Hybrid Servos 46
Hybrid Servos From the stepper and servo, but surpass them in many applications! HBS Series Hybrid Servos Closed-loop, eliminates loss of synchronization The HBS series use an encoder to detect the motor's real position continuously. If necessary, the HBS drives will compensate the loss of synchronization, which is usually caused by abrupt load fluctuations or accelerations, and can not be compensated with a conventional stepper. Thus, the HBS can provide very precise position control like a servo. Encoder Fast response, no hunting For the case of traditional servo motor systems, there is a considerable delay between the commanding input signals and the resultant motion because of the constant monitor of the current position, necessitating a waiting time until it settles, called settle time. Since the HBS series is a stepper motor based system, it operates in synchronism with command pulses and has no hunting problem. When it stops, its position is completely stable and does not fluctuate. It is a great feature of the HBS when rapid motions with a short distance are required and it is ideal for applications such as bonding and vision systems in which hunting would be a problem. CW HBS at standstill Completed stop Broader operating range Owing to closed-loop control and advanced control algorithm, the HBS series do not need to size with a 50% torque margin as a conventional stepper system. Instead, the HBS series can continuously operate at their maximum capabilities without loss of synchronism, achieving a broader operating range. The same size, but higher toque and higher speed. Torque Position Command HBS Series Traditional Servo Settling Time Time + pulse 0 - pulse CCW CW + pulse 0 - pulse CCW Servo at standstill Hunting HBS Series Model Operating Voltage Output (Peak) Command Introduction HBS57 18 to 48 VDC 8.0 A HBS86 24 to 70 VDC 8.2 A Step/Direction, Enable/Disable HBS86H 24 to 75 VAC 8.2 A The HBS series offers an alternative for applications requiring high performance and high reliability when the servo was the only choise, while it remains cost-effective. The system includes a 2-phase or 3-phase stepper motor combined with a fully digital, high performance drive and an internal encoder which 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! Advantages of the HBS Compare to a Conventional Stepper Closed-loop, eliminates loss of synchronization Broader operating range Reduced motor heating and more efficient Smooth motion and super-low motor noise Do not need a high torque margin No tuning and always stable higher torque and higher speed Advantages of the HBS Compare to a Conventional Servo Fast response, no delay and almost no settle time No hunting or no inherent dither High torque at starting and low speed, high stiffness at standstill Lower cost Reduced motor heating and more efficient Since the motor runs in closed-loop, the HBS drives only put as much current into the motor as required to drive the motor to the 0 target. Motor heat is 20 40 C lower compare to a conventional stepper drive which runs at full current most of the time. Less power consumption and longer motor lifetime can be achieved, reducing using and maintenance cost. Temperature rise oc 80 60 40 20 0 HBS Series Conventional Stepper Conventional Stepper HBS Series Time Time Smooth motion and super-low motor noise Unlike a conventional stepper drive, the HBS drives adopt vector control and filtering, producing a smooth motion with minimum torque ripples. Super-low motor noise is achieved. Plug and play, no tuning Unlike a servo system which usually needs the engineer to spend a long time to learn how to use tuning tools and tune the gains for a satisfying performance, the HBS series is ready for operation within a very short period of time. Connect the motor to the drive, set the microstep resolution and operating current, then the system is ready and offers high performance approaching to a fine tuned servo. Save time and save cost. High torque at starting and low speed, high inertial loads Since the HBS series is a stepper motor based system, so it has the advantages of high stiffness at standstill, high torque at starting and low speed, eliminating gear box. The HBS adopts sophisticated control algorithms to take advantage of high-torque capability, providing direct-drive of high inertia loads such as flywheels and belt drives. These load inertias may be as large as 100 times the motor inertia while still providing smooth positioning control. Traditional servo systems typically cannot exceed a 10:1 inertial mismatch. Size of the servo motor Size of the HBS motor HBS Series Applications The HBS series offers an alternative for applications requiring high performance and high reliability when the servo was the only choise, while it remains cost-effective. Its great feature of fast response and no hunting make it ideal for applications such as bonding and vision systems in which rapid motions with a short distance are required and hunting would be a problem. And it is ideal for applications where the equipment uses a beltdrive mechanism or otherwise has low rigidity and you don't want it to vibrate when stopping. Same starting and low speed torque, smaller size 45 46
