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12

User

Manual

for

ELD2

Servo

3.1.2 Position Control Mode

CN1

5

COM_IN

ENA

CLR

12~24Vdc

RS232

Commucation

Port

1

PUL

2

PUL

3

DIR

270

Ω

4

DIR

CN2

U

PE

W

V

6

7

Vdc

GND

DC Power supply

+

-

RS485*2

270

Ω

4.7K

4.7K

4.7K

4.7K

NOT

9

DOT

8

HOME

10

CTRG

11

PR1

12

4.7K

4.7K

4.7K

13

ALM+

15

BR+

ALM-

BR-

14

16

COM_OUT

24Vdc

17

18

19

20

SERVO ON

TNP

AT

Pulse

signal

Figure

3

‐

1

Positional

Control

Mode

Wiring

Attention:

1

、

Only support 5V pulse and direction signal , 24V pulse signal suggest connect 2 K

Ω

resistance

Pulse

Input

Interface

Differential

Drive

Mode

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Содержание ELD2 Series

Страница 1: ...1 User Manual for ELD2 Servo User Manual For ELD2 Servo www leadshine com ...

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

Страница 3: ...nd temperature resistant object must not be close to radiator of servo driver and motor The freewheel diode which connect in parallel to output signal DC relay mustn t connect reversely Debugging and running Caution Make sure the servo driver and servo motor installed properly before power on fixed steadily power voltage and wiring correctly The first time of debugging should be run without loaded...

Страница 4: ...lection Attention The rate torque of servo motor should be larger than effective continuous load torque The ratio of load inertia and motor inertia should be smaller than recommended value The servo driver should be matched with servo motor ...

Страница 5: ... Pulse Input Interface 17 3 3 4 Analog Value Input Interface 18 3 3 5 Servo Motor Encoder Input Interface 18 Chapter 4 Parameter 19 4 1 Parameter List 19 4 2 Parameter Function 21 4 2 1 Class 0 Basic Setting 21 4 2 2 Class 1 Gain Adjust 24 4 2 3 Class 2 Vibration Suppression 28 4 2 4 Class 3 Velocity Torque Control 29 4 2 5 Class 4 I F Monitor Setting 33 4 2 6 Class 5 Extended Setup 38 4 2 7 Class...

Страница 6: ...p function 68 7 4 Communication control mode 69 7 4 1 Parameters setting 69 7 4 2 485 communication Installation wiring 72 7 4 3 Fixed trigger mode 72 7 4 4 Immediately trigger method 73 7 4 5 Test Pr Mode with Serial debugging assistant 74 7 5 Upper computer operation 78 7 6 RS485 Parameter address 79 Chapter 8 Product Specification 84 8 1 Driver Technical Specification 84 8 2 Accessory selection...

Страница 7: ... ELD2 400 Size mm 118 75 5 34 Rated power kw 0 4 Rated output current A 10 Max output current A 30 Main power Voltage V DC24 80 recommended 24 60Vdc Current A 10 48 60Vdc 7Amp 60 70Vdc 6Amp Control power Voltage V DC12 24 Current mA 12 Control method IGBT PWM sinusoidal Wave Drive Overload 300 Brake resistor External connection Protection rank IP20 Features Pulse input 2 fast pulse input 5V only 5...

Страница 8: ...te or not 2 Type meaning a ELD2 series servo driver ELD2 RS400 Maximum Output Power 400 400W Low voltage AC servo drive 24 60VDC b Servo motor type The ELD2 series AC servo driver can be matched with a variety of domestic and foreign servo motor Matched Motors Power Range Up to 450W Voltage Range 24 60V Encoder Type 100 5000lines incremental TTL encoder Motor Size 40mm 42mm 57mm 60mm frame or othe...

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

Страница 10: ...otor shaft or encoder while transporting it No knocking 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 sm...

Страница 11: ...ted 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 cable is no more than 3 meters the CN2...

Страница 12: ... Power supply RS485 2 270Ω 4 7K 4 7K 4 7K 4 7K NOT 9 DOT 8 HOME 10 CTRG 11 PR1 12 4 7K 4 7K 4 7K 13 ALM 15 BR ALM BR 14 16 COM_OUT 24Vdc 17 18 19 20 SERVO ON TNP AT Pulse signal Figure 3 1 Positional Control Mode Wiring Attention 1 Only support 5V pulse and direction signal 24V pulse signal suggest connect 2 KΩ resistance Pulse Input Interface Differential Drive Mode ...

