Leadshine ELD2-CAN Series User manual

ELD2-CAN Series DC Servo Drive
User Manual

User Manual of ELD2-CAN DC Servo
2
Foreword
Thank you for purchasing Leadshine ELD2-CAN series DC Servo drives. This manual will
provide information on the ELD2-CAN 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
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

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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

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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 ELD2-CAN DC Servo
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Warranty Information
Available for
Leadshine overseas warranty only covers Leadshine DC servo products that are obtained through
Leadshine certified sales channel outside of China.
Warranty claim
All Leadshine DC 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 ELD2-CAN DC Servo
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TABLE OF CONTENT
CHAPTER 1 INTRODUCTION ................................................................................................................................... 9
1.1 PRODUCT INTRODUCTION............................................................................................................................9
1.2 MODEL NUMBER STRUCTURE ...................................................................................................................................10
1.2.1 Servo Drive .................................................................................................................................................10
1.2.2 Servo Motor ...............................................................................................................................................10
1.3 SERVO DRIVE TECHNICAL SPECIFICATION.....................................................................................................................11
1.4 SERVO DRIVE PORTS AND CONNECTORS......................................................................................................................12
1.5 MOTOR PORTS AND CONNECTORS.............................................................................................................................13
CHAPTER 2 INSTALLATION & WIRING .................................................................................................................. 14
2.1 SERVO DRIVE INSTALLATION .....................................................................................................................................14
2.1.1 Servo drive installation environment .........................................................................................................14
2.1.2 Servo drive dimension ................................................................................................................................14
2.2 SERVO MOTOR INSTALLATION...................................................................................................................................17
2.2.1 Installation conditions................................................................................................................................17
2.2.2 Precautions during installation ..................................................................................................................17
2.3 ELD2-CAN WIRING DIAGRAM .................................................................................................................................18
2.4 SERVO DRIVE PORTS ...............................................................................................................................................19
2.4.1 CN1 I/O Signal Port ....................................................................................................................................21
2.4.2 CN3/CN4 Power supply & Regenerative Resistor Port ...............................................................................22
2.4.3 CN5 CANopen Communication Port...........................................................................................................22
2.4.4 CN6 Safe Torque Off (STO) Port .................................................................................................................23
2.4.5 CN7 RS232 Tuning Port ..............................................................................................................................24
2.4.6 CN9 Logic Circuit Power Supply Port ..........................................................................................................25
2.4.7 ENC Encoder Feedback Port .......................................................................................................................25
2.4.8 ID spin dial RSC...........................................................................................................................................26
2.4.9 Baud rate/Terminal resistor switch SW .....................................................................................................26
2.5 CABLE SELECTION ...................................................................................................................................................27
2.5.1 Motor Power Cable ....................................................................................................................................27
2.5.2 Motor Encoder Cable .................................................................................................................................30
2.5.3 Motor Brake Cable .....................................................................................................................................31
2.5.4 Drive Communication Cable.......................................................................................................................32
2.5.5 Tuning Cable ..............................................................................................................................................32
2.6 REGENERATIVE RESISTOR SELECTION ..........................................................................................................................33
CHAPTER 3 PARAMETER ...................................................................................................................................... 37
3.1 PARAMETER LIST ....................................................................................................................................................37
3.1.1 Servo drive parameter................................................................................................................................37
3.1.2 Motion parameter starting with object dictionary 6000 ...........................................................................43
3.2 PARAMETER FUNCTION ...........................................................................................................................................45
3.2.1 【 Class 0 】 Basic Settings ...........................................................................................................................45
3.2.2 【 Class 1 】 Gain Adjustments.....................................................................................................................49

