Leadshine EL7-EC Series User manual

EL7-EC Series AC Servo Drive
User Manual

User Manual Of EL7-EC** AC Servo
1
Foreword
Thank you for purchasing Leadshine EL7-EC series AC Servo drives. This manual will
provide information on the EL7-EC series servo products regarding product safety &
specifications, installations & wiring, tuning & problem diagnostics.
Please contact us at [email protected] 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 EL7-EC** AC 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 EL7-EC** AC 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 EL7-EC** AC Servo
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Table of Contents
CHAPTER 1 INTRODUCTION
............................................................................................................. 10
1.1 PRODUCT INTRODUCTION ..................................................................................................................... 10
1.2 MODEL NUMBER STRUCTURE ................................................................................................................11
1.3MATCHING SERVO DRIVE TO SERVO MOTOR...............................................................................................12
1.4 DRIVER TECHNICAL SPECIFICATION ..........................................................................................................13
1.5 DRIVER PORTS AND CONNECTORS............................................................................................................ 14
1.6 MOTOR PORTS AND CONNECTORS ...........................................................................................................16
CHAPTER 2 INSTALLATION & WIRING ................................................................................................. 17
2.1 SERVO DRIVE INSTALLATION ...................................................................................................................17
2.1.1 Servo Drive Dimension ............................................................................................................ 17
2.2 SERVO MOTOR INSTALLATION ................................................................................................................19
2.2.1 Installation conditions .............................................................................................................19
2.2.2 Precautions during installation ...............................................................................................19
2.3 EL7-EC WIRING DIAGRAM ...................................................................................................................21
2.4SERVO DRIVE PORTS ............................................................................................................................ 22
2.4.1 Regenerative resistor selection and connections ....................................................................23
2.4.2 Wire Gauge for Main Power Supply ........................................................................................28
2.4.3 Wiring connections for EL7-EC series servo drives................................................................... 29
2.4.4 Connecting motor power cable to servo drive.........................................................................30
2.5 HOLDING BRAKE CONNECTION................................................................................................................ 33
2.6 CN2 ENCODER ...................................................................................................................................36
2.7 USB MINI COMMUNICATION PORT ......................................................................................................... 38
2.8 CN3/CN4 ETHERCAT COMMUNICATION PORT ........................................................................................ 39
2.9 CN6 SAFE TORQUE OFF (STO) PORT ...................................................................................................... 40
2.10 CN1 I/O SIGNAL PORT.......................................................................................................................42
2.10.1 Selection of I/O signal cable ..................................................................................................42
2.10.2 Common input circuit ............................................................................................................43
2.10.3 Common output circuit..........................................................................................................44
2.10.4 Probe input circuit .................................................................................................................45
2.10.5 DI signal function configuration ............................................................................................ 45
2.10.6 DO signal function configuration ..........................................................................................47
2.11 MEASURES AGAINST ELECTROMAGNETIC INTERFERENCE ............................................................................48
2.11.1 Grounding connection and other anti-interference wiring connections................................49
2.11.2 Using line filter ...................................................................................................................... 49
CHAPTER 3 PARAMETER
................................................................................................................ 51
3.1 PARAMETER LIST .................................................................................................................................51
3.1.1 Servo drive parameters ...........................................................................................................51
3.1.2 Manufacturer parameters.......................................................................................................57
3.1.3 Motion parameters starting with object dictionary 6000 .......................................................59
3.2 PARAMETER FUNCTION.........................................................................................................................62
3.2.1 【 Class 0 】 Basic Settings ........................................................................................................63
3.2.2 【 Class 1 】 Gain Adjustments ..................................................................................................70
3.2.3 【 Class 2 】 Vibration Suppression ...........................................................................................78
3.2.4 【 Class 3 】 Velocity/ Torque Control........................................................................................83
3.2.5 【 Class 4 】 I/O Interface Setting..............................................................................................90
3.2.6 【 Class 5 】 Extension settings..................................................................................................95
3.2.7 【 Class 6 】 Other settings......................................................................................................101
3.3 402 PARAMETERS FUNCTION...............................................................................................................106

