Leadshine ELD2-CAN70 Series User Manual
  1. Manuals
  2. Brands
  3. Leadshine Manuals
  4. Servo Drives
  5. ELD2-CAN70 Series
  6. User manual
Leadshine ELD2-CAN70 Series User Manual

Leadshine ELD2-CAN70 Series User Manual

Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
User Manual for ELD2-CAN Servo
ELD2-CAN70** User Manual
www.leadshine.com
1

Advertisement

Table of Contents
loading

Related Manuals for Leadshine ELD2-CAN70 Series

Summary of Contents for Leadshine ELD2-CAN70 Series

  • Page 1 User Manual for ELD2-CAN Servo ELD2-CAN70** User Manual www.leadshine.com...

  • Page 2: Introduction

    User Manual for ELD2-CAN Servo Introduction Thanks for purchasing Leadshine ELD2 series low-voltage AC servo drives, this instruction manual provides knowledge and attention for using this drive. Contact tech@leadshine.com for more technical service . Incorrect operation may cause unexpected accident, please read this manual carefully before using product.
  • Page 3  Install a emergency stop protection circuit externally, the protection can stop running immediately to prevent accident happened and the power can be cut off immediately.  The run signal must be cut off before resetting alarm signal, just to prevent restarting suddenly.  The servo drive must be matched with specified motor. www.leadshine.com...
  • Page 4  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 drive should be matched with servo motor. www.leadshine.com...

  • Page 5: Table Of Contents

    4.2.6【Class 5】Extended Setup ....................... 47 4.2.7【Class 6】Special Setup......................50 4.2.8【Class 7】Factory setting......................53 4.3 402 Parameters Function ........................53 Chapter 5 CANopen ............................60 5.1 CAN Interface ............................60 5.2 CANopen protocol ..........................60 5.2.1 CANopen frame ........................60 www.leadshine.com...
  • Page 6 6.6.2 Statusword in profile homing mode ..................81 6.6.3 Related objects .......................... 82 6.6.4 Example of homing mode ......................82 6.6.5 Homing Method ........................83 Chapter 7 Alarm and Processing ........................98 7.1 Alarm List ............................. 98 7.2 Alarm Processing Method ........................99 www.leadshine.com...
  • Page 7 User Manual for ELD2-CAN Servo Chapter 8 Product Specification ........................107 8.1 Drive Technical Specification ......................107 8.2 Accessory selection ..........................108 Contact us ................................. 109 www.leadshine.com...

  • Page 8: Chapter 1 Introduction

    It can save the cost of pulse module, control card and industrial control machine. Talent feature: ◆ Easy tuning ◆ Automatic identification for motor ◆ Simple, flexible to control ◆ RS485/Modbus/CANopen ◆ Notch filter, damping filter ◆ Optional feedback www.leadshine.com...
  • Page 9 1 programmable differential outputs; 2 programmable 2 programmable single-end outputs. Inputs/Outputs differential outputs; 3 programmable single-end outputs; Motor Supported Brushless、Brushed 1000、 2500lines incremental TTL signal encoder and 17bit、 23bit serial signal encoder Feedback Supported Encoder(ABZ)+Hall(UVW)、Encoder(ABZ) Communication CANopen / RS-232 www.leadshine.com...

  • Page 10: Inspection Of Product

    Up to 1200W Motor Supported Brushless、Brushed Voltage Range 24 - 70Vdc 1000、2500lines incremental TTL signal encoder ; Feedback supported 17bit、23bit serial signal encoder. Motor Size 40mm,42mm,57mm,60mm frame or other size Other Requirements Brake. oil-seal. protection level. shaft&connector can be customized www.leadshine.com...

  • Page 11: Chapter 2 Installation

     Must install with specified direction and intervals, and ensure good cooling condition.  Don’t install them on inflammable substance or near it to prevent fire hazard. 2.2.1 Installation Method Install in vertical position, and reserve enough space around the servo drive for ventilation. Here is the installation diagram: www.leadshine.com...

  • Page 12: Installation Space

    User Manual for ELD2-CAN Servo Figure 2.1(A) installation method of drive ELD2-CAN7010 Figure 2.1(B) installation method of drive ELD2-CAN7015 /ELD2-CAN7020/ ELD2-CAN7030 2.2.2 Installation Space Reserve enough surrounding space for effective cooling. www.leadshine.com...

