Leadshine ELD2-CAN7005B User Manual
  1. Manuals
  2. Brands
  3. Leadshine Manuals
  4. Servo Drives
  5. ELD2-CAN7005B
  6. User manual
Leadshine ELD2-CAN7005B User Manual

Leadshine ELD2-CAN7005B User Manual

Hide thumbs Also See for ELD2-CAN7005B:
Table of Contents

Advertisement

Quick Links

Download this manual
User Manual of ELD2-CAN Series Servo Drives
ELD2-CAN Series Servo Drives
User Manual
Revision 1.12
www.leadshine.com
www.leadshine.com
1

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the ELD2-CAN7005B and is the answer not in the manual?

Questions and answers

Related Manuals for Leadshine ELD2-CAN7005B

Summary of Contents for Leadshine ELD2-CAN7005B

  • Page 1 User Manual of ELD2-CAN Series Servo Drives ELD2-CAN Series Servo Drives User Manual Revision 1.12 www.leadshine.com www.leadshine.com...

  • Page 2: Safety Precautions

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

  • Page 4: Fault Processing

     The rate torque of servo motor should be larger than effective continuous load torque.  The ratio of load inertia and motor inertia should be smaller than recommended value.  The servo drive should be matched with servo motor. www.leadshine.com...

  • Page 5: Table Of Contents

    4.2.2【Class 1】Gain Adjust ......................34 4.2.3【Class 2】Vibration Suppression ..................... 38 4.2.4【Class 3】Velocity/ Torque Control ..................40 4.2.5【Class 4】I/F Monitor Setting ....................41 4.2.6【Class 5】Extended Setup ....................... 46 4.2.7【Class 6】Special Setup ......................49 4.2.8【Class 7】Factory setting ......................51 4.3 402 Parameters Function ........................52 www.leadshine.com...
  • Page 6 6.7.2 Statusword in profile torque mode .................... 78 6.7.3 Related objects .......................... 79 6.7.4 Example of profile torque mode ....................79 6.8 Homing mode ............................80 6.8.1 Controlword in profile homing mode ..................80 6.8.2 Statusword in profile homing mode ..................80 www.leadshine.com...
  • Page 7 6.14.2 Read absolute position ......................103 6.14.3 Alarm ............................. 104 Chapter 7 Alarm and Processing ........................105 7.1 Alarm List ............................105 7.2 Alarm Processing Method ........................107 Chapter 8 Product Accessory ..........................115 8.1 Accessory selection ..........................115 Contact us ................................116 www.leadshine.com...

  • Page 8: Chapter 1 Introduction

    It can save the cost of pulse module, control card and industrial control machine. Talent feature: ◆ Easy tuning ◆ Automatic identification for motor ◆ Simple, flexible to control ◆ RS485/Modbus/CANopen ◆ Notch filter, damping filter ◆ Optional feedback www.leadshine.com...

  • Page 9: Specification And Feature

    User Manual of ELD2-CAN Series Servo Drives 1.1.1 Specification and feature Specifications Drive model ELD2-CAN7005B ELD2-CAN7010B ELD2-CAN7015B ELD2-CAN7020B Size(mm) 140*79.5*25.5 140*79.5*25.5 175*101.5*31 175*101.5*31 Rated power(kw) 0.75 Rated current(Arms) Peak current(Apeak) 21.2 42.5 Voltage(V) DC24-70(recommended 24-60Vdc) Main power 5Arms （≤48Vdc） 10Arms （≤48Vdc）...

  • Page 10: Part Numbering Information

    Up to 1200W Motor Supported Brushless、Brushed Voltage Range 24 - 70Vdc 1000. 2500ppr incremental encoder (Encoder(ABZ)+Hall(UVW)) Feedback supported 17bit/23bit serial signal encoder Motor Size 40mm,42mm,57mm,60mm,80mm frame,110mm frame or other size Other Requirements Brake. oil-seal. protection level. Shaft &connector can be customized www.leadshine.com...

  • Page 11: Chapter 2 Installation

     Must install with specified direction and intervals, and ensure good cooling condition.  Don’t install them on inflammable substance or near it to prevent fire hazard. 2.2.1 Installation Method Install in vertical position ,and reserve enough space around the servo drive for ventilation. www.leadshine.com...
  • Page 12 User Manual of ELD2-CAN Series Servo Drives Figure 2.1(A) installation method of drive ELD2-CAN7005B /ELD2-CAN7010B Figure 2.1(B) installation method of drive ELD2-CAN7015B/ELD2-CAN7020B/ELD2-CAN7030B www.leadshine.com...

