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1. 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 selection 3 of selection of value internal command internal command internal command Speed speed INTSPD1 speed INTSPD2 speed INTSPD3 command 1 OFF OFF NO effect lst speed ON OFF 2nd speed OFF ON 3rd speed ON ON Ath speed 2 OFF OFF NO effect 1st speed ON OFF 2nd speed OFF ON 3rd speed ON ON Analog speed command 3 The same as Pr3 00 1 OFF 1st to 4th speed OFF OFF ON 5th speed ON OFF ON 6th speed OFF ON ON 7th speed Parameter Speed command rotational Related name direction selection mode EM range 0 1 unit default 0 Select the Positive Negative direction specifying method Setup value Select speed command Speed command Position command sign 1st to 8th speed direction VC SIGN direction 0 t No effect Positive direction No effect Negative direction 1 Sign has no effect OFF Positive direction Sign has no effect ON Negative direction Parameter Input gain of speed Related name command mode m range 10 20 unit r min v default 500 00 Based on the voltage applied to the analog speed command SPR set up the conversion gain to motor command speed
2. name communication mode Setrange 0 6 unit 0 1ms Normal 2 default set You can set up the communication speed of RS485 Set value Baud rate Set value Baud rate 0 2400bps 4 38400bps 1 4800bps 5 57600bps 2 9600bps 6 115200bps 3 19200bps Baud rate error is 2400 38400bps 5 57600 115200bps 2 Parameter Axis address Related name mode Setrange 0 127 unit Normal default set During communication with the host e g PC to control multiple shafts the shaft being accessed by the host should be identified NOEEBwhen using RS232 RS485 the maximum valid value is 31 Parameter Front panel lock setup Related name mode Setrange 0 1 unit Normal 0 default set Lock the operation on the front panel Setup value content 0 No limit on the front panel operation 1 Lock the operation on the front panel 4 2 7 Classify 67 Special Setup Parameter JOG trial run command Related name torque mode Setrange 0 100 unit 96 Normal 0 default set You can set up the command speed used for JOG trial run torque control Parameter JOG trial run command Related name speed mode Setrange 0 500 unit r min Normal default set 300 A Leadshine User s M anual for EL5 Servo You can set up the command
3. Parameter 2nd notch depth selection Related name mode Setrange 0 99 Normal default set Set the depth of notch at the center frequency of the 2nd notch filter Rote Higher the setup shallower the notch depth and smaller the phase delay you can obtain Parameter Positional command Related name smoothing filter mode Setrange 0 327 unit 0 1ms Normal 0 67 default set Set up the time constant of the1st delay filter in response to the positional command Parameter Positional command FIR Related name filter mode Setrange 0 100 unit 0 1ms Normal 0 00 default set Set up the time constant of the1st delay filter in response to the positional command 4 2 4 Classify 37 Velocity Torque Control Parameter Speed setup Internal Related name External switching mode Set range 0 3 unit Normal 0 default set This driver is equipped with internal speed setup function so that you can control the speed with contact inputs only 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 command SPR 39 A Leadshine User s M anual for EL5 Servo
4. Parameter Control M ode Related Name Setup Mode Set range 0 2 Unit Normal Default Set 0 Set using control mode Setup value Content 1st mode 2nd mode 0 Position 1 Velocity 2 Torque Parameter Real time Auto gain Tuning Related Name Setup Mode Set Range 0 2 Unit Normal 0 Default Set F caushine User s M anual for EL5 Servo You can set up the action mode of the real time auto gain tuning Setup value mode Varying degree of load inertia in motion 0 invalid Real time auto gain tuning function is disabled 1 standard Basic mode do not use unbalanced load friction compensation or gain switching 2 positioning Main application is positioning it is recommended to use this mode on equipment without unbalanced horizontal axis ball screw driving equipment with low friction etc Parameter Selection of Machine Related Name Stiffness at Real time Mode Auto gain Tuning Set Range 0 31 Unit Normal 11 Default Set You can set up response while the real time auto gain tuning is valid Low Machine stiffness High Low Servo gain High 0 1 eesocooccccccc ccseccccececececec 11 12 13 eee eee eee eee ee 30 31 Low gt Response High Noite Higher the setup value higher the velocity response and servo sti
5. Parameter Speed limit value 1 Related name mode Setrange 0 200 unit r min Normal 0 00 default set Set up the speed limit used for torque controlling During the torque controlling the speed set by the speed limit value cannot be exceeded Parameter Motor max rotate speed Related name mode Setrange 0 600 unit r min Normal 3000 0 default set Set up motor running max rotate speed but can t be exceeded motor allowed max rotate speed Notice have remark parameter indicate control power on vary content is valid 4 2 5 Classify 47 I F Monitor Setting Parameter SI1 input selection Related name mode 43 A Leadshine User s M anual for EL5 Servo 00828282h 0081818h 0091910Ah 00060606h Set range 0 00F unit Normal FFFFF default set h Parameter The SI2 input select Related name mode Set range 0 00F unit Normal FFFFF default set h Parameter The SI3 input select Related name mode Set range 0 00F unit Normal FFFFF default set h Parameter The SI4 input select Related name mode Setrange 0 00F unit Normal FFFFF default set h Parameter The SI5 input select Related name mode Setrange 0 00F unit Normal FFFFF default set h 0000100Ch Set SI1 input function allocation
6. F caushine User s M anual for EL5 Servo Driver side 10Vdce Figure 3 9 Analog AI3 Input Interface 3 3 5 Servo Motor Photo Electricity Encoder Input Interface Driver side Figure 3 10 Servo Motor Photo Electricity Encoder Input Interface Chapter 4 Parameter 4 1 Parameter List Related Parameter Number Name Mode P S T Classify Number Classify0 01 Control mode setup 24 A Leadshine User s M anual for EL5 Servo Gain Adjust 02 Setup Auto adjust 03 M echanical rigidity setup 04 Ratio of inertia 06 Command pulse polar setup 07 Command pulse input mode setup 09 1st numerator of electronic gear 10 Denominator of electronic gear 11 Encoder pulse output molecular 12 Pulse output logic reverse 13 1st torque limit 14 Position deviation setup Classify1 00 1st position loop gain Gain Adjust 01 1st velocity loop gain 02 1st velocity loop integration time constant 03 1st velocity detection filter 04 1st torque filter 05 2nd position loop gain 06 2nd velocity loop gain 07 2nd velocity loop integration time constant 08 2nd velocity detection filter 09 2nd torque filter 10 Velocity feed forward time constant gain 11 Feed forward filter time constant 12 Torque feed forward gain 13 Torque feed forward filter 1
7. Figure 3 6 Pulse Value Input Interface Different Drive Mode Driver side Vcc 12V R select 1K 0 25W Vcc 24V R select 2K 0 25W Figure3 7 Pulse Value Input Interface Single Terminal Drive Mode 1 In order to properly transmit pulse volume data we recommend using the differential drive mode 2 The differential drive mode AM 26LS31 M C3487 or similar RS422 line drive 3 The use of single ended drive will make the operation frequency reduced Pulse input circuit drive current 10 15mA limited the maximum voltage of 25V external power supply conditions to determine the value of the resistance R Empirical data VCC 24V R 1 3 to 2K VCC 2 12V R 22 G caushine User s M anual for EL5 Servo 510 8200 VCC 5V R 82 1200 4 Single ended drive the external power supply is provided by the user but it must be noted if the power supply polarity reversal the servo drive is damaged 5 Pulse input in the form shown in Table 3 4 the arrows indicates the count along Table 3 5 pulse input timing parameters When using the form of 2 phase input the 4 octave pulse frequency lt 500kH Figure 3 7 Pulse Input Form Pulse command form CCW CW Parameter setting value Pulse train symbol Pulse direction e TOU LIU DIR 3 3 4 Analog Value Input Interface reserve Servo driver 10KQ 10V Figure 3 8 Analog Al1 Input Interface 23
8. internal parameter provides 3 Torque mode PA_001 2 Driver receive torque command control motor reach to target torque Torque command via terminal input or internal parameter provides 4 1st mode position PA 001 3 Through outside switch input switch mode 2nd M ode speed mode 4 1st mode position PA 00124 Through external switch input switching mode 2nd Mode torque mode 4 lst mode speed mode PA 001 5 Through external switch input switching 2nd Mode torque mode The step of changing the operation mode 1 Switch the drive to Servo Off status 2 Modify the control mode corresponding parameters to EEPROM After setup is complete the drive power failure restart operation mode settings to take effect 7 3 2 Position Mode Position control mode application in precise position occasion 85 Leacdshine User s M anual for EL5 Servo 1 phase or 3 phase 220VAC NEN Circuit Braker Magnetic Contactor UO w PEO Noise Filter A a Q Q l Encoder Output H a Q Q N 22 5V 12 24V AGND 30 A 29 CHZ O 39 All AGN 10V to 10V input 41 D Single end 43 A3I n 10V to 10V input n A3I Differential RS232 Figure 7 6 Position Mode Typical Outside Wiring Figure Position control mode relevant parameter set 1 Command pulse input process Position command possess three input mode A B phase orthogonal pulse Positive direction negative direction pulse
9. Pulse number symbol Please according to actual situation do relevant setting Figure 7 8 Parameter Setup of Position Command Selection Series number Parameter Name Setup method 86 User s M anual for EL5 Servo 1 PA 005 Command pulse input select Please refer to chapter 4 content 2 PA 006 Command pulse polar setting Please refer to chapter 4 content 3 PA 007 Command pulse input mode Please refer to setting chapter 4 content 2 Electronic gear ratio setting Figure 7 9 Parameter Setup of Electronic Gear Ratio 1 PA_008 M otor Please refer to chapter 4 content 2 PA_009 First command Please refer to frequency double chapter 4 content molecular 3 PA_010 Command frequency Please refer to double denominator chapter 4 content 4 PA_500 The second command Please refer to divide double chapter 4 content frequency molecular 5 PA_501 The third command Please refer to divide double chapter 4 content frequency molecular 6 PA_502 The fourth command Please refer to divide double chapter 4 content frequency molecular 3 Position command filter Figure 7 10 Parameter Setup of Position Command Filter Series number Parameter Name Setup method 1 PA_222 Position command Please refer to smooth filter chapter 4 content 2 PA_223 Position command FIR Please refer to filter chapter 4 content t 4 M otor encoder p
10. negative Persie direction pulse 3 Pulse sign Pulse sign EE ES E Oor2 90 phase Pulse sign aT i 1 difference n il 4 FI 2 phase pulse A cA DES LSet Mert phase B phase 1 Positive direction Pulse sign 2 ed pulse negative mu direction pulse 3 Pulse 4 sign Pulse sign Le di Lx d Ei ol d Al 29 A Leadshine User s M anual for EL5 Servo Command pulse input signal allow largest frequency and smallest time width PULS SIGN Signal Input I F Permissible Smallest Time Width M ax Input t1 t2 t3 t4 t5 t6 Frequency Pulse Long distance 500kpps 2 1 1 1 1 1 series interface interface Open collecto 200kpps 5 2 5 2 5 2 5 2 5 2 5 r output Parameter Command Pulse Polar Set Related Name Mode Set Range 1 32767 unit Normal 1 Default Set Set command pulse input frequency divide frequency double process Parameter Command Pulse Input Related Name M ode Set Mode Set Range 1 32767 Unit Normal Default Set 1 Set command pulse input divide frequency double frequency process denominator Command pulse input Pr0 09 Pr0 10 command 1 3276 1 3276 7 7 Pr0 09 set value position command gt gt Pr0 10 set value Parameter Command Pulse Polar Set Related Name Mode Set Rang
11. 100 mA max 14 Hall W Hall sensor W input 15 Hall U Hall sensor U input 3 2 3 Communication Port Figure 3 3 Connect STU Port CN4 Signal Explain RS232 M ay via dedicated series cable connect PC or STU prohibit insertion power on and suggest use twisted pair or shielded wire the wire long is less than 2 meter A Leadshine User s M anual for EL5 Servo RS485 Suggest adopt shield twisted pair Terminal signal name 1 GND Power ground 2 TxD RS232 send terminal 3 5V Reserve provide current less than 50mA RxD RS232 receive terminal 5 RS485 Reserve RS4854 A 6 RS485 Reserve RS485 B Figure 3 4 Driver interconnect interface CN3 signal explain RS485 Terminal signal name 1 GND Power ground 2 NC Not connect 3 5V Reserve provide current less than 50mA NC Not connect 5 RS485 Reserve RS4854 A 6 RS485 Reserve RS485 B 3 2 4 Power Port Figure 3 5 Main Power Input Port CN5 Terminal Signal Name 1 R Drive the main power input connecting 3 phase 220Vac line voltage 2 S orders phase 220Vac the hot and neutral should be connected to the R 3 T and T both ends BR Outside brake resistor input terminal Outside brake resistor 5 P DC busbar voltage connect between BR and P Figure 3 6 Control Power Input Port CN6 Terminal Signa