  • Page 13: Servo Motor Installation

    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 vibrating. www.leadshine.com...

  • Page 14: Chapter 3 Wiring

    When it rises to a certain voltage value, the excess energy needs to be consumed by the regenerative resistance The recommended regenerative resistance specifications for the ELD2 series are as follows: www.leadshine.com...
  • Page 15 Attention  Match the colors of the motor lead wires to those of the corresponding motor output terminals (U.V.W)  Never start nor stop the servo motor with this magnetic contactor. www.leadshine.com...

  • Page 16: Wiring

    User Manual for ELD2-CAN Servo 3.1.2 Wiring DC power supply 270Ω 270Ω 24Vdc COM_IN （output） 4.7K 12~24Vdc （input） 4.7K 4.7K 4.7K COM_OUT CAN*2 Communication port RS232 Brake Output Figure 3.1 Position Mode Wiring www.leadshine.com...

  • Page 17: Drive Terminals Function

    Brake output, Maximum current 0.8A （Selectable, only for ELD2-CAN70**B） Output Digital output signal 1 , default value is alarm output，24V, Output <100mA Digital output signal 2 , default value is servo-ready output， Output 24V, <100mA COM_OUT Output Digital output signal commonality ground, 24V www.leadshine.com...

  • Page 18: Encoder Input Port-Cn2 Terminal

    Encoder channel Z- input / EZ-/D- Input Serial encoder- Input Encoder channel B+ input Input Encoder channel B- input Encoder channel A+ input Input Encoder channel A- input 3.2.3 Communication Port Detail RS232 3.2.4 Power Port Signal Detail Power terminal www.leadshine.com...

  • Page 19: Can Bus Connector

    CAN Baud rate Pr0.24 Default =1MHz 500 MHz 250 MHz 125 MHz SW3: CAN terminal resistance SW3=off，disconnect the terminal resistance SW3=on，connect the terminal resistance SW4：CAN Node-ID selection : high position selection SW4=off，high position is 0 SW4=on，high position is 1 www.leadshine.com...

  • Page 20: I/O Interface Principle

    — Range 0~00FFFFFFh Unit Default Index 2406h Name Input selection SI8 Mode Pr4.07 — Range 0~00FFFFFFh Unit Default Index 2407h Name Input selection SI9 Mode Pr4.08 — Range 0~00FFFFFFh Unit Default Index 2408h Pr4.09 Name Input selection SI10 Mode www.leadshine.com...
  • Page 21 I/O input digital filtering; higher setup will arise control delay. Digital Output function allocation Name Output selection SO1 Mode Pr4.10 — Range 0~00FFFFFFh Unit Default Index 000001h 2410h Name Output selection SO2 Mode Pr4.11 — Range 0~00FFFFFFh Unit Default Index 000002h 2411h Name Output selection SO3 Mode Pr4.12 www.leadshine.com...
  • Page 22 · Don’t setup to a value other than that specified in the table . · Pr4.10~Pr4.15 correspond to SO1~SO6 respectively. When the parameters are set to all 0, it is the master control output. Bit0 ~bit5 of the object dictionary 0x60FE sub-index 01 corresponds to SO1~SO6 respectively www.leadshine.com...

  • Page 23: Chapter 4 Parameter

    Gain Adjust 2106h PR_106 2nd gain of velocity loop 2107h PR_107 2nd time constant of velocity loop integration 2108h PR_108 2nd filter of velocity detection 2109h PR_109 2nd time constant of torque filter 2110h PR_110 Velocity feed forward gain www.leadshine.com...
  • Page 24 2413h PR_413 output selection SO4 2414h PR_414 output selection SO5 2415h PR_415 output selection SO6 2431h PR_431 Positioning complete range 2432h PR_432 Positioning complete output setup 2433h PR_433 INP hold time 2434h PR_434 Zero-speed 2435h PR_435 Speed coincidence range www.leadshine.com...
  • Page 25 JOG trial run command speed 2605h PR_605 Position 3rd gain valid [Class 6] time 2606h PR_606 Position 3rd gain scale Special factor Setup 2607h PR_607 Torque command additional value 2608h PR_608 Positive direction torque compensation value 2609h PR_609 Negative direction torque www.leadshine.com...

