Leadshine EL6-RS Series User manual

EL6-RS Series AC Servo Drive
User Manual

User Manual of EL6-RS***PAC Servo
2
Foreword
Thank you for purchasing Leadshine EL6-RS series AC Servo drives. This manual will
provide information on the EL6-RS series servo products regarding product safety &
specifications, installations & wiring, tuning & problem diagnostics.
Please contact us at [e-mail] if you need further technical support.
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 any customer’s modification of product and the
warranty of product will be canceled at the same time.
Safety Precautions
Please read the safety instructions carefully before using the products and pay attention to the safety
signs.
Might incur death or serious injury
Might cause injury to operating personals or damage to equipment
Might cause damage to equipment
High voltage. Might cause electrocution to personals in contact
Hot surface. Do not touch
Protective Earth
Safety instructions
Warning
The design of the product is not to be used in mechanical system which may incur health hazard.
Users should be aware of the product safety precautions during design and installations of the
equipment to prevent any unwanted accident.
Upon receiving Caution
The use of damaged or faulty product(s) is prohibited.
Please refer to item checklist. If the labels don’t match, please do not install.
!
Caution
!
Warning
!
Warning
!
Caution

User Manual of EL6-RS***PAC Servo
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Transportation Caution
Please provide storage and transportation under protected conditions.
Do not stack the products too high up to prevent toppling.
The product should be packaged properly during transportation,
Do not hold the product by the cable, motor shaft or encoder while transporting it.
The product should be protected from external forces and shock.
Installation Caution
Servo drive and Motor:
Do not install around combustibles to prevent fire hazard.
Avoid vibration and impact.
Do not install products that are damaged or incomplete.
Servo drive:
Please install in electrical cabinet with sufficient protection from outside elements.
Reserve sufficient gap as per the installation guide.
Make sure to have good heat sinking.
Avoid dust, corrosive gas, conductive object or fluid and combustibles.
Servo Motor:
Make sure installation is tight to prevent it from loosening.
Prevent fluid from leaking into motor and encoder.
Protect motor from impact to avoid damaging encoder.
Motor shaft should not bear the load beyond the limits as specified.
Wiring Warning
Participate installation personals should have sufficient training in product installation safety.
Please power off and wait for 10 minutes to make sure a full discharge of electricity.
Servo drive and motor must be connected to ground.
Connect the cables only after servo drive motor installed correctly
Make sure the wires are properly managed and insulation layer is not torn to prevent
electrocution. Caution
Wiring must be correctly connected to prevent damage to product(s)
Servo motor U, V, W terminal should be connected correctly and NOT connected directly to an
AC power supply.
Capacitor, inductor or filter shouldn’t be installed between servo motor and servo drive.
Connecting wires or any non-heat resistant components should be put near to heat sink of the
servo drive or motor.
The flyback diode which is connected in parallel to output signal DC relay must not be connected
in reverse.
!
Caution
!
Caution
!
Warning
!
Caution

User Manual of EL6-RS***PAC Servo
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Tuning and running Caution
Make sure the wirings of servo drive and servo motor are installed and fixed properly before
powering on.
On the first time tuning of the product, it is recommended to run unloaded until all the parameter
settings are confirmed to prevent any damage to the product or machine.
Usage Caution
Please install an emergency stop button on machine to stop operation immediately if there is an
accident.
Please make sure machine is stopped before clearing an alarm.
Servo drive must be matched with specified motor.
Frequent restart of the servo system might incur damage to the product.
Servo drive and motor will be hot to touch shortly after power off. Please be careful.
Modification(s) to servo system is prohibited.
Error Handling Warning
Please wait for 5 minutes after powering off for the electricity to be fully discharged before
uninstalling the cables.
Participate maintenance personals should have sufficient training in maintenance and operation
of this product series. Caution
Please handle the error before clearing an alarm.
Keep away from machine after a restart upon alarm. Mechanical axis might suddenly move. Such
hazard should be prevented during the utilization of the product.
Model Selection Caution
Rated torque of the servo motor should be higher than continuous designated torque when fully
loaded.
Load inertia ratio of the motor should be lower or equals to recommended value for specified
models
Servo drive must be matched with specified motor.
!
Caution
!
Caution
!
Warning
!
Caution
!
Caution

