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Leadshine 2CS3E Series User Manual

Dual-axis ethercat closed loop stepper drive
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2CS3E Series Dual-axis EtherCAT Closed Loop Stepper Drive User Manual
2CS3E Series
Dual-axis EtherCAT Closed Loop Stepper Drive
User Manual
For models of 2CS3E-D503, 2CS3E-D507
©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 2CS3E Series Dual-axis EtherCAT Closed Loop Stepper Drive User Manual 2CS3E Series Dual-axis EtherCAT Closed Loop Stepper Drive User Manual For models of 2CS3E-D503, 2CS3E-D507 ©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: Precautions For Storage And Transportation

    2CS3E 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: Precautions For Installation

    2CS3E 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 Safety Precautions ..............................- 2 - Overall Notes ..............................- 2 - Precautions for Storage and Transportation ....................- 2 - Precautions for Installation ..........................- 3 - Precautions for Wiring ............................. - 3 - Precautions during operation .......................... - 3 - Table of Contents ................................4 1 Introduction ................................
  • Page 6 4.3.1 Input Ports Function Value ........................24 4.3.2 Input Ports Filter Time & Polarity Value ................... 25 4.3.3 Output Ports Function & Polarity Value ................... 26 4.3.4 Main Control Output Function ......................26 4.4 Motion Objects .............................26 4.5 XML File or ESI File ............................29 5 Three 7-Segment and Error Code ..........................30 5.1 Three 7-Segment ............................

  • Page 7: Introduction

    1 Introduction 1.1 Product Introduction The newly released 2CS3E 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 2CS3E Series Dual-axis 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 Product

    2CS3E Series Dual-axis 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: Table Of Contents

    2CS3E Series Dual-axis EtherCAT Closed Loop Stepper Drive User Manual 1.4.4 Parts description 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*)

  • Page 11: Installation

    2CS3E Series Dual-axis 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 12 2CS3E Series Dual-axis EtherCAT Closed Loop Stepper Drive User Manual Please ensure grounding wires are securely connected.  Mounting face 50mm 50mm 50mm 30mm 50mm Figure 2.2: 2CS3E series installation drawing...

  • Page 13: Production Specifications

    2CS3E Series Dual-axis 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*2 (shielded) Communication ECAT IN: EtherCAT Input Connector ECAT OUT: EtherCAT Output Topology Line, Tree...
  • Page 14 2CS3E Series Dual-axis EtherCAT Closed Loop Stepper Drive User Manual Matched Motor NEMA 11, 14, 17 NEMA 17, 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 15: Wiring Instructions

    2CS3E Series Dual-axis 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 16: Ethercat Communication Cable

    2CS3E Series Dual-axis EtherCAT Closed Loop Stepper Drive User Manual Wiring: As far as possible away from the power line wiring, in order to prevent interference  Please connect surge absorber to inductive device, such as anti-parallel diode for DC coil, parallel ...

  • Page 17: Interface Specifications

    2CS3E Series Dual-axis EtherCAT Closed Loop Stepper Drive User Manual 3.3 Interface Specifications CN6, STO connector (Only available for STO version) 3.3.1 Connector Definition Figure 3.2: 2CS3E series connectors Name Description Input power connector Motor cable connector Encoder input signals connector...

  • Page 18: Cn1-Input Power Connector

    2CS3E Series Dual-axis EtherCAT Closed Loop Stepper Drive User Manual 3.3.2 CN1-Input Power Connector Name Signal Description 20~50VDC 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 19: Cn4-I/O Signals Connector

    2CS3E Series Dual-axis EtherCAT Closed Loop Stepper Drive User Manual 3.3.5 CN4-I/O Signals Connector Name Signal Description Probe (default) I-Axis1 configurable, single-ended, 12~24V HOME (default) I-Axis1 configurable, single-ended, 12~24V POT (default) I-Axis1 configurable, single-ended, 12~24V NOT (default) I-Axis1 configurable, single-ended,...

  • Page 20: Cn5-Ethercat Communication Connector

    2CS3E Series Dual-axis 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 21: Sto Port

    E1C1 suspend E1C0 3.3.9 Salve ID (Site Alias) Setting The Salve ID (also called Site Alias) of 2CS3E 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 22: Three 7-Segment

    2CS3E Series Dual-axis EtherCAT Closed Loop Stepper Drive User Manual Setting via Object (2150h)  When Object (2151h) is set to value ‘1’, the value written in Object (2150h) is as the site alias, activated after saving parameter and restarting the power supply.

