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CS3E Series EtherCAT Closed Loop Stepper Drive User Manual

User Manual

CS3E Series

EtherCAT Closed Loop Stepper Drive

Revision 1.0

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Floor 11, Block A3, Nanshan iPark, Xueyuan Avenue 1001, Shenzhen, Guangdong, 518055, China

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(86)755-26409254

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(86)755-26402718

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www.leadshine.com

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[email protected]

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Summary of Contents for CS3E Series

Page 1: ...EtherCAT Closed Loop Stepper Drive Revision 1 0 2018 Leadshine Technology Co Ltd Address Floor 11 Block A3 Nanshan iPark Xueyuan Avenue 1001 Shenzhen Guangdong 518055 China Tel 86 755 26409254 Fax 86 755 26402718 Web www leadshine com Sales sales leadshine com Support tech leadshine com ...

Page 2: ...a registered trademark and patented technology licensed by Beckhoff Automation GmbH Germany Thank you for purchasing Leadshine CS3E Series Products Please read this manual carefully before operating Please keep this manual appropriately ETC Laboratory Conformance Test Passed ...

Page 3: ...or otherwise without approval from Leadshine While every precaution has been taken in the preparation of the book Leadshine assumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from the use of the information contained herein This document is proprietary information of Leadshine that is furnished for customer use ONLY Information in this document...

Page 4: ...ke sure to read carefully and refer to this specification after understanding the contents fully CS3E Series EtherCAT Stepper Drive Software Manual coming soon The user manual is coming soon includes how to connect with Leadshine PC software operation steps and parameters configuration etc Customer also can configure object dictionary through master station PC software Please Pay Attention to The ...

Page 5: ...rmation 11 2 Installation 12 2 1 Storage and Installation Conditions 12 2 1 1 Storage condition 12 2 1 2 Operating ambience conditions 12 2 2 Mechanical Specification 12 2 3 Installation Direction and Space 12 3 Production Specifications 14 3 1 Electrical and Operating Specifications 14 3 1 1 EtherCAT Specifications 14 3 1 2 Electrical and Operating Specifications 14 3 2 Wiring Instructions 16 3 2...

Page 6: ...ic Object 26 4 1 3 I O Configuration Object 28 4 1 4 Motion Objects 29 4 2 I O Configuration 31 4 2 1 Input Function Setting 31 4 2 2 Output Signals 32 4 2 3 Input Signals 32 4 2 4 User Defined Output Function 33 4 3 EtherCAT Slave Information 33 5 Two7 Segment and Error Code 34 5 1 Two 7 Segment 34 5 1 1 Initialization Status 34 5 1 2 Operational Status 34 5 2 Error Codes 34 6 Common Functions 38...

Page 7: ...encoder cable error etc 1 3 EtherCAT Compare with Step Direction 1 3 1 Stronger anti disturbance ability Traditional step direction transmission cables have lower reliability for the reason of EMC interference whereas EtherCAT communication with shielded cables have stronger anti interference ability and inbuilt error detection Limit and handling mechanisms can also bring more reliable transmissio...

Page 8: ...y EtherCAT Slaves Strong anti disturbance Line connection Data transmission real time Rich operation modes Controller PLC Control Card EtherCAT Topology Controller PLC Figure 1 1 Step direction Topology Modules cost EMC disturb Controller PLC Step direction Topology A Controller PLC Control card EMC disturb Step direction Topology B Control Card ...

Page 9: ...ck the nameplate models of the drive and motor are what you have ordered Cheek if it is fully equipped with accessories Accessories include power supply and motor output connector control I O signal connector CAUTION 1 4 2 Nameplate information Neither the damaged nor missing accessories of stepper system is allowed to install Contact Leadshine or local distributor if any failure was found ...

Page 10: ...CS3E Series EtherCAT Closed Loop Stepper Drive User Manual 10 1 4 3 Part number 1 4 4 Parts description ...

Page 11: ...l terminal Yes 22 pin terminal No Tuning Cable No can use 3rd party cable Micro USB cable Yes Network cable Yes can use 3rd party cable Optional length 0 1m 0 2m 0 3m 0 4m 1m 1 5m 2m 3m 5m 7m 10m 15m 20m Yes Note Micro USB cable is not necessary you can also modify parameters by master station PC software Leadshine ProTuner is coming soon Network cable is necessary but you can also buy shielded ne...

