EL5 Software Operational Manual
Contents
1. Waveform Curve a Alarm Environment Parameter Setup Encoder Manage Tuning the Velocity Loop Parameters You can select different operation mode in realtime automatic adjustment mode generally select Locate mode if you want to adjust gain parameter by yourself you may select Manual mode then you can adjust related parameter step by step until reached system require Velocity loop tuning main adjust velocity loop gain integration time constant and ratio of inertia if you need constant speed you only need adjust ratio of inertia then adjust gain and integration Real timeAutomaticAdjustmentMode l 4 Manual RealtimeAutomaticAdjuztmenthigid Locate In the Manual mode you can setup VP VI V etc related parameter during tuning velocity loop you may adjust VI to a very small value in advance and hold it constant then you can adjustment the value of VP parameter continues increase until system appear oscillation at this moment you can adjust the value of VI parameter increase slowly until system appear oscillation at this moment the system basically adjust finished We looked that the effect of tuning in Locate mode we may select a value of realtime automatic adjustment rigid the first we select a smaller value then we click the start button 19 A Leadshine software manual of the EL5 servo drive Chrammel Select Sampling Setup Dinpley Pointe BoD E Sampling Interwa2. parameters but not tuning Leadshine ACHSeries fork Offline Communication Display Tool Language Help au m Ca oe Parameter Manage Parameter Manage HI ReadFile SaveAs Unload Download Save ParameterCompare Restore Read File Reading parameter setup from the folder A Leadshine software manual of the EL5 servo drive Save As Make the current parameter save as parameter file format and write note so that the other man can clearly know this parameter effect and using range after getting the parameter list Unload Reading driver parameter to the computer Download Make the modification parameter of computer download to the driver Save Save driver current parameter Parameter Compare Compare the different of two sets parameter and display out Restore This operation will clear driver current parameter Please be careful operation Parameter classify selection Basic setup jan AA mes go E Save NS g hestors O Halp Classi fy Select emi Feeametertinme GeinAduetment Pr EE Fieei ime euto qgain tuning mo lt a 0 No ViorshonSuppreseian PG 03 Fiasi tmo euto gein tuning stit 16 o 3 n No Veloci TorqueCorntro Proda Rato of mienie 250 0 10000 eu Na Mon hor Sting Pr 06 Command puse poler setup 0 071 D Power of walid EstansonSetng Pr 07 Commend puse hpa modes J 073 3 Power of cid SpeasiSeting x Prd p Commend puse counts per o 0 32787 0 Pulse Power of valid FactorySet
3. software manual of the EL5 servo drive SSESSEESEESSSSESSESSES Ib SSESEEESS D Deezrigt oL LN In this parameter window you can software enable by means of setup SI 1 input select value you A eaushine also can setup analog input related parameter Extension setup MA Conte 7 Sici setup eter Banace JOG trial run command torque No JOG nisl run commend speed 2000 5000 5000 300 ymin No Poston 3rd gain velid Ime Q Q 10000 6 ms No Positon dd gein scele facte 100 0 1000 100 Neo Torque command acdimonaly 0 100 100 ia No Positve direchontongue com O 100 100 0 No Negeive drecton orgue com 0 200 100 0 No Currest response setup 100 50 100 100 No Emergency stop tme stalam 0 e 1000 200 ms No Tried sunning stanca 400 0 1200 1 Dtm No Thiel anning west ting 100 073226 100 ms Na Thiel running oce ene 10009 073278 1 imes No Reserved parameter 0 0 3276 Q No ge E e software manual of the EL5 servo drive F5 o1 iid numerator of elactomic gear T T3276 1 No Taichi At numareior of elecromc gear 1 3278 No Tiati Denominator at pulse out d 2500 t 2500 2500 Encoder unt Tart Sequence ot servc at on G Na P508 Men power off LV mp selecice 0 0 1 e No Ps 08 Men power of dalacton Ime 0 70 2000 70 ms No I m513 Orwar spead koe setup 0 9 5000 n min No P525 UF reading filter 8 0 255 i 01ms Power of welid T PIS 20 Positon setup
