Leadshine EL7-RS Series User Manual
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Leadshine EL7-RS Series User Manual

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EL7-RS Series AC Servo Drive
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Summary of Contents for Leadshine EL7-RS Series

  • Page 1 EL7-RS Series AC Servo Drive User Manual...
  • Page 2 User Manual of EL7-RS***P AC Servo Foreword Thank you for purchasing Leadshine EL7-RS series AC Servo drives. This manual will provide information on the EL7-RS series servo products regarding product safety & specifications, installations & wiring, tuning & problem diagnostics.
  • Page 3 User Manual of EL7-RS***P AC Servo Transportation Caution Caution  Please provide storage and transportation under protected conditions.  Do not stack the products too high up to prevent toppling.  The product should be packaged properly during transportation,  Do not hold the product by the cable, motor shaft or encoder while transporting it. ...
  • Page 4 User Manual of EL7-RS***P 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: Warranty Information

    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: Table Of Contents

    User Manual of EL7-RS***P AC Servo TABLE OF CONTENT 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 EL7-RS***P AC Servo CHAPTER 3 PARAMETER ............................68 3.1 P ..............................68 ARAMETERS LIST 3.2 P ............................78 ARAMETERS DESCRIPTION 3.2.1 [Class 0] Basic Settings ..........................78 3.2.2 [Class 1] Gain adjustments ......................... 89 3.2.3 [Class 2] Vibration suppression........................95 3.2.4 [Class 3] Velocity/Torque control ......................
  • Page 8 User Manual of EL7-RS***P AC Servo CHAPTER 6 APPLICATION CASE .......................... 213 6.1 G ............................... 213 DJUSTMENT 6.2 I ........................215 NERTIA RATIO IDENTIFICATION FUNCTION 6.3 E ............................... 219 UNING 6.3.1 Single parameter tuning ........................... 219 6.3.2 One-click Tuning ............................220 6.4 A ............................
  • Page 9 User Manual of EL7-RS***P AC Servo 8.4.1 PR module in Motion Studio ........................286 8.4.2 Physical I/O ............................... 288 8.4.3 485 communication ..........................290 8.4.4 Path trigger .............................. 291 8.5 PR ................................. 292 MOTION 8.5.1 Trigger using physical I/O ......................... 292 8.5.2 Control using 485 communication ......................

  • Page 10: Chapter 1 Introduction

    AC servo motors with 23-bit optical/magnetic encoder which offers better accuracy and stability. First time user of the EL7-RS series servo products can refer to this manual for more information on this product that cannot be covered in this short introduction. For further technical support, please do...

  • Page 11: Model Number Structure

    User Manual of EL7-RS***P AC Servo 1.2 Model number structure 1.2.1 Servo Drive - □ EL7 - RS 400 P ○ ○ ○ ○ ○ ① Description Series No. EL7：EL7 AC Servo Drive Series ② RS：Pulse train + RS485 + Analogue Communication protocol EC：EtherCAT...

  • Page 12: Servo Motor

    User Manual of EL7-RS***P AC Servo 1 .2.2 Servo motor 7 0 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: Servo Drive Technical Specifications

    User Manual of EL7-RS***P AC Servo S ervo Drive Technical Specifications 1 3 B EL7-RSP Series Driver EL7-RS400P EL7-RS750P EL7-RS1000P EL7-RS1500P EL7-RS2000P Power Rating 400W 750W 1000W Rated Current (Arms) Coming Soon! Peak Current (Arms) 16.6 18.7 Control circuit power supply 1-Ph AC 200V-240V, -10% - +10%, 50/60Hz Main power supply Resistance(Ω)
  • Page 14 User Manual of EL7-RS***P AC Servo 6. Negative JOG(NJOG) 7. Positive limit switch(PL) 8. Negative limit switch(NL) 9. Origin(ORG) 5 digital outputs (double-ended) DO1~DO5 1. Alarm (ALARM) 2. Servo ready (SRDY) 3. External brake off (BRK-OFF) 4. Positioning completed (INP1) 5.
  • Page 15 User Manual of EL7-RS***P AC Servo Variables(velocity, position deviation, etc.) monitoring using step diagrams’ USB Type-C Modbus USB2.0 (No need to connect driver to power supply) Communication RS485 communication, Modbus RTU protocol (RJ45 port). Modbus Communication up to 32 axes to a host. Dynamic Brake Internal dynamic brake Set triggering conditions and analyze the data from black box.

  • Page 16: Servo Drive Ports And Connectors

    User Manual of EL7-RS***P AC Servo S ervo Drive Ports and Connectors 1 4 B Front View of EL7-RS400P...
  • Page 17 User Manual of EL7-RS***P 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: Motor Ports And Connectors

    User Manual of EL7-RS***P AC Servo 1.5 Motor ports and connectors Motors with aviation connectors ② Power connector ① Encoder connector ③ Motor flange ④Installation screw holes ⑤ Motor shaft Motors with direct connectors Encoder ① Power connector ② connector Motor flange ③...

  • Page 19: Chapter 2 Installation & Wiring

    User Manual of EL7-RS***P AC Servo C hapter 2 Installation & Wiring 2 .1 Servo Drive Installation 1 6 B 2 .1.1 Servo drive installation environment 7 1 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 EL7-RS***P AC Servo Space requirement for installation In order to ensure efficient heat dissipation, please leave at least 10mm installation space in between drivers. If drivers need to be mounted compactly, please leave at 1mm of installation space. Please keep in mind that under such conditions, the drivers can only run at 75% of actual load rate.

  • Page 21: Servo Motor Installation

    User Manual of EL7-RS***P AC Servo 2 .2 Servo Motor Installation 1 7 B 2 .2.1 Installation conditions 7 3 B 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: El7-Rs Wiring Diagram

    Battery kit Servo motor power cable PE: To ground the motor EL7-RS series servo drive supports single phase and three phase 220VAC. Only driver with  power rating above 1500W supports three phase 220VAC. Please use a circuit breaker for the main power supply to prevent damage to the product or ...

  • Page 23: Position Control Mode Wiring Diagram

    User Manual of EL7-RS***P AC Servo 2.3.1 P osition Control Mode Wiring Diagram 7 5 B Position control mode wiring diagram Encoder 1ph 220VAC cable Circuit breaker Line filter Contactor Connect B1 and B2 to use internal ； Motor power regenerative resistor If an external ，...

  • Page 24: Velocity/Torque Control Mode Wiring Diagram

    User Manual of EL7-RS***P AC Servo 2.3.2 V elocity/Torque Control Mode Wiring Diagram 7 6 B Velocity control mode wiring diagram Encoder 1ph 220VAC cable Circuit Breaker Line Filter Contactor Connect B1 and B2 to use internal ； Motor power regenerative resistor If an external ，...
  • Page 25 User Manual of EL7-RS***P AC Servo Torque control mode wiring diagram Encoder cable 1ph 220VAC Circuit breaker Line filter Contactor Connect B1 and B2 to use internal Motor Power ； regenerative resistor If an external Cable ， regenerative resistor is needed ，...

  • Page 26: Servo Drive Ports

    User Manual of EL7-RS***P AC Servo S ervo Drive Ports 1 9 B Connector Label I/O signal connector（DB 44PIN） Motor encoder feedback RS485 Communication port RS485 Communication port Main circuit power supply/ Motor power output USB type C tuning port Protective Earth for grounding...

  • Page 27: X1 Main Power Supply

    User Manual of EL7-RS***P AC Servo 2 .5 X1 Main power supply 2 0 B Port Functions Remarks ① Optional isolation transformer ② Do not connect to 380VAC directly to prevent damage to driver. Single phase ③ case serious interference, 220VAC，+10～- recommended to connect a line filter to main 15%，50/60Hz...

  • Page 28: Main Power Supply Cable Selection

    User Manual of EL7-RS***P AC Servo 2 .5.1 Main Power Supply Cable Selection 7 7 B Main Power Supply Cable Wire diameter: Wire diameter differs according to the power rating of the servo drives. • Please refer to the table below. Wire diameter (mm /AWG) Driver...

  • Page 29: Motor Power Supply Cable Selection (Without Brake)

    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. *M*: Length of the cable Aviation connector（Frame size 130）...

  • Page 30: Holding Brake Wiring Diagram

    User Manual of EL7-RS***P AC Servo Direct connector(Frame size 80 or below）CABLE-RZH*M*-114-TS without holding brake Motor side Driver side Driver cable pin Pins Motor Color Driver Blue Black Yellow- green 2 .5.3 Holding Brake Wiring Diagram 7 9 B 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.

