Leadshine CS-D403 User manual

CS-D403 Closed Loop Stepper Drive User Manual
User Manual
CS-D403
Closed Loop Stepper Drive
Revision 3.1
©2018 Leadshine Technology Co., Ltd.
Leadshine Technology Co., Ltd (Headquarters)
Address: Floor 11, Block A3, iPark
1001 Xueyuan Avenue
Shenzhen, Guangdong 518055
China
Tel: [phone]
Fax: [phone]
Web: www.leadshine.com
Sales: [e-mail]
Support: [e-mail]
Leadshine America, Inc.
Address: 26050 Towne Centre Dr.
Foothill Ranch, CA 926
USA
Tel: [phone]
Fax: [phone]
Web: www.leadshineusa.com
Sales: [e-mail]
Support: [e-mail]

CS-D403 Closed Loop Stepper Drive User Manual
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
September, 2017
Initial Release
3.1
October, 2018
Firmware and PC software update to version 3.1

CS-D403 Closed Loop Stepper Drive User Manual
Content Table
1. Introduction.......................................................................................................................................................................1
1.1 Features...................................................................................................................................................................1
1.2 Applications............................................................................................................................................................ 1
2. Specifications....................................................................................................................................................................2
2.1 Electrical Specifications......................................................................................................................................... 2
2.2 Environment............................................................................................................................................................2
2.3 Mechanical Specifications......................................................................................................................................3
2.4 Heat Dissipation......................................................................................................................................................3
3.1 Connector P1 – Control and Digital Output Connections......................................................................................4
3.1.1 Pin Assignments of P1.................................................................................................................................4
3.1.2 Typical Control and Fault Output Connections...........................................................................................6
3.2 Connector P2 - Encoder Connection...................................................................................................................... 7
3.3 Connector P3 - Motor Connection......................................................................................................................... 7
3.4 Connector P4 – Power Supply Connection............................................................................................................ 7
3.5 Connector P5 – RS232 Connection........................................................................................................................7
3.6 LED Light Indication..............................................................................................................................................8
4. Motor Selection.................................................................................................................................................................8
5. Power Supply Selection....................................................................................................................................................8
5.1 Regulated or Unregulated Power Supply............................................................................................................... 9
5.2 Power Supply Sharing............................................................................................................................................ 9
5.3 Selecting Supply Voltage........................................................................................................................................9
6. DIP Switch Configurations...............................................................................................................................................9
6.1 Microstep Resolution (SW1-SW4)...................................................................................................................... 10
6.2 Other DIP Switch Settings (SW5-SW8)...............................................................................................................10
7. Typical Connection......................................................................................................................................................... 10

CS-D403 Closed Loop Stepper Drive User Manual
8. Sequence Chart of Control Signals.................................................................................................................................11
9. Fault Protections............................................................................................................................................................. 12
10. Software Configuration................................................................................................................................................ 13
11. Accessories....................................................................................................................................................................13
12. Troubleshooting............................................................................................................................................................ 13
13. Warranty........................................................................................................................................................................16
Appendix A. Leadshine CS-D508 Compatible Stepper Motors..................................................................................... 17
Appendix B. Leadshine CS-D403 Compatible Power Supplies..................................................................................... 18
Appendix C. Powering a Third Party Motor with CS-D403...........................................................................................19

CS-D403 Closed Loop Stepper Drive User Manual
Page | 1
1. Introduction
Leadshine CS-D403 is a closed loop stepper drive designed to solve the loss of step problem in open loop stepper
control systems, thus increase system reliability at minimal cost increase. It implements advanced control algorithm of
Leadshine based on its tens of years’ experience in stepper and servo controls. The CS-D403 is highly reliable and
affordable and performs excellent in many industrial applications such as CNC, medical, electronics, packaging...
The CS-D403 can power 2-phase NEMA 8,11, 14 and 17 stepper motors with incremental encoders. Compared with
traditional open loop stepper systems, a CS-D403 adopted closed loop step system can eliminate potential loss of step,
make real-time position error correction, and do not need torque reservation (100% torque implementation). Also it can
power the driven stepper motor with reduced heating, lower noise, low vibration…
1.1 Features
No loss of step
No torque reservation
No hunting or overshooting
No tuning for easy setup
A configurable digital output for the option of Fault Output, In Position, or Brake Control
Low noise and vibration, smooth motion
Enhance performance at low speed application( <60RPM)
20-50VDC supply voltage, max 3A output current
Max 200 KHz input frequency
15 micro step settings of 800-51,200 via DIP switches, or 200-51,200 via software (increase by 200)
Protections for over voltage, over current and position following error
1.2 Applications
When a CS-D403 closed loop stepper drive is implemented with a compatible stepper motor with encoder, the closed
stepper system can be adopted in many small to median speed applications such as CNC routers, CNC mills, CNC
laser cutters, CNC plasma, lab automation instruments, plotters, medical equipment, electronic equipment, small
packaging machines, etc.

