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EM522-CAN Field bus Stepper Drive User Manual V1.0

Preface

Thank you for you choose EM522-CAN stepper drive system of Leadshine Technology Co,.Ltd. This

manual gives required knowledge & precautions for using EM522-CAN.

Improper operation may cause an accident, please read this manual carefully before

operation.

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Manual content may change due to product improvement, please forgive without prior notice.

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Leadshine will not undertake any responsibility in case of user's unauthorized product changes,

product warranty will be invalid.

Please pay attention to the following reminders:

CAUTION

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Only the technical personnel to install,debug or maintain the product.

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To ensure correct wiring before power-on test.

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Incorrect voltage or power polar can cause damage to drive or other accidents

Содержание EM522-CAN

Страница 1: ... China Leadshine Technology Co Ltd Address 15 20 F Block B Nanshan I Valley No 3185 Shahe West Road Nanshan District 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: ...g 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 docume...

Страница 3: ...lly before operation Manual content may change due to product improvement please forgive without prior notice Leadshine will not undertake any responsibility in case of user s unauthorized product changes product warranty will be invalid Please pay attention to the following reminders CAUTION Only the technical personnel to install debug or maintain the product To ensure correct wiring before powe...

Страница 4: ...ection Pin Assignment 2 3 1 1 Connector P1 2 3 1 2 Connector P2 3 3 1 3 Connector P3 3 3 2 DIP Switch 3 3 2 1 CAN ID Setup 4 3 2 2 CAN Baud Rate Setup 5 3 3 LED Light Indication 5 4 Getting Started 5 4 1 Wiring Instruction 5 4 1 1 Power supply motor cable 5 4 1 2 I O signal cable 6 4 1 3 CAN communication cable 6 4 1 4 Terminal resistance 6 4 2 Typical Connection 6 4 3 Motor Connection 7 4 3 1 Con...

Страница 5: ... Parameters Configuration via Leadshine CANopen Software 14 4 6 1 Installing software 14 4 6 2 Connecting Leadshine CANopen software 14 5 CANopen Communication Overview 20 5 1 EM522 CAN Communication Standard 20 5 2 Explanation of Nouns 20 5 2 1 Object dictionary 20 5 2 2 Process data objects PDO 21 5 2 3 Service data object SDO 22 5 2 4 Homing mode 22 6 Trouble Shooting 25 7 Warranty 27 8 Contact...

Страница 6: ...ates in velocity position or home mode 3 digital inputs and 1 digital output for EM522 CAN 5 24VDC Protections for over voltage and over current etc 1 3 Application Suitable for all kinds of multi axis linkage control of small and medium sized automation equipment and instrumentation such as manipulator packaging machinery etc 2 Specification 2 1 Electrical Specification Parameters EM522 CAN Min T...

Страница 7: ... motor at standstill It is recommended to mount the drive vertically to maximize heat sink area Use forced cooling method to cool if necessary 3 Connection Pin Assignment DIP Switch LED Indication The EM522 CAN has three connector blocks P1 P2 P3 see above picture P1 is for IO signals connections P2 is for power and motor connections and P3 is for CAN communication connection The following tables ...

Страница 8: ...connections Connect motor B wire to B Pin motor B wire to B Warning Warning 1 Don t plug or unplug the P2 terminal block to avoid drive damage or injury when EM522 CAN is powered on 2 Don t connect the power supplier to motor connection terminal and don t connect VDC and GND inversely otherwise drive will be damaged 3 1 3 Connector P3 CAN port of EM522 CAN adopt shield doublet RJ45 terminal standa...

Страница 9: ...off on 9 off on on off on 10 on off on off on 11 off off on off on 12 on on off off on 13 off on off off on 14 on off off off on 15 off off off off on 16 on on on on off 17 off on on on off 18 on off on on off 19 off off on on off 20 on on off on off 21 off on off on off 22 on off off on off 23 off off off on off 24 on on on off off 25 off on on off off 26 on off on off off 27 off off on off off 2...

