Page 1 EL8-RS Series AC Servo Drive User Manual...
Page 2 User Manual of EL8-RS***F AC Servo Foreword Thank you for purchasing Leadshine EL8-RS series AC Servo drives. This manual will provide information on the EL8-RS series servo products regarding product safety & specifications, installations & wiring, tuning & problem diagnostics.
Page 3 User Manual of EL8-RS***F 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 EL8-RS***F 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 If available, please send product back in original packaging or make sure it is well packaged to prevent any damage to the product during shipping. Leadshine Technology Co.,Ltd. and its certified sales channel reserved the final right of the interpretation of the warranty information.
Page 6 User Manual of EL8-RS***F AC Servo TABLE OF CONTENTS WARRANTY INFORMATION ........................... 5 CHAPTER 1 INTRODUCTION ..........................10 ..........................10 RODUCT NTRODUCTION ..........................11 ODEL NUMBER STRUCTURE 1.2.1 Servo Drive ............................. 11 1.2.2 Servo motor ..............................12 ......................13 ERVO RIVE ECHNICAL PECIFICATIONS...
Page 7 User Manual of EL8-RS***F AC Servo 2.17.1 Grounding connection and other anti-interference wiring connections ..........67 2.17.2 Using line filter ............................67 CHAPTER 3 PARAMETER ............................69 3.1 P ..............................69 ARAMETERS LIST 3.2 P ............................81 ARAMETERS DESCRIPTION 3.2.1 [Class 0] Basic Settings ..........................81 3.2.2 [Class 1] Gain adjustments .........................
Page 8 User Manual of EL8-RS***F AC Servo CHAPTER 6 APPLICATION CASE .......................... 223 6.1 G ............................... 223 DJUSTMENT 6.2 I ......................... 226 NERTIA RATIO IDENTIFICATION FUNCTION 6.3 E ..............................230 UNING 6.3.1 Single parameter tuning .......................... 230 6.3.2 One-click Tuning ............................231 6.4 A ............................
Page 9 User Manual of EL8-RS***F AC Servo CHAPTER 9 WARNING AND ALARM ........................309 9.1 S ............................309 ERVO DRIVE WARNING 9.2 S ............................. 310 ERVO DRIVE ALARM 9.3 A ..............................314 LARM ANDLING 9.4 A ..............................330 LARM CLEARING 9.4.1 Servo Drive Alarm............................. 330 ..........................
Page 10 Chapter 1 Introduction 1.1 Product Introduction EL8-RS Series AC Servo Product is a whole new high-end AC servo drivers and motors product range that we have proudly developed at Leadshine Technology Co.,Ltd. This product series provides more in demand functionalities with better performance and safety assurance.
Page 11 User Manual of EL8-RS***F AC Servo 1.2 Model number structure 1.2.1 Servo Drive - □ EL8 - RS 400 F ○ ○ ○ ○ ○ ① Description Series No. EL8：EL8 AC Servo Drive Series ② RS：Pulse train + RS485 + Analogue Communication ③...
Page 12 User Manual of EL8-RS***F AC Servo 1 .2.2 Servo motor 7 7 B ELM1 0400 M (1)Series No. ELM1 ELM1 Series servo motor (9Motor Connector ELM2 ELM2 Series servo motor Direct Connector Blank Aviation Connector (2)Inertia Ratio (8)Voltage Blank 220VAC Medium 380VAC High...
Page 13 User Manual of EL8-RS***F AC Servo S ervo Drive Technical Specifications 1 2 B EL8-RS Series Driver EL8-RS400 EL8-RS750 EL8-RS1000 EL8-RS1500 EL8-RS2000 Power Rating 400W 750W 1000W Rated Current (A) Coming Soon! Peak Current (A) 16.9 21.2 Control circuit power supply...
Page 14 Under PR mode 1. Command completed (CMD-OK) 2. Path completed (PR-OK) 3. Homing done (HOME-OK) Safe Torque Off (STO) Available for all EL8-RS series servo drives Encoder #2 Holding brake Internal holding brake. External relay not needed Communication Port Modbus protocol, RJ45 port Control Mode 1.
Page 15 User Manual of EL8-RS***F AC Servo Overcurrent. Overvoltage. Undervoltage. Overheat. Overload. Overtravel. Alarm Single-Phasing. Regenerative resistor error. Position deviation error. Encoder feedback error. Excessive braking rate. EEPROM error Front Panel 5 push buttons, 8-segments display, 5 warning LEDs Driver tuning through Motion Studio Ver. 2.2.x. Parameters tuning in current loop, position loop, velocity loop;...
Page 16 User Manual of EL8-RS***F AC Servo S ervo Drive Ports and Connectors 1 3 B CN3、CN4：RS485 communication port Front panel Power on USB Type-C indicator light tuning port Main power supply CN6：STO input Motor power connectors CN1：I/O signals Holding brake 24VDC （BR+、BR-）...
Page 17 User Manual of EL8-RS***F AC Servo Parts & Connectors Description Including a LED display and 5 buttons. LED display is used to display servo driver status and parameter settings. 5 buttons： ◀ ：To switch between different modes and parameters Front Panel ：Switch between value ▲...
Page 18 User Manual of EL8-RS***F AC Servo 1 .5 Motor ports and connectors 1 4 B Motors with aviation connectors ② Power connector ① Encoder connector ③ Motor flange ④Installation screw holes ⑤ Motor shaft Motors with direct connectors ① Encoder Power connector ②...
Page 19 User Manual of EL8-RS***F AC Servo C hapter 2 Installation & Wiring 2 .1 Servo Drive Installation 1 5 B 2 .1.1 Servo drive installation environment 7 8 B Storage: -20-80℃ (Condensation free); Temperature Installation: 0-55℃ (Not frozen) Humidity Under 90%RH (Condensation free) Altitude Up to 1000m above sea level Vibration...
Page 20 User Manual of EL8-RS***F 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.
Page 21 User Manual of EL8-RS***F 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 22 User Manual of EL8-RS***F AC Servo 2.3 EL8-RS Wiring Diagram EL8-RS 220VAC Wiring Diagram Main power supply Single phase 220VAC Circuit breaker Servo driver Turn on/off power parallel supply. Cut off communication power supply when connection communication current overload cable Line filter To prevent electromagnetic...
Page 23 User Manual of EL8-RS***F AC Servo 2.3.1 Position control mode wiring diagram Position control mode + Full closed loop control wiring diagram Encoder cable 1ph/3ph 220VAC Circuit breaker Line filter Contactor Motor power cable Connect B1 and B2 to use internal ；...
Page 24 User Manual of EL8-RS***F AC Servo 2.3.2 Velocity/Torque control mode wiring diagram Velocity control mode wiring diagram Encoder 1ph/3ph cable 220VAC Circuit Breaker Line Filter Contactor Motor power cable Connect B1 and B2 to use internal regenerati ve resistor ； If an external regenerati ve resistor is needed ，...
Page 25 User Manual of EL8-RS***F AC Servo Torque control mode wiring diagram Encoder 1ph/3ph cable 220VAC Circuit Breaker Line Filter Contactor Motor Power cable Connect B1 and B2 to use internal ； regenerati resistor If an external regenerati resistor is needed ，...
Page 26 User Manual of EL8-RS***F AC Servo 2.4 Servo Drive Ports Connector Label I/O signal connector（50PIN） Motor encoder feedback RS485 Communication port RS485 Communication port STO Safety Torque Off port External encoder feedback Main/Control circuit power supply Motor power supply Holding brake terminal USB type C port...
Page 27 User Manual of EL8-RS***F AC Servo 2.5 X1 Main/Control Circuit Power Supply Label Explanation Remarks ① Optional isolated switching Control circuit power Control circuit L1 power supply； supply. Single phase ② Connecting to 380VAC will Control circuit L2 220VAC cause damage to driver； Main power supply ③...
Page 28 User Manual of EL8-RS***F AC Servo 2.5.1 Main power supply cable selection Please connect to L1C/L2C (Control circuit) and L1/L2/L3 (Main power) to rated power supply voltage for the driver to operate under normal working condition. Driver will not function without both connected properly.
Page 29 User Manual of EL8-RS***F AC Servo 2.5.2 Single/Three phase power supply wiring diagram Single Phase 220VAC Single Phase 220VAC Contactor Line filter 伺服驱动器 Motor Encoder Start Stop Brake Relay BK-RY DO1+ Alarm (BRK-OFF+) relay Holding DO1- brake (BRK-OFF-) 24V Brake Warning indicator light ◆...
Page 30 Please connect the wires to corresponding terminals as labeled. Motor winding power cable  Wire length available: 1.5m, 3m and 5m  Connectors type available: Aviation connectors, direct connectors (recommended)  Please contact Leadshine sales team or any Leadshine certified local retailers for any customized needs.
Page 31 User Manual of EL8-RS***F AC Servo *M*: Length of the cable 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...
Page 32 User Manual of EL8-RS***F AC Servo 2.7 X3 Holding Brake Label Explanation Remarks Connect to external power Brake positive terminal （BR1） supply 24v negative terminal No need of an external relay Connect to motor brake Brake negative terminal (BR2) terminal 0V...
Page 33 User Manual of EL8-RS***F AC Servo 2.7.1 Holding brake wiring diagram 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 34 User Manual of EL8-RS***F AC Servo 2.7.2 Cable selection for motor with holding brake Aviation connector（Frame size 80 or below）CABLE-RZSH*M*-113-TS Winding cable with holding brake Motor side Driver side Motor cable pin Pins Motor Color Driver Blue Black Yellow- green Black Motor side Direct connector CABLE-RZH*M*-114-TS Winding cable with holding brake...
Page 35 User Manual of EL8-RS***F AC Servo  Mechanical noise might exist when motor with holding brake is in operation but it doesn’t affect the functionality of the motor.  When the holding brake circuit is closed (holding brake deactivated), there might be magnetic flux leakage.
Page 36 User Manual of EL8-RS***F AC Servo 2.8 CN1 I/O Signal EL8-RS series servo drives use SCSI 50-Pin connector. Note: It is recommended to use 24-26AWG cables for CN1 Port Diagram Signal Label Description PUL+24 Pulse train Low-frequency pulse train direction...
Page 37 User Manual of EL8-RS***F AC Servo SIGNH- High-frequency direction signal Ground DI-COM Input Common digital input SRV-ON Servo driver power on Clockwise motion disallowed Anti-clockwise motion disallowed GAIN Gain switching DIV1 Command multiplier switching Set deviation counter to zero A-CLR Clear alarm(s) C-MODE Control mode switching...
Page 38 User Manual of EL8-RS***F AC Servo 2.8.1 CN1 signal cable selection To ensure I/O signal to not be affected by electromagnetic interference, a shielded cable is recommended for this application. Foil shield Cables for different analogue signals should be using isolated shielded cable while cables for digital signals should be shielded twisted pair cable.
Page 39 User Manual of EL8-RS***F AC Servo Motor encoder cable and connector selection Aviation connector（Frame size 130）CABLE-7BM*HZ(V3.0) Motor side Driver side Motor cable pin Motor Driver Signal Frame Shielded BAT+ BAT- Motor side Direct connector(Frame size 80 or below）CABLE-BMH*M*-114-TS Incremental encoder Motor side Driver side Motor cable pin...
Page 40 Direct connector(Frame size 80 or below）CABLE-BMAH*M*-124-TS Absolute encoder Motor side Driver side Motor cable pin Motor Driver Signal Frame Shielded BAT+ BAT- Motor side Battery box for absolute encoder EL8-RS series servo drives come with battery kit installed on the driver or on the encoder cable.
Page 41 Ground（RS485） 4，12 TXD+ RS485 Differential signal+ 5，13 TXD- RS485 Differential signal- Reserved，5V positive VCC5V （50mA） 7，15 Ground 8，16 Frame Shield grounding EL8-RS series supports RS485 communication protocol which enables communication between single/multi axes and master device. CN3 IN CN4 OUT...
Page 42 User Manual of EL8-RS***F AC Servo 2.11 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 1 SF1- negative input Control signal 1...
Page 43 User Manual of EL8-RS***F AC Servo STO wiring diagram STO in use STO not in use Please disconnect 0V 24v power supply and 24V while in use only for STO, please do not use it for other purposes. SF1- SF1- 2.2K 2.2K SF1+...
Page 44 User Manual of EL8-RS***F AC Servo 2.12 CN7 2 Encoder (External) Signal Description Power supply 5V Power supply ground Phase A+ pulse input Phase A- pulse input Phase B+ pulse input Phase B- pulse input Phase Z+ pulse input Phase Z- pulse input Shield grounding Frame External encoder pulse input...
Page 45 User Manual of EL8-RS***F AC Servo 2.13 USB Type-C Tuning Port EL8-RS series servo drive can be connected to PC for performance tuning, data monitoring and parameters modifying using a USB Type-C data cable. Can be done without the servo drive connecting to main power supply.
