Leadshine ES2-3DA2306 User manual

ES2-3DA2306 Vector Easy Servo Drive User Manual
User Manual
ES2-3DA2306
Vector Easy Servo Drive
Revision 1.0
Revision 1.0
©2016 Leadshine Technology Co., Ltd.
Address: Floor 11, Block A3, Nanshan iPark, Xueyuan Avenue 1001, Shenzhen, Guangdong, 518055, China
Tel: [phone] Fax: [phone]
Web: www.leadshine.com Sales: [e-mail]
Support: [e-mail]

ES2-3DA2306 Vector Easy Servo Drive User Manual
Page 2 / 25
Notice
Read this manual carefully before any assembling and using. Incorrect handling of products in this manual can result
in injury and damage to persons and machinery. Strictly adhere to the technical information regarding installation
requirements.
This manual is not for use or disclosure outside of Leadshine except under permission. All rights are reserved. No part
of this manual shall be reproduced, stored in retrieval form, or transmitted by any means, electronic, mechanical,
photocopying, recording, or otherwise without approval from Leadshine. While every precaution has been taken in
the preparation of the book, Leadshine assumes no responsibility for errors or omissions. Neither is any liability
assumed for damages resulting from the use of the information contained herein.
This document is proprietary information of Leadshine that is furnished for customer use ONLY. Information in this
document is subject to change without notice and does not represent a commitment on the part of Leadshine.
Therefore, information contained in this manual may be updated from time-to-time due to product improvements, etc.,
and may not conform in every respect to former issues.
Record of Revisions
Revision
Date
Description of Release
1.0
Dec, 2016
Initial Release

ES2-3DA2306 Vector Easy Servo Drive User Manual
Table of Contents
1 Introductions....................................................................................................................................................................4
1.1 Features.................................................................................................................................................................4
1.2 Applications..........................................................................................................................................................4
2. Specifications..................................................................................................................................................................4
2.1 Electrical Specifications.......................................................................................................................................4
2.2 I/O Interface Specifications..................................................................................................................................5
2.3 Mechanical Specifications....................................................................................................................................5
2.4 Operating Environment........................................................................................................................................ 5
3 Connectors and Pin Assignments.................................................................................................................................... 6
3.1 Control Signal Connector CN1............................................................................................................................ 6
3.2 Encoder Signal Input CN2................................................................................................................................... 6
3.3 RS232 Communication Connector for Tuning CN3............................................................................................8
3.3 Power Connector.................................................................................................................................................. 8
3.4 Connector Pin-Out................................................................................................................................................9
3.5 Matching ESM Series Easy Servo Motors.........................................................................................................10
4 Getting Start...................................................................................................................................................................11
4.1Wiring Diagrams................................................................................................................................................. 12
4.1.1 Power Wiring...........................................................................................................................................12
4.1.2 Control Signal Wiring............................................................................................................................. 12
4.2 Sequence Chart of Control Signals.................................................................................................................... 15
4.3 Configuring ES2-3DA2306................................................................................................................................15
4.3.1 Configuring ES2-3DA2306 by the on-board HMI.................................................................................15
4.3.2 Configuring ES2-3DA2306 by the ProTuner......................................................................................... 17
5 Frequently Asked Questions..........................................................................................................................................23
6 Warranty.........................................................................................................................................................................24