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3.2.3 【 Class 2 】 Vibration Suppression ..............................................................................................................56
3.2.4 【 Class 3 】 Velocity/ Torque Control ..........................................................................................................61
3.2.5 【 Class 4 】 I/O Interface Setting.................................................................................................................63
3.2.6 【 Class 5 】 Extension settings ....................................................................................................................69
3.2.7 【 Class 6 】 Other settings...........................................................................................................................73
3.3 402 PARAMETERS FUNCTION ...................................................................................................................................77
CHAPTER 4 CONTROL MODE................................................................................................................................ 89
4.1 PROFILE POSITION MODE ........................................................................................................................................89
4.1.1 Pulse...........................................................................................................................................................89
4.1.2 Motion settings ..........................................................................................................................................89
4.1.3 Monitoring settings....................................................................................................................................90
4.1.4 Applications example .................................................................................................................................90
4.2 PROFILE VELOCITY MODE.........................................................................................................................................91
4.2.1 Motion Settings..........................................................................................................................................91
4.2.2 Monitoring settings....................................................................................................................................91
4.3 PROFILE TORQUE MODE ..........................................................................................................................................92
4.3.1 Motion Settings..........................................................................................................................................92
4.3.2 Monitoring settings....................................................................................................................................92
4.4 HOMING MODE......................................................................................................................................................93
4.4.1 Motion Settings..........................................................................................................................................93
4.4.2 Monitoring settings....................................................................................................................................93
4.4.3 Homing mode.............................................................................................................................................94
4.5 EMERGENCY STOP ................................................................................................................................................119
4.5.1 Motion Settings........................................................................................................................................119
4.5.2 Monitoring settings..................................................................................................................................119
CHAPTER 5 APPLICATIONS ................................................................................................................................. 120
5.1 TRIAL RUN ..........................................................................................................................................................120
5.2 INERTIA RATIO MEASURING ....................................................................................................................................121
5.3 NOTCH FILTER (VIBRATION SUPPRESSION) ................................................................................................................123
5.4 AUTO GAIN ADJUSTMENT .......................................................................................................................................125
5.5 3RD GAIN SWITCHING .............................................................................................................................................127
5.6 FRICTION COMPENSATION FUNCTION........................................................................................................................129
5.7 REGENERATIVE RESISTOR SETTINGS ..........................................................................................................................130
5.8 SAFETY FUNCTIONS...............................................................................................................................................131
5.8.1 Max. motor rotational speed limitation...................................................................................................131
5.8.2 Max. duration for motor to stop after disabling......................................................................................131
5.8.3 External brake deactivation output signal BRK-OFF ................................................................................132
5.8.4 Servo stopping mode................................................................................................................................133
5.8.5 Emergency stop function..........................................................................................................................134
5.9 MULTITURN ABSOLUTE ENCODER ............................................................................................................................135
5.9.1 Parameter settings...................................................................................................................................135
5.9.2 Read absolute position........................................................................................................................136
5.9.3 Absolute Encoder Related Alarm..............................................................................................................138

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CHAPTER 6 CANOPEN COMMUNICATION .......................................................................................................... 139
6.1 COMMUNICATION CONNECTION ..............................................................................................................................139
6.2 CANOPEN COMMUNICATION PARAMETERS AND PORTS................................................................................................139
6.3 CANOPEN COMMUNICATION PROTOCOL...................................................................................................................141
6.4 PREDEFINED CONNECTIONS ....................................................................................................................................141
6.5 OBJECT DICTIONARY .............................................................................................................................................142
6.5.2 Object dictionary structure ......................................................................................................................143
6.5.3 Object type...............................................................................................................................................143
6.5.4 Access attribute........................................................................................................................................143
6.6 NETWORK MANAGEMENT (NMT)...........................................................................................................................144
6.6.1 NMT module control ................................................................................................................................144
6.6.2 NMT node guarding .................................................................................................................................144
6.6.3 NMT Boot-up............................................................................................................................................145
6.6.4 NMT communication status machine ......................................................................................................145
6.7 PROCESS DATA OBJECT (PDO) ...............................................................................................................................146
6.8 SERVICE DATA OBJECT...........................................................................................................................................149
6.9 EMERGENCY OBJECT .............................................................................................................................................150
CHAPTER 7 WARNING AND ALARM ................................................................................................................... 151
7.1 SERVO DRIVE ALARM OVERVIEW ..............................................................................................................................151
7.2 ALARM HANDLING................................................................................................................................................156
7.3 CANOPEN COMMUNICATION ALARM.......................................................................................................................168
7.4 ALARM CLEARING .................................................................................................................................................178
7.4.1 Servo Drive Alarm Clearing ......................................................................................................................178
CONTACT US ...................................................................................................................................................... 179