  • Page 26: Manufacturer Parameters

    Sync0 Watchdog 65535 83Bh Alarm detection counter Reserved 65535 Sync0 Watchdog 65535 limit Sync0 Drift 65535 83Ch Alarm detection watchdog counter Sync0 Drift 65535 watchdog limit SM2 watchdog 65535 83Ah Alarm detection counter SM2 Watchdog 65535 limit Application layer SM2/Sync0 www.leadshine.com...
  • Page 27 1：As normal, continue homing process 5400 Set synchronization 1000 cycle minimum value Set synchronization 10000 4000 20000 cycle maximum value 5500 Absolute encoder multi turn number Encoder single turn Pulse position Encoder feedback Pulse position 32 bit low Encoder feedback Pulse www.leadshine.com...

  • Page 28: Motion Parameter Starting With Object Dictionary 6000

    4.1.3 Motion parameter starting with object dictionary 6000 Index Sub-index Name Unit Default Mode 603F Error code 6040 Control word 6041 Status word 605A Quick stop option code Shut down code 605B Disable operation code 605C Halt option code 605D Alarm stop code 605E www.leadshine.com...
  • Page 29 10000 2147483 pp/pv 6084 unit /s/s Quick stop deceleration Command 100000 2147483 pp/pv/ 6085 unit /s/s 0.1% /s Torque change rate 2147483 6087 Encoder resolution Encoder 608F unit Motor turns Electron gear molecule 2147483 6091 Electronic gear denominator 2147483 www.leadshine.com...
  • Page 30 Speed of position loop Command csp/pp/ 60FA unit /s Internal command position Encoder pp/hm 60FC unit Status of input 60FD Output valid 60FE Output enable Target speed (Restricted by Command -214748 2147483 60FF 6080) unit /s 3648 6502 Supported operation mode www.leadshine.com...

  • Page 31: Parameters Function

    User Manual for ELD2-CAN Servo 4.2 Parameters Function Here is the explanation of parameters, you can check them or modify the value using configuration software or the front panel of drive. Contact tech@leadshine.com if you need more technical service . 【 】 4.2.1...
  • Page 32 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. Compared with the maximum torque 6072, the actual torque limit value is smaller one. Name Position Deviation Excess Setup Mode Pr0.14 Range 0~500 Unit 0.1rev Default Index 2014h www.leadshine.com...
  • Page 33 Mode Pr0.23＊ — Range 0~32767 Unit Default Index 2023h Setup the Node-ID of the slave station. Name CAN Baud rate Mode Pr0.24＊ — Range Unit Default Index 2024h Pr0.24 CAN baud rate (KHz) Pr0.24 CAN baud rate (KHz) 1000 www.leadshine.com...

  • Page 34: Class 1】Gain Adjust

    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: Setup Speed Detection Filter Setup Speed Detection Filter Value Cut-off Frequency(Hz) Value Cut-off Frequency(Hz) 2500 2250 2100 2000 www.leadshine.com...
  • Page 35 Range 0~1000 Unit 0.10% Default Index 2110h Multiply the velocity control command calculated according to the internal positional command by the ratio of this parameter and add the result to the speed command resulting from the positional control process. www.leadshine.com...
  • Page 36 (level + hysteresis) [%]previously during delay time with the 2nd gain. Reserved Reserved  Valid for position and speed controls. Speed command is  Shift to the 2nd gain when the absolute value of the speed large www.leadshine.com...
  • Page 37 Notice: set the level equal to or higher than the hysteresis. Hysteresis at position control Name Mode switching Pr1.18 Mode Range 0~20000 Unit Default Index 2118h dependen Combining Pr1.17(control switching level)setup Notice: when level< hysteresis, the hysteresis is internally adjusted so that it is equal to level. www.leadshine.com...

