Leadshine ES-DH Series User manual

i
HardwareManualoftheEasyServoDrives
ES-DH Series

ii
SafetyItems
!
Notice
Readthismanualcarefullybeforetryingtoinstall thestepperdriveintoyour
system.Thepeoplewhosetup thestepperdriveshouldhaveabetter
understandingonelectronicsandmechanics. ContactLeadshinetechnicalguys
when youhavequestionson thisdocument
!
Caution
Makesurethepowersupplyvoltagedosenotexceedthedrivesinputrange.
Doublechecktheconnectionsand makesurethepowerlead polarityiscorrect.
!
Warning
Donotsethighcurrentforsmallsteppermotor.Itispossiblethatthemotorwillbe
damaged.
!
Caution
Disconnectthemotorfromtheloadifyouarenotsurethemovedirection.Adjust
theaxisin thecenterbeforetryingto runthemotor.
!
Warning
Neverdisconnectthemotorlead when thepowersourceisenergized.

iii
Table ofContents
Introduction to EasyServo..............................................................................................................................................1
Getting Start ...................................................................................................................................................................1
Wiring Diagrams.....................................................................................................................................................2
Connecting PowerSupply.......................................................................................................................................3
ES-DH1208.......................................................................................................................................................3
ES-DH2306.......................................................................................................................................................3
Connecting Motor...................................................................................................................................................4
ES-DH1208 and theES-MH2SeriesMotor......................................................................................................4
ES-DH2306 and theES-MH3SeriesMotor......................................................................................................4
Connecting Encoder................................................................................................................................................5
Connecting ControlSignal......................................................................................................................................6
Pulse,Direction,EnableInput ........................................................................................................................6
AlarmOutput..................................................................................................................................................7
Connecting PC.........................................................................................................................................................8
TypicalConnections........................................................................................................................................................9
Wiring Notes.................................................................................................................................................................10
Configuration................................................................................................................................................................10
Configuring an ES drive bytheon-boardHMI ......................................................................................................11
DisplayDataMode.......................................................................................................................................12
EditParameterMode....................................................................................................................................13
Configuration Exampleviatheon-boardHMI.............................................................................................15
Calculating Rotation Speedand Angle.................................................................................................................16
Rotating theMotorviatheOn-boardHMI..........................................................................................................16
Rotating theMotorbyMotion Controller............................................................................................................17
Rotating theES MotorinPCSoftware .................................................................................................................17
PowerSupplySelection.................................................................................................................................................18
MultipleDrives......................................................................................................................................................18
Selecting SupplyVoltage......................................................................................................................................18
RecommendedSupplyVoltage.............................................................................................................................19
ControlSignalSetup Timing.........................................................................................................................................19
Current ControlDetail...................................................................................................................................................20
FineTuning....................................................................................................................................................................20
Protection Functions.....................................................................................................................................................20
Over-current Protection........................................................................................................................................21
Over-voltageProtection .......................................................................................................................................21
Position Following ErrorProtection .....................................................................................................................21
FrequentlyAskedQuestions.........................................................................................................................................22
ProblemSymptoms and PossibleCauses.............................................................................................................22
Warranty.......................................................................................................................................................................23
Exclusions..............................................................................................................................................................23

iv
Obtaining WarrantyService.................................................................................................................................23
WarrantyLimitations............................................................................................................................................23
Shipping FailedProduct........................................................................................................................................23
ContactUs.....................................................................................................................................................................24

Hardware manualof theES-DHseriesdrives
1
IntroductiontoEasyServo
TheES(EasyServo)serieseasyservosofferan alternativeforapplicationsrequiringhigh performance
and highreliabilitywhenthetraditionalservowastheonlychoice,whileitremainscost-effective.
Thesystemincludesaneasyservomotorcombinedwithafullydigital,highperformanceeasyservo
drive.Theinternalencoderisusedtoclosetheposition,velocityand currentloopsinrealtime,just
likeservo systems. Itcombinesthebestof servo and steppermotortechnologies,anddeliversunique
capabilitiesandenhancementsoverboth,whileatafraction of thecostofaservo system.
Getting Start
To getstartyou needoneeasyservo drive,oneeasyservo motor(stepperdrivewith encoder)andan
AC/DCpowersupplyforthefirsttimeevaluation.Amotioncontroller-likeindexer,pulsegenerator
orPLCisrequiredtoo ifyouwouldliketoverifythecompletefunction.IfyouhaveaPCwithone
serialportoronePCwithUSB-RS232 converter,youcanalsorotatethemotorinthePCsoftware.
Howeveritisrecommendedtoverifythecompletefunctionoftheeasyservousinganothermotion
controller.
EasyServo Drive
EasyServo Motor
StepperMotor
Encoder
Amplifier
Comparator
Comp
Command Position
Measured Position