User Manual of EL6-RS***PAC Servo
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Warranty Information
Available for
Leadshine overseas warranty only covers LeadshineAC servo products that are obtained through
Leadshine certified sales channel outside of China.
Warranty claim
All Leadshine AC servo products (Servo drives and motors) overseas enjoy 18-month warranty
period.
Due to unforeseen circumstances in different sales regions around the globe, we recommend
users to seek technical support from directed sales channel as any warranty claim or repair
services may be required.
Please be informed that any maintenance/repair work that is outside of the warranty claim
conditions might incur some charges and to be confirmed before product(s) is being sent in.
The duration required for maintenance work to be done is to be confirmed after initial check-up
but we reserve the right to prolong the repair duration if needed.
Discontinued products within warranty period will be replaced with a product of similar
specifications.
Steps to warranty claim
1. Visit Leadshine global site www.leadshine.com to look for local certified sales channel.
2. Contact designated sales channel to check if any fee might incur. May include repair fee, spare
part cost or shipping cost.
Circumstances where warranty claim is not available
Damage/Loss due to occurrence of natural or man-made disaster such as fire, flood or
earthquake.
Installation or wiring error
If there is any modification done to the product
Warranty label on products is torn or not existing
Not a product bought from Leadshine certified global network of retailers/distributors.
Before warranty claim
Please backup device parameters before any repair work/warranty claim. Leadshine and
Leadshine certified retailers/distributors will not be held responsibilities for any data loss.
If available, please send product back in original packaging or make sure it is well packaged to
prevent any damage to the product during shipping.
Leadshine Technology Co.,Ltd. and its certified sales channel reserved the final right of the
interpretation of the warranty information.

User Manual of EL6-RS***PAC Servo
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TABLE OF CONTENT
WARRANTY INFORMATION.................................................................................................................................... 5
CHAPTER 1 INTRODUCTION ................................................................................................................................. 10
1.1 PRODUCT INTRODUCTION...........................................................................................................................10
1.2 MODEL NUMBER STRUCTURE.............................................................................................................................11
1.2.1 Servo Drive..................................................................................................................................................11
1.2.2 Servo motor ................................................................................................................................................12
1.3 SERVO DRIVE TECHNICAL SPECIFICATIONS .............................................................................................................13
1.4 SERVO DRIVE PORTS AND CONNECTORS ...............................................................................................................16
1.5 MOTOR PORTS AND CONNECTORS.......................................................................................................................18
CHAPTER 2 INSTALLATION & WIRING ................................................................................................................... 19
2.1 SERVO DRIVE INSTALLATION ......................................................................................................................................19
2.1.1 Servo drive installation environment..........................................................................................................19
2.1.2 Servo drive dimension ................................................................................................................................19
2.2 SERVO MOTOR INSTALLATION....................................................................................................................................21
2.2.1 Installation conditions ................................................................................................................................21
2.2.2 Precautions during installation...................................................................................................................21
2.3 EL6-RS WIRING DIAGRAM.......................................................................................................................................22
2.3.1 Position Control Mode Wiring Diagram..................................................................................................23
2.4 SERVO DRIVE PORTS .........................................................................................................................................24
2.5 X1 MAIN POWER SUPPLY..........................................................................................................................................25
2.5.1 Main Power Supply Cable Selection............................................................................................................26
2.5.2 Motor Power Supply Cable Selection (Without Brake) ...............................................................................28
2.5.3 Holding Brake Wiring Diagram...................................................................................................................29
2.5.4 Motor Power Supply Cable (With Holding Brake).......................................................................................30
2.6 CN1 I/O CONTROL SIGNAL ......................................................................................................................................32
2.6.1 CN1 control signal cable selection ..............................................................................................................34
2.7 CN2 MOTOR ENCODER ...........................................................................................................................................34
2.8 CN3/CN4 –RS485 COMMUNICATION PORT..............................................................................................................37
2.9 USB TYPE-C TUNING PORT ......................................................................................................................................38
2.10 REGENERATIVE RESISTOR SELECTION AND CONNECTIONS ...............................................................................................38
2.11 I/O SIGNALS ........................................................................................................................................................44
2.11.1 Pulse input circuit .....................................................................................................................................44
2.11.3 Digital Input Circuit...................................................................................................................................49
2.12.4 Digital Output Circuit................................................................................................................................51
2.12.5 Encoder frequency divider output circuit..................................................................................................53
2.13 DI SIGNALS SETTINGS ............................................................................................................................................55
2.14 DO SIGNALS SETTINGS ..........................................................................................................................................61
2.15 MEASURES AGAINST ELECTROMAGNETIC INTERFERENCE................................................................................................64
2.15.1 Grounding connection and other anti-interference wiring connections...................................................64
2.15.2 Using line filter .........................................................................................................................................65

