Leadshine ELD2 Series User manual

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UserManualforELD2Servo
User Manual For ELD2 Servo
www.leadshine.com

2
UserManualforELD2Servo
Introduction
Thanks for purchasing Leadshine ELD2-series low-voltage AC servo drivers, this instruction
manual provides knowledge and attention for using this driver.
Contact[e-mail]formoretechnicalservice.
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Incorrectoperationmaycauseunexpectedaccident,pleasereadthismanualcarefullybefore
usingproduct.
We reserve the right to modify equipment and documentation without prior notice.
We won’t undertake any responsibility with customer’s any modification of product, and the warranty of
product will be cancel at the same time.
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Beattentiontothefollowingwarningsymbol:
Warningindicatesthattheerroroperationcouldresultinlossoflifeorseriousinjury.
Cautionindicatesthattheerroroperationcouldresultinoperatorinjured,alsomakeequipment
damaged.
Attentionindicatesthattheerrorusemaydamageproductandequipment.
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Safetyprecautions
Warning
The design and manufacture of product doesn’t use in mechanic and system which have a threat to
operator.
The safety protection must be provided in design and manufacture when using this product to prevent
incorrect operation or abnormal accident.
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Acceptance
Caution
The product which is damaged or have fault is forbidden to use.
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Transportation
Caution
The storage and transportation must be in normal condition.
Don’t stack too high, prevent falling.
The product should be packaged properly in transportation,
Don’t hold the product by the cable, motor shaft or encoder while transporting it.
The product can’t undertake external force and shock.
Installation
Caution
ServoDriverandServoMotor:
Don’t install them on inflammable substance or near it to preventing fire hazard.
Avoid vibration, prohibit direct impact.
Don’t install the product while the product is damaged or incomplete.

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UserManualforELD2Servo
ServoDriver:
Must install in control cabinet with sufficient safeguarding grade.
Must reserve sufficient gap with the other equipment.
Must keep good cooling condition.
Avoid dust, corrosive gas, conducting object, fluid and inflammable, explosive object from invading.
ServoMotor:
Installation must be steady, prevent drop from vibrating.
Prevent fluid from invading to damage motor and encoder.
Prohibit knocking the motor and shaft, avoid damaging encoder.
The motor shaft can’t bear the load beyond the limits.
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Wiring
Warning
The workers of participation in wiring or checking must possess sufficient ability do this job.
Ground the earth terminal of the motor and driver without fail.
The wiring should be connected after servo driver and servo motor installed correctly.
After correctly connecting cables, insulate the live parts with insulator.
Caution
The wiring must be connected correctly and steadily, otherwise servo motor may run incorrectly, or
damage the equipment.
We mustn’t connect capacitors, inductors or filters between servo motor and servo driver.
The wire and temperature-resistant object must not be close to radiator of servo driver and motor.
The freewheel diode which connect in parallel to output signal DC relay mustn’t connect reversely.
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Debuggingandrunning
Caution
Make sure the servo driver and servo motor installed properly before power on, fixed steadily, power
voltage and wiring correctly.
The first time of debugging should be run without loaded, debugging with load can be done after
confirming parameter setting correctly, to prevent mechanical damage because of error operation.

