Leadshine EL7-PN Series User manual

EL7-PN Series AC Servo Drive
User Manual

User manual of EL7-PN***F AC Servo
2
Foreword
Thank you for purchasing Leadshine EL7-PN series AC Servo drives. This manual will
provide information on the EL7-PN series servo products regarding product safety &
specifications, installations & wiring, tuning & problem diagnostics.
Please contact us at te[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
!
Caution
!
Warning

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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.
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.
!
Warning
!
Caution
!
Caution
!
Caution

User manual of EL7-PN***F AC Servo
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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.
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.
!
Warning
!
Caution
!
Caution
!
Caution

User manual of EL7-PN***F AC Servo
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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.
!
Warning
!
Caution
!
Caution

User manual of EL7-PN***F AC Servo
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Warranty Information
Available for
Leadshine overseas warranty only covers Leadshine AC 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.

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TABLE OF CONTENT
WARRANTY INFORMATION ................................................................................................................................... 6
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 .......................................................................................................15
1.5 MOTOR PORTS AND CONNECTORS...................................................................................................................17
CHAPTER 2 INSTALLATION & WIRING .................................................................................................................. 18
2.1 SERVO DRIVE INSTALLATION............................................................................................................................18
2.1.1 Servo drive installation environment ...................................................................................................18
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 EL7-PN WIRING DIAGRAM ..............................................................................................................................23
2.4 SERVO DRIVE PORTS.......................................................................................................................................26
2.5 X1 MAIN POWER SUPPLY .........................................................................................................................................27
2.5.1 Regenerative resistor selection and connections.......................................................................................28
2.5.2 Wire Gauge for Main Power Supply...........................................................................................................33
2.5.3 Holding brake wiring diagram...............................................................................................................34
2.5.4 Cable selection for motor with holding brake.....................................................................................35
2.6 MOTOR POWER SUPPLY X2.............................................................................................................................37
2.6.1 Motor power cable selection.................................................................................................................37
2.7 CN1 I/O SIGNALS PORT....................................................................................................................................39
2.8 CN2 MOTOR ENCODER....................................................................................................................................39
2.8.1 Cable selection for I/O signal port CN1 and motor encoder port CN2...........................................40
2.8.2 Motor encoder cable and connector selection...................................................................................41
2.9 CN3/CN4 PROFINET COMMUNICATION PORT.............................................................................................42
2.10 CN6 SAFE TORQUE OFF (STO) PORT..........................................................................................................43
2.11 USB MINI TUNING PORT ................................................................................................................................44
2.12 I/O SIGNALS....................................................................................................................................................45
2.12.1 Common input circuit...........................................................................................................................45
2.12.2 Common output circuit ........................................................................................................................46
2.12.3 DI signal function configuration..........................................................................................................46
2.12.4 DO signal function configuration........................................................................................................48
2.13 MEASURES AGAINST ELECTROMAGNETIC INTERFERENCE ............................................................................49
2.13.1 Grounding connection and other anti-interference wiring connections........................................50
2.13.2 Using line filter......................................................................................................................................50

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CHAPTER 3 PARAMETER ...................................................................................................................................... 52
3.1 PARAMETER LIST..............................................................................................................................................52
3.1.1 Servo drive parameter...........................................................................................................................52
3.2 PARAMETER FUNCTION....................................................................................................................................60
3.2.1 【 Class 0 】 Basic Settings.....................................................................................................................60
3.2.2 【 Class 1 】 Gain Adjustments...............................................................................................................65
3.2.3 【 Class 2 】 Vibration Suppression .......................................................................................................74
5.2.4 【 Class 3 】 Velocity Control ..................................................................................................................80
5.2.5 【 Class 4 】 I/O Interface Setting...........................................................................................................81
3.2.6 【 Class 5 】 Extension settings..............................................................................................................88
3.2.7 【 Class 6 】 Other settings......................................................................................................................92
3.2.8 【 Class 7 】 Factory settings..................................................................................................................97
3.2.9 【 Class A 】 PN communication ...........................................................................................................98
3.2.10 【 Class B 】 PN-EPOS ..............................................................................................................................101
CHAPTER 4 SERVO DRIVE OPERATION ............................................................................................................... 107
4.1 START WITH DRIVER OPERATION...................................................................................................................107
4.1.1 Checklist before operation..................................................................................................................107
4.1.2 Trial Run................................................................................................................................................108
4.1.3 Motor rotational direction settings......................................................................................................108
4.1.4 Holding Brake Settings........................................................................................................................109
4.1.5 Servo stop .............................................................................................................................................110
4.1.6 Electronic gear ratio.............................................................................................................................122
4.2 FRONT PANEL.................................................................................................................................................123
4.2.1 Panel Display and Operation..............................................................................................................124
4.2.2 Front Panel Locking.............................................................................................................................125
4.2.3 Data Monitoring Mode.........................................................................................................................125
4.2.4 Parameter saving using front panel...................................................................................................135
4.3 AUXILIARY FUNCTIONS....................................................................................................................................136
CHAPTER 5 APPLICATION CASE .......................................................................................................................... 141
5.1 GAIN ADJUSTMENT.........................................................................................................................................141
5.2 INERTIA MEASURING FUNCTION......................................................................................................................143
5.2.1 Online inertia determination................................................................................................................143
5.2.2 Offline inertia determination................................................................................................................143
5.3 AUTO GAIN ADJUSTMENT................................................................................................................................147
5.4 MANUAL GAIN ADJUSTMENT...................................................................................................................................150
5.5 GAIN SWITCHING.............................................................................................................................................152
5.6 FEEDFORWARD GAIN......................................................................................................................................158
5.6.1 Velocity feedforward ............................................................................................................................158
5.6.2 Torque feedforward..............................................................................................................................159
5.7 MODEL FOLLOWING CONTROL........................................................................................................................161
5.8 FRICTION COMPENSATION FUNCTION.............................................................................................................162
5.9 SAFETY FUNCTIONS .......................................................................................................................................163
5.9.1 Torque limiting function .......................................................................................................................163

