IES-2309 LEADSHINE | Alldatasheet
Document overview
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Technical content
Features
l Easy servo control technology to combine advantages of open-loop stepper systems and brushless servo systems l Closed-loop controls to eliminate lose of steps, stall or movement synchronization l Integrated compact size for saving mounting space & setup time, and reducing electrical interference l 1000-line integrated optical incremental encoder for accurate position control l High starting torque and quick response l Smooth motor movement with no vibration l Excellent respond time, quick acceleration, and very high high-speed torque (30% over open-loop) l Load-dependent dynamic current output from drive to motor to significantly motor heating deduction l Input voltage from 20 to 50 VDC; 6.0A peak current output from drive to motor l 1 Nm (142 oz-in) holding torque stepper motor with NEMA 23 frame size installation l 16 micro step resolution options via DIP switches; or any value from 200-102,000 (increased by 1) via software configuration l Isolated control inputs of Pulse, Direction and Enable l No tuning for plug and play setup l In-position and fault outputs to external motion controllers for complete system controls. l Over voltage, over-current, and position-error protection Descriptions Leadshine’s iES-2309 integrated easy servo motor is a NEMA 23 stepper motor integrated with a 1,000-line (4,000 PPR) encoder and an easy servo drive. At very compact size and with all components integrated, the iES-2309 can save mounting space, eliminate encoder connection & motor wiring time, reduce interference, and cut/reduce cable and labor costs. By adopting Leadshine ’s latest easy servo control technology, the easy servo drive of the iES-2309 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 the iES-2309 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 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.
Datasheet of the integrated easy servo motor iES-2309 Leadshine Motion Technology 3/F, Block 2, Nanyou Tian’an Industrial Park, Nanshan District Shenzhen, China Page 2 of 9 Tel: 86-755-26409254 Fax: 86-755-26402718 Website: http://www.leadshine.com Descriptions (Continued) The integrated 1,000-line encoder of the iES-2309 offers the real-time motor shaft position to the drive. Based on that position, the drive 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, the iES-2309 can significantly improve high speed performance by as much as 30%. In addition, the iES-2309 performs much better in response time and speed acceleration over open-loop step systems. Compared with brushless servo systems, the iES-2309 has much higher low speed torque, no overshooting & zero settling time, no overshooting, no hunting, and no/little tuning. Significant cost cutting also makes the iES-2309 ideal for the motion control systems in many applications.
Applications
Leadshine’s iES-2309 integrated easy 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 the iES-2309 ideal 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 the iES-2309 ideal products in many traditional servo applications such as short distance movement boding type machines and vision applications. Its natural feature of high low-speed torque makes the iES-2309 a perfect product for replacing many high-cost servo applications with gear head speed reduction. Specifications Electrical Specifications 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 - - MΩ
Datasheet of the integrated easy servo motor iES-2309 Leadshine Motion Technology 3/F, Block 2, Nanyou Tian’an Industrial Park, Nanshan District Shenzhen, China Page 3 of 9 Tel: 86-755-26409254 Fax: 86-755-26402718 Website: http://www.leadshine.com Specifications (Continued) Operating Environment Cooling Natural Cooling or Forced cooling Environment Avoid dust, oil fog and corrosive gases Ambient Temperature 0℃ － 40 ℃ (32℉ － 104 ℉) Humidity 40%RH － 90%RH Operating Environment Operating Temperature (Heat Sink) 70℃ (158℉) Max Storage Temperature -20℃ － 65 ℃ (-4℉ － 149 ℉) Motor Specifications Part Number Holding Torque Motor Length ( L) Motor Inductance Weight iES-2309 0.9 Nm 56mm 0.93mH 800 g Mechanical Specifications L = 56+/-1mm, total length = 88+/1mm
Datasheet of the integrated easy servo motor iES-2309 Leadshine Motion Technology 3/F, Block 2, Nanyou Tian’an Industrial Park, Nanshan District Shenzhen, China Page 4 of 9 Tel: 86-755-26409254 Fax: 86-755-26402718 Website: http://www.leadshine.com Protection Indications The green light turns on when the iES-2309 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 Over-current protection activated when peak current is greater than 18A 2nd 2 Over-voltage protection activated when drive working voltage is greater than 60VDC 3rd 7 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) Connectors and Pin Assignment Leadshine’s iES-2309 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 Name I/O Description
1 PUL+ I
2 PUL- I
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. 4.5-24V for PUL-HIGH, 0-0.5V for PUL-LOW. For reliable response, pulse width should be longer than 2.5 μs for 200K MAX input frequency or 1 μs for 500K MAX input frequency.
3 DIR+ I
4 DIR- I
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 μs at least. 4.5-24V for DIR-HIGH, 0-0.5V for DIR-LOW. Toggle DIP switch SW5 to reverse motion direction.
5 ENA+ I
6 ENA- I
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 UNCONNECTED (ENABLED). 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.
