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User Manual for EL5 Servo - American Motion Technology LLC

1. l PA 001 Control mode setup 2 2 PA 312 Acceleration time setup User specified millisecond 3 PA 313 Deceleration time setup User specified millisecond 4 PA 314 us acceleration deceleration time j erigert unilliceeand 3 PA 315 Zero clamp function selection 0 6 PA 317 Torque setup internal external switching 0 7 PA 319 Torque command direction input gain User specified 0 1V 100 8 PA 320 Torque setup input reversal User specified 9 PA 321 Speed limit value I User specified R min 10 PA 400 SII input selection Srv on hex 030000 11 PA 428 Analog input 3 AI3 offset setup User specified 0 359mv 12 PA 429 Analog input 3 AI3 filter User specified 0 01 ms Wiring Diagram 1 DC12 24V COM 2 Srv_on Single direction ratation DC10V 43 L o AB 44 GND 4 Operation Steps 1 connect terminal CNI 2 Enter the power DC12V to 24V to control signal the COM and COM 3 Enter the power to the driver 4 Confirm the value of the parameters and write to the EEPROM and turn off on the power of the driver 5 Connect the Srv_on input to bring the driver to servo on status and energize the motor 6 apply DC voltage between torque command input AI1 and AGND and gradually increase from OV to confirm the motor runs 7 Check the motor torque at monitor mode dE m H Whether actual to
2. JOG trial run command speed 100 100 Range unit default Related JOG trial run command torque control mode 0 100 0 T You can set up the command speed used for JOG trial run torque control Range unit default Related JOG trial run command speed B control mode 0 500 r min 300 Du Sp You can set up the command speed used for JOG trial run velocity control Range unit default cd JOG trial run command speed control mode 100 100 96 0 P sla i Range unit default Related JOG trial run command speed control mode 100 100 0 P s T Range unit default Mu UE default This three parameters may apply feed forward torque superposition directly to torque command Related control mode Range Trial run distance 0 200 10 The distance of running each time in JOG run position control default Related control mode Range Trial run waiting time 0 30000 The waiting time after running each time in JOG run position control 1000 Range unit default Related control mode Trial run cycle times 0 32767 10 P The cycling times of JOG run position control www leadshine com 46 A Leadshine User Manual for EL5 Servo Chapter 5 Alarm and Processing 5 1 Alarm List Protection function is activated when an error occurs the driver will stop the rotation of servo motor and the front pane
3. 1st mode 6 SYL i PA 001 5 The control mode is switched through external input torque mode The step of changing the operation mode 1 Switch the driver to Servo Off status 2 Modify the corresponding parameters of control mode to EEPROM Turn off on the power to make the new mode works after setup completed 7 3 2 Position Mode The driver is widely used for precise positioning in position control mode www leadshine com 71 A Leadshine 1 phase or 3 phase 220VAC REM Circuit Braker Magnetic Contactor 12 24V Figure 7 6 Position Mode Typical Wiring Diagram 35 Corresponding parameters setup of position control mode 1 Process of command pulse input The positional commands of the following 3 types pulse train are available B phase pulse Positive direction pulse negative direction pulse Pulse train sign User Manual for EL5 Servo Encoder Output RS232 Please set the pulse configuration and pulse counting method based on the specification and configuration of installation of the host controller www leadshine com 72 A Leadshine User Manual for EL5 Servo Table 7 8 Parameter Setup of Position Command Selection Parameter Name Setup method PA 006 Command pulse polar setting Please refer to chapter 4 PA 007 Command pulse input mode setting 2 Electronic gear function The function multiplies the input pulse command f
4. Here is the step to modify the values of parameters for matching this white motor with driver 1 Modify the value of pr7 15 tof The 400W servo motor is included in the motor library so you just need to modify the parameter of pr7 15 modify pr7 15 to make pr7 15 f while the driver should be powered on and connected to the software Protuner when you modify the value of parameter 2 Download the new value of parameters to the driver and save it and restart the driver to make the new value worked NONSE If the 400w motor isn t the white motor which looks like the picture above just contact the provider of motor to get the information of motor specification B Set the motor which is not included in motor library 1 Modify the value of pr7 15 to 0 Sometimes servo motor isn t included in motor library so you need to modify the parameter of pr7 15 to 0 and then you can set other parameters to match the motor with driver 2 Modify the values of other parameters pr7 00 pr7 14 In general the parameters pr7 00 pr7 14 are hidden you can t see them You need to do some operation to find them refer to the appendix on how to find the hidden parameters And then modify the parameters after you find all the parameters The driver should be powered on and connected to the software Protuner when you modify them You need to refer to the specification of motor get the information below motor pole pairs motor phase resistor
5. errors monitor Communication axis id xxx m cae address de d id Fr xxx Encoder positional l Low bit L xxxx ii SE deviation encoder unit dc BBB H puse High bit H xxxx Encoder scale deviation m Low bit L xxxx m Boone external scale unit de ma E pulse High bit H xxxx hybrid deviation l Low bit L xxxx 2 Beer conma ad HEBR pulse High bit H xxxx 27 d27Pn Voltage across PN V de HH V U XXX d XXX 28 d28 no Software version debe ne F xxx P xxx 29 d29ASE Driver serial number de HE n XXX 30 d30NSE Motor serial number H3HHSE TE i uM Accumulated operation Low bit L xxxx 2 Seb time d d E E High bit H xxxx 32 d32 Aud Automatic motor EB gH Hd J identification io 39 d33Ath Driver temperature Hd3HEH th xxx 34 d34 diy p xxx 35 d35 SF Safety condition g 35 H F J ae Display Code DC bus under voltage monitor Table 6 3 d17 ch Motor No Rotate Reason Code Definition www leadshine com 57 User Manual for EL5 Servo The Servo ON input SRV ON is not connected to COM PA 504 0 POT is open speed command is positive 3 T POT NOT input is valid direction NOT is open speed command is negative direction rre 8 GLisvalid ae Y i 7 0 deviation counter clear is connected to 9 speed zero clamp is valid PA 315 1 speed zero clamp is open 6 2 3 System Parameter Setting Inte
6. Don t hold the product by the cable motor shaft or encoder while transporting it No knocking motor shaft or encoders prevent motor by vibration or shock The motor shaft can t bear the load beyond the limits 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 0 Leadshine User Manual for EL5 Servo Chapter 3 Wiring A Warning The workers of participation in wiring or checking must possess sufficient ability do this job The wiring and check must be going with power off after five minutes caution Ground the earth terminal of the motor and driver without fail The wiring should be connected after servo driver and servo motor installed correctly 3 1 Wiring 3 1 1 Wire Gauge 1 Power supply terminal TB e Diameter R S T PE U V W terminals diameter gt 1 5mm AWG14 16 r t terminal diameter gt 1 0 mm AWG16 18 e Grounding The grounding wire should be as thick as possible drive servo motor the PE terminal point ground ground resistance lt 100 Q e Use noise filter to remove external noise from the power lines and reduce an effect of the noise generated by the servo driver e Install fuse NFB pro
7. 36 Encoder feedback pulse digital filter setup FHZHBB 00 adaptive filter mode setup N I st notch frequency 1st notch width selection I st notch depth selection NIN el eja s W N 04 2nd notch frequency FHE EY 05 2nd notch width selection FHZBHS 2 06 2nd notch depth selection FHzZeHBB 2 22 Positional command smooth filter FHzBeeg 2 23 Positional command FIR filter se 3 00 Velocity setup internal external switching PHS90B 3 01 Speed command rotational direction selection 3 02 Speed command input gain 3 03 Speed command reversal input FH m JE J 3 04 Ist speed setup PHE JOH 05 2nd speed setup PH J08 Q WW 06 3rd speed setup www leadshine com FHEBBB 59 A Leadshine User Manual for EL5 Servo 3 07 4th speed setup FHZHBH snae HEBR 3 09 6th speed setup FHZHBH 3 7th speed setup FHZ3HH 3 11 8th speed setup 3 12 Acceleration time setup 3 13 Deceleration time setup 3 14 Sigmoid acceleration deceleration time setup 3 15 Speed zero clamp function selection FHZHHB 3 16 Speed zero clamp level PHS4996 3 17 torque setting switch FRESHA 3 18 Torque command direction selection FH 3HH 3 19 Torque command input gain FHZHHH 3 20 Torque command input reversal FASS 3 21 Speed limit
8. User Manual for EL5 Servo User Manual for EL5 Servo www leadshine com A Leadshine User Manual for EL5 Servo Introduction Thanks for purchasing Leadshine EL5 series AC servo drivers this instruction manual provides knowledge and attention for using this driver Incorrect operation may cause unexpected accident please read this manual carefully before using oroduct lt gt We reserve the right to modify equipment and documentation without prior notice lt We won t undertake any responsibility with customer s any modification of product and the warranty of product will be cancel at the same time Be attention to the following warning symbol A warning indicates that the error operation could result in loss of life or serious injury caution indicates that the error operation could result in operator injured also make equipment damaged Attention indicates that the error use may damage product and equipment Safety precautions A Warning The design and manufacture of product doesn t use in mechanic and system which have a threat to operator The safety protection must be provided in design and manufacture when using this product to prevent incorrect operation or abnormal accident Acceptance ca ution The product which is damaged or have fault is forbidden to use Transportation A caution The storage and transportation must be in normal con
9. Content CRC verification error when EEPROM parameter is saved confirmation solution r t terminal under voltage Check r t terminal voltage Assure r t terminal voltage in proper range Driver is damaged save the parameters for several times replace the driver with a new one Main Extra BE B Display Be Heed Content positive negative over travel input valid Cause confirmation positive negative over travelling Check the state of positive input signal has been conducted negative over travel input signal ope EEE B B Content forced alarm input valid Cause confirmation solution solution Forced alarm input signal has been conducted Check forced alarm input signal Assure input signal wiring correctly www leadshine com 33 A Leadshine User Manual for EL5 Servo Chapter 6 Display and Operation 6 1 Introduction The operation interface of servo driver consists of six LED nixie tubes and five key which are used for servo driver s status display and parameter setting The inter face layout is as follows Figure 6 1 front panel Table 6 1 The name and function of keys Name Key Function There are 6 LED nixie tubes to display monitor value parameter value Display and set value Press this key to switch among 4 mode Key of vet eres M 1 data monitor mode 2 parameter
10. Press M key to switch the data monitor mode parameter setting mode auxiliary function mode EEPROM written mode 3 If new abnormal alarm occurs the abnormal alarm will be displayed immediately in abnormal mode no matter what the current mode is press M key to switch to the other mode 4 In data monitor mode press or V to select the type of monitor parameter Press ENT to enter the parameter type then press Sto display the high 4 bits H or low 4 bits L of some parameter values 5 In parameter setting mode press Sto select current editing bit of parameter No press or V to change current editing bit of parameters No Press ENT key to enter the parameter setting mode of corresponding parameters No Press to select current bit of parameter value when editing it press A or V to change the value of the bit Press ENT to save it and switch to the interface of parameter No 6 2 2 Driver Operating Data Monitor Table 6 2 Function List of Driver Monitor Serial PE T Data Format Number Name Specification Display Unit Tw forsere vll www leadshine com 55 A Leadshine User Manual for EL5 Servo Positional command Low bit L xxxx 3 we deviation mm H puse High bit H xxxx 1 dO1SPd Motor speed qu Iced r min rxxxx Positional command a 2 d02cSP Joge QF r min rxxxx speed 3 d03cuL VE GELY one ci J E r min rxxxx command Clu 4 d
11. Range unit default oarormcde Integration 0 10000 0 1ms 10000 P S T l Range unit default Related 2nd Filter of Velocity Detection E control mode 0 31 15 P S T i Range unit default d 2nd Time Constant of torque filter E control mode 0 2500 0 01ms 126 P S T or time constant 1 st and 2nd Position loop velocity loop velocity detection filter torque command filter have their 2 pairs of gain Velocity feed forward gain Range unit default Related control mode 0 1000 0 1 300 P control process 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 Velocity feed forward filter Range 0 6400 unit 0 01ms default 50 Related control mode P usage example of velocity feed forward Set the time constant of 1st delay filter which affects the input of speed feed forward The velocity feed forward will become effective as the velocity feed forward gain is gradually increased with the speed feed forward filter set at approx 50 0 5ms The positional deviation during www leadshine com 30 0 Leadshine User Manual for EL5 Servo operation at a constant speed is reduced as shown in the equation below in proportion to the value of velocity feed forward gain Po
12. Speed command rotational direction selection Speed command input gain Speed command reversal input PA 422 Analog input 1 AI 1 offset setup Please refer to chapter 4 www leadshine com 75 0 Leadshine User Manual for EL5 Servo 6 PA 423 Analog input I AI 1 filter 2 Velocity control by internal speed command You can control the speed by using the internal speed command set to the parameter By using the internal speed command selection 1 2 3 INTSPD 1 2 3 you can select best appropriate one Table 7 16 Parameter Setup of Internal Speed Commands Carry Out Speed Control No parameter name Setup method l PA 300 Velocity setup internal external switching 2 PA 301 Speed command rotational direction selection 3 PA 304 I st speed setup 4 PA 305 2nd speed setup gt E a De Em Please refer to chapter 4 7 PA 308 5th speed setup 8 PA 309 6th speed setup 9 PA 310 7th speed setup 10 PA 311 8th speed setup 3 Speed zero clamp ZEROSPD You can forcibly set the speed command to 0 by using the speed zero clamp input Table 7 17 Parameter setup of speed zero clamp parameter Setup method l PA 315 Speed zero clamp function selection Please refer to chapter 4 2 PA 316 Speed zero clamp level And the input port should be assigned for ZEROSPD for details of these parameters refer to PA_400 PA409 4 Attained speed
