Leadshine CS3E Series User Manual
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Leadshine CS3E Series User Manual

Ethercat closed loop stepper drive
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CS3E Series EtherCAT Closed Loop Stepper Drive User Manual
User Manual
CS3E Series
EtherCAT Closed Loop Stepper Drive
Revision 1.0
©2018 Leadshine Technology Co., Ltd.
Address: Floor 11, Block A3, Nanshan iPark, Xueyuan Avenue 1001, Shenzhen, Guangdong, 518055, China
Tel: (86)755-26409254
Fax: (86)755-26402718
Web:
www.leadshine.com
Sales:
sales@leadshine.com
Support:
tech@leadshine.com
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  • Page 1 CS3E Series EtherCAT Closed Loop Stepper Drive User Manual User Manual CS3E Series EtherCAT Closed Loop Stepper Drive Revision 1.0 ©2018 Leadshine Technology Co., Ltd. Address: Floor 11, Block A3, Nanshan iPark, Xueyuan Avenue 1001, Shenzhen, Guangdong, 518055, China Tel: (86)755-26409254...
  • Page 2 CS3E Series EtherCAT Closed Loop Stepper Drive User Manual ETC Laboratory Conformance Test Passed EtherCAT ® is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany. Thank you for purchasing Leadshine CS3E Series Products ◆ Please read this manual carefully before operating ◆...
  • Page 3 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.
  • Page 4 CS3E Series EtherCAT Closed Loop Stepper Drive User Manual Preface Thank you for choosing CS3E series EtherCAT closed loop stepper drive system of Leadshine Technology Co., Ltd. This manual gives required knowledge & precautions for using CS3E series closed loop stepper drives.

  • Page 5: Table Of Contents

    CS3E Series EtherCAT Closed Loop Stepper Drive User Manual Content Table 1 Introduction............................. 7 1.1 Product Introduction............................7 1.2 Features................................7 1.3 EtherCAT Compare with Step/Direction......................7 1.3.1 Stronger anti-disturbance ability......................7 1.3.2 Enhanced performance........................7 1.3.3 Simple wiring and long communication distance................7 1.3.4 Lower cost............................
  • Page 6 CS3E Series EtherCAT Closed Loop Stepper Drive User Manual 3.3.5 CN4-I/O Signals Connector......................20 3.3.6 CN5-EtherCAT Communication Connector..................21 3.3.7 CN6-Micro USB Tuning Port......................21 3.3.8 Salve ID (Site Alias) Setting......................22 3.3.9 Two 7-Segment..........................22 3.4 I/O Interface and Corresponding Parameters Setting...................22 3.4.1 Digital Input............................22...

  • Page 7: Introduction

    (CSP). The products can be matched with many brands of EtherCAT controller/PLC such as Beckhoff, Omron, Trio, Keneyce etc. The CS3E series is highly reliable and affordable and performs excellently in many industrial applications such as solar equipment, textile, civil, robotics, power generation equipment, 3C, packaging...
  • Page 8 CS3E Series EtherCAT Closed Loop Stepper Drive User Manual Their connection typologies are as below: Step/direction Topology B (Control Card) Step/direction Topology A (Controller/PLC) Control card Modules Controller/PLC cost disturb disturb Figure 1.1: Step/direction Topology EtherCAT Topology (Controller/PLC) EtherCAT master...

  • Page 9: Check Of Product

    CS3E Series EtherCAT Closed Loop Stepper Drive User Manual 1.4 Check of Product 1.4.1 Arrival inspection Check whether the surface of the product is damaged or not during transportation.  Check the nameplate models of the drive and motor are what you have ordered.

  • Page 10: Part Number

    CS3E Series EtherCAT Closed Loop Stepper Drive User Manual 1.4.3 Part number 1.4.4 Parts description...