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CHAPTER 3 PARAMETER....................................................................................................................................... 66
3.1 PARAMETERS LIST ...................................................................................................................................................66
3.2 PARAMETERS DESCRIPTION.......................................................................................................................................76
3.2.1 [Class 0] Basic Settings ...............................................................................................................................76
3.2.2 [Class 1] Gain adjustments .........................................................................................................................87
3.2.3 [Class 2] Vibration suppression...................................................................................................................93
3.2.4 [Class 3] Velocity/Torque control ................................................................................................................99
3.2.5 [Class 4] I/O Monitoring Settings..............................................................................................................107
3.2.6 [Class 5] Extension Settings ......................................................................................................................115
3.2.7 [Class 6] Other settings.............................................................................................................................123
3.2.8 [Class 7] Factory settings..........................................................................................................................127
3.2.8 [Class B] Status Parameters......................................................................................................................128
3.2.9 [Class 8] PR control parameters ...............................................................................................................131
3.2.10 [Class 9] PR control path parameters .....................................................................................................139
CHAPTER 4 SERVO DRIVE OPERATION................................................................................................................ 155
4.1 SERVO ENABLED ...................................................................................................................................................155
4.2 SERVO STOP.........................................................................................................................................................156
4.3 FRONT PANEL ......................................................................................................................................................170
4.4 PANEL DISPLAY AND OPERATION ..............................................................................................................................171
4.4.1 Panel Operation........................................................................................................................................171
4.4.2 Data Monitoring Mode.............................................................................................................................172
4.5 PARAMETERS SAVING.............................................................................................................................................182
4.6 AUXILIARY FUNCTION......................................................................................................................................183
4.7 GET STARTED WITH DRIVER OPERATION ....................................................................................................................188
4.7.1 Checklist before operation........................................................................................................................188
4.7.2 Power On ..................................................................................................................................................188
4.7.3 Trial Run....................................................................................................................................................188
CHAPTER 5 CONTROL MODE .............................................................................................................................. 189
5.1 POSITION CONTROL ...............................................................................................................................................190
5.1.1 Pulse input and direction settings ............................................................................................................191
5.1.2 Electronic Gear Ratio ................................................................................................................................193
5.1.3 Position command filter ...........................................................................................................................194
5.1.4 Frequency divider output..........................................................................................................................195
5.1.5 Positioning completed INP signal output..................................................................................................197
5.2 VELOCITY CONTROL MODE ......................................................................................................................................198
5.2.1 Velocity command input control...............................................................................................................199
5.2.2 Velocity command acceleration/deceleration ..........................................................................................201
5.2.3 Velocity reached signal AT-SPEED output.................................................................................................203
5.2.4 Velocity coincidence V-COIN signal output...............................................................................................203
5.2.5 Zero Speed Clamp.....................................................................................................................................204
5.3 TORQUE CONTROL ................................................................................................................................................205
5.3.1 Torque command input control ................................................................................................................206
5.3.2 Torque velocity limit .................................................................................................................................206
5.3.3 Torque limit (TL-SEL) .................................................................................................................................207
5.4 HYBRID CONTROL MODE .......................................................................................................................................208

