Leadshine CS3E Series User manual

CS3E Series EtherCAT Closed Loop stepper drive User Manual
CS3E Series
EtherCAT Closed Loop Stepper Drive
User Manual
For models of CS3E-D503, CS3E-D507, CS3E-D1008
©2020 Leadshine Technology Co., Ltd.
Address: 15-20/F, Block B, Nanshan I Valley, No.3185, Shahe West Road, Nanshan District,
Shenzhen, Guangdong, 518055, China
Tel: [phone] Fax: [phone]
Web: www.leadshine.com Sales: [e-mail]
Support: [e-mail]

CS3E Series EtherCAT 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.
◆Thank you for purchasing Leadshine CS3E Series Products
◆Please read this manual carefully before operating
◆Please keep this manual appropriately
EtherCAT ®is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH,
Germany.
Record of Revisions
Manual
Reversion
Data
Description of Release
V1.0
11/02/2017
Initial Release
V1.5
01/06/2020
Added CS3E-D1008, added some object dictionaries
CS3E Passed the ETC Laboratory Conformance Tested

CS3E Series EtherCAT Closed Loop Stepper Drive User Manual
Safety Precautions
Overall Notes
Precautions for Storage and Transportation
Do not remove the housing with the drive powered on. Cables. Connectors and
optional equipment.
Please disconnect the power supply for at least 2 minutes and make sure the
power indicator is off before wiring and checking. Even if the power is
disconnected, voltage may remain inside the drive. Therefore, do not touch the
power terminals while the power indicator is on.
Please use the power supply specifications (number of phases.) that match the
product. Voltage. Frequency. AC/DC).
Be sure to connect the ground terminal of the driver (mounting surface) and
motor to the ground pole.
Do not damage or drag the cable, do not overstress the cable, do not hang
heavy objects on the cable, or get caught in the cabinet door.
Please do not disassemble the product yourself. Repair or modification.
When the machine is connected to the machine and starts to operate, make sure
that the machine is ready for emergency stop.
Do not touch the inside of the drive.
The heat sink of the driver may be hot when the power is on or when the power
is just cut off. The motor, etc. may be in a high temperature. Take safety
measures such as installing a cover to prevent accidental touching by hands and
parts (cables, etc.).
Use double-insulated or reinforced insulation for control power.
Do not use in places where water can be splashed. Corrosive environments. Do
not use the product in the vicinity of flammable gases and combustible
materials.
Do not use damaged. Drivers and motors with missing parts.
Please set up an emergency stop circuit externally to ensure that the power
can be cut off and the operation can be stopped immediately in case of an
abnormality.
If the product is used under poor power conditions, install protection
equipment (AC reactor, etc.) to ensure that the input power is supplied within
the specified voltage variation range.
Please use a noise filter to reduce the influence of electromagnetic interference.
The driver and motor should be used in the specified combination.
Please follow the Commands on the packaging for storage and do not overload
the product.
Please place this product in the following environment:
→No direct sunlight in the place.
→Ambient temperature does not exceed the product specification.
→Humidity does not exceed product specifications. Without condensation.
→No corrosive gases. Place of flammable gas.
→Dust. Dust. The place where there is less salt and metal powder.
→No water. Oil. The place where the splash of medicine, etc. occurs.
→Vibration or shock does not exceed product specifications.
→No equipment generating strong magnetic fields in the vicinity.

