Page 1 EL6-EC Series AC Servo Drive User Manual...
Page 2 User Manual Of EL6-EC AC Servo Foreword Thank you for purchasing Leadshine EL6-EC series AC Servo drives. This manual will provide information on the EL6-EC series servo products regarding product safety & specifications, installations & wiring, tuning & problem diagnostics.
Page 3 User Manual Of EL6-EC AC Servo Transportation Caution Caution  Please provide storage and transportation under protected conditions.  Do not stack the products too high up to prevent toppling.  The product should be packaged properly during transportation,  Do not hold the product by the cable, motor shaft or encoder while transporting it. ...
Page 4 User Manual Of EL6-EC AC Servo Tuning and running Caution Caution  Make sure the wirings of servo drive and servo motor are installed and fixed properly before powering on.  On the first time tuning of the product, it is recommended to run unloaded until all the parameter settings are confirmed to prevent any damage to the product or machine.
Page 5 Steps to warranty claim 1. Visit Leadshine global site www.leadshine.com to look for local certified sales channel. 2. Contact designated sales channel to check if any fee might incur. May include repair fee, spare part cost or shipping cost.
Page 6: Table Of Contents
2.4.1 X1 Main power supply ......................24 2.4.2 Regenerative resistor selection and connections ..............25 2.4.2 Wire Gauge for Main Power Supply ..................30 2.4.3 Wiring connections for EL6-EC series servo drives ..............31 2.4.4 Connecting motor power cable to servo drive ................. 32 2.5 H ........................
Page 7 User Manual Of EL6-EC AC Servo CHAPTER 3 PARAMETER ........................52 3.1 P ..........................52 ARAMETER 3.1.1 Servo drive parameter ......................52 3.1.2 Manufacturer parameter ......................57 3.1.3 Motion parameter starting with object dictionary 6000 ............59 3.2 P ......................... 62 ARAMETER UNCTION 3.2.1...
Page 8 User Manual Of EL6-EC AC Servo 5.6.2 Cyclic Synchronous Velocity Mode (CSV) ................193 5.6.3 Profile Velocity Mode (PV) ..................... 194 5.7 T （CST、PT） ......................196 ORQUE 5.7.1 Common Functions of Torque Mode ..................196 5.7.2 Cyclic Synchronous Torque Mode (CST) ................. 197 5.7.3 Profile Torque Mode (PT) .......................
Page 9 User Manual Of EL6-EC AC Servo CHAPTER 7 ETHERCAT COMMUNICATION ................... 249 7.1 E ......................249 THER PRINCIPLE FUNCTION 7.2 S ........................250 YNCHRONOUS 7.2.1 Free Running Mode ....................... 250 7.2.2 Distributed clock synchronization mode ................250 7.3 E ........................251 THER STATE MACHINE 7.4 CAN...
Page 10: Chapter 1 Introduction
Based on the ETG COE + EtherCAT DSP402 protocol, it can be seamlessly connected to controllers/drives that support this standard protocol. EL6-EC series AC servo drives are using the latest Digital Signal Processing (DSP) chip and Intelligent Power Module (IPM) with compact components integration and great reliability.
Page 11: Model Number Structure
User Manual Of EL6-EC AC Servo 1.2 Model Number Structure Servo Drive EL6-EC 750 ① ② ③ Description Series No. EL6：Servo drive series ① Command source RS: Pulse + direction/Modbus RTU/Analogue ② EC：EtherCAT Power rating 400: 400W 750: 750W 1000:1000W ③...
Page 12: Driver Technical Specification
User Manual Of EL6-EC AC Servo 1.3 Driver Technical Specification EL6-EC 220V Models EL6-ECNseries EL6-EC1500 EL6-EC2000 EL6-EC400 EL6-EC750 EL6-EC1000 Rated power (W) 1500 2000 Rated Current (Arms) 16.6 18.7 31.1 Peak Current (Arms) Size (mm) 40*175*156 50*175*156 80*175*179 Main Power Supply Single phase AC 220V, -15%~+10%, 50/60Hz Control Circuit Power Supply Drive mode...
Page 13 User Manual Of EL6-EC AC Servo Installation: 0-55℃ (Not frozen) Under 90%RH (Condensation free) Humidity Up to 1000m above sea level Altitude Less than 0.5G (4.9m/s2) 10-60Hz (non-continuous working) Vibration IP20 IP ratings...
Page 14: Driver Ports And Connectors
User Manual Of EL6-EC AC Servo 1.4 Driver ports and connectors EL6-EC Series Servo Drive 220V Models ① Front Panel ② USB Type-C Tuning Port ③ CN3 EtherCAT IN CN4 EtherCAT OUT ⑦L1、L2 ：Main power supply ④ CN1 I/O Signals P+：(External brake...
Page 15 User Manual Of EL6-EC AC Servo Parts & Connectors Description Including a LED display and 5 buttons. LED display is used to display servo drive status and parameter settings. 5 buttons： ◀ To switch between different modes and parameters ： ○...
Page 16: Motor Ports And Connectors
User Manual Of EL6-EC 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 ① Encoder Power connector ② connector Motor flange ③...
Page 17: Chapter 2 Installation & Wiring
User Manual Of EL6-EC AC Servo Chapter 2 Installation & Wiring 2.1 Servo Drive Installation 2.1.1 Servo drive installation environment 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 Less than 0.5G (4.9m/s2) 10-60Hz (non-continuous working) Atmospheric...
Page 18 User Manual Of EL6-EC AC Servo EL6-EC Series 1500W/2000W -220VAC Size D 80mm×175mm×179mm...
Page 19 User Manual Of EL6-EC AC Servo Space requirement for installation In order to ensure efficient heat dissipation, please leave at least 10mm installation space in between drivers. If drivers need to be mounted compactly, please leave at 1mm of installation space. Please keep in mind that under such conditions, the drivers can only run at 75% of actual load rate.
Page 20: Servo Motor Installation
User Manual Of EL6-EC AC Servo 2.2 Servo Motor Installation 2.2.1 Installation conditions Installation conditions may affect the lifespan of a motor Please keep away from corrosive fluid and combustibles.  If dusty working environment is unavoidable, please use motors with oil seal. ...
Page 21 User Manual Of EL6-EC AC Servo Leave enough “bend” on the connector cables to ensure less stress upon  installation. Encoder & coupling During installation or removal of coupling, please do not hit the motor shaft with a  hammer as it would cause damage to internal encoder. Please make sure to centralize the motor shaft and coupling, it might cause damage ...
Page 22: El6-Ec Wiring Diagram
User Manual Of EL6-EC AC Servo 2.3 EL6-EC Wiring Diagram EL6-EC Series 400W/750W/1000W – 220V Models Single Phase 220VAC Circuit Breaker Line Filter Contactor Regenerative Resistor Internal 24V Power Supply ’ t use for holding brake COM+ DO1+ SRDY+ 4.7K...
Page 23 User Manual Of EL6-EC AC Servo EL6-EC Series 1500W/2000W - 220V Models 1-phase/3phase 220VAC Circuit breaker Line Filter If external resistor is Connect B1 and B2 if used, please internal regenerative disconnect B1 & B2 resistor is used Internal 24V Power Supply ’...
Page 24: Servo Drive Ports
User Manual Of EL6-EC AC Servo 2.4 Servo Drive Ports X1 Main Power Supply & Motor Power Supply CN2 Motor Encoder Table 2-1 Functions of driver port Port Function I/O Signal Port Encoder port USB Type-C Tuning Port EtherCAT IN Communication Port EtherCAT OUT Communication Port Main Power Supply...
Page 25: X1 Main Power Supply
User Manual Of EL6-EC AC Servo 2.4.1 X1 Main power supply EL6-EC Series – 220V Models Table 2-2 X1 port descriptions Functions Port Remarks ① Optional isolation transformer ② Do not connect to 380VAC directly to prevent damage to driver.
Page 26: Regenerative Resistor Selection And Connections
User Manual Of EL6-EC AC Servo 2.4.2 Regenerative resistor selection and connections The use of regenerative resistor When the motor opposes the direction of rotation as in deceleration or vertical axis escalation, part of the regenerative energy will be delivered back to the driver. This energy will first be stored in internal capacitors of the driver.
Page 27 User Manual Of EL6-EC AC Servo an external regenerative resistor with higher power rating. If d14 is overly large or increasing too fast, reduce regenerative energy power rating  or use an external regenerative resistor with higher power rating. If driver overvoltage alarm (Er120) occurs, please use an external regenerative ...
Page 28 User Manual Of EL6-EC 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 29 User Manual Of EL6-EC AC Servo V:Motor rotational velocity Rotational velocity :Deceleration time Motor Torque : Load torque Regenerative torque Table 2-4 Steps to calculate capacity of regenerative resistor Steps Calculation Symbol Formula Servo system regenerative E1=(N+1)×J×V /182 energy Depleted energy from loss of = (π/60) V×T ×tD load system during...
Page 30 User Manual Of EL6-EC AC Servo Calculation examples: Servo drive: EL6-EC750, Servo Motor: When T = 2s, rotational velocity ELM2H-0750LA80. = 3000rpm, load inertia is 5 times of motor inertia. Rotor Inertia （ × Max. regenerative energy EL6-EC Drivers Servo motor kg.m stored in capacitor Ec(J) ）...
Page 31: Wire Gauge For Main Power Supply
User Manual Of EL6-EC AC Servo Connection of a regenerative resistor 2.4.2 Wire Gauge for Main Power Supply Table 2-6 Main power supply wire gauge Wire diameter (mm /AWG) Driver L1 L2/R S T P+ BR U V W EL6-EC400 0.81/AWG18 2.1/AWG14 1.3/AWG16...
Page 32: Wiring Connections For El6-Ec Series Servo Drives
Connect external regenerative resistor to P+ and B2 terminal Battery kit Motor Power Cable PE：Motor Grounding EL6-EC series servo drive 220VAC models support single phase and three phase  220VAC. Only driver with power rating above 1500W supports three phase 220VAC.
Page 33: Connecting Motor Power Cable To Servo Drive
Motor winding power cable Wire length available: 1.5m, 3m and 5m  Connectors type available: AMP electrical connectors, aviation connectors,  direct connectors (recommended) Please contact Leadshine sales team or any Leadshine certified local retailers for any  customized needs.
Page 34 User Manual Of EL6-EC AC Servo AMP electrical connector (Frame size 80 or below）CABLE-RZ*-S(V3.0) Motor side Driver side Pins Motor cable pin Motor Color Driver Blue Black Yellow-green Motor side Aviation connector（Frame size 80 or below）CABLE-RZ*-HH2(V3.0) Motor side Driver side Pins Motor cable pin Motor...
Page 35 User Manual Of EL6-EC AC Servo Aviation connector（Frame size 130） CABLE-RZ*H(V1.1/V2.0) Motor side Driver side Motor cable pin Pins Motor Color Driver Green Black Yellow Motor side Direct connector(Frame size 80 or below）CABLE-RZH*M*-114-TS without holding brake Motor side Driver side Driver cable pin Pins Motor...
Page 36: Holding Brake Connection
User Manual Of EL6-EC AC Servo 2.5 Holding brake connection Holding brake is activated when servo drive is not powered on to prevent axis from moving due to gravitational pull or other external forces by locking the motor in place. Usually used on axis mounted vertically to the ground so that the load would not drop under gravitational force when the driver is powered off or when alarm occurs.
Page 37 User Manual Of EL6-EC AC Servo Holding Brake cable and connectors AMP electrical connector (Frame size 80 or below） CABLE-SC*-S(V3.0) Motor side Driver side Motor cable pin Pins Motor Color Blue Brown Motor side Aviation connector（Frame size 80 or below） CABLE-RZSH*M*-113-TS Winding cable with holding brake Motor side...
Page 38 User Manual Of EL6-EC AC Servo Direct connector CABLE-RZH*M*-114-TS Winding cable with holding brake Motor side Driver side Motor cable pin Motor Color Driver Blue Black Yellow- green Black Mechanical noise might exist when motor with holding brake is in operation but it ...