  • Page 11: Accessories Information

    CS3E Series EtherCAT Closed Loop Stepper Drive User Manual 1.4.5 Accessories Information Need to Name Necessary Picture Description cost extra Power supply cable Power supply cable with 1.5m length Motor extension Optional length: cable 1.5m,3m,5m,8m, (CABLEM-RZ*M*) 10m,12m,15m Encoder extension Optional length: 1.5m,...

  • Page 12: Installation

    CS3E Series EtherCAT Closed Loop Stepper Drive User Manual 2 Installation 2.1 Storage and Installation Conditions 2.1.1 Storage condition Correctly packaged and store in a clean and dry environment where direct sunlight is avoided.  Store within an ambient temperature ranging from -20 to +65 ...
  • Page 13 CS3E Series EtherCAT Closed Loop Stepper Drive User Manual In order to ensure the drive is well ventilated, ensure that the all ventilation holes are not obstructed and  sufficient free space is given to the drive, and a cooling fan is mounted in the control panel.

  • Page 14: Production Specifications

    CS3E Series EtherCAT Closed Loop Stepper Drive User Manual 3 Production Specifications 3.1 Electrical and Operating Specifications 3.1.1 EtherCAT Specifications Name Description Physical Layer Ethernet-100BASE-TX RJ45 (shielded) Communication ECAT IN: EtherCAT Input Connector ECAT OUT: EtherCAT Output Topology Line, Tree...
  • Page 15 CS3E Series EtherCAT Closed Loop Stepper Drive User Manual NEMA 11, 14, NEMA Matched Motor NEMA 24, 34 NEMA34 23, 24 Input Signals Home Input, Positive Limit, Negative Limit, Touch Probe, GPIOs Output Signals Brake, Alarm, In Position, GPIOs Protection Functions Over Current, Over Voltage, Position Following Error, Encoder Cable Error, etc.

  • Page 16: Wiring Instructions

    CS3E Series EtherCAT Closed Loop Stepper Drive User Manual 3.2 Wiring Instructions Note: There are two EtherCAT communication ports above, one of them is input port which connects with master  station or previous slave, and the other is output port which connects with the following slave.

  • Page 17: Ethercat Communication Cable

    CS3E Series EtherCAT Closed Loop Stepper Drive User Manual Recommend to adopt shielded twisted pair cable with a length of less than 3 meters (the shorter the better).  Wiring: As far as possible away from the power line wiring, in order to prevent interference ...

  • Page 18: Interface Specifications

    CS3E Series EtherCAT Closed Loop Stepper Drive User Manual 3.3 Interface Specifications 3.3.1 Connectors Definition Figure 3.2: CS3E series connectors Name Description Input power connector Motor connector Encoder input signals connector Digital input and output connector EtherCAT communication connector Micro USB tuning connector...

  • Page 19: Cn1-Input Power Connector

    CS3E Series EtherCAT Closed Loop Stepper Drive User Manual 3.3.2 CN1-Input Power Connector Name Signal Description 24V- 50V 3.3.3 CN2-Motor Connector Name Signal Description Motor phase A+ Motor phase B+ Motor phase A- Motor phase B- 3.3.4 CN3-Encoder Input Signals Connector...

  • Page 20: Cn4-I/O Signals Connector

    CS3E Series EtherCAT Closed Loop Stepper Drive User Manual 3.3.5 CN4-I/O Signals Connector Name Signal Description Configurable Differential Digital Input I1, 3.3V - 5V, 500KHz, Touch Probe 1 (default) Configurable Differential Digital Input I2, 3.3V - 5V, 500KHz, Touch Probe 2 (default)

  • Page 21: Cn5-Ethercat Communication Connector

    CS3E Series EtherCAT Closed Loop Stepper Drive User Manual 3.3.6 CN5-EtherCAT Communication Connector Name Signal Description 1, 9 E_TX+ EtherCAT TxD+ 2, 10 E_TX- EtherCAT TxD- 3, 11 E_RX+ EtherCAT RxD+ 4, 12 5, 13 6, 14 E_RX- EtherCAT RxD-...

