Leadshine EM3E Series User manual

EM3E Series EtherCAT Stepper Drive User Manual
User Manual
EM3E Series
EtherCAT Stepper Drive
For models of EM3E-522E,EM3E-556E and EM3E-870E
©2020 Leadshine Technology Co.,Ltd.
Address: Floor 11,Block A3,Nanshan iPark,Xueyuan Avenue 1001,Shenzhen,Guangdong,518055,China
Tel: [phone] Fax: [phone]
Web: www.leadshine.com Sales: [email protected]
Support: [email protected]

EM3E Series EtherCAT Stepper Drive User Manual
EtherCAT ®is a registered trademark and patented technology,licensed by Beckhoff
Automation GmbH,Germany.
◆Thanks for purchasing Leadshine EM3E Series Products
◆Please read this manual carefully before using product
◆Please keep this manual
EM3E Passed the ETC Laboratory Conformance Tested

EM3E Series EtherCAT Stepper Drive User Manual
Record of Revisions:
Reversion
Data
Description of Release
Signed
V1.0
11/02/2017
Initial Release
Max
V1.2
06/01/2020
Add debug port,change ESI file
Max

Preface
Preface
Thank you for choosing EM3E EtherCAT stepper drive system of Leadshine Technology Co.,Ltd. This
manual gives required knowledge & precautions for using EM3E Series Stepper Drives.
About EtherCAT:
EtherCAT (Ethernet for Control Automation Technology) is open network communication using
real-time Ethernet between masters and slaves developed by Beckhoff Automation GmbH, Germany.
ETG (EtherCAT Technology Group) has control over it.
The Manual of EM3E Series Include:
<EM3E Series EtherCAT Stepper Drive User Manual>
The user manual is about hardware, function description, parameter configuration, etc.
Please be sure to read carefully, after understanding the contents, refer to this specification.
<EM3E Series EtherCAT Stepper Drive Tuning Software Manual >
The tuning software is Leadshine MotionStudio.
Please Pay Attention to The Following Reminders:
Only the technical personnel to install debug or maintain the product.
To ensure correct wiring before power-on test.
Incorrect voltage or power polar can cause damage to drive or other accidents.
Manual content may change due to product improvement,please forgive without prior notice.
Leadshine will not undertake any responsibility in case of user's unauthorized product changes,
product warranty will be invalid.

Contents
Contents
1 Introduction...........................................................................................................................................................7
1.1 Product Introduction................................................................................................................................7
1.2 Features........................................................................................................................................................ 7
1.3 Check of Product....................................................................................................................................... 7
1.3.1 Arrival inspection...........................................................................................................................7
1.3.2 Nameplate information............................................................................................................... 8
1.3.3 Part number..................................................................................................................................... 8
1.3.4 Parts description............................................................................................................................ 8
1.3.5 Accessory Cables........................................................................................................................... 9
2 Installation...........................................................................................................................................................10
2.1 Storage and Installation Conditions................................................................................................. 10
2.1.1 Storage condition......................................................................................................................... 10
2.1.2 Operating ambience conditions..............................................................................................10
2.2 Mechanical Specification.................................................................................................................... 10
2.3 Installation Direction and Space........................................................................................................10
3 Production Specifications...............................................................................................................................12
3.1 Electrical and Operating Specifications.......................................................................................... 12
3.1.1 EtherCAT Specifications............................................................................................................ 12
3.1.2 Electrical and Operating Specifications............................................................................... 12
3.2 Cable Specifications...............................................................................................................................13
3.2.1 Power Supply Cable & Motor Cable....................................................................................... 13
3.2.2 I/O Signal Cable............................................................................................................................13
3.2.3 EtherCAT Communication Cable.......................................................................................... 14
3.3 Connectors Specifications...................................................................................................................15
3.3.1 Connectors Definition................................................................................................................15
3.3.2 CN1-Input Power Connector....................................................................................................16
3.3.3 CN2-Motor Connector............................................................................................................... 16
3.3.4 CN3-I/O Signals Connector......................................................................................................16
3.3.5 CN4-EtherCAT Communication Connector...................................................................... 17
3.3.6 CN5-Micro-USB Tuning Port................................................................................................... 18
3.3.7 DIP Switches- SW1-SW8........................................................................................................... 18
3.4 I/O Signals Wiring................................................................................................................................. 19
3.4.1 Digital Input Wiring................................................................................................................... 19
3.4.2 Digital Output Wiring................................................................................................................19
3.4.3 Brake Output Wiring................................................................................................................. 19
4 EtherCAT Object Dictionary.......................................................................................................................... 21
4.1 Communication Object........................................................................................................................ 21