Datasheet of the integrated easy servo motor iES-2309 Leadshine Motion Technology 3/F, Block 2, Nanyou Tian’an Industrial Park, Nanshan District Shenzhen, China Page 5 of 9 Tel: 86-755-26409254 Fax: 86-755-26402718 Website: http://www.leadshine.com Connectors and Pin Assignment Continued) Control Signal Connector Pin Name I/O Description
7 PED+ O
8 PED- O
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).
9 ALM+ O
10 ALM- O
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. Power Connector Pin Name I/O Description 1 +Vdc I Power Supply Input (Positive) 20-45VDC recommended. Please leave reasonable reservation for voltage fluctuation and back-EMF during deceleration.
2 GND GND Power Ground (Negative)
RS232 Communication Connector Pin Name 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 GND GND Ground. 4 RxD I RS232 receive. 5 NC - Not connected. DIP Switch Settings Micro Step Resolution (S1-S4) Micro step resolution of the iES-2309 can be configured via a 4-bit DIP switch, or Leadshine ’s tuning software ProTuner. When all bits of the DIP switch are at “ON” positions, the integrated easy servo drive 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 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.
Datasheet of the integrated easy servo motor iES-2309 Leadshine Motion Technology 3/F, Block 2, Nanyou Tian’an Industrial Park, Nanshan District Shenzhen, China Page 6 of 9 Tel: 86-755-26409254 Fax: 86-755-26402718 Website: http://www.leadshine.com DIP Switch Settings (Continued) Micro Step Resolution (S1-S4) 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
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 rotation direction of the iES-2309. 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. On Off S6 Active rising edge of input pulse Active falling edge of input pulse Current Control Detail Leadshine’s iES-2309 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 of the iES-2309. 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 iES-2309 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, iES-2309 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.
Datasheet of the integrated easy servo motor iES-2309 Leadshine Motion Technology 3/F, Block 2, Nanyou Tian’an Industrial Park, Nanshan District Shenzhen, China Page 7 of 9 Tel: 86-755-26409254 Fax: 86-755-26402718 Website: http://www.leadshine.com Current Control Detail Continued) By default, holding current percentage of the iES-2309 is 40% 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: (%)PercentageCurrentHolding6ACurrentHolding ×= (%)PercentageCurrentLoopClose6ACurrentloopCloseMAX ×= 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-2309 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 iES-23XX GND PUL+ 1 DIR+ 3 PUL- DIR- PED+ +Vdc ENA+ 5 ENA- 6 8PED- Power Connector 5-24V 5V recommended Step Direction Enable In-Position Controller ALM+ 9 10ALM- Alarm Control Signal Connector 20~45VDC RS232 Connector RX NC5 TX GND3 5V1 Pin3 of PC serial port Pin5 of PC serial port Pin2 of PC serial port Connect iES-23XX to controller of sinking output
Datasheet of the integrated easy servo motor iES-2309 Leadshine Motion Technology 3/F, Block 2, Nanyou Tian’an Industrial Park, Nanshan District Shenzhen, China Page 8 of 9 Tel: 86-755-26409254 Fax: 86-755-26402718 Website: http://www.leadshine.com Typical Connections (Continued) iES-23XX GND PED+ +Vdc 8PED- Power Connector In-position Controller ALM+ 9 10ALM- Alarm Control Signal Connector 20~45VDC PUL+ 1 DIR+ 3 PUL- DIR- ENA+ 5 ENA- 6 VCC = 5-24V 5V recommended Step Direction Enable VCC VCC VCC RS232 Connector RX NC5 TX GND3 5V1 Pin3 of PC serial port Pin5 of PC serial port Pin2 of PC serial port Connect iES-23XX to controller of sourcing output iES-23XX GND PED+ +Vdc 8PED- Power Connector Alarm Controller ALM+ 9 10ALM- In-Position Control Signal Connector 20~45VDC PUL+ 1 DIR+ 3 PUL- DIR- ENA+ 5 ENA- 6 Step Direction Enable RS232 Connector RX NC5 TX GND3 5V1 Pin3 of PC serial port Pin5 of PC serial port Pin2 of PC serial port Connect iES-23XX to controller of differential output
Datasheet of the integrated easy servo motor iES-2309 Leadshine Motion Technology 3/F, Block 2, Nanyou Tian’an Industrial Park, Nanshan District Shenzhen, China Page 9 of 9 Tel: 86-755-26409254 Fax: 86-755-26402718 Website: http://www.leadshine.com RS232 Communication Cable Connections Note1: The RS232 communication port is not isolated. Please use an isolated power supply for the iST-23xx when the PC’s serial port is not isolated. Note2: Do not plug or unplug the connector when power is on. Female DB9 (Look from the front side) GND TXD RXD NC1 NC5 iES-23XX RS232 Communication Pins Speed-Torque Curve Note: The following curves are based on 20% holding torque percentage and 70% close-loop current percentage of the iES-2309. If higher torque at high speed is required, you can change the holding torque percentage and close-loop current percentage to 100%. See software manual.