Hybrid Servos Part Number Mechanical Specifications HBS 86-86 HS 40- EC-1000 Units: mm 1 inch = 25.4mm 1 2 3 1 HBS: Hybrid Servo Drive 2 86: Matching NEMA34 motors 57: Matching NEMA23 motors 3 Custom or special model number 1 2 3 4 1 Motor Size 86: NEMA34 / 86 mm 57: NEMA23 / 57 mm 2 Motor Type: HS: 2-phase 3S: 3-phase 3 Holding Torque 10: 1.0 N*m 20: 2.0 N*m 40: 4.0 N*m 80: 8.0 N*m 4 Come with a 1000-line encoder 26.5 5 116 109 99 15 Drive Specifications 5 Model Operating Voltage Output (Peak) Control Algorithm Maximum Input Frequency Command Input Status Output Encoder Feedback Protection Functions Matching Motors Encoder Resolution Weight 573 HBS57 18 to 48 VDC 8.0 A HBS86 24 to 70 VDC 8.2 A SVPWM 200 khz Step/Direction, Enable/Disable In position, Fault status A, B (differential) Over-current, Over-voltage, Position following error 1000 line HBS86H 24 to 75 VAC 8.2 A 28 19.5 69.2 Typical System Configurations HBS Series HBS Series 47 48
Hybrid Servos Matching Motors (f) Mechanical Specifications of the 86HS40-EC 573S09-EC 57HS10-EC 86HS40-EC (e) Wiring Diagram of 2-phase Motors HBS57 573S20-EC HBS86 57HS20-EC HBS86H 86HS80-EC (g) Mechanical Specifications of the 86HS80-EC 4 LEADS Motor Specifications Model Current/Phase Resistance/Phase Inductance/Phase Holding Torque Inertia Speed Range Weight Motor Length Insulation Resistance Motor Cable Length Units A mh N.M 2 kg.cm RPM Kg mm m 573S09-EC 4.2 0.45 2.0 0.9 0.32 0 to 3000 0.85 73 573S20-EC 5.8 0.53 2.7 2 0.55 0 to 3000 1.4 105 57HS10-EC 4.2 0.4 1.75 1 0.2 0 to 3000 0.8 73 57HS20-EC 5.8 0.37 1.6 2 0.8 0 to 3000 1.25 97 86HS40-EC 5.5 0.46 4 4.0 1.5 0 to 3000 2.56 97 86HS80-EC 6 0.44 3.73 8 2.58 0 to 3000 3.95 135 100M, 500 Vdc Standard cable come with the motor is 0.3 m, and 3m and 8m extension cables are available. Mechanical Specifications (a) Mechanical Specifications of the 57HS10-EC and 573S09-EC Speed-torque Curves HBS Series 4-5 (c) Wiring Diagram of 3-phase Motors HBS Series (b) Mechanical Specifications of the 573S20-EC M 49 50
iss57-10 Datasheet Motor + Drive + Encoder
Integrated Stepper Servo iss57-10 Datasheet Features Hybrid servo control technology to combine advantages of open-loop stepper systems and brushless servo systems Closed-loop controls to eliminate lose of steps, stall or movement synchronization Integrated compact size for saving mounting space & setup time, and reducing electrical interference 1000-line integrated optical incremental encoder for accurate position control High starting torque and quick response Smooth motor movement with no vibration Excellent respond time, quick acceleration, and very high high-speed torque (30% over open-loop) Load-dependent dynamic current output from drive to motor to significantly motor heating deduction Input voltage from 20 to 50 VDC; 6.0A peak current output from drive to motor 1 Nm (142 oz-in) holding torque stepper motor with NEMA 23 frame size installation 16 micro step resolution options via DIP switches; or any value from 200-102,000 (increased by 200) via software configuration Isolated control inputs of Pulse, Direction and Enable No tuning for plug and play setup In-position and fault outputs to external motion controllers for complete system controls. Over voltage, over-current, and position-error protection Descriptions Leadshine iss57-10 integrated step servo motor is a NEMA 23 stepper motor integrated with a 1,000-line (4,000 PPR) encoder and a hybrid servo drive board. At very compact size and with all components integrated, iss57-10 can save mounting space, eliminate encoder connection & motor wiring time, reduce interference, and cut/reduce cable and labor costs. By adopting Leadshine s latest hybrid servo control technology, the hybrid servo drive board of iss57-10 can drive the stepper motor with high staring torque, high precision, smooth movement, and extra low noise at low speed movement with no obvious resonance area. Different from constant-output-current output from a drive to a stepper motor in normal open-loop stepper controls, output current of iss57-10 is dynamic and changes depending on load condition, same as servo controls. Therefore, it can significantly