ES2-DA808 User Manual - V3.0

User Manual
ES2-DA808
Vector Easy Servo Drive
Revision 1.0
©2016 China Leadshine Technology Co., Ltd.
Address: Floor 11, Block A3, Nanshan iPark, Xueyuan Avenue 1001, Shenzhen, Guangdong, 518055, China
Tel: (86)755-26409254 Fax: (86)755-26402718
Web: www.leadshine.com Sales: [email protected]
Support: [email protected]
Datasheet of the Easy Servo Drive ES2-DA808
Table of Contents
1 Introductions....................................................................................................................................................................4
1.1 Features.................................................................................................................................................................4
1.2 Applications..........................................................................................................................................................4
2 Specifications...................................................................................................................................................................4
2.1 Electrical Specifications....................................................................................................................................... 4
2.2 Control Specifications.......................................................................................................................................... 5
2.3 Mechanical Specifications....................................................................................................................................5
2.4 Operating Environment........................................................................................................................................ 5
3 Connectors and Pin Assignments.................................................................................................................................... 5
3.1 Control Signal Connector CN1............................................................................................................................ 6
3.2 Encoder Signal Input CN2................................................................................................................................... 7
3.3 RS232 Communication Connector for Tuning CN3............................................................................................7
3.5 Power and motor Connector.................................................................................................................................8
3.6 Connector Pin-Out................................................................................................................................................9
3.7 Matching ESM Series Easy Servo Motors.........................................................................................................10
3.8 Motor Encoder Cable Pin-Out........................................................................................................................... 10
3.9 Motor Encoder Extension Cable........................................................................................................................ 11
4.0 Getting Start................................................................................................................................................................11
4.1 Wiring Diagrams................................................................................................................................................ 12
4.1.1 Power Wiring...........................................................................................................................................12
4.1.2 Control Signal Wiring............................................................................................................................. 13
4.2 Sequence Chart of Control Signals.................................................................................................................... 15
4.3 Configuring ES2-DA808....................................................................................................................................15
4.3.1 Configuring ES2-DA808 by the on-board HMI..................................................................................... 15
4.3.2 Configuring ES2-DA808 by the ProTuner............................................................................................. 17
5 Frequently Asked Questions..........................................................................................................................................23
6 Warranty.........................................................................................................................................................................24
Page 2 / 24
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.
Record of Revisions
Revision Date Description of Release
1.0 Mar, 2017 Initial Release
3.0 Oct,2019 Add 24V logical voltage, 500KHz, updated firmware
Page 3 / 24
1 Introductions
Leadshine ES2 series easy servo drives are based on the latest vector control algorithm of combing AC servo and
stepper systems. They are featured with full closed-loop include current loop, speed loop and position loop, offering
enhanced acceleration & quick response, extra lower noise & heating, smooth motor movement, no torque reservation,
high standstill stiffness, no overshooting for almost zero settling time, and easy tuning for almost all applications. The
ES2-DA808 operating voltage is 40-80VAC or 60-100VDC and it can output up to 8.0 current. Therefore, the
ES2-DA808 is ideal for applications requiring fast response, precise position and smooth movement of NEMA34
easy servo motors.
1.1 Features
 Advanced servo technology to combine advantages of open-loop stepper systems and AC servo systems
 Closed-loop controls to eliminate loss of steps, stall or movement synchronization
 High starting torque and quick response
 Vector control ,smooth motor movement with lower vibration & heating and quick response
 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 40- 80VAC or 60-100VDC; MAX 8.0A peak current output from drive to motor
 Micro step resolution value from 200-51,200 (increased by 1) via software configuration
 Isolated control inputs of Pulse, Direction and Enable
 Easy tuning for plug and play setup and built-in on-board HMI for easy setup and configuration
 Easy Servo motors with selectable encoder resolution 1000,5000 lines and output signal include A,B,Z;
 In-position and fault outputs to external motion controllers for complete system controls.
 Over voltage, over-current, and position-error protection
1.2 Applications
Due to combining the features of both AC servo drives and stepper drives, Leadshine ES2 series easy servo drives are
suitable for both upgrading conventional stepper systems, and replacing AC servo systems which have closed loop
and high torque requirements. ES2-DA808 has been successfully implemented by many OEM clients in applications
such as electronic equipment, laser engraving machine, medical equipment, CNC routers, packaging machines and
printing equipment.
2 Specifications
2.1 Electrical Specifications