Page 39: Cn2 Encoder
User Manual Of EL6-EC AC Servo 2.6 CN2 Encoder Connector Signal Description VCC5V Power supply 5V Power supply ground BAT+ Battery positive terminal BAT- Battery negative terminal SSI Data+ SSI Data- Frame Shield grounding Please ground both driver and motor PE terminals to avoid any servo alarms. ...
Page 40 User Manual Of EL6-EC AC Servo Driver side Aviation connector（Frame size 80 or below） CABLE-7BM*-HH2 Motor side Driver side Motor cable pin Motor Driver Signal Frame Shielded BAT+ Motor side BAT- Direct connector(Frame size 80 or below）CABLE-BMAH*M*-124-TS Absolute encoder Motor side Driver side Motor cable pin Motor...
Page 41 User Manual Of EL6-EC AC Servo Direct connector(Frame size 80 or below）CABLE-BMH*M*-114-TS Absolute encoder Motor side Driver side ER14505 BOX-G DCH ROHS Battery Kit Motor cable pin Motor Driver Signal Frame Shielded Motor side BAT+ BAT- Aviation connector（Frame size 130） CABLE-7BM*HZ(V3.0) Motor side Driver side...
Page 42 User Manual Of EL6-EC AC Servo Motor Driver Signal Frame Shielded BAT+ Motor side BAT- Battery box for absolute encoder EL6-EC series servo drives come with battery kit installed on the driver or on the encoder cable.
Page 43: Usb Type-C Tuning Port
User Manual Of EL6-EC AC Servo 2.7 USB Type-C Tuning Port EL6-EC 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 44: Cn1 I/O Signal Port
User Manual Of EL6-EC AC Servo 2.9 CN1 I/O Signal Port CN1 connector is a DB15 female connector. Port Signal Description Remarks DO1+ SRDY+ Servo Ready Output Signal DO1- SRDY- DO2+ ALM+ Alarm Output Signal DO2- ALM- DO3+ BRK-OFF+ Break Off Output Signal DO3- BRK-OFF- Positive limit switch...
Page 45: Common Input Circuit
User Manual Of EL6-EC AC Servo 2.9.2 Common input circuit The internal circuit of common input is a bidirectional optocoupler which supports common anode and common cathode configurations. There are 2 types of outputs from master device: Relay output and Open Collector output as shown below. ①...
Page 46: Common Output Circuit
User Manual Of EL6-EC AC Servo 2.9.3 Common output circuit There are 3 common outputs: DO1 ~ DO3 are double-ended, having an isolated 24v power supply. Double-ended Digital Outputs Inductive load, please connect to a freewheeling diode Drive Internal DO1+ 12~24Vdc DO1- DO2+...
Page 47: Probe Input Circuit
User Manual Of EL6-EC AC Servo 2.9.4 Probe input circuit The internal circuit of probe input is a bidirectional optocoupler. Common Anode COM+ EXT1 Drive Internal EXT2 Common Cathode COM+ EXT1 Drive Internal EXT2 2.9.5 DI signal function configuration Table 2-8 Default DI signal functions Factory default CN1 Pin Signal...
Page 48 User Manual Of EL6-EC AC Servo Relevant parameters Label Mode Input selection DI1 PA4.00 Range 0x0~0xFF Default Unit Immediate 2400h Activation Index Label Mode Input selection DI2 0x0~0xFF PA4.01 Range Default Unit Immediate 2401h Activation Index Label Mode Input selection DI3 PA4.02 Range 0x0~0xFF...
Page 49: Do Signal Function Configuration
User Manual Of EL6-EC AC Servo 2.9.6 DO signal function configuration Table 2-9 DO signal functions by default Factory default CN1 Pin Signal Parameter Default function Set Value Polarity Status DO1+ PA4.10 Servo Ready (S-RDY) 0x01 DO1+ DO1+ PA4.11 Alarm (ALM) 0x03 DO1+ DO1+...
Page 50: Measures Against Electromagnetic Interference
User Manual Of EL6-EC AC Servo 2.10 Measures against electromagnetic interference To reduce interference, please take the following measures: I/O signal cable > 3m; Encoder cable > 20m  Use cable with larger diameter for grounding  ①Grounding resistance > 100Ω ②When there are multiple drivers connected in parallel, PE terminal of the main power supply 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...
Page 51: Grounding Connection And Other Anti-Interference Wiring Connections
User Manual Of EL6-EC AC Servo 2.10.1 Grounding connection and other anti-interference wiring connections Contactor Servo Drive Line Filter Bncoder 3.5mm or above 2.0mm above 3.5mm or above Ground Grounded Servo motor frame should be grounded. Please connect the PE terminal of servo ...
Page 52 User Manual Of EL6-EC AC Servo Separate the ground wire from the line filter and the main power supply cable. Wrong Correct Contactor Contactor Line Line Filter Filter Ground wires inside an electrical cabinet Contactor Servo drive Line Filter Servo drive Ground Shield grounding...
Page 53: Chapter 3 Parameter
User Manual Of EL6-EC AC Servo Chapter 3 Parameter 3.1 Parameter List Panel Display as follows:  Parameter Valid mode Description  CSP: Valid in cyclic synchronous position mode CSV: Valid in cyclic synchronous velocity mode CST: Valid in cyclic synchronous torque mode HM: Valid in homing mode PP: Valid in profile position mode PV: Valid in profile velocity mode...
Page 54 User Manual Of EL6-EC AC Servo Pulse output logic inversion 2012 PA 012 After restart Torque Limit 2013h PA 013 Immediate Excessive Position 2014h PA 014 Immediate Deviation Settings Absolute Encoder settings 2015h PA 015 After restart Regenerative resistance 2016h PA 016 Immediate Regenerative resistor power...
Page 55 User Manual Of EL6-EC AC Servo Hysteresis at position control 2118h PA 118 Immediate switching Position gain switching time 2119h PA 119 Immediate Unique registry 2137h PA 137 Immediate Unique registry 1 2138h PA 138 Immediate Unique registry 2 2139h PA 139 Immediate EtherCAT...
Page 56 User Manual Of EL6-EC AC Servo EtherCAT Panel Default Activation Label Address display Acceleration time settings 2312h PA 312 Immediate Deceleration time settings 2313h PA 313 Immediate Sigmoid acceleration/ 2314h PA 314 Disable deceleration settings Zero speed clamp function 2315h PA 315 Immediate Zero speed clamp level...
Page 57 User Manual Of EL6-EC AC Servo Overload level setting 2512h PA 512 Immediate Overspeed level settings 2513h PA 513 Immediate I/O digital filter 2515h PA 515 Immediate Position unit settings 2520h PA 520 After restart Torque limit selection 2521h PA 521 Immediate 2522h PA 522...
Page 58: Manufacturer Parameter
User Manual Of EL6-EC AC Servo threshold Blocked rotor alarm delay Immediate 2657h PA 657 time Immediate Homing mode position 2659h PA 659 deviation threshold Z-signal sustaining time 2661h PA 661 Immediate Absolute multiturn data 2663h PA 663 After restart upper limit EtherCAT Panel...
Page 59 User Manual Of EL6-EC AC Servo Set synchronization 5400 10000 4000 20000 cycle maximum value Absolute encoder multiturn number Encoder single turn Pulse position Encoder feedback Pulse position 32 bit low Encoder feedback Pulse 5500 position 32 bit high The actual mechanical Unit position 32 bit low The actual mechanical...
Page 60: Motion Parameter Starting With Object Dictionary 6000
User Manual Of EL6-EC AC Servo 3.1.3 Motion parameter starting with object dictionary 6000 Index Sub-index Label Unit Default 603F Error code 6040 Control word 6041 Status word 605A Quick stop option code 605B Shutdown Option Code 605C Disable Operation Option Code 605D Halt Option Code 605E...
Page 61 User Manual Of EL6-EC AC Servo Command 607C Home Offset unit Command Min Position Limit unit 607D Command Max Position Limit unit 607E Polarity Command 214748 607F Max Profile Velocity unit /s 3647 6080 Max Motor Speed r/min 6000 Command 6081 Profile velocity 10000...
Page 62 User Manual Of EL6-EC AC Servo Touch Probe 1 Negative Edge 60D6 Counter Touch Probe 2 Positive Edge 60D7 Counter Touch Probe 2 Negative Edge 60D8 Counter 60E0 0.001 3000 Positive Torque Limit 60E1 0.001 3000 Negative Torque Limit Command 60F4 Following Error Actual Value unit...
Page 63: Parameter Function
User Manual Of EL6-EC AC Servo 3.2 Parameter Function Panel Display as follows:  Parameter valid under following modes  CSP: Cyclic synchronous position mode CSV: Cyclic synchronous velocity mode CST: Cyclic synchronous torque mode HM: Homing mode PP: Profile position mode PV: Profile velocity mode PT: Profile torque mode F: All modes...
Page 64 User Manual Of EL6-EC AC Servo Label Real time Auto Gain Adjusting Mode 0x0~0xFFF 0x001 — PA0.02 Range Default Unit Immediate 2002h Activation Index Set up the mode of the real time auto gain adjusting. Data Category Settings Application bits Used to set motion setting mode, which can be selected according to the motion characteristics or setting requirements.
Page 65 User Manual Of EL6-EC AC Servo Label Real time auto stiffness adjusting Mode PA0.03 Range 50 ~ 81 Default Unit — Immediate 2003h Activation Index Valid when PA0.03 = 1,2 High Mechanical stiffness Servo gain High 81.80……………………………70.69.68…………………………51.50 Responsiveness High • Lower values ensure better system responsiveness and mechanical stiffness but machine vibration might occur, please set accordingly.
Page 66 User Manual Of EL6-EC AC Servo Label Probe signal polarity settings Mode 0 ~ 3 — PA0.07 Range Default Unit After restart 2007h Activation Index Probe signal polarity settings take effect when PA0.01 = 9 Set value Details Probe 1 & 2 polarity inversion Probe 2 polarity inversion Probe 1 polarity inversion No polarity inversion for probe 1 &...
Page 67 User Manual Of EL6-EC AC Servo Command pulse input signal max. frequency and min. duration needed Min. duration needed（μs） Command pulse input interface Max. Frequency Differential 500 kHz Pulse sequence interface Open collector 200 kHz Please set >0.1μs for the duration between rising and falling edge of command pulse input signal. 1 revolution with 2500 pulses 2-phase pulse input when PA0.07=0 or 2, PA0.08 = 10000;...
Page 68 User Manual Of EL6-EC AC Servo To set phase B logic and output source from encoder pulse output. To inverse B-Phase pulse logic and change the phase relation between Phase A and Phase B Pulse output logic inversion PA0.12 Phase B logic CW direction CCW direction Not inverted...
Page 69 User Manual Of EL6-EC AC Servo Range 25~500 Default Unit Immediate 2016h Activation Index To set resistance value of regenerative resistor Label Mode Regenerative resistor power rating PA0.17 Range 20~5000 Default Unit Activation Immediate Index 2017h To set power rating of regenerative resistor. Drive Resistance(Ω) Power Rating(W)
Page 70: Class 1】Gain Adjustments
User Manual Of EL6-EC AC Servo Range 1~2000 Default Unit 0.1us After restart 2026h Activation Index Synchronous dithering compensation range. Used for master device with poor synchronization. Synchronization mode command Label Mode delay cycle counts PA0.27 Range 1~50 Default Unit Activation After restart Index...
Page 71 User Manual Of EL6-EC AC Servo Range 1~10000 Default Unit 0.1ms Immediate 2102h Activation Index If auto gain adjusting function is not enabled, PA1.02 is activated. The lower the set value, the closer the lag error at stop to 0 but might cause vibration. If the value set is overly large, overshoot, delay of positioning time duration and lowered responsiveness might occur.
Page 72 User Manual Of EL6-EC AC Servo filter should be PA1.01≤221(0.01ms) If mechanical vibration is due to servo driver, adjusting PA1.04 might eliminate the vibration. The smaller the value, the better the responsiveness but also subjected to machine conditions. If the value is too large, it might lower the responsiveness of current loop. With higher PA1.01 value settings and no resonance, reduce PA1.04 value;...