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CHAPTER 4 SERVO DRIVE OPERATION
........................................................................................ 124
4.1 GET STARTED WITH DRIVER OPERATION .................................................................................................124
4.1.1 Checklist before operation ....................................................................................................124
4.1.2 Power On...............................................................................................................................124
4.1.3 Trial Run ................................................................................................................................124
4.1.4 Motor rotational direction settings.......................................................................................125
4.1.5 Holding Brake Settings ..........................................................................................................125
4.1.6 Servo Running .......................................................................................................................126
4.1.7 Servo stop..............................................................................................................................128
4.2 ELECTRONIC GEAR RATIO .....................................................................................................................140
4.3 FRONT PANEL ...................................................................................................................................141
4.4 PANEL DIS PLAY AND OPE RATION ...........................................................................................................142
4.4.1 Panel Operation ....................................................................................................................142
4.4.2 Data Monitoring Mode .........................................................................................................143
4.4 PARAMETER SAVING USING FRONT PANEL................................................................................................153
4.5 AUXILIARY FUNCTIONS ........................................................................................................................154
CHAPTER 5 CONTROL MODE
........................................................................................................ 159
5.1 EL7-EC MOTION CONTROL STEP-BY-STEP ...............................................................................................159
5.2 CIA402 STATE MACHINE ...................................................................................................................160
5.3 DRIVER CONTROL MODE SETTING ........................................................................................................162
5.3.1 Supported control mode (6502h) ..........................................................................................162
5.3.2 Operational mode setting (6060h) and Operational mode display (6061h) .........................162
5.4 COMMON FUNCTIONS FOR ALL MODES .................................................................................................163
5.4.1 Digital input setting and status display .................................................................................163
5.4.2 Digital output setting and control operation method ...........................................................163
5.4.3 Motor Rotational Direction ...................................................................................................163
5.4.4 Stop Settings..........................................................................................................................164
5.4.5 Position mode – Electronic Gear............................................................................................164
5.4.6 Position Limits .......................................................................................................................165
5.4.7 Control Word .........................................................................................................................166
5.4.7 Status Word...........................................................................................................................167
5.4.8 Synchronous cycle time setting .............................................................................................168
5.4.9 Driver Enabling ......................................................................................................................168
5.5 POSITION MODE（CSP、PP、HM）...............................................................................................169
5.5.1 Common Functions of Position Mode....................................................................................169
5.5.2 Cyclic Synchronous Position Mode (CSP) ...............................................................................170
5.5.3 Protocol Position Mode (PP)..................................................................................................172
5.5.4 Homing mode (HM)...............................................................................................................175
5.6 VELOCITY CONTROL MODE（CSV、PV）...........................................................................................200
5.6.1 Common Functions of Velocity Control..................................................................................200
5.6.2 Cyclic Synchronous Velocity Mode (CSV) ...............................................................................201
5.6.3 Profile Velocity Mode (PV).....................................................................................................202
5.7 TORQUE MODE（CST、PT）...........................................................................................................204
5.7.1 Common Functions of Torque Mode .....................................................................................204
5.7.2 Cyclic Synchronous Torque Mode (CST) .................................................................................205
5.7.3 Profile Torque Mode (PT).......................................................................................................206
CHAPTER 6 APPLICATION
............................................................................................................. 209
6.1 GAIN ADJUSTMENT............................................................................................................................209
6.2 INERTIA MEASURING FUNCTION ............................................................................................................211
6.2.1 Online inertia determination.................................................................................................211
6.2.2 Offline inertia determination.................................................................................................211
6.2.3 Auxiliary function to determine inertia on front panel..........................................................212
6.2.4 Inertia measuring using Motion Studio.................................................................................212
6.3 AUTO GAIN ADJUSTMENT ....................................................................................................................213