Page 12: ...densed Vibration lower than 0 15mm at a frequency of 10Hz 55Hz CAUTION 2 2 Mechanical Specification Unit mm 1inch 25 4mm Figure 2 1 CS3E series mechanical drawing 2 3 Installation Direction and Space The mounting of drive wiring and motor should be under the regulations of EN 61800 5 1 Incorrect installation may result in a drive malfunction or premature failure of the drive and or motor Please fo...

Page 13: ...e that the all ventilation holes are not obstructed and sufficient free space is given to the drive and a cooling fan is mounted in the control panel Please ensure grounding wires are securely connected Figure 2 2 CS3E series installation drawing Air Air Mounting face Fan Fan Fan 50mm 50mm 50mm 30mm Air 50mm Air Air ...

Page 14: ...cess data output from master station to slave station SM3 process data input from slave station to master station Supported Protocol CoE CANopen over EtherCAT Synchronization mode DC Synchronization SYNC0 Free Run Communication Event SDO PDO EMCY Application Layer Specifications IEC61800 7 CiA402 Drive Profile Supported Operation Mode Cyclic Synchronous Position Mode Profile Position Mode Profile ...

Page 15: ...Signals Brake Alarm In Position GPIOs Protection Functions Over Current Over Voltage Position Following Error Encoder Cable Error etc PC Software Leadshine ProTuner coming soon Operating Environment Environment Avoid dust oil fog and corrosive gases Operating Temperature 0 50 32 F 122 F Storage Temperature 20 65 4 F 149 F Humidity 40 90 RH Vibration 10 55Hz 0 15mm Mount Vertical or horizontal moun...

Page 16: ...nection types can be common cathode and common anode Brake output on the drive can connect with brake outlet on the motor directly Encoder extension cable with Z signal is named CABLEM BM M Z 3 2 1 Power Supply Cable Motor Cable Wire diameter VDC GND A A B B terminal wire diameter 0 3mm2 AWG15 22 A noise filter which can improve anti interference performance is recommended to be connected between ...

Page 17: ...ence Please connect surge absorber to inductive device such as anti parallel diode for DC coil parallel RC snubbers circuit for AC coil 3 2 3 EtherCAT Communication Cable It is recommended to use shielded Ethernet network cables that do not exceed 100 meters CAUTION DO NOT hot plug in and out Be sure to turn off power and wait for at least 5 minutes when using CS3E D728 and CS3E D1008 and then you...

Page 18: ...ption CN1 Input power connector CN2 Motor connector CN3 Encoder input signals connector CN4 Digital input and output connector CN5 EtherCAT communication connector CN6 Micro USB tuning connector 7 Segment Two 7 Segment display slave ID velocity statue machine operation mode and error code MSD Setting communication high address LSD Setting communication low address ...

Page 19: ... Motor phase A 2 B Motor phase B 3 A Motor phase A 4 B Motor phase B 3 3 4 CN3 Encoder Input Signals Connector Name Pic PIN Signal Description CN3 1 EA Encoder signal of phase A 2 EA Encoder signal of phase A 3 EB Encoder signal of phase B 4 EB Encoder signal of phase B 5 EZ Encoder Z signal 6 EZ Encoder Z signal 7 VCC Encoder 5V voltage 8 GND Encoder ground 9 U Reserved 10 V Reserved 11 W Reserve...

Page 20: ... O Configurable Differential Digital Output O1 Max 30V 100mA Alarm default 12 O1 O 13 O2 O Configurable Differential Digital Output O2 Max 30V 100mA In Position default 14 O2 O 15 O3 O Configurable Single ended Digital Outputs O3 O4 O6 Max 30V 100mA Default is GPIO 16 O6 O 17 O4 O 19 O5 O 18 24VB O Used for brake signal connect with 24 DC of external power supply refer to chapter 4 2 5 20 BR O Bra...

