Leadshine IES Series Assembly instructions

PartNumber
IES
FrameSize BranchSeries Torque Communication Custom-built
17:42mm Blank:Standard09:0.9NmBlank:StandardBlank:Standard
23:57mm A:BranchSeriesA20:2.0Nm485:RS485...
24:60mm B:BranchSeriesB 40:4.0NmCAN:CANOpen
HardwareInstallationManual
IES
Series
IntegratedEasyServos
www.leadshine.com
HWMN-IES-R20121030

ii
HWMN-IES-R20121030
Leadshinereservestherighttomakechangeswithoutfurthernoticeto
anyproductshereintoimprovereliability,functionordesign. Leadshine
doesnotassumeanyliabilityarisingoutoftheapplicationoruseofany
productorcircuitdescribedherein;neitherdoesitconveyanylicense
underitspatentrightsofothers.
Leadshine sgeneralpolicydoesnotrecommendtheuseofitsproducts
inlifesupportoraircraftapplicationswhereinafailureormalfunction
oftheproductmaydirectlythreatenlifeorinjury.According to
Leadshine stermsandconditionsofsales,theuserofLeadshine s
products inlifesupportoraircraftapplications assumes allrisks ofsuch
useandindemnifiesLeadshineagainstalldamages.
©2012byLeadshineTechnology, All Rights Reserved
ChangeLog
RevisionDate Changes Version
2012-4-11 OriginalCreate HWMN-ISS57-R20120411
2012-10-30 Changepartnumber HWMN-IES-R20121030

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HWMN-IES-R20121030
SafetyItems
!
Notice
Readthismanualcarefullybeforetryingtoinstallthestepperdriveintoyoursystem.Theperson
setup thestepperdriveshouldhaveabetterunderstandingonelectronics andmechanics.Contact
Leadshinetechnicalguyswhenhavequestions on thisdocument.
!
Caution
Makesurethepowersupplyvoltagedosenotexceedthedrive sinputrange.Doublecheckthe
connectionsandmakesurethepowerleadpolarityiscorrect.
!
Warning
Donotsethighcurrenttosmallsteppermotor.Itis possiblethatthemotorwillbedamaged.
!
Caution
Disconnectthemotorfromtheloadifyouarenotsurethemovedirection. Adjusttheaxisinthe
middlebeforetryingtorunthemotor.
!
Warning
Neverdisconnectthemotorleadwhenthepowersourceisenergized.

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HWMN-IES-R20121030
TableofContents
1.FamilyOverview.........................................................................................................................................................1
Introduction.............................................................................................................................................................1
Applications............................................................................................................................................................1
ProductCovered......................................................................................................................................................2
MechanicalSpecifications.......................................................................................................................................2
EliminationofHeat.................................................................................................................................................2
2.ConnectorsandPinAssignment..................................................................................................................................3
3.ControlSignalRequirement........................................................................................................................................5
ControlModeandSequence Chart..........................................................................................................................5
4.ConnectingControlSignal..........................................................................................................................................6
NPNSignalConnections.........................................................................................................................................6
PNPSignalConnections..........................................................................................................................................6
DifferentialSignalConnections..............................................................................................................................6
OutputSignalConnections......................................................................................................................................7
5.PowerSupplySelection...............................................................................................................................................7
RegulatedorUnregulatedPowerSupply................................................................................................................7
MultipleDrives.......................................................................................................................................................7
SelectingSupplyVoltage.........................................................................................................................................8
RecommendedSupplyVoltage................................................................................................................................8
6.TypicalConnections....................................................................................................................................................9
7.RS232 CommunicationConnections ..........................................................................................................................9
8.ConfiguringtheDrive............................................................................................................................................... 10
Introduction...........................................................................................................................................................10
MicrostepResolutionSelection.............................................................................................................................11
CurrentControlDetail............................................................................................................................................11
FineTuning............................................................................................................................................................11
9.ProtectionFunctions.................................................................................................................................................. 12
Over-currentProtection......................................................................................................................................... 12
Over-voltageProtection ........................................................................................................................................ 12
Position ErrorProtection.......................................................................................................................................12
ProtectionIndications............................................................................................................................................ 12
10.FrequentlyAskedQuestions....................................................................................................................................13
ProblemSymptomsandPossibleCauses..............................................................................................................13
Warranty........................................................................................................................................................................ 14
Exclusions............................................................................................................................................................. 14
ObtainingWarrantyService .................................................................................................................................. 14
WarrantyLimitations............................................................................................................................................. 14
ShippingFailedProduct........................................................................................................................................ 14
ContactUs..................................................................................................................................................................... 15

