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Leadshine CS3E-E Series User Manual

Ethercat closed loop stepper drive
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CS3E-E Series EtherCAT Closed Loop Stepper Drive User Manual
User Manual
CS3E-E Series
EtherCAT Closed Loop Stepper Drive
For models of CS3E-D503E, CS3E-D507E
©2020 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-E Series EtherCAT Closed Loop Stepper Drive User Manual User Manual CS3E-E Series EtherCAT Closed Loop Stepper Drive For models of CS3E-D503E, CS3E-D507E ©2020 Leadshine Technology Co., Ltd. Address: Floor 11, Block A3, Nanshan iPark, Xueyuan Avenue 1001, Shenzhen, Guangdong, 518055, China...
  • Page 2 CS3E-E Series EtherCAT Closed Loop Stepper Drive User Manual CS3E-E Passed the ETC Laboratory Conformance Tested EtherCAT ® is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany. Thanks for purchasing Leadshine CS3E-E Series Products ◆ Please read this manual carefully before using product ◆...
  • Page 3 CS3E-E Series EtherCAT Closed Loop Stepper Drive User Manual Record of Revisions Reversion Data Description of Release Signed V1.0 11/02/2017 Initial Release V1.2 06/01/2020 Reduction of some IO ports, change ESI file...
  • Page 4 Preface Preface Thank you for choosing CS3E-E EtherCAT Closed Loop stepper drive system of Leadshine Technology Co., Ltd. This manual gives required knowledge & precautions for using CS3E-E Series. About EtherCAT: EtherCAT (Ethernet for Control Automation Technology) is open network communication using real-time Ethernet between masters and slaves developed by Beckhoff Automation GmbH, Germany.

  • Page 5: Table Of Contents

    Contents Contents 1 Introduction................................7 1.1 Product Introduction..........................7 1.2 Features................................7 1.3 Check of Product............................7 1.3.1 Arrival inspection...........................7 1.3.2 Nameplate information....................... 7 1.3.3 Part number.............................8 1.3.4 Parts description..........................8 1.3.5 Accessory Cables........................... 8 2 Installation................................9 2.1 Storage and Installation Conditions....................9 2.1.1 Storage condition...........................
  • Page 6 Contents 4.1 Communication Object........................19 4.2 Manufacture Specific Object......................21 4.3 I/O Configuration Object........................24 4.3.1 Input Ports Function Value...................... 24 4.3.2 Input Ports Filter Time & Polarity Value................26 4.3.3 Output Ports Function & Polarity Value................26 4.3.4 Main Control Output Function....................27 4.4 Motion Objects............................27 4.5 XML File or ESI File..........................

  • Page 7: Introduction

    1 Introduction 1.1 Product Introduction The newly released CS3E-E series drives support CANopen over EtherCAT (CoE) control and CiA 402 operating modes including Profile Position (PP), Profile Velocity (PV), Homing (HM) and Cyclic Synchronous Position (CSP). The products can be matched with many brands of EtherCAT controller/PLC such as Beckhoff, Omron, Trio, Keneyce, etc.

  • Page 8: Part Number

    CS3E-E Series EtherCAT Closed Loop stepper drive User Manual 1.3.3 Part number 1.3.4 Parts description 1.3.5 Accessory Cables Name Necessary Picture Description Model CABLE-MUS Tuning cable Micro-USB cable B1M5 Optional length: 0.1m, 0.2m, CABLE-TX* Network cable 0.3m, 0.4m, 1m, 1.5m, 2m,...

  • Page 9: Installation

    CS3E-E 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 10 CS3E-E Series EtherCAT Closed Loop stepper drive User Manual 50mm 50mm 20mm 30mm 20mm Figure 2.2: CS3E-E series installation drawing...

  • Page 11: Production Specifications

    CS3E-E 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: EtherCAT Input and EtherCAT Output Communication Connector Micro-USB: Tuning port Topology Line, Tree Baud Rate...

  • Page 12: Cable Specifications

    CS3E-E Series EtherCAT Closed Loop stepper drive User Manual Environment Avoid dust, oil ,fog and corrosive gases Operating Temperature 0-40℃ (32 F – 104 F) Storage Temperature -20℃-65℃ (-4 F – 149 F) Operating Environment Humidity 40-90%RH Vibration 10-55Hz/0.15mm Mount Vertical or horizontal mounting 3.2 Cable Specifications...