Page 46 Selection of regenerative resistor EL8-RS series servo drives are equipped with internal regenerative resistor. If an external resistor is needed, please refer to the table below. Internal regenerative resistor Minimum allowable Model no.
Page 47 User Manual of EL8-RS***F AC Servo Please take following precautions before installing an external regenerative resistor. 1. Please set the correct resistance value in Pr0.16 and resistor power rating Pr0.17 for the external regenerative resistor. 2. Please ensure the resistance value is higher or equals to the recommended values in table 2- 3.
Page 48 User Manual of EL8-RS***F AC Servo Theoretical selection of regenerative resistor Without external loading torque, the need for an external regenerative resistor can be determined as the flow chart below Start T is the time for velocity to reach Determine the max.
Page 49 User Manual of EL8-RS***F AC Servo Diagram below shows the acceleration and deceleration cycle periods and the regenerative torque that occurs during the process. V:Motor rotational velocity Rotational velocity :Deceleration time Motor Torque : Load torque Regenerative torque Steps to calculate capacity of regenerative resistor Steps Calculation Symbol...
Page 50 User Manual of EL8-RS***F AC Servo Servo drive: EL8-RS750F, Servo Motor: . When T = 2s, rotational velocity = ELM2H-0750LA80 3000rpm, load inertia is 5 times of motor inertia. Rotor Inertia Max. regenerative energy EL8-RS Drivers Servo motor （× 10 ）...
Page 51 User Manual of EL8-RS***F AC Servo Regenerative resistor connection  If B1 and B2 are connected, internal regenerative resistor is now functional; if an external regenerative resistor is required, please disconnect B1 and B2 and connect P+ to B1 to prevent overcurrent.
Page 52 User Manual of EL8-RS***F AC Servo 2.16 I/O Signals 2.16.1 Pulse input circuit When PLC or Motion Controller command pulse output circuits can be divided into 2 categories, namely differential output or open collector. Hence, on the side of servo drive, there are 2 types of command pulse input method as well: Differential drive input and open collector input.
Page 53 220Ω 5V differential drive method is recommended for accurate delivery of pulse data.  EL8-RS series servo drive supports 5V differential drive and 24V single ended open  collector drive, different connection pins for both methods. External power supply needs to be provided externally when using single ended open ...
Page 54 User Manual of EL8-RS***F AC Servo 2.16.2 Analogue input circuit Analogue input signal EL8-RS series servo drives support 3 analogue input (1 differential, 2 single ended) CN1 Pin Signal Description AI1+ Analogue input 1, differential, Input voltage: ±10VDC, input resistance: 20KΩ...
Page 55 User Manual of EL8-RS***F AC Servo 2.16.3 Digital Inputs Using DI1 as an example (DI2-DI10 use the same input circuit). The internal circuit of common input is a bidirectional optocoupler which supports common anode and common cathode configurations. There are 2 types of outputs from master device: Relay output and Open Collector output as shown below.
Page 56 User Manual of EL8-RS***F AC Servo 2.16.4 Digital Outputs There are a total of 8 digital outputs with DO5/DO6 as single ended outputs. Both of these outputs are connected to COM of control signal source, which means both use the same control signal source.
Page 57 User Manual of EL8-RS***F AC Servo 2.16.5 Encoder frequency divider output circuit EL8-RS series frequency divider output: Differential and open collector Description Label A＋ Motor encoder A-phase crossover frequency output A－ Differential, High≥2.5VDC, B＋ Motor encoder B-phase crossover Low≤0.5VDC, frequency output B－...
Page 58 User Manual of EL8-RS***F AC Servo 2.16.6 Set DI signals Signal Parameter Default signal Default status DI-COM Common input Pr4.00 NC OFF Pr4.01 NC OFF Pr4.02 NC OFF Null Pr4.03 NC OFF GAIN Pr4.04 NC OFF DIV1 Pr4.05 NC OFF SRV-ON Pr4.06 NC OFF...
Page 59 User Manual of EL8-RS***F AC Servo Control DI settings Value Signal Symbol Invalid — Positive limit switch Negative limit switch Input Parameters Servo enabled SRV-ON Clear alarm A-CLR Pr4.00 Control mode switching C-MODE Pr4.01 Gain switching GAIN Pr4.02 Clear deviation count Pr4.03 Command pulse prohibited Pr4.04...
Page 60 User Manual of EL8-RS***F AC Servo Configurable Input Signal Label Mode Servo enabled 2.16.3 Digital inputs Signal SRV-ON Default assignment 29(DI6) I/O circuit ·Servo enabled (Motor ON/OFF control signal) Label Positive position limit Mode Signal Default assignment 9(DI2) I/O circuit 2.16.3 Digital inputs To prevent axis from travelling in positive direction Signal valid when Pr5.04 is set.
Page 61 User Manual of EL8-RS***F AC Servo Command frequency divider/multiplier Label Mode switching 2.16.3 Digital inputs Signal DIV1 Default assignment 28(DI5) I/O circuit When DIV1 is valid, frequency divider/multiplier numerator and denominator switch to 2 command frequency divider/multiplier numerator and denominator. When DIV1 input is valid, position command from controller will deviate from servo drive internal command after filtering, which might cause the loss of position info before DIV1 input.
Page 62 User Manual of EL8-RS***F AC Servo OFF: Positive direction ON: Negative direction Label Internal command velocity 1 Mode 2.16.3 Digital inputs Signal INTSPD1 Default assignment I/O circuit Label Internal command velocity 2 Mode 2.16.3 Digital inputs Signal INTSPD2 Default assignment I/O circuit Label Internal command velocity 3...
Page 63 User Manual of EL8-RS***F AC Servo Signal input configurable only in PR mode Label Trigger command Mode 2.16.3 Digital inputs Signal CTRG Default assignment I/O circuit Select path address ID through ADD0-3, then trigger PR path motion using CTRG Set rising edge/double edge trigger in Pr8.00. Label Mode Path address 0-3...
Page 64 User Manual of EL8-RS***F AC Servo 2.16.7 Set DO signals Default DO signal assignments Label Parameter Assigned signal DO1+ External brake released Pr4.10 BRK-OFF DO1- DO2+ Pr4.11 Servo-Ready S-RDY DO2- DO3+ Alarm（ALARM） Pr4.12 DO3- DO4+ Pr4.13 Positioning completed INP1 DO4- Zero speed clamp detection Pr4.14 Pr4.15...
Page 65 User Manual of EL8-RS***F AC Servo Configurable DO signals Label Mode Alarm 2.16.3 Digital inputs Signal ALARM Default assignment (D03) I/O circuit Signal output when driver alarm occurs Label Mode Servo Ready 2.16.3 Digital inputs Signal S-RDY Default assignment (D02) I/O circuit Signal output when servo is powered on Label...
Page 66 User Manual of EL8-RS***F AC Servo Label Mode Negative limit valid 2.16.3 Digital inputs Signal NOT-OUT Default assignment I/O circuit Signal output when negative position limit signal valid Label Mode Position command ON/OFF Signal P-CMD Default assignment I/O circuit 2.16.3 Digital inputs Signal valid when position command ON Label Mode...
Page 67 User Manual of EL8-RS***F AC Servo 2.17 Measures against electromagnetic interference To reduce interference, please take the following measures:  ①Grounding resistance > 100Ω I/O signal cable > 3m; Encoder cable > 20m  ②When there are multiple drivers connected in parallel, PE terminal of the main power supply Use cable with larger diameter for grounding and ground terminal of servo drives must be connected to copper ground bar in the electrical cabinet and the copper ground bar needs to be connected to the metal frame of the cabinet.
Page 68 User Manual of EL8-RS***F AC Servo Do not band the main power supply cable together. Wrong Correct Contactor Contactor Line Line Filter filter Separate the ground wire from the line filter and the main power supply cable. Wrong Correct Contactor Contactor Line Line...
Page 69 User Manual of EL8-RS***F AC Servo C hapter 3 Parameter 3 .1 Parameters list 3 2 B P r 0 . 0 0 Sub-code Classification code Valid mode: P: Valid in position control mode S: Valid in velocity control mode T: Valid in torque control mode PR: Valid in PR control mode Activation:...
Page 70 User Manual of EL8-RS***F AC Servo Valid mode Communication mode Activ Code Label Default ation Byte Addr. Excessive position deviation — — — Pr0.14 16bit 0x001D Absolute Encoder settings Pr0.15 16bit 0x001F Regenerative resistance Pr0.16 — 16bit 0x0021 Regenerative resistor power rating —...
Page 71 User Manual of EL8-RS***F AC Servo Valid mode Communication mode Activ Code Label Default ation Byte Addr. 0x0049 0x006A Pr0.53 Mapping parameter 4 indicator — 32bit 0049 0x006B 0x0049 0x006C Pr0.54 Mapping parameter 5 indicator — 32bit 0049 0x006D 0x0049 0x006E Pr0.55 Mapping parameter 6 indicator...
Page 72 User Manual of EL8-RS***F AC Servo [Class 2] Vibration Suppression Valid mode Communication mode Activ Code Label Default ation Byte Addr. Pr2.00 Adaptive filtering mode settings — — 16bit 0x0201 Pr2.01 notch frequency 4000 — 16bit 0x0203 Pr2.02 notch width —...
Page 73 User Manual of EL8-RS***F AC Servo Valid mode Communication mode Activ Code Label Default ation Byte Addr. Pr3.12 Acceleration time settings — — — 16bit 0x0319 Pr3.13 Deceleration time settings — — — 16bit 0x031B Sigmoid acceleration/deceleration Pr3.14 — — 16bit 0x031D settings...
Page 74 User Manual of EL8-RS***F AC Servo Valid mode Communication mode Activ Code Label Default ation Byte Addr. Pr4.12 Output selection DO3 — 16bit 0x0419 Pr4.13 Output selection DO4 — 16bit 0x041B Pr4.14 Output selection DO5 — 16bit 0x041D Pr4.15 Output selection DO6 —...
Page 75 User Manual of EL8-RS***F AC Servo [Class 5] Extension settings Valid mode Communication mode Activ Code Label Default ation Byte Addr. 0x0500 Pr5.00 2nd pulse count per revolution 10000 — — 32bit 0x0501 2nd Command frequency divider/multiplier 0x0502 Pr5.01 — —...
Page 76 User Manual of EL8-RS***F AC Servo [Class 6] Other Settings Valid mode Communication mode Activ Code Label Default ation Byte Addr. Pr6.01 Encoder zero position compensation 16bit 0x0603 Pr6.03 JOG trial run torque command — — — 16bit 0x0607 Pr6.04 JOG trial run velocity command —...
Page 77 User Manual of EL8-RS***F AC Servo Valid mode Communication mode Activ Code Label Default ation Byte Addr. 0x0B1D 0x0B1E PrB.25 Position deviation (Encoder unit) — 32bit 0x0B1F 0x0B20 PrB.26 Rotational encoder position feedback — 32bit 0x0B21 [Class 8] Pr-Control Parameters Valid mode Communication mode Activ...
Page 78 User Manual of EL8-RS***F AC Servo Valid mode Communication mode Activ Code Label Default ation Byte Addr. — — — Pr8.59 Path 11 S-code 16bit 0x603B Pr8.60 Path 12 S-code — — — 16bit 0x603C Pr8.61 Path 13 S-code — —...
Page 79 User Manual of EL8-RS***F AC Servo Valid mode Communication mode Activ Code Label Default ation Byte Addr. — — — Pr9.45 PR5 deceleration time 16bit 0x622D Pr9.46 PR5 pause time — — — 16bit 0x622E Pr9.47 PR5 special parameter — —...
Page 80 User Manual of EL8-RS***F AC Servo Valid mode Communication mode Activ Code Label Default ation Byte Addr. — — — Pr9.101 PR12 deceleration time 16bit 0x6265 Pr9.102 PR12 pause time — — — 16bit 0x6266 Pr9.103 PR12 special parameter — —...
Page 81 User Manual of EL8-RS***F AC Servo 3 .2 Parameters description 3 3 B 3 .2.1 [Class 0] Basic Settings 9 9 B Label Model-following/Zero tracking control Valid mode(s) Pr0.00 Range 0-2000 Unit 0.1Hz Default Byte length 16bit Attribute 485 address 0x0001 Valid At stop...
Page 82 User Manual of EL8-RS***F AC Servo Label Valid mode(s) Real time Auto Gain Adjusting Range 0x0~0xFF Unit — Default Pr0.02 Byte length 16bit Attribute 485 address 0x0005 Valid Immediate Data Category Settings Application bits Used to set motion setting mode, which can be selected according to the motion characteristics or setting requirements.