  • Page 13: Installation Space

    Motor shaft does not bear the axial load, radial load, otherwise you may damage the motor.  Use a flexible with high stiffness designed exclusively for servo application in order to make a radial thrust caused by micro misalignment smaller than the permissible value.  Install must be steady, prevent drop from vibrating. www.leadshine.com...

  • Page 14: Chapter 3 Wiring

     The wiring should be connected after servo drive and servo motor installed correctly 3.1 Wiring 3.1.1 Wire Gauge (1)Power supply terminal TB ● Wiring Diameter: Wiring diameter (mm /AWG) Drive Vdc, GND U.V.W ELD2-CAN7005B AWG18 AWG18 AWG18 ELD2-CAN7010B AWG16 AWG16 AWG16 ELD2-CAN7015B AWG16...
  • Page 15 User Manual of ELD2-CAN Series Servo Drives Recommend resister value (Ω) Drive Recommend resister power (W) ELD2-CAN7005B ELD2-CAN7010B ELD2-CAN7015B ELD2-CAN7020B ELD2-CAN7030B 100 or 150 Method for select regenerative resistance specification  Firstly, use the built-in resistance of the drive to run for a long time to see if it can meet the requirements: ensure that the drive temperature d33<60℃, the braking circuit does not alarm (Regeneration load factor...

  • Page 16: Wiring

    2. 4 digital inputs DI3~DI6, support NPN and PNP connection, recommend 12~24V input signal. 3. 2 digital outputs DO1~DO2, support NPN and PNP connection, recommend 24V output signal. 4. Brake output(Pin16 and Pin17) is available for : ELD2-CAN7005B /ELD2-CAN7010B /ELD2-CAN7015B/ ELD2-CAN7020B/ ELD2-CAN7030B. www.leadshine.com...

  • Page 17: Drive Terminals Function

    Digital input signal 6, default value is Negative limit switch signal Input (NOT), low level available in default , max voltage is 24V input 20KHz Input Reserved Input Output Differential output terminal of motor encoder A phase Output Output Differential output terminal of motor encoder B phase Output www.leadshine.com...

  • Page 18: Encoder Input Port-Cn2 Terminal

    Encoder channel Z- input / EZ-/D- Input Serial encoder- Input Encoder channel B+ input Input Encoder channel B- input Encoder channel A+ input Input Encoder channel A- input 3.2.3 Power Port Signal Detail Power for Drive , 24-70vdc Power terminal Power for motor www.leadshine.com...

  • Page 19: Regenerative Resistor Port

    Regenerative resistor + RBR+ Regenerative resistor Regenerative resistor - RBR- The recommend resistor for most application is 10Ω+/-5%, 100watt Leadshine can provide resistor: RXFB-1, Part num Code : 10100469 3.2.5 Communication Port Signal RS232 3.2.6 CAN bus connector Signal Detail...

  • Page 20: I/O Interface Principle

    Figure 3-2 Digital Input Interface (1) The user provide power supply, DC 12-24V, current≥100mA (2) Notice: if current polar connect reversely, servo drive doesn’t run. 3.3.2 Digital Output Interface DO+（Pin16） DO-（Pin17） 24Vdc Brake-Off output COMO Single-ended output Figure 3-3 Switch Output Interface www.leadshine.com...
  • Page 21 I/O input digital filtering; higher setup will arise control delay. Digital Output function allocation Name Output selection DO1 Mode Pr4.10 — Range 0~00FFFFFFh Unit Default Index 2410h 0x01 Name Output selection DO2 Mode Pr4.11 — Range 0~00FFFFFFh Unit Default 0x02 Index 2411h www.leadshine.com...
  • Page 22 Speed command ON/OFF output V-CMD Servo enable state output SRV-ST Homing process finish HOME-OK · Normally open：Active low · Normally closed：Active high · Don’t setup to a value other than that specified in the table . · Pr4.10~Pr4.11 correspond to DO1~DO2 respectively. www.leadshine.com...

  • Page 23: Chapter 4 Parameter

    Adjust 2107h Pr_107 velocity loop integration 2nd filter of velocity 2108h Pr_108 detection 2nd time constant of 2109h Pr_109 torque filter Velocity feed forward gain 2110h Pr_110 Velocity feed forward 2111h Pr_111 filter Torque feed forward gain 2112h Pr_112 www.leadshine.com...
  • Page 24 At-speed 2436h Pr_436 Mechanical brake action 2437h Pr_437 setting when stopping Mechanical brake action 2438h Pr_438 setting Brake release speed setup 2439h Pr_439 E-stop function active 2443h Pr_443 Drive inhibit input setup 2504h Pr_504 Sequence at servo-off 2506h Pr_506 www.leadshine.com...
  • Page 25 2620h Pr_620 waiting time of trial 2621h Pr_621 running cycling times of trial 2622h Pr_622 running Acceleration of trial 2625h Pr_625 running Mode of trial running 2626h Pr_626 Frame error window time 2634h Pr_634 Frame error window 2635h Pr_635 www.leadshine.com...

