Leadshine ES2-DA808 Manual de usuario

User Manual

ES2-DA808

Vector Easy Servo Drive

Revision 1.0

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: [email protected]

Support: [email protected]

DatasheetoftheEasyServoDriveES2‐DA808

Page2/25

Table of Contents

1 Introductions................................................................................................................................................................. 4

1.1 Features ............................................................................................................................................................. 4

1.2 Applications....................................................................................................................................................... 4

2 Specifications ............................................................................................................................................................... 4

2.1 Electrical Specifications .................................................................................................................................... 4

2.2 Control Specifications ....................................................................................................................................... 5

2.3 Mechanical Specifications................................................................................................................................. 5

2.4 Operating Environment ..................................................................................................................................... 5

3 Connectors and Pin Assignments ................................................................................................................................. 5

3.1 Control Signal Connector CN1 ......................................................................................................................... 6

3.2 Encoder Signal Input CN2 ................................................................................................................................ 7

3.3 RS232 Communication Connector for Tuning CN3 ......................................................................................... 8

3.5 Power and motor Connector.............................................................................................................................. 8

3.6 Connector Pin-Out............................................................................................................................................. 9

3.7 Matching ESM Series Easy Servo Motors ...................................................................................................... 10

3.8 Motor Encoder Cable Pin-Out......................................................................................................................... 10

3.9 Motor Encoder Extension Cable ......................................................................................................................11

4.0 Getting Start .............................................................................................................................................................11

4.1 Wiring Diagrams ............................................................................................................................................. 12

4.1.1 Power Wiring........................................................................................................................................ 12

4.1.2 Control Signal Wiring........................................................................................................................... 13

4.2 Sequence Chart of Control Signals.................................................................................................................. 15

4.3 Configuring ES2-DA808................................................................................................................................. 15

4.3.1 Configuring ES2-DA808 by the on-board HMI................................................................................... 15

4.3.2 Configuring ES2-DA808 by the ProTuner ........................................................................................... 17

5 Protection Functions ................................................................................................................... 错误!未定义书签。

6 Frequently Asked Questions....................................................................................................................................... 24

7 Warranty ..................................................................................................................................................................... 25

DatasheetoftheEasyServoDriveES2‐DA808

Page3/25

Notice

Read this manual carefully before any assembling and using. Incorrect handling of products in this manual can result

in injury and damage to persons and machinery. Strictly adhere to the technical information regarding installation

requirements.

This manual is not for use or disclosure outside of Leadshine except under permission. All rights are reserved. No part

of this manual shall be reproduced, stored in retrieval form, or transmitted by any means, electronic, mechanical,

photocopying, recording, 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 is subject to change without notice and does not represent a commitment on the part of Leadshine.

Therefore, information contained in this manual may be updated from time-to-time due to product improvements, etc.,

and may not conform in every respect to former issues.

Record of Revisions

Revision Date Description of Release

1.0 Mar, 2017 Initial Release

DatasheetoftheEasyServoDriveES2‐DA808

LeadshineTe c hn o l o gy Co.,Ltd

11/F,BlockA3,iPark,No.1001XueyuanBlvd.Shenzhen,ChinaTel: 1‐949‐608‐7270Fax:1‐949‐608‐7298

Web:www.leadshine.comEmail:[email protected]   

1 Introductions

Leadshine ES2 series easy servo drives are based on the latest vector control algorithm of combing AC servo and

stepper systems. They are featured with full closed-loop include current loop, speed loop and position loop, offering

enhanced acceleration & quick response, extra lower noise & heating, smooth motor movement, no torque reservation,

high standstill stiffness, no overshooting for almost zero settling time, and easy tuning for almost all applications. The

ES2-DA808 operating voltage is 50-80VAC or 70-100VDC and it can output up to 8.0 current. Therefore, the

ES2-DA808 is ideal for applications requiring fast response, precise position and smooth movement of NEMA34

easy servo motors.

1.1 Features

Advanced servo technology to combine advantages of open-loop stepper systems and AC servo systems

Closed-loop controls to eliminate loss of steps, stall or movement synchronization

High starting torque and quick response

Vector control ,smooth motor movement with lower vibration & heating and quick response

Excellent respond time, quick acceleration, and very high high-speed torque (30% over open-loop)

Load-dependent dynamic current output from drive to motor to significantly motor heating deduction

Input voltage from 50- 80VAC or 70-100VDC; MAX 8.0A 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 motors with selectable encoder resolution 1000,5000 lines and output signal include A,B,Z;

In-position and fault outputs to external motion controllers for complete system controls.