  • Page 22: Salve Id (Site Alias) Setting

    CS3E Series EtherCAT Closed Loop Stepper Drive User Manual 3.3.8 Salve ID (Site Alias) Setting The Salve ID (also called Site Alias) of CS3E series can be set by the following 3 methods: Setting via Rotary Switches  When Object (2151h) is set to value ‘0’, user can set a value non-zero via the two rotary switches as the salve ID, activated after restarting the power supply.

  • Page 23: Digital Output

    CS3E Series EtherCAT Closed Loop Stepper Drive User Manual 3.4.2 Digital Output Figure 3.5: Output Interface Wiring Note: (1) The power supply (12-24VDC) above is provided by user, and if the polarity of power supply is reversed, it will damage the drive.

  • Page 24: Ethercat Object Dictionary

    4.1 Object Dictionary The CS3E-D507 follows the EtherCAT standard protocol, can communicate with the master stations which also supports the EtherCAT standard protocol. The parameters can be configured by master station’s PC software or Leadshine ProTuner software (coming soon). 4.1.1 Communication Object...
  • Page 25 CS3E Series EtherCAT Closed Loop Stepper Drive User Manual parameters to 0x64616f6c default setting 1684107116 (decimal) into sub-index. It will return save successfully Need write Restore 0x64616f6c communicatio UDIN 0-0xFFFFF 1684107116 (decimal) parameters into sub-index. It will default return save...

  • Page 26: Manufacture Specific Object

    CS3E Series EtherCAT Closed Loop Stepper Drive User Manual Number Default number of 1 UINT 0-32767 sub-index mapping object 1A00 01-0 UDIN 0-0xFFFFF Default number of 1 TXPDO-Map TXPDO-Map object object Number Default number of 2 UINT 0-32767 sub-index mapping object...
  • Page 27 CS3E Series EtherCAT Closed Loop Stepper Drive User Manual Auto-tuning at 2013-00h R/W/S UINT 1: Yes. 0: No power on Locking current Usually keep the default 201A-01h R/W/S UINT 0-100 percentage of value. power on Percentage peak current; also output...

  • Page 28: I/O Configuration Object

    CS3E Series EtherCAT Closed Loop Stepper Drive User Manual Position loop 2092-01h R/W/S UINT 0-100 Digital display 214A-00h UINT 0-255 Setting by rotary switch address state machine operating mode initial 214B-00h R/W/S UINT 0-100 status setting 1: slave ID 2: speed...

  • Page 29: Motion Objects

    CS3E Series EtherCAT Closed Loop Stepper Drive User Manual 2156-04h Output port 4 R/W/S UINT 0-65535 0x05 User defined 2156-05h Output port 5 R/W/S UINT 0-65535 0x05 User defined 2156-06h Output port 6 R/W/S UINT 0-65535 0x05 User defined 2156-07h...
  • Page 30 CS3E Series EtherCAT Closed Loop Stepper Drive User Manual -2147483648 Profile Deceleration under PP 6084 R/W/S DINT 4000 P/S^2 deceleration and PV mode -2147483647 Deceleration quick -2147483648 Quick stop 400000 6085 R/W/S DINT P/S^2 stop under PP, PV and deceleration...

  • Page 31: I/O Configuration

    CS3E Series EtherCAT Closed Loop Stepper Drive User Manual edge counter Touch probe 2 Frequency for capture of falling 60D8 UINT 0-65535 touch probe 2 falling edge edge counter Statue of digital input Digital input 60FD UDINT signals, refer to chapter...

  • Page 32: Output Signals

    CS3E Series EtherCAT Closed Loop Stepper Drive User Manual 100ms 200ms 500ms Bit 7-0 values correspond to the meaning (the input level is set by bit 7): Value when bit Value when bit 7 is Input function name 7 is set to 0...