  • Page 23: Brake Output

    2CS3E Series Dual-axis EtherCAT Closed Loop Stepper Drive User Manual will damage the drive. (2) Digital output is OC output with the maximum capacity of 100mA/30V (recommended 50mA/25V), the provided power supply should be under 30V (recommended 24V), and otherwise it will cause damage to drive.

  • Page 24: Ethercat Object Dictionary

    2CS3E Series Dual-axis EtherCAT Closed Loop Stepper Drive User Manual 4 EtherCAT Object Dictionary Each 2CS3E series product support two axes, except the parameters of 1000h~1FFFh are common parameters for axis1 and axis2, other parameters are working independently, the relation between these parameters show as follow:...
  • Page 25 2CS3E Series Dual-axis EtherCAT Closed Loop Stepper Drive User Manual RXPDO-Map 0-0xFFFFFFF Axis-1 default number of 1 01-08 UDINT object RXPDO-Map object Number of Axis-1 default number of 2 UINT 0-32767 sub-index mapping object 1601 RXPDO-Map 0-0xFFFFFFF Axis-1 default number of 2...
  • Page 26 2CS3E Series Dual-axis EtherCAT Closed Loop Stepper Drive User Manual 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 27: Manufacture Specific Object

    2CS3E Series Dual-axis EtherCAT Closed Loop Stepper Drive User Manual 4.2 Manufacture Specific Object Explanation for index and sub-index Index Sub- index Name Access for which axis 2000 For axis1 Peak current 2800 For axis2 2001 For axis1 Microstep resolution...
  • Page 28 2CS3E Series Dual-axis EtherCAT Closed Loop Stepper Drive User Manual 2030 Allowed max position DINT 0~32767 4000 Pulse 4000 indicates the error of one turn 2830 following error pulses 2032 Distance to send "In DINT 0-1000 Pulse Position" output signal...
  • Page 29 2CS3E Series Dual-axis EtherCAT Closed Loop Stepper Drive User Manual 22F1 Homing mode in-position 2AF1 DINT 0-32767 Encoder unit pulse setting 2C03 Control software version UINT 0-32767 3100 Firmware version UINT 0-32767 EtherNet/IP protocol UINT 0-32767 version 0x3FFE+01 is the current error code...

  • Page 30: 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 31: Input Ports Filter Time & Polarity Value

    2CS3E Series Dual-axis EtherCAT Closed Loop Stepper Drive User Manual 0x2152+03 0x16 0x2155.02=1 0x2952+03 0x2152+04 0x01 0x2155.03=1 0x2952+04 Note: (1) 0x2152+01 indicate that the index is 0x2152, and sub-index is 01. (2) 0x2155.01 indicates that the index is 0x2155, and bit is bit1.

  • Page 32: Output Ports Function & Polarity Value

    2CS3E Series Dual-axis EtherCAT Closed Loop Stepper Drive User Manual 1. IN1 needs to be set as quick stop function, filtering time is 20ms and polarity is NC(normal-closed): 0x2152+01 = 20+128+2304=2452(0x994) 2. Need to set the polarity of IN3, IN4, IN5 to NC:...
  • Page 33 2CS3E Series Dual-axis EtherCAT Closed Loop Stepper Drive User Manual 0: After stopping immediately, switch on disable state; 1: After decelerating to stops at a speed value of 0x6084, 605A switch on disable state; 2: After decelerating to stops at a speed value of 0x6085, switch on disable state;...
  • Page 34 2CS3E Series Dual-axis EtherCAT Closed Loop Stepper Drive User Manual ~2147483647 6882 6083 -2147483648 Profile DINT 4000 P/S^2 Acceleration under PP and PV mode acceleration ~2147483647 6883 6084 -2147483648 Profile DINT 4000 P/S^2 Deceleration under PP and PV mode deceleration...

  • Page 35: 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 36: Three 7-Segment And Error Code

    2CS3E Series Dual-axis EtherCAT Closed Loop Stepper Drive User Manual 5 Three 7-Segment and Error Code 5.1 Three 7-Segment 2CS3E has three 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 37 2CS3E Series Dual-axis EtherCAT Closed Loop Stepper Drive User Manual 1. Check the voltage of power supply; 0x0c0 0x3211 Over-voltage 2. If over-voltage occurs in motion, the acceleration and deceleration time can be increased 0x0a0 0x3150 EEPROM error in phase A 1.

  • Page 38: Alarm Clearing

    2CS3E Series Dual-axis EtherCAT Closed Loop Stepper Drive User Manual 0x830 0x8730 Invalid DC synchronization configuration 0x832 0x8732 DC phase locked loop failure 0x833 0x8733 DC sync IO error 0x834 0x8734 DC synchronization timeout 0x835 0x8735 Invalid DC cycle 0x850...

