Leadshine EL6-CAN User manual

User Manual of EL6-CAN AC Servo
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1
User Manual of EL6-CAN AC Servo

User Manual of EL6-CAN AC Servo
www.leadshine.com
2
Introduction
Thanks for purchasing Leadshine EL6 series AC servo drives, this instruction manual provides
knowledge and attention for using this drive.
Contact [e-mail] for more technical service .
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.
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.
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.
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.

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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 and encoder.
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 this job.
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.

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Don’t power on and off servo system frequently, just to prevent equipment damaged.
Forbidden to modify servo system.
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 drive is powered on again after momentary
interruption(the design of the machine should be assured to avoid danger when restart occurs)
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 drive should be matched with servo motor.

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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 ..................................................................................................... 10
1.2 Inspection of product............................................................................................................................ 10
1.3 Accessory selection .............................................................................................................................. 10
Chapter 2 Installation ..........................................................................................................................................11
2.1 Storage and Installation Circumstance ..................................................................................................11
2.2 Servo Drive Installation.........................................................................................................................11
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..................................................................................................................... 15
3.2.1 Digital input/output Port-CN2 Terminal.................................................................................... 16
3.2.2 Encoder Input Port-CN3 Terminal............................................................................................. 16
3.2.3 RS232/RS485 Communication Port-CN4、CN5 Terminal ...................................................... 16
3.2.4 Encoder output Port-CN6 Terminal........................................................................................... 17
3.2.5 Power Port................................................................................................................................. 17
3.3 I/O Interface Principle.......................................................................................................................... 18
3.3.1 Digital Input Interface ............................................................................................................... 18
3.3.2 Digital Output Interface............................................................................................................. 19
Chapter 4 Parameter........................................................................................................................................... 21
4.1 Parameter List ...................................................................................................................................... 21
4.1.1 Drive Parameters (Group 2000h) .............................................................................................. 21
4.1.2 Manufacturer Parameters (Group 5000h).................................................................................. 24
4.1.3 Device Profile Parameters (Group 6000h) ................................................................................ 26
4.2 Parameters Function............................................................................................................................. 28
4.2.1【Class 0】Basic Setting........................................................................................................... 28
4.2.2【Class 1】Gain Adjust............................................................................................................. 32
4.2.3【Class 2】Vibration Suppression............................................................................................. 36
4.2.4【Class 3】Velocity/ Torque Control......................................................................................... 38
4.2.5【Class 4】I/F Monitor Setting ................................................................................................. 39
4.2.6【Class 5】Extended Setup ....................................................................................................... 44
4.2.7【Class 6】Special Setup........................................................................................................... 47
4.3 402 Parameters Function...................................................................................................................... 49
Chapter 5 CANopen........................................................................................................................................... 55
5.1 CAN Interface ...................................................................................................................................... 55
5.2 CANopen protocol ............................................................................................................................... 55
5.2.1 CANopen frame ........................................................................................................................ 55

