Leadshine CS2RS-D503 Bedienungsanleitung

CS2RS Series

Modbus RS485 Stepper Drive

User Manual

For Models of CS2RS-D503, CS2RS-D507 and CS2RS-D1008

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

CS2RS Series Modbus RS485 Closed Loop Stepper Drive User Manual

Notice

Read this manual carefully before any assembling and using. Incorrect handling of products in this manual can

result in injury and damage to persons and machinery. 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. While every precaution has

been taken in the preparation of the book, Leadshine assumes no responsibility for errors or omissions. Neither is

any liability assumed for damages resulting from the use of the information contained herein.

This document is proprietary information of Leadshine that is furnished for customer use ONLY. Information in

this document is subject to change without notice and does not represent a commitment on the part of Leadshine.

Therefore, information contained in this manual may be updated from time-to-time due to product improvements,

etc., and may not conform in every respect to former issues.

◆Thank you for purchasing Leadshine CS2RS Series Products

◆Please read this manual carefully before operating

◆Please keep this manual appropriately

Record of Revisions

Manual

Reversion

Data

Description of Release

V1.0

20190517

Initial Release

V1.1

20191220

Modified Section 4 and Section 5

V1.5

20210830

Addition of some parameters.

Adding the content of safety precautions.

Adding the IO filtering configuration section.

CS2RS Series Modbus RS485 Closed Loop Stepper Drive User Manual

Safety Precautions

Overall Notes

Precautions for Storage and Transportation

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

power indicator is off before wiring and checking. Even if the power is

disconnected, voltage may remain inside the drive. Therefore, do not touch the

power terminals while the power indicator is on.

Please use the power supply specifications (number of phases.) that match the

product. Voltage. Frequency. AC/DC).

Be sure to connect the ground terminal of the driver (mounting surface) and

motor to the ground pole.

Do not damage or drag the cable, do not overstress the cable, do not hang

heavy objects on the cable, or get caught in the cabinet door.

Please do not disassemble the product yourself. Repair or modification.

When the machine is connected to the machine and starts to operate, make sure

that the machine is ready for emergency stop.

Do not touch the inside of the drive.

The heat sink of the driver may be hot when the power is on or when the power

is just cut off. The motor, etc. may be in a high temperature. Take safety

measures such as installing a cover to prevent accidental touching by hands and

parts (cables, etc.).

Use double-insulated or reinforced insulation for control power.

Do not use in places where water can be splashed. Corrosive environments. Do

not use the product in the vicinity of flammable gases and combustible

materials.

Do not use damaged. Drivers and motors with missing parts.

Please set up an emergency stop circuit externally to ensure that the

power can be cut off and the operation can be stopped immediately in case of

an abnormality.

If the product is used under poor power conditions, install protection

equipment (AC reactor, etc.) to ensure that the input power is supplied within

the specified voltage variation range.

Please use a noise filter to reduce the influence of electromagnetic interference.

The driver and motor should be used in the specified combination.

Please follow the Commands on the packaging for storage and do not overload

the product.

Please place this product in the following environment:

→No direct sunlight in the place.

→Ambient temperature does not exceed the product specification.

→Humidity does not exceed product specifications. Without condensation.

→No corrosive gases. Place of flammable gas.

→Dust. Dust. The place where there is less salt and metal powder.

→No water. Oil. The place where the splash of medicine, etc. occurs.

→Vibration or shock does not exceed product specifications.

→No equipment generating strong magnetic fields in the vicinity.

CS2RS Series Modbus RS485 Closed Loop Stepper Drive User Manual

Precautions for Installation

Precautions for Wiring

Precautions during operation

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

resistance.

Please install this product in the following environment:

→No direct sunlight in the place.

→Ambient temperature does not exceed the product specification.

→Humidity does not exceed product specifications. Without condensation.

→No corrosive gases. Place of flammable gas.

→Dust. Dust. The place where there is less salt and metal powder.

→No water. Oil. The place where the splash of medicine, etc. occurs.

→Vibration or shock does not exceed product specifications.

→No equipment generating strong magnetic fields in the vicinity.

Do not block the air inlet and exhaust ports, and do not allow foreign objects to

enter the drive and motor.

Do not step on the product or place heavy objects on the drive.

Please install the driver in the specified direction.

Make sure to keep the specified intervals between the inner surfaces of the

drive control cabinet and other machines.

Do not pass the magnetic contactor in the wiring between the drive and the

motor.

Please connect the power terminal and motor terminal firmly.

Keep a minimum distance of 10mm between the drive and the control cabinet

or other equipment.

Allow at least 30mm of wiring space above and below the driver.

Signal cable. The encoder cable should be a twisted shielded cable with the

shield grounded at both ends.

The wiring length of the encoder is up to 20m.

Reduce the frequency of power on/off as much as possible.

To prevent accidents, perform a test run of the servo motor at no load (without

the driver connected).

When you install the machine and start operation, please set the user

parameters in advance to match the machine.

Positive limit (POT) during JOG operation and zero return operation. The

signal of negative limit (NOT) is not valid.