  • Page 31: Motor Power Supply Cable (With Holding Brake)

    User Manual of EL7-RS***P AC Servo 2 .5.4 Motor Power Supply Cable (With Holding Brake) 8 0 B 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-...
  • Page 32 User Manual of EL7-RS***P 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 33: Cn1 I/O Control Signal

    User Manual of EL7-RS***P AC Servo 2 .6 CN1 I/O Control Signal 2 1 B EL7-RS Series Servo Drive uses DB 44-Pin connector. CN1 Signals Note: It is recommended to use 24-26AWG cables for CN1 Function Signal Label Description Low speed pulse Low speed pulse command input mode：...
  • Page 34 User Manual of EL7-RS***P AC Servo High speed pulse 5V differential input HPULSE- command input High speed direction HSIGN+ 4MHz High speed direction command command input input ，5V differential input High speed direction HSIGN- command input +24V Internal 24V power 24V internal power supply, range 20V~28V.

  • Page 35: Cn1 Control Signal Cable Selection

    User Manual of EL7-RS***P AC Servo 2 .6.1 CN1 control signal cable selection 8 1 B 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 36 User Manual of EL7-RS***P 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 37 Please use a double winded shielded cable and make sure to be as short as possible. Please separate CN1 cable from power cables with a minimum gap of 30cm. Battery kit installation Please install the battery kit as the following diagram if our Leadshine direct connector motor doesn’t come with an online battery kit.

  • Page 38: Cn3/Cn4 - Rs485 Communication Port

    Ground（RS485） 4，12 TXD+ RS485 Differential signal+ TXD- RS485 Differential signal- 5，13 Reserved，5V positive VCC5V （50mA） 7，15 Ground 8，16 Frame Shield grounding EL7-RS series supports RS485 communication protocol which enables communication between single/multi axes and master device. CN3 IN CN4 OUT...

  • Page 39: Usb Type-C Tuning Port

    User Manual of EL7-RS***P AC Servo 2.9 USB Type-C Tuning Port EL7-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 40 User Manual of EL7-RS***P AC Servo Calculation of regenerative resistance under normal operation Steps: 1. Determine if driver comes with a regenerative resistor. If not, please prepare a regenerative resistor with resistance value higher than might be required. 2. Monitor the load rate of the regenerative resistor using front panel (d14). Set the driver on high velocity back and forth motions with high acceleration/deceleration.
  • Page 41 User Manual of EL7-RS***P 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 42 User Manual of EL7-RS***P 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 43 User Manual of EL7-RS***P AC Servo Rotor Inertia Max. regenerative energy EL7-RS Drivers Servo motor （× 10 ） kg.m stored in capacitor Ec(J) ( N + 1 ) × J × V ( 5 + 1 ) × 1.66 × 3000 750W ELM2H-0750LA80 1.66...
  • Page 44 User Manual of EL7-RS***P 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 45: I/O Signals

    User Manual of EL7-RS***P AC Servo 2.11 I/O Signals 2.11.1 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 46 User Manual of EL7-RS***P AC Servo Single ended open collector drive input (Low Speed) Max. tolerable command pulse input frequency under open collector = 200kHz. Input voltage of 12- 24V with 50% duty ratio. Using driver internal 24V power supply •...
  • Page 47 User Manual of EL7-RS***P AC Servo • Using external power supply Method 1: Using driver internal resistor (Recommended) When pulse input comes from NPN type device: Controller Driver External 24VDC 2.4K PULLHI 240Ω PULSE+ PULSE－ 2.4K 240Ω SIGN+ SIGN- External When pulse input comes from PNP type device: Controller Driver...
  • Page 48 1/2 W 5V differential drive method is recommended for accurate delivery of pulse data.  EL7-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 49 User Manual of EL7-RS***P AC Servo 5V differential drive input (High Speed) 5V differential drive input (Max. tolerable command pulse input frequency: 500kHz). Due to high speed pulse input, it is highly recommended to use shielded cable and be isolated from power cable. Controller Driver HPULSE＋...

  • Page 50: Analogue Input/Output Circuit

    User Manual of EL7-RS***P AC Servo 2.11.2 Analogue input/output circuit Analogue input signal EL7-RS series servo drives support 2 analogue inputs and 1 analogue output. CN1 Pin Pin Label Description Analogue output 1: Single-ended Input voltage: ±10VDC, input resistance: 20KΩ...

  • Page 51: Digital Input Circuit

    4.7k DI 1 External Relay *Please connect to a flyback diode when using relay input to prevent damage to DO terminal. EL7-RS Series AC Servo Drive supports both common anode and cathode connection: Common Cathode: Common Anode: Driver Driver COM_DI 4.7K...
  • Page 52 User Manual of EL7-RS***P AC Servo Open collector output Common Anode (Internal power supply) Common Cathode (Internal power supply) +24V Controller Driver Power +24V Driver Supply Power Controller Supply COM+ COM+ 4.7k 4.7k DI 1 DI 1 (CMD1) (CMD1) COM- COM- * Please prepare switching power supply with output of 12-24VDC, current≥...

  • Page 53: Digital Output Circuit

    User Manual of EL7-RS***P AC Servo 2.11.4 Digital Output Circuit There are 5 digital outputs. DO1-DO5 are all double ended outputs. Can be connected to independent control signal power supply and reference ground is different from single ended output signals. Double ended outputs DO1-DO5 (Supports both NPN &...
  • Page 54 User Manual of EL7-RS***P AC Servo Optocoupler: External 5~24VDC R1 resistor is needed to prevent damage to the circuit。 Driver Optocoupler DO1+ DO1- External 0V *For servo drive internal optocoupler output circuit: Max. Voltage: 30VDC, Max. Current:50mA  External power supply needs to be provided. Reversed connection of power supply might cause damage to the driver.

  • Page 55: Encoder Frequency Divider Output Circuit

    User Manual of EL7-RS***P AC Servo 2.11.5 Encoder frequency divider output circuit EL7-RS series supports 2 kinds of frequency divider output: Differential and open collector. Signal Description PAO＋ Motor encoder A phase frequency divider output PAO－ Differential, High＞=2.5VDC， PBO＋ Motor encoder B phase Low<=0.5VDC，...
  • Page 56 User Manual of EL7-RS***P AC Servo Encoder frequency divider output (Open Collector) Encoder signal after frequency division will be delivered through an open collector output. External 5V~24V Driver Controller PZ-OUT External 0V Please connect driver frequency divider signal GND to GND of external power supply. Use shielded twisted pair cable to lower noise interference.

  • Page 57: Di Signals Settings

    User Manual of EL7-RS***P AC Servo 2.12 DI Signals Settings Signal Parameter Default signal Default status DI-COM Common input Pr4.00 NC OFF Pr4.01 NC OFF Pr4.02 NC OFF Pr4.03 NC OFF A-CLR Pr4.04 NC OFF SRV-ON Pr4.05 NC OFF Pr4.06 NC OFF Pr4.07 NC OFF...
  • Page 58 User Manual of EL7-RS***P AC Servo Control DI settings Value Signal Symbol Invalid — Positive limit switch Negative limit switch Servo enabled SRV-ON Clear alarm A-CLR Control mode switching C-MODE Gain switching GAIN Clear deviation count Input Parameters Command pulse prohibited Torque limit switching TL-SEL Pr4.00...
  • Page 59 User Manual of EL7-RS***P AC Servo Configurable Input Signal Label Servo enabled Mode Signal SRV-ON Default assignment 33(DI5) I/O circuit 2.11.3 Digital inputs ·Servo enabled (Motor ON/OFF control signal) Label Positive position limit Mode Signal Default assignment 9(DI1) I/O circuit 2.11.3 Digital inputs To prevent axis from travelling in positive direction Signal valid when Pr5.04 is set.
  • Page 60 User Manual of EL7-RS***P AC Servo Command frequency divider/multiplier Label switching Mode Signal DIV1 Default assignment I/O circuit 2.11.3 Digital inputs 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 61 User Manual of EL7-RS***P AC Servo Label Internal command velocity 1 Mode Signal INTSPD1 Default assignment I/O circuit 2.11.3 Digital inputs Label Internal command velocity 2 Mode Signal INTSPD2 Default assignment I/O circuit 2.11.3 Digital inputs Label Internal command velocity 3 Mode Signal INTSPD3...
  • Page 62 User Manual of EL7-RS***P AC Servo Signal input configurable only in PR mode Label Trigger command Mode Signal CTRG Default assignment I/O circuit 2.11.3 Digital inputs Select path address ID through ADD0-3, then trigger PR path motion using CTRG Set rising edge/double edge trigger in Pr8.00. Label Path address 0-3 Mode...