12. 7 2 3 Velocity Control Notice Youdo the pre operational inspection before velocity control trial run Figure 7 5 Parameter Setup of Velocity Control Series Paramete Name Corresponding Setup value Unit number r input symbols 1 PA_001 Control mode setup 1 2 PA 312 Acceleration time User specified millisecond 80 A Leadshine User s M anual for EL5 Servo setup 3 PA_313 Deceleration time User specified millisecond setup 4 PA 314 Sigmoid User specified millisecond acceleration deceler ation time setup 5 PA_504 Driver prohibit input 1 I setup 6 PA_315 Zero speed clamping 1 I function select 7 PA_300 Velocity setup User specified internal and external switching 8 PA_301 Speed Command User specified direction selection 9 PA 302 Speed command User specified Rpm M input gain 10 PA 303 Speedsettinginput User specified reversal 11 PA_422 Analog input I AI1 User specified 0 359mv offset setup 12 PA 423 Analog input I AI1 User specified 0 01ms filter 13 PA_400 SI1 input selection Srv on hex 0300 y 14 PA 401 SI2 input selection ZeroSpd hex 1100 15 PA_402 SI3 input selection IntSpd1 hex 0E00 16 PA 403 SI4 input selection IntSpd2 hex 0F00 17 PA_404 SI5 input selection IntSpd3 hex 1000 18 PA_405 SI6 input s
13. Check positive negative over travel input signal state FE Error reason Display Ee HSH Content forced alarm input valid Error check Error process forced alarm input signal conduct Check forced alarm input signal whether conduct Assure input signal wiring correct Chapter 6 Display and Operation 6 1 Introduction Figure 6 1 Front Panel Appearance Figure 6 1 Button Name and Function Name Symbol Function display 6 LED display monitor value parameter value and set value M ode switch button M M ay switch between 4 mode 1 data monitor mode 62 GJ caushine User s M anual for EL5 Servo 2 Parameter set mode 3 auxiliary function mode 4 EEPROM write mode Confirm button ENT Entrance submenu confirm input Up button A Switch submenu increase numerical value Down button v Switch submenu decrease numerical value Left button A Input position shining left shift 6 2 Panel Display and Panel Operation 6 2 1 Panel Operation Flow Figure Power on Y Display one second 000000 y Panel initial display content Y ENT Data monitor mode AW ENT Display doouEP dOlSPd f gt d35SF gt parameter value M ENT Parameter set mode E AY Display 4 Modify PAO FACE PA 639 parameter value AN parameter value M Auxiliary function mode EN AF Jog AF ini H gt AF
14. You can set up slope of relation between the command input voltage and motor speed with Pr3 02 Default is set to Pr3 02 500 r min V hence input of 6V becomes 3000r min Notice 1 Do not apply more than 10V to the speed command input SPR 2 When you compose a position loop outside of the driver while you use the driver in velocity 40 A Leadshine User s M anual for EL5 Servo 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 Parameter Reversal of speed Related name command input mode range 0 1 unit default 1 Specify the polarity of the voltage applied to the analog speed command SPR Setup value Motor rotating direction 0 Non reversal voltage direction voltage gt direction 1 reversal voltage direction voltage direction match 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 Parameter 1st speed of speed setup Related name mode range 2000 unit r min default 0
15. COM and COM 3 Turned on the power to the drive 4 According to the requirements of the parameters set need to set the parameters see the list and written to the EEPROM the drive is powered down to restart 5 Turned Srv on the motor enters the excitation state 6 All and AGND input voltage of the analog torque command voltage from OV gradually increase and confirm the condition of the motor rotation 7 View data monitoring mode the front panel of the drive motor torque the dO4trq subkey to confirm whether the actual torque is consistent with the set torque M otor rotation is not smooth through the data monitor mode to view motor does not rotate reasons d17ch subkey 7 3 Automatic Control M ode Run 7 3 1 Operation M ode 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 Figure 7 7 Parameter setup of Operation Mode Selection Series Mode name Parameter Specification number 1 Position mode PA 001 0 Driver receive position command control motor reach to target position Speed command via terminal input or internal parameter provide 2 Velocity mode PA 001 21 Driver receive speed command control motor reach to target speed Speed command via terminal input or 84 A Leadshine User s M anual for EL5 Servo
16. time display SEHFE jn dication start correct then C display F I1 IEIFi indicatio n correct finished 6 AF oF3 Al3 zero drift correct HECBFH 1 press ENT button enter operation display EIE AH T3 GJ caushine User s M anual for EL5 Servo 2 press A button one time display SEHFE in dication start correct then display PEBH indicatio n correct finished Figure 6 6 The Locked State Operation Projects Limited Circumstances Mode The Locked State Limited Circumstances Data monitor mode No limit Parameter setting mode Parameter only read can t modification Auxiliary function mode Only unlock function is visible EEPROM write mode No limit 6 2 5 Parameter Saves Operation procedure 1 Through M button select EEPROM write mode display EE HEBE 2 Press ENT button enter into write mode operation 3 Press and hold A button display from BEBBBEB become EBBBHE and become BBBBER until it become SEHFE indicate began EEPROM write operation m 4 if display E I EIC that write failure if the display finally turned to I 14 show that the write was successful Follow steps 3 and 4 to repeat the operation repeated several times still write fails the drive may be damaged repair 5 Write successful drives need to power off restart NOTE EEPROM write operation do not turn off the power otherwise it
17. 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 Set value Aconnect B connect Invalid 00h Do not setup Positive direction over travel inhibition input POT 01h 81h negative direction over travel inhibition input NOT 02h 82h Servo ON input SRV ON 03h 83h Alarm clear input A CLR 04h Do not setup Gain switching input GAIN 06h 86h Deviation counter clear input CL 07h Do not setup Command pulse inhibition input INH 08h 88h Electronic gear switching input 1 DIV1 OCh 8Ch Electronic gear switching input 2 DIV2 ODh 8Dh Selection 1 input of internal command speed INTSPD1 OEh 8Eh 44 A Leadshine User s M anual for EL5 Servo Selection 2 input of internal command speed INTSPD2 OFh 8Fh Selection 3 input of internal command speed INTSPD3 10h 90h Speed zero clamp input ZEROSPD 11h 91h Speed command sign input VC SIGN 12h 92h Torque command sign input TC SIGN 13h 93h Forced alarm input E STOP 14h 94h Parameter SO1 output selection Related name mode Set range 0 OOFFFFFFh unit Normal 00030303h Parameter SO2 output selection Related name mode Set range 0 OOFFFFFFh unit Normal 00020202h def
18. 1ms Normal 00 default set 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 Position gain switching time Notice when using position control position loop gain rapidly changes causing torque change and vibrate By adjusting Pr1 19 position loop gain switching time increasing rate of the position loop gain can be decreased and variation level can be reduced Parameter Position specify filter setup Related name mode Setrange 0 200 unit 0 05us_ Normal default set 0 delay time To position given pulse do filtering eliminate the interference of the narrow pulse over large setup will influence the receive of high frequency position command pulse and will bring larger Parameter Encoder feedback pulse Related 37 F caushine User s M anual for EL5 Servo name digital filter setup mode Setrange 0 200 unit 0 05us Normal 0 default set To encoder feedback pulse do filtering eliminate the interference of the narrow pulse over large setup will influence motor high speed running and will bring larger delay time influence motor control performance 4 2 3 Classify 27 Vibrate Restrain Parameter 1st notch frequency Related name mode Setrange 50 20 unit H
19. 200 00 Parameter 2nd speed of speed setup Related name mode range 2000 unit r min default 0 200 00 Parameter 3rd speed of speed setup Related name mode Set range 2000 unit r min Normal 0 200 default set 00 Parameter 4th speed of speed setup Related name mode Set range 2000 unit r min Normal 0 200 default set 00 Parameter 5th speed of speed setup Related name mode Set range 2000 unit r min Normal 0 200 default set 00 Parameter 6th speed of speed setup Related name mode Set range 2000 unit r min Normal ALA AA AP User s M anual for EL5 Servo When analog speed given value under speed control mode less than zero speed clamp level setup 0 200 default set 00 Parameter 7th speed of speed setup Related name mode Setrange 2000 unit r min Normal 0 0 200 default set 00 Parameter 8th speed of speed setup Related name mode Setrange 2000 unit r min Normal 0 0 200 default set 00 Set up internal command speed 1st to 8th Parameter Acceleration time setup Related name mode Setrange 0 100 unit Ms 100 Normal 100 00 Or min default set Parameter Deceleration time setup Related name mode Setrange 0 100 unit Ms 100 Normal 100 00 Or min default set Parameter Sigmoid Related name acceleration decele
20. 3 PA_313 Decelerate time setting User specified millisecond 4 PA_314 Sword acceleration and User specified millisecond deceleration settings 5 PA_604 JOG test machine command User specified rpm velocity Figure 7 23 Parameter Setup of Position JOG Series parameter name Set value unit number 1 PA_001 Control mode setting 0 2 PA 312 Accelerate time setting User specified millisecond 3 PA 313 Decelerate time setting User specified millisecond 4 PA 314 S word acceleration and 0 millisecond deceleration settings 5 PA 604 JOG test machine command User specified rpm velocity 6 PA 620 Position run distance User specified 0 1 rotate 7 PA 621 Position run intermittent time User specified 0 millisecond 8 PA 622 Position run number of User specified times repetitions OG trial run operation process 1 First set the speed JOG or JOG all parameters corresponding to the position 2 Enter the EEPROM write mode to save the modified parameter values 3 After the success of the drive is written power off restart 4 Enter the auxiliary function mode under the HECHEH sub menu 5 Press ENT and you should display HHBHEH E 6 Press iskey one time without exception you should display Selden us for BE OOCL renewable press Button once it should be appeared Selden still shows EFE HIE please switch to the data monitoring mode deh sub menu find the cause of the motor does not rotate troubleshooting and
21. 5 input selection 10 SO 1 output selection 11 SO 2 output selection 12 SO 3 output selection 13 SO 4 output selection 22 Analog input 1 Al 1 offset setup 23 Analog input 1 Al 1 filter 28 Analog input 3 Al 3 offset setup 29 Analog input 3 Al 3 filter 31 Positioning complete range 32 Positioning complete output setup 33 INP hold time 34 Zero speed 35 Speed coincidence range 36 At speed 37 M echanical brake action at stalling setup 38 M echanical brake action at running setup 39 Brake release speed setup Classify5b 00 2nd numerator of electronic gear Extended 01 3rd numerator of electronic gear 26 User s M anual for EL5 Servo Setup 02 4th numerator of electronic gear 03 Denominator of pulse output division 06 Sequence at servo off 08 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 communication baud rate setup 30 RS485 communication baud rate setup 31 Axis address 35 Front panel lock setup Classify6 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 Trial running distance 21 Trial running wait time 22 Trial running cycle times 4 2 Parameter Function 4 2 1 ClassifyO J Basic Setup
22. Normal 0 default set Set up the time constant of 1st delay filter that determines the lag time behind the voltage applied to the analog input 1 Parameter Analog input 3 AI3 offset Related name setup mode Setrange 342 342 unit Normal 0 default set Set up the offset correction value applied to the voltage fed to the analog input 3 Parameter Analog input 3 AI3 filter Related name mode Set range 0 6400 unit 0 01ms Normal 0 default set Set up the time constant of 1st delay filter that determines the lag time behind the voltage applied to the analog input 3 Parameter Positioning complete range Related name mode Setrange 0 10000 unit Encoder Normal unit default set 10 Set up the timing of positional deviation at which the positioning complete signal INP1 is output Parameter Positioning complete output Related name setup mode Setrange 0 3 unit Comma Normal ndunit default set 10 Select the condition to output the positioning complete signal INP1 Setup value Action of positioning complete signal 0 The signal will turn on when the positional deviation is smaller than Pr4 31 positioning complete range 1 The signal will turn on when there is no position command and position deviation is smaller t
23. Numbe i 1 M atch wire 1 the input power terminals motor output power terminal check coding input terminal CN2 the control signal terminal CN1 JOG Test run and then from time to time communication 75 A Leadshine User s M anual for EL5 Servo terminal the CN4 JOG trial is running from time connected must be properly wired wiring must be solid 2 between the power input line between motor output line must not short circuit and PG ground short circuit 2 Power 1 logic power input r t must be within the rated range voltage 2 the main power input R S T must be within the rated check range 3 Fixed position 1 the motor and the drive must be firmly fixed check 4 No load 1 the motor shaft must not be with a mechanical load check 5 Control 1 all of the control switch must be placed in the OFF state signal 2 servo enable input Srv_on in the OFF state check 7 1 2 Power On Sequence Figure r t control power inner control power R S T main power BUS voltage Servo ready Servo on input Dynamic brake Motor power on BRK OFF Position velocity torque command off on off lt 0 5 second on off gt 0 millisecond gt on 0 8 second pza 2 ers second off on ix gt 0 millisecond ff I on 2 lt 10 millisecond off pid on lt 0 15 second off on lt 10 millisecond
