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CS3E-E Series EtherCAT Closed Loop Stepper Drive User Manual

User Manual

CS3E-E Series

EtherCAT Closed Loop Stepper Drive

For models of CS3E-D503E,CS3E-D507E

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

Tel: (86)755-26409254

Fax: (86)755-26402718

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Содержание CS3E-D503E

Страница 1: ...osed Loop Stepper Drive For models of CS3E D503E CS3E D507E 2020 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 ...

Страница 2: ... registered trademark and patented technology licensed by Beckhoff Automation GmbH Germany Thanks for purchasing Leadshine CS3E E Series Products Please read this manual carefully before using product Please keep this manual CS3E E Passed the ETC Laboratory Conformance Tested ...

Страница 3: ...es EtherCAT Closed Loop Stepper Drive User Manual Record of Revisions Reversion Data Description of Release Signed V1 0 11 02 2017 Initial Release Max V1 2 06 01 2020 Reduction of some IO ports change ESI file Max ...

Страница 4: ...manual is about hardware function description parameter configuration etc Please be sure to read carefully after understanding the contents refer to this specification CS3E E Series EtherCAT Closed Loop stepper drive Tuning Software Manual The tuning software is Leadshine MotionStudio Please Pay Attention to The Following Reminders Only the technical personnel to install debug or maintain the prod...

Страница 5: ...pecifications 11 3 1 1 EtherCAT Specifications 11 3 1 2 Electrical and Operating Specifications 11 3 2 Cable Specifications 12 3 2 1 Power Supply Cable Motor Cable 12 3 2 2 I O Signal Cable 12 3 2 3 EtherCAT Communication Cable 13 3 3 Connectors Specifications 14 3 3 1 Connectors Definition 14 3 3 2 CN1 Input Power Connector 15 3 3 3 CN2 Motor Connector 15 3 3 4 CN3 I O Signals Connector 15 3 3 5 ...

Страница 6: ...ity Value 26 4 3 4 Main Control Output Function 27 4 4 Motion Objects 27 4 5 XML File or ESI File 29 5 Error Code Trouble Shooting 30 5 1 Error Code 30 5 2 Alarm LED 31 5 3 Alarm Clearing 32 6 Common Functions 33 6 1 Saving Parameters and Resetting Drive 33 6 2 Control Word and Operation Modes 33 6 3 Touch Probe 37 Appendix A Homing Methods 39 Appendix B Object Dictionaries 47 Appendix C Connector...

Страница 7: ...ion Profile Velocity Cyclic Synchronous Position Homing 6 configurable digital inputs 2 optically isolated digital outputs No loss of step Low noise and vibration Smooth motion Supply voltage 20 50VDC Max output current 3 0A or 7 0A Micro USB port for parameters configuration Matched with NEMA11 17 23 24 34 CS M series closed loop stepper motors Protections for over voltage over current limit swit...

Страница 8: ...ion cable Yes Option length 1 5m 2 2m 3 0m 4 0m 5 0m 6 0m 7 0m 8 0m 10m CABLEM RZ M Encoder extension cable Yes Optional length 1 5m 2 2m 3 0m 4 0m 5 0m 6 0m 7 0m 8 0m 10m CABLEM B M M Note Micro USB cable is not necessary it can also modify parameters by master station PC software Network cable is necessary but you can also buy shielded network cable through 3rd party Encoder extension cable is a...

Страница 9: ...CS3E E 522E 556E 870E 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 follow the guidelines in this manual when installing The drive should be mounted perpendicular to the wall or in the control...

Страница 10: ...CS3E E Series EtherCAT Closed Loop stepper drive User Manual 10 Figure 2 2 CS3E E series installation drawing Fan Fan Fan 20mm 20mm 50mm 30mm Air 50mm Air Air ...

Страница 11: ...on 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 CSP Profile Position Mode PP Profile Velocity Mode PV Homing Mode HM Cycle Time 500us 750us 1ms 2ms 3ms 4ms 5ms 3 1 2 Electrical and Operatin...

Страница 12: ...he other is output port which connects with the following slave Single end input I1 I6 connection types can be common cathode and common anode 3 2 1 Power Supply Cable Motor Cable Wire diameter VDC GND A A B B terminal wire diameter 0 3mm2 AWG15 22 3 2 2 I O Signal Cable Wire diameter I O signal wires diameter 0 12mm2 AWG24 26 Recommend to adopt shielded twisted pair cable with a length of less th...