ES2-3DA2306 Vector Easy Servo Drive User Manual
1 Introductions
Leadshine ES2 series easy servo drives are based on the latest vector control algorithm of combing AC servo and
stepper systems. They are featured with full closed-loop include current loop, speed loop and position loop, offering
enhanced acceleration & quick response, extra lower noise & heating, smooth motor movement, no torque reservation,
high standstill stiffness, no overshooting for almost zero settling time, and easy tuning for almost all applications. The
ES2-3DA2306 operating voltage is 150-230VAC and it can output up to 6.0 current. Therefore, the ES2-3DA2306 is
ideal for applications requiring fast response, precise position and smooth movement of NEMA34 and NEMA42 easy
servo motors.
1.1 Features
Advanced servo technology to combine advantages of open-loop stepper systems and AC servo systems
Closed-loop controls to eliminate lose of steps, stall or movement synchronization
High starting torque and quick response
Vector control ,smooth motor movement with lower vibration & heating and quick response
Excellent respond time, quick acceleration, and very high high-speed torque (30% over open-loop)
Load-dependent dynamic current output from drive to motor to significantly motor heating deduction
Input voltage from 150 to 230VDC; MAX 6.0A peak current output from drive to motor
Micro step resolution value from 200-51,200 (increased by 1) via software configuration
Isolated control inputs of Pulse, Direction and Enable
Easy tuning for plug and play setup and built-in on-board HMI for easy setup and configuration
Easy Servo motors with selectable encoder resolution 1000, 2500, 5000 lines (recommend 5000 lines) and output
signal include A,B,Z;
In-position and fault outputs to external motion controllers for complete system controls.
Over voltage, over-current, and position-error protection
1.2 Applications
Due to combining the features of both AC servo drives and stepper drives, Leadshine ES2 series easy servo drives are
suitable for both upgrading conventional stepper systems, and replacing AC servo systems which have closed loop
and high torque requirements. ES2-3DA2306 has been successfully implemented by many OEM clients in
applications such as electronic equipment, laser engraving machine, medical equipment, CNC routers, packaging
machines and printing equipment.
2. Specifications
2.1 Electrical Specifications
Parameters
ES2-3DA2306
Operating Voltage
150-230VAC
Maximum Continuous Current
6.0 A
MAX Step Frequency
200KHz and 500KHz optional
Step, Direction and Enable Voltage
5-24 V
Logic Signal Input Current
7-20 mA

ES2-3DA2306 Vector Easy Servo Drive User Manual
2.2 I/O Interface Specifications
Parameters
ES2-3DA2306
Command Input
Step/Direction, CW/CCW
Enable/Disable Input
Differential
Alarm Signal Output
Isolated OC Output
Encoder Signal Output
ABZ Output
Tuning Interface
On-board HMI or RS232 communication
Regeneration Resistor
Built-in ( 50 Ohm, 100W), Support External
2.3 Mechanical Specifications
(unit: mm [1inch=25.4mm])
Parameters
ES2-3DA2306
Size
180mm * 140mm* 70mm
Weight
1500 g
2.4 Operating Environment
(Tj= 25℃/77℉)
Cooling
Natural cooling or Forced cooling
Ambient Temperature
0 – 40 °C
Humidity
40% RH to 90% RH, No Condensation
Vibration
5.9 m/s2MAX
Storage Temperature
-20 °C to 80 °C

ES2-3DA2306 Vector Easy Servo Drive User Manual
3 Connectors and Pin Assignments
3.1 Control Signal Connector CN1
CN1 – Control Signal Connector
DB44, 44Pin, Female
Pin
Name
I/O
Description
1
NC
-
No connection.
2
NC
-
No Connection.
3
PUL+
I
Pulse signal: In single pulse (pulse/direction) mode, this input represents pulse signal,
each rising or falling edge active (software configurable); In double pulse mode
(software configurable), this input represents clockwise (CW) pulse, active both at high
level and low level. 5-24V when PUL-HIGH, 0-0.5V when PUL-LOW. For reliable
response, pulse width should be longer than 2.5uS(200K bandwidth) or 1uS(500K
4
PUL-
I
Heat Sink
Main Power Input
Motor Outputs
Case Ground
On-board HMI
Self-test,
On-board Configuration
CN4
RS232 Configuration Port
CN1
Control Signal Connector
Pulse, Direction, Enable
Inputs and Fault Output
CN2
Feedback Signal Connector
Encoder Connection
Braking Resistor
Connection
Control Power Input