Hardware manualof theES-DHseriesdrives
2
Wiring Diagrams
WiringDiagram of theES-DH1208 andES-MH2 seriesmotor
WiringDiagram of theES-DH2306 and ES-MH3 seriesmotor

Hardware manualof theES-DHseriesdrives
3
Connecting Power Supply
ES-DH1208
ThepoweroftheES-DH1208 canbeconnected asfollows.
ACPowerconnectionsof theES-DH1208
ES-DH2306
TheES-DH2306 requirestwopowersinputasfollows. Themainpowerisusedtoenergizethemotor
and thecontrolpowerisusedforlogiccircuit.Typicallytheycan sharethesameACpower.
ACPowerconnectionsof theES-DH2306
L
N
PE
Power
L
N
PE
ACPower
70
-
130VAC
L
N
PE
Main Power
L
N
PE
Control Power L
N
ACPower
150
-
230VAC

Hardware manualof theES-DHseriesdrives
4
Connecting Motor
ES-DH1208 and theES-MH2 SeriesMotor
ApowerextensioncableisrequiredtoconnecttheES-MH2seriesmotorsandtheES-DH1208.One
end ofthispowerextensioncableincludesfourflyingwires. Youcanconnectthesewirestothe
drivescorrespondingterminalsasfollows.
ES-DH1208
MotorConnector
ES-MH23480
ES-MH234120
A+
A-
1 Black
Red
4
2Power Extension Cable
Power
Cable
3B+
B-
Yellow/ Green
Blue
ConnectLeadshineES-MH2 seriesmotorsto theES-DH1208
ES-DH2306 andtheES-MH3 SeriesMotor
ApowerextensioncableisrequiredtoconnecttheES-MH3seriesmotorsand theES-DH2306.One
end ofthispowerextensioncableincludesfourflyingwires. Youcanconnectthesewirestothe
drivescorrespondingterminalsasfollows.
ES-DH2306
MainPower&
MotorConnector
ES-MH33480
ES-MH342120
ES-MH342200
Power
Cable
U
V
1
Black
Red
4
2Power ExtensionCable
3W
PE Yellow/ Green
Blue
ConnectLeadshineES-MH3 seriesmotorsto theES-DH2306

Hardware manualof theES-DHseriesdrives
5
Connecting Encoder
Astheeasyservodriveworksinclose-loopmode,itneedstoknowtheactualmotorposition.The
encodermountedinthemotorofferssuchinformation.Notethattheeasyservodrivecannotwork
withoutencoderfeedback.Theencoderoutputof theES-MHmotorisaHDD15 maleconnector.And
thefeedbackinputoftheES-DHdriveisaHDD15 femaleconnector.However,youcanNOTconnect
themdirectlyastheir pin-outarenotmatchedtoeachother. Anencoderextension cablemustbe
connectedbetweenthedriveand motor.
ES-DH1208
CN2
FeedbackSignal
Connector ES-MH23480
ES-MH234120
Encoder
ExtensionCable* Encoder
Cable
*must beused
Encoderconnectionsbetween ES-DH1208driveand ES-MH2 motor
ES-DH2306
CN2
FeedbackSignal
Connector ES-MH33480
ES-MH342120
ES-MH342200
Encoder
ExtensionCable* Encoder
Cable
*mustbeused
Encoderconnectionsbetween theES-DH2306 andES-MH3 motors

