Page 1
i
Hardware Manual of the Easy Servo Drives
ES-DH Series
Page 2
Safety Items
!
Notice
!
Caution
!
Warning
ii
Read this manual carefully before trying to install the stepper drive into your
system. The people who setup the stepper drive should have a better
understanding on electronics and mechanics. Contact Leadshine technical guys
when you have questions on this document
Make sure the power supply voltage dose not exceed the drive’s input range.
Double check the connections and make sure the power lead polarity is correct.
Do not set high current for small stepper motor. It is possible that the motor will be
damaged.
!
Caution
!
Warning
Disconnect the motor from the load if you are not sure the move direction. Adjust
the axis in the center before trying to run the motor.
Never disconnect the motor lead when the power source is energized.
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iii
Table of Contents
Introduction to Easy Servo..............................................................................................................................................1
Getting Start ...................................................................................................................................................................1
Wiring Diagrams.....................................................................................................................................................2
Connecting Power Supply.......................................................................................................................................3
ES-DH1208.......................................................................................................................................................3
ES-DH2306.......................................................................................................................................................3
Connecting Motor...................................................................................................................................................4
ES-DH1208 and the ES-MH2 Series Motor......................................................................................................4
ES-DH2306 and the ES-MH3 Series Motor......................................................................................................4
Connecting Encoder................................................................................................................................................5
Connecting Control Signal......................................................................................................................................6
Pulse, Direction, Enable Input ........................................................................................................................6
Alarm Output..................................................................................................................................................7
Connecting PC.........................................................................................................................................................8
Typical Connections........................................................................................................................................................9
Wiring Notes.................................................................................................................................................................10
Configuration................................................................................................................................................................10
Configuring an ES drive by the on-board HMI ......................................................................................................11
Display Data Mode.......................................................................................................................................12
Edit Parameter Mode....................................................................................................................................13
Configuration Example via the on-board HMI.............................................................................................15
Calculating Rotation Speed and Angle.................................................................................................................16
Rotating the Motor via the On-board HMI..........................................................................................................16
Rotating the Motor by Motion Controller............................................................................................................17
Rotating the ES Motor in PC Software .................................................................................................................17
Power Supply Selection.................................................................................................................................................18
Multiple Drives......................................................................................................................................................18
Selecting Supply Voltage......................................................................................................................................18
Recommended Supply Voltage.............................................................................................................................19
Control Signal Setup Timing.........................................................................................................................................19
Current Control Detail...................................................................................................................................................20
Fine Tuning....................................................................................................................................................................20
Protection Functions.....................................................................................................................................................20
Over-current Protection........................................................................................................................................21
Over-voltage Protection .......................................................................................................................................21
Position Following Error Protection .....................................................................................................................21
Frequently Asked Questions.........................................................................................................................................22
Problem Symptoms and Possible Causes.............................................................................................................22
Warranty.......................................................................................................................................................................23
Exclusions..............................................................................................................................................................23
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Obtaining Warranty Service.................................................................................................................................23
Warranty Limitations............................................................................................................................................23
Shipping Failed Product........................................................................................................................................23
Contact Us.....................................................................................................................................................................24
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Hardware manual of the ES-DH series drives
Introduction to Easy Servo
The ES (Easy Servo) series easy servos offer an alternative for applications requiring high performance
and high reliability when the traditional servo was the only choice, while it remains cost-effective.
The system includes an easy servo motor combined with a fully digital, high performance easy servo
drive. The internal encoder is used to close the position, velocity and current loops in real time, just
like servo systems. It combines the best of servo and stepper motor technologies, and delivers unique
capabilities and enhancements over both, while at a fraction of the cost of a servo system.
Easy Servo Drive
Command Position
Comparator
Comp
Measured Position
Amplifier
Easy Servo Motor
Stepper Motor
Encoder
Getting Start
To get start you need one easy servo drive, one easy servo motor (stepper drive with encoder) and an
AC / DC power supply for the first time evaluation. A motion controller - like indexer, pulse generator
or PLC is required too if you would like to verify the complete function. If you have a PC with one
serial port or one PC with USB-RS232 converter, you can also rotate the motor in the PC software.