Parameters ES2-DA808
Operating Voltage 40-80VAC or 60-100VDC
Maximum Continuous Current 8.0 A
MAX Step Frequency 200KHz
Step, Direction and Enable Voltage 5 – 24 V
Logic Signal Input Current 7 – 20 mA
Leadshine Technology Co., Ltd

11/F, Block A3, iPark, No.1001 Xueyuan Blvd. Shenzhen, China Tel: 1-949-608-7270 Fax: 1-949-608-7298
Web: www.leadshine.com Email: [email protected]
2.2 Control Specifications

Command Input Step/Direction, CW/CCW
Enable/Disable Input Differential
Alarm Signal Output Isolated OC Output
Encoder Signal Output ABZ Output
Configuration Interface On-board HMI or RS232 communication
Regeneration Resistor Built-in ( 50 Ohm, 100W), Support External
2.3 Mechanical Specifications

Size 158mm * 130mm* 54mm
Weight 1500 g
158
145
130 40
54
2.4 Operating Environment

Cooling Natural cooling or Forced cooling
Ambient Temperature 0 – 40 °C
Humidity 40% RH to 90% RH, No Condensation
Vibration 5.9 m/s2 MAX
Storage Temperature -20 °C to 65 °C
3 Connectors and Pin Assignments

On-board HMI
Self-test,
On-board Configuration
CN3
RS232 Configuration
Port
CN1
Control Signal Connector
Pulse, Direction, Enable Inputs
Main Power Input and Fault Output
Motor Outputs
CN2
Feedback Signal Connector
Encoder Connection
3.1 Control Signal Connector CN1
CN1 – Control Signal Connector

DB44, 44Pin, Female
Pin Name I/O Description
1 PUL+ / 24V - Pulse signal: when using PLC as controller, you can connect this pin with PUL-
2 DIR+ / 24V - Direction signal: when using PLC as controller, you can connect this pin with DIR-

Pulse signal: In single pulse (pulse/direction) mode, this input represents pulse
3 PUL+ / 5V I signal, each rising or falling edge active (software configurable); In double pulse
mode (software configurable), this input represents clockwise (CW) pulse, active
both at high level and low level. 4.5-5V when PUL-HIGH, 0-0.5V when
4 PUL- I PUL-LOW. For reliable response, pulse width should be longer than 1uS(500K
bandwidth)
Direction Signal: In single-pulse mode, this signal has low/high voltage levels,
5 DIR+ / 5V I 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
6 DIR- I signal by 5μs at least. 4.5-5V when DIR-HIGH, 0-0.5V when DIR-LOW. The
direction signal’s polarity is software configurable.
7 ALM+ O Alarm Signal: OC (Open Collector) output signal, activated when one of the
following protection is activated: over-voltage, over current, braking error and
position following error. They can sink or source MAX 100mA current at 24V. The
8 ALM- O active impedance of alarm signal is software configurable.
In-position Signal: OC output signal, active when the difference between the actual
9 Pend+ O
position and the command position is zero. This port can sink or source 20mA
current at 24V. The resistance between Pend+ and Pend- is active at high
impedance.
10 Pend- O The signal also can be used for brake output by setting parameter NO 30004 in
ProTuner.
Enable signal: This signal is used for enabling/disabling the driver. By default, high
11 ENA+ O 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
12 ENA- O and Differential control signals are on the contrary, namely Low level for enabling.
The active level of ENA signal is software configurable.
13-22 NC - No connection.
23 AO+ O Encoder A + output
24 AO- O Encoder A - output
25 BO+ O Encoder B+ output
26 BO- O Encoder B- output
27 ZO+ O Encoder Z+ output
28 ZO- O Encoder Z- output
29-44 NC - No connection.
FG - Ground Terminal for shield
3.2 Encoder Signal Input CN2
CN2 – Feedback Signal (Encoder) Connector

HDD15, 15Pin, Female

1 EA+ I Encoder A+ input
2 EB+ I Encoder A- input
3 EGND I/O +5V output return ground
4 NC I No Connection.
6 FG I Ground terminal for shield
7 EZ+ I Encoder Z+ input
8 EZ- I Encoder Z- input
11 EA- I Encoder A- input
12 EB- I Encoder B- input
13 VCC O +5V power output
3.3 RS232 Communication Connector for Tuning CN3