Страница 13: ...signal 12V 24V 6 DI3 Input Digital input signal 3 default value is forward enable signal low level available in default max voltage is 24V input 20KHz 7 DI4 Input Digital input signal 4 default value is alarm clear signal low level available in default max voltage is 24V input 20KHz 8 DI5 Input Digital input signal 5 default value is forward run prohibited POT signal in position mode low level ava...

Страница 14: ...sition mode 24V 8mA 19 DO5 Output Digital output signal 5 default value is at torque signal 24V 8mA 20 COMO Output Digital output signal commonality ground 24V 3 2 2 Encoder Input Port CN2 Terminal Table 3 2 Encoder Input Port CN2 Terminal Signal for ELD2 400 CN2 Pin Signal IO Detail CN2 1 SHIELD Input Ground terminal for shielded 2 HU Input Hall sensor U input 3 HW Input Hall sensor W input 4 HV ...

Страница 15: ...in Signal Detail CN8 485 IN 1 RS485 485data 3 RS485 485 data 5 485GND 485 GND other NC Cn9 Pin Signal Detail CN9 485 OUT 1 RS485 485data 3 RS485 485 data 5 485GND 485 GND other NC 3 2 6 Dip switch S1 NO 485 Slave ID NO 485 Slave ID S1 0 Default Pr5 31 16 8 8 1 1 9 9 2 2 A 10 3 3 B 11 4 4 C 12 5 5 D 13 6 6 E 14 7 7 F 15 485 Baud rate SW1 SW2 Default Pr5 30 600 off off 19200 on off 38400 off on 5760...

Страница 16: ...r doesn t run 3 3 2 Switch Output Interface Figure 3 5 Switch Output Interface 1 The user provide the external power supply However if current polarity connects reversely servo driver is damaged 2 The output of the form is open collector the maximum voltage is 25V and maximum current is 50mA Therefore the load of switch output signal must match the requirements If you exceed the requirements or ou...

Страница 17: ...r 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 Pulse direction The form of pulse input timing parameter is the following form 3 8 below The 4 times pulse freque...

Страница 18: ... 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 Figure 3 11 Servo Motor optical electrical Encoder Input Interface ...

Страница 19: ...lter of velocity detection P S T 04 1st time constant of torque filter P 05 2nd gain of position loop P S T 06 2nd gain of velocity loop P S T 07 2nd time constant of velocity loop integration P S T 08 2nd filter of velocity detection P S T 09 2nd time constant of torque filter P 10 Velocity feed forward gain P 11 Velocity feed forward filter P S 12 Torque feed forward gain P S 13 Torque feed forw...

Страница 20: ...ion SI3 P S T 03 input selection SI4 P S T 04 input selection SI5 P S T 10 output selection SO1 P S T 11 output selection SO2 P S T 12 output selection SO3 P S T 13 output selection SO4 P S T 22 Analog input 1 AI 1 offset setup P S T 23 Analog input 1 AI 1 filter P S T 28 Analog input 3 AI 3 offset setup P S T 29 Analog input 3 AI 3 filter P 31 Positioning complete range P 32 Positioning complete ...

Страница 21: ...MFC it is similar to the response bandwidth Setup value Meaning 0 Disable the function 1 Enable the function set the bandwidth automatically recommended for most application 2 10 Forbidden and reserved 11 20000 Set the bandwidth manually 1 1Hz 2000Hz MFC is used to enhance the performance of dynamic tracing for input command make positioning faster cut down the tracking error run more smooth and s...

Страница 22: ... tuning all of them are set by the driver itself Pr0 03 Selection of machine stiffness at real time auto gain tuning Range unit default Related control mode 50 81 70 P S T You can set up response while the real time auto gain tuning is valid Notice Lower the setup value higher the velocity response and servo stiffness will be obtained However when decreasing the value check the resulting operation...

Страница 23: ...lse negative direction pulse Pulse sign 1 0 Pulse sign Pulse sign 1 or 3 90 phase difference 2 phase pulse A phase B phase Pulse sign 2 Positive direction pulse negative direction pulse 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 dis...

Страница 24: ...up the B phase logic and the output source of the pulse output With this parameter you can reverse the phase relation between the A phase pulse and B phase pulse by reversing the B phase logic reversal of pulse output logic Pr0 12 B phase Logic CCW Direction Rotation CW Direction Rotation 0 Non Reversal A phase B phase A phase B phase 1 Reversal A phase B phase A phase B phase Pr0 13 1st Torque Li...