24. PN off on 0 1 second no have 76 GJ caushine User s M anual for EL5 Servo 7 1 3 Fault Sequence Figure No fault Have fault lt 150ms No alarm alarm 7 2 Trial Run After installation and connection is completed first before turning on the power check the following items Power terminal wiring is correct reliable the input voltage is correct Power cord motor cable short circuit or ground The encoder cables connected correctly The control signal terminals are connected accurate Power polarity and the correct size The drive motor is fixed firmly M otor shaft is connected to the load 7 2 1 Jog Control Notice JOGtrial run before you do the pre operational inspection Jog control that JOG control This control mode users may access the control signal terminal the CN1 and communication terminal CN4 For security reasons JOG control at low speed is recommended this mode the motor will set the parameters to do the moves accordingly JOG control is divided into two kinds speed JOG mode and location JOG way Figure 7 2 Parameter Setup of Velocity JOG Series parameter name Set value unit number 1 PA_001 Control mode setting 1 TI A Leadshine User s M anual for EL5 Servo 2 PA_312 Accelerate time setting User specified millisecond
25. and Processing eene en i Aa ener nre 53 54 NEM UR 53 5 2 Alarm Processing Method 5 aeter tete rere xir ENTER HE Fe Ee E LOIRE Ro 54 Chapter o Display and Operation i e roter teri cos frere tos Ferr etc ir rer eta Fe He Ee eI 62 6 1 ouo t eiTe RR aA a aa 62 A Leadshine User s M anual for EL5 Servo 6 2 Panel Display and Panel Operation eese nennen 63 Chapter 7 Power On Run deutet cause CEPR eT RR HE DRE aae a EE EE CTS RR Teig de 75 7 1 Inspection Before Run uicec etie epi aep HH aiai iaee ninie 75 T Inal R N ase ett Rete RR Hebe XR Rete E KA o REESE EUR Re REX REESE ARE ER eR rand ge 77 7 3 Automatic Control Mode Run essent eerte nennen nentes 84 TIA Torque MOde ine repite P REIR FO eR E vedosvavedecaveovaszeates 91 Chapter Product Speciti Cation iis eerie ite etr rto tete Spr eret re i e e en e eee etn 94 8 1 Driver Technical Specification essen eene nennen 94 Chapter 9 Order Guidance ette eet tenete eene rn ee ev Eee v vedere rae 95 9 1 Capacity Selection ederet ette Pr e eder ee ex dO EAS ER ed eta Ere a iS 95 9 2 Blectromc Gear Ratio rtr trn rr uer ERES D ERE OUR TEETH P dos evs 96 LS Evinilgulicc ER 96 Contact B a 97 F caushine User s M anual for EL5 Servo Chapter 1 Introduction 1 1 Production Introduction AC servo technically c
26. command input gain Please refer to 92 A Leadshine User s M anual for EL5 Servo chapter 4 content 4 PA_320 Torque command input convert Please refer to chapter 4 content 5 PA_422 Analog input 1 Al 1 zero drift setting Please refer to chapter 4 content 6 PA 423 Analog input 1 AI 1 filter Please refer to chapter 4 content 7 PA 428 Analog input 3 Al 3 zero drift setting Please refer to chapter 4 content 8 PA 429 Analog input 3 Al 3 filter Please refer to chapter 4 content 2 Speed limit function Figure 7 22 Parameter Setup of Speed Limit Function Series number Parameter Name Setup method 1 PA 321 Speed limit value 1 Please refer to chapter 4 content 2 PA 322 Speed limit value 2 Please refer to chapter 4 content 3 PA 315 Zero clamp function selection Please refer to chapter 4 content 4 PA 302 Speed command input gain Please refer to chapter 4 content 5 PA 422 Analog input 1 Al 1 offset setup Please refer to chapter 4 content 6 PA 423 Analog input 1 AI 1 filter Please refer to chapter 4 content 3 SI SO function set 93 A Leadshine User s M anual for EL5 Servo Chapter 8 Product Specification Notice Servo driver must be shop match servo motor this manual according to shenzhen Leadshine ACH series servo motor describe user need shop other manufacturers servo motor please explain when
27. gain when the absolute value of the torque command was kept below level hysteresis previously during delay time with the 2nd gain 35 A Leadshine User s M anual for EL5 Servo reserve reserve Speed command is large Valid for position and speed controls 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 Position deviation is large Valid for position control 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 absolute value of the 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 with position command Valid for position control Shift to the 2nd gain when the positional command was not 0 previously with the 1st gain Return to the 1st gain when the positional command was kept 0 previously during delay time with the 2nd gain Not in positioning complete Valid for position control Shift to the 2nd gain when the positioning was not completed previously wi
28. load rate Hc 15 d15 oL Load rate oL xxx daa 16 d16 rt Ratio of inertia XXX clIBYFE 17 d17 ch No rotate CP xxx reason d H ch 18 d18ict Output input n xxx signal change d lic frequency 65 A Leadshine User s M anual for EL5 Servo 19 d19 XXXX oY 20 d20Abs Absolute type pulse Low bit L xxxx encoder data HEBREE High bit H xxxx 21 d21AES Absolute pulse Low bit L Xxxx feedback High bit H Xxxx C grating ruler de RES position 22 d22rEc Encoder times n XXX communication 4 abnormal times dc BHEE monitor 23 d23 id Communication 4j id xxx shaft address dc d d Fr xxx 24 d24PEP Encoder pulse Low bit L Xxxx position HEHPEF High bit H xxx deviation 25 d25PFE Feedback pulse Low bit L Xxxx grating ruler HESPFE High bit H xxxx deviation 26 d26hyb Mixed deviation pulse Low bit L xxxx 27 d27 Pn Voltage 4j V U XXX between PN dE H Fn 28 d28 no Software I d XXX version deH na E ge p xxx 29 d29ASE Driver made n XXX etsy HE JHSE 30 d30NSE M otor made Low bit L Xxxx number daBHSE High bit H xxx 3l d31tE Cumulative a Low bit L Xxxx H HH HE H a Hu 771 working time High bit H xxxx 32 d32Aud Motor ro xxx automatic d3ehucd identification 33 d33Ath Driver C th xxx temperature dddHER 34 d
29. oF3 a Display Modify parameter valueawy parameter value tM A i ENT EE Wwrile T Ready write Write mode M Figure 6 2 Panel Operation Flow Figure 1 The drive power is turned on the displayer display first sign BBA fo about one 63 A Leadshine User s M anual for EL5 Servo second Then if the drive is no abnormal alarm enter data monitoring mode display initial monitoring parameter values otherwise display abnormal alarm code 2 Press the M key to switch the data monitor mode gt parameter setting mode gt auxiliary function mode gt EEPROM write mode 3 When new abnormal alarm occurs in any mode will immediately switch to the abnormal alarm display mode press the M key to switch to the other mode 4 In the data monitor mode byA or V key select the type of parameters to be monitored Press ENT to enter the parameter type by selecting parameter values for the high four H or low 4 L 5 In the parameter setting mode by selecting parameters No edit bit by or keyto change the parameter No editing bit numerical size Press the ENT key to enter the parameters of the serial numbers of the corresponding parameter value setting mode Edit parameter values this bit of editing by selecting parameter values byor key to change the parameter
30. shop 8 1 Driver Technical Specification Figure 8 1 Driver Specification List Parameter EL5 0400 EL5 0750 EL5 1000 EL5 1500 Rated output power 400W 750W 1KW 1 5KW Rated output current 2 3 7 5 7 5 M ax output current 8 5 16 22 25 M ain power Single phase or three phase 220V 15 10 50 60HZ Control power Single phase 220V 15 10 Control mode IGBT SVPWM sinusoidal wave control Feedback mode 2500P R incremental encoder Input pulse 0 500kHZ 5V different Adjust speed ratio 30000 1 Position bandwidth 200HZ Electronic gear ratio 1 32767 1 32767 Analog input 10 10Vdc input resistor 20KQ no isolation Speed bandwidth 500HZ Input signal Servo enable positive limit negative limit zero speed clamping analog quantity Output signal Alarm output arrive position output Encoder signal output A phase B phase Z phase long distance drive mode output Alarm function Over voltage low voltage over current over load default phase encoder fault position deviation brake alarm limit alarm over speed fault etc Operation and display Five button may jog trapezoidal wave test also may each loop parameter and input output signal effect level modify and save six bit LED may display rotate speed current position error driver type version and address ID value etc Debug software By ACH Series can adjust the current loop
31. the position ofthe ring speed ring of various parameters to change the input and output signals effective electric calm motor parameters and parameter import export can document form convenient drive and different motor or a different load of the match monitoring in the ladder The wave test run speed 94 F caushine User s M anual for EL5 Servo position error waveform Communication RS 232 1 1 communication RS485 1 N 0 lt N lt 63 M odbus agreement interface Brake mode Built in brake 500 50W Adapt load inertia Less than motor inertia five times weight 1 9Kg size 225 149 75mm Environment Avoid dust oil fog and corrosive gases Ambient Temp Oto 40 C use environment Humidity 40 RH to 9096RH no condensation Vibration 5 9 m s2 MAX Storage Temperature 20 80 C install Vertical install Chapter 9 Order Guidance 9 1 Capacity Selection To determine the capacity of servo system we must consider the load inertia load torque the positioning accuracy the requirements of the highest speed proposal according to the following procedure 1 Calculate Load Inertia and Torque Refer to relative information calculate load inertia load torque acceleration deceleration torque effect torque as the next step basis 2 Initially Identified the M echanical Gear Ratio According to the maximum speed and the highest speed of the motor calculates the maximum mechanical r
32. value the value of the current editing bit size Parameter value changes are complete press ENT the parameter values will be saved and the selection interface returns to the parameters of the serial number 6 2 2 Driver Operating Data M onitor Figure 6 2 Driver Monitor Function List Serial Name Specification Display Unit Data Format x y is Number numerical value BIEN MI Is deviation 1 d01SPd M otor speed dg SpE r min rxxxx 2 d02cSP aun HEESE r min rxxxx speed 3 d03cuL a oo BEEBHE r min rxxxx 4 dO4trq psu Ade E g r XXxx 5 d05nPS deas pulse Hogares pulse AEN 6 dO6cPS a pulse SAIBEES pulse etel E pna 8 dO8FPS External grati Low bit L xxx sees angers wt mre 64 A Leadshine User s M anual for EL5 Servo feedback pulse total 9 dO9cnt Control mode Position ciddenE Paene Speed gFAEnE Torque ErFHBRE Composite mode EHE 10 d10lo Output input IHgal Input InOx y signal state a o x interface series number arbitrary value betweenl 8 y invalid valid A output otOx y x interface series number arbitrary value between1 8 y invalid valid A 11 d11Ain Analog input AHA V X yyyy value a X AI1 A Al2 b Al3 C 12 d12Err Error reason IDE Er XXX and history z EE record 13 d13rn Alarm number m xxx HHAHEH 14 d14r9 Regeneration IH g rg XXX
33. 2 _ UO QR VO wO E PE in Encoder Output 10V to 10V input Single end 10V to 10V input Differential F caushine User s M anual for EL5 Servo 3 2 Driver Terminals Function 3 2 1 Control Signal Port CN1 Terminal The left in Figure 3 3 servo drive control signal port CN1 DB44 connectors drive side socket connection plug for the hole type with the controller side needle Figure 3 3 right side of the top to bottom of the SI input of the switch the switch SO outputs analog A1 input the A3 input CN Shell grounding COM ee O68 wmx gt H asl 3 COM 4 7K O I Rz 2 SI 7 18 SI input O 3 PUF SOL a X o9 RISO 20 OX 3 DRF ee sO 6 output o 36 803 E REF O 5V AII of Se amp 23 A gt T amp SB f O 3 A 20K 6 gt To 8H O 39 AN AGND O 25 Bt gs xm a 16 B H5VA A1 input oO 16 O T7 ZF AGND HREF oH S9 AB 0 28 7z I5VA a o3 S7 7 gt 29 OCZ 20K 6 O14 SIS 44 AB oH AD Oe CN1 control f interface A3 input Figure 3 3 Servo Driver Port Terminal Layout Figure3 1 Control Signal Port CN1 Signal Explain Subscript Signal Input output Name and Explain 1 COM input Public power supply positive terminal of the external input control signal 12V 24V 2 S input Digital input signal 1 d
34. 34 I to XXX ogy 35 d35 SF Safe state XXXXXX m T monitor dds JF 66 A Leadshine User s M anual for EL5 Servo Figure 6 3 d17 ch Motor No Rotate Reason Code Definition Code Display Specification Content Code 1 Bus voltage over low EF 2 No enabled signal COM noconnect servo conduct HHHHHE 3 POT NOT input valid PA 504 0 POT is open circuit speed p j command positive direction k NOT is open circuit speed command negative direction 4 Driver fault EEEBER 6 Pulse input prohibit INH PA 518 0 INH is open circuit BEBE 8 p g CL is valid PA 517 0 deviation counter reset connect to COM 9 p q Zero speed clamping is valid PA_315 1 Zero speed clamping input is W open circuit 6 2 3 System Parameter Setup Interface Figure 6 4 System Parameter Setup Interface Classify Series Number Name Display Code 0 01 Control mode setting FASE 0 02 Set real time automatic adjust PROBE LLIC 0 03 Real time automatic adjust mechanic rigid setting FH HS 0 04 Ratio of inertia PH ggg 0 06 Command pulse polar setting PEIGDIBE Li 0 07 Command pulse input mode setting FRZBEH 0 09 The first command divide double l frequency molecule FH HE 0 10 command divide double frequency denominator FH BHB 67 Leadshine User s M anual for EL5 Servo 11 Encoder p