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5.2.2 CANopen objects ...................................................................................................................... 56
5.3 NMT..................................................................................................................................................... 57
5.3.1 NMT services ............................................................................................................................ 58
5.3.1 NMT error control..................................................................................................................... 58
5.4 SDO...................................................................................................................................................... 60
5.5 PDO...................................................................................................................................................... 61
5.6 SYNC................................................................................................................................................... 62
5.7 EMCY.................................................................................................................................................. 62
Chapter 6 Display and Operation....................................................................................................................... 64
6.1 Introduction.......................................................................................................................................... 64
6.2 Panel Display and Operation................................................................................................................ 65
6.2.1 Panel Operation Flow Figure..................................................................................................... 65
6.2.2 Drive Operating Data Monitor .................................................................................................. 66
6.2.3 Auxiliary Function..................................................................................................................... 69
6.2.4 Saving parameter....................................................................................................................... 69
6.2.5 Abnormal Alarm........................................................................................................................ 70
6.3 Trial Run............................................................................................................................................... 70
6.3.1 Inspection on wiring.................................................................................................................. 70
6.3.2 Holding brake............................................................................................................................ 70
6.4 EL6-CAN motion control procedure.................................................................................................... 71
6.5 CIA402 State Machine ........................................................................................................................ 72
6.6 Common Functions for All Modes....................................................................................................... 73
6.6.1 Motor Rotation Direction.......................................................................................................... 73
6.6.2 Drive Stop.................................................................................................................................. 73
6.6.3 Electronic Gear Ratio................................................................................................................ 73
6.6.4 Control Word............................................................................................................................. 74
6.6.5 Status Word................................................................................................................................ 74
6.6.6 Drive Enable.............................................................................................................................. 75
6.7 Profile position mode ........................................................................................................................... 76
6.7.1 Controlword in profile position mode ....................................................................................... 76
6.7.2 Statusword in profile position mode.......................................................................................... 77
6.7.3 Related objects .......................................................................................................................... 78
6.7.4 Example of profile position mode ............................................................................................. 78
6.6 Profile velocity mode ........................................................................................................................... 79
6.6.1 Controlword in profile velocity mode ....................................................................................... 79
6.6.2 Statusword in profile velocity mode.......................................................................................... 79
6.6.3 Related objects .......................................................................................................................... 80
6.6.4 Example of profile velocity mode ............................................................................................. 80
6.7 Profile torque mode.............................................................................................................................. 81
6.7.1 Controlword in profile torque mode.......................................................................................... 81
6.7.2 Statusword in profile torque mode ............................................................................................ 81
6.7.3 Related objects .......................................................................................................................... 82
6.7.4 Example of profile torque mode................................................................................................ 82
6.8 Homing mode....................................................................................................................................... 83

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6.8.1 Controlword in profile homing mode........................................................................................ 83
6.8.2 Statusword in profile homing mode .......................................................................................... 83
6.8.3 Related objects .......................................................................................................................... 84
6.8.4 Example of homing mode ......................................................................................................... 84
6.8.5 Homing Method ........................................................................................................................ 85
6.9 Security Features.................................................................................................................................. 98
6.9.1 BRK-OFF output....................................................................................................................... 98
6.9.2 Servo stop mode ...................................................................................................................... 100
6.9.3 Emergency stop function......................................................................................................... 100
6.10 Inertia ratio identification................................................................................................................. 100
6.10.1 On-line inertia ratio identification......................................................................................... 100
6.10.2 Off-line inertia ratio identification......................................................................................... 100
6.10.3 Motion Studio inertia ratio identification .............................................................................. 101
6.11 Vibration Suppression....................................................................................................................... 101
6.12 Friction torque compensation........................................................................................................... 103
6.13 Third gain switching......................................................................................................................... 103
6.14 Regenerative resister setting............................................................................................................. 104
6.15 Multi-turn absolute encoder ............................................................................................................. 105
6.15.1 Parameters setting.................................................................................................................. 105
6.15.2 Read absolute position........................................................................................................... 105
6.15.3 Alarm..................................................................................................................................... 106
Chapter 7 Alarm and Processing ...................................................................................................................... 108
7.1 Alarm List........................................................................................................................................... 108
7.2 Alarm Processing Method .................................................................................................................. 109
Contact us..........................................................................................................................................................117