  • Page 38: Class 2】Vibration Suppression

    Torque limit signal output 0x0020 threshold selection in torque Reserved mode: shield 6071 shield the motor vibration 0x0040 Reserved error（190） 【 】 4.2.3 Class 2 Vibration Suppression Name Adaptive filter mode setup Mode Pr2.00 Range Unit Default Index 2200h www.leadshine.com...
  • Page 39 Set the width of notch at the center frequency of the 2nd notch filter. Notice: Higher the setup, larger the notch width you can obtain. Use with default setup in normal operation. Name 2nd notch depth selection Mode Pr2.06 0~99 Range Unit Default Index 2206h www.leadshine.com...
  • Page 40  When a square wave command for the target speed Vc is applied, set up the time constant of the 1st delay filter as shown in the figure below. Name positional command FIR filter Mode Pr2.23 Range 0~10000 Unit 0.1ms Default Index 2223h www.leadshine.com...

  • Page 41: Class 3】Velocity/ Torque Control

    Default Index 2314h Set S-curve time for acceleration/deceleration process when the speed command is applied. According to Pr3.12 Acceleration time setup and Pr3.13 Deceleration time setup, set up sigmoid time with time width centering the inflection point of acceleration/deceleration. www.leadshine.com...

  • Page 42: Class 4】I/F Monitor Setting

    Name Input selection SI8 Mode Pr4.07 — Range 0~00FFFFFFh Unit Default Index 2407h Name Input selection SI9 Mode Pr4.08 — Range 0~00FFFFFFh Unit Default Index 2408h Name Input selection SI10 Mode Pr4.09 — Range 0~00FFFFFFh Unit Default Index 2409h www.leadshine.com...
  • Page 43 Name Output selection SO5 Mode Pr4.14 — Range 0~00FFFFFFh Unit Default Index 2414h Name Output selection SO6 Mode Pr4.15 — Range 0~00FFFFFFh Unit Default Index 2415h Assign functions to SO1 outputs. This parameter use 16 binary system do setup www.leadshine.com...
  • Page 44 When there is no command, the position determination starts after the delay time set by Pr4.33. The signal will turn on when there is no position command and positional deviation is smaller than Pr4.31 [positioning complete range] Name INP hold time Mode Pr4.33 Range 0~15000 Unit 1ms Default Index 2433h www.leadshine.com...
  • Page 45 Because the speed coincidence detection is associated with 10 r/min hysteresis, actual detection range is as shown below. Speed coincidence output OFF -> ON timing (Pr4.35 -10) r/min Speed coincidence output ON -> OFF timing (Pr4.35 +10) r/min www.leadshine.com...
  • Page 46  Set up to prevent the brake deterioration due to the motor running.  At servo-OFF during the motor is running , tb of the right fig will be a shorter one of either Pr4.38 setup time, or time lapse till the motor speed falls below Pr4.39 setup speed. www.leadshine.com...

  • Page 47: Class 5】Extended Setup

    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. The main power-OFF detection Name Mode time Pr5.09 Range 70~2000 Unit Default Index 2509h www.leadshine.com...
  • Page 48 Set up the 2 limit value of the motor torque output The value of the parameter is limited to the maximum torque of the applicable motor. Compared with the maximum torque 6072, the actual torque limit value is smaller one www.leadshine.com...
  • Page 49 Time compensation for signal acquisition of touch probe 2 to provide more accurate capture position and prevent the instantaneous jitter of capture during master and slave cooperation Name Front panel lock setup Mode Pr5.35 Range Unit Default Index 2535h www.leadshine.com...

  • Page 50: Class 6】Special Setup

    You can set up the command speed used for JOG trial run (velocity control). Name Position 3rd gain valid time Mode Pr6.05 Range 0~10000 Unit 0.1ms Default Index 2605h Set up the time at which 3 gain becomes valid. When not using this parameter, set PR6.05=0, PR6.06=100 www.leadshine.com...
  • Page 51 Range Unit Index 2614h Set up the time allowed to complete emergency stop in an alarm condition, exceeding this time puts this system in alarm state. Name Trial run distance Mode Pr6.20 0~1200 0.1rev Default Range Unit Index 2620h www.leadshine.com...
  • Page 52 Set the high level holding time of Z signal 1、Z signal for 60FDH； 2、Z signal for homing process Name Overload warning threshold Mode Pr6.62 0~99 Default Range Unit Index 2662h Before an overload alarm，pre-alarm. upper limit of multi - turn Pr6.63 Name Mode absolute position www.leadshine.com...