Page 73 User Manual Of EL6-EC AC Servo Range 0~1000 Default Unit 0.1% Immediate 2112h Activation Index Before using torque feed forward, please set correct inertia ratio PA0.04. By increasing torque feed forward gain, position deviation on constant acceleration/deceleration can be reduced to close to 0.
Page 74 User Manual Of EL6-EC AC Servo Hysteresis Level Velocity Switch to 1 gain when set velocity command absolute value smaller than (level-hysteresis)[r/min] Valid for position control. Switch to 2 gain when position deviation absolute value larger than (level + hysteresis)[pulse] Switch to 1 gain when position deviation absolute value smaller than (level-hysteresis)[pulse]...
Page 75 User Manual Of EL6-EC AC Servo Hysteresis Level Velocity Feedback Switch to 2 gain when actual velocity absolute value larger than (level + hysteresis)[r/min] Switch to 1 gain when actual velocity absolute value remains smaller throughout the duration of delay time than (level-hysteresis)[r/min] Valid for position control.
Page 76: Class 2】Vibration Suppression
User Manual Of EL6-EC AC Servo hysteresis, drive will set internally hysteresis = level. Label Mode Position gain switching time PA1.19 Range 0~10000 Default Unit 0.1ms Activation Immediate Index 2119h During position control, if 1 and 2 gain difference is too large, to ease torque changes and vibration due to rapid changes in position loop gain, set suitable PA1.19 value For example: 1st (PA1.00) <->...
Page 77 User Manual Of EL6-EC AC Servo Set notch bandwidth for 1 resonant notch filter. Under normal circumstances, please use factory default settings. If resonance is under control, in combination with PA2.01 and PA2.03, PA2.02 can be reduced to improve current loop responsiveness which allows higher mechanical stiffness settings.
Page 78 User Manual Of EL6-EC AC Servo Set notch bandwidth for 3 resonant notch filter. Under normal circumstances, please use factory default settings. Label Mode notch depth PA2.09 Range 0~99 Default Unit Activation Immediate Index 2209h Set notch depth for 3 resonant notch filter.
Page 79 User Manual Of EL6-EC AC Servo Position Position command Velocity command Filter after filter (RPM) before filter switching time Vc 0.632 Position command smoothing filter set time(ms) PA2.22 x 0.1ms Vc 0.368 Time Usually applied when there is rather sharp acceleration which might cause motor overshoot or undershoot.
Page 80 User Manual Of EL6-EC AC Servo Label Mode resonant frequency 50~4000 4000 PA2.31 Range Default Unit Immediate 2231h Activation Index To set zero-valued eigenfrequency of 5 resonant notch filter. PA2.31 corresponds to machine specific resonant frequency. Notch filter deactivated if PA2.31 is set to any value. Label Mode resonant Q value...
Page 81 User Manual Of EL6-EC AC Servo Range 0~9900 Default Unit Immediate 2238h Activation Index To set resonant Q value of 6 resonant notch filter Label Mode Adjustment mode PA2.48 Range Default Unit Activation Immediate Index 2248h To turn on/off automatic adjustments Set value Description 【0】...
Page 82 User Manual Of EL6-EC AC Servo When there is an excess position deviation during acceleration/deceleration, please adjust PA2.53 to reduce the deviation to 0. Label Mode Overtravel time coefficient 0~10000 PA2.54 Range Default Unit Immediate 2254h Activation Index To set overtravel time coefficient Label Mode Overtravel suppression gain...
Page 83: Class 3】Velocity Control
User Manual Of EL6-EC AC Servo 3.2.4【Class 3】Velocity Control Label Mode Acceleration time PA3.12 Range 0~10000 Default Unit ms/(1000RPM) Activation Immediate Index 2312h Label Mode Deceleration time PA3.13 Range 0~10000 Default Unit ms/(1000RPM) Activation Immediate Index 2313h Set max acceleration/deceleration for velocity command. If target velocity = x [rpm], max acceleration = a [unit: rpm/ms], acceleration time = t [ms] PA3.12 = 1000/a PA3.13 = 1000/a...
Page 84 User Manual Of EL6-EC AC Servo Sigmoid acceleration/deceleration Label Mode settings PA3.14 Range 0~1000 Default Unit Activation After disabling Index 2314h To set sigmoid acceleration and deceleration turning point in accordance to PA3.12 and PA3.13. Velocity (RPM) Target velocity ta=Vc/1000 PA3.12 1ms td=Vc/1000 PA3.13 1ms ts=PA3.14 1ms Please set according to...
Page 85: Class 4】I/O Interface Setting
User Manual Of EL6-EC AC Servo 3.2.5【Class 4】I/O Interface Setting Label Mode Input selection DI1 PA4.00 Range 0x0~0xFF Default Unit Activation Immediate Index 2400h Label Mode Input selection DI2 PA4.01 Range 0x0~0xFF Default Unit Activation Immediate Index 2401h Label Mode Input selection DI3 PA4.02 Range...
Page 86 User Manual Of EL6-EC AC Servo Label Mode Output selection DO3 0x0~0xFF PA4.12 Range Default Unit Immediate 2412h Activation Index Digital output DO allocation using hexadecimal system. Set value Output Symbol Normally open Normally close Master device control — Alarm S-RDY Servo-Ready BRK-OFF...
Page 87 User Manual Of EL6-EC AC Servo Label Mode INP positioning delay time 0~15000 PA4.33 Range Default Unit Immediate 2433h Activation Index To set delay time when PA 4.32 = 3 Set value Positioning completed signal Indefinite delay time, signal ON until next position command OFF within the time set;...
Page 88 User Manual Of EL6-EC AC Servo Label Mode Velocity coincidence range 10~2000 PA4.35 Range Default Unit Immediate 2435h Activation Index If the difference between velocity command and motor actual speed is below PA4.35, Velocity coincidence (V-COIN) output signal valid. Due to 10RPM hysteresis: Velocity coincidence output OFF ->...
Page 89 User Manual Of EL6-EC AC Servo Delay time for holding brake Label Mode release PA4.38 Range 0~3000 Default Unit Activation Immediate Index 2438h To set delay time for holding brake to be released after motor power on. Motor will remain at current position and input command is masked to allow holding brake to be fully released before motor is set in motion.
Page 90: Class 5】Extension Settings
User Manual Of EL6-EC AC Servo Label Mode Emergency stop function PA4.43 Range Default Unit Immediate 2443h Activation Index 0：Emergency stop is valid, servo driver will be forced to STOP and alarm occurs. 1：Emergency stop is invalid, servo driver will not be forced to STOP. Torque compensation time upon Label Mode...
Page 91 User Manual Of EL6-EC AC Servo Label Mode Main power-off detection time 50~2000 PA5.09 Range Default Unit Immediate 2509h Activation Index To set duration time for detection of main power-off or low voltage supply. Label Mode Servo-off due to alarm mode PA5.10 Range Default...
Page 92 User Manual Of EL6-EC AC Servo Activation Immediate Index 2513h If motor speed exceeds PA5.13, Er1A0 might occur. When PA5.13 = 0, overspeed level = max. motor speed x 1.2 Label Mode I/O digital filter PA5.15 Range 0~255 Default Unit 0.1ms Activation Immediate...
Page 93 User Manual Of EL6-EC AC Servo Accumulated operation Motor speed Inertia ratio time Position command Automatic motor No rotation cause velocity identification Velocity control No. of changes in Driver temperature command I/O signals Actual feedback Number of over Servo status torque current signals Sum of feedback...
Page 94: Class 6】Other Settings
User Manual Of EL6-EC AC Servo Label Mode Vent overload level PA5.46 Range 0~115 Default Unit Activation Immediate Index 2546h Set value Description 【0】 Default level: 80% 1~115 Set vent overload level accordingly 3.2.7【Class 6】Other settings Encoder zero position Label Mode compensation PA6.01...
Page 95 User Manual Of EL6-EC AC Servo gain= 1 gain * PA6.06/100 Position command velocity (RPM) Effective time PA6.05 x 0.1ms gain gain gain PA1.05~PA1.09 PA1.00~PA1.04 Position loop gain = PA1.00 x PA6.06/100 Velocity loop gain = PA1.01 x PA6.06/100 Velocity loop integral time constant，Velocity detection filter， Torque filter time constant still uses 1 gain gain valid when PA6.05 ≠...
Page 96 User Manual Of EL6-EC AC Servo Range 0x0 ~ 0xFFFF Default Unit Immediate 2610h Activation Index In applications with vertical load axis, servo drive will automatically increase the motor torque to compensate for the gravitational force at enabling of the drive. In order to prevent the axis from having a slight drop and back to initial position behavior, PA6.10 can be set to turn on torque compensation.
Page 97 User Manual Of EL6-EC AC Servo Label Mode Trial run acceleration PA6.25 Range 0~10000 Default Unit (1000rpm) Activation Immediate Index 2625h To set the acceleration/deceleration time for JOG command between 0 rpm to 1000 rpm Label Mode Velocity observer gain PA6.28 0~32767 Range...
Page 98 User Manual Of EL6-EC AC Servo If PA6.56 = 0, blocked rotor alarm deactivated. If motor speed is 10rpm or above, Er102 won’t be triggered. Label Mode Blocked rotor alarm delay time PA6.57 Range 0~1000 Default Unit Activation Immediate Index 2657h To set delay time for blocked rotor alarm to trigger, if rotor blocked duration is not longer than time set in PA6.57, Er102 won’t be triggered.
Page 99 User Manual Of EL6-EC AC Servo Label Mode Absolute multiturn data upper limit PA6.63 Range 0~32766 Default Unit Activation Immediate Index 2663h To set upper limit of multiturn data with absolute encoder set as rotational mode. When PA0.15 = 2 and use in combination with PA6.54: Feedback load position 6064= x Electronic gear ratio 3.2.8【Class 7】Factory settings...
Page 100: Parameters Function
User Manual Of EL6-EC AC Servo Set value Description 17-bit encoder 23-bit encoder Label Mode Vent release mode PA7.31 Range Default Unit Activation After restart Index 2731h To set vent release mode Power Rating(W) Default Description Regenerative electricity absorbed by internal capacitor Regenerative electricity absorbed by regenerative 750 or above...
Page 101 User Manual Of EL6-EC AC Servo Label Description Start 1 - valid, 0 - invalid Main circuit power on 1 - valid, 0 - invalid Quick stop 0 - valid,1 - invalid Servo running 1 - valid, 0 - invalid Running mode related Related to each servo running mode Reset resettable fault alarm.
Page 102 User Manual Of EL6-EC AC Servo 2 ：Motor decelerates and stops through 6085. Status: Switch on disable, axis disabled. 3 ：Motor decelerates and stops through 60C6. Status: Switch on disable, axis disabled. 5 ：Motor decelerates and stops through 6084. Status: Quick stop 6 ：Motor decelerates and stops through 6085.
Page 103 User Manual Of EL6-EC AC Servo Label Mode Halt Option Code Index Range Default Unit 605Dh Structure Type INT16 Mapping Access When control word is set to halt, set deceleration and stop option. Also suitable for deceleration mode settings during mode switching PP, CSP, CSV, PV 1 ：Motor decelerates and stops through 6084.
Page 104 User Manual Of EL6-EC AC Servo Mode Abbr. Profile position mode Profile velocity mode profile Torque mode Homing mode Cyclic synchronous position mode Cyclic synchronous velocity mode Cyclic synchronous torque mode Label Mode Mode of Operation display Index Range 1~11 Default Unit 6061h...
Page 105 User Manual Of EL6-EC AC Servo 6065h Range 0~2147483647 Default 30000 Unit Command UINT32 RPDO Structure Type Mapping Access To set an acceptable deviation for requested position. When actual position exceed position deviation window, error might occur. Label Follow Error Time Out Mode Index 0~65535...
Page 106 User Manual Of EL6-EC AC Servo Structure Type UINT16 Mapping RPDO Access To set the time between velocity reached and status word set to TargetReached. Label Mode Velocity Threshold Index 0~65535 Range Default Unit Command/s 606Fh UINT16 RPDO Structure Type Mapping Access To set to zero-speed range.