Caution
Install a emergency stop protection circuit externally, the protection can stop running immediately to
prevent accident happened and the power can be cut off immediately.
The run signal must be cut off before resetting alarm signal, just to prevent restarting suddenly.
The servo driver must be matched with specified motor.
Don’t power on and off servo system frequently, just to prevent equipment damaged.
Forbidden to modify servo system.
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FaultProcessing
 Caution
The reason of fault must be figured out after alarm occurs, reset alarm signal before restart.
Keep away from machine, because of restart suddenly if the driver is powered on again after momentary
interruption(the design of the machine should be assured to avoid danger when restart occurs)
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UserManualforELD2Servo
Systemselection
Attention
The rate torque of servo motor should be larger than effective continuous load torque.
The ratio of load inertia and motor inertia should be smaller than recommended value.
The servo driver should be matched with servo motor.
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UserManualforELD2Servo
Table of Contents
Introduction ..................................................................................................................................................... 2
Chapter 1 Introduction .................................................................................................................................... 7
1.1 Product Introduction.......................................................................................................................... 7
1.2 Inspection of product......................................................................................................................... 8
Chapter 2 Installation ...................................................................................................................................... 9
2.1 Storage and Installation Circumstance .............................................................................................. 9
2.2 Servo Driver Installation ................................................................................................................... 9
2.2.1 Installation Method................................................................................................................. 9
2.2.2 Installation Space ................................................................................................................. 10
2.3 Servo Motor Installation.................................................................................................................. 10
Chapter 3 Wiring ........................................................................................................................................... 11
3.1 Wiring.............................................................................................................................................. 11
3.1.1 Wire Gauge........................................................................................................................... 11
3.1.2 Position Control Mode ......................................................................................................... 12
3.2 Driver Terminals Function .............................................................................................................. 13
3.2.1 Control Signal Port-CN1 Terminal....................................................................................... 13
3.2.2 Encoder Input Port-CN2 Terminal........................................................................................ 14
3.2.3 Communication Port............................................................................................................. 14
3.2.4 Power Port ............................................................................................................................ 15
3.2.5 Bus connector ....................................................................................................................... 15
3.2.6 Dip switch ............................................................................................................................ 15
3.3 I/O Interface Principle ..................................................................................................................... 16
3.3.1 Switch Input Interface .......................................................................................................... 16
3.3.2 Switch Output Interface........................................................................................................ 16
3.3.3 Pulse Input Interface............................................................................................................. 17
3.3.4 Analog Value Input Interface................................................................................................ 18
3.3.5 Servo Motor Encoder Input Interface................................................................................... 18
Chapter 4 Parameter ...................................................................................................................................... 19
4.1 Parameter List ................................................................................................................................. 19
4.2 Parameter Function.......................................................................................................................... 21
4.2.1【Class 0】Basic Setting ...................................................................................................... 21
4.2.2【Class 1】Gain Adjust ........................................................................................................ 24
4.2.3【Class 2】Vibration Suppression........................................................................................ 28
4.2.4【Class 3】Velocity/ Torque Control.................................................................................... 29
4.2.5【Class 4】I/F Monitor Setting ............................................................................................ 33
4.2.6【Class 5】Extended Setup .................................................................................................. 38
4.2.7【Class 6】Special Setup...................................................................................................... 39
Chapter 5 Alarm and Processing ................................................................................................................... 41
5.1 Alarm List........................................................................................................................................ 41
5.2 Alarm Processing Method ............................................................................................................... 42
Chapter 6 Trial Run ....................................................................................................................................... 50
6.1 Inspection Before trial Run ............................................................................................................. 50
6.1.1 Inspection on wiring............................................................................................................. 50
6.1.2 Timing chart on power-up .................................................................................................... 51
6.1.3 Timing chart on fault ............................................................................................................ 51
6.1.4 Holding brake ....................................................................................................................... 51
6.2 Trial Run.......................................................................................................................................... 52
6.2.1 Position Control.................................................................................................................... 52
6.2.2 Velocity Control.................................................................................................................... 52
6.2.3 Torque Control...................................................................................................................... 53
6.3 Automatic Control Mode Run ......................................................................................................... 54
6.3.1 Operation Mode Selection.................................................................................................... 54
6.3.2 Position Mode....................................................................................................................... 55
Chapter 7 PR function ................................................................................................................................... 58
7.1 Overview ......................................................................................................................................... 58
7.1.1 Main function ....................................................................................................................... 58

