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ES2-3DA2306 Vector Easy Servo Drive User Manual

Wiring Notes

In order to improve anti-interference performance of the drive, it is recommended to use twisted pair shield
cable.

To prevent noise incurred in PUL/DIR signal, pulse/direction signal wires and motor wires should not be tied up
together. It is better to separate them by at least 10 cm, otherwise the disturbing signals generated by motor will
easily disturb pulse direction signals, causing motor position error, system instability and other failures.

If a power supply serves several drives, separately connecting the drives is recommended instead of
daisy-chaining.

It is prohibited to pull and plug power connector while the drive is powered ON, because there is high current
flowing through motor coils (even when motor is at standstill). Pulling or plugging power connector with power
on will cause extremely high back-EMF voltage surge, which may damage the drive.

4.2 Sequence Chart of Control Signals

In order to avoid some fault operations and deviations, PUL, DIR and ENA should abide by some rules, shown as

following diagram:

Remark:

a) t1: ENA must be ahead of DIR by at least 5s. Usually, ENA+ and ENA- are NC (not connected). See

“Connector P1 Configurations” for more information.

b) t2: DIR must be ahead of PUL effective edge by 5s to ensure correct direction;
c) t3: Pulse width not less than 2.5s;
d) t4: Low level width not less than 2.5s.

4.3 Configuring ES2-3DA2306

4.3.1 Configuring ES2-3DA2306 by the on-board HMI

Users can configure the drive via the on-board HMI in the front panel. This HMI includes six 7-segment digits and
five keys for users operation as follows.

More detailed descriptions of the parameters on the panel are presented in

section 4.3.2

Содержание ES2-3DA2306

Страница 1: ...asy Servo Drive Revision 1 0 Revision 1 0 2016 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: ...rding 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 do...

Страница 3: ...l Signal Connector CN1 6 3 2 Encoder Signal Input CN2 6 3 3 RS232 Communication Connector for Tuning CN3 8 3 3 Power Connector 8 3 4 Connector Pin Out 9 3 5 Matching ESM Series Easy Servo Motors 10 4 Getting Start 11 4 1Wiring Diagrams 12 4 1 1 Power Wiring 12 4 1 2 Control Signal Wiring 12 4 2 Sequence Chart of Control Signals 15 4 3 Configuring ES2 3DA2306 15 4 3 1 Configuring ES2 3DA2306 by the...

Страница 4: ... output from drive to motor to significantly motor heating deduction Input voltage from 150 to 230VDC MAX 6 0A peak current output from drive to motor Micro step resolution value from 200 51 200 increased by 1 via software configuration Isolated control inputs of Pulse Direction and Enable Easy tuning for plug and play setup and built in on board HMI for easy setup and configuration Easy Servo mot...

Страница 5: ...t ABZ Output Tuning Interface On board HMI or RS232 communication Regeneration Resistor Built in 50 Ohm 100W Support External 2 3 Mechanical Specifications unit mm 1inch 25 4mm Parameters ES2 3DA2306 Size 180mm 140mm 70mm Weight 1500 g 2 4 Operating Environment Tj 25 77 Cooling Natural cooling or Forced cooling Ambient Temperature 0 40 C Humidity 40 RH to 90 RH No Condensation Vibration 5 9 m s2 M...

Страница 6: ...urable In double pulse mode software configurable this input represents clockwise CW pulse active both at high level and low level 5 24V when PUL HIGH 0 0 5V when PUL LOW For reliable response pulse width should be longer than 2 5uS 200K bandwidth or 1uS 500K 4 PUL I Heat Sink Main Power Input Motor Outputs Case Ground On board HMI Self test On board Configuration CN4 RS232 Configuration Port CN1 ...

Страница 7: ...the difference between the actual position and the command position is zero This port can sink or source 20mA current at 24V The resistance between Pend and Pend is active at high impedance The signal also can be used for brake output by setting parameter NO 30004 in ProTuner 10 Pend O 11 ENA O Enable signal This signal is used for enabling disabling the driver By default high level NPN control si...

Страница 8: ...Connection 15 NC I No Connection 3 3 RS232 Communication Connector for Tuning CN3 CN3 RS232 Communication Connector RS232 Can be connected to PC for drive and motor tuning Recommended twisted shielded c able and cable length 2 meter Pin Name I O Description 1 GND GND Ground 2 TxD O RS232 transmit 3 5V O Reserved 5V power output Note Do not connect it to RS232 port 4 RxD O RS232 receive 5 NC NC 6 N...

Страница 9: ...se V 3 W O Motor phase W 4 PE Case ground 5 L I Control Power Supply from 150VAC to 240VAC 6 N I 3 6 Connector Pin Out CN1 Control Signal Connector CN2 Feedback Signal Connector 6 FG 7 EZ 8 EZ 9 NC 10 NC 1 EA 2 EB 3 GND 4 NC 5 NC 11 EA 12 EB 13 5V 14 NC 15 NC 16 NC 30 NC 15 NC 1 NC 2 NC 13 NC 3 PUL 4 PUL 5 DIR 6 DIR 7 ALM 8 ALM 9 Pend 10 Pend 11 ENA 12 ENA 14 NC 31 NC 44 NC 33 NC 43 NC 42 NC 41 NC...

Страница 10: ...e Resistance Ohm 2 6 2 66 1 2 Phase Inductance mH 17 4 18 9 13 Shaft Inertia g cm2 3 3 0 10 8 Weight Kg 4 7 5 0 8 6 Encoder lines Rev 5000 5000 5000 3 8 Motor Encoder Cable Pin Out ES2 MH33480 E5Z ES2 MH334100 E5Z ES2 MH342120 E5Z Pin Name Wire Color I O Description HDD15 Male 1 EA Black O Channel A output 2 VCC Red I 5V power input 3 GND White GND Ground 7 EZ Orange O Channel Z output 8 EZ Grey O...

