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
CS3E Series
EtherCAT Closed Loop Stepper Drive
User Manual
For models of CS3E-D503, CS3E-D507, CS3E-D1008
©2020 Leadshine Technology Co., Ltd.
Address: 15-20/F, Block B, Nanshan I Valley, No.3185, Shahe West Road, Nanshan District,
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 CS3E Series EtherCAT Closed Loop Stepper Drive User Manual For models of CS3E-D503, CS3E-D507, CS3E-D1008 ©2020 Leadshine Technology Co., Ltd. Address: 15-20/F, Block B, Nanshan I Valley, No.3185, Shahe West Road, Nanshan District,...
  • Page 2 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 3 CS3E Series EtherCAT Closed Loop Stepper Drive User Manual Safety Precautions Overall Notes Do not remove the housing with the drive powered on. Cables. Connectors and  optional equipment. Please disconnect the power supply for at least 2 minutes and make sure the ...
  • Page 4 CS3E Series EtherCAT Closed Loop Stepper Drive User Manual Precautions for Installation Please install the drive in a cabinet that provides fire protection. Electrical  protection in the control cabinet. Please install the driver and motor in a position with sufficient weight ...

  • Page 5: Table Of Contents

    Table of Contents 1 Introduction................................1 1.1 Product Introduction............................1 1.2 Features................................1 1.3 EtherCAT Compare with Step/Direction......................1 1.3.1 Stronger anti-disturbance ability......................1 1.3.2 Enhanced performance........................1 1.3.3 Simple wiring and long communication distance................1 1.3.4 Lower cost............................1 1.4 Check of Product............................3 1.4.1 Arrival inspection..........................
  • Page 6 3.4 I/O Interface and Corresponding Parameters Setting...................16 3.4.1 Digital Input............................16 3.4.2 Digital Output............................ 17 3.4.3 Brake Output............................17 4 EtherCAT Object Dictionary..........................18 4.1 Communication Object..........................18 4.2 Manufacture Specific Object........................20 4.3 I/O Configuration Object..........................23 4.3.1 Input Ports Function Value........................ 23 4.3.2 Input Ports Filter Time & Polarity Value..................24 4.3.3 Output Ports Function &...

  • 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 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 17, Matched Motor NEMA23, 24, 34 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: I/O Signal Cable

    CS3E Series EtherCAT Closed Loop stepper drive User Manual 3.2.2 I/O Signal Cable Wire diameter: I1 - I7, O1 - O6, COM, 24VB and COM terminal wires diameter≥0.12mm (AWG24-26)  Recommend to adopt shielded twisted pair cable with a length of less than 3 meters (the shorter the better).

  • Page 18: Interface Specifications

    CS3E Series EtherCAT Closed Loop stepper drive User Manual 3.3 Interface Specifications 3.3.1 Connector 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 A- Motor phase B+ 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

    CS3E Series EtherCAT Closed Loop stepper drive User Manual 4 EtherCAT Object Dictionary 4.1 Communication Object The CS3E Series drives follows the EtherCAT standard protocol, can communicate with the master stations which also supports the EtherCAT standard protocol. Sub- Default...
  • Page 25 RXPDO assign UINT 0-32767 1600 1C13 0-02 TXPDO assign UINT 0-32767 1A00 RXPDO 1C32 0-0A administrative UINT 0-32767 parameters TXPDO 1C33 0-0A administrative UINT 0-32767 parameters The parameters can be configured by master station’s PC software or Leadshine Motion Studio.

  • Page 26: Manufacture Specific Object

    CS3E 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. CS3E-D503 is 25 by default; 2000 Peak current R/W/S DINT 1-100 0.1A CS3E-D507 is 60 by default.
  • Page 27 CS3E Series EtherCAT Closed Loop stepper drive User Manual Delay of in-position error 2033 R/W/S UINT 0-1000 de-jitter 2047 Over voltage point UINT 0-1000 2048 Bus-voltage UINT 0-65535 0: CCW direction 1: CW direction 2051 Motor running direction DINT But it is recommended to modify by...
  • Page 28 CS3E Series EtherCAT Closed Loop stepper drive User Manual 0x3FFE+01 is the current error code (current alarm) or the most recent error 3FFE 01-0E Alarm record USINT 0~32767 code (currently no alarm); 0x3FFE+02-0E are followed by the historical error code.