CN3 – RS232 Communication Connector
Can be connected to PC for drive configuration or servo tuning. Recommended twisted
RS232
shielded c able and cable length < 2 meter.
1 GND GND Ground.
2 TxD O RS232 transmit.
3 +5V O Reserved +5V power output ( Note: Do not connect it to RS232 port)
4 RxD O RS232 receive.
5 NC - NC
6 NC - NC
3.5 Power and motor Connector
Power Supply and motor Connector:

1 AC I
Main power supply input connected to 40- 80VAC or 60-100VDC.
2 AC I

3 A+ O Motor phase A+
4 A- O Motor phase A-
5 B+ O Motor phase B+
6 B- O Motor phase B-
3.6 Connector Pin-Out

CN1 – Control Signal Connector
16 NC 31 NC
1 PUL+ / 24V
2 DIR+ / 24V
3 PUL+ / 5V
4 PUL-
5 DIR+ / 5V
23 AO+
6 DIR- 24 AO-
7 ALM+ 25 BO+
8 ALM-
26 BO-
9 Pend+
10 Pend- 27 ZO+
11 ENA+ 28 ZO-
12 ENA-
13 NC 44 NC
14 NC
15 NC
30 NC
CN2 – Feedback Signal Connector
6 FG
7 EZ+ 11 EA-
8 EZ- 12 EB-
9 NC 13 +5V
10 NC 14 NC
15 NC
1 EA+
2 EB+
3 GND
4 NC
5 NC

CN4 – RS232 & RS485 Connector
1 GND 3 +5V 5 NC
2 TxD 4 RxD 6 NC
Power Supply and motor Connector
3.7 Matching CS-M Series Easy Servo Motors

CS-M23445- CS-M23480- CS-M23485- CS-M23445B-
Wiring Diagram
E5Z E5Z E5Z E5Z
Step Angle (°) 1.8 1.8 1.8 1.8
Holding Torque (N.m) 4.0 8.0 8.5 4.0
Phase Current (A) 6.0 6.0 6.0 6.0
Phase Resistance (Ohm) 0.47 0.63 0.55 0.47
Phase Inductance (mH) 3.6 4.0 4.2 3.6
Shaft Inertia (g.cm ) 2 1.95 2.5 2.8 1.95
Weight (Kg) 2.7 3.5 4.0 2.7
Encoder (ppr) 5000 5000 5000 5000
3.8 Motor Encoder Cable Pin-Out

CS-M23445-E5Z, CS-M23480-E5Z, CS-M23485-E5Z, CS-M23440B-E5Z
Pin Name Wire Color I/O Description
1 EA+ Black O Channel A+ output HDD15 Male
2 VCC Red I +5V power input
3 GND White GND Ground
7 EZ+ Orange O Channel Z+ output
8 EZ- Grey O Channel Z- output

11 EB+ Yellow O Channel B+ output

12 EB- Green O Channel B- output
13 EA- Blue O Channel A- output
3.9 Motor Encoder Extension Cable

CABLEG-BMXMX
Pin Assignments
A: Connect with B: Connect with
Motor Wire Color Drive Name Description
Pin Pin
1 Black 1 EA+ Channel A+
2 Red 13 VCC +5V power input
3 White 3 GND +5V GND
7 Orange 7 EZ+ Channel Z+
8 Grey 8 EZ- Channel Z-
11 Yellow 2 EB+ Channel B+
12 Green 12 EB- Channel B-
13 Blue 11 EA- Channel A-
Cable Length
Part Number L Matching Motor
CABLEG-BM3M0Z(V4.0) 3.0m
CS-M23445-E5Z, CS-M23480-E5Z, CS-M23485-E5Z, CS-M23440B-E5Z
Note:
(1) The encoder extension cable is necessary. You cannot connect the motor’s encoder cable to the drive directly.
(2) The easy servo motors with 5000 ppr encoder resolution are recommended, but with 1000 ppr are also available
for this drive.
(3) “Z” in the models of cables and motors indicates that Z signal (index signal), you can remove the “Z” from the
models if you don't need
4.0 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.
4.1 Wiring Diagrams
50-80VAC or 70-100VDC
RS232 Cable
Or USB-232 Converter
Motion Controller
Encoder Extension Cable (must be sued)
Power Extension Cable
Wiring Diagram of the ES2-DA808 and CS-M series motor
4.1.1 Power Wiring
The ES2-DA808 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.
AC
L
40-80VAC or
AC 60-100VDC
Main Power N
Note:
(1) When using a DC power supply, there is no need to distinguish between positive and negative electrodes.
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.
4.1.2 Control Signal Wiring
Connections to controller of differential output

