Hardware Manual of the Easy Servo Drives ES-DH Series
Contents
1. Initial Direction i Oor 1 0 and 1 represents two different directions Pe rte netocommde PA _ 26 Dwell 100ms 1 65535 Waiting time to the next trapezoid velocity motion when one motion completes Unit ms 14 PA 2 8 PA _ 2 9 M otion Start Stop Configuration Example via the on board HMI Py Hardware manual of the ES DH series drives Q One direction motion 1 Positive and negative motion 1 Start M otion Q Stop Motion The motion starts when applying 1 to this parameter It backs to 0 when the motion completes The following figure illustrates how to set the Standby Time via the on board HM I Looking up the table in the Edit Parameter Mode section this parameter refers to PA _12 item So the setting procedure is shown as follows Power Up lt displays the low order digits of the position error at Power up Press the ENT key Display Data Position Error Press M key once to go into the Edit Parameter Mode Initially it displays the PA 00 and the 1st from right to left digit is blinking 66 22 Press 2 times to increase the 1st digit It displays PA__02 to indicates the parameter No 2 Press COK key once the 2nd from right to left digit is blinking Press D 1 times to increase the 2nd digit Press to decrease the digit in case of wrong operation 15 Press the ENT key to con2. O y Motion Controller Power Extension Cable Wiring Diagram of the ES DH2306 and ES M H3 series motor 2 e Leadshine Hardware manual of the ES DH series drives Connecting Power Supply ES DH1208 The power of the ES DH1208 can be connected as follows AC Power 70 130VAC AC Power connections of the ES DH1208 ES DH2306 The ES DH2306 requires two powers input as follows The main power is used to energize the motor and the control power is used for logic circuit Typically they can share the same AC power L 7 AC Power Main Power 150 230VAC PE L Control Power AC Power connections of the ES DH2306 A Leadshine Hardware manual of the ES DH series drives Connecting M otor ES DH1208 and the ES M H2 Series M otor A power extension cable is required to connect the ES M H2 series motors and the ES DH1208 One end of this power extension cable includes four flying wires You can connect these wires to the drive s corresponding terminals as follows ES MH23480 ES MH234120 Power Cable Power A Red Extension Cable Motor Connector ES DH1208 Connect Leadshine ES M H2 series motors to the ES DH1208 ES DH2306 and the ES M H3 Series M otor A power extension cable is required to connect the ES M H3 series motors and the ES DH2306 One end of this power extension cable includes four flying wires You can connect these wires to the drive s corresponding terminals as follows ES M
3. s better to use lower supply voltage to decrease noise heating and improve reliability Multiple Drives It is recommended to have multiple drives to share one power supply to reduce cost if the supply has enough capacity To avoid cross interference DO NOT daisy chain the power supply input pins of the drives Instead please connect them to power supply separately Selecting Supply Voltage Higher supply voltage 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 of drive s minimum 10 to drive s maximum 10 leaving room for power fluctuation and back EM F Drive Upper Input Limit Drive Upper Input Limit 10 Maximum Safe Rating Torque amp Speed Heating amp Vibration Minimum Safe Rating Safe Region Drive Upper Input Limit 10 Drive Lower Input Limit Drive Input Voltage Power Supply Voltage 18 A Leadshine Hardware manual of the ES DH series drives Recommended Supply Voltage Motor orve Voltage Range Typical Voltage ES M H23480 ES DH1208 AC 70 130 V AC 110 120V ES M H234120 ES DH1208 AC 70 130 V AC 110 120V ES M H33480 ES DH2306 AC 150 230 V
4. 4 ES DH1208 and the ES M H2 Series MOt00 iisciceissicseccctntianinctdscamndantaaadacidtimadandantdes 4 ES DH2306 and the ES M H3 Series M Otol 0 ccc ccccccscccssccessecessecesssecsssecsssecessecessesesseeessseesssesensees 4 Connecting ENCOCGR neari aE EOE 5 Connecting Control Sonal scana a E AA a 6 Pulse Direction Enable Input iscsi ats ated pecs saree tae cde cinders acetal aele Alen iaate ea 6 Alan OUT ses hss ees secede aces eee eee 7 GCONNGCHNG PC aon Eea E E E 8 TYDICaAl CONNECTIONS onii ma rr rr A TEA A TA 9 MU UNINC NOTES aaron ET E TEI OTA TT E E O EOE 10 CONIU a a E N 10 Configuring an ES drive by the on board HMI ooo cccccccsscccssecessecessecesseccsssecessesesseeesseessseeeeseeens 11 Display Data I Odeson a deh 12 Edit Parameter Moden anana a sees a a a nase ease ona ene 13 Configuration Example via the on board HM ou ccc cccsccessccessecesssecessecessecessesesseeesseeeenseens 15 Calculating Rotation Speed and Angle 00 ccc ccccccccssccsssccsssecesecessecessecesssecsssecessecesesessseesssecesesenseens 16 Rotating the Motor via the On board HMI o oo ccc cccssccessecessecesssecsseecessesessecessecesseecsssecesesenseeeses 16 Rotating the Motor by Motion Controller 00 00 ccc ccccccssccessecessecesssecsssecessesesecesseeesseecessesensesesseeeess 17 Rotating the ES Motor in PC Software o oo ccc cccssccsssccessecesecessecesssccsseeeessecesseceseecessecessecensesenseeesss 17 POW EF Supply SClO
