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Leadshine EL7-EC Series User Manual

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EL7-EC Series AC Servo Drive
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  • Page 1 EL7-EC Series AC Servo Drive User Manual...
  • Page 2 User Manual Of EL7-EC** AC Servo Foreword Thank you for purchasing Leadshine EL7-EC series AC Servo drives. This manual will provide information on the EL7-EC series servo products regarding product safety & specifications, installations & wiring, tuning & problem diagnostics.
  • Page 3 User Manual Of EL7-EC** AC Servo Transportation Caution Caution  Please provide storage and transportation under protected conditions.  Do not stack the products too high up to prevent toppling.  The product should be packaged properly during transportation,  Do not hold the product by the cable, motor shaft or encoder while transporting it. ...
  • Page 4 User Manual Of EL7-EC** AC Servo Tuning and running Caution Caution  Make sure the wirings of servo drive and servo motor are installed and fixed properly before powering on.  On the first time tuning of the product, it is recommended to run unloaded until all the parameter settings are confirmed to prevent any damage to the product or machine.

  • Page 5: Table Of Contents

    ORTS 2.4.1 Regenerative resistor selection and connections ..............23 2.4.2 Wire Gauge for Main Power Supply ..................28 2.4.3 Wiring connections for EL7-EC series servo drives ..............29 2.4.4 Connecting motor power cable to servo drive ................. 30 2.5 H ........................
  • Page 6 User Manual Of EL7-EC** AC Servo CHAPTER 4 SERVO DRIVE OPERATION ..................124 4.1 G ....................124 TARTED WITH RIVER PERATION 4.1.1 Checklist before operation ....................124 4.1.2 Power On ..........................124 4.1.3 Trial Run ..........................124 4.1.4 Motor rotational direction settings ..................125 4.1.5 Holding Brake Settings ......................
  • Page 7 User Manual Of EL7-EC** AC Servo 6.4 M ........................ 217 ANUAL GAIN ADJUSTMENT 6.5 G ..........................219 AIN SWITCHING 6.6 F .......................... 224 EEDFORWARD GAIN 6.6.1 Velocity feedforward ......................224 6.6.2 Velocity feedforward application ..................225 6.6.3 Torque feedforward ....................... 225 6.6.4 Torque feedforward application ....................
  • Page 8 User Manual Of EL7-EC** AC Servo List of abbreviations used in this manual Abbreviation Full Form Bit/S Bit Per Second CANopen Over EtherCAT Init To Pre-Operation Pre-Operational To Init Pre-Operational To Safe-Operational Safe-Operational To Pre-Operational Safe-Operational To Operational Operational To Safe-Operational Operational To Init Safe-Operational To Init Versus...

  • Page 9: Chapter 1 Introduction

    Based on the ETG COE + CANopen DSP402 protocol, it can be seamlessly connected to controllers/drives that support this standard protocol. EL7-EC series AC servo drives are using the latest Digital Signal Processing (DSP) chip and Intelligent Power Module (IPM) with compact components integration and great reliability.

  • Page 10: Model Number Structure

    User Manual Of EL7-EC** AC Servo 1.2 Model Number Structure Servo Drive EL7-EC 750 F ① ② ③ ④ Description Series No. EL7：Servo drive series ① Command source P: Pulse + direction EC：EtherCAT ② Power rating 400: 400W 750: 750W 1000:1000W ③...

  • Page 11: Matching Servo Drive To Servo Motor

    User Manual Of EL7-EC** AC Servo 1.3 Matching servo drive to servo motor The table below is the recommended servo motor matching to driver in term of power rating. The power rating of the motor should be kept below that of the servo drive. Power rating(W) 1000 1300...

  • Page 12: Driver Technical Specification

    User Manual Of EL7-EC** AC Servo 1.4 Driver Technical Specification EL7-EC series EL7-EC1500F EL7-EC2000F EL7-EC400F EL7-EC750F EL7-EC1000F Rated power (W) 1500 2000 Rated Current (A) Coming Soon! 16.6 18.7 Peak Current (A) Size (mm) 40*175*156 50*175*156 Main Power Supply Single phase AC 220V, -15%~+10%, 50/60Hz...

  • Page 13: Driver Ports And Connectors

    Up to 1000m above sea level Altitude Less than 0.5G (4.9m/s2) 10-60Hz (non-continuous working) Vibration IP20 IP ratings 1.5 Driver ports and connectors EL7-EC Series Servo Drive ① Front Panel ② Mini USB ③ CN3 EtherCAT IN ④ CN4 EtherCAT OUT ⑤ CN1 I/O signal ⑧...
  • Page 14 User Manual Of EL7-EC** AC Servo Parts & Connectors Description Including a LED display and 5 buttons. LED display is used to display servo drive status and parameter settings. 5 buttons： ◀ To switch between different modes and parameters ： ○...

  • Page 15: Motor Ports And Connectors

    User Manual Of EL7-EC** AC Servo 1.6 Motor ports and connectors Motors with electrical connectors ⑤Encoder ⑥ Encoder cable connector ① Power connector ⑦ Encoder ② Power cable ③ Motor flange ④ Motor shaft Motors with aviation connectors ② Power connector ①...

  • Page 16: Chapter 2 Installation & Wiring

    User Manual Of EL7-EC** AC Servo Chapter 2 Installation & Wiring 2.1 Servo Drive Installation 2.1.1 Servo Drive Dimension EL7 – EC Series 400W Size A 40mm x 175mm x 156mm EL7 – EC Series 750/1000W Size B 50mm x 175mm x 156mm...
  • Page 17 User Manual Of EL7-EC** AC Servo Space requirement for installation In order to ensure efficient heat dissipation, please leave at least 10mm installation space in between drivers. If drivers need to be mounted compactly, please leave at 1mm of installation space. Please keep in mind that under such conditions, the drivers can only run at 75% of actual load rate.

  • Page 18: Servo Motor Installation

    User Manual Of EL7-EC** AC Servo 2.2 Servo Motor Installation 2.2.1 Installation conditions Installation conditions may affect the lifespan of a motor Please keep away from corrosive fluid and combustibles.  If dusty working environment is unavoidable, please use motors with oil seal. ...
  • Page 19 User Manual Of EL7-EC** AC Servo Leave enough “bend” on the connector cables to ensure less stress upon  installation. Encoder & coupling During installation or removal of coupling, please do not hit the motor shaft with a  hammer as it would cause damage to internal encoder. Please make sure to centralize the motor shaft and coupling, it might cause damage ...

  • Page 20: El7-Ec Wiring Diagram

    User Manual Of EL7-EC** AC Servo 2.3 EL7-EC Wiring Diagram...

  • Page 21: Servo Drive Ports

    User Manual Of EL7-EC** AC Servo 2.4 Servo Drive Ports Table 2-1 Functions of driver port Port Function I/O Signal Port Encoder port mini Port EtherCAT IN Communication Port EtherCAT OUT Communication Port Main Power Supply...

  • Page 22: Regenerative Resistor Selection And Connections

    User Manual Of EL7-EC** AC Servo X1 Main power supply Table 2-2 X1 port descriptions Functions Port Remarks ① Optional isolation transformer ② Do not connect to 380VAC directly to prevent damage to driver. ③ Single phase 220VAC In case of serious interference, it is ，...
  • Page 23 User Manual Of EL7-EC** AC Servo Selection of regenerative resistor Table 2-3 Recommended selection of regenerative resistor Model no. Internal Internal resistor Minimum Minimum power resistance (Ω) power rating (W) resistance (Ω) rating (W) EL7-EC400N EL7-EC750N -EC1000N Calculation of regenerative resistance under normal operation Steps: 1.
  • Page 24 User Manual Of EL7-EC** AC Servo table 2-3. Regenerative resistors are generally connected in series but they can also be connected in parallel to lower the total resistance. 3. Please provided enough cooling for the regenerative resistor as it can reach above 100℃ under continuous working conditions.
  • Page 25 User Manual Of EL7-EC** AC Servo V:Motor rotational velocity Rotational velocity :Deceleration time Motor Torque : Load torque Regenerative torque Table 2-4 Steps to calculate capacity of regenerative resistor Steps Calculation Symbol Formula Servo system regenerative E1=(N+1)×J×V /182 energy Depleted energy from loss of = (π/60) V×T ×tD load system during...
  • Page 26 User Manual Of EL7-EC** AC Servo Calculation examples: Servo drive: EL7-EC750F, Servo Motor: ACM2-08008H2. When T = 2s, rotational velocity = 3000rpm, load inertia is 5 times of motor inertia. Rotor Inertia （ × Max. regenerative energy EL7-EC Drivers Servo motor kg.m stored in capacitor Ec(J) ）...

  • Page 27: Wire Gauge For Main Power Supply

    User Manual Of EL7-EC** AC Servo Connection of a regenerative resistor 2.4.2 Wire Gauge for Main Power Supply Table 2-6 Main power supply wire gauge Wire diameter (mm /AWG) Driver L1 L2 P+ BR U V W EL7-EC400F 0.81/AWG18 2.1/AWG14 1.3/AWG16 2.1/AWG14 EL7-EC750F...

  • Page 28: Wiring Connections For El7-Ec Series Servo Drives

    User Manual Of EL7-EC** AC Servo 2.4.3 Wiring connections for EL7-EC series servo drives EL7-EC series servo drive supports single phase and three phase 220VAC. Only  driver with power rating above 1500W supports three phase 220VAC. Please use a circuit breaker for the main power supply to prevent damage to the ...

  • Page 29: Connecting Motor Power Cable To Servo Drive

    Motor winding power cable Wire length available: 1.5m, 3m and 5m  Connectors type available: AMP electrical connectors, aviation connectors,  direct connectors (recommended) Please contact Leadshine sales team or any Leadshine certified local retailers for any  customized needs.
  • Page 30 User Manual Of EL7-EC** AC Servo AMP electrical connector (Frame size 80 or below）CABLE-RZ*-S(V3.0) Motor side Driver side Pins Motor cable pin Motor Color Driver Blue Black Yellow-green Motor side Aviation connector（Frame size 80 or below）CABLE-RZ*-HH2(V3.0) Motor side Driver side Pins Motor cable pin Motor...
  • Page 31 User Manual Of EL7-EC** AC Servo Aviation connector（Frame size 130） CABLE-RZ*H(V1.1/V2.0) Motor side Driver side Motor cable pin Pins Motor Color Driver Green Black Yellow Motor side Direct connector(Frame size 80 or below）CABLE-RZH*M*-114-TS without holding brake Motor side Driver side Driver cable pin Pins Motor...

  • Page 32: Holding Brake Connection

    User Manual Of EL7-EC** AC Servo 2.5 Holding brake connection Holding brake is activated when servo drive is not powered on to prevent axis from moving due to gravitational pull or other external forces by locking the motor in place. Usually used on axis mounted vertically to the ground so that the load would not drop under gravitational force when the driver is powered off or when alarm occurs.
  • Page 33 User Manual Of EL7-EC** AC Servo Holding Brake cable and connectors AMP electrical connector (Frame size 80 or below） CABLE-SC*-S(V3.0) Motor side Driver side Motor cable pin Pins Motor Color Blue Brown Motor side Aviation connector（Frame size 80 or below） CABLE-RZSH*M*-113-TS Winding cable with holding brake Motor side...
  • Page 34 User Manual Of EL7-EC** AC Servo Direct connector CABLE-RZH*M*-114-TS Winding cable with holding brake Motor side Driver side Motor cable pin Motor Color Driver Blue Black Yellow- green Black Mechanical noise might exist when motor with holding brake is in operation but it ...

  • Page 35: Cn2 Encoder

    User Manual Of EL7-EC** AC Servo 2.6 CN2 Encoder Connector Signal Description VCC5V Power supply 5V Power supply ground BAT+ Battery positive terminal BAT- Battery negative terminal SSI Data+ SSI Data- Frame Shield grounding Please ground both driver and motor PE terminals to avoid any servo alarms. ...
  • Page 36 User Manual Of EL7-EC** AC Servo Driver side Aviation connector（Frame size 80 or below） CABLE-7BM*-HH2 Motor side Driver side Motor cable pin Motor Driver Signal Frame Shielded BAT+ Motor side BAT- Direct connector(Frame size 80 or below）CABLE-BMAH*M*-124-TS Absolute encoder Motor side Driver side Motor cable pin Motor...

  • Page 37: Usb Mini Communication Port

    BAT- 2.7 USB mini Communication Port EL7-EC series servo drives can be connected to a PC using the USB mini communication port for data monitoring and parameters setting on Motion Studio. Can be done without connecting a power cable to the driver. If users are having problem connecting to PC, please try using a magnetic ring.

