Leadshine EM556-CAN User manual

User Manual
EM556-CAN
2-Phase Field Bus Stepper Drive
Revision 1.0
© 2016 China Leadshine Technology Co., Ltd.
Address: Floor 11, BlockA3, Nanshan iPark, Xueyuan Avenue 1001, Shenzhen, Guangdong, 518055, China
Tel: [phone] Fax: [phone]
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EM556-CAN Field bus Stepper Drive User Manual V1.0
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
Mar, 2017
Initial Release

EM556-CAN Field bus Stepper Drive User Manual V1.0
Preface
Thank you for you choose EM556-CAN stepper drive system of Leadshine Technology Co,.Ltd. This
manual gives required knowledge & precautions for using EM556-CAN.
Improper operation may cause an accident, please read this manual carefully before
operation.
●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.
Please pay attention to the following reminders:
CAUTION
●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

EM556-CAN Field bus Stepper Drive User Manual V1.0
Table of Contents
1. Introduction............................................................................................................................................................................1
1.1 Overview...............................................................................................................................................................................1
1.2 Features.................................................................................................................................................................................1
1.3 Application............................................................................................................................................................................1
2. Specification ...........................................................................................................................................................................1
2.1 Electrical Specification........................................................................................................................................................1
2.2 Environment.........................................................................................................................................................................1
2.3 Mechanical Specification.....................................................................................................................................................2
2.4 Elimination of Heating ........................................................................................................................................................2
3. Connection Pin Assignment & DIP Switch & LED Indication..........................................................................................2
3.1 Connection PinAssignment ................................................................................................................................................2
3.1.1 Connector P1.......................................................................................................................................................2
3.1.2 Connector P2.......................................................................................................................................................3
3.1.3 Connector P3.......................................................................................................................................................3
3.2 DIP Switch............................................................................................................................................................................3
3.2.1 CAN ID Setup.....................................................................................................................................................4
3.2.2 CAN Baud Rate Setup........................................................................................................................................5
3.3 LED Light Indication..........................................................................................................................................................5
4. Getting Started.......................................................................................................................................................................5
4.1 Wiring Instruction...............................................................................................................................................................5
4.1.1 Power supply & motor cable...............................................................................................................................5
4.1.2 I/O signal cable...................................................................................................................................................6
4.1.3 CAN communication cable.................................................................................................................................6
4.1.4 Terminal resistance .............................................................................................................................................6
4.2 Typical Connection ..............................................................................................................................................................6
4.3 Motor Connection................................................................................................................................................................7
4.3.1 Connections of 4-lead Motor ..............................................................................................................................7
4.3.2 Connections of 6-lead Motor ..............................................................................................................................8
4.3.3 Connections of 8-lead Motor ..............................................................................................................................8
4.4 Power Supply Selection.......................................................................................................................................................9

4.4.1 Regulated or Unregulated Power Supply............................................................................................................9
4.4.2 Power Supply Sharing.........................................................................................................................................9
4.4.3 Selecting Supply Voltage ....................................................................................................................................9
4.5 Object Dictionary Introduction........................................................................................................................................10
4.5.1 Common list objects .........................................................................................................................................10
4.5.2 Model and control.............................................................................................................................................13
4.6 Parameters Configuration via Leadshine CANopen Software......................................................................................14
4.6.1 Installing software.............................................................................................................................................14
4.6.2 Connecting Leadshine CANopen software.......................................................................................................14
5. CANopen Communication Overview.................................................................................................................................20
5.1 EM556-CAN Communication Standard..........................................................................................................................20
5.2 Explanation of Nouns........................................................................................................................................................20
5.2.1 Object dictionary...............................................................................................................................................20
5.2.2 Process data objects ( PDO)..............................................................................................................................21
5.2.3 Service data object (SDO) ................................................................................................................................22
5.2.4 Homing mode ...................................................................................................................................................22
6. Trouble Shooting .................................................................................................................................................................25
7. Warranty.................................................................................................................................................................................27
8. Contact Us .............................................................................................................................................................................28