ES2-3DA2306 Vector Easy Servo Drive User Manual
bandwidth)
5
DIR+
I
Direction Signal: In single-pulse mode, this signal has low/high voltage levels,
representing two directions of motor rotation. In double-pulse mode (software
configurable), this signal is counter-clock (CCW) pulse, active both at high level and low
level. For reliable motion response, DIR signal should be ahead of PUL signal by 5μs at
least. 5-24V when DIR-HIGH, 0-0.5V when DIR-LOW. The direction signal’s polarity is
software configurable.
6
DIR-
I
7
ALM+
O
Alarm Signal: OC (Open Collector) output signal, activated when one of the following
protection is activated: over-voltage, over current, braking error and position following
error. They can sink or source MAX 100mA current at 5V. The active impedance of
alarm signal is software configurable.
8
ALM-
O
9
Pend+
O
In-position Signal: OC output signal, active when the difference between the actual
position and the command position is zero. This port can sink or source 20mA current at
24V. The resistance between Pend+ and Pend- is active at high impedance.
The signal also can be used for brake output by setting parameter NO 30004 in
ProTuner.
10
Pend-
O
11
ENA+
O
Enable signal: This signal is used for enabling/disabling the driver. By default, high level
(NPN control signal) for enabling the driver and low level for disabling the driver. It is
usually left UNCONNECTED (ENABLED). Please note that the PNP and Differential
control signals are on the contrary, namely Low level for enabling. The active level of
ENA signal is software configurable.
12
ENA-
O
13-22
NC
-
No connection.
23
AO+
O
Encoder A + output
24
AO-
O
Encoder A - output
25
BO+
O
Encoder B+ output
26
BO-
O
Encoder B- output
27
ZO+
O
Encoder Z+ output
28
ZO-
O
Encoder Z- output
29-44
NC
-
No connection.
FG
-
Ground Terminal for shield
3.2 Encoder Signal Input CN2
CN2 – Feedback Signal (Encoder) Connector
HDD15, 15Pin, Female
Pin
Name
I/O
Description
1
EA+
I
Encoder A+ input
2
EB+
I
Encoder A- input

ES2-3DA2306 Vector Easy Servo Drive User Manual
3
EGND
I/O
+5V output return ground
4
NC
I
No Connection.
5
NC
I
No Connection.
6
FG
I
Ground terminal for shield
7
EZ+
I
Encoder Z+ input
8
EZ-
I
Encoder Z- input
9
NC
I
No Connection.
10
NC
I
No Connection.
11
EA-
I
Encoder A- input
12
EB-
I
Encoder B- input
13
VCC
O
External +5V power input need if the required current >50mA, no connection as
normally
14
NC
I
No Connection.
15
NC
I
No Connection.
3.3 RS232 Communication Connector for Tuning CN3
CN3 – RS232 Communication Connector
RS232
Can be connected to PC for drive and motor tuning. Recommended twisted shielded c able and
cable length < 2 meter.
Pin
Name
I/O
Description
1
GND
GND
Ground.
2
TxD
O
RS232 transmit.
3
+5V
O
Reserved +5V power output ( Note: Do not connect it to RS232 port)
4
RxD
O
RS232 receive.
5
NC
-
NC
6
NC
-
NC
3.5 Power and motor Connector
Main Power Supply Connector
Pin
Name
I/O
Description
1
L
I
Main power supply input connected to 150- 240VAC.
2
N
I
3
NC
-
4
BR1
I
External regeneration resistor connection.

ES2-3DA2306 Vector Easy Servo Drive User Manual
5
P+
O
Internal DC bus voltage output. The regeneration resistor should be connected between
BR1 and P+.
Motor & Control Power Supply Connector
Pin
Name
I/O
Description
1
U
O
Motor phase U
2
V
O
Motor phase V
3
W
O
Motor phase W
4
PE
-
Case ground
5
L
I
Control Power Supply from 150VAC to 240VAC.
6
N
I
3.6 Connector Pin-Out
CN1 – Control Signal Connector
CN2 – Feedback Signal Connector
6 FG
7 EZ+
8 EZ-
9 NC
10 NC
1 EA+
2 EB+
3 GND
4 NC
5 NC
11 EA-
12 EB-
13 +5V
14 NC
15 NC
16 NC
30 NC
15 NC
1 NC
2 NC
13 NC
3 PUL+
4 PUL-
5 DIR+
6 DIR-
7 ALM+
8 ALM-
9 Pend+
10 Pend-
11 ENA+
12 ENA-
14 NC
31 NC
44 NC
33 NC
43 NC
42 NC
41 NC
40 NC
39 NC
38 NC
37 NC
36 NC
35 NC
34 NC
32 NC