  • Page 63: Do Signals Settings

    User Manual of EL7-RS***P AC Servo 2.13 DO Signals Settings Label Parameter Assigned signal DO1+ Pr4.10 Servo-Ready S-RDY DO1- DO2+ Pr4.11 Positioning completed INP1 DO2- DO3+ External brake released Pr4.12 BRK-OFF DO3- DO4+ Pr4.13 Alarm（ALARM） DO4- DO5+ Pr4.14 Homing done (HOME-OK) DO5- Control signal output settings Value...
  • Page 64 User Manual of EL7-RS***P AC Servo Configurable DO signals Label Alarm Mode Signal ALARM Default assignment (D04) I/O circuit 2.11.4 Digital inputs Signal output when driver alarm occurs Label Servo Ready Mode Signal S-RDY Default assignment (D01) I/O circuit 2.11.4 Digital inputs Signal output when servo is powered on Label Positioning completed...
  • Page 65 User Manual of EL7-RS***P AC Servo Label Negative limit valid Mode Signal NOT-OUT Default assignment I/O circuit 2.11.4 Digital inputs Signal output when negative position limit signal valid Label Position command ON/OFF Mode Signal P-CMD Default assignment I/O circuit 2.11.4 Digital inputs Signal valid when position command ON Label Velocity command ON/OFF...

  • Page 66: Measures Against Electromagnetic Interference

    User Manual of EL7-RS***P AC Servo 2.14 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 67: Using Line Filter

    User Manual of EL7-RS***P AC Servo 2 .14.2 Using line filter 8 8 B To reduce interference from main power supply cable and to prevent from affecting other sensitive components around the servo drive, please choose a line filter based on actual supply current. Please do be aware of the following mistake when installing a line filter.

  • Page 68: Chapter 3 Parameter

    User Manual of EL7-RS***P AC Servo C hapter 3 Parameter 3 .1 Parameters list 3 0 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 69 User Manual of EL7-RS***P AC Servo Valid mode Communication mode Activ Code Label Default ation Byte Addr. Regenerative resistor power rating Pr0.17 — 16bit 0x0023 PR and P/S/T switching — Pr0.22 16bit 0x002D Auxiliary function — Pr0.25 16bit 0x0033 Pr0.26 Simulated I/O —...
  • Page 70 User Manual of EL7-RS***P AC Servo Valid mode Communication mode Activ Code Label Default ation Byte Addr. 0x0049 0x006E Pr0.55 Mapping parameter 6 indicator — 32bit 0049 0x007F 0x0049 0x0070 Pr0.56 Mapping parameter 7 indicator — 32bit 0049 0x0071 0x0049 0x0072 Pr0.57 Mapping parameter 8 indicator...
  • Page 71 User Manual of EL7-RS***P 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 notch frequency Pr2.01 — 4000 16bit 0x0203 Pr2.02 notch width —...
  • Page 72 User Manual of EL7-RS***P AC Servo Valid mode Communication mode Activ Code Label Default ation Byte Addr. Sigmoid acceleration/deceleration Pr3.14 — — 16bit 0x031D settings Pr3.15 Zero speed clamp function selection — — — 16bit 0x031F Pr3.16 Zero speed clamp level —...
  • Page 73 User Manual of EL7-RS***P AC Servo Valid mode Communication mode Activ Code Label Default ation Byte Addr. settings Pr4.31 Positioning complete range — 16bit 0x0445 Pr4.32 Positioning complete output setting — — — 16bit 0x0447 Pr4.33 INP positioning delay time 1000 —...
  • Page 74 User Manual of EL7-RS***P 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 16bit...
  • Page 75 User Manual of EL7-RS***P 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 76 User Manual of EL7-RS***P 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 77 User Manual of EL7-RS***P AC Servo Valid mode Communication mode Activ Code Label Default ation Byte Addr. — — — Pr9.46 PR5 pause time 16bit 0x622E Pr9.47 PR5 special parameter — — — 16bit 0x622F Pr9.48 PR6 mode — — —...

  • Page 78: Parameters Description

    User Manual of EL7-RS***P AC Servo Valid mode Communication mode Activ Code Label Default ation Byte Addr. — — — Pr9.102 PR12 pause time 16bit 0x6266 Pr9.103 PR12 special parameter — — — 16bit 0x6267 Pr9.104 PR13 mode — — —...
  • Page 79 User Manual of EL7-RS***P AC Servo Label Control Mode Settings Valid mode(s) Pr0.01 Range 0~10 Unit — Default Byte length 16bit Attribute 485 address 0x0003 Valid After restart ◆When 3, 4, 5, 6 combination hybrid mode, 1 Description Value mode mode and 2 mode can be chosen accordingly with...
  • Page 80 User Manual of EL7-RS***P AC Servo Used to select the load type, choose according to load-inertia ratio and mechanical structure. This mode prioritizes system responsiveness. Use this mode 0: Rigid when there is a relatively rigid structure with low load inertia. structure Typical application including directly connected high-precision Load type...
  • Page 81 User Manual of EL7-RS***P AC Servo Inertia ratio Label Valid mode(s) Pr0.04 Range 0~20000 Unit Default Byte length 16bit Attribute 485 address 0x0009 Valid Immediate Pr0.04=( load inertia/motor rotational inertia)×100% Set inertia ratio according to actual load inertia. When both are uniform, actual motor velocity loop responsiveness and gain settings will be consistent.
  • Page 82 User Manual of EL7-RS***P AC Servo Command pulse input mode Label Valid mode(s) Range Unit — Default Pr0.07 Byte length 16bit Attribute 485 address 0x000F Valid After restart Command pulse input Command Command pulse Polarity Command Pulse input mode Positive signal Negative signal inversion Mode...
  • Page 83 User Manual of EL7-RS***P AC Servo 1st command pulse count per Label Valid mode(s) revolution Range Unit Default 0-67100864 PULS 10000 Pr0.08 Byte length 32bit Attribute 485 address H: 0x0010 L: 0x0011 Valid After restart Control will affected if value set is too low. Err1b1 might occur if value < 500. (1) Pr0.08 valid when ≠...
  • Page 84 User Manual of EL7-RS***P AC Servo Pulse output logic inversion Label Valid mode(s) Range Unit — Default Pr0.12 Byte length 16bit Attribute 485 address 0x0019 Valid After restart To set phase B logic and output source from encoder pulse output. To inverse B-Phase pulse logic and change the relation between Phase A and Phase B Pulse output logic inversion Pr0.12...
  • Page 85 User Manual of EL7-RS***P AC Servo Absolute encoder settings Label Valid mode(s) Range Unit Default 0~15 Pr0.15 Byte length Attribute 485 address 16bit 0x001F Valid After restart Value Mode Description 【0】 Doesn’t retain position data on power off. Unlimited travel distance. Incremental Retrain position data on power off.
  • Page 86 User Manual of EL7-RS***P AC Servo PR and P/S/T switching Label Valid mode(s) Range Unit Default Pr0.22 Byte length 16bit Attribute 485 address 0x002D Valid Immediate When Pr0.01 = 6(PR Mode), 2 mode can be set on Pr0.22 Pr0.01 Pr0.22 Control mode 【0】...
  • Page 87 User Manual of EL7-RS***P 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 88 User Manual of EL7-RS***P AC Servo Mapping parameter 8 Label Valid mode(s) Pr0.47 Range Unit Default (Only for Byte length 32bit Attribute 485 address 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 89: Class 1] Gain Adjustments

    User Manual of EL7-RS***P 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 90 User Manual of EL7-RS***P AC Servo Label velocity loop gain Valid mode(s) Range Unit Default 1～32767 0.1Hz 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 91 User Manual of EL7-RS***P AC Servo Torque Filter Time Constant Label Valid mode(s) Range Unit Default 0.01ms 0～2500 Pr1.04 Byte length Attribute 485 address 16bit 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 92 User Manual of EL7-RS***P AC Servo Velocity feed forward filter time Label Valid mode(s) constant Pr1.11 Range 0~6400 Unit 0.01ms Default 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 93 User Manual of EL7-RS***P 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 94 User Manual of EL7-RS***P AC Servo Hysteresis at position control Label Valid mode(s) switching Range Unit Mode Default 0~20000 Pr1.18 dependent Byte length Attribute 485 address 16bit 0x0125 Valid Immediate To eliminate the instability of gain switching. Used in combination with Pr1.17 using the same unit.

