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User manual of ELP AC Servo 

 

 
 

www.leadshine.com 

6 

7.3.3 Timing chart on fault ................................................................................................ 95

 

7.3.4 Holding brake ........................................................................................................... 95

 

7.3.5 Trial Run Jog Control ............................................................................................... 96

 

Chapter 8 Application Case............................................................................................................... 97

 

8.1 Position Control .................................................................................................................. 97

 

8.1.1 Process of command pulse input ............................................................................ 100

 

8.1.2 Electronic gear function ......................................................................................... 101

 

8.1.3 Position command filter ......................................................................................... 102

 

8.1.4 Motor encoder pulse output ................................................................................... 102

 

8.1.5 Position complete output (INP) .............................................................................. 103

 

8.2 Velocity Control ................................................................................................................ 104

 

8.2.1 Velocity control by analog speed command ........................................................... 107

 

8.2.2 Velocity control by internal speed command ......................................................... 109

 

8.2.3 Speed command acceleration and deceleration ...................................................... 112

 

8.2.4 Attained Speed signal AT-SPEED output ............................................................... 113

 

8.2.5 Speed coincidence output (V-COIN) ..................................................................... 113

 

8.2.6 Speed zero clamp (ZEROSPD) .............................................................................. 114

 

8.3 Torque Control .................................................................................................................. 115

 

8.3.1 Analog torque command input ............................................................................... 117

 

8.3.2 Torque limit function .............................................................................................. 118

 

8.4 Inertia ratio identification.................................................................................................. 119

 

8.4.1 On-line inertia ratio identification .......................................................................... 119

 

8.4.2 Off-line inertia ratio identification ......................................................................... 119

 

8.5 Vibration Suppression ....................................................................................................... 119

 

8.6 Third gain switching ......................................................................................................... 121

 

8.7 Friction torque compensation............................................................................................ 122

 

8.8 Regenerative resister setting ............................................................................................. 123

 

8.9 Security Features ............................................................................................................... 123

 

8.9.1 Speed limit ............................................................................................................. 123

 

8.9.2 Torque limit (TL-SEL) ........................................................................................... 124

 

8.10 Multi-turn absolute encoder ............................................................................................ 124

 

8.10.1 Parameters setting ................................................................................................ 124

 

8.10.2 Read absolute position ......................................................................................... 125

 

8.10.3 Alarm.................................................................................................................... 126

 

8.11 Other functions ................................................................................................................ 127

 

8.11.1 Zero speed output

（

ZSP

）

 .................................................................................. 127

 

8.11.2 Position deviation cleared

（

CL

）

 ....................................................................... 128

 

8.11.3 Position setup unit select ...................................................................................... 128

 

Chapter 9 Pr-Mode function ........................................................................................................... 129

 

9.1 Overview ........................................................................................................................... 129

 

9.1.1 Main function ......................................................................................................... 129

 

9.1.2 Installation wiring .................................................................................................. 130

 

9.2 Pr-Mode Parameters .......................................................................................................... 132

 

9.2.1 8th parameters specification ................................................................................... 132

 

9.2.2 9th parameters specification ................................................................................... 133

 

9.3 Pr-Mode motion control .................................................................................................... 134

 

9.3.1 Homing .................................................................................................................. 134

 

9.3.2 Path Motion ............................................................................................................ 136

 

9.3.3 Position limit, JOG and E-stop function. ............................................................... 139

 

9.4 Trigger method of Pr-Mode .............................................................................................. 140

 

9.4.1 Configuration software operation .......................................................................... 140

 

9.4.2 IO digital signal Trigger ......................................................................................... 142

 

9.4.3 RS485 Communication control mode .................................................................... 144

 

9.4.4 Fixed trigger method .............................................................................................. 147

 

9.4.5 Immediately trigger method ................................................................................... 148

 

9.5 Operation case ................................................................................................................... 149

 

9.5.1 IO trigger case ........................................................................................................ 149

 

Summary of Contents for ELP Series

Page 1: ...User manual of ELP AC Servo www leadshine com 1 User Manual Of ELP AC Servo Ver1 35 ...

Page 2: ...ing and motor should be under the regulations of EN 61800 5 1 Safety items indicate a potential for personal injury or equipment damage if the recommended precautions and safe operating practices are not followed The following safety alert symbols are used on the drive and in the documentation Indicates great possibility of death or serious injury Caution Indicates something that must be done Warn...

Page 3: ...drop from vibrating Prevent fluid from invading to damage motor and encoder Prohibit knocking the motor and shaft avoid damaging encoder The motor shaft can t bear the load beyond the limits Wiring Warning Warning The workers of participation in wiring or checking must possess sufficient ability do this job The wiring and check must be going with power off after 10 minutes Ground the earth termina...

Page 4: ...t off before resetting alarm signal just to prevent restarting suddenly The servo driver must be matched with specified motor Don t power on and off servo system frequently just to prevent equipment damaged Forbidden to modify servo system Fault Processing Warning Warning The high voltage also will contain in several minutes even if the servo driver is powered off please don t touch terminal strip...

Page 5: ...ce Principle 21 4 3 1 Switch Input Interface 21 4 3 2 Switch Output Interface 23 4 3 3 Pulse Input Interface 25 4 3 4 Analog Value Input Interface 27 4 3 5 Servo Motor Encoder Input Interface 28 Chapter 5 Parameter 29 5 1 Parameter List 29 5 2 Parameter Function 37 5 2 1 Class 0 Basic Setting 37 5 2 2 Class 1 Gain Adjust 43 5 2 3 Class 2 Vibration Suppression 48 5 2 4 Class 3 Velocity Torque Contr...

Page 6: ...o identification 119 8 5 Vibration Suppression 119 8 6 Third gain switching 121 8 7 Friction torque compensation 122 8 8 Regenerative resister setting 123 8 9 Security Features 123 8 9 1 Speed limit 123 8 9 2 Torque limit TL SEL 124 8 10 Multi turn absolute encoder 124 8 10 1 Parameters setting 124 8 10 2 Read absolute position 125 8 10 3 Alarm 126 8 11 Other functions 127 8 11 1 Zero speed output...

Page 7: ...152 Chapter 10 Order Guidance 158 10 1 Capacity Selection 158 10 2 Electronic Gear Ratio 158 Appendix 159 A Modbus Communication 159 A 1 Wiring 159 A 2 Parameters and interface for communication 159 A 3 Modbus Protocol 160 A 4 RS485 common problems and solutions 163 Contact us 165 ...

Page 8: ...1 Third gain switching An additional third gain is added to allow faster positioning by switching between the first and second gain 6 6 Third gain switching 12 Friction torque compensation The friction torque and gravity torque are compensated for the load 6 7 Friction torque compensation 13 Alarm processing method 6 2 Alarm Processing Method 14 IO interface principle IO input and output functions...

Page 9: ...ortation b Check if the servo drive motor are complete or not c Check the packing list if the accessories are complete or not 2 Type meaning a ELP series servo driver ELP D 2000 Z NO Details Series Num ELP Servo drive series Command source D Stand version RS RS485 EC EtherCAT Power 0400 400W 0750 750W 1000 1000W 1500 1500W 2000 2000W Encoder Z Serial encoder Model ELP D2000Z Main power input 3PH 2...

Page 10: ...bition speed zero clamp deviation counter clear alarm clear Output signal DO 6 outputs 4 single ended 2 differential Alarm output servo ready at speed zero detection 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 sp...

Page 11: ...ed 0 200kHz Digital input 9 inputs common cathode common anode 9 inputs common cathode common anode 14 inputs common cathode common anode 2 differential for capture probe Digital output 6 outputs 4 single ended 2 differential Analog input 2 analog input 10 10Vdc Network Modbus RTU RJ45 EtherCAT RJ45 Maximum frequency of pulse input 5V differential 0 500kHz 24Vsingle ended 0 200kHz 5V differential ...

Page 12: ...t 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 Protection level IP20 no protection IP54 or IP65 Contact tech leadshine com if you need more technical service 3 2 Servo Driver Installation Notice Must install in control cabinet with sufficient safeguarding grade Must ins...

Page 13: ...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 from vibrat...

Page 14: ...he 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 should be as short as possible...