  • Page 13: Ethercat Communication Cable

    CS3E-E Series EtherCAT Closed Loop stepper drive User Manual 3.2.3 EtherCAT Communication Cable Single-core cables can be used for fixed applications, while multi-core cables are recommended for flexible applications Specifications  Item Type B (Cable Flexible) Type A (Cable-fixed) Cross-sectional area AWG 22/1(Single solid root) AWG 22/7 (7x0.254mm)

  • Page 14: Connectors Specifications

    CS3E-E Series EtherCAT Closed Loop stepper drive User Manual 3.3 Connectors Specifications 3.3.1 Connectors Definition Figure 3.2: CS3E-E series connectors Name Description Input power connector Motor connector I/O signals connector EtherCAT communication connector Micro-USB tuning connector Encoder connector The LED for the drive's running status...

  • Page 15: Cn1-Input Power Connector

    Max. 30V/100mA. Alarm output (default) Configurable Single-ended Digital Outputs 2, OC output, Max. 30V/100mA. Brake output (default) Remark: (1) I/O interface and corresponding parameter setting refer to chapter 4.3 (2) In Leadshine MotionStudio, digital input(DI) and digital output(DO) are displayed as SI and SO.

  • Page 16: Cn4-Ethercat Communication Connector

    CS3E-E Series EtherCAT Closed Loop stepper drive User Manual 3.3.5 CN4-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 17: Cn6-Encoder Connector

    Reserved Reserved 3.3.8 DIP Switches- SW1-SW8 There are 8-bit DIP switches in CS3E-E series drives, SW1-SW7 are used to set slave ID, SW8 is used for self-test. (1) SW1-SW7 for Slave ID The slave ID (also called Site Alias) of CS3E-E series can be set by the following 3 methods:...

  • Page 18: I/O Signals Wiring

    CS3E-E Series EtherCAT Closed Loop stepper drive User Manual Setting all SW1-SW7 to ON, the EtherCAT master will configure slave ID to the address of EEPROM 0004h of ESC automatically. (2) SW8 for Self Test SW8 is used for self-test, when SW8=OFF, self-test is disabled, when SW8=ON, self-test is activated, the motor will run at a speed of 0.2r/s, back and forth 5 circles.

  • Page 19: Ethercat Object Dictionary

    4 EtherCAT Object Dictionary 4.1 Communication Object The CS3E-E Series drives 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 Motion Studio.
  • Page 20 CS3E-E Series EtherCAT Closed Loop stepper drive User Manual sub-index object RXPDO-Map Default number of 3 RXPDO-Map 01-08 UDINT 0-0xFFFFFFFF object object Number Default number of 4 mapping UINT 0-32767 sub-index object 1603 RXPDO-Map Default number of 4 RXPDO-Map 01-08...

  • Page 21: Manufacture Specific Object

    CS3E-E Series EtherCAT Closed Loop stepper drive User Manual 4.2 Manufacture Specific Object Sub- Default Index Name Access Type Range Unit Remark index value Drive's max output current. 2000 Peak current R/W/S DINT 1-100 0.1A CS3E-D503E is 25 by default;...
  • Page 22 CS3E-E Series EtherCAT Closed Loop stepper drive User Manual Distance to send "In 2032 R/W/S UINT 0-1000 Pulse Position" output signal Delay of in-position 2033 R/W/S UINT 0-1000 error de-jitter 2047 Over voltage point UINT 0-1000 2048 Bus-voltage UINT 0-65535...
  • Page 23 CS3E-E Series EtherCAT Closed Loop stepper drive User Manual Firmware version UINT EtherCAT protocol UINT version 0x3FFE+01 is the current error code (current alarm) or the most recent error code (currently no 3FFE 01-0E Alarm record USINT 0~32767 alarm); 0x3FFE+02-0E are followed by the historical error code.

  • Page 24: I/O Configuration Object

    (Decimal) = Output port function setting value + Output port polarity setting value. It is recommended to use Leadshine free tuning software MotionStudio for parameter settings, which will be very simple. In Leadshine MotionStudio, digital input(DI) and digital output(DO) are displayed as SI and SO.
  • Page 25 CS3E-E Series EtherCAT Closed Loop stepper drive User Manual Input3 Default is Home switch, take effect changes need R/W/S DINT 0-65535 0x16 (Decimal 22) function restart power Input4 Default is positive limit, take effect changes need R/W/S DINT 0-65535 0x01 (Decimal 1)

  • Page 26: Input Ports Filter Time & Polarity Value

    CS3E-E Series EtherCAT Closed Loop stepper drive User Manual Note: (1) Read State2: when inputs function are valid, at this time, it has nothing to do with which input port, bit0~bit26 of 0x60FD will change to value 1. For example: when IN5 input port is set to POT and input signal is valid, then bit0 of 0x60FD will be value 1.