  • Page 26: Manufacturer Parameters (Group 5000H)

    832h Alarm detection 0000 Sync0 Bit0: 818h Alarm enable switch Bit1: 819h Bit2: 81Ah Bit3: 824h Bit4: 825h Synchronous alarm 0xFFF 0xFFF Bit5: Reserved 5006 setting Bit6: Reserved Bit7: 82Ch Bit8: 82Dh Bit9: 832h Bit10~15: Reserved Notes: 0 invalid；1 valid www.leadshine.com...
  • Page 27 Unit 32 bit low The actual mechanical position Unit 32 bit high Number of encoder communication exceptions Motor Speed r/min Speed of position r/min command Speed command r/min 5501 Actual torque 0.1% Torque command 0.1% Relative position Pulse error www.leadshine.com...

  • Page 28: Device Profile Parameters (Group 6000H)

    Actual internal position value unit Command 6064 Actual feedback position value unit Command 2147483 6065 Follow error window 10000 unit 6066 Follow error detection time 65535 Command 606B Internal command speed unit Command 606C Actual feedback speed value unit www.leadshine.com...
  • Page 29 Low speed of homing 5000 unit /s Command 2147483 609A Homing acceleration 10000 unit /s Command -214748 2147483 60B0 Position feedforward unit 3648 Velocity feedforward(Restricted by Command -214748 2147483 pp/pv/ 60B1 6080) unit /s 3648 0.1% 60B2 Torque feedforward -32768 32767 www.leadshine.com...

  • Page 30: Parameters Function

    Supported operation mode 4.2 Parameters Function Here is the explanation of parameters, you can check them or modify the value using configuration software or the front panel of drive. Contact tech@leadshine.com if you need more technical service . 【 】 4.2.1...
  • Page 31 Pr1.00- 1.14, just change the value of Pr0.03 ,then all values of Pr1.00-1.14 will be changed Selection of machine stiffness at Name Mode real- time auto-gain tuning Pr0.03 — Range 50 ~ 81 Unit Default Index 2003h www.leadshine.com...
  • Page 32 0~500 Unit 0.1rev Default Index 2014h Set excess range of positional deviation by the command unit(default).Setting the value too small will cause Err180 (position deviation excess detection) Name Absolute Encoder Setup Mode Pr0.15 Range 0~15 Unit Default Index 2015h www.leadshine.com...
  • Page 33 Setup the Node-ID of the slave station. Name CAN Baud rate Mode Pr0.24＊ — Range Unit Default Index 2024h Pr0.24 CAN baud rate (KHz) Pr0.24 CAN baud rate (KHz) 1000 Synchronous compensation time Name Mode Pr0.25 Range 1~100 Unit 0.1us Default Index 2025h www.leadshine.com...

  • Page 34: Class 1】Gain Adjust

    You can set the filter parameters through the loop gain, referring to the following table: Setup Speed Detection Filter Setup Speed Detection Filter Value Cut-off Frequency(Hz) Value Cut-off Frequency(Hz) 2500 2250 2100 2000 1800 1600 1500 1400 www.leadshine.com...
  • Page 35 Multiply the velocity control command calculated according to the internal positional command by the ratio of this parameter and add the result to the speed command resulting from the positional control process. Pr1.11 Name Velocity feed forward filter Mode www.leadshine.com...
  • Page 36  Shift to the 2nd gain when the absolute value of the speed Speed command is command exceeded (level + hysteresis)[r/min]previously with the large 1st gain.  Return to the 1st gain when the absolute value of the speed command was kept below (level + hysteresis) [r/min] previously www.leadshine.com...
  • Page 37 Hysteresis at position control Name Mode switching Pr1.18 Mode Range 0~20000 Unit Default Index 2118h specific Combining Pr1.17(control switching level)setup Notice: when level< hysteresis, the hysteresis is internally adjusted so that it is equal to level. www.leadshine.com...

  • Page 38: Class 2】Vibration Suppression

    One adaptive filter is valid, parameters related to the Adaptive filter,1 filter is 3rd notch filter will be updated based on adaptive valid, one time performance. After updated, Pr2.00 returns to 0, stop self-adaptation. Adaptive filter, 1 filter One adaptive filter is valid, parameters related to the www.leadshine.com...
  • Page 39 Mode Pr2.07 Range 50~2000 Unit Default 2000 Index 2207h Set the center frequency of the 3rd notch filter Notice: the notch filter function will be invalidated by setting up this parameter to “2000”. Setup invalid after opening self-adaptation function. www.leadshine.com...