Hardware manualof theES-DHseriesdrives
6
Connecting ControlSignal
Pulse,Direction,EnableInput
TheES-DHseriesdrivescanaccept/receivedifferentialpulse,directionandenableinputs. Theycan
alsobeconnectedtoPNP(sourcing)orNPN(sinking)typecontrollers. Fortheenablesignal,apply
0VbetweenENA+and ENA-orleavethemunconnectedtoenablethedrive.Ifyou don tneedto
disablethedrive,just leavethemunconnected.
In aNPN (sourcing)typeoutput,thecontrolsignals sharethesamepositiveterminal.
ES-DH Drive
PUL+
DIR+
PUL-
DIR-
ENA+
ENA-
5-24V,
5Vrecommended
Step
Direction
Enable
Controller
ConnecttheES-DHdrivesto theNPN (sinking)typecontrollers
In aPNP(sinking)typeoutput,thecontrolsignalsarereferto thesameground terminal.
ES-DH Drive
PUL+
DIR+
PUL-
DIR-
ENA+
ENA-
VCC = 5-24V
5Vrecommended
Step
Direction
Enable
Controller
VCC
VCC
VCC
ConnectES-DHdrivesto thePNP(sourcing)typecontrollers

Hardware manualof theES-DHseriesdrives
7
Pulse, Direction, EnableInput(Continued)
ES-DH Drive
PUL+
DIR+
PUL-
DIR-
ENA+
ENA-
5V
Step
Direction
Enable
Controller
ConnectES-DHdrivesto thedifferentialtypecontroller
AlarmOutput
Theoutputsisisolatedandyoucantakeitasanelectronicswitch.Aupperresistorshouldbeusedto
limitthecurrent.Itsresistanceisdependingontheinputcurrentrequirementofthecontroller.The
sourcevoltageforthoseoutputscanalsobe24V.TheresistorRisdependingontheinputcurrentof
thecontroller.
ES-DH Drive
ALM+

Hardware manualof theES-DHseriesdrives
8
Connecting PC
Thereisabuilt-inRS232portin each easyservodriveforcommunication and configuration.Connect
thisporttothePC sserialport.Thenyoucanrotatethemotorinthesetup software.Thissetup
software-ProTuner,isdesignedtoconfiguretheeasyservodrive.Youcandefinethecontrolmode,
microstepresolution,currentrate,activelevelof inputs/outputsin ProTuner.
TheProTunercanbedownloadedfromourwebsite: http://www.leadshine.com oryoumayalso getit
fromourCD.Itisrecommendedtogetitfromthewebsitebecausesoftwarefromthewebsiteis
alwaysthelatest.Install itinyourPCandmakeitreadyforuselater.
.
ConnectES-DHdriveto PC
ARS232cableisneededforthecommunicationbetweenthedrivesandtheProTuner.Itwillbe
shippedwith thekitif you includeitintheorder.Itisalso possibleto makethiscablebyyourself.One
end ofthiscableisa6-pinfire-wireheaderandtheotherendofcableisa9pinD-Subfemale
connector.If yourPCdoesnothaveaserialport,aUSB-to-232 converterisrequired.
Note:Thepowershouldbeturnedoff whenyou performanyconnections!
WhenyouopenProTuner,a “Connecttodrive”windowappears. The “BaudRate”and “Device
Address”arefixed.Youonlyneedtoselectthe “ComPort”accordingtotheactualserialportorthe
mappingportofaUSB-232 converter.Checkthe DeviceManager forthemappingportnumberof
theUSB-232 converter.
Or
RS232 Cable
USB-232 Converter
ProTuner

Hardware manualof theES-DHseriesdrives
9
TypicalConnections
ES-DH1208
PUL+ 3
DIR+ 5
PUL-
DIR-
4
6
ALM+ 7
CN1
ControlSignal
Connector
ENA+ 11
ENA- 12
8
ALM-
5-24V,
5Vrecommended
Step
Direction
Enable
Alarm
Controller
5V
CN2
Feedback Signal
Connector
Power Connector
L
N
PE
NC
NC
1
2
3
4
5
MotorConnector
~70-130VAC
ES-MH23480
ES-MH234120
A+
A-
1Black
Red
4
2
Encoder
Extension Cable* Encoder
Cable
*must be used
Power
Extension Cable
Power
Cable
3B+
B-
Yellow/Green
Blue
5PE
6NC
TypicalConnectionsofES-DH1208 withcontrollerofsinkingoutput
ES-DH2306
PUL+ 3
DIR+ 5
PUL-
DIR-
4
6
ALM+ 7
CN1
ControlSignal
Connector
ENA+ 11
ENA- 12
8
ALM-
5-24V,
5Vrecommended
Step
Direction
Enable
Alarm
Controller
5V
N
L
CN2
Feedback Signal
Connector
ControlPower&Braking
ResistorConnector
5
6
L
N
NC
BR
P+
1
2
3
4
5
MainPower&
MotorConnector
~150-230VAC
ES-MH33480
ES-MH342120
ES-MH342200
Encoder
Extension Cable* Encoder
Cable
*mustbe used Power
Cable
U
V
1
Black
Red
4
2Power ExtensionCable
3W
PE Yellow/Green
Blue
TypicalConnectionsoftheES-DH2306 withcontrollerofsinkingoutputs