However it is recommended to verify the complete function of the easy servo using another motion
controller.
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Wiring Diagrams
Hardware manual of the ES-DH series drives
Wiring Diagram of the ES-DH1208 and ES-MH2 series motor
Wiring Diagram of the ES-DH2306 and ES-MH3 series motor
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Hardware manual of the ES-DH series drives
PE
AC Power
70-130VAC
PE
AC Power
150
-
230VAC
Connecting Power Supply
ES-DH1208
The power of the ES-DH1208 can be connected as follows.
L
Power
ES-DH2306
N
PE
AC Power connections of the ES-DH1208
L
N
The ES-DH2306 requires two powers input as follows. The main power is used to energize the motor
and the control power is used for logic circuit. Typically they can share the same AC power.
L
L
Main Power
Control Power
N
PE
L
N
AC Power connections of the ES-DH2306
N
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Hardware manual of the ES-DH series drives
Connecting Motor
ES-DH1208 and the ES-MH2 Series Motor
A power extension cable is required to connect the ES-MH2 series motors and the ES-DH1208. One
end of this power extension cable includes four flying wires. You can connect these wires to the
drive’s corresponding terminals as follows.
ES-MH23480
ES-MH234120
ES-DH1208
Power
Cable
A+
1 Black
2
A-
Red
3
4
Yellow/ Green
B+
Blue
B-
Power
Extension Cable
Motor Connector
Connect Leadshine ES-MH2 series motors to the ES-DH1208
ES-DH2306 and the ES-MH3 Series Motor
A power extension cable is required to connect the ES-MH3 series motors and the ES-DH2306. One
end of this power extension cable includes four flying wires. You can connect these wires to the
drive’s corresponding terminals as follows.
ES-MH33480
ES-DH2306
U
1
2
3
4
Red
Blue
V
W
Black
Yellow/ Green
PE
Power
Extension Cable
ES-MH342120
ES-MH342200
Power
Cable
Main Power &
Motor Connector
Connect Leadshine ES-MH3 series motors to the ES-DH2306
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Hardware manual of the ES-DH series drives
Connecting Encoder
As the easy servo drive works in close-loop mode, it needs to know the actual motor position. The
encoder mounted in the motor offers such information. Note that the easy servo drive can not work
without encoder feedback. The encoder output of the ES-MH motor is a HDD15 male connector. And
the feedback input of the ES-DH drive is a HDD15 female connector. However, you can NOT connect
them directly as their pin-out are not matched to each other. An encoder extension cable must be
connected between the drive and motor.
CN2
ES-DH1208
Encoder connections between ES-DH1208 drive and ES-MH2 motor
Feedback Signal
Connector
Encoder
Extension Cable*
*must be used
ES-MH23480
ES-MH234120
Encoder
Cable
CN2
ES-DH2306
Feedback Signal
Connector
Encoder
Extension Cable*
*must be used
Encoder
Cable
ES-MH33480
ES-MH342120
ES-MH342200
Encoder connections between the ES-DH2306 and ES-MH3 motors
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Hardware manual of the ES-DH series drives
Connecting Control Signal
Pulse, Direction, Enable Input
The ES-DH series drives can accept/receive differential pulse, direction and enable inputs. They can
also be connected to PNP (sourcing) or NPN (sinking) type controllers. For the enable signal, apply
0V between ENA+ and ENA- or leave them unconnected to enable the drive. If you don’t need to
disable the drive, just leave them unconnected.
In a NPN (sourcing) type output, the control signals share the same positive terminal.
Controller
5-24V,
5V recommended
Step
Direction
Enable
PUL+
PULDIR+
DIR-
ENA+
ENA-
ES-DH Drive
Connect the ES-DH drives to the NPN (sinking) type controllers
In a PNP (sinking) type output, the control signals are refer to the same ground terminal.