Страница 25: ...can set up the time constant of the low pass filter LPF after the speed detection in 32 steps 0 to 31 Higher the setup larger the time constant you can obtain so that you can decrease the motor noise however response becomes slow You can set the filter parameters through the loop gain referring to the following table Set Value Speed Detection Filter Cut off Frequency Hz Set Value Speed Detection F...

Страница 26: ...que feed forward correctly set ratio of inertia Set the inertia ratio that can be calculated from the machine specification to Pr0 04 inertia ratio Positional deviation at a constant acceleration deceleration can be minimized close to 0 by increasing the torque forward gain this means that positional deviation can be maintained at near 0 over entire operation range while driving in trapezoidal spe...

Страница 27: ...gain when the positioning was kept in completed condition previously during delay time with the 2nd gain 9 Actual speed is large Valid for position control Shift to the 2nd gain when the absolute value of the actual speed exceeded level hysteresis r min previously with the 1st gain Return to the 1st gain when the absolute value of the actual speed was kept below level hysteresis r min previously d...

Страница 28: ...f the narrow pulse over large setup will influence the performance of motor in large speed and influence the control performance of motor causing by large time delayed Pr1 37 Special Function Register Range unit default Related control mode 0 32767 0 P S T In binary each bit of the register is used for some function bit operations Bit2 1 Give up error of motor speed out of control 1A1 Bit4 1 Give ...

Страница 29: ... larger the notch width you can obtain Use with default setup in normal operation Pr2 06 2nd notch 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 2nd notch filter Notice Higher the setup shallower the notch depth and smaller the phase delay you can obtain Pr2 22 positional command smoothing filter Range unit default Relate...

Страница 30: ...mand 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 Pr3 01 Speed command rotational direction selection Range unit default Related control mode 0 1 0 S Select the Positive...

Страница 31: ...1st speed of speed setup Range unit default Related control mode 20000 20000 r min 0 S Pr3 05 2nd speed of speed setup Range unit default Related control mode 20000 20000 r min 0 S Pr3 06 3rd speed of speed setup Range unit default Related control mode 20000 20000 r min 0 S Pr3 07 4th speed of speed setup Range unit default Related control mode 20000 20000 r min 0 S Pr3 08 5th speed of speed setup...

Страница 32: ...e unit default Related control mode 0 3 0 S T 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 voltage input 2 If Pr3 15 1 and the input signal of...

Страница 33: ...ange 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 limit value 1 Range unit default Related control mode 0 20000 r min 0 T Set up the speed limit used for torque controlli...

Страница 34: ...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 IN...

Страница 35: ...age fed to the analog 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 p...

Страница 36: ...l 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 negative direction regardless of the motor rotating direction There is hysteresis of 10 ...

Страница 37: ...fault Related control mode 0 10000 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 ...

Страница 38: ...t 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 2500 P S T Ac...

Страница 39: ...he 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 reading filter Range unit default Related control mode 0 255 0 1ms 0 P S T I O input digital filtering higher setup will arise control delay Pr5 28 LED initial status Range unit default Related control mode 0 35 1 P S T You can s...

Страница 40: ... JOG trial run command torque Range unit default Related control mode 0 100 0 T You can set up the command speed used for JOG trial run torque control Pr6 04 JOG trial run command speed Range unit default Related control mode 0 500 r min 300 P S T You can set up the command speed used for JOG trial run velocity control Pr6 07 JOG trial run command speed Range unit default Related control mode 100 ...

Страница 41: ...41 User Manual for ELD2 Servo Pr6 22 Trial run cycle times Range unit default Related control mode 0 32767 10 P The cycling times of JOG run position control ...

Страница 42: ...ibute 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 Motor overload driver overload Resistor discha...

Страница 43: ...wer on Error code Main Extra Display Content FPGA communication error Cause Confirmation Solution Vdc GND under voltage Check the voltage of Vdc GND terminal Make sure voltage of Vdc GND in proper range Driver internal fault replace the driver with a new one Error code Main Extra Display Content current detection circuit error Cause Confirmation Solution Wiring error of motor output U V W terminal...