Page 15: ...on in this case cancel the built in resistance If the brake resistance burns out try to reduce the regenerative energy power or put an external resistance of the same specification or even more power in this case cancel the built in resistance If d14 is too large or accumulates too fast it means that the regenerative energy is too large and the built in resistance cannot consume the generated ener...

Page 16: ...pulse signal 3 4 5 6 use twisted wire with shield for pulse input PE Use twisted wire with shield for encoder signal output Single end 24V pulse signal 16 4 17 6 CN3 17 24V DIR 2K 16 24V PUL 2K OCB OCA COM_SI COM_SO A CLR 37 29 30 ALM ALM 18 19 BRKOFF BRKOFF 21 20 1 SRV ON POT 4 7K 4 7K NOT 4 7K 4 7K 12 24Vdc 32 S RDY 33 ALM INP 34 BRK OFF 31 35 2 7 COM_SI COM_SO Figure 4 1 Positional Control Mode...

Page 17: ...7 Z 28 Z PE Use twisted wire with shield for encoder signal output CN3 OCB OCA COM_SI A CLR 37 29 30 39 AI1 40 AI1 43 AI3 44 AI3 10V 10V use twisted wire with shield for speed analog signal input 10V 10V use twisted wire with shield for torque analog signal input ALM ALM 18 19 BRKOFF BRKOFF 21 20 1 SRV ON POT 4 7K 4 7K NOT 4 7K 4 7K 12 24Vdc 32 S RDY 33 ALM INP 34 BRK OFF 31 35 2 7 COM_SO Figure 4...

Page 18: ...M_SO output Digital output common terminal Low resistor output in default OC the maximum voltage current is no more than 30V 50mA Recommend the voltage 12 V 24V Current 10mA 33 SO1 output Digital output 1 32 SO2 output Digital output 2 34 SO3 output Digital output 3 35 SO4 output Digital output 4 18 SO5 output Differential Digital output 5 Differential Digital output the maximum voltage current is...

Page 19: ...0 AI1 input 41 AGND input 43 AI3 input Analog input 3 voltage input range 10VDC 10VDC input resistor 20KΩ Mainly for torque mode Analog input 44 AI3 input 15 22 38 40 42 NC Not connection Shell FG Shield ground 4 2 2 Encoder Input Port CN2 Terminal Table 4 5 Encoder Input Port CN2 Terminal Signal Explain Port Pin Signal CN2 1 VCC5V 2 GND 3 BAT 4 BAT 5 SD 6 SD PE 4 2 3 RS232 RS485 Communication Por...

Page 20: ...ous interference it is recommended to use noise filter for power supply It is recommended to install a non fusible circuit breaker to cut off external power supply in time when the driver fails Port Pin Signal Detail X1 P Dc bus terminal Driver Dc bus terminal External regenerative resistor P terminal Br External regenerative resistor terminal External regenerative resistor terminal Notes When usi...

Page 21: ...ult 0 Data Type 16bit Access R W Address 0403H Repower o Pr4 02 Name Input selection SI3 Mode P S T Range 0 00FFFFFFh Unit Default 0 Data Type 16bit Access R W Address 0405H Repower o Pr4 03 Name Input selection SI4 Mode P S T Range 0 00FFFFFFh Unit Default 0 Data Type 16bit Access R W Address 0207H Repower o Pr4 04 Name Input selection SI5 Mode P S T Range 0 00FFFFFFh Unit Default 0 Data Type 16b...

Page 22: ... 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 in...

Page 23: ... filter Mode P S T Range 0 255 Unit 0 1ms Default 0 Data Type 16bit Access R W Address 051FH Repower o I O input digital filtering higher setup will arise control delay 4 3 2 Switch Output Interface Figure 4 4 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 max...

Page 24: ...Repower o Pr4 14 Name Output selection SO5 Mode P S T Range 0 00FFFFFFh Unit Default 101 Data Type 16bit Access R W Address 041DH Repower o Pr4 15 Name Output selection SO6 Mode P S T Range 0 00FFFFFFh Unit Default 303 Data Type 16bit Access R W Address 041FH Repower o Assign functions to SO outputs This parameter use 16 binary system do setup For the function number please refer to the following ...

Page 25: ...Driver side VCC R R Vcc 12V R 1K 0 25W Vcc 24V R 2K 0 25W Figure 4 5 Pulse Input Interface Single Terminal Drive Mode 1 In order to transmit pulse data properly we recommend using the differential drive mode 2 The differential drive mode AM26LS31 MC3487 or similar RS422 line drive 3 Using of single ended drive will cause reduction of the operation frequency The value of the resistance R depends on...

Page 26: ...le ended drive input tck 2μs 5μs th 1μs 2 5μs tl 1μs 2 5μs trh 0 2μs 0 3μs trl 0 2μs 0 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 4 6 pulse direction input interface timing the maximum of pulse frequency 500KHZ Pr0 06 Name Command Pulse Rotational Direction Setup Mode P Range 0 1 Unit Default 0 Data Type 16bit Access R W Address 00...

Page 27: ... sign 1 Positive direction pulse negative direction pulse Pulse sign 3 Pulse sign Pulse sign Command pulse input signal allow largest frequency and smallest time width PULS SIGN Signal Input I F Permissible Max 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 4 3 4 Analog Val...

Page 28: ...User manual of ELP AC Servo www leadshine com 28 4 3 5 Servo Motor Encoder Input Interface Driver side Figure 4 9 Servo Motor optical electrical Encoder Input Interface ...

Page 29: ...9H 06 command pulse rotational direction setup 0 O O 16bit R W 000DH 07 command pulse input mode setup 3 O O 16bit R W 000FH 08 command pulse per one motor revolution 10000 O O 32bit R W 0010H 0011H 09 1st numerator of electronic gear 1 O O 32bit R W 0012H 0013H 10 denominator of electronic gear 1 O O 32bit R W 0014H 0015H 11 output pulse counts per one motor revolution 2500 O O O O 16bit R W 0017...

Page 30: ...R W 010DH 07 2nd time constant of velocity loop integration 10000 O O O 16bit R W 010FH 08 2nd filter of velocity detection 15 O O O 16bit R W 0111H 09 2nd time constant of torque filter 126 O O O 16bit R W 0113H 10 Velocity feed forward gain 300 O 16bit R W 0115H 11 Velocity feed forward filter 50 O 16bit R W 0117H 12 Torque feed forward gain 0 O O 16bit R W 0119H 13 Torque feed forward filter 0 ...

Page 31: ...ch depth selection 0 O O O 16bit R W 0207H 04 2nd notch frequency 2000 O O O 16bit R W 0209H 05 2nd notch width selection 2 O O O 16bit R W 020BH 06 2nd notch depth selection 0 O O O 16bit R W 020DH 07 3rd notch frequency 2000 O O O 16bit R W 020FH 08 3rd notch width selection 2 O O O 16bit R W 0211H 09 3rd notch depth selection 0 O O O 16bit R W 0213H 14 1st damping frequency 0 O 16bit R W 021DH ...

Page 32: ...1H 09 6th speed setup 0 O 16bit R W 0313H 10 7th speed setup 0 O 16bit R W 0315H 11 8th speed setup 0 O 16bit R W 0317H 12 time setup acceleration 100 O 16bit R W 0319H 13 time setup deceleration 100 O 16bit R W 031BH 14 Sigmoid acceleration deceleration time setup 0 O O 16bit R W 031DH 15 Speed zero clamp function selection 0 O 16bit R W 031FH 16 Speed zero clamp level 30 O 16bit R W 0321H 17 Tor...

Page 33: ...ion SO4 3 O O O O 16bit R W 041BH 14 output selection SO5 1 O O O O 16bit R W 041DH 15 output selection SO6 3 O O O O 16bit R W 041FH 22 Analog input 1 AI 1 offset setup 0 O O 16bit R W 042DH 23 Analog input 1 AI 1 filter 0 O O 16bit R W 042FH 24 Analog input 1 AI 1 over voltage setup 0 O O 16bit R W 0431H 28 Analog input 3 AI 3 offset setup 0 O O 16bit R W 0439H 29 Analog input 3 AI 3 filter 0 O ...

Page 34: ...0517H 12 Over load level setup 0 O O O 16bit R W 0519H 13 Over speed level setup 0 O O O 16bit R W 051BH 15 I F reading filter 0 O O O O 16bit R W 051FH 17 Counter clear up input mode 3 O 16bit R W 0523H 20 Position setup unit select 2 O 16bit R W 0529H 21 Selection of torque limit 0 O O O 16bit R W 052BH 22 2nd torque limit 300 O O O 16bit R W 052DH 23 Torque limit switching setup 1 0 O O O 16bit...