CS3E Series EtherCAT Closed Loop Stepper Drive User Manual
Precautions for Installation
Precautions for Wiring
Precautions during operation
Please install the drive in a cabinet that provides fire protection. Electrical
protection in the control cabinet.
Please install the driver and motor in a position with sufficient weight
resistance.
Please install this product in the following environment:
→No direct sunlight in the place.
→Ambient temperature does not exceed the product specification.
→Humidity does not exceed product specifications. Without condensation.
→No corrosive gases. Place of flammable gas.
→Dust. Dust. The place where there is less salt and metal powder.
→No water. Oil. The place where the splash of medicine, etc. occurs.
→Vibration or shock does not exceed product specifications.
→No equipment generating strong magnetic fields in the vicinity.
Do not block the air inlet and exhaust ports, and do not allow foreign objects to
enter the drive and motor.
Do not step on the product or place heavy objects on the drive.
Please install the driver in the specified direction.
Make sure to keep the specified intervals between the inner surfaces of the
drive control cabinet and other machines.
Do not pass the magnetic contactor in the wiring between the drive and the
motor.
Please connect the power terminal and motor terminal firmly.
Keep a minimum distance of 10mm between the drive and the control cabinet
or other equipment.
Allow at least 30mm of wiring space above and below the driver.
Signal cable. The encoder cable should be a twisted shielded cable with the
shield grounded at both ends.
The wiring length of the encoder is up to 20m.
Reduce the frequency of power on/off as much as possible.
To prevent accidents, perform a test run of the servo motor at no load (without
the driver connected).
When you install the machine and start operation, please set the user
parameters in advance to match the machine.
Positive limit (POT) during JOG operation and zero return operation. The
signal of negative limit (NOT) is not valid.
When using the motor on a vertical axis, please provide a safety device to
avoid dropping the work-piece in case of alarm or over travel.
When an alarm occurs, please reset it after investigating the cause and making
sure it is safe.
Do not use the brake of the holding motor for normal braking.

Table of Contents
1 Introduction..............................................................................................................................................................1
1.1 Product Introduction....................................................................................................................................... 1
1.2 Features...........................................................................................................................................................1
1.3 EtherCAT Compare with Step/Direction........................................................................................................1
1.3.1 Stronger anti-disturbance ability......................................................................................................... 1
1.3.2 Enhanced performance........................................................................................................................ 1
1.3.3 Simple wiring and long communication distance............................................................................... 1
1.3.4 Lower cost........................................................................................................................................... 1
1.4 Check of Product............................................................................................................................................ 3
1.4.1 Arrival inspection................................................................................................................................ 3
1.4.2 Nameplate information........................................................................................................................3
1.4.3 Part number..........................................................................................................................................4
1.4.4 Parts description.................................................................................................................................. 4
1.4.5 Accessories Information...................................................................................................................... 5
2 Installation................................................................................................................................................................6
2.1 Storage and Installation Conditions................................................................................................................6
2.1.1 Storage condition.................................................................................................................................6
2.1.2 Operating ambience conditions........................................................................................................... 6
2.2 Mechanical Specification............................................................................................................................... 6
2.3 Installation Direction and Space.....................................................................................................................6
3 Production Specifications........................................................................................................................................8
3.1 Electrical and Operating Specifications......................................................................................................... 8
3.1.1 EtherCAT Specifications..................................................................................................................... 8
3.1.2 Electrical and Operating Specifications.............................................................................................. 8
3.2 Wiring Instructions....................................................................................................................................... 10
3.2.1 Power Supply Cable & Motor Cable.................................................................................................10
3.2.2 I/O Signal Cable................................................................................................................................ 11
3.2.3 EtherCAT Communication Cable......................................................................................................11
3.3 Interface Specifications................................................................................................................................ 12
3.3.1 Connectors Definition....................................................................................................................... 12
3.3.2 CN1-Input Power Connector.............................................................................................................13
3.3.3 CN2-Motor Connector.......................................................................................................................13
3.3.4 CN3-Encoder Input Signals Connector.............................................................................................13
3.3.5 CN4-I/O Signals Connector.............................................................................................................. 14
3.3.6 CN5-EtherCAT Communication Connector..................................................................................... 15
3.3.7 CN6-Micro USB Tuning Port............................................................................................................15
3.3.8 Salve ID (Site Alias) Setting............................................................................................................. 16
3.3.9 Two 7-Segment..................................................................................................................................16