  • Page 53: Class 7】Factory Setting

    0-6553 TPDO 603FH Access Mapping Mode Range Default Name Control word Structure Type Uint 16 Index 0-6553 RPDO 6040H Access Mapping Mode Range Default 15~11 10~9 Fault Mode Enable Quick Enable Switch Definition Halt reset specific operation stop voltage www.leadshine.com...
  • Page 54 5 ：Stop according to 609Ah(Homing acceleration)，keeping Quick stop active 6 ：Stop according to 6085h(Quick stop deceleration)，keeping Quick stop active 7 ：Stop according to 60C6h(Max deceleration)，keeping Quick stop active Name Halt option code Structure Type INT 16 Index 605DH Access Mapping Mode Range Default www.leadshine.com...
  • Page 55 1 ：Stop according to 6084h(Profile deceleration)，keeping Switched on HM Mode 0 ：Stop according to 3506h(Sequence at Servo-off)，keeping Switched on 1 ：Stop according to 609Ah(Homing acceleration)，keeping Switched on Name Mode of operation Structure Type int 8 Index RPDO 6060H Access Mapping Mode Range 0-10 Default www.leadshine.com...
  • Page 56 Velocity 0：Rotate in the same direction as the position command mode 64：Rotate in the opposite direction as the position command 0：Rotate in the same direction as the position command mode 224：Rotate in the opposite direction as the position command www.leadshine.com...
  • Page 57 Z signal, the rising edge on the same side of homing switch must come before Z signal Search the homing point in negative direction, deceleration point is homing switch, homing point is motor Z signal, the falling edge on the same side of homing switch must come before Z www.leadshine.com...
  • Page 58 SI14 SI13 Bit15 Bit14 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8 SI12 SI11 SI10 Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Reserved HOME Index Name Output valid Structure Type Uint 32 60FEH-0 RPDO Access Mapping Mode Range 0-ffff Default www.leadshine.com...
  • Page 59 SO1 valid Name Output enable Index Structure Type Uint 32 60FEH-0 Access Mapping Mode Range 0-ffff Default The bits of a 60FEh object are functionally defined as follow: 31~21 15~0 Sub-index Reserved Reserved enable enable enable enable enable enable www.leadshine.com...

  • Page 60: Chapter 5 Canopen

    Arbitration field In CANopen messages the identifier part of the arbitration field is h=known as Communication Object Identifier（COB-ID）. It is divided into a 4-bit part function code and a 7-bit node-ID as depicted:: Bit number: Identifier （COB-ID） Function code Node-ID www.leadshine.com...

  • Page 61: Canopen Objects

    Device profile area (0x6000 to 0x9FFF): These objects are standardized device profile objects as defined in the DSP402 profile, which is the CANopen profile for servo drives. This chapter is focused on the Communication profile area. DS301 defines special objects for the www.leadshine.com...

  • Page 62: Nmt

    The initialization state could be divided into three sub-states that are executed in a sequential way: Initializing (performs the basic CANopen initializations), Reset application (in where all manufacturer-specific and standardized profile area parameters are set) and Reset communication (where the communication profile and parameters are set). www.leadshine.com...

  • Page 63: Nmt Services

    The NMT Master can monitor the communication status of each node using the Node Guarding protocol. During node guarding, a controller is polled periodically and is expected to respond with its communication state within a pre-defined time frame. Note that responses indicating an acceptable state will alternate between www.leadshine.com...
  • Page 64 Data field(Byte 1) COB-ID(hex) Number of Bytes Bit 7 Bit 6 to 0 0x700+Node-ID Reserved NMT communication state The state of the heartbeat producer could be one of the followings: Communication State value(hex) State definition Boot-up Stopped Operational Pre-operational www.leadshine.com...

  • Page 65: Sdo

    (up to 4bytes) during the initialization process. This mechanism is called SDO expedited transfer. The SDO message will be as follows: Master to Slave(Write) COB-ID(hex) Byte 0 Byte 1:2 Byte 3 Byte 4:7 0x600+Node-ID SDO send Command Object Dictionary Index Data www.leadshine.com...