  • Page 38: Cn3/Cn4 Ethercat Communication Port

    User Manual Of EL7-EC** AC Servo 2.8 CN3/CN4 EtherCAT Communication Port CN3 and CN4 are communication ports for EtherCAT protocol. LAN cable from master device will be connected to CN3 (IN) and CN4 (OUT) will be connected to the next slave device.

  • Page 39: Cn6 Safe Torque Off (Sto) Port

    User Manual Of EL7-EC** AC Servo 2.9 CN6 Safe Torque Off (STO) Port Port Signal Description Remarks 24v power supply Connect to SF1 and SF2 when not in use. Do not use Reference ground to supply power. Control signal SF1+ positive input Control signal...
  • Page 40 User Manual Of EL7-EC** AC Servo STO wiring diagram STO in use STO not in use Please disconnect 24v power supply 0V and 24V while in only for STO, please do not use it for other purposes. SF1+ SF1+ 2.2K 2.2K SF1- SF1-...

  • Page 41: Cn1 I/O Signal Port

    User Manual Of EL7-EC** AC Servo 2.10 CN1 I/O Signal Port CN1 connector is a 16-pin spring loaded connector. Port Signal Description Remarks EXT1＋ Probe 1 positive terminal EXT2＋ Probe 2 positive terminal 2 high speed probe Reserved inputs function Reserved EXT1 - Probe 1 negative terminal...

  • Page 42: Common Input Circuit

    User Manual Of EL7-EC** AC Servo Recommended wire gauge: 24 - 26AWG  I/O signal included DI, DO and relay output signal  Please keep 30cm away from main power supply cable or motor power cable to  avoid electromagnetic interference. 2.10.2 Common input circuit The internal circuit of common input is a bidirectional optocoupler which supports common anode and common cathode configurations.

  • Page 43: Common Output Circuit

    User Manual Of EL7-EC** AC Servo 2.10.3 Common output circuit There are 3 common outputs: DO1 and DO2 are single-ended, sharing a common power supply ground terminal; DO3+/DO3- is double-ended, having an isolated 24v power supply. Single-ended DO1 & DO2 Max voltage: 25V Max current: 50mA Driver interior...

  • Page 44: Probe Input Circuit

    User Manual Of EL7-EC** AC Servo 2.10.4 Probe input circuit The internal circuit of probe input is a unidirectional optocoupler. Please be aware of the polarity of the terminal when connecting the cables. EXT1+ EXT1- 12~24V DC Driver Interior EXT2+ EXT2- 2.10.5 DI signal function configuration Table 2-8 Default DI signal functions...
  • Page 45 User Manual Of EL7-EC** AC Servo Name Input selection DI4 Mode Range 0x0~0xFF Unit — Default Index 0x16 2403h Pr4.03 Activation Immediate Digital input DI allocation using hexadecimal system Set value Input Symbol 0x60FD Normally Normally (bit) open close Invalid —...

  • Page 46: Do Signal Function Configuration

    User Manual Of EL7-EC** AC Servo 2.10.6 DO signal function configuration Table 2-9 DO signal functions by default Factory default CN1 Pin Signal Parameter Default function Set Value Polarity Status PA4.10 Alarm (ALM) 0x01 External brake released PA4.11 0x03 (BRK-OFF) Positioning complete 12/14 PA4.12...

  • Page 47: Measures Against Electromagnetic Interference

    User Manual Of EL7-EC** AC Servo · Normally open：Active low · Normally close：Active high · Front panel is of hexadecimal system. · Pr4.10 – Pr4.12 corresponds to DO1 – DO3. If all parameters are set to 0, master device controls the outputs, object dictionary 0x60FE sub-index 01 bit16-18 corresponds to DO1-DO3. 2.11 Measures against electromagnetic interference To reduce interference, please take the following measures: I/O signal cable >...

  • Page 48: Grounding Connection And Other Anti-Interference Wiring Connections

    User Manual Of EL7-EC** AC Servo 2.11.1 Grounding connection and other anti-interference wiring connections Contactor Servo Drive Line Filter Encoder 3.5mm or above 2.0mm above 3.5mm or above Ground Grounded Servo motor frame should be grounded. Please connect the PE terminal of servo ...
  • Page 49 User Manual Of EL7-EC** AC Servo Separate the ground wire from the line filter and the main power supply cable. Wrong Correct Contactor Contactor Line Line Filter Filter Ground wires inside an electrical cabinet Contactor Servo drive Line Filter Servo drive Ground Shield grounding...

  • Page 50: Chapter 3 Parameter

    User Manual Of EL7-EC** AC Servo Chapter 3 Parameter 3.1 Parameter List Panel Display as follows:  Parameter Valid mode Description  CSP: Valid in cyclic synchronous position mode CSV: Valid in cyclic synchronous velocity mode CST: Valid in cyclic synchronous torque mode HM: Valid in homing mode PP: Valid in profile position mode PV: Valid in profile velocity mode...
  • Page 51 User Manual Of EL7-EC** AC Servo EtherCAT Panel Label Class Activation Valid Mode Address display inversion Torque Limit 2013h PR_013 Immediate Excessive Position 2014h PR_014 Immediate Deviation Settings Absolute Encoder 2015h PR_015 After restart settings Regenerative resistance 2016h PR_016 Immediate Regenerative resistor 2017h PR_017...
  • Page 52 User Manual Of EL7-EC** AC Servo EtherCAT Panel Label Class Activation Valid Mode Address display switching mode Position control gain 2117h PR_117 Immediate switching level Hysteresis at position 2118h PR_118 Immediate control switching Position gain switching 2119h PR_119 Immediate time Position command pulse 2135h PR_135...
  • Page 53 User Manual Of EL7-EC** AC Servo EtherCAT Panel Label Class Activation Valid Mode Address display rotational direction selection Velocity command input 2302h PR_302 Immediate gain Velocity command input 2303h PR_303 Immediate inversion speed velocity 2304h PR_304 Immediate setting speed velocity 2305h PR_305 Immediate...
  • Page 54 User Manual Of EL7-EC** AC Servo EtherCAT Panel Label Class Activation Valid Mode Address display Maximum motor 2324h PR_324 Immediate rotational velocity Input selection DI1 2400h PR_400 Immediate Input selection DI2 2401h PR_401 Immediate Input selection DI3 2402h PR_402 Immediate Input selection DI4 2403h PR_403...
  • Page 55 User Manual Of EL7-EC** AC Servo EtherCAT Panel Label Class Activation Valid Mode Address display Overload level setting 2512h PR_512 Immediate Overspeed level settings 2513h PR_513 Immediate I/O digital filter 2515h PR_515 Immediate Counter clearing input 2517h PR_514 Immediate mode Position unit settings 2520h PR_520...

  • Page 56: Manufacturer Parameters

    User Manual Of EL7-EC** AC Servo EtherCAT Panel Label Class Activation Valid Mode Address display bsolute value rotation 2654h PR_654 After restart mode denominator setting Blocked rotor alarm 2656h PR_656 Immediate torque threshold Blocked rotor alarm 2657h PR_657 Immediate delay time Homing mode position 2659h PR_659...
  • Page 57 User Manual Of EL7-EC** AC Servo Bit2: 81Ah Bit3: 824h Bit4: 825h Bit5: Reserved Bit6: Reserved Bit7: 82Ch Bit8: 82Dh Bit9: 832h Bit10~15: Reserved Notes: 0 invalid；1 valid PDO watchdog 60000 0：invalid； overtime > 0：valid； 5010 Unit： ms； Such as RPDO timeout alarm 818h, TPDO timeout alarm 819h Homing setting Bit0：Abnormal signal protection...

  • Page 58: Motion Parameters Starting With Object Dictionary 6000

    User Manual Of EL7-EC** AC Servo position 32 bit high Number of encoder communication exceptions Motor Speed r/min Speed of position r/min command Speed command r/min Actual torque 0.1% Torque command 0.1% Relative position Pulse error Internal position Pulse command Overload ratio 0.1% 5501...
  • Page 59 User Manual Of EL7-EC** AC Servo Alarm - stopping mode 605E selection 6060 Operation mode selection 6061 Operation mode display Command -214748 2147483 CSP/P Position command 6062 unit 3648 P/HM Encoder -214748 2147483 Actual internal position 6063 unit 3648 Command -214748 2147483 Actual position feedback...
  • Page 60 User Manual Of EL7-EC** AC Servo Command 2147483 Protocol acceleration 10000 PP/PV/ 6083 unit / s² Command 2147483 Protocol deceleration 6084 10000 PP/PV unit / s² CSP/C Emergency stop Command 100000 2147483 6085 SV/PP/ unit / s² deceleration PV/HM 2147483 Torque slope 0.001/s 5000...

  • Page 61: Parameter Function

    User Manual Of EL7-EC** AC Servo Probe 2 rising edge 65535 60D7 captured count(s) Probe 2 falling edge 65535 60D8 captured count(s) Max. torque in positive 0.001 3000 65535 60E0 direction Max. torque in negative 0.001 3000 65535 60E1 direction Command -214748 2147483...

  • Page 62: Class 0】Basic Settings

    User Manual Of EL7-EC** AC Servo 3.2.1【Class 0】Basic Settings Label Model-following bandwidth Valid Mode Pr0.00 Range 0~5000 Unit 0.1Hz Default Index 2000h Activation Immediate Model-following bandwidth, also known as model-following control (MFC), is used to control the position loop to improve the responsiveness to commands, speed up positioning time and reduce following error.
  • Page 63 User Manual Of EL7-EC** AC Servo recommended for load mounted vertical to ground, or please compensate for the load using Pr6.07 Used to select the load type, choose according to load-inertia ratio and mechanical structure. This mode prioritizes system responsiveness. Use this mode when there is a relatively rigid structure with low 0: Rigid load inertia.
  • Page 64 User Manual Of EL7-EC** AC Servo Real time auto stiffness Label Mode adjusting Pr0.03 Range 50 ~ 81 Unit — Default Index 2003h Activation Immediate Valid when Pr0.03 = 1,2 High Mechanical stiffness Servo gain High 81.80……………………………70.69.68…………………………51.50 Responsiveness High Lower values ensure better system responsiveness and mechanical stiffness but machine vibration might occur, please set accordingly.
  • Page 65 User Manual Of EL7-EC** AC Servo Command polarity Label Mode inversion Pr0.06 Range 0 ~ 1 Unit — Default Index 2006h Activation After restart Used to change the rotational direction of the motor. Set value Details Polarity of the command is not inversed. The direction of rotation is consistent with the polarity of command.
  • Page 66 User Manual Of EL7-EC** AC Servo Pulse sequence 【3】 ＋ Directional symbol 90°phase difference 2 phase pulse （Phase A＋Phase B） CW pulse sequence ＋ CCW pulse sequence Pulse sequence ＋ Directional symbol Command pulse input signal max. frequency and min. duration needed Min.
  • Page 67 User Manual Of EL7-EC** AC Servo Pulse output logic Label Mode inversion Pr0.12 Range Default Index 2012 Activation After restart To set phase B logic and output source from encoder pulse output. Pulse output logic inversion Pr0.12 Phase B logic CW direction CCW direction Not inverted...
  • Page 68 User Manual Of EL7-EC** AC Servo 5: Clear multiturn alarm and activate multiturn absolute function. Will switch to multiturn mode once alarm cleared, if remains at 5 after 3s, please solve according to Er153. 9: Clear multiturn position, reset multiturn alarm and activate multiturn absolute function. Will switch to multiturn mode once alarm cleared, if remains at 9 after 3s, please solve according to Er153.