reduce motor heating and increase motor lifetime. The drive board takes step & direction input commands, and is capable of outputting in-position and fault signals back to a motion controller or external devices, for complete system controls. The integrated 1,000-line encoder of iss57-10 can feedback the real-time motor shaft position to the drive board. Based on that position, the drive board can then close the loop between the motor and drive, ensure no step is lost, and eliminate the possibility of stall or loss of movement synchronization which is often found in open-loop stepper systems. By getting rid of torque reservation in open-loop stepper systems, iss57-1000 can significantly improve high speed performance by as much as 30%. In addition, iss57-10 performs much better in response time and speed acceleration over open-loop step systems. Compared with brushless servo systems, iss57-10 has much higher low speed torque, no overshooting & zero settling time, no overshooting, no hunting, and no/little tuning. Significant cost cutting also makes iss57-10 ideal for the motion control systems in many applications. 3/F, Block 2, Nanyou Tianan Industrial Park, Nanshan District Shenzhen, China Page 2 of 8
Integrated Stepper Servo iss57-10 Datasheet Applications Leadshine iss57-10 integrated step servo motor offers an alternative solution to fill the gap between budget open-loop stepper systems, and expensive high performance brushless servo systems. It combines the features of high low-speed torque of open loop stepper, and closed-loop movements of traditional servo systems. Integration design with motor, drive, and encoder significantly reduces setup time and cut costs of your control systems. Advanced features over open-loop stepper systems, such as much higher high-speed torque, no loss of movement synchronization, much lower motor heating, no obvious resonance area, etc., make iss57-10 ideal product for upgrading stepper systems to get performance boost for many stepper applications such as CNC routers, CNC laser cutting machines, CNC milling machines, CNC lathes, medical / biotech equipments, lab automation instruments, etc. Features over traditional brushless servo systems, such as significant lower costs, no hunting, no overshooting, easy setup, etc., make iss57-10 ideal products in many traditional servo applications such as short distance movement boding type machines or vision applications. Its natural feature of high low-speed torque makes iss57-10 a perfect product for replacing many high-cost servo applications with gearhead speed reduction. Specifications Electrical Specifications of Hybrid Servo Drive Board Parameter Min Typical Max Unit Input Voltage 20 36 50 VDC Output Current 0-6.0(Peak) A Pulse Input Frequency 0 200 500 khz Pulse Voltage 0 5 24 V Logic Signal Current 7 10 16 ma Isolation Resistance 100 - - M Operating Environment Cooling Operating Environment atural Cooling or Forced cooling Avoid dust, oil fog and corrosive Environment gases Ambient Temperature 0 40 (32 104 ) Humidity 40%RH 90%RH Operating Temperature (Heat Sink) 70 (158 ) Max Storage Temperature -20 65 (-4 149 ) 3/F, Block 2, Nanyou Tianan Industrial Park, Nanshan District Shenzhen, China Page 3 of 8
Integrated Stepper Servo iss57-10 Datasheet Mechanical Specifications Part umber Holding Torque Motor Length ( L) Length of Motor + Drive Weight iss57-10 1.0Nm 56mm 87.65mm 800 g Protection Indications The green light turns on when iss57-10 is powered on and functions normally. In any case that drive protection is activated, the red LED blinks periodically (in every 4 seconds) to indicate the error type. In each blink, red light is on for 0.2 second and then off for 0.3 second. Priority Time(s) of Blink Sequence wave of red LED Description 1st 1 2nd 2 3rd 7 Over-current protection activated when peak current is greater than 18A Over-voltage protection activated when drive working voltage is greater than 60VDC Position following error activated when position following error limit exceeded the pre-set value (1000 pulses by default, or value set value by a customer) 3/F, Block 2, Nanyou Tianan Industrial Park, Nanshan District Shenzhen, China Page 4 of 8