13. User Manual for EL5 Servo it is too large or not Extra Display BBBHEBH Content velocity error over large error Cause confirmation solution The deviation of inner po sition Check the value of PA 602 if Enlarge the value of PA_602 or set the command velocity is too large value to 0 make position deviation it is too small or not Dr with actual speed over large detection invalid The acceleration decelerate Enlarge the value of PA 312 PA 313 i Check the value of PA 312 e a time Inner position command ates F adjust gain of velocity control improve a PA 313 if it is too small or not velocity is too small A trace performance Display Be SHB IH Content over speed 1 Cause confirmation solution Check speed command if it is too large or not Adjust the value of input speed check the voltage of analog speed command if it command enlarge the value is too large or not check the value of PA 321 if PA 321 value modify command it is too small or not check input frequency and pulse input frequency and division frequency coefficient of command pulse division frequency coefficient if it is proper or not check encoder if the wiring assure encoder wiring correctly is correct or not Motor speed has exceeded the first speed limit PA 321 Main Extra Display Et m H m A Content I F input interface allocation e
14. 29 RS232 baud rate setup FH m BEE 5 30 RS485 baud rate setup FH Z g JE 5 31 Axis address 6 03 JOG trial run command torque 6 04 JOG trial run command speed 6 08 Positive direction torque compensation value 6 09 Negative direction torque compensation value FH m BOY 6 20 distance of trial running FH m Ec 6 2l waiting time of trial running FH Li Bc 6 22 cycling times of trial running FH E Bec Table 6 5 setting interface System parameter No Name Specification Display Code Operation Flow 0 AF jog Trial run HE Jog Please refer to the chapter of trial run Initialization of 1 press ENT to enter operation 1 AF Inl parameter ARIA display ni Li 2 press A once to display HHHHBE www leadshine com 61 User Manual for EL5 Servo Release of front panel lock Alarm clear indicated initialization after finishing it display F inHah 1 press ENT to enter operation display ARE 2 press Abutton one time display prn Ia indicated unlock the panel successfully 1 press ENT to enter operation display HOE Li 2 press Aonce display Ao Eh indicated alarm clear successfully A automatic offset adjustment 1 press ENT to enter operation display tC n o Z 2 press once display SIE HHE indication start correct then diselav E IM 1390 indicated correction finished A2 automatic offset adjustment 1 press ENT t
15. IKW 1 5KW Rated output current 2 3 7 5 7 5 Max output current 8 5 16 22 25 Main power Single phase or three phase 220V 15 10 50 60HZ Control power Control mode Single phase 220V 15 10 IGBT SVPWM sinusoidal wave control Feedback mode 2500P R incremental encoder 17 bit encoder Input pulse Adjust speed ratio Position bandwidth Electronic gear ratio Analog input 0 500kHZ 5V differential input 3000 1 200HZ 1 32767 1 32767 10 10V de input resistance 20KQ no isolation Velocity bandwidth 500HZ Input signal Servo enable over travel inhibition gain switching command pulse inhibition speed zero clamp deviation counter clear alarm clear Output signal Encoder signal output Alarm output servo ready at speed zero detection velocity coincidence A phase B phase Z phase long distance drive mode output Alarm function Operation and display Over voltage under voltage over current over load encoder error position deviation error brake alarm limit alarm over speed error etc jog trapezoidal wave test each parameter and input output signal can be modified and saved six bit LED to display rotational speed current position deviation driver type version and address ID value etc Debug software Communication interface Brake mode Adapt load inertia You can adjust the parameters of current loop velocity loop position loop and ch
16. Please refer to chapter 4 78 Leadshine User Manual for EL5 Servo PA 319 Torque command input gain PA 320 Torque command input reversal PA 422 Analog input 1 AI 1 offset setup PA 423 Analog input I AI 1 filter PA 428 Analog input 3 AI 3 offset setup PA 429 Analog input 3 AI 3 filter FIJI JG BRIS ID 2 Speed limit function The speed limit is one of protective functions used during torque control This function regulates the motor speed so that it doesn t exceed the speed limit while the torque is controlled Table 7 22 Parameter Setup of Speed Limit Function No Parameter Name Setup method l PA 321 Speed limit value 1 2 PA 315 Zero clamp function selection 3 PA 302 Speed command input gain Please refer to chapter 4 4 PA 422 Analog input 1 AI 1 offset setup 5 PA 423 Analog input 1 AI 1 filter 3 SISO function set For details of SI input function refer to PA_400 PA409 For details of SO output function refer to PA 410 PA415 www leadshine com 79 A Leadshine User Manual for EL5 Servo Chapter 8 Product Specification AN Notice Servo driver must be matched with relevant servo motor this manual describes shenzhen Leadshine EL5 series servo motor 8 1 Driver Technical Specification Table 8 1 Driver Specification Parameter EL5 D 0400 EL5 D 0750 EL5 D 1000 EL5 D 1500 Rated output power 400W 750W
17. command SPR 3 Internal speed command 1st to 8th speed PR3 04 PR3 11 lt relationship between Pr3 00 Internal External switching speed setup and the internal command speed selection 1 3 and speed command to be selected gt Setup selection 1 of selection 2 of internal selection 3 of selection of aare internal command command speed internal command Speed speed INTSPD1 INTSPD2 speed INTSPD3 command 1 OFF OFF NO effect I st speed ON OFF 2nd speed OFF ON 3rd speed ON ON 4th speed 2 OFF OFF I st speed ON OFF 2nd speed OFF ON NO effect 3rd speed Analog speed ON ON The same as Pr3 00 1 OFF Lario ID speed OFF OFF ON 5th speed ON OFF ON 6th speed OFF ON Speed command rotational direction selection Range unit default MEAE 0 1 0 S Select the Positive Negative direction specifying method value 1st to 8th speed VC SIGN direction 0 No effect Negative direction l Sign has no effect OFF Positive direction Sign has no effect ON Negative direction Input gain of speed command Range 10 2000 unit r min v Related default control mode 500 SIT Based on the voltage applied to the analog speed command SPR set up the conversion gain to motor You can set Positive direction between the voltage and Pr3 02 hence input 3000r min 1 Do not 10V to the inp
18. for EL5 Servo used for update If the changed stiffness setting is made valid after the motor stopped abnormal sound or oscillation will be generated To prevent this problem stop the motor after changing the stiffness setting and check that the changed setting is enabled Inertia ratio Range unit default control mode 0 10000 250 P s T You can set up the ratio of the load inertia against the rotor of the motor inertia Pr0 04 load inertia rotate inertia x100 If the inertia ratio is correctly set the setup unit of Pr1 01 and Pr1 06 becomes Hz When the inertia ratio of Pr0 04 is larger than the actual value the setup unit of the velocity loop gain becomes larger and when the inertia ratio of Pr0 04 is smaller than the actual value the setup unit of the velocity loop gain becomes smaller Command Pulse Rotational Direction Setup Related control mode or o M Set command pulse input rotate direction command pulse input type Range unit default bes Command Pulse Input Mode Setup an 0 3 3 P Positive Negative Pr0 06 Pr0 07 Command Pulse Format Signal Direction Direction Command Command 0 90 phase difference S FETT fe Pulse 2 ais Oor2 2 phase pulse A phase B saa Hd L Har sign tl tl tl t p h a se BAR ES AFS HEI 90 BIB LE atay JR 90 i Positive direc
19. interface A3 input Figure 3 3 Servo Driver Port Terminal Table 3 1 Signal Explanation of Control Signal Port CN1 PinNo Input output Name and Explanation 1 input power supply positive terminal of the external input control signal 12V 24V N input Digital input signal 1 default value is servo on signal in position mode low level available in default the maximum voltage is 24V input input DIR input 3 4 input 5 6 positive and negative pulse input respectively TTL level 5V the rising edge available in default positive and negative direction input respectively TTL level 5V optical coupling deadline available in default Digital input signal 2 default value is forward run prohibited POT signal in position mode high level available in default the maximum voltage is 24V input 9 SI4 input Digital input signal 3 default value is reverse run prohibited NOT signal in position mode high level available in default the maximum voltage is 24V input Digital input signal 4 default value is zero speed clamp ZEROSPD signal in position mode high level available in www leadshine com Leadshine User Manual for EL5 Servo default the maximum voltage is 24V input Digital input signal 5 default value is deviation counter clear input 10 SIS input in position mode low leve
20. mode Mode of position control switching 030 o e PE Switching condition Gain switching condition 0 Fixed to Ist gain Fixed to the 1st gain Pr1 00 Pr1 04 l Fixed to 2nd gain Fixed to the 2nd gain Pr1 05 Pr1 09 2 with gain switching 1st gain when the gain switching input is open input 2nd gain when the gain switching input is connected to com lt Ifno input signal is allocated to the gain switching input the Ist gain is fixed 3 Torque command is Shift to the 2nd gain when the absolute value of the torque large command exceeded level hysteresis previously with the Ist gain Return to the 1st gain when the absolute value of the torque command was kept below level hysteresis previously during delay time with the 2nd gain 4 reserve reserve 5 Speed command is Valid for position and speed controls large Shift to the 2nd gain when the absolute value of the speed command exceeded level hysteresis r min previously with the 1st gain Return to the 1st gain when the absolute value of the speed command was kept below level hysteresis r min previously during delay time with the 2nd gain 6 Position deviation is Valid for position control large Shift to the 2nd gain when the absolute value of the positional deviation exceeded level hysteresis pulse previously with the 1st gain Return to the 1st gain when the absolu
21. motor D Q inductance motor back EMF coefficient motor torque coefficient motor rated speed motor maximum speed motor rated current motor rotor inertia motor power selection Then set the value of motor specification to pr7 02 pr7 14 3 Download the new value of parameters Download the new values to the driver and save it and restart the driver to make the new value worked NOTICE Contact the provider of motor for specification of motor www leadshine com 82 A Leadshine User Manual for EL5 Servo Contact us China Headquarters Address 3 F Block 2 Nanyou Tianan Industrial Park Nanshan District Shenzhen China Website 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 Europe 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 www leadshine com 83
22. setting mode 3 auxiliary function mode 4 EEPROM written mode Confirming key N Entrance for submenu confirming input Up key Press this key to increase the set value of current flash bit Down key Press this key to decrease the set value of current flash bit Left key Press this key to shift to the next digit on the left www leadshine com 54 A Leadshine User Manual for EL5 Servo 6 2 Panel Display and Operation 6 2 1 Panel Operation Flow Figure Power on Display one second 000000 Panel initial display content ENT Data monitor mode JA AV ENT Display doouEP dOISPd r 35 SF gt parameter value M Parameter setting mode ENT JA AY Display Modify PA 000 PA 001 PA 639 parameter value v parameter value 4 M Auxiliary function mode EN A AV 4 i AF Jos 4 AP ini AP oF3 ben Display Modify parameter value gw parameter value M A EEPROM written ENT Ready to mode write ae Im Figure 6 2 the flow diagram of panel operation 1 The front panel display HEBEIBH for about one second firstly after turning on the power of the driver Then if no abnormal alarm occurs monitor mode is displayed with the value of initial parameter otherwise abnormal alarm code is displayed 2
23. speed setup 08 5th speed setup 09 6th speed setup 10 7th speed setup 11 8th speed setup 12 Acceleration time setup 13 Deceleration time setup 14 Sigmoid acceleration deceleration time setup 15 Speed zero clamp function selection 16 Speed zero clamp level 18 Torque command direction selection 19 Torque command input gain 20 Torque command input reversal 21 Speed limit value 1 24 maximum speed of motor rotation Class 4 00 SI I input selection I F Monitor 01 SI 2 input selection Setting 02 SI 3 input selection 03 SI 4 input selection 04 SI 5 input selection 10 SO 1 output selection 11 SO 2 output selection 17 SO 3 output selection 13 SO 4 output selection 22 Analog input 1 AI 1 offset setup 23 Analog input 1 AI 1 filter 28 Analog input 3 AI 3 offset setup 29 Analog input 3 AI 3 filter 31 Positioning complete range www leadshine com 24 a D ir J D User Manual for EL5 Servo E m S S eefe e 32 Positioning complete output setup 33 INP hold time 34 Zero speed 35 Speed coincidence range 36 At speed 37 Mechanical brake action at stalling setup 38 Mechanical brake action at running setup 39 Brake action at running setup Class 5 00 2nd numerator of electronic gear Extended 01 3rd numerator of electronic gear Setup 02 4th numerator of electronic gear 03 Denominator of pulse output division 06 Sequence at servo off 0
24. to change in speed Table 7 20 Parameter Setup of Speed Command Acceleration Deceleration Parameter Name Set method PA 312 Acceleration time setup PA 313 Deceleration time setup Please refer to chapter 4 3 PA 314 Sigmoid acceleration deceleration time setup When the position loop is external to the driver don t use the acceleration deceleration time setting Set these values to 0 7 SUSO function setup For details of SI input function refer to PA_400 PA409 For details of SO output function refer to PA 410 PA415 7 3 4 Torque Mode The torque control is performed according to the torque command specified in the form of analog voltage For controlling the torque the speed limit input is required in addition to the torque command to maintain the motor speed within the speed limit www leadshine com 77 A Leadshine 1 phase or 3 phase 220V AC ILI Circuit Braker Magnetic Contactor CNI COM 1 12 24V Figure 7 8 Torque Mode Typical External Wiring Diagram Relevant parameters setup of torque control mode 1 Analog torque command input Table 7 21 Parameter Setup of Analog Torque Command Input User Manual for EL5 Servo i l r2 O O 43 44 O Encoder Output AGND CHZ A3I 10V to 10V input A3I Differ entia RS232 No Parameter Name Setup Method l PA 318 Torque command direction selection www leadshine com
