Leadshine ES Series User manual

Hardware ManualoftheEasyServoDrives
ES-D508,ES-D808 &ES-D1008
Version 1.1
http://www.Leadshine.com
http://www.Leadshineusa.com
2013 LeadshineTechnology Co.,Ltd.

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 theEasyServo.......................................................................................................................................1
Getting Start ...................................................................................................................................................................1
Wiring Diagrams.....................................................................................................................................................4
Connecting PowerSupply.......................................................................................................................................5
ES-D508 and ES-D808......................................................................................................................................5
ES-D1008 .........................................................................................................................................................5
Connecting Motor...................................................................................................................................................6
ES-D508 and ES-M3SeriesMotor...................................................................................................................6
ES-D808 /ES-D1008 andES-M2SeriesMotors ..............................................................................................6
Connecting Encoder................................................................................................................................................7
ES-D508 and ES-M3seriesmotors..................................................................................................................7
ES-D808/ES-D1008and ES-M2seriesmotors................................................................................................7
Connecting ControlSignal......................................................................................................................................8
Pulse,Direction,EnableInput Connections....................................................................................................8
Fault,In-position Output Connections ...........................................................................................................9
Connecting PC.......................................................................................................................................................10
TypicalConnections.......................................................................................................................................................11
Wiring Notes.................................................................................................................................................................12
Configuration................................................................................................................................................................13
Configuring ES drive bytheDIPSwitches.............................................................................................................14
ES-D508 .........................................................................................................................................................14
ES-D808 /ES-D1008 ......................................................................................................................................14
Configuring ES drive inthePCSoftware ..............................................................................................................15
Rotating theMotor.......................................................................................................................................................16
Calculating Rotation Speedand Angle.................................................................................................................16
Rotating theMotorbyMotion Controller............................................................................................................16
Rotating theMotorinSelf-testMode..................................................................................................................16
Rotating theMotorinPCSoftware......................................................................................................................16
PowerSupplySelection.................................................................................................................................................17
RegulatedorUnregulatedPowerSupply.............................................................................................................17
MultipleDrives......................................................................................................................................................18
Selecting SupplyVoltage......................................................................................................................................18
RecommendedSupplyVoltage.............................................................................................................................18
ControlSignalSetup Timing.........................................................................................................................................19
Current ControlDetail...................................................................................................................................................19
FineTuning....................................................................................................................................................................20
Protection Functions.....................................................................................................................................................20
Over-current Protection........................................................................................................................................20
Over-voltageProtection .......................................................................................................................................20
Position Following ErrorProtection .....................................................................................................................21

iv
FrequentlyAskedQuestions.........................................................................................................................................21
ProblemSymptoms and PossibleCauses.............................................................................................................21
Warranty.......................................................................................................................................................................22
Exclusions..............................................................................................................................................................22
Obtaining WarrantyService.................................................................................................................................22
WarrantyLimitations............................................................................................................................................22
Shipping FailedProduct........................................................................................................................................22
ContactUs.....................................................................................................................................................................23

Hardware Manualof theES-DSeriesDrives
1
IntroductiontotheEasyServo
TheES(easyservo)serieseasyservosofferanalternativeforapplicationsrequiringhighperformance
and highreliabilitywhenthetraditionalservowastheonlychoice,whileitremainscost-effective.
Thesystemincludesaneasyservomotorcombinedwithafullydigital,highperformanceeasyservo
drive.Theinternalencoderisusedtoclosetheposition,velocityand currentloopsinrealtime,just
likeservo systems. Itcombinesthebestof servo and steppermotortechnologies,anddeliversunique
manycapabilitiesand enhancementsoverboth,whileatafractionof thecostof aservo system.
Getting Start
Togetstartyouneedoneeasyservodrive,oneeasyservomotor(steppermotorwithencoder)and
anAC/DCpowersupplytosetup aminimumeasyservosystem.Amotioncontroller-likeindexer,
pulsegeneratororPLCisrequiredtoo whenyouneedtorotatethemotor.IfyouhaveaPCwithone
serialportoronePCwithUSB-RS232converter,youcanalsorotatethemotorviaPCsoftware,
ProTuner.Howeveritisrecommended to verifyallfunction of an easyservo with amotion controller.
EasyServo Drive
EasyServo Moto