Connection to controller of sinking output
Connection to controller of sourcing output

Wiring Notes
 In order to improve anti-interference performance of the drive, it is recommended to use twisted pair shield cable.
 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.
 If a power supply serves several drives, separately connecting the drives is recommended instead of daisy-chaining.
 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.
4.2 Sequence Chart of Control Signals

In order to avoid some fault operations and deviations, PUL, DIR and ENA should abide by some rules, shown as
following diagram:
Remark:
a) t1: ENA must be ahead of DIR by at least 5s. Usually, ENA+ and ENA- are NC (not connected). See
“Connector P1 Configurations” for more information.
b) t2: DIR must be ahead of PUL effective edge by 5s to ensure correct direction;
c) t3: Pulse width not less than 2.5s;
d) t4: Low level width not less than 2.5s.
4.3 Configuring ES2-DA808

4.3.1 Configuring ES2-DA808 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:

7-segment Display
Left Shift Digits Decrease or Next
Mode Switching M ENT Enter, Confirm
Increase or previous
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
Display Data
Select Data Display Data
M
ENT
Edit Parameter Display

Select Parameter Edit Parameter
parameter
ENT Confirm
Cancel
M M M
ENT
Auxiliary Reset Parameter
Function
Select Function
Clear Error Record
ENT
Write to ENT
Start Writing Writing Completes
EEPROM
Hold on 3 seconds
Operation Procedure of the on-board HMI

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”
Press “ ” to switch between low and high order digits display.
“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.
Error code:
0001----Over-current protection activated
0002----Over-voltage protection activated
“d06Err”
0008----Brake protection activated
0020----Position error exceeds the limit
000d----Encoder cable error
“d07 Pn” Bus voltage which is 1/10 of the actual value.
“d08 no” Drive version number.
4.3.2 Configuring ES2-DA808 by the ProTuner
Leadshine also provide the tuning software named ProTuner to configure the parameter of ES2-DA808
Parameter list
PA No. Definition Property Default Range Description

value
0 Current loop Kp R/W 0 0—65535 This parameter can be modified
1 Current loop Ki R/W 0 0—65535 This parameter can be modified
3 Position Loop Kp R/W/S 300 0—10000
4 Speed loop Ki R/W/S 100 0—10000
5 Speed loop Kp R/W/S 700 0—10000

Torque feed-
6 R/W/S 0 0—1000
forward
200—6000
7 Pulses /Revolution R/W/S 1600 Motor runs a round needs pulse
0

200—2000 Four multiplying frequency for

8 Encoder resolution R/W/S 4000
0 1000 line encoder
Maximum
9 R/W/S 1000 1—60000 Unit：pulse
following error
Lock Shaft Current The percent of Maximum current.
10 Percentage( power R/W/S 20 0—100 it is effective when NO.30015
on) setting is 3.
Percent of closed
11 R/W 80 1—100 Invalid
loop current
Unit：100ms。
Soft Start
12 R/W/S 8 1—20 Reduce the vibration when power
Time(power on)
up or Enable
13 Pulse filter enable R/W 0 0—1 Invalid
Command Pulse
14 R/W/S 30 1—600 Unit：0.05ms
Filter Time
0：High
15 Enable control R/W/S 1 0—1
1：Low
0：High
16 Fault Output Level R/W/S 0 0—1
1：Low
0：Pulse+Direction
17 Pulse input mode R/W/S 0 0—1
1：CW/CCW
0：Rising Edge
18 Pulse edge 0 0—1
R/W/S 1：Following Edge
Motor Running 0：Forward
19 R/W/S 1 0—1
Direction 1：Backward
0：200KHZ
Bandwidth
20 R/W/S 0 0—1 1：300KHZ
selection
（Invalid ）
21 Acceleration R/W 200 1~2000
22 Speed R/W 60 1~3000
23 Distance R/W 100 1~65535
24 Running times R/W 1 1~65535 These parameters are effective

when running the motor with
25 Start direction R/W 1 0/1
keypad
Running interval
26 R/W 100 1~65535
time
Enable for
27 reciprocating R/W 1 0/1
motion