Over voltage, over-current, and position-error protection

1.2Applications

Due to combining the features of both AC servo drives and stepper drives, Leadshine ES2 series easy servo drives are

suitable for both upgrading conventional stepper systems, and replacing AC servo systems which have closed loop

and high torque requirements. ES2-DA808 has been successfully implemented by many OEM clients in applications

such as electronic equipment, laser engraving machine, medical equipment, CNC routers, packaging machines and

printing equipment.

2 Specifications

2.1 Electrical Specifications

Parameters ES2-DA808

Operating Voltage 50-80VAC or 70-100VDC

Maximum Continuous Current 8.0 A

MAX Step Frequency 200KHz

Step, Direction and Enable Voltage 5 – 24 V

Logic Signal Input Current 7 – 20 mA

DatasheetoftheEasyServoDriveES2‐DA808

LeadshineTe c hn o l o gy Co.,Ltd

11/F,BlockA3,iPark,No.1001XueyuanBlvd.Shenzhen,ChinaTel: 1‐949‐608‐7270Fax:1‐949‐608‐7298

Web:www.leadshine.comEmail:[email protected]   

2.2 Control Specifications

Parameters ES2-DA808

Command Input Step/Direction, CW/CCW

Enable/Disable Input Differential

Alarm Signal Output Isolated OC Output

Encoder Signal Output ABZ Output

Configuration Interface On-board HMI or RS232 communication

Regeneration Resistor Built-in ( 50 Ohm, 100W), Support External

2.3 Mechanical Specifications

Parameters ES2-DA808

Size 158mm * 130mm* 54mm

Weight 1500 g

2.4 Operating Environment

Cooling Natural cooling or Forced cooling

Ambient Temperature 0 – 40 °C

Humidity 40% RH to 90% RH, No Condensation

Vibration 5.9 m/s2MAX

Storage Temperature -20 °C to 65 °C

3 Connectors and Pin Assignments

158

130

145

DatasheetoftheEasyServoDriveES2‐DA808

LeadshineTe c hn o l o gy Co.,Ltd

11/F,BlockA3,iPark,No.1001XueyuanBlvd.Shenzhen,ChinaTel: 1‐949‐608‐7270Fax:1‐949‐608‐7298

Web:www.leadshine.comEmail:[email protected]   

3.1 Control Signal Connector CN1

CN1 – Control Signal Connector

DB44, 44Pin, Female

Pin Name I/O Description

1 NC - No connection.

2 NC - No Connection.

MainPowerInput

MotorOutputs

On‐boardHMI

Self‐test,

On‐boardConfiguration

CN3

RS232Configuration

Port

CN1

ControlSignalConnector

Pulse,Direction,EnableInputs

andFaultOutput

CN2

FeedbackSignalConnector

EncoderConnection

DatasheetoftheEasyServoDriveES2‐DA808

LeadshineTe c hn o l o gy Co.,Ltd

11/F,BlockA3,iPark,No.1001XueyuanBlvd.Shenzhen,ChinaTel: 1‐949‐608‐7270Fax:1‐949‐608‐7298

Web:www.leadshine.comEmail:[email protected]   

3 PUL+ I Pulse signal: In single pulse (pulse/direction) mode, this input represents pulse signal,

each rising or falling edge active (software configurable); 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

bandwidth)

4 PUL- I

5 DIR+ I

Direction Signal: In single-pulse mode, this signal has low/high voltage levels,

representing two directions of motor rotation. In double-pulse mode (software

configurable), this signal is counter-clock (CCW) pulse, active both at high level and low

level. For reliable motion response, DIR signal should be ahead of PUL signal by 5μs at

least. 5-24V when DIR-HIGH, 0-0.5V when DIR-LOW. The direction signal’s polarity is

software configurable.

6 DIR- I

7 ALM+ O Alarm Signal: OC (Open Collector) output signal, activated when one of the following

protection is activated: over-voltage, over current, braking error and position following

error. They can sink or source MAX 100mA current at 5V. The active impedance of

alarm signal is software configurable.