  • Page 66: Pdo

    PDO consumer.  Synchronously trigger: Message transmission is triggered by the reception of a certain number of SYNC objects (see TPDO1 definition for further information). The PDO transmission is controlled by the SYNC producer. www.leadshine.com...

  • Page 67: Sync

    (Object 0x1001) ELD2-CAN series include Emergency error codes (Object 0x603F): Emergency error codes Description 0000H 8110H CAN bus over-run 8120H CAN in error passive mode 8130H Lifeguard error 8140H Recovered from CAN bus off 8141H CAN Bus off occurred www.leadshine.com...
  • Page 68 Send COB-ID conflicts 8210H PDO not processed due to length error 8220H PDO exceeds length error ELD2-CAN series include Error registers (Object 0x1001): Description Generic Error Current Voltage Temperature Communication Error specified by device protocol Reserved Leadshine specific error www.leadshine.com...

  • Page 69: Chapter 6 Trial Run

    Note: there are two kinds of trial run : trial run without load and trial run with load . The user need to test the drive 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...

  • Page 70: Common Functions For All Modes

    Electronic gear ratio range is 1/1000~8000, otherwise Er A00 warning will appear (the warning is not saved, after modification to a reasonable range, the operation panel alarm will automatically disappear, but the 402 state will still be in the "error" state, write 0x80 into 6040h to reset. www.leadshine.com...

  • Page 71: Control Word

    ** indicates that it has no effect on the start state and remains in the start state *1) The state machine switch corresponds to figure 7.1 The definition of bit 8 and bit 6~4 in different operation modes are shown in the following table www.leadshine.com...

  • Page 72: Status Word

    Quick stop active × × × × ,× × × × ,× 0× × ,1111 Fault reaction active Fault × × × × ,× × × × ,× 0× × ,1000 × is not affected by this bit state www.leadshine.com...

  • Page 73: Drive Enable

    Upon reception of the controlword with the rising edge of the "New set point " bit, the motion controller issues a statusword with a "Set point acknowledge" bit rising edge.  To signal its ability to accept new set points, the motion controller issues a statusword with the "Set point acknowledge" bit cleared. www.leadshine.com...

  • Page 74: Controlword In Profile Position Mode

    Next table defines the values for bit 6 and 8 of the controlword. Name Value Description Target position is an absolute value. Abs / rel Target position is a relative value. Execute positioning. Halt Stop axis with profile deceleration(6084h). www.leadshine.com...

  • Page 75: Statusword In Profile Position Mode

    6.4.3 Related objects Object Dictionary Description Setup value Units 6060H Mode of operation 6040H Controlword 6041H Statusword 607AH Target position Pulse 6081H Profile velocity Pulse /s 6083H Profile acceleration Pulse /s 6084H Profile deceleration Pulse /s 6092H Feed constant www.leadshine.com...

  • Page 76: Example Of Profile Position Mode

    The profile velocity mode uses some bits of the controlword and the statusword for mode specific purposes. The binary representation of the controlword(6040) in profile velocity mode is as follows: 15~9 Fault Enable Quick Enable Switch Halt reset operation stop voltage www.leadshine.com...

  • Page 77: Statusword In Profile Velocity Mode

    Description Setup value Units 6060H Mode of operation 6040H Controlword 6041H Statusword 60FFH Target velocity Pulse /s 6083H Profile acceleration Pulse /s 6084H Profile deceleration Pulse /s 606CH Velocity actual value Pulse /s 606BH Velocity demand value Pulse /s www.leadshine.com...

  • Page 78: Example Of Profile Velocity Mode

    The profile velocity mode uses some bits of the controlword and the statusword for mode specific purposes. The binary representation of the controlword(6040) in profile torque mode is as follows: 15~9 Fault Enable Quick Enable Switch Halt reset operation stop voltage www.leadshine.com...

  • Page 79: Statusword In Profile Torque Mode

    6.6.3 Related objects Object Dictionary Description Setup value Units 6060H Mode of operation 6040H Controlword 6041H Statusword 6071H Target torque 0.1% 6087H Torque change rate 0.1% /s 6080H Maximum motor speed r/min 6074H Torque demand 0.1% 6077H Torque actual value 0.1% www.leadshine.com...