  • Page 69: Class 1】Gain Adjustments

    User Manual Of EL7-EC** AC Servo Synchronous Label Mode compensation time 2 Pr0.26 Range 1~2000 Unit 0.1us Default Index 2026h Activation After restart Synchronous dithering compensation range. Used for master device with poor synchronization. Synchronization mode Label Mode command delay cycle Pr0.27 counts Range...
  • Page 70 User Manual Of EL7-EC** AC Servo Label velocity loop gain Mode Range 1~32767 Unit 0.1Hz Default Index 2101h Pr1.01 Activation Immediate To determine the responsiveness of the velocity loop. If inertia ratio of Pr0.04 is uniform with actual inertia ratio, velocity loop responsiveness = Pr1.01. To increase position loop gain and improve responsiveness of the whole system, velocity loop gain must be set at higher value.
  • Page 71 User Manual Of EL7-EC** AC Servo Torque Filter Time Label Mode Constant 0~250 Pr1.04 Unit 0.01ms Default Range Index 2104h Activation Immediate To set torque command low-pass filter, add a filter delay time constant to torque command and filter out the high frequencies in the command. Often used to reduce or eliminate some noise or vibration during motor operation, but it will reduce the responsiveness of current loop, resulting in undermining velocity loop and position loop control.
  • Page 72 User Manual Of EL7-EC** AC Servo Position loop, velocity loop, velocity detection filter, torque command filter eachhave 2 pairs of gain or time constant (1st and 2nd). Velocity feed forward Label Mode gain Pr1.10 Range 0~1000 Unit 0.10% Default Index 2110h Activation Immediate...
  • Page 73 User Manual Of EL7-EC** AC Servo Position control gain Label Mode switching mode Pr1.15 Range 0~11 Unit — Default Index 2115h Activation Immediate Condition Gain switching condition Value Fixed on using 1 gain(Pr1.00-Pr1.04) gain fixed Fixed on using 2 gain (Pr1.05-Pr1.09) gain fixed Reserved Switch to 2...
  • Page 74 User Manual Of EL7-EC** AC Servo Valid for position control. Switch to 2 gain when position deviation absolute value larger than (level + hysteresis)[pulse] Switch to 1 gain when position deviation absolute value smaller than (level-hysteresis)[pulse] Large position deviation Velocity Level Hysteresis Position...
  • Page 75 User Manual Of EL7-EC** AC Servo Hysteresis Level Velocity Feedback Valid for position control. Switch to 2 gain if position command ≠ 0 Switch to 1 gain if positional command = 0 throughout the duration of delay time and absolute value of actual velocity remains smaller than (level - hysteresis) (r/min) Pending position command...
  • Page 76 User Manual Of EL7-EC** AC Servo Activation Immediate To eliminate the instability of gain switching. Used in combination with Pr1.17 using the same unit. If level< hysteresis, drive will set internally hysteresis = level. Position gain switching Label Mode time Pr1.19 Range 0~10000...

  • Page 77: Class 2】Vibration Suppression

    User Manual Of EL7-EC** AC Servo 3.2.3【Class 2】Vibration Suppression Adaptive filtering mode Label Mode settings Pr2.00 Range Unit Default Index 2200h Activation Immediate Set value Explanation Adaptive filter: invalid Parameters related to 3 and 4 notch filter remain unchanged Adaptive filter: 1 filter 1 adaptive filter becomes valid.
  • Page 78 User Manual Of EL7-EC** AC Servo Set notch depth for 1 resonant notch filter. Under normal circumstances, please use factory default settings. If resonance is under control, in combination with Pr2.01 and Pr2.02, Pr2.03 can be reduced to improve current loop responsiveness which allows higher mechanical stiffness settings.
  • Page 79 User Manual Of EL7-EC** AC Servo Activation Immediate Set notch bandwidth for 3 resonant notch filter. Under normal circumstances, please use factory default settings. Label notch depth selection Mode Range 0~99 Unit Default Index 2206h Pr2.09 Activation Immediate Set notch depth for 1 resonant notch filter.
  • Page 80 User Manual Of EL7-EC** AC Servo Position Position command Velocity command Filter after filter (RPM) before filter switching time Vc 0.632 Position command smoothing filter set time(ms) Pr2.22 x 0.1ms Vc 0.368 Time Usually applied when there is rather sharp acceleration which might cause motor overshoot or undershoot.
  • Page 81 User Manual Of EL7-EC** AC Servo undershoot. To smoothen command signal, reduces impact to machines and eliminate vibration. If Pr2.23 is set too high, overall time will be lengthened. **Please wait for command to stop and after filter idle time to modify Pr2.23. Filter switching time = (Pr2.23 set value x 0.1ms + 0.25ms) Label resonant frequency...

  • Page 82: Class 3】Velocity/ Torque Control

    User Manual Of EL7-EC** AC Servo Label Mode resonant frequency 50~400 Range Unit Default 4000 Index 2235h Pr2.35 Activation Immediate To set zero-valued eigenfrequency of 6 resonant notch filter. Pr2.35 corresponds to machine-specific resonant frequency. Notch filter deactivated if Pr2.31 is set to any value. Label resonant Q value Mode...
  • Page 83 User Manual Of EL7-EC** AC Servo Analog velocity command (SPR) Internal velocity command 1 to 8 speed (Pr3.00 to Pr3.11) Table below shows relationship between Pr3.00 and internal command velocity Selection 1 of Selection 2 of Selection 3 of Selection of internal internal internal...
  • Page 84 User Manual Of EL7-EC** AC Servo Velocity command input Label Mode gain Pr3.02 Range 10~2000 Unit Default Index 2302h (r/min)/V Activation Immediate Set conversion gain from voltage applied to the analog velocity command (SPR) to motor velocity command. • Use Pr3.02 to set the slope for relation between command input voltage and rotational velocity. •...
  • Page 85 User Manual Of EL7-EC** AC Servo Label Mode speed of velocity setting Range -10000~10000 r/min Default Index 2304h Pr3.04 Activation Immediate Label Mode speed of velocity setting Range -10000~10000 r/min Default Index 2305h Pr3.05 Activation Immediate Label Mode speed of velocity setting Range -10000~10000 r/min...
  • Page 86 User Manual Of EL7-EC** AC Servo Range 0~10000 Unit Default Index 2313h (1000RPM) Activation Immediate Set max acceleration/deceleration for velocity command. If target velocity = [rpm], max acceleration = [unit: rpm/ms], acceleration time = [ms] 1000 Pr3.12 = 1000 Pr3.13 = With added a = x/t acceleration...
  • Page 87 User Manual Of EL7-EC** AC Servo Zero speed clamp function Label Mode selection Pr3.15 Range Unit Default Index 2315h Activation Immediate Zero speed clamp function value Invalid: zero speed clamp deactivated Velocity command is forced to 0 when the zero speed clamp (ZEROSPD) input signal is valid.
  • Page 88 User Manual Of EL7-EC** AC Servo Set value Direction Direction as indicator by +/- of torque command input. +input →positive, -input→negative ON/OFF of TC-SIGN has no effect on direction of motion. Direction as indicator by TC-SIGN. OFF: Positive direction, ON: Negative direction +/- torque command input has no effect on direction of motion.

  • Page 89: Class 4】I/O Interface Setting

    User Manual Of EL7-EC** AC Servo 3.2.5【Class 4】I/O Interface Setting Label Input selection DI1 Mode Range 0x0~0xFF Unit — Default Index 2400h Pr4.00 Activation Immediate Label Input selection DI2 Mode Range 0x0~0xFF Unit — Default Index 2401h Pr4.01 Activation Immediate Label Input selection DI3 Mode...
  • Page 90 User Manual Of EL7-EC** AC Servo · Normally open: Valid when input = ON Normally close: Valid when input = OFF · Er210 might occur if same function is allocated to different channels at the same time · Channel that has no value doesn’t affect driver motion. ·...
  • Page 91 User Manual Of EL7-EC** AC Servo Positioning complete Label Mode HM CSP range Command Pr4.31 Default Index 2431h Range 0~10000 Unit unit Activation Immediate To set position deviation range of INP1 positioning completed output signal. Positioning complete Label Mode HM CSP output setting Pr4.32 Range...
  • Page 92 User Manual Of EL7-EC** AC Servo To set threshold value for zero speed clamp detection. Zero speed clamp detection (ZSP) output signal valid when motor speed goes under the value set in Pr4.34 Disregard the direction of rotation, valid for both directions. Hysteresis of 10RPM.
  • Page 93 User Manual Of EL7-EC** AC Servo When motor velocity > Pr4.36, AT-speed output signal is valid. Detection using 10RPM hysteresis. Label Motor power-off delay time Mode Range 0~3000 Unit Default Index 2437h Pr4.37 Activation Immediate To set delay time for holding brake to be activated after motor power off to prevent axis from sliding.

  • Page 94: Class 5】Extension Settings

    User Manual Of EL7-EC** AC Servo *2: Delay time from the moment BRK_OFF signal is given until actual holding brake is released or BRK_ON signal is given until actual holding brake is activated. It is dependent on the holding brake of the motor. *3: Deceleration time is determined by Pr6.14 or if motor speed goes below Pr4.39, whichever comes first.
  • Page 95 User Manual Of EL7-EC** AC Servo Command frequency Label divider/multiplier Mode numerator Pr5.01 Range 0~1073741824 Unit Default Index 2501h Activation After restart To set the numerator of command pulse input frequency divider/multiplier. Command frequency Label divider/multiplier Mode denominator Pr5.02 Range 0~1073741824 Unit Default...
  • Page 96 User Manual Of EL7-EC** AC Servo Label Main power-off detection time Mode Range 50~2000 Unit Default Index 2509h Pr5.09 Activation Immediate To set duration time for detection of main power-off or low voltage supply. Servo-off Label Mode alarm mode Pr5.10 Range Unit Default...
  • Page 97 User Manual Of EL7-EC** AC Servo Activation Immediate If Pr5.12 = 0, overload level = 115% Use only when overload level degradation is needed. Label Overspeed level settings Mode Defaul Range 0~10000 Unit Index 2513h Pr5.13 Activation Immediate If motor speed exceeds Pr5.13, Er1A0 might occur. When Pr5.13 = 0, overspeed level = max.
  • Page 98 User Manual Of EL7-EC** AC Servo Label Torque limit selection Mode Range Unit — Default Index 2521h Pr5.21 Activation Immediate Set value Positive limit Negative limit value value Pr0.13 Pr0.13 Pr0.13 Pr5.22 60E0 60E1 Between max. torque 6072 and Pr5.21, actual torque limit will take smaller value. Label torque limit Mode...
  • Page 99 User Manual Of EL7-EC** AC Servo Position command Automatic motor No rotation cause velocity identification Velocity control No. of changes in Driver temperature command I/O signals Actual feedback Number of over Servo status torque current signals Sum of feedback Absolute encoder pulse data Sum of command...

  • Page 100: Class 6】Other Settings

    User Manual Of EL7-EC** AC Servo Activation Immediate To set time threshold for output torque to reach limit under torque initialization mode. Only applicable for torque initialization method -6 to -1 Under torque initialization mode, motor torque reached Pr5.39 and the duration reaches Pr5.37 before moving into next step.
  • Page 101 User Manual Of EL7-EC** AC Servo Label Position 3 gain valid time Mode Pr6.05 Range 0~10000 Unit 0.1ms Default Index 2605h Activation Immediate To set time for 3 gain to be valid When not in use, set Pr6.05=0, Pr6.06=100 Position gain scale Label...
  • Page 102 User Manual Of EL7-EC** AC Servo Label Negative direction torque Mode compensation value Pr6.09 Range -100~100 Unit Default Index 2609h Activation Immediate To reduce the effect of mechanical friction in the movement(s) of the axis. Compensation values can be set according to needs for both rotational directions. Applications: 1.
  • Page 103 User Manual Of EL7-EC** AC Servo Label Trial run waiting time Mode Range 0~30000 Unit Default Index 2621h Pr6.21 Activation Immediate JOG (Position control) : Waiting time after each motion Label No. of trial run cycles Mode Range 0~32767 Unit Default Index 2622h...
  • Page 104 User Manual Of EL7-EC** AC Servo Absolute value rotation Label Mode mode denominator setting Pr6.54 Range 0~32766 Unit Default Index 2654h Activation After restart To set denominator of absolute encoder in rotational mode. When Pr0.15 = 2 and use in combination with Pr6.54: Feedback load position 6064= x Electronic gear ratio Blocked rotor alarm torque...