Page 35: ... 06 Position 3rd gain scale factor 100 O 16bit R W 060DH 07 Torque command additional value 0 O O O 16bit R W 060FH 08 Positive direction torque compensation value 0 O O O 16bit R W 0611H 09 Negative direction torque compensation value 0 O O O 16bit R W 0613H 14 Emergency stop time at alarm 0 O O O 16bit R W 061DH 20 distance of trial running 10 O 16bit R W 0629H 21 waiting time of trial running 1...

Page 36: ...tio O O O 16bit R 0B0FH 16 Regeneration load ratio O O O 16bit R 0B10H 17 Digital input signal status O O O 16bit R 0B11H 18 Digital output signal status O O O 16bit R 0B12H 20 Motor position feedback Command unit O O O 32bit R 0B14H 0B15H 21 Command pulse sum Command unit O 32bit R 0B16H 0B17H 22 Positional deviation Command unit O O O 32bit R 0B18H 0B19H 23 Position command Encoder unit O O O 32...

Page 37: ...oose the right control mode Pr001 0 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 ratio and...

Page 38: ...ow High Machine stiffness Servo gain Response 81 80 70 69 68 51 50 High High Low Low Notice Lower the setup value higher 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...

Page 39: ...n 1 0 or 2 90 phase difference 2 phase pulse A phase B phase Pulse sign 1 Positive direction pulse negative direction pulse Pulse sign 3 Pulse sign Pulse sign Command pulse input signal allow largest frequency and smallest time width PULS SIGN Signal Input I F Permissible Max Input Frequency Smallest Time Width t1 t2 t3 t4 t5 t6 Pulse series interface Long distance interface 500kpps 2 1 1 1 1 1 Op...

Page 40: ...1824 1 10737 41824 Pr0 09 set value Pr0 10 set value position command Command pulse input 1 Settings 1 The driver input command pulse number is X 2 The pulse number of encoder after frequency division and frequency doubling is Y 3 The number of pulses per revolution of the motor encoder is Z 4 Number of turns of motor is W 2 Calculations 1 Y X Pr0 09 Pr0 10 2 17Bit encoder Z 2 17 131072 23Bit enco...

Page 41: ...excess range of positional deviation by the command unit default Setting the value too small will cause Err18 0 position deviation excess detection Pr0 15 Name Absolute Encoder Setup Mode P S T Range 0 15 Unit Default 0 Data Type 16bit Access R W Address 001FH Repower o How to use 0 Incremental position mode The encoder is used as a incremental encoder and the position retentive at power failure i...

Page 42: ...a Type 16bit Access R W Address 0021H Repower Set Pr 0 16 and Pr 0 17 to confirm the threshold value of the discharge loop to give alarm for over current Pr0 17 Name External regenerative resistor power value Mode P S T Range 0 10000 Unit W Default 20 Data Type 16bit Access R W Address 0023H Repower Set Pr 0 16 and Pr 0 17 to confirm the threshold value of the discharge loop to give alarm for over...

Page 43: ... the response of the velocity loop In order to increase the response of overall servo system by setting high position loop gain you need higher setup of this velocity loop gain as well However too high setup may cause oscillation Pr1 02 Name 1st Time Constant of Velocity Loop Integration Mode P S T Range 0 10000 Unit 0 1ms Default 310 Data Type 16bit Access R W Address 0105H Repower You can set up...

Page 44: ... 4 1800 20 550 5 1600 21 500 6 1500 22 450 7 1400 23 400 8 1300 24 350 9 1200 25 300 10 1100 26 250 11 1000 27 200 12 950 28 175 13 900 29 150 14 850 30 125 15 800 31 10 Pr1 04 Name 1st Time Constant of torque filter Mode P S T Range 0 2500 Unit 0 01ms Default 126 Data Type 16bit Access R W Address 0109H Repower Pr1 05 Name 2nd gain of position loop Mode P Range 0 30000 Unit 0 1 s Default 380 Data...

Page 45: ...y feed forward filter Mode P Range 0 6400 Unit 0 01ms Default 50 Data Type 16bit Access R W Address 0117H Repower 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 ...

Page 46: ...sition control switching Mode P S Range 0 10 Unit Default 0 Data Type 16bit Access R W Address 011FH Repower Set value Switching condition Gain switching condition 0 Fixed to 1st gain Fixed to the 1st gain Pr1 00 Pr1 04 1 Fixed to 2nd gain Fixed to the 2nd gain Pr1 05 Pr1 09 2 with gain switching input 1st gain when the gain switching input is open 2nd gain when the gain switching input is connect...

Page 47: ... the hysteresis is internally adjusted so that it is equal to level Pr1 19 Name position gain switching time Mode P Range 0 10000 Unit 0 1ms Default 33 Data Type 16bit Access R W Address 0127H Repower 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 this parameter Position gain switching time Notice when u...

Page 48: ...137 68 can be used to shield both 1A1 and 190 5 2 3 Class 2 Vibration Suppression Pr2 00 Name Adaptive filter mode setup Mode P S Range 0 4 Unit Default 0 Data Type 16bit Access R W Address 0201H Repower Set up the resonance frequency to be estimated by the adaptive filter and the special the operation after estimation Setup value Details 0 Adaptive filter invalid Parameters related to the 3rd and...

Page 49: ...er the notch depth and smaller the phase delay you can obtain Pr2 04 Name 2nd notch frequency Mode P S T Range 50 2000 Unit Hz Default 2000 Data Type 16bit Access R W Address 0209H Repower Set the center frequency of the 2nd notch filter Notice the notch filter function will be invalid by setting up this parameter to 2000 Pr2 05 Name 2nd notch width selection Mode P S T Range 0 20 Unit Default 2 D...

Page 50: ...p in normal operation Pr2 09 Name 3rd notch depth selection Mode P S T Range 0 99 Unit Default 0 Data Type 16bit Access R W Address 0213H Repower Set the depth of notch at the center frequency of the 3rd notch filter Notice Higher the setup shallower the notch depth and smaller the phase delay you can obtain Pr2 14 Name 1st damping frequency Mode P Range 10 2000 Unit 0 1HZ Default 0 Data Type 16bi...

Page 51: ...re below Pr2 23 Name positional command FIR filter Mode P Range 0 10000 Unit 0 1ms Default 0 Data Type 16bit Access R W Address 022FH Repower o Set up 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 5 2 4 Class 3 Velocity Torque Control Pr3 00 Name Sp...

Page 52: ...l command speed INTSPD2 selection 3 of internal command speed INTSPD3 selection of Speed command 1 OFF OFF NO effect 1st speed ON OFF 2nd speed OFF ON 3rd speed ON ON 4th speed 2 OFF OFF NO effect 1st speed ON OFF 2nd speed OFF ON 3rd speed ON ON Analog speed command 3 The same as Pr3 00 1 OFF 1st to 4th speed OFF OFF ON 5th speed ON OFF ON 6th speed OFF ON ON 7th speed ON ON ON 8th speed Pr3 01 N...

Page 53: ... use the driver in velocity control mode the setup of Pr3 02 gives larger variance to the overall servo system 3 Pay an extra attention to oscillation caused by larger setup of Pr3 02 Pr3 03 Name Reversal of speed command input Mode S Range 0 1 Unit Default 1 Data Type 16bit Access R W Address 0307H Repower Specify the polarity of the voltage applied to the analog speed command SPR Setup value Mot...

Page 54: ...eed setup Mode S Range 10000 10000 Unit r min Default 0 Data Type 16bit Access R W Address 030FH Repower Pr3 08 Name 5th speed of speed setup Mode S Range 10000 10000 Unit r min Default 0 Data Type 16bit Access R W Address 0311H Repower Pr3 09 Name 6th speed of speed setup Mode S Range 10000 10000 Unit r min Default 0 Data Type 16bit Access R W Address 0313H Repower Pr3 10 Name 7th speed of speed ...

