Leadshine 2ELD2-CAN Series User manual

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2ELD2-CAN Series Servo Drives
User Manual
Ver 1.0

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Foreword
User Manual of 2ELD2-CAN Series Servo Drives
Thanks for purchasing Leadshine 2ELD2 series low-voltage DC servo drives, this instruction manual
provides knowledge and attention for using this drive.
Contact [e-mail] for more technical service .
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.
Be attention to the following warning symbol:
indicates that the error operation could result in loss of life or serious injury.
indicates that the error operation could result in operator injured, also make
equipment damaged.
indicates that the error use may damage product and equipment.
Safety precautions
Warning
⚫The design and manufacture of product doesn’t use in mechanic and system which have a threat tooperator.
⚫The safety protection must be provided in design and manufacture when using this product to prevent
incorrect operation or abnormal accident.
Acceptance
Caution
⚫The product which is damaged or have fault is forbidden to use.
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.
Incorrect operation may cause unexpected accident, please read this manual carefully before using
product.
Warning
Caution
Attention

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User Manual of 2ELD2-CAN Series Servo Drives
Installation
Caution
Servo Drive and Servo Motor:
⚫Don’t install them on inflammable substance or near it to preventing fire hazard.
⚫Avoid vibration, prohibit direct impact.
⚫Don’t install the product while the product is damaged or incomplete.
Servo Drive:
⚫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 andencoder.
⚫Prohibit knocking the motor and shaft, avoid damaging encoder.
⚫The motor shaft can’t bear the load beyond the limits.
Wiring
Warning
⚫The workers of participation in wiring or checking must possess sufficient ability do thisjob.
⚫Ground the earth terminal of the motor and drive without fail.
⚫The wiring should be connected after servo drive 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 drive.
⚫The wire and temperature-resistant object must not be close to radiator of servo drive and motor.
⚫The freewheel diode which connect in parallel to output signal DC relay mustn’t connect reversely.
Debugging and running
Caution
⚫Make sure the servo drive 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 drive 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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User Manual of 2ELD2-CAN Series Servo Drives
Fault Processing
Caution
⚫The reason of fault must be figured out after alarm occurs, reset alarm signal beforerestart.
⚫Keep away from machine, because of restart suddenly if the drive is powered on again after momentary
interruption(the design of the machine should be assured to avoid danger when restartoccurs)
System selection
Attention
⚫The rate torque of servo motor should be larger than effective continuous loadtorque.
⚫The ratio of load inertia and motor inertia should be smaller than recommendedvalue.
⚫The servo drive should be matched with servo motor.