  • Page 105: Parameters Function

    User Manual Of EL7-EC** AC Servo Absolute multiturn data Label Mode upper limit Pr6.63 Range 0~32766 Unit Default Index 2663h Activation After restart To set upper limit of multiturn data with absolute encoder set as rotational mode. When Pr0.15 = 2 and use in combination with Pr6.54: Feedback load position 6064= x Electronic gear ratio 3.3 402 Parameters Function...
  • Page 106 User Manual Of EL7-EC** AC Servo Label Description Start 1 - valid, 0 - invalid Main circuit power on 1 - valid, 0 - invalid Quick stop 0 - valid,1 - invalid Servo running 1 - valid, 0 - invalid Running mode related Related to each servo running mode Reset resettable fault alarm.
  • Page 107 User Manual Of EL7-EC** AC Servo 2 ：Motor decelerates and stops through 6085. Status: Switch on disable, axis disabled. 3 ：Motor decelerates and stops through 60C6. Status: Switch on disable, axis disabled. 5 ：Motor decelerates and stops through 6084. Status: Quick stop 6 ：Motor decelerates and stops through 6085.
  • Page 108 User Manual Of EL7-EC** AC Servo 1 ：Motor decelerates and stops through 609A 0 ：To stop motor through Pr5.06, 5.06 = 0(Emergency stop), 5.06=1(Free stop) 1 ：Motor decelerates and stops through 6087 Pause-stopping mode Label Unit Structure Type INT 16 Index selection 605Dh...
  • Page 109 User Manual Of EL7-EC** AC Servo Operation mode Label Unit Structure Type Int 8 Index selection 6060h Access Mapping RPDO Mode Range 1~11 Default Mode Abbr. Profile position mode Profile velocity mode profile Torque mode Homing mode Cyclic synchronous position mode Cyclic synchronous velocity mode Cyclic synchronous torque mode Label...
  • Page 110 User Manual Of EL7-EC** AC Servo Actual position Comman Label Unit Structure Type Int 32 feedback d unit Index -21474836 6064h Access Mapping TPDO Mode Range 48~214748 Default 3647 Reflects user’s real time absolute position 6064h*Gear ratio = 6063h Position deviation Comman UInt...
  • Page 111 User Manual Of EL7-EC** AC Servo Comman Label Velocity feedback Unit Structure Type Int 32 d unit/s Index -21474836 606Ch Access Mapping TPDO Mode CSV/PP Range 48~214748 Default 3647 Reflects user’s internal command velocity feedback value Comma Label Velocity window Unit Structure Type...
  • Page 112 User Manual Of EL7-EC** AC Servo Label Maximum torque Unit 0.1% Structure Type UInt 16 Index 6072h Access Mapping RPDO Mode Range 0~65535 Default 3000 To set max. torque for servo driver. Limited by motor max. torque. Label Maximum current Unit 0.1% Structure...
  • Page 113 User Manual Of EL7-EC** AC Servo Homing position Command Label Unit Structure Type offset unit Index -21474836 607Ch Access TPDO Mode Range 47~214748 Default Mapping 3647 To set position offset to compensate for the deviation of mechanical origin from motor origin under homing Command Label...
  • Page 114 User Manual Of EL7-EC** AC Servo Maximum protocol Command Label Unit Structure Type UInt 32 velocity unit/s Index 0~214 607Fh PP/HM/P 21474836 Access Mapping RPDO Mode Range 74836 Default V/CST To set maximum allowable velocity. Limited by 6080. Maximum motor Label Unit R/min...
  • Page 115 User Manual Of EL7-EC** AC Servo Label Torque slope Unit %1/s Structure Type UInt 32 Index 1~2147 6087h Access Mapping RPDO Mode Range 48364 Default 5000 To set values for tendency torque command Label Encoder resolution Unit Encoder unit Structure Type UInt 32 Index...
  • Page 116 User Manual Of EL7-EC** AC Servo High Positive Inversed when torque reached, received 1 Z-signal after torque is gone Direction Deceleration point Home Before Z-signal Negative Negative limit Motor Z-signal Negative limit switch falling switch edge Positive Positive limit switch Motor Z-signal Positive limit switch falling edge Positive...
  • Page 117 User Manual Of EL7-EC** AC Servo Command Label Low speed homing Unit Structure Type UInt 32 unit/s Index 0~214 6099h-02 Access RPDO Mode Range 74836 Default 5000 Mapping To set the speed used in homing Homing Command Label acceleration Unit Structure Type UInt 32...
  • Page 118 User Manual Of EL7-EC** AC Servo Label Probe function Unit Structure Type UInt 16 Index 0x0-0xFFF 60B8h Access Mapping RPDO Mode Range Default Description Details Probe 1 0--Disable 1--Enable 0--Single trigger, triggered only when trigger Probe 1 trigger mode signal is valid 1—Continuous trigger Probe 1 trigger signal selection 0—Probe 1 captured 1--Z signal...
  • Page 119 User Manual Of EL7-EC** AC Servo Label Probe status Unit Structure Type UInt 16 Index 00x-0xF Defaul 60B9h Access Mapping TPDO Mode Range Definition Details Probe 1 0--Disable 1--Enable Probe 1 rising edge latching 0—Rising edge not latched 1—Rising edge latched Probe 1 falling edge latching 0—Falling edge not latched 1—Falling edge latched...
  • Page 120 User Manual Of EL7-EC** AC Servo Shows position feedback at falling edge of probe 2 signal Protocol maximum Command Label Unit Structure Type UInt 32 Index acceleration unit/s² 60C5h 1~21474836 1000000 Access RPDO Mode Range Default Mapping To set upper limit of acceleration. Protocol maximum Command Label...
  • Page 121 User Manual Of EL7-EC** AC Servo Max. torque in positive Label Unit 0.1% Structure Type UInt 16 Index direction 60E0h Access Mapping RPDO Mode Range 0~65535 Default 3000 To set the maximum torque of servo driver in positive direction Max. torque in negative Label Unit 0.1%...
  • Page 122 User Manual Of EL7-EC** AC Servo E-STOP Reserve Reserve Reserve Reserve Reserve DI14 DI13 Bit15 Bit14 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8 DI12 DI11 DI10 Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0 Reserve HOME Label Output valid Unit Structure Type UInt 32 Index...

  • Page 123: Chapter 4 Servo Drive Operation

    User Manual Of EL7-EC** AC Servo Chapter 4 Servo Drive Operation 4.1 Get Started with Driver Operation 4.1.1 Checklist before operation Description Power supply The voltage of main and control circuit power supply is within rated values. Power supply polarity is rightly connected. Wiring Power supply input is rightly connected.

  • Page 124: Motor Rotational Direction Settings

    User Manual Of EL7-EC** AC Servo Please make sure the mechanical axis is within the range of motion and travelled  distance should not be too long to avoid collision. Set optimal velocity and acceleration for trial run (not too high!) ...

  • Page 125: Servo Running

    User Manual Of EL7-EC** AC Servo Holding brake wiring Holding brake input signal is without polarity. An isolated 24V switching power supply is recommended to prevent abnormal holding brake behavior in case of sudden drop in working current or voltage. Servo Driver Motor 380VAC...
  • Page 126 User Manual Of EL7-EC** AC Servo 3. Power on sequence diagram Control circuit (L1C、L2C) Usual action Init Reset Main power supply (R、S、T) Ready Servo ready Not Ready S-RDY Input coupler ON Servo enabled Input coupler OFF SRV-ON Dynamic Activated Deactivated brake Enabled Servo status...

  • Page 127: Servo Stop

    User Manual Of EL7-EC** AC Servo 4.1.7 Servo stop Servo stopping are of 3 different methods: Servo braking method, free stopping method, dynamic braking method. Stopping method Description Details Servo braking Servo driver delivers braking torque in Quick stopping but mechanical opposite direction impact might exist Free stopping...
  • Page 128 User Manual Of EL7-EC** AC Servo Motor stopping（Servo disabled）- Sequence Diagram Servo braking method. Status after stopping: Dynamic braking Input coupler Servo enabled Input coupler Input coupler SRV-ON Dynamic Activated Deactivated Activated brake Enabled Disabled Disabled Servo status SRV-ST Power OFF Power ON Power OFF Motor power...
  • Page 129 User Manual Of EL7-EC** AC Servo Servo stopping method. Status after stopping: free moving Input coupler Servo enabled Input coupler Input coupler SRV-ON Dynamic Activated Deactivated brake Enabled Disabled Disabled Servo status SRV-ST Power ON Motor power Power OFF Power OFF Brake ON Brake ON Holding brake status...
  • Page 130 User Manual Of EL7-EC** AC Servo Free stopping method. Status after stopping: Free moving Input coupler Servo enabled Input coupler Input coupler SRV-ON Dynamic Activated Deactivated brake Enabled Disabled Disabled Servo status SRV-ST Power OFF Power ON Power OFF Motor power Holding brake Brake ON Brake ON...
  • Page 131 User Manual Of EL7-EC** AC Servo Dynamic braking method. Status after stopping: Free moving Servo enabled Input coupler Input coupler Input coupler SRV-ON Activated Dynamic Activated Deactivated Deactivated brake Enabled Disabled Disabled Servo status SRV-ST Power OFF Power ON Power OFF Motor power Brake ON Holding brake status...
  • Page 132 User Manual Of EL7-EC** AC Servo Stopping when alarm occurs – Sequence Diagram Servo braking method. Status after stopping: Dynamic braking Error Error Normal occurrence Servo status Enabled Disabled SRV-ST Activated Dynamic brake Deactivated Motor power Power ON Power OFF Servo ready Ready Not Ready...
  • Page 133 User Manual Of EL7-EC** AC Servo Free stopping method. Status after stopping: Dynamic braking Error Alarm Normal occurrence Servo status Enabled SRV-ST Disabled Activated Dynamic Deactivated brake Motor power Power Power OFF Servo Ready S-RDY Ready Not Ready Servo Alarm No Alarm Alarm Holding brake...
  • Page 134 User Manual Of EL7-EC** AC Servo Dynamic braking method. Status after stopping: Dynamic braking Error Alarm Normal occurrence Servo status SRV-ST Enabled Disabled Activated Dynamic Deactivated brake Motor power Power ON Power OFF Status ready S-RDY Ready Not Ready Servo Alarm No Alarm Alarm Holding brake...
  • Page 135 User Manual Of EL7-EC** AC Servo Servo braking method. Status after stopping: Free moving Error Alarm Normal occurrence Servo status SRV-ST Enabled Disabled Dynamic Deactivated brake Motor power Power Power OFF Servo ready S-RDY Ready Not Ready Servo alarm No Alarm Alarm Holding brake Brake OFF...
  • Page 136 User Manual Of EL7-EC** AC Servo Free stopping method. Status after stopping: Free moving Error Alarm Normal occurrence Servo status Enabled Disabled SRV-ST Dynamic Deactivated brake Motor power Power ON Power OFF Servo ready Ready Not Ready S-RDY Servo alarm No Alarm Alarm Holding brake...
  • Page 137 User Manual Of EL7-EC** AC Servo Dynamic braking. Status after stopping: Free moving Error Error Normal occurrence Servo status Enabled Disabled SRV-ST Activated Dynamic Deactivated Deactivated brake Motor power Power ON Power OFF Servo Ready S-RDY Ready Not Ready Servo Alarm No Alarm Alarm Holding brake...
  • Page 138 User Manual Of EL7-EC** AC Servo Alarm clearing - Sequence diagram Input coupler ON Alarm clearing Input coupler OFF A-CLR Dynamic brake Activated Deactivated Servo Disabled status Enabled SRV-ST Power ON Motor power Power OFF Brake OFF External brake Brake ON deactivation BRK-OFF Servo...

  • Page 139: Electronic Gear Ratio

    Encoder Pulse Count per Revolution / 8000. EL7-EC series comes with motors with 23-bit encoder. Pulse count per revolution for 23-bit encoder = 8388608. From the condition above, the command pulse count per motor revolution for 23-bit encoder ≥ 1049.

  • Page 140: Front Panel

    User Manual Of EL7-EC** AC Servo Electronic gear ratio Name Unit Structure VAR Type Dint 32 denominator Index 6091h-02 1-21474 Defaul Access Mapping RPDO Mode Range 83647 To set electronic gear ratio denominator Number of pulses per Comma UInt Name Unit Structure VAR Type...

  • Page 141: Panel Display And Operation

    User Manual Of EL7-EC** AC Servo 4.4 Panel Display and Operation 4.4.1 Panel Operation Power ON rEAdy Display “ ” for 1s d 0 0 u E Data monitoring mode d 3 4 S t Initialization display Display data values (EtherCAT not connected) d 4 2 o d Parameters setting mode...