  • Page 33: User Defined Output Function

    EtherCAT Slave Information file (XML File or ESI file) is needed to connect controller with EtherCAT Master. This file is provided by Leadshine, described slave device information as XML format based on EtherCAT specifications. Please follow the EtherCAT Master software manual for importing method.

  • Page 34: Two7-Segment And Error Code

    CS3E Series EtherCAT Closed Loop Stepper Drive User Manual 5 Two7-Segment and Error Code 5.1 Two 7-Segment CS3E-D507 has two 7-Segment with a LED indicate respectively (the right LED will be on when the drive is enabled), and the contents displayed are different in the initialization status and operational status.
  • Page 35 CS3E Series EtherCAT Closed Loop Stepper Drive User Manual Figure 5.2: Error code displayed process Displayed Error Code Error Name Description Object (603Fh) The current through power devices in E0e0 Over Current Error 0x2211 inverter exceeds the limit value. E0c0...
  • Page 36 CS3E Series EtherCAT Closed Loop Stepper Drive User Manual E243 Saving signals error 0x5533 Communication parameters E244 0x5534 saving error Motion parameters saving E245 0x5535 error Overtravel Positive / E260 0x7329 Negative input is valid Synchronizing mode is not E828...
  • Page 37 CS3E Series EtherCAT Closed Loop Stepper Drive User Manual ESM safe operation E824 Invalid input data mapping 0x8224 E825 Invalid output data mapping 0x8225 E82b Input and Output is invalid 0x8210 synchronization E830 0x8730 configuration is invalid E802 Out of memory...

  • Page 38: Common Functions

    CS3E Series EtherCAT Closed Loop Stepper Drive User Manual 6 Common Functions 6.1 Saving Parameters and Resetting Drive To save all storable parameters into EEPROM through Object (1010h), need to write “0x65766173” into sub-index 01h. To reset the drive to default parameters through Object (1011h), need to write “0x64616f6c” into sub-index 01h.
  • Page 39 CS3E Series EtherCAT Closed Loop Stepper Drive User Manual The object dictionary of each control mode are shown as below: Table 6.2: Control word Operation Index + Name Data Type Access Unit Configurat Configur Modes Sub-index ation 6040-00h Control Word —...
  • Page 40 CS3E Series EtherCAT Closed Loop Stepper Drive User Manual Latest Error Recomme 603F-00h Code 6060-00h Operation Mode — 60B0-00h Position Offset — 6082-00h Start Velocity P /S Other Related Quick Stop 6085-00h Deceleration Displayed 6061-00h — Operation Mode No matter using which operation mode, it can not be separated from the reading and writing of Control Word (6040h) and Status Word (6041h).
  • Page 41 CS3E Series EtherCAT Closed Loop Stepper Drive User Manual mode 0(x) 0(x) Quick HM mode Enable Clear 0(x) 0(x) 0(x) 0(x) error Initiation Additional information on other bits:  Bit 2 is quick stop, trigger logic is 0 effective, notice to separate from other trigger logic.
  • Page 42 CS3E Series EtherCAT Closed Loop Stepper Drive User Manual Table 6.5: State transition of each mode control operation Action Initializat Start Change PreOP Start Enable Stop Error Mode power operation position Master station Master Master Create stop 6040 station station...

  • Page 43: Touch Probe

    CS3E Series EtherCAT Closed Loop Stepper Drive User Manual 6.3 Touch Probe Touch probe function is to capture and record the actual position of the motor by using the input signal with the touch probe function. The CS3E driver has two input I/O signals to support the probe function and can be enabled at the same time.
  • Page 44 CS3E Series EtherCAT Closed Loop Stepper Drive User Manual Figure 6.1: Touch Probe Mode...