25. will make motor rotating to value of PA 604 and display HC Jag if motor doesn t rotate switch to data monitoring mode d IH m H sub menu find the cause why motor doesn t rotate fix the trouble and try again 8 Press ENT will exit JOG control in JOG run mode 7 2 2 Position Control Notice You must do inspection before position control test run Table 7 4 Parameter Setup of Position Control No parameter name input value unit PA 001 control mode setup PA 312 Acceleration time setup User specified millisecond PA 313 Deceleration time setup User specified millisecond Sigmoid acceleration deceleration time User specified millisecond setup Command pulse input select Command pulse mode select Command pulse prohibit input invalidation PA 400 SI I input select Srv on Wiring Diagram l DC12 24V COM E 2 Srv on 4 3 pulse PUL 4 PUL 5 T DR direction 6 DR Figure 7 3 Control Terminal CN1 Signal Wiring in Position Control Mode www leadshine com 67 A Leadshine User Manual for EL5 Servo Operation Steps 1 connect terminal CN1 2 Enter the power DC12V to 24V to control signal the COM and COM 3 Enter the power to the driver 4 Confirm the value of the parameters and write to the EEPROM and turn off on the power of the driver 5 Connect the Srv_on inp
26. 0 h torque control S Set SI I input function allocation Range unit default Related SIL input selection control mode 0 OO0FFFFFFh 00030303h GE Range unit default Related SI in put selection B control mode O OOFFFFFFh 00828282h P S T Range default Related SB in put selection control mode 0 OOFFFFFFh 00818181h P s T l Range default Related SI4 input selection control mode O OOFFFFFFh 00919191h P S T Range unit default Related SI5 input selection control mode O OOFFFFFFh 00000007h P S T Please at partition set up function number For the function number please refer to the following Figure Signal name Set value a contact b contact Invalid Positive direction over travel inhibition input 00h Do not setup negative direction over travel inhibition input Servo ON input Alarm clear input Control mode switching input A CLR 04h Do not setup 85h Gain switching input 86h Deviation counter clear input Do not setup Command pulse inhibition input Electronic gear switching input 1 Electronic gear switching input 2 DIV1 DIV2 OCh 88h 8Ch Selection input of internal command speed INTSPDI Selection 2 input of internal command speed Selection 3 input of internal command speed INTSPD2 INTSPD3 Speed zero clamp input ZEROSPD Speed command sign input VC SIGN 2 3 4 To
27. 00 lt gt 2nd Pr1 05 2nd Pri 05 po Position gain 1st Pr1 00 switching time ms Result of switching A Related Range unit default control mode 0 200 0 05us 0 P Do filtering for positional command pulse eliminate the interference of the narrow pulse over large setup will influence the input of high frequency positional command pulse and make more time delayed positional command filter setup ae Related pulse digital filter of encoder Range unit default control mode feedback setup 0 10000 0 1ms s P Do filtering for pulse of encoder feedback eliminate the interference of the narrow pulse over large setup will influence the performance of motor in large speed and influence the control performance of motor causing by large time delayed 4 2 3 Class 2 Vibration Suppression Range unit default Related 201 ea ny 50 2000 HZ 2000 P sit Set the center frequency of the Ist notch filter the notch filter function will be invalidated by setting up this parameter to 2000 Range unit default Related 1st notch width selection control mode 0 20 2 CG Set the width of notch at the center frequency of the I st notch filter Higher the setup larger the notch width you can obtain Use with default setup in normal operation Range unit default Related 1st notch depth sel
28. 04trq Torque command cigddE m q T XXXX 5 dO5nPS Feedback pulse sum ESAS pulse on Gaia P rid P High bit H xxxx 6 d06cPS Command pulse sum HG PS ulse PR P P High bit H xxxx id i ii External scale Low bit L xxxx eee feedback pulse sum dBBrF PS High bit H xxxx Position Habent Speed BEHE ok 22 9 Control mode cile mk Torque Er Genk Composite mode m m me Input InOx y x interface number arbitrary value betweenl 8 y invalid valid A 10 I O signal status output ot0x y x interface series number arbitrary value betweenl 8 y invalid valid A x yyyy 11 dllAin Analog input value d IH Ii x All A AD b AD c Error factor and JOT E VIEN reference of history d Ic Ei PE 13 d13 rn Alarm display d cc m xxx 14 d14 r9 Regeneration load factor d J Aq rg xxx 15 dl5 oL Over load factor d ab oL xxx 16 d16Jrt Inertia ratio ed E TX 17 d17 ch Factor of no motor d IH E F OP xxx running www leadshine com 56 A Leadshine User Manual for EL5 Servo No of changes in I O 18 diSict Signals GHB n xxx 19 d19 d 9 XXXX 20 d20Abs Absolute encoder data EIEHHEBS pulse a in Absolute external scale C Low bit L xxxx a USES position de IHE BE puse High bit H xxxx No of Encoder external 22 d22rEc scale communication deer Ec times n xxx
29. 0r min Range unit default neat 1st speed of speed setup 20000 20000 r min O s Range unit default pate 2nd speed of speed setup control mode 20000 20000 r min 0 S Range unit default Ke 3rd speed of speed setup control mode 20000 20000 r min 0 s Range unit default Roig Ath speed of speed setup 20000 20000 r min 0 S Range unit default Related 5th speed of speed setup eo 20000 20000 pum 0 S 6th speed of speed setup 22000 20000 nge unit default neared 7th speed of speed setup 20000 20000 r min 0 s Range unit default is 8th speed of speed setup control mode 20000 20000 r min 0 S Set up internal command speeds Ist to 8th default 100 Related control mode Deceleration time setup unit Ms 1000r min default 100 Related control mode to 0 r min to Pr3 13 Deceleration time setup www leadshine com Set up acceleration deceleration processing time in response to the speed command input Set the time required for the speed command stepwise input to reach 1000r min to Pr3 12 Acceleration time setup Also set the time required for the speed command to reach from 1000r min Assuming that the target value of the speed command is Vc r min the time required for acceleration deceleration can be computed from the formula shown below o gt Leadshine User Manual for EL5 Servo Acceleration time ms Vc
30. 1000 Pr3 12 Ims Deceleration time ms Vc 1000 Pr3 13 1ms Stepwise input speed command Speed command after acceleration deceleration process Speed r min 1000 r min i H r I i i i i Time Pr3 12x1 ms Pr3 13x1 ms Related Sigmoid acceleration deceleration time Range unit default control mode setup 0 1000 ms o Is Set S curve time for acceleration deceleration process when the speed command is applied According to Pr3 12 Acceleration time setup and Pr3 13 Deceleration time setup set up sigmoid time with time width centering the inflection point of acceleration deceleration Speed r Speed command after rimin acceleration deceleration process Target speed Vc ta Vc 1000 x Pr3 12 x 1 ms td Vc 1000 x Pr3 13 x 1 ms ts Pr3 14 x 1 ms Use with the setup of ta 2 21s td 2 gt ts ta td Related Range unit default control mode Speed zero clamp function selection 1 If Pr3 15 0 the function of zero clamp is forbidden It means the motor rotates with actual velocity which is controlled by the analog voltage input 1 even if the velocity is less than 10 rpm The motor runs no matter what the value of Pr3 16 is The actual velocity is controlled by external the analog voltage input 2 If Pr3 15 1 and the input sig
31. 2 time constant of Ist velocity loop integration filter of 1st velocity detection 04 time constant of 1st torque filter 05 gain of 2nd position loop 06 gain of 2nd velocity loop 07 time constant of 2nd velocity loop integration 08 filter of 2nd velocity detection eee 09 time constant of 2nd torque filter 10 Velocity feed forward gain 11 Velocity feed forward filter 12 Torque feed forward gain 13 Torque feed forward filter 14 2nd gain setup HTH 15 Control switching mode 17 Control switching level 18 Control switch hysteresis 19 Gain switching time 35 Positional command filter setup 36 Encoder feedback pulse digital filter setup class 2 00 adaptive filter mode setup Vibration 01 I st notch frequency www leadshine com 23 A Leadshine User Manual for EL5 Servo Restrain 02 Ist notch width selection Function 03 Ist notch depth selection 04 2nd notch frequency 05 2nd notch width selection 06 2nd notch depth selection 22 Positional command smooth filter 23 Positional command FIR filter Class 3 00 Velocity setup internal external switching Speed 01 Speed command rotational direction selection Torque 02 Speed command input gain Control 03 Speed command reversal input 04 I st speed setup 05 2nd speed setup 06 3rd speed setup 07 Ath
32. 5 09 is long and P N voltage of the main converter falls below the specified value before detecting the main power shutoff regardless of the Pr5 08 setup n Related The main power OFF detection time 70 2000 1ms 70 P ISIT 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 Related Over speed level setup 0 20000 r min 0 P lslr r I If the motor speed exceeds this setup value Err1 A 0 over speed protect occurs The over speed level becomes 1 2 times of the motor max speed by setting up this to 0 ross orms o P SIT I F reading filter I O input digital filtering higher setup will arise control delay www leadshine com 44 A Leadshine User Manual for EL5 Servo Range unit default Related LED initial status control mode 0 35 1 BE You can select the type of data to be displayed on the front panel LED 7 segment at the initial status after power on D content UD content noun content value value value 0 en command 10 T O signal status 27 Voltage across PN V l Motor speed 11 Analog input value 28 Software version Positional command Error factor and i 2 speed reference of history 29 Driver seria
33. 5 Servo DC1224V COM TREE 2 Srv on ZeroSpd IntSpdl IntSpd2 IntSpd3 Vc Sign Single direction ratation DC10V 39 All 41 GND15VA Operation steps 1 connect terminal CNI 2 Enter the power DC12V to 24V to control signal the COM and COM 3 Enter the power to the driver 4 Confirm the value of the parameters and write to the EEPROM and turn off on the power of the driver 5 Connect the Srv_on input to bring the driver to servo on status and energize the motor 6 apply DC voltage between velocity command input AIT and AGND and gradually increase from OV to confirm the motor runs 7 Check the motor rotational speed at monitor mode d ISFH Whether rotational speed is as per the setup or not and Whether the motor stops with zero command or not If the motor does rotate at a micro speed with command voltage of 0 8 When you want to change the rotational speed and direction set up the following parameters again Pr3 00 Pr3 01 Pr3 03 If the motor does not run correctly refer to the Factor of No Motor running in data monitor mode ea IH Eh 7 2 4 Torque Control Notice You must do inspection before torque control test run Table 7 6 Parameter Setup of Torque Control No Parameter Name input Setup value Unit www leadshine com 69 A Leadshine User Manual for EL5 Servo
34. 8 Main power off LV trip selection 09 Main power off detection time 13 Over speed level setup 15 I F reading filter 28 LED initial status 29 RS232 baud rate setup 30 RS485 baud rate setup 31 Axis address 35 Front panel lock setup Classe 03 JOG trial run command torque Special 04 JOG trial run command speed Setup 08 Positive direction torque compensation value 09 Negative direction torque compensation value 20 distance of trial running 21 waiting time of trial running 22 cycling times of trial running www leadshine com 23 A Leadshine User Manual for EL5 Servo 4 2 Parameter Function Here is the explanation of parameters you can check them or modify the value using software Protuner or the front panel of driver 4 2 1 Class 0 I Basic Setting Related Poor Control Mode Setup Range unit default control mode 0 2 z 0 2 1s p Set using control mode Setup value Content When you set up the combination mode of 3 4 5 you 1st mode 2nd mode can select either the 1st or the 2nd with control mode 0 Position switching input C MODE I Velocity When C MODE is open the 1st mode will be selected 2 Torque z When C MODE is shorted the 2nd mode will be 3 Position Velocity selected 4 Position Torque 5 Velocity Torque Related Real time Auto gain Tuning 0 2 0 P IS T You can set up the action mode of the real time auto gain tuning Setup value mode Varying deg
35. Pulse regeneration output boundary set 5 Deviation Counter clear The deviation counter clear input CL clears the counts of positional deviation counter at the position control to 0 Table 7 12 Parameter Setup of Deviation Counter Clear No parameter name Setup method 1 PA 517 Counter clear input mode Please refer to chapter 4 6 Position complete output INP www leadshine com 73 A Leadshine User Manual for EL5 Servo The completion of positioning can be verified by the positioning complete output INP When the absolute value of the positional deviation counter at the position control is equal to or below the positioning complete Range by the parameter the output is ON Presence and absence of positional command can be specified as one of judgment conditions Table 7 13 Related Parameter Setup of Position Complete Output No Parameter Name Setup method l PA 431 Position complete range 2 PA 432 Position complete output setup Please refer to chapter 4 3 PA 433 INP hold time And the output port should be assigned for INP for details of these parameters refer to PA 410 PA415 7 Command pulse prohibit INH The command pulse input counting process can be forcibly terminated by using the command pulse inhibit input signal INH When INH input is ON the servo driver ignores the command pulse disabling pulse counting function Table 7 14 Related Parameter Setup of Command Pu
36. R S T terminal in terminal under voltage proper range www leadshine com 48 A Leadshine Driver inner fault replace the driver with a new one Main Extra Display E m HAB LIH H Content temperature detection circuit error Cause confirmation solution r t terminal under voltage Check r t terminal voltage Make sure voltage of r t terminal in proper range Driver inner fault replace the driver with a new one Main Extra Display Er HEH a Ob Cause Content control power under voltage confirmation solution r t terminal under voltage Check r t terminal voltage Make sure voltage of r t terminal in proper range Driver inner fault replace the driver with a new one Main Llc Extr Display BEE H Content DC bus over voltage Cause confirmation solution Main power R gt termal Check R S T terminal voltage decrease R S T terminal Voltage over voltage Inner brake circuit damaged replace the driver with a new one Driver inner fault replace the driver with a new one Main Lid Extra Display Er Od A Content DC bus under voltage Cause Driver inner fault Marapa y e o A Check R S T terminal voltage increase R S T terminal Voltage under voltage confirmation solution Cause Short of driver output wire whether Assure driver outp