Controller
VCC
Step
VCC
Direction
VCC
Enable
VCC = 5-24V
5V recommended
PUL+
PULDIR+
DIR-
ENA+
ENA-
ES-DH Drive
Connect ES-DH drives to the PNP (sourcing) type controllers
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Hardware manual of the ES-DH series drives
Pulse, Direction, Enable Input (Continued)
Controller
Step
Direction
Enable
5V
PUL+
PULDIR+
DIR-
ENA+
ENA-
ES-DH Drive
Connect ES-DH drives to the differential type controller
Alarm Output
The outputs is isolated and you can take it as an electronic switch. A upper resistor should be used to
limit the current. Its resistance is depending on the input current requirement of the controller. The
source voltage for those outputs can also be 24V. The resistor R is depending on the input current of
the controller.
ES-DH Drive
ALM+
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Hardware manual of the ES-DH series drives
Connecting PC
There is a built-in RS232 port in each easy servo drive for communication and configuration. Connect
this port to the PC’s serial port. Then you can rotate the motor in the setup software. This setup
software - ProTuner, is designed to configure the easy servo drive. You can define the control mode,
microstep resolution, current rate, active level of inputs/outputs in ProTuner.
The ProTuner can be downloaded from our website: http://www.leadshine.com or you may also get it
from our CD. It is recommended to get it from the website because software from the website is
always the latest. Install it in your PC and make it ready for use later.
.
RS232 Cable
Or
USB-232 Converter
ProTuner
Connect ES-DH drive to PC
A RS232 cable is needed for the communication between the drives and the ProTuner. It will be
shipped with the kit if you include it in the order. It is also possible to make this cable by yourself. One
end of this cable is a 6-pin fire-wire header and the other end of cable is a 9 pin D-Sub female
connector. If your PC does not have a serial port, a USB-to-232 converter is required.
Note: The power should be turned off when you perform any connections!
When you open ProTuner, a “Connect to drive” window appears. The “Baud Rate” and “Device
Address” are fixed. You only need to select the “Com Port” according to the actual serial port or the
mapping port of a USB-232 converter. Check the Device Manager for the mapping port number of
the USB-232 converter.
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Hardware manual of the ES-DH series drives
Typical Connections
Controller
5-24V,
5V recommended
Step
Direction
Enable
5V
Alarm
PUL+
PUL-
DIR+ 5
DIR-
ENA+ 11
ENA-
ALM+ 7
ALM-
ES-DH1208
3
4
6
12
8
CN1
Control Signal
Connector
CN2
Feedback Signal
Connector
Encoder
Extension Cable*
*must be used
A+
1 Black
A-
Red
2
Yellow/ Green
3
B+
B-
Blue
4
PE
5
NC
6
Motor Connector
L
1
N
2
PE
3
NC
4
5
NC
Power Connector
Encoder
Cable
Power
Extension Cable
~ 70-130VAC
ES-MH23480
ES-MH234120
Power
Cable
Typical Connections of ES-DH1208 with controller of sinking output
Controller
5-24V,
5V recommended
Step
Direction
Enable
5V
Alarm
PUL+
PULDIR+ 5
DIR-
ENA+ 11
ENA-
ALM+ 7
ALM-
ES-DH2306
3
4
6
12
8
CN1
Control Signal
Connector
CN2
Feedback Signal
Connector
Encoder
Extension Cable*
*must be used
U
Red
1
2
Blue
V
3
W
Black
Yellow/ Green
PE
4
L
5
6
N
Main Power &
Motor Connector
L
1
N
2
NC
3
BR
4
5
P+
Control Power & Braking
Resistor Connector
Encoder
Cable
Power
Extension Cable
ES-MH33480
ES-MH342120
ES-MH342200
Power
Cable
~ 150-230VAC
Typical Connections of the ES-DH2306 with controller of sinking outputs
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Hardware manual of the ES-DH series drives
Wiring Notes
l In order to improve anti-interference performance of the drive, it is recommended to use twisted
pair shield cable.
l To prevent noise incurred in PUL/DIR signal, pulse/direction signal wires and motor wires should
not be tied up together. It is better to separate them by at least 10 cm, otherwise the disturbing
signals generated by motor will easily disturb pulse direction signals, causing motor position
error, system instability and other failures.
l If a power supply serves several drives, separately connecting the drives is recommended instead
of daisy-chaining.
l It is prohibited to pull and plug power connector while the drive is powered ON, because there is
high current flowing through motor coils (even when motor is at standstill). Pulling or plugging
power connector with power on will cause extremely high back-EMF voltage surge, which may
damage the drive.