  • Page 142: Data Monitoring Mode

    User Manual Of EL7-EC** AC Servo increase/decrease the value of segment. Press S to confirm the modified value(s) and save the parameters. 4.4.2 Data Monitoring Mode EL7 series servo driver offers the function to monitor different types of data in data monitoring mode.
  • Page 143 User Manual Of EL7-EC** AC Servo d25PF d25PF Motor electrical angle “ xxxx” pulse d26hy d26hy Motor mechanical angle “ xxxx” pulse d27Pn d27 Pn Voltage across PN “ xxxx” “d xxx Servo software” “F xxx Communication d28 no Software version d28no software”...
  • Page 144 User Manual Of EL7-EC** AC Servo . . 5 0 Positive：1 and 2 value s on the lef t has no decimal point. Kegative：1 and 2 value s on the lef t has two decimal points 1. d00uE Position command deviation Shows high bit and low bit of position deviation .
  • Page 145 User Manual Of EL7-EC** AC Servo 3. d04tr Actual torque feedback Actual torque feedback d04tr （%） 4. d05nP Feedback pulse sum d06CP Command pulse sum Feedback pulse sum(Encoder feedback pulse） 10016 d05nP Feedback pulse sum Press ◀ to switch between high/low bit （unit）...
  • Page 146 User Manual Of EL7-EC** AC Servo 7. d09Cn Control mode d 0 9 C n C t p o s ...EtherCAT mode 8. d10Io I/O signal status When the top half of the digital tube is lighted, the signal is valid; when the bottom half of the digital tube is lighted, the signal is not valid.
  • Page 147 User Manual Of EL7-EC** AC Servo 10. d14rg Regenerative load factor d15oL Overload factor Regenerative load factor（Er120 might occur, if the value increases indefinitely） d14rg Load factor in regenerative resistance circuit [%] Overload factor（Er100 might occur, if the value increases indefinitely） d15oL Load ratio as with rated load...
  • Page 148 User Manual Of EL7-EC** AC Servo Driver alarm Relay not clicked Emergency stop valid Position command too Torque limitation Zero speed clamp valid Pr3.15 = 1, Zero speed clamp input is open Velocity mode command In velocity mode, the command velocity is too velocity too low Torque mode command In torque mode, the torque limit is too low.
  • Page 149 User Manual Of EL7-EC** AC Servo 14.d23id Communication axis address d 2 3 id id 0 Axis address Reserved 15. d27Pn DC bus voltage d27Pn DC bus voltage across PK 16. d28no Software version Servo driver software version d28no d 210 (DSP) ▲▼...
  • Page 150 User Manual Of EL7-EC** AC Servo 17. d31tE Accumulated operation time d31tE 1256 ◀ Accumulated operation time (hour) Press to switch between high/low bit 1256 Low bit High bit 18. d34 Servo driver status display Driver status: 402 state machine, EtherCAT communication, running mode, running 402 State Machine OFF(1：Top tube on) Ready(2：Mid tube on)
  • Page 151 User Manual Of EL7-EC** AC Servo Display setting at power on Default setting for initialization display settings at power on is ,if any other display ■ is required, please set on Pr5.28. Please refer to Pr5.28 for any display content required on the front panel during initialization Name LED initial status...

  • Page 152: Parameter Saving Using Front Panel

    User Manual Of EL7-EC** AC Servo 4.4 Parameter saving using front panel D00UE Increase/decrease value using ▲ ▼, press S to select PR000 ◀ the parameters to be modified Select value using After modifying the selected parameter to desired values, press S to confirm and save the changes.

  • Page 153: Auxiliary Functions

    User Manual Of EL7-EC** AC Servo 4.5 Auxiliary functions PA000 Parameters settings mode Auxiliary functions Operation to select ■ Press ▼ ▲ AFJog Vog - Trial run Trial run ▼ ▲ AF InI InI - Reset to factory default Reset to factory default ACL - AF ACL Clear alarm...
  • Page 154 User Manual Of EL7-EC** AC Servo AF jog Trial run Please disable servo driver before performing any trial run. Please don’t modify gain related parameters during trial run to prevent any occurrence of mechanical vibrations. Press S to exit trial run. Auxiliary functions Operation AF Vog...
  • Page 155 User Manual Of EL7-EC** AC Servo Reset to factory default using object dictionary Object Parameters to Method dictionary reset 0x1011-01 All parameters Controller can reset all parameters using 0x1011-01. If driver receives the data of 0x1011-01 as 0x64616f6c, all parameters will be reset to factory default and 1011-01=1 after saving.
  • Page 156 User Manual Of EL7-EC** AC Servo AF Enc Motor angle correction Auxiliary functions Operation Motor angle AF Enc Enc - Initialization correction StArt) ▲ once to start correct(displays Press FinSh is displayed once completed. StArt Start correction FinSh Completed AF_GL Inertia measuring Please make sure to use suitable velocity and acceleration for the measuring process.
  • Page 157 User Manual Of EL7-EC** AC Servo AF rSt Software reset Software reset is used mainly on parameters modification that takes effect only after driver restart. Auxiliary functions Operation Software Initialization AF rSt rSt - reset Press ▲ to reset software LED displayed will be off for 3s and back to initialization page once completed.

  • Page 158: Chapter 5 Control Mode

    User Manual Of EL7-EC** AC Servo Chapter 5 Control Mode 5.1 EL7-EC motion control step-by-step A．EtherCAT master device sends "control word (6040h)" to initialize the drive. B．Driver sends feedback "status word (6041h)" to the master device to indicate ready status (status word indication). C．Master device sends enable command (control word switch).

  • Page 159: Cia 402 State Machine

    User Manual Of EL7-EC** AC Servo 5.2 CiA 402 State Machine State machine switchover diagram Control Main Enable Circuit Power Disable Power on Initialization starts Fault Disable Initialization completed Ready (Initial parameters done) Enable (Ready to enable) Disable Quick stop Fault trigger Enable Running...
  • Page 160 User Manual Of EL7-EC** AC Servo Table 5.1 Status description Status Description Initialization Driver powered on, initialization starts; Holding brake activated; starts Axis disabled Initialization done Initialization done; Parameters initialize, faultless; Axis disabled. Ready Parameter initialization done; Axis disabled. Enable Servo driver is ready to be enabled.

  • Page 161: Driver Control Mode Setting

    User Manual Of EL7-EC** AC Servo 5.3 Driver Control Mode Setting 5.3.1 Supported control mode (6502h) EL7-EC supports seven modes, as defined in 6502h. 31~10 Reserve Reserve Reserve Reserve Mode 1:Supporte Description Abbr. Profile position mode Profile velocity mode Profile Torque mode Homing mode Cyclic synchronous position mode...

  • Page 162: Common Functions For All Modes

    User Manual Of EL7-EC** AC Servo 5.4 Common Functions for All Modes 5.4.1 Digital input setting and status display Please refer to chapter 5 for more details on digital I/O input and polarity settings.60FDh object complies with IEC61800-200 standard input I/O status mapping object. 60FDh is set according to function as the table below shows.

  • Page 163: Stop Settings

    User Manual Of EL7-EC** AC Servo 5.4.4 Stop Settings EL7-EC provides quick stop function. Stopping is different under different modes. Controlled by using object dictionary 605A. Name Quick stop option code Unit Structure Type INT 16 Index 605Ah Access Mapping - Mode Range Default...

  • Page 164: Position Limits

    User Manual Of EL7-EC** AC Servo Method 1: Electronic gear ratio setting is defined by 608Fh (Position encoder resolution). 6091h (Gear ratio), 6092h (Feed constant) to change the motor position. Only valid under pre-operational mode. 608Fh (Position encoder resolution) is the resolution of the encoder, which is read internally without additional setting.

  • Page 165: Control Word

    User Manual Of EL7-EC** AC Servo The setting of object dictionary 0x5012-04 not only affects the homing offset of 607C, but also affects the software limit, 607D needs to be modified before the operational state 5012-04 Actual Positive Position Limit Actual Negative Position Limit Bit2 Bit3...

  • Page 166: Status Word

    User Manual Of EL7-EC** AC Servo ** 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 Operation Mode Cyclic...

  • Page 167: Synchronous Cycle Time Setting

    5.4.8 Synchronous cycle time setting The default synchronous cycle time range of EL7-EC series is 250us – 10ms. Min value: 125us; Max value: 20ms. Please make sure the values set is the multiplier of 250us. 5.4.9 Driver Enabling This section describes how to use control words 6040h/ status word 6041h command switching/status determination forEL7-EC controlled motor.

  • Page 168: Position Mode （Csp、Pp、Hm

    User Manual Of EL7-EC** AC Servo 5.5 Position Mode（CSP、PP、HM） 5.5.1 Common Functions of Position Mode Sub- Mode Index Label Access Index 6040 Control word RxPDO 6072 Max torque RxPDO 607A Target RxPDO position 607D RxPDO Min. software limit RxPDO Max. software limit 607F...

  • Page 169: Cyclic Synchronous Position Mode (Csp)

    User Manual Of EL7-EC** AC Servo 6065 Position RxPDO deviation window 6066 Position RxPDO deviation detection time Velocity 606C TxPDO feedback 6074 Internal TxPDO command torque 6076 Rated torque TxPDO Actual 6077 TxPDO torque 60F4 Actual TxPDO following error 60FA Position TxPDO loop...
  • Page 170 User Manual Of EL7-EC** AC Servo Related Objects Basic object Data Index+Sub-Index Label Access Unit Notes Type 6040-00h Control word — Required 607A-00h Target position Uint Required 60B0-00h Position feedforward Uint Optional (RXPDO) Uint Optional 60B1-00h Velocity feedforward 60B2-00h Torque feedforward 0.1% Optional 6041-00h...

  • Page 171: Protocol Position Mode (Pp)

    User Manual Of EL7-EC** AC Servo 5.5.3 Protocol Position Mode (PP) Under non-synchronous mode, master device is responsible for only sending parameters and control command; After receiving enable command from master device, servo driver will plan motion route according to parameters. Under non-synchronous mode, motor motion between each axes are asynchronous.
  • Page 172 User Manual Of EL7-EC** AC Servo Extended object Index+Sub-Index Label Data Type Access Unit 603F-00h Error code — 6060-00h Operation mode — 6061-00h Displayed operation mode — 6062-00h Position demand value Uint 606B-00h Internal command speed Uint Min. software limit 607D-01h Uint Max.
  • Page 173 User Manual Of EL7-EC** AC Servo 5 motion structures under PP mode Control words bit 5 Accelerates/ constant velocity toward target position Decelerates towards target position Target position inversed direction A：Command switching time from master device B：Arrival time before target position renewal C：Arrival time after target position renewal Thick line: Motion before command changed Thin line ：Motion after command changed...

  • Page 174: Homing Mode (Hm)