4. 290 Realtimebatomati cd justeuntitode Locate BealtinalutonaticAd urteantlipid CO e Speed Traperotdel Purametert step Velecityicrps ODO Accelerati caAndDeceleratical ine las LE Interval Time ea 100 Distance trav 40 KepestTimez 1O00 buxning ilade FaxitivelndNegative p At this moment the position mode of system basically adjust finished When position loop gain continue increase in speed hold constant we may see that the position error is close to zero In this moment the system positioning is very accurate 25 A eaushine software manual of the EL5 servo drive Contact Us China Headquarters Address 3 F Block 2 Nanyou Tianan Industrial Park Nanshan District Shenzhen China Web http www leadshine com Sales Hot Line Tel 86 755 2641 7674 for Asia Australia Africa areas 86 755 2640 9254 for Europe areas 86 755 2641 7617 for America areas Fax 86 755 2640 2718 Email sales leadshine com Technical Support Tel 86 755 2641 8447 86 755 2641 8774 86 755 2641 0546 Fax 86 755 2640 2718 Email tech leadshine com for All Leadshine U S A Address 25 Mauchly Suite 318 Irvine California 92618 Tel 1 949 608 7270 Fax 1 949 608 7298 Web http www leadshineUSA com Email sales leadshineUSA com and support leadshineUSA com 26
5. English version Operation Open operation help document Help gt TERA Specification Check current software driver software version Platform Information hardware version motor model information Using the software Connect driver Please click the communication in menu or toolbar series communication the communication in menu pull down communication gt connect driver click it will appear series communication interface i Leadshine EL5S5eries Communication Display Tool Language Help EMEN Communication Leadshine Offline Fort com Baudrate pemo seek Drive Drive Humber A Leadshine software manual of the EL5 servo drive In this window you can off line using setting communication Port Baud rate Equipment then click the open series enter workspace Off line using You can operation software as connect driver when no connect driver convenience operation worker are familiar with software operation when no connect driver Check equipment Search 0 63 range equipment when unknown driver equipment number after search successful will change equipment number automatically And stop search Before clicking on the Open button please make sure 1 The RS232 cable has been connected between the drive and the PC s serial port 2 The drive has been powered on and the green LED is on The motor is unnecessary connecting to the drive if you just want to change the
6. 0 o 1000 300 010 Na Velocitteediorwerd Mert 50 0 6400 s omes No Torque ed loread gais g 9 1000 0 Dox No Torque seed torwerd filer 0 6400 6 D tms No 2nd gain setup 1 G 1 1 No Control switching mode 10 610 0 No Control switching level 50 oO 20000 sO mode No Control switch ystenesis 1 o 20006 3 mode No Gain switching ime 3 p 10000 3 Dims Ne Speed ven filter 0 9 10000 0 D tms No Positon command digtsi titer 0 0 200 6 5Ons Power off welid Encode feedback pulsa digt 0 o 200 o bnc Power off velid Speco tinction gatar 0 0 3276 o No L Deserige EANAN NAWA ANNANN E DAADA ADONNA DAAA NONAS cnoneen ERNEUT SONNO 10x In this parameter window main setup position loop parameter and velocity loop parameter Vibration suppression 2 Istnotch deot 0 2nd natch Yequancy 2 2nd notch wdm 2 2nd notch depth 0 Positonal commend smoothim 0 Clase enable vabd Posrtone command FIR she 0 o 5000 Dime Cole enable mid zi D Deseript PITTTTTTTTTTTTTTTTTTTTTTITTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTT A008 In this parameter window main setup filter parameter if during debug gain have disturbance it will need to tuning filter parameter n Leadshine oe torque control M Castes Geemipto TT 100 e wiffe Paramenee Na Pai linis Speed commend drecton ap Speed command input gan Speed command input reversal Jat speed setup ind
7. A Leadshine software manual of the EL5 servo drive EL5 Software Operational Manual Table of Contents MOa UC ON eoe a E E E EE EEEE 1 WOIKSD CO mirii r EEEE EE AEE E EAE 1 Men s and TOO OE e 1 Using te SOWO O eene cate sze sev iino cece EENEN ETENEE ENN Ei E 3 CONNECT OVET eenaa E E EE EEE 3 ONE USI on EEEE A EEEE E E EAA E ERA 4 Parameter MONGGO ceci Errena TETEE Ea RN OT EEN AEN E 4 Wave ori CUPVOL os sse ied se asetin AE EOE E SER EMEE 10 iT NI M 11 Velocity Loop Tuning WindOW 4 e eere creen een ren eene nnno reor nnn nnne 11 Position Loop Tuning WiindOW ceres eee eene nne enn rn onn teer nnn rna 12 Ig m P 9 12 Encoder midi eicit P xeERANRRRE VE DEEFdEc EnEn inai Nia TEE 14 jo m 15 Configuring the DEINBu iacta ip E pad ERRARE xu en FOUERI RUE Coe dau ua RE FREE UE VENE IRURE 16 Tolgo IT MOOC PREND M 16 deren e APETA A E A E 17 POS ON TOC snp E a EENE E EE E 20 CONOCE US orninan nE O E O EAEE EEEIEE GA 25 F caushine software manual of the EL5 servo drive Introduction This software can running in the Windows XP Windows Vista Win7 The computer perform data exchange and debug with EL5 series driver by series communication Please read the operation specification of driver when using 1 System compose This software adapt our company EL5 series driver ca