Integrated Stepper Servo iss57-10 Datasheet Connectors and Pin Assignment Leadshine iss57-10 has three connectors, a connector for control signals connections, a connector for RS232 communication connection, and a connector for power connections. Control Signal Connector Pin ame I/O Description 1 PUL+ I 2 PUL- I 3 DIR+ I 4 DIR- I 5 E A+ I 6 E A- I 7 PED+ O 8 PED- O 9 ALM+ O 10 ALM- O Pulse signal: In single pulse (pulse/direction) mode, this input represents pulse signal, active at each rising or falling edge (Set by DIP switch S6). In double pulse mode (software configurable), this input represents clockwise (CW) pulse, active both at each high level and low level. 2.5-24V for PUL-HIGH, 0-0.5V for PUL-LOW. For reliable response, pulse width should be longer than 2.5 s for 200K MAX input frequency or 1 s for 500K MAX input frequency. Direction Signal: In single-pulse mode, this signal has low/high voltage levels, representing two directions of motor rotation. In double-pulse mode (software configurable), this signal is counter-clock (CCW) pulse, active both at high level and low level. For reliable motion response, DIR signal should be ahead of PUL signal by 5 s at least. 2.5-24V fordir-high, 0-0.5V for DIR-LOW. The motor direction can also be changed by DIP switch S5. Please note that rotation direction is also related to motor-driver wiring match. Exchanging the connection of two wires for a coil to the driver will reverse motion direction. Enable signal: This signal is used for enabling/disabling the driver. By default, high level (NPN control signal) for enabling the driver and low level for disabling the driver. It is usually left U CO ECTED (E ABLED). Please note that the PNP and Differential control signals are on the contrary, namely Low level for enabling. The active level of ENA signal is software configurable. In-position Signal: OC output signal, activated when actual motor position reaches to target position. This port can sink or source MAX 20mA current at 24V. By default, the impedance between PED+ and PED- is high in normal operation and changed to low when the target position is reached. The active impedance of in-position signal can be software configurable (See software manual). Alarm Signal: OC output signal, activated when one of the following protection is activated: over-voltage, over current and position following error. They can sink or source MAX 20mA current at 24V. By default, the impedance between ALM+ and ALM- is low at normal operation and becomes high when any protection is activated. The active impedance of alarm signal is software configurable. 3/F, Block 2, Nanyou Tianan Industrial Park, Nanshan District Shenzhen, China Page 5 of 8
Integrated Stepper Servo iss57-10 Datasheet Power Connector Pin ame I/O Description 1 +Vdc I Power Supply Input (Positive) 20-50VDC recommended. Please leave reasonable reservation for voltage fluctuation and back-emf during deceleration. 2 G D GND Power Ground (Negative) RS232 Communication Connector Pin ame I/O Description 1 +5V O +5V power output ( Note: Do not connect it to PC s serial port) 2 TxD O RS232 transmit. 3 G D GND Ground. 4 RxD I RS232 receive. 5 C - Not connected. DIP Switch Settings Micro Step Resolution (S1-S4) Micro step resolution of iss57-10 can be configured via a 4-bit DIP switch, or Leadshine tuning software ProTuner. When all bits of the DIP switch are at ON positions, the integrated hybrid servo drive board will take the micro step resolution setting set by the software (4000 by default). In this case, a user can re-configure the resolution to any value between 200 and 51, 200 (increased by 1) through software. If any bit of the DIP switch is at OFF position, the integrated drive board will take micro step revolution setting determined by bit positions of the DIP switch. Use the following table for their resolution settings via the DIP switch. Micro Step Resolution Steps/Revolution S1 S2 S3 S4 Software Configured(Default 4000) On On On On 800 Off On On On 1600 On Off On On 3200 Off Off On On 6400 On On Off On 12800 Off On Off On 25600 On Off Off On 51200 Off Off Off On 1000 On On On Off 2000 Off On On Off 3/F, Block 2, Nanyou Tianan Industrial Park, Nanshan District Shenzhen, China Page 6 of 8
Integrated Stepper Servo iss57-10 Datasheet Micro Step Resolution (S1-S4) Continued Steps/Revolution S1 S2 S3 S4 Software Configured (Default 4000) On On On On 4000 On Off On Off 5000 Off Off On Off 8000 On On Off Off 10000 Off On Off Off 20000 On Off Off Off 40000 Off Off Off Off Motor Shaft Direction (S5) DIP switch S5 is used for changing motor shaft rotation direction. Changing position from ON to OFF, or OFF to ON will reverse iss57-10 rotation direction. Active edge of input pulse (S6) DIP switch S6 is used for setting the active edge of a pulse signal. The motor shaft moves one micro step for each active pulse edge. Use the following table for your reference S6 On Active rising edge of input pulse Off Active falling edge of input pulse Current Control Detail Leadshine iss57-10 integrated step 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 integrated drive board of iss57-10. Like traditional servo controls, the drive board 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, iss57-10 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, iss57-10 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. By default, iss57-10 s holding current percentage is 20% of the peak current and the close-loop current percentage is 70%, unless you change them from Leadshine s configuration software (see software manual). Actual current outputted to the motor can be calculated as follows: Holding Current 6A Holding Current Percentage (%) MAX Close loop Current 6A Close Loop Current Percentage (%) 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. 3/F, Block 2, Nanyou Tianan Industrial Park, Nanshan District Shenzhen, China Page 7 of 8