Page 107 User Manual Of EL6-EC AC Servo Shows motor rated current. Label Mode Motor Rated Torque Index Range 0~2147483647 Default 3000 Unit mN.m 6076h INT32 TPDO Structure Type Mapping Access Shows motor rated torque. Label Mode Torque Actual Value Index Range -32768~32767 Default Unit...
Page 108 User Manual Of EL6-EC AC Servo To set lower limit with calculated position and actual position using absolute position after homing. Label Mode Max Position Limit Index -2147483647~2147483647 Range Default Unit command 607Dh-01 INT32 RPDO Structure Type Mapping Access To set upper limit with calculated position and actual position using absolute position after homing.
Page 109 User Manual Of EL6-EC AC Servo Label Mode Profile acceleration Index Range 1~2147483647 Default 10000 Unit command/s 6083h Structure Type UINT32 Mapping RPDO Access To set motor acceleration Label Mode Profile deceleration Index Range 1~2147483647 Default 10000 Unit command/s 6084h Structure Type UINT32...
Page 110 User Manual Of EL6-EC AC Servo Structure Type UINT32 Mapping RPDO Access If 6092h-01(Feed constant) is not equal to 608Fh(Position encoder resolution), then: Electronic gear ratio = Encoder increments / 6092h-01 If 6092h-01(Feed constant) is equal to 608Fh(Position encoder resolution), then: Electronic gear ratio = 6091-01 / 6092h-01...
Page 111 User Manual Of EL6-EC AC Servo Label Mode Homing method Index Range -6 ~ 37 Default Unit 6098h Structure Type UINT8 Mapping RPDO Access The table below describes the velocity, direction and stopping conditions of each homing methods. Description Value Velocity Direction Stop Negative...
Page 112 User Manual Of EL6-EC AC Servo Label Mode Speed During Search For Switch Index Range 0~2147483647 Default 10000 Unit Command/s 6099h-01 Structure Type UINT32 Mapping RPDO Access To set the speed used in homing Label Mode Speed During Search For Zero Index Range 0~2147483647...
Page 113 User Manual Of EL6-EC AC Servo Description Details 0--Disable Probe 1 1--Enable 0--Single trigger, triggered only when trigger Probe 1 trigger mode signal is valid 1—Continuous trigger Probe 1 trigger signal 0—Probe 1 captured selection 1--Z signal Reserved Probe 1 rising edge 0--Disable enabled 1--Enable...
Page 114 User Manual Of EL6-EC AC Servo Label Mode Touch Probe 1 Positive Position Index Range -2147483647~2147483647 Default Unit Command 60BAh Structure Type INT32 Mapping TPDO Access Shows position feedback at rising edge of probe 1 signal Label Mode Touch Probe 1 Negative Position Index Range -2147483647~2147483647...
Page 115 User Manual Of EL6-EC AC Servo Touch Probe 1 Negative Edge Label Mode Index Counter Range 0~65535 Default Unit 60D6h Structure Type UINT16 Mapping TPDO Access Shows the number of times probe 1 falling edge latched. Touch Probe 2 Positive Edge Label Mode Index...
Page 116 User Manual Of EL6-EC AC Servo Shows velocity demand value(Position loop output) Label Mode Position Demand Internal Value Index Range -2147483647~2147483647 Default Unit encoder 60FCh Structure Type INT32 Mapping TPDO Access Shows position demand value of servo drive. Label Mode Digital Inputs Index Range...
Page 117 User Manual Of EL6-EC AC Servo Shows set target velocity. Limited by 6080h Label Mode Supported Drive Modes Index 0x0~0x7FFFFFFF Range Default Unit 6502h Structure ARRAY Type UINT32 Mapping TPDO Access Shows the control modes supported by the servo drive.
Page 118: Chapter 4 Servo Drive Operation
User Manual Of EL6-EC AC Servo Chapter 4 Servo Drive Operation 4.1 Get Started with Driver Operation 4.1.1 Checklist before operation Description Power supply The voltage of main and control circuit power supply is within rated values. Power supply polarity is rightly connected. Wiring Power supply input is rightly connected.
Page 119: Motor Rotational Direction Settings
User Manual Of EL6-EC AC Servo Please make sure the mechanical axis is within the range of motion and travelled  distance should not be too long to avoid collision. Set optimal velocity and acceleration for trial run (not too high!) ...
Page 120: Servo Running
User Manual Of EL6-EC AC Servo Servo Driver Motor 380VAC Brake Relay BK-RY Holding DO2+(BRK+) brake DOCOM-(BRK-) DC24V DC 24V Brake power supply Bncoder Wiring diagram of motor holding brake 4.1.6 Servo Running 1. Enable servo driver Check if CN3/CN4 is connected properly. Servo driver is in ready mode. Motor is stopped and holding brake is activated.
Page 121 User Manual Of EL6-EC AC Servo 3. Power on sequence diagram Control circuit (L1C、L2C) Usual action Init Reset Main power supply (R、S、T) Ready Servo ready Not Ready S-RDY Input coupler ON Servo enabled Input coupler OFF SRV-ON Dynamic Activated Deactivated brake Enabled Servo status...
Page 122: Servo Stop
User Manual Of EL6-EC AC Servo 4.1.7 Servo stop Servo stopping are of 3 different methods: Servo braking method, free stopping method, dynamic braking method. Stopping method Description Details Servo braking Servo driver delivers braking torque in Quick stopping but mechanical opposite direction impact might exist Free stopping...
Page 123 User Manual Of EL6-EC AC Servo Motor stopping（Servo disabled）- Sequence Diagram Servo braking method. Status after stopping: Dynamic braking Input coupler Servo enabled Input coupler Input coupler SRV-ON Dynamic Activated Deactivated Activated brake Enabled Disabled Disabled Servo status SRV-ST Power OFF Power ON Power OFF Motor power...
Page 124 User Manual Of EL6-EC AC Servo Servo stopping method. Status after stopping: free moving Input coupler Servo enabled Input coupler Input coupler SRV-ON Dynamic Activated Deactivated brake Enabled Disabled Disabled Servo status SRV-ST Power ON Motor power Power OFF Power OFF Brake ON Brake ON Holding brake status...
Page 125 User Manual Of EL6-EC AC Servo Free stopping method. Status after stopping: Free moving Input coupler Servo enabled Input coupler Input coupler SRV-ON Dynamic Activated Deactivated brake Enabled Disabled Disabled Servo status SRV-ST Power OFF Power ON Power OFF Motor power Holding brake Brake ON Brake ON...
Page 126 User Manual Of EL6-EC AC Servo Dynamic braking method. Status after stopping: Free moving Servo enabled Input coupler Input coupler Input coupler SRV-ON Activated Dynamic Activated Deactivated Deactivated brake Enabled Disabled Disabled Servo status SRV-ST Power OFF Power ON Power OFF Motor power Brake ON Holding brake status...
Page 127 User Manual Of EL6-EC AC Servo Stopping when alarm occurs – Sequence Diagram Servo braking method. Status after stopping: Dynamic braking Error Error Normal occurrence Servo status Enabled Disabled SRV-ST Activated Dynamic brake Deactivated Motor power Power ON Power OFF Servo ready Ready Not Ready...
Page 128 User Manual Of EL6-EC AC Servo Free stopping method. Status after stopping: Dynamic braking Error Alarm Normal occurrence Servo status Enabled SRV-ST Disabled Activated Dynamic Deactivated brake Motor power Power Power OFF Servo Ready S-RDY Ready Not Ready Servo Alarm No Alarm Alarm Holding brake...
Page 129 User Manual Of EL6-EC AC Servo Dynamic braking method. Status after stopping: Dynamic braking Error Alarm Normal occurrence Servo status SRV-ST Enabled Disabled Activated Dynamic Deactivated brake Motor power Power ON Power OFF Status ready S-RDY Ready Not Ready Servo Alarm No Alarm Alarm Holding brake...
Page 130 User Manual Of EL6-EC AC Servo Servo braking method. Status after stopping: Free moving Error Alarm Normal occurrence Servo status SRV-ST Enabled Disabled Dynamic Deactivated brake Motor power Power Power OFF Servo ready S-RDY Ready Not Ready Servo alarm No Alarm Alarm Holding brake Brake OFF...
Page 131 User Manual Of EL6-EC AC Servo Free stopping method. Status after stopping: Free moving Error Alarm Normal occurrence Servo status Enabled Disabled SRV-ST Dynamic Deactivated brake Motor power Power ON Power OFF Servo ready Ready Not Ready S-RDY Servo alarm No Alarm Alarm Holding brake...
Page 132 User Manual Of EL6-EC AC Servo Dynamic braking. Status after stopping: Free moving Error Error Normal occurrence Servo status Enabled Disabled SRV-ST Activated Dynamic Deactivated Deactivated brake Motor power Power ON Power OFF Servo Ready S-RDY Ready Not Ready Servo Alarm No Alarm Alarm Holding brake...
Page 133 User Manual Of EL6-EC AC Servo Alarm clearing - Sequence diagram Input coupler ON Alarm clearing Input coupler OFF A-CLR Dynamic brake Activated Deactivated Servo Disabled status Enabled SRV-ST Power ON Motor power Power OFF Brake OFF External brake Brake ON deactivation BRK-OFF Servo...
Page 134: Electronic Gear Ratio
Encoder Pulse Count per Revolution / 8000. EL6-EC series comes with motors with 23-bit encoder. Pulse count per revolution for 23-bit encoder = 8388608. From the condition above, the command pulse count per motor revolution for 23-bit encoder ≥ 1049.
Page 135: Front Panel
User Manual Of EL6-EC AC Servo Structure Type UINT32 Mapping RPDO Access To set electronic gear ratio denominator Label Mode Feed Index Range 1~2147483647 Default 10000 Unit Command/r 6092h-01 UINT32 RPDO Structure Type Mapping Access If 6092h-01(Feed constant) is not equal to 608Fh(Position encoder resolution), then: Electronic gear ratio = Encoder increments / 6092h-01 If 6092h-01(Feed constant) is equal to 608Fh(Position encoder resolution), then: Electronic gear ratio = 6091-01 / 6092h-01...
Page 136: Panel Display And Operation
User Manual Of EL6-EC AC Servo 4.4 Panel Display and Operation 4.4.1 Panel Operation Power ON rBAdy Display “ ” for 1s d 0 0 u B Data monitoring mode d 3 4 S t Initialization display Display data values (EtherCAT not connected) d 4 2 o d Parameters setting mode...
Page 137: Data Monitoring Mode
User Manual Of EL6-EC AC Servo increase/decrease the value of segment. Press S to confirm the modified value(s) and save the parameters. 4.4.2 Data Monitoring Mode EL6 series servo driver offers the function to monitor different types of data in data monitoring mode.
Page 138 User Manual Of EL6-EC AC Servo d25PF d25PF Motor electrical angle “ xxxx” pulse d26hy d26hy Motor mechanical angle “ xxxx” pulse d27Pn d27 Pn Voltage across PN “ xxxx” “d xxx Servo software” “F xxx Communication d28 no Software version d28no software”...
Page 139 User Manual Of EL6-EC AC Servo . . 5 0 Mositive：1 and 2 value s on the lef t has no decimal point. Kegative：1 and 2 value s on the lef t has two decimal points 1. d00uE Position command deviation Shows high bit and low bit of position deviation .
Page 140 User Manual Of EL6-EC AC Servo 3. d04tr Actual torque feedback Actual torque feedback d04tr （%） 4. d05nP Feedback pulse sum d06CP Command pulse sum Feedback pulse sum(Bncoder feedback pulse） 10016 d05nP Feedback pulse sum Mress ◀ to switch between high/low bit （unit）...
Page 141 User Manual Of EL6-EC AC Servo 7. d09Cn Control mode d 0 9 C n C t p o s ...EtherCAT mode 8. d10Io I/O signal status When the top half of the digital tube is lighted, the signal is valid; when the bottom half of the digital tube is lighted, the signal is not valid.