Contents
4.2 Manufacture Specific Object..............................................................................................................23
4.3 I/O Configuration Object..................................................................................................................... 26
4.3.1 Input Ports Function Value...................................................................................................... 26
4.3.2 Input Ports Filter Time & Polarity Value..............................................................................28
4.3.3 Output Ports Function & Polarity Value...............................................................................29
4.3.4 Main Control Output Function.............................................................................................. 29
4.4 Motion Objects........................................................................................................................................29
4.5 XML File or ESI File............................................................................................................................... 33
5 Error Code & Trouble Shooting.....................................................................................................................34
5.1 Error Code................................................................................................................................................. 34
5.2 Alarm LED................................................................................................................................................. 35
5.3 Alarm Clearing........................................................................................................................................ 36
6 Common Functions..........................................................................................................................................37
6.1 Saving Parameters and Resetting Drive.......................................................................................... 37
6.2 Control Word and Operation Modes...............................................................................................37
6.3 Touch Probe............................................................................................................................................. 42
Appendix A: Homing Methods.........................................................................................................................44
Appendix B: Object Dictionaries...................................................................................................................... 48
Appendix C: Connectors.....................................................................................................................................57
Appendix D: FAQ................................................................................................................................................... 58

EM3E Series EtherCAT Stepper Drive User Manual
7
1 Introduction
1.1 Product Introduction
The newly released EM3E 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 EM3E 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
CANopen over EtherCAT (CoE) with full support of CiA402,100Mbps full-duplex.
Operation modes: Profile Position,Profile Velocity,Cyclic Synchronous Position,Homing
6 configurable digital inputs,2 optically isolated digital outputs
Low noise and vibration,smooth motion
Supply voltage: 20-50VDC. Max output current: 2.2A,5.6A,or 7.0A
Micro-USB port for parameters configuration
Matched with NEMA11/17/23/24/ 34 CM series stepper motors
Protections for over voltage,over current,limit switch error,phase loss error,etc.
1.3 Check of Product
1.3.1 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: power supply connector,
motor connector & pins, control I/O signal connector.
CAUTION
Neither the damaged nor missing accessories of
stepper system is allowed to install.
Contact Leadshine or local distributor if any failure
was found.

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8
1.3.2 Nameplate information
1.3.3 Part number
1.3.4 Parts description

EM3E Series EtherCAT Stepper Drive User Manual
9
1.3.5 Accessory Cables
Name
Necessary
Picture
Description
Model
Tuning Cable
No
Micro-USB cable
CABLE-M
USB1M5
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
CABLE-TX
*M*-BUS
Note:
Micro-USB cable is not necessary,you can also modify parameters by master station PC
software.
Network cable is necessary,but you can also buy shielded network cable through 3rd
party.

EM3E Series EtherCAT Stepper Drive User Manual
10
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 40℃. 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: EM3E-522E/556E/870E 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
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

EM3E Series EtherCAT Stepper Drive User Manual
11
The drive should be mounted perpendicular to the wall or in the control panel.
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: EM3E series installation drawing
Fan
Fan
Fan
20mm
20mm
50mm
30mm
Air
50mm
Air
Air

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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: EtherCAT Input and EtherCAT Output
Micro-USB: Tuning port
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 (CSP)
Profile Position Mode (PP)
Profile Velocity Mode (PV)
Homing Mode (HM)
Cycle Time
500us,750us,1ms,2ms,3ms,4ms,5ms
3.1.2 Electrical and Operating Specifications
Name
EM3E-522E
EM3E-556E
EM3E-870E
Supply Voltage
20-50VDC
20-50VDC
20-80VDC
Output Current (Peak)
0.3-2.2A
2.1-5.6A
2.1-7.0A
Size (H*W*L mm)
118*90.4*34
Weight (kg)
0.57
Matched Motor
NEMA 11,14,17
NEMA 17,23,24
NEMA 23,24,34
Input Signals
Origin Input,Positive Limit,Negative Limit,Quick Stop,Touch Probe,GPIOs
Output Signals
Brake,Alarm
Protection Functions
Over Current,Over Voltage,etc.
PC Software
Leadshine Motion Studio