When using the motor on a vertical axis, please provide a safety device to

avoid dropping the work-piece in case of alarm or over travel.

When an alarm occurs, please reset it after investigating the cause and making

sure it is safe.

Do not use the brake of the holding motor for normal braking.

Table of Contents

1 Introduction.........................................................................................................................................................- 1 -

1.1 Product Introduction.................................................................................................................................. - 1 -

1.2 Features...................................................................................................................................................... - 1 -

1.3 Application Scenarios................................................................................................................................ - 1 -

1.3.1 Hands-on Tuning............................................................................................................................ - 1 -

1.3.2 Practical Application Scenarios......................................................................................................- 2 -

1.4 Check of Product....................................................................................................................................... - 3 -

1.4.1 Arrival inspection............................................................................................................................- 3 -

1.4.2 Nameplate information................................................................................................................... - 3 -

1.4.3 Part number.....................................................................................................................................- 3 -

1.4.4 Parts description..............................................................................................................................- 4 -

1.4.5 Accessories Information................................................................................................................. - 4 -

2 Installation........................................................................................................................................................... - 5 -

2.1 Storage and Installation Conditions...........................................................................................................- 5 -

2.1.1 Storage condition............................................................................................................................ - 5 -

2.1.2 Operating ambience conditions...................................................................................................... - 5 -

2.2 Dimensions................................................................................................................................................ - 5 -

2.3 Installation Direction and Space................................................................................................................- 6 -

3 Product Specifications........................................................................................................................................ - 7 -

3.1 Electrical and Operating Specifications.................................................................................................... - 7 -

3.1.1 Electrical and Operating Specifications......................................................................................... - 7 -

3.2 Wiring Instructions.................................................................................................................................... - 8 -

3.2.1 Power Cable & Encoder Cable.......................................................................................................- 8 -

3.2.2 I/O Signal Cable............................................................................................................................. - 8 -

3.2.3 RS485 Communication Cable........................................................................................................ - 8 -

3.3 Interface Specifications............................................................................................................................. - 9 -

3.3.1 Connectors Definition.....................................................................................................................- 9 -

3.3.2 CN1 &CN2 Input Power Connector.............................................................................................. - 9 -

3.3.3 CN3-I/O Signals Connector......................................................................................................... - 10 -

3.3.4 CN4-RS485 Communication Connector......................................................................................- 10 -

3.3.5 CN5-RS232 Tuning Port...............................................................................................................- 11 -

3.3.6 CN6-Encoder Input Signals Connector........................................................................................ - 11 -

3.3.7 DIP Switches.................................................................................................................................- 11 -

3.4 I/O Connection.........................................................................................................................................- 13 -

3.4.1 Digital Inputs................................................................................................................................ - 13 -

3.4.2 Digital Output............................................................................................................................... - 13 -

3.4.3 Brake Output.................................................................................................................................- 14 -

4 Modbus RTU..................................................................................................................................................... - 15 -

4.1 Communication Specifications................................................................................................................- 15 -

4.2 Modbus Function Codes (FC)................................................................................................................. - 15 -

4.2.1 Read Holding Registers FC= 03...................................................................................................- 16 -

4.2.2 Preset Single Register FC= 06......................................................................................................- 17 -

4.2.3 Preset Multiple Registers FC= 10................................................................................................ - 18 -

4.3 Modbus & PR Parameters....................................................................................................................... - 19 -

4.3.1 Basic Parameters...........................................................................................................................- 19 -

4.3.2 Input and Output Parameters........................................................................................................ - 22 -

4.3.3 Smooth Filter Time Setting for Digital Inputs............................................................................. - 22 -

4.3.4 Status Monitoring Parameters...................................................................................................... - 24 -

4.3.5 Control Word and Status Word.....................................................................................................- 24 -

4.4 Error Codes and Troubleshooting............................................................................................................- 25 -

4.4.1 Communication Error Codes........................................................................................................- 25 -

4.4.2 Drive Alarm Codes and Troubleshooting.....................................................................................- 26 -

4.4.3 Error Clear.................................................................................................................................... - 26 -

4.5 Register Mapping Continuous Read/Write Function.............................................................................. - 27 -

4.6 S-code Application...................................................................................................................................- 28 -

4.7 Enable Drive............................................................................................................................................ - 29 -

5 PR Mode (Indexer Table)................................................................................................................................. - 30 -

5.1 PR Main Features.....................................................................................................................................- 30 -

5.2 Homing / Return to Zero Position........................................................................................................... - 30 -

5.2.1 Homing Parameters...................................................................................................................... - 31 -

5.2.2. Homing by Home Switch............................................................................................................ - 32 -

5.2.3. Homing by Limit Switch............................................................................................................. - 34 -

5.3 Soft Limit & JOG & Quick Stop.............................................................................................................- 35 -

5.3.1 Soft Limit......................................................................................................................................- 35 -

5.3.2 JOG............................................................................................................................................... - 35 -

5.3.3 Quick Stop.................................................................................................................................... - 36 -

5.4 PR Path.....................................................................................................................................................- 37 -