ES2-3DA2306 Vector Easy Servo Drive User Manual
CN3 – RS232 & RS485 Connector
CN5 – Main Power Supply Connector CN6 – Motor & Control Power Supply Connector
3.7 Matching ESM Series Easy Servo Motors
ES2-MH33480-
E5Z
ES2-MH334100-
E5Z
ES2-MH342120-
E5Z
Wiring Diagram
Step Angle (°)
1.2
1.2
1.2
Holding Torque (N.m)
8.0
10.0
12.0
Phase Current (A)
6.0
6.0
4.5
Phase Resistance (Ohm)
2.6
2.66
1.2-
Phase Inductance (mH)
17.4
18.9
13
Shaft Inertia (g.cm2)
3
3.0
10.8
Weight (Kg)
4.7
5.0
8.6
Encoder (lines / Rev.)
5000
5000
5000
3.8 Motor Encoder Cable Pin-Out
ES2-MH33480-E5Z, ES2-MH334100-E5Z, ES2-MH342120-E5Z
Pin
Name
Wire Color
I/O
Description
HDD15 Male
1
EA+
Black
O
Channel A+ output
2
VCC
Red
I
+5V power input
3
GND
White
GND
Ground
7
EZ+
Orange
O
Channel Z+ output
8
EZ-
Grey
O
Channel Z- output
11
EB+
Yellow
O
Channel B+ output
12
EB-
Green
O
Channel B- output
13
EA-
Blue
O
Channel A- output
1 GND
2 TxD
3 +5V
4 RxD
5 NC
6 NC

ES2-3DA2306 Vector Easy Servo Drive User Manual
3.9 Motor Encoder Extension Cable
CABLEG-BMXMX
Pin Assignments
A: HDD15 Female
Wire Color
B: HDD15 Male
Name
Description
Pin
Pin
1
Black
1
EA+
Channel A+
2
Red
13
VCC
+5V power input
3
White
3
GND
+5V GND
7
Orange
7
EZ+
Channel Z+
8
Grey
8
EZ-
Channel Z-
11
Yellow
2
EB+
Channel B+
12
Green
12
EB-
Channel B-
13
Blue
11
EA-
Channel A-
Cable Length
Part Number
L
Matching Motor
CABLEG-BM3M0 (V4.0)
3.0m
ES2-MH33480-E5Z, ES2-MH334100-E5Z, ES2-MH342120-E5Z
CABLEG-BM8M0(V4.0)
8.0m
CABLEG-BM10M0(V4.0)
10.0m
CABLEG-BM12M0(V4.0)
12.0m
Note: The encoder extension cable must be connected between the ES2-M (H) motor and the ES-3DA2306. You
can not connect the motor’s encoder cable to the ES-3DA2306 directly.
4 Getting Start
To get start you need one easy servo drive, one easy servo motor (stepper drive with encoder) and an AC / DC power
supply for the first time evaluation. A motion controller - like indexer, pulse generator or PLC is required too if you
would like to verify the complete function. If you have a PC with one serial port or one PC with USB-RS232
converter, you can also rotate the motor in the PC software. However it is recommended to verify the complete
function of the easy servo using another motion controller

ES2-3DA2306 Vector Easy Servo Drive User Manual
4.1Wiring Diagrams
Or
RS232 Cable
USB-232 Converter
Motion Controller
AC Power
150-240VAC
Encoder Extension Cable (must be sued)
Power Extension Cable
4.1.1 Power Wiring
The ES2-3DA2306 requires two powers input as follows. The main power is used to energize the motor and the
control power is used for logic circuit. Typically they can share the same AC power.
L
N
PE
Main Power
L
N
PE
Control Power
L
N
AC Power
150-240VAC
Power Supply Selection
To achieve good driving performances, it is important to choose a suitable supply voltage and use a matching current
value. Generally speaking, supply voltage determines the high speed performance of the motor, while output current
determines the output torque of the driven motor (particularly at lower speed). Higher supply voltage will allow
higher motor speed to be achieved, at the price of more noise and heating. If the motion speed requirement is low, it’s
better to use lower supply voltage to decrease noise, heating and improve reliability.