Страница 44: ...tage of Vdc GND in proper range Driver inner fault replace the driver with a new one Error code Main Extr a Display Content DC bus over voltage Cause Confirmation Solution Vdc GND over voltage Check the voltage of Vdc GND terminal Make sure voltage of Vdc GND in proper range Inner brake circuit damaged replace the driver with a new one Driver inner fault replace the driver with a new one Error cod...

Страница 45: ...ol parameter Modify the parameter Adjust parameter to proper range abnormal setting of control command Check control command whether command changes too violently or not Adjust control command open filter function Error code Main Extra Display Content driver over heat Cause Confirmation Solution the temperature of power module have exceeded upper limit Check driver radiator whether the temperature...

Страница 46: ...ode Main Extra Display Content encoder line breaked Cause Confirmation Solution Encoder line disconnected check wiring if it steady or not Make encoder wiring steady Encoder wiring error Check encoder wiring if it is correct or not Reconnect encoder wiring Encoder damaged replace the motor with a new one Encoder measuring circuit damaged replace the driver with a new one Error code Main Extra Disp...

Страница 47: ...lution Unreasonable set of position error parameter Check parameter PA_014 value if it is too small or not Enlarge the value of PA_014 Gain set is too small Check parameter PA_100 PA_105 value if it is too small or not Enlarge the value of PA_100 PA_105 Torque limit is too small Check parameter PA_013 PA_522 value whether too small or not Enlarge the value of PA_103 PA_522 Outside load is too larg...

Страница 48: ...ng correctly Error code Main Extra Display Content Motor speed out of control Cause Confirmation Solution UVW connection error UVW connection error Encoder error Encoder error Replace motor Special function Set Pr1 37 4 Error code Main Extra Display Content Wrong pulse input frequency Cause Confirmation Solution Wrong pulse input frequency Error code Main Extra Display Content Electronic gear rati...

Страница 49: ...12 PA_413 set correctly Error code Main Extra Display Content CRC verification error when 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 suita...

Страница 50: ...ion Forced alarm input signal has been conducted Check forced alarm input signal Assure input signal wiring correctly Error code Main Extra Display Content Motor code error Cause Confirmation Solution Motor code error Motor code error Set Pr7 15 correctly ...

Страница 51: ...run with load The user need to test the driver without load for safety first Contact tech leadshine com for more technical service 6 1 Inspection Before trial Run 6 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 terminal encod...

Страница 52: ... the vertical axis this brake would be used to hold and prevent the work moving load from falling gravity while the power to the servo is shut off Never use this for Brake purpose to stop the load in motion Use this built in brake for holding purpose only That is to hold the stalling status For the brake release timing at power on or braking timing at servo off servo alarm while the motor is in mo...

Страница 53: ...fied millisecond 5 PA_005 Command pulse input select 0 6 PA_007 Command pulse mode select 0 7 PA_400 SI1 input selection Srv on hex 0383 8 PA_518 Command pulse prohibit input invalidation 1 SI1and SI2 function select Pulse Direction Analog GPIO Pr4 00 Pr4 01 Direction 0 Pulse 0 Analog 0 GPIO1 Selectable GPIO2 Selectable Wiring Diagram 1 If the driver is enabled with internal signal Pr403 should be...

Страница 54: ...ed 0 01ms 12 PA_400 SI1 input selection Srv on hex 0383 13 PA_401 SI2 input selection Analog hex 0001 14 PA_402 SI3 input selection IntSpd1 hex 0E00 15 PA_403 SI4 input selection IntSpd2 hex 0F00 16 PA_404 SI5 input selection IntSpd3 hex 1000 17 PA_405 SI6 input selection Vc Sign hex 1200 Wiring Diagram Operation steps 1 connect terminal CN1 2 Enter the power DC12V to 24V to control signal the COM...

Страница 55: ... runs 6 3 Automatic Control Mode Run 6 3 1 Operation Mode Selection ELD2 series Low voltage AC servo drives support the position speed torque three basic modes of operation and can switch freely between the three basic modes of operation by switch or modify parameters Table 7 7 Parameter setup of Operation Mode Selection No Mode Parameter Specification 1 Position mode PA_001 20 The position contro...

Страница 56: ... 18 19 20 SERVO ON TNP AT Pulse signal 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 pulse negative direction pulse Pulse Direction Please set the pulse configuration and pulse counting method based ...