  • Page 40: Class 3】Velocity/ Torque Control

     When a square wave command for the target speed Vc is applied , set up the Vc arrival time as shown in the figure below. 【 】 4.2.4 Class 3 Velocity/ Torque Control Name time setup acceleration Mode Pr3.12 Range 0~10000 Unit Default Index 2312h (1000RPM) www.leadshine.com...

  • Page 41: Class 4】I/F Monitor Setting

    Input selection DI4 Mode Pr4.03 — Range 0~00FFFFFFh Unit Default 0x16 Index 2403h Name Input selection DI5 Mode Pr4.04 — Range 0~00FFFFFFh Unit Default 0x01 Index 2404h Name Input selection DI6 Mode Pr4.05 — Range 0~00FFFFFFh Unit Default 0x02 Index 2405h www.leadshine.com...
  • Page 42 Speed command ON/OFF output V-CMD Servo enable state output SRV-ST Homing process finish HOME-OK · Normally open：Active low · Normally closed：Active high · Don’t setup to a value other than that specified in the table . · Pr4.10~Pr4.11 correspond to DO1~DO2 respectively. www.leadshine.com...
  • Page 43 The hold time is maintained definitely, keeping ON state until next positional command is received. ON state is maintained for setup time (ms) but switched to OFF state as the 1-15000 positional command is received during hold time. Name Zero-speed Mode Pr4.34 Range 10~2000 Unit Default Index 2434h www.leadshine.com...
  • Page 44 Because the speed coincidence detection is associated with 10 r/min hysteresis, actual detection range is as shown below. Speed coincidence output OFF -> ON timing (Pr4.35 -10) r/min Speed coincidence output ON -> OFF timing (Pr4.35 +10) r/min Name At-speed(Speed arrival) Mode Pr4.36 Range 10~2000 Unit Default 1000 Index 2436h www.leadshine.com...
  • Page 45 Pr4.38 setup time, or time lapse till the motor speed falls below Pr4.39 setup speed. Name Brake release speed setup Mode Pr4.39 Range 30~3000 Unit Default Index 2439h Set up the speed timing of braking output checking during operation www.leadshine.com...

  • Page 46: Class 5】Extended Setup

    You can set up the time to detect the shutoff while the main power is kept shut off continuously. The main power off detection is invalid when you set up this to 2000. Name Torque setup for emergency stop Mode Pr5.11 Range 0~500 Unit Default Index 2511h www.leadshine.com...
  • Page 47 The value of the parameter is limited to the maximum torque of the applicable motor. Compared with the maximum torque 6072, the actual torque limit value is smaller one Name LED initial status Mode Pr5.28 — Range 0~42 Unit Default Index 2528h www.leadshine.com...
  • Page 48 Time compensation for signal acquisition of touch probe 2 to provide more accurate capture position and prevent the instantaneous jitter of capture during master and slave cooperation Torque saturation alarm detection Name Mode time Pr5.37 Range 0~5000 Unit Default Index 2537h www.leadshine.com...

  • Page 49: Class 6】Special Setup

    Torque command additional Name Mode value Pr6.07 Range -100~100 Unit Default Index 2607h Positive direction torque Name Mode compensation value Pr6.08 Range -100~100 Unit Default Index 2608h Negative direction torque Name Mode compensation value Pr6.09 Range -100~100 Unit Default Index 2609h www.leadshine.com...
  • Page 50 The waiting time after running each time in JOG run(position control) Name Trial run cycle times Mode Pr6.22 — Range 0~32767 Unit Default Index 2622h The cycling times of JOG run(position control) Name Acceleration of trial running Mode Pr6.25 Range 0~32767 Unit Default Index 2625h Acceleration of trial running www.leadshine.com...

  • Page 51: Class 7】Factory Setting

    Class 7 Factory setting Name Motor model input Mode Pr7.15 0~7FFF Range Unit Default Name Encoder selection Mode Pr7.16 0~30000 Range Unit Default Motor Model Pr7.15 Pr7.16 ACM602V36-1000 0x8001 0x201 ACM602V36-2500 0x8001 0x204 57BL180D-1000 0x8003 0x201 ACM604V60-1000 0x8002 0x201 www.leadshine.com...