Страница 10: ...on type as shown following table Priority Time s of Blink Sequence wave of red LED Description 1st 1 Over current protection activated when peak current exceeds the limit 2nd 2 Over voltage protection activated when drive working voltage is greater than 90VDC 3rd 8 EEPROM Fault need to configure parameter 4th 12 Operational Amplifier Fault need to configure parameter Notice Notes 1 The protections...

Страница 11: ...upling relationship between CAN bus cable length guide line cross sectional area terminal resistance and communication rate recommended combinations as below Length m Bus cable Terminal resistance Ω Communication rate Resistance per unit length mΩ m Cross sectional area mm 0 40 70 0 25 0 34 120 1 Mbit s 40 300 60 0 34 0 6 150 300 500 Kbit s 300 600 40 0 7 0 75 150 300 100 Kbit s 600 1000 26 0 75 0...

Страница 12: ...es 4 3 Motor Connection The EM522 CAN can drive 2 phase and 4 pahse bipolar hybrid stepper motors with 4 6 or 8 wires frame size from NEMA11 to 17 4 3 1 Connections of 4 lead Motor The 4 lead motors are the least flexible and easy to connect And the Speed torque of motor depends on winding inductance The output current from drive that is multiply the specified phase current by 1 4 to determine the...

Страница 13: ...he peak output current Figure 5 6 lead motor half coil higher speed connections 2 Full Coil Configuration The full coil configuration on a six lead motor should be used in applications where higher torque at lower speed is desired This configuration is also referred to as full copper In full coil mode the motors should be run at only 70 of their rated current to prevent overheating Figure 6 6 lead...

Страница 14: ...n the case when only normal switching power supplies are available it is important to use OVERSIZE high current output rating power supplies for example using a 4A power supply for 3A stepper motor to avoid problems such as current clamp On the other hand if unregulated supply is used one may use a power supply of lower current rating than that of motor typically 50 70 of motor current The reason ...

Страница 15: ...le of motor 2002 00 Stand by time R W S 500 100 10000 unit ms 2003 00 Standby current percentage R W S 50 0 100 unit 2005 01 Digital output IO function Selection R W S 1 0 32768 1 Alarm output 4 Arrive output 16 Master station controls the output port set by 60FEH 2008 00 ALM output impedance setting R W S 0 0 1 0 Optocoupler conduction when alarm activated 1 Optocoupler shut off when alarm activa...

Страница 16: ...values R W S 0 0 100 Second low speed resonance point inhibition amplitude values 2064 00 Second anti vibration phase A R W S 0 0 255 Second low speed resonance point inhibition phase A 2065 00 Second anti vibration phase B R W S 0 0 255 Second low speed resonance point inhibition phase B 2066 00 Third anti vibration amplitude values R W S 0 0 100 Third low speed resonance point inhibition amplitu...

Страница 17: ...ital input IN3 function selection R W S 4 0 32768 1 Home signal 2 Positive limit 4 Negative limit 32768 Emergency stop 2153 01 Digital input IN1 filter time R W S 1000 50 60000 unit us 2153 02 Digital input IN2 filter time R W S 1000 50 60000 unit us 2153 03 Digital input IN3 filter time R W S 1000 50 60000 unit us 2154 00 Level polarity of digital inputs IN1 IN2 IN3 R W S 0 0 7 0 Low level Optoco...

Страница 18: ...Write 1702257011 0x65766173 to save configuration 1011 01 Reset to factory R W Write 1684107116 0x64616F6C to reset to factory 2093 00 Eliminate malfunction records R W Write 1 to eliminate alarm records Notice Notes 1 R W S means the parameter can be read wrote saved 4 5 2 Model and control CANopen Address Name property Description 6040 00 Control word R W Control the drive s status and operation...

Страница 19: ...ion speed of back to home position R W Acceleration speed of back to home position 607C 00 Home position offset R W Home position offset EM522 CAN can running under PP position mode PV speed mode and Homing Back to the original point mode 3 modes in total Specific protocol specification is in conformity with standard Canopen specific operation can refer to DM CAN series CANopen Technical instructi...

Страница 20: ... open the software as following picture Then click the marked icon as above picture to open the connecting interface as following picture setting the correct baud rate and CAN Index on the adapter and the design of Leadshine CANopen software is based on the USB_ CAN2 device After setting the step in the above picture then clicking the button of Connect ...