5.4.1 PR Parameters...............................................................................................................................- 37 -

5.4.2 PR Path Configuration..................................................................................................................- 38 -

5.4.3 Other functions of PR................................................................................................................... - 38 -

5.5 Trigger Methods.......................................................................................................................................- 40 -

5.5.1 CTRG Trigger...............................................................................................................................- 40 -

5.5.2 IO Combination Trigger............................................................................................................... - 41 -

5.5.3 Fixed Trigger................................................................................................................................ - 42 -

5.5.4 Immediate Trigger........................................................................................................................ - 42 -

6 Tuning Operations............................................................................................................................................ - 44 -

6.1 Basic operation of Leadshine MotionStudio........................................................................................... - 44 -

6.1.1 Preparation and Steps................................................................................................................... - 44 -

6.1.2 Operation of Trial Run..................................................................................................................- 46 -

6.1.3 Operation of PR Function.............................................................................................................- 47 -

6.2 Basic Operation of Serial Port Tools Software........................................................................................- 49 -

6.2.1 Preparation and Steps................................................................................................................... - 49 -

6.2.2 Operation Instruction Format....................................................................................................... - 50 -

6.2.3 Command Cases of Modbus RTU................................................................................................- 50 -

Appendix A Parameters List...............................................................................................................................- 52 -

CS2RS Series Modbus RS485 Closed Loop Stepper Drive User Manual

-1-

1 Introduction

1.1 Product Introduction

CS2RS Series are closed loop stepper drive based on standard Modbus RTU protocol, using RS485 communication can

network up to 31 axes, built-in 16-segment position table (PR Mode --Position Register mode ). They can not only solve the

problem of step loss in the open loop stepper system, but also can save additional controllers in most of point-to-point

applications, to greatly enhance system reliability and reduce the cost. CS2RS Series also support the feature of teaching, the

operation modes of Profile Position, Profile Velocity and Homing. They can power 2-phase NEMA 8, 11, 14, 17, 23, 24, 34

stepper motors with 1000 ppr to 5000 ppr incremental encoders.

The CS2RS series is highly reliable and affordable and performs excellently in many industrial applications such as solar

equipment, textile, civil, robotics, power generation equipment, 3C, packaging...

1.2 Features

No loss of step, No hunting, No torque reservation

Low noise and vibration, smooth motion

Support Modbus RTU protocol, Internal 16-segment position instructions

Motion can be started by External IO or RS485

Support operation modes: Profile Position, Profile Velocity, Homing

7 configurable digital inputs, 3 optically isolated digital outputs

Limit +, Limit -, Origin, Quick stop, Enable, JOG +, JOG - and Position Table inputs

Alarm, Brake, Homing complete, In Position complete, instructions complete, Path complete outputs

20-50VDC supply voltage for CS2RS-D503, max output current 3A

20-50VDC supply voltage for CS2RS-D507, max output current 7A

18-80VAC or 30-100VDC supply voltage for CS2RS-D1008, max output current 8A

RS232 communication for parameters configuration

Encoder resolution: 1000 ppr to 5000 ppr for NEMA8/11/17/23/24/ 34 CS-M motors

Protections for over voltage, over current and position following error, encoder cable error, etc.

Compare with Step/Direction

Built-in single-axis control can save the PLC in most of point-to-point applications to reduce cost;

Built-in rich diagnostic functions and input and output signals to setup easily;

Modbus brings more expansion possibility to add value;

1.3 Application Scenarios

Divided into simple hands-on tuning and practical application scenarios

1.3.1 Hands-on Tuning

(1) The trial run can be performed with Leadshine's MS tuning software, which requires Leadshine’s tuning software, RS232

tuning cable (provided by Leadshine), RS232toUSB converter, drive and motor, as described in Section 6.1

(2) Simple motion can also be performed with serial port tools, which requires General serial port tools software, RS485 tuning

cable (User-provided), RS485toUSB converter, drive and motor, as described in Section 6.2.

CS2RS Series Modbus RS485 Closed Loop Stepper Drive User Manual

-2-

1.3.2 Practical Application Scenarios

(1) Controlled by Modbus RS485 (PLC or HMI)

The RS485 (Modbus-RTU protocol) communication triggers the drive's PR motion register, which can realize the drive's path

motion. Both PLC and HMI have RS485 communication so user can choose one or both. Using PLC can write more complex

programs to let motion more intelligent, and the HMI can monitor and modify the drive parameters in real time.

(2) Controlled by I/O (switch signal or PLC)

The user only needs to turn off the switch signal to realize the PR motion, which is simple to control and low-cost design.

User can also use PLC I/O module to realize PR motion, which is more intelligent than switch signal control.

CS2RS Series Modbus RS485 Closed Loop Stepper Drive User Manual

-3-

1.4 Check of 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.

Cheek if it is fully equipped with accessories. Accessories include power supply and I/O signals

connector.

1.4.2 Nameplate information

1.4.3 Part number

Neither the damaged nor missing accessories of stepper system

is allowed to install.

Contact Leadshine or local distributor if any failure was found.

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