  • Page 45: Appendix A: Homing Methods

    CS3E Series EtherCAT Closed Loop Stepper Drive User Manual Appendix A: Homing Methods The CS3E series drives support homing method 1-14 (with Z signal), method 17-34, and method 35 / 37. Specific definition and the process of homing methods described below.
  • Page 46 CS3E Series EtherCAT Closed Loop Stepper Drive User Manual Method 3:  If the motor starting point is not at the HOME-SWITCH position like Situation A, it will move toward positive direction at Fast Homing Velocity (6099-01h) until the HOME-SWITCH goes ON, then the motor stops quickly and starts to move toward negative direction at Low Homing Velocity (6099-02h).
  • Page 47 CS3E Series EtherCAT Closed Loop Stepper Drive User Manual Method 5:  If the motor starting point is in the OFF state of HOME-SWITCH like Situation A,it will move toward negative direction at Fast Homing Velocity (6099-01h) until the HOME-SWITCH goes ON, then the motor has a deceleration stop and starts to move toward positive direction at Low Homing Velocity (6099-02h).
  • Page 48 CS3E Series EtherCAT Closed Loop Stepper Drive User Manual Method 7:  If the motor starting point is in the OFF state of HOME-SWITCH and Positive Limit like Situation A, it will move toward positive direction at Fast Homing Velocity (6099-01h) until the HOME-SWITCH goes...
  • Page 49 CS3E Series EtherCAT Closed Loop Stepper Drive User Manual Figure 7-8 Method 8 Method 9: If the motor starting point is in the OFF state of HOME-SWITCH and Positive Limit , it will move  toward positive direction at Fast Homing Velocity (6099-01h), and have a deceleration stop after leaving...
  • Page 50 CS3E Series EtherCAT Closed Loop Stepper Drive User Manual Method 10：  If the motor starting point is in the OFF state of HOME-SWITCH and Positive Limit, it will move toward positive direction at Low Homing Velocity (6099-02h), it will stop at the first effective Z signal during the OFF state of HOME-SWITCH, as shown in Situation A of Figure 7-10.
  • Page 51 CS3E Series EtherCAT Closed Loop Stepper Drive User Manual Figure 7-11 Method 11 Method 12：  If the motor starting point is in the OFF state of HOME-SWITCH and Negative Limit, it will move toward negative direction at Low Homing Velocity (6099-02h), and the motion stops at the first effective Z signal during the ON state of HOME-SWITCH, as shown in Situation A of Figure 7-12.
  • Page 52 CS3E Series EtherCAT Closed Loop Stepper Drive User Manual Method 13：  If the motor starting point is in the OFF state of HOME-SWITCH and Negative Limit, it will move toward negative direction at Fast Homing Velocity (6099-01h), and has a deceleration when leaving...
  • Page 53 CS3E Series EtherCAT Closed Loop Stepper Drive User Manual Figure 7-14 Method 14 Method 17： Figure 7-15 Method 17...
  • Page 54 CS3E Series EtherCAT Closed Loop Stepper Drive User Manual Method 18： Figure 7-16: Method 18 Method 19： Figure 7-17 Method 19 Method 20: Figure 7-18 Method 20...
  • Page 55 CS3E Series EtherCAT Closed Loop Stepper Drive User Manual Method 21: Figure 7-19 Method 21 Method 22: Figure 7-20 Method 22 Method 23: Figure 7-21 Method 23...
  • Page 56 CS3E Series EtherCAT Closed Loop Stepper Drive User Manual Method 24: Figure 7-22 Method 24 Method 25: Figure 7-23 Method 25...
  • Page 57 CS3E Series EtherCAT Closed Loop Stepper Drive User Manual Method 26: Figure 7-24 Method 26 Method 27: Figure 7-25 Method 27...
  • Page 58 CS3E Series EtherCAT Closed Loop Stepper Drive User Manual Method 28: Figure 7-26 Method 28 Method 29:...
  • Page 59 CS3E Series EtherCAT Closed Loop Stepper Drive User Manual Figure 7-27 Method 29 Method 30: Figure 7-28 Method 30 Method 35/37: Figure 7-29 Method 35/37...