Hardware manualof theES-DHseriesdrives
10
Wiring Notes
lIn orderto improveanti-interferenceperformanceof thedrive,itisrecommendedto usetwisted
pair shield cable.
lTopreventnoiseincurredinPUL/DIRsignal,pulse/directionsignalwiresand motorwiresshould
notbetiedup together.Itisbettertoseparatethembyatleast10 cm,otherwisethedisturbing
signalsgeneratedbymotorwilleasilydisturbpulsedirectionsignals, causingmotorposition
error,systeminstabilityand otherfailures.
lIfapowersupplyservesseveraldrives,separatelyconnectingthedrivesisrecommendedinstead
of daisy-chaining.
lItisprohibitedtopull and plugpowerconnectorwhilethedriveispoweredON,becausethereis
highcurrentflowingthroughmotorcoils(evenwhenmotorisatstandstill).Pullingorplugging
powerconnectorwithpoweronwill causeextremelyhighback-EMFvoltagesurge,whichmay
damagethedrive.
Configuration
When thedefaultsettings of theeasyservo drivesarenotsuitableforyourapplication,itisnecessary
toconfigureitviatheonboardHMIortheconfigurationsoftwareProTuner.Otherwiseyoumay
encounterproblemslikehighmotorheating,bigmotornoiseoreven motorstalldueto weaktorque.
Foraquickstartoftheeasyservodrive,therearenotmuchparametersneedtobeconfigured.The
followingtablegivesthemostsignificantsettingsof theeasyservo drives.
Mostsignificantsettingsoftheeasy servodrive
Parameters ES-DH1208 ES-DH2306
Pulses/Revolution Default4000, SoftwareAdjustable Default4000, SoftwareAdjustable
HoldingCurrent(%) Default40%, SoftwareAdjustable Default40%, SoftwareAdjustable
Close-loop CurrentLimit(%) Default60%, SoftwareAdjustable Default60%, SoftwareAdjustable
CurrentLoopKp *AutoTuningatPower-up *AutoTuningatPower-up
CurrentLoopKi *AutoTuningatPower-up *AutoTuningatPower-up
*AutoTuning atPower-up:Itis possibletodisablethis featureinthesetup softwareinordertotune
thecurrent loop Kpandcurrent loop Kimanuallyiftheautotuning resultis not goodenough.This
happenswhenthemotor sinductanceorresistanceis too high ortoo low.

Hardware manualof theES-DHseriesdrives
11
Configuring an ES drivebytheon-board HMI
Userscanconfigurethedriveviatheon-boardHMIinthefrontpanel.ThisHMIincludessix
7-segmentdigitsand fivekeysforusersoperation asfollows:
MENT
Thereare4operationmodesintheon-boardHMI. Userscanswitchbetweenthesemodesby
pressingthe “Mode”key.Thefollowingfigureillustratestheoperationprocedureofthison-board
HMI.
M
DisplayData
EditParameter
Select Data
ENT
DisplayData
Select Parameter Display
parameter Edit Parameter
Confirm
MCancel
ENT
ENT
Select Function
Holdon 3seconds
Reset Parameter

Hardware manualof theES-DHseriesdrives
12
DisplayDataMode
Thismodeisactive initiallyatdrivespower-up. In thismode,userscancheckthemonitoringdataasshownin the
followingtable.
Display Code Name Description
“L“Loworderdigitsdisplay.
“H“Highorderdigitsdisplay.
“d00uEP”Position errorwhichisthedifferencebetweencommandand feedback.
Press “ ” toswitchbetweenlowand highorderdigitsdisplay.
“d01SPF”Actualfeedback motorspeedin RPM.
“d02SPr”Referencemotorspeedin RPM.
“d03PLF”Actualfeedback position inpulses.
“d04PLr”Referenceposition in pulses.
“d05iP “Referencecurrent(peak)in mA.
“d06Err”
Errorcode:
0001----Over-currentprotection activated
0002----Over-voltageprotection activated
0008----Brakeprotection activated
0020----Position errorexceedsthelimit
“d07Pn”Busvoltagewhichis1/10 oftheactualvalue.
“d08 no”Drive version number.