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Chapter 1 Introduction
1.1 Product Introduction
EL6/ELM Series AC servo products are cost-effective AC digital servo which is designed for
position/velocity/torque high accurate control, power range up to 1kw, which can provide a perfect solution for
different applications, performance with easy tuning process.
Based on CIADS 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, but high resolution encoder up to 23bit, an unique servo
system.
Talent features compared with pulse servo:
Reduce communication interference and extend communication distance
The reliability of pulse communication is reduced because the transmission cable of pulse signal is
vulnerable to electromagnetic interference. But CAN bus communication can significantly improve the
reliability of communication, reduce the influence of interference on instruction and extend the
communication distance due to the error detection, limitation and processing mechanism contained in the
protocol.
Improve motion performance
The trajectory planning of bus communication servo is realized in the drive. The controller only needs to
transfer the target position, speed, acceleration and other information to the drive. Therefore, the drive can
predict the motion parameters of the next moment in advance internally, and then take feedforward
measures to improve the motion performance.
Reduce system wiring complexity
Under the pulse communication mode, the controller needs to communicate with each drive through the
pulse cable connection, which often leads to the dense and complicated wiring of the machine equipment.
Under the CAN bus communication mode, the controller only needs to use the cable connection with one
of its drives, and the rest of the drives only need to use the chain mode to connect with the drive.
Reduce the number of required control unit ports, thereby reducing the cost
Multiple bus servo drive only need one port connect with movement control unit (motion controller or
movement control cards), without pulse module, also don’t need increases the number of drive control
card because there are so many drives, and don’t need to consider computer slot number limitation. It can
save the cost of pulse module, control card and industrial control machine.
Talent feature:
◆Easy tuning
◆Automatic identification for motor
◆Simple, flexible to control
◆CANopen
◆Notch filter, damping filter
◆Optional feedback

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1.1.1 Specification and feature
Drive model
EL6-CAN400Z
EL6-CAN750Z
EL6-CAN1000Z
Rated output power
400W
750W
1KW
Rated output current
3
5.2
7
Max output current
13
18.4
26.5
Mechanical Size
175*168*40
175*168*50
175*168*50
Main power
Single phase 220V -15%~+10% 50/60HZ
Control mode
IGBT SVPWM sinusoidal wave control
Feedback mode
Bus encoder: RS485 protocol
Position bandwidth
200HZ
Electronic gear ratio
1～8388608/1～8388608
Velocity bandwidth
500HZ
Input signal
DI：4 inputs（Support common + and common - two wiring modes）
Over-travel inhibition, gain switching, command pulse inhibition, speed zero clamp,
deviation counter clear, alarm clear
Output signal
DO：3 outputs（2 single-ended，1 differential）
Alarm output, servo-ready, at-speed, zero-detection, velocity coincidence
Alarm function
Over-voltage, under-voltage, over-current, over-load, encoder error, position deviation
error, brake alarm, limit alarm, over-speed error etc.
Operation and
display
Jog, trapezoidal wave test, each parameter and input output signal can be modified and
saved, five-bit LED to display rotational speed, current, position deviation, drive type
version and address ID value etc.
Configuration
software
Can adjust parameters of current loop/velocity loop/position loop;
change the value of input and output signals and the parameter of motor and save the values
to the files which can be downloaded and uploaded, monitor the waveform of velocity and
position in the ladder.
Communication
interface
RS232: for configuration software connection
CANopen
Brake mode
No internal brake , external brake is needed for big acceleration/deceleration
Adapt load inertia
Less than 20 times motor inertia
weight
About 1.5-3Kg
Environment
Environment
Avoid dust, oil fog and corrosive gases
Ambient Temp
0 to +40℃.
Humidity
40% RH to 90%RH, no condensation
Vibration
5.9 m/s2MAX
Storage Temperature
-20~80℃
Installation
Vertical installation
Servo drive series
EL6-D***Z
EL6-RS***Z
EL6-CAN***Z
Control mode
Position control
Build-in Velocity
JOG
Position control
Velocity control
JOG
Profile position
Profile velocity
Profile torque
Homing
Encoder output
X
√
√
Digital input
4 inputs (allow sink connection/source connection)
Digital output
3 outputs(2 single-ended allow sink connection/source connection, 1 differential)
Network
--
Modbus RTU
(LAN CABLE-RJ45 terminal)
CANopen
(LAN CABLE-RJ45 terminal)
Maximum
5V differential,0~500kHz
5V differential,0~500kHz