  • Page 95: Class 2] Vibration Suppression

    User Manual of EL7-RS***P AC Servo 3 .2.3 [Class 2] Vibration suppression 9 1 B Adaptive filtering mode settings Label Valid mode(s) Range Unit Default — Pr2.00 Byte length Attribute 485 address 16bit 0x0201 Valid Immediate Value Description Adaptive filter: invalid Parameters related to 3 notch filter remain unchanged...
  • Page 96 User Manual of EL7-RS***P AC Servo Label notch frequency Valid mode(s) Range Unit Default 50~4000 4000 Pr2.04 Byte length 16bit Attribute 485 address 0x0209 Valid Immediate Set center frequency of 2 torque command notch filter. Set Pr2.04 to 4000 to deactivate notch filter notch width Label Valid mode(s)
  • Page 97 User Manual of EL7-RS***P AC Servo Label damping frequency Valid mode(s) Range Unit Default 0/10~2000 0.1Hz Pr2.14 Byte length Attribute 485 address 16bit 0x021D Valid Immediate Set Pr2.16 to 0 to deactivate this parameter. To suppress wobble at load end. Often used when wobble of flexible structure due to high deceleration upon stopping.
  • Page 98 User Manual of EL7-RS***P AC Servo Label Position command FIR filter Valid mode(s) Range Unit Default 0~2500 0.1ms 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 99 User Manual of EL7-RS***P AC Servo Label Adjustment mode Valid mode(s) Range Unit Default — Pr2.48 Byte length 16bit Attribute 485 address 0x0261 Valid Immediate Value Description 【0】 Turn off automatic adjustments Activate automatic adjustments, real time inertia measuring and vibration suppression.
  • Page 100 User Manual of EL7-RS***P AC Servo Dynamic friction compensation Label Valid mode(s) coefficient Range Unit Default 0~1000 Pr2.53 Byte 16bit Attribute 485 address 0x026B length Valid Immediate To set ratio of rated torque/rated rotational speed, to compensate for dynamic friction during motion and have better control over acceleration/deceleration.

  • Page 101: Class 3] Velocity/Torque Control

    User Manual of EL7-RS***P AC Servo 3 .2.4 [Class 3] Velocity/Torque control 9 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 102 User Manual of EL7-RS***P 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 103 User Manual of EL7-RS***P 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 104 User Manual of EL7-RS***P 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 16bit Attribute 485 address...
  • Page 105 User Manual of EL7-RS***P 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 106 User Manual of EL7-RS***P 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 107 User Manual of EL7-RS***P AC Servo Label Velocity limit in torque mode Valid mode(s) Range Unit Default 0~10000 r/min 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 108 User Manual of EL7-RS***P AC Servo Please refer to the following table as an example for users’ required settings. Assuming (1) Pr3.58-Pr3.61 = default (2)Motor rated rotational speed = 2000rpm (3) SPDREG input signal = ON SPDREG1 SPDREG2 SPDREG3 SPDREG4 Actual speed Ratio (%) Pr3.58...

  • Page 109: Class 4] I/O Monitoring Settings

    User Manual of EL7-RS***P AC Servo 3 .2.5 [Class 4] I/O Monitoring Settings 9 3 B Label Input selection DI1 Valid mode(s) Range 0x00~0xFF Unit — Default Pr4.00 Byte 0x0401 16bit Attribute length address Valid Immediate Please refer to the table below to set DI signals and table on the right for corresponding pin and parameters Value Symbol Signal...
  • Page 110 User Manual of EL7-RS***P AC Servo Inputs related to Pr-mode: Value Signal Symbol Trigger command CTRG Home HOME Forced stop Value Signal Symbol Positive JOG PJOG Negative JOG NJOG Positive limit Negative limit Origin Path address 0 ADD0 Path address 1 ADD1 Path address 2 ADD2...
  • Page 111 User Manual of EL7-RS***P AC Servo Input selection DI8 Label Valid mode(s) Range 0x0~0xFF Unit — Default Pr4.07 Byte 16bit Attribute 485 address 0x040F length Valid Immediate DI2~DI8allocation is the same as DI1. Please refer to Pr4.00. Label Output selection DO1 Valid mode(s) Range Unit...
  • Page 112 User Manual of EL7-RS***P AC Servo Byte length 16bit Attribute 485 address 0x0417 Valid Immediate Output selection DO3 Label Valid mode(s) Range Unit Default 0x0~0xFF — Pr4.12 Byte length 16bit Attribute 485 address 0x0419 Valid Immediate Label Output selection DO4 Valid mode(s) Range Unit...
  • Page 113 User Manual of EL7-RS***P AC Servo Analog input 3(AI-3) overvoltage Label Valid mode(s) settings Range Unit Default 0~100 0.1V Pr4.30 Byte length 16bit Attribute 485 address 0x043D Valid Immediate Pr4.30 is invalid when set to 0. Er270 might occur when the input voltage of AI3 is higher than the voltage after zero drift correction.
  • Page 114 User Manual of EL7-RS***P AC Servo Zero speed Label Valid mode(s) Range Unit Default 1~2000 r/min 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 115 User Manual of EL7-RS***P AC Servo Target 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 116 User Manual of EL7-RS***P 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 117 User Manual of EL7-RS***P AC Servo Label AO1 output Valid mode(s) Range Unit Default 0~10 — 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 118: Class 5] Extension Settings

    User Manual of EL7-RS***P AC Servo 3 .2.6 [Class 5] Extension Settings 9 4 B pulse count per revolution Label Valid mode(s) Range Unit PULS Default 0-67108864 10000 Pr5.00 Byte length 32bit Attribute 485 address H: 0x0500 L: 0x0501 Valid After restart Switch between Pr0.08 and Pr5.00 with DI signal DIV1.
  • Page 119 User Manual of EL7-RS***P AC Servo Servo-off mode Valid mode(s) Label Range Default — Unit Pr5.06 Byte length 16bit Attribute 485 address 0x050D Valid Immediate To set servo driver disable mode and status. Description Value Mode Status Servo braking Dynamic braking Free stopping Dynamic braking Dynamic braking...
  • Page 120 User Manual of EL7-RS***P AC Servo Servo braking torque setting Valid mode(s) Label Range Default 0~500 Unit Pr5.11 Byte length 16bit Attribute 485 address 0x0517 Valid Immediate To set torque limit for servo braking mode. If Pr5.11 = 0, use torque limit as under normal situation. Please note that if Pr5.11 set value is too low, emergency stop will take longer.
  • Page 121 User Manual of EL7-RS***P AC Servo Label Position unit settings Valid mode(s) Range Default — Unit Pr5.20 Byte length Attribute 485 address 16bit 0x0529 Valid Immediate Set unit for position related parameters Value Unit Encoder unit Command unit 0.0001rev Command unit: Pulse from host (Affected by electronic gear ratio) Encoder unit: Pulse from encoder (Related to encoder resolution) Pr5.20 can only be modified when axis is disabled as it will clear position data Torque limit selection...
  • Page 122 User Manual of EL7-RS***P AC Servo Label LED initial status Valid mode(s) Range — Default 0~35 Unit Pr5.28 Byte length 16bit Attribute 485 address 0x0539 Valid Immediate To set content display on front panel of the servo driver at servo driver power on. Value Status Value...
  • Page 123 User Manual of EL7-RS***P 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】 RS485 communication Baud rate Valid mode(s) Label Range...
  • Page 124 User Manual of EL7-RS***P AC Servo Torque saturation alarm detection Valid mode(s) Label time Range Default Pr5.37 0~5000 Unit 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 125 User Manual of EL7-RS***P 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 126: Class 6] Other Settings

    User Manual of EL7-RS***P AC Servo 3 .2.7 [Class 6] Other settings 9 5 B Label Encoder zero position compensation Valid mode(s) Range Electrical Default 0~360 Unit 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 127 User Manual of EL7-RS***P 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 128 User Manual of EL7-RS***P AC Servo Max. time to stop after disabling Valid mode(s) Label 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 129 User Manual of EL7-RS***P 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 130: Class 7] Factory Settings

    User Manual of EL7-RS***P AC Servo Absolute multiturn data upper limit Valid mode(s) Label Range Default 0~32766 Unit Pr6.63 Byte length 16bit Attribute 485 address 0x067F Valid After restart Use Pr0.15 = 2 in rotational mode, Feedback position cycles between 0 and (Pr6.63+1) x encoder resolution.