  • Page 52: Parameters Function

    Pr7.32 minus Pr7.33 Notice： 4.3 402 Parameters Function Name Error code Structure Type Uint 16 Index 0-6553 TPDO 603FH Access Mapping Mode Range Default Index Name Control word Structure Type Uint 16 www.leadshine.com...
  • Page 53 5 ：Stop according to 609Ah(Homing acceleration)，keeping Quick stop active 6 ：Stop according to 6085h(Quick stop deceleration)，keeping Quick stop active 7 ：Stop according to 60C6h(Max deceleration)，keeping Quick stop active Name Halt option code Structure Type INT 16 Index 605DH Access Mapping Mode Range Default www.leadshine.com...
  • Page 54 Default - unit Actual feedback position value, Command Unit. 6064H * gear ratio(Ref. 6092H-01) = 6063H Name Target position Structure Type int 32 Index Command RPDO 607AH Access Mapping Mode Range Default - unit Target Position for PP Mode www.leadshine.com...
  • Page 55 Search the homing point with low speed negative direction, when the torque reached then stop immediately Search the homing point with low speed positive direction, when the torque reached then stop immediately Search the homing point with low speed negative direction, when the torque reached then www.leadshine.com...
  • Page 56 Search the homing point in negative direction, homing point is motor Z signal Search the homing point in positive direction, homing point is motor Z signal Set the current position as homing point Index Name Status of digital input Structure Type Dint 32 www.leadshine.com...
  • Page 57 DO1 valid valid Index Name Output enable Structure Type Uint 32 60FEH-0 Access Mapping Mode Range 0-ffff Default The bits of a 60FEh object are functionally defined as follow: 31~21 15~0 Sub-index Reserved Reserved enable enable enable enable enable enable www.leadshine.com...

  • Page 58: Chapter 5 Canopen

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

  • Page 59: Canopen Objects

    Communication profile area (0x1000 to 0x1FFF): These objects relate to CANopen communication, as defined in the DS301 communication profile. Objects in this address range are used to configure CANopen messages, and for general CANopen network setting.  Manufacturer profile area (0x2000 to 0x5FFF): These objects are manufacturer specific. Detailed www.leadshine.com...

  • Page 60: Nmt

    Reception of Start remote node command (4), (7) Reception of Enter pre-operational state command (5), (8) Reception of Stop remote node command (9), (10), (11) Reception of Reset remote node command (12), (13), (14) Reception of Reset communication command NMT state initialization www.leadshine.com...

  • Page 61: Nmt Services

    NMT Host commands node 1 into Pre-Operational state 01 01 NMT Host commands node 1 into Operational state 02 01 NMT Host commands node 1 into Pre-Operational state 82 01 NMT Host commands a communication reset to node 1 Node 1 response with a boot-up message www.leadshine.com...

  • Page 62: Nmt Error Control

    The heartbeat message generated by the producer will be as follows: Data field(Byte 1) COB-ID(hex) Number of Bytes Bit 7 Bit 6 to 0 0x700+Node-ID Reserved NMT communication state The state of the heartbeat producer could be one of the followings: www.leadshine.com...

  • Page 63: Sdo

    The SDO are used to transfer multiple object content simultaneously (each with an arbitrary amount of information) from client to server and vice versa. SDO are transferred as a sequence of segments. Before sending the segments there is an initialization process www.leadshine.com...

  • Page 64: Pdo

    A PDO mapping object ELD2-CAN series include 4 RPDO and 4 TPDO. Transmit PDO (TPDO) TPDOs are configured to send data from node to master after the occurrence of a trigger event or after a remote request by means of a RTR. www.leadshine.com...

  • Page 65: Sync

    Emergency objects are triggered by the occurrence of a CANopen device internal error situation and are transmitted from an emergency producer (normally a node) on the CANopen device. An emergency object is sent only once per error event. Zero or more emergency consumers may receive the emergency object. COB-ID(hex) Byte number: www.leadshine.com...
  • Page 66 Send COB-ID conflicts 8210H PDO not processed due to length error 8220H PDO exceeds length error ELD2-CAN series include Error registers (Object 0x1001): Description Generic Error Current Voltage Temperature Communication Error specified by device protocol Reserved Leadshine specific error www.leadshine.com...

  • Page 67: Chapter 6 Trial Run

    Note: there are two kinds of trial run : trial run without load and trial run with load . The user need to test the drive without load for safety first. Contact tech@leadshine.com for more technical service . 6.1 Inspection Before trial Run 6.1.1 Inspection on wiring...

  • Page 68: Inspection On Parameters Setting

    User Manual of ELD2-CAN Series Servo Drives  For ELD2-CAN7005B\ELD2-CAN7010B\ELD2-CAN7015B\ELD2-CAN7020B\ELD2-CAN7030B: Pin16/17 (DO+/DO-) can be used to release the brake of motor directly. Pin16 24Vdc Pin17 Brake Servo Motor About the wire of brake ,there should be an 24Vdc for brake, the brake will be released with the...