37. Setting rosesvrrvrrvrvrrverneververvenerrevesvesvessevesversevesvesvessevesvessesvesssvesvessevesens 39 4 2 6 Class 5 Extended Setup sss entente tn tnnt nnn ns 43 ADT GE re Es PRRNTE 46 Chapter 5 Alarm and Proce s Si a ussseci ure EREETIED UI EFEFHE PLI IRERNELMULLUEEEEUMMEELUEDELUHMLL LED e OTSIN EN IENS ETDs 47 SLAM Bil e 47 5 2 Alarm Processing Method ea A CRAT ARRA TAM TALANT FIR EBECRRARRER FEDERER RER FEIN Ran AERA AA LLAQ MA ALA OCC AL MARTE 48 Chapter 6 Display and Operat OT sE Add Add d RR hd dada e hil da EUREN 54 www leadshine com 5 A Leadshine User Manual for EL5 Servo TNT 54 6 2 Panel Display and Operation ssrrnnnnnnnnvnnrrrrnnnnrvnrrrrnnnnrnnrrrrnnnnrnnersssnnnnnsersssnnnsnrnnsssssnnnnnnsrsnnrnssssssnnnnnssee 55 6 2 1 Panel Operation Flow Figure rrrrnrvvrrrronnnrrrrrrrnnnnnrvrrrrsnnnvvnnrsrsnnnnnnnsrssnnnnvnsssrsrsnnnnvnrssssnnnnssssnnn 55 6 2 2 Driver Operating Data Monitor ess 55 6 2 3 System Parameter Setting ke 58 EMS 61 6 2 5 Saving parameter ESSEN RENO RES RAS RR a 62 6 2 6 Abnormal Alarm GERE 63 Chapter Ka EEE APER 64 TEU 64 MIT 64 7 1 2 Timing SPD 65 7 1 3 Timing chart on fault RHET 65 Tr 65 TT 66 IL 66 NL rn trot te eetenretAnTaPIRtETOTOEIR TIRED ER TOTORTRTIRTEEROOTOE ERATED NTT rrPenT Tren Orson neOnTE ISITE STE 67 7 2 3 Velocity COPLDEOL seen eut kn attt e ht htt et htt ta i ED ERE DN E K46 k kk a
38. Setup to prevent a micro travel drop of the motor ON OFF work due to the action delay time tb of the brake re After setting up Pr4 37 gt tb then compose the release i hold sequence so as the driver turns to servo off after the Au FEN brake is actually activated actual brake release hold motor em non energization energized mnis Pr4 37 j j i Range unit default Redd Mechanical brake action at running 8 control mode setup 0 10000 1ms 0 P ISIT Mechanical brake start delay time setup mainly used to prevent servo off galloping phenomenon Set up time from when detecting the off of servo on input signal SRV ON is to when external brake release signal BRK OFF turns off while the motor turns to servo off during the motor in motion ON sini release hold OFF uas Brake release speed setup Range unit default mot 30 3000 1ms 30 P s 1 motor lost power When servo off rotate speed less than this setup vale and mechanical brake start delay time arrive 4 2 6 Class 5 Extended Setup Range unit default Related 2nd numerator of electronic gear Range control mode 1 32767 1 P ISIT Range unit default Related 3rd numerator of electronic gear control mode 1 32767 1 P ESIET Range unit default Related 4th numerator of electronic gear control mode 1 32767 1 PAST i maraa Range unit default Relat
39. TE 7 1 3 Product Ap Peal al ER NNN 7 Gage 2 Installation EE EEE EEE EE EEE NERE 9 2 1 Storage TE 9 TNT NN 9 INN 9 2 2 2 Installatiofi Space gerevscowiadecsccasaicccccacacaicdaacsaccasadaacaacsassdaacaacadsadddcaddadoononareenieeladaiaddaddaadansaaaddaaans 1 2 3 Servo Motor EL EE ER 12 TN 13 TI 13 SN M eSI NU E E M T T IM 13 3 1 2 Position Control MOGG uiosssesetesencuzeccaaaacuckkcaa aac taa ta ea kt at tt e t I EIE EYE DER kt ca 14 3 1 3 Torque Velocity Je 15 3 2 Driver Terminals FUNCH EEE REUEN EN ESE n snaa 15 3 2 1 Control Signal Port CN1 Terminal cccccccccccssssssececeessssseeeceesesseeececsseseeeeeessesnaaeeeseessesaaees 15 3 2 2 Encoder Input Port CN2 Teemitialssusosceonnsseseeo niis coenae eec a eee rr D Ear 18 3 2 3 Communication Port M dn 18 SLA Power PO m EeEN 19 TNS 19 3 3 1 LTTE 19 3 3 2 Switch n oM Sto RENEE NERE ER MENN 20 3 3 3 Pulse Input TE ACS yy sccedererccccancanccancexucanccanccucaaccaccccussaccacsrcucaascacscnas RE RD Ae 6 20 3 3 4 Analog Value Input Interface 0 ececcccccsssssccecessssnneeeeeesesneeeeceesssneeeeeeesseaeeeeeeeeseeaeeeeesseeaeeeees 22 3 3 5 Servo Motor Encoder Input Interface srsasssnassnnccsabnnuninnnuunbniarnuauniiebinuuuubenniaboenienmmnnupsins 22 NTT Ne 23 TT 25 NTN 26 TITT I NIS UII RENE 26 422 Clis 1 ECOSSE 29 4 2 3 Class 2 Vibration Suppression 33 4 2 4 Class 3 Velocity Torque Control nnne 34 4 2 5 Class 4 VF Monitor
40. Terminal signal name 1 GND Power ground 2 TxD sending terminal of RS232 3 5V Reserved the current is less than 50mA 4 RxD received terminal of RS232 5 RS485 Reserve RS485 A 6 RS485 Reserve RS485 B Table 3 4 signal explanation of driver interconnection interface CN3 RS485 Recommend shield twisted pair Terminal signal name 1 GND Power ground 2 NC Not connect 3 5V Reserve the current is less than 50mA 4 NC Not connect 5 RS485 Reserve RS485 A 6 RS485 Reserve RS485 B www leadshine com 18 A Leadshine User Manual for EL5 Servo 3 2 4 Power Port Table 3 5 Main Power Input Port CN5 Signal Name the main power input connecting 3 phase 220Vac or single phase 220Vac For single phase 220V recommend to connect to the R and T external brake resistor connect between BR1 and P Outside brake resistor input terminal P DC bus voltage Table 3 6 Control Power Input Port CN6 Terminal Signal Name 1 U 2 V 3 phase motor power input 3 W 4 PE Frame ground 5 r Control power input 1 Control power voltage range between 1 and 2 t Control power input 2 85Vac 265Vac 3 3 I O Interface Principle 3 3 1 Switch Input Interface Driver side 12 24Vde Figure 3 4 Switch Input Interface COM The user provide power supply DC 12 24V current gt 100mA Notice if current polar connect reversely servo
41. ange the value of input and output signals and the parameter of motor and save the values to the files which can be downloaded and uploaded monitor the waveform of velocity and position in the ladder RS 232 RS485 Built in brake 50Q 50W Less than 5 times motor inertia weight environment About 1 5 2 5Kg Environment Avoid dust oil fog and corrosive gases Ambient Temp 0 to 40 Humidity 40 RH to 90 RH no condensation Vibration 5 9 m s MAX Storage Temperature 20 80 Installation Vertical installation www leadshine com 80 A Leadshine User Manual for EL5 Servo 8 2 Accessory selection 1 motor cable 2 encoder cable 3 protuner cable 4 control signal terminal CN1 44 pin 5 control signal shell CN1 Chapter 9 Order Guidance 9 1 Capacity Selection To determine the capacity of servo system we must consider the inertia of load torque of load the positioning accuracy the requirement of the highest speed consider the selection according to the following steps 1 Calculate Inertia of Load and Torque You can refer to relative information to calculate inertia of load torque of load acceleration deceleration torque as the next step basis 2 Identify Mechanical Gear Ratio According to the maximum speed and the highest speed of the motor you can calculate the maximum of mechanical reduction ratio by using it and minimum of motor turning unit to calculate if
42. celeration time setup JOG trial run command speed 0 User specified millisecond rpm PA 620 distance of trial running User specified 0 1 rotation PA 621 PA 622 1 2 3 4 5 PA 604 6 7 8 waiting time of trial running cycling times of trial running User specified User specified millisecond times OG trial run operation process 1 set all parameters above corresponding to velocity JOG or position JOG 2 Enter EEPROM writing mode and save the value of modified parameters 3 The driver need to restart after the value is written successfully 4 Enter auxiliary function mode and go to HF Job sub menu www leadshine com A Leadshine User Manual for EL5 Servo 5 Press ENT once and display Jog 6 Presstutionce and display 2 L1 DEI if no exception occurs press ti once again if E rro v occurs it should display Scien KE Erraorb still occurs please switch to data monitoring mode lt d IH C H sub menu find the cause why motor doesn t rotate fix the trouble and try again 7 In position JOG mode the motor will rotate directly if motor doesn t rotate switch to data monitoring mode d 3 C H sub menu find the cause why motor doesn t rotate fix the trouble and try again um In speed JOG mode press once the motor rotates once hold will make motor rotating to value of PA 604 and display H JE Jed press once the motor rotates once hold
43. d off servo system frequently just to prevent equipment damaged Forbidden to modify servo system Fault Processing wa rning The high voltage also will contain in several minutes even if the servo driver is powered off please don t touch terminal strip or separate the wiring The workers of participation in wiring or checking must possess sufficient ability do this job caution The reason of fault must be figured out after alarm occurs reset alarm signal before restart Keep away from machine because of restart suddenly if the driver 1s powered on again after momentary interruption the design of the machine should be assured to avoid danger when restart occurs System selection atte ntion 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 driver should be matched with servo motor www leadshine com A Leadshine User Manual for EL5 Servo Table of Contents User Manual for EL5 Servo ssrererrnrnrrrnrrnnernvrnneernrrnssennrnnsennranesennrnesennrnnssennrnesennrnsnesennrnesenrnnssnnrnsssennrnesennrsnssennnsee I Jntroduction PN TT EN 2 Chapter T DettodU UD DERE OU tt ert trrrersrrr rire rsrrrnr rire rt rer Trt Terr Trt errr re rer SER OAAR 7 1 1 Product 0 ct ete REE ERE ERE EN E MILIA 7 L2 Inspection of prod ct ENE RR RR NR ARREST
44. de Wiring www leadshine com 14 A Leadshine User Manual for EL5 Servo 3 1 3 Torque Velocity Control Mode 1 phase or 3 phase 220VAC Li Circuit Braker mj Magnetic Contactor UO 1 DR VO w O A os g I l LOT 25 Bt O N Q 12 24v Q E Z Q 22 5V Q AGND 30 29 CHZ 39 AIL 0 AGN 10V to 10V mput 41 D Single end 43 A3I 0 10V to 10V input 44 ASI Differential RS232 Figure 3 2 Torque Velocity Control Mode Wiring 3 2 Driver Terminals Function 3 2 1 Control Signal Port CNI Terminal The left on Figure 3 3 is control signal port CN1 of servo driver with DB44 connector And the right on www leadshine com 15 A Leadshine User Manual for EL5 Servo Figure 3 3 is SI input of the switch SO output of the switch analog Al input the A3 input from top to bottom CN Shell grounding IG COM R ded COME O E l COM 4 7K Or sn 7 ES O i 207 SI input pa 3 PUL X SOL O 33 SOI O 4 PUL O 34 SO3 O 5 DIR opa COM O X 6 DIR SO output o 136 5065 REF O S 5 O 37 SO6 4 o 23 A 7 O 8 SI3 O 38 x 20K 6 Q 24 A O 9 SI4 O 39 AIl AGND O 25 B O 10 SI5 O 0373 AGND REF gt TIZ SI9 O 1 15VA O 28 Z g oLB SI7 T O 43 AI3 O 29 OCZ 7 O14 SI8 O 44 AI3 Ec CNI control
45. dition Don t stack too high prevent falling The product should be packaged properly in transportation Don t hold the product by the cable motor shaft or encoder while transporting it The product can t undertake external force and shock www leadshine com 2 A Leadshine User Manual for EL5 Servo Installation caution Servo Driver and Servo Motor Don t install them on inflammable substance or near it to preventing fire hazard Avoid vibration prohibit direct impact Don t install the product while the product is damaged or incomplete Servo Driver Must install in control cabinet with sufficient safeguarding grade Must reserve sufficient gap with the other equipment Must keep good cooling condition Avoid dust corrosive gas conducting object fluid and inflammable explosive object from invading Servo Motor Installation must be steady prevent drop from vibrating Prevent fluid from invading to damage motor and encoder Prohibit knocking the motor and shaft avoid damaging encoder The motor shaft can t bear the load beyond the limits Wiring wa rning The workers of participation in wiring or checking must possess sufficient ability do this job The wiring and check must be going with power off after five minutes Ground the earth terminal of the motor and driver without fail The wiring should be connected after servo dr
46. drive current should be at the range of 10 15mA and the maximum voltage is no more than 25V Recommendation VCC 24V R 1 3 to 2KQ VCC 12V R 510 820 VCC SV R 82 1200 The user provide external power supply for single ended drive However if current polarity connect reversely servo driver is damaged However if current polarity connects reversely servo driver is damaged The form of pulse input is the following form 3 7 below while the arrows indicates the count Table 3 7 Pulse Input Form Pulse command form CCW CW Pulse symbol Parameter setting value mor LT LT LI DIR Pulse direction The form of pulse input timing parameter is the following form 3 8 below The 4 times pulse frequency lt 500kH if 2 phase input form is used Table 3 8 the parameters of pulse input time sequence parameter Differential drive input Single ended drive input tek gt 2us gt Sus th gt lus gt 2 5us t lys gt 2 5us tih lt 0 2us lt 0 3us Lg lt 0 2us lt 0 3us ts gt lus gt 2 5us tack gt gus gt 10us tgh gt 4us gt Sus tal gt 4us gt Sus torh lt 0 2us lt 0 3us tq lt 0 2us lt 0 3us tqs gt lus gt 2 5us www leadshine com 21 User Manual for EL5 Servo ck 10 skia ie lil ex EU PE centia a a tcl EE le a nci a a een ar i t trh tri t EE EE EGEN DIR i EE u
47. driver doesn t run www leadshine com A Leadshine User Manual for EL5 Servo 3 3 2 Switch Output Interface Driver side Max 50mA 12 24Vdc Figure 3 5 Switch Output Interface 1 The user provide the external power supply However if current polarity connects reversely servo driver is damaged 2 The output of the form is open collector the maximum voltage is 25V and maximum current is 50mA Therefore the load of switch output signal must match the requirements If you exceed the requirements or output directly connected with the power supply the servo drive is damaged 3 If the load is inductive loads relays etc there must be anti parallel freewheeling diode across the load If the freewheeling diode is connected reversely the servo drive is damaged 3 3 3 Pulse Input Interface Driver side Figure 3 6 Pulse Input Interface Differential Drive Mode VCC Driver side www leadshine com 20 A Leadshine 1 2 3 4 5 User Manual for EL5 Servo Vcc 12V R 1K 0 25W Vcc 24V R 2K 0 25W Figure3 7 Pulse Input Interface Single Terminal Drive Mode In order to transmit pulse data properly we recommend using the differential drive mode The differential drive mode AM26LS31 MC3487 or similar RS422 line drive Using of single ended drive will cause reduction of the operation frequency The value of the resistance R depends on pulse input circuit and the external voltage while
48. ection control mode 0 99 o MPR Set the depth of notch at the center frequency of the Ist notch filter Notice Higher the setup shallower the notch depth and smaller the phase delay you can obtain Range unit default Related 2 04 2nd notch frequency TETT 7 Ts DE IG Set the center frequency of the 2nd notch filter the notch filter function will be invalidated by setting up this parameter to 2000 Range unit default Relea 2nd notch width selection control mode 0 20 a 2 mE www leadshine com A Leadshine Set the width of notch at the center frequency of the 2nd notch filter NORGE Higher the setup larger the notch width you can obtain Use with default setup in normal operation User Manual for EL5 Servo Related Range unit default control mode 0 99 0 RAST Set the depth of notch at the center frequency of the 2nd notch filter Higher the setup shallower the notch depth and smaller the phase delay you can obtain 2nd notch depth selection m Related positional command smoothing Range unit default control mode filter 0 32767 0 1ms 0 P Setup the time constant of thelst delay filter in response to the positional command When a square wave command for the target speed Vc is applied set up the time constant of the 1 delay filter as shown in the figure below Speed Positional command bef