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CHAPTER 6 APPLICATION CASE .......................................................................................................................... 209
6.1 GAIN ADJUSTMENT ...............................................................................................................................................209
6.2 INERTIA RATIO IDENTIFICATION FUNCTION ..................................................................................................................211
6.3 EASY TUNING.......................................................................................................................................................215
6.3.1 Single parameter tuning...........................................................................................................................215
6.3.2 One-click Tuning .......................................................................................................................................216
6.4 AUTO GAIN ADJUSTMENT .......................................................................................................................................218
6.5 MANUAL GAINADJUSTMENT............................................................................................................................223
6.5.1 Parameters adjustment under different control modes ...........................................................................225
6.5.2 Gain switching ..........................................................................................................................................226
6.5.3 3rd gain switching .....................................................................................................................................230
6.6 MODEL FOLLOWING CONTROL .................................................................................................................................231
6.7 ZERO TRACKING CONTROL.......................................................................................................................................232
6.8 FEEDFORWARD GAIN .............................................................................................................................................233
6.8.1 Velocity feedforward ................................................................................................................................233
6.6.2 Torque feedforward ..................................................................................................................................234
6.9 FRICTION COMPENSATION FUNCTION ........................................................................................................................236
6.10 SAFETY FUNCTIONS .............................................................................................................................................237
6.10.1 Max. motor rotational speed limitation .................................................................................................237
6.10.2 Max. duration for motor to stop after disabling.....................................................................................238
6.10.3 External brake deactivation output signal BRK-OFF...............................................................................238
6.10.4 Servo stopping mode ..............................................................................................................................240
6.10.5 Emergency stop function ........................................................................................................................241
6.11 VIBRATION SUPPRESSION .....................................................................................................................................242
6.11.1 Mechanical resonance suppression........................................................................................................242
6.11.2 End vibration suppression ......................................................................................................................246
6.11.3 Mechanical properties analysis ..............................................................................................................247
6.12 BLACK BOX ........................................................................................................................................................248
6.13 MULTITURN ABSOLUTE ENCODER ...........................................................................................................................251
6.13.1 Parameters setting .................................................................................................................................251
6.13.2 Read absolute position ...........................................................................................................................251
6.13.3 Absolute Encoder Related Alarm ............................................................................................................256
CHAPTER 7 MODBUS COMMUNICATION ........................................................................................................... 257
7.1 RS232 AND RS485 CONNECTION DIAGRAM. ............................................................................................................257
7.2 RS485 COMMUNICATION PORT...............................................................................................................................258
7.3 MODBUS PROTOCOL .............................................................................................................................................259
7.3.1 Read Data 0x03 ........................................................................................................................................259
7.3.2 Write multiple data 0x10..........................................................................................................................260
7.4 FREQUENTLY OCCURRED ISSUES AND SOLUTIONS WITH RS485 COMMUNICATION. .............................................................262
CHAPTER 8 PR FUNCTIONS................................................................................................................................. 264
8.1 PR FUNCTIONS INTRODUCTION................................................................................................................................265
8.2 CONTROL PARAMETERS ..........................................................................................................................................266
8.3 PR MOTION ........................................................................................................................................................268
8.3.1 Homing .....................................................................................................................................................268
8.3.2 Position limit and emergency stop ...........................................................................................................273
8.3.3 JOG ...........................................................................................................................................................273
8.3.4 Path motion..............................................................................................................................................274
8.4 PR CONTROL .......................................................................................................................................................277
8.4.1 PR module in Motion Studio .....................................................................................................................277
8.4.2 Physical I/O...............................................................................................................................................279