  • Page 131: Class B] Status Parameters

    User Manual of EL7-RS***P AC Servo External grating ruler precision Valid mode(s) Label Range Default 1~1000000 Unit 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 132 User Manual of EL7-RS***P AC Servo Motor torque Valid mode(s) Label PrB.07 Range Unit Default Byte length 16bit Attribute 485 address 0x0B07 The percentage of motor actual torque and rated torque Label Motor current Valid mode(s) PrB.08 Range Unit 0.01A Default Byte length 16bit...
  • Page 133 User Manual of EL7-RS***P AC Servo Physical I/O input status Valid mode(s) Label PrB.17 Range Unit Default Byte length 16bit Attribute 485 address 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 134: Class 8] Pr Control Parameters

    User Manual of EL7-RS***P AC Servo Rotational encoder position feedback Valid mode(s) Label (Command unit) Range Default PrB.26 Unit Byte length Attribute 485 address 32bit H: 0x0B20 L: 0x0B21 Motor position under rotary mode. Please refer to PrB.21 3.2.9 [Class 8] PR control parameters Valid mode(s) Label PR Control...
  • Page 135 User Manual of EL7-RS***P AC Servo Valid mode(s) Label Software positive limit H Range Default Pr8.06 0~ 65535 Unit Pulse Byte length 16bit Attribute 485 address 0X6006 High bit of software positive limit；(Only valid using 485 communication) Valid mode(s) Label Software positive limit (L) Range Default...
  • Page 136 User Manual of EL7-RS***P AC Servo Label Zero position (L) Valid mode(s) Range Default -2147483648~ Unit Pr8.12 2147483647 Byte length 32bit Attribute 485 address 0X600C To set zero position. Using 485 communication, only able to R/W low 16 bit. R/W high 16 bit needs to be realized through Pr8.11. Label Home position offset H Valid mode(s)
  • Page 137 User Manual of EL7-RS***P AC Servo Valid mode(s) Label Emergency stop at limit deceleration Range Default 1 ~ 32767 Unit ms/Krpm Pr8.22 Byte length 16bit Attribute 485 address 0X6016 To set position limit emergency stop deceleration. Valid mode(s) Label STP emergency stop deceleration Range Default Pr8.23...
  • Page 138 User Manual of EL7-RS***P AC Servo Label S-code current output value Valid mode(s) Range Default 0 ~ 65535 Unit Pr8.28 Byte length 16bit Attribute 485 address 0X601C S-code（Status code）is the S-code of currently operating PR positioning data. Every PR path has a S-code setting. S-code Sx.H Sx.L...
  • Page 139 User Manual of EL7-RS***P AC Servo Valid mode(s) Label JOG deceleration Range Default Unit Pr8.41 0 ~ 65535 ms/Krpm Byte length Attribute 485 address 16bit 0X6029 Set JOG deceleration in PR mode. Valid mode(s) Label Command position H Range Default 0 ~ 65535 Unit Pr8.42...
  • Page 140 User Manual of EL7-RS***P AC Servo Label Path 2 S-code Valid mode(s) Range Default Pr8.50 0 ~ 65535 Unit Byte length Attribute 485 address 16bit 0X6032 Please refer to Pr8.28 for S-code setting. Label Path 3 S-code Valid mode(s) Range Default Pr8.51 Unit...
  • Page 141 User Manual of EL7-RS***P AC Servo Label Path 12 S-code Valid mode(s) Range Default Pr8.60 0 ~ 65535 Unit Byte length Attribute 485 address 16bit 0X603C Please refer to Pr8.28 for S-code setting. Label Path 13 S-code Valid mode(s) Range Default Pr8.61 Unit...

  • Page 142: Class 9] Pr Control Path Parameters

    User Manual of EL7-RS***P 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 16bit Attribute 485 address 0X6200 8-13 Definition...
  • Page 143 User Manual of EL7-RS***P 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 144 User Manual of EL7-RS***P 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 145 User Manual of EL7-RS***P 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 146 User Manual of EL7-RS***P 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 147 User Manual of EL7-RS***P 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 148 User Manual of EL7-RS***P 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 149 User Manual of EL7-RS***P 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 150 User Manual of EL7-RS***P 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 151 User Manual of EL7-RS***P 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 152 User Manual of EL7-RS***P 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 153 User Manual of EL7-RS***P 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 154 User Manual of EL7-RS***P 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 155 User Manual of EL7-RS***P 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 156 User Manual of EL7-RS***P 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 157 User Manual of EL7-RS***P 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 158: Chapter 4 Servo Drive Operation

    User Manual of EL7-RS***P 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 159: Servo Stop

    User Manual of EL7-RS***P 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 160 User Manual of EL7-RS***P AC Servo Motor stopping（Servo disabled）- Sequence Diagram Servo braking method. Status after stopping: Dynamic braking Input coupler Servo enabled Input coupler Input coupler SRV-ON Dynamic Activated Deactivated Activated brake Enabled Disabled Disabled Servo status SRV-ST Power OFF Power ON Power OFF Motor power...
  • Page 161 User Manual of EL7-RS***P AC Servo Free stopping method. Status after stopping: Dynamic braking 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 Brake OFF...
  • Page 162 User Manual of EL7-RS***P AC Servo Dynamic braking method. Status after stopping: Dynamic braking 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 Brake ON...
  • Page 163 User Manual of EL7-RS***P AC Servo Servo stopping method. Status after stopping: Free running Input coupler Servo enabled Input coupler Input coupler SRV-ON Dynamic Activated Deactivated brake Enabled Disabled Disabled Servo status SRV-ST Power ON Motor power Power OFF Power OFF Brake ON Brake ON Holding brake status...
  • Page 164 User Manual of EL7-RS***P AC Servo Free stopping method. Status after stopping: Free running Input coupler Servo enabled Input coupler Input coupler SRV-ON Dynamic Activated Deactivated brake Enabled Disabled Servo status Disabled SRV-ST Power OFF Power ON Power OFF Motor power Holding brake Brake ON Brake ON...
  • Page 165 User Manual of EL7-RS***P AC Servo Dynamic braking method. Status after stopping: Free running Servo enabled Input coupler Input coupler Input coupler SRV-ON Activated Dynamic Activated Deactivated Deactivated brake Enabled Disabled Disabled Servo status SRV-ST Power OFF Power ON Power OFF Motor power Brake ON Holding brake status...
  • Page 166 User Manual of EL7-RS***P 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 167 User Manual of EL7-RS***P 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 168 User Manual of EL7-RS***P 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 169 User Manual of EL7-RS***P AC Servo Servo braking method. Status after stopping: Free moving Error Alarm Normal occurrence Servo status SRV-ST Enabled Disabled Dynamic Deactivated brake Motor power Power Power OFF Servo ready S-RDY Ready Not Ready Servo alarm No Alarm Alarm Holding brake Brake OFF...
  • Page 170 User Manual of EL7-RS***P AC Servo Free stopping method. Status after stopping: Free moving Error Alarm Normal occurrence Servo status Enabled Disabled SRV-ST Dynamic Deactivated brake Motor power Power ON Power OFF Servo ready Ready Not Ready S-RDY Servo alarm No Alarm Alarm Holding brake...
  • Page 171 User Manual of EL7-RS***P AC Servo Dynamic braking. Status after stopping: Free moving Error Error Normal occurrence Servo status Enabled Disabled SRV-ST Activated Dynamic Deactivated Deactivated brake Motor power Power ON Power OFF Servo Ready S-RDY Ready Not Ready Servo Alarm No Alarm Alarm Holding brake...
  • Page 172 User Manual of EL7-RS***P 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 173: Front Panel

    User Manual of EL7-RS***P AC Servo 4.3 Front Panel Servo Drive front panel consists of 5 push buttons and a 8-segments display . Can be used for displaying of status, alarms, functions, parameters setting and auxiliary functions. ■ ■ ■ ■...