Page 83 User Manual of EL8-RS***F AC Servo The setting type combination is a hexadecimal standard, as follows: Setting type combination Application type 0X000 Rigid structure + Manual 0X001 Rigid structure +Standard 0X002 Rigid structure +Positioning 0X010 High inertia + Manual 0X011 High inertia + Standard 0X012 High inertia + Positioning...
Page 84 User Manual of EL8-RS***F AC Servo Command pulse input selection Label Valid mode(s) Pr0.05 Range Unit — Default Byte length 16bit Attribute 485 address 0x000B Valid After restart Value Description Pulse input low speed channel (200/500kHz pulse 【0】 input) Pulse input high speed channel (4MHz pulse input) Both channels cannot be used at the same time.
Page 85 User Manual of EL8-RS***F AC Servo CW pulse sequence ＋ CCW pulse sequence Pulse sequence ＋ Directional symbol Command pulse input signal max. frequency and min. duration needed Max. Min. duration needed（μ s） Command pulse input interface Frequency 500 kHz Differential drive Pulse 200 kHz...
Page 86 User Manual of EL8-RS***F AC Servo 1st command frequency Label Valid mode(s) divider/multiplier denominator Range Unit Default 1~2147483647 — Pr0.10 Byte length 32bit Attrib 485 address H: 0x0014 L: 0x0015 Valid After restart 1. Settings： (1)Driver command pulse input count : X (2)Encoder pulse count after frequency divider/multiplier: Y (3)Encoder pulse count per revolution: Z (4)Motor revolution: W...
Page 87 User Manual of EL8-RS***F AC Servo torque limit Label Valid mode(s) Pr0.13 Range 0~500 Unit Default Byte length 16bit Attribute 485 address 0x001B Valid Immediate torque limit is set according to ratio percentage of motor rated current. Do not exceed max driver output current.
Page 88 User Manual of EL8-RS***F AC Servo Regenerative resistor power Label Valid mode(s) rating Pr0.17 Range 20~5000 Unit Default Byte length 16bit Attribute 485 address 0x0023 Valid Immediate To set power rating of regenerative resistor. Please refer to table below Model Internal resistance(Ω) Internal resistor power rating(W) EL8-RS400F...
Page 89 User Manual of EL8-RS***F AC Servo Label Simulated I/O Valid mode(s) Range 0~0xFFFF Unit Default Pr0.26 Byte length 16bit Attribute 485 address 0x0035 Valid Immediate Input Only for RS485 communication. Simulated I/O is different from physical I/O which means inversion of current I/O status DI10 Label...
Page 90 User Manual of EL8-RS***F AC Servo Clear excess hybrid control Label Valid mode(s) deviation Range Unit Default 0~100 Pr0.34 Byte 16bit Attribute 485 address 0x0045 length Valid After restart To set condition to clear position deviation under hybrid control mode (Full closed loop) Value Description 【0】...
Page 91 User Manual of EL8-RS***F AC Servo Label Mapping parameter 1 Valid mode(s) Pr0.40 Range Unit Default (Only for Byte length 32bit Attribute 485 address H： 0x0050 RS485) Valid L： 0x0051 For user to set parameters unrelated by RS485 address quickly. Mapping parameter ID to be written is set on Pr0.50 by RS485.
Page 92 User Manual of EL8-RS***F AC Servo Mapping parameter 8 Label Valid mode(s) Pr0.47 Range Unit Default (Only for Byte length Attribute 485 address 32bit H： 0x005E RS485) Valid L： 0x005F Please refer to Pr0.40 for parameter description and Pr0.57 for parameter settings. Note: Range, unit and attribute of Pr0.47 is determined by Pr0.57 designated parameter.
Page 93 User Manual of EL8-RS***F AC Servo Mapping parameter 8 indicator Label Valid mode(s) Pr0.57 Range Unit Default 0~0xFFFFFFF 0x00490049 (Only for RS485) Byte length 32bit Attribute 485 address H: 0x0072 Valid Immediate L: 0x0073 Set parameter to 0xABCDWXYZ High bit parameter position(PH) and low bit parameter position(PL)settings format： 0xABCD &...
Page 94 User Manual of EL8-RS***F AC Servo Label velocity loop gain Valid mode(s) Range Unit Default 0.1Hz 1～32767 Pr1.01 Byte length 16bit Attribute 485 address 0x0103 Valid 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.
Page 95 User Manual of EL8-RS***F AC Servo Torque Filter Time Constant Label Valid mode(s) Range Unit Default 0～2500 0.01ms Pr1.04 Byte length 16bit Attribute 485 address 0x0109 Valid 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.
Page 96 User Manual of EL8-RS***F AC Servo Velocity feed forward filter time Label Valid mode(s) constant Range Unit Default Pr1.11 0~6400 0.01ms Byte length 16bit Attribute 485 address 0x0117 Valid Immediate Set velocity feed forward low pass filter to eliminate high or abnormal frequencies in velocity feed forward command.
Page 97 User Manual of EL8-RS***F AC Servo Position control gain switching Label Valid mode(s) mode Range Unit Default 0～10 — Pr1.15 Byte length 16bit Attribute 485 address 0x011F Valid Immediate In position control, set the conditions for gain switching to be valid. Value Condition Gain switching condition...
Page 98 User Manual of EL8-RS***F AC Servo Hysteresis at position control Label Valid mode(s) switching Range Unit Default Mode 0~20000 Pr1.18 dependent Byte length 16bit Attribute 485 address 0x0125 Valid Immediate To eliminate the instability of gain switching. Used in combination with Pr1.17 using the same unit.
Page 99 User Manual of EL8-RS***F AC Servo External ABZ encoder filter time P full closed loop Label Valid mode(s) Range 0~300 Unit 0.01us Default Pr1.36 Byte length 16bit Attribute 485 address 0x0149 Valid After restart To set filter time for external ABZ encoder Special function register 2 Label Valid mode(s)
Page 100 User Manual of EL8-RS***F AC Servo notch frequency Label Valid mode(s) Range Unit Default 50~4000 4000 Pr2.01 Byte length 16bit Attribute 485 address 0x0203 Valid Immediate Set center frequency of 1 torque command notch filter. Set Pr2.01 to 4000 to deactivate notch filter Label notch width Valid mode(s)
Page 101 User Manual of EL8-RS***F AC Servo Label notch frequency Valid mode(s) Range 50~4000 Unit Default 4000 Pr2.07 Byte length 16bit Attribute 485 address 0x020F Valid Immediate Set center frequency of 3 torque command notch filter. Set Pr2.07 to 4000 to deactivate notch filter Label notch width Valid mode(s)
Page 102 User Manual of EL8-RS***F AC Servo Position command smoothing filter Label Valid mode(s) Range Unit Default 0~32767 0.1ms Pr2.22 Byte length 16bit Attribute 485 address 0x022D Valid At stop To set time constant of 1 time delay filter of position command. To set time constant of 1 time delay filter, according to target velocity Vc square wave command as show below.
Page 103 User Manual of EL8-RS***F AC Servo Position Position command Velocity command after filtering (RPM) before filtering Position command FIR filter set time(ms) Pr2.23 x 0.1ms Time Usually applied when there is rather sharp acceleration which might cause motor overshoot or undershoot.
Page 104 User Manual of EL8-RS***F AC Servo Velocity feedforward compensation Label Valid mode(s) coefficient Range Unit Default -10000~10000 — Pr2.51 Byte 16bit Attribute 485 address 0x0267 length Valid Immediate To compensate for velocity feedforward Torque feedforward compensation Label Valid mode(s) coefficient Range Unit Default...
Page 105 User Manual of EL8-RS***F AC Servo 3 .2.4 [Class 3] Velocity/Torque control 1 0 2 B Label Velocity internal/external switching Valid mode(s) Range Unit — Default Pr3.00 Byte length Attribute 485 address 16bit 0x0301 Valid Immediate Connect to the right DI to control internal command velocity settings. Value Velocity settings Analog - Velocity command（SPR）...
Page 106 User Manual of EL8-RS***F AC Servo Velocity command rotational Label Valid mode(s) direction selection Range Unit Default — Pr3.01 Byte length 16bit Attribute 485 address 0x0303 Valid Immediate To set positive/negative direction of velocity command Velocity settings Velocity command Velocity command （Analog or internal sign selection（VC- Value...
Page 107 User Manual of EL8-RS***F AC Servo Velocity command input inversion Label Valid mode(s) Range Unit Default — Pr3.03 Byte length 16bit Attribute 485 address 0x0307 Valid Immediate To set voltage polarity of analog velocity command. Only valid when Pr3.01 = 0. When Pr3.01 = 1, rotational direction is only related to VC-SIGN. Value Motor rotational direction 【0】...
Page 108 User Manual of EL8-RS***F AC Servo Acceleration time settings Label Valid mode(s) Range Unit Default 0~10000 (1000rpm) Pr3.12 Byte length 16bit Attribute 485 address 0x0319 Valid Immediate Label Deceleration time settings Valid mode(s) Range Unit Default 0~10000 (1000rpm) Pr3.13 Byte length Attribute 485 address 16bit...
Page 109 User Manual of EL8-RS***F AC Servo Sigmoid acceleration/deceleration Label Valid mode(s) settings Range Unit Default 0~1000 Pr3.14 Byte length 16bit Attribute 485 address 0x031D Valid After restart To set sigmoid acceleration and deceleration turning point in accordance to Pr3.12 and Pr3.13.
Page 110 User Manual of EL8-RS***F AC Servo Torque command direction selection Label Valid mode(s) Range Unit Default — Pr3.18 Byte length 16bit Attribute 485 address 0x0325 Valid Immediate To set torque command positive/negative direction Value Direction settings TC-SIGN ON/OFF has no effect on torque direction 【0】...
Page 111 User Manual of EL8-RS***F AC Servo Label Velocity limit in torque mode Valid mode(s) Range 0~10000 Unit r/min Default Pr3.21 Byte length 16bit Attribute 485 address 0x032B Valid Immediate To set velocity limit in torque control mode. Only valid when Pr3.17 = 0 / 2. Label Torque command Valid mode(s)
Page 112 User Manual of EL8-RS***F AC Servo Position comparison 1 and 2 attribute Label Valid mode(s) value Range Unit Default Pr3.74 Byte length 32bit Attribute 485 address H:0x0394 Valid Immediate L:0x0395 To set attribute value for position comparison 1 and 2 Position comparison 1 Positive crossing comparison.
Page 113 User Manual of EL8-RS***F AC Servo Position comparison 3 and 4 attribute Label Valid mode(s) value Range Unit Default Pr3.75 Byte length Attribute 485 address 16bit H:0x0396 Valid Immediate L:0x0397 To set attribute value for position comparison 3 and 4 Bit 0~15: Position comparison 3;...
Page 114 User Manual of EL8-RS***F AC Servo Please don’t set anything other than listed in table above. Normally open (NO) : Valid when input = ON Normally close (NC): Valid when input = OFF Er210 might occur if same function is allocated to different channels at the same time Servo enabled（SRV-ON）has to be allocated to enabled servo drive.
Page 115 User Manual of EL8-RS***F AC Servo Input selection DI7 Label Valid mode(s) Range 0x0~0xFF Unit — Default Pr4.06 Byte length 16bit Attribute 485 address 0x040D Valid Immediate Input selection DI8 Label Valid mode(s) Range 0x0~0xFF Unit — Default Pr4.07 Byte length 16bit Attribute 485 address...
Page 116 User Manual of EL8-RS***F AC Servo Outputs related to PR-mode Value Signal Symbol Command completed CMD-OK Path completed PR-OK Homing done HOME-OK Note: CMD-OK indicates PR command is sent by axis might not yet be in position. PR-OK indicates axis is in place. Label Output selection DO2 Valid mode(s)
Page 117 User Manual of EL8-RS***F AC Servo Label Analog input 1(AI-1) Zero drift settings Valid mode(s) Range Unit Default -1860~1860 5.37mv Pr4.22 Byte length 16bit Attribute 485 address 0x042D Valid Immediate To set zero drift compensation value on analog input 1 voltage for zero drift correction. Analog input 1(AI-1) filter Label Valid mode(s)
Page 118 User Manual of EL8-RS***F AC Servo Label Positioning complete range Valid mode(s) Range Unit Default 0～ Pr5.21 set unit 10000 Pr4.31 Byte length 16bit Attribute 485 address 0x043F Valid Immediate To set position deviation range of INP1 positioning completed output signal. INP1 output signal will be valid once position is complete within the range of deviation set.
Page 119 User Manual of EL8-RS***F AC Servo Zero speed Label Valid mode(s) Range 1~2000 Unit r/min Default Pr4.34 Byte length 16bit Attribute 485 address 0x0445 Valid Immediate 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, Speed...