Integrated Stepper Servo iss57-10 Datasheet 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 iss57 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). Typical Connections Controller VCC VCC = 3.3-24V PUL+ PUL- 270O iss57 Pulse DIR+ 270O DIR- Direction ENA+ 270O ENA- Enable Alarm ALM+ ALM- In-Positon PED+ PED- 20 ~ 45VDC +Vdc GND RS232 Communication Cable Connections 5 4 3 2 1 NC RXD GND TXD NC 5 4 3 2 1 9 8 7 6 iss57-xx RS232 Communication Pins Female DB9 (Look from the front side) 3/F, Block 2, Nanyou Tianan Industrial Park, Nanshan District Shenzhen, China Page 8 of 8
iss57-20 Datasheet Motor + Drive + Encoder
Integrated Stepper Servo iss57-20 Datasheet Features Hybrid servo control technology to combine advantages of open-loop stepper systems and brushless servo systems Closed-loop controls to eliminate lose of steps, stall or movement synchronization Integrated compact size for saving mounting space & setup time, and reducing electrical interference 1000-line integrated optical incremental encoder for accurate position control High starting torque and quick response Smooth motor movement with no vibration Excellent respond time, quick acceleration, and very high high-speed torque (30% over open-loop) Load-dependent dynamic current output from drive to motor to significantly motor heating deduction Input voltage from 20 to 50 VDC; 6.0A peak current output from drive to motor 2 Nm (285 oz-in) holding torque stepper motor with NEMA 23 frame size installation 16 micro step resolution options via DIP switches; or any value from 200-51,200 (increased by 1) via software configuration Isolated control inputs of Pulse, Direction and Enable No tuning for plug and play setup In-position and fault outputs to external motion controllers for complete system controls. Over voltage, over-current, and position-error protection Descriptions Leadshine iss57-20 integrated step servo motor is a NEMA 23 stepper motor integrated with a 1,000-line (4,000 PPR) encoder and a hybrid servo drive board. At very compact size and with all components integrated, iss57-20 can save mounting space, eliminate encoder connection & motor wiring time, reduce interference, and cut/reduce cable and labor costs. By adopting Leadshine s latest hybrid servo control technology, the hybrid servo drive board of iss57-20 can drive the stepper motor with high staring torque, high precision, smooth movement, and extra low noise at low speed movement with no obvious resonance area. Different from constant-output-current output from a drive to a stepper motor in normal open-loop stepper controls, output current of iss57-20 is dynamic and changes depending on load condition, same as servo controls. Therefore, it can significantly reduce motor heating and increase motor lifetime. The drive board takes step & direction input commands, and is capable of outputting in-position and fault signals back to a motion controller or external devices, for complete system controls. The integrated 1,000-line encoder of iss57-20 can feedback the real-time motor shaft position to the drive board. Based on that position, the drive board can then close the loop between the motor and drive, ensure no step is lost, and eliminate the possibility of stall or loss of movement synchronization which is often found in open-loop stepper systems. By getting rid of torque reservation in open-loop stepper systems, iss57-2000 can significantly improve high speed performance by as much as 30%. In addition, iss57-20 performs much better in response time and speed acceleration over open-loop step systems. Compared with brushless servo systems, iss57-20 has much higher low speed torque, no overshooting & zero settling time, no overshooting, no hunting, and no/little tuning. Significant cost cutting also makes iss57-20 ideal for the motion control systems in many applications. 3/F, Block 2, Nanyou Tianan Industrial Park, Nanshan District Shenzhen, China Page 2 of 8