Страница 13: ...solid root AWG 22 7 7x0 254mm Nominal characteristic impedance tolerance 100Ω 15Ω IEC61156 5 Balanced or Unbalanced Balanced Loop resistance 115Ω Km Insulation resistance 500MΩ Km Transmission impedance 50mΩ m 10MHZ Maximum time delay 550ns 100m Time delay deviation 20ns 100m Shielding S FTQ Outer stranded shield inner layer Temperature 60º Requirements 1 It is recommended to use a Category 5 Fast...

Страница 14: ...e 3 2 CS3E E series connectors Name Description CN1 Input power connector CN2 Motor connector CN3 I O signals connector CN4 EtherCAT communication connector CN5 Micro USB tuning connector CN6 Encoder connector LED The LED for the drive s running status DIP Switches 8 bits switches SW1 SW7 to set 0 127 Node ID SW8 for self test ...

Страница 15: ...ut 3 12V 24V 10KHz Home switch default 4 DI4 I Configurable Single ended Digital Input 4 12V 24V 10KHz Positive Limit default 5 DI1 I Configurable Single ended Digital Input 1 12V 24V 10KHz Touch Probe 1 default 6 DI2 I Configurable Single ended Digital Input 2 12V 24V 10KHz Touch Probe 2 default 7 COMI I Common anode of external input signals 8 COMO O Common ground of digital output signals 9 DO1...

Страница 16: ...tor green 4 LED4 as ERR indicator red Table 3 3 Link Activity LED status Name Color Status Description RUN Green off Initialization Status Blinking Pre operation status Single Flash Safe operating status on Operation Status ERR Red Refer to Chapter 5 2 L A IN Green off Physical layer link cannot be established on Physical layer link establishment Blinking Interaction data L A OUT Green off Physica...

Страница 17: ...llowing 3 methods 2151h 2150h DIP Switches Slave ID 0 Read ID 0 127 Setting by DIP Switches SW1 SW7 1 Write ID Setting by writing a value to 2050h 2 0 Configure to EEPROM 0004h of ESC automatically When 2151h 0 setting via DIP Switches SW1 SW7 Slave ID can be set a value non zero via the SW1 SW7 activated after restarting the power supply The specific definition is as below ID SW1 SW2 SW3 SW4 SW5 ...

Страница 18: ...If the polarity of input DC power is reversed the EtherCAT Closed Loop stepper drive won t work you need to turn the wiring 3 4 2 Digital Output Wiring Figure 3 5 Output Interface Wiring Note 1 The power supply 12 24VDC above is provided by user and if the polarity of power supply is reversed it will damage the drive 2 Digital output is OC output with the maximum capacity of 100mA 30V recommended ...

Страница 19: ...F 0 04 Save factory parameters R W UDINT 0 0xFFFFFFFF 0 1011 00 Number of sub index R UINT 0 32767 4 01 Restore all parameters to default setting R W UDINT 0 0xFFFFFFFF 0 Need to write 0x64616f6c or 1684107116 decimal into sub index It will return 1 if save successfully 02 Reset communication parameters to factory setting R W UDINT 0 0xFFFFFFFF 0 03 Reset motion parameters to factory setting R W U...

Страница 20: ...W UDINT 0 0xFFFFFFFF Default number of 1st TXPDO Map object 1A01 0 Number of sub index R W UINT 0 32767 0 Default number of 2nd mapping object 01 08 2nd TXPDO Map object R W UDINT 0 0xFFFFFFFF Default number of 2nd TXPDO Map object 1C00 0 Number of sub index R UINT 0 32767 4 01 Output type of email R UINT 0 32767 1 02 Input type of email R UINT 0 32767 2 03 Output type of process data R UINT 0 327...

Страница 21: ...n position signal output when disabled 201A 01 Locking current percentage of power on R W S UINT 0 100 100 Usually keep the default value 201A 02 Closed loop holding current percentage R W S UINT 0 100 50 Multiply by the value of object 0x2000 the drive output current will change between these according to the load 201B 00 Locking duration time R W S UINT 0 1500 200 ms Appropriately reduce this va...

Страница 22: ...Ki R W DINT 0 32767 300 03 Current loop Kc R W DINT 0 32767 300 2091 01 Speed Loop Kp R W UINT 0 10000 25 02 Speed Loop Ki R W UINT 0 10000 3 2092 01 Position Loop Kp R W UINT 0 100 25 2150 00 Slave ID R W S UINT 0 256 1 Valid when 0x2151 1 2151 00 Slave ID resource R W S UINT 0 10 0 0 DIP switches 1 Setting by 0x2150 2 ESC 2232 00 Synchronous compensation1 R W DINT 0 65535 2 2233 00 Synchronous c...