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1.FamilyOverview
Introduction
Leadshine sIESintegratedeasyservomotorisasteppermotorintegratedwitha1,000-line(4,000PPR)encoderand
ahybridservodrive.Atverycompactsizeandwithallcomponentsintegrated,theIEScansavemountingspace,
eliminateencoderconnection&motorwiringtime, reduceinterference, andcut/reduce cableandlaborcosts.
ByadoptingLeadshine slatesthybridservocontroltechnology,thehybridservodriveoftheIEScandrivethe
steppermotorwithhighstaringtorque,highprecision,smoothmovement,andextralownoiseatlowspeed
movementwithnoobviousresonance area.Differentfromconstant-output-currentoutputfromadrivetoastepper
motorinnormalopen-loopsteppercontrols,outputcurrentoftheIESisdynamicandchangesdependingonload
condition,sameasservocontrols. Therefore,itcansignificantlyreducemotorheatingand increasemotorlifetime.
Thedrivetakesstep&directioninputcommands,andis capableofoutputtingin-position and faultsignalsbacktoa
motion controllerorexternaldevices,forcompletesystemcontrols.
Theintegrated1,000-lineencoderofcanofferthereal-timemotorshaftpositiontothedrive.Basedonthatposition,
thedrivecanthenclosetheloopbetweenthemotoranddrive,ensureno stepislost, andeliminatethepossibilityof
stall orlossofmovementsynchronizationwhichisoftenfoundinopen-loop steppersystems. Bygettingridof
torquereservationinopen-loopsteppersystems,theIEScansignificantlyimprovehighspeedperformancebyas
muchas 30%. Inaddition,theIESperformsmuchbetterinresponsetimeandspeedacceleration overopen-loop step
systems.
Comparedwithbrushless servosystems, theIEShasmuchhigherlowspeedtorque,noovershooting&zerosettling
time,noovershooting,nohunting,andno/littletuning.SignificantcostcuttingalsomakestheIESidealforthe
motion controlsystems inmanyapplications.
Applications
Leadshine sIESintegratedeasyservomotoroffersanalternativesolutiontofill thegapbetweenbudgetopen-loop
steppersystems, and expensivehigh performancebrushless servosystems.Itcombinesthefeaturesofhigh
low-speedtorqueofopenloop stepper,andclosed-loop movementsoftraditionalservosystems. Integrationdesign
withmotor,drive,andencodersignificantlyreducessetuptimeandcutcosts ofyourcontrolsystems.
Advancedfeaturesoveropen-loop steppersystems,suchasmuchhigherhigh-speedtorque,noloss ofmovement
synchronization,muchlowermotorheating,noobviousresonance area,etc.,maketheIESidealproductfor
upgradingsteppersystemstogetperformanceboostformanystepperapplicationssuchasCNCrouters,CNClaser
cutting machines,CNCmillingmachines, CNClathes,medical/biotechequipments,labautomationinstruments,
etc.
Featuresovertraditionalbrushlessservosystems,suchassignificantlowercosts,nohunting,noovershooting,easy
setup,etc., maketheIESidealproductsinmanytraditionalservo applicationssuchasshortdistancemovement
bodingtypemachinesandvisionapplications. Itsnaturalfeatureofhighlow-speedtorquemakestheIESaperfect
productforreplacingmanyhigh-costservo applicationswithgearheadspeedreduction.