Hardware Manualof theES-DSeriesDrives
2
DriveAppearanceand Connector Location
ES-D508
Driveappearanceand connectorlocationof theES-D508
Control signalsconnectorsincludingdigital
inputsand digitaloutputs
(ScrewTerminalBlocks)
Encoderfeedbacksignalsconnector
(HDD15)
Power& motorconnector
(ScrewTerminalBlock)
RS232 Communication Connector
(RJ11)
2-bitDIPSwitch
(SW1:Direction, SW2:Self-test)
Indicator
(GreenLED:Power, RedLED:Fault)

Hardware Manualof theES-DSeriesDrives
3
DriveAppearanceandConnectorLocation (Continued)
ES-D808 /ES-D1008
Driveappearanceand connectorlocationof theES-D808 /ES-D1008
Control signalsconnectorsincludingdigital
inputsand digitaloutputs
(ScrewTerminalBlock)
Encoderfeedbacksignalsconnector
(ScrewTerminalBlock)
Power& motorconnector
(ScrewTerminalBlock)
RS232 Communication Connector
(RJ11)
6-bitDIPSwitch
(SW1-4:MicroStep,SW5:Direction,SW6:Self-test)
Indicator
(GreenLED:Power, RedLED:Fault)

Hardware Manualof theES-DSeriesDrives
4
Wiring Diagrams
Wiringdiagram of theES-D508 and ES-M3 seriesmotors
Wiringdiagram of theES-D808 /ES-D1008 and ES-M2 seriesmotors
Or
RS232 Cable
USB-232 Converter
Motion Controller
EncoderCable*(mustbeused)
PowerExtension Cable
PowerSupply

Hardware Manualof theES-DSeriesDrives
5
Connecting Power Supply
ES-D508 andES-D808
TheES-D508andES-D808onlyacceptDCpowerinput.Thepowersupplyconnectionsincludeonly
onepositiveterminaland onenegativeterminal.Howeveryouneedtopayattentiontoterminal
polarity.A6-pinpluggablescrewconnectorisusedforbothpowersupplyandmotorconnections.
Lookingatthedrivecoveryoushouldfindtheprinted “+Vdc”and “GND”symbol.Connectthe
positivewireto “+Vdc”terminalandconnectthenegativewireto “GND”terminal.Notethatthe
powershould beswitched off whenyoumakeanyconnections.
Note: Donot exceedtheinput voltagerangeoftheeasyservodrive.Pleaseconsult the Power
SupplySelection”chapter fortherecommendedsupplyvoltage.
DCPowerConnection of theES-D508 andES-D808
ES-D1008
TheES-D1008canacceptDCorACpowerinput.ThereisnopowerinputpolarityfortheACpower
connection.
DCpowerconnection of theES-D1008
ACpowerconnectionof theES-D1008
AC
AC
High Voltage
AC
AC
ACPower
20
-
70VAC
AC
AC
High Voltage
DCPower
30
-
100VDC
+(Positive)
-
(Negative)
+Vdc
GND
High Voltage DCPower
+(Positive)
-
(Negative)

Hardware Manualof theES-DSeriesDrives
6
Connecting Motor
ES-D508 andES-M3SeriesMotor
ApowerextensioncableisneededtobeconnectedbetweentheES-M3seriesmotorsandthe
ES-D508.Oneendofthispowerextensioncableincludesfourflyingwires. Youcanconnectthese
wirestothedrivescorrespondingterminalsasfollows. Justcutoff theyellow/greenwireorleaveit
unconnected.
ES-D508
Power&
MotorConnector
U
V
W
1
2
3
ES-M32309
ES-M32320
Red
Blue
Black
Power
ExtensionCable*
Power
Cable
*leavetheyellow/green
wireunconnected
ConnectLeadshineES-M3seriesmotorsto ES-D508
ES-D808 /ES-D1008 and ES-M2 SeriesMotors
ApowerextensioncableisneededtobeconnectedbetweentheES-M2seriesmotorandthe
ES-D808 / ES-D808.Oneendofthispowerextension cableincludesfourflyingwires. You canconnect
thesewiresto thedrivescorrespondingterminalsasfollows.
ES-D808 /ES-D1008
A+
A-
1
Power&MotorConnector
Black
Red
4
ES-M22430
ES-M23440
ES-M23480
2Power
ExtensionCable
Power
Cable
3B+
B-
Yellow/Green
Blue
ConnectLeadshineES-M2seriesmotorsto ES-D808 / ES-D1008

