Hardware Installation Manual Integrated BLDC Servo
Contents
1. A Leadshine Hardware installation manual of the integrated servo motor Select Power Supply Voltage Driver Upper Input limit Driver Upper Input limit 10 Safe Region Driver Lower Input limit 10 Driver Lower Input limit Maximum Safe Rating Torque Speed Heating Vibration Minimum Safe Rating Driver Input Voltage Recommended Supply Voltage Power Supply Voltage Both Leadshine s regulated and unregulated power supply has been designed specially for motion control Model Input Voltage Range Typical Voltage Leadshine Power Supply ISV B23090 DC 20 50 V DC 36V RPS369 ISV B23130 DC 20 50 V DC 36V RPS369 ISV B23180 DC 20 50 V DC 36V RPS369 Wiring Notes 1 In order to improve anti interference performance of the drive it is recommended to use twisted pair shield cable 1 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 1 Ifa power supply serves several drives separately connecting the drives is recommended instead of daisy chaining 1 It is prohibited to pull and plug power connector while the drive is powered ON because there is high current flowing th2. Shipping Failed Product Contact U A Leadshine Hardware installation manual of the integrated servo motor Introduction to Integrated Servo M otor Leadshine s iSV B23xxx integrated servo motor is a NEMA 23 brushless motor integrated with a 1 000 line 4 000 PPR encoder and a servo drive At very compact size and with all components integrated the iSV B23xxx can save mounting space eliminate encoder connection amp motor wiring time reduce interference and cut reduce cable and labor costs Integrated Servo M otor Command Position i Drive i Motor Amplifier i BLDCMotor Comparator i i Encoder H M easured Position Applications Leadshine s iSV B23xxx can be used in various applications such as laser cutters laser markers high precision X Y tables labeling machines CNC router etc Its unique features make the iSV B23xxx an ideal choice for applications that require both low speed smoothness and small mounting space D Leadshine Hardware installation manual of the integrated servo motor Getting Start To get start you need one integrated servo motor one DC power supply and one motion controller The motion controller such as indexer pulse generator or PLC is only required when you need to rotate the motor If you have a PC with one serial port or USB RS232 converter you can also rotate the motor in the PC software Ho
3. and these details will greatly assist our Technical Support staff in determining the problem should you need assistance Many 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 Step resolution setting is wrong Fault condition exists The drive is disabled Motor is not rotating Motor rotates in the Reg The Direction signal level is reverse wrong direction 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 Motor is undersized for the application Acceleration is set too high Power supply voltage too low Excessive motor and Inadequate heat sinking cooling drive heating Load is too high Erratic motor motion 13 D Leadshine Hardware installation manual of the integrated servo motor 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 product damaged by reasons of improper or inadequate handlings by customer improper or i
4. 1 revolutions CCW It repeats until S6 is set to the Off position the motor shaft will stop immediately Rotating the ISV Motor in PC Software There is a simple emulating controller built inside ProTuner It is not a full functionality controller but it is useful when you do not have a motion controller rotate the motor You can specify the speed acceleration and move distance for a motion However the performance in the emulating controller of the PC software CAN NOT represent the actual motion controller Refer to the software manual 7 a Leadshine Hardware installation manual of the integrated servo motor for more information 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 s better to use lower supply voltage to decrease noise heating and improve reliability Regulated or Unregulated Power Supply Both regulated and unregulated power supplies can be used to supply the drive If regulated power supplies such as most switching supplies are indeed used it is important to have large curr
5. motion profile 10 A Leadshine Hardware installation manual of the integrated servo motor Protection Functions amp indications To improve reliability the IES incorporates some built in protection functions The Integrated stepper uses one red LED to indicate the protection type The periodic time of red is 4 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 Time s of Priority i ma Sequence wave of red LED Description Ast 1 nn m Over current protection activated when peak current is greater than 18A a Over voltage protection activated when drive 2nd 2 jn m working voltage is greater than 60VDC na ee Encoder error activated when encoder connection am 5 J I ne or feedback is not correct Position following error activated when position ee following error limit exceeded the pre set value gal a It monn 5 4000 pulses by default or value set value by a customer 11 a Leadshine Hardware installation manual of the integrated servo motor Protection Functions amp indications Continued Over current Protection Over current protection will be activated when continuous current exceeds 18A or in case of short circuit between