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ProductCovered
ThismanualcoverstheLeadshineintegratedeasyservoproductsas showninthefollowingtable:
Part
Number
Input
Voltage
Pulse
Voltage
Control
Mode Output Pulse Frequency
Motor
Holding
Torque
IES-2309 DC
(20-50)V
DC
(0-24)V
Pulse/Direction
CW/CCW(Optional)
In-position
Alarm
200K(Default)
500K(Optional) 0.9Nm
IES-2320 DC
(20-50)V
DC
(0-24)V
Pulse/Direction
CW/CCW(Optional)
In-position
Alarm
200K(Default)
500K(Optional) 2.0Nm
MechanicalSpecifications
EliminationofHeat
·Driveboard sreliableworkingtemperature(case)shouldbe<70 (158 ),and motorworking
temperature(surface)shouldbe<80 (176 );
·Itis recommendedtoset40%holding currentpercentageanduseautomaticidle-currentmode,namelycurrent
automaticallyreduce to40% whenmotorstops,soastoreducedriverheating and motorheating;
·Refer tothesoftwareoperatingmanual forhowtoset holdingcurrent.
PartNumber Holding
Torque
Motor
Length(L)
Lengthof
Motor+Drive
Weight
IES-2309 0.9Nm 56mm 87.65mm 800g
IES-2320 2.0Nm 80mm 111.65mm 1280g

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·Itis recommendedtomounttheintegratedinaspaceallowingairflowforgood heatconduction.Useforced
coolingmethodtocoolthesystemifnecessary.
2.Connectors and PinAssignment
TheIES23hasthreeconnectors,aconnectorforcontrolsignalsconnections,aconnectorforRS232 communication
connectionsandaconnectorforpowerconnections.
ThecontrolsignalinputsincludePULSE,DIRECTIONandENABLEand thecontrolsignaloutputsincludePED
(In-position)andALARM.Alltheabovecontrolsignalsareintegratedintooneconnector.
ControlSignalConnector
Pin Name I/O Description
1 PUL+ I
PulseSignal:Insinglepulse(pulse/direction)mode,thisinputrepresents pulsesignal,active
eachrisingorfallingedge(SetbyDIPswitchS6);Indoublepulsemode(software
configurable),thisinputrepresentsclockwise(CW)pulse,activebothathighleveland low
level.4.5-24VwhenPUL-HIGH,0-0.5VwhenPUL-LOW.Forreliableresponse,pulsewidth
shouldbelongerthan2.5μsfor200KMAXinputfrequencyor1μsfor500KMAXinput
frequency.
2 PUL- I
3 DIR+ I
DirectionSignal:Insingle-pulsemode,thissignalhaslow/highvoltagelevels,representing
twodirectionsofmotorrotation.Indouble-pulsemode(softwareconfigurable),thissignalis
counter-clock(CCW)pulse,activebothathighlevelandlowlevel.Forreliablemotion
response,DIRsignalshouldbeaheadofPULsignalby5μsatleast.4.5-24VwhenDIR-HIGH,
0-0.5VwhenDIR-LOW.ThemotordirectioncanalsobechangedbyDIPswitchS5.Please
notethatrotationdirectionisalsorelatedtomotor-driverwiringmatch.Exchangingthe
connectionoftwowiresforacoil tothedriverwillreversemotiondirection.
4 DIR- I
Power InputConnector
RS232CommunicationConnector
ControlSignalConnector