28 Start Stop R/W 0 0/1

Open/Closed -loop 0：Open loop
29 1 0—1
Mode selection R/W/S 1：Closed loop
30 Auto tuning R/W 0 0—1 Invalid
Resonance
31 R/W 0 0—1000 Invalid
compensation
Choosing Shaft 0：Unlock
32 R/W/S 0 0—1
Locking in Disable 1：Lock
Reset fault by 0-Disable
33 0 0—1
enable input R/W/S 1-Enable
Choosing Winding
0-No winding short
34 Short of R/W/S 0 0—1
1-Winding short
Lower Bridge Arm
Pend output 0：Pend output
35 R/W/S 0 0—1
function 1：brake output
Pend outputs the 0：High
36 R/W/S 0 0—1
active level 1：Low
Gravity
37 R/W/S 0 0—1 Invalid
Compensation
Speed
38 loop integral R/W/S 20 0—80
limited
Ocuppied
parameter1
Ocuppied
parameter2
Voltage Percentage Unit：%
41 0 0—100
in Power Off R/W/S Invalid
=6 CS-MH23485-E1/E5
=7 CS-M23480-E1/E5
42 Motor model R/W/S 6 0—100 =8 ES-MH23480B
=9 CS-MH234120-E1/E5
=10 CS-M23445-E1/E5
Pend positioning
43 R/W/S 4 0—100 Unit：pulse
error value
Delay for vibration
44 removing of R/W/S 3 0—100 Unit：1ms
software
45 Velocity loop VpH R/W/S 1000 0—10000

Occupied
parameter3
Time Constant for
47 Over Voltage R/W/S 45 0—20 Unit：100ms
Detection
Voltage Limited
48 Value for Enabling R/W/S 160 110-420 Unit：V
Brake Resistor
Brake Resistor 0：Disable
49 R/W/S 1 0—1
Enable 1：Enable
0-2：interpolation motion
50 Motion model R/W/S 1 0—9 3：point to point motion
Position Loop
51 R/W/S 4 0—31 The actual range is 0-12
Filter Frequency
Speed Loop Filter
52 R/W/S 0 0—31 The actual range is 0-12
Frequency
Speed Loop
54 Sampling R/W/S 4 0—31 The actual range is 0-12
Frequency
0-Disable, 1-Enable(for special
56 Self-test Enable R/W/S 0 0—1
application)
57 Detection Enable Invalid

R/W/S 4739 0—65535
ALM output
58 R/W/S 1 1—5 1- Fault,2~5-Reserved
function
59 R/W/S 80 0—100 Unit：%
Times For Over Current jitters times limited
60 Current Jitters R/W/S 45 0—50 before outputting over current
Elimination error
61 Current loop Kc R/W 0 0—32767 Invalid
Back EMF Unit：100mV /rps
62 R/W/S 0 0—32767
coefficient Invalid
Weak magnetic
coefficient 0
Weak magnetic
coefficient 01
65 Position loop KpH R/W/S 120 0—10000 =[Pr03]*0.8
66 Rigidity R/W/S 0 0—31 Invalid

100—1000 Unit：%
67 Inertia ratio R/W/S 100
0 Invalid
Speed
68 R/W/S 10 0—32
feed-forward
Occupied 0—32767
73 R/W/S 0
paramete5
Occupied 0—32767
74 R/W/S 0
paramete6
Motor peak phase 0—32767
75 R/W/S 0
current
Motor holding 0—32767
76 R/W/S 0
torque
77 Motor Resistance R/W/S 0 0—32767
78 Motor Inductance R/W/S 0 0—32767