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User Manual of 2ELD2-CAN Series Servo Drives
Table of Contents
Introduction.......................................................................................................................................................... 2
Chapter 1 Introduction.......................................................................................................................................... 8
1.1 Product Introduction............................................................................................................................... 8
1.1.1 Specification and feature............................................................................................................. 9
1.1.2 Part Numbering Information ....................................................................................................... 9
1.2 Inspection of product............................................................................................................................ 10
Chapter 2 Installation ......................................................................................................................................... 10
2.1 Storage and Installation Circumstance................................................................................................. 10
2.2 Servo Drive Installation.........................................................................................................................11
2.2.1 Installation Method.....................................................................................................................11
2.2.2 Installation Space ...................................................................................................................... 12
2.3 Servo Motor Installation....................................................................................................................... 12
Chapter 3 Wiring........................................................................................................................................................13
3.1 Wiring ..........................................................................................................................................................13
3.1.1 Wire Gauge................................................................................................................................ 13
3.1.2 Wiring...............................................................................................................................................15
3.2 Drive Terminals Function..................................................................................................................... 16
3.2.1 Power Terminal - Axis 1 andAxis 2.......................................................................................... 16
3.2.2 Encoder Input Port- Axis 1 orAxis 2......................................................................................... 16
3.2.3 Control Signal Port -I/O - Axis 1 andAxis 2............................................................................. 17
3.2.4 Communication Port.................................................................................................................. 18
3.2.5 CAN Bus Connector.................................................................................................................. 18
3.2.6 STO Connector.......................................................................................................................... 18
3.2.7 CAN Node-ID and Baud rate switch......................................................................................... 19
3.3 I/O Interface Principle.......................................................................................................................... 20
3.3.1 Digital Input Interface ............................................................................................................... 20
3.3.2 Digital Output Interface............................................................................................................. 20
Chapter 4 Parameter........................................................................................................................................... 23
4.1 Parameter List ...................................................................................................................................... 23
4.1.1 Drive Parameters (Group 2000h).............................................................................................. 23
4.1.2 Manufacturer Parameters (Group 5000h).................................................................................. 26
4.1.3 Device Profile Parameters (Group 6000h) ................................................................................ 28
4.2 Parameters Function............................................................................................................................. 31
4.2.1【Class 0】Basic Setting........................................................................................................... 31
4.2.2【Class 1】Gain Adjust ............................................................................................................. 34
4.2.3【Class 2】Vibration Suppression............................................................................................. 39
4.2.4【Class 3】Velocity/ Torque Control......................................................................................... 41
4.2.5【Class 4】I/F Monitor Setting ................................................................................................. 42
4.2.6【Class 5】Extended Setup ....................................................................................................... 47
4.2.7【Class 6】Special Setup........................................................................................................... 50
4.2.8【Class 7】Factory setting......................................................................................................... 53
4.3 402 Parameters Function...................................................................................................................... 54

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User Manual of 2ELD2-CAN Series Servo Drives
Chapter 5 CANopen........................................................................................................................................... 59
5.1 CAN Interface...................................................................................................................................... 59
5.2 CANopen protocol ............................................................................................................................... 59
5.2.1 CANopen frame ........................................................................................................................ 60
5.2.2 CANopen objects ...................................................................................................................... 61
5.3 NMT..................................................................................................................................................... 61
5.3.1 NMT services............................................................................................................................ 63
5.3.1 NMT error control..................................................................................................................... 63
5.4 SDO...................................................................................................................................................... 65
5.5 PDO...................................................................................................................................................... 66
5.6 SYNC................................................................................................................................................... 67
5.7 EMCY.................................................................................................................................................. 67
Chapter 6 Trial Run............................................................................................................................................ 68
6.1 Inspection Before trial Run .................................................................................................................. 68
6.1.1 Inspection on wiring.................................................................................................................. 68
6.1.2 Holding brake............................................................................................................................ 69
6.1.3 Inspection on Parameters Setting .............................................................................................. 69
6.2 2ELD2-CAN motion control procedure............................................................................................... 69
6.3 CIA 402 State Machine ........................................................................................................................ 70
6.4 Common Functions forAll Modes....................................................................................................... 71
6.4.1 Motor Rotation Direction.......................................................................................................... 71
6.2.2 Drive Stop.................................................................................................................................. 71
6.4.3 Electronic Gear Ratio................................................................................................................ 71
6.4.4 Control Word.......................................................................................................................................... 72
6.4.5 Status Word............................................................................................................................................73
6.4.6 Drive Enable.............................................................................................................................. 74
6.5 Profile position mode ........................................................................................................................... 74
6.5.1 Controlword in profile position mode....................................................................................... 75
6.5.2 Statusword in profile position mode.......................................................................................... 75
6.5.3 Related objects .......................................................................................................................... 76
6.5.4 Example of profile position mode............................................................................................. 76
6.6 Profile velocity mode ........................................................................................................................... 77
6.6.1 Controlword in profile velocity mode....................................................................................... 77
6.6.2 Statusword in profile velocity mode.......................................................................................... 77
6.6.3 Related objects .......................................................................................................................... 78
6.6.4 Example of profile velocity mode............................................................................................. 78
6.7 Profile torque mode.............................................................................................................................. 79
6.7.1 Controlword in profile torque mode.......................................................................................... 79
6.7.2 Statusword in profile torque mode............................................................................................ 79
6.7.3 Related objects .......................................................................................................................... 80
6.7.4 Example of profile torque mode................................................................................................ 80
6.8 Homing mode....................................................................................................................................... 81
6.8.1 Controlword in profile homing mode........................................................................................ 81
6.8.2 Statusword in profile homing mode.......................................................................................... 81