Integrated Stepper Servo iss57-20 Datasheet Applications Leadshine iss57-20 integrated step servo motor offers an alternative solution to fill the gap between budget open-loop stepper systems, and expensive high performance brushless servo systems. It combines the features of high low-speed torque of open loop stepper, and closed-loop movements of traditional servo systems. Integration design with motor, drive, and encoder significantly reduces setup time and cut costs of your control systems. Advanced features over open-loop stepper systems, such as much higher high-speed torque, no loss of movement synchronization, much lower motor heating, no obvious resonance area, etc., make iss57-20 ideal product for upgrading stepper systems to get performance boost for many stepper applications such as CNC routers, CNC laser cutting machines, CNC milling machines, CNC lathes, medical / biotech equipments, lab automation instruments, etc. Features over traditional brushless servo systems, such as significant lower costs, no hunting, no overshooting, easy setup, etc., make iss57-20 ideal products in many traditional servo applications such as short distance movement boding type machines or vision applications. Its natural feature of high low-speed torque makes iss57-20 a perfect product for replacing many high-cost servo applications with gearhead speed reduction. Specifications Electrical Specifications of Hybrid Servo Drive Board Parameter Min Typical Max Unit Input Voltage 20 36 50 VDC Output Current 0-6.0(Peak) A Pulse Input Frequency 0 200 500 khz Pulse Voltage 0 5 24 V Logic Signal Current 7 10 16 ma Isolation Resistance 100 - - M Operating Environment Cooling Operating Environment atural Cooling or Forced cooling Avoid dust, oil fog and corrosive Environment gases Ambient Temperature 0 40 (32 104 ) Humidity 40%RH 90%RH Operating Temperature (Heat Sink) 70 (158 ) Max Storage Temperature -20 65 (-4 149 ) 3/F, Block 2, Nanyou Tianan Industrial Park, Nanshan District Shenzhen, China Page 3 of 8
Integrated Stepper Servo iss57-20 Datasheet Mechanical Specifications Part umber Holding Torque Motor Length ( L) Length of Motor + Drive Weight iss57-20 2.0Nm 80mm 111.65mm 1280g Protection Indications The green light turns on when iss57-20 is powered on and functions normally. In any case that drive protection is activated, the red LED blinks periodically (in every 4 seconds) to indicate the error type. In each blink, red light is on for 0.2 second and then off for 0.3 second. Priority Time(s) of Blink Sequence wave of red LED Description 1st 1 2nd 2 3rd 7 Over-current protection activated when peak current is greater than 18A Over-voltage protection activated when drive working voltage is greater than 60VDC Position following error activated when position following error limit exceeded the pre-set value (1000 pulses by default, or value set value by a customer) 3/F, Block 2, Nanyou Tianan Industrial Park, Nanshan District Shenzhen, China Page 4 of 8
Integrated Stepper Servo iss57-20 Datasheet Connectors and Pin Assignment Leadshine iss57-20 has three connectors, a connector for control signals connections, a connector for RS232 communication connection, and a connector for power connections. Control Signal Connector Pin ame I/O Description 1 PUL+ I 2 PUL- I 3 DIR+ I 4 DIR- I 5 E A+ I 6 E A- I 7 PED+ O 8 PED- O 9 ALM+ O 10 ALM- O Pulse signal: In single pulse (pulse/direction) mode, this input represents pulse signal, active at each rising or falling edge (Set by DIP switch S6). In double pulse mode (software configurable), this input represents clockwise (CW) pulse, active both at each high level and low level. 2.5-24V for PUL-HIGH, 0-0.5V for PUL-LOW. For reliable response, pulse width should be longer than 2.5 s for 200K MAX input frequency or 1 s for 500K MAX input frequency. Direction Signal: In single-pulse mode, this signal has low/high voltage levels, representing two directions of motor rotation. In double-pulse mode (software configurable), this signal is counter-clock (CCW) pulse, active both at high level and low level. For reliable motion response, DIR signal should be ahead of PUL signal by 5 s at least. 