49. ed Denominator of pulse output division control mode 1 2500 2500 P SIT www leadshine com 43 A Leadshine User Manual for EL5 Servo According to the command pulse input set the 2nd to 4th numerator of electronic gear DIV1 DIV2 numerator of electronic gear denominator of electronic gear OFF OFF Pr0 09 Pr5 03 ON OFF Pr5 00 Pr5 03 OFF ON Pr5 01 Pr5 03 ON ON Pr5 02 Pr5 03 For details refer to Pr0 11 Range unit default iius Sequence at servo off control mode 0 1 0 PST Specify the status during deceleration and after stop after servo off Setup value during deceleration After stop 0 I Free run Free run Range unit default d LV trip selection at main power OFF control mode 0 1 0 P s T You can select whether or not to activate ErrOd O main power under voltage protection function while the main shutoff continues for the setup of Pr5 09 The main power OFF detection time Setup value Action of main power low voltage protection 0 When the main power is shut off during Servo On Err0d 0 will not be triggered and the driver turns to Servo OFF The driver returns to Servo On again after the main power resumption 1 When the main power is shut off during Servo On the driver will trip due to Err0d 0 Caution Err0d 0 main power under voltage protection is trigged when setup of Pr
50. ed was kept below level hysteresis r min previously with the 2nd gain In position control mode setup Pr1 15 3 5 6 9 10 In speed control mode setup Pr1 15 3 5 9 iti E Range unit default Alger Level of position control switching ode control mode 0 20000 dependent 50 P Unit of setting varies with switching mode switching condition position encoder pulse number speed r min torque 96 Notice set the level equal to or higher than the hysteresis m Related Hysteresis at position control Range unit default control mode j j Mod switching 0 20000 amp ede 33 P Combining Pr1 17 control switching level setup NOG when level lt hysteresis the hysteresis is internally adjusted so that it is equal to level position gain switching time Related control mode 0 10000 O 1ms 33 P Range unit default Position gain switching time gt For position controlling if the difference between 1st gain and 2nd gain is large the increasing rate of position loop gain can be limited by this parameter www leadshine com 32 0 Leadshine User Manual for EL5 Servo Notice when using position control position loop gain rapidly changes causing torque change and vibration By adjusting Pr1 19 position gain switching time increasing rate of the position loop gain can be decreased and variation level can be reduced Example Ist pr1
51. ete output S RDY BRK OFF INP AT SPPED ZSP V COIN At speed output Zero speed detection output Velocity coincidence output Positional command ON OFF output Speed command ON OFF output Range unit default HERES Analog input 1 AI1 offset setup control mode 5578 5578 0 S Set up the offset correction value applied to the voltage fed to the analog input 1 Range unit default Related Analog input 1 AI1 filter control mode 0 6400 0 01ms 0 Is the analog input I Set up the time constant of 1st delay filter that determines the lag time behind the voltage applied to Range unit default Re ated Analog input 3 AI3 offset setup control mode o 1 500 T Set up the offset correction value applied to the voltage fed to the analog input 3 Range unit default Related Analog input 3 AI3 filter E control mode 0 1 500 T www leadshine com 40 0 Leadshine User Manual for EL5 Servo Set up the time constant of 1st delay filter that determines the lag time behind the voltage applied to the analog input 3 Positioning complete range E SR mode Encoder unit Set up the timing of positional deviation at which the positioning complete signal INP1 is output Positioning complete range T Related Range unit default control mode 0 3 co
52. f trial run trial run without load and trial run with load The user need to test the driver without load for safety first 7 1 Inspection Before trial Run 7 1 1 Inspection on wiring Table 7 1 inspection Item Before Run Content 1 Ensure the following terminals are properly wired and securely connected the input power terminals motor output power terminal encoder input Inspection on terminal CN2 control signal terminal CN1 communication terminal CNA it wiring is unnecessary to connect CN1 andCN4 in Jog run mode 2 short among power input lines and motor output lines are forbidden and no short connected with PG ground Confirmation of 1 The range of control power input r t must be in the rated range power supply 2 The range of the main power input R S T must be in the rated range Fixing of position the motor and driver must be firmly fixed 4 eA wan the motor shaft must not be with a mechanical load 5 Inspection on 1 all of the control switch must be placed in OFF state control signal 2 servo enable input Srv_on must be in OFF state www leadshine com A Leadshine User Manual for EL5 Servo 7 1 2 Timing chart on power up off on r t control power off lt 0 5 second gt on inner control power off 70 millisecond s gt on R 5 T main power lt 0 8 second le gt off on BUS voltage lt 1 5 second
53. ff Servo ready 2 E 70 millisecond fr on Servo on input gt lt 10 millisecond pan off on Dynamic brake lt 0 15 second off on Motor power on lt 10 millisecond PN off on BRK OFF gt 0 1 second no have Position velocity torque command 7 1 3 Timing chart on fault No fault Have fault lt 150ms No alarm alarm 7 1 4 holding brake In applications where the motor drives the vertical axis this brake would be used to hold and prevent the work moving load from falling gravity while the power to the servo is shut off Never use this for Brake purpose to stop the load in motion Use this built in brake for holding purpose only That is to hold the stalling status For the brake release timing at power on or braking timing at servo off servo alarm while the motor is in motion refer to chapter 7 1 2 timing chart on power up You can follow the diagram about the wiring below 24V DC T driver The motar with brake The coil of hrake www leadshine com 65 A Leadshine About the wire of brake there should be an 24VDC for brake the brake will be loosed with the 24VDC input and the driver give an output signal to control the connection or disconnection of the 24VDC pin 31 and pin 35 of CN1 is the control signal and it is forbidden to connect these signal directly for the power of 24VDC it will destroy the hardware of servo driver And if you connec
54. iver and servo motor installed correctly After correctly connecting cables insulate the live parts with insulator caution The wiring must be connected correctly and steadily otherwise servo motor may run incorrectly or damage the equipment Servo motor U V W terminal should be connected correctly it is forbidden to connect them directly to AC power We mustn t connect capacitors inductors or filters between servo motor and servo driver The wire and temperature resistant object must not be close to radiator of servo driver and motor The freewheel diode which connect in parallel to output signal DC relay mustn t connect reversely Debugging and running Ca ution Make sure the servo driver and servo motor installed properly before power on fixed steadily power voltage and wiring correctly The first time of debugging should be run without loaded debugging with load can be done after confirming parameter setting correctly to prevent mechanical damage because of error operation www leadshine com 3 User Manual for EL5 Servo Alca ution 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 driver must be matched with specified motor Don t power on an
55. l available in default the maximum voltage is 24V input Digital input signal 6 low level available in default the maximum M SI6 input ai is 24V mm 12 Digital input signal 9 low level available in default the maximum voltage is 24V input Digital input signal 7 low level available in default the maximum 13 voltage is 24V input 14 Digital input signal 8 low level available in default the maximum voltage is 24V input 22 Reserved encoder signal output 5V 23 Positive negative differential output terminal of motor encoder A 24 phase 25 Positive negative differential output terminal of motor encoder B 26 B output phase 27 Positive negative differential output terminal of motor encoder Z 28 phase 29 Z signal OC output 30 Power ground of encoder signal output 31 Digital output signal commonality ground Digital output signal 2 default value is Low resistor output in 32 servo ready output S RDY in position default OC the mode low level available in default maximum Digital output signal 1 default value is voltage current is no 33 alarm output ALM in position mode more than 30V 50mA high level available in default Recommend the Digital output signal 3 default value is voltage 12 V 24V 34 positioning complete INP in position Current 10mA mode high level available in default Digital output signal 4 default value is 35 external brake release output BRK OFF in position mode low level available in defa
56. l number 3 Velocity control Inertia ratio 30 Motor serial number command Factor of no motor Accumulated operation 4 Torque command running 31 time Communication axis Temperature 5 Feedback pulse sum address 33 UR Encoder positional Safet diti deviation encoder alety condition 6 Command pulse sum unit 36 inciter 9 Control mode baud rate setup of RS232 Range unit default connor mode communication 0 6 5 P s T You can set up the communication speed of RS232 baud rate setup of RS485 Range unit default contor mode communication 0 6 H 2 ERNEUT You can set up the communication speed of RS485 Set value Baudrate Set value Baud rate 0 2400bps 4 38400bps l 4800bps 5 57600bps 2 9600bps 6 115200bps 3 19200bps Baud rate error is 2400 38400bps 5 57600 115200bps 2 Related rm Range unit default Contro mode 0 127 1 POESIE During communication with the host e g PC to control multiple shafts the shaft being accessed by the host should be identified when using RS232 RS485 the maximum valid value is 31 sas Front panel lock setup Range unit 0 1 Related default control mode 0 P S T Lock the operation on the front panel Setup value www leadshine com 45 A Leadshine User Manual for EL5 Servo o No limit on the front panel operation Lock the operation on the front panel 4 2 7 Class 6 I Special Setup
57. l will automatically display the corresponding fault error code The history of the error can be 66 d J 9 viewed on data monitoring mode error logging submenu displays like OCOC The error code displays like Figure 5 1 Panel Alarm Display Table 5 1 Error Code List Error code Attribute Main Sub dl history mediate de 0g A FPGA communication error H Current detection circuit error c a Analog input circuit error OF c DC bus circuit error m Temperature detection circuit error HE Control power under voltage Alc g DC bus over voltage ld H DC bus under voltage Over current HE over current of intelligent power module IPM IF q Driver over heat IE q Motor over load 2 lE Resistor discharged circuit overload m g Encoder wiring error a 3 Encoder initial position error IH Encoder data error g Too large position pulse deviation r e H Too large velocity deviation 5 IH Over speed 1 e a g I F input interface allocation error I F input interface function set error www leadshine com 47 User Manual for EL5 Servo c I F output interface function set error gu g CRC verification error when EEPROM parameter saved EH g Positive negative over range input valid CH q Compulsory alarm input valid Save save this e
58. lse Prohibit No Parameter Name Setup method 1 PA 518 Command pulse prohibit input invalid setup Please refer to chapter 4 2 PA 519 Command pulse prohibit input read setup And the input port should be assigned for INH for details of these parameters refer to PA 400 PA409 8 Other setup for SI SO function For details of SI input function refer to PA 400 PA409 For details of SO output function refer to PA 410 PA415 7 3 3 Velocity Mode The driver is widely used for accuracy speed control in velocity control mode You can control the speed according to the analog speed command from the host controller or the speed command set in servo driver www leadshine com 74 A Leadshine 1 phase or 3 phase 220VAC Circuit Braker 12 24V Magnetic Contactor COM 1 User Manual for EL5 Servo 5V AGND CHZ AH AGN RS232 Figure 7 7 Velocity Mode Typical Wiring Diagram Relevant parameters setup of velocity control mode 1 Velocity control by analog speed command Encoder Output 10V to 10V input Single end The analog speed command input voltage is converted to equivalent digital speed command You can set the filter to eliminate noise or adjust the offset Table 7 15 Parameter Setup of Analog Speed Command Parameter Name Setup method PA 300 Velocity setup internal external switching PA 301 PA 302 PA 303
59. made according to the command pulse input Related control mode P r 2500 P s T unit default Range unit default Posi denominator of pulse output division 1 2500 250 MARE 0 Combination of Pr0 11 Output pulse counts per one motor revolution and Pr5 03 Denominator of pulse output division PrO 11 Pr5 03 Pulse output process 1 2500 1 2500 encoder pulse PrO 11set value p output pulse Pr5 03 set value Pulse output resolution after dividing double frequency 4 times Pr0 11 pulse output divide frequency molecule Pulse output resolution encoder x4x Pr5 03 pulse output divide frequency denominator Related enone ETSTERTER You can set up the B phase logic and the output source of the pulse output With this parameter you can reverse the phase relation between the A phase pulse and B phase pulse by reversing the B phase logic lt reversal of pulse output logic gt Pr0 12 B phase Logic CCW Direction Rotation 0 Non Reversal A phase CW Direction Rotation A phase www leadshine com Leadshine 1 Reversal User Manual for EL5 Servo 0 Range unit default Rela
60. mmand unit 10 P Select the condition to output the positioning complete signal INP1 Setup value Action of positioning complete signal The signal will turn on when the positional deviation 1s smaller than Pr4 31 positioning complete range The signal will turn on when there is no position command and position i deviation is smaller than Pr4 31 positioning complete range 5 The signal will turn on when there is no position command the zero speed detection signal is ON and the positional deviation is smaller than Pr4 31 positioning complete range The signal will turn on when there is no position command and the positional deviation is smaller than Pr4 31 positioning complete range Then holds ON states until the next position command is entered Subsequently ON state is maintained until Pr4 33 INP hold time has elapsed After the hold time INP output will be turned ON OFF according to the coming positional command or condition of the positional deviation Range unit default Reale INP hold time contol mous 0 30000 ims 0 P Set up the hold time when Pr 4 32 positioning complete output setup 3 Setup value State of Positioning complete signal 0 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 30000 ee positional c