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8.4.3 485 communication..................................................................................................................................281
8.4.4 Path trigger ..............................................................................................................................................282
8.5 PR MOTION .........................................................................................................................................................283
8.5.1 Trigger using physical I/O .........................................................................................................................283
8.5.2 Control using 485 communication............................................................................................................285
CHAPTER 9 WARNING AND ALARM ................................................................................................................... 287
9.1 SERVO DRIVE WARNING..........................................................................................................................................287
9.2 SERVO DRIVE ALARM .............................................................................................................................................288
9.3 ALARM HANDLING ................................................................................................................................................291
9.4 ALARM CLEARING .................................................................................................................................................304
9.4.1 Servo Drive Alarm .....................................................................................................................................304
CONTACT US ...................................................................................................................................................... 305

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Chapter 1 Introduction
1.1 Product Introduction
EL6-RS Series AC Servo Product is a whole new economical AC servo drivers and motors product
range that we have proudly developed at Leadshine Technology Co.,Ltd. This product series
provides more in demanded functionalities and control. While designing this AC servo drive series
with cost concerns in mind, this product series doesn’t compromise in term of performance and
functions.
EL6-RS Series AC Servo Drive comes with power rating from 400W up to 1000W which supports
Modbus communication protocol in addition to pulse + direction input control. Using RS485 protocol,
multi axis network of EL6-RS series servo drive can be realized and controlled from 1 single master
device.
EL6-RS seriesAC Servo Drive is equipped with easy servo tuning (One-click Tuning/ Single
Parameter Tuning), Zero Tracking Control (ZTC), vibration suppression and many more. This AC
servo drive series also comes with newAC servo motors with 23-bit optical/magnetic encoder which
offers better accuracy and stability.
First time user of the EL6-RS series servo products can refer to this manual for more information on
this product that cannot be covered in this short introduction. For further technical support, please do
contact us or any local Leadshine certified retailers on Contact Us page.

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1.2
Model number structure
1.2.1 Servo Drive
EL6
- RS
400
P
○
1E A A○ 2E
A○ 3EA○
4E⑤
No.
Description
①
Series No. EL6：EL6 AC Servo Drive Series
②
Communication
protocol RS：Pulse train + Modbus RTU
③
Power Rating 400：400W 750：750W 1000：1000W
④
Type
P: Full functions without STO
⑤
Input Voltage
Blank: 220VAC
Driver Label
Model no.
Input
Output
Serial no.
Version
EL6-RS400P

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69B1.2.2 Servo motor
ELM1 H-0400 MA 60 F T-
(1) (2) (3) (4) (5) (6) (7) (8) (9)
(1)SeriesNo.
ELM1ELM1 Series servo motor
(2)Inertia Ratio
L
M
H
Low
High
Medium
(9Motor Connector
(7)Motor Type
E
F
Withbrake，oil seal
No brake，oil seal
(5)Rated Speed
A
B
D
C
3000rpm
2000rpm
2500rpm
(3)Power Rating
0050 50W
2900W
200W
100W
2000W
1800W
1800
0100
0200
0400
0750
0850
1000
1300
1500
7000
2000
2900
3000
4000
4400
5000
5500
400W
750W
850W
1000W
1300W
1500W
3000W
4000W
4400W
5000W
5500W
7000W
(4)Encoder Type
M
23-bit optical multiturnL
23-bit magnetic multiturn
1500rpm
(8)Voltage
Blank
T
220VAC
380VAC
(6)Fram e Size
40
60
100
80
40mm
80mm
60mm
100mm
130 130mm
180 180mm
7500 7500W
ELM2ELM2 Series servo motor
H
DirectConnector
Aviation Connector
Blank