8. ain X Conte sw tchingiede 10 FatisOfsertis0 Ln BbealtimsheienatichdyrsimariMsz Lea ReultamedcteewstichdjyesteantB igid if Speed Trapazeidal Parametere Valocity ipm D00 AccalarationAndDecelaratienTiee 73 Fo Intervall ima Ges L00 Distanzell Lrwe S00 fepestTiaes LOOOC lFaxszang oda lFoxitivehrdiegqutive Under position mode the parameter what you need to adjust is 1st position loop gain velocity ratio of inertia acceleration and deceleration time etc you can setup realtime auto adjust mode 12 n Leadshine software manual of the EL5 servo drive then adjust realtime auto adjust rigid you may from small to big adjust slowly until motor appear squeal sound indicate the system stiffness is too big you need to decrease the rigid Alarm Current alarm Click alarm name display alarm reason and process method Alarm x Current Alarm History Alarm Servo Stop Reason Alarm Reason And Disposalroute Clear Current Fault History alarm The history alarm most can record 13 alarms Click read history alarm will appear all of history alarm numbers and alarm name because of fault happened in the last Click alarm name display alarm reason and process method When the number of alarm exceed 13 alarms you need to click clear history alarm will clear all of history alarms 13 software manual of the EL5 servo drive Current Alarm History Alarm Servo Stop Reason Seria
9. cton D 3g H TERRE S555868585 65 Description BRRRARARRARARARRARARARRRRRRARRARRRARRRRARRARRRARRARARRRRARRRARARRERRRRRRERRRRRORRRORRRRRRRRRRRERRRRARRARRRRRERRRRRRGRRRRRRARRNRMEAME 1001 The last you need to in velocity torque control parameter setup Pr3 17 0 pr3 19 pr3 21 pr3 24 17 software manual of the EL5 servo drive Heer penne RS 00 Velocity setup internal and ext Pr3 01 Speed command drecton ap Fro Speed command nut gem F303 Speed command input reverse Pr304 lel speed seta Pras tnd speed setup Fr3 06 Jrd speed setup Py3 07 4th speed seta Pr306 Sth speed setup FPr309 Gth speed setup Pr3 t0 7th speed setup Pratt Sth speed setup Pr3 t2 Acceleraton time setun P313 Deceleraton ime setup Prit4 Sigmoid accelerntiondecsier Fra te Zero tiamp level aes ta 2000 ME 5000 5000 5000 5000 5000 5000 5000 5000 H000 6000 5000 5000 5000 5000 5000 5000 0 10000 o 10000 0 1000 10 2000 mam rmn rmm rtmin rmm rimi tmn tmm mf D001 ms 000 ms min oa coo cacco amp a 0 1v 10055 dei 10 100 971 Pr318 Torque commend directon se F319 Torque commend input germ Fr320 Torque command input ravers P321 Speed lent velue 9 5000 rm Pr324 Motor rotate mevamurm speed o 5000 rimin M Castes 1 gt Detcription Mii Loos ie eo eeoxye B When you have finished the above all of these parameters setting you can send analog
10. el 1 25ms collect a data Real time sampling Real time sampling data related parameter have real time sampling interval 100ms indicate each channel 100ms collect data one time Stop Stop sampling notice this operation will clear record sampling data Suspend Continue Suspend sampling it s different from stop the sampling wave continue after suspend continue sampling in the last time suspend place 10 A Leadshine software manual of the EL5 servo drive Sampling points The most display sampling data number of a screen a time Sampling file long The most max sampling number of recording become wave file 2000 indicate this wave file content 2000 sampling data each channel It may also only collect 900 or 800 point when selection sampling 2000 point Loop history sampling Continue reading segment sampling data Loop sampling period setup the frequency of refresh wave curve Larger data the lower frequency The longer curve delay time Channel selection Selection channel sampling type that you caution Magnify reduce Click the left key select magnify area click left key back the last time magnify area The right key menu Change background and channel wave color Scroll bar The left shift or the right shift check whole wave when load oscillogram exceed a screen display Run Test Run Test have two modes one is velocity mode the other is position mode The two mode need to power off restart after s
11. ets parameter and display out Tool Universal tuning software 15 A Leadshine software manual of the EL5 servo drive fe Leadshine Tools Ed Communi cation Port eom Baudrate 38400 Databit B Stopbit I Farity Hone State Close Read po m e pr Address Return HEX DEC OoOo BIH Read jar ue pr Address Return HEX DEC BIN Read D1 TEE po Address Return HEX DEC BIN Read D1 Pu pr Address Return HEX DEC BIN Read TN FUP pro Address Return HEX DEC o BIN Calculator GE SEW OO WIDE 4 1s Ce OTAHI e OJHA Ost OAS OE OBR Om Ow S DEAA EE JE JC JE Gs 5 OOOO SEES ES JEJE JC JE Es Configuring the Drive Before using the ProTuner software of EL5 DO0750 driver the customer need to select different work mode according to customer mechanical system different work mode need to different wiring method please refer to user manual when driver wiring connecting was finished you can tune different loop gain parameter in different work mode with ProTuner software Torque mode The torque mode is analog input control mode via Al3 send 10V analog input signal in the torque mode we can t see waveform curve but we may setup related parameter with torque mode In parameter manage window 16 software manual of the EL5 servo drive Reame euto gain tuning mo VinrakonSuppression Realtime suto gai tuning sti