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HWMN-IES-R20121030
ControlSignalConnector(Continued)
Pin Name I/O Description
5 ENA+ I Enablesignal:This signalis usedforenabling/disablingthedriver.Indefault, highlevel(NPN
controlsignal)forenablingthedriverand lowlevelfordisabling thedriver.Usuallyleft
UNCONNECTED(ENABLED). PleasenotethatthePNPandDifferentialcontrolsignalsare
onthecontrary,namelyLowlevelforenabling.TheactivelevelofENAsignalissoftware
configurable.
6 ENA- I
7 PED+ O
In-positionSignal:OCoutputsignal,activatedwhenactualmotorpositionreachestothe
target.ThisportcansinkorsourceMAX20mAcurrentat24V.Indefault,theimpedance
betweenPED+andPED-ishighimpedanceinnormaloperationand becomeslowwhenthe
targetisreached.Theactiveimpedance ofin-positionsignalcanbesoftwareconfigurable
(seesoftwaremanual).
8 PED- O
9 ALM+ O
AlarmSignal:OCoutputsignal, activatedwhenoneofthefollowingprotection isactivated:
over-voltage,overcurrentandpositionfollowingerror.Thisportcansink orsourceMAX
20mAcurrentat24V.Indefault,theimpedance betweenALM+ andALM- is lowimpedance
innormaloperationandbecomeshighwhenanyprotectionisactivated.Theactive
impedanceofalarmsignalis softwareconfigurable.
10 ALM- O
Thepowerinputconnectorisatwopinscrewterminal. Ithas the+VdcandGND inputswhichcorrespondingtothe
positiveandnegativeoutputthepowersupply, respectively.
PowerConnector
Pin Name I/O Description
1 +Vdc I PowerSupplyInput(Positive),20-45VDCrecommended,leavingroomsforvoltage
fluctuationandback-EMFduringdeceleration.
2 GND GND
PowerGround(Negative)
TheRS232communicationconnectorisusedtoconfiguretheprogrammableparameterslikemicrostep,holding
currentpercentage,activeedge/levelofcontrolsignal,etc.APCwithatleastoneserialportisrequired.Youcan
copythesoftwareeitherfrom http://www.leadshine.com orformLeadshineCD. Seethedetail insoftwaremanual.
RS232CommunicationConnector
Pin Name I/O Description
1 +5V O +5Vpoweroutput(Note:DonotconnectittoPC sserialport)
2 TxD
O RS232transmit.
3 GND
GND Ground.
4 RxD
I RS232receive.
5 NC - Notconnected.

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3.ControlSignalRequirement
ControlModeand Sequence Chart
Bydefault theIESintegratedmotorsupportsPulse/Directioncontrolmode.If CW/CCWcontrolmodeisneeded,
youcanusethePCsoftwaretochangeit.Seemoreinformationinthesoftwaremanual.Inordertoavoidproblems
suchasmotornotmoving,losing stepsand onlyrunning atlowspeed,thePULSE,DIRECTIONandENABLE
signalmusthavethefollowingsequence:
Symbol Description Requirement
tDS DirectionSetup Time >2us
tPHS/ tPLS PulseHighLevelSetupTime
/PulseLowLevelSetup Time
>2.5us, (For200KMAXfrequency)
>1.0us, (For500KMAXfrequency)
tDD DirectionDelayTime -
tES EnableSetup Time >42.1ms
tED EnableDelayTime >5us

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4.ConnectingControlSignal
TheIESacceptsbothdifferentialandsingle-endedinputs(including open-collectorandPNPoutput).Choose
suitableconnectionstypeaccordingtothecontrollertype.Makesuretheoutputportofthecontrollercansinkor
source atleast10mAcurrentfortheinputisolatedopto-coupler.Ifthecablelengthisgreaterthan50cm,itis
recommendedtousetwistedshieldedpaircableforthesesignal.Donotputthecontrolsignalcabletogetherwiththe
cableswhichisusedforhighpowerorhigh currentequipment,incaseofelectronicinterferencecoupledintothe
IESthroughair.
NPNSignalConnections
Ifthemotion controllerisnotdifferential
outputtype,recommendedtoselect
motion controllerwithNPNtypeoutput
asitcansinkmorecurrentthansource
current.Inthisconnection,Pulse,
DirectionandEnablesignalsharethe
sameVCC(Positive)terminal.
PNPSignalConnections
Inthisconnection,Pulse,Directionand
Enablesignalsharethesameground
(negative)terminal.
DifferentialSignalConnections
Fordifferentialoutputcontroller,connect
totheintegratedstepperaccordingly.
Drive
Controller
VCC
PUL-
PUL+
ENA-
PUL
DIR
ENABLE
DIR-
DIR+
ENA+
DriveController
PUL-
PUL+
ENA-
DIR-
DIR+
ENA+
PUL-
PUL+
ENA-
DIR-
DIR+
ENA+
Drive
Controller
VCC PUL-
PUL+
ENA-
PUL
DIR
ENABLE
DIR-
DIR+
ENA+