8 ALM- O

9 Pend+ O In-position Signal: OC output signal, active when 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 signal) for enabling the driver and low level for disabling the driver. It is

usually left UNCONNECTED (ENABLED). Please note that the PNP and Differential

control signals are on the contrary, namely Low level for enabling. The active level of

ENA signal is software configurable.

12 ENA- O

13-22 NC - No connection.

23 AO+ O Encoder A + output

24 AO- O Encoder A - output

25 BO+ O Encoder B+ output

26 BO- O Encoder B- output

27 ZO+ O Encoder Z+ output

28 ZO- O Encoder Z- output

29-44 NC - No connection.

FG - Ground Terminal for shield

3.2 Encoder Signal Input CN2

CN2 – Feedback Signal (Encoder) Connector

HDD15, 15Pin, Female

Pin Name I/O Description

DatasheetoftheEasyServoDriveES2‐DA808

LeadshineTe c hn o l o gy Co.,Ltd

11/F,BlockA3,iPark,No.1001XueyuanBlvd.Shenzhen,ChinaTel: 1‐949‐608‐7270Fax:1‐949‐608‐7298

Web:www.leadshine.comEmail:[email protected]   

1 EA+ I Encoder A+ input

2 EB+ I Encoder A- input

3 EGND I/O +5V output return ground

4 NC I No Connection.

5 NC I No Connection.

6 FG I Ground terminal for shield

7 NC I No Connection

8 NC I No Connection

9 NC I No Connection.

10 NC I No Connection.

11 EA- I Encoder A- input

12 EB- I Encoder B- input

13 +5V O +5V power output for encoder, MAX 100mA.

14 NC I No 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 configuration or servo 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 NC - NC

3.5 Power and motor Connector

Power Supply and motor Connector:

Pin Name I/O Description

1 AC I

Main power supply input connected to 50- 80VAC or 70-100VDC.

2 AC I

3 A+ O Motor phase A+

DatasheetoftheEasyServoDriveES2‐DA808

LeadshineTe c hn o l o gy Co.,Ltd

11/F,BlockA3,iPark,No.1001XueyuanBlvd.Shenzhen,ChinaTel: 1‐949‐608‐7270Fax:1‐949‐608‐7298

Web:www.leadshine.comEmail:[email protected]   

4 A- O Motor phase A-

5 B+ O Motor phase B+

6 B- O Motor phase B-

3.6 Connector Pin-Out

CN1 – Control Signal Connector

CN2 – Feedback Signal Connector

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

40NC

39NC

38NC

37NC

36NC

35NC

34NC

32NC

6FG

7NC

8NC

9NC

10NC

1EA+

2EB+

3GND

4NC

5NC

11EA‐

12EB‐

13+5V

14NC

15NC

DatasheetoftheEasyServoDriveES2‐DA808

LeadshineTe c hn o l o gy Co.,Ltd

11/F,BlockA3,iPark,No.1001XueyuanBlvd.Shenzhen,ChinaTel: 1‐949‐608‐7270Fax:1‐949‐608‐7298

Web:www.leadshine.comEmail:[email protected]   

CN4 – RS232 & RS485 Connector

Power Supply and motor Connector

3.7 Matching ESM Series Easy Servo Motors

ES2-M23445-

E5Z ES2-M23480-

E5Z ES2-M23485-

E5Z ES-M23440B

E5Z Wiring Diagram

Step Angle (°) 1.8 1.8 1.8 1.8

Holding Torque (N.m) 4.0 8.0 8.5 4.0

Phase Current (A) 6.0 6.0 6.0 6.0

Phase Resistance (Ohm) 0.47 0.63 0.55 0.47

Phase Inductance (mH) 3.6 4.0 4.2 3.6

Shaft Inertia (g.cm2) 1.95 2.5 2.8 1.95

Weight (Kg) 2.7 3.5 4.0 2.7

Encoder (lines / Rev.) 5000 5000 5000 5000

3.8 Motor Encoder Cable Pin-Out

ES2-M23445-E5Z, ES2-M23480-E5Z, ES2-M23485-E5Z, ES2-M23440B-E5Z

Pin Name Wire Color I/O Description

HDD15 Male

11 15

1 EA+ Black O Channel A+ output

2 VCC Red I +5V power input

3 GND White GN

Ground

11 EB+ Yel lo w O Channel B+ output

12 EB- Green O Channel B- output

13 EA- Blue O Channel A- output

1GND

2TxD

3+5V

4RxD

5NC

6NC

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