Hardware Manualof theES-DSeriesDrives
7
Connecting Encoder
Astheeasyservodriveworksinclose-loopmode,itneedstoknowtheactualmotorposition.The
encodermountedonthemotorofferssuchinformation.Pleasenotethattheeasyservodrivecan
notworkwithoutencoderfeedback.
ES-D508 andES-M3 seriesmotors
TheencoderextensioncableisrequiredtoconnectthemotorandES-D508.Thedrivewillnotwork
properlyif you connectthemotor sencodercableto theES-D508 directly.
ES-D508 EncoderSignal
Connector
Encoder
ExtensionCable*
ES-M32309
ES-M32320
Encoder
Cable
*mustbeused
Encoderconnectionsbetween theES-D508 and ES-M3 seriesmotors
ES-D808/ES-D1008andES-M2 seriesmotors
TheencoderoutputoftheES-M2seriesmotorisaHDD15 connectorwhiletheencoderinputofthe
ES-D808/ES-D1008isscrewterminal, soanextensioncableisrequiredbetweenthedriveand
motor.
ES-D808 /ES-D1008 EncoderSignal
Connector

Hardware Manualof theES-DSeriesDrives
8
Connecting ControlSignal
Pulse,Direction,EnableInput Connections
TheES-Dseriesdrivescanacceptdifferential,PNP(sourcing)andNPN(sinking)pulse,directionand
enablecontrolsignals. Fortheenablesignal,apply0VbetweenENA+andENA-orleavethem
unconnectedtoenablethedrive.Recommend toleavetheenablesignalunconnectedifyoudon t
need to disablethedrive.
In aNPN (sinking)typeoutput,thecontrolsignalssharethesamepositiveterminal.
ES-DDrive
PUL+ 1
DIR+ 3
PUL-
DIR-
2
4
ENA+ 5
ENA- 6
VCC
Step
Direction
Enable
Controller
R
R
R
ES-D508
R=0ifVCC=5V;
R=1K(Power>0.125W)ifVCC=12V;
R=2K(Power>0.125W)ifVCC=24V;
Rmustbe connected tocontrol signalterminal.
Control Signal
Connector
ES-D808/ ES-D1008
VCC=5~24V.Risnotrequired.
ConnecttheES-Ddrivesto theNPN (sinking)typecontrollers
In aPNP(sourcing)typeoutput,thecontrolsignals arereferto thesameground terminal.
ES-DDriveController
Control Signal
Connector
PUL+ 1
DIR+ 3
PUL-
DIR-
2
4
ENA+ 5
ENA- 6
Step
Direction
Enable
VCC
VCC
VCC
R
R
R
ES-D508
R=0if VCC=5V;
R=1K(Power>0.125W)ifVCC=12V;
R=2K(Power>0.125W)ifVCC=24V;
Rmust beconnected tocontrol signalterminal.
ES-D808/ES-D1008
VCC =5~24V.Risnot required.
ConnecttheES-Ddrivesto thePNP(sourcing)typecontrollers

Hardware Manualof theES-DSeriesDrives
9
Pulse, Direction, EnableInputConnections(Continued)
ES-DDriveController
ControlSignal
Connector
PUL+ 1
DIR+ 3
PUL-
DIR-
2
4
ENA+ 5
ENA- 6
5V
Step
Direction
Enable
ConnecttheES-Ddrivesto differentialtypecontrollers
Fault,In-position Output Connections
Theoutputsareisolatedandyou cantakethemaselectronicswitch.Anupperresistorisused tolimit
thecurrent.Itsresistanceisdependingon theinputcurrentrequirementofthecontroller.Thesource
voltageforthoseoutputscanalsobe24V.TheresistorRisdependingontheinputcurrentofthe
controller.
ES-DDrive
FAULT+
FAULT-
Fault
Controller
5V
INP+
INP-
In-position
ControlSignal
Connector
RR
Fault,in-positionsignalconnection of theES-Ddrive
(Note:TheES-D508 doesnothave in-position output)