Hardware manualof theES-DHseriesdrives
13
Edit Parameter Mode
In thismode, theparameterisidentifiedbythecode “PA__XX”asshownin thefollowingtable.
DisplayCode Name DefaultValue Range Description
“PA__00”CurrentLoopKp 1000 0-65535 Proportionalgain. Increaseitmakecurrent
risefaster.Too largevaluemayleadstobig
vibration and noiseorevenunstable.
“PA__01”CurrentLoopKi 200 0-65535 Integralgain,eliminatingthesteadyerror
ofthecurrentloop. Too bigmaycause
vibration, noiseorevenunstable.
“PA__02”CurrentLoopKc 256 0-1024 Highvaluereducesmid-speedvibration
butthemotorcurrentalso dropsfast.
“PA__03”Position LoopKp 2500 0-65535 Position loop proportionalgain.
“PA__04”Position LoopKi 500 0-65535 Eliminatesthesteadyerroroftheposition
loop whenthemotorisstandstill.
“PA__05”Position LoopKd 200 0-1000 Reducesovershootoftheposition.
“PA__06”Position LoopKvff 30 0-100 Compensatethemotorand control loop
delay.
“PA__07”Pulses/Revolution 4000 200-65535 Setthepulsescounttomakethemotor
rotateonerevolution.
“PA__08”EncoderResolution 4000 200-65535 X4quadraturedecoding,defaultvalueis
for1000 linesencoder.
“PA__09”Position ErrorLimit 1000 1-65535 Whentheposition errorexceedsthis
value,thedrivegoesintoerrorstate.Unit:
Pulses
“PA__10”HoldingCurrentRate
40% 0-100 Itaffectstheholdingtorquewhenthe
motorisatstandstill. Italso determines
thestartcurrentwhenthemotorstartsto
work again. Theactualcurrentisthedrives
MAXcurrentmultipliedbytheholding
currentrate.Forexample,thedrivesMAX
currentis6A.So thedefaultactualholding
currentis6*40%=2.4A.Largevaluewill
offerbetteracceleration performance
whilecausesmoreheating.
“PA__11”Close-loop Current
Rate 100% 1-100 ThisparameterlimitstheMAXdynamic torquewhenthemotorisin motion.The
actualcurrentlimitisthedrivesMAX
currentmultipliedbytheclose-loop
currentrate.Largevaluewillofferbetter
acceleration performancewhilecauses
moreheating.

Hardware manualof theES-DHseriesdrives
14
“PA__12”Standby Time 1000ms 1-65535 Thisparameterdefinesthewaitingtimefor
thedriveenteringintostandby modewhen
thereisnopulseinputtothedrive.In
standbymode,small positionerrorwill be
ignored.
“PA__13”PulseFilter 0 0 or1 0----DisablePulseFilter
1----EnablePulseFilter
“PA__14”FilterTime 25600us 0-25600 Thehighervaluethesmoothermotion. But
highervaluealso leadstohighdelay.
“PA__15”EnableLevel 1 0 or1 0----Usersmustapplya5VbetweenENA+
and ENA- toenablethedrive.
1----Thedrive isenablewhenvoltagedrop
betweenENA+and ENA- is0Vorleft
unconnected.
“PA__16”AlarmLevel 1 0 or1 0----HighimpedancebetweenALM+and
ALM-atdriveerror
1----LowimpedancebetweenALM+and
ALM-atdriveerror
“PA__17”PulseMode 0 0 or1 0----Pulse+Direction
1----Pulse+Pulse(CW/CCW)
“PA__18”PulseEdge 0 0 or1 0----Active RisingEdge
1----Active FallingEdge
“PA__19”MotorDirection 1 0 or1 0and 1representstwodifferentdirections
(CW/ CCW).
“PA__20”PulseBandwidth 0 0 or1 0-----The MAXpulsefrequencyislimitedto
200KHz
1----TheMAXpulsefrequencyislimitedto
500KHz
“PA__21”Acceleration 200 1-2000 Acceleration ofthebuilt-in motion
controller.Unit: Revolutions/ second
“PA__22”Speed 60 RPM 1-3000 Speedofthebuilt-in motion generator.
UnitRPM
“PA__23”MoveDistance 100 rev. 1-65535 Movedistanceofthebuilt-in motion
controller.Theactualdistanceis1/100 of
thesettingvalue.Unit: Revolutions
“PA__24”RepeatTimes 1 1-65535 Repeattimesofthebuilt-in motion
controller.
“PA__25”InitialDirection 1 0 or1 0and 1representstwodifferentdirections
ofthemotioncommands.
“PA__26”Dwell 100ms 1-65535 Waitingtimetothenexttrapezoidvelocity
motion whenonemotion completes.Unit:
ms