  • Page 174: Panel Display And Operation

    User Manual of EL7-RS***P 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 175: Data Monitoring Mode

    User Manual of EL7-RS***P 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 176 User Manual of EL7-RS***P AC Servo 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 d12Er...
  • Page 177 User Manual of EL7-RS***P AC Servo “ ” – driver d xxx d33At Driver temperature temperature ℃ d33At “ ” – MCU temperature C xxx Servo status “xxx” d35 SF Internal usage “xxxxxx” d35SF Description of data monitoring function When using the front panel to monitor data, data is divided in low/high bit and positive/negative. .
  • Page 178 User Manual of EL7-RS***P AC Servo 2. d01SP Motor velocity, d02CS Position control command velocity, d03CU Velocity control command velocity, d04 tr Actual torque feedback reflects actual current. d04 tr Bxternal encoder feedback velocity D01 sp r 400 Motor actual velocity（r/min） （mm/s）...
  • Page 179 User Manual of EL7-RS***P AC Servo 4. d07 Maximum torque during motion Maximum torque during motion ▲▼ Average load ratio（%） 5. d08FP Internal command pulse sum D08 Fp Internal command pulse sum (pulse） 6. d09Cn Control mode D09 Cn Ct pos Mosition control mode Ct spd Velocity control mode...
  • Page 180 User Manual of EL7-RS***P AC Servo 8. d11Ai Analog input D11 Ai Analog input 1（Unit: 0.001V） ▼ ▲ Analog input 2（Unit: 0.001V） ▼ ▲ Analog input 3（Unit: 0.001V） 3 analog inputs can be monitored through d11. Left most bar at the top: 1 analog input;...
  • Page 181 User Manual of EL7-RS***P AC Servo D1 5oL ▼▲ Motor load ratio Driver load ratio 11、d16Jr Inertia ratio D1 6Vr Actual inertia ratio during motion [%] Use auxiliary function or Motion studio to measure the inertia ratio. The result will be shown on AF_GL , hold M to write the value in Pr0.04.
  • Page 182 ◀ User Manual of EL7-RS***P AC Servo 13、d21AE Single turn encoder data d22rE Multiturn encoder data Bxample: Single turn A10748 D21 AE encoder data = 8410748 Mress ◀ to switch Single turn encoder between high/low bit data – high bit Single turn encoder data –...
  • Page 183 User Manual of EL7-RS***P AC Servo 15. d27Pn DC bus voltage D27 Pn DC bus voltage across MK 16. d28no Software version …..Servo firmware version D28 no d 024 （DSM） ▲▼ C 000 …..CMLD Version ▲▼ …..Communication software F 013 version ▲▼...
  • Page 184 User Manual of EL7-RS***P 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 LED initial status Valid mode(s)

  • Page 185: Parameters Saving

    User Manual of EL7-RS***P 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. If the parameter is modified but user does not want to save the changes, press M to exit without saving.

  • Page 186: Auxiliary Function

    User Manual of EL7-RS***P AC Servo 4.6 Auxiliary function Marameters settings Mr 0.000 mode Auxiliary functions Operation to select Mress ▼ ▲ AF Vog V o g - Trial run Trial run Reset to factory Reset to factory AF InI In I - default default...
  • Page 187 User Manual of EL7-RS***P 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 188 User Manual of EL7-RS***P AC Servo AF unL Front panel unlock Auxiliary Operation Front panel AF unL 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 189 User Manual of EL7-RS***P AC Servo AF Enc Motor angle correction Auxiliary function Operation Motor angle AF Enc Enc - Initialization correction StArt) Press ▲ once to start correct(displays FinSh is displayed once completed. StArt Start correction FinSh Completed AF_GL Inertia measuring Please make sure: 1.
  • Page 190 User Manual of EL7-RS***P 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 191: Get Started With Driver Operation

    User Manual of EL7-RS***P AC Servo 4.7 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 192: Chapter 5 Control Mode

    User Manual of EL7-RS***P AC Servo Chapter 5 Control Mode Control modes for EL7-RSP 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 193: Position Control

    User Manual of EL7-RS***P 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 194: Pulse Input And Direction Settings

    User Manual of EL7-RS***P 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 195 User Manual of EL7-RS***P 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 196: Electronic Gear Ratio

    When Pr0.08 = 0, Pr0.09 and Pr0.10 will be valid. Other than that, Pr0.08 set value will be valid. EL7-RS series supports 2 independent sets of electronic gear ratio. The 2 sets can be switch by delivering a command frequency divider/multiplier input DIV1. Both sets of electronic gear ratio is set up using Pr0.08, Pr0.09 and Pr0.10;...

  • Page 197: Position Command Filter

    User Manual of EL7-RS***P 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 198: Frequency Divider Output

    User Manual of EL7-RS***P AC Servo As shown below, when target velocity Vc trapezoidal command reaches Vc, it becomes S wave after filtering. 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 199 User Manual of EL7-RS***P AC Servo Related parameters Encoder output pulse count per Label Valid mode(s) revolution Range 1~32767 Unit Default 2500 Pr0.11 Byte length Attribute 485 address 16bit 0x0017 Valid After restart If Pr0.11 = 1000, encoder differential output signal per revolution = 4000 pulses Pulse output logic inversion Label Valid mode(s)

  • Page 200: Positioning Completed Inp Signal Output

    User Manual of EL7-RS***P AC Servo 5.1.5 Positioning completed INP signal output INP signal output will be valid when position deviation is within the range when positioning is completed. Set unit in Pr5.20. Label Positioning complete range Valid mode(s) Range Unit Default 0～...

  • Page 201: Velocity Control Mode

    User Manual of EL7-RS***P 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 EL7-RSP series AC Servo Drives: Analog control, internal velocity 4 speeds, internal velocity 8 speeds and analog + internal velocity control.

  • Page 202: Velocity Command Input Control

    User Manual of EL7-RS***P 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 203 User Manual of EL7-RS***P AC Servo 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 204: Velocity Command Acceleration/Deceleration

    User Manual of EL7-RS***P 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 205 User Manual of EL7-RS***P 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) MA3.13...

  • Page 206: Velocity Reached Signal At-Speed Output

    User Manual of EL7-RS***P 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 207: Zero Speed Clamp

    User Manual of EL7-RS***P 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 208: Torque Control

    User Manual of EL7-RS***P 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 209: Torque Command Input Control

    User Manual of EL7-RS***P 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 210: Torque Velocity Limit

    User Manual of EL7-RS***P 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 Attribute 485 address 16bit 0x0329 Valid Immediate To set voltage polarity of analog torque command.

  • Page 211: Torque Limit (Tl-Sel)

    User Manual of EL7-RS***P 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 212: Hybrid Control Mode

    User Manual of EL7-RS***P 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 213: Chapter 6 Application Case

    User Manual of EL7-RS***P 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 High gain + feedforward Low gain [r/min]...
  • Page 214 User Manual of EL7-RS***P AC Servo Start Electronic gear ratio Inertia measuring Auto gain adjustment Requirement met? Manual gain adjustment Requirement met? Vibration suppression Gain Adjustment Flow Diagram...

  • Page 215: Inertia Ratio Identification Function

    User Manual of EL7-RS***P AC Servo Steps Functions Explanation Online Motor moves with command from controller, servo driver will automatically calculate load-inertia ratio Inertia ratio Offline Using servo driver inertia determining function, servo driver identification can automatically calculate load-inertia ratio Auto gain Auto gain Real time determining of mechanical load, gain value is set...
  • Page 216 User Manual of EL7-RS***P AC Servo To make sure accurate inertia ratio identification 1. Max rotational velocity at 400rpm 2. Acceleration/deceleration time above 100ms 3. Stable load torque without large variation. Online inertia determination Enable motor using controller. Let motor run at above 400rpm, make sure there are acceleration, constant velocity and deceleration phase during the whole run.
  • Page 217 User Manual of EL7-RS***P AC Servo Steps: 1、Set the trial run velocity Pr6.04. Value set shouldn’t be too large, please keep it at around 400 r/min. 2、Enter AF_GL for auxiliary function – Inertia ratio determination into front panel 3、Press S once to enter. “G---” will be displayed on the front panel. 4、Press once to display “StUon”...
  • Page 218 User Manual of EL7-RS***P 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 219: Easy Tuning

    User Manual of EL7-RS***P 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 220: One-Click Tuning

    User Manual of EL7-RS***P 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 221 User Manual of EL7-RS***P 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 222: Auto Gain Adjustment

    User Manual of EL7-RS***P 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 223 User Manual of EL7-RS***P 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. Gain related parameters that change as shown below.
  • Page 224 User Manual of EL7-RS***P 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 Position control gain switching mode...
  • Page 225 User Manual of EL7-RS***P AC Servo Used to select the load type, choose according to load-inertia ratio and mechanical structure. This mode prioritizes system responsiveness. Use this 0: Rigid mode when there is a relatively rigid structure with low load structure inertia.
  • Page 226 User Manual of EL7-RS***P 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 Velocity Position Velocity Position Torque Torque integral time integral time loop loop loop loop gain filter filter constant constant...