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User Manual of 2ELD2-CAN Series Servo Drives
6.8.3 Related objects .......................................................................................................................... 82
6.8.4 Example of homing mode ......................................................................................................... 82
6.8.5 Homing Method ........................................................................................................................ 83
Chapter 7Application functions......................................................................................................................... 98
7.1 Security Features.................................................................................................................................. 98
7.1.1 STO function............................................................................................................................. 98
7.1.2 BRK-OFF output..................................................................................................................... 100
7.1.3 Servo stop mode...................................................................................................................... 101
7.1.4 Emergency stop function......................................................................................................... 101
7.1.5 Two-axis alarm correlation function........................................................................................ 102
7.2 Inertia ratio identification................................................................................................................... 102
7.2.1 On-line inertia ratio identification........................................................................................... 102
7.2.2 Motion Studio inertia ratio identification................................................................................ 102
7.3 Vibration Suppression........................................................................................................................ 103
7.4 Friction torque compensation............................................................................................................. 105
7.5 Regenerative resister setting............................................................................................................... 105
7.6 Multi-turn absolute encoder ............................................................................................................... 107
7.6.1 Parameters setting.................................................................................................................... 107
7.6.2 Read absolute position............................................................................................................. 108
7.6.3 Alarm....................................................................................................................................... 109
Chapter 8 Alarmand Processing .......................................................................................................................110
8.1 Alarm List............................................................................................................................................110
8.2 Alarm Processing Method...................................................................................................................112
Chapter 9 ProductAccessory............................................................................................................................ 120
9.1Accessory selection ............................................................................................................................ 120
Contact us......................................................................................................................................................... 121

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User Manual of 2ELD2-CAN Series Servo Drives
Chapter 1 Introduction
1.1 Product Introduction
The 2ELD2 series is a new low voltage DC servo drive developed from Leadshine, dual-axis, that one
2ELD2 drive can drive two servo motors at the same time. 2ELD2 series keep the same performance of ELD2
series, relying on the special dual-axis structure, 2ELD2 series achieve less wiring, space saving, energy saving,
while having a high cost performance.
Based on CIA DS 301+DSP 402 sub-protocol, it can be seamlessly connected to the controller/drive that
supports this standard protocol.
Combined with abundant features like MFC, vibration suppression, Multi-mode filter function etc. It
provide machines a compact size, low tuning works, an unique servo system.
Features:
✓Compact size, dual-axis design
✓Wide voltage input range: 24~70VDC
✓High current driving ability: 2 x up to 30Arms continuous/ 90Apeak
✓STO(SIL3)
✓Auxiliary logic input power
✓Direct brake output function

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User Manual of 2ELD2-CAN Series Servo Drives
1.1.1 Specification and feature
Specifications
Drive model
2ELD2-CAN7020B
2ELD2-CAN7030B
Size(mm)
194*103*41
Input main voltage(V)
DC24~70
Input auxiliary power(V)
DC24~70
Rated power(kw) / Axis
0.75
1.2
Rated output current(Arms) / Axis
20
30
Max output current(Apeak) / Axis
60
90
Main power
Voltage(V)
DC24V-70V
DC24V-70V
Current(A)
40Arms （≤48Vdc）
28Arms（＞48Vdc）
60Arms(≤48Vdc)
42Arms (＞48Vdc)
Control power
Voltage(V)
DC12-24
Current(mA)
≥12
Control method
IGBT PWM sinusoidal Wave Drive
Overload
300%
Regenerative resistor
External connection
Safe function
STO
Protection rank
IP20
Communication & Connection
Communication
CANopen
Modes of operation
Profile Position/Profile Velocity/Profile Torque/Homing
Inputs/Outputs
4 programmable digital inputs
2 programmable digital outputs
Analog input
1 analog input: -10V to +10V
Brake Output (24vdc)
Yes
Feedback Supported
✓Incremental TTL signal encoder (5V)
✓LeadShine 17bit serial signal encoder
✓Hall sensor
1.1.2 Part Numbering Information
2ELD2-CAN 7030 B
Brake output
Maximum Output Power
7020: 24-70VDC, 20Arms rated current
7030: 24-70VDC , 30Arms rated current
RS: RS485 (Pulse+Dir/Modbus)
CAN: CANopen/ Analog Input
2ELD2 dual-axis servo drive ( 24-70VDC)