Hardware Manualof theES-DSeriesDrives
10
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-D808/ ES-D1008to PC
ARS232cableisneededforthecommunicationbetweenthedrivesandtheProTuner.Itwillbe
shippedwith thekitif you includeitintheorder.Itisalso possibleto makethiscablebyyourself.One
end ofthiscableisaRJ-11 headerandtheotherend ofcableisa9pinD-Subfemaleconnector.If
yourPCdoesnothaveaserialport,aUSB-to-232converterisrequired.
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-DSeriesDrives
11
TypicalConnections
ES-D508
GND
PUL+ 1
DIR+ 3
PUL-
DIR-
2
4
FAULT+ +Vdc
EncoderSignal
Connector
74
5
ENA+ 5
ENA- 6
8
FAULT-
Power&
MotorConnector
VCC
Step
Direction
Enable
Fault
Controller
5V
R
R
R
R=0if VCC=5V;
R=1K(Power>0.125W)if VCC=12V;
R=2K(Power>0.125W)if VCC=24V;
Rmust be connectedtocontrolsignalterminal.
ControlSignal
Connector
20-45VDCrecommended,
leaving roomsforvoltage fluctuation
andback EMFofthe motor
U
V
W
1
2
3
Encoder
ExtensionCable*
ES-M32309
ES-M32320
Red
Blue
Black
Encoder
Cable
*mustbeused
Power
Extension Cable*
Power
Cable
*leavetheyellow/green
wireunconnected
TypicalconnectionsoftheES-D508 withcontrollerofsinkingoutput
ES-D808
PUL+ 1
DIR+ 3
PUL-
DIR-
2
4
INP+ 1
ENA+ 5
ENA- 6
2INP-
5-24V
5Vrecommended
Step
Direction
Enable
Fault
Controller
5V
FAULT+ 3
4
FAULT-
In-Position
Stat

Hardware Manualof theES-DSeriesDrives
12
Typical Connections(Continued)
ES-D1008
PUL+ 1
DIR+ 3
PUL-
DIR-
2
4
INP+ 1
ENA+ 5
ENA- 6
2INP-
5-24V
5Vrecommended
Step
Direction
Enable
Fault
Controller
5V
FAULT+ 3
4
FAULT-
In-Position
StatusSignal
Connector
ControlSignal
Connector
AC
A+
A-
AC
EncoderSignal
Connector
1
5
6
Power&
MotorConnector
Black
Red
4
EA+:BLKEA-: BLU
EB+:YELEB-: GRN
+5V: REDGND:WHT
ES-M23440
ES-M23480
2
Encoder
ExtensionCable* Encoder
Cable
*mustbe used
Power
ExtensionCable
Power
Cable
3B+
B-
Yellow/ Green
Blue
20-70VACor30-100VDC
TypicalConnectionsoftheES-D1008 withcontrollerofsinkingoutput
Wiring Notes
lInordertoimproveanti-interferenceperformanceofthesystem,itisrecommendedtouse
twisted pairshield cable.
lTopreventnoiseincurredinPUL/DIRsignal,pulse/directionsignalwiresand motorwiresshould
notbetiedup together.Itisbettertoseparatethembyatleast10 cm,otherwisethedisturbing
signalsgeneratedbymotorwilleasilydisturbpulsedirectionsignals, causingmotorposition
error,systeminstabilityorotherfailures.
lIfapowersupplyservesseveraldrives,separatelyconnectingthedrivesisrecommendedinstead
of daisy-chaining.
lItisprohibitedtopull and plugpowerconnectorwhilethedriveispoweredON,becausethereis
highcurrentflowingthroughmotorcoils(evenwhenmotorisatstandstill).Pullingorplugging
powerconnectorwithpoweronwill causeextremelyhighback-EMFvoltagesurge,whichmay
damagethedrive.

Hardware Manualof theES-DSeriesDrives
13
Configuration
Whenthedefaultsettings oftheeasyservodrivearenotsuitableforyourapplication,itisnecessary
toconfigurethedriveviatheDIPswitchorProTuner(thesetup software).Otherwiseyoumay
encounterproblemslikehighmotorheating,bigmotornoiseoreven motorstalldueto weaktorque.
Foraquickstartoftheeasyservodrive,therearenotmuchparametersneedtobeconfigured.The
followingtablegivesthemostsignificantparametersof theeasyservo drive.
MostSignificantParametersoftheeasy servodrive
Parameters ES-D508 ES-D808, ES-D1008
MicroStepResolution (PPR) Default4000, SoftwareAdjustable Default1600,DIPSwitchorSoftware
Adjustable
HoldingCurrent(%) Default40%, SoftwareAdjustable Default50%, SoftwareAdjustable
Close-loop Current(%) Default100%, SoftwareAdjustable Default100%, 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.
Theholdingcurrentaffectstheholdingtorquewhenthemotorisstop.Theclose-loop currentaffects
thedynamictorque.Increasethemif thetorqueisnotenough.
RecommendedHolding/Close-loop Current Percentage
ES-M32309 ES-M32320 ES-M23440 ES-M23480
HoldingCurrent(%) 60% 60% 60% 60%
Close-loop Current(%) 100% 100% 100% 100%
Easy servodrive ES-D508 ES-D508 ES-D808 / ES-D1008
ES-D808 / ES-D1008
Therearepossibletwomethodstoconfiguretheeasyservodriveasfollows,dependingonthe
specificdrive.