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Output SignalConnections
TheIESintegratedstepperoffersthePED
(in-position)signaltoindicatethe
achievementoftargetposition.TheALM
signalwillbeactivewhentheintegrated
steppergoesintoerror.TheoutputofPED
andALMisisolatedand youcanconnect
themtotheinputsofthecontrolleras
shownintherightfigure.
5.Power SupplySelection
Toachievegooddrivingperformances,itisimportanttoselectsupplyvoltageandoutputcurrentproperly. Generally
speaking,supplyvoltagedeterminesthehighspeedperformance ofthemotor,whileoutputcurrentdeterminesthe
outputtorqueofthedrivenmotor(particularlyatlowerspeed).Highersupplyvoltagewillallowhighermotorspeed
tobeachieved, atthepriceofmorenoiseandheating.Ifthemotionspeedrequirementislow, it sbettertouselower
supplyvoltagetodecreasenoise,heatingandimprovereliability.
RegulatedorUnregulatedPowerSupply
Bothregulatedandunregulatedpowersuppliescanbeusedtosupplythedrive.If regulatedpowersupplies(suchas
mostswitchingsupplies.)areindeedused,it isimportanttohavelargecurrentoutputratingtoavoidproblemslike
currentclamp,forexampleusing4Asupplyfor3Amotor-driveoperation.Ontheotherhand,ifunregulatedsupply
isused,onemayuseapowersupplyoflowercurrentratingthanthatofmotor(typically50%～70%ofmotor
current).Thereasonisthatthedrivedrawscurrentfromthepowersupplycapacitoroftheunregulatedsupplyonly
duringtheON durationofthePWMcycle,butnotduringtheOFFduration.Therefore,theaveragecurrent
withdrawnfrompowersupplyisconsiderablylessthanmotorcurrent.Forexample,two3Amotorscanbewell
suppliedbyonepowersupplyof4Arating.
MultipleDrives
Itisrecommendedtohavemultipledrivestoshareonepowersupplytoreducecost,ifthesupplyhasenough
capacity. Toavoidcrossinterference,DO NOTdaisy-chainthepowersupplyinputpinsofthedrives.Instead,please
connectthemtopowersupplyseparately.
Drive Controller
VCC
PED-
PED+
In-Position
ALM-
ALM+
Alarm
GND

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SelectingSupplyVoltage
Highersupplyvoltagecanincreasemotortorqueathigherspeeds,thushelpfulforavoidinglosingsteps.However,
highervoltagemaycausebiggermotorvibrationatlowerspeed,and itmayalsocauseover-voltageprotection or
evendrivedamage.Therefore,itissuggestedtochooseonlysufficientlyhighsupplyvoltageforintended
applications, and it issuggestedtousepowersupplieswiththeoreticaloutputvoltageofdrive sminimum+10%to
drive s maximum –10%, leavingroomforpowerfluctuationandback-EMF.
DriverInputVoltage
DriverUpper Input limit
PowerSupplyVoltage
Heating
Vibration
MaximumSafeRating
DriverUpper Input limit 10%
DriverLower Input limit +10%
DriverLowerInputlimit
MinimumSafeRating
Torque
Speed
SafeRegion
DriverInputVoltage
DriverUpper Input limit
PowerSupplyVoltage
Heating
Vibration
MaximumSafeRating
DriverUpper Input limit 10%
DriverLower Input limit +10%
DriverLowerInputlimit
MinimumSafeRating
Torque
Speed
SafeRegion
RecommendedSupplyVoltage
BothLeadshine sregulatedandunregulatedpowersupplyhasbeendesignedspeciallyformotioncontrol.
Model VoltageRange TypicalVoltage LeadshinePowerSupply
IES-2309 DC(20-50)V DC24V RPS2410(RPS2410-L)
IES-2320 DC(20-50)V DC36V RPS369