12. f VelootyTorqueContol Ralio of inerti Command puse polar setup Command pulse input mode s SpecialSeding Command puse counts per Factor Seng 1st numerator of electromc gear Denominstor of alectronic gear Curput pulse Courts per one m Pulse ouputlogic reverse 1sttorque brit Postion deviation sep Extenal regenerative resestor Regenerston discharge resis Vibration suppression N afer Vibration suppression 5 after Daseriptisn B B ARRSRHREERRRRREHRENREEREEREEREEREEREREEREEEREEATATATATATITITITITAAAATAAASARAAERRRARRRRRRRRRRRRERRERRRRERRERREREEEEEERERE 1009 In basic setting parameter you first setting PrO 01 2 make the control mode become torque mode then in monitor setting you need to setup Pr4 00 30303 make the motor enable S 2 pul selection D FFFFFF S 3 put salschon b FFFFFF S 4 rput salacthon D FFFFFF S6 5 nput selection 0 FFFFFF SO 1 output sefecton 0 FFFFFF SO nutput selacton FFFFFF SO 3 output selectan 0 FFFFFF SO 4 output selecton D FFFFFF Analog mput tl 1 offset setap 1860 1860 Analog eaput HAJ 15 hier D 6400 Analog eput XAJ 3j aftel setup 12 1860 1860 Analog ut WAI 3 fie n 6400 Positoning complete range 0 10000 Pasitoning complete output s 0 3 INF hold time D 36000 Zero speed 10 2000 Speed coincidence range 10 2000 Atspeed 10 2006 Mechanical brake acton at st 0 3000 Mechanical brake acton at ny D 3000 Ereke resse speed setup 30 3000 E stap function sele
13. gid the first we select a smaller value then we click the start button Chznael Select Swpling Setup Display Prats 20 Saepling Interval ee 20 65 125 Crile Seapling Fouttion Gain Valscity Meds LatT esi ti chloeg rai t 4S HAVeloci tpLeopGeia 35 LatTerqoeFil ter 00 IstVa1osci yLoepIntegratieoTieeConstant 1600 x iP esi t caloep rai n ss Zad elec plesia 25 Endler qual ilter Ta ZniVelscityLoepIntegratienTiesConstans 10009 Valocityfesdforwerd ain On TerqnalPoedfoxwar dosi D CantralSwi tcbasgilede 10 RatisOfInertia w 295 ResltimaMatonati Ad urteextlode Locate 7 Kealtieetotcestiobndjustaeptficid Speed Traperoidel Faranetert Velecitrizpe ODO AccalaratirnAndDacaleratienTime ims 100 Intervalfims bec 100 Sostancel Irav 40 RepestTiaex 10000 Barasngilede Poxitivshadiegative Then we continue increase system rigid we looked that the position error become smaller and smaller 23 9 Leadshine software manual of the EL5 servo drive Rum Text Ld rs wit Chans Select sonam M v1 d tec Seapling Setup Display Teiots Z0 Sapling Intervalias De 125 T Oyvle Seeplisg T 112 Tositien Gua Velocity Made 131 esi ti onLocgOsia i LetVeleci tyLoeg oat n Xj IxtTarquaFiltar 200 La Valeci tyLocgInt agrati osTiasC enstant ec i Pad ozi ti as Lacg ain ha Zn NVelacityLocgOa n o 2ndlerqoeF ilter nO znYalsci tyLacgIntagrattozxTimeCanat
14. itching to velocity mode window Leadshine ELSSeries Communication EES35 Tool Language Help Parameter Manage Save lriver Parameter Waveform Curve ES LE Alarm Environment Parameter Setup Encoder Manage Tuning the Position Loop Parameters You can select different operation mode in realtime automatic adjustment mode generally select Locate mode if you want to adjust gain parameter by yourself you may select Manual mode then you can adjust related parameter step by step until reached system require Position loop tuning main adjust position loop gain velocity integration time constant and ratio 22 f eaushine software manual of the EL5 servo drive of inertia if you need better rigid you only need adjust ratio of inertia then adjust gain and integration RealtimehutomaticAdjustmenthode speed Trapezoidal Parameters Stands Velocity rpm e000 a Locate 4 Distance 0 lrevl 400 In the Manual mode you can setup KP VI V etc related parameter during tuning position loop you may adjust KI to a very small value in advance and hold it constant then you can adjustment the value of KP parameter continues increase until system appear oscillation at this moment you can adjust the value of VI parameter increase slowly until system appear oscillation at this moment the system basically adjust finished We looked that the effect of tuning in Locate mode We may select a value of realtime automatic adjustment ri