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frequency of pulse
input
24V single-ended,0~200kHz
24V single-ended,0~200kHz
1.1.2 Part Numbering Information
EL6-CAN 1000 Z
①②③④
NO
Details
①
Series EL6：Servo drive series
②
Command source D: Standard version RS: RS485 CAN: CANopen
③
Power 0400: 400W 0750: 750W 1000:1000W
④
Encoder Z: Serial encoder
1.2 Inspection of product
1. Check the folowing 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
2. Type meaning
a. EL6 series servo drive
EL6-CAN 1000 Z
①②③④
NO
Details
①
Series EL6：Servo drive series
②
Command source D: Standard version RS: RS485 CAN: CANopen
③
Power 0400: 400W 0750: 750W 1000:1000W
④
Encoder Z: Serial encoder
a. Servo motor type
The EL6 series AC servo drive can be matched with ELM series AC servo motor.
1.3 Accessory selection
1. Power cable (1.2m，2.2m，3m，5m，7m，10m selectable)
CABLE-RZ3M0-S (motor with –SS connector)
CABLE-RZ3M0-HH2 (motor with –HH2 connector)
2. Encoder cable (1.2m，2.2m，3m，5m，7m，10m selectable)
CABLE-7BM3M0-Z (motor with –SS connector)
CABLE-7BM3M0-HH2 (motor with –HH2 connector)
3. Brake cable (1.2m，2.2m，3m，5m，7m，10m selectable)
CABLE-SC3M0-S (motor with –SS connector)
CABLE-SC3M0-HH2 (motor with –HH2 connector)
4. Software configuration cable:
CABLE-L6TS1M5
5. CANopen/RS485 communication cable
CABLE-TX3M0-BUS

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Chapter 2 Installation
2.1 Storage and Installation Circumstance
Table 2.1 Servo Drive, Servo Motor Storage Circumstance Requirement
Item
EL6 series drive
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 (4.9m/s2) 10-60Hz (non-continuous working)
Protection
level
IP20(no protection)
IP54 or IP65
Table 2.2 Servo Drive, Servo Motor Installation Circumstance Requirement
Item
EL6 series drive
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 (4.9m/s2) 10-60Hz (non-continuous working)
Protection
level
IP20(no protection)
IP54 or IP65
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.
Install in vertical position ,and reserve enough space around the servo drive for ventilation.
The user may install the product in the mode of bottom plate installation or panel installation, and the
installation direction is perpendicular to the installation face. In order to ensure good heat dissipation
conditions, at least 10MM of installation space should be set aside in the actual installation.
When mounting drives compactly, consider installation tolerances and leave at least 1MM between each
two drives. Use it below 75% of the actual load rate.
Installation diagram as follow:

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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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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 drive without fail.
The wiring should be connected after servo drive and servo motor installed correctly
3.1 Wiring
3.1.1 Wire Gauge
(1)Power supply terminal TB
● Diameter:
Table 3.1 Power wiring specification
Drive
Wire diameter (mm2/AWG)
L1.L2.L3
P+.BR
U.V.W
PE
EL6-*400Z
1.3/AWG16
2.1/AWG14
1.3/AWG16
2.1/AWG14
EL6-*750Z
1.3/AWG16
2.1/AWG14
1.3/AWG16
2.1/AWG14
EL6-*1000Z
2.1/AWG14
2.1/AWG14
2.1/AWG14
2.1/AWG14
● 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 error occurs.
(2) The control signal CN1、CN2, and feedback signal CN3
●Diameter: shielded cable (twisting shield cable is better), the diameter of CN1 ≥ 0.14mm2, the diameter of
CN2 ≥ 0.25mm2, 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 CN3 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

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The recommended regenerative resistance specifications for the EL6 series are as follows：
Table 3.2 Regenerative resistance specification sheet
Drive
Built-in resister value (Ω)
Built-in resister power (W)
EL6-*0400Z
100
50
EL6-*0750Z
50
50
EL6-*1000Z
50
100
Method for determining 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.
Attention
Match the colors of the motor lead wires to those of the corresponding motor output terminals (U.V.W)
Never start nor stop the servo motor with this magnetic contactor.
Cable must be fixed steadily, avoid closing to radiator and motor to prevent reducing the properties of heat
insulation