6. the drive just leave them unconnected In a NPN sourcing type output the control signals share the same positive terminal VCC Controller iSV x23xxx voc 5 24v 5V recommended jae PUL PUL J 2 EZA St amp J DIR x 3 i DIR C4 eek i Direction ENA 15 re CaEDTA Control Signal Connector Enable Connect ISV X23XXX to NPN sinking type controller a Leadshine Hardware installation manual of the integrated servo motor Pulse Direction Enable Input Continued In a PNP sinking type output the control signals are refer to the same ground terminal Controller EBIN iSV x23xxx Jarnnennenennecrennnenee 5V fecommended vec Step Be Puts d 1 mal vec PUL 2 EZ i Direction oR o 3 r f vec DIR 4 4 Enable 6 ENA L 5 i e eR ENA Control Signal Connector Connect ISV B23XXX to PNP sourcing type controller Controller iSV x23xxx PuL d 1 Step f PUL J 2 zk i p4 DIR X 3 AE Direction DR L4 k j ENA J 5 d Enable T ENA 16 k T Connector i Control Signal f Connect ISV B23XXX to differential type controller D Leadshine Hardware installation manual of the integrated servo motor Alarm In position Output The outputs are isolated and you can take them as ele
7. A Leadshine Hardware Installation M anual Integrated BLDC Servo Motor Version 1 0 0 http www Leadshine com Safety Items 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 Disconnect the motor from the load if you are not sure the move direction when performing any motion Adjust the axis in the middle before trying to run the motor iii Table of Contents Table of Contents Introduction to Integrated Servo Motor Applications Getting Start Wiring Diagrams Connecting Power Supply Connecting Motion Controller Pulse Direction Enable Input Alarm In position Output Connecting PC Configuration Configuring iSV Motor by DIP hes Configuring ISV motor in PC Software Calculating Rotation Speed and Angle Rotating the iSV Motor Rotating the iSV Motor by Motion Controller Rotating the ISV Motor in Self test Mode Rotating the ISV Motor in PC Software Power Supply Selection Regulated or Unregulated Power Supply Multiple Drives Selecting Supply Voltage Recommended Supply Voltage Wiring Notes Control Signal Setup Ti Fine Tuning Protection Functions Over current Protection Over voltage Protection Position Error Protectio Frequently Asked Questions Problem Symptoms and Possible Causes Warranty Exclusions Obtaining Warranty Service Warranty Limitations
8. ctronic switch An upper resistor needs to be used to limit the current Its resistance is depending on the input current requirement of the controller The supply voltage for those outputs can also be 24V The resistor R is depending on the input current of the controller Controller iSV x23xxx Control Signal Connector Alarm Last In Position Last Pedo d E np Alarm in position signal connection of ES DXXX Connecting PC A RS232 communication port is built into the integrated servo drive for communication and configuration Connect this port to the PC s serial port Then you can turn the motor in PC software This software ProTuner is designed to configure the integrated servo drive You can configure the control mode step resolution current rate and 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 Leadshine CD It is recommended to get it from the website because it is always the latest Install it on your PC and make it ready for use later RS232 Cable ProTuner Or USB 232 Converter P Kn Connect iSV 23130 to PC A RS232 cable is needed for the communication between the drive s RS232 port and the PC s serial port It will be shipped with the kit if you include it in the order It is also possible to make this cable yourself One end of thi
9. ent output rating to avoid problems like current clamp for example using 4A supply for 3A motor drive operation 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 is that the drive draws current from the power supply capacitor of the unregulated supply only during the ON duration of the PWM cycle but not during the OFF duration Therefore the average current withdrawn from power supply is considerably less than motor current For example two 3A motors can be well supplied by one power supply of 4A rating 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
10. 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 60VDC 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 or the LED will blink Reset the drive by repowering it to make it function properly after removing above problems Since there is no protection against power leads reversal it is critical to make sure that power supply leads correctly connected to drive Otherwise the drive will be damaged instantly Position Error Protection When the position error exceeds the limit software configurable see software manual position protection will be activated and red LED will blink seven times within each periodic time 12 a Leadshine Hardware installation manual of the integrated servo motor 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 step in the troubleshooting process You may need this documentation to refer back to at a later date
11. nadequate 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 RMA 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 ULeadshine Technology Co Ltd 3 F Block 2 Nanyou Tianan Industrial Park Nanshan Dist She