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1.2 Inspection of product
User Manual of 2ELD2-CAN Series Servo Drives
Check the following thing before using the products :
a. Check if the product is damaged or not during transportation.
b. Check if the servo drive & motor are complete or not.
c. Check the packing list if the accessories are complete or not
The 2ELD2 series DC servo drive can be matched with a variety of domestic and foreign servo motor.
Matched Motors
Power Range
Up to 1200W for each axis
Motor Supported
Brushless、Brushed
Voltage Range
24 - 70Vdc
Feedback supported
✓Incremental TTL signal encoder (5V)
✓LeadShine 17bit serial signal encoder
✓Hall sensor
Motor Size
40mm,42mm,57mm,60mm,80mm frame,110mm frame or other size
Other Requirements
Brake. oil-seal. protection level. Shaft &connector can be customized

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User Manual of 2ELD2-CAN Series Servo Drives
Chapter 2 Installation
2.1 Storage and Installation Circumstance
Table 2.1 Servo Drive, Servo Motor Storage Circumstance Requirement
Item
2ELD2 series drive
ELVM low voltage servo motor
Temperature
-20-80℃
-20-60℃
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 1000m
Vibration
Less than 0.5G (4.9m/s2) 10-60Hz (non-continuous working)
Protection
level
IP20
IP65
Table 2.2 Servo Drive, Servo Motor Installation Circumstance Requirement
Item
2ELD2 series drive
ELVM low voltage servo motor
Temperature
0-55℃
0-40℃
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 1000m
Vibration
Less than 0.5G (4.9m/s2) 10-60Hz (non-continuous working)
Protection
level
IP20
IP65

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User Manual of 2ELD2-CAN Series Servo Drives
2.2 Servo Drive Installation
Notice
⚫Must install in control cabinet with sufficient safeguarding grade.
⚫Must install with specified direction and intervals, and ensure good cooling condition.
⚫Don’t install them on inflammable substance or near it to prevent fire hazard.
2.2.1 Installation Method
Install in vertical position ,and reserve enough space around the servo drive for ventilation.
Figure 2.1 installation method of drive 2ELD2-CAN7020B/2ELD2-CAN7030B

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User Manual of 2ELD2-CAN Series Servo Drives
2.2.2 Installation Space
Reserve enough surrounding space for effective cooling.
Figure 2.2 Installation Space for Single Drive
Figure 2.3 Installation Space for several Drives
2.3 Servo Motor Installation
Notice
⚫Don’t hold the product by the cable, motor shaft or encoder while transportingit.
⚫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 themotor.
⚫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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Chapter 3 Wiring
User Manual of 2ELD2-CAN Series Servo Drives
Warning
⚫The workers of participation in wiring or checking must possess sufficient ability do thisjob.
⚫The wiring and check must be going with power off after five minutes.
3.1 Wiring
3.1.1 Wire Gauge
(1)Power supply terminalTB
●Wiring Diameter:
●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 drive.
●Install fuse (NFB) promptly to cut off the external power supply if drive erroroccurs.
(2) The control signal CN1 and feedback signalCN2
●Diameter: shielded cable (twisting shield cable is better), the diameter ≥ 0.14mm2(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 10 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.
(3) Regenerative resister
When the torque of the motor is opposite to the direction of rotation (common scenarios such as deceleration,
vertical axis descent, etc.), energy will feedback from the load to the drive. At this time, the energy feedback is
first received by the capacitor in the drive, which makes the voltage of the capacitor rise. When it rises to a
certain voltage value, the excess energy needs to be consumed by the regenerative resistance
The recommended regenerative resistance specifications for the 2ELD2 series are as follows:
Drive
Recommend resister value (Ω)
Recommend resister power (W)
2ELD2-CAN7020B
10
100
2ELD2-CAN7030B
10
100 or 150
Drive
Wiring diameter (mm2/AWG)
Vdc, GND
U.V.W
PE
2ELD2-CAN7020B
AWG14
AWG14
AWG14
2ELD2-CAN7030B
AWG12
AWG12
AWG12
⚫Ground the earth terminal of the motor and drive without fail.
⚫The wiring should be connected after servo drive and servo motor installed correctly
Caution