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Operating Environment
Environment
Avoid dust,oil ,fog and corrosive gases
Operating
Temperature
0-40℃(32 F – 104 F)
Storage
Temperature
-20℃-65℃(-4 F – 149 F)
Humidity
40-90%RH
Vibration
10-55Hz/0.15mm
Mount
Vertical or horizontal mounting
3.2 Cable Specifications
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 I1 - I6 connection types can be common-cathode and common-anode.
3.2.1 Power Supply Cable & Motor Cable
Wire diameter: VDC,GND,A+,A-,B+,B- terminal wire diameter≥0.3mm2(AWG15-22)
3.2.2 I/O Signal Cable
Wire diameter: I/O signal 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

EM3E Series EtherCAT Stepper Drive User Manual
14
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
Single-core cables can be used for fixed applications, while multi-core cables are
recommended for flexible applications
Specifications
Item
Type A (Cable-fixed)
Type B (Cable Flexible)
Cross-sectional area
AWG 22/1(Single solid root)
AWG 22/7 (7x0.254mm)
Nominal/characteristic
impedance (tolerance)
100Ω(15Ω)(IEC61156-5)
Balanced or Unbalanced
Balanced
Loop resistance
≦115Ω/Km
Insulation resistance
≧500MΩ/Km
Transmission impedance
≦50mΩ/m(10MHZ)
Maximum time delay
≦550ns/100m
Time delay deviation
≦20ns/100m
Shielding
S/FTQ (Outer stranded shield/inner layer)
Temperature
≦60º
Requirements:
(1) It is recommended to use a Category 5 Fast Ethernet cable with double shielding or better,
(2) The length between two nodes is recommended to not exceed 100 meters.

EM3E Series EtherCAT Stepper Drive User Manual
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3.3 Connectors Specifications
3.3.1 Connectors Definition
Figure 3.2: EM3E series connectors
Name
Description
CN1
Input power connector
CN2
Motor connector
CN3
I/O signals connector
CN4
EtherCAT communication connector
CN5
Micro-USB tuning connector
LED
The LED for the drive's running status
DIP Switches
8-bits switches: SW1 - SW7 to set 0-127 Node ID,SW8 for self test

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3.3.2 CN1-Input Power Connector
Name
Pic
PIN
Signal
Description
CN1
1
VDC
20- 50V
2
GND
GND
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-I/O Signals Connector
Name
Pic
PIN
Signal
I/O
Description
CN3
1
DI5
I
Configurable Single-ended Digital
Input 5,12V - 24V,10KHz,
Negative Limit (default)
2
DI6
I
Configurable Single-ended Digital
Input 6,,12V - 24V,10KHz,GPIO
3
DI3
I
Configurable Single-ended Digital
Input 3,12V - 24V,10KHz,
Origin Signal (default)
4
DI4
I
Configurable Single-ended Digital
Input 4,12V - 24V,10KHz,
Positive Limit (default)
5
DI1
I
Configurable Single-ended Digital
Input 1,12V - 24V,10KHz,
Touch Probe 1 (default)
6
DI2
I
Configurable Single-ended Digital
Input 2,12V - 24V,10KHz,
Touch Probe 2 (default)
7
COMI
I
Common anode of external input
signals
8
COMO
O
Common ground of digital output
signals
9
DO1
O
Configurable Single-ended Digital
Outputs 1,OC output,Max.
30V/100mA. Alarm output (default)
10
DO2
O
Configurable Single-ended Digital
Outputs 2,OC output,Max.
30V/100mA. Brake output (default)
Remark:
(1) I/O interface and corresponding parameter setting refer to chapter 4.3
(2) In Leadshine MotionStudio, digital input(DI) and digital output(DO) are displayed as SI and
SO.