Страница 21: ...s following picture please select the correct CAN ID setting by SW1 SW5 when showing the step character string it means that the EM522 CAN connect with PC software successfully 2 Parameters configuration Click the icon of it will upload the default parameter as following picture ...

Страница 22: ...ters file and save it by clicking button Key parameter Address Name Detail 2000 Current peak Peak current output of the drive 2001 Motor resolution Microstep 2002 Standby time After this time that the output current of drive will be declined 2003 Standby current per The holding current is equal to the percent of dynamic current 2008 Output 1 set The impedance state output of the ALM 2152 Input io ...

Страница 23: ...rive User Manual V1 0 18 3 Run the motor According to the steps in the following picture the motor will be locked the motor shaft and ready to run Configure the suitable motion parameter as following picture the motor will turn up ...

Страница 24: ...uto tuning the motor to output its optimal performance but if you prefer to tuning the Kp and Ki of current loop through manual operation please set the 2013H to 0 and click the Click icon to open this window You can monitor the current wave in this window to check the performance ...

Страница 25: ...lanation of Nouns 5 2 1 Object dictionary Object Dictionary is an organized group of objects which maps the stepper drive related parameters and variables Each object using a 16 bit index values to addressing In order to allow access to the data structure of a single element defines a 8 bits sub index at the same time For example Object dictionary 2001H signify motor resolution Object dictionary 6...

Страница 26: ... configurable For example the meaning of RPDO1 s can be set different object dictionary such as control word 6040H or target location 6081H Specific setting method can refer to chapter 2 6 Process data objects PDO DM CAN series CANopen technical instruction manual RPDO Address to Set RPDO meaning TPDO Address to set TPDO meaning RPDO1 1600H TPDO1 1A00H RPDO3 1602H TPDO3 1A02H RPDO4 1603H TPDO4 1A0...

Страница 27: ...ary SDO can access any specified object dictionary with greater flexibility But each of the SDO data packet contains only 4 process data And the SDO data interaction complement need 2 packets So the transmission efficiency of SDO is lower than the PDO 2 Suitable object Based on the transmission characteristics of SDO and PDO PDO is suitable for real time data transmission Such as receiving real ti...

Страница 28: ...EM522 CAN Field bus Stepper Drive User Manual V1 0 23 method is shown as below 17 18 19 20 21 22 ...

Страница 29: ...track as show in figure9 C section which is the last track of homing movement its direction is leftwards Therefore A C section whose direction is leftwards are low speed B section whose direction is rightwards are low speed 2 Track description Take No 27 30 homing mode for example above tracks in the same figure is to facilitate describe similar track s homing mode also facilitate compare differen...

Страница 30: ...aving the home switch Under No 30 homing mode the sliding block will stop immediately Under No 29 homing mode the sliding block will slow down to 0 then turn right to stop immediately when meeting home switch again Initial position 3 between home switch and negative limit Sliding block move from the left of the home switch to the right after meeting the negative limit it will slow down to 0 and tu...

Страница 31: ...nt Motor or drive damaged Replace the motor or drive Wrong position Motor resolution setting is wrong Set a correct motor resolution Output current of drive is too small Increase the output current Stall during motor acceleration Acceleration time is too short Increase the acceleration time Motor torque is too small Choose high torque motor Power supply voltage or output current setting is too sma...

Страница 32: ...cation or misuse or operation beyond the electrical specifications of the product and or operation beyond environmental specifications for the product Obtaining Warranty Service To obtain warranty service please contact your seller to obtain a returned material authorization number RMA before returning product for service Shipping Failed Products If your product fail during the warranty period ple...

Страница 33: ... All 86 755 2641 7674 for Asia Australia Africa areas 86 755 2640 9254 for Europe America areas Fax 86 755 2640 2718 Email sales leadshine com Technical Support Tel 86 755 2641 8447 and 86 755 2647 1129 Fax 86 755 2640 2718 Email tech leadshine com Leadshine U S A Address 26050 Towne Centre Dr Foothill Ranch CA 926 USA Tel 1 949 608 7270 Fax 1 949 608 7298 Web http www leadshineusa com Email sales...

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