Page 120 User Manual of EL8-RS***F AC Servo Arrival velocity Label Valid mode(s) Range Unit Default 10~2000 r/min 1000 Pr4.36 Byte length 16bit Attribute 485 address 0x0449 Valid Immediate When motor velocity > Pr4.36, AT-speed output signal is valid. Detection using 10RPM hysteresis. Motor power-off delay time Label Valid mode(s)
Page 121 User Manual of EL8-RS***F AC Servo *1: Delay time set in Pr4.38 *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.
Page 122 User Manual of EL8-RS***F AC Servo Label AO1 output Valid mode(s) Range 0~10 Unit — Default Pr4.64 Byte length 16bit Attribute 485 address 0x0481 Valid Immediate Value Description Negative/Positive value: -10~10V 【0】 Absolute value output: 0~10V Other Reserved Label AO1 signal Valid mode(s) Range 0x0~0x7FFFFFFF...
Page 123 User Manual of EL8-RS***F AC Servo Label AO2 output Valid mode(s) Range 0~10 Unit — Default Pr4.69 Byte length 16bit Attribute 485 address 0x048B Valid Immediate Value Description 【0】 Negative/Positive value: -10~10V Absolute value output: 0~10V Other Reserved Label AO2 signal Valid mode(s) Range Unit...
Page 124 User Manual of EL8-RS***F AC Servo Label Warning indicator light 1 signal Valid mode(s) Range 0~100 Unit Default Pr4.74 Byte length 16bit Attribute 485 address 0x0495 Valid Immediate To select warning signal for warning indicator light 1 Value Signal 【0】 None Negative limit Battery low voltage...
Page 125 User Manual of EL8-RS***F AC Servo Command frequency Valid mode(s) Label divider/multiplier numerator Range — Default 1~1073741824 Unit Pr5.01 Byte length 32bit Attribute 485 address H: 0x0502 L: 0x0503 Valid After restart To set command pulse input frequency division and multiplication numerator Command frequency Valid mode(s) Label...
Page 126 User Manual of EL8-RS***F AC Servo Main power-off detection time Valid mode(s) Label Range Default 50~200 Unit Pr5.09 Byte length 16bit Attribute 485 address 0x0513 Valid Immediate To set delay time for detection of main power-off or low voltage supply. Servo-off due to alarm mode Valid mode(s) Label...
Page 127 User Manual of EL8-RS***F AC Servo Label Overspeed level settings Valid mode(s) Range Default Unit 0~10000 r/min Pr5.13 Byte length 16bit Attribute 485 address 0x051B Valid Immediate If motor speed exceeds Pr5.13, Er1A0 might occur. When Pr5.13 = 0, overspeed level = max. motor speed x 1.2 Label I/O digital filter Valid mode(s)
Page 128 User Manual of EL8-RS***F AC Servo torque limit Valid mode(s) Label Range Default 0~500 Unit Pr5.22 Byte length Attribute 485 address 16bit 0x052D Valid Immediate Pr5.22 is limited by max. torque set in motor parameter. Positive torque warning threshold Valid mode(s) Label Range Default...
Page 129 User Manual of EL8-RS***F AC Servo RS485 communication mode Valid mode(s) Label Range Default — Unit 0~255 Pr5.29 Byte length 16bit Attribute 485 address 0x053B Valid After restart Value Checksum Stop Even Even Null Null 【5】 Valid mode(s) Label RS485 communication Baud rate Range —...
Page 130 User Manual of EL8-RS***F AC Servo Torque saturation alarm detection Valid mode(s) Label time Range Default Unit Pr5.37 0~5000 Byte length 16bit Attribute 485 address 0x0549 Valid Immediate To set the delay time for detection of torque over limit under torque homing mode. Under homing mode, when torque exceeds limit and the time set in Pr5.37, TLC output signal will be valid.
Page 131 User Manual of EL8-RS***F AC Servo Frequency divider output source Valid mode(s) Label Range — Default Unit Pr5.44 Byte length 16bit Attribute 485 address 0x0559 Valid After restart Value Description 【0】 Position feedback of encoder #1(motor encoder) Position feedback of encoder #2(external encoder) Reserved Pulse input command position synchronous output;...
Page 132 User Manual of EL8-RS***F AC Servo Position comparison output delay Valid mode(s) Label offset Range Default -10000~10000 Unit 0.1μs Pr5.73 Byte length 16bit Attribute 485 address 0x0593 Valid Immediate To set delay time compensation for delay due to DO/ frequency divider Position comparison starting point Valid mode(s) Label...
Page 133 User Manual of EL8-RS***F AC Servo 3 .2.7 [Class 6] Other settings 1 0 5 B Label Encoder zero position compensation Valid mode(s) Range Default Electrical Unit 0~360 angel Pr6.01 Byte length 16bit Attribute 485 address 0x0603 Valid Power-off Zero position compensation for encoder zero drift to avoid abnormality due to zero drift. JOG trial run torque command Valid mode(s) Label...
Page 134 User Manual of EL8-RS***F AC Servo Above diagram is illustrated using Pr1.15 = 7. gain= 1 gain * Pr6.06/100 gain valid when Pr6.05 ≠ 0. Set 3 Only effective under position control mode. 3 gain value in Pr6.06. When 2 gain switches to 1 gain, it will go through 3 , switching time is set in...
Page 135 User Manual of EL8-RS***F AC Servo Label Max. time to stop after disabling Valid mode(s) Range 0~1000 Unit Default Pr6.14 Byte length 16bit Attribute 485 address 0x061D Valid Immediate To set the max. time allowed for the axis to stop on emergency stop or normal axis disabling. After disabling axis, if motor speed is still higher than Pr4.39 but the time set in Pr6.14 is reached, BRK_ON given and holding brake activated.
Page 136 User Manual of EL8-RS***F AC Servo Observer gain Valid mode(s) Label Range Default 0~32767 Unit Pr6.28 Byte length 16bit Attribute 485 address 0x0639 Valid Immediate 0：Default stable gain 1：OFF x：(unit：%) Manual, related to motor, load and encoder Observer filter Valid mode(s) Label Range μs...
Page 137 User Manual of EL8-RS***F AC Servo Absolute multiturn data upper limit Valid mode(s) Label Range Default Unit 0~32766 Pr6.63 Byte length Attribute 485 address 16bit 0x067F Valid After restart Use Pr0.15 = 2 in rotational mode, Feedback position cycles between 0 and (Pr6.63+1) x encoder resolution.
Page 138 User Manual of EL8-RS***F AC Servo External grating ruler precision Valid mode(s) Label Range Default Unit 1~1000000 Pr7.54 Byte length 16bit Attribute 485 address 0x076D Valid After restart To select external grating ruler precision 3.2.8 [Class B] Status Parameters Valid mode(s) Label Software version 1（DSP）...
Page 139 User Manual of EL8-RS***F AC Servo Label Motor torque Valid mode(s) PrB.07 Range Unit Default Byte length Attribute 485 address 16bit 0x0B07 The percentage of motor actual torque and rated torque Label Motor current Valid mode(s) PrB.08 Range Unit Default 0.01A Byte length 16bit...
Page 140 User Manual of EL8-RS***F AC Servo Label Physical I/O input status Valid mode(s) PrB.17 Range Unit Default Byte length Attribute 485 address 16bit 0x0B04 Driver physical I/O input bit0 corresponds to DI1, bit1 to DI2 and so on; Bitn=1, DIn+1 high level signal input; Bitn=0, DIn+1 low level signal input Cause of motor not rotating Valid mode(s) Label...
Page 141 User Manual of EL8-RS***F AC Servo Position deviation (Encoder unit) Valid mode(s) Label Range Default Unit PrB.25 Byte length 32bit Attribute 485 address H: 0x0B1E L: 0x0B1F Shows position deviation. Please refer to PrB.23. Rotational encoder position feedback Valid mode(s) Label (Command unit) Range...
Page 142 User Manual of EL8-RS***F AC Servo Valid mode(s) Label Software positive limit H Range Default Pr8.06 0~ 65535 Unit Pulse Byte length Attribute 485 address 16bit 0X6006 High bit of software positive limit；(Only valid using 485 communication) Valid mode(s) Label Software positive limit (L) Range Default...
Page 143 User Manual of EL8-RS***F AC Servo Valid mode(s) Label Homing mode Range Default 0~ 0xFFFF Unit Pr8.10 Byte length 16bit Attribute 485 address 0X600A To set homing method in PR mode. It is recommended to modify PR control parameters using Motion Studio. 8（Z-signal 2-7（Homing mode）...
Page 144 User Manual of EL8-RS***F AC Servo Valid mode(s) Label Homing acceleration Range Default 1 ~ 32767 Unit ms/Krpm Pr8.17 Byte length 16bit Attribute 485 address 0X6011 To set homing acceleration time in PR mode, time needed for 0rpm to accelerate to 1000rpm Valid mode(s) Label...
Page 145 User Manual of EL8-RS***F AC Servo Path5 Path6 Path7 Path8 Path9 Path10 Path11 Path12 Path13 Path14 Path15 Label I/O combination filter Valid mode(s) Range Default Pr8.27 0 ~ 65535 Unit Byte length 16bit Attribute 485 address 0X601B To set I/O combination filter time. Label S-code current output value Valid mode(s)
Page 146 User Manual of EL8-RS***F AC Servo Valid mode(s) Label PR warning Pr8.29 Range 0x0~0x20F Unit Default Byte length 16bit Attribute 485 address 0X601D Address Warning Reset new command automatically 0x100 Position limit error during homing 0x101 Emergency stop. Homing not completed 0x102 Homing overtravel alarm 0x20x...
Page 147 User Manual of EL8-RS***F AC Servo Valid mode(s) Label Input I/O status Range Default 0 ~ 65535 Unit Pr8.46 Byte length Attribute 485 address 16bit 0X602E Input I/O status, displays in decimal system. Convert to binary system to determine which bit is valid.
Page 148 User Manual of EL8-RS***F AC Servo Label Path 7 S-code Valid mode(s) Range Default Pr8.55 0 ~ 65535 Unit Byte length 16bit Attribute 485 address 0X6037 Please refer to Pr8.28 for S-code setting. Label Path 8 S-code Valid mode(s) Range Default Pr8.56 0 ~ 65535...
Page 149 User Manual of EL8-RS***F AC Servo 3.2.10 [Class 9] PR control path parameters It is more convenient to set Class 9 parameters on Motion Studio Valid mode(s) Label PR0 mode Pr9.00 Range 0x0~0xFFFF Unit Default Byte length Attribute 485 address 16bit 0X6200 8-13...
Page 150 User Manual of EL8-RS***F AC Servo Valid mode(s) Label PR1 mode Pr9.08 Range 0x0~0xFFFF Unit Default Byte length 16bit Attribute 485 address 0X6208 8-13 Definition 0: No 0-15: 0: absolute 0: No 0: Can be 0: null Jump, Jump to 1: correspond overlap, Interrupt...
Page 151 User Manual of EL8-RS***F AC Servo Valid mode(s) Label PR2 mode Pr9.16 Range 0x0~0xFFFF Unit Default Byte length 16bit Attribute 485 address 0X6210 8-13 Definition 0: No 0-15: 0: absolute 0: No 0: Can be 0: null Jump, Jump to 1: correspond overlap, Interrupt...
Page 152 User Manual of EL8-RS***F AC Servo Valid mode(s) Label PR3 mode Pr9.24 Range 0x0~0xFFFF Unit Default Byte length 16bit Attribute 485 address 0X6218 8-13 Definition 0: No 0-15: 0: absolute 0: No 0: Can be 0: null Jump, Jump to 1: correspond overlap, Interrupt...
Page 153 User Manual of EL8-RS***F AC Servo Valid mode(s) Label PR4 mode Pr9.32 Range 0x0~0xFFFF Unit Default Byte length 16bit Attribute 485 address 0X6220 8-13 Definition 0: No 0-15: 0: absolute 0: No 0: Can be 0: null Jump, Jump to 1: correspond overlap, Interrupt...
Page 154 User Manual of EL8-RS***F AC Servo Valid mode(s) Label PR5 mode Pr9.40 Range 0x0~0xFFFF Unit Default Byte length 16bit Attribute 485 address 0X6228 8-13 Definition 0: No 0-15: 0: absolute 0: No 0: Can be 0: null Jump, Jump to 1: correspond overlap, Interrupt...
Page 155 User Manual of EL8-RS***F AC Servo Valid mode(s) Label PR6 mode Pr9.48 Range 0x0~0xFFFF Unit Default Byte length 16bit Attribute 485 address 0X6230 8-13 Definition 0: No 0-15: 0: absolute 0: No 0: Can be 0: null Jump, Jump to 1: correspond overlap, Interrupt...
Page 156 User Manual of EL8-RS***F AC Servo Valid mode(s) Label PR7 mode Pr9.56 Range 0x0~0xFFFF Unit Default Byte length 16bit Attribute 485 address 0X6238 8-13 Definition 0: No 0-15: 0: absolute 0: No 0: Can be 0: null Jump, Jump to 1: correspond overlap, Interrupt...