  • Page 27: Main Control Output Function

    CS3E-E Series EtherCAT Closed Loop stepper drive User Manual Brake (BRK) In-position (INP) 4 (invalid) Main control output Therefore, Value of 0x2156 (Decimal) = Output port function value + Polarity value. For Example: OUT1 needs to be set as alarm function and polarity is NC: 0x2156+01= 1+128=129(0x81) 4.3.4 Main Control Output Function...
  • Page 28 CS3E-E Series EtherCAT Closed Loop stepper drive User Manual -2147483648 Position 6064 DINT Pulse actual value ~2147483647 Distance to send "In It is recommended to use this object in preference, 6067 R/W/S UINT 0-1000 Pulse Position" Can also set by 0x2032,...

  • Page 29: Xml File Or Esi File

    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 30: Error Code & Trouble Shooting

    CS3E-E Series EtherCAT Closed Loop stepper drive User Manual 5 Error Code & Trouble Shooting When an alarm is occurred, the drive turns on the protection function and the motor stops running. CS3E-E has three object dictionaries that can read alarm code, and two red LED lights flash to display some of the alarm information.

  • Page 31: Alarm Led

    CS3E-E Series EtherCAT Closed Loop stepper drive User Manual 0x819 0x8212 No valid output data 0x81c 0x821C Invalid sync manager type 0x81d 0x821D Invalid output configuration 0x81e 0x821E Invalid input configuration 0x821 0xA003 Waiting for the initial state of ESM...

  • Page 32: Alarm Clearing

    CS3E-E Series EtherCAT Closed Loop stepper drive User Manual 1. Restart the drive; Auto-tuning error 0x7122 2. If it still exists, disable auto-tuning by 0x2013 1. Set the value of Object 2024h to “0” to make motor run in open loop mode, If...

  • Page 33: Common Functions

    CS3E-E 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 0x1010, need to write “0x65766173” into sub-index 01h. To reset the drive to default parameters through Object 0x1011, need to write “0x64616F6C” into sub-index 01h.
  • Page 34 CS3E-E Series EtherCAT Closed Loop stepper drive User Manual 606C+00 Actual Velocity P /S 607A+00 Target Position Recommend PP Mode (1) 6081+00 Max Profile Velocity PV Mode (3) 60FF+00 Target Velocity Recommend 6040+00 Control Word — Recommend PP Mode (1)
  • Page 35 CS3E-E Series EtherCAT Closed Loop stepper drive User Manual Table 6.3A: Control Word (6040h) Bit Definition 15-9 Mode General Pause Depending on the operation mode mode Invalid Invalid Invalid Invalid Immediate PP mode (1) Deceleration stop Absolute / Relative New position point...
  • Page 36 CS3E-E Series EtherCAT Closed Loop stepper drive User Manual  Bit 5 quickly stops activation, which is valid under logic 0, contrary to the logic of other bits.  Bit 9 remote, showing the state of the communication state, 0 below ProOP, at this time the control word (6040 h) command will not be executed.

  • Page 37: Touch Probe

    CS3E-E 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-E driver has two input I/O signals to support the probe function and can be enabled at the same time.
  • Page 38 CS3E-E Series EtherCAT Closed Loop stepper drive User Manual Figure 6.1: Touch Probe Mode...

  • Page 39: Appendix A: Homing Methods

    CS3E-E Series EtherCAT Closed Loop stepper drive User Manual Appendix A: Homing Methods The CS3E-E series drives support homing method -1, -2, 1 - 14, 17 - 34,and method 35 & 37. Specific definition and the process of homing methods described below.
  • Page 40 CS3E-E Series EtherCAT Closed Loop stepper drive User Manual Method -3 requires Stalling Signal.  During the motor running in positive direction, when reaching the stalling signal, it will slow down and stop, then run in reverse, at last stops. ( stop position as the zero position) Method -3 Method -4 requires Stalling Signal.
  • Page 41 CS3E-E Series EtherCAT Closed Loop stepper drive User Manual Method -6 Method 1 requires Z signal and Negative Limit.  The load is located on the right side of the negative limit switch, and the motor running in negative direction. When reaching the negative limit signal, it will slow down and stop, then run in reverse, at last stops immediately when reaching the first Z signal.
  • Page 42 CS3E-E Series EtherCAT Closed Loop stepper drive User Manual Method 3 , 4, 5,6 require Z signal and Home Switch  Method 3 & 4 Method 5 & 6...
  • Page 43 CS3E-E Series EtherCAT Closed Loop stepper drive User Manual Method 7 , 8,9, 10 require Z signal,Home Switch or Positive Limit  Method 7, 8, 9, 10 Method 11 , 12, 13,14 require Z signal,Home Switch or Negative Limit ...
  • Page 44 CS3E-E Series EtherCAT Closed Loop stepper drive User Manual Method 17 requires negative limit switch,and method 18 requires positive limit switch.  The load is located on the right side of the negative limit switch, and the motor running in negative direction.
  • Page 45 CS3E-E Series EtherCAT Closed Loop stepper drive User Manual Method 21 & 22 Description: The load is located on the home switch  Method 21 & 22 Method 23,24,25,26 require the home switch and positive limit switch.  Method 23 & 24 & 25 & 26...
  • Page 46 CS3E-E Series EtherCAT Closed Loop stepper drive User Manual Method 27, 28,29,30 require the home switch and negative limit switch.  Method 27, 28, 29, 30 Method 35 & 37 use the current position as the zero position, preferred method 37 ...