Page 55: ... the time required for the speed command to reach from 1000r min to 0 r min to Pr3 13 Deceleration time setup Assuming that the target value of the speed command is Vc r min the time required for acceleration deceleration can be computed from the formula shown below Acceleration time ms Vc 1000 Pr3 12 1ms Deceleration time ms Vc 1000 Pr3 13 1ms Pr3 14 Name Sigmoid acceleration deceleration time se...

Page 56: ...rotating no matter what the value of Pr3 16 is 3 If Pr3 15 2 the function of zero clamp belongs to the value of Pr3 16 If the actual velocity is less than the value of Pr3 16 the motor will stop rotating in servo on condition Pr3 16 Name Speed zero clamp level Mode S Range 10 2000 Unit r min Default 30 Data Type 16bit Access R W Address 0321H Repower When analog speed given value under speed contr...

Page 57: ...nversion 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 Name Torque command input reversal Mode T Range 0 1 Unit Default 0 Data Type 16bit Access R W Address 0329H Repower Set up the polarity of the voltage applied to the analog torque command TRQR Setup value Direction of motor ...

Page 58: ...ass 4 I F Monitor Setting Pr4 00 Name Input selection SI1 Mode P S T Range 0 00FFFFFFh Unit Default 303 Data Type 16bit Access R W Address 0401H Repower o Pr4 01 Name Input selection SI2 Mode P S T Range 0 00FFFFFFh Unit Default 0 Data Type 16bit Access R W Address 0403H Repower o Pr4 02 Name Input selection SI3 Mode P S T Range 0 00FFFFFFh Unit Default 0 Data Type 16bit Access R W Address 0405H R...

Page 59: ...er to the following Figure Signal name Symbol Setup value Normally open Normally closed Invalid 00h Do not setup Positive direction over travel inhibition POT 01h 81h Negative direction over travel inhibition 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 ...

Page 60: ...A4h Forward limit PL 25h A5h Reverse limit NL 26h A6h Homing signal ORG 27h A7h Road strength address 0 ADD0 28h A8h Road strength address 1 ADD1 29h A9h Road strength address 2 ADD2 2ah Aah Road strength address 3 ADD3 2bh Abh Torque switching TC SEL 09h 89h Note CTRG HOME is edge triggered but the valid level must be last more than 1ms Pr4 10 Name Output selection SO1 Mode P S T Range 0 00FFFFFF...

Page 61: ...d command ON OFF output V CMD 0Fh Pr Mode related output setup as below Output Signal name Symbol Set value Normally open Normally closed Command complete CMD OK 20h A0h Road strength address MC OK 21h A1h Homing finish HOME OK 22h A2h Torque limit TQL 06h 86h Note CMD OK indicates PR command sent complete but the motor may not in position MC OK indicates command complete and the motor in position...

Page 62: ... Unit 0 01ms Default 0 Data Type 16bit Access R W Address 043BH Repower Set up the time constant of 1st delay filter that determines the lag time behind the voltage applied to the analog input 3 Pr4 30 Name Analog input 3 AI3 overvoltage setup Mode T Range 0 100 Unit 0 1v Default 0 Data Type 16bit Access R W Address 043DH Repower Set up the excessive level of the input voltage of analog input 3 by...

Page 63: ...elapsed After the hold time INP output will be turned ON OFF according to the coming positional command or condition of the positional deviation Pr4 33 Name INP hold time Mode P Range 0 30000 Unit 1ms Default 0 Data Type 16bit Access R W Address 0443H Repower Set up the hold time when Pr 4 32 positioning complete output setup 3 Setup value State of Positioning complete signal 0 The hold time is ma...

Page 64: ...he speed coincidence detection is associated with 10 r min hysteresis actual detection range is as shown below Speed coincidence output OFF ON timing Pr4 35 10 r min Speed coincidence output ON OFF timing Pr4 35 10 r min Pr4 36 Name At speed Speed arrival Mode S Range 10 2000 Unit r min Default 1000 Data Type 16bit Access R W Address 0449H Repower Set the detection timing of the speed arrival outp...

Page 65: ...p Mode P S T Range 0 10000 Unit 1ms Default 0 Data Type 16bit Access R W Address 044DH Repower 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 66: ...02H 0503H Repower o Set the numerator of division multiplication operation made according to the command pulse input Pr5 02 Name 2nd denominator of electronic gear Mode P Range 1 1073741824 Unit Default 1 Data Type 32bit Access R W Address 0504H 0505H Repower o Set the denominator of division multiplication operation made according to the command pulse input Instructions refer to Pr0 09 and Pr0 10...

Page 67: ...e to Err0d 0 Caution Err0d 0 main power under voltage protection is trigged when setup of Pr5 09 is long and P N voltage of the main converter falls below the specified value before detecting the main power shutoff regardless of the Pr5 08 setup Pr5 09 Name The main power OFF detection time Mode P S T Range 70 2000 Unit 1ms Default 70 Data Type 16bit Access R W Address 0513H Repower o You can set ...

Page 68: ...rating Pr5 13 Name Over speed level setup Mode P S T Range 0 10000 Unit r min Default 0 Data Type 16bit Access R W Address 051BH Repower 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 Name I F reading filter Mode P S T Range 0 255 Unit 0 1ms Default 0 Data Type 16bit Access R...

Page 69: ...500 Unit Default 300 Data Type 16bit Access R W Address 052DH Repower Set up the 2nd limit value of the motor torque output The value of the parameter is limited to the maximum torque of the applicable motor Pr5 23 Name Positive torque reached Mode P S T Range 0 300 Unit Default 0 Data Type 16bit Access R W Address 052FH Repower Default setting is 0 if the torque feedback is greater than 95 of the...

Page 70: ...river 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 Communicati on axis address 33 Temperature information 6 Command pulse sum 24 Encoder positional deviation encoder unit 36 Safety condition monitor 9 Control mode Pr5 29 Name Mode setup of RS485 communication Mod...

Page 71: ...etup Mode P Range 0 4000 Unit KHZ Default 0 Data Type 16bit Access R W Address 0541H Repower Set the maximum number of pulses to be used as command pulse input if the number of the input pulse exceeds the setup value ERR1B0 command pulse input frequency error protection occurs Pr5 35 Name Front panel lock setup Mode P S T Range 0 1 Unit Default 0 Data Type 16bit Access R W Address 0547H Repower Lo...

Page 72: ... P Range 0 1000 Unit 0 1ms Default 0 Data Type 16bit Access R W Address 060BH Repower Set up the time at which 3rd gain becomes valid When not using this parameter set PR6 05 0 PR6 06 100 This is valid for only position control full closed control Pr6 06 Name Position 3rd gain multiplication Mode P Range 0 1000 Unit 100 Default 0 Data Type 16bit Access R W Address 060DH Repower Set up the 3rd gain...

Page 73: ...he motor ratio PR6 13 load inertia rotor inertia 100 Pr6 14 Name Emergency stop time at alarm Mode P S T Range 0 3000 Unit ms Default 200 Data Type 16bit Access R W Address 061DH Repower Set up the time allowed to complete emergency stop in an alarm condition exceeding this time puts this system in alarm state Pr6 20 Name Trial run distance Mode P Range 0 1200 Unit 0 1rev Default 10 Data Type 16bi...

Page 74: ...Repower o While Pr0 15 2 Absolute position rotation mode The encoder is used as an absolute encoder and the position retentive at power failure is supported It is mainly applicable to the scenario where the load travel range is not limited and the number of motor single direction revolution is less than 0 Pr6 63 1 5 2 7 Class B Status Information Note This parameters class is only for RS485 commun...

Page 75: ...ed Mode P S T Range Unit RPM Default Data Type 16bit Access R Address 0B06H Motor speed unfiltered PrB 07 Name Actual torque feedback Mode P S T Range Unit Default Data Type 16bit Access R Address 0B07H Actual torque feedback Percentage of the rated torque PrB 08 Name Actual current feedback Mode P S T Range Unit 0 01A Default Data Type 16bit Access R Address 0B08H Actual current feedback PrB 09 N...

Page 76: ...e Unit 0 01V Default Data Type 16bit Access R Address 0B0DH Analog input2 PrB 14 Name Analog input 3 Mode P S T Range Unit 0 01V Default Data Type 16bit Access R Address 0B0EH Analog input3 PrB 15 Name Over load ratio Mode P S T Range Unit Default Data Type 16bit Access R Address 0B0FH Over load ratio PrB 16 Name Regeneration load ratio Mode P S T Range Unit Default Data Type 16bit Access R Addres...