  • Page 69: Cia 402 State Machine

    Parameters with the setting condition of ‘during running’can be set. The quick stop function is enabled, and the servo drive executes quick stop. Quick stop Parameters with the setting condition of ‘during running’can be set. Stop at fault A fault occurs, and the servo drive stops. www.leadshine.com...

  • Page 70: Common Functions For All Modes

    6091h_01/6091h_02 is real-time update effective. The electronic gear subdivision method can be determined by modifying 6092h_01(Feed constant) The subdivision method of electronic gear can be determined by modifying 6092h_01(Feed constant) . 1、If 6092h_01(Feed constant) is not equal to 608Fh(Position encoder resolution), then: www.leadshine.com...

  • Page 71: Control Word

    The definition of bit 8 and bit 6~4 in different operation modes are shown in the following table Operation Mode Profile Position Profile Velocity Profile Torque Homing (PP) (PV) (PT) (HM) Halt Halt Halt Halt Abs / Rel Change set immediately Homing New set-point operation start www.leadshine.com...

  • Page 72: Status Word

    The definition of bit 8 and bit 12~13 in different operation modes are shown in the following table Operation Mode Profile Position Profile Velocity Profile Torque Homing (PP) (PV) (PT) (HM) Following error Homing error Velocity Homing attained is 0 Abnormal stop Abnormal stop www.leadshine.com...

  • Page 73: Drive Enable

    If the "Change set immediately" bit of the controlword is 0, the new set point is added to a buffer of set points, and the motion to the previous set being processed is not altered. 6.5.1 Controlword in profile position mode The profile position mode uses some bits of the controlword and the statusword for mode specific purposes. www.leadshine.com...

  • Page 74: Statusword In Profile Position Mode

    Voltage output Fault Operation enable Switch on Ready to switch on The meaning of each bit is described below, depending on its value: Name Value Description Halt=0: Target position not reached Target reached Halt=1: Axis decelerates Halt=0: Target position reached www.leadshine.com...

  • Page 75: Related Objects

    Write control word as 06H,state machine switching status 40 60 00 06 00 00 00 Switched On ->Ready to Switch On Notes: The COB-ID of step 1 (reset node) and step 2 (start node) is "0x000", and the COB-ID of the remaining www.leadshine.com...

  • Page 76: Profile Velocity Mode

    Voltage output Fault Operation enable Switch on Ready to switch on The meaning of each bit is described below, depending on its value: Name Value Description Halt=0: Target velocity not reached Target Halt=1: Axis decelerates reached Halt=0: Target velocity reached www.leadshine.com...

  • Page 77: Related Objects

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

  • Page 78: Profile Torque Mode

    Ready to switch on The meaning of each bit is described below, depending on its value: Name Value Description Halt = 0: Target torque not reached Target Halt = 1: Axis decelerates reached Halt = 0: Target torque reached www.leadshine.com...

  • Page 79: Related Objects

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

  • Page 80: Homing Mode

    The binary representation of the statusword(6041) in profile homing mode is as follows: Definition 15~14 Homing error Homing attained Target reached Abnormal stop Switch on disabled Quick stop Voltage output Fault Operation enable Switch on Ready to switch on www.leadshine.com...

  • Page 81: Related Objects

    00 07 00 00 00 Ready to Switch On-> Switched On The relay in the actuator is engaged at this point Write control word as 0fH，state machine switching status 40 60 00 0f 00 00 00 Switched On->Operation Enable. Servo-Enabled www.leadshine.com...