35. 4 2nd gain setup 15 Control switching mode 17 Control switching level 18 Control switch hysteresis 19 Gain switching time 35 Position command filter setup 36 Encoder feedback pulse digital filter setup Classify2 00 Self adaption filter mode setup Vibrate 01 1st notch frequency Restrain 02 1st notch width select Function 03 1st notch depth select 04 2nd notch frequency 05 2nd notch width select 06 2nd notch depth select 22 Position command smooth filter 23 Position command FIR filter Classify3 00 Velocity setup internal and external switching Speed 01 Speed command direction appoint select 25 A Leadshine User s M anual for EL5 Servo Torque 02 Speed command input gain Control 03 Speed command input reversal 04 Ist speed setup 05 2nd speed setup 06 3rd speed setup 07 Ath 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 16 Zero clamp level 18 Torque command direction selection 19 Torque command input gain 20 Torque command input reversal 21 Speed limit value 1 24 Motor rotate maximum speed Classify4 00 SI 1 input selection I F Monitor 01 SI 2 input selection Setting 02 SI 3 input selection 03 SI 4 input selection 04 SI
36. CN1 Terminal eese 17 3 2 2 Encoder Input Port CN2 Terminal eese 19 3 2 3 Communication Port sas 2 eter IRISH ED RE SEEN EEA E ARE Creo EA Rea E eo 19 SDA POWEP DOE sostituire testate E DE Er EU D ei Uds 20 3 3 VO Interface Principle erret ttr htec rte ari RR ern AR an UE Een EEES 21 3 3 1 Switch Value Input Interface eese nennen nenne 21 3 3 2 Switch Value Output Interface eese nnne nennen nnns 21 3 3 3 Pulse Value Input Interface fe rr ee e rp rere 22 3 3 4 Analog Value Input Interface reserve seesseseeeeeeeeeeerenen 23 3 3 5 Servo Motor Photo Electricity Encoder Input Interface eects 24 Chapter 4 Parameters s cessieisivesivsssvestsdsivesa sauvesi eod DO DUE E ONVQ HP ERES EH ERI DRE ava doasuvasieites 24 iris ae p 24 D Parameter PUNCHON m 27 4 2 1 Classify0 Basic SODUMdusnssueseiuicadenituxu dime podra teer dui vr 27 4 2 2 Classify 1 Gain Adjust NE E o S TTL 32 423 Classify 2 Vibrate Restrsbiliocseseeesmestetonibenb akin abit ege rait nd Po a eg 38 4 2 4 Classify 3 Velocity Torque Control sees 39 4 2 5 Classify 4 UE Monitor Settiiososoie m prb uU NET QI SRI M ETE MN GIM Y 43 4 2 6 Classify 5 Extended Setup saiscssccestnssvartucsnccs dans mnnpabiseneneteaauattonsavemsdensuapebancanibons 48 4 2 7 Classify 6 Special BED cqstepnitatiss iced nue dip dac etico unt bU 51 Chapter 5 Alarm
37. Default Set You can set up the time constant of the 1st delay filter inserted in the torque command portion You might expect suppression of oscillation caused by distortion resonance Pr106 Parameter Parameter 2nd Gain of Position Loop Related Name Mode Set Range 0 300 Unit 0 75s Normal 380 00 Default Set 2nd Velocity Loop Gain Related C 33 F caushine User s M anual for EL5 Servo Name Mode Set Range 0 327 Unit 0 1HZ Normal 180 67 Default Set Parameter 2nd Velocity Loop Related Name Integration Time Constant Mode Set Range 0 100 Unit 0 1ms Normal 10000 00 Default Set Parameter 2nd Velocity Detection Related Name Filter Mode Set Range 0 31 Unit Normal 15 Default Set Parameter 2nd Torque Filter Related Name Mode Set Range 0 250 Unit 0 01ms Normal 126 0 Default Set Position loop velocity loop velocity detection filter torque command filter have their 2 pairs of gain or time constant Parameter Speed Feed Forward Related Name Constant Gain Mode Set Range 0 100 Unit 0 10 Normal 300 0 Default Set Multiply the speed 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 po
38. Srv_on and drive motor check whether over current change new driver IGBT module low voltage fault change new driver Control parameter set abnormal Parameter set whether Parameter adjust to properly beyond limit range Control command set abnormal Check control command whether change too violent Adjust control command open filter Display EEHBFB Content driver over hot 57 A Leadshine User s M anual for EL5 Servo Error reason Error check Error process Driver power temperature beyond upper limit Check driver radiator temperature whether over high Strengthen cooling conditions promote driver motor capacity enlarge accelerate decelerate time reduce load Error reason Display BEBE Content motor over load Error check Error process Load over weight Check actual load whether beyond parameter set maximum load Decrease load adjust limit parameter Motor encoder wiring error Check motor encoder wiring Adjust wiring change whether error whether break encoder motor line electromagnetic brake action Check brake terminal voltage Cut off brake Error reason Display ECE over load Content Resistance discharge circuit Error check Error process Recovered energy beyond discharge limit Motor rotate speed whether over quick loa
39. User s M anual for EL5 Servo User s Manual for EL5 Servo F caushine User s M anual for EL5 Servo Introduction Thank you for purchasing Leadshine EL5 0750 AC servo drivers this instruction manual provide knowledge and notes of using this driver Operation incorrect can arise intention fault before use this system please read this manual carefully We reserve the right to modify equipment and documentation without prior notice The customer s any modify to product our company don t undertake any responsibility the product guarantee list will be cancel The following symbols are used throughout this document to draw attention to important operating inform AN Warning The error operation maybe arise the disastrous consequence die or series injury A Caution The error operation maybe makes operation worker injury also make equipment damage AN Notice The error use maybe damage product and equipment Safety Rule Warning Thisproduct design and product doesn t use in mechanic and system which to man body have injury When the user mechanic and system select this product must be considering the safeguarding measure prevent because of incorrect operation or this product abnormal accident Check and Acceptance Caution Theproduct of damage or have default don t come into use Transpo
40. Z Normal 2000 00 default set Set the center frequency of the 1st notch filter Ro the notch filter function will be invalidated by setting up this parameter to 2000 Parameter 1st notch width selection Related name mode Setrange 0 20 unit Normal default set Set the width of notch at the center frequency of the 1st notch filter AoE Higher the setup larger the notch width you can obtain Use with default setup in normal operation Parameter 1st notch depth selection Related name mode Setrange 0 99 unit Normal 0 default set Set the depth of notch at the center frequency of the 1st notch filter Mote Higher the setup shallower the notch depth and smaller the phase delay you can obtain Parameter 2nd notch frequency Related name mode Setrange 50 20 unit HZ Normal 2000 00 default set Set the center frequency of the 2nd notch filter Mo the notch filter function will be invalidated by setting up this parameter to 2000 Parameter 2nd notch width selection Related name mode Setrange 0 20 unit Normal 2 l 38 User s M anual for EL5 Servo default set Set the width of notch at the center frequency of the 2nd notch filter Aot Higher the setup larger the notch width you can obtain Use with default setup in normal operation
41. adshine User s M anual for EL5 Servo You do the pre operational inspection before torque control trial run Figure 7 6 Parameter Setup of Torque Control Series Parameter Name Corresponding Setup value Unit number input symbols 1 PA_001 Control mode 2 setup 2 PA 312 Acceleration time User specified millisecond setup 3 PA 313 Deceleration time User specified millisecond setup 4 PA 314 Sigmoid User specified millisecond acceleration decel eration time setup 5 PA_504 Driver prohibit 1 input setup 6 PA 315 Zero clamp 0 function selection 7 PA 317 Torque setup 0 internal external switching 8 PA_319 Torquecommand User specified 0 1V 100 direction input gain 9 PA 320 Torque setup input User specified reversal 10 PA_321 Speed limit value 1 User specified R min 13 PA_400 SI1 input selection Srv on hex 0300 11 PA_422 Analog input I AI1 User specified 0 359mv offset setup 12 PA 423 Analog input I Al1 User specified 0 01ms filter Wiring Figure 1 DC12 24V COMt pum 2 Srv on 83 GJ caushine User s M anual for EL5 Servo Single direction ratation Lus a DC1OV 39 All 41 GNDISVA Operation Steps 1 Connection control IO terminal CN1 2 According to the requirements of access control IO power supply
42. appened the equipment can stop run immediately the power cut off immediately Before reset a alarm must be confirm run signal have cut off otherwise will start again suddenly Theservo driver must be use match with specified motor Dort on and off servo system power frequently prevent damage system After servo driver and servo motor run continuous will be hot within some time after run and power off can t touch the driver radiator and resistor May not remake the servo system Fault Processing F caushine User s M anual for EL5 Servo Waring Evenifafterthe servo driver power off the high voltage also will keep some time within five minutes after power off please don t touch terminal strip Theworker who participate in remove and maintain must be provided with relevant professional knowledge and job ability Caution After when there is alarm must be eliminate fault cause before restart reset alarm signal When power on again after momentary interruption should be far away mechanical because the mechanical may be start suddenly the design of the mechanical should be assure it doesn t arise dangerous when restart System Matching Notice Theservo motor rate torque more high than effect continues load torque The ratio of load inertia and servo motor inertia should be smal
43. arry Out Speed Control Series number parameter name Setup method 1 PA 300 Velocity setting inside Please refer to and outside switch chapter 4 content 2 PA 301 Speed command Please refer to direction appoint chapter 4 content select 3 PA 304 Speed settingthe first Please refer to speed chapter 4 content 4 PA 305 Speed setting the Please refer to Second speed chapter 4 content 5 PA 306 Speed setting the Please refer to third speed chapter 4 content 6 PA 307 Speed setting the Please refer to fourth speed chapter 4 content 7 PA 308 Speed setting the fifth Please refer to speed chapter 4 content 8 PA 309 Speed setting the Please refer to sixth speed chapter 4 content 9 PA 310 Speed setting the Please refer to seventh speed chapter 4 content 10 PA 311 Speed setting the Please refer to eighth speed chapter 4 content 3 Zero speed clamping ZEROSPD Figure 7 17 Parameter Setup of Zero speed Clamp Series number parameter name Setup method 1 PA 315 Zero clamping Please refer to function select chapter 4 content 2 PA 316 Zero clamping level Please refer to chapter 4 content 4 Speed arrive output AT SPEED Figure 7 18 Parameter Setup of Speed Arrival Output Series number Parameter Name Setup method 90 User s M anual for EL5 Servo Destination speed Please refer to chapter 4 content 5 Speed consistent output V COIN Figure 7 19 Pa
44. ata to be displayed on the front panel LED 7 segment at the initial status after power on Setup content Setup content Setup content value value value 0 Positional command 12 Error factor and 24 Encoder positional deviation reference of history deviation encoder unit 1 M otor speed 13 Alarm display 25 External scale deviation external scale unit 2 Positional command 14 Regenerative load 26 Hybrid speed factor deviation command unit 3 Velocity control 15 Over load factor 27 Voltage across PN command V Torque command 16 Inertia ratio 28 Software version 5 Feedback pulse sum 17 Factor of no motor 29 Driver serial number running 6 Command pulse sum 18 No of changes in 30 M otor serial number 1 0 signals 8 External scale 20 Absolute encoder 31 Accumulated feedback pulse sum data operation time 9 Control mode 21 Absolute external 32 Automatic motor scale position recognizing function 10 I O signal status 22 No of 33 Temperature encoder external information scale communication errors monitor 11 Analog input value 23 Communication axis 36 Safety condition address monitor Parameter baud rate setup of RS232 Related name communication mode Setrange 0 6 unit Normal 4 default set You can set up the communication speed of RS232 Pr5 30 Parameter baud rate setup of RS485 Related a ae 50 A Leadshine User s M anual for EL5 Servo
45. ault set 131586 Parameter SO3 output selection Related name mode Setrange 0 O0FFFFFFh unit Normal 00010101h default set 65793 Parameter SO4 output selection Related name mode Setrange 0 OOFFFFFFh unit Normal 00050504h default set 328964 Assign functions to SO1 outputs 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 This parameter use 16 binary system do setup as following Signal name symbol Setup value Invalid 00h Alarm output Alm Olh Servo Ready output S RDY 02h Eternal brake release signal BRK OFF 03h Positioning complete output INP 04h At speed output AT SPPED 05h Zero speed detection output ZSP 07h Velocity coincidence output V COIN 08h Positional command ON OFF output P CMD OBh Speed command ON OFF output V CMD OFh Pr4 22 Parameter Analog input 1 AI1 offset Related M A Leadshine User s M anual for EL5 Servo Ch name setup mode Setrange 5578 5578 unit Normal 0 default set Set up the offset correction value applied to the voltage fed to the analog input 1 z Parameter Analog input 1 AI1 filter Related name mode Setrange 0 6400 unit 0 01ms