Page 157 User Manual of EL8-RS***F AC Servo Valid mode(s) Label PR8 mode Pr9.64 Range 0x0~0xFFFF Unit Default Byte length 16bit Attribute 485 address 0X6240 8-13 Definition 0: No 0-15: 0: absolute 0: No 0: Can be 0: null Jump, Jump to 1: correspond overlap, Interrupt...
Page 158 User Manual of EL8-RS***F AC Servo Valid mode(s) Label PR9 mode Pr9.72 Range 0x0~0xFFFF Unit Default Byte length 16bit Attribute 485 address 0X6248 8-13 Definition 0: No 0-15: 0: absolute 0: No 0: Can be 0: null Jump, Jump to 1: correspond overlap, Interrupt...
Page 159 User Manual of EL8-RS***F AC Servo Valid mode(s) Label PR10 mode Pr9.80 Range 0x0~0xFFFF Unit Default Byte length 16bit Attribute 485 address 0X6250 8-13 Definition 0: No 0-15: 0: absolute 0: No 0: Can be 0: null Jump, Jump to 1: correspond overlap, Interrupt...
Page 160 User Manual of EL8-RS***F AC Servo Valid mode(s) Label PR11 mode Pr9.88 Range 0x0~0xFFFF Unit Default Byte length 16bit Attribute 485 address 0X6258 8-13 Definition 0: No 0-15: 0: absolute 0: No 0: Can be 0: null Jump, Jump to 1: correspond overlap, Interrupt...
Page 161 User Manual of EL8-RS***F AC Servo Valid mode(s) Label PR12 mode Pr9.96 Range 0x0~0xFFFF Unit Default Byte length 16bit Attribute 485 address 0X6260 8-13 Definition 0: No 0-15: 0: absolute 0: No 0: Can be 0: null Jump, Jump to 1: correspond overlap, Interrupt...
Page 162 User Manual of EL8-RS***F AC Servo Valid mode(s) Label PR13 mode Pr9.104 Range 0x0~0xFFFF Unit Default Byte length 16bit Attribute 485 address 0X6268 8-13 Definition 0: No 0-15: 0: absolute 0: No 0: Can be 0: null Jump, Jump to 1: correspond overlap, Interrupt...
Page 163 User Manual of EL8-RS***F AC Servo Valid mode(s) Label PR14 mode Pr9.112 Range 0x0~0xFFFF Unit Default Byte length 16bit Attribute 485 address 0X6270 8-13 Definition 0: No 0-15: 0: absolute 0: No 0: Can be 0: null Jump, Jump to 1: correspond overlap, Interrupt...
Page 164 User Manual of EL8-RS***F AC Servo Valid mode(s) Label PR15 mode Pr9.120 Range 0x0~0xFFFF Unit Default Byte length 16bit Attribute 485 address 0X6278 8-13 Definition 0: No 0-15: 0: absolute 0: No 0: Can be 0: null Jump, Jump to 1: correspond overlap, Interrupt...
Page 165 User Manual of EL8-RS***F AC Servo Chapter 4 Servo Drive Operation 4.1 Servo enabled 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...
Page 166 User Manual of EL8-RS***F AC Servo 4.2 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 167 User Manual of EL8-RS***F AC Servo Motor stopping（Servo disabled）- Sequence Diagram Servo braking method. Status after stopping: Dynamic braking (Pr5.06 = 1) 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...
Page 168 User Manual of EL8-RS***F AC Servo Free stopping method. Status after stopping: Dynamic braking (Pr5.06 = 1) Servo enabled Input coupler 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 Brake ON...
Page 169 User Manual of EL8-RS***F AC Servo Dynamic braking method. Status after stopping: Dynamic braking (Pr5.06 = 2) Servo enabled Input coupler 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 Holding brake...
Page 170 User Manual of EL8-RS***F AC Servo Servo stopping method. Status after stopping: Free running (Pr5.06 = 3) 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...
Page 171 User Manual of EL8-RS***F AC Servo Free stopping method. Status after stopping: Free running (Pr5.06 = 4) 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...
Page 172 User Manual of EL8-RS***F AC Servo Dynamic braking method. Status after stopping: Free running (Pr5.06 = 5) 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...
Page 173 User Manual of EL8-RS***F 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 174 User Manual of EL8-RS***F 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 175 User Manual of EL8-RS***F 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 176 User Manual of EL8-RS***F AC Servo Servo braking method. Status after stopping: Free running 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 177 User Manual of EL8-RS***F AC Servo Free stopping method. Status after stopping: Free running 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 178 User Manual of EL8-RS***F AC Servo Dynamic braking. Status after stopping: Free running 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 179 User Manual of EL8-RS***F AC Servo Alarm clearing - Sequence diagram Input coupler ON Alarm clearing Input coupler OFF A-CLR Dynamic brake Activated Deactivated Servo Disabled Enabled status SRV-ST Power ON Motor power Power OFF Brake OFF External brake Brake ON deactivation BRK-OFF Servo...
Page 180 User Manual of EL8-RS***F AC Servo 4.3 Front Panel Servo Drive front panel consists of 5 push buttons , a 8-segments display and 5 green LED as warning indicators. Can be used for displaying of status, alarms, functions, parameters setting and auxiliary functions. ■...
Page 181 User Manual of EL8-RS***F AC Servo 4.4 Panel Display and Operation 4.4.1 Panel Operation Power on rEAdy isplay for 1s D01 SP Data monitoring mode D00 uE Initialization display Display monitoring data D35 SF ◀ Pr 0001 Parameter setting Modify parameter Pr 0000 Pr 0000...
Page 182 User Manual of EL8-RS***F AC Servo Front Panel Locking To prevent any misuse of the front panel, it can be locked. Limitations when locked are as shown below. Mode Limitation Data monitoring Not limited Parameters setting Parameters can only be read, not modified.
Page 183 User Manual of EL8-RS***F AC Servo ratio Internal command d08FP “xxxx” pulse d08FP position sum Position: “ ” Ct PoS d09cn Control mode Velocity: “ ” Ct SPd d09Cn Torque: “ ” Ct trq d10Io I/O signal status d10 Io d11Ai Analog input d11Ai...
Page 184 User Manual of EL8-RS***F AC Servo count “ ” – External F xxxx encoder communication error count d31 tE Accumulated uptime “ xxxx” d31tE Automatic motor “r xxx Motor no.” d32Au d32Au identification “E xxx Servo no.” “ ” – driver d xxx temperature d33At...
Page 185 User Manual of EL8-RS***F AC Servo 1. d00uE Position command deviation Shows high bit and low bit of position deviation Position command deviation Positive：1 and 2 values on the left has no decimal point. Negative：1 and 2 values on the left has two decimal points Press ◀...
Page 186 User Manual of EL8-RS***F AC Servo 3. d05nP Feedback pulse sum d06CP Command pulse sum Feedback pulse sum(Encoder feedback pulse） 10016 D05 np Press ◀ to switch between high/low bit Feedback pulse sum （unit） Example：Feedback pulse sum=2100160 . 2 . 100160 High bit Low bit...
Page 187 User Manual of EL8-RS***F AC Servo 6. d09Cn Control mode D09 Cn Ct pos Position control mode Ct spd Velocity control mode Ct trq Torque control mode 7. 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 188 User Manual of EL8-RS***F AC Servo 9. d12Er Alarm cause and historical record D12 Er Er 150 ……Current error 01 150 ……Historical record 1 （Latest） 14 0E2 ……Historical record 14 （Oldest） Press▲▼to check error historical record up to 14 records. Please refer to the alarm list table in chapter 9 for alarms that can be recorded.
Page 189 User Manual of EL8-RS***F AC Servo 12、d17Ch Motor not running cause D1 7Ch Error code of motor not running “d17Ch” Motor No Running Cause - Codes & Descriptions Display Code Description Content Normal CP 0 DC bus undervoltage Check if DC bus voltage is too low on D27 CP 1 Servo-ON input (SRV-ON) is not connected No SRV-ON signal...
Page 190 User Manual of EL8-RS***F AC Servo Example: Motor starts from D22 rE 0 and turns clockwise for 2 revolutions Multiturn data -2 Multiturn encoder data Multiturn encoder data range:-32768~+32767, As no. of revolution goes over range,32767 will jump to - 32768、...
Page 191 User Manual of EL8-RS***F AC Servo 16. d28no Software version …..Servo firmware version D28 no d 024 （DSP） ▲▼ C 000 …..CPLD Version ▲▼ …..Communication software F 013 version ▲▼ P 400 …..Servo drive power rating 17. d31tE Accumulated operation time D31 tE 1 2 5 6 ◀...
Page 192 User Manual of EL8-RS***F 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 Label Valid mode(s) LED initial status...
Page 193 User Manual of EL8-RS***F AC Servo 4.5 Parameters saving Save using driver’s front panel D00 UE Increase/decrease value ◀ using ▲ ▼, press S to select PR 0.000 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 194 User Manual of EL8-RS***F AC Servo 4.6 Auxiliary function Parameters settings Pr 0.000 mode Auxiliary functions Operation to select Press ▼ ▲ AF Vog V o g - Trial run Trial run Reset to factory Reset to factory AF InI In I - default default...
Page 195 User Manual of EL8-RS***F AC Servo AF Vog 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. Only use trial run when Pr0.01 set to 0, 1, 6. ...
Page 196 User Manual of EL8-RS***F AC Servo AF unL Front panel unlock Auxiliary Operation Front panel unL - AF unL Initialization unlock FinSh is displayed after press ▲ once. Front panel unlocked FinSh AF ACL Clear alarm Alarm can be cleared using this auxiliary function but before that, the error needs to be solved and driver needs to be restarted.
Page 197 User Manual of EL8-RS***F AC Servo AF Enc Motor angle correction Auxiliary function 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: 1.
Page 198 User Manual of EL8-RS***F AC Servo AF rSt Software reset Software reset is used mainly on parameters modification that takes effect only after driver restart. Auxiliary function Operation Software AF rSt rSt - Initialization reset StArt Hold ▲ will be displayed to start reseting StArt Start to reset...
Page 199 User Manual of EL8-RS***F AC Servo 4.7 Front panel warning indicator Warning indicator light ■ ■ ■ ■ ■ ■ Warning indicator light status 1. Servo powered on but disabled: All 5 LEDs off 2. Servo powered on and enabled: All 5 LEDs lighted in cycles. 3.
Page 200 User Manual of EL8-RS***F AC Servo 4.8 Get Started with Driver Operation 4.7.1 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. Driver’s power output UVW matches UVW terminals on the main circuit.
Page 201 User Manual of EL8-RS***F AC Servo Chapter 5 Control Mode Control modes for EL8-RSF series AC servo drives can be divided into 3 categories: Position control mode, Velocity control mode and Torque control mode. RS models also come with a hybrid control mode which is a combination of any 2 modes which are above.
Page 202 User Manual of EL8-RS***F AC Servo 5.1 Position control Position control determines rotational speed by frequency of external input pulse and angle of rotation through pulse count using 5V pulse from motion controller, control card or 24V pulse for PLC. Applies where precise positioning is required. Velocity feedforward Torque...
Page 203 User Manual of EL8-RS***F AC Servo 5.1.1 Pulse input and direction settings Position command (pulse) input method: A and B phase pulse 2. Positive/Negative direction pulse 3. Pulse count + symbol Set pulse mode, rotational direction and max. pulse input frequency according to actual need CN1 Pin Label Definition...
Page 204 User Manual of EL8-RS***F AC Servo 90°phase difference 2 phase pulse ﹙Phase A+ Phase B） CW pulse 【0】 sequence ＋ CCW pulse sequence Pulse sequence 【3】＋ Directional symbol 90°phase difference 2 phase pulse （Phase A＋Phase B） CW pulse sequence ＋...
Page 205 User Manual of EL8-RS***F AC Servo 5.1.2 Electronic Gear Ratio To realize correspondent motor rotational angle to arbitrarily set input command input by multiplying pulse command input from controller and coefficient of frequency divider/multiplier. Motor might not reach target velocity due to insufficient pulse output from controller. This function can be used to solve this issue by increasing pulse command frequency.
Page 206 User Manual of EL8-RS***F AC Servo 5.1.3 Position command filter Position command filter is to filter position command after electronic gear ratio frequency dividing/multiplying. Including position command smoothing filter and position command FIR filter. Position command filter should be added for the following cases: Position command pulse from controller has not yet to undergo acceleration/deceleration (with steep acceleration/deceleration).
Page 207 User Manual of EL8-RS***F AC Servo Label Position command FIR filter Valid mode(s) Range 0~2500 Unit 0.1ms Default Pr2.23 Byte length 16bit Attribute 485 address 0x022F Valid At stop As shown below, when target velocity Vc square wave command reaches Vc, it becomes trapezoidal wave after filtering.