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6.TypicalConnections
TypicalconnectionsofIES-23xx forNPNcontrolsignalisas follows.
IES-23XX
DIR+
Controller
VCC
PUL-
270O
270O
270O
PUL+
ENA-
Pulse
Direction
Enable
DIR-
ENA+
ALM-
ALM+
Alarm
+Vdc
GND
20~45VDC
PED-
In-Positon
PED+
VCC =5-24V
·Inordertoimproveanti-interferenceperformanceofthedrive,itisrecommendedtousetwistedpairshieldcable.
·TopreventnoiseincurredinPUL/DIRsignal,pulse/direction signalwiresand motorwiresshouldnotbetiedup
together.Itisbettertoseparatethembyatleast10cm,otherwisethedisturbingsignalsgeneratedbymotorwill
easilydisturbpulsedirectionsignals,causing motorposition error,systeminstabilityandotherfailures.
·Ifapowersupplyservesseveraldrives,separatelyconnectingthedrivesisrecommendedinsteadof
daisy-chaining.
·ItisprohibitedtopullandplugpowerconnectorwhilethedriveispoweredON,becausethereishighcurrent
flowingthroughmotorcoils (evenwhenmotorisatstandstill).Pullingorpluggingpowerconnectorwithpoweron
will causeextremelyhighback-EMFvoltagesurge, whichmaydamagethedrive.
7.RS232 CommunicationConnections
TheRS232 communicationonlyuseTransmit,
Receiveandgroundsignals.Connectthemtothe
serialportaccordingly.Therightdrawing shows
theRS232communication cablewitha9-pin
D-Shellfemaleconnector.
1
FemaleDB9
(Lookfromthefrontside)
GND
5
6
2
9
TXD
RXD
NC
1
4
3
2
34
78
NC
5
iSS57-XX
RS232CommunicationPins

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8.ConfiguringtheDrive
Introduction
ThereisonlyoneDIPswitchtoselectthemicrostepresolution,changemotordirectionandactiveedgeofpulse
edge.Themotorcurrentwillbeadjusteddynamicallyaccordingtoloadcondition.
MicrostepresolutionoftheIEScanbeconfiguredviaa4-bitDIPswitch,orLeadshine stuningsoftwareProTuner.
WhenallbitsoftheDIPswitchareat “ON”positions,theintegratedhybridservodriveboardwilltakethemicro
stepresolutionsetting setbythesoftware(4000 bydefault).Inthiscase,ausercanre-configuretheresolutiontoany
valuebetween200and102,400 (increasedby1)throughsoftware.If anybitoftheDIPswitchis at “OFF”position,
theintegrateddriveboardwilltakemicrosteprevolutionsettingdeterminedbybitpositionsoftheDIPswitch.Use
thefollowing tablefortheirresolutionsettings viatheDIPswitch.
MicroStepResolution
Steps/Revolution S1 S2 S3 S4
SoftwareConfigured
(Default4000) On On On On
800 Off On On On
1600 On Off On On
3200 Off Off On On
6400 On On Off On
12800 Off On Off On
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
MotorRotationDirection
S5
DIPswitchS5isusedforchangingmotorshaftrotationdirection.Changing
positionfrom “ON”to “OFF”,or “OFF”to “ON”willreverseIES-2309
rotation direction.
PulseActiveEdge
S6
On Off
Activerisingedgeofinputpulse Activefallingedgeofinputpulse