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3.1.2 Wiring
Noise Filter
Circuit
Braker
Comtactor
L1
P+
L2
Br
1
POT
4.7K
4.7K
NOT 4.7K
4.7K
12~24Vdc
7
6
8
CN2
U
PE
W
V
2
3
4
5
PE
COM_SI
9
10
N
CN2 Port
Figure 3.1 CANopen Control Mode Wiring
Notes:
1. 4 programmable digital inputs, allows sink input/source input, within the range from 12 VDC to 24 VDC,
30mA
2. 3 programmable digital outputs（2 single-ended, 1 differential）
3.2 Drive Terminals Function
Port
Function
CN1
Pulse + Direction Signal Port (for EL6-D and EL6-RS version only)
CN2
Digital input/output Port
CN3
Encoder Input Port
CN4
RS232(for configuration software connection)
CANopen
CN5
CANopen
CN6
Encoder output Port(Only for EL6-RS***Z version)
X1
Power Port

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3.2.1 Digital input/output Port-CN2 Terminal
Port
Pin
Signal
Name
Explanation
CN2
1
COM+
Digital input common terminal
4 programmable digital inputs
allows sink input/source input
within the range from 12 VDC to 24 VDC,
30mA
2
SI1
Digital input 1
3
SI2
Digital input 2
4
SI3
Digital input 3
5
SI4
Digital input 4
6
COM－
Digital output common- terminal
2 programmable digital single-ended outputs
within the range from 12 VDC to 24 VDC,
30mA
7
SO1
Digital output 1
8
SO2
Digital output 2
9
SO3＋
Differential Digital output 3
1 programmable digital differential output
within the range from 12 VDC to 24 VDC,
30mA
10
SO3－
3.2.2 Encoder Input Port-CN3 Terminal
Table 3.3 Encoder Input Port-CN3 Terminal Signal Explain
Port
Pin
Signal
CN3
1
VCC5V
2
GND
3
BAT+
4
BAT-
5
SD+
6
SD-
PE
3.2.3 RS232/CANopen Communication Port-CN4 、 CN5 Terminal
Table 3.4 signal explanation of drive interconnection interface-CN4 CN5
Port
Pin
Signal
CN4
CN5
1，9
CANH
2，10
CANL
3，11
CAN_GND
4，12
/
5，13
/
6，14
TXD(RS232)
7，15
RXD(RS232)
8，16
GND(RS232
PE
Notes: RS232 communication for CN4 terminal only.

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3.2.4 Encoder output Port-CN6 Terminal
Table 3.5 Encoder output Port –CN6
Port
Pin
Signal
Name
Explanation
CN6
1
OCZ
OC output terminal of motor encoder Z phase
Differential output,
High >= 2.5vdc,
low <= 0.5vdc,
maximum current
±20mA
2
GND
OC output GND terminal of motor encoder
3
Z＋
Differential output terminal of motor encoder
Z phase
4
Z－
5
B＋
Differential output terminal of motor encoder
B phase
6
B－
7
A＋
Differential output terminal of motor encoder
Aphase
8
A－
3.2.5 Power Port
Table 3.6 Main Power Input Port-X1
Port
Pin
Signal
Detail
X1
L1
For single phase 220V
For single phase 220V，+15～-15%，
50/60Hz
L2
For single phase 220V
Notes
①Isolation transformer can be used for power supply;
②Do not access the 380VAC power supply, otherwise it will cause serious
damage to the drive;
③In the case of serious interference, it is recommended to use noise filter for
power supply;
④It is recommended to install a non-fusible circuit breaker to cut off external
power supply in time when the drive fails.
Port
Pin
Signal
Detail
X1
P +
DC bus + terminal
①Drive DC bus + terminal
②External regenerative resistor P+
terminal
Br
External regenerative
resistor terminal
External regenerative resistor
terminal
N
DC bus - terminal
Drive DC bus - terminal
Notes
When using external resistors, the values of resistance and power are selected as
follows：
Drive
Resistor（Ω）
Power（W）
EL6-*400Z
≥ 40
100
Port
Pin
Signal
Detail
X1
U
U
3 phase motor power input
V
V
W
W
PE
PE
Frame ground
Notes
①Connect the drive to the ground end (PE) of the motor and connect it to the
earth