61. mp Kate 68 EM S cere re siue NE I UM 69 NN 71 7 3 1 Operation Mode SOIC CUO quz aic ue iata htt had ihid itia itd d ROLL 7 7 3 2 NIMM cM 7 7 3 3 Velocity Mode avis THII X 74 7 3 4 tecum H T Chapter s OCU ts LE STELLE LEO NE N LUDERE DEN Ea ENNA EEE 80 MTT 80 NG 81 Chapter 9 Order Guidance cceccceccsssseeesssnsececeesssneeeecessesneeeeeessssseeeeeessseaeeeeeseesnaeeeeceesseaeeeeeessaaeeeessseeaeeeeeseeas 81 9 1 Capacity Selection NNN 81 TN 81 P US IRI RE D MENES SEEREN NESSE ENTE 82 How to debug the parameter of driver matched with different servo motor eee 82 ContactUs te TP 83 www leadshine com 6 23 Leadshine User Manual for EL5 Servo Chapter I Introduction 1 1 Product Introduction Since early 1990s AC servo technology has been improved AC servo is now widely used in the field of CNC machine tools printing and packaging machinery textile machinery and automated production line automation The ELS series AC servo motor amp driver is the latest servo system that s meets all demands for a variety of machines which require high speed high precision and high performance or which require simplified settings Talent feature Width ratio constant torque Speed ratio 1 5000 stable torque features from low speed to high speed High speed high p
62. mptly to cut off the external power supply if driver error occurs 2 The control signal CN1 feedback signal CN2 e Diameter shielded cable twisting shield cable is better the diameter gt 0 12mm AWG24 26 the shield should be connected to FG terminal e Length of line cable length should be as short as possible and control CN1 cable is no more than 3 meters the CN2 cable length of the feedback signal is no more than 20 meters e Wiring be away from the wiring of power line to prevent interference input eInstall a surge absorbing element for the relevant inductive element coil DC coil should be in parallel connection with freewheeling diode reversely AC coil should be in parallel connection with RC snubber circuit Attention Match the colors of the motor lead wires to those of the corresponding motor output terminals U V W Never start nor stop the servo motor with this magnetic contactor Cable must be fixed steadily avoid closing to radiator and motor to prevent reducing the properties of heat insulation www leadshine com 13 A Leadshine User Manual for EL5 Servo 3 1 2 Position Control Mode 1 phase or 3 phase 220VAC Circuit Braker Noise Filter rey Magnetic Contactor UO w a ia Dr CN2 CNI ot PUL U 3 me EE JUN 25 B O DOES B Q Encoder 27 Output O 22 5V 12 24V AGND 30 29 CHZ RS232 Figure 3 1 Positional Control Mo
63. nal of Zero Speed is available in the same time the function of zero clamp works It means motor will stop rotating in servo on condition no matter what the velocity of motor is and motor stop rotating no matter what the value of Pr3 16 is 3 If Pr3 15 2 the function of zero clamp belongs to the value of Pr3 16 If the actual velocity is less than the value of Pr3 16 the motor will stop rotating in servo on condition Related default control mode 30 STE Range 0 20000 Speed zero clamp level When analog speed given value under speed control mode less than zero speed clamp level setup speed command will set to 0 strongly Tq Range unit default Related Torque command direction selection control mode 0 1 0 T www leadshine com 0 Leadshine User Manual for EL5 Servo Select the direction positive negative direction of torque command Setup value designation 0 Specify the direction with the sign of torque command Torque command input positive direction negative direction Specify the direction with torque command sign TC SIGN OFF positive direction ON negative direction Range unit default noice Torque command input gain _Range unit default controtmode 0 1 500 T Based on the voltage V applied to the analog torque command TRQR set up the conversion gain to torque command Positive direction t
64. nn Pr4 35 i Speed coincidence range Speed coincidence output V COIN Range unit default Related At speed Speed arrival 5 control mode 10 20000 r min 1000 s Set the detection timing of the speed arrival output AT SPEED When the motor speed exceeds this setup value the speed arrive output AT SPEED is output Detection is associated with 10r min hysteresis Speed r min Pr4 36 10 Pr4 36 10 Motor speed Pr4 36 10 p PLE ME peor nr enn the speed arrival output AT SPEED r i Related Mechanical brake action at stalling Range unit default control mode setup 0 10000 ims O P s T www leadshine com 42 0 Leadshine User Manual for EL5 Servo Motor brake delay time setup mainly used to prevent servo on galloping phenomenon Set up the time from when the brake release signal BRK OFF turns off to when the motor is de energized servo free when the motor turns to servo off while the motor 1s at stall motor running below Pr4 39 setup speed At servo OFF during the motor is running tb of the right fig will be a shorter one of either Pr4 38 setup time or time lapse till the motor speed falls SRV ON Set up to prevent the brake deterioration due to the tb eneraiz i Ha brake 2 energized Pr4 39 motor setup speed energization SRV ON
65. no protection IP65 2 2 Servo Driver Installation Notice Must install in control cabinet with sufficient safeguarding grade 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 driver for ventilation Here is the installation diagram www leadshine com User Manual for EL5 Servo Figure 2 3 installation method of driver EL5 D 1000 EL5 D 1500 2 2 2 Installation Space Reserve enough surrounding space for effective cooling Figure 2 4 Installation Space for Single Driver www leadshine com 11 User Manual for EL5 Servo Figure 2 5 Installation Space for several Drivers 2 3 Servo Motor Installation A Notice
66. nt i e E ESI nell aledassanunccsasnesnsnnaienssenconausbas gt CW trh CCW trl i CN Figure 3 8 pulse direction input interface timing the maximum of pulse frequency 500KHZ 3 3 4 Analog Value Input Interface Servo driver V REF 10K 42 10K 42 fi T REF eee ra 1 10V a 10KQ t E i 1j bow GND SG Figure 3 9 Analog AI1 Input Interface Driver side 10Vde Figure 3 10 Analog AI3 Input Interface 3 3 5 Servo Motor Encoder Input Interface Driver side Figure 3 11 Servo Motor optical electrical Encoder Input Interface www leadshine com 22 0 Leadshine User Manual for EL5 Servo Chapter 4 Parameter 4 1 Parameter List Mode Parameter Number Name p s T deity number Class 0 01 control mode setup Basic apos sd ao 02 real time auto gain tuning selection of machine stiffness at real time auto gain tuning setting 04 Inertia ratio 06 command pulse rotational direction setup 07 command pulse input mode setup 09 I st numerator of electronic gear IB 10 denominator of electronic gear 11 output pulse counts per one motor revolution 12 reversal of pulse output logic 13 I st torque limit 14 position deviation excess setup Class1 00 gain of Ist position loop Gain Adjust 01 gain of Ist velocity loop 0
67. o enter operation display OPC Ll 2 press A once display SE Ark a indicated start to correct the offset then display E I1 SH indicated that correction finished A3 automatic offset adjustment Table 6 6 The Locked panel conditions 1 press ENT to enter operation display a n o c 2 press A once display SEHFE is indicated start to correct the offset then display E ad Hrindicated correction finished Mode The Locked panel conditions Monitor mode Parameter set up mode No limitation all monitored data can be checked No parameter can be changed but setting can be checked Auxiliary function mode Cannot be run except for release of front panel lock 6 2 5 Saving parameter Operation procedure EEPROM writing mode No limitation 1 press M to select EEPROM writing mode display E E SE E r 2 Press ENT to enter into writing mode operation www leadshine com 62 A Leadshine User Manual for EL5 Servo 3 Press and hold A display LED from EBBHBH to BBHHBH then it become EBBHBE jd finally it become BE Hr E indicated EEPROM writing operation have been began 4 CIC OE means that writing is unsuccessful while FHrdBh show that the writing is successful Follow steps 3 and 4 to repeat the operation the drive may be damaged if repeat of several times still fails The driver need to repair 5 The driver need to po
68. ommand is received during hold time r min The zero speed detection signal ZSP will be fed out when the motor speed falls below the setup of this parameter Pr4 34 the setup of pr4 34 is valid for both positive and negative direction regardless of the motor rotating direction There is hysteresis of 10 r min Related Zero speed Range aul deraa en 10 20000 r min 50 P S T You can set up the timing to feed out the zero speed detection output signal ZSP or TCL in rotate speed speed Pr4 34 10 r min gt Negative direction ZSP ON Pr4 34 10 r min 4 www leadshine com 41 A Leadshine User Manual for EL5 Servo Related unit default control mode Range Speed coincidence range 10 20000 r min 50 s Set the speed coincidence V COIN output detection timing Output the speed coincidence V COIN when the difference between the speed command and the motor speed is equal to or smaller than the speed specified by this parameter Because the speed coincidence detection is associated with 10 r min hysteresis actual detection range is as shown below Speed coincidence output OFF gt ON timing Pr4 35 10 r min Speed coincidence output ON gt OFF timing Pr4 35 10 r min Speed command after acceleration deceleration Speed process Pr4 35 r min Pr4 35 Speed coincidence range se
69. on at stall to 0 The integration will be maintained by setting to 9999 The integration effect will be lost by setting to 10000 Range unit default Related 1st Filter of Velocity Detection 5 control mode 0 31 i5 IP _ S T You can set up the time constant of the low pass filter LPF after the speed detection in 32 steps 0 to 31 Higher the setup larger the time constant you can obtain so that you can decrease the motor noise however response becomes slow You can set the filter parameters through the loop gain referring to the following table www leadshine com 29 A Leadshine User Manual for EL5 Servo Set Speed Detection Filter Set Speed Detection Filter Value Cut off Frequency Hz Value Cut off Frequency Hz 0 2500 16 750 1 2250 17 700 2 2100 18 650 3 2000 19 600 4 1800 20 550 5 1600 21 500 6 1500 22 450 7 1400 23 400 8 1300 24 350 9 1200 25 300 10 1100 26 250 11 1000 2T 200 12 950 28 175 13 900 29 150 14 850 30 125 15 800 31 100 i i Range unit default neared 2nd Time Constant of torque filter control mode 0 2500 0 01ms 126 P SIT T Range unit default Related 2nd gain of position loop E control mode O 30000 0 1 s 380 P Range unit default Related 2nd gain of velocity loop 8 control mode 0 32767 0 1Hz 180 P S T lated 2nd Time Constant of Velocity Loop
70. ore filter Filt itchi r min Positional command after filter EE NL waiting time Vc i Positional command smoothing Vex0 632 filter setup time ms Pr2 22 x 0 1 ms Vcx0 368 4f 4 Er Range unit default Related positional command FIR filter control mode 0 10000 0 1ms 0 P Set up the time constant of thelst delay filter in response to the positional command When a square wave command for the target speed Vc is applied set up the Vc arrival time as shown in the figure below Speed r min Positional command before filter Positional command after filter Filter switching waiting time Ve foe e Positional command smoothing filter setup time ms Pr2 23 x 0 1 ms Note For parameters which No have a suffix of changed contents will be validated when you turn on the control power 4 2 4 Class 3 Velocity Torque Control Related Speed setup Internal External Range unit default control mode switching 0 3 0 S This driver is equipped with internal speed setup function so that you can control the speed with contact inputs only www leadshine com User Manual for EL5 Servo Setup value Speed setup method 0 Analog speed command SPR 1 Internal speed command 1st to 4th speed PR3 04 PR3 07 2 Internal speed command 1st to 3rd speed PR3 04 PR3 06 Analog speed
71. orque 300 Unit of the setup value is 0 1V 100 and set up input voltage necessary to produce the rated torque Default setup of 30 represents 3V 100 10 2 4 6 8 10V command input voltage V 200 300 Negative direction Range unit default Related 3 20 Torque command input reversal m T Tt Set up the polarity of the voltage applied to the analog torque command TRQR Setup value Direction of motor output torque 0 Non reversal voltage direction voltage direction voltage gt direction voltage gt direction Related unit default control mode r min 0 T Range 0 20000 Speed limit value 1 Set up the speed limit used for torque controlling During the torque controlling the speed set by the speed limit value cannot be exceeded control mode E Range Motor rotate maximum speed limit 0 6000 r min 3000 P S T Set up motor running max rotate speed but can t be exceeded motor allowed max rotate speed Note For parameters which No have a suffix of changed contents will be validated when you turn on the control power unit default Bel www leadshine com A Leadshine 4 2 5 Class 4 I F Monitor Setting User Manual for EL5 Servo 00 h position control 00 h velocity control 0
72. output AT SPEED The signal AT SPEED is output as the motor reaches the speed set to Pr4 36 attained speed Table 7 18 Parameter Setup of attained speed output No Parameter Name Setup method l PA 436 At speed Please refer to chapter 4 And the output port should be assigned for AT SPEED for details of these parameters refer to PA 410 PA415 5 Speed coincidence output V COIN The signal is output when the motor speed is equal to the speed specified by the speed command The motor speed is judged to be coincident with the specified speed when the difference from the speed command before after acceleration deceleration is within the range specified by Pr4 35 Speed coincident range Table 7 19 Parameter Setup of Speed Coincidence Output No Parameter Name Setup method l PA 435 Speed coincidence range Please refer to chapter 4 And the output port should be assigned for V COIN for details of these parameters refer to PA 410 PA415 6 Speed command accelerates and decelerates setup www leadshine com 76 A Leadshine User Manual for EL5 Servo This function controls the speed by adding acceleration or deceleration instruction in the driver to the input speed command Using this function you can use the soft start when inputting stepwise speed command or when using internal speed setup You can also use S shaped acceleration deceleration function to minimize shock due
73. place the driver with a new one circuit damaged Main Extra Display Er IHE Content encoder data error Cause confirmation solution Check encoder power voltage if it is Ensure power voltage of encoder DCSV 5 or not check encoder cable normally ensure encoder cable and Communication Gat snd whidided line Pit is damaged ornot shielded line well with EG around l P SORORIS check encoder cable whether it is ensure encoder cable separated with intertwined with other power wire or not other power wire Encoder damaged replace the motor with a new one Encoder measurin E replace the driver with a new one circuit damaged Main Extra Display Er IHU IH Content position error over large error Cause confirmation solution Unreasonable set of Check parameter PA 014 value if it is too Enlarge the value of PA 014 position error parameter small or not Check parameter PA 100 PA 105 value Enlarge the value of PA 100 Gain set is too small a if it is too small or not PA 105 Fe Check parameter PA 013 PA 522 value Enlarge the value of PA 103 q whether too small or not PA 522 Check acceleration deceleration time ifit Increase acceleration Outside load is too large is too small or not check motor rotational deceleration time decrease speed if it is too big or not check load if speed decrease load www leadshine com 51 A Leadshine