3.4 I/O Interface and Corresponding Parameters Setting...................................................................................16
3.4.1 Digital Input.......................................................................................................................................16
3.4.2 Digital Output.................................................................................................................................... 17
3.4.3 Brake Output......................................................................................................................................17
4 EtherCAT Object Dictionary................................................................................................................................18
4.1 Communication Object.................................................................................................................................18
4.2 Manufacture Specific Object........................................................................................................................ 20
4.3 I/O Configuration Object..............................................................................................................................23
4.3.1 Input Ports Function Value................................................................................................................ 23
4.3.2 Input Ports Filter Time & Polarity Value.......................................................................................... 24
4.3.3 Output Ports Function & Polarity Value........................................................................................... 25
4.3.4 Main Control Output Function.......................................................................................................... 26
4.4 Motion Objects............................................................................................................................................. 26
4.5 XML File or ESI File....................................................................................................................................28
5 Two 7-Segment and Error Code...........................................................................................................................29
5.1 Two 7-Segment............................................................................................................................................. 29
5.1.1 Initialization Status............................................................................................................................29
5.1.2 Operational Status..............................................................................................................................29
5.2 Error Code.....................................................................................................................................................29
5.3 Alarm Clearing..............................................................................................................................................31
6 Common Functions................................................................................................................................................32
6.1 Saving Parameters and Resetting Drive....................................................................................................... 32
6.2 Control Word and Operation Modes............................................................................................................ 32
6.3 Touch Probe.................................................................................................................................................. 36
Appendix A: Homing Methods................................................................................................................................38
Appendix B: Object Dictionaries............................................................................................................................ 46
Appendix C: Connectors..........................................................................................................................................54
Appendix D: FAQs....................................................................................................................................................55

CS3E Series EtherCAT Closed Loop stepper drive User Manual
1
1 Introduction
1.1 Product Introduction
The newly released CS3E series drives support CANopen over EtherCAT (CoE) control and CiA 402 operating
modes including Profile Position (PP), Profile Velocity (PV), Homing (HM) and Cyclic Synchronous Position
(CSP). The products can be matched with many brands of EtherCAT controller/PLC such as Beckhoff, Omron,
Trio, Keneyce etc.
The CS3E series is highly reliable and affordable and performs excellently in many industrial applications such as
solar equipment, textile, civil, robotics, power generation equipment, 3C, packaging...
1.2 Features
No loss of step, No hunting, No torque reservation
CANopen over EtherCAT (CoE) with full support of CiA402,100Mbps full-duplex.
Support operation modes: Profile Position, Profile Velocity, Cyclic Synchronous Position, Homing
7 configurable digital inputs, 7 optically isolated digital outputs include brake output
Low noise and vibration, smooth motion
20-50VDC supply voltage for CS3E-D503 and CS3E-D507, max 7A output current
20-72VDC supply voltage for CS3E-D728, max 8A output current
20-80VAC or 30-100VDC supply voltage for CS3E-D1008, max 8A output current
USB port for parameters configuration
Encoder resolution: 1000 / 2500 / 5000 line for NEMA11/17/23/24/ 34 CS motors,
Two 7-segment display velocity or slave ID or operation mode or error code
Protections for over voltage, over current and position following error, encoder cable error, etc.
1.3 EtherCAT Compare with Step/Direction
1.3.1 Stronger anti-disturbance ability
Traditional step/direction transmission cables have lower reliability for the reason of EMC interference, whereas
EtherCAT communication with shielded cables have stronger anti-interference ability, and inbuilt error detection.
Limit and handling mechanisms can also bring more reliable transmission and longer communication distance.
1.3.2 Enhanced performance
EtherCAT is the fastest industrial Ethernet technology by and large,and it also synchronizes with nanosecond
accuracy. This is a huge benefit for all applications in which target system is controlled or measured via the bus
system.
1.3.3 Simple wiring and long communication distance
In step/direction control mode, the controller/PLC needs to connect with each drive to send control signals, which
may lead to intensive signal cables and wiring complexity if many drives are required. While in EtherCAT
applications, the controller/PLC just needs to connect with one of the drives and then line topology with others.
Additionally, the EtherCAT communication allows longer distance up to 100 meters maximum.
1.3.4 Lower cost
EtherCAT delivery has the features of industrial Ethernet at a price similar or even below that of traditional
control mode. The only hardware required by the master device is an Ethernet port, instead of some expensive
interface cards or co-processors. Since EtherCAT doesn’t require high-speed pulse modules or other active
infrastructure components, the costs for these components and their installation, configuration, and maintenance
are also eliminated.