Page 21: ...is LED informs EtherCAT communication status RUN LED ERROR LED positions at the front side of product and Link Activity LED individually positions at the top of right corner of EtherCAT ports Name Color Statue Description LED1 Green OFF Link not established in physical layer ON Link established in physical layer Flickering In operation after establishing link LED3 Green OFF Link not established in...

Page 22: ...ROM 0004h of ESC automatically Setting via Object 2150h When Object 2151h is set to value 1 the value written in Object 2150h is as the site alias activated after saving parameter and restarting the power supply 3 3 9 Two 7 Segment There are two 7 Segment with two LED indicators on the front of CS3E D507 turn on when drive is enabled The displayed content of after initialization can be set by Obje...

Page 23: ...damage the drive 2 Digital output is OC output with the maximum capacity of 100mA 30V recommended 50mA 25V the provided power supply should be under 30V recommended 24V otherwise it will cause damage to the drive 3 4 3 Brake Output This driver has a special brake output built in a fly wheel diode driving current up to 500 mA can directly drive the motor brake without relays The connection is below...

Page 24: ...ware version R UINT 0 32767 V1 0 Refer to product label 100A 0 Software version R UINT 0 32767 V1 0 Refer to object 3100h 1010 00 Number of sub index R UINT 0 32767 4 01 Save all parameters R W UDIN T 0 0xFFFFF FFF 0 Need to write 0x65766173 or 1702257011 decimal into sub index It will return 1 if save successfully 02 Save communicatio n parameters R W UDIN T 0 0xFFFFF FFF 0 Need to write 0x657661...

Page 25: ...cessfully 1018 00 Number of sub index R UINT 0 32767 4 01 Vendor ID R UINT 0 32767 4321 Leadshine code 02 Product code R UINT 0 32767 100 03 Revision number R UINT 0 32767 1 04 Series number R UINT 0 32767 1 1600 0 Number of sub index R W UINT 0 32767 3 Default number of 1st mapping object 01 0 8 1st RXPDO Map object R W UDIN T 0 0xFFFFF FFF Default number of 1st RXPDO Map object 1601 0 Number of ...

Page 26: ... UINT 0 32767 4 1C12 0 04 RXPDO assign R W UINT 0 32767 1600 1C13 0 02 TXPDO assign R W UINT 0 32767 1A00 1C32 0 0A RXPDO administrative parameters R UINT 0 32767 1C33 0 0A TXPDO administrative parameters R UINT 0 32767 4 1 2 Manufacture Specific Object Index Name Access Type Range Default value Unit Remark 2150 00h Salve ID R W S UINT 0 256 1 2151 00h Salve ID resource R W S UINT 0 10 0 0 Rotary ...

Page 27: ...he time of locking shaft 201C 00h Max time to close brake R W S UINT 100 10000 1000 ms Usually keep the default value 201D 00h Zero speed point R W S UINT 0 500 10 0 1r s 2024 00h Control mode R W S UINT 0 10 2 0 open loop 2 closed loop 2029 00h Encoder resolution R W S UINT 200 51200 4000 Pulse 4 times of encoder lines 2030 00h Allowed max position error counts R W S UINT 0 32767 4000 Pulse It wi...

Page 28: ...y of loosening brake R W S UINT 0 1500 250 ms 4003 03h Max speed to close brake R W S UINT 0 500 10 0 1r s 4 1 3 I O Configuration Object Index Name Access Type Range Default value Unit Remark 2155 00h Digital input status R UINT 0 65535 0 2152 01h Input port 1 R W S UINT 0 65535 0x17 Touch probe input signal 1 2152 02h Input port 2 R W S UINT 0 65535 0x18 Touch probe input signal 2 2152 03h Input...

Page 29: ...UINT 0 65535 5 5 decelerated stop others invalid 6060 Operation mode R W USINT 0 255 8 1 PP mode 3 PV mode 6 Home mode 8 CSP mode 6061 Displayed operation mode R USINT 0 255 8 6062 Position demand value R DINT 2147483648 2147483647 0 P P pulse 6064 Position actual value R DINT 2147483648 2147483647 0 P P pulse 606B Velocity demand value R DINT 2147483648 2147483647 0 P s 606C Velocity actual value...

