may cause a writing wrong data If this happens please reset all the parameters then do EEPROM writing operation again 6 2 6 Abnormal Alarm The front panel will automatically enter the abnormal alarm display mode if driver error occur...

Page 64: ...d and trial run with load The user need to test the driver without load for safety first Contact tech leadshine com for more technical service 7 1 Inspection Before trial Run 7 1 1 Inspection on wiring Table 7 1 inspection Item Before Run 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 te...

Page 65: ...nd 7 1 3 Timing chart on fault No fault Have fault alarm No alarm 150ms 7 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 hol...

Page 66: ...ers below there are two different modes speed JOG mode and location JOG mode Table 7 2 Parameter Setup of Velocity JOG No Parameter Name Set value Unit 1 PA_001 Control mode setting 21 2 PA_312 Acceleration time setup User specified millisecond 3 PA_313 Deceleration time setup User specified millisecond 4 PA_314 Sigmoid acceleration deceleration time setup User specified millisecond 5 PA_604 JOG t...

Page 67: ...oesn t rotate fix the trouble and try again 8 Press ENT will exit JOG control in JOG run mode 7 2 2 Position Control Notice You must do inspection before position control test run Table 7 4 Parameter Setup of Position Control No Parameter Name Input Value Unit 1 PA_001 control mode setup 20 2 PA_312 Acceleration time setup User specified millisecond 3 PA_313 Deceleration time setup User specified ...

Page 68: ...not If the motor does not run correctly refer to the Factor of No Motor running in data monitor mode 7 2 3 Velocity Control Notice You must do inspection before velocity control test run Table 7 5 Parameter Setup of Velocity Control No Parameter Name input Setup value Unit 1 PA_001 Control mode setup 21 2 PA_312 Acceleration time setup User specified millisecond 3 PA_313 Deceleration time setup Us...

Page 69: ...ng the driver to servo on status and energize the motor 6 Apply DC voltage between velocity command input VIN and VIN and gradually increase from 0V to confirm the motor runs 7 Check the motor rotational speed at monitor mode Whether rotational speed is as per the setup or not and Whether the motor stops with zero command or not If the motor does rotate at a micro speed with command voltage of 0 8...

Page 70: ...o control signal the COM and COM 3 Enter the power to the driver 4 Confirm the value of the parameters and write to the EEPROM and turn off on the power of the driver 5 Connect the Srv_on input to bring the driver to servo on status and energize the motor 6 apply DC voltage between torque command input VIN and VIN and gradually increase from 0V to confirm the motor runs 7 Check the motor torque at...

Page 71: ...ording 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 PA_001 23 The control mode is switched through external input 5 1st mode position mode 2nd Mode torque mode PA_001 24 The control mode is switched through external input 6 1st mode speed mode 2nd Mode torque mode PA_001 25 The control mode is swit...

Page 72: ...tage of pulse larger than 5V Use twisted wire with shield for pulse input Encoder signal output Use twisted wire with shield for encoder signal output Figure 7 6 Position Mode Typical Wiring Diagram 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 pu...

Page 73: ...gear smooth set the command filter Table 7 10 Parameter Setup of Position Command Filter No Parameter Name Setup method 1 PA_222 Positional command smoothing filter Please refer to chapter 4 2 PA_223 Positional command FIR filter 4 Motor encoder pulse output The information on the amount of movement can be sent to the host controller in the form of A and B phase pulses from the servo driver Table ...

Page 74: ... the servo driver ignores the command pulse disabling pulse counting function Table 7 14 Related Parameter Setup of Command Pulse Prohibit No Parameter Name Setup method 1 PA_518 Command pulse prohibit input invalid setup Please refer to chapter 4 2 PA_519 Command pulse prohibit input read setup And the input port should be assigned for INH for details of these parameters refer to PA_400 PA409 8 O...

Page 75: ...m Relevant parameters setup of velocity control mode 1 Velocity control by analog speed command The analog speed command input voltage is converted to equivalent digital speed command You can set the filter to eliminate noise or adjust the offset Table 7 15 Parameter Setup of Analog Speed Command No Parameter Name Setup method 1 PA_300 Velocity setup internal external switching Please refer to cha...

Page 76: ...peed output AT SPEED The signal AT SPEED is output as the motor reaches the speed set to Pr4 36 attained speed Table 7 18 Parameter Setup of attained speed output No Parameter Name Setup method 1 PA_436 At speed Please refer to chapter 4 And the output port should be assigned for AT SPEED for details of these parameters refer to PA_410 PA415 5 Speed coincidence output V COIN The signal is output w...

Page 77: ...s of SO output function refer to PA_410 PA_415 7 3 4 Torque Mode The torque control is performed according to the torque command specified in the form of analog voltage For controlling the torque the speed limit input is required in addition to the torque command to maintain the motor speed within the speed limit CN1 1 COM SRV ON POT 4 7K 4 7K NOT 4 7K ZEROSPD 4 7K 12 24Vdc 13 S RDY 14 ALM INP COM...

Page 78: ...nction The speed limit is one of protective functions used during torque control This function regulates the motor speed so that it doesn t exceed the speed limit while the torque is controlled Table 7 22 Parameter Setup of Speed Limit Function No Parameter Name Setup method 1 PA_321 Speed limit value 1 Please refer to chapter 4 2 PA_315 Zero clamp function selection 3 PA_302 Speed command input g...

Page 79: ...tection velocity coincidence Encoder signal output A phase B phase Z phase long distance drive mode output Alarm function Over voltage under voltage over current over load encoder error position deviation error brake alarm limit alarm over speed error etc Operation and display jog trapezoidal wave test each parameter and input output signal can be modified and saved six bit LED to display rotation...

Page 80: ...g it and minimum of motor turning unit to calculate if they can meet the requirements of the smallest position unit or not If the positional precision is high you can increase the mechanical reduction ratio or select motor with higher capacity 3 Calculate Inertia and Torque Convert mechanical reduction ratio of the load inertia and load torque to the motor shaft while the result shall be not 5 tim...

Page 81: ...otor Contact us China Headquarters Address 11 F Block A3 iPark No 1001 Xueyuan Blvd Nanshan District Shenzhen Technical 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 for Asia Australia Africa areas 86 755 2640...

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