Leadshine 2ELD2-CAN Series Manuals

Leadshine 2ELD2-CAN Series Manuals

Manuals and User Guides for Leadshine 2ELD2-CAN Series. We have 2 Leadshine 2ELD2-CAN Series manuals available for free PDF download: User Manual

Leadshine 2ELD2-CAN Series User Manual

Leadshine 2ELD2-CAN Series User Manual (179 pages)

DC Servo Drive

Brand: Leadshine | Category: Servo Drives | Size: 4 MB

Table of Contents

Table of Contents
6
Chapter 1 Introduction

9
- Product Introduction
  9
- Model Number Structure
  10
- Servo Drive
  10
- Servo Motor
  10
- Servo Drive Technical Specification
  11
- Servo Drive Ports and Connectors
  12
- Motor Ports and Connectors
  13
Chapter 2 Installation & Wiring

14
- Servo Drive Installation
  14
- Servo Drive Installation Environment
  14
- Servo Drive Dimension
  14
- Servo Motor Installation
  17
- Installation Conditions
  17
- Precautions During Installation
  17
- Eld2-Can Wiring Diagram
  18
- Servo Drive Ports
  19
- CN1 I/O Signal Port
  21
- CN3/CN4 Power Supply & Regenerative Resistor Port
  22
- CN5 Canopen Communication Port
  22
- CN6 Safe Torque off (STO) Port
  23
- CN7 RS232 Tuning Port
  24
- CN9 Logic Circuit Power Supply Port
  25
- ENC Encoder Feedback Port
  25
- ID Spin Dial RSC
  26
- Baud Rate/Terminal Resistor Switch SW
  26
- Cable Selection
  27
- Motor Power Cable
  27
- Motor Encoder Cable
  30
- Motor Brake Cable
  31
- Drive Communication Cable
  32
- Tuning Cable
  32
- Regenerative Resistor Selection
  33
Chapter 3 Parameter

37
- Parameter List
  37
- Servo Drive Parameter
  37
- Motion Parameter Starting with Object Dictionary 6000
  43
- Parameter Function
  45
- Class 0】Basic Settings
  45
- Class 1】Gain Adjustments
  49
- Class 2】Vibration Suppression
  56
- Class 3】Velocity/ Torque Control
  61
- Class 4】I/O Interface Setting
  63
- Class 5】Extension Settings
  69
- Class 6 】 Other Settings
  73
- Parameters Function
  77
Chapter 4 Control Mode

89
- Profile Position Mode
  89
- Pulse
  89
- Motion Settings
  89
- Monitoring Settings
  90
- Applications Example
  90
- Profile Velocity Mode
  91
- Motion Settings
  91
- Monitoring Settings
  91
- Profile Torque Mode
  92
- Motion Settings
  92
- Monitoring Settings
  92
- Homing Mode
  93
- Motion Settings
  93
- Monitoring Settings
  93
- Homing Mode
  94
- Emergency Stop
  119
- Motion Settings
  119
- Monitoring Settings
  119
Chapter 5 Applications

120
- Trial Run
  120
- Inertia Ratio Measuring
  121
- Notch Filter (Vibration Suppression)
  123
- Auto Gain Adjustment
  125
- Rd Gain Switching
  127
- Friction Compensation Function
  129
- Regenerative Resistor Settings
  130
- Safety Functions
  131
- Max. Motor Rotational Speed Limitation
  131
- Max. Duration for Motor to Stop after Disabling
  131
- External Brake Deactivation Output Signal BRK-OFF
  132
- Servo Stopping Mode
  133
- Emergency Stop Function
  134
- Multiturn Absolute Encoder
  135
- Parameter Settings
  135
- Read Absolute Position
  136
- Absolute Encoder Related Alarm
  138
Chapter 6 Canopen Communication

139
- Communication Connection
  139
- Canopen Communication Parameters and Ports
  139
- Canopen Communication Protocol
  141
- Predefined Connections
  141
- Object Dictionary
  142
- Object Dictionary Structure
  143
- Object Type
  143
- Access Attribute
  143
- Network Management (Nmt)
  144
- NMT Module Control
  144
- NMT Node Guarding
  144
- NMT Boot-Up
  145
- NMT Communication Status Machine
  145
- Process Data Object (Pdo)
  146
- Service Data Object
  149
- Emergency Object
  150
Chapter 7 Warning and Alarm