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MicrostepResolutionSelection
Thesteppermotormovesonestepwhenonepulseis appliedtothestepperdrive.Ifmicrostepis1,thestepangleisa
fullstepwhichis1.8degreefor2-phasesteppermotorand 1.2degreefor3-hpasesteppermotor.Microstepcanbe
takenas thedivisionsofonefullstep. Forexample,steppermotormoveshalfofthefull stepwhenthemicrostepis2.
For2-phasesteppermotoranddrive,wehavethefollowingformulatocalculatethemicrostepresolution,orpulse
countsofonemotorshaftrevolution:
MicrostepsolutionMicrostep ´= 200Re
Themotorspeedcanbecalculatedasfollows:
solutionMicrostep
FrequencyInputPulse
RPSSpeedMotor
Re
)( =
Whenselecting thedrive smicrostepresolutionforthesystem:
·ConsidertheMAX speedneeded, MAXinputfrequencyofdriverandMAXoutputfrequencyofthecontroller.
·Microstepresolutionof1600pulses/revolution (8microstep)issuitableformostapplication.
·Microstepresolutionofgreaterthan1600 onlyincreases smoothnessbutnotresolution.
CurrentControlDetail
Leadshine sIESintegratedstepservomotorisintegratedwithahigh-resolution1,000-lineopticalincremental
encoder.Thatencodercansendthereal-timeshaftposition backtotheintegrateddriveoftheIES.Liketraditional
servocontrols, thedrivecanautomaticallyadjusttheoutputcurrenttothemotor.Theoutputcurrentrangesbetween
theholding currentandtheclose-loopcurrent.Whenthereisno pulsesenttothedrive,theIESgoesintoidlemode
andtheactualmotorcurrentisdeterminedbytheholdingcurrentpercentage(similarto “idlecurrent”ofopenloop
stepperdrives).Innormalworking mode,theIESmonitorstheactualshaftpositionallthetime.Thecurrent
outputtedtothemotorchangesdynamicallybasedonthetrackingerrorbetweentheactualpositionandthe
commandedposition.
Lowholdingcurrentcanreducemotorheatinghoweveralsoreducestheholdingtorquewhichisusedtolockthe
motorshaftatstandstill.Itisrecommendedtodeterminetheholdingcurrentbywhetherornotthereisbigvibration
atstart-up andhowmuchlocktorqueisrequired,basedonyouractualapplications.
FineTuning
Leadshinealreadyloadsdefaultcurrent-loopparametersandposition-loopparameters.Thosedefaultparameter
valueshavebeenoptimized.Theyshouldbegoodenoughformostindustrialapplications,andthereisnoneedto
tunethem.However,ifyouwanttofinetunetheIESforbestperformanceforyourapplications,Leadshinealso
offerstuningsoftware,ProTuner,whichallowsyoutoadjustthosecurrent-loopandposition-loopparameters(see
softwaremanual).

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9.ProtectionFunctions
Toimprovereliability,theIESincorporatessomebuilt-inprotectionfunctions.TheIntegratedstepperusesonered
LEDtoindicatetheprotectiontype.Theperiodictimeofredis4s(seconds),andtheblinkingtimesofredLED
indicateswhatprotectionhasbeenactivated. BecauseonlyoneprotectioncanbedisplayedbyredLED, sothedrive
willdecidewhaterrortodisplayaccordingtotheirpriorities.Seethefollowing ProtectionIndicationstablefor
displayingpriorities.
Over-current Protection
Over-currentprotectionwillbeactivatedwhencontinuouscurrentexceeds18Aorincaseofshortcircuitbetween
motorcoilsorbetweenmotorcoil andground, andREDLEDwill blinkonce withineachperiodictime.
Over-voltageProtection
Whenpowersupplyvoltageexceeds60VDC, protectionwillbeactivatedandredLEDwillblink twicewithineach
periodictime.
!
Caution
Whenaboveprotectionsareactive,themotorshaftwillbefreeortheLEDwillblink.Reset
thedrivebyrepowering ittomakeitfunctionproperlyafterremoving aboveproblems.Since
thereisnoprotectionagainstpowerleads(﹢,﹣)reversal,itiscriticaltomakesurethatpower
supplyleadscorrectlyconnectedtodrive.Otherwise,thedrivewillbedamagedinstantly.
PositionErrorProtection
Whenthepositionerrorexceedsthelimit(softwareconfigurable,seesoftwaremanual),position,protectionwillbe
activatedand redLEDwillblinkseventimeswithineachperiodictime.
ProtectionIndications
Priority
Time(s)of
Blink Sequence waveofredLED Description
1st 1
Over-currentprotectionactivatedwhenpeak
currentisgreaterthan18A
2nd 2
Over-voltageprotectionactivatedwhendrive
workingvoltageis greaterthan60VDC
3rd 7
Positionfollowingerror
activatedwhenposition
followingerrorlimit exceededthepre-set
value
(1000 pulsesbydefault,orvaluesetvaluebya
customer)