Hardware Manualof theES-DSeriesDrives
14
Configuring ES drivebytheDIPSwitches
ES-D508
Thereisa2-bitDIPswitch ontheES-D508 whichcanbeused toreversethedefaultmotion direction
and performmotorself-test.
ES-D808 /ES-D1008
Thereisa6-bitDIPswitchontheES-D808orES-D1008drive.SW1toSW4areusedtosetthemicro
step resolution and SW5 areused to setthedefaultmotion direction.
ES-D808 /ES-D1008 Resolution Settings
Steps/Revolution SW1 SW2 SW3 SW4
SoftwareConfigured
(Default 400) on on on on
800 off on on on
1600 (Factory Setting) on off on on
3200 off off on on
6400 on on off on
12800 off on off on
SW1isusedtoreversethe
defaultmotion direction.
6-bitDIPswitcheson ES-D808 /ES-D1008
SetSW2ontoactivate
themotorself-test.
SW1-SW4
MicrostepResolutions
SW5isusedtoreversethe
defaultmotion direction.
SetSW6ontoactivate
themotorself-test.

Hardware Manualof theES-DSeriesDrives
15
ES-D808 /ES-D1008 Resolution Settings(Continued)
25600 on off off on
51200 off off off on
1000 on on on off
2000 off on on off
4000 on off on off
5000 off off on off
8000 on on off off
10000 off on off off
20000 on off off off
40000 off off off off
Configuring ES drivein thePCSoftware
Consultthe “ConnectingtoPCSoftware”chapterforhowtoconnecttheeasyservodrivetoPC.
Supposethetuningsoftwarehasbeenopen,clickthe “Drive->Parameters”toopenthe Parameters
window.Doubleclickthe Value columntomodifytheparameter.Don tforgettoclick “Save”tostore
thechangetodrivesNVM.Consultthe “Configuration”chapterfortherecommendedsettings of
differenteasyservo kits.Referto thesoftwaremanualformoreinformation abouttheparameters.

Hardware Manualof theES-DSeriesDrives
16
Rotating theMotor
Calculating Rotation Speed and Angle
Youmayalsowanttocalculatethemotorrotation speedand rotationangle,beforecommandingany
motion.If thepulsefrequencyand countsareknown,theycan becalculated asfollows:
Rotation Speed (RPM)=60 *Pulse(Step)Frequency/ Micro Step Resolution
Rotation Angle(°)=360 *Pulse(Step)Counts/ Micro Step Resolution
Rotating theMotor byMotion Controller
Youcanstartthecontrollerorpulsegeneratortorotatethemotor.Actually,anydevicewhichgives
high-to-loworlow-to-highlevelchangescanbeusedtomovethemotor.Ifitisyourfirsttime
installation,itisrecommendedtodisconnectthemotorshaftfromtheloadincaseofaccident.You
canstartfromlowpulsefrequencythengoingtohigh.Onetriggerededgeofthepulsemakesthe
motormoveonemicroangle.TherearenominimumspeedlimitsfortheESservos,howeverthe
maximumrunningspeedwillbedeterminedbytheinputvoltage,currentsettings ormaximuminput
frequencyof thedrive.
Rotating theMotor in Self-testMode
Whenthedriveisconfiguredinself-testmodebysettingtheSW2totheONposition,theconnecting
motorwillrotates1revolutionCWand1revolutionCCWthenrepeat,until yousettheSW2tothe
OFF position.
Rotating theMotor in PCSoftware
Thereisasimpleemulatingcontrollerthatisusedforself-testintheES-Ddrive.Itisnotafull
functionalitycontroller,butitdoeliminatesthetroublestosetup anexternalmotioncontrollerwhen
youwanttotesttheESdrivesorverifytheconnectionincaseofproblem. However,the
performanceintheemulatingcontrollerDOESNOTrepresentthatofusinganexternalmotion
controller.