Page 208 User Manual of EL8-RS***F AC Servo Value Description 【0】 Z bandwidth equivalent to 1 cycle of A/B 1~500 Delay setting on top of A/B cycle width A/B cycle Pr5.43 Related parameters Encoder output pulse count per Label Valid mode(s) revolution Range 1~32767 Unit...
Page 209 User Manual of EL8-RS***F AC Servo Frequency divider output source Valid mode(s) Label Range — Default Unit Pr5.44 Byte length 16bit Attribute 485 address 0x0559 Valid After restart Value Description 【0】 Position feedback of encoder #1(motor encoder) Position feedback of encoder #2(external encoder) Reserved Pulse input command position synchronous output;...
Page 210 User Manual of EL8-RS***F AC Servo Label INP positioning delay time Valid mode(s) Range Unit Default 0~15000 Pr4.33 Byte length 16bit Attribute 485 address 0x0443 Valid Immediate Valid when Pr4.32 = 3. Set value Positioning completed signal Indefinite delay time, signal ON until next position command OFF within the time set;...
Page 211 User Manual of EL8-RS***F AC Servo 5.2 Velocity control mode Velocity mode precisely controls motor rotational speed/direction using analog velocity command or internal related parameters. There are 4 types of velocity control modes for EL8- RSF series AC Servo Drives: Analog control, internal velocity 4 speeds, internal velocity 8 speeds and analog + internal velocity control.
Page 212 User Manual of EL8-RS***F AC Servo 5.2.1 Velocity command input control Set velocity control mode in Pr3.00 Pr3.00 = 0 Analog Pr3.00 = 1 Internal velocity Velocity command Pr3.00 = 2 direction Analog + Pr3.01 Internal velocity Pr3.00 = 3 Internal velocity Label...
Page 213 User Manual of EL8-RS***F AC Servo Please change internal command velocity as per diagram below as unexpected axis movement might occurs if 2 command velocities are changed at the same time. Pr3.00=1 / 2 Pr3.00=3 Velocity command direction settings Switch velocity command direction using I/O. Assign VC-SIGN to corresponding DI terminal, velocity command direction will be in accordance to DI signal.
Page 214 User Manual of EL8-RS***F AC Servo Velocity command input gain Set Analog-Velocity command (SPR) voltage to motor velocity command switching gain Velocity command input gain Label Valid mode(s) Range Unit Default 10~2000 (r/min)/V Pr3.02 Byte length 16bit Attribute 485 address 0x0305 Valid Immediate...
Page 215 User Manual of EL8-RS***F AC Servo With added a = x/t acceleration Initial acceleration Velocity deceleration time (rpm) time settings For example: If motor is to achieve 1500rpm in 30s, a=1500/30=50rpm/ms Pr3.12 = 1000/a= 20. Hence when Pr3.12 = 20, motor can achieve 1500rpm in 30s. 1000 (rpm) PA3.13...
Page 216 User Manual of EL8-RS***F AC Servo 5.2.3 Velocity reached signal AT-SPEED output Velocity reached signal AT-SPEED output will be valid when motor velocity reached set speed in Pr4.36. This output function can be assigned through I/O configurations, please refer to Pr4.10. When velocity matches set conditions, assigned I/O terminal will be ON, signal will be valid.
Page 217 User Manual of EL8-RS***F AC Servo Position command after acceleration time Velocity Velocity Pr4.35 settings added command (RPM) Velocity coincidence range Motor speed Pr4.35 Velocity coincidence Pr4.35 Time range Velocity coincidence range Velocity coincidence V-COIN 5.2.5 Zero Speed Clamp Forced set velocity command to 0 using zero speed clamp to avoid servo axis from crawling at low velocity.
Page 218 User Manual of EL8-RS***F AC Servo 5.3 Torque control Torque control mode is to the size of motor asserted torque through external analogue input or directly from set value internally. This control mode is applicable where torque is the main control and limiting factor.
Page 219 User Manual of EL8-RS***F AC Servo 5.3.1 Torque command input control Torque control mode settings Torque control mode includes 3 control modes as shown below. Set torque control mode in Pr3.17. Pr3.17 = 0 Torque analogue + Pr3.21 Pr3.17 = 1 Torque analogue + Velocity analogue Torque command...
Page 220 User Manual of EL8-RS***F AC Servo Torque command input inversion To set the voltage polarity added onto analogue torque command (TRQR) Torque command input inversion Label Valid mode(s) Range Unit Default — Pr3.20 Byte length 16bit Attribute 485 address 0x0329 Valid Immediate To set voltage polarity of analog torque command.
Page 221 User Manual of EL8-RS***F AC Servo 5.3.3 Torque limit (TL-SEL) This input function can be assigned through I/O configurations, please refer to Pr4.00. To set torque limiting method. Valid mode(s) Torque limit selection Label Range Default Unit — Pr5.21 Byte length Attribute 485 address 16bit...
Page 222 User Manual of EL8-RS***F AC Servo 5.4 Hybrid Control Mode Hybrid control mode is for servo drive to be able to switch between different modes during operation. Hybrid control mode consists of the 3 listed below: Position-velocity mode • Position-torque mode •...
Page 223 User Manual of EL8-RS***F AC Servo Chapter 6 Application Case 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 yet. High gain Low gain High gain + feedforward [r/min]...
Page 224 User Manual of EL8-RS***F AC Servo Start Electronic gear ratio Inertia measuring Auto gain adjustment Requirement met? Manual gain adjustment Requirement met? Vibration suppression Gain adjustment flow chart...
Page 225 User Manual of EL8-RS***F AC Servo Steps Functions Explanation Online Motor moves with command from controller, servo driver will automatically calculate load-inertia ratio Inertia ratio identification Offline Using servo driver inertia determining function, servo driver can automatically calculate load-inertia ratio Auto gain Auto gain Real time determining of mechanical load, gain value is set...
Page 226 User Manual of EL8-RS***F AC Servo 6.2 Inertia ratio identification function Inertia ratio = Total mechanical load rotational inertia / Motor rotational inertia Inertia ratio is an important parameter. Setting a suitable value can help with the precise tuning of the servo system. Inertia ratio can be set manually and also be determined automatically through servo driver To make sure accurate inertia ratio identification 1.
Page 227 User Manual of EL8-RS***F AC Servo Auxiliary function to determine inertia on front panel Auxiliary Function Operation G ---- Inertia AF _ GL Initialization measuring Press ‘◀’ to start inertia measuring. SrUon will be displayed. E r r o r S r U o n Error might occur if ‘◀’is pressed when...
Page 228 User Manual of EL8-RS***F AC Servo Inertia measuring using Motion Studio 1. Start Motion Studio and maneuver to inertia ratio identification page under performance tuning. Set trial run velocity Pr6.04 and acc-/deceleration time Pr6.25, click on ‘Upload’ to upload parameters to servo driver. 2.
Page 229 User Manual of EL8-RS***F AC Servo 6. Click on “Parameter List” to enter parameters management to check or modify Pr0.04. Then, click on “Save” to save parameters to driver. Please take note: 1. Trial run velocity and distance should be optimal to prevent any axis from bumping into objects. 2.
Page 230 User Manual of EL8-RS***F AC Servo Common issues Error Cause Solution Loose load connection Check for mechanical failure Measuring distance is too short Increase measuring distance Inertia measuring Please pre-set an inertia ratio when failure Belt load using a belt to prevent jolt due to low inertia.
Page 231 User Manual of EL8-RS***F AC Servo 6.3.2 One-click Tuning This function is able to automatically tune the most optimal gain parameters for the specific applications after the axis is in operation and learning. Corresponding paths and responsiveness level need to be set before using this function.
Page 232 User Manual of EL8-RS***F AC Servo Start Driver parameter initialization Set correct electronic gear ratio Click on ‘One-Click Tuning’ on Motion Studio Select auto tuning mode Set range of movement and operation mode Tuning in progress Tuning result If result is Fine tune manually satisfactory...
Page 233 User Manual of EL8-RS***F AC Servo 6.4 Auto gain adjustment This function will measure real time mechanical properties and set gain values in accordance to mechanical stiffness. Can be used in any control mode Conditions to implement Please refer to Pr0.02 for detailed explanations. Auto gain adjustment is Control mode different for each control mode.
Page 234 User Manual of EL8-RS***F AC Servo Parameters that change in accordance to real time gain adjustment There are 2 types of auto gain adjustment methods: Standard mode (Pr0.02 = 0x__1): Basic mode, prioritizing on stability, gain switching is disabled. Actual gain auto adjustment as accordance to Pr0.03.
Page 235 User Manual of EL8-RS***F AC Servo Gain related parameters that don’t change with the real time gain adjustment Parameter Label Reference value Pr1.10 Velocity feedforward gain constant 1000ms Pr1.11 Velocity feedforward filter time constant Pr1.12 Torque feedforward gain 0.50ms Pr1.13 Torque feedforward filter time constant Pr1.15...
Page 236 User Manual of EL8-RS***F AC Servo Pr0.03 valid. Quick gain adjusting can be achieved by changing Pr0.03 stiffness value. This mode is suitable 2:Positioning for applications requiring quick positioning. Not 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.
Page 237 User Manual of EL8-RS***F AC Servo Gain parameters settings table gain gain Pr1.00 Pr1.01 Pr1.02 Pr1.04 Pr1.05 Pr1.06 Pr1.07 Pr1.09 Velocity loop Velocity loop Position Velocity Position Velocity Torque Torque integral time integral time loop loop loop loop filter filter constant constant gain...
Page 238 User Manual of EL8-RS***F AC Servo 6.5 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 239 User Manual of EL8-RS***F AC Servo Step Parameter Label Tuning method To eliminate velocity loop deviation Actual velocity Command Reduce Pr1.02 velocity Pr1.02 Velocity loop integral time Velocity loop integral time constant (ms) = 4000 / （2*π*Velocity loop gain(Hz)） constant Reduce Pr1.02 to reduce positioning time.
Page 240 User Manual of EL8-RS***F AC Servo If vibration occurs with increasing Pr1.01, please modify Pr1.04 to suppress vibration. If the parameters are set too high, it might cause current loop response to reduce. To suppress vibration at stop, increase Pr1.01 and decrease Pr1.04. Decrease Pr1.04 if motor vibrates too much at rest.
Page 241 User Manual of EL8-RS***F AC Servo and 2 gain initial values are obtained by automatic gain adjustment Parameter Label Pr1.00 position loop gain Pr1.01 velocity loop gain Pr1.02 velocity integral time constant Pr1.03 velocity detection filter Pr1.04 torque filter time constant Pr1.05 position loop gain Pr1.06...
Page 242 User Manual of EL8-RS***F AC Servo 6.5.2 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: 1. Switch to lower gain when motor stops to suppress vibration 2.
Page 243 User Manual of EL8-RS***F 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 Pr1.15=3、5、 Position control gain 6、9、10.
Page 244 User Manual of EL8-RS***F AC Servo Position control gain switching Valid Label mode(s) mode Range Unit Default 0～10 — Pr1.15 Byte 16bit Attribute 485 address 0x011F length Valid Immediate In position control, set the conditions for gain switching to be valid. Value Condition Gain switching condition...
Page 245 User Manual of EL8-RS***F AC Servo Position control gain switching Valid Label level mode(s) Range Unit Mode Default 0~20000 dependent Pr1.17 Byte 16bit Attribute 0x0123 length address Valid Immediate Set threshold value for gain switching to occur. Unit is mode dependent. Switching condition Unit Position...
Page 246 User Manual of EL8-RS***F AC Servo 6.5.3 3 gain switching Besides switching between 1 and 2 gain, a 3 gain switching is added to set gain at the moment of stopping to reduce positioning time. Only available under position mode and Pr6.05 ≠ 0, set Pr6.06 for 3 gain value.
Page 247 User Manual of EL8-RS***F AC Servo Set up the 3 gain by multiplying factor of the 1 gain Position command velocity (RPM) Effective time Pr6.05 x 0.1ms gain gain gain Pr1.05~Pr1.09 Pr1.00~Pr1.04 Position loop gain = Pr1.00 x Pr6.06/100 Velocity loop gain = Pr1.01 x Pr6.06/100 Velocity loop integral time constant，Velocity detection filter，...
Page 248 User Manual of EL8-RS***F AC Servo 6.6 Model following control Model following control is a type of closed loop control system. First, an ideal model is constructed and acts as a reference for actual model in a closed loop control. Model following control can be treated as a control mode with 2 flexibilities: Model reference can be used to improve command responsiveness and closed loop control used to increase responsiveness of the system towards interference.