Страница 57: ...Please refer to chapter 4 2 PA_012 Pulse output logic reverse 3 PA_503 Pulse output divide frequency denominator 4 PA_533 Pulse regeneration output boundary set 5 Deviation Counter clear The deviation counter clear input CL clears the counts of positional deviation counter at the position control to 0 Table 7 12 Parameter Setup of Deviation Counter Clear No parameter name Setup method 1 PA_517 Cou...

Страница 58: ...ease 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 Other setup for SI SO function For details of SI input function refer to PA_400 PA409 For details of SO output function refer to PA_410 PA415 ...

Страница 59: ...ing path NO 15 Positioning mode Position data Speed data Acceleration time Deceleration time Timing data PTP 7 1 1 Main function Main function as below PR function Specification Homing Through homing the drive can find the home signal So the coordinate system zero of mechanical motion is determined Limit signal homing home signal homing and manual homing selectable Homing direction settable Home s...

Страница 60: ...Use 485 communication to manipulate above PR working Remark 1 For PR mode position command adopt unit 10000P r 2 PR only effective under PR position control mode P0 01 0 7 1 2 Installation wiring IO terminal wiring and parameter configuration Newly added IO of PR on the base of standard IO Relevant parameters Parameter Name Specification P400 P407 SI input selection Specific of the 8 input termina...

Страница 61: ...switch TC SEL 09h 89h Remark CMD_OK means PR instruction is sent maybe motor is not yet in place MC_OK means PR instruction is sent and motor is in place CTRG HOME is edge trigging but effective level need to last more than 1ms 232 terminal connection diagram CN7 Pin Detail RS232 1 5V 2 TX 3 GND 4 RX 485 terminal connection diagram Cn8 Pin Signal Detail CN8 485 IN 1 RS485 485data 3 RS485 485 data ...

Страница 62: ... software limit H 32 2 31 0x7FFF Positive software limit high16bit during homing software limit invalid P8 7 Positive software limit L 0XFFFF Positive software limit low16bit P8 8 Negative software limit H 32 2 31 0x8000 Negative software limit high16bit The precision of software limit is 0 1 round P8 9 Negative software limit L 0 Negative software limit low16bit P8 10 Homing mode hex 0 Homing mod...

Страница 63: ...6 0 0 P8 26 Reserved 16 0 0 P8 27 Reserved 16 0 0 P8 28 Reserved 16 0 0 P8 29 Reserved 16 0 0 P8 30 Reserved 16 0 0 P8 31 Reserved 16 0 0 P8 32 Reserved 16 0 0 P8 33 Reserved 16 0 0 P8 34 Reserved 16 0 0 P8 35 Reserved 16 0 0 P8 36 Reserved 16 0 0 P8 37 Reserved 16 0 0 P8 38 Reserved 16 0 0 P8 39 Reserved 16 0 0 P8 40 Reserved 16 0 0 P8 41 Reserved 16 0 0 Pr8 42 Command position H Read only 32 0 0...

Страница 64: ...pt 1interrupt Use to express interrupt _ express interrupt Currently they are all interrupt Bit5 OVLP 0do not overlap 1overlap Use SJ to express no overlap jump use CJ to express overlap jump right now no Bit6 7 0absolute 1relative instruction 2 relative to the motor 3opposite reference value ABS INC REL CAP right now only ABS INC REL Bit8 13 0 15Jump to the corresponding path Use SJ0x or CJ0x to ...

Страница 65: ...e for specific meaning P9 6 PR 1 Pause time 16 0 327 67 0 The pause of path delay time parameter etc Refer to PR motion type for specific meaning P9 7 PR 1 Reserved 16 0 0 PR 0 path is mapped toP8 02 parameters Used to trigger actions Other paths standby is invalid P9 8 1 5 PR2 As above As above As above As above P9 16 23 PR3 P9 24 31 PR4 P9 32 39 PR5 P9 40 PR6 P9 48 PR7 P9 56 PR8 P9 64 PR9 P9 72 ...

Страница 66: ...homing Need hardware support not available at present 8 Manual homing The other is prohibited to use P811 P812 Zero point position Zero point position on the coordinate axes P811 for high 16bit P812 for low 16bit P813 P814 Homing jump position Motor move to the specified location and stop after homing If homing mode bit1 enable then move to the absolute position after homing P813 for high 16bit P8...