CS-D403 Closed Loop Stepper Drive User Manual
Page | 2
2. Specifications
2.1 Electrical Specifications
Parameters
Min
Typical
Max
Unit
Output Current
0.5
-
3.0 (Peak)
A
Operating Voltage
20
24
50
VDC
Logic signal current
7
10
16
mA
Pulse input frequency
0
-
200
kHz
Minimal pulse width
2.5
-
-
μS
Minimal direction setup
5.0
-
-
μS
Isolation resistance
500
MΩ
2.2 Environment
Cooling
Natural Cooling or Forced Cooling
Operating Environment
Environment
Avoid dust, oil fog and corrosive gases
Ambient Temperature
0°C －65°C (32°F - 149°F)
Humidity
40%RH－90%RH
Operating Temperature
0°C －50°C (32°F - 122°F)
Vibration
10-50Hz / 0.15mm
Storage Temperature
-20°C －65°C (-4°F - 149°F)
Weight
Approx. 280 g (9.9 Oz)

CS-D403 Closed Loop Stepper Drive User Manual
Page | 3
2.3 Mechanical Specifications
(unit: mm [1inch=25.4mm])
Figure 1: Mechanical specifications
2.4 Heat Dissipation
CS-D403 reliable working temperature should be no more than 60℃(140°F)
It is recommended to mount the drive vertically to maximize heat dissipation. Mount a cooling fan nearby if
necessary.
If multiple CS-D403 drives are installed, it is suggested to keep a minimal 30mm (12 inches) between two of
them.

CS-D403 Closed Loop Stepper Drive User Manual
Page | 4
3. Connections and LED Indication
A CS-D403 closed loop stepper drive has 5 connection blocks from P1 to P5 (see figure 2).
Figure 2: CS-D403 connectors
3.1 Connector P1 – Control and Digital Output Connections
3.1.1 Pin Assignments of P1
The P1 connector in Figure 2 contains connections for control signals and a configurable digital output.
a) Pinout Definitions
There are 3 control signals for pulse, direction, and enable. See the following table for details.
Pin Name
I/O
Details
PUL+
I
Pulse signal: (1). In single pulse (pulse & direction) control mode, this input represents pulse
signal. A pulse signal is active at the rising or falling voltage edge (set by DIP switch SW8).
(2). In double-pulse (CW/CCW) control mode (set by DIP switch SW7), this signal input
represents clockwise (CW) pulse, and is active at both high voltage level and low voltage level.
(3). 4.5-5V for voltage HIGH, 0-0.5V for voltage LOW (same for DIR signals). (4). Pulse
width should be set to 2.5μs or longer.
PUL-
I
DIR+
I
Direction signal: (1). In single pulse (step & direction) control mode, this signal’s low and high
voltage levels represent the two directions of motor rotation (e.g. clockwise and
counterclockwise). (2). In double-pulse (CW & CCW) control mode, this signal represents
counterclockwise (CCW) rotation. It is active at both voltage high level and low level. (3).
DIR-
I