Page 249 User Manual of EL8-RS***F AC Servo 6.7 Zero tracking control Zero tracking control (ZTC) is able to realize a zero position deviation during acceleration/deceleration. This function increase multi axis precision and master-slave following. Recommended application: 1. Multi axis Improved following Improper following during circular arc motion Enable zero tracking control Master-slave following...
Page 250 User Manual of EL8-RS***F AC Servo bandwidth will improve following performance but noise will be higher. Set the following parameters to default Pr2.51 Velocity feedforward Default value = 0 for zero tracking control. compensation coefficient Pr2.52 Torque feedforward compensation coefficient Pr2.54 Overtravel time constant...
Page 251 User Manual of EL8-RS***F AC Servo 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. Position deviation under constant velocity can be lowered with higher velocity feed forward gain.
Page 252 User Manual of EL8-RS***F AC Servo Byte length 16bit Attribute 485 address 0x0119 Valid Immediate Before using torque feed forward, please set correct inertia ratio Pr0.04. By increasing torque feed forward gain, position deviation on constant acceleration/deceleration can be reduced to close to 0. Under ideal condition and trapezoidal speed profile, position deviation of the whole motion can be reduced to close to 0.
Page 253 User Manual of EL8-RS***F AC Servo 6.9 Friction compensation function This function is to compensation for changes in load to reduce the effect of friction in motion. The compensation value is directional. Velocity command Pr6.08 Pr6.07 Time Pr6.09 Velocity command Motor off Motor on Motor off...
Page 254 User Manual of EL8-RS***F AC Servo Byte 16bit Attribut 485 address 0x0611 length Valid Immediate Negative direction torque Valid Label compensation value mode(s) Range Default -100~100 Unit Pr6.09 Byte 16bit Attribut 485 address 0x0613 length Valid 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 255 User Manual of EL8-RS***F AC Servo Max. duration for motor to stop after disabling Set max time duration for motor to stop after disabling. If the time taken for motor to stop exceeds the duration set in Pr6.14 and motor speed is still higher than Pr4.39, holding brake will be activated. If motor doesn’t have holding brake, dynamic braking will be activated to force stop the motor.
Page 256 User Manual of EL8-RS***F AC Servo Motor will remain at current position and input command is masked to allow holding brake to be fully released before motor is set in motion. SRV_ON Brake released (BRK_ON) Brake BRK_OFF Motor Power Released Actual holding Braked Braked...
Page 257 User Manual of EL8-RS***F AC Servo Servo stopping mode Label Servo-off mode Valid mode(s) Range — Default Unit Pr5.06 Byte 16bit Attribut 485 address 0x050D length Valid Immediate To set servo driver disable mode and status. Description Value Mode Status Servo braking Dynamic braking Free stopping...
Page 258 User Manual of EL8-RS***F AC Servo Emergency stop function Emergency stop is used when an alarm occurs or a servo prohibition signal is received when servo driver is enabled. Method 1: Set up Pr4.43 to enable the function Emergency stop function Valid Label mode(s)
Page 259 User Manual of EL8-RS***F AC Servo 6.11 Vibration Suppression 6.11.1 Mechanical resonance suppression Mechanical system has certain resonance frequencies. When servo gain is increased, resonance might occur at around mechanical resonant frequencies, preventing gain value from increasing. In such situation, notch filter can be used to suppress resonance to set higher gains or lower vibration. To suppress mechanical resonance: Torque command filter time constant Set filter time constant to reduce gain at around resonant frequencies...
Page 260 User Manual of EL8-RS***F AC Servo If the analytic result from mechanical properties analysis tool doesn’t show any obvious peak but vibration did occur, it might not be due to mechanical resonance, it may be that servo gain has reached its limit. This kind of vibration can’t be suppressed by using notch filter, only by reducing gain and torque command filter time.
Page 261 User Manual of EL8-RS***F AC Servo 6.11.2 End vibration suppression End vibration Direction Motor Moving body If the mechanical 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. The frequency is usually within 100Hz which is lower than mechanical resonant frequencies.
Page 262 User Manual of EL8-RS***F 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 Mechanical properties analysis To determine mechanical and set up notch filter parameters to suppress vibration caused by resonance.
Page 263 User Manual of EL8-RS***F AC Servo 6.13 Position comparison Position comparison is achieved by using instantaneous position data in comparison with preset position in position parameters. When the condition(s) is fulfilled, a pulse width configurable DO signal or ABZ/OCZ signal through frequency divider will be delivered. This function is operated in CPLD, without communication delay between processors hence it is suitable for application where high velocity motion is required.
Page 264 User Manual of EL8-RS***F AC Servo Value Description 【0】 Disable Enable （Rising edge） Position comparison mode Valid Label mode(s) — Range Default Unit Pr5.71 Byte 16bit Attribute R/W 485 address 0x058F length Valid Immediate Value Description 【0】 Single comparison N cycles comparison Cycle comparison Detailed explanations is available in Chapter 6 Application under Position Comparison section...
Page 265 User Manual of EL8-RS***F AC Servo No. of cycles for N cycle Valid Label comparison mode(s) Range 1~50000 Unit Default Pr5.76 Byte 16bit Attribute 485 address 0x0599 length Valid Immediate To set the number of cycles for N cycles comparison in position comparison. Position comparison –...
Page 266 User Manual of EL8-RS***F AC Servo To set attribute value for position comparison 1 and 2 Position comparison 1 Positive crossing comparison. 0=OFF,1=ON Negative crossing comparison. 0=OFF,1=ON Reserved Output property settings： =0：Pulse mode =1：Flipping mode 10~12 Reserved Frequency divider Phase A output Frequency divider Phase B output Frequency divider Phase Z output Position comparison 2...
Page 267 User Manual of EL8-RS***F AC Servo Range Unit Default Byte Attribut 485 address 16bit 0x0398~0x03BD length Valid Immediate To set attribute value for position comparison x and y x,y = (3,4), (5,6)……..(41,42) Bit 0~15: Position comparison x; Bit 16~31: Position comparison y Please refer to Pr3.74 Working principle ...
Page 268 User Manual of EL8-RS***F AC Servo Applying position comparison When the attribute of position comparison is set to positive crossing, position feedback becomes larger, position comparison will be enabled; if position feedback becomes smaller, it indicates negative crossing and position comparison will be disabled. Diagram below shows position comparison point 1 as positive crossing and position comparison point 2 as negative crossing.
Page 269 User Manual of EL8-RS***F AC Servo Diagram below shows travel time between 2 points is smaller than output pulse width Position Actual position feedback Pr5.80 Position comparison point 2 Positive crossing Position comparison point 1 Positive crossing Time No position comparison at point 2 Positon comparison output...
Page 270 User Manual of EL8-RS***F AC Servo In overturn mode, output pulse width will be overturned. Position Actual position feedback Pr5.80 Position comparison point 2 Negative crossing Position comparison point 1 Positive crossing Time Position comparison output Signal overturned 6.14 Black box Black box is a function which allows users to set conditions or data to be captured whenever error occurs.
Page 271 User Manual of EL8-RS***F AC Servo 6.15 Full closed loop control Full closed loop control utilizes external position sensor (i.e. grading ruler) to get an actual position feedback to implement position control. This control can compensate for lead screw tolerance and any changes due to temperature.
Page 272 User Manual of EL8-RS***F AC Servo Set alarm threshold Excessive hybrid deviation (Pr0.33) To set alarm threshold value for the position deviation between motor actual position and external encoder actual position. Er191 might occur if position deviation exceeds alarm threshold value. Clear hybrid control deviation (Pr0.34) Use to set the condition to clear hybrid control deviation (Only in full closed loop control mode)
Page 273 User Manual of EL8-RS***F AC Servo Value Mode Description 【0】 Doesn’t retain position data on power off. Unlimited travel distance. Incremental Retrain position data on power off. For applications with fixed travel Multiturn distance and no multiturn data overflow. absolute linear Multiturn Retrain position data on power off.
Page 274 User Manual of EL8-RS***F AC Servo Install battery Pr0.15=1 Home process Finishing Homing process， set Pr0.15=9 Read absolute position *Note：The newly installed encoder is not initialized and will alarm 2、Read absolute position When the rotor turns in clockwise direction, the revolution count will be negative; turns in counter clockwise direction, the count will be positive.
Page 275 User Manual of EL8-RS***F 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 linear mode(Pr0.15 = 1) Multiturn absolute with memory of position at power off.
Page 276 User Manual of EL8-RS***F AC Servo Motor Load Position during power-on Encoder position Actual position 10000 -1)+10000 3、Clear multiturn position Before clearing multiturn position, axis needs to be homed. After clearing multiturn position, revolution count = 0 but absolute position remains unchanged and Err153 alarm will be cleared. Please make sure the homing point is within the range of 1 revolution of the rotor.
Page 277 User Manual of EL8-RS***F AC Servo Moved after power- Single Turn Position Position during power-on Range of Motion 6.16.3 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.
Page 278 User Manual of EL8-RS***F AC Servo 4、Alarm processing flow chart Er153 Absolute Replace encoder Encoder or set Pr0.15=0 Replace battery, power-on Alarm clear？ Return to home point, set Pr0.15=9 Alarm clear Battery kit In multiturn absolute mode, Er153 might occur upon first time installation. Pr0.15 needs to be set to 0 to reset error and clear multiturn data.
Page 279 RS485 network of multiple servo drives If there is a need to connect multiple EL8-RS series servo drives together, it is recommended to connect the drivers in series and no longer than 3 meters of LAN cable between each nodes (drivers) as shown below.
Page 280 User Manual of EL8-RS***F AC Servo 7.2 RS485 communication port Port Diagram Signal Description 1，9 RDO+ RS485 Differential signal+ 2，10 RDO - RS485 Differential signal- 3，11 Ground（RS485） 4，12 TXD+ RS485 Differential signal+ 5，13 TXD- RS485 Differential signal- Reserved，5V positive VCC5V （50mA）...
Page 281 Please set to a max of 31 if the communication is between RS232 and RS485 7.3 Modbus Protocol EL8-RS series servo drives contain 16-bit and 32-bit parameters. The parameters supports read and write functions in the Modbus-RTU protocol with function codes as listed in the table below.
Page 282 User Manual of EL8-RS***F AC Servo Request frame and reply frame should have the same set of data as shown below. Send 01 06 00 01 00 01 19 CA Receive 01 06 00 01 00 01 19 CA Send Frame: Request Frame. Master device writes a 1-Word (16 bit) data (0x0001) into slave servo drive with ID no.
Page 283 User Manual of EL8-RS***F AC Servo Communication data: Receive frame: Slave servo drive’s reply frame. Request frame data CRC from master device, servo drive will not respond to current request. Receive frame: Slave servo drive’s reply frame. Request frame data function from master device error or slave station does not support this function, unable to respond to current request.
Page 284 User Manual of EL8-RS***F AC Servo Incorrect wiring connection Please make sure RS485 communication connection is normal using a multimeter. Then, make sure the reference ground is corrected connected. If there is not no reference ground, please leave it unconnected. Same goes for cable shield foil.
Page 285 User Manual of EL8-RS***F AC Servo Steps Solutions Use shielded wire cable for I/O signals, connect shield foil to PE. Connect motor PE to PE terminals on drivers, connect driver PE to PE terminals of electrical network. Ground master device and servo drives together. Loop UVW motor power cable around magnetic ring for 2-3 times.
Page 286 User Manual of EL8-RS***F AC Servo Chapter 8 PR Functions PR function is a control module in servo drive that controls single axis motion using PRocedure program. Main single axis motion control functions included homing, path, position limit and emergency stop. Using PR functions can save the resources on the main controller. Please set Pr0.01 = 6 when using PR functions.
Page 287 User Manual of EL8-RS***F AC Servo 8.1 PR functions introduction Function Description Homing Driver seeks origin signal through homing to determine zero point of the mechanical motion coordination system Homing mode configurable. Can be chosen between position limit signal homing, origin signal homing and manually set home; Homing direction configurable;...
Page 288 User Manual of EL8-RS***F AC Servo 8.2 Control parameters All PR motion related parameters including trigger, status output, limits, emergency stop, JOG, homing, etc. Param 485 Addr. Label Description eter PR control functions 0X6000 Bit 0：=0，CTRG rising edge trigger =1，double edges trigger ; ，...
Page 289 User Manual of EL8-RS***F AC Servo using 485 communication） 0X600F Pr8.15 High homing velocity Set high homing velocity 0X6010 Pr8.16 Low homing velocity Set low homing velocity 0X6011 Pr8.17 Homing acceleration Set homing acceleration 0X6012 Pr8.18 Homing deceleration Set homing deceleration Homing torque holding 0X6013 Pr8.19...