Page 142 User Manual Of EL6-EC AC Servo 10. d14rg Regenerative load factor d15oL Overload factor Regenerative load factor（Er120 might occur, if the value increases indefinitely） d14rg Load factor in regenerative resistance circuit [%] Overload factor（Er100 might occur, if the value increases indefinitely） d15oL Load ratio as with rated load...
Page 143 User Manual Of EL6-EC AC Servo Driver alarm Relay not clicked Emergency stop valid Position command too Torque limitation Zero speed clamp valid Pr3.15 = 1, Zero speed clamp input is open Velocity mode command In velocity mode, the command velocity is too velocity too low Torque mode command In torque mode, the torque limit is too low.
Page 144 User Manual Of EL6-EC AC Servo 14.d23id Communication axis address d 2 3 id id 0 Axis address Reserved 15. d27Pn DC bus voltage d27Pn DC bus voltage across MK 16. d28no Software version Servo driver software version d28no d 210 (DSM) ▲▼...
Page 145 User Manual Of EL6-EC AC Servo 17. d31tE Accumulated operation time d31tE 1256 ◀ Accumulated operation time (hour) Mress to switch between high/low bit 1256 Low bit High bit 18. d34 Servo driver status display Driver status: 402 state machine, EtherCAT communication, running mode, running 402 State Machine OFF(1：Top tube on) Ready(2：Mid tube on)
Page 146 User Manual Of EL6-EC AC Servo Display setting at power on Default setting for initialization display settings at power on is ,if any other display ■ is required, please set on PA5.28. Please refer to PA5.28 for any display content required on the front panel during initialization Label Mode...
Page 147: Parameter Saving Using Front Panel
User Manual Of EL6-EC AC Servo 4.4 Parameter saving using front panel D00UE Increase/decrease value using ▲ ▼, press S to select PR000 ◀ the parameters to be modified Select value using After modifying the selected parameter to desired values, press S to confirm and save the changes.
Page 148: Auxiliary Functions
User Manual Of EL6-EC AC Servo 4.5 Auxiliary functions MA000 Marameters settings mode Auxiliary functions Operation to select ■ Mress ▼ ▲ AFJog Vog - Trial run Trial run ▼ ▲ AF InI InI - Reset to factory default Reset to factory default ACL - AF ACL Clear alarm...
Page 149 User Manual Of EL6-EC AC Servo AF jog Trial run Please disable servo driver before performing any trial run. Please don’t modify gain related parameters during trial run to prevent any occurrence of mechanical vibrations. Press S to exit trial run. Auxiliary functions Operation AF Vog...
Page 150 User Manual Of EL6-EC AC Servo Reset to factory default using object dictionary Object Parameters to Method dictionary reset 0x1011-01 All parameters Controller can reset all parameters using 0x1011-01. If driver receives the data of 0x1011-01 as 0x64616f6c, all parameters will be reset to factory default and 1011-01=1 after saving.
Page 151 User Manual Of EL6-EC AC Servo AF Enc Motor angle correction Auxiliary functions Operation AF Enc Motor angle Enc - Initialization correction StArt) ▲ once to start correct(displays Press FinSh is displayed once completed. StArt Start correction FinSh Completed AF_GL Inertia measuring Please make sure to use suitable velocity and acceleration for the measuring process.
Page 152 User Manual Of EL6-EC AC Servo AF rSt Software reset Software reset is used mainly on parameters modification that takes effect only after driver restart. Auxiliary functions Operation Software Initialization AF rSt rSt - reset Mress ▲ to reset software LBD displayed will be off for 3s and back to initialization page once completed.
Page 153: Chapter 5 Control Mode
User Manual Of EL6-EC AC Servo Chapter 5 Control Mode 5.1 EL6-EC motion control step-by-step A．EtherCAT master device sends "control word (6040h)" to initialize the drive. B．Driver sends feedback "status word (6041h)" to the master device to indicate ready status (status word indication). C．Master device sends enable command (control word switch).
Page 154: Cia 402 State Machine
User Manual Of EL6-EC AC Servo 5.2 CiA 402 State Machine State machine switchover diagram Control Main Enable Circuit Power Disable Power on Initialization starts Fault Disable Initialization completed Ready (Initial parameters done) Enable (Ready to enable) Disable Quick stop Fault trigger Enable Running...
Page 155 User Manual Of EL6-EC AC Servo Table 5.1 Status description Status Description Initialization Driver powered on, initialization starts; Holding brake activated; starts Axis disabled Initialization done Initialization done; Parameters initialize, faultless; Axis disabled. Ready Parameter initialization done; Axis disabled. Enable Servo driver is ready to be enabled.
Page 156: Driver Control Mode Setting
User Manual Of EL6-EC AC Servo 5.3 Driver Control Mode Setting 5.3.1 Supported control mode (6502h) EL6-EC supports seven modes, as defined in 6502h. 31~10 Mode Reserved CST CSV CSP Reserved HM Reserved PT PV Reserved PP 1:Supported Description Abbr. Profile position mode Profile velocity mode Profile Torque mode...
Page 157: Digital Output Setting And Control Operation Method
User Manual Of EL6-EC AC Servo set according to function as the table below shows. Bit31 Bit30 Bit29 Bit28 Bit27 Bit26 Bit25 Bit24 Z signal Reserved Reserved Reserved Touch Touch BRAKE INP/V-COIN Probe 2 Probe 1 /TLC Bit23 Bit22 Bit21 Bit20 Bit19 Bit18...
Page 158: Stop Settings
User Manual Of EL6-EC AC Servo 5.4.4 Stop Settings EL6-EC provides quick stop function. Stopping is different under different modes. Controlled by using object dictionary 605A. Label Mode Quick stop option code Index Range Default Unit 605Ah Structure Type INT16 Mapping Access Motor stops when quick stop option code is given.
Page 159: Position Limits
User Manual Of EL6-EC AC Servo internally without additional setting. 6092h_01 represents the number of pulses that can be set for each revolution of the motor. 6091h_01/6091h_02 is real-time update effective. Electronic gear subdivision method can be determined by modifying 6092h_01 (Feed constant) 1.
Page 160: Control Word
User Manual Of EL6-EC AC Servo 607D-02 - 607C 607D-01 - 607C 607D-02 607D-01 EL6-EC Software position limits valid conditions: 1. It can only be set in the pre-operational state of ESM. It is recommended to configure it by SDO when the system starts. 2.
Page 161: Status Word
User Manual Of EL6-EC AC Servo Operation Mode Cyclic Cyclic Cyclic Profile Profile Profile Homing Sync Sync Sync Position Velocity Torque (HM) Position Velocity Torque (PP) (PV) (PT) (CSP) (CSV) (CST) Stop with Stop with Stop with Stop with deceleratio deceleratio decelerati deceleratio...
Page 162: Synchronous Cycle Time Setting
5.4.8 Synchronous cycle time setting The default synchronous cycle time range of EL6-EC series is 250us – 10ms. Min value: 125us; Max value: 20ms. Please make sure the values set is the multiplier of 250us. 5.4.9 Driver Enabling This section describes how to use control words 6040h/ status word 6041h command switching/status determination forEL6-EC controlled motor.
Page 163: Position Mode（Csp、Pp、Hm
User Manual Of EL6-EC AC Servo 5.5 Position Mode（CSP、PP、HM） 5.5.1 Common Functions of Position Mode Sub- Mode Index Label Access Index 6040 Control word RxPDO 6072 Max torque RxPDO 607A Target RxPDO position 607D RxPDO Min. software limit RxPDO Max. software limit 607F...
Page 164: Cyclic Synchronous Position Mode (Csp)
User Manual Of EL6-EC AC Servo 6065 Position RxPDO deviation window 6066 Position RxPDO deviation detection time Velocity 606C TxPDO feedback 6074 Internal TxPDO command torque 6076 Rated torque TxPDO Actual 6077 TxPDO torque 60F4 Actual TxPDO following error 60FA Position TxPDO loop...
Page 165 User Manual Of EL6-EC AC Servo Related Objects Basic object Data Index+Sub-Index Label Access Unit Notes Type 6040-00h Control word — Required 607A-00h Target position Uint Required 60B0-00h Position feedforward Uint Optional (RXPDO) Uint Optional 60B1-00h Velocity feedforward 60B2-00h Torque feedforward 0.1% Optional 6041-00h...
Page 166: Protocol Position Mode (Pp)
User Manual Of EL6-EC AC Servo 5.5.3 Protocol Position Mode (PP) Under non-synchronous mode, master device is responsible for only sending parameters and control command; After receiving enable command from master device, servo driver will plan motion route according to parameters. Under non-synchronous mode, motor motion between each axes are asynchronous.
Page 167 User Manual Of EL6-EC AC Servo Extended object Index+Sub-Index Label Data Type Access Unit 603F-00h Error code — 6060-00h Operation mode — 6061-00h Displayed operation mode — 6062-00h Position demand value Uint 606B-00h Internal command speed Uint Min. software limit 607D-01h Uint Max.
Page 168 User Manual Of EL6-EC AC Servo 5 motion structures under PP mode Control words bit 5 Accelerates/ constant velocity toward target position Decelerates towards target position Target position inversed direction A：Command switching time from master device B：Arrival time before target position renewal C：Arrival time after target position renewal Thick line: Motion before command changed Thin line ：Motion after command changed...
Page 169: Homing Mode (Hm)
User Manual Of EL6-EC AC Servo *1) Bit 8 abnormal stoppage usually valid when hardware limit, deceleration stoppage and quick stop are triggered. *2) Bit 12 under control word(6040h)bit 5 valid and bit 4 invalid, motion interruptible. *3) Bit 15 and bit 12 have inversed logic under PP mode. Application: Realization of relative position motion Step 1: 6060h = 1, determine if 6061h =1.
Page 170 User Manual Of EL6-EC AC Servo Uint Optional 609A-00h Homing point acceleration 607C-00h Homing point offset Uint Optional 60-00h Status word — Required 603F-00h Error code Optional 6064-00h Actual position feedback Uint Optional (TXPDO) Actual velocity feedback Uint Optional 606C-00h 60F4-00h Actual following error Uint...
Page 171 User Manual Of EL6-EC AC Servo Homing not done 12(Homing done) Homing done, valid after reaching position(bit 10) *2) Motion parameters valid, necessary parameters all not set to 0. 14(Motion Parameter = 0 under current motion. One of 4 Parameter = 0) parameters, Homing mode (6098h), high homing velocity(6099h-01), low homing velocity (6099h-02) and homing point acc-/deceleration (609Ah) = 0.
Page 172 User Manual Of EL6-EC AC Servo Homing mode Torque limiting mode Mode-6：Search for homing point in negative direction at low velocity. Stop after torque reaches the value set in PA5.39 and homing done signal is delivered. Low velocity Start Stop 6099h-02h Mode -5：Search for homing point in positive direction at low velocity.
Page 173 User Manual Of EL6-EC AC Servo Mode -3：Search for homing point in positive direction at high velocity. Move in negative direction after torque reaches the value set in PA5.39, stops when torque is gone. Homing done signal delivers after the time value set in PA5.37 High velocity Start Stop...
Page 174 User Manual Of EL6-EC AC Servo Limit switch signal + Z-signal mode Mode 1: Negative limit switch = OFF Diagram A: 1. Move in negative direction at high velocity until negative limit switch valid. 2. Move in positive direction at low velocity and stops after negative limit switch and first encoder Z-signal valid Negative limit switch = ON Diagram B:...
Page 175 User Manual Of EL6-EC AC Servo 13 will be valid, indicating homing error and the motor will stop immediately. Low velocity High velocity Stop Start 6099h-02h 6099h-01h Z-signal Positive limit POT = OFF POT = ON Homing switch signal + Z-signal mode Mode 3: Homing switch = OFF Diagram A:...
Page 176 User Manual Of EL6-EC AC Servo Mode 4: Homing switch = OFF Diagram A: 1. Move in positive direction at high velocity until homing switch valid. 2. Move in negative direction at high velocity until homing switch invalid. 3. Move in positive direction at low velocity and stops after homing switch valid and first encoder Z-signal valid Homing switch = ON Diagram B:...