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UserManualforELD2Servo
7.1.2 Installation wiring................................................................................................................. 59
7.2 Parameter......................................................................................................................................... 61
7.2.1 8th sort parameters specification .......................................................................................... 61
7.2.2 9th sort parameters specification .......................................................................................... 63
7.3 IO Operation mode.......................................................................................................................... 64
7.3.1 Homing................................................................................................................................. 64
7.3.2 Trigger path .......................................................................................................................... 66
7.3.3 Position limit, JOG and E-stop function............................................................................... 68
7.4 Communication control mode......................................................................................................... 69
7.4.1 Parameters setting................................................................................................................. 69
7.4.2 485 communication Installation wiring................................................................................ 72
7.4.3 Fixed trigger mode ............................................................................................................... 72
7.4.4 Immediately trigger method ................................................................................................. 73
7.4.5 Test Pr-Mode with Serial debugging assistant...................................................................... 74
7.5 Upper computer operation............................................................................................................... 78
7.6 RS485 Parameter address................................................................................................................ 79
Chapter 8 Product Specification.................................................................................................................... 84
8.1 Driver Technical Specification ........................................................................................................ 84
8.2 Accessory selection ......................................................................................................................... 85
Appendix ....................................................................................................................................................... 85
Quickguidefortuningtheservo ....................................................................................................................... 85
Contact us...................................................................................................................................................... 86
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UserManualforELD2Servo
Chapter 1 Introduction
1.1 Product Introduction
ELD2 low-voltage AC servo is a special motion control product designed for machines and
applications that request a best balance between outstanding and reasonable cost.
Combined with abundant features like MFC, vibration suppression,Multi-mode filter function etc. It
provide machines a compact size, low tuning works, but high resolution encoder up to 5000 lines, an unique
servo system.
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Talentfeature:
◆ Easy tuning
◆ Automatic identification for motor
◆ Simple, flexible to control
◆ RS485/Modbus
◆ Notch filter, damping filter
◆ Optional feedback
Specifications
Driver model ELD2-400
Size(mm) 118*75.5*34
Rated power(kw) 0.4
Rated output current(A) 10
Max output current(A) 30
Main power
Voltage(V) DC24-80(recommended 24-60Vdc)
Current(A)
10
48-60Vdc: 7Amp
60-70Vdc: 6Amp
Control power Voltage(V) DC12-24
Current(mA) ≥12
Control method IGBT PWM sinusoidal Wave Drive
Overload 300%
Brake resistor External connection
Protection rank IP20
Features
Pulse input 2 fast pulse input, 5V only，500kHz
Modes of operation Position/Velocity/Torque
Command source Pulse+Direction/±10 V Analog/Over the Network
Inputs/Outputs
2 programmable differential inputs(5V)
7 programmable single-end inputs(24V)
2 programmable differential outputs
3 programmable single-end outputs
1 analog input(±10 V)
Feedback Supported 200~5000lines incremental TTL encoder (ELD2-400)
Encoder(ABZ)+Hall(UVW)、Encoder(ABZ)
Communication Supported RS-485/ RS-232/ Modbus-RTU

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UserManualforELD2Servo
1.2 Inspection of product
1. Youmustcheckthefollowingthingbeforeusingtheproducts:
a. Check if the product is damaged or not during transportation.
b. Check if the servo driver & motor are complete or not.
c. Check the packing list if the accessories are complete or not
2. Typemeaning
a. ELD2 series servo driver
ELD2‐RS400

MaximumOutputPower
400:400W

Low‐voltageACservodrive(24‐60VDC)
b. Servo motor type
The ELD2 series AC servo driver can be matched with a variety of domestic and foreign servo motor.
Matched Motors
Power Range Up to 450W
Voltage Range 24 - 60V
Encoder Type 100~5000lines incremental TTL encoder
Motor Size 40mm,42mm,57mm,60mm frame or other size
Other Requirements Brake. oil-seal. protection level. shaft&connector can be customized