46. chapter 4 content 2 PA 519 Command pulse prohibit input read Please refer to setup chapter 4 content 7 3 3 Velocity Mode Velocity mode is applied in accuracy control speed occasion 88 A Leadshine User s M anual for EL5 Servo 1 phase or 3 phase 220VAC NEN Circuit Braker Magnetic Contactor CN1 COM 1 12 24V Speed control mode relevance parameter set EE 1 Through analog speed command carry out speed control Encoder Output AGND CHZ AIl AGN 10V to 10V input D Single end A3I 10V to 10V input A3I Differential RS232 Figure 7 15 Parameter Setup of Analog Speed Command Carry Out Speed Control Series number Parameter Name Setup method 1 PA 300 Velocity setting inside Please refer to and outside switch chapter 4 content 2 PA 301 Speed command Please refer to direction appoint chapter 4 content select 89 F caushine User s M anual for EL5 Servo 3 PA 302 Speed command Please refer to input gain chapter 4 content 4 PA 303 Speed command Please refer to input reverse chapter 4 content 5 PA 422 Analog input 1 AI 1 Please refer to zero drift setting chapter 4 content 6 PA 423 Analog input 1 AI 1 Please refer to filter chapter 4 content 2 Through inner speed command carry out speed control Figure 7 16 Parameter Setup of Internal Speed Commands C
47. cumulated in the position deviation counter it has the following relationship between with the command pulse frequency electronic gear ratio and position proportional gain FxG Kip E In the middle of formula E lag pulse pulse F command pulse frequency Hz Kip position proportional gain 1 S G electronic gear ratio Note The above relationship is in the position feed forward gain of 0 conditions if the position feed forward gain 2096 the lag pulse is smaller than the calculated value of above formula 96 A Leadshine User s M anual for EL5 Servo Contact Us China Headquarters Address 3 F Block 2 Nanyou Tianan Industrial Park Nanshan District Shenzhen China Web http www leadshine com Sales Hot Line Tel 86 755 2641 7674 for Asia Australia Africa areas 86 755 2640 9254 for Europe areas 86 755 2641 7617 for 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 M auchly 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 97
48. d inertia whether Decrease motor speed decrease load over large inertia increase External regeneration resistance improve driver motor capacity Discharge circuit damage I Increase External regeneration resistance change new driver Display Er ISH Content encoder break line 58 A Leadshine User s M anual for EL5 Servo Error reason Error check Error process Encoder break line Encoder whether wiring Fastness encoder wiring fastness Encoder wiring error Encoder wiring whether correct Correct encoder wiring error Encoder damage Change new motor Encoder measuring circuit Change new motor Display Er Ig Content encoder initialize position error whether damage encoder cable shielded line whether connect good encoder cable whether intertwined together with strong wire Error reason Error check Error process Communication data abnormal Encoder power voltage whether Ensure encoder power DC5V 596 encoder cable voltage normal ensure encoder cable intact ensure encoder cable shielded line contact good with FG ground ensure encoder cable separate wiring with strong wire Encoder damage Change new motor Encoder measuring circuit Change new motor IA Display E Content encoder data error whether damage encoder cable s
49. direction F caushine User s M anual for EL5 Servo Chapter 3 Wiring Warning The workers of participation in connect wiring or check must be possess sufficient ability do this job The wiring and check must be going on after five minutes in power off caution Must be according to terminal voltage and polar wiring prevent equipment damage or worker injury Driver and servo motor must be connect ground good 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 5mm2 AWG14 16 r t terminal diameter 2 1 0 mm2 AWG16 18 e Ground The ground wire should be as thick as possible drive servo motor the PE terminal point ground ground resistance 100 e Proposed by the three phase isolation transformer power supply to reduce the possibility of electrical burns people Recommend power by the noise filter supply improve the anti jamming capability e Installation fuse NFB breaker promptly cut off the external power supply drive failure 2 The control signal CN1 feedback signal CN2 e Diameter shielded cable the best selection of shield cable the diameter gt 0 12mm2 AW G24 26 the shield should be connected to FG terminal e Length of line cable length as short as possible and not more than 3 meters control CN1 cable the CN2 cable length of the feedback signal is not more t
50. direction torque compensation e FREBEB 6 09 negative direction torque E compensation value FH BEH 6 20 Test run distance m FHZBEH 6 21 Test run wait time FHSBEH 6 22 Test run cycle times ae FHZBEE 6 2 4 Auxiliary Function Figure 6 5 System parameter setting interface Series Name Specification Display Code Operation Flow Number 0 AF jog Motor test run Please refer to test running REE J69 chapter content 1 AF Inl Recovery factory l press ENT button enter parameters operation display IE Cn HE Fnl 2 press A button one time display HABE in dication initial after finish 72 A Leadshine User s M anual for EL5 Servo display E I1 ISH 2 AF unL Front panel release HEAL 1 press ENT button enter operation display Link Ci 2 press A button one Cc time display F iRHEH indication unlock success 3 AF AcL Alarm clear HECREE 3 press ENT button enter operation display HELL Li press A button one C time display F i ISB in dication alarm clear success 4 AF_oF1 All zero drift correct HECBEH 1 press ENT button enter operation display EIE HSH 2 press A button one time display SEHFE in dication start correct then Bp display E In ISIE indicatio n correct finished 5 AF oF2 AI2 zero drift correct HECHEE l press ENT button enter operation Sood display HFE S 2 press A button one
51. e 0 500 Unit Normal 300 Default Set You can set up the limit value of the motor output torque as motor rate current the value can t beyond driver max output current 31 F caushine User s M anual for EL5 Servo Parameter Position Deviation Excess Related Name Setup Mode Set Range 0 500 Unit 0 1rev Normal 200 Default Set Adopt encoder pulse as unit if setup over small will appear fault Err24 0 Position deviation over large abnormal detection 4 2 2 Classify 1 J Gain Adjust Parameter 1st Gain of Position Loop Related Name Mode Set Range 0 30000 Unit 0 1 s Normal 320 Default Set 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 Parameter 1st Gain of Velocity Loop Related Name Mode Set Range 0 32767 Unit 0 1Hz Normal 180 Default Set 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 NGTEEWhen the inertia ratio of Pr0 04 is set correctly the setup unit of Pr1 01 becomes HZ Parameter 1s
52. e 1 2500 Unit P r Normal 2500 Default Set Set encoder divide frequency output resolution Parameter Pulse Output Divide Related Name Frequency Denominator Mode Set Range 1 2500 Unit Normal 2500 Default Set Pr0 11 motor output pulse rotate 1 and Pr5 03 pulse output divide frequency denominator A Leadshine User s M anual for EL5 Servo encoder pulse Pr0 11set value output pulse Pr5 03 set value Pulse output resolution after divide double frequency 4 times PrO 11 pulse output divide frequency molecule Pulse output resolution encoder x4x Pr5 03 pulse output divide frequency denominator Parameter Pulse Output Logic Reversal Related Name Mode Set Range 0 2 Unit Normal 0 Default Set 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 encoder pulse output logic reversal Pr0 12 B phase Logic CCW Direction Rotation CW Direction Rotation 0 Non Reversal A phase A phase gs NN B phase B phase 1 Reversal A phase A phase LJ LJ B phase B phase Parameter 1st Torque Limit Related Name Mode Set Rang
53. e idle Parameter LV trip selection at main Related name power OFF mode Set range 0 1 unit Normal 1 default set You can select whether or not to activate Err13 1 main power under voltage protection function while the main shutoff continues for the setup of Pr5 09 The main power OFF detection time Parameter The main power OFF Related name detection time mode Set range 70 2000 unit 1ms Normal 70 default set 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 Parameter Over speed level setup Related name mode Setrange 0 20000 unit r min Normal 0 default set If the motor speed exceeds this setup value Err1A 0 over speed protect occurs The over speed level becomes 1 2 times of the motor max speed by setting up this to 0 Parameter I F reading filter Related name mode Setrange 0 255 unit 0 1ms Normal 0 default set I O input digital filtering higher setup will arise control delay 49 A Leadshine User s M anual for EL5 Servo Parameter LED initial status Related name mode Set range 0 35 unit Normal default set You can select the type of d
54. eduction ratio with it and minimum turning unit of motor account whether or not meet the requirements of the smallest position unit if the position precision is high can increase the mechanical reduction ratio the actual maximum speed reducing or selection of higher speed motor 3 Calculate Inertia and Torque M echanical reduction ratio of the load inertia and load torque is converted to the motor shaft inertia is calculated shall be not more than 5 times the motor inertia effective torque load torque calculated should not exceed the rated torque of motor If not meet the above 95 A Leadshine User s M anual for EL5 Servo requirements can be taken to increase the mechanical reduction ratio the actual maximum speed reducing or selection of larger capacity motor 9 2 Electronic Gear Ratio Speed control mode the actual load speed 2command pulse velocityx G xmechanical reduction ratio Position control mode the actual load minimum displacement 2 minimum command pulse travel xG xmechanical reduction ratio Note J when the electronic gear ratio of G is not 1 gear ratio division may have the remainder then there will be the position deviation the maximum deviation is the minimum amount of rotation of the motor minimum resolution 9 3 Stop Feature Position control mode with the pulse series control servo motor there is a difference value between command pulse and feedback called lag pulse this value ac
55. efault active low maximum User s M anual for EL5 Servo input 24V 3 PUL input Enter the positive and negative terminals 4 PUL input respectively for pulse TTL level 5V the rising edge of default Effect 5 DIR input 6 DIR input Respectively the direction of the input to the positive terminal and a negative terminal TTL level 5V default optocoupler deadline Asa positive direction 7 SI2 input Digital input signal 2 default low level is effect M aximum input 24V 8 SI3 input Digital input signal 3 default low level is effect M aximum input 24V 9 S14 input Digital input signal 4 default low level is effect M aximum input 24V 10 SI5 input Digital input signal 5 default low level is effect M aximum input 24V 11 SI6 input Digital input signal 6 default low level is effect M aximum input 24V 12 SI9 input Digital input signal 9 default low level is effect Maximum input 24V 13 S7 input Digital input signal 7 default low level is effect M aximum input 24V 14 SI8 input Digital input signal 8 default low level is effect M aximum input 24V 22 45V output Reserve encoder signal output 45V 23 A output Motor encoder A phase positive negative different 24 A output output terminal 25 B output M otor encoder B phase positive negative different 26 B output output terminal 2 Z output M otor encoder Z phase positive negative different 28 Z output outp
56. elect paggegg 04 The second notch frequency PHIGBEH 05 The second notch width select PHEBES 06 The second notch depth select PAgegE 22 Position command smooth filter FHIEBEE 23 Position command FIR filter PHIGBEH 00 bets setting inside and outside Paring i er 0 heroes command direction appointed PEIESEH 02 Velocity command input gain PHIEEBE 03 Velocity command input reverse pAggga 04 Velocity setting the first velocity PASSA 05 Velocity setting the second velocity PHOEBE 06 Velocity setting the third velocity FHIEHER 07 Velocity setting the fourth velocity PHOEBE 08 Velocity setting the fifth velocity FHIEHEH 69 Leadshine User s M anual for EL5 Servo 09 Velocity setting the sixth velocity PASSES 10 Velocity setting the seventh velocity PHESHEH 11 Velocity setting the eighth velocity PEE IH 12 Accelerate time setting PHIEHHE 13 Decelerate time setting FH Jg Ig 14 S word accelerate decelerate Settings AA IH 15 ins FREgHS 16 Zero speed clamping grade PHE g IE 17 ai setting inside and outside PHESHH 18 eun command direction appointed PHESHH 19 torque command input gain PHE g Ig 20 Torque command input conversion PEESPH 21 Speed limit value 1 FRE gg 24 Motor max speed pagagg 00 SI1 input select PH H HE 01 SI2 input select PH H dE 02 SI3 input select PH H ogg 03 SI4 input select PH H dE J 04 SI5 input select PH H ggg 10 SO1 o
57. election Vc Sign hex 1200 wiring Figure 81 F caushine User s M anual for EL5 Servo 1 DC12 24V_ COMH NM 2 Srv on 7 ZeroSpd 8 IntSpd1 9 IntSpd2 10 IntSpd3 11 Ve Sign Single direction ratation cL DC10V 39 All Al IGNDISVAI Operation steps 1 Connection control IO terminal CN1 2 According to the requirements of access control IO power the COM and COM 3 Turned on the power to the drive 4 According to the requirements of the parameters set need to set the parameters see the list and written to the EEPROM the drive is powered down to restart 5 Turned Srv on the motor enters the excitation state 6 Switched ZeroSpd analog speed command input All and AGND voltage voltage from OV gradually increased to confirm the condition of the motor rotation 7 View data monitoring mode the front panel of the drive motor speed the d01SPd subkey to confirm whether the actual speed and the set speed Input instructions for 0 00 the motor is stopped if micro speed rotation can be corrected input instructions 8 By C M ode IntSpd1 IntSpd2 IntSpd3 Vc Sign change motor rotation speed and direction M otor rotation is not smooth through the data monitor mode to view motor does not rotate reasons d17ch subkey 7 2 4 Torque Control Notice 82 A Le