Страница 23: ...it0 0 Not reach Bit0 1 Reach Bit1 0 No stall Bit1 1 Stalled 5002 01 ESC ID R W UINT 0 32767 0 Write 0 return the ID data in ESC to 0x5002 02 Write 0x12 return the current ID setting by DIP switches 02 ESC data R UINT 0 32767 408 Return Node ID data 5004 01 0E Sync0 Synchronization interface parameters R UINT 0 32767 0F Sync0 Synchronization interface parameters R W UINT 0 32767 Bit0 1 RPDO mapping...

Страница 24: ...imum synchronization period R W UINT 250 2000 250 us 02 Maximum synchronization period R W UINT 250 20000 10000 us 5503 04 Special function register R W UINT 0 65535 2 Bit0 0 Asynchronous mode the host will track 0x607A 00 in real time Bit0 1 Asynchronous mode the host does not track 0x607A 00in real time 4 3 I O Configuration Object The configuration of input ports includes three parts function s...

Страница 25: ... function 0x2155 Corresponding Input Port Table Input port Index Sub index Default Function Value Default Function Physical State Read State1 3 IN1 0x2152 01 1 0x17 Probe1 0x2155 00 1 2 IN2 0x2152 02 0x18 Probe2 0x2155 01 1 IN3 0x2152 03 0x16 Home switch ORG 0x2155 02 1 IN4 0x2152 04 0x01 Positive limit POT 0x2155 03 1 IN5 0x2152 05 0x02 Negative limit NOT 0x2155 04 1 IN6 0x2152 06 0x19 GPIO SI MO...

Страница 26: ...erefore Value of 0x2152 Decimal Input port function value Filter time value Polarity value For Example 1 IN1 needs to be set as quick stop function filtering time is 20ms and polarity is NC 0x2152 01 20 128 2304 2452 0x994 2 Need to set the polarity of IN3 IN4 IN5 to NC 0x2152 03 128 22 150 0x96 0x2152 04 128 1 129 0x81 0x2152 05 128 2 130 0x82 4 3 3 Output Ports Function Polarity Value Index Sub ...

Страница 27: ...r 6 1 6041 Status word R UINT 0 65535 0 Refer to chapter 6 1 605A Quick stop type selection R W UINT 0 65535 6 0 After stopping immediately switch on disable state 1 After decelerating to stops at a speed value of 0x6084 switch on disable state 2 After decelerating to stops at a speed value of 0x6085 switch on disable state 3 After decelerating to stops at a speed value of 0x60C6 switch on disable...

Страница 28: ... velocity limit R W S UDIN T 2147483648 2147483647 3000 rpm 6081 Max profile velocity R W S DINT 2147483648 2147483647 50000 Max Allowable velocity under PP mode 6082 Start velocity R W S DINT 2147483648 2147483647 0 Start velocity under PP mode 6083 Profile acceleration R W S DINT 2147483648 2147483647 4000 P S 2 Acceleration under PP and PV mode 6084 Profile deceleration R W S DINT 2147483648 21...

Страница 29: ...5 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 UDIN T 0 4294967296 0 Statue of digital input signals refer to chapter 4 3 1 60FE 01 Open physical ou...

Страница 30: ... in phase B 0x1a0 0x8402 Over speed 1 Reduce command speed value 2 Write 0x10 to the object 0x2056 to clear the alarm 0x240 0x5530 Save error 1 Reset parameters to the factory and restart power supply 2 If it still exists the hardware failure 0x260 0x7329 Limit switched alarm Refer to 0x22A9 00 0x570 0x5441 Quick stop alarm Refer to 0x22B4 00 0x5f0 0x7122 Auto tuning error 1 Restart the drive 2 If...

Страница 31: ... sync IO error 0x834 0x8734 DC synchronization timeout 0x835 0x8735 Invalid DC cycle 0x850 0x5550 EEPROM inaccessible 0x851 0x5551 EEPROM error 0x852 0x5552 The hardware is not ready 5 2 Alarm LED As shown in the figure below there are two red alarm indicator lights ALM usually shows the drive motion alarms and ERR shows the drive communication alarms ALM red light alarm indication table ALM flick...

Страница 32: ...rror code in object 0x603F are listed in the following table The part of the network communication failure can be saved and all can be cleared Alarm LED2 alarm indication table ERR flicker Description Error code in 0x603F Savable Trouble Shooting Low frequency flicker Invalid configuration in pre operation state 0x8216 No Check the network cable Others No Double flicker Watchdog timeout 0x821B Yes...