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UserManualforELD2Servo
Chapter 2 Installation
2.1 Storage and Installation Circumstance
Table2.1ServoDriver,ServoMotorStorageCircumstanceRequirement
Item ELD2 series driver ELDM low voltage servo motor
Temperature -20-80℃-25-70℃
Humility Under 90%RH (free from condensation) Under 80%RH(free from condensation)
Atmospheric
environment
Indoor(no exposure)no corrosive gas or
flammable gas, no oil or dust
Indoor(no exposure)no corrosive gas or
flammable gas, no oil or dust
Altitude Lower than 1000m Lower than 2500m
Vibration Less than 0.5G (4.9
m
/s2) 10-60Hz (non-continuous working)
Protection
level IP00(no protection) IP54
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Table2.2ServoDriver,ServoMotorInstallationCircumstanceRequirement
Item ELD2 series driver ELDM low voltage servo motor
Temperature 0‐55℃‐25‐40℃
Humility Under90%RH(free from condensation)Under90%RH(free from condensation)
Atmospheric
environment
Indoor(no exposure)no corrosive gas or
flammable gas, no oil or dust
Indoor(no exposure)no corrosive gas or
flammable gas, no oil or dust
Altitude Lower than 1000m Lower than 2500m
Vibration Less than 0.5G (4.9
m
/s2) 10-60Hz (non-continuous working)
Protection
level IP00(no protection) IP54
2.2 Servo Driver Installation
Notice
Must install in control cabinet with sufficient safeguarding grade.
Must install with specified direction and intervals, and ensure good cooling condition.
Don’t install them on inflammable substance or near it to prevent fire hazard.
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2.2.1 Installation Method
Install in vertical position ,and reserve enough space around the servo driver for ventilation.
Here is the installation diagram:
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Figure2.1installationmethodofdriverELD2‐400

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UserManualforELD2Servo
2.2.2 Installation Space
Reserve enough surrounding space for effective cooling.
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Figure2.2InstallationSpaceforSingleDriver
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Figure2.3InstallationSpaceforseveralDrivers
2.3 Servo Motor Installation
Notice
Don’t hold the product by the cable, motor shaft or encoder while transporting it.
No knocking motor shaft or encoders, prevent motor by vibration or shock.
The motor shaft can’t bear the load beyond the limits.
Motor shaft does not bear the axial load, radial load, otherwise you may damage the motor.
Use a flexible with high stiffness designed exclusively for servo application in order to make
a radial thrust caused by micro misalignment smaller than the permissible value. 
Install must be steady, prevent drop from vibrating.

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UserManualforELD2Servo
Chapter 3 Wiring
Warning
The workers of participation in wiring or checking must possess sufficient ability do this job.
The wiring and check must be going with power off after five minutes.

Caution
Ground the earth terminal of the motor and driver without fail.
The wiring should be connected after servo driver and servo motor installed correctly
3.1 Wiring
3.1.1 Wire Gauge
(1)Power supply terminal TB
●Diameter: Vdc , GND, PE, U, V, W terminals diameter ≥1.5mm2(AWG14-16)
●Grounding: The grounding wire should be as thick as possible, drive servo motor the PE terminal point
ground, ground resistance <100 Ω.
●Use noise filter to remove external noise from the power lines and reduce an effect of the noise generated
by the servo driver.
●Install fuse (NFB) promptly to cut off the external power supply if driver error occurs.
(2) The control signal CN1 feedback signal CN2
●Diameter: shielded cable (twisting shield cable is better), the diameter ≥0.12mm2(AWG24-26), the
shield should be connected to FG terminal.
●Length of line: cable length should be as short as possible and control CN1 cable is no more than 3
meters, the CN2 cable length of the feedback signal is no more than 20 meters.
●Wiring: be away from the wiring of power line, to prevent interference input.
●Install a surge absorbing element for the relevant inductive element (coil),: DC coil should be in parallel
connection with freewheeling diode reversely; AC coil should be in parallel connection with RC snubber
circuit.
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Attention
Match the colors of the motor lead wires to those of the corresponding motor output terminals (U.V.W)
Never start nor stop the servo motor with this magnetic contactor.