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1.3
13B
Servo Drive Technical Specifications
EL6-RS 220V Models
EL6-RSP Series Driver EL6-RS400P EL6-RS750P EL6-RS1000P
Power Rating
400W
750W
1000W
Rated Current (Arms)
3.5
5.5
7.0
Peak Current (Arms)
9.5
16.6
18.7
Control circuit power supply
1-Ph AC 200V-240V, -10% - +10%, 50/60Hz
Main power supply
Cooling method Air-cooled Fan-cooled
Dimension H*L*W(mm) 175*156*40 175*156*50
Port Descriptions
USB Type-C Tuning
Modify or read driver parameters without connecting to main power supply
Low-speed pulse input
5V differential signal, 0-500kHz
24V single ended signal, 0-200kHz
High-speed pulse input
5V differential signal, 0-4MHz
Crossover Frequency Output
Supports phase A/B/Z differential crossover frequency output
Supports phase Z open collector crossover frequency output
Digital Input
9Digital Inputs (Supports common anode or cathode connection) DI1~DI8
1. Servo enabled (SRV-ON)
2. Positive limit switch (POT)
3. Negative limit switch (NOT)
4. Gain switching (GAIN)
5. Emergency stop (E-Stop)
6. Deviation counter clearing (CL)
7. Control mode switching (C-MODE)
8. Torque limit switching (TL-SEL)
9. Vibration suppression 1(VS-SEL1)
10. Vibration suppression 2(VS-SEL2)
11. Command prohibition(INH)
12. Internal command velocity 1(INTSPD1)
13. Internal command velocity 2(INTSPD2)
14. Internal command velocity 3(INTSPD3)
15.Crossover frequency input(DIV1)
16. Zero speed clamp(ZEROSPD)
17.Velocity sign(VC-SIGN)
18.Torque sign(TC-SIGN)
19. Clear Alarm （A-CLR）
20. Speed Regulation(SPDREG)
Under PR mode
1. Path trigger (CTRG)
2. Home switch (HOME)
3. Emergency stop trigger(STP)
4. Path 0-3 (ADD0-ADD3)
5. Positive JOG (PJOG)
6. Negative JOG(NJOG)
7. Positive limit switch(PL)
8. Negative limit switch(NL)
9. Origin(ORG)

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Digital Output
5digital outputs (double-ended) DO1~DO5
1. Alarm (ALARM)
2. Servo ready (SRDY)
3. External brake off (BRK-OFF)
4. Positioning completed (INP1)
5. Velocity at arrival (AT-SPEED)
6. Zero speed position (ZSP)
7. Velocity coincidence (V-COIN)
8. Position command (P-CMD)
9. Velocity limit (V-LIMIT)
10. Velocity command (V-CMD)
11. Servo enabled (SRV-ST)
12. Positive limit switch(POT-OUT)
13. Negative limit switch (NOT-OUT)
Under PR mode
1. Command completed (CMD-OK)
2. Path completed (PR-OK)
3. Homing done (HOME-OK)
Communication Port RS485 communication, Modbus RTU protocol (RJ45 port)
Control Mode
Control 1. External pulse train position control
2. JOG control
Position
Pulse frequency ● 4MHz (5V differential input)
● 500kHz (5V differential input)
● 200kHz (24V single-ended input)
Electronic gear ratio
(1
～
8388608) / (1
～
8388608)
Torque limit
Please refer to parameter settings
Control Features
Drive Mode
IGBT SVPWM sinusoidal wave drive
Feedback Method Encoder: RS485 Protocol
Standardized Parameters
Quick tuning of servo driver parameters can be achieved through PC tuning
tools.
Easy-to-use One-click tuning, Single parameter tuning, Black box, Zero tracking control
Notch Filter
Mechanical resonance suppression. Supports up to 3 filters,50Hz~4000Hz
Vibration suppression
End vibration suppression
DI/DO settings Digital inputs and outputs are user-configurable
Alarm
Overcurrent. Overvoltage. Undervoltage. Overheat. Overload. Overtravel.
Single-Phasing. Regenerative resistor error. Position deviation error. Encoder
feedback error. Excessive braking rate. EEPROM error
Front Panel
5 push buttons, 8-segments display
Software
Driver tuning through Motion Studio Ver. 2.2.x. Parameters tuning in current
loop, position loop, velocity loop; Modify I/O signal and motor parameters;
Variables(velocity, position deviation, etc.) monitoring using step diagrams’
Communication
USB Type-C
Modbus USB2.0 (No need to connect driver to power supply)
Modbus
RS485 communication, Modbus RTU protocol (RJ45 port).
Communication up to 32 axes to a host.
Dynamic Brake Internal dynamic brake
Black Box Set triggering conditions and analyze the data from black box. Used for error
solving