Page 30: ...60B8 Touch probe control word R W UINT 0 65535 0 Set touch probe function refer to chapter 6 3 60B9 Touch probe statue word R UINT 0 65535 0 Status of touch probe 1 2 refer to chapter 6 3 60BA Touch probe 1 positive value R DINT 2147483648 2147483647 0 P Data value sensed by touch probe 1 at rising edge 60BB Touch probe 1 negative value R DINT 2147483648 2147483647 0 P Data value sensed by touch p...

Page 31: ...d 4 2 I O Configuration After setting the functions of input and output it is necessary to save and restart the drive If the two input functions configurations repeated the smaller input port is valid the other input port will back to default input function For example input port 5 I5 and input port 6 I6 are both set to negative limit after saving the restating the I5 type is negative limit while ...

Page 32: ...ime and bit 7 0 the Object 2151 01h will be the value in below table Index 2152 01h bit15 bit12 bit11 bit8 bit7 bit4 bit3 bit0 binary 0000 1010 0000 0001 hexadecimal 0 A 0 1 4 2 2 Output Signals Bit 7 6 5 0 Name Output level setting Output function setting Bit 15 8 are reserved Bit 7 0 values correspond to the meaning the input level is set by bit 7 Value when bit 7 is set to 0 Value when bit 7 is...

Page 33: ...56 05 0x05 0x85 Bit20 0x100000 Bit20 0x100000 OUT6 2156 06 0x05 0x85 Bit21 0x200000 Bit21 0x200000 For example when OUT2 is set to user defined output function with bit 7 0 the operation steps are as below Set Object 2156 02h to value 0x05 to user defined output function Set both 60FE 01 and 60FE 02 to value ox20000 then OUT2 is available 4 3 EtherCAT Slave Information EtherCAT Slave Information f...

Page 34: ... contents displayed on the 7 Segment are configurable can be set to three types and set by Object 214b 00h Index Value Name Description 214b 00h 2 Velocity Unit rps 0 Status Machine Operation Mode 1 1st 7 Segment displays the information of status machine in hex 1 Initialization 2 Pre operation 4 Safe Operation 8 Operation 2 2nd 7 Segment displays the information of operation mode in hex 1 PP Prof...

Page 35: ... Regenerative Discharge Circuit Overload Error E121 Regenerative Resistance Error E150 Encoder Connection Error Abnormal connection between drive and encoder E151 Encoder Communication Error E152 Initialize Encoder Position Error E170 Encoder Data Error E190 Excessive Vibration Error E1a0 Over Speed Error Motor speed exceed 3000 rpm E1a1 Speed Out of Control Error E1b0 Position instruction frequen...

Page 36: ...21B E818 Invalid input data 0x8211 E819 Invalid output data 0x8212 E82c Fatal synchronization error 0x872C E813 Boot Status main page reqprotection 0x8213 E850 EEPROM reading error 0x5550 E851 EEPROM error 0x5551 E801 ESM State Machine Conversion Failed 0x8201 E81c Invalid Type of Synchronization Manager 0x821C E811 Invalid ESM Conversion request 0xA001 E812 Unknown ESM Conversion request 0xA002 E...

Page 37: ... mapping 0x8224 E825 Invalid output data mapping 0x8225 E82b Input and Output is invalid 0x8210 E830 DC synchronization configuration is invalid 0x8730 E802 Out of memory 0x5510 E852 Hardware is not ready 0x5552 E870 Mode not support 0x5201 E871 The operation condition of this mode is not satisfied 0x5202 ...

Page 38: ...structions Drives follow the planning instructions given by master station in synchronous cycle making it suitable for synchronous motion of multiple axes CS3E synchronous motion mode supports CSP mode In CSP mode master station completes trajectory planning and sends it to CS3E The drive will execution the synchronous cyclic position instructions immediately once they has arrived CS3E supports fo...

Page 39: ...ared 6040 00h Control Word U16 RW Recomme nd Can 6083 00h Profile Acceleration I32 RW P S2 Can Can 6084 00h Profile Deceleration U32 RW P S2 Can Can Homing Mode 6 6040 00h Control Word U16 RW Recomme nd Can 6098 00h Homing Method I8 RW Can Can 6099 01h Fast Homing Velocity U32 RW P S Can Can 6099 02h Slow Homing Velocity U32 RW P S Can Can 609A 00h Homing Acceleration U32 RW P S2 Can Can 607C 00h ...