Page 177 User Manual Of EL6-EC AC Servo immediately. High Velocity Low Velocity Start Stop 6099h-01h 6099h-02h Z-Signal HOMING SWITCH Negative limit Positive limit HOMING SWITCH=OFF HOMING SWITCH=ON Mode 6: Homing switch = OFF Diagram A: 1. Move in negative direction at high velocity until homing switch valid. 2.
Page 178 User Manual Of EL6-EC AC Servo Limit switch signal + homing switch signal + Z-signal mode Mode 7 Homing switch & positive limit switch = OFF Diagram A: 1. Move in positive direction at high velocity until homing switch valid. 2.
Page 179 User Manual Of EL6-EC AC Servo Homing switch & positive limit switch = OFF Diagram A: 1. Move in positive direction at high velocity until homing switch valid. 2. Move in negative direction at high velocity until after homing switch. 3.
Page 180 User Manual Of EL6-EC AC Servo 2. Move in negative direction at low velocity and stops after homing switch valid and first encoder Z-signal valid. Homing switch = ON, positive limit switch = OFF Diagram B: 1. Start to move at homing switch position in positive direction at high velocity until homing switch invalid.
Page 181 User Manual Of EL6-EC AC Servo Homing switch = ON, positive limit switch = OFF Diagram B: 1. Start to move at homing switch position in positive direction at high velocity until after homing switch. 2. Move in negative direction at high velocity until homing switch valid. 3.
Page 182 User Manual Of EL6-EC AC Servo homing switch. 2. Move in negative direction at high velocity until homing switch valid. 3. Move in positive direction at low velocity and stops after homing switch and first encoder Z-signal valid Homing switch & negative limit switch = OFF Diagram C: 1.
Page 183 User Manual Of EL6-EC AC Servo Homing switch & negative limit switch = OFF Diagram C: 1. Move in negative direction at high velocity until negative limit switch valid. 2. Move in positive direction at high velocity until after homing switch. 3.
Page 184 User Manual Of EL6-EC AC Servo 1. Move in negative direction at high velocity until negative limit switch valid. 2. Move in positive direction at high velocity until homing switch valid. 3. Move in negative direction at high velocity until after homing switch. 4.
Page 185 User Manual Of EL6-EC AC Servo If the positive limit switch signal is valid during the homing process, the status word (6041h) bit 13 will be valid, indicating homing error and the motor will stop immediately. High velocity Low velocity Start Stop 6099h-01h...
Page 186 User Manual Of EL6-EC AC Servo Mode 18： This mode is similar to mode 2. Only difference is that homing point detection is not through Z-signal but through switching of positive limit switch signal Low velocity High velocity Stop Start 6099h-02h 6099h-01h Z-signal...
Page 187 User Manual Of EL6-EC AC Servo Mode 20： This mode is similar to mode 4. Only difference is that homing point detection is not through Z-signal but through triggering of homing switch signal High velocity Low velocity Start Stop 6099h-01h 6099h-02h Z-signal HOMING SWITCH...
Page 188 User Manual Of EL6-EC AC Servo Mode 22： This mode is similar to mode 6. Only difference is that homing point detection is not through Z-signal but through triggering of homing switch signal. High Velocity Low Velocity Stop Start 6099h-01h 6099h-02h Z-Signal HOMING SWITCH...
Page 189 User Manual Of EL6-EC AC Servo Mode 24： This mode is similar to mode 8. Only difference is that homing point detection is not through Z-signal but through triggering of homing switch signal. High Velocity Low Velocity Start Stop 6099h-01h 6099h-02h Z-Signal HOMING SWITCH...
Page 190 User Manual Of EL6-EC AC Servo Mode 26： This mode is similar to mode 10. Only difference is that homing point detection is not through Z-signal but through triggering of homing switch signal High Velocity Low Velocity Start Stop 6099h-01h 6099h-02h Z-signal HOMING SWITCH...
Page 191 User Manual Of EL6-EC AC Servo Mode 28： This mode is similar to mode 12. Only difference is that homing point detection is not through Z-signal but through triggering of homing switch signal High velocity Low velocity Start Stop 6099h-01h 6099h-02h Z-Signal HOMING SWITCH...
Page 192 User Manual Of EL6-EC AC Servo Mode 30： This mode is similar to mode 14. Only difference is that homing point detection is not through Z-signal but through triggering of homing switch signal High velocity Low velocity Start Stop 6099h-01h 6099h-02h Z-signal HOMING SWITCH...
Page 193: Velocity Control Mode（Csv、Pv
User Manual Of EL6-EC AC Servo Mode 34： The motor starts to move in positive direction and stops when the Z-signal is valid. If the positive/negative limit switch signal or homing switch is valid during the homing process, the status word (6041h) bit 13 will be valid, indicating homing error and the motor will stop immediately.
Page 194: Cyclic Synchronous Velocity Mode (Csv)
User Manual Of EL6-EC AC Servo 60B2 Torque feedforward RxPDO 60FF Target velocity RxPDO (Restricted by 6080) Mode Index Name Access Index 6041 Status word TxPDO 6063 Actual internal position TxPDO 6064 Actual feedback position TxPDO 606B Internal command velocity TxPDO 606C Actual feedback velocity...
Page 195: Profile Velocity Mode (Pv)
User Manual Of EL6-EC AC Servo Related Objects Basic object Data Index+Sub-Index Name Access Unit Remarks Type 6040-00h Control word — Required 60FF-00h Target velocity Uint Required (RXPDO) 60B1-00h Velocity feedforward Uint /S Optional 60B2-00h Torque feedforward 0.1% Optional 6041-00h Status word —...
Page 196 User Manual Of EL6-EC AC Servo Polarity(2060h + 2062h) Velocity[Unit/S] Target velocity(60FFh) Limit Function Profile Trajectory planning output Velocity Trajectory Profile acceleration(6083h) generato Profile deceleration(6084h) ACC/DEC[Unit/S Limit Function Quick stop deceleration(6085h) Related Objects Basic object Index+Sub-Index Name Data Type Access Unit Notes 6040-00h...
Page 197: Torque Mode（Cst、Pt
User Manual Of EL6-EC AC Servo Control Word and Status Word for Profile Velocity Mode The bit6~4 of control words (6040h) associated with the control mode in PV mode are invalid. The motion in PV mode can be triggered as long as the motion parameters (target velocity (60FFh) ACC/DEC (6083h/6084h)) are given after the axis is enabled.
Page 198: Cyclic Synchronous Torque Mode (Cst)
User Manual Of EL6-EC AC Servo Mode Index Label Access Index 6041 Status word TxPDO 6063 Actual internal position TxPDO 6064 Actual feedback position TxPDO 606C Actual feedback velocity TxPDO 6074 Internal torque command TxPDO 6075 Rated current 6076 Rated torque 6077 Actual torque TxPDO...
Page 199: Profile Torque Mode (Pt)
User Manual Of EL6-EC AC Servo 6087-00h Torque feed-forward 0.1%/S Optional 6041-00h Status word — Required 6064-00h Actual position feedback Uint Optional (TXPDO) 606C-00h Actual velocity feedback Uint /S Optional 60F4-00h Actual following error Uint Optional 6077-00h Actual torque 0.1% Required Extended object Data...
Page 200 User Manual Of EL6-EC AC Servo PT Block Diagram Polarity(2071h + 2073h) Target torque(6071h) Torque[0.1%] Limit Max motor velocity(6080h) Function Profile Torque Trajectory planning output Trajectory generator Torque change rate(6087h) Torque change rate[0.1%/S] Limit Function Profile deceleration(6084h) Related Objects Basic object Data Index+Sub-Index Label...
Page 201 User Manual Of EL6-EC AC Servo 2077-00h Velocity limit Application: Realization of profile torque motion Step 1: 6060h = 4, determine if 6061h = 4. Servo driver is now under PT mode. Step 2: Write motion parameters: Target torque 6071h, Torque change rate 6087h, and Max.
Page 202: Chapter 6 Application
User Manual Of EL6-EC AC Servo Chapter 6 Application 6.1 Gain Adjustment In order for servo driver to execute commands from master device without delay and to optimize machine performance, gain adjustment has to be done. Servo driver gain adjustment is done in combination with a few other parameters (Inertia ratio, Position loop gain, Velocity loop gain and Filters settings).
Page 203 User Manual Of EL6-EC AC Servo Start Electronic gear ratio Inertia measuring Auto gain adjustment Requirement met? Manual gain adjustment Requirement met? Vibration suppression Steps Functions Explanation Online Motor moves with command from controller, servo driver will automatically calculate load-inertia ratio Inertia measuring Offline...
Page 204: Inertia Measuring Function
User Manual Of EL6-EC AC Servo Basic gain On top of auto gain adjustment, manually adjust related parameters so that machine can have better responsiveness and following Manual gain Command pulse Set filter for position, velocity and torque command pulse. adjustment filter Gain...
Page 205: Auxiliary Function To Determine Inertia On Front Panel
User Manual Of EL6-EC AC Servo 6.2.3 Auxiliary function to determine inertia on front panel Auxiliary Function Operation Inertia A F_ G L G - - - - Initialization measuring Press ‘◀’ to start inertia measuring. SrUon will be Press ‘S’ to enter displayed.
Page 206: Inertia Measuring Using Motion Studio
User Manual Of EL6-EC AC Servo 6.2.4 Inertia measuring using Motion Studio 1. Start Motion Studio and maneuver to inertia ratio identification page under performance tuning. Set trial run velocity PA6.04 and acc-/deceleration time PA6.25, click on ‘Upload’ to upload parameters to servo driver. 2.
Page 207 User Manual Of EL6-EC AC Servo 6. Click on “Parameter List” to enter parameters management to check or modify PA0.04. 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.
Page 208: Auto Gain Adjustment
User Manual Of EL6-EC AC Servo 6.3 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 to implement Conditions Control Please refer to PA0.02 for detailed explanations. Auto gain adjustment is mode different for each control mode.
Page 209 User Manual Of EL6-EC AC Servo mechanical noise or vibration might occur for the first run, it is normal. If it persists, please set PA0.03 to lower value. Parameters that change in accordance to real time gain adjustment Parameters Label Remarks PA1.00 position loop gain...
Page 210 User Manual Of EL6-EC AC Servo Set up the mode of the real time auto gain adjusting. Data Category Settings Application bits Used to set motion setting mode, which can be selected according to the motion characteristics or setting requirements. Generally, it is recommended to select mode 1 with good generality when there is no special requirement, mode 2 when rapid positioning is needed If mode 1 and mode 2 cannot meet the requirements, please choose mode 0.
Page 211: Manual Gain Adjustment
User Manual Of EL6-EC AC Servo Real time auto stiffness adjusting Label Mode PA0.03 Range 50 ~ 81 Default Unit — Activation Immediate Index 2003h Valid when PA0.03 = 1,2 High Mechanical stiffness Servo gain High 81.80……………………………70.69.68…………………………51.50 Responsiveness High • Lower values ensure better system responsiveness and mechanical stiffness but machine vibration might occur, please set accordingly.
Page 212 User Manual Of EL6-EC AC Servo Steps to tuning (Position and velocity control) For servo gain, if any one of the parameters is changed, please modify other gain related parameters accordingly. Make sure to the change at around 5% and follow the rules as below.
Page 213: Gain Switching
User Manual Of EL6-EC AC Servo filter should be PA1.01≤221(0.01ms) If mechanical vibration is due to servo driver, adjusting PA1.04 might eliminate the vibration. The smaller the value, the better the responsiveness but also subjected to machine conditions. If the value is too large, it might lower the responsiveness of current loop. With higher PA1.01 value settings and no resonance, reduce PA1.04 value;...
Page 214 User Manual Of EL6-EC AC Servo Start Pr0.02 – Standard mode Set Pr0.02 Pr0.02 – Manual/ Positioning mode Gain switching Pr1.15=0 Pr1.15=1 Set Pr1.15 PA1.15=3/5/6/9/10 Pr1.17~Pr1.19 gain gain Switch gain accordingly Related parameters on gain switching Parameter Label Remarks In position control, set PA1.15=3、5、6、 Position control gain 9、10。...