74. recision The maximum speed of the servo motor up to 5000rpm rotation positioning accuracy up to 12 Simple flexible to control By modifying the parameters of the servo system the operating characteristics make the appropriate setting to suit different requirements 1 2 Inspection of product You must check the following thing before using the products a Check if the product 1s damaged or not during transportation b Check if the servo driver amp motor are complete or not c Check the packing list if the accessories are complete or not 2 Type meaning a ELS series servo driver EL5 D 0750 Maximum Output Power 750 750W High voltage AC servo drive 220 VAC b Servo motor type The ELS series AC servo driver can be matched with a variety of domestic and foreign servo motor 1 5 Product Appearance 1 EL5 series AC servo driver appearance www leadshine com 0 Leadshine User Manual for EL5 Servo 6 bit LED radiator key A i C2 RS232 wiring terminal OD Ta power terminal 1 CN1 control terminal power terminal 2 2 Servo motor appearance encoder plug in motor plug in E ap 3 motor install face 5 pg Na A E IL fi NN e 1 L ra aw 45 My LE es M ub e Lh NL y i vg E L I es 2 f Sy e A sa a feedback encoder motor body Vin eee cee 3 Accessory ELS series servo driver standard accessorie
75. ree of load inertia in motion 0 invalid Real time auto gain tuning function is disabled Basic mode do not use unbalanced load friction compensation or gain switching Main application is positioning it is recommended to use this 2 positioning mode on equipment without unbalanced horizontal axis ball screw driving equipment with low friction etc 1 standard Caution If pr0 02 1 or 2 you can t modify the values of pr1 01 pr1 13 the values of them depend on the real time auto gain tuning all of them are set by the driver itself FETE selection of machine stiffness at real Range unit default control mode time auto gain tuning 0 31 11 a e la You can set up response while the real time auto gain tuning is valid Low Machine stiffness High Low Servo gain High Q emm nmmeemReRHeHRReSrnRRIDLIA21IS3 sejeeeeeee g S eeece ee 3031 Low gt Response High Notice Higher the setup value higher the velocity response and servo stiffness will be obtained However when increasing the value check the resulting operation to avoid oscillation or vibration Control gain is updated while the motor is stopped If the motor can t be stopped due to excessively low gain or continuous application of one way direction command any change made to Pr0 03 is not www leadshine com 26 Leadshine User Manual
76. rface Table 6 4 Setup Interface of System Parameter control mode setup real time auto gain tuning selection of machine stiffness at real time auto gain tuning Inertia ratio command pulse rotational direction setup command pulse input mode setup Ist numerator of electronic gear denominator of electronic gear output pulse counts per one motor revolution reversal of pulse output logic Ist torque limit position deviation excess setup gain of Ist position loop gain of 1st velocity loop time constant of Ist velocity loop integration filter of 1st velocity detection 1 04 time constant of Ist torque filter FH m IH l 05 gain of 2nd position loop PAGAS www leadshine com 58 A Leadshine User Manual for EL5 Servo l 06 gain of 2nd velocity loop 1 time constant of 2nd velocity loop integration 1 08 filter of 2nd velocity detection PAHHEB FASE FH HEB 1 09 time constant of 2nd torque filter j 10 Velocity feed forward gain FHZHBH 1 11 Velocity feed forward filter 1 12 Torque feed forward gain 1 13 Torque feed forward filter L i4 Spd sanse FHZHHH 1 Control switching mode FHZHHS 1 17 Control switching level PHZHHH 1 18 Control switch hysteresis FHZHHH 1 19 Gain switching time FPHZHHH 1 33 filter time constant of velocity command FHZHHH 1 35 Positional command filter setup PASH 1
77. rom the host controller by the predetermined dividing or multiplying factor and applies the result to the position control section as the positional command By using this function desired motor rotations or movement distance per unit input command pulse can be set Table 7 9 Parameter Setup of Electronic Gear Ratio No Parameter Name Setup method 1 PA 009 First command frequency double molecular 2 PA 010 Command frequency double denominator a Please refer to 3 The second command divide double frequency molecular hanter 4 The third command divide double frequency molecular P 5 The fourth command divide double frequency molecular 3 Position command filter To make the positional command divided or multiplied by the electronic gear smooth set the command filter Table 7 10 Parameter Setup of Position Command Filter No Parameter Name Setup method l PA 222 Positional command smoothing filter 2 PA 223 Positional command FIR filter Please refer to chapter 4 4 Motor encoder pulse output The information on the amount of movement can be sent to the host controller in the form of A and B phase pulses from the servo driver Table 7 11 Parameter Setup of Driver Encoder Pulse Output No Parameter Name Setup method I PA 011 Encoder pulse output molecular 2 PA 012 Pulse output logic reverse 3 PA 503 Pulse output divide frequency denominator MG 4 PA 533
78. rotational speed decrease load exceeded the capacity of regenerative resistor inertia increase external regenerative resistor improve the capacity of the driver and motor high Check the load if it is too large or not circuit damage Resistance discharge Increase external regenerative resistor replace the driver with a new one www leadshine com 50 A Leadshine User Manual for EL5 Servo Main Extra Display Er ISH fae a Content encoder line breaked Cause confirmation solution Encoder line disconnected check wiring if it steady or not Make encoder wiring steady Check encoder wiring if it is correct Encoder wiring error Reconnect encoder wiring or not Encoder damaged replace the motor with a new one Encoder measuring circuit damaged Main Extr Display Er Se IS c Content initialized position of encoder error Cause confirmation solution Check encoder power voltage if it is Ensure power voltage of encoder DCSV 5 or not check encoder cable normally ensure encoder cable and Commumcaliom GS ccn chidided line if it 1s damaged oF not shicided line well with EG round abnormal check encoder cable whether it is ensure encoder cable separated with intertwined with other power wire or not other power wire Encoder damaged replace the motor with a new one neod eee lla re
79. rque command sign input Forced alarm input Note 1 TC SIGN E STOP 14h a contact means input signal comes from external controller or component for example PLC b contact means input signal comes from driver internally Don t setup to a value other than that specified in the table Don t assign specific function to 2 or more signals Duplicated assignment will cause Err21 0 I F input multiple assignment error lor Err21 1 I F input multiple assignment error 2 94h www leadshine com 39 Leadshine default User Manual for EL5 Servo Related control mode 00010101h Range unit S01 output selection O OOFFFFFFh Range Related control mode S02 output selection 00020202h 131586 O OOFFFFFFh Range S04 output selection 00000303h OOFFFFFFh ici 328964 Range Related control mode 503 output selection O OOFFFFFFh 00000704h P lslr 65793 Related control mode Assign functions to SO1 outputs This parameter use 16 binary system do setup as following 00 h position control 00 h velocity control 00 h torque control Please at partition set up function number For the function number please refer to the following Figure Signal name symbol Setup value Invalid Alarm output Servo Ready output Eternal brake release signal Positioning compl
80. rque is as per the setup or not 8 When you want to change the torque magnitude direction and velocity limit value against the command voltage set up the following parameters Pr3 19 Pr3 20 Pr3 21 If the motor does not run correctly refer to the Factor of No Motor running in data monitor mode c B9986 www leadshine com 70 A Leadshine User Manual for EL5 Servo 7 3 Automatic Control Mode Run 7 3 1 Operation Mode Selection EL5 series AC servo drives support the position speed torque three basic modes of operation and can switch freely between the three basic modes of operation by switch or modify parameters Table 7 7 Parameter setup of Operation Mode Selection Mode Parameter Specification The position control is performed based on the positional command Position mode PA_001 0 pulse train from the host controller or the command set in the servo driver The velocity control is performed according to the analog speed Velocity mode PA_001 1 command from the host controller or the speed command set in the servo driver The torque control is performed according to the torque command Torque mode PA 001 2 specified in the form of analog voltage or the command set in the servo driver Ist mode position mode 2nd mode speed mode PA 001 3 The control mode is switched through external input lst mode 5 e PA 001 4 The control mode is switched through external input torque mode
81. rror Cause confirmation solution 1 EEE PE Check the value of PA 400 Assure the value of PA 400 PA 401 PE 18 PA 401 PA 402 PA 403 PA 404 PA 402 PA 403 PA 404 set with two or more functions vase if it is proper or not correctly ee EEE Check the value of PA 400 Assure parameter PA 400 PA 401 E PA 401 PA 402 PA 403 PA 404 PA 402 PA 403 PA 404 set assigned with any functions m E T if it 1s proper or not correctly Main Extra Display Er c c Content I F input interface function set error Cause confirmation solution Signal allocation error Check the value of PA 400 PA 401 Assure the value of PA 400 PA 402 PA 403 PA 404 if itis proper PA 401 PA 402 PA 403 PA 404 or not set correctly Main BH B The input signal are assigned Check the value of PA 410 Extra Display Be Hee Content I F input interface function set error solution Assure the value of PA 410 www leadshine com A Leadshine User Manual for EL5 Servo with two or more functions The input signal aren t assigned with any functions PA 411 PA 412 PA 413 if itis PA 411 PA 412 PA 413 set proper or not Check the value of PA 410 PA 411 PA 412 PA 413 ifitis PA 411 PA 412 PA 413 set proper or not correctly Assure the value of PA 410 correctly Extra Display Er cH HH O Cause
82. rror history record Emergency error driver will stop immediately May remove may through SI input panel software ACH Series remove alarm 5 2 Alarm Processing Method When appear error please clear error reason renew power on Main Extra Display Pr LII EC CBE LIH F Content FPGA communication error Cause confirmation solution r t terminal under voltage Check r t terminal voltage Make sure voltage of r t terminal in proper range Driver internal fault replace the driver with a new one Display Er HHB Er HH Content current detection circuit error Cause confirmation solution Wiring error of motor output Check wiring of motor output Make sure motor U V W terminal wiring U V W terminal U V W terminal correctly Main voltage R S T terminal Check main voltage R S T Make sure voltage of R S T terminal in voltage whether over low terminal voltage proper range Driver inner fault replace the driver with a new one Main Extra Display EC EIHE v ErHOHH4 OH H B Content analog input circuit error Cause confirmation solution Analog input Wiring error Check wiring of analog input Make sure analog input wiring correctly Driver inner fault replace the driver with a new one vepe EFE ra Content DC bus circuit error Cause confirmation solution Main voltage R S T Check R S T terminal voltage Make sure voltage of
83. s a user manual b CN 1 connector DB44 c CN2 plug DB15 pin KNote The ACH series driver supports the PC debugging software which can be downloaded from our website www leadshine com A Leadshine User Manual for EL5 Servo Chapter 2 Installation 2 1 Storage and Installation Circumstance Table 2 1 Servo Driver Servo Motor Storage Circumstance Requirement Item ELS series driver ELS servo motor Temperature 20 80 25 70 Humility Under 90 RH free from condensation Under 80 RH free from condensation Atmospheric Indoor no exposure no corrosive gas or Indoor no exposure no corrosive gas or environment flammable gas no oil or dust flammable gas no oil or dust Altitude Lower than 1000m Lower than 2500m Vibration Less than 0 5G 4 9m s 10 60Hz non continuous working Ne paon IPOO no protection IP65 Table 2 2 Servo Driver Servo Motor Installation Circumstance Requirement Item ELS series driver ELS servo motor Temperature 0 55 25 40 Humility Under 90 RH free from condensation Under 90 RH free from condensation Atmospheric Indoor no exposure no corrosive gas or Indoor no exposure no corrosive gas or environment flammable gas no oil or dust flammable gas no oil or dust Altitude Lower than 1000m Lower than 2500m Vibration Less than 0 5G 4 9m s 10 60Hz non continuous working Protection TE IPOO
84. setting of control abnormal setting of control Modify the parameter Adjust parameter to proper range Check control command whether command changes too violently or not Adjust control command open filter function Main Extra Display Er BEB OF Cause Content driver over heat 0 confirmation solution upper limit Cause Load is too heavy the temperature of power module have exceeded ouno ETE Check driver radiator whether the temperature is too high or not Strengthen cooling conditions promote the capacity of driver and motor enlarge acceleration deceleration time reduce load Content motor over load confirmation Check actual load if the value of parameter exceed maximum or not solution Decrease load adjust limit parameter Oscillation of machine Check the machine if oscillation exists or not Modify the parameter of control loop enlarge acceleration deceleration time wiring error of motor Check wiring if error occurs or not if line breaks or not Adjust wiring or replace encoder motor for a new one electromagnetic brake engaged Check brake terminal voltage Cut off brake Main Extra Ic Display Er Ic T Content Resistance discharge circuit over load Cause Regenerative energy has confirmation Check the speed if it is too solution lower motor
85. sition deviation unit of command command speed unit of command s position loop gain 1 s x 100 speed feed forward gain 100 Range unit default Belgie Torque feed forward gain control mod 0 1000 0 1 0 P S Multiply the torque control command calculated according to the velocity control command by the ratio of this parameter and add the result to the torque command resulting from the velocity control process To use torque feed forward correctly set ratio of inertia Set the inertia ratio that can be calculated from the machine specification to Pr0 04 inertia ratio Positional deviation at a constant acceleration deceleration can be minimized close to 0 by increasing the torque forward gain this means that positional deviation can be maintained at near 0 over entire operation range while driving in trapezoidal speed pattern under ideal condition where disturbance torque is not active Range unit default jS EIS Torque feed forward filter controlmode 0 6400 0 01ms 0 P S Set up the time constant of 1st delay filter which affects the input of torque feed forward Zero positional deviation is impossible in actual situation because of disturbance torque as with the velocity feed forward large torque feed forward filter time constant decreases the operating noise but increases positional deviation at acceleration change point Related Range unit default control