  • Page 227: Manual Gain Adjustment

    User Manual of EL7-RS***P 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 228 User Manual of EL7-RS***P 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 229: Parameters Adjustment Under Different Control Modes

    User Manual of EL7-RS***P AC Servo 1. If vibration occurs with increasing Pr1.01, please modify Pr1.04 to suppress vibration. 2. If the parameters are set too high, it might cause current loop response to reduce. 3. To suppress vibration at stop, increase Pr1.01 and decrease Pr1.04. 4.
  • Page 230 User Manual of EL7-RS***P 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 231: Gain Switching

    User Manual of EL7-RS***P 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 232 User Manual of EL7-RS***P 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 Pr1.15 6、9、10.
  • Page 233 User Manual of EL7-RS***P AC Servo Label Position control gain switching mode Valid mode(s) 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 234 User Manual of EL7-RS***P AC Servo Please set level ≥ hysteresis Hysteresis at position control Label Valid mode(s) switching Range Unit Mode Default 0~20000 dependent Pr1.18 Byte 16bit Attribute 485 address 0x0125 length Valid Immediate To eliminate the instability of gain switching. Used in combination with Pr1.17 using the same unit.

  • Page 235: Rd Gain Switching

    User Manual of EL7-RS***P 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 236: Model Following Control

    User Manual of EL7-RS***P 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 237: Zero Tracking Control

    User Manual of EL7-RS***P AC Servo Model following bandwidth determines the responsiveness of the servo system. Increase the value set will increase responsiveness and reduce positioning time. Overshoot can be prevented if it is set at a lower value but responsiveness will be lowered. Model following bandwidth shouldn’t be too large for mechanical structure with lower stiffness, excessive position deviation alarm might occur under high velocity.

  • Page 238: Feedforward Gain

    User Manual of EL7-RS***P AC Servo Related parameters Parameter Label Description Pr2.50 Model following 0：Model following control - Default control 1：Zero tracking control Pr2.53 Dynamic friction Range: 0-1000, unit: 0.1% compensation Unit：Changes in torque with the effect of friction on coefficient rotational speed.

  • Page 239: Torque Feedforward

    User Manual of EL7-RS***P 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 240 User Manual of EL7-RS***P AC Servo 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 241: Friction Compensation Function

    User Manual of EL7-RS***P 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 242: Safety Functions

    User Manual of EL7-RS***P AC Servo Negative direction torque Valid Label compensation value mode(s) Range Default -100~100 Unit Pr6.09 Byte 16bit Attribute 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 243: Max. Duration For Motor To Stop After Disabling

    User Manual of EL7-RS***P AC Servo 6.10.2 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 244 User Manual of EL7-RS***P AC Servo SRV_ON Brake released (BRK_ON) Brake BRK_OFF Motor Power Released Actual holding Braked Braked brake status Motor Velocity *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.

  • Page 245: Servo Stopping Mode

    User Manual of EL7-RS***P AC Servo 6.10.4 Servo stopping mode Servo-off mode Valid mode(s) Label Range Default — Unit Pr5.06 Byte length 16bit Attribute 485 address 0x050D Valid Immediate To set servo driver disable mode and status. Description Value Mode Status Servo braking Dynamic braking...

  • Page 246: Emergency Stop Function

    User Manual of EL7-RS***P AC Servo 6.10.5 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 Label Emergency stop function Valid mode(s) Range...

  • Page 247: Vibration Suppression

    User Manual of EL7-RS***P 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 248 User Manual of EL7-RS***P 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 249 User Manual of EL7-RS***P AC Servo Adaptive filtering mode settings Label Valid mode(s) Range Unit Default — Pr2.00 Byte length 16bit Attribute 485 address 0x0201 Valid Immediate Value Description Adaptive filter: invalid Parameters related to 3 notch filter remain unchanged Adaptive filter: 1 filter valid 1 adaptive filter becomes valid.
  • Page 250 User Manual of EL7-RS***P AC Servo Set notch bandwidth for 2 resonant notch filter. Under normal circumstances, please use factory default settings. If resonance is under control, in combination with Pr2.04 and Pr2.06, Pr2.05 can be reduced to improve current loop responsiveness which allows higher mechanical stiffness settings.

  • Page 251: End Vibration Suppression

    User Manual of EL7-RS***P AC Servo 6.11.2 End vibration suppression Bnd 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 252: Mechanical Properties Analysis

    User Manual of EL7-RS***P 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 6.11.3 Mechanical properties analysis To determine mechanical and set up notch filter parameters to suppress vibration caused by resonance.

  • Page 253: Black Box

    User Manual of EL7-RS***P AC Servo 6.12 Black box Black box is a function which allows users to set conditions or data to be captured whenever error occurs. The data will be recorded by black box at the moment of error occurrence and automatically saved. Thus, through Motion Studio, user can analyze cause of the problem with the aid of black box data.
  • Page 254 User Manual of EL7-RS***P AC Servo 2. Trigger mode 2: Trigger black box whenever a chosen specific error occurs. 3. Trigger mode 3: Conditions for black box functions to be triggered can set. Set the source, level and edge of the trigger as shown below. 4.
  • Page 255 User Manual of EL7-RS***P AC Servo 5. Sampling period (ms): The lower the set value, the more precise the samples are but sampling time will be shorter. 6. Trigger position (%): Set the position of trigger within the sampling period. 7.

  • Page 256: Multiturn Absolute Encoder

    User Manual of EL7-RS***P AC Servo 6.13 Multiturn absolute encoder Multiturn absolute encoder records the position and the revolution counts of the motor. When driver is powered-off, multiturn absolute encoder will backed up the data using battery and after powering on, the data will be used to calculated absolute mechanical position and there is no need for a mechanical homing process.
  • Page 257 User Manual of EL7-RS***P 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 258 User Manual of EL7-RS***P AC Servo 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 259 User Manual of EL7-RS***P AC Servo Motor Load Position during power-on Encoder position 10000 Actual position -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 260 User Manual of EL7-RS***P AC Servo If the motor position is as shown below during power on. The range of motion of the motor is within the range of a single turn of the motor from motor position during power on. Single turn Mosition Mosition during...

  • Page 261: Absolute Encoder Related Alarm

    User Manual of EL7-RS***P AC Servo 6.13.3 Absolute Encoder Related Alarm The alarm can determine if absolute value encoder is valid. If battery power is low, not a motor with absolute encoder, encoder error etc. occurs, user can find out about the error from alarm output or on the front panel.

  • Page 262: Motor Speed Regulation

    User Manual of EL7-RS***P AC Servo 6.14 Motor Speed Regulation This is a motor speed regulator to control motor rotational speed using I/O input signals. For example, if the input voltage = -10 ~ 10VDC and rotational speed of the motor corresponds to -2000 to 2000rpm.
  • Page 263 User Manual of EL7-RS***P AC Servo Related parameters Label Control Mode Settings Valid mode(s) Range 0~10 Unit — Default Pr0.01 Byte length 16bit Attribute 485 address 0x0003 Valid After restart ◆When 3, 4, 5, 6 combination hybrid mode, 1 Description Value mode mode...
  • Page 264 User Manual of EL7-RS***P AC Servo Label Speed regulation ratio 2 Valid mode(s) Range 0~150 Unit Default Pr3.59 Byte length 16bit Attribute 485 address H0x0376 L0x0377 Valid Immediate Same as Pr3.58 Label Speed regulation ratio 3 Valid mode(s) Range 0~150 Unit Default Pr3.60...
  • Page 265 User Manual of EL7-RS***P AC Servo Torque command sign TC-SIGN Forced alarm E-STOP Vibration suppression 1 VS-SEL1 Vibration suppression 2 VS-SEL2 Speed regulation valid SPDREG Speed regulation ratio 1 SPDREG1 Speed regulation ratio 2 SPDREG2 Speed regulation ratio 3 SPDREG3 Speed regulation ratio 4 SPDREG4 Please don’t set anything other than listed in table above.

  • Page 266: Chapter 7 Modbus Communication

    User Manual of EL7-RS***P AC Servo Chapter 7 Modbus communication There are 2 types of Modbus communication on EL7-RSP series servo drives: RS485 and RS232. RS232 is used for point-to-point communication connecting the driver to PC through a USB type-C cable for tuning using Motion Studio.

  • Page 267: Rs485 Communication Port

    User Manual of EL7-RS***P AC Servo 7.2 RS485 communication port Port Diagram Signal Description 1，9 RDO+ RS485 Differential signal+ RDO - RS485 Differential signal- 2，10 3，11 Ground（RS485） 4，12 TXD+ RS485 Differential signal+ 5，13 TXD- RS485 Differential signal- Reserved，5V positive VCC5V （50mA）...