Page 215 User Manual Of EL6-EC AC Servo Position control gain switching Label Mode mode PA1.15 0~11 Range Default Unit Immediate 2115h Activation Index Condition Gain switching condition Value gain Fixed on using 1 gain(PA1.00-PA1.04) fixed gain Fixed on using 2 gain (PA1.05-PA1.09) fixed Reserved Switch to 2...
Page 216 User Manual Of EL6-EC AC Servo Velocity Level Hysteresis Position Deviation Valid for position control. gain if position command ≠ 0 Switch to 2 Switch to 1 gain if position command remains = 0 throughout the duration of delay time. Pending position command...
Page 217: Feedforward Gain
User Manual Of EL6-EC AC Servo Switch when both conditions fulfilled Position Command Hysteresis Level Velocity Feedback For position control mode, set PA1.15=3,5,6,9,10; For velocity control mode, set PA1.15=3,5,9; ** Above ‘level’ and ‘hysteresis’ are in correspondence to PA1.17 Position control gain switching level and PA1.18 Hysteresis at position control switching.
Page 218: Velocity Feedforward Application
User Manual Of EL6-EC AC Servo Activation Immediate Index 2111h 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 219: Torque Feedforward Application
User Manual Of EL6-EC AC Servo motion can be reduced to close to 0. In reality, perturbation torque will always exist, hence position deviation can never be 0. Torque feed forward filter time Label Mode CSP CSV constant PA1.13 Range 0~6400 Default Unit...
Page 220: Model Following Control
User Manual Of EL6-EC AC Servo 6.7 Model following control Model following control is a type of closed loop control system. First, an ideal model is constructed and acts as a reference for actual model in a closed loop control. Model following control can be treated as a control mode with 2 flexibilities: Reference model can be used to improve command responsiveness and closed loop control used to increase responsiveness of the system towards interference.
Page 221: Friction Compensation Function
User Manual Of EL6-EC AC Servo Manually adjust gain. Increase PA0.00 provided that there is no overshoot and vibration. Usually PA0.00 ≥ PA1.01 is recommended. 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.
Page 222: Parameters Adjustment Under Different Control Modes
User Manual Of EL6-EC AC Servo Label Mode Torque command additional value PA6.07 Range -100~100 Default Unit Activation Immediate Index 2607h To set torque forward feed additional value of vertical axis. Applicable for loaded vertical axis, compensate constant torque. Application: When load move along vertical axis, pick any point from the whole motion and stop the load at that particular point with motor enabled but not rotating.
Page 223: Velocity Control Mode
User Manual Of EL6-EC AC Servo PA1.05 position loop gain PA1.06 velocity loop gain PA1.07 velocity integral time constant PA1.08 velocity detection filter PA1.09 torque filter time constant PA1.10 Velocity feedforward gain constant PA1.11 Velocity feedforward filter time constant PA1.12 Torque feedforward gain PA1.13 Torque feedforward filter time constant...
Page 224: Torque Control Mode
User Manual Of EL6-EC AC Servo 6.9.3 Torque control mode Parameters adjustment for torque control mode has to be differentiate into 2 conditions: When actual velocity reaches velocity limit, adjustment will be as per velocity control mode. Motor will switch from torque control to velocity limit as velocity control.
Page 225: Emergency Stop Function
User Manual Of EL6-EC AC Servo Delay time for holding brake Label Mode release PA4.38 Range 0~3000 Default Unit Activation Immediate Index 2438h To set delay time for holding brake to be released after motor power on. Motor will remain at current position and input command is masked to allow holding brake to be fully released before motor is set in motion.
Page 226: Vibration Suppression
User Manual Of EL6-EC AC Servo 0：Emergency stop is valid, servo driver will be forced to STOP and alarm occurs. 1：Emergency stop is invalid, servo driver will not be forced to STOP. Label Mode Driver prohibition input settings PA5.04 Range Default Unit Immediate...
Page 227 User Manual Of EL6-EC AC Servo Notch filter bandwidth  Center frequency of the notch filter, frequency bandwidth with reduction of -3dB. Notch filter depth  The ratio between input and output of center frequency. When depth = 0, center frequency output is totally off and when depth = 100, Hence when notch filter depth is set at lower value, the depth is higher and better at suppressing mechanical resonance but it might cause system instability.
Page 228 User Manual Of EL6-EC AC Servo If resonance is suppressed, it means self-adjusting notch filter is working. If resonance occurs when mechanical stiffness increases, please use manual notch filter, set filter frequency to actual resonant frequency. Manual notch filter There are 2 ways to use manual notch filter. After enabling self-adjusting notch filter, set the values from 3 group of filters to 1 group of notch filter (PA2.01/PA2.02/PA2.03), see if resonance is suppressed.
Page 229: End Vibration Suppression
User Manual Of EL6-EC AC Servo 6.11.2 End vibration suppression Bnd vibration Direction Motor Moving body If the mechanical structure has an end that is long and heavy, it might cause end vibration at emergency stop and affect the positioning. Usually happens on long armed axis with loose end.
Page 230: Mechanical Properties Analysis
User Manual Of EL6-EC AC Servo The result of suppressing low frequency resonance End low frequency suppression End vibration is End vibration is 激光测试仪测 measured using laser measured using laser 试末端振动 measurement device measurement device Actual Actual velocity velocity 6.11.3 Mechanical properties analysis To determine mechanical and set up notch filter parameters to suppress vibration caused by resonance.
Page 231: Multiturn Absolute Encoder
User Manual Of EL6-EC AC Servo 6.12 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 232 User Manual Of EL6-EC 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 233 User Manual Of EL6-EC AC Servo Read data from 6064h object dictionary Please read data only when the motor is fully stopped or it might cause calculation errors. Please repeat this step for at least twice to make sure the result is uniform. Multiturn rotational mode For absolute encoder, multiturn rotational mode (PA0.15 = 2, PA6.63 set to multiturn upper limit) is added on top of incremental mode and multiturn linear mode.
Page 234 User Manual Of EL6-EC AC Servo Motor Load Position during power-on Encoder position Actual position 10000 -1)+10000 3、Clear multiturn position Before clearing multiturn position, axis needs to be homed. After clearing multiturn position, revolution count = 0 but absolute position remains unchanged and Err153 alarm will be cleared.
Page 235 User Manual Of EL6-EC AC Servo If the motor position is as shown below during power on. The range of motion of the motor is within the range of a single turn of the motor from motor position during power Single turn Mosition Mosition during...
Page 236: Absolute Encoder Related Alarm
User Manual Of EL6-EC AC Servo 6.12.3 Absolute Encoder Related Alarm The alarm can determine if absolute value encoder is valid. If battery power is low, not a motor with absolute encoder, encoder error etc. occurs, user can find out about the error from alarm output or on the front panel.
Page 237: Probe
User Manual Of EL6-EC AC Servo 6.13 Probe Motor feedback position latching function can be realized through input signal with probe function. EL6-EC supports up to 2 inputs with probe function and can be used simultaneously, to record the position information corresponding to probe signal rising and falling edge.
Page 238: Probe Function
User Manual Of EL6-EC AC Servo CW pulse sequence ＋ CCW pulse sequence Pulse sequence ＋ Directional symbol Command pulse input signal max. frequency and min. duration needed Min. duration needed（μs） Command pulse input interface Max. Frequency Pulse sequence Differential 500 kHz interface Open collector...
Page 239: Signal Input Of Ext1 And Ext2
User Manual Of EL6-EC AC Servo Related Objects Data Index Label Access Units Range Default Index Type 2007h Probe 1 polarity setting Uint16 0~0xFFFF 2007h Probe 2 polarity setting Uint16 0~0xFFFF 60B8h Probe control word Uint16 0~65535 60B9h Probe status word Uint16 0~65535 Probe 1or Z-signal rising...
Page 240: Probe Status Word 60B9H
User Manual Of EL6-EC AC Servo 0--Single trigger mode Probe 2 mode 1--Continuous trigger mode Probe 2 trigger signal 0—EXT2 signal selection 1--Z signal Reserved Probe 2 rising edge trigger 0--Disable 1--Enable 0--Disable Probe 2 falling edge trigger 1--Enable 14-15 Reserved 6.13.4 Probe Status Word 60B9h Definition...
Page 241: Latch Counter Register
User Manual Of EL6-EC AC Servo 6.13.7 Latch Counter Register Index Details or Z-signal 60D5h Probe 1 rising edge counter or Z-signal 60D6h Probe 1 falling edge counter or Z-signal 60D7h Probe 2 rising edge counter or Z-signal 60D8h Probe 2 falling edge counter 6.13.8 Probe mode Set bit1/bit9 of 60B8h (Probe mode), 0 = Single trigger mode, 1 = Continuous trigger...
Page 242: Other Functions
User Manual Of EL6-EC AC Servo （2）Continuous trigger mode The data saved from signal triggering will be saved until the next trigger signal. Enabling the probe again is not needed. Sequence diagram as shown below: 6.14 Other Functions 6.14.1 Functions under Position mode Electronic gear function If command frequency from controller is not enough which cause the motor to not reach target rotational velocity, frequency can be increased using this function.
Page 243 User Manual Of EL6-EC AC Servo Label Mode Motor Revolutions Index Range 1~2147483647 Default Unit 6091h-01 Structure Type UINT32 Mapping RPDO Access To set electronic gear ratio numerator Label Mode Shaft Revolutions Index Range 1~2147483647 Default Unit 6091h-02 Structure Type UINT32 Mapping RPDO...
Page 244 User Manual Of EL6-EC AC Servo Label Position command FIR filter Mode 0~10000 0.1ms PA2.23 Range Default Unit After disabling 2223h Activation Index As shown below, when target velocity Vc square wave command reaches Vc, it becomes trapezoidal wave after filtering. Position Position command Velocity...
Page 245 User Manual Of EL6-EC AC Servo In Position Positioning completed status can be determined by output of INP signal. Under position control mode, the absolute value of position deviation counter will be ON if positioning is under the range set in PA4.31. Label Mode Positioning complete range...
Page 246: Functions Under Velocity Mode
User Manual Of EL6-EC AC Servo 6.14.2 Functions under velocity mode Velocity reached output signal (AT-SPEED) AT-SPEED signal delivers after motor velocity reached target velocity. Label Mode Reached speed (AT-speed) PA4.36 Range 10~2000 Default 1000 Unit Activation Immediate Index 2436h When motor velocity >...
Page 247 User Manual Of EL6-EC AC Servo Velocity coincidence output Velocity command (before acc-/deceleration) coincides with motor velocity. If the difference between velocity command and motor velocity is within the range set in PA4.35, it is treated as the velocity coincides. Label Mode Velocity coincidence range...
Page 248 User Manual Of EL6-EC AC Servo Zero speed position output If the absolute value of the velocity feedback satisfies set conditions, corresponding output will be set to ON. Label Mode Zero speed 1~2000 PA4.34 Range Default Unit Immediate 2434h Activation Index To set threshold value for zero speed clamp detection.
Page 249: Functions Under Torque Mode
User Manual Of EL6-EC AC Servo 6.14.3 Functions under torque mode Velocity limit is required under torque mode to make sure motor rotational velocity stays within the limit. Velocity limit function During torque control, velocity control should be within the range of velocity limit. When motor reaches velocity limit, command control will switch from torque control to command control with velocity limit.
Page 250: Chapter 7 Ethercat Communication
User Manual Of EL6-EC AC Servo Chapter 7 EtherCAT communication 7.1 EtherCAT principle function In comparison to Ethernet protocol which requires huge bandwidth for packets to be moved between master and clients, EtherCAT communication protocol breaks through this systemic limitation of Ethernet which requires every client to receive the whole data package from the master.
Page 251: Synchronous Mode
User Manual Of EL6-EC AC Servo ID number setting of EtherCAT slave station To set up EtherCAT slave station ID number, please set PA0.24 = 1 and set required ID number to PA0.23. Label EtherCAT slave ID Mode 0~32767 PA0.23 Range Default Unit...