Configuration
When the default settings of the easy servo drives are not suitable for your application, it is necessary
to configure it via the on board HMI or the configuration software ProTuner. Otherwise you may
encounter problems like high motor heating, big motor noise or even motor stall due to weak torque.
For a quick start of the easy servo drive, there are not much parameters need to be configured. The
following table gives the most significant settings of the easy servo drives.
Most significant settings of the easy servo drive
Parameters ES-DH1208 ES-DH2306
Pulses/Revolution Default 4000, Software Adjustable Default 4000, Software Adjustable
Holding Current (%) Default 40%, Software Adjustable Default 40%, Software Adjustable
Close-loop Current Limit (%) Default 60% , Software Adjustable Default 60% , Software Adjustable
Current Loop Kp *Auto Tuning at Power-up *Auto Tuning at Power-up
Current Loop Ki *Auto Tuning at Power-up *Auto Tuning at Power-up
*Auto Tuning at Power-up: It is possible to disable this feature in the setup software in order to tune
the current loop Kp and current loop Ki manually if the auto tuning result is not good enough. This
happens when the motor’s inductance or resistance is too high or too low.
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Hardware manual of the ES-DH series drives
Configuring an ES drive by the on-board HMI
Users can configure the drive via the on-board HMI in the front panel. This HMI includes six
7-segment digits and five keys for users operation as follows:
M
ENT
There are 4 operation modes in the on-board HMI. Users can switch between these modes by
pressing the “Mode” key. The following figure illustrates the operation procedure of this on-board
HMI.
ENT
ENT
M
Display Data
ENT
Confirm
Cancel
Display
parameter
Edit Parameter
M
Display Data
Edit Parameter
Select Data
Select Parameter
Select Function
Reset Parameter
Hold on 3 seconds
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Hardware manual of the ES-DH series drives
Display Data Mode
This mode is active initially at drive’s power-up. In this mode, users can check the monitoring data as shown in the
following table.
Display Code Name Description
“L “ Low order digits display.
“H “ High order digits display.
Position error which is the difference between command and feedback.
“d00uEP”
“d01SPF” Actual feedback motor speed in RPM.
“d02SPr” Reference motor speed in RPM.
“d03PLF” Actual feedback position in pulses.
“d04PLr” Reference position in pulses.
“d05iP “ Reference current (peak) in mA.
“d06Err”
Press “ ” to switch between low and high order digits display.
Error code:
0001----Over-current protection activated
0002----Over-voltage protection activated
0008----Brake protection activated
0020----Position error exceeds the limit
“d07 Pn” Bus voltage which is 1/10 of the actual value.
“d08 no” Drive version number.
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Hardware manual of the ES-DH series drives
Edit Parameter Mode
In this mode, the parameter is identified by the code “PA__XX” as shown in the following table.
Display Code Name Default Value Range Description
“PA__00” Current Loop Kp
“PA__01” Current Loop Ki
“PA__02” Current Loop Kc
“PA__03” Position Loop Kp
“PA__04” Position Loop Ki
“PA__05” Position Loop Kd
“PA__06” Position Loop Kvff
“PA__07” Pulses/Revolution
“PA__08” Encoder Resolution
“PA__09” Position Error Limit
“PA__10” Holding Current Rate
“PA__11” Close-loop Current
Rate
1000 0-65535
200 0-65535
256 0-1024
2500 0-65535
500 0-65535
200 0-1000
30 0-100
4000 200-65535
4000 200-65535
1000 1-65535
40% 0-100
100% 1-100
Proportional gain. Increase it make current
rise faster. Too large value may leads to big
vibration and noise or even unstable.
Integral gain, eliminating the steady error
of the current loop. Too big may cause
vibration, noise or even unstable.
High value reduces mid-speed vibration
but the motor current also drops fast.
Position loop proportional gain.