  • Page 268: Modbus Protocol

    User Manual of EL7-RS***P AC Servo 7.3 Modbus Protocol EL7-RSP 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. Operation Function code Read 16/32 bit parameters 0x03 Write 16 bit parameters...

  • Page 269: Write Multiple Data 0X10

    User Manual of EL7-RS***P AC Servo 7.3.2 Write multiple data 0x10 Function code 0x10 is to write multiple 16-bit data into servo drive. For example, from servo drive to slave as 1 and reading 2 data. (H: High 8-bit, L: Low 8-bit). Request frame data（Master->Slave）...
  • Page 270 User Manual of EL7-RS***P AC Servo Error code table: Error code Description 0x01 Function code error 0x02 Address error 0x03 Data error, i.e. written data over limit 0x08 CRC checksum error 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.

  • Page 271: Frequently Occurred Issues And Solutions With Rs485 Communication

    User Manual of EL7-RS***P AC Servo 7.4 Frequently occurred issues and solutions with RS485 communication. Terminal resistor Terminal resistor is to be connected at the start and end of the device network. Recommended resistance of the terminal resistor: 120 Ohm. Measure the resistance within the network using a multimeter and refer to the table below.
  • Page 272 User Manual of EL7-RS***P AC Servo Driver interference: If interference occurs within the driver, please intertwine magnetic rings on cable 1 and 2. Please loop UVW cables around the magnetic ring for at least 3 rounds. Do not loop PE wire into the magnetic ring. Step-by-step problem solving 1: Verify if communication parameters setting are correct (ID not repeated, uniform Baud rate and data format);...

  • Page 273: Chapter 8 Pr Functions

    User Manual of EL7-RS***P 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 274: Pr Functions Introduction

    User Manual of EL7-RS***P 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 275: Control Parameters

    User Manual of EL7-RS***P 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 276 User Manual of EL7-RS***P AC Servo 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 Set homing torque holding time time 0X6014 Pr8.20 Homing torque...

  • Page 277: Pr Motion

    User Manual of EL7-RS***P 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.
  • Page 278 User Manual of EL7-RS***P 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 279 User Manual of EL7-RS***P 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 High Velocity Low velocity...
  • Page 280 User Manual of EL7-RS***P 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 281 User Manual of EL7-RS***P 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 282: Position Limit And Emergency Stop

    User Manual of EL7-RS***P 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 283: Path Motion

    User Manual of EL7-RS***P 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 284 User Manual of EL7-RS***P AC Servo 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 Multi-path interrupted motion In multi-path motion, path motion that is triggered later will interrupt path motion that has already...
  • Page 285 User Manual of EL7-RS***P 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 286: Pr Control

    User Manual of EL7-RS***P AC Servo 8.4 PR Control 8.4.1 PR module in Motion Studio Using Pr-Motion function in Motion Studio 2, 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 287 User Manual of EL7-RS***P 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 288: Physical I/O

    User Manual of EL7-RS***P 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 289 User Manual of EL7-RS***P 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 290: Communication

    User Manual of EL7-RS***P 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 291: Path Trigger

    User Manual of EL7-RS***P 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 292: Pr Motion

    User Manual of EL7-RS***P AC Servo 14-15 Pr9.03 Velocity XXXX 16-17 Pr9.04 Acceleration XXXX 18-19 Pr9.05 Deceleration XXXX 20-21 Pr9.06 Delay time XXXX 22-23 Pr9.07 Trigger control 0x0010 Checksum Lo Checksum Hi Slave response frame byte data Data Description Value Slave ID 1~127 Function code...
  • Page 293 User Manual of EL7-RS***P 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 294: Control Using 485 Communication

    User Manual of EL7-RS***P 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 checksum checksum 8-bit 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 295 User Manual of EL7-RS***P 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 296: Chapter 9 Warning And Alarm

    User Manual of EL7-RS***P 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 297: Servo Drive Alarm

    User Manual of EL7-RS***P 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 mode, d12Er with the alarm log sub-menu displaying "...
  • Page 298 User Manual of EL7-RS***P AC Servo ● Encoder disconnected ● Encoder communication error ● Encoder initial position error ● Multiturn encoder error ● Encoder parameter settings error ● ● Encoder data overflow ● ● Encoder overheated ● ● Encoder counter error ●...
  • Page 299 User Manual of EL7-RS***P 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 300: Alarm Handling

    User Manual of EL7-RS***P 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 too...
  • Page 301 User Manual of EL7-RS***P AC Servo Main Display: “Er 0A6” Error code Content: Temperature measuring error Cause Diagnosis Solution L1, L2 terminal voltage too Verify L1, L2 terminal Make sure L1, L2 terminal voltage is voltage within recommended range Main Display: “Er 0b0”...
  • Page 302 User Manual of EL7-RS***P AC Servo Main Display: “Er 0d1” Error code Content: Single phasing of main power supply Cause Diagnosis Solution Main power supply Increase main power supply Verify L1,L2,L3 terminal voltage undervoltage voltage Main power supply Loose connection of L1, L2, L3 Secure connections wiring error Main...
  • Page 303 User Manual of EL7-RS***P AC Servo Main Display: “Er 0E2” Error code Content: Power output to motor shorted to ground Cause Diagnosis Solution Disconnect motor power cable Driver U, V, W terminals 1. Reconnect wiring. and check for short circuit shorted to ground 2.
  • Page 304 User Manual of EL7-RS***P AC Servo Main Display: “Er 101” Error code Content: Driver overloaded Cause Diagnosis Solution Motor power Make sure motor power cable wiring UVW terminals wiring error cable wiring error connection is correct Motor not Motor rated current is higher than driver matched Motor current is too high rated current.
  • Page 305 User Manual of EL7-RS***P AC Servo Main Display: “Er 122” Error code Content: Regenerative resistor value too low Cause Diagnosis Solution External regenerative Replace the regenerative resistor with the resistor value is less right resistance value which meets the than the minimum value specification of the driver allowed by the drive Main...
  • Page 306 User Manual of EL7-RS***P AC Servo Main Display: “Er 153” Error code Content: Multiturn encoder error Cause Diagnosis Solution Perform origin positioning and multiturn Origin calibration not Initial use position initialization, calibrate the origin of performed coordinate system. 1. Replace the motor with a multiturn Encoder without Verify if encoder has absolute encoder.
  • Page 307 User Manual of EL7-RS***P AC Servo Main Display: “Er 170” Error code Content: Encoder data error Cause Diagnosis Solution 1. Make sure encoder power supply voltage is stable 1. Verify if encoder power supply 2. Make sure encoder cable is not voltage is DC5V ±...
  • Page 308 User Manual of EL7-RS***P AC Servo Main Display: “Er 181” Error code Content: Excessive velocity deviation Cause Diagnosis Solution Deviation between set 1. Increase value of Pr6.02; Verify if value of Pr6.02 is too velocity and actual velocity is 2. Set Pr6.02 to 0, position error too great detection off.
  • Page 309 User Manual of EL7-RS***P AC Servo Main Display: “Er 1A1” Error code Content: Velocity out of control Cause Diagnosis Solution Motor velocity Verify encoder phase sequence; Verify if UVW Reconnect UVW if wrongly out of control, cable is connected to the right terminal connected.
  • Page 310 User Manual of EL7-RS***P AC Servo Main Display: “Er 211” Error code Content: I/O input interface function assignment error Cause Diagnosis Solution Input signal assignment Verify values of Pr4.00-Pr4.09, Set proper values for Pr4.00- error Pr4.44-4.47 Pr4.09, Pr4.44-4.47 Main Display: “Er 212”...
  • Page 311 User Manual of EL7-RS***P AC Servo Main Display: “ 570” Error code Error description: Forced alarm input valid Cause Diagnosis Solution Forced alarm input Verify forced alarm input signal Verify if the input wiring connection is signal occurred correct Main Display: “Er 5F0”...
  • Page 312 User Manual of EL7-RS***P AC Servo Main Display: “Er 890” Error code Error description: Homing error Cause Diagnosis Solution 1. Excess homing 1. Verify if homing velocity is too 1. Set an optimal homing velocity velocity high 2. Make sure sensor signal edge is 2.

  • Page 313: Alarm Clearing

    User Manual of EL7-RS***P 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 314: Contact Us

    26050 Towne Centre Dr. Foothill Ranch California United States Tel: 1-949-608-7270 Fax: 1-949-638-7298 Get in touch with us or any of your local Leadshine Website: certified retailers by visiting our global website. www.leadshineus a.com Technical Support Emails: Tel: 86-755-2641-8447 sales@leadshin 86-755-2641-8774 (Asia, Australia, Africa) eusa.com...

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