86. t the pin31 and pin35 for controlling the brake just make sure the setting value of Pr4 13 The default is 00000303h if the driver works in torque mode this value should be changed to 00030303h User Manual for EL5 Servo 7 2 Trial Run After installation and connection is completed check the following items before turning on the power Wiring especially power input and motor output Short or grounded Loose connection Unstable mounting Separation from the mechanical system 7 2 1 Jog Control It is unnecessary to connect control signal terminal CN1 and communication terminal CN4 in Jog run mode It is recommended that motor runs at low speed for safety while the speed depends on the parameters below there are two different modes speed JOG mode and location JOG mode Table 7 2 Parameter Setup of Velocity JOG Set value unit parameter name PA 001 Control mode setting l PA 312 Acceleration time setup User specified millisecond PA 313 Deceleration time setup User specified millisecond Sigmoid acceleration deceleration time setup User specified millisecond JOG trial run command speed User specified rpm Table 7 3 Parameter Setup of Position JOG parameter name value unit PA 001 Control mode setting 0 PA 312 Acceleration time setup Deceleration time setup User specified User specified millisecond millisecond Sigmoid acceleration de
87. te value of the www leadshine com 3l A Leadshine User Manual for EL5 Servo positional deviation was kept below level hysteresis r min previously during delay time with the 2nd gain Unit of level and hysteresis pulse is set as the encoder resolution for positional control 7 position command Valid for position control exists Shift to the 2nd gain when the positional command was not 0 previously with the Ist gain Return to the 1st gain when the positional command was kept 0 previously during delay time with the 2nd gain 8 Not in positioning Valid for position control complete Shift to the 2nd gain when the positioning was not completed previously with the 1st gain Return to the 1st gain when the positioning was kept in completed condition previously during delay time with the 2nd gain 9 Actual speed is Valid for position control large Shift to the 2nd gain when the absolute value of the actual speed exceeded level hysteresis r min previously with the 1st gain Return to the 1st gain when the absolute value of the actual speed was kept below level hysteresis r min previously during delay time with the 2nd gain 10 Have position Valid for position control command actual Shift to the 2nd gain when the positional command was not 0 speed previously with the Ist gain Return to the 1st gain when the positional command was kept at 0 during the delay time and the absolute value of actual spe
88. ted 1st Torque Limit control mode 0 500 300 P IS JT You can set up the limit value of the motor output torque as motor rate current the value can t exceed the maximum of output current Related Range unit default ol mode Position Deviation Excess Setup 0 500 0 1 rev 200 P Set excess range of positional deviation by the command unit default Setting the value too small will cause Err18 0 position deviation excess detection 4 2 2 Class 1 Gain Adjust Range unit default Related T er Range unit default ongoi mode 0 30000 0 1 s 320 P You can determine the response of the positional control system Higher the gain of position loop you set faster the positioning time you can obtain Note that too high setup may cause oscillation i i Range unit default Related istaa ai else Range unit default control mode 0 32767 0 1Hz 180 P S T You can determine the response of the velocity loop In order to increase the response of overall servo system by setting high position loop gain you need higher setup of this velocity loop gain as well However too high setup may cause oscillation lated 1st Time Constant of Velocity Loop Range unit default control mode Integration 0 10000 0 1ms 310 P T You can set up the integration time constant of velocity loop Smaller the set up faster you can dog in deviati
89. they can meet the requirements of the smallest position unit or not If the positional precision is high you can increase the mechanical reduction ratio or select motor with higher capacity 3 Calculate Inertia and Torque Convert mechanical reduction ratio of the load inertia and load torque to the motor shaft while the result shall be not 5 times more than motor inertia If the requirements can t be matched you can increase the mechanical reduction ratio the actual maximum speed reducing or select larger capacity motor 9 2 Electronic Gear Ratio In position control mode the actual speed command pulse velocityx G xmechanical reduction ratio In position control mode the actual load minimum displacement minimum command pulse travel xG xmechanical reduction ratio Note Ifthe electronic gear ratio of G is not 1 gear ratio division may have the remainder then there will be position deviation existed the maximum deviation is the minimum of rotation minimum resolution www leadshine com 81 A Leadshine User Manual for EL5 Servo Appendix How to debug the parameter of driver matched with different servo motor Sometimes we use different motor with EL5 servo motor Then we need to set the different value of motor parameter for different motor So we give you some examples for debugging the parameter A Set the 400w servo motor for 400w servo driver If the 400w white motor is like this the motor is with 10 poles
90. tion pulse Pulse i negative direction pulse sign EH IT III ELI 3 Pulse sign Pulse ui Mt E 1 sign Fe ET 90 phase difference Baise AB T FEN 1 0 or 2 2 phase pulse A phase B sign i H d LL FH phase E 3LE AREE ioc 1 Positive direction pulse Pulse a negative direction pulse sign FX LII 3 Pulse sign Pulse jM 15 I ae B sign eio v rmn ow A Command pulse input signal allow largest frequency and smallest time width Permissible Max Smallest Time Width PULS SIGN Signal Input I F Jo ad Input Frequency t1 t2 t3 t4 t5 te Pulse Long distance interface 500kpps 2 1 series interface CPen collector output 200kpps 5 25 woe 945 95 www leadshine com 27 A Leadshine User Manual for EL5 Servo Range unit default Related 1st numerator of electronic gear control mode 1 32767 1 p Set the numerator of division multiplication operation made according to the command pulse input Related Range unit default control mode 1 32767 1 P Set the denominator of division multiplication operation made according to the command pulse input denominator of electronic gear Pr0 09 Pr0 10 Command division multiplication operation Command pulse input Pr0 09 set value I position command 1 32767 1 32767 gt gt Pr0 10 set value Output pulse counts per one motor Range revolution 1 2500 Set the numerator of division multiplication operation
91. ult 36 Digital output signal 5 37 Digital output signal 6 39 All ipni EC input 1 voltage input range 10 10V input resistor 40 15VA output Reserved output voltage 15V current less than 50mA 41 Reserve 15V ground 43 The positive negative terminal of analog input 3 voltage input 44 range 10 10V input resistor 20K 15 21 38 42 NC Not connection Shell FG Shield ground www leadshine com A Leadshine User Manual for EL5 Servo 3 2 2 Encoder Input Port CN2 Terminal Table 3 2 Encoder Input Port CN2 Terminal Signal Explain Pin Signal Name Terminal Arrangement Figure TE EB Encoder channel B input 6 FG EGND Signal ground 11 EA Hall W Hall sensor W input 5 ED Hall U Hall sensor U input 12 R FG Ground terminal for shielded 3 EZ GND EZ Encoder channel Z input 13 45V EZ Encoder channel Z input 4 HW Hall V Hall sensor V input 2 a Hall V Hall sensor V input 5 E EA Encoder channel A input 0 Encoder channel B input EB VCC 5V for encoder power supply Hall W Hall sensor W input Hall U Hall sensor U input 3 2 3 Communication Port Table 3 3 Signal Explanation of connection and debugging Port CN4 RS232 connect PC or STU using dedicated series cable prohibited to insert if power on and suggest to use twisted pair or shielded wire the length of wire is less than 2 meter RS485 Recommend shield twisted pair
92. ut SPR 2 When Speed r min 3000 amp Slope at ex factory 3000 2 4 6 8 10 Command input voltage V Negative direction command speed up slope of relation command input motor speed with Default 1s set to Pr3 02 500 r min V of 6V becomes apply more than speed command you compose a www leadshine com 35 A Leadshine User Manual for EL5 Servo position loop outside of the driver while you use the driver in velocity control mode the setup of Pr3 02 gives larger variance to the overall servo system 3 Pay an extra attention to oscillation caused by larger setup of Pr3 02 rg Reversal of speed command input Range unit default mc 0 1 500 S Setup value Motor rotating direction Specify the polarity of the voltage applied to the analog speed command SPR 0 Non reversal voltage gt direction voltage direction 1 reversal voltage direction voltage gt direction Caution When you compose the servo drive system with this driver set to velocity control mode and external positioning unit the motor might perform an abnormal action if the polarity of the speed command signal from the unit and the polarity of this parameter setup does not match Acceleration time setup unit Ms 100
93. ut to bring the driver to servo on status and energize the motor 6 Enter low frequency pulse and direction signal to run the motor at low speed z 7 Check the motor rotational speed at monitor mode whether dH SPJ Rotational speed is as per the setup or not and The motor stops by stopping the command pulse or not If the motor does not run correctly refer to the Factor of No Motor running in data monitor mode e EEBEBB 7 2 3 Velocity Control Notice You must do inspection before velocity control test run Table 7 5 Parameter Setup of Velocity Control No Parameter Name input Setup value Unit l Control mode setup 2 Acceleration time setup 3 Deceleration time setup User specified millisecond 4 Sigmoid acceleration deceleration time ep E setup 5 Zero speed clamping function select 6 re in internal and external ere 7 Speed Command direction selection User specified 9 PA 303 Speed setting input reversal User specified 10 User specified 0 359mv T User specified 0 01ms 12 PA 400 SII input selection Srv on hex 0300 13 PA 401 SI2 input selection ZeroSpd hex 1100 14 PA 402 SI3 input selection IntSpdl hex 0E00 15 PA 403 SI4 input selection IntSpd2 hex 0F00 16 PA 404 SIS input selection IntSpd3 hex 1000 17 PA 405 SI6 input selection Vc Sign hex 1200 Wiring Diagram www leadshine com 68 A Leadshine User Manual for EL
94. ut wire no short Short of driver output wire ace mak short circuit to PG ground or not circuit assure motor no damage Abnormal wiring of motor Check motor wiring order Adjust motor wiring sequence Cut off driver output wiring make Short of IGBT module srv_on available and drive motor replace the driver with a new one check whether over current exists Main Extra Display Et FER OE Content over current confirmation solution parameter abnormal setting of control Modify the parameter Adjust parameter to proper range command abnormal setting of control Check control command whether command changes too violently or not Adjust control command open filter function www leadshine com User Manual for EL5 Servo 49 A Leadshine Main User Manual for EL5 Servo Extra Display E m HE DE Cause Content IPM over current confirmation solution Short of driver output wire Assure driver output wire no short circuit assure motor no damage Short of driver output wire whether short circuit to PG ground or not Abnormal wiring of motor Check motor wiring order Adjust motor wiring sequence Short of IGBT module replace the driver with a new one check whether over current exists or not Short of IGBT module replace the driver with a new one Cut off driver output wiring make srv on available and drive motor parameter command abnormal
95. value 1 FHZHEH 3 24 maximum speed of motor rotation FHZHEH 4 00 SI I input selection FHzZHBH 4 01 SI2 input selection PHS400 4 02 SI 3 input selection FPHzZHEBE 4 03 SI 4 input selection FHzHEH 4 04 SI 5 input selection PHZHEH 4 10 SO I output selection FRHzHHH 4 11 SO2 output selection PHZHHH 4 12 SO3 output selection FHZHHBE 4 13 SO4 output selection FHzZHHH 4 22 Analog input 1 AI 1 offset setup PH Hee 4 23 Analog input AI 1 filter HHEHEH 4 28 Analog input 3 AI 3 offset setup FHzHEH 4 29 Analog input 3 AI 3 filter FHzHEH 4 31 Positioning complete range FHzZH8H 4 32 Positioning complete output setup FRE YH 4 33 INPholdtime HHEHBH www leadshine com 60 A Leadshine User Manual for EL5 Servo HHBHBH 6 2 4 Auxiliary Function 4 34 Zero speed 4 Speed coincidence range FH C H JH 4 36 At speed 4 37 Mechanical brake action at stalling setup 4 38 Mechanical brake action at running setup 4 39 Brake action at running setup 5 00 2nd numerator of electronic gear 5 01 3rd numerator of electronic gear 5 02 4th numerator of electronic gear 5 03 Denominator of pulse output division 5 06 Sequence at servo off 5 08 Main power off LV trip selection 5 09 Main power off detection time 5 13 Over speed level setup 5 15 I F reading filter FH E g I5 5 28 LED initial status FHERSEH 5
96. wer off and restart again if writing 1s successful NOTE Don t turn off the power if EEPROM writing operation goes on otherwise it may cause a writing wrong data If this happens please reset all the parameters then do EEPROM writing operation again 6 2 6 Abnormal Alarm The front panel will automatically enter the abnormal alarm display mode if driver error occurs while it displays the corresponding error code Please refer to Chapter 5 of alarm processing about the detail of error code www leadshine com 63 A Leadshine User Manual for EL5 Servo Chapter 7 Trial Run Attention Ground the earth terminal of the motor and driver without fail the PE terminal of driver must be reliably connected with the grounding terminal of equipment The driver power need with isolation transformer and power filter in order to guarantee the security and anti jamming capability Check the wiring to make sure correctness before power on 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 If drive alarm occurs the cause of alarm should be excluded and Svon signal must be invalid before restarting the dri ver The high voltage also will contain in several minutes even if the servo driver is powered off please don t touch terminal strip or separate the wiring e Note there are two kinds o

User Manual for EL5 Servo - American Motion Technology LLC

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