Page 290 User Manual of EL8-RS***F AC Servo 8.3 PR Motion 8.3.1 Homing Homing is divided into 5 methods according to home signal: Single turn Z-phase homing, position limit homing, origin homing, torque homing, manually set home. Position limit homing, origin homing and torque homing can be with or without Z-signal. Homing can be triggered upon power on or using I/O after servo enabled.
Page 291 User Manual of EL8-RS***F AC Servo Position limit, origin and torque homing with Z-signal Negative limit homing Sta rt Hig h ve loci ty Low Vel ocit y Z-sig nal Neg ativ e li mit A: Sta rts from NOT = OFF B: Sta rts from NOT = ON Positive limit homing...
Page 292 User Manual of EL8-RS***F AC Servo Origin homing – Positive direction Start Low velocity High velocity Z-signal Origin switching Positive limit A:Starts from ORG=OFF and POT=OFF B:Starts from ORG=ON and POT=OFF C:Starts from ORG=OFF and POT=OFF Torque homing – Negative direction Start Low velocity High Velocity...
Page 293 User Manual of EL8-RS***F AC Servo Position limit, origin, Z-signal, torque and manual set home (Homing with single condition) Negative limit homing Start High velocity Low velocity Negative limit A:Starts from NOT=OFF B:Starts from NOT=ON Positive limit homing Start High velocity Low velocity Positive limit A:Starts from...
Page 294 User Manual of EL8-RS***F AC Servo Origin homing – Positive direction Start Low velocity High velocity Origin switching Positive limit A：Starts from ORG=OFF and POT=OFF B：Starts from ORG=ON and POT=OFF C：Starts from ORG=OFF and POT=OFF Torque homing – Negative direction Start Low velocity Torque homing –...
Page 295 User Manual of EL8-RS***F AC Servo 8.3.2 Position limit and emergency stop For safety concerns, PR mode is designed to trigger emergency stop when position limit or emergency stop signal is valid. Please refer to the sequence diagram below. Velocity Deceleration Emergency stop / Position...
Page 296 User Manual of EL8-RS***F AC Servo 8.3.4 Path motion Path motion: Segmented, continuous, interrupted. Path positioning: Position, velocity, homing. PR path is to a total of 16 paths. Every path can be set with motion type, positioning mode, velocity, acceleration, deceleration and pause time independently. Parameter Label Description...
Page 297 User Manual of EL8-RS***F AC Servo Path motion Segmented trigger CTRG rising edge/double edges trigger (Pr8.00) a segmented motion. Please refer to the sequence diagram below with rising edge trigger of path 5. Pause time Velocity CTRG Enable ADD 0-3 Continuous path completed CMD _ OK...
Page 298 User Manual of EL8-RS***F AC Servo Non-overlap continuous motion Path motion continues by another, no trigger needed for the next one to start. Non-overlap continuous PR 2 Stop DELAY 1 PR 2 PR 1 Path： INP ： Overlapping continuous motion Path motion starts immediate after the previous path motion is completed without deceleration or trigger in between.
Page 299 User Manual of EL8-RS***F AC Servo 8.4 PR Control 8.4.1 PR module in Motion Studio Using Pr-Motion function in Motion Studio, PR parameters can be set including trigger settings, software position limit, JOG, homing, emergency stop, etc. Manual triggering of homing, path motion or emergency stop can also be triggered on this interface.
Page 300 User Manual of EL8-RS***F AC Servo Manual control of servo drive in PR mode can be done in this page. All PR mode and control parameters can be found on this list for convenience of tuning To run PR mode in a loop...
Page 301 User Manual of EL8-RS***F AC Servo 8.4.2 Physical I/O Path motion, feedback status, etc can be triggered through I/O in PR mode. Please refer to the table below for I/O assignments in PR mode. Input Output Label Signal Value Label Signal Value Command trigger...
Page 302 User Manual of EL8-RS***F AC Servo I/O trigger Path motion trigger: Edge trigger/combination trigger(Pr8.26). Edge trigger is triggering path combination motion using I/O. I/O combination trigger uses electrical level as trigger rather than signal edge. No valid motion for path 0 and I/O combination triggers motion once after I/O filter when converted to non-zero paths.
Page 303 User Manual of EL8-RS***F AC Servo 8.4.3 485 communication 485 communication can be used to achieve the same functions as with I/O, modifying PR related parameters and trigger path motions. Through this communication protocol, controlling of multiple axes can be realized, saving wiring works with flexibility in the system. 485 communication includes 2 kinds of mode: Fixed trigger and immediate trigger.
Page 304 User Manual of EL8-RS***F AC Servo 8.4.4 Path trigger Fixed trigger Fixed triggering method is to set all 16 paths homing and other settings, then through Pr8.02 (trigger register to replace CTRG and HOME) to enable path. Recommended for simple applications with fixed motions.
Page 305 User Manual of EL8-RS***F AC Servo 18-19 Pr9.05 Deceleration XXXX 20-21 Pr9.06 Delay time XXXX 22-23 Pr9.07 Trigger control 0x0010 Checksum Lo Checksum Hi Slave response frame byte data Data Description Value Slave ID 1~127 Function code 0x10 ADDR Address 0x62 ADDR Address...
Page 306 User Manual of EL8-RS***F AC Servo Function buttons: Upload, download parameters to/from drives, save parameter, backup and reset to factory default. Parameters: Set PR path related parameters here Descriptions: Short explanation on each PR path motion types Remember to upload parameters to drive and save to drive after parameters setup. 4.
Page 307 User Manual of EL8-RS***F AC Servo 8.5.2 Control using 485 communication 485 communication data frame format Byte(x) Definition Function Addr. Addr. Data Data code High High 8- checksum checksum 8-bit 8-bit 8-bit Low 8-bit High 8-bit Please refer to Modbus communication in Chapter 7 to use Word function code writing. The request and respond frame data format is similar.
Page 308 User Manual of EL8-RS***F AC Servo Set PR1 to travel to absolute position = 200000 (10000 pulse/rev) 485 communication data frame Description 01 06 62 08 00 01 D6 70 Set PR1 mode 01 06 62 09 FF FC 07 C1 Set PR1 position high bit 01 06 62 0A F2 C0 F3 40 Set PR1 position low bit...
Page 309 User Manual of EL8-RS***F AC Servo Chapter 9 Warning and Alarm 9.1 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: Others Ar A08 P O T...
Page 310 User Manual of EL8-RS***F AC Servo 9.2 Servo drive alarm When alarm occurs, driver will set protective function and motor stops moving. Error code will be displayed on the front panel. Alarm history record can also be viewed in data monitoring d12Er mode, with the alarm log sub-menu displaying "...
Page 311 User Manual of EL8-RS***F AC Servo ● ● Driver overloaded ● ● Motor rotor blocked ● Regenerative resistor overvoltage ● Holding brake error ● Regenerative resistor value too low ● Encoder disconnected ● Encoder communication error ● Encoder initial position error ●...
Page 312 User Manual of EL8-RS***F AC Servo Positive/Negative position limit triggered ● ● under non-homing mode ● ● Analog 1 input overrun limit ● ● Analog 2 input overrun limit ● ● Analog 3 input overrun limit Control mode not match under full closed ●...
Page 313 User Manual of EL8-RS***F AC Servo 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]. AFACL Clearable: Clearable alarm by operating the front panel and use auxiliary function below.
Page 314 User Manual of EL8-RS***F AC Servo 9.3 Alarm Handling **When error occurs, please solve accordingly. Then, restart. If the solutions described don’t work, please consider replacing the driver. Main Display: “Er 090”--“Er 09F” Error code Content: FPGA communication error Cause Diagnosis Solution L1, L2 terminal voltage...
Page 315 User Manual of EL8-RS***F AC Servo Main Display: “Er 0A5” Error code Content: DC Bus error Cause Diagnosis Solution L1, L2 terminal voltage Make sure L1, L2 terminal voltage Verify L1, L2 terminal too low is within recommended range voltage. Check if power on indicator light on servo drive is on and d27 DC bus voltage.
Page 316 User Manual of EL8-RS***F AC Servo parameter anomaly Inner brake circuit Replace driver damaged Main Display: “Er 0d0” Error code Content: DC bus undervoltage Cause Diagnosis Solution Main power supply Verify L1,L2,L3 terminal Increase main power supply undervoltage voltage voltage L1C, L2C connected Control circuit power on before Please disconnect the USB...
Page 317 User Manual of EL8-RS***F AC Servo Main Display: “Er 0E1” Error code Content: Intelligent Power Module (IPM) overcurrent Cause Diagnosis Solution Verify if there is short circuit 1. Make sure there is no circuit. Driver power output between UVW terminals, or 2.
Page 318 User Manual of EL8-RS***F AC Servo Main Display: “Er 0F0” Error code Content: Driver overheated Cause Diagnosis Solution Temperature of power Measure the temperature 1. Improve cooling condition. Please module exceeded of driver radiator. check installation guide; upper limit 2. Replace driver and motor with higher power rating;...
Page 319 User Manual of EL8-RS***F AC Servo Main Display: “Er 120” Error code Content: Regenerative resistor overvoltage Cause Diagnosis Solution Regenerative energy 1. Verify if velocity is too 1. Decrease motor rotational velocity; exceeded capacity of high 2. Decrease load inertia; regenerative resistor 2.
Page 320 User Manual of EL8-RS***F AC Servo Main Display: “Er 151” Error code Content: Encoder communication error Cause Diagnosis Solution Encoder wire shielding Verify if encoder cable has Replace with standard encoder layer is missing shielding layer cable Encoder cable wiring error Verify if encoder wiring is correct Reconnect encoder wiring Encoder damaged...
Page 321 User Manual of EL8-RS***F AC Servo Main Display: “Er 154” Error code Content: Encoder parameter settings error Cause Diagnosis Solution Absolute encoder Verify if encoder has multi- Modify absolute encoder mode mode is incorrectly set. turn absolute value function. settings Main Display: “Er...
Page 322 User Manual of EL8-RS***F AC Servo Display: “Er 171” Main Error code Content: Encoder parameter initialization error Cause Diagnosis Solution Driver and motor Replace with matching driver and Verify driver and motor models. not matched motor 1. Verify if encoder cable is standard. Use standard encoder cable, verify Error while getting 2.
Page 323 User Manual of EL8-RS***F AC Servo Display: “Er 191” Main Error code Content: Excessive hybrid position deviation Cause Diagnosis Solution Driver UVW terminal output Make sure UVW terminals are Verify if UVW terminal wiring single phasing or wiring error correctly connected to UVW of motor; connection is right change motor power cable.
Page 324 User Manual of EL8-RS***F AC Servo Main Display: “Er 1b1” Error code Content: Incorrect electronic gear ratio Cause Diagnosis Solution Numerator or Reduce number of pulses per Values out of range denominator is zero/Set revolution values out of range Display: “Er 1b3”...
Page 325 User Manual of EL8-RS***F AC Servo Main Display: “Er 1c2” Error code Content: 2 STO failed Cause Diagnosis Solution Verify if STO power Verify 24V STO power supply and STO input signal supply is normal power cable connection valid Disconnect switch Close switch connected to STO Main...
Page 326 User Manual of EL8-RS***F AC Servo Main Display: “Er 250” Error code Content: Gantry deviation error Cause Diagnosis Solution Verify if both drivers share the Unify the parameters of both drivers same set of parameters Excessive Gantry drivers Verify if control cable of the Connect control cable properly deviation drivers are properly connected...
Page 327 User Manual of EL8-RS***F AC Servo Display: “Er 291” Main Error code Error description: Encoder mode not match in full closed loop mode Cause Diagnosis Solution Encoder mode not Only ABZ encoder is supported For external ABZ encoder, match in full closed loop for the moment being please set Pr0.31 = 0.
Page 328 User Manual of EL8-RS***F AC Servo Main Display: “Er 600” Error code Error description: Main loop interrupted timeout Cause Diagnosis Solution Check for interference from Ground driver and motor to The motor control devices releasing reduce interference loop calculation time electromagnetic field overflow Restart driver...
Page 329 User Manual of EL8-RS***F AC Servo Main Display: “Er 920” Error code Error description: External encoder parameter initialization error Cause Diagnosis Solution Verify if Pr0.37 set value is out Modify Pr0.37 set value, please Encoder parameter of range use default value and see if the Pr0.37 setting error error still persists.
Page 330 User Manual of EL8-RS***F AC Servo 9.4 Alarm clearing 9.4.1 Servo Drive Alarm For alarm can be cleared，There are 3 method. Method 1： 1、By setting bit 7 of 6040h to 1, switches state machine from fault to initialization completion , No fault(Switch on disabled).
Page 331 Address: 26050 Towne Centre Dr. Foothill Ranch California United States Tel: 1-949-608-7270 Fax: Get in touch with us or any of your local Leadshine 1-949-638-7298 certified retailers by visiting our global website. Website: www.leadshineus Technical Support a.com Tel: 86-755-2641-8447 Emails:...

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