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Chapter 1 Introduction
1.1 Product Introduction
ELD2-CAN Series DC Servo Drive is our latest generation DC servo drive that is based on CANopen
DSP402 protocol. It can be easily matched to any controller that supports this protocol. Using the latest
signal processing chip from Texas Instrument, the drive is compact with small volume and good
reliability.
In comparison to conventional pulse controlled servo drives, our ELD2-CAN provides advantages as
listed below.
1. 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. CANopen communication protocol provides fault detections limitations
and error handling that makes communication more reliable over long distances.
2. 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.
3. Simplify complex wiring work
Using CANopen communication protocols, the connections between master device and slave stations
can be realized using only RS232 cables.
4. 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
1.2.1 Servo Drive
ELD2
- CAN
7030
B
○
1EA○ 2E
A○ 3EA○
4E
No.
Description
①
Series No. ELD2：DC Servo Drive Series
②
Communication
protocol
RS：Pulse train + Modbus RTU
CAN：CANopen + Analogue
③
Power Rating 7020: 24-70VDC, rated current 20A
7030: 24-70VDC, rated current 30A
④
Type
B: Holding brake output
Blank
: Without holding brake output
1.2.2 Servo Motor
ELVM 60 20 V48 E –H –M17 - HD
Motor Series
ELVM ELVM Series DC
Servo Motor
Motor Flange Size
40 40mm
60 60mm
80 80mm
Power Ratings
05 50W
10 100W
20 200W
40 400W
60 600W
Input Voltage
V24 24VDC
V36 36VDC
V48 48VDC
V60 60VDC
Connector
HD SP21 connector
Motor Encoder
B25 2500 ppr
incremental
M17 17-bit magnetic
absolute
E23 23-bit optical
absolute
Inertia Ratio
LLow
MMedium
HHigh
Brake
EWith Brake
FNo Brake
130 130mm
75 750W
200
1200W
150
2000W
120
1500W
100 1000W

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1.3 Servo Drive Technical Specification
ELD2-CAN series CAN7005B CAN7010B CAN7015B CAN7020B CAN7030B
Rated Current (Arms)
5
10
15
20
30
Peak Current (Arms)
21
42
45
80
90
Dimension(mm)
140*79.5*25.5
175*100.5*33
ELD2-CAN series CAN7040B CAN7060B
Rated Current (Arms)
40
60
Peak Current (Arms)
120
180
Dimension(mm)
194*103*41
Logic Power Supply
24VDC
Safe Torque Off (STO)
STO SIL3
Main power supply 24～70VDC
Direct Drive Holding Brake
Yes
Drive mode
SVPWM sinusoidal wave drive
Velocity regulation ratio
5000:1
Electronic gear ratio 1～32767/1～32767
Matching encoders Hall signal UVW + ABZ or RS485 encoder（Tamagawa protocol）
Input
4 configurable NPN/PNP 24V Digital Inputs: DI3-DI6
1. Servo enabled (SRV-ON)
2. Positive limit switch (POT)
3. Negative limit switch (NOT)
4. Clear Alarm （A-CLR）
5. Gain switching (GAIN)
6. Deviation counter clearing (CL)
7. Command pulse prohibition(INH)
8. Crossover frequency input switching(DIV1)
9. Internal command velocity selection(INTSPD)
10. Zero speed clamp(ZEROSPD)
11. Velocity sign(VC-SIGN)
12. Torque sign(TC-SIGN)
13. Emergency Stop (E-STOP)
Output
1 holding brake output;2 configurable single-ended NPN/PNP 24V, 8mA
digital outputs
1. Alarm (ALARM)
2. Servo ready (SRDY)
3. External brake off (BRK-OFF)
4. Positioning completed (INP1)
5. Reached velocity(AT-SPEED)
6. Zero speed position (ZSP)
7. Velocity coincidence (V-COIN)
8. Position command (P-CMD)
9. Velocity command (V-CMD)
Alarm
Current circuit error, DC bus overvoltage, DC bus undercurrent, overcurrent,
overcurrent on IPM, motor overload, regenerative resistor overload, encoder
disconnected, encoder initialization error, encoder data error, excessive
position deviation, overspeed, I/O configuration error, EEPROM parameter
saving CRC checksum error, positive/negative position limit valid, forced
alarm input valid
Indicator light
Red & Green LED
Tuning Software
Motion Studio 2

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Motion Studio 2
Configure parameters for current, position and velocity loop. Parameter
uploading using .lsr parameter files. Drive and motor data monitoring using
oscilloscope.
Communication Port
RS-232，1：1；CAN，0：N（0≤N≤127）， CANopen
Load-Inertia
Smaller than 20 times motor inertia
Environmental
requirements
Storage
condition
Avoid direct sunlight. Keep away from heat generating
devices, dust, oil, corrosive liquid/gas and places with
strong vibration or high humidity. Prohibit combustible gas
and conductive material waste.
Temperature
-20
℃
～＋45
℃
(Please allow air circulation if >45
℃)
Storage
temperature
－20
℃
～＋65
℃
Humidity 40—90%RH （Condensation free）
Installation
Vertical and level to ground
1.4 Servo Drive Ports and Connectors
ELD2-CAN Series Servo Drive (7005B/7010B/7015B/7020B/7030B)
ID Spin Dial (RSC-1)
I/O Port
ENC Encoder Port
Motor Power Output
(U, V, W, PE)
Main Power Supply (DC+, GND)
Indicator LED (PWR/ALM)
CANopen
Communication Port Baud Rate/Terminal
Resistor Switch
RS232 Tuning Port
Regenerative Resistor (RB+, RB-)