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6.4 MANUAL GAIN ADJUSTMENT................................................................................................................217
6.5 GAIN SWITCHING...............................................................................................................................219
6.6 FEEDFORWARD GAIN ..........................................................................................................................224
6.6.1 Velocity feedforward .............................................................................................................224
6.6.2 Velocity feedforward application ..........................................................................................225
6.6.3 Torque feedforward...............................................................................................................225
6.6.4 Torque feedforward application............................................................................................226
6.7 MODEL FOLLOWING CONTROL..............................................................................................................226
6.8 FRICTION COMPENSATION FUNCTION.....................................................................................................228
6.9 PARAMETERS ADJUSTMENT UNDER DIFFERENT CONTROL MODES .................................................................229
6.9.1 Position control mode............................................................................................................229
6.9.2 Velocity control mode............................................................................................................230
6.9.3 Torque control mode .............................................................................................................230
6.10 SAFETY FUNCTIONS ..........................................................................................................................231
6.10.1 Emergency stop function.....................................................................................................232
6.11 VIBRATION SUPPRESSION ..................................................................................................................233
6.11.1 Mechanical resonance suppression.....................................................................................233
6.11.2 End vibration suppression ...................................................................................................235
6.12 MULTITURN ABSOLUTE ENCODER ........................................................................................................236
6.12.1 Parameters setting ..............................................................................................................236
6.12.2 Read absolute position........................................................................................................237
6.12.3 Absolute Encoder Related Alarm.........................................................................................241
6.13 PROBE...........................................................................................................................................242
6.13.1 Probe function .....................................................................................................................243
6.13.2 Signal Input of EXT1 and EXT2.............................................................................................244
6.13.3 Probe Control Word 60B8h..................................................................................................244
6.13.4 Probe Status Word 60B9h ...................................................................................................245
6.13.6 Latch Position Register ........................................................................................................245
6.13.7 Latch Counter Register ........................................................................................................246
6.13.8 Probe mode .........................................................................................................................246
6.14 OTHER FUNCTIONS ..........................................................................................................................247
6.14.1 Functions under Position mode ...........................................................................................247
6.14.2 Functions under velocity mode............................................................................................251
6.14.3 Functions under torque mode .............................................................................................253
CHAPTER 7 ETHERCAT COMMUNICATION
................................................................................... 254
7.1 ETHERCAT PRINCIPLE FUNCTION...........................................................................................................254
7.2 SYNCHRONOUS MODE........................................................................................................................255
7.2.1 Free Moving Mode ................................................................................................................255
7.2.2 Distributed clock synchronization mode................................................................................255
7.3 ETHERCAT STATE MACHINE..................................................................................................................256
7.4 CANOPEN OVER ETHERCAT (COE).......................................................................................................257
7.4.1 Network structure of EL7-EC .................................................................................................257
7.4.2 Object dictionary ...................................................................................................................258
7.4.3 Service Data Object (SDO) .....................................................................................................258
7.4.4 Process Data Object (PDO) ....................................................................................................258
CHAPTER 8 WARNING AND ALARM ................................................................................................. 261
8.1 SERVO DRIVE WARNING.......................................................................................................................261
8.2 SERVO DRIVE ALARM ..........................................................................................................................261
8.3 ALARM HANDLING.............................................................................................................................269
8.4 ALARM CLEARING ..............................................................................................................................282
8.4.1 Servo Drive Alarm..................................................................................................................282
8.5 ETHERCAT COMMUNICATION ALARM ...................................................................................................283
ABOUT US.............................................................................................................................................294