CS-D403 Closed Loop Stepper Drive User Manual
Page | 5
Minimal DIR signal setup time should be at least 5μs. (4). You can reverse the default rotation
direction by toggling the SW5 DIP switch.
ENA+
I
Enable signal: This signal is used for enabling/disabling the drive. High voltage level of
4.5-24VDC (NPN control signal) for enabling the drive and low voltage level of 0-0.5VDC for
disabling the drive. PNP and Differential control signals are on the contrary, namely Low level
for enabling. By default this signal is left UNCONNECTED & ENABLED.
ENA-
I
ALM+
O
Configurable Digital Output Signal: A configurable OC output signal. It takes a sinking or
sourcing 20mA current at 5-24V. It can to be configured as one of the 3 types, ALARM
(default), IN POSITION, or BRAKE CONTROL through Leadshine ProTuner CS-D software.
ALM-
O
Notes: (1) Shielding control signal wires is suggested; (2) to avoid/reduce interference, don’t tie control signal cables
and power wires together. (3) If you uses PLC, you can connect the 2K resistor refer to Chapter 3.1.2, or contact
Leadshine to replace the 24V special model.
b) Fault Output, In Position, or Brake control Output Configuration
The digital output on the P1 connector, marked as ALM+ & ALM-, is software configurable (read Leadshine ProTuner
CS-D software manual). It can be configured as one of the available 3 options - Fault Output”, “In Position”, and
“Brake Control”. Read Leadshine ProTuner CS-D closed loop software manual for how to configure this output.
Fault Output
FAULT output is the default configuration. This output signals a fault condition including over-voltage,
over-current, or position following error. This output can be used to drive devices such as a relay, a LED, etc.; or as
an input signal to electronic devices like a PLC.
For example, in a multi-axis system like a CNC machine when one of the axes fails such a fault output signal can
be feedback to the motion controller for a followed action (e.g., auto machine shutdown, auto error clearing, etc.).
In Position
Use Leadshine ProTuner for CS-D software to configure this output as an IN POSITION output. In this case, an
output signal can be sent out when the targeted position is in the “Target” range (see parameter Distance to Send
"In position" Output Signal in software manual) to external devices such as relays, motion controllers, PLCs, IO
boards, etc.
Brake Control
Use Leadshine ProTuner for CS-D software to configure this output as a BRAKE CONTROL output. In this case,
this signal can be used for automatic brake control while system power failure. It is recommended to connect a
fly-wheel diode in parallel to a 24VDC relay and brake coil connection. Refer to the following figure for brake
connection.

CS-D403 Closed Loop Stepper Drive User Manual
Page | 6
Figure 3: Brake Output Connection
3.1.2 Typical Control and Fault Output Connections
The CS-D403 can accept differential and single-ended control signal inputs (open-collector and PNP output). A
CS-D403 has 3 optically isolated control inputs, PUL, DIR, and ENA. Refer to the following two figures for
connections of open-collector and PNP signals.
Figure 4: Connections to PNP signal Figure 5: Connections to open-collector signal
(Common-cathode) (Common-anode)

CS-D403 Closed Loop Stepper Drive User Manual
Page | 7
3.2 Connector P2 - Encoder Connection
The P2 connector in Figure 2 is for encoder signal connection. Refer to the following table for details.
Drive Pin Name
Description
EB+
Encoder B+ input connection
EB-
Encoder B- input connection
EA+
Encoder A+ input connection
EA-
Encoder A- input connection
VCC
Encoder +5V voltage output connection
EGND
Power ground connection
3.3 Connector P3 - Motor Connection
The P3 connector in Figure 2 is for motor connection. Refer to the following table for details.
Pin Name
Details
A+
Stepper motor A+ connection. Connect motor A+ wire to this pin
A-
Stepper motor A- connection. Connect motor A- wire to this pin
B+
Stepper motor B+ connection. Connect motor B+ wire to this pin
B-
Stepper motor B- connection. Connect motor B- wire to this pin
3.4 Connector P4 – Power Supply Connection
The P4 connector in Figure 2 is for power supply connection. Refer to the following table for details.
Pin Name
Details
+Vdc
Power supply positive connection. 20-50VDC power supply voltage
GND
Power supply ground connection.
Notes: see Appendix B for compatible Leadshine power supplies
3.5 Connector P5 – RS232 Connection
The P5 connector in Figure 2 is a RS232 communication port for PC connection. Refer to the following pin definitions.