CS3E Series EtherCAT Closed Loop stepper drive User Manual
2
Their connection typologies are as below:
EtherCAT master
Figure 1.2: EtherCAT Topology
EtherCAT
Slaves
Strong anti-disturbance
Line connection
Data transmission real-time
Rich operation modes
Controller/PLC/Control Card
EtherCAT Topology (Controller/PLC)
Figure 1.1: Step/direction Topology
Modules
cost
EMC
disturb
Controller/PLC
Step/direction Topology A (Controller/PLC)
Control card
EMC
disturb
Step/direction Topology B (Control Card)

CS3E Series EtherCAT Closed Loop stepper drive User Manual
3
1.4 Check Product
1.4.1 Arrival inspection
Check whether the surface of the product is damaged or not during transportation.
Check the nameplate models of the drive and motor are what you have ordered.
Cheek if it is fully equipped with accessories. Accessories include power supply and
motor output connector, control I/O signal connector.
CAUTION
1.4.2 Nameplate information
Neither the damaged nor missing accessories of stepper system
is allowed to install.
Contact Leadshine or local distributor if any failure was found.

CS3E Series EtherCAT Closed Loop stepper drive User Manual
4
1.4.3 Part number
1.4.4 Parts description

CS3E Series EtherCAT Closed Loop stepper drive User Manual
5
1.4.5 Accessories Information
Name
Necessary
Picture
Description
Need to
cost extra
Power supply cable
Yes
Power supply cable
with 1.5m length
No
Motor extension
cable
(CABLEM-RZ*M*)
Yes
Optional length:
1.5m,3m,5m,8m,
10m,12m,15m
Yes
Encoder extension
cable
(CABLEM-BM*M*)
Yes
Optional length: 1.5m,
3m, 5m,8m,
10m,12m,15m
Yes
I/O signal terminal
Yes
22-pin terminal
No
Tuning Cable
No, can
use 3rd
party cable
Micro-USB cable
Yes
Network cable
Yes, can
use 3rd
party cable
Optional length: 0.1m,
0.2m, 0.3m, 0.4m, 1m,
1.5m, 2m, 3m,5m,7m,
10m,15m, 20m
Yes
Note:
Micro-USB cable is not necessary, you can also modify parameters by master station PC software.
Leadshine ProTuner is coming soon.
Network cable is necessary, but you can also buy shielded network cable through 3rd party.
Power supply connector: 39012020, 39000038, Molex
Motor extension cable connector: 39012040, 39000038, Molex
Motor encoder cable connector: 513531200, 561349000, Molex

CS3E Series EtherCAT Closed Loop stepper drive User Manual
6
2 Installation
2.1 Storage and Installation Conditions
2.1.1 Storage condition
Correctly packaged and store in a clean and dry environment where direct sunlight is avoided.
Store within an ambient temperature ranging from -20℃to +65℃.
Store within a relative humidity ranging from 40% to 90% and non-condensed.
Avoid any type of exposure to corrosive gases.
2.1.2 Operating ambience conditions
Temperature ranging from 0℃to 50℃. The ambient temperature of drive for long-term reliability should be
under 40℃. Please install the drive in a well-ventilated area.
Operation within a relative humidity ranging from 40% to 90% and non-condensed.
Vibration lower than 0.15mm at a frequency of 10Hz-55Hz.
CAUTION
2.2 Mechanical Specification
Unit: mm, 1inch=25.4mm
Figure 2.1: CS3E series mechanical drawing
2.3 Installation Direction and Space
The mounting of drive, wiring and motor should be under the regulations of EN 61800-5-1.
Incorrect installation may result in a drive malfunction or premature failure of the drive and /or motor. Please
follow the guidelines in this manual when installing
The drive should be mounted perpendicular to the wall or in the control panel.
DO NOT mount the drive and motor in a location subjected to
corrosive or flammable gases, and combustibles.
Please mount the drive and motor in an indoor electric control
cabinet without liquid where direct sunlight is avoided.
DO NOT mount the drive and motor in a location subjected
to airborne dust.
Please ensure grounding wires are securely connected