  • Page 39: Common Functions

    2CS3E Series Dual-axis 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 Axis-1 default parameters through Object 0x1011, need to write “0x64616F6C” into sub-index 01h.
  • Page 40 2CS3E Series Dual-axis 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 41 2CS3E Series Dual-axis EtherCAT Closed Loop Stepper Drive User Manual Table 6.3B: Control Word (6040h) Bit Definition Mode Type value Action Wrong Permitted General Quick stop Voltage output Start reset operation CSP mode (8) 0(x) Get power PP mode (1)
  • Page 42 2CS3E Series Dual-axis 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-...

  • Page 43: Touch Probe

    2CS3E Series Dual-axis 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 2CS3E driver has two inputs 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 44 2CS3E Series Dual-axis EtherCAT Closed Loop Stepper Drive User Manual Figure 6.1: Touch Probe Mode...

  • Page 45: Appendix A: Homing Methods

    2CS3E Series Dual-axis EtherCAT Closed Loop Stepper Drive User Manual Appendix A: Homing Methods The 2CS3E 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 46 2CS3E Series Dual-axis EtherCAT Closed Loop Stepper Drive User Manual reverse, at last stops. ( stop position as the zero position) 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.
  • Page 47 2CS3E Series Dual-axis 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 48 2CS3E Series Dual-axis 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 49 2CS3E Series Dual-axis 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 50 2CS3E Series Dual-axis 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 51 2CS3E Series Dual-axis 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 52 2CS3E Series Dual-axis 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 53: Appendix B: Object Dictionaries

    2CS3E Series Dual-axis EtherCAT Closed Loop Stepper Drive User Manual Appendix B: Object Dictionaries Axis-1 Sub- Index Name Access Type Range default Unit Remark index Value 1000 Device type UINT 0-32767 0x40912 Refer to CIA 402 profile 1001 Error register...
  • Page 54 2CS3E Series Dual-axis EtherCAT Closed Loop Stepper Drive User Manual TXPDO-Map Axis-1 default number 01-08 UDINT 0-0xFFFFFFFF object TXPDO-Map object Axis-1 default number Number of sub-index UINT 0-32767 mapping object 1A01 TXPDO-Map Axis-1 default number 01-08 UDINT 0-0xFFFFFFFF object TXPDO-Map object...
  • Page 55 2CS3E Series Dual-axis EtherCAT Closed Loop Stepper Drive User Manual 201D Zero speed point UINT 0-500 0.1r/s 281D 2024 0: Open Loop Control; Control Mode UINT 0~10 2824 2: Closed Loop Control 2025 Speed point for open loop switching closed...
  • Page 56 2CS3E Series Dual-axis EtherCAT Closed Loop Stepper Drive User Manual Control software version UINT 3100 Firmware version UINT EtherNet/IP protocol UINT version 0x3FFE+01 is the current error code 3FFE 01-0B (current alarm) or the most recent error Alarm record USINT 0~32767 code (currently no alarm);...
  • Page 57 2CS3E Series Dual-axis EtherCAT Closed Loop Stepper Drive User Manual homing as limit protection ) Bit2=0: The value of current position after in position = 0x607C; 5812 Bit2=1: The value of 0x607C is used as the motion offset, and finally 0x6064 = 0;...
  • Page 58 2CS3E Series Dual-axis EtherCAT Closed Loop Stepper Drive User Manual 1: PP mode, 6060 Operation USINT 0-255 3: PV mode, mode 6860 6: Home mode, 6061 Operation USINT 0-255 mode display 6861 6062 -2147483648 Position DINT Pulse command ~2147483647 6862...
  • Page 59 2CS3E Series Dual-axis EtherCAT Closed Loop Stepper Drive User Manual velocity ~2147483647 6899+02 607C -2147483648 The value of difference between zero position and Home offset DINT mechanical zero point under Homing mode ~2147483647 687C 609A -2147483648 Homing USINT 25000 P/S^2...

  • Page 60: Appendix C: Connectors

    39000038 DEGSON 2EDGK-5.0-02P-13-1000AH 2PIN, 5.0mm Power&Motor Connector for 2CS3E-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 2CS3E Series drives, motor connector and encoder connector are on the extension cable...

  • Page 61: Appendix D: Faqs

    2CS3E Series Dual-axis 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 2CS3E Series Dual-axis EtherCAT Closed Loop Stepper Drive User Manual 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:

2cs3e-d5032cs3e-d507

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