Страница 33: ...ts CSP mode In CSP mode master station completes trajectory planning and sends it to CS3E E The drive will execution the synchronous cyclic position instructions immediately once they has arrived The CS3E E supports following synchronous cycles 250 us 500 us 750us 1000 us 2000 us 4000 us 8000 us In asynchronous motion mode master station is only responsible for sending motion parameters and contro...

Страница 34: ...060 00 Operation Mode I8 RW Can Can 60B0 00 Position Offset I32 RW Can Can 6082 00 Start Velocity U32 RW P S Can Can 6085 00 Quick Stop Deceleration U32 RW P S2 Can Can 6061 00 Displayed Operation Mode I8 RO Can Can No matter using which operation mode it can not be separated from the reading and writing of Control Word 6040h and Status Word 6041h Master and slave stations use these two object dic...

Страница 35: ...k stop trigger logic is 0 effective notice to separate from other trigger logic Bit 7 is error reset trigger logic is rising edge effective Bit 5 is immediate trigger trigger logic is rising edge effective Table 6 4 Status Word 6041h Bit Definition Mode Low 8 bits 7 6 5 4 3 2 1 0 Shared Reserved Not started Quick stop Power on Error Permitted operation Start Ready to start Mode high 8 bits 15 14 1...

Страница 36: ...rm CSP mode 8 6040 Create a communicatio n OP state and activate the NC axis 06h 07h 1fh Master station send instruction Master station control Master station stop position instruction Over voltage 6041 631h 633h 1637h 1237h 1237h 1637h 638h PP mode 1 6040 Create a communicatio n OP state setting motion parameters 00h 06h 07h 0fh 2fh 3fh 13fh Over voltage 6041 650h 631h 633h 8637h 8637h 1237h 737h...

Страница 37: ...ete 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 i...

Страница 38: ...CS3E E Series EtherCAT Closed Loop stepper drive User Manual 38 Figure 6 1 Touch Probe Mode ...

Страница 39: ... position Home offset difference between zero position and zero point of machine the value of Object 607Ch default 0 Zero position zero point home offset Home Switch homing switch input signal Negative Limit negative limit switch input signal Positive Limit positive limit switch input signal Method 1 requires Z signal and Stalling Signal During the motor running in negative direction when reaching...

Страница 40: ...or running in negative direction when reaching the stalling signal it will slow down and stop then run in reverse at last stops stop position as the zero position Method 4 Method 5 requires Stalling Signal During the motor running in positive direction when reaching the stalling signal it will stop immediately Stalling Signal as the zero position Method 5 Method 6 requires Stalling Signal During t...

Страница 41: ... slow down and stop then run in reverse at last stops immediately when reaching the first Z signal Z signal as the zero position Method 1 Method 2 requires Z signal and Negative Limit The load is located on the left side of the positive limit switch and the motor running in positive direction When reaching the positive limit signal it will slow down and stop then run in reverse at last stops immed...

Страница 42: ...CS3E E Series EtherCAT Closed Loop stepper drive User Manual 42 Method 3 4 5 6 require Z signal and Home Switch Method 3 4 Method 5 6 ...

Страница 43: ... EtherCAT Closed Loop stepper drive User Manual 43 Method 7 8 9 10 require Z signal Home Switch or Positive Limit Method 7 8 9 10 Method 11 12 13 14 require Z signal Home Switch or Negative Limit Method 11 12 13 14 ...

Страница 44: ...down and stop then run in reverse at last stops immediately when reaching the negative limit signal for the second time Method 17 Method 18 requires positive limit switch The load is located on the left side of the positive limit switch and the motor running in positive direction When the motor reaching the positive limit signal for the first time it will slow down and stop then run in reverse at ...

Страница 45: ... EtherCAT Closed Loop stepper drive User Manual 45 Method 21 22 Description The load is located on the home switch Method 21 22 Method 23 24 25 26 require the home switch and positive limit switch Method 23 24 25 26 ...

Страница 46: ...T Closed Loop stepper drive User Manual 46 Method 27 28 29 30 require the home switch and negative limit switch Method 27 28 29 30 Method 35 37 use the current position as the zero position preferred method 37 Method 35 37 ...

Страница 47: ...ex It will return 1 if save successfully 02 Reset communication parameters to factory setting R W UDINT 0 0xFFFFFFFF 0 03 Reset motion parameters to factory setting R W UDINT 0 0xFFFFFFFF 0 04 Reset user parameters to factory setting R W UDINT 0 0xFFFFFFFF 0 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 8X00 03 Revision ...