CS3E Series EtherCAT Closed Loop stepper drive User Manual
7
In order to ensure the drive is well ventilated, ensure that the all ventilation holes are not obstructed and
sufficient free space is given to the drive, and a cooling fan is mounted in the control panel.
Please ensure grounding wires are securely connected.
Figure 2.2: CS3E series installation drawing
Air
Air
Mounting face
Fan
Fan
Fan
50mm
50mm
50mm
30mm
Air
50mm
Air
Air

CS3E Series EtherCAT Closed Loop stepper drive User Manual
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3 Production Specifications
3.1 Electrical and Operating Specifications
3.1.1 EtherCAT Specifications
Name
Description
Physical Layer
Ethernet-100BASE-TX
Communication
Connector
RJ45 (shielded)
ECAT IN: EtherCAT Input
ECAT OUT: EtherCAT Output
Topology
Line, Tree
Baud Rate
100Mbps (full-duplex-channel)
Frame Data Length
1484 bytes (Max)
Synchronization
Manager
SM0：email received (from master station to slave station )slave
SM1：email sent (from slave station to master station)
SM2：process data output (from master station to slave station)
SM3：process data input (from slave station to master station)
Supported Protocol
CoE：CANopen over EtherCAT
Synchronization
mode
DC Synchronization (SYNC0)
Free Run
Communication
Event
SDO
PDO
EMCY
Application Layer
Specifications
IEC61800-7 CiA402 Drive Profile
Supported Operation
Mode
Cyclic Synchronous Position Mode
Profile Position Mode
Profile Velocity Mode
Homing Mode
Cycle Time
500us, 750us, 1ms, 2ms, 3ms, 4ms, 5ms
3.1.2 Electrical and Operating Specifications
Name
CS3E-D503
CS3E-D507
CS3E-D1008
Supply Voltage
20-50VDC
20-50VDC
30-100VDC or 20-80VAC
Output Current (Peak)
0.5-2.5A
1.0-7.0A
2.1-8.0A
Size (H*W*L mm)
130*90.4*34
151*113*30.5
Weight (kg)
0.65
0.85

CS3E Series EtherCAT Closed Loop stepper drive User Manual
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Matched Motor
NEMA 11, 14,
17
NEMA 17,
23, 24
NEMA23, 24, 34
Input Signals
Home Input, Positive Limit, Negative Limit, Touch Probe, GPIOs
Output Signals
Brake, Alarm, In Position, GPIOs
Protection Functions
Over Current, Over Voltage, Position Following Error, Encoder Cable Error, etc.
PC Software
Leadshine ProTuner (coming soon)
Operating Environment
Environment
Avoid dust, oil ,fog and corrosive gases
Operating
Temperature
0-50℃(32 F – 122 F)
Storage Temperature
-20℃-65℃(-4 F – 149 F)
Humidity
40-90%RH
Vibration
10-55Hz/0.15mm
Mount
Vertical or horizontal mounting

CS3E Series EtherCAT Closed Loop stepper drive User Manual
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3.2 Wiring Instructions
Note:
There are two EtherCAT communication ports above, one of them is input port which connects with master
station or previous slave, and the other is output port which connects with the following slave.
Single-end input I3, I4, I5, I6 and I7 connection types can be common-cathode and common-anode.
Brake output on the drive can connect with brake outlet on the motor directly.
Encoder extension cable with Z signal is named: CABLEM-BM*M*Z
3.2.1 Power Supply Cable & Motor Cable
Wire diameter: +VDC, GND, A+, A-, B+, B- terminal wire diameter≥0.3mm2(AWG15-22)
A noise filter which can improve anti-interference performance is recommended to be connected between
power supply and drive.