  • Page 29: 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 30: Input Ports Filter Time & Polarity Value

    CS3E Series EtherCAT Closed Loop stepper drive User Manual 0x2155 Corresponding Input Port Table:  Physical State Input port Index +Sub index Default Function Value Default Function Read State1 0x2152+01 0x17 Probe1 0x2155.00=1 0x2152+02 0x18 Probe2 0x2155.01=1 0x2152+03 0x16 Home switch (ORG) 0x2155.02=1...

  • Page 31: Output Ports Function & Polarity Value

    CS3E Series EtherCAT Closed Loop stepper drive User Manual 10ms 1792 15ms 2048 20ms 2304 30ms 2560 40ms 2816 50ms 3072 100ms 3328 200ms 3584 500ms 3840 Therefore, Value of 0x2152 (Decimal) = Input port function value + Filter time value + Polarity value.

  • Page 32: Main Control Output Function

    CS3E Series EtherCAT Closed Loop stepper drive User Manual 4.3.4 Main Control Output Function Main control output is also called general output and User-defined output, and its usage is as follows: Polarity Open main control output Enable main control Name...
  • Page 33 CS3E Series EtherCAT Closed Loop stepper drive User Manual -2147483648 Velocity actual 606C DINT value -2147483647 -2147483648 607A Target position DINT Target position under PP mode ~2147483647 The value of difference between zero position and mechanical zero point under Homing mode .

  • Page 34: 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 35: Two 7-Segment And Error Code

    CS3E Series EtherCAT Closed Loop stepper drive User Manual 5 Two 7-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 36 CS3E Series EtherCAT Closed Loop stepper drive User Manual 2. Switch power supply alarm caused, replace other power supply for a try. 1. Check the voltage of power supply; 0x0c0 0x3211 Over-voltage 2. If over-voltage occurs in motion, the acceleration and deceleration time...

  • Page 37: Alarm Clearing

    CS3E Series EtherCAT Closed Loop stepper drive User Manual 0x82e 0x872E Synchronization period is too small 0x830 0x8730 Invalid DC synchronization configuration 0x832 0x8732 DC phase locked loop failure 0x833 0x8733 DC sync IO error 0x834 0x8734 DC synchronization timeout...

  • 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 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 39 CS3E Series EtherCAT Closed Loop stepper drive User Manual 6040+00 Control Word — Recommend PP Mode (1) And PV Mode (3) 6083+00 Profile Acceleration General 6084+00 Profile Deceleration 6040+00 Control Word — Recommend 6098+00 Homing Method — 6099+01 Fast Homing Velocity...
  • Page 40 CS3E Series EtherCAT Closed Loop stepper drive User Manual Table 6.3B: Control Word (6040h) Bit Definition Type value Action Mode Wrong Permitted General Quick stop Voltage output Start reset operation CSP mode (8) 0(x) Get power PP mode (1) Start...
  • Page 41 CS3E Series EtherCAT Closed Loop stepper drive User Manual parameters Create Immediate Change Over- 6040 communication operation 10fh the speed voltage mode state, after enabling setting motion 237h->637 6041 650h 631h 633h 637h 637h 737h 638h parameters Error Over- Create...

  • Page 42: 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. The probe function related object dictionaries are shown in Table 6.6.
  • Page 43 CS3E Series EtherCAT Closed Loop stepper drive User Manual Figure 6.1: Touch Probe Mode...

  • Page 44: 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, -2, 1 - 14, 17 - 34, and method 35 & 37. Specific definition and the process of homing methods described below.
  • Page 45 CS3E Series EtherCAT Closed Loop stepper drive User Manual Method -3 Method -4 requires Stalling Signal.  During the motor running in negative 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 -4 Method -5 requires Stalling Signal.
  • Page 46 CS3E 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 47 CS3E 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 48 CS3E 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 49 CS3E 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. When the motor reaching the negative limit signal for the first time, it will slow down and stop, then run in reverse, at last stops immediately when reaching the negative limit signal for the second time.
  • Page 50 CS3E Series EtherCAT Closed Loop stepper drive User Manual Method 21 & 22 Method 23, 24, 25, 26 require the home switch and positive limit switch.  Method 23 & 24 & 25 & 26 Method 27, 28, 29, 30 require the home switch and negative limit switch.
  • Page 51 CS3E Series EtherCAT Closed Loop stepper drive User Manual Method 27, 28, 29, 30 Method 35 & 37 use the current position as the zero position, preferred method 37  Method 35 & 37...