    User Manual Of EL7-EC** AC Servo *1) Bit 8 abnormal stoppage usually valid when hardware limit, deceleration stoppage and quick stop are triggered. *2) Bit 12 under control word(6040h)bit 5 valid and bit 4 invalid, motion interruptible. *3) Bit 15 and bit 12 have inversed logic under PP mode. Application: Realization of relative position motion Step 1: 6060h = 1, determine if 6061h =1.
  • Page 175 User Manual Of EL7-EC** AC Servo Uint Optional 609A-00h Homing point acceleration 607C-00h Homing point offset Uint Optional 60-00h Status word — Required 603F-00h Error code Optional 6064-00h Actual position feedback Uint Optional (TXPDO) Actual velocity feedback Uint Optional 606C-00h 60F4-00h Actual following error Uint...
  • Page 176 User Manual Of EL7-EC** AC Servo Homing not done 12(Homing done) Homing done, valid after reaching position(bit 10) *2) Motion parameters valid, necessary parameters all not set to 0. 14(Motion Parameter = 0 under current motion. One of 4 Parameter = 0) parameters, Homing mode (6098h), high homing velocity(6099h-01), low homing velocity (6099h-02) and homing point acc-/deceleration (609Ah) = 0.
  • Page 177 User Manual Of EL7-EC** AC Servo Homing mode Torque limiting mode Mode-6：Search for homing point in negative direction at low velocity. Stop after torque reaches the value set in Pr5.39 and homing done signal delivers after the time value set in Pr5.37 Low velocity Start...
  • Page 178 User Manual Of EL7-EC** AC Servo Mode -3：Search for homing point in positive direction at high velocity. Move in negative direction after torque reaches the value set in Pr5.39, stops when torque is gone. Homing done signal delivers after the time value set in Pr5.37 High velocity Low velocity Start...
  • Page 179 User Manual Of EL7-EC** AC Servo Torque limiting + Z-signal mode Mode -2：Search for homing point in negative direction at high velocity. Move in positive direction after torque reaches the value set in Pr5.39, stops when torque is gone with the first Z-signal.
  • Page 180 User Manual Of EL7-EC** AC Servo 3. Move in positive direction at low velocity and stops after negative limit switch and first encoder Z-signal valid If the positive limit signal is valid during the homing process, the status word (6041h) bit 13 will be valid, indicating homing error and the motor will stop immediately.
  • Page 181 User Manual Of EL7-EC** AC Servo Homing switch signal + Z-signal mode Mode 3: Homing switch = OFF Diagram A: 1. Move in positive direction at high velocity until homing switch valid. 2. Move in negative direction at low velocity and stops after homing switch and first encoder Z-signal valid Homing switch = ON Diagram B:...
  • Page 182 User Manual Of EL7-EC** AC Servo word (6041h) bit 13 will be valid, indicating homing error and the motor will stop immediately. High velocity Low velocity Start Stop 6099h-01h 6099h-02h Z-signal HOMING SWITCH Positive limit Negative limit A： HOMING SWITCH=OFF B：...
  • Page 183 User Manual Of EL7-EC** AC Servo Mode 6: Homing switch = OFF Diagram A: 1. Move in negative direction at high velocity until homing switch valid. 2. Move in positive direction at high velocity until homing switch invalid. 3. Move in negative direction at low velocity and stops after homing switch valid and first encoder Z-signal valid Homing switch = ON Diagram B:...
  • Page 184 User Manual Of EL7-EC** AC Servo encoder Z-signal valid Homing switch & positive limit switch = OFF Diagram C: 1. Move in positive direction at high velocity until positive limit switch valid. 2. Move in negative direction at high velocity until after homing switch. 3.
  • Page 185 User Manual Of EL7-EC** AC Servo 2. Move in negative direction at high velocity until after homing switch. 3. Move in positive direction at low velocity and stops after homing switch valid and first encoder Z-signal valid. If the negative limit switch signal is valid during the homing process, the status word (6041h) bit 13 will be valid, indicating homing error and the motor will stop immediately.
  • Page 186 User Manual Of EL7-EC** AC Servo encoder Z signal valid If the negative limit switch signal is valid during the homing process, the status word (6041h) bit 13 will be valid, indicating homing error and the motor will stop immediately. High Velocity Low Velocity Start...
  • Page 187 User Manual Of EL7-EC** AC Servo If the negative limit switch signal is valid during the homing process, the status word (6041h) bit 13 will be valid, indicating homing error and the motor will stop immediately. High Velocity Low Velocity Start Stop 6099h-01h...
  • Page 188 User Manual Of EL7-EC** AC Servo High Velocity Low Velocity Start Stop 6099h-01h 6099h-02h Z-Signal HOMING SWITCH Negative limit HOMING SWITCH=OFF NOT=OFF HOMING SWITCH=ON NOT=OFF HOMING SWITCH=OFF NOT=OFF Mode 12 Homing switch & negative limit switch = OFF Diagram A: 1.
  • Page 189 User Manual Of EL7-EC** AC Servo High velocity Low velocity Start Stop 6099h-01h 6099h-02h Z-Signal HOMING SWITCH Negative limit A：HOME- SWITCH=OFF ，NOT=OFF B：HOME- SWITCH=ON， NOT=OFF C：HOME- SWITCH=OFF , NOT=OFF Mode 13 Homing switch & negative limit switch = OFF Diagram A: 1.
  • Page 190 User Manual Of EL7-EC** AC Servo High velocity Low velocity Start Stop 6099h-01h 6099h-02h Z-Signal HOMING SWITCH Negative limit A： HOMING SWITCH=OFF NOT=OFF B： HOMING SWITCH=ON NOT=OFF C： HOMING SWITCH=OFF NOT=OFF Mode 14 Homing switch & negative limit switch = OFF Diagram A: 1.
  • Page 191 User Manual Of EL7-EC** AC Servo High velocity Low velocity Start Stop 6099h-01h 6099h-02h Z-signal HOMING SWITCH Negative limit A： HOMING SWITCH=OFF NOT=OFF B： HOMING SWITCH=ON NOT=OFF C： HOMING SWITCH=OFF NOT=OFF Limit switch signal triggering detection mode Mode 17： This mode is similar to mode 1. Only difference is that homing point detection is not through Z-signal but through triggering of negative limit switch signal Low velocity High velocity...
  • Page 192 User Manual Of EL7-EC** AC Servo Mode 18： This mode is similar to mode 2. Only difference is that homing point detection is not through Z-signal but through switching of positive limit switch signal Low velocity High velocity Stop Start 6099h-02h 6099h-01h Z-signal...
  • Page 193 User Manual Of EL7-EC** AC Servo Mode 20： This mode is similar to mode 4. Only difference is that homing point detection is not through Z-signal but through triggering of homing switch signal High velocity Low velocity Start Stop 6099h-01h 6099h-02h Z-signal HOMING SWITCH...
  • Page 194 User Manual Of EL7-EC** AC Servo Mode 22： This mode is similar to mode 6. Only difference is that homing point detection is not through Z-signal but through triggering of homing switch signal. High Velocity Low Velocity Stop Start 6099h-01h 6099h-02h Z-Signal HOMING SWITCH...
  • Page 195 User Manual Of EL7-EC** AC Servo Mode 24： This mode is similar to mode 8. Only difference is that homing point detection is not through Z-signal but through triggering of homing switch signal. High Velocity Low Velocity Start Stop 6099h-01h 6099h-02h Z-Signal HOMING SWITCH...
  • Page 196 User Manual Of EL7-EC** AC Servo Mode 26： This mode is similar to mode 10. Only difference is that homing point detection is not through Z-signal but through triggering of homing switch signal High Velocity Low Velocity Start Stop 6099h-01h 6099h-02h Z-signal HOMING SWITCH...
  • Page 197 User Manual Of EL7-EC** AC Servo Mode 28： This mode is similar to mode 12. Only difference is that homing point detection is not through Z-signal but through triggering of homing switch signal High velocity Low velocity Start Stop 6099h-01h 6099h-02h Z-Signal HOMING SWITCH...
  • Page 198 User Manual Of EL7-EC** AC Servo Mode 30： This mode is similar to mode 14. Only difference is that homing point detection is not through Z-signal but through triggering of homing switch signal High velocity Low velocity Start Stop 6099h-01h 6099h-02h Z-signal HOMING SWITCH...

  • Page 199: Velocity Control Mode（Csv、Pv

    User Manual Of EL7-EC** AC Servo Mode 34： The motor starts to move in positive direction and stops when the Z-signal is valid. If the positive/negative limit switch signal or homing switch is valid during the homing process, the status word (6041h) bit 13 will be valid, indicating homing error and the motor will stop immediately.

  • Page 200: Cyclic Synchronous Velocity Mode (Csv)

    User Manual Of EL7-EC** AC Servo 60B2 Torque feedforward RxPDO 60FF Target velocity RxPDO (Restricted by 6080) Mode Index Name Access Index 6041 Status word TxPDO 6063 Actual internal position TxPDO 6064 Actual feedback position TxPDO 606B Internal command velocity TxPDO 606C Actual feedback velocity...

  • Page 201: Profile Velocity Mode (Pv)

    User Manual Of EL7-EC** AC Servo Related Objects Basic object Data Index+Sub-Index Name Access Unit Remarks Type 6040-00h Control word — Required 60FF-00h Target velocity Uint Required (RXPDO) 60B1-00h Velocity feedforward Uint /S Optional 60B2-00h Torque feedforward 0.1% Optional 6041-00h Status word —...
  • Page 202 User Manual Of EL7-EC** AC Servo Polarity(2060h + 2062h) Velocity[Unit/S] Target velocity(60FFh) Limit Function Profile Trajectory planning output Velocity Trajectory Profile acceleration(6083h) generato Profile deceleration(6084h) ACC/DEC[Unit/S Limit Function Quick stop deceleration(6085h) Related Objects Basic object Index+Sub-Index Name Data Type Access Unit Notes 6040-00h...

  • Page 203: Torque Mode（Cst、Pt

    User Manual Of EL7-EC** AC Servo Control Word and Status Word for Profile Velocity Mode The bit6~4 of control words (6040h) associated with the control mode in PV mode are invalid. The motion in PV mode can be triggered as long as the motion parameters (target velocity (60FFh) ACC/DEC (6083h/6084h)) are given after the axis is enabled.

  • Page 204: Cyclic Synchronous Torque Mode (Cst)

    User Manual Of EL7-EC** AC Servo Mode Index Label Access Index 6041 Status word TxPDO 6063 Actual internal position TxPDO 6064 Actual feedback position TxPDO 606C Actual feedback velocity TxPDO 6074 Internal torque command TxPDO 6075 Rated current 6076 Rated torque 6077 Actual torque TxPDO...

  • Page 205: Profile Torque Mode (Pt)

    User Manual Of EL7-EC** AC Servo 6087-00h Torque feed-forward 0.1%/S Optional 6041-00h Status word — Required 6064-00h Actual position feedback Uint Optional (TXPDO) 606C-00h Actual velocity feedback Uint /S Optional 60F4-00h Actual following error Uint Optional 6077-00h Actual torque 0.1% Required Extended object Data...
  • Page 206 User Manual Of EL7-EC** AC Servo PT Block Diagram Polarity(2071h + 2073h) Target torque(6071h) Torque[0.1%] Limit Max motor velocity(6080h) Function Profile Torque Trajectory planning output Trajectory generator Torque change rate(6087h) Torque change rate[0.1%/S] Limit Function Profile deceleration(6084h) Related Objects Basic object Data Index+Sub-Index Label...
  • Page 207 User Manual Of EL7-EC** AC Servo 2077-00h Velocity limit Application: Realization of profile torque motion Step 1: 6060h = 4, determine if 6061h = 4. Servo driver is now under PT mode. Step 2: Write motion parameters: Target torque 6071h, Torque change rate 6087h, and Max.

  • Page 208: Chapter 6 Application

    User Manual Of EL7-EC** AC Servo Chapter 6 Application 6.1 Gain Adjustment In order for servo driver to execute commands from master device without delay and to optimize machine performance, gain adjustment has to be done. Servo driver gain adjustment is done in combination with a few other parameters (Inertia ratio, Position loop gain, Velocity loop gain and Filters settings).
  • Page 209 User Manual Of EL7-EC** AC Servo Start Electronic gear ratio Inertia measuring Auto gain adjustment Requirement met? Manual gain adjustment Requirement met? Vibration suppression Steps Functions Explanation Online Motor moves with command from controller, servo driver will automatically calculate load-inertia ratio Inertia measuring Offline...

  • Page 210: Inertia Measuring Function

    User Manual Of EL7-EC** AC Servo Basic gain On top of auto gain adjustment, manually adjust related parameters so that machine can have better responsiveness and following Manual gain Command pulse Set filter for position, velocity and torque command pulse. adjustment filter Gain...

  • Page 211: Auxiliary Function To Determine Inertia On Front Panel

    User Manual Of EL7-EC** AC Servo 6.2.3 Auxiliary function to determine inertia on front panel Auxiliary Function Operation Inertia A F_ G L G - - - - Initialization measuring Press ‘◀’ to start inertia measuring. SrUon will be Press ‘S’ to enter displayed.

  • Page 212: Auto Gain Adjustment

    User Manual Of EL7-EC** AC Servo 3. Click and hold “CCW” to start the motor. Current position will show motor cycles of revolution. Click on POS 1 to save current position as starting point. Click and hold “CW” to start the motor again. Click on POS 2 to save current position as ending point. 4.
  • Page 213 User Manual Of EL7-EC** AC Servo Affecting conditions ・If inertia is less than 3 times or over 20 times of rotor inertia. Load inertia ・Changes in load inertia ・Very low mechanical stiffness Load ・If gear backlash is a non-linear property ・Velocity less than 100r/min or continuously in low velocity mode ・Acc-/deceleration to 2000r/min within 1s.
  • Page 214 User Manual Of EL7-EC** AC Servo If auto gain adjustment is valid, the parameters listed above can’t be manually modified. Only when Pr0.02 = 0x00 or 0x10, can the gain related parameters be modified manually. Gain related parameters that don’t change with the real time gain adjustment Parameter Label Pr1.10 Velocity feedforward gain constant...
  • Page 215 User Manual Of EL7-EC** AC Servo This mode prioritizes system stability. Use this mode 2: Flexible when there is low rigidity structure with high load structure inertia. Typical applications included belts and chains. 0x_00 reserved The setting type combination is a hexadecimal standard, as follows: Setting type Application type combination...

  • Page 216: Manual Gain Adjustment

    User Manual Of EL7-EC** AC Servo 6.4 Manual gain adjustment Due to limitation of load conditions, automatic gain adjustment might not achieve expected performance. Control can be improved through manual gain adjustment The servo system is made up of 3 control loops. From outer to inner: position loop, velocity loop, current loop as shown in the diagram below.
  • Page 217 User Manual Of EL7-EC** AC Servo d) Increase torque filter time Name position loop gain Mode 0~3000 Pr1.00 Unit 0.1/s Default Range Index 2100h Activation Immediate Higher position loop gain value improves the responsiveness of the servo driver and lessens the positioning time.