  • Page 82: Homing Method

    Start position Stop Position High speed Low speed 6099h-01h 6099h-02h Method -3：Search the homing point with low speed positive direction, when the torque reached then change the motion direction, when the torque is gone then stop immediately. www.leadshine.com...
  • Page 83 If the positive limit signal is valid during the homing process, the status word (6041h) bit 13 will be valid, indicating that the homing error and the motor will stop immediately. High speed Low speed Start Position Stop Position 6099h-01h 6099h-02h Z signal NOT signal www.leadshine.com...
  • Page 84 If the homing switch is invalid, the motor will move in positive direction at low speed until the homing switch signal is valid. The motor stops after leaving the homing switch and the first encoder Z signal is valid, as shown in figure. www.leadshine.com...
  • Page 85 Then the motor reverse the direction at low speed. The motor stops after the homing switch valid and the first encoder Z signal is valid, as shown in figure. If the positive/negative limit switch signal is valid during the homing process, the status word (6041h) bit www.leadshine.com...
  • Page 86 Then the motor reverse the direction at low speed. The motor stops after the homing switch valid and the first encoder Z www.leadshine.com...
  • Page 87 Z signal is valid, as shown in figure. If the negative limit switch signal is valid during the homing process, the status word (6041h) bit 13 will be valid, indicating that the homing error and the motor will stop immediately. www.leadshine.com...
  • Page 88 If the negative limit switch signal is valid during the homing process, the status word (6041h) bit 13 will be valid, indicating that the homing error and the motor will stop immediately. High speed Low speed Start Position Stop Position 6099h-01h 6099h-02h Z signal HOME-SWITCH POT signal www.leadshine.com...
  • Page 89 Z signal is valid, as shown in figure. If the positive limit switch signal is valid during the homing process, the status word (6041h) bit 13 will be valid, indicating that the homing error and the motor will stop immediately. www.leadshine.com...
  • Page 90 If the positive limit switch signal is valid during the homing process, the status word (6041h) bit 13 will be valid, indicating that the homing error and the motor will stop immediately. Start Position Stop Position High speed Low speed 6099h-01h 6099h-02h Z signal HOME-SWITCH NOT signal www.leadshine.com...
  • Page 91 Start Position Stop Position High speed Low speed 6099h-01h 6099h-02h Z signal HOME-SWITCH NOT signal Method 17： This method is similar to method 1 Start Position Stop Position High speed Low speed 6099h-01h 6099h-02h NOT signal www.leadshine.com...
  • Page 92 Method 20： This method is similar to method 4 Start Position Stop Position High speed Low speed 6099h-01h 6099h-02h HOME-SWITCH Method 21： This method is similar to method 5 Start Position Stop Postion High speed Low speed 6099h-01h 6099h-02h HOME-SWITCH www.leadshine.com...
  • Page 93 This method is similar to method 7 Start Position Stop Potion High speed Low speed 6099h-01h 6099h-02h HOME-SWITCH POT signal Method 24： This method is similar to method 8 Start Position Stop Position High speed Low speed 6099h-01h 6099h-02h HOME-SWITCH POT signal www.leadshine.com...
  • Page 94 This method is similar to method 10 Start Position Stop Position High speed Low speed 6099h-01h 6099h-02h HOME-SWITCH POT signal Method 27： This method is similar to method 11 Start Position Stop Position High speed Low speed 6099h-01h 6099h-02h HOME-SWITCH NOT signal www.leadshine.com...
  • Page 95 This method is similar to method 13 Start Position Stop Position High speed Low speed 6099h-01h 6099h-02h HOME-SWITCH NOT signal Method 30： This method is similar to method 14 Start Position Stop Position High speed Low speed 6099h-01h 6099h-02h HOME-SWITCH NOT signal www.leadshine.com...

  • Page 96: Security Features

    Set up to prevent a micro-travel/drop of the motor (work) due to the action delay time(tb) of the brake.  After setting up Pr4.37>=tb, then compose the sequence so as the drive turns to servo-off after the brake is www.leadshine.com...
  • Page 97 *1：The delay time between SRV_ON and BRK_OFF is less than 500ms; *2：Time setting in Pr4.38; *3： The delay time between the BRK_OFF signal output and the actual brake release action, which depends on the hardware characteristics of the motor brake; *4：The smaller value of Pr4.37 and Pr4.39; www.leadshine.com...

  • Page 98: Servo Stop Mode

    2、Click “CCW” to make motor run to CCW direction，click “Position 1” to save the position limit 1 Click “CW” to make motor run to CW direction，click “Position 2” to save the position limit 2 Click “Run” to start Inertia ratio identification. www.leadshine.com...

  • Page 99: Vibration Suppression

    3. Execute movement by controller or Motion Studio, drive will record notch frequency automatically. 4. Upload the drive parameters, the record notch frequency saved in Pr2.07. Read the value of Pr2.07, and set this value into Pr2.01. Then reset Pr2.07 to 2000. 5. Saving parameters setting. www.leadshine.com...
  • Page 100 Pr2.05 Range 0~20 Unit Default Index 2205h Set the width of notch at the center frequency of the 2nd notch filter. Notice: Higher the setup, larger the notch width you can obtain. Use with default setup in normal operation. www.leadshine.com...

  • Page 101: Friction Torque Compensation

    Set Pr.0.16 and Pr.0.17 to confirm the threshold value of the discharge loop to give alarm for over current. Name Regenerative resistance control mode setting Mode Pr7.31 0～2 Range Unit Default Setup value Details Disable regenerative resistance discharge Enable reactive pump lift suppression function www.leadshine.com...

  • Page 102: Multi-Turn Absolute Encoder

    It will become 1 when normal clearance, if it’s still 9 after 3seconds, please deal with according to 153 alarm processing. Please remember to do mechanical homing. Notes: Set to 9 after homing process finished and servo disabled, valid after restart power-supply www.leadshine.com...