EM556-CAN Field bus Stepper Drive User Manual V1.0
1
1. Introduction
1.1 Overview
EM556-CAN is one of the new high performance stepper drive which can support CANopen communication protocol. By
implementing latest 32-bit DSP technology, this stepper drive is able to power 2 phase and 4 phase stepper motors. It can
configure drive parameters and motor operation in real time via CANopen commander. Especially in multi-axis linkage of
applications, can greatly reduce the wiring, enhance the drive running reliability.
1.2 Features
⚫Power supply 20~50VDC, recommended 36VDC
⚫Output current 0.1~5.6A(peak), default value 3.2A(peak)
⚫Support CAN field bus control, meet CANopen standard protocol of DS301 V4.02 and DSP 402 V2.01
⚫Setting address and the baud rate via DIP switch
⚫Operates in velocity, position or home mode
⚫3 opto-isolation differential digital inputs, max. frequency 20KHz, and wide input voltage +5~24VDC
⚫1 opto-isolation differential digital output, max. current 100mA, largest external pull-up voltage 24VDC
⚫Protections for over-voltage and over-current,etc.
1.3 Application
Suitable for all kinds of multi-axis linkage control of small and medium-sized automation equipment and instrumentation:
such as manipulator, packaging machinery etc.
2. Specification
2.1 Electrical Specification
Parameters
EM556-CAN
Min
Typical
Max
Unit
Output Current
0.1
-
5.6 (4.0 RMS)
A
Supply Voltage
20
24 - 48
50
VDC
Input signal current
6
10
16
mA
Input signal voltage
5
-
24
VDC
Over voltage Value
-
90
-
VDC
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. 227g (8 oz)

EM556-CAN Field bus Stepper Drive User Manual V1.0
2
2.3 Mechanical Specification
(unit: mm [1inch=25.4mm])
Figure 1: Mechanical specifications
* Side mounting recommended for better heat dissipation
2.4 Elimination of Heating
⚫EM556-CAN reliable working temperature should be < 60℃(140°F) and stepper motor should be <120℃(248°F)
⚫It is recommended to use automatic idle-current mode to reduce drive and motor heating. That means output current will
be reduce to 50% when the motor at standstill.
⚫It is recommended to mount the drive vertically to maximize heat sink area. Use forced cooling method to cool if
necessary.
3. Connection Pin Assignment & DIP Switch & LED Indication
The EM556-CAN has three connector blocks P1&P2&P3 (see above picture). P1 is for IO signals connections, P2 is for
power and motor connections, and P3 is for CAN communication connection. The following tables are brief descriptions of
the two connectors. More detailed descriptions of the pins and related issues are presented in section 4, 5, 9.
3.1 Connection PinAssignment
3.1.1 Connector P1
Pin Function
Details
118
112
34
112
22.5
4.5
4-Ф3.5
75.5
25.3
47.8
P2
P1
P3

EM556-CAN Field bus Stepper Drive User Manual V1.0
3
IN1+
Opto-isolation differential input signals (5~24V compatible)
IN1-
IN2+
IN2-
IN3+
IN3-
ALM+
Opto-isolation differential output signal is for alarm function. maximum output current 100mA,
maximum pull-up voltage 24VDC
ALM-
!
Notice
Notes: (1) The function of input signals can be configured by controller
3.1.2 Connector P2
Pin Function
Details
GND
Power supply ground connection.
+VDC
Power supply positive connection. Suggest 24-48VDC power supply voltage
A+, A-
Motor PhaseA connections. Connect motor A+ wire toA+ Pin; motorA- wire to A-
B+, B-
Motor Phase B connections. Connect motor B+ wire to B+ Pin; motor B- wire to B-
!
Warning
Warning: (1) Don’t plug or unplug the P2 terminal block to avoid drive damage or injury when EM556-CAN is
powered on; (2) Don't connect the power supplier to motor connection terminal, and don't connect +VDC and GND
inversely, otherwise, drive will be damaged.
3.1.3 Connector P3
CAN port of EM556-CAN adopt shield doublet RJ45 terminal (standard RJ45 specification).
PIN definition
PIN
Signal
Details
1
CAN_H
Differential signal of CAN
2
CAN_L
3
CAN_GND
CAN ground
4~8
NC
-
!
Notice
Notes: (1) shielding cable and reliable grounding is suggested; (2) CAN_H and CAN_L should not connect
inversely; (3) Two interfaces of RJ45 without order.
3.2 DIP Switch
EM556-CAN field bus stepper drive uses an 8-bit DIP switch to set CAN ID, baud rate, as shown below:

EM556-CAN Field bus Stepper Drive User Manual V1.0
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SW1
Baud rate
SW2 SW3 SW4 SW5 SW6 SW7 SW8
CAN ID
3.2.1 CAN ID Setup
Low 5 bits of CAN ID are set by DIP switch SW1~SW5, and high 5 bits of CAN ID are set by controller, as shown in the
following table.
CAN address ID(low 5 bits)
SW1
SW2
SW3
SW4
SW5
1
off
on
on
on
on
2
on
off
on
on
on
3
off
off
on
on
on
4
on
on
off
on
on
5
off
on
off
on
on
6
on
off
off
on
on
7
off
off
off
on
on
8
on
on
on
off
on
9
off
on
on
off
on
10
on
off
on
off
on
11
off
off
on
off
on
12
on
on
off
off
on
13
off
on
off
off
on
14
on
off
off
off
on
15
off
off
off
off
on
16
on
on
on
on
off
17
off
on
on
on
off
18
on
off
on
on
off
19
off
off
on
on
off
20
on
on
off
on
off
21
off
on
off
on
off
22
on
off
off
on
off
23
off
off
off
on
off
24
on
on
on
off
off
25
off
on
on
off
off
26
on
off
on
off
off
27
off
off
on
off
off
28
on
on
off
off
off
29
off
on
off
off
off
30
on
off
off
off
off
31
off
off
off
off
off
!
Notice
Notes: (1) SW1~SW5 set to "on" all will be invalid ID; (2) Should restart the power after modifying CAN ID.

EM556-CAN Field bus Stepper Drive User Manual V1.0
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3.2.2 CAN Baud Rate Setup
CAN baud rate can be set by DIP switch SW6~SW8, as shown below:
Baud rate(Kbps)
SW6
SW7
SW8
20
on
on
on
50
off
on
on
100
on
off
on
125
off
off
on
250
on
on
off
500
off
on
off
1000
on
off
off
!
Notice
Notes: (1) Should restart the power after modifying baud rate.
3.3 LED Light Indication
There are two LED lights for DM56-CAN. The GREEN one is the power indicator which will be always on generally. The
RED one is a protection indicator which will flash 1-2 times in a 3-second period, when protection enabled for a
EM556-CAN. Different number of flashes indicates different protection type ,as shown following table.
Priority
Time(s) of
Blink
Sequence wave of red LED
Description
1st
1
Over-current protection activated when peak
current exceeds the limit.
2nd
2
Over-voltage protection activated when drive
working voltage is greater than 90VDC
3rd
8
EEPROM Fault(need to configure parameter )
4th
12
Operational Amplifier Fault (need to configure
parameter )
!
Notice
Notes: (1) The protections for detecting.fault of EEPROM fault and Operational Amplifier need to turn on manually
via configuring parameter, read section 4.4 for detail; (2) When one of the protection is active, the motor shaft will be free
and the red LED blinks. Restart the power to make it function properly after removing above problems.
4. Getting Started
4.1 Wiring Instruction
4.1.1 Power supply & motor cable
⚫Wire diameter: +VDC, GND, A+, A-, B+, B- terminal wire diameter≥0.3mm2(AWG15-22)