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List of abbreviations used in this manual
Abbreviation
Full Form
Bit/S
Bit Per Second
CoE
CANopen Over EtherCAT
IP
Init To Pre-Operation
PI
Pre-Operational To Init
PS
Pre-Operational To Safe-Operational
SP
Safe-Operational To Pre-Operational
SO
Safe-Operational To Operational
OS
Operational To Safe-Operational
OI
Operational To Init
SI
Safe-Operational To Init
VS
Versus
PDO
Process Data Objects
SDO
Service Data Objects
SM
Synchronization Manager
FMMU
Fieldbus Memory Management Unit
h
Hex
U8
Unsigned Char
U16
Unsigned Short
U32
Unsigned Long
I8
signed Char
I16
signed Short
I32
signed Long
RW
Read Write
RO
Read Only
WO
Write Only
Var.
Variable
ETG
EtherCAT Technology Group
ESC
EtherCAT Slave Controller
ESM
EtherCAT State Machine
DI
Digital Input
DO
Digital Output
AI
Analog Input
AO
Analog Output
PP
Profile Position Mode
PV
Profile Velocity Mode
PT
Profile Torque Mode
HM
Homing Mode
CSP
Cyclic Synchronous Position Mode
CSV
Cyclic Synchronous Velocity Mode
CST
Cyclic Synchronous Torque Mode
Uint
——
Uint/S
——
Uint/S2
——
P
Pulse
S
Second
RPM
Revolutions Per Minute

User Manual Of EL7-EC** AC Servo
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Chapter 1 Introduction
1.1 Product Introduction
EL7-EC Series AC servo products are high performance AC digital servo which is
designed for position/velocity/torque high accurate control with power rating ranging up
to 2kW which provides a perfect solution for different applications with easy tuning
process. Based on the ETG COE + CANopen DSP402 protocol, it can be seamlessly
connected to controllers/drives that support this standard protocol.
EL7-EC series AC servo drives are using the latest Digital Signal Processing (DSP) chip
and Intelligent Power Module (IPM) with compact components integration and great
reliability. Using the best PID calculation for Pulse Width Modulation (PWM) control, our
EL7-EC series products are the one to beat in this product category.
In comparison to conventional pulse controlled servo drives, our EL7-EC provides
advantages as listed below.

Lengthen communication range and lower electromagnetic interference
Due to the reliance of pulse command, pulse controlled servo drives could be easily
disrupted by electromagnetic interferences. EtherCAT communication protocol
provides fault detections limitations and error handling that makes communication
more reliable over long distances.

Greater motion control
Trajectory generation can be done within the driver under non-cyclic synchronous
mode. Controller only needs to deliver target position, velocity and acceleration
commands to the driver. Drivers can then achieve greater control by applying
feedforward to the commands.

Simplify complex wiring work
Using EtherCAT communication protocols, the connections between master device
and slave stations can be realized using only LAN cables.

Reduce cost by lowering the requirement for more ports
Multiple axes control can be realized without requirement for more ports or pulse
module on the master device/controller. Only a network port is needed to chain the
axis controller (drivers) together in series.

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1.2 Model Number Structure
Servo Drive
EL7-EC 750 F
①②③④
No.
Description
①
Series No. EL7
：
Servo drive series
②
Command source P: Pulse + direction EC
：
EtherCAT
③
Power rating 400: 400W 750: 750W 1000:1000W
1500: 1500W 2000: 2000W
④
Type F: Full functions
Servo motor
ELM1H-0400 M A 60 FT-
(1) (2) (3) (4) (5) (6) (7) (8) (9)
(1)Series No.
ELM1ELM 1 Series servo motor
(2)Inertia Ratio
L
M
H
Lo w
High
Medium
(9Mot or Co nnec to r
(7)Motor Type
E
F
With brake，oil seal
No brake，oil seal
(5)Rated Speed
A
B
D
C
3000rpm
2000rpm
2500rpm
(3)P o w e r R a ti n g
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)Enc oder Ty pe
M
23-bit optical multiturn
L
23-bit magnetic m ultiturn
1500rpm
(8)Voltage
Blank
T
220V AC
380V AC
(6)F r am e S i z e
40
60
100
80
40mm
80mm
60mm
100mm
130 130mm
180 180mm
7500 7500W
ELM2ELM 2 Series servo motor
H
Di rect C onnet or
Aviat io n Conn ector
Blank