Страница 67: ...pe Speed running type and homing type for flexible use A total of 16PR path each path set movement type alone position method speed deceleration and pause time etc relevant parameters Parameters Name Specification P900 The model of the PR pat to determine the action property according to motion mode Motion mode path 0 Bit0 3 TYPE 0 No Action 1 position addressing 2 speed running 3 homing Bit4 INS ...

Страница 68: ...000rpm P905 Deceleration time Unit ms 1000rpm P906 Pause time Pause time after Instruction stop P907 Special Parameters Path 0 mapped to Pr8 02 directly And so on Each path occupy eight parameters and so on Time sequence Single segment running Continuous operation P9 00 bit5 is 0 continuous path does not overlap 路径不重叠连续路径 PR1 速度停止 DELAY1 PR2 PR2 到位 ...

Страница 69: ...tion P800 PR Control parameter Bit1 Software limit is valid P806 P807 Positive limit Software limit positive position P808 P809 Negative limit Software limit negative position P822 Position limit E stop time Acceleration deceleration after position limit P823 E stop time Acceleration deceleration after E stop P312 JOG Acceleration time Unit ms 1000rpm P313 JOG Deceleration time Unit ms 1000rpm P60...

Страница 70: ...ommunications control includes two modes Fixed trigger mode and immediately trigger mode 7 4 1 Parameters setting Parameters Name Specification Pr0 01 Control Mode Setup Set Pr0 01 20 for Pr Mode Pr4 00 SI1 Input selection Set 383 for internal SERVO ON Pr5 29 Communication mode RS485 Communication mode selection set 21 to select Modbus protocol Don t need to change For ELD2 485 communication no ne...

Страница 71: ...8 02 PRcontrol register HEX 0x6006 Pr8 06 Positive software limit H Pulse 0x6007 Pr8 07 Positive software limit L Pulse 0x6008 Pr8 08 Negative software limit H Pulse 0x6009 Pr8 09 Negative software limit L Pulse 0x600a Pr8 10 Homing mode HEX 0x600b Pr8 11 Zero position H Pulse 0x600c Pr8 12 Zero position L Pulse 0x600d Pr8 13 Homing stop position H Pulse 0x600e Pr8 14 Homing stop position L Pulse ...

Страница 72: ...ith Pr9 00 Pr9 07 0x6230 0x6237 Pr9 48 Pr9 55 PR6 parameters The same with Pr9 00 Pr9 07 0x6238 0x623f Pr9 56 Pr9 63 PR7 parameters The same with Pr9 00 Pr9 07 0x6240 0x6247 Pr9 64 Pr9 71 PR8 parameters The same with Pr9 00 Pr9 07 0x6248 0x624f Pr9 72 Pr9 79 PR9 parameters The same with Pr9 00 Pr9 07 0x6250 0x6257 Pr9 80 Pr9 87 PR10 parameters The same with Pr9 00 Pr9 07 0x6258 0x625f Pr9 88 Pr9 9...

Страница 73: ...ctions into 0x6002 P8 02 Write 0x01P P segment positioning write 0x010 to run path 0 write 0x013 to run path 3 Write 0x020 homing Write 0x021 current position manual set to zero Write 0x040 E stop Read 0x000p means positioning accomplished can receive new data Read 0x01P 0x020 0x040 means still does not response to instructions Read 0x10P means path is running Read 0x200 means instruction accompli...

Страница 74: ... in 0x10 can trigger PR0 operation immediately realize data trigger running immediately Operating steps 1 Firstly configure homing and path which need to run can power on and send parameter configuration temporarily also can configure and save with upper computer homing must be configured 2 Enable drive 3 Operate fixed path by P8 02 4 Or write in immediate data by P9 00 9 07 and P9 07 0x10 impleme...

Страница 75: ...ath is running Read 0x200 means instruction accomplished and wait for positioning 7 4 5 2 Immediately trigger method Fixed trigger is limited by 16 segment position but immediately trigger method is flexible It is written to the current path at each time at the same time trigger the operation of this path Realize position speed homing and such actions by a data frame This method adopt PR0 to imple...

Страница 76: ...al port is opened successfully Fill in the data frame format in the sending area according to relevant motion commands and the last two bit bit data are CRC check codes Instead of entering directly click the check button of the corresponding send area to generate automatically which is shown in figure 31 86 Absolute position 11 10 62 00 00 08 10 00 01 00 01 86 A0 01 F4 00 64 00 64 00 00 00 10 67 B...