Page 40: ... bit7 which manages the state transition of the 402 state machine The definition of Status Word 6041h is as shown in Table 6 4 The bit0 7 mainly show the state machine transition state while the bit8 15 mainly shows the status of execution or stop in each operation mode The typical state transition of enable is as follows Initiation 00h power on 06h start 07h enable 0fh execute or pause depending ...

Page 41: ... be set when the hardware limit effective 0 below PreOP status PP mode 1 Trigger response Parameter has 0 Invalid New position point response Position arrival Emergenc y stop PV mode 3 Invalid Parameter has 0 Invalid Speed is 0 Velocity arrival Quick stop HM mode 6 Trigger response Parameter has 0 Origin error Origin completion Position arrival Emergenc y stop Additional information on other bits ...

Page 42: ...mode 1 6040 Create a communicati on OP state setting motion parameters 00h 06h 07h 0fh 2fh 3f h 10fh 6041 250h 231h 233h 8237h 1237h 1637h 1237h 1737h 1238h PV mode 3 6040 Create a communicati on OP state setting motion parameters 00h 06h 07h 0fh Immediate operation after enabling Change the speed 10fh 6041 250h 231h 233h 1637h 1637h 1637h 1737h 1638h HM mode 6 6040 Create a communicati on OP stat...

Page 43: ...e Touch Probe 2 rising edge trigger complete Touch Probe 2 action 60BAh Touch Probe 1 rising edge capture data value register 60BBh Touch Probe 1 falling edge capture data value register 60BCh Touch Probe 2 rising edge capture data value register 60BDh Touch Probe 2 falling edge capture data value register 60FDh The state of bit26 is bit 1 and bit 2 AND logic of Object 60B9h The state of bit27 is ...

Page 44: ...CS3E Series EtherCAT Closed Loop Stepper Drive User Manual 44 Figure 6 1 Touch Probe Mode ...

Page 45: ...at Low Homing Velocity and stop when st first effective Z signal after leaving the Negative Limit Switch If the Positive Limit signal goes ON during homing motion bit 13 of Status Word 6041h will be valid it indicates an error in the homing motion and the motor will stop immediately Figure 7 1 Method 1 Method 2 If the motor starting point is not at the Positive Limit position like Situation A it w...

Page 46: ...ord 6041h will be set it indicates an error in the homing motion and the motor will stop immediately Figure 7 3 Method 3 Method 4 If the motor starting point is in the OFF state of HOME SWITCH like Situation A it will move toward positive direction at Low Homing Velocity 6099 02h and stop at the first effective Z signal after leaving the HOME SWITCH as shown in Figure 7 4 If the motor starting poi...

Page 47: ... motion bit 13 of Status Word 6041h will be set it indicates an error in the homing motion and the motor will stop immediately Figure 7 5 Method 5 Method 6 If the motor starting point is in the OFF state of HOME SWITCH like Situation A it will move toward negative direction at Low Homing Velocity 6099 02h until the HOME SWITCH goes ON then stops at the first effective Z signal If the motor startin...

Page 48: ...error in the homing motion and the motor will stop immediately Figure 7 7 Method 7 Method 8 If the motor starting point is in the OFF state of HOME SWITCH and Positive Limit like Situation A it will move toward positive direction at Low Homing Velocity 6099 02h it will stop at the first effective Z signal during the ON state of HOME SWITCH as shown in Figure 7 8 If the motor starting point is in t...

Page 49: ...t Homing Velocity and have a deceleration stop after leaving HOME SWITCH then move toward negative direction at Low Homing Velocity the motion stops at the first effective Z signal during the ON state of HOME SWITCH as shown in Situation B of Figure 7 9 If the motor starting point is in the OFF state of HOME SWITCH and Positive Limit it will move toward positive direction at Fast Homing Velocity u...