5. A Leadshine Typical Connections Controller 5V recommended Step Direction Enable ES DH1208 maaaaaaaaannnaaaaannnannnananannnnnnanannnnannnnyannannnnnnnn Hardware manual of the ES DH series drives CN2 Feedback Signal Connector ES MH23480 ES MH234120 Encoder Encoder Extension Cable Cable J K must be used 2 3 4 CN1 Control Signal Connector Power E Cable A Black Power A Red Extension Cable B Yellow Green Q Q Q B Blue Q Q Q F Motor Connector L N 70 130VAC PE NC NC Power Connector Typical Connections of ES DH1208 with controller of sinking output Controller 5V recommended Step Direction Enable ES DH2306 oo en neene sss eee eeeeee sss eee nesesess sees eeseness qeeeeseesesss yen CN2 Feedback Signal AT Connector ES MH342120 ES MH342200 Encoder Encoder Extension Cable Cable must be used Power JL Cable U Red O Power A V Blue Extension Cable W Black O PE Yellow Gree O L Two N Q Main Power amp Motor Connector 150 230VAC O O i 3 NC i O CN1 if 4 BR Control Signal e P Connector Control Power amp Braking Resistor Connector Typical Connections of the ES DH2306 with controller of sinking outputs A Leadshine Hardware manual of the ES DH series drives W iring Notes In order to improve anti interf
6. AC 220 230V ES M H342120 ES DH2306 AC 150 230 V AC 220 230V ES M H342200 ES DH2306 AC 150 230 V AC 220 230V Control Signal Setup Timing To make a reliable operation the ES drive requires the control signals to meet the setup time requirements as follows Otherwise losing of steps may happen tpHs Mis S itos THP top i tos a Description Pulse Step Direction Setup Time l Pulse High Level Setup Time Direction l pD tris Pulse Low Level Setup Time nee top Direction Delay Time tes Enable Setup Time a i a tep Enable Delay Time Enable tes ED Control Signal Setup Time GontlsgralSetupTime O O OOOO OOO O 19 A Leadshine Hardware manual of the ES DH series drives Current Control Detail Leadshine s easy servo motor is integrated with a high resolution 1 000 line optical incremental encoder That encoder can send the real time shaft position back to the ES DH drive Like traditional servo controls the drive can automatically adjust the output current to the motor The output current ranges between the holding current and the close loop current When there is no pulse sent to the drive the ES DH drive goes into idle mode and the actual motor current is determined by the holding current percentage similar to idle current of open loop stepper drives In normal working mode the ES DH drive monitors the actual shaft position all the time The current outputted to the motor changes dynamically based
7. Loop Kd C 0 1000 Reduces over shoot of the position PA__06 Position Loop Kvff 0 100 Compensate the motor and control loop Pee oe ee PA 07 Pulses Revolution 4000 200 65535 Set the pulses coumt to make the motor Da eee a SS F PA__08 Encoder Resolution 4000 200 65535 X4 quara r a default value is Daa Da Pe PS Leet PA__09 Position Error Limit 1000 1 65535 When the E error exceeds this value the drive goes into error state Unit Pulses PA__10 Holding Current Rate 40 0 100 It affects the holding torque when the motor is at standstill It also determines the start current when the motor starts to work again The actual current is the drive s MAX current multiplied by the holding current rate For example the drive s M AX current is 6A So the default actual holding current is 6 40 2 4A Large value will offer better acceleration performance while causes more heating PA 11 Close loop Current 100 1 100 This parameter limits the MAX dynamic Rate torque when the motor is in motion The actual current limit is the drive s MAX current multiplied by the close loop current rate Large value will offer better acceleration performance while causes more heating e Leadshine Hardware manual of the ES DH series drives PA__12 Standby Time 1000ms 1 65535 This parameter defines the waiting time for the drive entering into standby mode when there is no pulse input to the drive In