Страница 77: ...me 100ms 00 00 data written down to the seven addresses of 6206 mapped to Pr9 06 Hexadecimal data of the delay time 0ms 00 10 data written down to the eight addresses of 6207 mapped to Pr9 07 to trigger the action Immediately trigger method 1P Immediately trigger path P The sample Pr9 00 9 07 is the positioning related data of path 0 67 B3 the CRC verification code do not have to directly input cl...

Страница 78: ... 00 00 10 17 4D 11 slave ID 17 10 function code write multi data 62 00 first address mapped to Pr9 00 00 08 8 consecutive operating addresses from 62 00 to 62 07 mapped to Pr9 00 Pr9 07 10 Hexadecimal data of the number of data 8 register each address data is divided into high and low bits 8 2 16 00 02 data written down to the first addresses of 6200 mapped to Pr9 00 Motion Model Speed mode 00 00 ...

Страница 79: ...nabled Pr4 00 383 set the distribution of IO register P4 0 P4 13 Confirm the running direction and so on 3 Setting up the PR basic control parameters through upper computer s Pr MODE interface Include trigger setting software limit JOG function homing function e stop function and so on 4 Setting up the PR positioning path parameters through upper computer s Pr MODE interface include For the conven...

Страница 80: ...ode manual operation diagram 7 6 RS485 Parameter address Following are ELD2 parameter address apply to DSP software version V2 10 monitor d28no LdxxxF of which xxx is DSP software version number communication protocol is Modbus RTU protocol Parameter Address decimalism Address HEX Data Width Pr0 00 Pr0 24 0 24 0x0 0x18 16 bit data Pr1 00 Pr1 39 25 64 0x19 0x40 Pr2 00 Pr2 29 65 94 0x41 0x5E Pr3 00 ...

Страница 81: ...ing pointer 1 0x191 R W Refer to specification2 Status monitoring pointer 2 0x192 R W Status monitoring pointer 3 0x193 R W Status monitoring pointer 4 0x194 R W Virtue input 1 0x197 R W Virtue input 2 0x198 R W Servo status 0x1F0 R Virtue output 0x1F1 R Status monitoring data 1 0x1F3 R Status monitoring data 2 0x1F4 R Status monitoring data 3 0x1F5 R Status monitoring data 4 0x1F6 R ...

Страница 82: ...nput port status 1 High level 0 Low level 0x204 SI5 Input port status 1 High level 0 Low level 0x205 SI6 Input port status 1 High level 0 Low level 0x206 SO1Output port status 1 High level 0 Low level 0x207 SO2 Output port status 1 High level 0 Low level 0x208 SO3 Output port status 1 High level 0 Low level 0x209 SO4 Output port status 1 High level 0 Low level 2 2 Virture INPUT1 0x197 Bit Name Sym...

Страница 83: ...status 0x1F0 Bit Name Symbol Operation Specification 0 Reserved Reserved 1 Servo enable SRV ON R 1 valid 0 invalid 2 Servo error SRV ERR R 1 valid 0 invalid 3 15 Reserved Reserved 2 5 Virtual OUTPUT 0x1F1 Bit Name Symbol Operation Specification 0 Servo ready SRDY R 1 valid 0 invalid 1 Reserved 2 Positioning completed INP R 1 valid 0 invalid 3 Speed reach ATSPD R 1 valid 0 invalid 4 Torque limit si...

Страница 84: ... 0x0D0 DC bus under voltage 0x120 Resistance discharge circuit over load 0x0C0 DC bus over voltage 0x153 encoder battery error 0x171 0x172 encoder parameters read error 0x210 0x211 0x212 I F input interface allocation error 4 Auxiliary function Sort Name Address Operation Unit Specification Auxiliary function command 1 Control word 0x19A W Refer to explain 4 Status word 0x1F7 R Explain43 Auxiliary...

Страница 85: ...ut 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 speed error etc Operation jog trapezoidal wave test each parameter and input output signal can be modified and saved Debug softwa...

Страница 86: ...eded for motor with 1000line or 2500line incremental encoder Motor with 5000line 17bit 23bit serial encoder can match ELD2 400Z automatically Download new value of parameters to the driver and save it and restart the driver to make the new value available Refer to Quick Reference Of ELD2 series Servo Product pdf for details about tuning the servo Notice Please contact tech leadshine com for techni...

Страница 87: ... 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 9254 for Europe areas 86 755 2641 7617 for America areas Email sales leadshine com ...

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