58. entury since the early nineties the technology has matured and continuously improves performance is now widely used in the field of CNC machine tools printing and packaging machinery textile machinery and automated production line automation EL5 0750 AC servo system is Leadshine R amp D new generation full digital AC servo system adopt American Tl company newest digital signal processor DSP Large scale programmable gate array CPLD and MITSUBISHI intelligent power module IPM high integration small size perfect protection good reliability The optimal PID algorithm to complete the PWM control performance has reached the level of similar foreign products Compare to the stepper system EL5 0750 AC servo system has following characteristics Avoid lost step phenomenon Servo motor with encoder position signal feedback to servo driver formation semi closed control system Width ratio constant torque Speed ratio is 1 5000 has stability torque features from low speed to high speed High speed high precision The maximum speed of the servo motor up to 3000rpm rotation positioning accuracy 1 10000r T Note The different models of the maximum speed of the servo motor Simple flexible control By modifying the parameters of the work of the servo system the operating characteristics make the appropriate settings to suit different requirements 1 2 Inspection of Incoming Goods 1 After receipt you must c
59. eration settings 5 PA 504 Driver prohibit input setting I 1 6 PA 005 Command pulse input select 0 7 PA_007 Command pulse mode select 3 8 PA_518 Command pulse prohibit input 1 I invalid setting 9 PA_517 Counter clear input mode 2 10 PA 400 SI1 input select Srv o Hex 0003 I n Wiring Figure 79 F caushine User s M anual for EL5 Servo 1 DC12 24V_ COM gt aa 2 Srv_on 3 pulse PUL 4 PUL 5 DR direction _ 6 DR Figure 7 3 Position Control Mode Control Terminal CN1 Signal Wiring Operation Steps 1 connection control IO terminal CN1 2 according to the requirements of access control IO power the COM and COM 3 turned on the power to the drive 4 according to the requirements of the parameters set need to set the parameters see the list and written to the EEPROM the drive is powered down to restart 5 turned Srv on the motor enters the excitation state 6 PUL between DIR access to the low frequency pulses and direction signals Check whether the motor rotation 7 View data monitoring mode the front panel of the drive motor speed the d01SPd subkey to confirm whether the actual speed and the set speed The motor is also stopped when the input pulse is stopped M otor rotation is not smooth through the data monitor mode to view motor does not rotate reasons d17ch subkey
60. esponding fault Error code Data monitoring mode to view the history of the error error logging submenu BHEEHRE The error code displayed Er Figure 5 1Panel Alarm Display Figure 5 1 Error Code List Error code content property Main Extra c save emergency May code ode remove FPGA communication error e HH B E H Current detection circuit error E g Analog input circuit error e ER E DC bus circuit error e m E Temperature detection circuit error e Control power velocity lower e Hk H DC bus velocity higher e e Hc H DC bus velocity lower e e Hd H A Over current HE Intelligent power module IPM over e current 53 A Leadshine User s M anual for EL5 Servo OF g Driver over hot e I g M otor over load Resistor discharge circuit over load e c E H g Encoder break line C 3 Encoder initial position error C I g Encoder data error A Position error too big e e IH Velocity error too big e e F g Over speed 1 e E I F input interface allocation error e 3 I F input interface function set error C F input interface function set error e LE 2n g When EEPROM parameter save CRC verify error Positive negative over distance input e ch B valid gg A Force alarm input valid e Save save this error history record Emer
61. ffness will be obtained However when increasing the value check the resulting operation to avoid oscillation or vibration Parameter Ratio of Inertia Related Name Mode Set Range 0 10000 Unit Normal 250 Default Set 28 A Leadshine User s M anual for EL5 Servo 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 the setup unit of the velocity loop gain becomes larger and when the inertia ratio of Pr0 04 is smaller than the actual the setup unit of the velocity loop gain becomes smaller Parameter Command Pulse Rotational Related Name Direction Setup Mode Set Range 0 1 Unit Normal 0 Default Set Set command pulse input rotate direction command pulse input type Parameter Command Pulse Input Related Name M ode Setup Mode Set Range 0 3 Unit Normal 1 Default Set Pr0 06 Pr0 07 Command Pulse Signal Title Positive Negative Format Direction Direction Command Command 0 Oor2 90 phase Pulse sign aaa itp difference m lt 4 LL 2 phase pulse A Hte teli as phase B phase 1 Positive direction Pulse sign s ael pulse
62. ftware needed to be purchased separately Chapter 2 Installation 2 1 Storage and Installation Circumstance Figure 3 1 Servo Driver Servo Motor Storage Circumstance Demand Item EL5 series driver Match servo motor Temperature 20 80 C 25 70 C Humility Under 90 RH non condensate Under 80 RH non condensate Atmospheric Indoor no exposure no corrosive gas Indoor no exposure no corrosive gas environment flammable oil or dust flammable oil or dust Normalhigh Under elevation 1000m Under elevation 2500m Vibrate Less than 0 5G 4 9m s2 10 60Hz non continuous transport Protection IPOO no protection IP65 level Figure 3 2 Servo Driver Servo Motor Installation Cirrumstance Demand A Leadshine User s M anual for EL5 Servo Item EL5 series driver M atch servo motor Temperature 0 55 C 25 40 C Humility Under 90 RH non condensate Under 90 RH non condensate Atmospheric Indoor no exposure no corrosive gas Indoor no exposure no corrosive gas environment flammable oil or dust flammable oil or dust Normalhigh Under elevation 1000m Under elevation 2500m Vibrate Less than 0 5G 4 9m s2 10 60Hz non continuous transport Protection IPOO no protection IP65 level 2 2 Servo Driver Installation Notice Servo driver must be installing in the good protection cabinet Theservo drive must be
63. gency error driver will stop immediately M ay remove may through SI input panel software ACH Series remove alarm 5 2 Alarm Processing M ethod When appear error please clear error reason renew power on Display EFBBSB BEEBE 54 A Leadshine User s M anual for EL5 Servo Error reason Error check Error process r t terminal velocity over low Check r t terminal voltage Assure r t terminal voltage in whether over low properly range Driver internal fault change new driver Error reason Display Er BRHB ERHBRH Content current detection circuit error Error check Error process Motor output U V W terminal Wiring error Check motor output U V W terminal wiring whether error Assure motor U V W terminal wiring correct Main voltage R ST terminal voltage whether over low Check main voltage R ST terminal voltage whether over low Assure R ST terminal Voltage in properly range Driver inner fault l change new driver Error reason Display EP EBA EBAY Content analog input circuit error Error check Error process Analog input Wiring error Check analog input wiring Assure analog input wiring correct Driver inner fault change new driver Error reason Display Er HRS Content DC bus circuit error Error check Error process Main
64. han 20 meters e Wiring away from the power line wiring to prevent interference string into e To the relevant line in the inductive element coil install a surge absorbing element DC coil reverse parallel freewheeling diode AC coil parallel RC snubber circuit Notice F caushine User s M anual for EL5 Servo U V W and the motor windings a one to one connection not reverse polarity Cables and wires to be fixed and avoid close to the radiator and motor drive so as not to be reduced due to the heat insulation properties Large capacity electrolytic capacitor in the servo drive even after the power is turned off and will continue to keep the pressure up to 5 minutes after the power failure do not touch the drive and motor 3 1 2 Position Control M ode 1 phase or 3 phase 220VAC NEN Circuit Braker Magnetic Contactor UO w PEO B a Q Q e Encoder Output Md oe Q Q N 22 5V 12 24V AGND 30 29 CHZ O 39 All AGN 10V to 10V input 41 O D Single end 43 A3I 10V to 10V input B AST Differential RS232 15 A Leadshine User s M anual for EL5 Servo Figure 3 1 Position Control Mode Normal Wiring 3 1 3 Torque Velocity Control M ode 1 phase or 3 phase 220VAC EN Circuit Braker Magnetic Contactor COM 12 24V Figure 3 2 Torque Velocity Control Mode Normal Wiring RS23
65. han Pr4 31 positioning complete range 46 A Leadshine User s M anual for EL5 Servo positioning complete range 2 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 condition of the positional deviation 3 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 command is received Parameter INP hold time Related name mode Setrange 0 30000 unit 1ms Normal 0 default set 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 positional command is received during hold time Parameter Zero speed Related name mode Setrange 10 20000 unit r min Normal 50 default set 1 30000 ON state is maintained for setup time ms but switched to OFF state as the You can set up the timing to feed out the zero speed detection output signal ZSP or TCL
66. heck the following 1 The box is in good condition and whether the goods are damaged due to transportation 2 Check the servo drive and servo motor nameplate goods received are the goods 3 Check the packing list the accessories are complete Notice Damaged or missing parts of the servo system can not be installed Supporting the use of servo drive must match the performance servo motor After receiving have any questions please contact with the vendor or company 2 Type meaning F caushine User s M anual for EL5 Servo DELS series servo driver EL5 D 0750 Maximum Output Power 750 750W High voltage AC servo drive 220 VAC 2 Servo motor type The EL5 D0750 AC servo drive can be used with a variety of domestic and foreign servo motor matching selected by the user ordering 1 3 Production Appearance 1 EL5 series AC servo driver appearance 6 bit LED radiator key power terminal 1 m RS232 wiring terminal power terminal 2 2 Servo motor appearance F caushine User s M anual for EL5 Servo encoder plug in motor plug in isl m motor install face 1 motor output shaft N feedback encoder motor body 3 Accessory EL5 0750 servo drive standard accessories installation manual this book a book 2 CN1 connector DB44 hole a set 8 CN2 plug DB15 pin a set Note The ACH750 supporting the PC debugging so
67. hielded line whether connect good encoder cable whether intertwined together with strong wire Error reason Error check Error process Communication data abnormal Encoder power voltage whether Ensure encoder power DC5V 5 encoder cable voltage normal ensure encoder cable intact ensure encoder cable shielded line contact good with FG ground ensure encoder cable separate wiring with strong wire Encoder damage Change new motor Encoder measuring circuit Change new motor 59 A Leadshine User s M anual for EL5 Servo Display Er BE Content position error over large error unreasonable Error reason Error check Error process Position error Check parameter PA_014 value Enlarge parameter PA_014 parameter set whether too small value Gain set too small Check parameter PA_100 PA_105 value whether too small Enlarge parameter PA_100 PA_105 value Torque limit too small Check parameter PA_013 PA_522 value whether too small Enlarge parameter PA_103 PA_522 value Outside load over large Check whether accelerate decelerate speed time over quick rotate whether over quick load whether over large Decrease accelerate decelerate time over quick decrease speed decrease load Error reason E Display Er IBH Content velocity error over large error Error check Error process I
68. in rotate speed 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 _ Parameter Speed coincidence range Related name mode Setrange 10 20000 unit r min Normal 50 default set 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 Setrange 10 20000 unit r min Normal 1000 default set Parameter At speed Speed arrival Related name mode 47 A Leadshine User s M anual for EL5 Servo 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 Parameter Mechanical brake action at Related name stalling setup mode Setrange 0 10000 unit lms Normal 0 default set Motor brake delay time setup main use prevent servo on galloping phenomenon Parameter Mechanical brake action at Related name running setup mode Setrange 0 100 unit Ims Normal 0 00 default set mechanical brake start delay time setup main use prevent servo off galloping phenome