CS-D403 Closed Loop Stepper Drive User Manual
Page | 8
RS232 Communication Port – RJ11
Pin
Name
I/O
Description
1
NC
-
Not connected.
2
+5V
O
+5V power output.
3
TxD
O
RS232 transmit.
4
GND
GND
Ground.
5
RxD
I
RS232 receive.
6
NC
-
Not connected.
Notes: RS232 connection of CS-D403 is for tuning purpose only, not for RS232 command controls.
3.6 LED Light Indication
There are two LED lights for CS-D403, one red and one green. The GREEN one is the power indicator which will be
always on generally. The RED one is a protection indicator. It is off always when a CS-D403 operates normally, but
will flash 1, 2 or 7 times in a 5-second period when error protection is enabled. Different number of flashes indicates
different protection type (read Section 9).
4. Motor Selection
The CS-D403 is designed to power 2-phase (or 4-phase 0.9 degree) NEMA 11,14,17 stepper motors under 10000-line
incremental encoders (recommend 1000-line). Leadshine offers many high performance stepper motors compatible
with the CS-D403. The CS-D403 can also power similar stepper motors with incremental encoders from third-party
suppliers.
Notes: Contact with Leadshine for NEMA8, NEAM11, NEMA14 stepper motors with 2000-line encoders.
5. Power Supply Selection
The CS-D403 can power small and medium size closed loop stepper motors (frame size from NEMA8 to 17) from
Leadshine or other motor manufacturers. To get good system performance, it is important to select proper supply
voltage and output current. 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.
Notes: See Appendix B at the end of this document for Leadshine CS-D403 compatible switching power supplies
specially designed for stepper & servo controls.

CS-D403 Closed Loop Stepper Drive User Manual
Page | 9
5.1 Regulated or Unregulated Power Supply
Both regulated and unregulated power supplies can be used to supply the drive. However, unregulated power supplies
are preferred due to their ability to withstand current surge and fast response for current change. If you prefer to a
regulated power supply, it is suggested to choose such a power supply specially designed for stepper/servo controls
such as Leadshine RPS series (http://www.leadshine.com/producttypes.aspx?producttype=regulated-switching). Or, in
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 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.
5.2 Power Supply Sharing
Multiple CS-D403 drives can share one power supply to save space and reduce cost, if that power supply has enough
power capacity. To avoid cross interference, connect each stepper drive directly to the shared power supply separately.
To avoid cross interference, DO NOT daisy-chain connect the power supply input pins of the Drivers. Instead connect
them to power supply separately.
5.3 Selecting Supply Voltage
The CS-D403 is designed to operate within 20-50VDC voltage input. When selecting a power supply, besides voltage
from the power supply power line voltage fluctuation and back EMF voltage generated during motor deceleration
needs also to be taken into account. Ideally it is suggested to use a power supply with the output of 20-48VDC, leaving
room for power line voltage fluctuation and back-EMF.
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.
6. DIP Switch Configurations
The CS-D403 has a built-in 8-bit DIP switch to set microstep resolution, motor direction, auto tuning switch and so on.
Figure 6 DIP switch Setting

CS-D403 Closed Loop Stepper Drive User Manual
Page | 10
6.1 Microstep Resolution (SW1-SW4)
Microstep resolution is set by SW1, 2, 3, 4 of the DIP switches as shown in the following table:
Steps/Revolution
SW1
SW2
SW3
SW4
Software Configured (Defaulted to 1600)
on
on
on
on
800
off
on
on
on
1600
on
off
on
on
3200
off
off
on
on
6400
on
on
off
on
12800
off
on
off
on
25600
on
off
off
on
51200
off
off
off
on
1000
on
on
on
off
2000
off
on
on
off
4000
on
off
on
off
5000
off
off
on
off
8000
on
on
off
off
10000
off
on
off
off
20000
on
off
off
off
40000
off
off
off
off
6.2 Other DIP Switch Settings (SW5-SW8)
Function
On
Off
SW5
Default Direction
CW (clockwise)
CCW (counterclockwise)
SW6
Auto Tuning
No
Yes
SW7
Pulse Model
CW/CCW (double pulse)
PUL/DIR (single pulse)
SW8
Pulse Edge
Falling
Rising
7. Typical Connection
A complete closed loop stepper system should include a stepper motor with encoder, CS-D403 drive, power supply and

CS-D403 Closed Loop Stepper Drive User Manual
Page | 11
controller (pulse generator). A typical connection is illustrated in figure 7.
Figure 7: Typical connection
8. 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:
Figure 8: Sequence chart of control signals
Remark:
a) t1: ENA must be ahead of DIR by at least 500ms. Usually, ENA+ and ENA- are NC (not connected). See