  • Page 103: Read Absolute Position

    Absolute encoder read mode: read 6064h data object 3、Clear absolute position Before clear absolute position, the machine needs to return to the home point. After clear absolute position, the absolute position =0, the single-turn position remains unchanged, and the absolute value of the www.leadshine.com...

  • Page 104: Alarm

    Even if the battery is replaced, the alarm cannot be eliminated. At this time, the return to the home point and multi-turn zero clearing operation should be performed 4、Alarm processing flow chart Err153 Absolute Replace encoder Encoder or set P0.15=0 Replace battery， power-on Alarm clear？ Return to home position，set Pr0.15=9 Alarm clear www.leadshine.com...

  • Page 105: Chapter 7 Alarm And Processing

    3 long error 1 short Other errors 4 long The configuration software MotionStudio will automatically display the error code in alarm display window. The history of the error can be also viewed on alarm window from the configuration software. www.leadshine.com...
  • Page 106 6329 FPGA communication error 7122 Motor code error 7321 Encoder wiring error 7322 Encoder data error 7323 Encoder initial position error 7324 Encoder data error 7329 Positive/negative limit input active 7701 Brake resistor discharged circuit overload www.leadshine.com...

  • Page 107: Alarm Processing Method

    Error Display: “ ”--“ ” code Content: FPGA communication error Cause Confirmation Solution Check the voltage of Vdc/GND under-voltage Make sure voltage of Vdc/GND in proper range Vdc/GND terminal Drive internal fault replace the drive with a new one www.leadshine.com...
  • Page 108 Display: “ ” Error code Content: temperature detection circuit error Cause Confirmation Solution Vdc/GND under-voltage Check the voltage of Make sure voltage of Vdc/GND in proper range Vdc/GND terminal Drive inner fault replace the drive with a new one www.leadshine.com...
  • Page 109 Short of drive output wire, whether Assure drive output wire no short Short of drive output wire short circuit to PG ground or not circuit, assure motor no damage Abnormal wiring of motor Check motor wiring order Adjust motor wiring sequence www.leadshine.com...
  • Page 110 Check the load if it is inertia ,increase external regenerative resistor, regenerative resistor . too large or not. improve the capacity of the drive and motor Resistance discharge Increase external regenerative resistor, replace circuit damage the drive with a new one www.leadshine.com...
  • Page 111 Communication data and shielded line if it is damaged or not; shielded line well with FG ground, abnormal check encoder cable whether it is ensure encoder cable separated with intertwined with other power wire or not other power wire www.leadshine.com...
  • Page 112 (Pr_321) if it is proper or not; check encoder if the wiring assure encoder wiring correctly is correct or not Error Main Extra Display: “ ” www.leadshine.com...
  • Page 113 Content: I/F input interface function set error Cause Confirmation Solution Check the value of Pr_410, Assure the value of Pr_410, Pr_411, The input signal are assigned Pr_411, Pr_412, Pr_413, if it is Pr_412,Pr_413 set correctly with two or more functions. proper or not www.leadshine.com...
  • Page 114 Solution Forced-alarm input signal Check forced-alarm input signal Assure input signal wiring correctly has been conducted Main Extra Display: “ ” Error code Content: Motor code error Cause Confirmation Solution Motor code error Motor code error Set Pr7.15 correctly www.leadshine.com...

  • Page 115: Chapter 8 Product Accessory

    User Manual of ELD2-CAN Series Servo Drives Chapter 8 Product Accessory Notice Contact tech@leadshine.com if you need more technical service. 8.1 Accessory selection 1. Power cable (1.2m，2.2m，3m，5m，7m，10m selectable) (motor with –SS connector) CABLE-ACM3M0 (motor with –HD connector) CABLE-PL3M0-H 2. Encoder cable (1.2m，2.2m，3m，5m，7m，10m selectable)

  • Page 116: Contact Us

    Tel: 86-755-2641-8447 86-755-2641-8774 (for Asia, Australia, Africa areas) 86-755-2665-5136 (for America areas) 86-755-8654-2465 (for Europe areas) Fax: 86-755-2640-2718 Email: tech@leadshine.com (for All) Sales Tel: 86-755-2641-7674 (for Asia, Australia, Africa areas) 86-755-2640-9254 (for Europe areas) 86-755-2641-7617 (for America areas) Email: sales@leadshine.com...

This manual is also suitable for:

Eld2 seriesEld2-can seriesEld2-can7010bEld2-can7015bEld2-can7020bEld2-can7030b ... Show all

Table of Contents