15. l sa 4O40 us Creole Smoling Velocity Leop Parameter Trogeri dal Farweeters VelectisLeopGasa 35 SatioOfInertiaUX 1255 Velecitylepe PUI AcceleratrosTims lss SU Poritien Made TerqoeFeediorward D TerqosPilter OF p Decal or ets onTiwe pa Int egratisnT3sest caxt ant ILBDO Sor dhoceler utt osAs D ecelet tiom 02 7 Keeltieehut natichdiostwentMeda Locat Real t imalutomato Atun tenth gi 4 4 Then we continue increase system rigid we looked that the velocity error become smaller and smaller Run Test bharnel Select v s IEN befand v i cee 5 t wr V lsciteFasdballilrpa i Vasdbaihi ir a Pm w 3 Welecit Er ror rte o wt CarrentPesdbeck Sapling Setup Dixslay Paints 200 Degling Interval ea N Cycles Segling a toc 200 xc 02 soc 606 700 EC soc 1090 Tenta Valecity Loop Tereetec Trapezotdal Parameters YelocityLeop aim DO Ret sO fIsnar tia 7X Velocity ape LUA t i hecelarationT ima l SU Positisn Mods TerqueFeedforeard D Tee queFilter ax DeceleretioaTime 22 IntegreticonTieeloectant MOO IasltieshutonaticsAdjusteentitode Lacate Real timaAut nati cAdpenteenthicd it BF ec b ecalat at i cobodeceleratioa n2 E ET We continue increase the rigid of system we looked that the velocity loop gain Vp become bigger and bigger the integration time constant Vi become smaller and smaller the velocity error beco
16. lNumber AlarmHumber Meene Alarm Reason And Disposalroute Erri 0 Fosition Errla Position Erri 0 Fosition Errla Position Erri 0 Fosition Errla Position Erri 0 Fosition Errla Position Erri 0 Fosition Erri 0 Fosition Errla3 Position Errl8 Fosition Errla Pozition 1 3 4 5 B 8 g oo 0 lo l gt l gt l lS lolo l GO amp E 1 Clear History Alarm The reasons of servo stop running Current Alarn History Alarm Servo Stop Reason Reason Hame Hao enable signal Reason Deseribe COM no connect servos Click analysis the window will appear about the reason of servo no running Encoder Manage 14 software manual of the EL5 servo drive Communication Display Tool Language Help ane Encoder Prompt In this parameter window main setup encoder related parameter If your drive isn t high accuracy encode you won t see the encode parameter setup window If your drive is high accuracy encode you will see the encode parameter setup window Reading file Reading parameter setup from folder Save Make the current parameter save as parameter file format and write note so that the other man can clearly know this parameter effect and using range after getting the parameter list Uploading Reading encoder parameter to the computer Download Make the modification parameter of computer download to the encoder Parameter Compare Compare the different of two s
17. me close to zero 20 software manual of the EL5 servo drive fun Tent Liuznel 2aler i v Sap ing setup Display Points 700 Seepling laterval ec hep 125 Cycle Saepling Valscity Leop Parmeter Treperes dal Pereseters FelocityLeop sia 220 BatssOfInertia 7 Veleciizicge 52000 Acceleraticalime laz PU Position Bode TsrguaFasdforeard 0 TergusFilter r BecelaratiozTime las 10 IntegratienTieeloastant 250 r S Sor d cealatati cnfadD ecelataticno ina Realtioabutcesticidjusteentfede jLocote Real imafutonati cAd ius teantKi gi4 17 tum Test Damal Seleri Seepling Setup Dicpler Poants 200 Sapling Interval les 4000 125 Cycle Geapling Velocity Leop Parameter Trapesordal farameters YaleeityLaopGaim O0 FatisOfZaertiaUw 25c Velouity pe 2000 MoeleratienTise es amp Petition Bode TerqualFaedfoyewu4 N TerqueFilter 45 Dacelerati enTiee loa 1C 20 Integrat snTimeConztan i T Ferdicceleratisr nileceleratisniag U RealtimetutceatichdjusteentBeds Locate Beal timeAutemets cAdpeztmaenthi gi 16 gt At this moment the velocity mode of system basically adjust finished Position mode Position Loop Tuning 21 n Leadshine software manual of the EL5 servo drive The first you need to modify the parameter value of control mode in the parameter manage window make the parameter value of control mode become to 0 a Ea um o HF Se
18. n t using the other driver 2 Running condition Operation system CPU above 1 5GHz RAM above 256M Hard disk capacity above 10G Displayer resolution 1024 768 color 24 bit Communication interface normal series or USB series adapter Note maybe because of the update of software version the chart has different and actual ProTuner for EL5 D0750 is a software tool designed to configure and tune the Leadshine digital servo drive EL5 DO750 The user can tune the velocity loop and adjust the position loop parameters in this software Workspace Toolbar Dasesl Select Seopling Setup E xxplay Teants Suyling Interval es inet i75 s Cyele Seaplizg J K us AX 1 Ac it Teseres i Mode Switching Peastien Gain me lt slosity Bede Parameter Leth ons ti enLosp ni n 00 leifa rth ty aspis S500 et Tow quif 1 tay 45 IstPeloei t9GaepIstogr oti kTia Constan im cram tess P pe L m vw n asiti enlarpsin E0 ZrpdfalorttyLeeg nin U0 2adTorqueP il ter 45 indYaloritylecplstegratisslimsComstam 7 Faleti tyTeedierrar ain 20 Tor quel wed et war dai D Control2 1 tchingtede ita Batio fpertaga amp 2 5 kasltimahutematickdiusrtmert sde Locate Raaltimedetomat ch juateastkigi Speed Trapazei dal Farwesters ValocitwU rpe 000 hccalarattonkedDecelaratistlimee 3 9X TetervralTiee ws 10 Di stante iD trer T DepeatTiave 10000 Vani rails de Poti tivs AndfBeq