CS-D403 Closed Loop Stepper Drive User Manual
Page | 12
“Connector P1 Configurations” for more information.
b) t2: DIR must be ahead of PUL effective edge by 5us to ensure correct direction;
c) t3: Pulse width not less than 2.5us;
d) t4: Low level width not less than 2.5us.
9. Fault Protections
To improve reliability, the drive incorporates some built-in protection features.
Blink
time(s)
Sequence wave of red LED
Description
Trouble shooting
1
0.2S
5S
Over-current
Turn off the power immediately.
a) Check wiring is short-circuited or not;
b) Check motor is short-circuited or not.
2
0.2S
0.3S
5S
Over-voltage
Turn off the power immediately.
a) Check if the power voltage is higher
than 90VDC
3
Chip error
Restart the power supply, if the drive is
still alarm, please contact after-sale
4
Fail to lock motor
shaft
a) The drive is not connected to a motor;
b) If alarm is occurred when connect a
motor , set DIP switch SW6 to ‘on’ and
restart power supply; If it still alarm,
please check the motor power cable.
5
EEPROM error
Restart the power supply, if the drive is
still alarm, please contact after-sale
6
Fail to auto tuning
Set DIP switch SW6 to ‘on’
7
0.2S
0.3S
5S
Position following
error
a) The value of position following error
is set too small;
b) Motor torque is not enough or motor
speed is too high;
c) Motor wiring error, check wiring
Always
-
PCB board is
burned out
Contact after-sale
a) Power supply connection is wrong

CS-D403 Closed Loop Stepper Drive User Manual
Page | 13
When above protections are active, the motor shaft will be free or the red LED blinks. Reset the drive by repowering it
to make it function properly after removing above problems.
10. Software Configuration
The CS-D403 is designed for simple setup and implementation. For most applications no software configuration or
tuning is needed especially when driving Leadshine stepper motors with encoders. If you want to do fine tuning or
custom configurations such as micro-step, current percentage change…, you can use Leadshine’s free ProTuner
software to make the changes.
11. Accessories
If you plan to use the ProTuner software, contact your supplier or Leadshine to purchase the RS232 cable with part
number CABLE-PC for connecting the CS-D403 to a computer with Windows 7/8/10 installed. In the case of using
USB to RS232 conversion, contact your supplier or Leadshine for such a cable with part number USB2.0-232 which
has been verified working fine.
CABLE-PC (RS232 tuning cable) USB2.0-232 (USB to RS232 Conversion Cable)
12. Troubleshooting
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, 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.
Symptoms
Possible Problems
Solutions
Motor is not rotating
No power
Connect power supply correctly
Microstep resolution setting is wrong
Setting appropriate microstep

CS-D403 Closed Loop Stepper Drive User Manual
Page | 14
Fault condition exists
Check wiring and restart power
The drive is disabled
Drive restore factory setting, and keep
ENA+, ENA- input signals unconnected.
Wrong motor rotation direction
The Direction signal level is reverse
Toggling the SW5 DIP switch
The drive in fault
Red light flashes once in a 5-second
period
The motor coil may short circuit or exiting
the wrong wiring
Red light flashes twice in a 5-second
period
The power supply exceeds Max. operation
voltage
Red light flashes 7-times in a 5-second
period
If using Leadshine’s motor, refer to motor
wiring in datasheet;If using 3rd motor, need
to swap the wiring of motor phase A+ and
phase A-
Red light is always on after power on
The drive is burned
Erratic motor motion
Control signal is too weak
Ensure the current of control signal is
within 7-16mA
Control signal is interfered
Don’t tie the control signal cable with
power cable together
Wrong motor connection
Refer to user manual of drive and motor
datasheet
Something wrong with motor coil
Check the motor is normal
Motor stalls during acceleration
Current setting is too small
Choose another power supply with lager
power or increase the output current of
drive
Motor is undersized for the application
Choose another motor with higher torque
Acceleration is set too high
Reduce the acceleration
Power supply voltage too low
Choose another power supply with large
voltage output
Excessive motor & drive heating
Inadequate heat sinking / cooling
Refer to chapter 2.4
Motor peak current setting is too high
Reduce the current value refer to motor
datasheet

CS-D403 Closed Loop Stepper Drive User Manual
Page | 15
Motor vibration when power on
Speed loop Kp is too high
Reduce the speed loop Kp value

CS-D403 Closed Loop Stepper Drive User Manual
Page | 16
13. Warranty
Twelve Month 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 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, 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 contact your seller for how and where to ship the failed product
for warranty or repair services first, you can also e-mail customer service at [e-mail] 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.