69. in the specified direction and intervals installed and ensure good heat dissipation conditions Maynotinstall surface or nearby of flammable prevent fire hazard 2 2 1 Installation M ethod Users can use the backplane mounting or panel mounting installation mounting direction perpendicular to the mounting face up 2 1 chassis installation diagram 11 F caushine User s M anual for EL5 Servo eee TEN QAAE Figure 2 1 Driver Baseboard Installs Method 2 2 2 Installation Space In order to ensure good cooling conditions the actual installation should be as leaving a larger interval Figure 2 2 Single Driver Install Space User s M anual for EL5 Servo Figure 2 3 Many Sets of Driver Install Space 2 3 Servo Motor Installation Notice Dismantling belt wheel should be used when the screw dismounting tool No knocking motor shaft or encoders prevent motor by vibration or shock Handling motor may drag the motor shaft pin out or encoder Motor shaft does not bear the axial load radial load otherwise you may damage the motor Suggested the use of elastic coupling Motor installation must be solid and locking measures fixed motor with the fastening lock washer Install method EL5 series servo motor by supporting flange installation electrical installation in arbitrary
70. l Name 1 U 3 phase motor power input 2 V 3 W 4 PE Frame ground 20 GJ caushine User s M anual for EL5 Servo 5 r Control power Control power voltage range between 1 and input 1 2 85Vac 265Vac t Control power input 2 3 3 I O Interface Principle 3 3 1 Switch Value Input Interface Driver side 12 24V dc Le Figure 3 4 Switch Value Input Interface 1 The user provide power DC 12 24V current gt 100mA 2 Notice if current polar connect reverse will make servo driver can t run COM 3 3 2 Switch Value Output Interface Driver side Max 50mA 12 24Vdc Figure 3 5 Switch Value Output Interface 1 The external power supply is provided by the user but care must be taken if the power supply polarity reversal the servo drive is damaged 2 The output of the form of open collector maximum voltage of 25V maximum current of 50mA external power supply Therefore the load switch output signal must meet the limited 21 GJ caushine User s M anual for EL5 Servo requirements If you exceed the limit requirements or output directly connected with the power supply the servo drive is damaged 3 If the load is inductive loads relays etc must be anti parallel freewheeling diode across the load If the freewheeling diode connected reversely the servo drive is damaged 3 3 3 Pulse Value Input Interface Driver side
71. ler than recommendation value Theservo driver should be use match servo motor A Leadshine User s M anual for EL5 Servo Table of Contents IM rOCUCH OM sds seceszes desis EEE EA A T O E AE 2 Chapter T Introduction eisioes niaaa a eR ERE Ser a E A E eb roa o arae 8 1 1 Prod ction Introduction 5 ent teet reete E EE eee EYES EH iae 8 1 2 Inspection Ob Incoming Goods oerte ttn arie rr PE OR RU D ETE Fed k Reve 8 1 3 Production A ppedratiee xe reet ote etre ri re xt etri testen ee REA reca EE eds 9 Chapter 2 Installation isc iecccccctisccesevsostesseosseestivacteonvasdoeseubesveesvasdeestuvesteosuaschestoveddeasussstestinncuenevaostes 10 2 1 Storage and Installation Circumstance essent eene 10 2 2 Seryo Driver Installation tiet teet rede RR D e ER a IP e 11 22 1 Installation Methoiss fesse oerte etin tr tere re egre pt a ped 11 2 2 2 Installation Space ket a ER ra b exten eo aT aga 12 2 3 SCLVO Motor Installation wis i e ette e ee Pe HER ehe a Eo eee e e e Re ERE Een S 13 Chapter WIEIDB itenim C EU PRETEND AE EET A eese Dra eR lesse eee e 14 Sel WATS Cos E esee oen o toit cue cte Dosen tete Ui E E et pe 14 3 1 1 Wire Gauge c 14 3 1 2 Position Control Mode ett ertet ret teer reete 15 3 1 3 Torque Velocity Control Mode sese 16 32 Driver Terminals FUnGLon cic encre err erret i ree ed e rep er ea Rege ea 17 3 2 1 Control Signal Port
72. may cause a write error data If this happens please re set all the parameters into the EEPROM write operation 6 2 6 Abnormal Alarm Drive error occurs the front panel will automatically enter the abnormal alarm display mode display the corresponding error code Error code see Chapter 5 alarm processing 74 F caushine User s M anual for EL5 Servo Chapter 7 Power On Run Notice Drive and motor must be grounded the drive PE terminal must be reliably connected with the equipment grounding terminal The proposed drive power isolation transformer and power filter in order to guarantee the security and anti jamming capability Must check to make sure the wiring is correct to power Must be connected to an emergency stop circuit to ensure that the failure occurs the power able to immediately stop Drive failure alarm restart required to confirm the fault has been ruled Svon signal is inactive At least 5 minutes after the power failure of the drive and the motor must not touch to prevent electric shock Drive and the motor running for some time you may have a higher temperature rise to prevent burns Note Run two kinds the first test run the second part isto run with a load For security users must first conduct a test run 7 1 Inspection Before Run 7 1 1 Wiring Check Figure 7 1 Check Item Before Run Series Item Content Comment
73. nner position command velocity deviation over large with actual speed Check parameter PA 602 value whether too small Enlarge parameter PA 602 value set to 0 make position deviation over large detection invalid Inner position command velocity accelerate decelerate time too short Error reason Check parameter PA 312 PA 313 value whether too small Enlarge parameter PA 312 PA 313 value adjust velocity relative gain improve tracing ability Display Er IB Content over speed 1 Error check Error process M otor speed beyond the first speed limit Check motor speed command whether over quick check analog speed command voltage whether over large check parameter PA 321 whether too small check command pulse input frequency and divide frequency coefficient whether Adjust input speed command too small enlarge parameter PA 321 value modification command pulse input frequency and divide frequency coefficient assure encoder wiring 60 User s M anual for EL5 Servo properly encoder whether wiring correct correct Display ERE Content I F input interface allocation error Error reason Error check Error process Signal reset Check parameter Assure parameter PA_400 PA_401 PA_402 PA_403 PA_400 PA_401 PA_402 PA PA 404 whether set correct 403 PA 404 set correct Signal no set Check parameter Assure parame
74. non Parameter Brake release speed setup Related name mode Set range 30 30 unit lms Normal 30 00 default set When servo off rotate speed less than this setup vale and mechanical brake start delay time arrive motor lost power 4 2 6 Classify 57 Extended Setup Parameter 2nd numerator of electronic Related name gear mode Set range 1 327 unit Normal 1 67 default set Parameter 3rd numerator of electronic Related name gear mode Set range 1 327 unit Normal 1 67 default set Parameter 4th numerator of electronic Related name gear mode Set range 1 327 unit Normal 1 67 default set P Parameter Denominator of electronic Related name gear mode Setrange 1 250 unit 0 1ms Normal 2500 0 default set According to the command pulse input set the 2nd to 4th numerator of electronic gear User s M anual for EL5 Servo 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 Parameter Servo off sequence Related name mode Setrange 0 2 unit Normal 0 default set Specify the status during deceleration and after stop after servo off Setup value during deceleration After stop 0 Stop immediately Idle 1 idl
75. oltage R ST increase R ST terminal Voltage voltage whether over low terminal voltage whether over low Driver inner fault change new driver 56 A Leadshine User s M anual for EL5 Servo Error reason Display EEHBEH Content over current Error check Error process Driver output short circuit Driver between output wire whether short circuit whether short circuit to PG ground Assure driver output wire no short circuit assure motor no damage Motor wiring abnormal Check motor wiring sequence Adjust motor wiring sequence IGBT module short circuit fault Cut off driver output wiring Srv_on and drive motor check whether over current change new driver Control parameter set abnormal Parameter set whether beyond limit Parameter adjust to properly range Control command set abnormal Check control command whether change too violent Adjust control command open filter Error reason E Display EE HEH Content IPM over current Error check Error process Driver output short circuit Driver between output wire whether short circuit whether short circuit to PG ground Assure driver output wire no short circuit assure motor no damage Motor wiring abnormal Check motor wiring sequence Adjust motor wiring sequence IGBT module short circuit fault Cut off driver output wiring
76. rameter Setup of Speed Consistent Output Series number Parameter Name Setup method 1 PA 435 Speed consistent Please refer to amplitude chapter 4 content 6 Speed command accelerates and decelerates setup Figure 7 20 Parameter Setup of Speed Command Acceleration Deceleration Series number Parameter Name Set method 1 PA 312 Accelerate time Please refer to setting chapter 4 content 2 PA 313 Decelerate time Please refer to setting chapter 4 content 3 PA 314 S word acceleration Please refer to and deceleration chapter 4 content setting 7 SI SO function setup 7 3 4 Torque Mode Torque mode is applied in need to torque control occasion 9 F caushine User s M anual for EL5 Servo 1 phase or 3 phase 220VAC lol Circuit Braker Magnetic Contactor COM 1 12 24V Figure 7 10 Torque Mode Typical External W iring Figure Torque control mode relevance parameter set 1 Analog torque command input Figure 7 21 Parameter Setup of Analog Torque Command Input U V w PE Encoder Output Z 5V AGND CHZ All AGN 10V to 10V input D Single end A3I 10V to 10V input A3I Differential RS232 SeriesNumber Parameter Name Setup Method 1 PA_317 Torque set inside and outside switch Please refer to chapter 4 content 2 PA_318 Torque command direction appoint Please refer to select chapter 4 content 3 PA 319 Torque
77. ration mode time setup Setrange 0 100 unit ms Normal 0 0 default set Parameter Speed zero clamp level Related name mode Setrange 10 20 unit r min Normal 30 000 default set speed command will set to 0 strongly Parameter Torque command direction Related name selection mode Setrange 0 1 unit Normal 0 default set select the direction positive negative direction of torque command F caushine User s M anual for EL5 Servo Specify the direction with the sign of torque command Torque command input positive direction gt negative direction Specify the direction with torque command sign TC SIGN OFF positive direction ON negative direction Parameter Torque command input gain Related name mode Setrange 10 10 unit 0 1V 10 Normal 0 0 096 default set Based on the voltage V applied to the analog torque command TRQR set up the conversion gain to torque command Parameter torque command input Related name reversal mode Setrange 0 1 unit Normal 0 default set 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 1 reversal voltage direction voltage 4direction
78. rque feed forward gain this means that position deviation can be maintained at near 0 over entire operation while driving in trapezoidal speed pattern under ideal condition where disturbance torque is not active Parameter Torque feed forward filter Related name time constant mode Setrange 0 640 unit 0 01ms Normal 0 default set 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 Parameter Control switching mode Related name mode Setrange 0 10 unit Normal 0 default set Setting Switching condition Gain switching condition value 0 Fixed to 1st gain Fixed to the 1st gain Pr1 00 Pr1 04 1 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 If no 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
79. rtation F caushine User s M anual for EL5 Servo Caution M ust be according to product Storage and transportation environment storage and transport Don t stack too high prevent fall When convert transport the product should be packaging properly M ay not pull the wiring the motor stall and encoder carry the servo motor The servo driver and servo motor can t undertake outside force and impact Installation Caution Servo Driver and Servo Motor Don t install in inflammable top and near prevent fire hazard Avoid vibrate prohibit undertake impact When damage or part imperfect may not install Servo Driver M ust be install inner sufficient safeguarding grade control cabinet M ust be reserve sufficient gap with the other equipment M ust be have very good cooling condition Prevent dust corrosive gas conducting objects fluid and inflammable explosive object invade Servo Motor Install must be fastness prevent fetch way because of vibrate Prevent fluid invade damage motor and encoder Prohibit knock the motor and shaft avoid damage encoder The motor shaft can t undertake beyond the limit load Wiring Warning The workers of participation in wiring or check must be possess sufficient ability do this job The wiring and check must be going on after five minutes in power off Servo driver and servo mo
80. sitional control process Parameter Speed Feed Forward Related Name Constant Gain Mode Set Range 0 640 Unit 0 01ms Normal 50 0 Default Set Set the time constant of 1st delay filter which affects the input of speed feed forward speed feed forward use 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 operation at a constant speed is reduced as shown in the equation below in proportion to the value of velocity feed forward gain Position deviation command unit command speed command unit s position loop gain 1 s x 100 speed feed forward gain 96 100 PA Parameter Torque feed forward gain Related ia 34 A Leadshine User s M anual for EL5 Servo name mode Set range 0 100 unit 0 1 Normal 0 0 default set M ultiply 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 When use torque feed forward need to set ratio of inertia correctly please will use machine each element calculate ratio of inertia setup Pr0 04 ratio of inertia Position deviation at a constant acceleration deceleration can be minimized close to 0 by increasing the to