Page 252: Ethercat State Machine
User Manual Of EL6-EC AC Servo 7.3 EtherCAT state machine EtherCAT state machine, commonly known as "communication state machine ", is mainly used to manage communication between master and slave stations. The communication function mainly includes mailbox and process data communication. The EtherCAT state machine transition relationship is shown in figure 6.3 Init (IP)
Page 253: Canopen Over Ethercat (Coe)
User Manual Of EL6-EC AC Servo 7.4 CANopen over EtherCAT (CoE) 7.4.1 Network structure of EL6-EC EL6-EC DSP402 CANopen DSP 402 EtherCAT Object Dictionary application CANopen EtherCAT layer Over State EtherCAT Machine Service mapping Data Object Object Mailbox Process data register EtherCAT FMMU0...
Page 254: Object Dictionary
7.4.3 Service Data Object (SDO) The EL6-EC series supports SDO services. EtherCAT master can configure, monitor and control EL6-EC servos by using SDO to read and write EL6-EC object dictionaries. In conventional CANopen DS301 mode, SDO protocol CAN only transfer 8 bytes at a time to match the data length of CAN message.
Page 255 User Manual Of EL6-EC AC Servo Default PDO mapping (consistent with the XML file) is shown in table 7.3 Table 7.3 Default PDO mapping PDO Map PDO Map Mapped Object Mapping object object Description content Index Sub-index Bit length index Sub-index 60400010h 10h(16 bit)
Page 256 User Manual Of EL6-EC AC Servo PDO dynamic mapping Different from CIA DS301, CoE uses PDO specified objects (1C12h/1C13h) to configure PDO mapped objects (1600h~1603h/1A00h~1A01h) to PDO SyncManager (SyncManager 2/3). PDO specified objects are defined in table 6.4 Table 6.4 PDO specifies object definitions Index Sub-index Range...
Page 257: Chapter 8 Warning And Alarm
User Manual Of EL6-EC AC Servo Chapter 8 Warning and Alarm 8.1 Servo drive warning When warning occurs, driver will set protective function but motor won’t stop moving. Error code will be displayed on the front panel. Example of warning code: A rA 0 2 Bit 1：Sub code Bit 2：Main code...
Page 258 User Manual Of EL6-EC AC Servo D12Er Er 150 Bit 1：Sub-code Er 150 ……Current alarm Bit 2: Main code 01150 ……Alarm record 1(Latest) 140E0 ……Alarm record 14(Last) Able to look back at 14 alarm records Use ▲▼ buttons to navigate between alarm records Table 9.1 Error Code List Error code...
Page 259 User Manual Of EL6-EC AC Servo Encoder data overflow ● ● Encoder overheated ● ● Encoder counter error ● ● Encoder data error ● Encoder parameter initialization error ● Excessive position deviation ● ● Excessive velocity deviation Motor vibration too strong ●...
Page 260 User Manual Of EL6-EC AC Servo Clearable: Clearable alarm by operating the front panel and use auxiliary function AFACL as below. Besides clearable alarms, please first solve the error and restart the servo driver to clear alarm. MR 000 Marameter settings Auxiliary Function Button to ■...
Page 261 User Manual Of EL6-EC AC Servo Table 8.2 Alarm and 603F correspondence Error Code 1001h 603Fh Alarm Description Display Code Er 0A0 0x04 0x3150 Phase A circuit current detection error Er 0A1 0x04 0x3151 Phase B circuit current detection error Er 0A3 0x04 0x3153...
Page 262 User Manual Of EL6-EC AC Servo Incorrect electronic gear ratio Er 1b1 0x20 8503 Er 210 0x80 0x6321 I/O input interface assignment error I/O input interface function assignment Er 211 0x80 0x6322 error I/O output interface function assignment Er 212 0x80 0x6323 error...
Page 263 User Manual Of EL6-EC AC Servo Er 813 0x10 0x8213 0x0013 Protection request from boot state Er 814 0x80 0x6203 Invalid firmware Invalid mailbox configuration under boot Er 815 0x10 0x8215 0x0015 state Pre-Op status is invalid for the mailbox Er 816 0x10 0x8216...
Page 264 User Manual Of EL6-EC AC Servo cycle time 0x005 Er 850 0x80 0x5550 EEPROM is inaccessible Er 851 0x80 0x5551 0x0051 EEPROM error 0x005 Er 852 0x80 0x5552 Hardware is not ready EtherCAT frame lost per unit time exceeds Er 860 0x80 0xFF01 limit...
Page 265: Alarm Handling
User Manual Of EL6-EC AC Servo 8.3 Alarm Handling **When error occurs, please solve accordingly. Then, restart. Main Display: “Er 0A0”--“Er 0A1” Error code Content: Circuit current detection error Cause Diagnosis Solution Motor power cable wiring Make sure U,V,W terminal wired Verify motor power cable error properly...
Page 266 User Manual Of EL6-EC AC Servo Main Display: “Er 0d0” Error code Content: DC bus undervoltage Cause Diagnosis Solution Main power supply Increase main power supply Verify L1,L2,L3 terminal voltage undervoltage voltage L1C, L2C connected Control circuit power on before Please disconnect the USB cable when USB cable is driver initialization.
Page 267 User Manual Of EL6-EC AC Servo Main Display: “Er 0E0” Error code Content: Overcurrent Cause Diagnosis Solution Verify if there is short circuit 1. Make sure there is no circuit. Driver power output 2. Make sure motor is not between UVW terminals, or short circuit damaged shorted to PG.
Page 268 User Manual Of EL6-EC AC Servo Display: “Er 0E2” Main Error code Content: Power output to motor shorted to ground Cause Diagnosis Solution Disconnect motor power cable Driver U, V, W terminals 1. Reconnect wiring. and check for short circuit shorted to ground 2.
Page 269 User Manual Of EL6-EC AC Servo Display: “Er 102” Main Error code Content: Motor rotor blocked Cause Diagnosis Solution Motor rotor Look for mechanical blockages Check the machinery blocked Motor rotor blocking time Verify value of Pr6.57 Adjust value of Pr6.57 threshold value too low Display:...
Page 270 User Manual Of EL6-EC AC Servo Display: “Er 150” Main Error code Content: Encoder disconnected Cause Diagnosis Solution Encoder cable Make sure encoder cable properly Verify encoder cable connection disconnected connected Encoder cable wiring Verify if encoder wiring is correct Reconnect encoder wiring error Encoder damaged...
Page 271 User Manual Of EL6-EC AC Servo Main Display: “Er 153” Error code Content: Multiturn encoder error Cause Diagnosis Solution Perform origin positioning and multiturn Origin calibration not Initial use position initialization, calibrate the origin of performed coordinate system. 1. Replace the motor with a multiturn Encoder without Verify if encoder has absolute encoder.
Page 272 User Manual Of EL6-EC AC Servo Main Display: “Er 157” Error code Content: Encoder counter error Cause Diagnosis Solution Verify if encoder is not Encoder data overflow Initialize multiturn data damaged Absolute value Verify if encoder is not Adjust absolute value application applications, motor damaged mode, set to turntable mode...
Page 273 User Manual Of EL6-EC AC Servo Display: “Er 180” Main Error code Content: Excessive position deviation Cause Diagnosis Solution Improper position Verify if value of Pr_014 is too low Increase value of Pr_014 deviation settings Position gain setting too Verify if values of Pr1.00 & Pr1.05 are Increase values of Pr1.00 &...
Page 274 User Manual Of EL6-EC AC Servo Display: “Er 1A1” Main Error code Content: Velocity out of control Cause Diagnosis Solution Motor velocity Verify encoder phase sequence; Verify if UVW Reconnect UVW if wrongly out of control, cable is connected to the right terminal connected.
Page 275 User Manual Of EL6-EC AC Servo Input signal assigned with Verify values of PA4.10-PA4.15 Set proper values for two or more functions. PA4.10-PA4.15 Verify values of PA4.10-PA4.15 Set proper values for Input signal not assigned PA4.10-PA4.15 Display: “Er 240” Main Error code Content: EEPROM parameters initialization error...
Page 276 User Manual Of EL6-EC AC Servo Display: “Er 246” Main Error code Error description: Data saving error during power-off Cause Diagnosis Solution Power off too fast Upgrade software EEPROM damaged Restart driver for a few times Restart driver for a few times Display: “Er 260”...
Page 277 User Manual Of EL6-EC AC Servo Cause Diagnosis Solution Check for interference from Ground driver and motor to reduce The motor control loop devices releasing interference calculation time electromagnetic field overflow Restart driver Replace driver Main Display: “Er 601” Error code Error description: Velocity loop interrupted timeout Cause...
Page 278: Alarm Clearing
User Manual Of EL6-EC AC Servo 8.4 Alarm clearing 8.4.1 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). Method 2：...
Page 279: Ethercat Communication Alarm
User Manual Of EL6-EC AC Servo 8.5 EtherCAT Communication Alarm EtherCAT communication related alarms are erasable and will not be recorded in alarm history. Clearing EtherCAT communication alarm is similar to clearing servo driver alarm. Please clear the alarm before switching to 402 machine state. EtherCAT communication alarm however, relies on register clearance from the main station.
Page 280 User Manual Of EL6-EC AC Servo Main Display: “Er 73c” Error code Error description: Excessive Distributed Clock error Cause Diagnosis Solution Poor master device Increase threshold value limit performance Is it a single unit or Replace driver Single-unit drive has multiple units together in problem the network...
Page 281 User Manual Of EL6-EC AC Servo Main Display: “Er 805” Error code Error description: FOE firmware upgrade failed Cause Firmware burn error The status of the BOOT error can be detected The result status Remain in the detection state Solution Replace firmware/driver Main Display:...
Page 282 User Manual Of EL6-EC AC Servo Main Display: “Er 813” Error code Error description: Protection request from boot state Cause Driver receives a transition request to boot state The status of the Initialize the conversion to a boot error can be detected The result status initialization Solution...
Page 283 User Manual Of EL6-EC AC Servo Main Display: “Er 817” Error code Error description: Invalid configuration SyncManager Cause Synchronization manager configuration is invalid The status of the Pre-op above error can be detected The result status Pre-op Solution Verify master device configuration/ESI file version Main Display: “Er 818”...
Page 284 User Manual Of EL6-EC AC Servo Main Display: “Er 81b” Error code Error description:SyncManager2 watchdog timer timeout Cause The RxPDO update timeout in operational state The status of the operation error can be detected The result status Safe operation 1. Verify if EL6-EC network is connected Solution 2.
Page 285 User Manual Of EL6-EC AC Servo Main Display: “Er 821” Error code Error description: Waiting for EtherCAT state machine Init state Cause Driver waiting for master device to send Init request The status of the All ESM status error can be detected The result status Keeping the current state Verify transition request sent from master device...
Page 286 User Manual Of EL6-EC AC Servo Main Error Display: “Er 825” code Error description: Invalid process data output mapping Cause RxPDO is configured with non-mappable objects The status of the Safe operation error can be detected Pre-operation The result status Reconfigure the RxPDO mapping object Solution Main...
Page 287 User Manual Of EL6-EC AC Servo Main Error Display: “Er 82d” code Error description: No synchronization error Cause Synchronization is invalid The status of the operation error can be detected Safe operation The result status 1. Verify if "fatal synchronization error" has occurred. Solution 2.
Page 288 User Manual Of EL6-EC AC Servo Main Error Display: “Er 835” code Error description: Distribution Clock cycle time is invalid Cause Set synchronization cycle time is not proportional to drive position loop The status of the Safe operation error can be detected Pre-operation The result status Refer to user manual to set a reasonable synchronization cycle time.
Page 289 User Manual Of EL6-EC AC Servo Main Error Display: “Er 852” code Error description: Hardware is not ready Cause Data communication lost The status of the All ESM status error can be detected Keeping the current state The result status Verify if EL6-EC hardware is faulty Solution Main...
Page 290: About Us
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Leadshine EL6-EC Series User Manual

Chapter 1 Introduction

Chapter 2 Installation & Wiring

Chapter 3 Parameter

Chapter 4 Servo Drive Operation

Chapter 5 Control Mode

Chapter 6 Application

Chapter 7 Ethercat Communication

Chapter 8 Warning and Alarm

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