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UserManualforELD2Servo
3.1.2 Position Control Mode
CN1
5
COM_IN
ENA
CLR
12~24Vdc
RS232
Commucation
Port
1
PUL
2
PUL
3
DIR
270Ω
4
DIR
CN2
U
PE
W
V
6
7
Vdc
GND
DC Power supply
+
-
RS485*2
270Ω
4.7K
4.7K
4.7K
4.7K
NOT 9
DOT 8
HOME 10
CTRG 11
PR1 12
4.7K
4.7K
4.7K
13
ALM+
15
BR+
ALM-
BR-
14
16
COM_OUT
24Vdc
17
18
19
20
SERVO ON
TNP
AT
Pulse
signal
Figure3‐1PositionalControlModeWiring
Attention:
1、Only support 5V pulse and direction signal , 24V pulse signal suggest connect 2 KΩresistance
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PulseInputInterfaceDifferentialDriveMode

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UserManualforELD2Servo
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PulseInputInterfaceSingleTerminalDriveMode
3.2 Driver Terminals Function
3.2.1 Control Signal Port-CN1 Terminal
The left on Figure 3.3 is control signal port CN1 of servo driver with Molex-20 connector;
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Table3.1SignalExplanationofControlSignalPort‐CN1
CN1 Pin Signal IO Detail
CN1
1 DI1+ Input
Positive differential pulse input，5V,
500KHz GPIO/
Pulse
2 DI1- Input
Negative differential pulse input，5V,
500KHz
3 DI2+ Input
Positive differential pulse input，5V,
500KHz（Optional analog Ain1+）GPIO/
Direction/
Analog
4 DI2- Input
Negative differential pulse input，5V,
500KHz（Optional analog GND）
5 COMI Input
Power supply positive terminal of the external input
control signal, 12V ~ 24V
6 DI3 Input
Digital input signal 3, default value is forward
enable signal , low level available in default , max
voltage is 24V input 20KHz
7 DI4 Input
Digital input signal 4, default value is alarm clear
signal , low level available in default , max voltage
is 24V input 20KHz
8 DI5 Input
Digital input signal 5, default value is forward run
prohibited (POT)signal in position mode , low level
available in default , max voltage is 24V input
20KHz
9 DI6 Input
Digital input signal 6, default value is reverse run
prohibited (NOT) signal in position mode , low
level available in default , max voltage is 24V input
20KHz
10 DI7 Input
Digital input signal 7, default value is homing
signal in position mode , low level available in
default , max voltage is 24V input 20KHz
11 DI8 Input
Digital input signal 8, default value is CTRG signal
in PR mode , low level available in default , max
voltage is 24V input 20KHz

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UserManualforELD2Servo
12 DI9 Input
Digital input signal 9, default value is Path1 select
signal in position mode , low level available in
default , max voltage is 24V input 20KHz
13 DO1+ Output
Positive differential output1，24V，
100mA
Default
Alarm
output
14 DO1- Output
Negative differential output1，24V
15 DO2+ Output
Positive differential output1，24V，
100mA
Default
brake
output
16 DO2- Output
Negative differential output1，24V
17 DO3 Output
Digital output signal 3 , default value is servo-on
output (S-on) in position mode, ，24V, 8mA
18 DO4 Output
Digital output signal 4 , default value is positioning
complete (INP) in position mode，24V, 8mA
19 DO5 Output
Digital output signal 5 , default value is at torque
signal，24V, 8mA
20 COMO Output Digital output signal commonality ground, 24V
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3.2.2 Encoder Input Port-CN2 Terminal
Table3.2EncoderInputPort‐CN2Ter minalSignalforELD2‐400
CN2 Pin Signal IO Detail
CN2
1 SHIELD Input Ground terminal for shielded
2 HU Input Hall sensor U input
3 HW Input Hall sensor W input
4 HV Input Hall sensor V input
5 VCC Input
+5V for encoder power supply
6 GND Input
7 EZ+ Input Encoder channel Z+ input
8 EZ- Input Encoder channel Z- input
9 EB+ Input Encoder channel B+ input
10 EB- Input Encoder channel B- input
11 EA+ PE Encoder channel A+ input
12 EA- Input Encoder channel A- input
3.2.3 Communication Port
Table3.4SignalExplanationofconnectionanddebuggingPort
CN7 Pin Detail
RS232
1 5V
2 TX
3 GND
4 RX