Страница 11: ... V4 0 10 0m CABLEG BM12M0 V4 0 12 0m Note The encoder extension cable must be connected between the ES2 M H motor and the ES 3DA2306 You can not connect the motor s encoder cable to the ES 3DA2306 directly 4 Getting Start To get start you need one easy servo drive one easy servo motor stepper drive with encoder and an AC DC power supply for the first time evaluation A motion controller like indexe...

Страница 12: ...in Power L N PE Control Power L N AC Power 150 240VAC Power Supply Selection To achieve good driving performances it is important to choose a suitable supply voltage and use a matching current value Generally speaking supply voltage determines the high speed performance of the motor while output current determines the output torque of the driven motor particularly at lower speed Higher supply volt...

Страница 13: ...ltage can increase motor torque at higher speeds thus helpful for avoiding losing steps However higher voltage may cause bigger motor vibration at lower speed and it may also cause over voltage protection or even drive damage Therefore it is suggested to choose only sufficiently high supply voltage for intended applications and it is suggested to use power supplies with theoretical output voltage ...

Страница 14: ...ES2 3DA2306 Vector Easy Servo Drive User Manual Connection to controller of sinking output Connection to controller of sourcing output ...

Страница 15: ...r coils even when motor is at standstill Pulling or plugging power connector with power on will cause extremely high back EMF voltage surge which may damage the drive 4 2 Sequence Chart of Control Signals In order to avoid some fault operations and deviations PUL DIR and ENA should abide by some rules shown as following diagram Remark a t1 ENA must be ahead of DIR by at least 5s Usually ENA and EN...

Страница 16: ...onfirm M Cancel ENT ENT Select Function Hold on 3 seconds Reset Parameter Clear Error Record ENT ENT Auxiliary Function Write to EEPROM Start Writing Writing Completes ENT M M M Operation Procedure of the on board HMI Display Data Mode This mode is active initially at drive s power up In this mode users can check the monitoring data as shown in the following table Display Code Name Description L L...

Страница 17: ...error exceeds the limit 000d Encoder cable error d07 Pn Bus voltage which is 1 10 of the actual value d08 no Drive version number 4 3 2 Configuring ES2 3DA2306 by the ProTuner Leadshine also provide the tuning software named ProTuner to configure the parameter of ES2 3DA2306 Parameter list NO Definition Property Default value Range Description ProTuner Panel 15 0 Current loop Kp R W 0 0 65535 Inva...

Страница 18: ...14 Command Pulse Filter Time R W S 30 1 600 Unit 0 05ms 6 15 Enable level R W S 1 0 1 0 High 1 Low 30003 16 Fault Output Level R W S 0 0 1 0 High 1 Low 49 17 Pulse input mode R W S 0 0 1 0 Pulse Direction 1 CW CCW 50 18 Pulse active edge R W S 0 0 1 0 Rising Edge 1 Following Edge 51 19 Motor Running Direction R W S 1 0 1 0 Forward 1 Backward 19 20 Bandwidth R W S 0 0 1 Invalid NA 21 Acceleration R...

Страница 19: ...9 42 Motor model R W S 11 0 100 11 ES MH33480 12 ES MH334100 13 ES MH334120 85 43 Pend output pulse limit value R W S 4 0 100 Unit pulse 30000 44 Delay for vibration removing of software R W S 3 0 100 Unit 1ms 134 45 Velocity loop Kp in high speed R W S 700 0 10000 30092 46 Ocuppied parameter3 R W S 48 0 64 Invalid 30011 47 Time Constant for Over Voltage Detection R W S 2 0 20 Unit 100ms 30014 48 ...

Страница 20: ...ng over current error 17 61 Current loop Kc R W 0 0 32767 Invalid 125 62 Motor back EMF coefficient R W S 0 0 32767 Invalid 126 63 Weak magnetic coefficient 0 R W S 0 0 255 Invalid 127 64 Weak magnetic coefficient 01 R W S 0 0 255 Invalid 133 65 Position loop KpH R W S 120 0 10000 30051 66 Rigidity R W S 0 0 31 Invalid 30052 67 Inertia ratio R W S 100 100 10000 Invalid 30057 68 Speed feed forward ...

Страница 21: ...nt of speed loop Smaller the set up faster you can dog in deviation at stall to 0 Set a value as small as possible base on the machine without vibration NO in Protuner NO on HMI panel Speed loop Kp Range unit default 30054 5 0 10000 400 You can determine the response of the velocity loop In order to increase the response of overall servo system by setting high velocity loop gain However too high s...

Страница 22: ...and Pulse Filter Time Range unit default 3001 14 0 600 0 05ms 30 Smoothing the command pulse higher value will reduce the vibration when the motor is beginning run and increase the largest motor startup frequency NO in Protuner NO on HMI panel Motor model Range unit default 59 42 0 100 11 11 ES MH33480 12 ES MH334100 13 ES MH334120 Set correctly codebase on the motor model you are using Not to be ...

Страница 23: ...blem Symptoms and Possible Causes Symptoms Possible Problems Motor is not rotating No power Encoder resolution setting is wrong Fault condition exists The drive is disabled Motor rotates in the wrong direction The direction signal level is reverse The drive in fault Power supply voltage beyond drive s input range Something wrong with motor coil Wrong connection Erratic motor motion Control signal ...

Страница 24: ...ion 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 please...

Страница 25: ...ES2 3DA2306 Vector Easy Servo Drive User Manual ...

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