Hardware manualof theES-DHseriesdrives
15
“PA__27”Motion Type 1 0 or1 0----Onedirection motion
1----Positive and negative motion
“PA__28”Motion Start/Stop 0 0 or1 1----StartMotion
0----StopMotion
Themotion startswhenapplying “1”to
thisparameter.Itbacksto “0”whenthe
motion completes.
“PA__29”Reserved - - -
Configuration Exampleviatheon-boardHMI
Thefollowingfigureillustrateshowtosetthe “StandbyTime”viatheon-boardHMI. Lookingupthe
tableinthe “EditParameterMode”section,thisparameterrefersto “PA__12”item.Sothesetting
procedureisshown asfollows:
DisplayData: PositionError”
MPress M”keyoncetogo into
the Edit ParameterMode”
Initiallyit displays the PA__00”and
the 1st (fromrighttoleft)digit isblinking
Press ”2timesto
increasethe 1stdigit
It displays PA__02”to
indicatestheparameterNo.2
Press ”keyonce
ENT
It displaystheloworderdigitsof
thepositionerroratPower-up
Press the ENT”key
Power-Up
the2nd (fromrighttoleft)digit
isblinking
Press ”todecreasethe
digitincaseofwrongoperation
ENT Press theENT”keytoconfirm
theselectionofthe PA__12”
It displaysthe PA__12”valueof
1000mswhichisthe StandbyTime.
Edit the valuebytheup-arrow
(increase),the down-arrow(decrease)
andthe left-arrow(leftshift)keys.
ChangetheStandbyTimeto1294ms.
ENT Press theENT”keytoconfirm
thenewvalue.
Press ”1timesto
increasethe2nddigit
It returnstothe Edit ParametersMode”
MPress M”key

Hardware manualof theES-DHseriesdrives
16
Calculating Rotation Speed and Angle
Youmayalsowanttocalculatethemotorrotation speedand rotationangle,beforecommandingany
motion.If thepulsefrequencyand countsareknown,theycan becalculated asfollows:
Rotation Speed (RPM)=60 *Pulse(Step)Frequency/ (Pulses/Revolution)
Rotation Angle(°)=360 *Pulse(Step)Counts/ (Pulses/Revolution)
Rotating theMotor via theOn-board HMI
Userscanrotatethemotorbytheon-boardHMIfortestpurpose.Amotiongeneratorhasbeenbuilt
insidethedrive.Tostartthemotion,firstyouneedtosetup themotionparametersuchasmotion
velocity,motiondistance,accelerationandinitialdirection,etc.Thedetailedstepsareshowninthe
followingpicture.
Display Data: PositionError”
MPress M”key once togo into
the EditParameterMode”
Initiallyit displaysthe PA__00”and
the 1st(fromrighttoleft)digitisblinking
Press ”3times to
decreasethe number
Itdisplays PA__28”to
indicates theparameterNo. 28
ENT
Itdisplaysthe loworderdigitsof
the position erroratPower-up
Press theENT”key
Power-Up
The initialvalue is0
Pressthe ENT”key tostart
the motion
Caution: The motorwill rotate1
revolution CWand 1revolution
CCW.Makesurethe move part
will nothitanything.
Press ”1timesto
increaseit to1
MPress M”key
It returns tothe DisplayDataMode”
The actualdisplaying dataisdependent.
ENT
ENT
MPress M”key
MPress M”key
AuxiliaryFunction: ResetDrive
WritetoEERPM