Страница 48: ...767 2000 00 Peak current R W S DINT 1 100 60 0 1A Drive s max output current CS3E D503E is 25 by default CS3E D507E is 60 by default 2001 00 Microstep resolution R W S DINT 200 51200 10000 Pulse Required number of pulse to rotate 1 revolution of motor But it is recommended to modify via 6092 01 2007 00 Action when disabled R W S UINT 0 1 0 0 Don t respond to commands and the motor shaft is not loc...

Страница 49: ...loop switching open loop R W S UINT 0 200 50 0 1r s 2029 00 Encoder resolution R W S UINT 4000 20000 4000 Coun t 4 times the encoder resolution But it is recommended to modify by 0x608F 01 2030 00 Allowed max position following error pulses R W S UINT 0 32767 4000 Coun t 4000 indicates the error of one turn 2032 00 Distance to send In Position output signal R W S UINT 0 1000 4 Pulse 2033 00 Delay ...

Страница 50: ...ed R W UINT 0 32767 60 03 JOG distance R W UINT 0 32767 0 04 JOG cycles R W UINT 0 32767 1 05 JOG direction R W UINT 0 32767 0 06 JOG preparation time R W UINT 0 32767 100 ms 3100 01 Control software version R UINT 02 Firmware version R UINT 03 EtherCAT protocol version R UINT 3FFE 01 0E Alarm record R USINT 0 32767 0x3FFE 01 is the current error code current alarm or the most recent error code cu...

Страница 51: ...g trigger position R W DINT 0 32767 0 03 Homing virtual input R W UDINT 0 32767 0 When 0x225C 4 activate the virtual input function 60FD different bits corresponding to different virtual inputs Inputs Bit of 60FD Probe signal 1 Bit 26 1 Home switch Bit 2 1 Positive limit Bit 1 1 Negative limit Bit 0 1 Z signal index signal Bit 31 1 For example 0x225C 4 and start homing set 0x5012 03 4 Home switch ...

Страница 52: ...dicate the status of digital outputs 2156 01 Output1 function R W S DINT 0 65535 0x01 Default is alarm output take effect changes need restart power 02 Output2 function R W S DINT 0 65535 0x03 Default is brake output take effect changes need restart power 603F 00 Error code R UINT 0 65535 0 Refer to chapter 5 2 6040 00 Control word R W UINT 0 65535 0 Refer to chapter 6 1 6041 00 Status word R UINT...

Страница 53: ...of 10000P 607D 01 Software negative limit R W DINT 2147483648 2147483647 0 P New target positions are checked against these limits The limits are relative to the machine home position which is the result of homing As default the software position limits are switched off Changed values must be saved and the drive must be restarted to take enable the new the software limits 607D 02 Software positive...

Страница 54: ...alue sensed by touch probe 1 at rising edge 60BB 01 Touch probe 1 negative value R DINT 2147483648 2147483647 0 P Data value sensed by touch probe 1 at falling edge 60BC 02 Touch probe 2 positive value R DINT 2147483648 2147483647 0 P Data value sensed by touch probe 2 at rising edge 60BD 00 Touch probe 2 negative value R DINT 2147483648 2147483647 0 P Data value sensed by touch probe 2 at falling...

Страница 55: ... Inside Motor Connector MOLEX 4PIN 13A 39012040 1 No MOLEX 39000038 4 No Encoder Connector MOLEX 513531200 1 No MOLEX 561349000 8 No I O Connector ANYTEK 2 5PIN 3 5mm NL10100200G0G 1 Yes Power Connector DEGSON 2PIN 5 0mm 2EDGK 5 0 02P 13 1000 AH 1 Yes Note For CS3E Series drives motor connector and encoder connector are on the extension cable ...

Страница 56: ...CAT OUT network ports blinks rapidly the run green light is on for a long time and the Err red light is off PDO configuration or PDO mapping error It needs to configure PDO or PDO mapping correctly Check if the value of object 0x6040 is 16 F and if bit0 bit3 of object 0x6041 is 0111 Check the master for warnings or errors Clear the master station alarm or warning If the master station shows enable...

Страница 57: ...lave homing mode the 0x6060 6 when using the master slave combination homing method the 0x6060 value is first 8 and then 6 Please check master manufacturer for default homing mode and then check the selected homing method the relevant parameters are correct and the limit switch needed in the selected homing method is normal Stop on the limit switch and keep processing Busy state Some master statio...

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