  • Page 80: Example Of Profile Torque Mode

    The profile velocity mode uses some bits of the controlword and the statusword for mode specific purposes. The binary representation of the controlword(6040) in profile homing mode is as follows: 15~9 Homing Fault Enable Quick Enable Switch Halt operation reset operation stop voltage start www.leadshine.com...

  • Page 81: Statusword In Profile Homing Mode

    Homing is attained but target is not reached Homing mode carried out successfully Homing error occurred; Homing mode carried out not successfully; Velocity is not zero Homing error occurred; Homing mode carried out not successfully; Velocity is zero Reserved www.leadshine.com...

  • Page 82: Related Objects

    00 06 00 00 00 Switched On ->Ready to Switch On. Note: The COB-ID of step 1 (reset node) and step 2 (start node) is "0x000", and the COB-ID of the remaining steps is the address 0x600 + Node ID www.leadshine.com...

  • Page 83: Homing Method

    Start Position Stop Position High speed Low speed 6099h-01h 6099h-02h Method -2：Search the homing point with low speed negative direction, when the torque reached then reverse the direction, when the torque is gone and Z signal coming then stop immediately. www.leadshine.com...
  • Page 84 Z signal is valid, as shown in figure. If the motor stops at the positive limit position when it starts to move, the motor will move in negative www.leadshine.com...
  • Page 85 Then the motor reverse the direction at low speed. The motor stops after the homing switch valid and the first encoder Z signal is valid, as shown in figure. If the positive/negative limit switch signal is valid during the homing process, the status word (6041h) bit www.leadshine.com...
  • Page 86 Z signal is valid, as shown in figure. If the positive/negative limit switch signal is valid during the homing process, the status word (6041h) bit 13 will be valid, indicating that the homing error and the motor will stop immediately. www.leadshine.com...
  • Page 87 If the positive limit switch is invalid and motor stops at the homing switch position when it starts to move, the motor will move in negative direction at high speed until the homing switch signal is invalid. Then the www.leadshine.com...
  • Page 88 Z signal is valid, as shown in figure. If the negative limit switch signal is valid during the homing process, the status word (6041h) bit 13 will be valid, indicating that the homing error and the motor will stop immediately. www.leadshine.com...
  • Page 89 If the negative limit switch signal is valid during the homing process, the status word (6041h) bit 13 will be valid, indicating that the homing error and the motor will stop immediately. High speed Low speed Start Position Stop Position 6099h-01h 6099h-02h Z signal HOME-SWITCH POT signal www.leadshine.com...
  • Page 90 Z signal is valid, as shown in figure. If the positive limit switch signal is valid during the homing process, the status word (6041h) bit 13 will be valid, indicating that the homing error and the motor will stop immediately. www.leadshine.com...
  • Page 91 Start Position Stop Position High speed Low speed 6099h-01h 6099h-02h Z signal HOME-SWITCH NOT signal Method 14： If the homing switch and positive limit switch is invalid, the motor will move in negative direction at low www.leadshine.com...
  • Page 92 Low speed 6099h-01h 6099h-02h Z signal HOME-SWITCH NOT signal Method 17： This method is similar to method 1 Start Position Stop Position High speed Low speed 6099h-01h 6099h-02h NOT signal Method 18： This method is similar to method 2 www.leadshine.com...
  • Page 93 Method 20： This method is similar to method 4 Start Position Stop Position High speed Low speed 6099h-01h 6099h-02h HOME-SWITCH Method 21： This method is similar to method 5 Start Position Stop Postion High speed Low speed 6099h-01h 6099h-02h HOME-SWITCH www.leadshine.com...
  • Page 94 This method is similar to method 7 Start Position Stop Potion High speed Low speed 6099h-01h 6099h-02h HOME-SWITCH POT signal Method 24： This method is similar to method 8 Start Position Stop Position High speed Low speed 6099h-01h 6099h-02h HOME-SWITCH POT signal www.leadshine.com...
  • Page 95 This method is similar to method 10 Start Position Stop Position High speed Low speed 6099h-01h 6099h-02h HOME-SWITCH POT signal Method 27： This method is similar to method 11 Start Position Stop Position High speed Low speed 6099h-01h 6099h-02h HOME-SWITCH NOT signal www.leadshine.com...
  • Page 96 High speed Low speed 6099h-01h 6099h-02h HOME-SWITCH NOT signal Method 29： This method is similar to method 13 Start Position Stop Position High speed Low speed 6099h-01h 6099h-02h HOME-SWITCH NOT signal Method 30： This method is similar to method 14 www.leadshine.com...
  • Page 97 When using this method, the motor does not need to be enabled, only the control word (6041h) needs to be executed from 0 to 1. Start Position Stop Position High speed Low speed 6099h-01h 6099h-02h Current position Control word 6040h bit4：0->1 www.leadshine.com...