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3.2.4 Power Port
Table3.5MainPowerInputPort‐CN4
CN4Pin Signal Detail
Power
1 GND
2 VDC (+24～+48V)

CN3Pin Signal Detail
Motor
1 PE
2 U U
3 V V
4 W W

3.2.5 Bus connector
Cn8 Pin Signal Detail
CN8
485
IN
1 RS485+ 485data+
3 RS485- 485 data-
5 485GND 485 GND
other NC 

Cn9 Pin Signal Detail
CN9
485
OUT
1 RS485+ 485data+
3 RS485- 485 data-
5 485GND 485 GND
other NC 
3.2.6 Dip switch
S1 NO 485SlaveID NO 485SlaveID
S1
0 Default Pr5.31=16 8 8
1 1 9 9
2 2 A 10
3 3 B 11
4 4 C 12
5 5 D 13
6 6 E 14
7 7 F 15

485Baudrate SW1 SW2
Default Pr5.30=600 off off
19200 on off
38400 off on
57600 on on

16
UserManualforELD2Servo
SW3: 485 terminal resistance，effect right now, support all modes
SW3=off，disconnect the terminal resistance
SW3=on，connect the terminal resistance
SW4：Rotation direction，effect after power off and restart
SW4=off，CCW
SW4=on，CW

3.3 I/O Interface Principle
3.3.1 Switch Input Interface

Figure3‐4SwitchInputInterface

⑴The user provide power supply, DC 12-24V, current≥100mA
⑵Notice: if current polar connect reversely, servo driver doesn’t run.
3.3.2 Switch Output Interface

Figure3.5SwitchOutputInterface
(1) The user provide the external power supply . However, if current polarity connects reversely, servo
driver is damaged.
(2) The output of the form is open-collector, the maximum voltage is 25V, and maximum current is 50mA.
Therefore, the load of switch output signal must match the requirements. If you exceed the requirements or
output directly connected with the power supply, the servo drive is damaged.
(3) If the load is inductive loads relays, etc., there must be anti-parallel freewheeling diode across the load.
If the freewheeling diode is connected reversely, the servo drive is damaged.

17
UserManualforELD2Servo
3.3.3 Pulse Input Interface

Figure3‐6PulseInputInterfaceDifferentialDriveMode


Figure3‐7PulseInputInterfaceSingleTerminalDriveMode

(1) In order to transmit pulse data properly , we recommend using the differential drive mode.
(2) The differential drive mode, AM26LS31, MC3487 or similar RS422 line drive.
(3) Using of single-ended drive will cause reduction of the operation frequency.
(4) The user provide external power supply for single-ended drive. However, if current polarity connect
reversely, servo driver is damaged.
(5) The form of pulse input is the following form 3.7 below, while the arrows indicates the count .
Table3.7PulseInputForm
PulsecommandformCCWCWParametersettingvalue
Pulse symbol
Pulse + direction
The form of pulse input timing parameter is the following form 3.8 below. The 4 times pulse frequency
≤500kH if 2-phase input form is used.
Table3.8theparametersofpulseinputtimesequence
parameter Differential drive input Single-ended drive input
t
ck ＞ 2
μ
s ＞ 5
μ
s
t
h
＞ 1
μ
s ＞ 2.5
μ
s
t
l
＞ 1
μ
s ＞ 2.5
μ
s
t
rh
＜ 0.2μs ＜ 0.3μs
t
rl
＜ 0.2μs ＜ 0.3μs
t
s ＞ 1
μ
s ＞ 2.5
μ
s
t
q
ck ＞ 8
μ
s ＞ 10
μ
s

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UserManualforELD2Servo
t
q
h ＞ 4
μ
s ＞ 5
μ
s
t
q
l ＞ 4
μ
s ＞ 5
μ
s
t
q
rh
＜ 0.2
μ
s ＜ 0.3
μ
s
t
q
rl
＜ 0.2
μ
s ＜ 0.3
μ
s
t
q
s
＞ 1μs ＞ 2.5μs
Figure3.8pulse+directioninputinterfacetiming(themaximumofpulsefrequency:500KHZ)
3.3.4 Analog Value Input Interface