ES2-3DA2306 Vector Easy Servo Drive User Manual
Multiple Drives
It is recommended to have multiple drives to share one power supply to reduce cost, if the supply has enough capacity.
To avoid cross interference, DO NOT daisy-chain the power supply input pins of the drives. Instead, please connect
them to power supply separately.
Selecting Supply Voltage
Higher supply voltage can increase motor torque at higher speeds, thus helpful for avoiding losing steps. However,
higher voltage may cause bigger motor vibration at lower speed, and it may also cause over-voltage protection or
even drive damage. Therefore, it is suggested to choose only sufficiently high supply voltage for intended
applications, and it is suggested to use power supplies with theoretical output voltage of drive’s minimum + 10% to
drive’s maximum – 10%, leaving room for power fluctuation and back-EMF.
4.1.2 Control Signal Wiring
Connections to controller of differential output

ES2-3DA2306 Vector Easy Servo Drive User Manual
Connection to controller of sinking output
Connection to controller of sourcing output

ES2-3DA2306 Vector Easy Servo Drive User Manual
Wiring Notes
In order to improve anti-interference performance of the drive, it is recommended to use twisted pair shield
cable.
To prevent noise incurred in PUL/DIR signal, pulse/direction signal wires and motor wires should not be tied up
together. It is better to separate them by at least 10 cm, otherwise the disturbing signals generated by motor will
easily disturb pulse direction signals, causing motor position error, system instability and other failures.
If a power supply serves several drives, separately connecting the drives is recommended instead of
daisy-chaining.
It is prohibited to pull and plug power connector while the drive is powered ON, because there is high current
flowing through motor coils (even when motor is at standstill). Pulling or plugging power connector with power
on will cause extremely high back-EMF voltage surge, which may damage the drive.
4.2 Sequence Chart of Control Signals
In order to avoid some fault operations and deviations, PUL, DIR and ENA should abide by some rules, shown as
following diagram:
Remark:
a) t1: ENA must be ahead of DIR by at least 5s. Usually, ENA+ and ENA- are NC (not connected). See
“Connector P1 Configurations” for more information.
b) t2: DIR must be ahead of PUL effective edge by 5s to ensure correct direction;
c) t3: Pulse width not less than 2.5s;
d) t4: Low level width not less than 2.5s.
4.3 Configuring ES2-3DA2306
4.3.1 Configuring ES2-3DA2306 by the on-board HMI
Users can configure the drive via the on-board HMI in the front panel. This HMI includes six 7-segment digits and
five keys for users operation as follows. More detailed descriptions of the parameters on the panel are presented in
section 4.3.2

ES2-3DA2306 Vector Easy Servo Drive User Manual
MENT
There are 4 operation modes in the on-board HMI. Users can switch between these modes by pressing the “Mode”
key. The following figure illustrates the operation procedure of this on-board HMI.
M
Display Data
Edit Parameter
Select Data
ENT
Display Data
Select Parameter Display
parameter Edit Parameter
Confirm
MCancel
ENT
ENT
Select Function
Hold on 3 seconds
Reset Parameter
Clear Error Record
ENT
ENT
Auxiliary
Function
Write to
EEPROM Start Writing Writing Completes
ENT
M
M
M
Operation Procedure of the on-board HMI
Display Data Mode
This mode is active initially at drive’s power-up. In this mode, users can check the monitoring data as shown in the
following table.
Display Code
Name
Description
“L “
Low order digits display.
“H “
High order digits display.
7-segment Display
Left Shift Digits
Decrease or Next
Increase or previous
Enter, Confirm
Mode Switching