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ELD2-CAN Series Servo Drive (7040B/7060B)
1.5 Motor Ports and Connectors
ELVM Series DC Servo Motor
Motor Shaft
Encoder
Motor Flange
Encoder connector Motor connector
Motor
Logic Circuit Power Supply
ID Spin Dial (RSC-1)
I/O Port (CN1)
ENC Encoder Port
Motor Power Output
(U, V, W, PE)
Main Power Supply (DC+, DC-)
Safe Torque Off (STO)
Indicator LED (PWR/ALM)
CANopen
Communication Port Baud Rate/Terminal Resistor Switch
RS232 Tuning Port
Regenerative Resistor (RB+, RB-)

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Chapter 2 Installation & Wiring
2.1 Servo Drive Installation
2.1.1 Servo drive installation environment
2.1.2 Servo drive dimension
Dimension 1: ELD2-CAN7005B/7010B
Temperature
Storage: -20~+65℃(Condensation free);
Installation: -20~+45℃(Please allow air circulation if >45
℃
)
Humidity
Under 90%RH (Condensation free)
Altitude
Up to 1000m above sea level
Atmospheric
pressure
86 ~ 106kPa
Vibration
Less than 0.5G (4.9m/s2) 10-55Hz (non-continuous working)
Atmospheric
No corrosive gas, combustibles, dirt or dust.
IP ratings
IP20

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Dimension 2: ELD2-CAN7015B/7020B/7030B
Dimension 3: ELD2-CAN7040B/7060B

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Space requirement for installation
1. Please install the drive vertical to ground.
2. Please ensure optimal heat dissipation with enough room (>50mm) between each drives or to
surrounding. It is recommended to install cooling fans for drives to achieve optimal performance.
Please refer to the diagram above for a visual guide on how to properly install the DC servo
drives.
FAN FAN FAN
Please allow a gap larger than 50mm
between drives and surrounding
Air Flow

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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.
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 ELD2-CAN Wiring Diagram
ELD2-CAN Wiring Diagram
Make sure data transferring cables are as short as possible. Keep CN1 cable under 3m and
CN2 cable under 10m. Use shielded double winding cables to cut down on electromagnetic
interference.
If the load for DO is an inductive load such as a relay, please install freewheeling diodes on
both ends of the load in parallel. Please keep in mind that if the diode is connected in reverse, it
might cause damage to the drive.
Use non-fuse breaker (NFB) to cut off power supply to the drive in case of emergency.

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2.4 Servo Drive Ports
ELD2-CAN 7005B/7010B/7015B/7020B/7030B
ID Spin Dial (RSC-1)
I/O Port (CN1)
ENC Encoder Port
CN3 Motor Power Output
(U, V, W, PE)
CN3 Main Power Supply
(DC+, GND)
Indicator LED (PWR/ALM)
CN5 CANopen
Communication Port Baud Rate/Terminal
Resistor Switch
CN7 RS232 Tuning Port
CN5 Regenerative Resistor
(RB+, RB-)

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ELD2-CAN 7040B/7060B
Connector
Label
CN1
I/O signal port
CN3
Motor power output (U, V, W, PE)
Main Power Supply (DC+, DC-)
CN4
Regenerative resistor port (RB+, RB-)
CN5
CANopen Communication port
CN6
Safe Torque Off (STO) port
CN7
RS232 tuning port
CN9
Logic circuit power supply port
ENC
Motor encoder feedback
SW
Baud rate/Terminal resistor switch
RSC
ID spin dial
CN9 Logic Circuit Power
Supply
ID Spin Dial (RSC-1)
I/O Port (CN1)
ENC Encoder Port
CN3 Motor Power Output
(U, V, W, PE)
CN3 Main Power Supply
(DC+, DC-)
CN6 Safe Torque Off
(STO)
Indicator LED (PWR/ALM)
CN5 CANopen
Communication Port Baud Rate/Terminal
Resistor Switch
CN7 RS232 Tuning
Port
CN4 Regenerative Resistor
(RB+, RB-)