Figure3‐9AnalogInputInterface
3.3.5 Servo Motor Encoder Input Interface

Figure3‐11ServoMotoroptical‐electricalEncoderInputInterface









19
UserManualforELD2Servo
Chapter 4 Parameter
4.1 Parameter List
ModeParameterNumberName
PSTClassifyNumber
PST【Class0】
Basic
setting
00 Model following control
   01 control mode setup
PST02 real-time auto-gain tuning
PST03 selection of machine stiffness at real-time auto-gain tuning
PST04 Inertia ratio
P   06 command pulse rotational direction setup
P   07 command pulse input mode setup
   08 Command pulse counts per revolution
P   09 1st numerator of electronic gear
P   10 denominator of electronic gear
PST11 output pulse counts per one motor revolution
PST12 reversal of pulse output logic
PST13 1st torque limit
P   14 position deviation excess setup
P【Class1】
GainAdjust
00 1st gain of position loop
PST01 1st gain of velocity loop
PST02 1st time constant of velocity loop integration
PST03 1st filter of velocity detection
PST04 1st time constant of torque filter
P   05 2nd gain of position loop
PST06 2nd gain of velocity loop
PST07 2nd time constant of velocity loop integration
PST08 2nd filter of velocity detection
PST09 2nd time constant of torque filter
P   10 Velocity feed forward gain
P   11 Velocity feed forward filter
PS  12 Torque feed forward gain
PS  13 Torque feed forward filter
PST14 2nd gain setup
P   15 Control switching mode
P   17 Control switching level
P   18 Control switch hysteresis
P   19 Gain switching time
P   35 Positional command filter setup
PST36 Encoder feedback pulse digital filter setup
PS  【Class2】
Vibration
Restrain
Function
00 adaptive filter mode setup
PST01 1st notch frequency
PST02 1st notch width selection
PST03 1st notch depth selection
PST04 2nd notch frequency
PST05 2nd notch width selection
PST06 2nd notch depth selection
P   22 Positional command smooth filter
P   23 Positional command FIR filter
S  【Class3】00 Velocity setup internal/external switching

20
UserManualforELD2Servo
S  Speed,
Torque
Control
01 Speed command rotational direction selection
ST02 Speed command input gain
S  03 Speed command reversal input
S  04 1st speed setup
S  05 2nd speed setup
S  06 3rd speed setup
S  07 4th speed setup
S  08 5th speed setup
S  09 6th speed setup
S  10 7th speed setup
S  11 8th speed setup
S  12 time setup acceleration
S  13 time setup deceleration
S  14 Sigmoid acceleration/deceleration time setup
   15 Speed zero-clamp function selection
ST16 Speed zero-clamp level
  T18 Torque command direction selection
  T19 Torque command input gain
  T20 Torque command input reversal
  T21 Speed limit value 1
PST24 maximum speed of motor rotation
PST【Class4】
I/FMonitor
Setting
00 input selection SI1
PST01 input selection SI2
PST02 input selection SI3
PST03 input selection SI4
PST04 input selection SI5
PST10 output selection SO1
PST11 output selection SO2
PST12 output selection SO3
PST13 output selection SO4
PST22 Analog input 1(AI 1) offset setup
PST23 Analog input 1(AI 1) filter
PST28 Analog input 3(AI 3) offset setup
PST29 Analog input 3(AI 3) filter
P   31 Positioning complete range
P   32 Positioning complete output setup
P   33 INP hold time
PST34 Zero-speed
S  35 Speed coincidence range
PST36 At-speed
PST37 Mechanical brake action at stalling setup
PST38 Mechanical brake action at running setup
PST39 Brake action at running setup
P【Class5】
Extended
Setup
00 2nd numerator of electronic gear
P   01 3rd numerator of electronic gear
P   02 4th numerator of electronic gear
PST03 Denominator of pulse output division
PST06 Sequence at servo-off
PST08 Main power off LV trip selection
PST09 Main power off detection time
PST13 Over-speed level setup
PST15 I/F reading filter