Page 50: ...ming motion bit 13 of Status Word 6041h will be set it indicates an error in the homing motion and the motor will stop immediately Figure 7 10 Method 10 Method 11 If the motor starting point is in the OFF state of HOME SWITCH and Negative Limit it will move toward negative direction at Fast Homing Velocity 6099 01h and have a deceleration stop when HOME SWITCH goes ON then move toward positive dir...

Page 51: ...oming Velocity the motion stops at the first effective Z signal during the ON state of HOME SWITCH as shown in Situation B of Figure 7 12 If the motor starting point is in the OFF state of HOME SWITCH and Negative Limit it will move toward negative direction at Low Homing Velocity 6099 02h until the Negative Limit goes ON to have a quick stop then moves toward positive direction at Fast Homing Vel...

Page 52: ... Positive Limit signal goes ON during homing motion bit 13 of Status Word 6041h will be set it indicates an error in the homing motion and the motor will stop immediately Figure 7 13 Method 13 Method 14 If the motor starting point is in the OFF state of HOME SWITCH and Negative Limit it will move toward negative direction at Low Homing Velocity 6099 02h and the motion stops at the first effective ...

Page 53: ...CS3E Series EtherCAT Closed Loop Stepper Drive User Manual 53 Figure 7 14 Method 14 Method 17 Figure 7 15 Method 17 ...

Page 54: ...CS3E Series EtherCAT Closed Loop Stepper Drive User Manual 54 Method 18 Figure 7 16 Method 18 Method 19 Figure 7 17 Method 19 Method 20 Figure 7 18 Method 20 ...

Page 55: ...CS3E Series EtherCAT Closed Loop Stepper Drive User Manual 55 Method 21 Figure 7 19 Method 21 Method 22 Figure 7 20 Method 22 Method 23 Figure 7 21 Method 23 ...

Page 56: ...CS3E Series EtherCAT Closed Loop Stepper Drive User Manual 56 Method 24 Figure 7 22 Method 24 Method 25 Figure 7 23 Method 25 ...

Page 57: ...CS3E Series EtherCAT Closed Loop Stepper Drive User Manual 57 Method 26 Figure 7 24 Method 26 Method 27 Figure 7 25 Method 27 ...

Page 58: ...CS3E Series EtherCAT Closed Loop Stepper Drive User Manual 58 Method 28 Figure 7 26 Method 28 Method 29 ...

Page 59: ...CS3E Series EtherCAT Closed Loop Stepper Drive User Manual 59 Figure 7 27 Method 29 Method 30 Figure 7 28 Method 30 Method 35 37 Figure 7 29 Method 35 37 ...

Page 60: ...xFFFFF FFF 0 Need to write 0x65766173 or 1702257011 decimal into sub index It will return 1 if save successfully 02 Save communicatio n parameters R W UDINT 0 0xFFFFF FFF 0 Need to write 0x65766173 or 1702257011 decimal into sub index It will return 1 if save successfully 03 Save motion parameters R W UDINT 0 0xFFFFF FFF 0 Need to write 0x65766173 or 1702257011 decimal into sub index It will retur...

Page 61: ...ine code 02 Product code R UINT 0 32767 100 03 Revision number R UINT 0 32767 1 04 Series number R UINT 0 32767 1 1600 0 Number of sub index R W UINT 0 32767 3 Default number of 1st mapping object 01 08 1st RXPDO Map object R W UDINT 0 0xFFFFF FFF Default number of 1st RXPDO Map object 1601 0 Number of sub index R W UINT 0 32767 6 Default number of 2nd mapping object 01 08 2nd RXPDO Map object R W...

Page 62: ...PDO assign R W UINT 0 32767 1600 1C13 0 02 TXPDO assign R W UINT 0 32767 1A00 1C32 0 0A RXPDO administrative parameters R UINT 0 32767 1C33 0 0A TXPDO administrative parameters R UINT 0 32767 2150 00 Salve ID R W S UINT 0 256 1 2151 00 Salve ID resource R W S UINT 0 10 0 0 Rotary switch 1 Master setting 2000 00 Peak current R W S UINT 0 80 60 0 1A Drive s max output current 2001 00 Microstep resol...