8. is the difference between command and feedback dOQUEP Press TOL to switch between low and high order digits display d01SPF Actual feedback motor speed in RPM d02SPr Reference motor speed in RPM d03PLF Actual feedback position in pulses a Code dO5iP Reference current peak in mA Error code 0001 Over current protection activated dO6Err 0002 Over voltage protection activated 0008 Brake protection activated 0020 Position error exceeds the limit d07 Pn Bus voltage which is 1 10 of the actual value ea dO4PLr Reference position in pulses 12 A Leadshine Hardware manual of the ES DH series drives Edit Parameter M ode In this mode the parameter is identified by the code PA__XX as shown in the following table Display Code Name Default Value Range Description PA__00 Current Loop Kp 1000 0 65535 Proportional gain Increase it make current rise faster Too large value may leads to big vibration and noise or even unstable PA _Q1 Current Loop Ki 200 0 65535 Integral gain eliminating the steady error of the current loop Too big may cause vibration noise or even unstable PA 02 Current Loop Kc 0 1024 High value reduces mid speed vibration e emoe fame Position loop proportional gain PA O4 Position Loop Ki 0 65535 Eliminates the steady error of the position loop when the motor is standstill PA__05 Position
9. standby mode small position error will be ignored PA__13 Pulse Filter Oor 1 Q Disable Pulse Filter Da a DA F PA 14 Filter Time 25600us 0 25600 The higher value the smoother motion But a fe a a wnate ats ng PA _ 15 Enable Level 1 0 or 1 Q Users must apply a 5V between ENA and ENA to enable the drive 1 The drive is enable when voltage drop between ENA and ENA is OV or left unconnected PA__ 16 Alarm Level 1 Oor 1 Q High impedance between ALM and ALM at drive error l Low impedance between ALM and ALM at drive error PA 17 Pulse M ode Oor 1 0 Pulse Direction l Pulse Pulse CW CCW PA__ 18 Pulse Edge 0 or 1 Q Active Rising Edge 1 Active Falling Edge PA __ 19 M otor Direction 1 Oor 1 0 and 1 represents two different directions CW CCW 0 Pulse Bandwidth PA__20 Oorl O The M AX pulse frequency is limited to 200KHz 1 The M AX pulse frequency Is limited to 500KHz PA 21 Acceleration 200 1 2000 Acceleration of the built in motion eaton controller Unit Revolutions second PA _22 Speed 60 RPM 1 3000 Speed of the built in motion generator D K 2 PA 23 M ove Distance 100 rev 1 65535 Move distance of the built in motion controller The actual distance is 1 100 of the setting value Unit Revolutions PA__ 24 Repeat Times 1 1 65535 Repeat times of the built in motion eee a PA__25
10. 2nd 4 Wi H Over voltage protection UJ rey Q NJ hk _v TT FPA 7 Position Following Error A Leadshine Hardware manual of the ES DH series drives Over current Protection Over current protection will be activated when continuous current exceeds the limit or in case of short circuit between motor coils or between motor coil and ground and RED LED will blink once within each periodic time Over voltage Protection When power supply voltage exceeds the limits protection will be activated and red LED will blink twice within each periodic time When above protections are active the motor shaft will be free and the LED will blink Reset the drive by repowering it to make it function properly after removing above problems Position Following Error Protection When the position error exceeds its limit software configurable see software manual position protection will be activated and red LED will blink seven times within each periodic time 21 A Leadshine Hardware manual of the ES DH series drives Frequently Asked Questions In the event that your drive doesn t operate properly the first step is to identify whether the problem is electrical or mechanical in nature The next step is to isolate the system component that is causing the problem As part of this process you may have to disconnect the individual components that make up your system and verify that they operate independently It is important to document each ste