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Suitable Load Inertia
30 times smaller than motor inertia
Environmental requirements
Temperature
Storage: -20-80
℃
(Condensation free); Not < 72 hours if stored in over 65
℃
Installation: 0-55
℃
(Not frozen); Lower performance at over 45℃
Humidity Under 90%RH (Condensation free)
Altitude Max. altitude of 2000m; 100% performance at 1000m or below.
Performance decreases by 1% with every increase of 100m from 1000m.
Vibration Less than 0.5G (4.9m/s2) 10-60Hz (non-continuous working)
IP ratings IP20

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1.4
14B
Servo Drive Ports and Connectors
EL6-RS Series Servo Drive 220V Models

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Parts & Connectors
Description
Front Panel
Including a LED display and 5 buttons. LED display is used to
display servo drive status and parameter settings.
5 buttons：
M
： To switch between different modes and parameters
◀
： Switch between value
▲：
Switch between sub-menus/Increase
▼：
Switch between sub-menus/Decrease
S
:
Enter
USB Type-C Tuning Port
Connect to computer for tuning of servo drive. Parameters of the
servo drive can be modified without connecting to main power
supply.
CN1 I/O signal Probe input signal & other I/O signals terminals
CN3/CN4 RS485
communication port
Connect to master device or next/previous slave station
CN2 Encoder Connect to motor encoder
Power-on indicator light
Lights up when servo drive is connected to main power supply.
Please do not touch the power terminal immediately after power
off as the capacitor might require some time to discharge.
L1, L2 Main power supply 220VAC
P+, Br Connect to regenerative resistor
P+, N Common DC bus terminals for multiple drivers
U, V, W
Motor connector: Connect to U,V,W power terminals on servo
motor
PE PE motor earth terminal: Connect to motor PE terminal

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1.5
Motor Ports and Connectors
Motors with aviation connectors
Motors with direct connectors
①Encoder
connector
③Motor flange
④Installation
screw holes
⑤Motor shaft
②Power
connector
①
②
③
④
⑤
Encoder
connector
Power connector
Motor flange
Installation
screw holes
Motor shaft

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2BChapter 2 Installation & Wiring
16B
2.1 Servo Drive Installation
70B2.1.1 Servo drive installation environment
71B2.1.2 Servo drive dimension
Dimension 1: EL6-RS400P
175mm x 156mm x 40mm
Dimension 2: EL6-RS750/1000P
175mm x 156mm x 50mm
Temperature
Storage: -20-80℃(Condensation free);
Installation: 0-55℃(Not frozen)
Humidity
Under 90%RH (Condensation free)
Altitude
Up to 1000m above sea level
Vibration
Less than 0.5G (4.9m/s2) 10-60Hz (non-continuous working)
Atmospheric
No corrosive gas, combustibles, dirt or dust.
IP ratings
IP20

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Space requirement for installation
In order to ensure efficient heat dissipation, please leave at least 10mm installation space in
between drivers. If drivers need to be mounted compactly, please leave at 1mm of installation space.
Please keep in mind that under such conditions, the drivers can only run at 75% of actual load rate.
Installation method
Please install the driver vertical to ground facing forward for better heat dissipation.Always
install in rows and use heat insulation board to separate between rows.
Cooling fans are recommended for drivers to achieve optimal performance.
Grounding
PE terminals must be grounded to prevent electrocution hazard or electromagnetic interference.
Wiring
Please ensure there is no liquid around the wiring and connectors as liquid leakage may cause
serious damage to the driver(s).
RJ45 port cover
Please cover unconnected RJ45 port(s) on top of the driver to prevent dust or liquid from
damaging the ports.
Battery kit
If there is a need for battery kit, please remember to leave a room in the electrical cabinet for it.