Page 77: ...O n 1 is at low level PrB 20 Name Motor position feedback Command unit Mode P Range Unit P Default Data Type 32bit Access R Address 0B14H 0B15H Motor position feedback Command unit If the driver receives 8388608 pulse and the driver s instruction unit is 10000pulse r the encoder unit is 8388608 pulse r then the driver motor position feedback pulse number is 10000P PrB 21 Name Command pulse sum Com...

Page 78: ...ve 10000pulse the position command pulse number is 8388608 pulse PrB 24 Name Motor position encoder unit Mode P Range Unit Default Data Type 32bit Access R Address 0B1CH 0B1DH Motor position encoder unit PrB 25 Name Positional deviation encoder unit Mode P Range Unit Default Data Type 32bit Access R Address 0B1EH 0B1FH Positional deviation encoder unit PrB 26 Name Position feedback in rotation mod...

Page 79: ...uit error 0b 0 Control power under voltage 0c 0 DC bus over voltage 0d 0 DC bus under voltage 2 Power line U V W not connected 0E 0 Over current 1 over current of intelligent power module IPM 0F 0 Driver over heat 10 0 Motor over load 1 Driver over load 12 0 Resistor discharged circuit overload 1 Brake error 15 0 Encoder wiring error 1 Encoder data error 2 Encoder initial position error 3 Encoder ...

Page 80: ... correctly Main voltage L1 L2 L3 terminal voltage whether over low Check main voltage L1 L2 L3 terminal voltage Make sure voltage of L1 L2 L3 terminal in proper range Driver inner fault replace the driver with a new one Error code Main Extra Display Er 0A2 Er 0A4 0A 2 4 Content analog input circuit error Cause Confirmation Solution Analog input Wiring error Check wiring of analog input Make sure a...

Page 81: ... the driver with a new one Error code Main Extra Display Er 0d0 0d 0 Content DC bus under voltage Cause Confirmation Solution Main power L1 L2 L3 terminal under voltage Check L1 L2 L3 terminal voltage increase L1 L2 terminal Voltage Driver inner fault replace the driver with a new one Error code Main Extra Display Er 0E0 0E 0 Content over current Cause Confirmation Solution Short of driver output ...

Page 82: ...d 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 machine if oscillation exists or not Modify the parameter of control loop enlarge acceleration deceleration time wiring error of motor Check wiring if error occurs or not if line breaks or not Adjust wiring or replac...

Page 83: ...y Er 152 15 2 Content initialized position of encoder 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 with FG gro...

Page 84: ... Pr1 05 Torque limit is too small Check parameter Pr0 13 Pr5 22 value whether too small or not Enlarge the value of Pr1 03 Pr5 22 Outside load is too large Check acceleration deceleration time if it is too small or not check motor rotational speed if it is too big or not check load if it is too large or not Increase acceleration deceleration time decrease speed decrease load Error code Main Extra ...

Page 85: ...pposite with motor force direction The special assessment of practical application set 0 to 4 for PA137 to shield ERR1A1 alarm Error code Main Extra Display Er 1b0 1b 0 Content input pulse format incorrect or out of frequency Cause Confirmation Solution The input pulse frequency is too high Too high pulse frequency To decrease pulse input frequency less than 500K Error code Main Extra Display Er 1...

Page 86: ...parameter is saved Cause Confirmation Solution L1 L2 L3 terminal under voltage Check L1 L2 L3 terminal voltage Assure L1 L2 L3 terminal voltage in proper range Driver is damaged save the parameters again 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 suitable proj...

Page 87: ...nction AF_ACL a Press M to select auxiliary function b Press SET to enter into AF_ACL c Press and hold to clear the alarm 2 Set IO input function as Alarm clear input A CLR refer to switch input interface connection to clear the alarm For alarm can not be cleared 1 Restart the power supply to clear the alarm ...

Page 88: ...function of keys Name Key Function Display There are 5 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 SET Entrance for submenu confirming input Up key Press this key to increase the set value of current flash ...

Page 89: ...rm 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 then press to display the high 4 bits H or low 4 bits L of some parameter values 5 In parameter setting mode press to select current editin...

Page 90: ...d17ch Factor of no motor running d17Ch cP xxx 18 d18ic No of changes in I O signals d18ic n xxx 19 d19 d19 xxxx 20 d20Ab Absolute encoder data d20Ab pulse Low bit L xxxx High bit H xxxx 21 d21AE Absolute external scale position d21AE pulse Low bit L xxxx High bit H xxxx 22 d22rE No of Encoder external scale communication errors monitor d22rE times n xxx 23 d23 id Communication axis address d23id i...

Page 91: ...imulation The horizontal line on the leftmost digital tube represents which channel of simulation specifically the horizontal line above represents the first channel of simulation the horizontal line in the middle represents the second channel of simulation and the horizontal line below represents the third channel of simulation The analog display unit is 0 001V and the fourth and fifth decimal pl...

Page 92: ...de Display Code Specification Content 0 cP 0 Working normally 1 cP 1 DC bus under voltage 2 cP 2 No entry of Srv On input The Servo ON input SRV ON is not connected to COM 3 cP 3 POT NOT input is valid PA_504 0 POT is open speed command is positive direction NOT is open speed command is negative direction 4 cP 4 Driver fault 5 cP 5 The relay inside the driver isn t closed 6 cP 6 Pulse input prohib...

Page 93: ...ion finished 8 AF tUn Reserved AFtUn 9 AF_GL Inertia ratio identification AF_GL 1 Press SET once to enter operation display G 2 Press once display StUon 3 Press motor running indicated start to identification 4 Finishing display G xxx xxx indicated Inertia ratio value 10 AFrSt Soft reset AFrSt 1 Press SET once to enter operation display rSt 2 Press and hold on display StArt Then finished Table 7 5...

Page 94: ...alid before restarting the driver The high voltage also will contain in several minutes even if the servo driver is powered off please don t touch terminal strip or separate the wiring Note there are two kinds of trial run trial run without load and trial run with load The user need to test the driver without load for safety first Contact tech leadshine com if you need more technical service 7 3 1...

Page 95: ...larm No alarm 150ms 7 3 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 a...

Page 96: ...sition JOG No parameter name value unit 1 Pr0 01 Control mode setting 0 2 Pr3 12 Acceleration time setup User specified millisecond 3 Pr3 13 Deceleration time setup User specified millisecond 4 Pr3 14 Sigmoid acceleration deceleration time setup 0 millisecond 5 Pr6 04 JOG trial run command speed User specified rpm 6 Pr6 20 distance of trial running User specified 0 1 rotation 7 Pr6 21 waiting time...

Page 97: ... input 5 1st mode position mode 2nd Mode torque mode Pr0 01 4 The control mode is switched through external input 6 1st mode speed mode 2nd Mode torque mode Pr0 01 5 The control mode is switched through external input The step of changing the operation mode 1 Switch the driver to Servo Off status 2 Modify the corresponding parameters of control mode to EEPROM Turn off on the power to make the new ...

Page 98: ...n 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 Enter low frequency pulse and direction signal to run the motor at low speed 7 Check the motor rotational speed at monitor mode whether d01SP Rotational speed is as per the setup or not and The motor stops by stopping the command pulse or not If the motor does not run correct...

Page 99: ...6 use twisted wire with shield for pulse input PE Use twisted wire with shield for encoder signal output Single end 24V pulse signal 16 4 17 6 CN3 17 24V DIR 2K 16 24V PUL 2K OCB OCA COM_SI COM_SO A CLR 37 29 30 ALM ALM 18 19 BRKOFF BRKOFF 21 20 1 SRV ON POT 4 7K 4 7K NOT 4 7K 4 7K 12 24Vdc 32 S RDY 33 ALM INP 34 BRK OFF 31 35 2 7 COM_SI COM_SO Figure 8 2 Position Mode Typical Wiring Diagram Note ...

Page 100: ... type Pr0 07 Name Command Pulse Input Mode Setup Mode P Range 0 3 Unit Default 1 Data Type 16bit Access R W Address 000FH Repower o 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 negative direction pulse Pulse sign 3 Pulse sign Pulse sign 1 0 or 2 90 pha...