  • Page 52: Appendix B: Object Dictionaries

    CS3E Series EtherCAT Closed Loop stepper drive User Manual Appendix B: Object Dictionaries Sub- Index Name Access Type Range Default Value Unit Remark index 1000 Device type UINT 0-32767 0x40912 Refer to CIA 402 profile 1001 Error register USINT 0-255 Refer to Chapter 5.1...
  • Page 53 CS3E Series EtherCAT Closed Loop stepper drive User Manual Number of sub-index UINT 0-32767 Default number of 2 mapping object 1A01 Default number of 2 TXPDO-Map 01-08 TXPDO-Map object UDINT 0-0xFFFFFFFF object Number of sub-index UINT 0-32767 Output type of email...
  • Page 54 CS3E Series EtherCAT Closed Loop stepper drive User Manual Delay for open loop 2025 R/W/S UINT 0~32767 switching closed loop Speed point for closed 2025 loop switching open R/W/S UINT 0~200 0.1r/s loop Delay for closed loop 2025 R/W/S UINT...
  • Page 55 CS3E Series EtherCAT Closed Loop stepper drive User Manual JOG speed UINT 0~32767 JOG distance UINT 0~32767 JOG cycles UINT 0~32767 JOG direction UINT 0~32767 JOG preparation time UINT 0~32767 Control software UINT version 3100 Firmware version UINT EtherCAT protocol...
  • Page 56 CS3E Series EtherCAT Closed Loop stepper drive User Manual When 0x225C=4, activate the virtual input function; 60FD different bits, corresponding to different virtual inputs; Inputs Bit of 60FD Probe signal 1 Bit 26=1 Home switch Bit 2=1 Positive limit Bit 1=1...
  • Page 57 CS3E Series EtherCAT Closed Loop stepper drive User Manual 603F Error code UINT 0-65535 Refer to chapter 5.2 6040 Control word UINT 0-65535 Refer to chapter 6.1 6041 Status word UINT 0-65535 Refer to chapter 6.1 0: After stopping immediately, switch on disable state;...
  • Page 58 CS3E Series EtherCAT Closed Loop stepper drive User Manual position limits are switched off. Changed -2147483648 values must be saved and the drive must be 607D Software positive limit DINT ~2147483647 restarted to take enable the new the software limits.
  • Page 59 CS3E Series EtherCAT Closed Loop stepper drive User Manual Touch probe2 rising Frequency for capture of touch probe 2 60D7 UINT 0-65535 edge counter rising edge Touch probe 2 falling Frequency for capture of touch probe 2 60D8 UINT 0-65535...

  • Page 60: Appendix C: Connectors

    39000038 DEGSON 2EDGK-5.0-02P-13-1000AH 2PIN, 5.0mm Power&Motor Connector for CS3E-D1008 DEGSON 2EDGK-5.0-04P-13-1000AH 4PIN, 5.0mm MOLEX 513531200 Encoder Connector MOLEX 561349000 ANYTEK NL22100200G0G I/O Connector 2*11PIN, 3.5mm Note: For CS3E Series drives, motor connector and encoder connector are on the extension cable...

  • Page 61: Appendix D: Faqs

    CS3E Series EtherCAT Closed Loop stepper drive User Manual Appendix D: FAQs 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 62 CS3E Series EtherCAT Closed Loop stepper drive User Manual Homing Error  Wrong homing method. There are three modes of homing, when using the master homing mode, the ► operation mode object 0x6060 = 8; when using the slave homing mode, the 0x6060 = 6; when using the master-slave combination homing method, the 0x6060 value is first 8 and then 6.

This manual is also suitable for:

Cs3e-d503Cs3e-d507Cs3e-d1008

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