Page 63: ...ke R W S UINT 100 10000 1000 ms Usually keep the default value 201D 00 Zero speed point R W S UINT 0 500 10 0 1r s 2024 00 Control mode R W S UINT 0 10 2 0 open loop 2 closed loop 2029 00 Encoder resolution R W S UINT 200 51200 4000 Pulse 4 times of encoder lines 2030 00 Allowed max position error counts R W S UINT 0 32767 4000 Pulse It will occur position error when exceeds the setting value 2032...

Page 64: ...3 Max speed to close brake R W S UINT 0 500 10 0 1r s 2155 00 Digital input status R UINT 0 65535 0 2152 01 Input port 1 R W S UINT 0 65535 0x17 Touch probe input signal 1 02 Input port 2 R W S UINT 0 65535 0x18 Touch probe input signal 2 03 Input port 3 R W S UINT 0 65535 0x16 Origin point 04 Input port 4 R W S UINT 0 65535 0x01 Positive limit 05 Input port 5 R W S UINT 0 65535 0x02 Negative limi...

Page 65: ...lid 6060 Operation mode R W USINT 0 255 8 1 PP mode 3 PV mode 6 Home mode 8 CSP mode 6061 Displayed operation mode R USINT 0 255 8 6062 Position demand value R DINT 21474836 48 21474836 47 0 P P pulse 6064 Position actual value R DINT 21474836 48 21474836 47 0 P P pulse 606B Velocity demand value R DINT 21474836 48 21474836 47 0 P s 606C Velocity actual value R DINT 21474836 48 21474836 47 0 P S 6...

Page 66: ...48 21474836 47 50000 P S Speed during search for switch under Home mode 02 Slow homing velocity R W S DINT 21474836 48 21474836 47 25000 P S Speed during search for zero under Home mode 607C Home offset R W S DINT 21474836 48 21474836 47 0 P The value of difference between senor origin position and mechanical origin position under Home mode 609A Homing acceleration R W S USINT 21474836 48 21474836...

Page 67: ...re of touch probe 1 rising edge 60D6 Touch probe 1 falling edge counter R UINT 0 65535 0 Frequency for capture of touch probe 1 falling edge 60D7 Touch probe2 rising edge counter R UINT 0 65535 0 Frequency for capture of touch probe 2 rising edge 60D8 Touch probe 2 falling edge counter R UINT 0 65535 0 Frequency for capture of touch probe 2 falling edge 60FD Digital input statue R UDINT 0 42949672...

Page 68: ... 105 4 13 0 25 inch 6 35 mm shaft CS M22321 L 2 1 368 88 3 46 CS M22331 L 3 1 439 109 4 29 CS M22331 L S 3 1 439 109 4 29 CS M22313B 1 3 184 109 4 29 24VDC brake integrated CS M22323B 2 3 326 131 5 15 24VDC brake integrated CS M22313WP 1 2 184 95 3 74 IP67 rated CS M22323WP 2 0 283 114 4 49 IP67 rated CS M22422 24 2 2 368 89 3 50 CS M22430 3 0 439 107 4 21 CS M22430B 3 0 439 143 5 63 24VDC brake i...

Page 69: ...5 1202 173 3 46 24VDC brake integrated CS M23485WP 8 5 1202 154 3 08 IP67 rated CS M234120 12 0 1698 158 4 29 CS M234120B 12 0 1698 184 4 29 24VDC brake integrated CS M234120WP 12 0 1698 164 3 82 IP67 rated Note all above stepper motors are mounted with 1000 line incremental encoders also can contact with Leadshine for stepper motors with 2500 line 5000 line encoders and other NEMA08 11 16 motors ...

Page 70: ...tepper and servo controls Model Output Voltage VDC Series Model Continuous Current A Max Current A Input Voltage VAC RPS2410 V3 0 24 RPS 10 30 85 132 176 264 RPS3611 V3 0 36 11 33 85 132 176 264 RPS488 V3 0 48 8 3 24 9 85 132 176 264 RPS4810 V3 0 48 10 5 31 5 85 132 176 264 RPS608 V3 0 60 8 5 10 5 85 132 176 264 SPS407 42 SPS 7 0 9 0 180 240 SPS407 L 42 4 7 9 0 90 130 SPS487 48 7 0 9 0 180 240 SPS...

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