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1.3 Matching servo drive to servo motor
The table below is the recommended servo motor matching to driver in term of power
rating. The power rating of the motor should be kept below that of the servo drive.
Power rating(W) 50 100 200 400 750 850 1000 1300 1500 1800 2000
Connector
Direct
Aviation
Frame
size (mm)
40
60
80
130
Rotational
speed
(rpm)
1500
2500
3000
*All motor models come with optional holding brake.
**All matching motors for EL7 220V series are with high inertia and 23-bit optical encoder.
***Motor models with 23-bit magnetic encoder coming soon.

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1.4 Driver Technical Specification
EL7-EC series
EL7-EC400F
EL7-EC750F
EL7-EC1000F
EL7-EC1500F
EL7-EC2000F
Rated power (W)
400
750
100
1500
2000
Rated Current (A)
3.5
5.5
7
Coming Soon!
Peak Current (A)
9.2
16.6
18.7
Size (mm)
40*175*156
50*175*156
Main Power Supply
Single phase AC 220V, -15%~+10%, 50/60Hz
Control Circuit Power Supply
Drive mode
IGBT PWM sinusoidal wave drive
Control mode
Position
Profile Position Mode (PP)
Cyclic Synchronous Position Mode (CSP)
Homing Mode (HM)
Velocity
Profile Velocity Mode (PV)
Cyclic Synchronous Velocity Mode (CSV)
Torque
Profile Torque Mode (PT)
Cyclic Synchronous Torque Mode (CST)
Encoder Feedback
RS485 protocol:
23-bit multiturn absolute magnetic/optical encoder
I/O
Digital Input
4 Digital Inputs (Supports NPN and PNP)
Configurable input signals
under EtherCAT mode:
1. Clear Alarm （A-CLR）
2. Positive limit switch (POT)
3. Negative limit switch (NOT)
4. Homing switch (HOME-SWITCH)
5. Emergency stop (E-Stop)
Digital Output
3 Digital Outputs (2 single-ended, 1 differential)
Configurable output signals
under EtherCAT mode:
1. Alarm (ALM)
2. Servo ready (SRDY)
3. External brake off (BRK-OFF)
4. Positioning completed (INP)
5. Velocity at arrival (AT-SPEED)
6. Torque limiting command (TLC)
7. Zero speed position (ZSP)
8. Velocity coincidence (V-COIN)
9. Position command (P-CMD)
10. Velocity limit (V-LIMIT)
11. Velocity command (V-CMD)
12. Servo enabled (SRV-ST)
13. Homing done (HOME-OK)
Analog Input
2 analog inputs ( differential ) , -10~+10Vdc
Encoder Output
Encoder ABZ differential pulse output
Probe Input
2 high speed probe inputs: EXT1+/EXT1-, EXT2+/EXT2-
Communication
Port
USB mini
Modbus USB2.0 (No need to connect driver to power supply)
EtherCAT
EtherCAT
，
Communication up to 128 axes to a host
Software
Driver tuning through Motion Studio Ver. 1.4.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
Driver Front Panel
5 push buttons and 8-segments display
Holding brake
Built-in (Supports external brake)
Safety Protection
Overcurrent. Overvoltage. Undervoltage. Overheat. Overload. Overtravel.
Single-Phasing. Regenerative resistor error. Position deviation error.
Encoder feedback error. Excessive braking rate. EEPROM error
Safe Torque Off (STO) function
Available for all EL7EC-F series products
Environment
Temperature
Storage: -20-80
℃
(Condensation free);