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3.3.5 CN4-EtherCAT Communication Connector
Name
Pic
PIN
Signal
Description
CN4
1, 9
E_TX+
EtherCAT TxD+
2, 10
E_TX-
EtherCAT TxD-
3, 11
E_RX+
EtherCAT RxD+
4, 12
/
/
5, 13
/
/
6, 14
E_RX-
EtherCAT RxD-
7,15
/
/
8,16
/
/
Cover
PE
Shield earthing
Note
(1) LED1 as’Link/Activity IN’ indicator,green
(2) LED3 as’Link/Activity OUT’ indicator,green
(3) LED2 as’RUN’ indicator,green
(4) LED4 as’ERR’ indicator,red
Table 3.3 Link/Activity LED status
Name
Color
Status
Description
RUN
Green
off
Initialization Status
Blinking
Pre-operation status
Single Flash
Safe operating status
on
Operation Status
ERR
Red
Refer to Chapter 5.2
L/A IN
Green
off
Physical layer link cannot be established
on
Physical layer link establishment
Blinking
Interaction data
L/A OUT
Green
off
Physical layer link cannot be established
on
Physical layer link establishment
Blinking
Interaction data

EM3E Series EtherCAT Stepper Drive User Manual
18
3.3.6 CN5-Micro-USB Tuning Port
Name
Pic
PIN
Signal
CN5
1
GND
2
Reserved
3
Data+
4
Data-
5
V_Bus
3.3.7 DIP Switches- SW1-SW8
There are 8-bit DIP switches in EM3E series drives, SW1-SW7 are used to set slave ID, SW8 is
used for self-test.
(1) SW1-SW7 for Slave ID
The slave ID (also called Site Alias) of EM3E series can be set by the following 3 methods:
2151h
2150h
DIP Switches
Slave ID
0
Read ID
0~127
Setting by DIP Switches SW1-SW7
1
Write ID
-
Setting by writing a value to 2050h
2
-
0
Configure to EEPROM 0004h of ESC automatically.
When 2151h=0,setting via DIP Switches SW1-SW7
Slave ID can be set a value non-zero via the SW1-SW7, activated after restarting the power
supply. The specific definition is as below:
ID
SW1
SW2
SW3
SW4
SW5
SW6
SW7
0
ON
ON
ON
ON
ON
ON
ON
1
OFF
ON
ON
ON
ON
ON
ON
2
ON
OFF
ON
ON
ON
ON
ON
3
OFF
OFF
ON
ON
ON
ON
ON
---
---
---
---
---
---
---
---
126
OFF
OFF
OFF
OFF
OFF
OFF
127
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF=1,ON=0
ID = SW1*(1)+ SW2*(2)+SW3*(4)+SW4*(8)+SW5*(16)+SW6*(32)+SW7*(64)
When 2151h=1,setting via Object (2150h)
The value written in Object (2150h) is as the slave ID, activated after saving parameter and
restarting the power supply.
When 2151h=2,master configure ID to ESC(EtherCAT slave Controller)
Setting all SW1-SW7 to ON, the EtherCAT master will configure slave ID to the address of
EEPROM 0004h of ESC automatically.

EM3E Series EtherCAT Stepper Drive User Manual
19
(2) SW8 for Self Test
SW8 is used for self-test, when SW8=OFF, self-test is disabled, when SW8=ON, self-test is
activated,the motor will run at a speed of 0.2r/s,back and forth 5 circles.
3.4 I/O Signals Wiring
3.4.1 Digital Input Wiring
Figure 3.4: Input Interface Connection
Note:
(1) Controller/PLC/Control card should provide input DC power 12-24V,current ≥100mA.
(2) If the polarity of input DC power is reversed, the EtherCAT stepper drive won’t work; you
need to turn the wiring.
3.4.2 Digital Output Wiring
Figure 3.5: Output Interface Wiring
Note:
(1) The power supply (12-24VDC) above is provided by user,and if the polarity of power supply
is reversed,it will damage the drive.
(2) Digital output is OC output with the maximum capacity of 100mA/30V (recommended
50mA/25V), the provided power supply should be under 30V (recommended 24V),
otherwise it will cause damage to the drive.
3.4.3 Brake Output Wiring
This driver has a special brake output, built-in a fly-wheel diode, driving current up to 500 mA,
can directly drive the motor brake without relays. The connection is below:

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Figure 3.6: Brake output connection