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3.3 I/O Interface Principle
3.3.1 Digital Input Interface
Figure 3-2 Digital Input Interface
(1) The user provide power supply, DC 12-24V, current≥100mA
(2) Notice: if current polar connect reversely, servo drive doesn’t run.
Pr4.02
Name
Input selection DI3
Mode
F
Range
0~00FFFFFFh
Unit
—
Default
0x14
Index
2402h
Pr4.03
Name
Input selection DI4
Mode
F
Range
0~00FFFFFFh
Unit
—
Default
0x16
Index
2403h
Pr4.04
Name
Input selection DI5
Mode
F
Range
0~00FFFFFFh
Unit
—
Default
0x01
Index
2404h
Pr4.05
Name
Input selection DI6
Mode
F
Range
0~00FFFFFFh
Unit
—
Default
0x02
Index
2405h
Assign functions to digital inputs.
This parameter use 16 binary system to set up the values,
For the function number, please refer to the following table.
Signal
Symbol
Setup value
0x60FD(bit)
Normally
open
Normally
closed
Invalid
—
00h
Do not setup
×
Positive direction over-travel
inhibition input
POT
01h
81h
1
Negative direction over-travel
inhibition input
NOT
02h
82h
0
Alarm clear input
A-CLR
04h
Do not setup
Forced alarm input
E-STOP
14h
94h
HOME-SWITCH
HOME-SWITCH
16h
96h
2
·Normally open means input signal comes from external controller or component, for example: PLC .
·Normally closed means input signal comes from drive internally.
·Don’t setup to a value other than that specified in the table .
·Don’t assign specific function to 2 or more signals. Duplicated assignment will cause Err210 I/F input
multiple assignment error 1or Err211 I/F input multiple assignment error 2.
·E-STOP：Associated parameter Pr4.43
I/O input digital filtering
Pr5.15＊
Name
I/F reading filter
Mode
P
S
T
Range
0~255
Unit
0.1ms
Default
0
4.7K
SI Input
12~24Vdvc
External Wiring Driver Side
COM+

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19
Data Type
16bit
Access
R/W
Address
051FH
Repower
o
I/O input digital filtering; higher setup will arise control delay.
3.3.2 Digital Output Interface
Figure 3-3 Switch Output Interface
(1) The user provide the external power supply . However, if current polarity connects reversely, servo drive 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.
(4) Pin7、Pin8 and Pin6：Single-ended output; Pin9、Pin10：Differential output.
Pr4.10
Name
Output selection DO1
Mode
F
Range
0~00FFFFFFh
Unit
—
Default
0x81
Index
2410h
Pr4.11
Name
Output selection DO2
Mode
F
Range
0~00FFFFFFh
Unit
—
Default
0x02
Index
2411h
Pr4.12
Name
Output selection DO3
Mode
F
Range
0~00FFFFFFh
Unit
—
Default
0x03
Index
2412h
Assign functions to digital outputs.
This parameter use 16 binary system do setup
For the function number, please refer to the following table.
Signal name
Symbol
Setup Value
Normally open
Normally closed
Master control output
—
00h
Do not setup
Alarm output
Alm
81h
01h
Servo-Ready output
S-RDY
02h
82h
Eternal brake release signal
BRK-OFF
03h
83h
Positioning complete output
INP
04h
84h
At-speed output
AT-SPPED
05h
85h
Torque limit signal output
TLC
06h
86h
Zero speed clamp detection output
ZSP
07h
87h
Velocity coincidence output
V-COIN
08h
88h
Positional command ON/OFF output
P-CMD
0Bh
8Bh
Speed limit signal output
V-LIMIT
0Dh
8Dh
Speed command ON/OFF output
V-CMD
0Fh
8Fh
Servo enable state output
SRV-ST
12h
92h

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Homing process finish
HOME-OK
22h
A2h
·Normally open：Active low
·Normally closed：Active high
·Don’t setup to a value other than that specified in the table .
·Pr4.10~Pr4.11 correspond to DO1~DO2 respectively.