11. A Leadshine Hardware M anual of the Easy Servo Drives ES DH Series Version 1 3 http www Leadshine com Safety Items Read this manual carefully before trying to install the stepper drive into your system The people who setup the stepper drive should have a_ better understanding on electronics and mechanics Contact Leadshine technical guys when you have questions on this document gt Make sure the power supply voltage dose not exceed the drive s input range Double check the connections and make sure the power lead polarity is correct gt Do not set high current for small stepper motor It is possible that the motor will be damaged gt Disconnect the motor from the load if you are not sure the move direction Adjust the axis in the center before trying to run the motor gt Never disconnect the motor lead when the power source is energized Table of Contents introduction to EaSV SEVO scat nce Setanta entice acca aceasta l Getting Stal orian A EE EOT TETO EOE 1 Winnog Dia graS Heer re ry rr rE Ee PRE Rr EE rye eee 2 Connecting POW CF SUDDIV ssc tases a sasins testes acacia a N O aca awl aan O 3 efoa D amp E 0 ee Ne nt ce tar ce tare ce rear er se T et ce ner ear OT ce Perea oer ete Perea eet re Pere ree 3 ESDH 2300 och aarti ta cetioch coast tacstock asad E estoct aasad tn eanocttaatadi tn esnock aatad tn esoct aatad nano aaa seni 3 C nnectmg MOr ascents snag cack cence ar dace Rea aoa
12. CUION nessieira aa TETO 18 SLUT LT EE BI T ae EE Fr Ee E 18 Selecting fo 2 9 AYA 8 7 6 Ree an oe Fe reat CDF UST I Poe PE EON Det RETO Pp 18 Recommended Supply VON GAGS oaisiscseus cases ss crsseacetescsasscrevencaseereissceavencaiaesesiactivencatieasscusweacsiamese nanan aatacmnneeaeenkent 19 COnTOUSIGnar Setu TIMING s c00t a eaeertannn ne tcamnneuanuu au anun ae EDERTO EINAR OETAN 19 Cument Control Detail errenneren Se E a ce ee rere 20 Fme TUNN Ozenen im mNe Reet errs A Snrn On Na ENT ost E OMAR nD ene RUNDE AREER MAE mee rd ome 20 POTS CUION Functions sanse esos tec ects ees es ck sacle ea aes 20 OVER CUITENE Protection iora EE E E N 21 Over voltage Protetti e canna See AA E N 21 Position Following Error Protection inci oe ua ee Aenean aaa 21 Freguentiy A SKed QUESTIONS sz scsi wan tinsn tens caotsrateacs tosses aa a aa sa AA aE a 22 Problem Symptoms and Possible Causes 0 0 c ccc ccccccscccsssccessecessecessecesssecsseecessecesecesseeesseecesecensesesseeesas 22 Waan eea Ae en ts a PR E A E O A ERS 23 EXCISION S eaa a a a a a a a E E E E 23 Obtaining Warranty Service Warranty Limitations Shipping Failed Product Contact Us A Leadshine Hardware manual of the ES DH series drives Introduction to Easy Servo The ES Easy Servo series easy servos offer an alternative for applications requiring high performance and high reliability when the traditional servo was the only choice while it remains cost effectiv
13. H33480 ES MH342120 ES DH2306 ES MH342200 Power a a Cable O Power A V Blue Extension Cable W Black PE Yellow Gree Main Power amp Motor Connector Connect Leadshine ES M H3 series motors to the ES DH2306 A Leadshine Hardware manual of the ES DH series drives Connecting Encoder As the easy servo drive works in close loop mode it needs to know the actual motor position The encoder mounted in the motor offers such information Note that the easy servo drive can not work without encoder feedback The encoder output of the ES M H motor is a HDD15 male connector And the feedback input of the ES DH drive is a HDD15 female connector However you can NOT connect them directly as their pin out are not matched to each other An encoder extension cable must be connected between the drive and motor CN2 Feedback Signal ES DH1208 Connector ES MH23480 ES MH234120 Encoder Encoder Extension s me must be used Encoder connections between ES DH1208 drive and ES M H2 motor CN2 Feedback Signal nore ES DH2306 Connector Serie SSeS eri ES MH342200 Encoder Encoder Extension e must be used ee eee ee eweeee Encoder connections between the ES DH2306 and ES M H3 motors A Leadshine Hardware manual of the ES DH series drives Connecting Control Signal Pulse Direction Enable Input The ES DH series drives can accept receive differential pulse direction and enable inputs They can also be con
14. e The system includes an easy servo motor combined with a fully digital high performance easy servo drive The internal encoder is used to close the position velocity and current loops in real time just like servo systems It combines the best of servo and stepper motor technologies and delivers unique capabilities and enhancements over both while at a fraction of the cost of a servo system Easy Servo Drive Comparator Amplifier Easy Servo M otor Stepper M otor Command Position M easured Position 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 indexer pulse generator or PLC is required too if you would like to verify the complete function If you have a PC with one serial port or one PC with USB RS232 converter you can also rotate the motor in the PC software However it is recommended to verify the complete function of the easy servo using another motion controller A Leadshine Hardware manual of the ES DH series drives W iring Diagrams AC Power 70 130VAC RS232 Cable A z DH1208 es on gave LD Or USB 232 Converter O y Motion Controller Encoder Extension Cable must be sued Power Extension Cable Wiring Diagram of the ES DH1208 and ES M H2 series motor AC Power 150 230VAC RS232 Cable gt Or USB 232 Converter