Eliminates the steady error of the position
loop when the motor is standstill.
Reduces over shoot of the position.
Compensate the motor and control loop
delay.
Set the pulses count to make the motor
rotate one revolution.
X4 quadrature decoding, default value is
for 1000 lines encoder.
When the position error exceeds this
value, the drive goes into error state. Unit:
Pulses
It affects the holding torque when the
motor is at standstill. It also determines
the start current when the motor starts to
work again. The actual current is the drive’s
MAX current multiplied by the holding
current rate. For example, the drive’s MAX
current is 6A. So the default actual holding
current is 6*40% = 2.4A. Large value will
offer better acceleration performance
while causes more heating.
This parameter limits the MAX dynamic
torque when the motor is in motion. The
actual current limit is the drive’s MAX
current multiplied by the close-loop
current rate. Large value will offer better
acceleration performance while causes
more heating.
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Hardware manual of the ES-DH series drives
“PA__12” Standby Time
“PA__13” Pulse Filter
“PA__14” Filter Time
“PA__15” Enable Level
“PA__16” Alarm Level
“PA__17” Pulse Mode
“PA__18” Pulse Edge
“PA__19” Motor Direction
“PA__20” Pulse Bandwidth
“PA__21” Acceleration
“PA__22” Speed
“PA__23” Move Distance
“PA__24” Repeat Times
“PA__25” Initial Direction
“PA__26” Dwell
1000ms 1-65535
0 0 or 1
25600us 0-25600
1 0 or 1
1 0 or 1
0 0 or 1
0 0 or 1
1 0 or 1
0 0 or 1
200 1-2000
60 RPM 1-3000
100 rev. 1-65535
1 1-65535
1 0 or 1
100ms 1-65535
This parameter defines the waiting time for
the drive entering into standby mode when
there is no pulse input to the drive. In
standby mode, small position error will be
ignored.
0----Disable Pulse Filter
1----Enable Pulse Filter
The higher value the smoother motion. But
higher value also leads to high delay.
0----Users must apply a 5V between ENA+
and ENA- to enable the drive.
1----The drive is enable when voltage drop
between ENA+ and ENA- is 0V or left
unconnected.
0----High impedance between ALM+ and
ALM- at drive error
1----Low impedance between ALM+ and
ALM- at drive error
0----Pulse + Direction
1----Pulse + Pulse (CW/CCW)
0----Active Rising Edge
1----Active Falling Edge
0 and 1 represents two different directions
(CW / CCW).
0-----The MAX pulse frequency is limited to
200KHz
1---- The MAX pulse frequency is limited to
500KHz
Acceleration of the built-in motion
controller. Unit: Revolutions / second
Speed of the built-in motion generator.
Unit RPM
Move distance of the built-in motion
controller. The actual distance is 1/100 of
the setting value. Unit: Revolutions
Repeat times of the built-in motion
controller.
0 and 1 represents two different directions
of the motion commands.
Waiting time to the next trapezoid velocity
motion when one motion completes. Unit:
ms
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Hardware manual of the ES-DH series drives
“PA__27” Motion Type
1 0 or 1
0----One direction motion
1----Positive and negative motion
“PA__28” Motion Start/Stop
0 0 or 1
1----Start Motion
0----Stop Motion
The motion starts when applying “1” to
this parameter. It backs to “0” when the
motion completes.
“PA__29” Reserved
- -
-
Configuration Example via the on-board HMI
The following figure illustrates how to set the “Standby Time” via the on-board HMI. Looking up the
table in the “Edit Parameter Mode” section, this parameter refers to “PA__12” item. So the setting
procedure is shown as follows:
Power-Up
It displays the low order digits of
the position error at Power-up
Press “ ” to decrease the
digit in case of wrong operation
ENT
Press the ENT”key
Display Data: “Position Error”
Press “M”key once to go into
M
the “Edit Parameter Mode”
Initially it displays the “PA__00”and
the 1st (from right to left) digit is blinking
Press “ ” 2 times to
increase the 1st digit
It displays “PA__02” to
indicates the parameter No. 2
Press “ ”key once
the 2nd (from right to left) digit
is blinking
Press “ ” 1 times to
increase the 2nd digit
ENT
ENT
M
Press the ENT”key to confirm
the selection of the “PA__12”
It displays the “PA__12”value of
1000ms which is the Standby Time.