CS3E Series EtherCAT Closed Loop stepper drive User Manual
11
3.2.2 I/O Signal Cable
Wire diameter: I1 - I7, O1 - O6, COM, 24VB and COM terminal wires diameter≥0.12mm2(AWG24-26)
Recommend to adopt shielded twisted pair cable with a length of less than 3 meters (the shorter the better).
Wiring: As far as possible away from the power line wiring, in order to prevent interference
Please connect surge absorber to inductive device, such as anti-parallel diode for DC coil, parallel
RC-snubbers circuit for AC coil.
3.2.3 EtherCAT Communication Cable
It is recommended to use shielded Ethernet network cables that do not exceed 100 meters.
CAUTION
DO NOT hot plug in and out.
Be sure to turn off power and wait for at least 5 minutes when
using CS3E-D728 and CS3E-D1008, and then you can transport,
wiring and inspect the drives and motors.

CS3E Series EtherCAT Closed Loop stepper drive User Manual
12
3.3 Interface Specifications
3.3.1 Connector Definition
Figure 3.2: CS3E series connectors
Name
Description
CN1
Input power connector
CN2
Motor connector
CN3
Encoder input signals connector
CN4
Digital input and output connector
CN5
EtherCAT communication connector
CN6
Micro USB tuning connector
7-Segment
Two 7-Segment display slave ID, velocity, statue machine, operation mode and
error code
MSD
Setting communication high address
LSD
Setting communication low address

CS3E Series EtherCAT Closed Loop stepper drive User Manual
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3.3.2 CN1-Input Power Connector
Name
Pic
PIN
Signal
Description
CN1
1
GND
GND
2
VDC
24V- 50V
3.3.3 CN2-Motor Connector
Name
Pic
PIN
Signal
Description
CN2
4
A+
Motor phase A+
2
A-
Motor phase A-
3
B+
Motor phase B+
1
B-
Motor phase B-
3.3.4 CN3-Encoder Input Signals Connector
Name
Pic
PIN
Signal
Description
CN3
1
EA+
Encoder signal of phase A+
2
EA-
Encoder signal of phase A-
3
EB+
Encoder signal of phase B+
4
EB-
Encoder signal of phase B-
5
EZ+
Encoder Z+ signal
6
EZ-
Encoder Z- signal
7
VCC
Encoder +5V voltage
8
GND
Encoder ground
9
U
Reserved
10
V
Reserved
11
W
Reserved
12
PE
Shield ground

CS3E Series EtherCAT Closed Loop stepper drive User Manual
14
3.3.5 CN4-I/O Signals Connector
Name
Pic
PIN
Signal
I/O
Description
CN4
1
I1+
I
Configurable Differential Digital
Input I1, 3.3V - 5V, 500KHz,
Touch Probe 1 (default)
2
I1-
I
3
I2+
I
Configurable Differential Digital
Input I2, 3.3V - 5V, 500KHz,
Touch Probe 2 (default)
4
I2-
I
5
I3
I
Configurable Single-ended Digital
Inputs I3-I7, 12V - 24V, 10KHz, I3 is
Origin Signal, I4 is Positive Limit, I5
is Negative Limit, I6 and I7 are GPIO
6
I6
I
7
I4
I
8
I7
I
9
I5
I
10
COMI
I
Common connection of single-end
input signals (common-cathode and
common-anode)
11
O1+
O
Configurable Differential Digital
Output O1, Max. 30V/100mA.
Alarm (default).
12
O1-
O
13
O2+
O
Configurable Differential Digital
Output O2, Max. 30V/100mA.
In Position (default).
14
O2-
O
15
O3
O
Configurable Single-ended Digital
Outputs O3, O4, O6, Max.
30V/100mA. Default is GPIO
16
O6
O
17
O4
O
19
O5
O
18
24VB
O
Used for brake signal, connect with
+24 DC of external power supply,
refer to chapter 4.2.5
20
BR+
O
Brake + signal, Max. 24/500mA,
connect with brake coil. It’s shown as
SO7 in Leadshine ProTuner and level
cannot be modified
21
COMO
O
Common connection of single-end
output signals (common-cathode)
22
BR-
O
Brake-signal, Max. 24/500mA,
connect with brake coil. It’s shown as
SO7 in Leadshine ProTuner and level
cannot be modified
Remark: I/O interface and corresponding parameter setting refer to chapter 4.1.3