19. ng Frags Istnumereter of elecronc geer 1 1 32787 1 No FIG 10 Daenominetor of electonic gear 1 17 32767 1 No FO 11 Oufput pulse counts per one m 2500 1 2500 25 Fes ower oft vid POS TZ Pulse Ouput loge reverse 071 p Powe Of vid Pr 13 Laitora Tenit 300 0 505 308 No PrQ 14 Foston dewehon setup 200 0 00 200 I t rere Encoder unt PrO 16 Extend regenerative resestor 50 10 500 50 R Power of velid Pra Regerermtiondscharngeross 51 10 So00 50 Ww Power of waid FIO 18 Vibration suppresem Nene 10 g 10600 10 Fuse Encoder unt FIO 13 Vibretion uppreseon S eter 10 07 100 19 Pube Encoder unt Add Custom i Teveript BESRSENISRRDRESRAREREOSEEERERAARRESSAREREAISAREERNARRNRERRANRRERESEREREARRRERERARRERENSREEERAARRRERAA 10x In this parameter window you can set many parameters the most basic parameter setting is control mode setting then is the other parameter setting according to your system state n Leadshine software manual of the EL5 servo drive Gain adjust Ist gan ot velocity loop 32767 No Istvelocty loop ntegrston t 120 t 10000 A0 lms No Istvelochy detactom titer 15 0 710000 t5 Na I ot torque titar 45 p 2500 126 b1ems No 7nd positon loop gen 1050 9 30006 380 D 1 s No 2nd veloc Ipop gen 500 1 3276 180 01H No 2ndvelooty loop integrations 0006 10000 10000 tims No 2nd velocty detection Sher 15 Q 10000 t6 Na 2nd torque titor 46 02500 128 D tms No Velocny teed towed gain 30
20. or pole pairs 4 1 20 4 n Power off MonforSefing Motor phase resistor 100 t 10000 100 00 0 Power off ExtensionSenng Motor D O inductance 720 1 10000 700 D 0 mH Power off Speciatsetin Motor back EMF coefficient 460 100 10000 1000 Divno Power of Menor torque coefficient 38 1 1000 Bu 001N m A Power off Motor rated speed 3000 100 6000 2000 man Power off Motor Maximum speed 3200 100 6000 2500 ymin Powe off Motor rented curent 440 1 3000 200 OA Power off Mostar rotor inerte 73 1 32767 250 O0tKgcr Power off Motor power selecton 760 10 32767 760 wW Power off Motor model input 0 0 7FFF 3 Hesedec Encoder selection 0 512 Power off Motor meoimum current 300 1 500 300 Power off Encoder index Angle compen 330 Oo 360 0 No O 100 F caushine software manual of the EL5 servo drive Waveform Curve Pisapia UJ T Read E Notary wp ling Ttap faute STILLT Sapling Setup Display Parnis Bacor Points DUK Realtiae Seepling Interval bs 100 History Zenplisg Taierea ey Cyele Mistorp Sapling Reading Open existing waveform file so that analysis the data collection in running Save Make the current record wave save as waveform file Notice save after recorded in advance History sampling Acquisition driver running in a little time segment data Related parameter have history sampling interval 1 0 125ms indicate each channel 0 125ms collect a data 10 0 125ms indicate each chann
21. osition error become close to zero 24 software manual of the EL5 servo drive Mnal Select Campling Eeti display Points 200 Seeplisg Interval ss Phe 125 w Cycle Sampling Tain Posstian Gain Velocity Bods bsthosi ti calsopeain 00 LatVeloes tyLospirei n 500 LetTor quafi ter 145 IstVeloci tyLospIntegreticaTiasConetent 120 nile a PndPeaitionlesyeein SO ZrdVelocityLosg ratn 500 Lett or que il tar 45 Zn4Valoci tyLoepIEntegr ati oT 109 otani lana VelocityFeedforwarddain 3X Tor quePesdferwar dhain fO Caxtrolfwitching ede 1c Ketis flzertia K 250 RealtimeAutemats ckdjwrtaentflode Locate Realtinedctomatio dyoctaenthigid J6 Speed Traperoidal Parameters Sto Velocity spe looo heoceleratrorAcdDeceleretionTies en 100 Intervallime les 10 Distance UD tray 400 EspeatT imos 10000 Rerasagtode Port ti veAndSagative be Fert verd Chrarmmel Select v CaventPesSek Sampling Satug Dixpley Printe DO Sampling Intervalies SO I5 Creole Sempling Petition Gain Velocity Sede Istfasi ti ealoepirein S080 I et el oes tyLeosp nin 11 0 IstTor qua ilter 20 I st eloes tyLeepIntegratianTieelenstant 170 1 2r4T 55i ti enLoeg rai n 2410 wIFalori tyLeopGuin 1150 DedT ec queFilter 20 CadFel ocd tyLoopIntegr ati anTi eel etis tant 3000 Veloce tyPeedforwardoain OD Ter qu Foedfarwar Gaia j CoatrelSettchingtede 10 BattoOfInertia w