Edit the value by the up-arrow
(increase), the down-arrow (decrease)
and the left-arrow (left shift) keys.
Change the Standby Time to 1294ms.
Press the ENT”key to confirm
the new value.
It returns to the “Edit Parameters Mode”
Press “M” key
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Hardware manual of the ES-DH series drives
Calculating Rotation Speed and Angle
You may also want to calculate the motor rotation speed and rotation angle, before commanding any
motion. If the pulse frequency and counts are known, they can be calculated as follows:
Rotation Speed (RPM) = 60 * Pulse (Step) Frequency / (Pulses/Revolution)
Rotation Angle (°) = 360 * Pulse (Step) Counts / (Pulses/Revolution)
Rotating the Motor via the On-board HMI
User’s can rotate the motor by the on-board HMI for test purpose. A motion generator has been built
inside the drive. To start the motion, first you need to setup the motion parameter such as motion
velocity, motion distance, acceleration and initial direction, etc. The detailed steps are shown in the
following picture.
Power-Up
ENT
M
ENT
It displays the low order digits of
the position error at Power-up
Press the ENT”key
Display Data: “Position Error”
Press “M”key once to go into
the “Edit Parameter Mode”
Initially it displays the “PA__00”and
the 1st (from right to left) digit is blinking
Press “ ” 3 times to
decrease the number
It displays “PA__28” to
indicates the parameter No. 28
The initial value is 0
ENT
M
M
M
Press the “ENT”key to start
the motion
Caution: The motor will rotate 1
revolution CW and 1 revolution
CCW. Make sure the move part
will not hit anything.
Press “M” key
Auxiliary Function: Reset Drive
Press “M” key
Write to EERPM
Press “M” key
It returns to the “Display Data Mode”
The actual displaying data is dependent.
Press “ ” 1 times to
increase it to 1
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Hardware manual of the ES-DH series drives
Rotating the Motor by Motion Controller
You can start the controller or pulse generator to rotate the motor. Actually, any device which gives
high-to-low or low-to-high level changes can be used to move the motor. If it is your first time
installation, it is recommended to disconnect the motor shaft from the load in case of accident. You
can start from low pulse frequency then going to high. One triggered edge of the pulse makes the
motor move one micro angle. The maximum running speed will be determined by the input voltage
and current setting. The minimum speed is limited by “Standby Time”, see more information in page
13 regarding “Standby Timer”.
Rotating the ES Motor in PC Software
There is a simple emulating controller that is used for self-test in the ES drive. It is not a full
functionality controller but it does eliminate the troubles to setup a real motion controller when you
want to test the ES drives or verify the connections. However, the performance using the emulating
controller and the PC software CAN NOT represent the performance using the actual motion
controller.
Click Drive Setting->Current Loop / Motion Test to open the test window. Then click the Motion Test
tab to open the emulating controller. Edit the trapezoid velocity profile and click the Start button to
issue the motion.
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Hardware manual of the ES-DH series drives
Power Supply Selection
To achieve good driving performances, it is important to choose a suitable supply voltage and use a
matching current value. Generally speaking, supply voltage determines the high speed performance
of the motor, while output current determines the output torque of the driven motor (particularly at
lower speed). Higher supply voltage will allow higher motor speed to be achieved, at the price of
more noise and heating. If the motion speed requirement is low, it’s better to use lower supply
voltage to decrease noise, heating and improve reliability.
Multiple Drives
It is recommended to have multiple drives to share one power supply to reduce cost, if the supply
has enough capacity. To avoid cross interference, DO NOT daisy-chain the power supply input pins of
the drives. Instead, please connect them to power supply separately.
Selecting Supply Voltage
Higher supply voltage can increase motor torque at higher speeds, thus helpful for avoiding losing
steps. However, higher voltage may cause bigger motor vibration at lower speed, and it may also
cause over-voltage protection or even drive damage. Therefore, it is suggested to choose only
sufficiently high supply voltage for intended applications, and it is suggested to use power supplies
with theoretical output voltage of drive’s minimum + 10% to drive’s maximum – 10%, leaving room
for power fluctuation and back-EMF.