12. nzhen China U Also enclose information regarding the circumstances prior to product failure 14 a Leadshine Hardware installation manual of the integrated servo motor 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 Mauchly 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 15
13. rough 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 a Leadshine Hardware installation manual of the integrated servo motor Control Signal Setup Timing To make a reliable operation the ISV motor requires the control signals to meet the setup time requirements as follows Otherwise losing of steps may happen trys tans itos iil j j top itos l j Symbol Description Palse Siep tos Direction Setup Time H f i f j tes Pulse High Level Setup Time Sna f tool tns Pulse Low Level Setup Time i too Direction Delay Time i F H tes Enable Setup Time ae Si t Enable Delay Time Enable tes tep Control Signal Setup Time Drive Frequency tos teus tris too tes tep ISV B23090 200K 500K Sus gt 2 5us gt 1 0us Sus ims 1ms ISV B23130 200K 500K Sus gt 2 5us gt 1 0us Sus ims 1ms ISV B23180 200K 500K Sus gt 2 5us gt 1 0us Sus ims 1ms Fine Tuning Leadshine already loads default current loop parameters and position loop parameters The default parameter values of the current loop have been optimized and there is no need to tune them However you need to tune the position loop parameters for your application to achieve the best performance The actual value is determined by power supply voltage load inertia and
14. s cable is a 5 pin plug in terminal block 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 Serial converter which simulates the serial port is required The power should be turned off when you perform any 5 a Leadshine Hardware installation manual of the integrated servo motor connections Configuration There are not much parameters need to be configured for the integrated servo motor You can configure it by the DIP switch or PC software Configuring iSV M otor by DIP Switches A 6 bit DIP switch which is on side of the drive case can be used to set the pulses rev setting motion direction and active of pulse Pusles Rev S1 S4 Pulses Rev Software Configured Default 4000 800 1600 3200 6400 12800 25600 51200 1000 2000 4000 5000 8000 10000 20000 40000 DIP switch S5 is used for changing motor shaft rotation direction Changing position from ON to OFF or OFF to ON will reverse ISV motor s rotation direction Off Normal mode On Self test mode 1 revolution CW and then 1 revolution CCW a Leadshine Hardware installation manual of the integrated servo motor Configuring ISV motor in PC Software Leadshine already loads default current loop parameters and position loop parameters The default parameter values of the current loop have been optimized and there is no need to tune them However you need to tune
15. the position loop parameters for your application to achieve the best performance The actual value is determined by power supply voltage load inertia and motion profile 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 pulse counts are known they can be calculated as follows Rotation Speed RPM 60 Pulse Step Frequency Pulse Rev Rotation Angle 360 Pulse Step Counts Pulses Rev Rotating the iSV Motor Rotating the iSV Motor by Motion Controller Now everything is ready You can start the motion controller indexer PLC pulse generator to rotate the motor Actually any equipment which gives high to low or low to high level changes can be used to rotate 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 There is no minimum speed limit for iSV motor however the maximum running speed will be determined by the input voltage and current setting Rotating the ISV Motor in Self test Mode Double check the power connection and apply power to the ISV motor The green LED should be on The red LED should be off Toggle the SW6 to ON position The motor shaft rotates 1 revolutions CW and then
16. wever it is recommended to verify the complete function of the integrated easy servo using a motion controller Wiring Diagrams Motion Controller RS232 Cable Power Supply lt T ap G Or USB 232 Converter Wiring Diagram of integrated servo iSV B23xxx Connecting Power Supply The ISV B23XXX accepts DC power input The power connections are only the positive and negative wires However you need to pay attention to wire polarity A 2 pin pluggable screw connector is used for power supply connection Looking at the drive front you should find the printed Vdc and GND symbol Connect the positive wire to Vdc terminal and connect the negative wire to GND terminal Note that the power should be switch off when you make the connections Note Do not exceed the input voltage range of the iSV motor Please consult Power Supply Selection chapter in the manual for the recommended supply voltage D Leadshine Hardware installation manual of the integrated servo motor Positive Wde iSV x23xxx Negative DC Power GND DC power connection of ISV B23xxx Connecting Motion Controller Pulse Direction Enable Input The pulse direction and enable input of the iSV motor is differential It can also be connected to PNP sourcing or NPN sinking type controller For the enable signal apply OV between ENA and ENA or leave them unconnected to enable the iSV motor If it is needn t to disable
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