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User Manual of 2ELD2-CAN Series Servo Drives
Method for select regenerative resistance specification
⚫Firstly, use the built-in resistance of the drive to run for a long time to see if it can meet the requirements:
ensure that the drive temperature d33<60℃, the braking circuit does not alarm (Regeneration load factor
d14<80), and the drive does not report overvoltage error
If the drive temperature is high, try to reduce the regenerative energy power, or external resistance of the
same specification (in this case, cancel the built-in resistance).
If the brake resistance burns out, try to reduce the regenerative energy power, or put an external resistance
of the same specification or even more power (in this case, cancel the built-in resistance).
If d14 is too large or accumulates too fast, it means that the regenerative energy is too large, and the built-
in resistance cannot consume the generated energy, the regenerative energy power will be reduced, or the
external resistance with higher resistance value or power will be reduced.
If an overvoltage error is reported by the drive, the regenerative energy power is reduced, or a resistance
with a smaller external resistance, or a parallel resistance.
The recommended regenerative resistance specifications for the 2ELD2 series are as follows：
10Ω±5%, 100W RXFB-1, Part num Code : 10100469
5Ω±5%, 200W RXLG, Part num Code : 10100522
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 of 2ELD2-CAN Series Servo Drives
3.1.2 Wiring
ENC-1
NC
Analog
input
VIN+
VIN-
COM_IN
RS232-1
1
2
3
4
5
RS232-2
STO
CAN_IN CAN_OUT
Auxiliary
power
W1
V1
ENA
CLR
6
4.7K
U1
PE
7
4.7K
24Vdc
（ Input ） DOT
8
4.7K
NOT 9
COM_OUT1 12
4.7 K
RB-
RB+
DC+
DC-
24Vdc
（ Output ）
DO2 11
DO1 10
switch
+ -
DC Power supply
Brake output
BR+
13
BR- 14 PE
U2
V2
W2
ENC-2
15 16 17 18
19 20 21 22 23
26 25
24
27 28
Notes:
Figure 3.1 Position Control Mode Wiring
1. 4 digital inputs DI3~DI6, support NPN and PNP connection, recommend 12~24V inputsignal.
2. 2 digital outputs DO1~DO2, support NPN and PNP connection, recommend 24V outputsignal.
NA
Analog
input
VIN+
VIN-
COM_IN
ENA
4.7K
4.7K
CLR
4.7K
DOT
24Vdc
（
Input
）
4.7K
NOT
COM_OUT1
DO2
24Vdc
（
Output
）
DO1
BR+
BR-
Brake output

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3.2 Drive Terminals Function
User Manual of 2ELD2-CAN Series Servo Drives
3.2.1 Power Terminal - Axis 1 and Axis2
Power terminal
Pin
Signal
Input / Output
Details
1
W1
Output
Power for motor 1
2
V1
Output
3
U1
Output
4
PE
Output
5
RB-
Input
Regenerative resistor
6
RB+
Input
7
DC+
Output
Power for Drive: DC24~70V
8
DC-
Output
9
PE
Output
Power for motor 2
10
U2
Output
11
V2
Output
12
W2
Output
Auxiliary Power Terminal
Auxiliary power
Pin
Detail
Auxiliary power
1
VCC+
2
GND
3.2.2 Encoder Input Port- Axis 1 or Axis2
For motor with incremental encoder :
Encoder
Pin
Signal
IO
Detail
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