Drive Upper Input Limit
Drive Upper Input Limit – 10%
Safe Region
Drive Upper Input Limit + 10%
Torque & Speed Heating & Vibration
Maximum Safe Rating
Minimum Safe Rating
Drive Lower Input Limit
Drive Input Voltage Power Supply Voltage
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Hardware manual of the ES-DH series drives
Recommended Supply Voltage
Motor Drive Voltage Range Typical Voltage
ES-MH23480 ES-DH1208 AC(70-130)V AC 110/120V
ES-MH234120 ES-DH1208 AC(70-130)V AC 110/120V
ES-MH33480 ES-DH2306 AC(150-230)V AC 220/230V
ES-MH342120 ES-DH2306 AC(150-230)V AC 220/230V
ES-MH342200 ES-DH2306 AC(150-230)V AC 220/230V
Control Signal Setup Timing
To make a reliable operation, the ES drive requires the control signals to meet the setup time
requirements as follows. Otherwise losing of steps may happen.
Symbol Description
tDS Direction Setup Time
t
Pulse High Level Setup Time
PHS
t
Pulse Low Level Setup Time
PLS
tDD Direction Delay Time
tES Enable Setup Time
tED Enable Delay Time
Control Signal Setup Time
Drive Frequency tDS tPHS / tPLS tDD tES tED
ES-DH2306 200K >5uS >2.5us >5uS >50ms >50ms
ES-DH2306 500K >5uS >1.0us >5uS >50ms >50ms
ES-DH1208 200K >5uS >2.5us >5uS >50ms >50ms
ES-DH1208 5200K >5uS >1.0us >5uS >50ms >50ms
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Hardware manual of the ES-DH series drives
Time(s) of Blink
Current Control Detail
Leadshine’s easy servo motor is integrated with a high-resolution 1,000-line optical incremental
encoder. That encoder can send the real-time shaft position back to the ES-DH drive. Like traditional
servo controls, the drive can automatically adjust the output current to the motor. The output
current ranges between the holding current and the close-loop current. When there is no pulse sent
to the drive, the ES-DH drive goes into idle mode and the actual motor current is determined by the
holding current percentage (similar to “ idle current” of open loop stepper drives). In normal working
mode, the ES-DH drive monitors the actual shaft position all the time. The current outputted to the
motor changes dynamically based on the tracking error between the actual position and the
commanded position.
Low holding current can reduce motor heating however also reduces the holding torque which is
used to lock the motor shaft at standstill. It is recommended to determine the holding current by
whether or not there is big vibration at start-up and how much lock torque is required, based on your
actual applications.
Fine Tuning
Leadshine already loads default current-loop parameters and position-loop parameters. Those
default parameter values have been optimized. They should be good enough for most industrial
applications, and there is no need to tune them. However, if you want to fine tune the IES for best
performance for your applications, Leadshine also offers tuning software, ProTuner, which allows you
to adjust those current-loop and position-loop parameters (see software manual).
Protection Functions
To improve reliability, the ES incorporates some built-in protection functions. The ES uses one red LED
to indicate the protection type. The periodic time of red is 5 s (seconds), and the blinking times of red
LED indicates what protection has been activated. Because only one protection can be displayed by
red LED, so the drive will decide what error to display according to their priorities. See the following
protection indications table for displaying priorities.
Priority
1st
2nd
1
2
0.2S
0.2S
0.3S
Sequence wave of RED LED Description
5S
Over-current protection
5S
Over-voltage protection
3rd
7
0.2S0.3S
5S
Position Following Error
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Hardware manual of the ES-DH series drives
Over-current Protection
Over-current protection will be activated when continuous current exceeds the limit or in case of
short circuit between motor coils or between motor coil and ground, and RED LED will blink once
within each periodic time.
Over-voltage Protection
When power supply voltage exceeds the limits, protection will be activated and red LED will blink
twice within each periodic time.