22. signal to drive by CN1 port The motor will work in torque mode if you dissatisfied to parameter setting you may continue adjust related torque parameter Velocity mode Velocity Loop Tuning The first you need to modify the parameter value of control mode in the parameter manage window make the parameter value of control mode become to 1 MP TR CIR EREN 4 Realtime euto gain tuning mo Vibraton Suppression Reahtma suto gain tuning stif VeloctyTorqusContol Ratio of inertie Command pulse polar setup Command pulse input mode s SpecialSeding Command pulse counts pera FectorSeting 1st mamnertator of electrorc gear Denominetor of electronic gear Cuput pulse counts per one m Pulse output logic reverse 1 sttorque brat Poston deviation sep Extenal regenerative resestor Regenerston discharge resis Vibration suppression N afer Vibrshon suppression 5 after ssES5 g g g kaata Se TTEA a a a 1009 Click gt Display will appear pull down menu select Run test the left key click Run test will appear 18 A Leadshine software manual of the EL5 servo drive velocity mode window you can also directly click Toolbar button XS will appear velocity mode window if you doesn t modify the parameter value of control mode you can also Velocity Mode click switching to velocity mode window Leadshine ELSSeries Communication PINS IE 9 Tool Language Help Parameter Manage calli T cave Driver Parameter
23. speed setup Xd spead setup 4h spand setup Ith apeed setup amp h speed setup TW speed setup Bh speed setup Accelerston Ime satup Oeceleraton me setup Sync occeleraton decelar Zero cermp levet Tore commend meme and Torque commend direction se Torque commend ipu gen Torque command iut revers Speed Imt velue 1 Matar rotate maoni speed i O C CO Oooo0o0 000 o 0 g s gE5 2 g 22 ee P Poet Gen de Pree Qs Vako Rege Gefeuk Unm F 0 1 10 2000 o 5000 5000 5000 5000 5ogo 5000 S000 5000 5000 51000 5000 5000 5000 5000 5500 5000 o 10000 97 t 0000 p 000 10 2000 0 2 0 1 30 7100 0 1 0 000 9 000 Pry ymin gmin gmin gmin unin tmin ymin mun mag 000r me Vr me 01w00 ymin Umm In this parameter window you can setup velocity and torque related parameter Monitor setup r CPU E F ican gp f ez Q S15 nput selection SO 1 arpat selection SO 2 oups eelechon SO 3 our selection SO 4 oux selection Anelog input 14 1 ofset setup Anelog mput 14A 1 titer Anelog input JA 3 offset setup Anelog input 3 9 3 Aler Positoning complete range Positoning complete output INP hold tme Zaro spoed Speed coincidence ranga Ak Speed Meschenical benke acton et st Mechenical teske mcton stra Brake release speed setup E top tunctom selacton 00818 H O0BPS2H 009181H 000007H G0010th onaezoh 000704h 000303h d
24. unt LODOC Veleci tyFaedforear 46215 xn Tor gee eedf ievr dri n D CantralDwi tchingfode 110 Rati ef Iperti a DO Er BealtiesAuismaticAd usteent ede Lecate JesltieehutomatichAdijusteeniB gid 5 l Speed Trapeasotdal Puarsmatert 5 Stp Velocstwirpe 2000 MceleratisnhndbDereleratian Tine ina 100 IxtervalTime nz 1UC Distance ID Ieev 400 BaepeatTioas 100010 Bonnisqitode TositivehndNegative c Cheanzal Select w1 v2 3 w 1 Senplisg Setup Dicpley Printa are Sampling Interval tas ois Cycle Sampling T E en 1 yz x i8 x 4 i5 zi E mne lositien Guia a a Valaci ty Vode 1212 021 t1 arLeog niz 990 121 V alocitwLeop ain 20 1siTorquaPiliar 10 batVelectiplecplategratcanTinelenstant HS9 Za oss ticnLooplaiz 450 22d loci tyLoopliaa i220 xdl orqeePa lier 172 zniNslsciiyLaogIntegr atianTiaelenstant 10000 ValsctipyfPaedfarwardOnin 200 Ter quaFandfarwur Bain fO ControlSwitchisgfode 10 Reatiolfimertsal 250 SoaltiseAutoemattcAd jus im ax tio de P er d q RealtimeActomatichdydsteentBigid Speed Traperesdal Parameters Stes Velocity irja moo Accelereticolad eceleretionTiea es 100 IstervalTima fap 10 Pi rtence D irer 00 RepaatTimez 10000 Bunninaitods Fori tiveindsgstivs We continue increase the rigid of system we looked that the position loop gain Kp become bigger and bigger the integration time constant Vi become smaller and smaller the p
25. unt select 0 0 2 Power of velid P5 28 LED rites status L 36 Na Pr 23 RS23 comerwnicaton beud r 4 on 5 Power off velid F5 30 RS485 comenwnics on bowdr 7 915 H Power off walid m5 Axis address 1 oO 127 Power off veli m53x Commend pulse npt masimu 600 250 4000 amp 00 KHr No Jd Pri Front panel lack setup Q 0 1 e No Deserigt Pitti TIT TLELT LN e OY lO Desrrigt M 100 In this parameter window you can setup run test related parameter A Leadshine Factory setup Moe model input Encode selection 0 software manual of the EL5 servo drive Hexecdeormel sows Power of velid Deveript PTTTTTTTTTTTTTTTTTTTTTTTTTETTTTTTT TT TELE ITTTTTTETTITTTTTTTTLITTTTTTITTTTTTTETTITTTTTT 100 In this parameter window you can setup related motor parameter when the motor isn t our company match motor setup Pr7 15 0 it will appear many related motor parameters it need you setup each related motor parameter according actual motor state If the motor is our company match motor setup Pr7 15 parameter value according to the manufacturer what our company match motor This is the other motor parameter setup window Varaentar Banage Gun p 4 vanes vw fave B9 g Restore Help Vee IF Deisi Cumrantioop togra ime 20 1 1000 20 Otms No VibretionSuppres sion Motor rotor inis positon Angl 330 0 360 0 Power off Velocity TarqueContral Mot