2.5-24V fordir-high, 0-0.5V for DIR-LOW. The motor direction can also be changed by DIP switch S5. Please note that rotation direction is also related to motor-driver wiring match. Exchanging the connection of two wires for a coil to the driver will reverse motion direction. Enable signal: This signal is used for enabling/disabling the driver. By default, high level (NPN control signal) for enabling the driver and low level for disabling the driver. It is usually left U CO ECTED (E ABLED). Please note that the PNP and Differential control signals are on the contrary, namely Low level for enabling. The active level of ENA signal is software configurable. In-position Signal: OC output signal, activated when actual motor position reaches to target position. This port can sink or source MAX 20mA current at 24V. By default, the impedance between PED+ and PED- is high in normal operation and changed to low when the target position is reached. The active impedance of in-position signal can be software configurable (See software manual). Alarm Signal: OC output signal, activated when one of the following protection is activated: over-voltage, over current and position following error. They can sink or source MAX 20mA current at 24V. By default, the impedance between ALM+ and ALM- is low at normal operation and becomes high when any protection is activated. The active impedance of alarm signal is software configurable. 3/F, Block 2, Nanyou Tianan Industrial Park, Nanshan District Shenzhen, China Page 5 of 8
Integrated Stepper Servo iss57-20 Datasheet Power Connector Pin ame I/O Description 1 +Vdc I Power Supply Input (Positive) 20-50VDC recommended. Please leave reasonable reservation for voltage fluctuation and back-emf during deceleration. 2 G D GND Power Ground (Negative) RS232 Communication Connector Pin ame I/O Description 1 +5V O +5V power output ( Note: Do not connect it to PC s serial port) 2 TxD O RS232 transmit. 3 G D GND Ground. 4 RxD I RS232 receive. 5 C - Not connected. DIP Switch Settings Micro Step Resolution (S1-S4) Micro step resolution of iss57-20 can be configured via a 4-bit DIP switch, or Leadshine tuning software ProTuner. When all bits of the DIP switch are at ON positions, the integrated hybrid servo drive board will take the micro step resolution setting set by the software (4000 by default). In this case, a user can re-configure the resolution to any value between 200 and 51, 200 (increased by 1) through software. If any bit of the DIP switch is at OFF position, the integrated drive board will take micro step revolution setting determined by bit positions of the DIP switch. Use the following table for their resolution settings via the DIP switch. Micro Step Resolution Steps/Revolution S1 S2 S3 S4 Software Configured(Default 4000) On On On On 800 Off On On On 1600 On Off On On 3200 Off Off On On 6400 On On Off On 12800 Off On Off On 25600 On Off Off On 51200 Off Off Off On 1000 On On On Off 2000 Off On On Off 3/F, Block 2, Nanyou Tianan Industrial Park, Nanshan District Shenzhen, China Page 6 of 8
Integrated Stepper Servo iss57-20 Datasheet Micro Step Resolution (S1-S4) Continued Steps/Revolution S1 S2 S3 S4 Software Configured (Default 4000) On On On On 4000 On Off On Off 5000 Off Off On Off 8000 On On Off Off 10000 Off On Off Off 20000 On Off Off Off 40000 Off Off Off Off Motor Shaft Direction (S5) DIP switch S5 is used for changing motor shaft rotation direction. Changing position from ON to OFF, or OFF to ON will reverse iss57-20 rotation direction. Active edge of input pulse (S6) DIP switch S6 is used for setting the active edge of a pulse signal. The motor shaft moves one micro step for each active pulse edge. Use the following table for your reference S6 On Active rising edge of input pulse Off Active falling edge of input pulse Current Control Detail Leadshine iss57-20 integrated step 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 integrated drive board of iss57-20. Like traditional servo controls, the drive board 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, iss57-20 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, iss57-20 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. By default, iss57-20 s holding current percentage is 30% of the peak current and the close-loop current percentage is 100%, unless you change them from Leadshine s configuration software (see software manual). Actual current outputted to the motor can be calculated as follows: Holding Current 6A Holding Current Percentage (%) MAX Close loop Current 6A Close Loop Current Percentage (%) 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. 3/F, Block 2, Nanyou Tianan Industrial Park, Nanshan District Shenzhen, China Page 7 of 8
Integrated Stepper Servo iss57-20 Datasheet 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 iss57 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). Typical Connections Controller VCC VCC = 3.3-24V PUL+ PUL- 270O iss57 Pulse DIR+ 270O DIR- Direction ENA+ 270O ENA- Enable Alarm ALM+ ALM- In-Positon PED+ PED- 20 ~ 45VDC +Vdc GND RS232 Communication Cable Connections 5 4 3 2 1 NC RXD GND TXD NC 5 4 3 2 1 9 8 7 6 iss57-xx RS232 Communication Pins Female DB9 (Look from the front side) 3/F, Block 2, Nanyou Tianan Industrial Park, Nanshan District Shenzhen, China Page 8 of 8