  • Page 98: Chapter 7 Alarm And Processing

    Read/write bus communication parameters error 5535 Read/write 402 parameters error 6321 input interface allocation error 6322 input interface function set error 6323 output interface function set error 6329 FPGA communication error 7122 Motor code error 7321 Encoder wiring error www.leadshine.com...

  • Page 99: Alarm Processing Method

    Error Display: “ ”--“ ” code Content: FPGA communication error Cause Confirmation Solution Check the voltage of Vdc/GND under-voltage Make sure voltage of Vdc/GND in proper range Vdc/GND terminal Drive internal fault replace the drive with a new one www.leadshine.com...
  • Page 100 Display: “ ” Error code Content: temperature detection circuit error Cause Confirmation Solution Vdc/GND under-voltage Check the voltage of Make sure voltage of Vdc/GND in proper range Vdc/GND terminal Drive inner fault replace the drive with a new one www.leadshine.com...
  • Page 101 PG ground or not circuit, assure motor no damage Abnormal wiring of motor Check motor wiring order Adjust motor wiring sequence Short of IGBT module Cut off drive output wiring, make replace the drive with a new one www.leadshine.com...
  • Page 102 Check the load if it is inertia ,increase external regenerative resistor, regenerative resistor . too large or not. improve the capacity of the drive and motor Resistance discharge Increase external regenerative resistor, replace circuit damage the drive with a new one www.leadshine.com...
  • Page 103 Encoder damaged replace the motor with a new one Encoder measuring replace the drive with a new one www.leadshine.com...
  • Page 104 (PA_321) if it is proper or not; check encoder if the wiring assure encoder wiring correctly is correct or not Main Extra Display: “ ” Error code Content: Motor speed out of control www.leadshine.com...
  • Page 105 PA_411, PA_412, PA_413, if it is PA_411, PA_412,PA_413 set with two or more functions. proper or not correctly The input signal aren’t Check the value of PA_410, Assure the value of PA_410, assigned with any functions. PA_411, PA_412, PA_413, if it is PA_411,PA_412,PA_413 set www.leadshine.com...
  • Page 106 Solution Forced-alarm input signal Check forced-alarm input signal Assure input signal wiring correctly has been conducted Main Extra Display: “ ” Error code Content: Motor code error Cause Confirmation Solution Motor code error Motor code error Set Pr7.15 correctly www.leadshine.com...

  • Page 107: Chapter 8 Product Specification

    User Manual for ELD2-CAN Servo Chapter 8 Product Specification Notice Contact tech@leadshine.com if you need more technical service. 8.1 Drive Technical Specification Specifications Drive model ELD2-CAN7010 ELD2-CAN7015 ELD2-CAN7020 ELD2-CAN7030 Size(mm) 118*75.5*34 159*98*33 159*98*33 159*98*33 Rated power(kw) 0.75 Rated output current(A)

  • Page 108: Accessory Selection

    User Manual for ELD2-CAN Servo 8.2 Accessory selection 1. Motor Cable CABLE-ACM5M0（for motor -SS） CABLE-PL5M0-H（for motor -HD） 2. Encoder Cable CABLE-LD2-BM5M0（1000lines、2500lines） CABLE-LD2-BM5M0-S（5000lines、17bit、23bit） 3. Brake Cable CABLE-SC5M0-S 4. Software Configuration Cable CABLE-PC-1 5. Control signal terminal CN1 (20 pin) 6.CAN communication Cable CABLE-TX1M0-LD2（PJ） www.leadshine.com...

  • Page 109: Contact Us

    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...

This manual is also suitable for:

Eld2-can7010Eld2-can7015Eld2-can7020Eld2-can7030

Table of Contents