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5.9.2 External brake deactivation output signal BRK-OFF ......................................................................164
5.9.3 Emergency stop function.....................................................................................................................166
5.10 VIBRATION SUPPRESSION............................................................................................................................166
5.11 END VIBRATION SUPPRESSION.....................................................................................................................170
5.12 MECHANICAL PROPERTIES ANALYSIS...........................................................................................................172
5.13 MULTITURN ABSOLUTE ENCODER ................................................................................................................173
CHAPTER 6 PROFINET ........................................................................................................................................ 179
6.1 SUPPORTED PROFINET TELEGRAM.........................................................................................................................179
6.2 I/O DATA SIGNAL..................................................................................................................................................181
6.3 CONTROL WORDS .................................................................................................................................................182
6.3.1 STW 1 .......................................................................................................................................................182
6.3.2 STW2 ........................................................................................................................................................183
6.3.3 POS_STW1/2 ............................................................................................................................................184
6.4 STATUS WORD .....................................................................................................................................................185
6.4.1 ZSW1 ........................................................................................................................................................185
6.4.2 ZSW2 ........................................................................................................................................................186
6.4.2 POS_ZSW1/2 ............................................................................................................................................188
6.5 HOMING MODE SUPPORTED UNDER TELEGRAM 111 ...................................................................................................189
CHAPTER 7 WARNING AND ALARM ................................................................................................................... 211
7.1 SERVO DRIVE WARNING .........................................................................................................................................211
7.2 SERVO DRIVE ALARM .............................................................................................................................................212
7.3 ALARM HANDLING................................................................................................................................................215
7.4 ALARM CLEARING .................................................................................................................................................229
7.4.1 Servo Drive Alarm.....................................................................................................................................229
CONTACT US ...................................................................................................................................................... 230

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Chapter 1 Introduction
1.1 Product Introduction
EL7-PN Series AC servo products are high performance AC digital servo which we have
proudly developed at Leadshine Technology Co.,Ltd. It is designed for position/velocity/torque
high accurate control with power rating ranging from 400W up to 7.5kW. Based on the
PROFINET protocol, it can be seamlessly connected through Ethernet connection to
controllers/drives that support this standard protocol.
EL7-PN 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-PN series products
are the one to beat in this product category.
This driver series supports automatic inertia ratio identification, vibration suppression and
automatic/manual gain settings. It also comes with Safe Torque Off (STO) of SIL3 grading and
matching regenerative resistor. We have also incorporated our PN series servo drives and
motors in industries such as logistic, packing, automotive manufacturing, renewable energy and
other demanding applications.
First time user of the EL7-PN 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
EL7 -
PN
400
F
□
- □
①
②
③
④
⑤
⑥
No
Description
①
Series No. EL7：EL7 AC Servo Drive Series
②
Communication
protocol PN：PROFINET
③
Power rating
400
：
400W 750:750W 1000:1000W
1500:1500W 2000: 2000W
3000:3000W 4400: 4400W 5500: 5500W
7500:7500W
④
Type
F: Full functions with STO
⑤
Voltage rating
Blank: 1ph/3ph 220VAC T: 3ph 380VAC
⑥
Extra(customized)
Blank: Standard
Driver Label