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10.FrequentlyAskedQuestions
Intheeventthatyourdrivedoesn toperateproperly,thefirststepistoidentifywhethertheproblemiselectricalor
mechanicalinnature.Thenextstepistoisolatethesystemcomponentthatiscausing theproblem.Aspartofthis
processyoumayhavetodisconnecttheindividualcomponentsthatmakeupyoursystemandverifythatthey
operateindependently.Itisimportanttodocumenteachstepinthetroubleshootingprocess. Youmayneedthis
documentationtoreferbacktoatalaterdate,andthesedetailswillgreatlyassistourTechnicalSupportstaff in
determiningtheproblemshouldyouneedassistance.
Manyoftheproblemsthataffectmotioncontrolsystemscanbetracedtoelectricalnoise,controllersoftwareerrors,
ormistakeinwiring.
ProblemSymptomsandPossibleCauses
Symptoms PossibleProblems
Motor isnotrotating
Nopower
Microstepresolutionsettingiswrong
Faultconditionexists
Thedriveisdisabled
Motorrotatesinthe
wrong direction TheDirectionsignallevelisreverse
Thedriveinfault
Powersupplyvoltagebeyonddrive sinputrange
Somethingwrong withmotorcoil
Wrong connection
Erraticmotor motion
Controlsignalis tooweak
Controlsignalis interfered
Somethingwrong withmotorcoil
Motorisundersizedfortheapplication
Accelerationissettoohigh
Powersupplyvoltagetoolow
Excessivemotorand
driveheating
Inadequateheatsinking/cooling
Loadistoo high

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HWMN-IES-R20121030
Warranty
LeadshineTechnologyCo., Ltd.warrantsitsproductsagainstdefectsinmaterialsandworkmanshipforaperiodof
12monthsfromshipmentoutoffactory.During thewarrantyperiod,Leadshinewilleither,atitsoption,repairor
replaceproducts whichprovedtobedefective.
Exclusions
Theabovewarrantydoesnotextendtoanyproductdamagedbyreasonsofimproperorinadequatehandlingsby
customer,improperorinadequatecustomerwirings,unauthorizedmodificationormisuse,oroperation beyondthe
electricalspecificationsoftheproductand/oroperationbeyondenvironmentalspecificationsfortheproduct.
ObtainingWarrantyService
Toobtainwarrantyservice,areturnedmaterialauthorization number(RMA)mustbeobtainedfromcustomer
serviceate-mail:beforereturningproductforservice.Customershall prepayshipping chargesforproducts
returnedtoLeadshineforwarrantyservice,andLeadshineshallpayforreturnofproductstocustomer.
WarrantyLimitations
Leadshinemakesnootherwarranty,eitherexpressedorimplied,withrespecttotheproduct.Leadshinespecifically
disclaimstheimpliedwarrantiesofmerchantabilityandfitnessforaparticularpurpose.Somejurisdictionsdonot
allowlimitations onhowlongandimpliedwarrantylasts, sotheabovelimitation orexclusion maynotapplytoyou.
However,anyimpliedwarrantyofmerchantabilityorfitnessislimitedtothe12-monthdurationofthiswritten
warranty.
ShippingFailedProduct
Ifyourproductfail during thewarrantyperiod,e-mailcustomerserviceattoobtainareturnedmaterialauthorization
number(RMA)beforereturning productforservice.Pleaseincludeawrittendescriptionoftheproblemalongwith
contactnameandaddress.Sendfailedproducttodistributorinyourareaor:LeadshineTechnologyCo.,Ltd.3/F,
Block2,Nanyou TiananIndustrialPark,NanshanDist,Shenzhen,China.Alsoencloseinformationregardingthe
circumstancespriortoproductfailure.

HardwareInstallationManualoftheIESSeries
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HWMN-IES-R20121030
ContactUs
ChinaHeadquarters
Address: 3/F,Block2,NanyouTiananIndustrialPark,NanshanDistrictShenzhen,China
Web: http://www.leadshine.com
SalesHotLine:
Tel: [phone](forAsia, Australia, Africaregion)
86-755-2640-9254(forEuroperegion)
86-755-2641-7617(forAmericaregion)
Fax: [phone]
Email: [e-mail].
TechnicalSupport:
Tel: [phone]
Fax: [phone]
Email: [e-mail](for All)
LeadshineU.S.A
Address: 25Mauchly, Suite318 Irvine, California92618
Tel: [phone]
Fax: [phone]
Web: http://www.leadshineUSA.com
Email: [e-mail] and [e-mail].