When above protections are active, the motor shaft will be free and the LED will
!
Caution
blink. Reset the drive by repowering it to make it function properly after removing
above problems.
Position Following Error Protection
When the position error exceeds its limit (software configurable, see software manual), position,
protection will be activated and red LED will blink seven times within each periodic time.
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Hardware manual of the ES-DH series drives
Frequently Asked Questions
In the event that your drive doesn’t operate properly, the first step is to identify whether the problem
is electrical or mechanical in nature. The next step is to isolate the system component that is causing
the problem. As part of this process you may have to disconnect the individual components that
make up your system and verify that they operate independently. It is important to document each
step in the troubleshooting process. You may need this documentation to refer back to at a later date,
and these details will greatly assist our Technical Support staff in determining the problem should you
need assistance.
Many of the problems that affect motion control systems can be traced to electrical noise, controller
software errors, or mistake in wiring.
Problem Symptoms and Possible Causes
Symptoms Possible Problems
No power
Motor is not rotating
Motor rotates in the wrong direction The direction signal level is reverse
The drive in fault
Erratic motor motion
Excessive motor and drive heating
Encoder resolution setting is wrong
Fault condition exists
The drive is disabled
Power supply voltage beyond drive’s input range
Something wrong with motor coil
Wrong connection
Control signal is too weak
Control signal is interfered
Something wrong with motor coil
Motor is undersized for the application
Acceleration is set too high
Power supply voltage too low
Inadequate heat sinking / cooling
Load is too high
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Hardware manual of the ES-DH series drives
Warranty
Leadshine Technology Co., Ltd. warrants its products against defects in materials and workmanship
for a period of 12 months from shipment out of factory. During the warranty period, Leadshine will
either, at its option, repair or replace products which proved to be defective.
Exclusions
The above warranty does not extend to any product damaged by reasons of improper or inadequate
handlings by customer, improper or inadequate customer wirings, unauthorized modification or
misuse, or operation beyond the electrical specifications of the product and/or operation beyond
environmental specifications for the product.
Obtaining Warranty Service
To obtain warranty service, a returned material authorization number (RMA) must be obtained from
customer service at e-mail: before returning product for service. Customer shall prepay shipping
charges for products returned to Leadshine for warranty service, and Leadshine shall pay for return of
products to customer.
Warranty Limitations
Leadshine makes no other warranty, either expressed or implied, with respect to the product.
Leadshine specifically disclaims the implied warranties of merchantability and fitness for a particular
purpose. Some jurisdictions do not allow limitations on how long and implied warranty lasts, so the
above limitation or exclusion may not apply to you. However, any implied warranty of
merchantability or fitness is limited to the 12-month duration of this written warranty.
Shipping Failed Product
If your product fail during the warranty period, e-mail customer service at to obtain a returned
material authorization number (RMA) before returning product for service. Please include a written
description of the problem along with contact name and address. Send failed product to distributor
in your area or: ULeadshine Technology Co., Ltd. 3/F, Block 2, Nanyou Tianan Industrial Park, Nanshan
Dist, Shenzhen, China.U Also enclose information regarding the circumstances prior to product
failure.
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Hardware manual of the ES-DH series drives
Contact Us
China Headquarters
Address: 3/F, Block 2, Nanyou Tianan Industrial Park, Nanshan District Shenzhen, China
Web: http://www.leadshine.com
Sales Hot Line:
Tel: 86-755-2641-7674 (for Asia, Australia, Africa areas)
86-755-2640-9254 (for Europe areas)
86-755-2641-7617 (for America areas)
Fax: 86-755-2640-2718
Email: sales@leadshine.com.
Technical Support:
Tel: 86-755-2641-8447, 86-755-2641-8774, 86-755-2641-0546
Fax: 86-755-2640-2718
Email: tech@leadshine.com(for All)
Leadshine U.S.A
Address: 25 Mauchly, Suite 318 Irvine, California 92618
Tel: 1-949-608-7270
Fax: 1-949-608-7298
Web: http://www.leadshineUSA.com
Email: sales@leadshineUSA.com and support@leadshineUSA.com.
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