Page 101: ...alid Pr0 09 Name 1st numerator of electronic gear Mode P Range 1 1073741824 Unit Default 1 Data Type 32bit Access R W Address 0012H 0013H Repower o Set the numerator of division multiplication operation made according to the command pulse input Pr0 10 Name 1st denominator of electronic gear Mode P Range 1 1073741824 Unit Default 1 Data Type 32bit Access R W Address 0014H 0015H Repower o Set the de...

Page 102: ...ve command for the target speed Vc is applied set up the time constant of the 1st delay filter as shown in the figure below Pr2 23 Name positional command FIR filter Mode P Range 0 10000 Unit 0 1ms Default 0 Data Type 16bit Access R W Address 022FH Repower o Set up the time constant of the1st delay filter in response to the positional command When a square wave command for the target speed Vc is a...

Page 103: ...gic CCW Direction Rotation CW Direction Rotation 0 Non Reversal A phase B phase A phase B phase 1 Reversal A phase B phase A phase B phase 8 1 5 Position complete output INP The completion of positioning can be verified by the positioning complete output INP When the absolute value of the positional deviation counter at the position control is equal to or below the positioning complete Range by th...

Page 104: ...0000 Unit 1ms Default 0 Data Type 16bit Access R W Address 0443H Repower Set up the hold time when Pr 4 32 positioning complete output setup 3 Setup value State of Positioning complete signal 0 The hold time is maintained definitely keeping ON state until next positional command is received 1 30000 ON state is maintained for setup time ms but switched to OFF state as the positional command is rece...

Page 105: ...COM_SI and SI1 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 velocity command input AI1 and AGND and gradually increase from 0V to confirm the motor runs 7 Check the motor rotational speed at moni...

Page 106: ...utput CN3 OCB OCA COM_SI A CLR 37 29 30 39 AI1 40 AI1 43 AI3 44 AI3 10V 10V use twisted wire with shield for speed analog signal input 10V 10V use twisted wire with shield for torque analog signal input ALM ALM 18 19 BRKOFF BRKOFF 21 20 1 SRV ON POT 4 7K 4 7K NOT 4 7K 4 7K 12 24Vdc 32 S RDY 33 ALM INP 34 BRK OFF 31 35 2 7 COM_SO Figure 8 3 Velocity Mode Typical Wiring Diagram Note For driver is mo...

Page 107: ...eed command 1st to 3rd speed PR3 04 PR3 06 Analog speed command SPR 3 Internal speed command 1st to 8th speed PR3 04 PR3 11 relationship between Pr3 00 Internal External switching speed setup and the internal command speed selection 1 3 and speed command to be selected Setup value selection 1 of internal command speed INTSPD1 selection 2 of internal command speed INTSPD2 selection 3 of internal co...

Page 108: ...with Pr3 02 Default is set to Pr3 02 500 r min V hence input of 6V becomes 3000r min Notice 1 Do not apply more than 10V to the speed command input SPR 2 When you compose a position loop outside of the driver while you use the driver in velocity control mode the setup of Pr3 02 gives larger variance to the overall servo system 3 Pay an extra attention to oscillation caused by larger setup of Pr3 0...

Page 109: ...command 1st to 4th speed PR3 04 PR3 07 2 Internal speed command 1st to 3rd speed PR3 04 PR3 06 Analog speed command SPR 3 Internal speed command 1st to 8th speed PR3 04 PR3 11 relationship between Pr3 00 Internal External switching speed setup and the internal command speed selection 1 3 and speed command to be selected Setup value selection 1 of internal command speed INTSPD1 selection 2 of inter...

Page 110: ... with Pr3 02 Default is set to Pr3 02 500 r min V hence input of 6V becomes 3000r min Notice 1 Do not apply more than 10V to the speed command input SPR 2 When you compose a position loop outside of the driver while you use the driver in velocity control mode the setup of Pr3 02 gives larger variance to the overall servo system 3 Pay an extra attention to oscillation caused by larger setup of Pr3 ...

Page 111: ...Default 0 Data Type 16bit Access R W Address 030DH Repower Pr3 07 Name 4th speed of speed setup Mode S Range 10000 10000 Unit r min Default 0 Data Type 16bit Access R W Address 030FH Repower Pr3 08 Name 5th speed of speed setup Mode S Range 10000 10000 Unit r min Default 0 Data Type 16bit Access R W Address 0311H Repower Pr3 09 Name 6th speed of speed setup Mode S Range 10000 10000 Unit r min Defa...

Page 112: ...r Pr3 13 Name time setup deceleration Mode S Range 0 10000 Unit Ms 1000r min Default 100 Data Type 16bit Access R W Address 031BH Repower Set up acceleration deceleration processing time in response to the speed command input Set the time required for the speed command stepwise input to reach 1000r min to Pr3 12 Acceleration time setup Also set the time required for the speed command to reach from...

Page 113: ...t r min Default 1000 Data Type 16bit Access R W Address 0449H Repower Set the detection timing of the speed arrival output AT SPEED When the motor speed exceeds this setup value the speed arrive output AT SPEED is output Detection is associated with 10r min hysteresis 8 2 5 Speed coincidence output V COIN When the speed command before acceleration and deceleration processing is consistent with the...

Page 114: ... selection Mode S Range 0 3 Unit 0 1HZ Default 0 Data Type 16bit Access R W Address 031FH Repower 1 If Pr3 15 0 the function of zero clamp is forbidden It means the motor rotates 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...

Page 115: ...ecified 0 1V 100 8 Pr3 20 Torque setup input reversal User specified 9 Pr3 21 Speed limit value 1 User specified r min 10 Pr4 00 SI1 input selection Srv_on hex 030000 11 Pr4 28 Analog input 3 AI3 offset setup User specified 0 359mv 12 Pr4 29 Analog input 3 AI3 filter User specified 0 01ms Wiring Diagram Operation Steps 1 connect terminal CN1 2 Enter the power DC12V to 24V to control signal the COM...

Page 116: ...7 8 10 23 A 24 A 25 B 26 B OCZ 36 GND Encoder signal output 27 Z 28 Z PE Use twisted wire with shield for encoder signal output CN3 OCB OCA COM_SI A CLR 37 29 30 39 AI1 40 AI1 43 AI3 44 AI3 10V 10V use twisted wire with shield for speed analog signal input 10V 10V use twisted wire with shield for torque analog signal input ALM ALM 18 19 BRKOFF BRKOFF 21 20 1 SRV ON POT 4 7K 4 7K NOT 4 7K 4 7K 12 2...

Page 117: ...e P3 21 1 Analog input 3 Analog input 1 for Speed limit 2 Parameter value P3 22 Parameter value P3 21 3 Analog input 3 Speed limit 0 Pr3 18 Name Torque command direction selection Mode T Range 0 1 Unit Default 0 Data Type 16bit Access R W Address 0325H Repower Select the direction positive negative direction of torque command Setup value Details 0 Specify the direction with the sign of torque comm...

Page 118: ...ltage direction voltage direction 1 reversal voltage direction voltage direction 8 3 2 Torque limit function 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 Pr3 20 Name Torque command input reversal Mode T Range 0 1 Unit Default 0 Data Type 16bit Access R W Add...

Page 119: ...nertia ratio can be tested by running 2 3 times continuously The inertia ratio of the test is viewed through panel d16 Write the corresponding panel value minus 100 into PA004 8 4 2 Off line inertia ratio identification Pre conditions 1 servo disable 2 Positive limit and negative limit invalid Steps 1 Set the trial running speed PA604 and the setting of PA604 should not be too large 2 Enter auxili...

Page 120: ...ilter will be updated all the time based on adaptive performance 3 4 Not use Non professional forbidded to use Pr2 01 Name 1st notch frequency Mode P S T Range 50 2000 Unit Hz Default 2000 Data Type 16bit Access R W Address 0203H Repower Set the center frequency of the 1st notch filter Notice the notch filter function will be invalid by setting up this parameter to 2000 Pr2 02 Name 1st notch width...

Page 121: ... the depth of notch at the center frequency of the 2nd notch filter Notice Higher the setup shallower the notch depth and smaller the phase delay you can obtain Check the current command waveform on the upper computer When the increase of rigidity causes the current command to produce the oscillation motor to scream obtain its oscillation frequency from the waveform and set the frequency to the no...