ES2-3DA2306 Vector Easy Servo Drive User Manual
“d00uEP”
Position error which is the difference between command and feedback.
Press “ ” to switch between low and high order digits display.
“d01SPF”
Actual feedback motor speed in RPM.
“d02SPr”
Reference motor speed in RPM.
“d03PLF”
Actual feedback position in pulses.
“d04PLr”
Reference position in pulses.
“d05iP “
Reference current (peak) in mA.
“d06Err”
Error code:
0001----Over-current protection activated
0002----Over-voltage protection activated
0008----Brake protection activated
0020----Position error exceeds the limit
000d----Encoder cable error
“d07 Pn”
Bus voltage which is 1/10 of the actual value.
“d08 no”
Drive version number.
4.3.2 Configuring ES2-3DA2306 by the ProTuner
Leadshine also provide the tuning software named ProTuner to configure the parameter of ES2-3DA2306.
Parameter list
NO.
Definition
Property
Default
value
Range
Description
ProTuner
Panel
15
0
Current loop Kp
R/W
0
0—65535
Invalid
16
1
Current loop Ki
R/W
0
0—65535
Invalid
124
2
Tuning
proportionality for
Current loop
R/W/S
50
0—200
Unit ：%. This parameter can be
modified
30053
3
Position Loop Kp
R/W/S
230
0—10000
30055
4
Speed loop Ki
R/W/S
50
0—10000
30054
5
Speed loop Kp
R/W/S
400
0—10000
30058
6
Torque feed- forward
R/W/S
0
0—1000
Invalid

ES2-3DA2306 Vector Easy Servo Drive User Manual
1
7
Pulse /Rev
R/W/S
1600
200—20000
Motor runs a round needs pulse
29
8
Encoder resolution
R/W/S
4000
200—51200
Four multiplying frequency for
1000 line encoder
30
9
Position following
error
R/W/S
1000
1—6000
Unit：pulse
30007
10
Lock Shaft Current
Percentage( power on)
R/W/S
40
0—100
The percent of Maximum current.
it is effective when NO.30015
setting is 3.
27
11
Percent of closed loop
current
R/W
80
1—100
Invalid
30006
12
Soft Start Time(power
on)
R/W/S
8
1—20
Unit：100ms。
Reduce the vibration when power
up or Enable
9
13
Pulse filter enable
R/W
1
0—1
Invalid
30001
14
Command Pulse Filter
Time
R/W/S
30
1—600
Unit：0.05ms
6
15
Enable level
R/W/S
1
0—1
0：High
1：Low
30003
16
Fault Output Level
R/W/S
0
0—1
0：High
1：Low
49
17
Pulse input mode
R/W/S
0
0—1
0：Pulse + Direction
1：CW/CCW
50
18
Pulse active edge
R/W/S
0
0—1
0：Rising Edge
1：Following Edge
51
19
Motor Running
Direction
R/W/S
1
0—1
0：Forward
1：Backward
19
20
Bandwidth
R/W/S
0
0—1
Invalid
NA
21
Acceleration
R/W
200
1~2000
These parameters are effective
when running the motor with
HMI panel
22
Speed
R/W
60
1~3000
23
Distance
R/W
100
1~65535
24
Running times
R/W
1
1~65535
25
Start direction
R/W
1
0/1
26
Running interval time
R/W
100
1~65535
27
Enable for
reciprocating motion
R/W
1
0/1
28
Start Stop
R/W
0
0/1
24
29
Open/Closed -loop
Mode selection
R/W/S
1
0—1
0：Open loop
1：Closed loop
NA
30
Auto tuning
R/W
0
0—1
Invalid