26. uti ve Menus and Toolbar Menus and toolbars are at the top of the workspace You can click menu bar to view the pull down menu The toolbar below the menu offers the most frequency used commands A Leadshine Menu Pull Down nee Connect Communication gt Driver Exit Display gt Parameter Manage Save Driver Parameter Waveform Curve Run Test Alarm Environment Parameter Setup Encoder Manage Tools gt Debug Tool software manual of the EL5 servo drive Toolbar Function Popup communication setup dialog box select series match communication parameter and connect driver Exit operation software Read display modification driver parameter save parameter to local disk Save driver current parameter write parameter to using EEPROM Monitor driver current running state display oscillogram and to wave record and save Run Test the driver adjust parameter so that let driver performance the best Check and resolve of the driver current or history record Communication delay setup Setup encoder each parameter Fast set specify address parameter convenience to professional fast setup F eaushine software manual of the EL5 servo drive Perform each digital calculate more often use convert between Calculator l i hexadecimal and decimal n l The software switching to Chinese Language gt Simplified Chinese i version The software switching to English
27. ve Bbe gt Rosters Haly M Parometorama Voo Rang Detour BesicSeting GainAdjustmert Pro 02 Realtime eutergaintuningmo 2 n No VinrationSuparession P003 Reshtime suto gsinluning stff 16 D 3t No VeloctyTornquaContol Pro 04 Ralio of inertia 250 10000 es e No MovitceSemng Prd 06 Command pulse polar setup 0 Power off ExteeieionSetting Prod Commend pulse input mode s 3 3 3 Pawer ctl SpecialSeting P208 Command pulse counts per o D Power off Factor Seting Fro 09 1s numerator of electrorec gear 1 No PO 10 Denaminetor otelectronicgesr 1 No FP Output pulse courts per one m Power of Pro Pulse ouput logic reverse 0 Power oft P013 Ist torque brat No FIO 14 Postion dewshon setup 200 Encoder i P1018 Extend regenerative resestoe l Power ott Prot Regenerston discharge resis Pawer off PO 18 Vibration suppression N afer 10 Encader i P1019 Vibration suppression e ar 10 Encadar a oa Ss OO oS 8s ht amp 5 B coo c oo 2 222 120 444 Cuctes Desecriptien BERRRESESSREBRSRSRDRRRRERSRRERSRRERERERRRRTESESAAASAAITITITAATATATAATATARRRRRRRRRRRRQCERGRERERERERDERBRRREREREERESESESESES 1008 Click Display will appear pull down menu select Run test the left key click Run test will appear position mode window you can also directly click Toolbar button will appear position mode window if you doesn t modify the parameter value of control mode you can also click pi lout RUD sw
28. witching The switching mode is effect Velocity Mode Tuning Window 11 software manual of the EL5 servo drive SO a mr cs NN Lr a fen Tast Lj bel Seleat i a a erties v ureeediackf Sapling Setup Display Poiate 200 Seeplisg Interval es n IG Oe Da Sapling Valocity Leop lP urseeter Teapererdal Fereneters Velaca tploogsarn soo Batiodflnart a X amp were p ValotityUrpm FUL AccelerationTiee wa SY Port tian Goede Tarquafee forsud j Torquesfilier 1 dnai PAN JecelerattonTise ies 1 IntegrattonTimeC enetent 120 SWoe eceler a 1 otra cellar ation les U RealtimeActematicAdjentaentBede Lecate Step Bealtimedetomatsch juttessthi gid Le i Under velocity mode the parameter what you need to adjust have velocity loop gain integration time constant velocity acceleration acceleration and deceleration time etc Position Mode Tuning Window emp CLEA ML Chuxzal Select d 8 UILLI amp Seapling Tatuj Display Pesnts 2X0 Seeplitg merr deu 1000 125 Cycle Seeplisg i Valocity Bede Pal Posti at Gain JerPoss ti enlsapGain 900 JetPelect tylLiceGein DO LetTarquefalter 185 1 atValeci tyLounpInt eqy att nT pact enet ant itu 10000 i 7 nF siti nenLorgOnin L 050 PnielertitylLogptein 500 2edTorquaPiltar 5 2sdNalecityLospIntagrationT reel ceret anit Veloci tyPeedfereardiein 00 Ter qual eedf e ur d
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