15. erence 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 Configuration When the default settings of the easy servo drives are not suitable for your application it is necessary to configure it via the on board HMI or the configuration software ProTuner Otherwise you may encounter problems like high motor heating big motor noise or even motor stall due to weak torque For a quick start of the easy servo drive there are not much parameters need to be configured The following table gives the most significant settings of the easy servo drives M ost significant settings of the easy servo drive Parameters ES DH2306 Pulses Revolution Default 4000 Software Adjustable Holding C
16. firm the selection of the PA 12 It displays the PA 12 value of 1000ms which is the Standby Time Edit the value by the up arrow increase the down arrow decrease and the left arrow left shift keys Change the Standby Time to 1294ms Press the ENT key to confirm the new value It returns to the Edit Parameters Mode Press M key A Leadshine Hardware manual of the ES DH series drives Calculating Rotation Speed and Angle You may also want to calculate the motor rotation speed and rotation angle before commanding any motion If the pulse frequency and counts are known they can be calculated as follows Rotation Speed RPM 60 Pulse Step Frequency Pulses Revolution Rotation Angle 360 Pulse Step Counts Pulses Revolution Rotating the M otor via the On board HM I User s can rotate the motor by the on board HM I for test purpose A motion generator has been built inside the drive To start the motion first you need to setup the motion parameter such as motion velocity motion distance acceleration and initial direction etc The detailed steps are shown in the following picture Press the ENT key to start the motion Caution The motor will rotate 1 revolution CW and 1 revolution CCW Make sure the move part will not hit anything It displays the low order digits of the position error at Power up e Press the ENT key i Display Data Po
17. nected to PNP sourcing or NPN sinking type controllers For the enable signal apply OV between ENA and ENA or leave them unconnected to enable the drive If you don t need to disable the drive just leave them unconnected In a NPN sourcing type output the control signals share the same positive terminal Controller ES DH Drive 5 24V 5V recommended Step Direction Enable Connect the ES DH drives to the NPN sinking type controllers In a PNP sinking type output the control signals are refer to the same ground terminal Controller VCC 5 24V 5V recommended Connect ES DH drives to the PNP sourcing type controllers A Leadshine Hardware manual of the ES DH series drives Pulse Direction Enable Input Continued Controller ES DH Drive Direction Enable Connect ES DH drives to the differential type controller Alarm Output The outputs is isolated and you can take it as an electronic switch A upper resistor should be used to limit the current Its resistance is depending on the input current requirement of the controller The source voltage for those outputs can also be 24V The resistor R is depending on the input current of the controller Controller ES DH Drive Alarm signal connection of the ES DH drive A Leadshine Hardware manual of the ES DH series drives Connecting PC There is a built in RS232 port in each easy servo drive for communication and configuration Connect thi
18. on the tracking error between the actual position and the commanded position Low holding current can reduce motor heating however also reduces the holding torque which is used to lock the motor shaft at standstill It is recommended to determine the holding current by whether or not there is big vibration at start up and how much lock torque is required based on your actual applications Fine Tuning Leadshine already loads default current loop parameters and position loop parameters Those default parameter values have been optimized They should be good enough for most industrial applications and there is no need to tune them However if you want to fine tune the IES for best performance for your applications Leadshine also offers tuning software ProTuner which allows you to adjust those current loop and position loop parameters see software manual Protection Functions To improve reliability the ES incorporates some built in protection functions The ES uses one red LED to indicate the protection type The periodic time of red is 5 s Seconds and the blinking times of red LED indicates what protection has been activated Because only one protection can be displayed by red LED so the drive will decide what error to display according to their priorities See the following protection indications table for displaying priorities Priority Time s of Blink Sequence wave of RED LED Description Ist gt H Over current protection