Page 122: ...trol When Pr6 06 is set to non 0 value the third gain function will be turned on Pr6 05 is set to specify the value of the third gain When switching from the second gain to the first gain there will be a transition from the third gain The switching time is set as Pr1 19 Take Pr1 15 7 with or without position instruction as the first and second gain of conditional switching as an example to illustr...

Page 123: ...in the driver which makes the voltage of the capacitor rise When it rises to a certain voltage value the excess energy needs to be consumed by the regenerative resistance Pr0 16 Name External regenerative resistance Mode P S T Range 10 50 Unit Ω Default 100 Data Type 16bit Access R W Address 0021H Repower Set Pr 0 16 and Pr 0 17 to confirm the threshold value of the discharge loop to give alarm fo...

Page 124: ... parameter is limited to the maximum torque of the applicable motor Pr0 13 Name 1st Torque Limit Mode P S T Range 0 500 Unit Default 300 Data Type 16bit Access R W Address 001BH Repower You can set up the limit value of the motor output torque as motor rate current the value can t exceed the maximum of output current 8 10 Multi turn absolute encoder The absolute encoder remember position When the ...

Page 125: ...y applicable to the scenario where the load travel range is not limited and the number of motor single direction revolution is less than 0 Pr6 63 1 5 Clean multi turn alarm and open multi turn absolute function It will become 1 when normal clearance if it s still 5 after 3seconds please deal with according to 153 alarm processing 9 Clear multi turn position and reset multi turn alarm open multi tu...

Page 126: ...to alarm Set Pr0 15 9 multi turn zero clearing and reset multi turn alarm open multi turn absolute function It will become 1 when normal clearance if it s still 9 after 3seconds please deal with according to 153 alarm processing Please remember to do mechanical homing 8 10 3 Alarm 1 Introductions The multi turns absolute encoder alarm function can determine whether the absolute encoder is valid or...

Page 127: ...time meet the setting conditions the corresponding output IO port set can output ON Pr4 34 Name Zero speed Mode P S T Range 10 20000 Unit r min Default 50 Data Type 16bit Access R W Address 0445H Repower 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 t...

Page 128: ...ddress 0523H Repower Set up the clearing conditions of the counter clear input signal Setup value Clear condition 0 2 4 invalid 1 Always clear 3 Only clear one time 8 11 3 Position setup unit select Pr5 20 Name Position setup unit select Mode P Range 0 2 Unit Default 2 Data Type 16bit Access R W Address 0529H Repower Specify the unit to determine the range of positioning complete and excessive pos...

Page 129: ...tion Main function as below PR function Specification Homing Through homing process the machine can find the homing point 1 Limit signal homing home signal homing and manual homing all selectable 2 Homing direction settable set 3 Home deviation position settable Can be positioned to the specified location after homing 4 Homing acceleration and deceleration settable Remark Cannot input external pul...

Page 130: ...xecute digital input signal CTRG 1 Contains the position mode speed mode and homing mode 2 IO rising edge double edge trigger start 3 Support continuous positioning 4 Upto 16 motion path 5 Position speed acceleration decleration settable 6 Pause time settable Remark Double edge trigger only effective for CTRG 485 control RS485 communication to trigger Pr Mode working Remark 1 For PR mode position ...

Page 131: ...pen Normally closed Trigger command CTRG 20h A0h Accomplish commands CMD_OK 20h A0h Homing signal HOME 21h A1h Accomplish path MC_OK 21h A1h Forced to stop STP 22h A2h Homing HOME_OK 22h A2h PositiveJOG JOG 23h A3h Torque limit TQL 06h 86h NegativeJOG JOG 24h A4h Forward limit PL 25h A5h Reverse limit NL 26h A6h Home signal ORG 27h A7h Path address 0 ADD0 28h A8h Path address 1 ADD1 29h A9h Path a...

Page 132: ...P section locate 0 1555 Write 0x20 homing Write 0x21 set current position as zero point Write 0x40 e stop Read 0x00P indicate positioning finished can receive new data Read 0x10P In operation Read 0x20P In positioning 0X6002 Pr8 06 Positive software limit H 0X6006 Pr8 07 Positive software limit L 0X6007 Pr8 08 Negative software limit H 0X6008 Pr8 09 Negative software limit L 0X6009 Pr8 10 Homing M...

Page 133: ...mbined trigger mode 0 invalid CTRG signal trigger 1 valid after homing process finished 2 valid without homing process 0X601A Pr8 27 IO combined filtering 0X601B Pr8 28 Output value of S code 0X601C Pr8 29 PR alarm 0x100 Homing overpass limit switch 0x101 Homing process not complete and stop urgently 0x20x Path X overpass the limit switch 0X601D Pr8 39 JOG speed 0X6027 Pr8 40 Acceleration of JOG 0...

Page 134: ... 0X6205 Pr9 06 Path0 Pause time The pause of path delay time parameter etc refer to PR motion type for specific meaning 0X6206 Pr9 07 Special Parameters Path 0 is mapped to Pr8 02 parameters 0X6207 9 3 Pr Mode motion control 9 3 1 Homing Homing include zero point homing and manual homing At the same time also includes first time power on active homing Relevant parameters Parameters Name Definition...

Page 135: ...on 1 Positive direction Bit1 Whether go to the set point after homing 0 no 1 yes Bit2 7 Homing mode 0 homing with limit switch detect 1 homing with homing switch detect 2 homing with single turn Z signal detect 3 homing with torque detect 8 set current position as homing point Bit8 0 homing process without Z signal detect 1 homing process with Z signal detect 0X600A Pr8 11 Homing position H 0X600B...

Page 136: ...can make continuous running configurable There are three types of positioning path Position location type Speed running type and homing type A total of 16 path each path set movement type alone position method speed deceleration and pause time etc Relevant parameters Parameters Name Definition 485 address Pr9 00 Path0 Mode The motion mode of Path0 motion Bit0 3 TYPE 0 No Action 1 position mode 2 v...

Page 137: ...R motion type for specific meaning 0X6206 Pr9 07 Special Parameters Path 0 is mapped to Pr8 02 parameters 0X6207 9 3 2 1 Single path motion CTRG rising edge double edge trigger the motion Pr8 00 take CTRG rising edge signal to trigger path5 as example Path 5 Speed CTRG CMD_OK Start Path5 Path5 finished ADD0 3 Path5 Path X 9 3 2 2 Multi path interrupt motion Interrupt function means a higher path s...

Page 138: ...rst path motion finished and pause time delay start another path motion automatically without trigger signal P9 00 bit5 0 continuous path motion without overlap Path 5 Speed CTRG CMD_OK Start Continuous path finished ADD0 3 Path5 Path 9 Path 9 Pause time 9 3 2 4 Continuous path motion with overlap After arriving at the first path position start another path motion automatically without trigger sig...

Page 139: ...e edge trigger Bit1 Software limit effectively 0 invalid 1 valid Bit2 Homing after power on 0 invalid 1 valid Bit3 Absolute encoder function 0 invalid 1 valid 0X6000 Pr8 06 Positive software limit H 0X6006 Pr8 07 Positive software limit L 0X6007 Pr8 08 Negative software limit H 0X6008 Pr8 09 Negative software limit L 0X6009 Pr8 22 Position limit e stop speed 0X6016 Pr8 23 E stop speed 0X6017 Pr3 1...

Page 140: ...op 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 83 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 trigger setting software limit JOG function homing function e stop func...

Page 141: ...User Manual for ELP Servo www leadshine com 141 ...

Page 142: ...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 corresponding number and click to run ...

Page 143: ...mmands CMD_OK 20h A0h Homing signal HOME 21h A1h Accomplish path MC_OK 21h A1h Forced to stop STP 22h A2h Accomplish homing HOME_OK 22h A2h PositiveJOG JOG 23h A3h Torque limit TQL 06h 86h NegativeJOG JOG 24h A4h Forward limit PL 25h A5h Reverse limit NL 26h A6h Home signal ORG 27h A7h Path address 0 ADD0 28h A8h Path address 1 ADD1 29h A9h Path address 2 ADD2 2ah Aah Path address 3 ADD3 2bh Abh T...

Page 144: ...r sequence Notes 1 The path 0 is invalid so the path 0 cannot be triggered by the IO combined signal If users want to trigger incremental position the IO combined signal should be as follow Path X IO combined signal Path 0 IO combined signal Path Y IO combined signal trigger incremental position multiple times by these 3 steps Notes 2 If the IO combined trigger mode 2 Pr8 26 2 when the drive is po...