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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)
IP ratings
IP20
1.5 Driver ports and connectors
EL7-EC Series Servo Drive
750W
CN3CN1
CN2
Charge
L1
L2
P+
Br
U
V
W
PE
①Front Panel
②Mini USB
③CN3 EtherCAT IN
⑥CN2 Encoder
⑦Power on
indicator light
⑧L1、L2 ：Main power
supply
P+：(External brake
resistor P
terminal/Internal DC bus
positive terminal)
Br ：Regenerative resistor
terminal
N：Internal DC bus
negative terminal (Do not
connect)
U、V、W：Motor power
terminal
⑨Protective Earth
④CN4 EtherCAT OUT
⑤CN1 I/O signal
Back View
⑩Regenerative
resistor

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No.
Parts & Connectors
Description
○
1 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
○
2 USB mini
Connect to computer for tuning of servo drive. Parameters of the
servo drive can be modified without connecting to main power
supply.
○
3 CN1 I/O signal Probe input signal & other I/O signals terminals
○
4CN2 Encoder Connect to motor encoder
○
5 CN3 EtherCAT IN Connect to master device or previous slave station
○
6 CN4 EtherCAT OUT Connect to next slave station
○
7 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.
○
8
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
○
9 Protective Earth PE Connect to PE of main power supply. For grounding

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1.6 Motor ports and connectors
Motors with electrical connectors
①Power
connector
②Power cable
③Motor flange
⑤Encoder
connector
④Motor shaft
⑥Encoder cable
⑦Encoder
Motors with aviation connectors
①Encoder
connector
③Motor flange
④Installation
screw holes
⑤Motor shaft
②Power
connector
Motors with direct connectors
①
②
③
④
⑤
Encoder
connector
Power connector
Motor flange
Installation
screw holes
Motor shaft

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Chapter 2 Installation & Wiring
2.1 Servo Drive Installation
2.1.1 Servo Drive Dimension
EL7 – EC Series 400W Size A
40mm x 175mm x 156mm
EL7 – EC Series 750/1000W Size B
50mm x 175mm x 156mm

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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).

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2.2 Servo Motor Installation
2.2.1 Installation conditions
Installation conditions may affect the lifespan of a motor
Please keep away from corrosive fluid and combustibles.
If dusty working environment is unavoidable, please use motors with oil seal.
Please keep away from heat source.
If motor is used in enclosed environment without heat dissipation, motor lifespan
will be short.
Please check and clean the installation spot before installation.
2.2.2 Precautions during installation
Installation method
Install horizontal to ground
Make sure power cable and encoder cable is facing downwards to make sure fluid
doesn’t leak into the ports.
Install vertical to ground
Please use a motor with oil seal when paired with a reducer to prevent reducer oil from
leaking into the motor.
Oil- and waterproofing
Do not submerge motor/cable under oil/water
Please use a motor with oil seal when paired with a reducer to prevent reducer oil
from leaking into the motor.
If there is an unavoidable fluid leakage near the motor, please use motor with better
IP ratings.
Make sure power cable and encoder cable is facing downwards to make sure fluid
doesn’t leak into the ports.
Avoid the usage of motor in water/oil leaking prone environment.
Cable under stress
Do not the bend the cable especially at each ends of the connectors.
Make sure to not let the cables be too tight and under tremendous stress especially
thinner cables such as signal cables.
Connectors
Please to remove any conductive foreign objects from the connectors before
installation
The connectors are made of resin. May not withstand impact.
Please hold the driver during transportation, not the cables.

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Leave enough “bend” on the connector cables to ensure less stress upon
installation.
Encoder & coupling
During installation or removal of coupling, please do not hit the motor shaft with a
hammer as it would cause damage to internal encoder.
Please make sure to centralize the motor shaft and coupling, it might cause damage
to motor or encoder due to vibration.
Please make sure axial and radial load is within the limits specified as it might
affect the lifespan of the motor or cause damage to it.

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2.3 EL7-EC Wiring Diagram