19. p in the troubleshooting process You may need this documentation to refer back to at a later date and these details will greatly assist our Technical Support staff in determining the problem should you need assistance M any of the problems that affect motion control systems can be traced to electrical noise controller software errors or mistake in wiring Problem Symptoms and Possible Causes Symptoms Possible Problems No power Encoder resolution setting is wrong Fault condition exists The drive is disabled M otor rotates in the wrong direction The direction signal level is reverse Power supply voltage beyond drive s input range The drive in fault Something wrong with motor coil Wrong connection Control signal is too weak Control signal is interfered Something wrong with motor coil M otor is undersized for the application Acceleration is set too high Power supply voltage too low Inadequate heat sinking cooling Load is too high M otor is not rotating Erratic motor motion Excessive motor and drive heating 22 A Leadshine Hardware manual of the ES DH series drives Warranty Leadshine Technology Co Ltd warrants its products against defects in materials and workmanship for a period of 12 months from shipment out of factory During the warranty period Leadshine will either at its option repair or replace products which proved to be defective Exclusions The above warranty does not extend to any p
20. roduct damaged by reasons of improper or inadequate handlings by customer improper or inadequate customer wirings unauthorized modification 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 a returned material authorization number RM A must be obtained from customer service at e mail before returning product for service Customer shall prepay shipping charges for products returned to Leadshine for warranty service and Leadshine shall pay for return of products to customer Warranty Limitations Leadshine makes no other warranty either expressed or implied with respect to the product Leadshine specifically disclaims the implied warranties of merchantability and fitness for a particular purpose Some jurisdictions do not allow limitations on how long and implied warranty lasts so the above limitation or exclusion may not apply to you However any implied warranty of merchantability or fitness is limited to the 12 month duration of this written warranty Shipping Failed Product If your product fail during the warranty period e mail customer service at to obtain a returned material authorization number RM A before returning product for service Please include a written description of the problem along with contact name and address Send failed product to distributor in your area or ULead
21. roller but it does eliminate the troubles to setup a real motion controller when you want to test the ES drives or verify the connections However the performance using the emulating controller and the PC software CAN NOT represent the performance using the actual motion controller Current Position Loops x Currert A 2000 d Test Current Loop Scope 1600 Velicity r s 1 0 Accelerate r s s 200 1200 Distance r 1 0 Intermission ms 100 800 Repeat i Trace Time ms 1000 400 Run Direction Run Model 0 Positive C Unidirecti Reversal Round Trip 400 500 1200 1600 2000 0 200 400 600 800 1000 1200 1400 1600 1900 2000 Start x Close Timefms Click Drive Setting gt Current Loop Motion Test to open the test window Then click the Motion Test tab to open the emulating controller Edit the trapezoid velocity profile and click the Start button to issue the motion 17 A Leadshine Hardware manual of the ES DH series drives 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 voltage will allow higher motor speed to be achieved at the price of more noise and heating If the motion speed requirement is low it