81. speed used for JOG trial run velocity control Parameter Torque command additional Related name value mode Setrange 100 100 unit 96 Normal Parameter Positive direction torque Related name compensation value mode Setrange 100 unit Normal 100 default set NEN Parameter Negative direction torque Related name compensation value mode Setrange 100 100 unit 96 Normal 0 default set Thisthree parameters may apply feed forward torque superposition directly to torque command Parameter Trial running distance Related name mode Setrange 0 200 unit 0 1rev Normal 10 default set JOG running position control running distance each time Parameter Trial running wait time Related name mode Setrange 0 30000 unit Ms Normal 1000 default set i JOG running position control wait time after running each time Parameter Trial running cycle times Related name mode Set range 0 32767 unit Normal 10 default set JOG running position control cycle times 52 A Leadshine User s M anual for EL5 Servo Chapter 5 Alarm and Processing 5 1 Alarm List Protection function is activated when an error occurs the drive will stop the rotation of the motor and the front panel will automatically display the corr
82. t Time Constant of Related Name Velocity Loop Integration Mode Set Range 0 10000 Unit 0 1ms Normal 310 Default Set You can set up the integration time constant of velocity loop Smaller the set up faster you can dog in deviation at stall to 0 The integration will be maintained by setting to 9999 The integration effect will be lost by setting to 10000 Parameter 1st Filter of Velocity Related Name Detection M ode 32 A Leadshine User s M anual for EL5 Servo Set Range 0 31 Unit Normal 15 SS Default Set 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 The loop gain to set the filter parameters referring to the following table Set Value Speed Detection Filter Cut off Set Speed Detection Filter Cut off Frequency HZ Value 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 27 200 12 950 28 175 13 900 29 150 14 850 30 125 15 800 31 100 Parameter 1st Time Constant of Torque Related Name Filter Mode SetRange 0 250 Unit 0 01ms Normal 126 0
83. ter PA 400 PA 401 PA 402 PA 403 PA 400 PA 401 PA 402 PA PA 404 whether set correct 403 PA 404 set correct Display EEHEHH Content F input interface function set error Error reason Error check Error process Check parameter PA 400 PA 401 PA 402 PA 40 3 PA 404 whether set correct Signal allocation error Assure parameter PA 400 PA 401 PA 402 PA 403 PA 404 set correct m Display EEHEHE Content F input interface function set error Error reason Error check Error process Signal reset Check parameter Assure parameter PA 410 PA 41LPA 412 PA 413 PA 410 PA 41L PA 412 PA whether set correct _413 setcorrect Signal no set Check parameter Assure parameter PA 410 PA 41LPA 412 PA 413 PA_410 PA_411 PA_412 PA whether set correct _413 set correct Display EEHEHB error Content when EEPROM parameter save CRC verify Error check Error reason Error process 61 A Leadshine User s M anual for EL5 Servo r t terminal voltage over low Check r t terminal voltage whether over low Assure rt terminal voltage in appropriate range Driver damage M ay repeat save several times Change new driver Error reason Display EEHBEBB Content positive negative over travel input valid Error check Error process positive negative over travel input signal conduct
84. th the 1st gain Return to the 1st gain when the positioning was kept in completed condition previously during delay time with the 2nd gain Actual speed is large 10 Have position command actual speed Position control is effect In the first gain if the position command is not zero transfer to the second gain In the second gain if the position command is zero and continue in delay time period and actual speed absolute value less than grade hysteresis r min back to the first gain When position control may setup Pr1 15 3 5 6 9 10 When speed control may setup Pr1 15 3 5 9 36 User s M anual for EL5 Servo Parameter Control switching level Related name mode Set range 0 200 unit Accordi Normal 00 ng to default set mode Unit of setting varies with switching mode switching condition position is encoder pulse number speed is r min torque is 96 NOB set the level equal to or higher than the hysteresis Parameter Control switching hysteresis Related name mode Setrange 0 200 unit Accordi Normal 00 ngto a mode Combine Pr1 17 control switching level setup NGEEEMWhen level lt hysteresis the hysteresis is internally adjusted so that it is equal to level Parameter gain switching time Related name e mode Setrange 0 100 unit 0
85. tor must be connecting to ground properly Error voltage and power polarity may be arise explosion or operation default After the servo driver and servo motor install properly can go on connect wiring Assure the wire insulation avoid extrusion wire prevent electric shock F caushine User s M anual for EL5 Servo Caution Thewiring must be correct and fastness otherwise may be arise servo motor error run may be also damage the equipment because of bad contact Servo motor U V W terminal don t connect reverse don t connect AC power Between servo motor and servo driver must be connect directly can t connect capacitance inductance and filter Prevent conductive fasteners and wire end into servo driver The wire and temperature resistant object may not near to servo driver radiator and motor The freewheel diode which parallel connection to output signal DC relay may not connect reverse Debug run Caution Assure the servo driver and servo motor install properly before power on fixed fastness power voltage and wiring correct Debug servo motor the first should be run without load after confirm parameter setting correct and then debug with load prevent the mechanical and equipment damage because of error operation Using NiCaution Should be access a emergency stop circuit assure when the accident h
86. try again 7 If the position JOG mode the motor will directly start to rotate if motor is not rotating switch to data monitoring mode deck sub menu find the cause of the motor does not rotate troubleshooting and try again if the speed JOG mode press button once make the motor to forward rotate hold down key will cause the motor speed has been increased to the maximum speed of PA_604 set you should 78 F caushine User s M anual for EL5 Servo JE display HBBHEH press button once allows the motor to reverse 1 times hold down Key will cause the motor speed has been increased to the maximum speed set by the PA 604 you should display 1 Jof motor is not rotating switch to the data monitoring mode dHHsER submenu search the cause of the motor does not rotate troubleshooting and try again 8 JOG commissioning process will exit JOG control press ENT 7 2 2 Position Control Notice You do the pre operational inspection before Position control test run Figure 7 4 Parameter Setup of Position Control Series paramete name Corre Setting value unit number r spond ing input symb ols 1 PA_001 Control mode setting 0 2 PA_312 Accelerate time setting User specified millisecond 3 PA 313 Decelerate time setting I User specified millisecond 4 PA_314 Sword acceleration and User specified millisecond decel
87. ulse output Figure 7 11 Parameter Setup of Driver Encoder Pulse Output Series number Parameter Name Setup method 1 PA_011 Encoder pulse output Please refer to molecular chapter 4 content 2 PA_012 Pulse output logic Please refer to reverse chapter 4 content 3 PA_503 Pulse output divide Please refer to 87 A Leadshine User s M anual for EL5 Servo frequency denominator chapter 4 content PA 533 Pulse regeneration output boundary set Please refer to chapter 4 content 5 Deviation Counter clear Figure 7 12 Parameter Setup of Deviation Counter Clear Series number parameter name Setup method 1 PA_517 Counter clear input Please refer to mode chapter 4 content 6 Position complete output INP Figure 7 13 Related Parameter Setup of Position Complete Output Seriesnumber Parameter Name Setup method 1 PA_431 Position complete range Please refer to chapter 4 content 2 PA 432 Position complete output Please refer to chapter 4 content setup 3 PA 433 INP hold time Please refer to chapter 4 content 4 PA 442 2nd position complete range Please refer to chapter 4 content 7 Command pulse prohibit INH Figure 7 14 Related Parameter Setup of Command Pulse Prohibit Series number Parameter Name Setup method 1 PA 518 Command pulse prohibit input invalid Please refer to setup
88. ulse output divide frequency molecule FHEBHH 12 Pulse output logic reverse PHEEBHE 13 The first torque limit pagg g 14 Position deviation over large setting pagggg 00 The first position loop gain PHE IAG 01 The first velocity loop gain FH E IH 02 pa en velocity loop integration time PH g IE g 03 The first velocity detection filter pAgaga 04 The first torque filter PAg gg 05 The second position loop gain PHE IE 06 The second velocity loop gain PABEBE 07 dein dad loop integration pagaga 08 The second velocity detection filter PEIZHEIE 09 The second torque filter PHIGHEH 10 The velocity feed forward constant gain PHEEHHE 11 Feed forward filter time constant PHEHHH 12 Torque feed forward gain BASE 13 Torque feed forward filter time PHIEHHS constant 14 The second gain setting PIC IH 15 Position control switch mode FH Jg IS 17 Position control switch grade PHIEHHE 18 Position control switch hysteresis PAgEJE 68 Leadshine User s M anual for EL5 Servo 19 Position gain switch time PASAY 33 Velocity given filter time constant PHEHSS 35 Position appointed filter setting PH H IS 36 a feedback pulse digital filter PEEBHBE 00 Adaptive notch filter mode setting PHEBEH 01 The first notch frequency PAg pgg 02 The first notch width select PAgegE 03 The first notch depth s
89. ut terminal 29 OCZ output Zsignal OC output 30 GND5V output Encoder signal output power ground 3l COM output Digital output signal commonality ground 32 SO2 output Digital output signal 2 33 SO1 output Digital output signal 1 34 S03 output Digital output signal 3 A Leadshine User s M anual for EL5 Servo 35 S04 output Digital output signal 4 36 S05 output Digital output signal 5 37 SO6 output Digital output signal 6 39 All input Analog input 1 input voltage range 10 10V input resistor 20KQ 40 15VA output Reserve output inner 15V less than 50mA 41 GND15VA output Reserve 15V ground 43 Al3 input Analog input 3 positive negative input voltage range 10 10V input resistor 20KQ 44 AI3 input 15 21 38 NC Not connect 42 Shell FG Shield ground 3 2 2 Encoder Input Port CN2 Terminal Figure 3 2 Encoder Input Port CN2 Terminal Signal Explain Pin Signal Name Terminal Arrange Figure 1 EA Encoder channel A input 2 EB Encoder channel B input 3 EGND Signal ground 4 Hall W Hall sensor W input 5 Hall U Hall sensor U input 6 FG Ground terminal for shielded 7 EZ Encoder channel Z input 8 EZ Encoder channel Z input 9 Hall V Hall sensor V4 input 10 Hall V Hall sensor V input 11 EA Encoder channel A input 12 EB Encoder channel B input 13 VCC 45V
90. utput select PH Jg IE 11 SO2 output select PH g Hd 12 S03 output select BASE 70 Leadshine User s M anual for EL5 Servo 13 S04 output select pgg E 22 Analog input 1 AI1 zero drift setting pede 23 Analog input 1 AI1 filter BH z g B j 28 Analog input 3 AI3 zero drift setting PEIGHEH 29 Analog input 3 AI3 filter EH z g aq 3l Position finish range PREHH 32 Position finish output setting pagg 33 INP hold time PEE 34 Zero speed BH JE JA 35 Velocity matching amplitude pagg ag 36 Reach speed PA 2H JA hanical brak ves iem co WM i k ti 38 ina mechanical brake operation PEICHBE 39 Brake remove speed setting PREGHSH er i 00 is in Adi divide double PEICGBE Sm TO uu m 02 s iii pain divide double PEIGGBIE 03 Pen NP divide frequency PRIORE 06 Servo close sequence BH z SpE 08 Main power close LV trigger select PROBE 09 Main power close detection time PH z ggg 13 Over speed grade setting PRESHB 71 Leadshine User s M anual for EL5 Servo 5 15 I F read filter HHBHEH 5 28 LED initial state FHZSEH 5 29 RS232 communication baud rate l m saing FHZBEH 5 30 RS485 communication baud rate l setting FHZR8H 5 31 Shaft address HHBHBH 6 03 JOG test machine command torque FHZBEH 6 04 JOG test machine command speed FHZBEH 6 08 Positive
91. voltage R ST terminal voltage whether over low Check main voltage R ST terminal voltage whether over low Assure R ST terminal Voltage in properly range Driver inner fault l change new driver 55 GJ caushine User s M anual for EL5 Servo Display EP HORE Content temperature detection circuit error Error reason Error check Error process rt terminal velocity over low Check rt terminal voltage Assure rt terminal voltage in whether over low properly range Driver inner fault change new driver Display EEHBEB Content control power voltage over low Error reason Error check Error process rt terminal voltage over low Check rt terminal voltage Assure rt terminal voltage in whether over low properly range Power capacity insufficient Promote power capacity Driver inner fault change new driver Display Ee Hace Content DC bus voltage over high Error reason Error check Error process Main voltage R S T terminal Check main voltage R S T decrease R ST terminal voltage whether over high terminal voltage whether Voltage over high Inner brake circuit damage change new driver Driver inner fault change new driver Display E cB Content DC bus voltage over low Error reason Error check Error process Main voltage R ST terminal Check main v

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