  • Page 60: Appendix B: Object Dictionary

    CS3E Series EtherCAT Closed Loop Stepper Drive User Manual Appendix B: Object Dictionary Sub- Default Index Name Access Type Range Unit Remark index Value Refer CIA 402 1000 Device type UINT 0-32767 0x40912 profile Type error 1001 Error register USINT...
  • Page 61 CS3E Series EtherCAT Closed Loop Stepper Drive User Manual successfully Need write Restore 0x64616f6c communicatio 0-0xFFFFF 1684107116 (decimal) parameters UDINT into sub-index. It will default return save setting successfully Need write Restore 0x64616f6c motion 0-0xFFFFF 1684107116 (decimal) UDINT parameters to into sub-index.
  • Page 62 CS3E Series EtherCAT Closed Loop Stepper Drive User Manual 0-0xFFFFF Default number of 1 01-08 UDINT TXPDO-Map TXPDO-Map object object Number Default number of 2 UINT 0-32767 sub-index mapping object 1A01 0-0xFFFFF Default number of 2 01-08 TXPDO-Map UDINT TXPDO-Map object...
  • Page 63 CS3E Series EtherCAT Closed Loop Stepper Drive User Manual Locking current Usually keep R/W/S UINT 0-100 percentage qt default value. power on Percentage peak current; also output Open loop current in open loop output current R/W/S UINT 0-100 mode. Only available...
  • Page 64 CS3E Series EtherCAT Closed Loop Stepper Drive User Manual Digital display Setting rotary 214A UINT 0-255 address switch 0: state machine / operating mode initial 214B R/W/S UINT 0-100 status setting 1: slave ID 2: speed Velocity loop R/W/S UINT...
  • Page 65 CS3E Series EtherCAT Closed Loop Stepper Drive User Manual Output port 7 UINT 0-65535 0x03 Brake bit0: over current, bit1: over voltage 2056 Fault detection R/W/S UINT 0-65535 65535 bit2: position error, bit4: break wire detection 603F Error code UINT 0-65535 Refer to chapter 5.2...
  • Page 66 CS3E Series EtherCAT Closed Loop Stepper Drive User Manual -21474836 Start velocity under PP 6082 Start velocity R/W/S DINT mode -21474836 -21474836 Profile P/S^ Acceleration under PP 6083 R/W/S DINT 4000 acceleration and PV mode -21474836 -21474836 Profile P/S^ Deceleration under PP...
  • Page 67 CS3E Series EtherCAT Closed Loop Stepper Drive User Manual -21474836 falling edge -21474836 Data value sensed by Touch probe 2 60BC DINT touch probe 2 at rising positive value -21474836 edge -21474836 Data value sensed by Touch probe 2 60BD...

  • Page 68: Appendix C: Leadshine Compatible Closed Loop Stepper Motors

    CS3E Series EtherCAT Closed Loop Stepper Drive User Manual Appendix C. Leadshine Compatible Closed Loop Stepper Motors The following Leadshine stepper motors with 1000-line encoders have been tested working with the CS3E closed loop stepper drive in link. Frame Torque...
  • Page 69 24VDC brake integrated CS-M234120WP 12.0 / 1698 164 / 3.82 IP67 rated Note: all above stepper motors are mounted with 1000-line incremental encoders, also can contact with Leadshine for stepper motors with 2500-line, 5000-line encoders and other NEMA08, 11, 16 motors.

  • Page 70: Appendix D: Leadshine Compatible Power Supplies

    CS3E Series EtherCAT Closed Loop Stepper Drive User Manual Appendix D. Leadshine Compatible Power Supplies It is highly suggested to use the following Leadshine power supplies to power CS3E drives to get optimized performance. Those power supply are specially designed for stepper and servo controls.

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