151
- Servo Drive Alarm Overview
  151
- Alarm Handling
  156
- Cause
  159
- Error Main Sub Code Cause
  159
- Diagnosis
  159
- Display: "Er 0D0
  159
- Display: "Er 0D2
  159
- Replace Driver
  160
- Solution
  160
- Replace Driver
  161
- Solution
  161
- Canopen Communication Alarm
  168
- Alarm Clearing
  178
- Servo Drive Alarm Clearing
  178
- Contact Us
  179

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Leadshine 2ELD2-CAN Series User Manual

Leadshine 2ELD2-CAN Series User Manual (122 pages)

Brand: Leadshine | Category: Servo Drives | Size: 2 MB

Table of Contents

Introduction
3
Table of Contents
5
Chapter 1 Introduction

9
- Product Introduction
  9
- Specification and Feature
  10
- Part Numbering Information
  10
- Inspection of Product
  11
Chapter 2 Installation

11
- Storage and Installation Circumstance
  11
- Servo Drive Installation
  12
- Installation Method
  12
- Installation Space
  13
- Servo Motor Installation
  13
Chapter 3 Wiring

14
- Wiring
  14
- Wire Gauge
  14
- Wiring
  16
- Drive Terminals Function
  17
- Power Terminal - Axis 1 and Axis 2
  17
- Encoder Input Port- Axis 1 or Axis 2
  17
- Control Signal Port -I/O - Axis 1 and Axis 2
  18
- Communication Port
  19
- CAN Bus Connector
  19
- STO Connector
  19
- CAN Node-ID and Baud Rate Switch
  20
- I/O Interface Principle
  21
- Digital Input Interface
  21
- Digital Output Interface
  21
Chapter 4 Parameter

24
- Parameter List
  24
- Drive Parameters (Group 2000H)
  24
- Manufacturer Parameters (Group 5000H)
  27
- Device Profile Parameters (Group 6000H)
  29
- Parameters Function
  32
- Class 0】Basic Setting
  32
- Class 1】Gain Adjust
  35
- Class 2】Vibration Suppression
  40
- Class 3】Velocity/ Torque Control
  42
- Class 4】I/F Monitor Setting
  43
- Class 5】Extended Setup
  48
- Class 6】Special Setup
  51
- Class 7】Factory Setting
  54
- Parameters Function
  55
Chapter 5 Canopen

60
- CAN Interface
  60
- Canopen Protocol
  60
- Canopen Frame
  61
- Canopen Objects
  62
- Nmt
  62
- NMT Services
  64
- NMT Error Control
  64
- Sdo
  66
- Pdo
  67
- Sync
  68
- Emcy
  68
Chapter 6 Trial Run

69
- Inspection before Trial Run
  69
- Inspection on Wiring
  69
- Holding Brake
  70
- Inspection on Parameters Setting
  70
- 2ELD2-CAN Motion Control Procedure
  70
- CIA 402 State Machine
  71
- Common Functions for All Modes
  72
- Motor Rotation Direction
  72
- Drive Stop
  72
- Electronic Gear Ratio
  72
- Control Word
  73
- Status Word
  74
- Drive Enable
  75
- Profile Position Mode
  75
- Controlword in Profile Position Mode
  76
- Statusword in Profile Position Mode
  76
- Related Objects
  77
- Example of Profile Position Mode
  77
- Profile Velocity Mode
  78
- Controlword in Profile Velocity Mode
  78
- Statusword in Profile Velocity Mode
  78
- Related Objects
  79
- Example of Profile Velocity Mode
  79
- Profile Torque Mode
  80
- Controlword in Profile Torque Mode
  80
- Statusword in Profile Torque Mode
  80
- Related Objects
  81
- Example of Profile Torque Mode
  81
- Homing Mode
  82
- Controlword in Profile Homing Mode
  82
- Statusword in Profile Homing Mode
  82
- Related Objects
  83
- Example of Homing Mode
  83
- Homing Method
  84
Chapter 7 Application Functions

99
- Security Features
  99
- STO Function
  99
- BRK-OFF Output
  101
- Servo Stop Mode
  102
- Emergency Stop Function
  102
- Two-Axis Alarm Correlation Function
  103
- Inertia Ratio Identification
  103
- On-Line Inertia Ratio Identification
  103
- Motion Studio Inertia Ratio Identification
  103
- Vibration Suppression
  104
- Friction Torque Compensation
  106
- Regenerative Resister Setting
  106
- Multi-Turn Absolute Encoder
  108
- Parameters Setting
  108
- Read Absolute Position
  109
- Alarm
  110
Chapter 8 Alarm and Processing

111
- Alarm List
  111
- Alarm Processing Method
  113
Chapter 9 Product Accessory

121
- Accessory Selection
  121
- Contact Us
  122

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