  • Page 218: Gain Switching

    User Manual Of EL7-EC** AC Servo 6.5 Gain switching Gain switching function can be triggered internally in servo driver. Only valid under position or velocity control mode. Following effects can be realized by gain switching: Switch to lower gain when motor stops to suppress vibration 2.
  • Page 219 User Manual Of EL7-EC** AC Servo Start Pr0.02 – Standard mode Set Pr0.02 Pr0.02 – Manual/ Positioning mode Gain switching Pr1.15=0 Pr1.15=1 Set Pr1.15 PA1.15=3/5/6/9/10 Pr1.17~Pr1.19 gain gain Switch gain accordingly Related parameters on gain switching Parameter Label Remarks In position control, set PA1.15=3、5、6、 Position control gain 9、10。...
  • Page 220 User Manual Of EL7-EC** AC Servo Position control gain Name Mode switching mode Pr1.15 Range 0~11 Unit — Default Index 2115h Activation Immediate Condition Gain switching condition Value Fixed on using 1 gain(Pr1.00-Pr1.04) gain fixed Fixed on using 2 gain (Pr1.05-Pr1.09) gain fixed Reserved Switch to 2...
  • Page 221 User Manual Of EL7-EC** AC Servo Valid for position control. Switch to 2 gain when position deviation absolute value larger than (level + hysteresis)[pulse] Switch to 1 gain when position deviation absolute value smaller than (level-hysteresis)[pulse] Large position deviation Velocity Level Hysteresis Position...
  • Page 222 User Manual Of EL7-EC** AC Servo Hysteresis Level Velocity Feedback Valid for position control. Switch to 2 gain if position command ≠ 0 Switch to 1 gain if positional command = 0 throughout the duration of delay time and absolute value of actual velocity remains smaller than (level - hysteresis) (r/min) Pending position command...

  • Page 223: Feedforward Gain

    User Manual Of EL7-EC** AC Servo To eliminate the instability of gain switching. Used in combination with Pr1.17 using the same unit. If level< hysteresis, drive will set internally hysteresis = level. Position gain switching Name Mode time Pr1.19 Range 0~10000 Unit 0.1ms...

  • Page 224: Velocity Feedforward Application

    User Manual Of EL7-EC** AC Servo Range 0~6400 Unit 0.01ms Default Index 2111h Activation Immediate Set velocity feed forward low pass filter to eliminate high or abnormal frequencies in velocity feed forward command. Often used when position command with low resolution or high electronic gear ration to smoothen velocity feed forward.

  • Page 225: Torque Feedforward Application

    User Manual Of EL7-EC** AC Servo Range 0~1000 Unit 0.1% Default Index 2112h Activation Immediate Before using torque feed forward, please set correct inertia ratio. By increasing torque feed forward gain, position deviation on constant acceleration/deceleration can be reduced to close to 0.
  • Page 226 User Manual Of EL7-EC** AC Servo can be used to improve command responsiveness and closed loop control used to increase responsiveness of the system towards interference. They don’t affect each other. Model following control can be used in position loop control to increase responsiveness to commands, reduce positioning time and following error.

  • Page 227: Friction Compensation Function

    User Manual Of EL7-EC** AC Servo Overshoot can be prevented if it is set at a lower value but responsiveness will be lowered. Model following bandwidth shouldn’t be too large for mechanical structure with lower stiffness, excessive position deviation alarm might occur under high velocity. 6.8 Friction compensation function This function is to compensation for changes in load to reduce the effect of friction in motion.

  • Page 228: Parameters Adjustment Under Different Control Modes

    User Manual Of EL7-EC** AC Servo compensation value Range -100~100 Unit Default Index 2608h Activation Immediate Name Negative direction torque Mode compensation value Pr6.09 Range -100~100 Unit Default Index 2609h Activation Immediate To reduce the effect of mechanical friction in the movement(s) of the axis. Compensation values can be set according to needs for both rotational directions.

  • Page 229: Velocity Control Mode

    User Manual Of EL7-EC** AC Servo Pr1.12 Torque feedforward gain Pr1.13 Torque feedforward filter time constant Pr1.15 Position control gain switching mode Pr1.17 Position control switching level Pr1.18 Position control switching hysteresis Pr1.19 Position gain switching time and 2 gain initial values are obtained by automatic gain adjustment Parameter Label PA1.00...

  • Page 230: Safety Functions

    User Manual Of EL7-EC** AC Servo When actual velocity doesn’t reach velocity limit yet, Except for position loop gain, velocity loop gain and feedforward gain, parameter adjustments as per velocity control mode. If there is no velocity limit and control is through torque command, please deactivate torque and notch filter, set velocity limit to max.

  • Page 231: Emergency Stop Function

    User Manual Of EL7-EC** AC Servo released or BRK_ON signal is given until actual holding brake is activated. It is dependent on the holding brake of the motor. *3: Deceleration time is determined by Pr6.14 or if motor speed goes below Pr4.39, whichever comes first.

  • Page 232: Vibration Suppression

    User Manual Of EL7-EC** AC Servo POT and NOT invalid Any single sided input from POT or NOT might cause Er260 In homing mode, POT/NOT invalid, please set object dictionary 5012-04 bit0=1 Method 2: Using 605Ah object dictionary through master device to activate this function. Name Servo braking torque setting Mode...
  • Page 233 User Manual Of EL7-EC** AC Servo The ratio between input and output of center frequency. When depth = 0, center frequency output is totally off and when depth = 100, Hence when notch filter depth is set at lower value, the depth is higher and better at suppressing mechanical resonance but it might cause system instability.

  • Page 234: End Vibration Suppression

    User Manual Of EL7-EC** AC Servo 6.11.2 End vibration suppression End vibration Direction Motor Moving body If the mechanical structure has an end that is long and heavy, it might cause end vibration at emergency stop and affect the positioning. Usually happens on long armed axis with loose end.

  • Page 235: Multiturn Absolute Encoder

    User Manual Of EL7-EC** AC Servo The result of suppressing low frequency resonance End low frequency suppression End vibration is End vibration is 激光测试仪测 measured using laser measured using laser 试末端振动 measurement device measurement device Actual Actual velocity velocity 6.12 Multiturn absolute encoder Multiturn absolute encoder records the position and the revolution counts of the motor.

  • Page 236: Read Absolute Position

    确认是多圈编码 器并安装电池 User Manual Of EL7-EC** AC Servo 设定参数 switch to multiturn mode once alarm cleared, if remains at 9 after 3s, please solve according PA0.15为1 to Er153. Please disable axis before setting to 9 and home the axis before using. 原点是否...
  • Page 237 User Manual Of EL7-EC** AC Servo Read data from 6064h object dictionary Please read data only when the motor is fully stopped or it might cause calculation errors. Please repeat this step for at least twice to make sure the result is uniform. Multiturn rotational mode For absolute encoder, multiturn rotational mode (Pr0.15 = 2, Pr6.63 set to multiturn upper limit) is added on top of incremental mode and multiturn linear mode.
  • Page 238 User Manual Of EL7-EC** AC Servo When electronic gear ratio = 1:1, 607Ch = 0: Motor Load Position during power-on Encoder position Actual position When electronic gear ratio = 1:1, 607Ch = 10000: Motor Load Position during power-on Encoder position 10000 Actual position -1)+10000...
  • Page 239 User Manual Of EL7-EC** AC Servo If the motor position is as shown below during power on. The range of motion of the motor is within the range of a single turn of the motor from motor position during power Single turn Position Position during...

  • Page 240: Absolute Encoder Related Alarm

    User Manual Of EL7-EC** AC Servo 6.12.3 Absolute Encoder Related Alarm The alarm can determine if absolute value encoder is valid. If battery power is low, not a motor with absolute encoder, encoder error etc. occurs, user can find out about the error from alarm output or on the front panel.

  • Page 241: Probe

    User Manual Of EL7-EC** AC Servo 6.13 Probe Motor feedback position latching function can be realized through input signal with probe function. L7EC supports up to 2 inputs with probe function and can be used simultaneously, to record the position information corresponding to probe signal rising and falling edge.

  • Page 242: Probe Function

    User Manual Of EL7-EC** AC Servo （Phase A＋Phase B） CW pulse sequence ＋ CCW pulse sequence Pulse sequence ＋ Directional symbol Command pulse input signal max. frequency and min. duration needed Min. duration needed（μs） Max. Command pulse input interface Frequency Pulse Differential drive 500 kHz...

  • Page 243: Signal Input Of Ext1 And Ext2

    User Manual Of EL7-EC** AC Servo Continuous trigger, rising and falling edge = valid （ii） After activation, trigger signal selection, triggering signal edge settings, counter will be reset and 0x60B9 status will change as well. （iii）Probe signal level is shown in 60FD: EXT1 -> bit 26, EXT2 -> bit 27. Related Objects Data Index...

  • Page 244: Probe Status Word 60B9H

    User Manual Of EL7-EC** AC Servo 0--Disable Probe 1 falling edge trigger 1--Enable Reserved Probe 2 enable 0--Disable 1--Enable 0--Single trigger mode Probe 2 mode 1--Continuous trigger mode Probe 2 trigger signal 0—EXT2 signal selection 1--Z signal Reserved Probe 2 rising edge trigger 0--Disable 1--Enable 0--Disable...

  • Page 245: Latch Counter Register

    User Manual Of EL7-EC** AC Servo 6.13.7 Latch Counter Register Index Details or Z-signal 60D5h Probe 1 rising edge counter or Z-signal 60D6h Probe 1 falling edge counter or Z-signal 60D7h Probe 2 rising edge counter or Z-signal 60D8h Probe 2 falling edge counter 6.13.8 Probe mode Set bit1/bit9 of 60B8h (Probe mode), 0 = Single trigger mode, 1 = Continuous trigger...

  • Page 246: Other Functions

    User Manual Of EL7-EC** AC Servo （2）Continuous trigger mode The data saved from signal triggering will be saved until the next trigger signal. Enabling the probe again is not needed. Sequence diagram as shown below: 6.14 Other Functions 6.14.1 Functions under Position mode Electronic gear function If command frequency from controller is not enough which cause the motor to not reach target rotational velocity, frequency can be increased using this function.
  • Page 247 User Manual Of EL7-EC** AC Servo To set encoder resolution Electronic gear ratio Name Unit Structure VAR Type Dint 32 numerator Index 6091h-01 1-21474 Defaul Access Mapping RPDO Mode Range 83647 To set electronic gear ratio numerator Electronic gear ratio Name Unit Structure VAR...
  • Page 248 User Manual Of EL7-EC** AC Servo If Pr2.22 is set too high, overall time will be lengthened. Position command Name Mode filter Pr2.23 Range 0~10000 Unit 0.1ms Default Index 2223h Activation Disable axis As shown below, when target velocity Vc square wave command reaches Vc, it becomes trapezoidal wave after filtering.
  • Page 249 User Manual Of EL7-EC** AC Servo In Position Positioning completed status can be determined by output of INP signal. Under position control mode, the absolute value of position deviation counter will be ON if positioning is under the range set in Pr4.31. Positioning complete Name...

  • Page 250: Functions Under Velocity Mode

    User Manual Of EL7-EC** AC Servo 6.14.2 Functions under velocity mode Velocity reached output signal (AT-SPEED) AT-SPEED signal delivers after motor velocity reached arrival velocity. Arrival velocity Name Mode (AT-speed) Pr4.36 Range 10~2000 Unit Default 1000 Index 2436h Activation Immediate When motor velocity >...
  • Page 251 User Manual Of EL7-EC** AC Servo If the difference between velocity command and motor actual speed is below Pr4.35, Velocity coincidence (V-COIN) output signal valid. Due to 10RPM hysteresis: Velocity coincidence output OFF -> ON timing (Pr4.35 -10) r/min Velocity coincidence output ON -> OFF timing (Pr4.35 +10) r/min Position command after acceleration time Velocity...

  • Page 252: Functions Under Torque Mode

    User Manual Of EL7-EC** AC Servo 6.14.3 Functions under torque mode Velocity limit is required under torque mode to make sure motor rotational velocity stays within the limit. Velocity limit function During torque control, velocity control should be within the range of velocity limit. When motor reaches velocity limit, command control will switch from torque control to command control with velocity limit.

  • Page 253: Chapter 7 Ethercat Communication

    User Manual Of EL7-EC** AC Servo Chapter 7 EtherCAT communication 7.1 EtherCAT principle function In comparison to Ethernet protocol which requires huge bandwidth for packets to be moved between master and clients, EtherCAT communication protocol breaks through this systemic limitation of Ethernet which requires every client to receive the whole data package from the master.

  • Page 254: Synchronous Mode

    User Manual Of EL7-EC** AC Servo ID number setting of EtherCAT slave station To set up EtherCAT slave station ID number, please set Pr0.24 = 1 and set required ID number to Pr0.23. Name EtherCAT slave ID Mode Pr0.23 Range 0~32767 Unit —...