  • Page 47: Appendix B: Object Dictionaries

    CS3E-E Series EtherCAT Closed Loop stepper drive User Manual Appendix B: Object Dictionaries Sub- Default Index Name Access Type Range Unit Remark index Value 1000 Device type UINT 0-32767 0x40912 Refer to CIA 402 profile 1001 Error register USINT 0-255 Refer to Chapter 5.1...
  • Page 48 CS3E-E Series EtherCAT Closed Loop stepper drive User Manual RXPDO-Map Default number of 4 RXPDO-Map 01-08 UDINT 0-0xFFFFFFFF object object Number Default number of 1 mapping UINT 0-32767 sub-index object 1A00 TXPDO-Map Default number of 1 TXPDO-Map 01-08 UDINT 0-0xFFFFFFFF...
  • Page 49 CS3E-E Series EtherCAT Closed Loop stepper drive User Manual Multiply by the value of object Closed loop holding 0x2000, the drive output current 201A R/W/S UINT 0-100 current percentage will change between these according to the load. Appropriately reduce this value if...
  • Page 50 CS3E-E Series EtherCAT Closed Loop stepper drive User Manual Speed Loop Ki UINT 0~10000 2092 Position Loop Kp UINT 0~100 2150 Slave ID R/W/S UINT 0-256 Valid when 0x2151= 1; 0: DIP switches 2151 Slave ID resource R/W/S UINT 0-10...
  • Page 51 CS3E-E Series EtherCAT Closed Loop stepper drive User Manual Write 0, return the ID data in ESC to 0x5002-02； ESC ID UINT 0~32767 Write 0x12, return the current ID 5002 setting by DIP switches ESC data UINT 0~32767 Return ID data...
  • Page 52 CS3E-E Series EtherCAT Closed Loop stepper drive User Manual Minimum synchronization UINT 250~2000 period 5400 Maximum synchronization UINT 250~20000 10000 period Bit0 = 0: Asynchronous mode, the host will track 0x607A-00 in real Special function time; 5503 UINT 0~65535 register...
  • Page 53 CS3E-E Series EtherCAT Closed Loop stepper drive User Manual speed value 0x60C6, keep operation enable state; 4: After stopping immediately, keep operation enable state. 1: PP mode, 3: PV mode, 6060 Operation mode USINT 0-255 6: Home mode, 8: CSP mode...
  • Page 54 CS3E-E Series EtherCAT Closed Loop stepper drive User Manual It is recommended to use this Microstep 6092 R/W/S DINT 200-51200 10000 Pulse object in preference,can also be resolution modified via 0x2001, Methods of searching zero position 6098 Homing method R/W/S...

  • Page 55: Appendix C: Connectors

    CS3E-E Series EtherCAT Closed Loop stepper drive User Manual Appendix C: Connectors Package Description Brand&Specification Model Number Inside MOLEX 39012040 4PIN,13A Motor Connector MOLEX 39000038 MOLEX 513531200 Encoder Connector MOLEX 561349000 ANYTEK NL10100200G0G Connector 2*5PIN, 3.5mm DEGSON Power 2EDGK-5.0-02P-13-1000 Connector 2PIN, 5.0mm...

  • Page 56: Appendix D: Faq

    CS3E-E Series EtherCAT Closed Loop stepper drive User Manual Appendix D: FAQ Communicate errors.  If it is the first time to use this EtherCAT drive, check whether the version of XML file is ► correct. Most masters support scanning slave, it is recommended to create configuration in scanning way.
  • Page 57 CS3E-E Series EtherCAT Closed Loop stepper drive User Manual Motor does not turn  The controller instruction is not sent to the driver. Check if the value of 0x607A ( ► Target ) has changed, if not, then maybe the program has an exception.

This manual is also suitable for:

Cs3e-d503eCs3e-d507e

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