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1.2.2 Servo Motor
ELM1H-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)Volta ge
Blank
T
220VAC
380VAC
(6)Frame 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 Servo Drive Technical Specifications
EL7-PN 220V Models
EL7-PNF series
EL7-PN400F EL7- PN750F EL7- PN1000F EL7- PN1500F EL7- PN2000F
Rated power (W)
400
750
100
1500
2000
Rated Current
(Arms) 3.5 5.5 7 9.5 12
Peak Current
(Arms) 9.2 16.6 18.7 31.1 36
Size (mm)
55*175*179
80*175*179
Main Power Supply
Single phase AC 220V, -15%~+10%, 50/60Hz
Control Circuit Power Supply
EL7-PN 380V Models
EL7-PNFT
series
EL7-PN750 EL7-PN1000 EL7-PN1500 EL7-PN2000 EL7-PN3000 EL7-PN4400 EL7-PN5500 EL7-PN7500
Rated
Power(W)
750 1000 1500 2000 3000 4400 5500 7500
Rated Current
(Arms)
2.7 3.5 5.4 8.4 11.9 16.5 20.8 25.7
Peak Current
(Arms)
8.6 10.6 14.9 24.8 33.2 38.9 51.6 33.6
Size (mm)
55*175*179
80*175*179
89*250*230
Main Power Supply
Three phase AC 380V~440V, -15%~+10%, 50/60Hz
Control Circuit Power Supply
Single phase AC 380V~440V, -15%~+10%, 50/60Hz
Drive mode
IGBT PWM sinusoidal wave drive
Cooling method
All product models are fan-cooled.
Control mode
PROFINET RT and IRT
Supported telegrams
Telegram 1/3/111/102/105 (110/2/5/7/9 still under development)
Electronic gear ratio
1
～
8388608/1
～
8388608
Torque limit
As per set in parameter
Encoder Feedback
RS485 protocol:
23-bit multiturn absolute magnetic/optical encoder
I/O Digital Input
6 Digital Inputs (Supports NPN and PNP)
Configurable input signals:
1. Servo enabled (SRV-ON)
2. Positive limit switch (POT)
3. Negative limit switch (NOT)
4. Homing switch (HOME-SWITCH)
5. Emergency stop (E-Stop)
6. Clear Alarm
（
A-CLR
）
Digital Output 3 Digital Outputs (3 double ended)

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Configurable output signals:
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)
Encoder Output Encoder ABZ differential pulse output
Communication
Port
USB mini
Modbus USB2.0 (No need to connect driver to power supply)
PROFINET
PROFINET protocol
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
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 EL7-PNF series products
Environment
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)
IP ratings
IP20

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1.4 Servo Drive Ports and Connectors
Front view of EL7-PN Series AC Servo Drive

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Parts & Connectors
Description
Front Panel
Including a LED display and 5 buttons. LED display is used to
display servo driver 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 mini Data Port
Connect to computer for tuning of servo driver. Please connect
to main power supply and tuning cable to tune the servo drive.
CN6 STO(Safety
Torque Off)
STO connecters. Used for any application requiring STO
functions.
CN1 I/O signal I/O signal connection terminals
CN2 Encoder Connect to motor encoder
CN3 CN4 PROFINET
Communication Port Connect to controller with PROFINET interface
Power-on indicator light
Lights up when servo driver 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.
Main power supply
220/380VAC
L1C、L2C
：
Control circuit power supply(Single phase
220VAC)
L1
、
L2
、
L3：Main power supply 220VAC/380VAC
Note
：
EL7-PN series supports 1P/3P 220/380VAC main
power supply
P+: Positive terminal of servo drive internal DC bus
P+,B1,B2: Connect B1 and B2 to use internal regenerative
resistor
；
If an external regenerative resistor is needed,
connect it to P+ and B2
，
disconnect B1 and B2.
N: Negative terminal of servo drive internal DC bus
Motor connectors U,V,W Motor connector: Connect to U,V,W terminals on servo motor
PE motor earth terminal: Connect to motor PE terminal
Protective Earth PE Connect to PE of main power supply. For grounding

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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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Chapter 2 Installation & Wiring
2.1 Servo Drive Installation
2.1.1 Servo drive installation environment
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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2.1.2 Servo drive dimension
Dimension 1
：
EL7-PN400~1000F / EL7-PN750~1500FT
55mm×175mm×179mm
Dimension 2
：
EL7-PN1500~2000F / EL7-PN2000~3000FT
80mm×175mm×179mm
Dimension 3
：
EL7-PN4400~7500FT
89mm×230mm×250mm

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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 least 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.