User Manual of 2ELD2-CAN Series Servo Drives
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For motor with serial encoder :
Encoder
Pin
Signal
IO
Detail
1
SHIELD
Input
Ground terminal for shielded
5
VCC
Input
+5V for encoder power supply
6
GND
Input
7
D+
Input
Serial encoder signal
8
D-
Input
Serial encoder signal
3.2.3 Control signal I/O-Port of CN1 and CN2
CN-1
Pin
Signal
IO
Detail
1
BR+
Output
Brake output, 24V/1A
2
BR-
Output
3
COM_OU
T
Output
Digital output signal commonality ground, 24V
4
DO2
Output
Dig ital output sig nal 2 ,（ S ervo-Ready），24 V , 8m A
5
DO1
Output
Dig ital output sig nal 1 ,（ ALARM ）， 24V , 8m A
6
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
7
DI5/POT
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
8
DI4/A-CLR
Input
Digital input signal 4, default value is alarm clear signal , low
level available in default , max voltage is 24V input 20KHz
9
DI3/ENA
Input
Digital input signal 3, default value is forward enable signal ,
low level available in default , max voltage is 24V input
20KHz
10
COM_IN
Input
Power supply positive terminal of the external input control
signal, 12V ~ 24V
11
AI-
Input
Analog input: -10V to +10V
12
AI+
Input
13
NC
14
NC

User Manual of 2ELD2-CAN Series Servo Drives
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CN-2
Pin
Signal
IO
Detail
1
BR+
Output
Brake output, 24V/1A
2
BR-
Output
3
COM_OU
T
Output
Digital output signal commonality ground, 24V
4
DO2
Output
Dig ital output sig nal 2 ,（ S ervo-Ready），24 V , 8m A
5
DO1
Output
Dig ital output sig nal 1 ,（ ALARM ）， 24V , 8m A
6
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
7
DI5/POT
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
8
DI4/A-CLR
Input
Digital input signal 4, default value is alarm clear signal , low
level available in default , max voltage is 24V input 20KHz
9
DI3/ENA
Input
Digital input signal 3, default value is forward enable signal ,
low level available in default , max voltage is 24V input
20KHz
10
COM_IN
Input
Power supply positive terminal of the external input control
signal, 12V ~ 24V
11
AI-
Input
Analog input: -10V to +10V
12
AI+
Input
13
NC
14
NC
3.2.4 Communication Port
RS232 Communication port for GUI software- Axis 1 or Axis 2
RS232
Pin
Detail
RS232
1
5V
2
TX
3
GND
4
RX
3.2.5 CAN Bus Connector
BUS
Pin
CANopen
CAN_IN / OUT
1
CAN_H
3
CAN_L
5
GND
other
NC

User Manual of 2ELD2-CAN Series Servo Drives
www.leadshine.com
20
3.2.6 STO Connector
STO
Pin
Signal
IO
Detail
1
5V
/
When the drive is not using the STO function, pins 1 and 2 are used to
short the positive and negative terminals of SF1 and SF2 respectively.
2
GND
/
Caution: Pins 1 and 2 cannot be used to supply power to other
devices.
3
SF 1+
input
When using the function, connect this pin in a way so that the
STO
4
SF 1-
input
photocoupler of this input circuit turns off to activate STO function.
5
SF 2+
input
When using the function, connect this pin in a way so that the
6
SF 2-
input
photocoupler of this input circuit turns off to activate STO function.
7
EDM+
output
Outputs monitor signal that is used to check the safety function.
8
EDM-
output
Caution: This output signal is not a safety output.
3.2.7 CAN Node-ID and Baud rate switch
Rotary Code Switch- Axis 1 or Axis 2
RCS
NO
Slave ID
NO
Slave ID
RCS
0
Modbus: Default Pr5.31=16
CANopen: Default Pr0.23=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
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