22. s port to the PC s serial port Then you can rotate the motor in the setup software This setup software ProTuner is designed to configure the easy servo drive You can define the control mode microstep resolution current rate active level of inputs outputs in ProTuner The ProTuner can be downloaded from our website http www leadshine com or you may also get it from our CD It is recommended to get it from the website because software from the website is always the latest Install it in your PC and make it ready for use later Connect ES DH drive to PC A RS232 cable is needed for the communication between the drives and the ProTuner It will be shipped with the kit if you include it in the order It is also possible to make this cable by yourself One end of this cable is a 6 pin fire wire header and the other end of cable is a 9 pin D Sub female connector If your PC does not have a serial port a USB to 232 converter is required Note The power should be turned off when you perform any connections When you open ProTuner a Connect to drive window appears The Baud Rate and Device Address are fixed You only need to select the Com Port according to the actual serial port or the mapping port of a USB 232 converter Check the Device Manager for the mapping port number of the USB 232 converter Connect to Drive mE settings Com Fort COMA Baud Rate 38400 Connect Drive Address ft
23. shine Technology Co Ltd 3 F Block 2 Nanyou Tianan Industrial Park Nanshan Dist Shenzhen China U Also enclose information regarding the circumstances prior to product failure 23 e Leadshine Hardware manual of the ES DH series drives Contact Us China Headquarters Address 3 F Block 2 Nanyou Tianan Industrial Park Nanshan District Shenzhen China Web http www leadshine com Sales Hot Line Tel 86 755 2641 7674 for Asia Australia Africa areas 86 755 2640 9254 for Europe areas 86 755 2641 7617 for America areas Fax 86 755 2640 2718 Email sales leadshine com Technical Support Tel 86 755 2641 8447 86 755 2641 8774 86 755 2641 0546 Fax 86 755 2640 2718 Email tech leadshine com for All Leadshine U S A Address 25 M auchly Suite 318 Irvine California 92618 Tel 1 949 608 7270 Fax 1 949 608 7298 Web http www leadshineUSA com Email sales leadshineUSA com and support leadshineUSA com 24
24. sition Error Press M key once to go into the Edit Parameter Mode 3 mam _ nitially it displays the PA__00 and II WLI the 1st from right to left digit is blinking E Press 3times to decrease the number It displays PA 28 to indicates the parameter No 28 Press M key Auxiliary Function Reset Drive Press M key Write to EERPM Press M key It returns to the Display Data Mode The actual displaying data is dependent The initial value is 0 Press TOK 1 times to increase it to 1 16 A Leadshine Hardware manual of the ES DH series drives Rotating the Motor by Motion Controller You can start the controller or pulse generator to rotate the motor Actually any device which gives high to low or low to high level changes can be used to move the motor If it is your first time installation it is recommended to disconnect the motor shaft from the load in case of accident You can start from low pulse frequency then going to high One triggered edge of the pulse makes the motor move one micro angle The maximum running speed will be determined by the input voltage and current setting The minimum speed is limited by Standby Time see more information in page 13 regarding Standby Timer Rotating the ES M otor in PC Software There is a simple emulating controller that is used for self test in the ES drive It is not a full functionality cont
25. urrent Default 40 Software Adjustable Close loop Current Limit Default 60 Software Adjustable Current Loop Kp Auto Tuning at Power up Current Loop Ki Auto Tuning at Power up Auto Tuning at Power up It is possible to disable this feature in the setup software in order to tune the current loop Kp and current loop Ki manually if the auto tuning result is not good enough This happens when the motor s inductance or resistance is too high or too low 10 A Leadshine Hardware manual of the ES DH series drives Configuring an ES drive 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 Decrease or Next Increase or previous There are 4 operation modes in the on board HMI Users can switch between these modes by pressing the Mode key The following figure illustrates the operation procedure of this on board HMI Edit Parameter mo A Edit Parameter Me IJI Function p Clear Error Record Allee Writing Completes EPEE E m SH Operation Procedure of the on board HM 11 A Leadshine Hardware manual of the ES DH series drives Display Data M ode 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 Low order digits display PE High order digits display zE Position error which
Download Pdf Manuals
Related Search