  • Page 255: Ethercat State Machine

    User Manual Of EL7-EC** AC Servo 7.3 EtherCAT state machine EtherCAT state machine, commonly known as "communication state machine ", is mainly used to manage communication between master and slave stations. The communication function mainly includes mailbox and process data communication. The EtherCAT state machine transition relationship is shown in figure 6.3 Init (IP)

  • Page 256: Canopen Over Ethercat (Coe)

    User Manual Of EL7-EC** AC Servo 7.4 CANopen over EtherCAT (CoE) 7.4.1 Network structure of EL7-EC EL7-EC DSP402 CANopen DSP 402 EtherCAT Object Dictionary application CANopen EtherCAT layer Over State EtherCAT Machine Service mapping Data Object Object Mailbox Process data register EtherCAT FMMU0...

  • Page 257: Object Dictionary

    7.4.3 Service Data Object (SDO) The EL7-EC series supports SDO services. EtherCAT master can configure, monitor and control EL7-EC servos by using SDO to read and write EL7-EC object dictionaries. In conventional CANopen DS301 mode, SDO protocol CAN only transfer 8 bytes at a time to match the data length of CAN message.
  • Page 258 User Manual Of EL7-EC** AC Servo Default PDO mapping (consistent with the XML file) is shown in table 7.3 Table 7.3 Default PDO mapping PDO Map PDO Map Mapped Object Mapping object object Description content Index Sub-index Bit length index Sub-index 60400010h 10h(16 bit)
  • Page 259 User Manual Of EL7-EC** AC Servo PDO dynamic mapping Different from CIA DS301, CoE uses PDO specified objects (1C12h/1C13h) to configure PDO mapped objects (1600h~1603h/1A00h~1A01h) to PDO SyncManager (SyncManager 2/3). PDO specified objects are defined in table 6.4 Table 6.4 PDO specifies object definitions Index Sub-index Range...

  • Page 260: Chapter 8 Warning And Alarm

    User Manual Of EL7-EC** AC Servo Chapter 8 Warning and Alarm 8.1 Servo drive warning When warning occurs, driver will set protective function but motor won’t stop moving. Error code will be displayed on the front panel. Example of warning code: A rA 0 2 Bit 1：Sub code Bit 2：Main code...
  • Page 261 User Manual Of EL7-EC** AC Servo D12Er Er 150 Bit 1：Sub-code Er 150 ……Current alarm Bit 2: Main code 01150 ……Alarm record 1(Latest) 140E0 ……Alarm record 14(Last) Able to look back at 14 alarm records Use ▲▼ buttons to navigate between alarm records Table 9.1 Error Code List Error code...
  • Page 262 User Manual Of EL7-EC** AC Servo Encoder data overflow ● ● Encoder overheated ● ● Encoder counter error ● ● Encoder data error ● Encoder parameter initialization error ● Excessive position deviation ● ● Excessive velocity deviation Motor vibration too strong ●...
  • Page 263 User Manual Of EL7-EC** AC Servo [Note:] Save: Save error messages to alarm history. Type: The type 1 and type 2 fault stop mode can be set via Pr5.10 [Sequence at alarm]. Clearable: Clearable alarm by operating the front panel and use auxiliary function AFACL as below.
  • Page 264 User Manual Of EL7-EC** AC Servo Table 8.2 Alarm and 603F correspondence Error Code 1001h 603Fh Alarm Description Display Code Er 0A0 0x04 0x3150 Phase A circuit current detection error Er 0A1 0x04 0x3151 Phase B circuit current detection error Er 0A3 0x04 0x3153...
  • Page 265 User Manual Of EL7-EC** AC Servo Incorrect electronic gear ratio Er 1b1 0x20 8503 Er 1c0 0x02 8313 Both STO failed Er 1c1 0x02 8313 1st STO failed Er 1c2 0x02 8313 2nd STO failed Er 210 0x80 0x6321 I/O input interface assignment error I/O input interface function assignment Er 211 0x80...
  • Page 266 User Manual Of EL7-EC** AC Servo Er 811 0x10 0xA001 0x0011 Invalid EtherCAT transition request 0xA00 Unknown EtherCAT state machine Er 812 0x10 0x0012 transition request Er 813 0x10 0x8213 0x0013 Protection request from boot state Er 814 0x80 0x6203 Invalid firmware Invalid mailbox configuration under boot Er 815...
  • Page 267 User Manual Of EL7-EC** AC Servo Er 834 0x10 0x8734 DC sync timeout Er 835 0x10 0x8735 Distribution Clock cycle time is invalid 0x003 Invalid Distribution Clock synchronization Er 836 0x10 0x8736 cycle time 0x005 Er 850 0x80 0x5550 EEPROM is inaccessible Er 851 0x80 0x5551...

  • Page 268: Alarm Handling

    User Manual Of EL7-EC** AC Servo 8.3 Alarm Handling **When error occurs, please solve accordingly. Then, restart. Main Display: “Er 0A0”--“Er 0A1” Error code Content: Circuit current detection error Cause Diagnosis Solution Motor power cable wiring Make sure U,V,W terminal wired Verify motor power cable error properly...
  • Page 269 User Manual Of EL7-EC** AC Servo Main Display: “Er 0d0” Error code Content: DC bus undervoltage Cause Diagnosis Solution Main power supply Increase main power supply Verify L1,L2,L3 terminal voltage undervoltage voltage L1C, L2C connected Control circuit power on before Please disconnect the USB cable when USB cable is driver initialization.
  • Page 270 User Manual Of EL7-EC** AC Servo Main Display: “Er 0E0” Error code Content: Overcurrent Cause Diagnosis Solution Verify if there is short circuit 1. Make sure there is no circuit. Driver power output 2. Make sure motor is not between UVW terminals, or short circuit damaged shorted to PG.
  • Page 271 User Manual Of EL7-EC** AC Servo Display: “Er 0E2” Main Error code Content: Power output to motor shorted to ground Cause Diagnosis Solution Disconnect motor power cable Driver U, V, W terminals 1. Reconnect wiring. and check for short circuit shorted to ground 2.
  • Page 272 User Manual Of EL7-EC** AC Servo Display: “Er 102” Main Error code Content: Motor rotor blocked Cause Diagnosis Solution Motor rotor Look for mechanical blockages Check the machinery blocked Motor rotor blocking time Verify value of Pr6.57 Adjust value of Pr6.57 threshold value too low Display:...
  • Page 273 User Manual Of EL7-EC** AC Servo Display: “Er 150” Main Error code Content: Encoder disconnected Cause Diagnosis Solution Encoder cable Make sure encoder cable properly Verify encoder cable connection disconnected connected Encoder cable wiring Verify if encoder wiring is correct Reconnect encoder wiring error Encoder damaged...
  • Page 274 User Manual Of EL7-EC** AC Servo Main Display: “Er 153” Error code Content: Multiturn encoder error Cause Diagnosis Solution Perform origin positioning and multiturn Origin calibration not Initial use position initialization, calibrate the origin of performed coordinate system. 1. Replace the motor with a multiturn Encoder without Verify if encoder has absolute encoder.
  • Page 275 User Manual Of EL7-EC** AC Servo Main Display: “Er 157” Error code Content: Encoder counter error Cause Diagnosis Solution Verify if encoder is not Encoder data overflow Initialize multiturn data damaged Absolute value Verify if encoder is not Adjust absolute value application applications, motor damaged mode, set to turntable mode...
  • Page 276 User Manual Of EL7-EC** AC Servo Display: “Er 180” Main Error code Content: Excessive position deviation Cause Diagnosis Solution Improper position Verify if value of Pr_014 is too low Increase value of Pr_014 deviation settings Position gain setting too Verify if values of Pr1.00 & Pr1.05 are Increase values of Pr1.00 &...
  • Page 277 User Manual Of EL7-EC** AC Servo Display: “Er 1A1” Main Error code Content: Velocity out of control Cause Diagnosis Solution Motor velocity Verify encoder phase sequence; Verify if UVW Reconnect UVW if wrongly out of control, cable is connected to the right terminal connected.
  • Page 278 User Manual Of EL7-EC** AC Servo Display: “Er 210” Main Error code Content: I/O input interface assignment error Cause Diagnosis Solution Input signal assigned with Verify values of Pr4.00-Pr4.09, Set proper values for two or more functions. Pr4.44-4.47 Pr4.00-Pr4.09, Pr4.44-4.47 Display: “Er 211”...
  • Page 279 User Manual Of EL7-EC** AC Servo Display: “Er 243” Main Error code Content: Error occurred when saving vendor parameters Cause Diagnosis Solution Power-off before data Wait until data saved successfully saved before powering off EEPROM damaged Restart driver for a few times Restart driver for a few times Display: “Er 244”...
  • Page 280 User Manual Of EL7-EC** AC Servo Display: “ Er 570” Error code Error description: Forced alarm input valid Cause Diagnosis Solution Forced alarm input Verify forced alarm input Verify if the input wiring connection signal occurred signal is correct Main Display: “Er 5F0”...

  • Page 281: Alarm Clearing

    User Manual Of EL7-EC** AC Servo Main Display: “Er 700” Error code Error description: Encryption error Cause Diagnosis Solution Encryption error Restart driver Please contact our technical during initialization support upon power-on. 8.4 Alarm clearing 8.4.1 Servo Drive Alarm For alarm can be cleared，There are 3 method. Method 1：...

  • Page 282: Ethercat Communication Alarm

    User Manual Of EL7-EC** AC Servo 8.5 EtherCAT Communication Alarm EtherCAT communication related alarms are erasable and will not be recorded in alarm history. Clearing EtherCAT communication alarm is similar to clearing servo driver alarm. Please clear the alarm before switching to 402 machine state. EtherCAT communication alarm however, relies on register clearance from the main station.
  • Page 283 User Manual Of EL7-EC** AC Servo Main Display: “Er 73c” Error code Error description: Excessive Distributed Clock error Cause Diagnosis Solution Poor master device Increase threshold value limit performance Is it a single unit or Replace driver Single-unit drive has multiple units together in problem the network...
  • Page 284 User Manual Of EL7-EC** AC Servo Main Display: “Er 805” Error code Error description: FOE firmware upgrade failed Cause Firmware burn error The status of the BOOT error can be detected The result status Remain in the detection state Solution Replace firmware/driver Main Display:...
  • Page 285 User Manual Of EL7-EC** AC Servo Main Display: “Er 813” Error code Error description: Protection request from boot state Cause Driver receives a transition request to boot state The status of the Initialize the conversion to a boot error can be detected The result status initialization Solution...
  • Page 286 User Manual Of EL7-EC** AC Servo Main Display: “Er 817” Error code Error description: Invalid configuration SyncManager Cause Synchronization manager configuration is invalid The status of the Pre-op above error can be detected The result status Pre-op Solution Verify master device configuration/ESI file version Main Display: “Er 818”...
  • Page 287 User Manual Of EL7-EC** AC Servo Main Display: “Er 81b” Error code Error description:SyncManager2 watchdog timer timeout Cause The RxPDO update timeout in operational state The status of the operation error can be detected The result status Safe operation 1. Verify if EL7EC network is connected Solution 2.
  • Page 288 User Manual Of EL7-EC** AC Servo Main Display: “Er 821” Error code Error description: Waiting for EtherCAT state machine Init state Cause Driver waiting for master device to send Init request The status of the All ESM status error can be detected The result status Keeping the current state Verify transition request sent from master device...
  • Page 289 User Manual Of EL7-EC** AC Servo Main Error Display: “Er 825” code Error description: Invalid process data output mapping Cause RxPDO is configured with non-mappable objects The status of the Safe operation error can be detected Pre-operation The result status Reconfigure the RxPDO mapping object Solution Main...
  • Page 290 User Manual Of EL7-EC** AC Servo Main Error Display: “Er 82d” code Error description: No synchronization error Cause Synchronization is invalid The status of the operation error can be detected Safe operation The result status 1. Verify if "fatal synchronization error" has occurred. Solution 2.
  • Page 291 User Manual Of EL7-EC** AC Servo Main Error Display: “Er 835” code Error description: Distribution Clock cycle time is invalid Cause Set synchronization cycle time is not proportional to drive position loop The status of the Safe operation error can be detected Pre-operation The result status Refer to user manual to set a reasonable synchronization cycle time.
  • Page 292 User Manual Of EL7-EC** AC Servo Main Error Display: “Er 852” code Error description: Hardware is not ready Cause Data communication lost The status of the All ESM status error can be detected Keeping the current state The result status Verify if EL7-EC hardware is faulty Solution Main...

  • Page 293: About Us

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