User Manual for ELD2-CAN Servo
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70
ACM602V36-T-2500
0x8006
0x204
ACM602V24-T-2500
0x8007
0x204
ELDM4005V24HL-B5
0x8008
0x204
ELDM4010V24HL-B5
0x8009
0x204
ELDM6020V48HL-A5
0x800B
0x201
ELDM6040V48HL-A5
0x800C
0x201
ELDM6040V60HL-A5
0x800D
0x201
ELDM6060V48HL-A5
0x800E
0x201
ELDM8075V48HM-A4
0x8010
0x201
ELDM6020V24GL-A5
0X8016
0x201
ELDM6020V48HL-A5
0X8017
0x201
ELDM6040V24HL-A5
0X8018
0x201
6.2 Common Functions for All Modes
6.2.1 Motor Rotation Direction
The Rotation Direction is defined in 607Eh.
Mode
Value
Position
mode
PP
HM
0
:
Rotate in the same direction as the position command
128
:
Rotate in the opposite direction as the position command
Velocity
mode
PV
0
:
Rotate in the same direction as the position command
64
:
Rotate in the opposite direction as the position command
Torque
mode
PT
0
:
Rotate in the same direction as the position command
32
:
Rotate in the opposite direction as the position command
ALL
mode
0
:
Rotate in the same direction as the position command
224
:
Rotate in the opposite direction as the position command
6.2.2 Drive Stop
If the 6085h is not 0, the 6085h object will be used as the deceleration speed for quick stop. If the 6085h
is 0, the servo will be stopped quickly according to the maximum current limit.
The emergency stop when meet limit switch, motor will stop rapidly according to the maximum current
limit.
When the state machine is switched to an enable state the motor will stop freely. When bit8(Halt) of
6040h is 1, the motor will stop with deceleration set in 6084h.
6.2.3 Electronic Gear Ratio
ELD2-CAN position mode include protocol position mode (PP) and homing mode (HM), only in these
two modes does the electronic gear ratio valid.
Electronic gear ratio range is 1/1000~8000, otherwise Er A00 warning will appear (the warning is not
saved, after modification to a reasonable range, the operation panel alarm will automatically disappear, but the
402 state will still be in the "error" state, write 0x80 into 6040h to reset.