Page 145: ...1 set current position as zero point Write 0x040 E stop Read 0x000p means positioning completed can receive new data Read 0x01P 0x020 0x040 means still no responding to commands Read 0x10P means path is running Read 0x200 means instructions completed and wait for positioning 9 4 3 2 Pr Mode parameters communication address 8th parameters 0x6000 Parameters NO 800 The address of Pr8 06 0x6000 806 80...

Page 146: ...on L Read only 0x602e Pr8 46 Input IO status Read only 0x602f Pr8 47 Output IO status Read only Pr9 00 Pr9 07 Path 0 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 04 PR0 acceleration ms Krpm 0x6205 Pr9 05 PR0 deceleration ms Krpm 0x6206 Pr9 06 PR0 pause time ms 0x6207 Pr9 07 PR0 trigger 0x6208 0x...

Page 147: ...r to trigger the path This mode apply to fixed motion and simple operation system As below procedure 1 Firstly setup 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 pat...

Page 148: ...pped to Pr8 02 parameters 0X6207 And so on Each path occupy eight parameters Set path 1 path15 as same as path 0 Implement choice and start of actions by write corresponding instructions into 0x6002 Pr8 02 to select which path to run 9 4 5 Immediately trigger method Fixed trigger is limited by 16 path but immediately trigger method is flexible It is written to the current path at each time at the ...

Page 149: ...Low position XXXX 14 15 Pr9 03 Speed XXXX 16 17 Pr9 04 Acceleration XXXX 18 19 Pr9 05 Deceleration XXXX 20 21 Pr9 06 Delay time XXXX 22 23 Pr9 07 Trigger control 0x0010 24 CRC Check code L 25 H Please refer to parameter specification for specific data setting 9 5 Operation case 9 5 1 IO trigger case Pr Mode motion can be triggered by IO signal 1 Parameters setting as follows Parameters Name Specif...

Page 150: ...Save button to save the parameter to drive permanently 3 Setup path parameters such as Position mode speed ACC DEC etc Functional area Read file Upload Download Save etc Parameters setting area Position mode speed ACC DEC etc Position symbol description area Explains the meaning of the path position symbol Notes After the path parameter setting is completed click the Download button of the toolbar...

Page 151: ...ww leadshine com 151 4 Debug homing process path trigger motion input and output etc Its debugging interface is shown as follow Notes 1 Before using IO CTRG edge signal trigger path motion select path number by IO combined signal ...

Page 152: ...data frame Details 0 01 06 20 09 00 01 93 C8 Servo enable 1 01 06 62 00 00 01 57 B2 Absolute position mode 2 01 06 62 01 00 03 87 B3 200000pulse 16 bit H 3 01 06 62 02 0D 40 32 D2 200000pulse 16 bit L 4 01 06 62 03 02 58 66 E8 600rpm 5 01 06 62 04 00 32 56 66 ACC 50ms 1000rpm 6 01 06 62 05 00 32 07 A6 DEC 50ms 1000rpm 7 01 06 60 02 00 10 37 C6 Trigger Path0 motion 8 01 06 60 02 00 40 37 FA E stop ...

Page 153: ... 06 62 0B 02 58 E7 2A 600rpm 5 01 06 62 0C 00 32 D7 A4 ACC 50ms 1000rpm 6 01 06 62 0D 00 32 86 64 DEC 50ms 1000rpm 7 01 06 60 02 00 11 F6 06 Trigger Path1 motion 8 01 06 60 02 00 40 37 FA E stop 9 01 06 20 09 00 00 52 08 Servo disable 5 Path 1 Velocity mode 300rpm 50ms 1000rpm NO RS485 communication data frame Details 0 01 06 20 09 00 01 93 C8 Servo enable 1 01 06 62 08 00 02 96 71 Velocity mode 2...

Page 154: ...nfigured 2 Enable drive NO RS485 communication data frame Details 0 01 06 20 09 00 01 93 C8 Servo enable 1 01 06 20 09 00 00 52 08 Servo disable 3 Operate fixed path by Pr8 02 4 write in immediate data by Pr9 00 9 07 and Pr9 07 0x10 implement immediately running path 0 Demonstrate with immediately trigger method An example of 485 communication data frame operation is shown below Order Sending orde...

Page 155: ...Hexadecimal data of the delay time 0ms 00 10 data written down to the 8th addresses of 6207 mapped to Pr9 07 to trigger the action immediately trigger method 1P Immediately trigger path P AA BF the verification code do not have to directly input click the corresponding send area verification button automatically generated The final analysis is as follows speed is 500r min acceleration and decelera...

Page 156: ...ck to origin high speed low speed and back to zero mode can be set in the eighth set of parameters using default values this time Caution In Pr mode the origin induction switch is connected to the driver which is different from the impulse control Limited by conditions only the current position can be demonstrated to the customer Write 0x021 The current location manually set to zero The frame form...

Page 157: ...de are in units of 10000P r 00 00 00 00 represents 0 turns of motor rotation in Speed mode 03 E8 data written down to the fourth addresses of 6203 mapped to Pr9 03 Hexadecimal data of Speed 1000r min 00 64 data written down to the five addresses of 6204 mapped to Pr9 04 Hexadecimal data of acceleration time 100ms 00 64 data written down to the six addresses of 6205 mapped to Pr9 05 Hexadecimal dat...

Page 158: ...s 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 times more than motor inertia If the requirements can t be matched you can increase the...

Page 159: ...d resistance value is 120 ohms 3 Shielded twisted pair is recommended for RS485 communication wirings 4 Connect GND is essential for communication 5 When using the shield wire the two ends of the shield should connect PE not GND otherwise the port will be damaged 6 In order to reduce interference RS485 communication cables should installed separately from other cables A 2 Parameters and interface ...

Page 160: ...er During communication with the host e g PC to control multiple shafts the shaft being accessed by the host should be identified Note when using RS232 RS485 the maximum valid value is 31 A 2 2 RS232 RS485 Communication Port Port Pin Signal CN4 CN5 1 9 RDO RS485 2 10 RDO RS485 3 11 4 12 TXD RS232 5 13 RXD RS232 6 14 VCC5V 7 15 GND 8 16 PE A 3 Modbus Protocol The driver supports 16bit data read and...

Page 161: ...F2 Send The sent frame represents that the master reads the data from slave ID 1 the starting address is 0x0004 the length is 2 Word 16bit The CRC check code is 0xCA85 Receive The receive frame represents that the receive data is 4 byte 8bit and the data is 00 00 00 02 The CRC check code is 0xF27B A 3 2 Function code of write single data 0x06 The function code of write single data is 0x06 Now take...

Page 162: ...0 H NUM Actually written data quantity 0x00 H 6 0x02 L 0x02 L 7 NUM2 Data quantity Byte 0x04 2 NUM1 CRC Check code L H 8 DATA1 DATA1 H 9 L 10 DATA2 DATA2 H 11 L 12 CRC Check code L 13 H The communication data is shown as below Send 01 10 00 04 00 02 04 01 00 00 00 F3 A0 Receive 01 10 00 04 00 02 00 09 Send The send frame represents that the master write the data into slave ID 1 the starting addres...

Page 163: ...A 4 RS485 common problems and solutions A 4 1 Common problems 1 Terminal resistance The correct connection of terminal resistance is shown in the above figure a 120 ohm terminal resistance need to connect in the head end and the end of the communication bus 2 Wiring error Firstly confirm that the signal line of RS485 is connected correctly Secondly confirm whether the communication reference groun...

Page 164: ...tic ring three times Be careful not to connect PE to the magnetic ring A 4 2 Problem solving procedure 1 Whether the communication parameters are set correctly Slave ID no repetition baud rate is set the same data format is consistent 2 Whether the terminal resistance connection is correct 3 Whether the wiring is standard for anti interference 4 PE connection between ground and ground wire 5 Wheth...

Page 165: ...rict Shenzhen Technical Support Tel 86 755 2641 8774 for Asia Australia Africa areas 86 755 2665 5136 for America areas 86 755 8654 2465 for Europe areas Email tech leadshine com Sales Hot Line Tel 86 755 2641 7674 for Asia Australia Africa areas 86 755 2640 9254 for Europe areas 86 755 2641 7617 for America areas Email sales leadshine com ...

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