ES2-3DA2306 Vector Easy Servo Drive User Manual
31
Resonance
compensation
R/W
0
0—1000
Invalid
7
32
Choosing Shaft
Locking in Disable
R/W/S
0
0—1
0：Unlock
1：Lock
57
33
Reset fault by enable
input
R/W/S
0
0—1
0-Disable
1-Enable
30008
34
Choosing Winding
Short of
Lower Bridge Arm
R/W/S
0
0—1
0-No winding short
1-Winding short
30004
35
Pend port output
function
R/W/S
0
0—1
0：Pend output
1：brake output
30005
36
Pend port output level
R/W/S
0
0—1
0：High
1：Low
30059
37
Gravity Compensation
R/W/S
0
0—1
Invalid
30056
38
Limit for speed
loop Ki
R/W/S
15
0—80
30090
39
Ocuppied parameter1
R/W/S
15
0—127
Invalid
30091
40
Ocuppied parameter2
R/W/S
32
0—64
Invalid
30009
41
Voltage Percentage in
Power Off
R/W/S
0
0—100
Invalid
59
42
Motor model
R/W/S
11
0—100
11: ES-MH33480
12: ES-MH334100
13: ES-MH334120
85
43
Pend output pulse
limit value
R/W/S
4
0—100
Unit：pulse
30000
44
Delay for vibration
removing of software
R/W/S
3
0—100
Unit：1ms
134
45
Velocity loop Kp in
high speed
R/W/S
700
0—10000
30092
46
Ocuppied parameter3
R/W/S
48
0—64
Invalid
30011
47
Time Constant for
Over Voltage
Detection
R/W/S
2
0—20
Unit：100ms
30014
48
Voltage Limited Value
for Enabling Brake
Resistor
R/W/S
400
110-420
Unit：V
30013
49
Brake Resistor Enable
R/W/S
1
0—1
0：Disable
1：Enable
30015
50
Motion model
R/W/S
0
0—9
0-3：interpolation motion
4-5：point to point motion
128
51
Position Loop Filter
Frequency
R/W/S
6
0—31
The actual range is 0-12
129
52
Speed Loop Filter
Frequency
R/W/S
0
0—31
The actual range is 0-12
30063
53
High Speed Loop
Filter Frequency
R/WS
3
0—31
The actual range is 0-12
132
54
Speed Loop Sampling
Frequency
R/W/S
4
0—31
The actual range is 0-12

ES2-3DA2306 Vector Easy Servo Drive User Manual
30064
55
Tuning
proportionality for
Speed loop gain in
running
R/W/S
100
0—200
83
56
Self-test Enable
R/W/S
0
0—1
0-Disable, 1-Enable(for special
application)
56
57
Fault Detection
Enable
(bit operation)
R/W/S
4739
0—65535
1：Enable 0：Disable
bit0：Over current
bit1：Over voltage
Bit7：Position following error
Bit9：Brake output
Bit12：Encoder cable broken
30002
58
ALM output function
R/W/S
1
1—5
1- Fault,2~5-Reserved
30010
59
Over Voltage Value
R/W/S
440
0—500
Unit：V
30012
60
Times For Over
Current Jitters
Elimination
R/W/S
6
0—50
Current jitters times limited
before outputting over current
error
17
61
Current loop Kc
R/W
0
0—32767
Invalid
125
62
Motor back EMF
coefficient
R/W/S
0
0—32767
Invalid
126
63
Weak magnetic
coefficient 0
R/W/S
0
0—255
Invalid
127
64
Weak magnetic
coefficient 01
R/W/S
0
0—255
Invalid
133
65
Position loop KpH
R/W/S
120
0—10000
30051
66
Rigidity
R/W/S
0
0—31
Invalid
30052
67
Inertia ratio
R/W/S
100
100—10000
Invalid
30057
68
Speed feed-forward
R/W/S
10
0—32
30060
69
Time for position 3rd
gain
R/W/S
0
0—1000
Invalid
30061
70
Position 3rd gain ratio
R/W/S
0
0—1000
Invalid
30062
71
Motor pole
R/W/S
50
2—100
Invalid
30093
72
Ocuppied paramete4
R/W/S
0
0—255
Invalid
30094
73
Ocuppied paramete5
R/W/S
0
0—255
Invalid
30095
74
Ocuppied paramete6
R/W/S
0
0—255
Invalid
30096
75
Ocuppied paramete7
R/W/S
0
0—255
Invalid
30097
76
Ocuppied paramete8
R/W/S
0
0—255
Invalid