Notice!
The sequence of parameters number is from HMI panel, which is different from in ProTuner
Key Parameters
NO. on panel HMI Range unit default
Position Loop Kp
3 0—10000 - 300
You can determine the response of the positional control system. Higher the gain of position loop you set,
faster the positioning time you can obtain. Note that too high setup may cause vibration. Set a suitable value
base on the machine performance.
Speed Loop Ki
5 0—10000 - 100
You can set up the integration time constant of speed loop, Smaller the set up, faster you can dog-in
deviation at stall to 0.Set a suitable value base on the machine performance.
Speed loop Kp
6 0—10000 - 700
You can determine the response of the velocity loop. In order to increase the response of overall servo
system by setting high position loop gain, you need higher setup of this velocity loop gain as well.
However, too high setup may cause vibration. Set a suitable value base on the machine performance.
Pulse /Rev
7 200—60000 - 1600
Pulse per Revolution.
Encoder resolution
8 200—20000 - 4000
The encoder of easy servo motor from Leadshine is 1000PPR, so If you use these motors, the value must be
4000.if you use the motor from other supplier , please contact Leadshine firstly.
Maximum following error
9 1—60000 Pulse 1000

The tolerance for position following error, if the error is over this value of setting, drive will display
ERR20 .
Lock Shaft Current Percentage( power on)
10 1—100 % 20
The percent of Maximum current output for motor. it is effective only when NO.30015 setting is 3. And if
the parameter No.24 setting (Open/Closed -loop Mode selection) is 0(open loop), this current will be
working current for motor.
Soft Start Time(power on) 100ms
12 1—20 8
The time for output current increasing from 0 to Maximum. if the motor with load, it need a suitable time
setting to find a balance point to reduce vibration when power on or motor enable.
Enable control
15 0--1 1
The input level for motor enable.
0: Low level ,if set it 0 , the enable input of drive should connect a 5V power supply ,and the motor will be
response with input pulse
1:High level. Keep the enable input of drive being unconnected, and the motor will be response with input
pulse.
Fault Output Level
16 0--1 0
The level for fault output
0: High level 1:Low level
The recommended setting is 1.
Pulse input mode
17 0--1 0
0: Pulse+Direction 1:CW+CCW
Open/Closed -loop Mode selection
29 0--1 1
0: Open loop 1:Closed loop
The recommended setting is 1.
Pend output function
35 0--1 0
0: Pend output 1:Brake output
If the using motor is with brake , set it 1
Pend outputs the active level l
36 0--1 0
0: High 1:Low
Pend or brake output level ,if use motor with brake ,please set it 1.
Motor model
42 0--100 7
=5 CS-M22430-E1/E5
=6 CS-M23485-E1/E5

=7 CS-M23480-E1/E5
=8 ES-MH23485B
=9 CS-M234120-E1/E5
=10 CS-M23445-E1/E5
Set correctly code base on the motor model you are using. If the motor model CS-M22430, please set
PA42=5, PA 03=120, PA05=400
Motion model
50 0--9 1
0-3：interpolation motion
4：point to point motion
This parameter setting depend on the application of motor .if it is used for interpolation application , like as
engraving ,laser cutting ,milling, and so on , it can be set 0—3 ;if used for point to point application, like
scara arm, it can be set 4--5
5 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
Encoder resolution setting is wrong
Motor is not rotating
Fault condition exists
The drive is disabled
Motor rotates in the wrong direction The direction signal level is reverse
Power supply voltage beyond drive’s input range
The drive in fault Something wrong with motor coil
Wrong connection
Control signal is too weak
Control signal is interfered
Something wrong with motor coil
Erratic motor motion
Motor is undersized for the application
Acceleration is set too high
Power supply voltage too low
Inadequate heat sinking / cooling
Excessive motor and drive heating
Load is too high

6 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 or11/F, Block A3, iPark No.1001
Xueyuan Blvd. Nanshan District, Shenzhen, China:U Also enclose information regarding the circumstances prior to
product failure.


ES2-DA808 User Manual - V3.0

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User Manual

Tel: (86)755-26409254 Fax: (86)755-26402718

Web: www.leadshine.com Sales: [email protected]

2.1 Electrical Specifications

Leadshine Technology Co., Ltd

2.2 Control Specifications

2.3 Mechanical Specifications

2.4 Operating Environment

3 Connectors and Pin Assignments

Leadshine Technology Co., Ltd

3.1 Control Signal Connector CN1

CN1 – Control Signal Connector

Leadshine Technology Co., Ltd

23 AO+ O Encoder A + output

24 AO- O Encoder A - output

25 BO+ O Encoder B+ output

26 BO- O Encoder B- output

27 ZO+ O Encoder Z+ output

28 ZO- O Encoder Z- output

FG - Ground Terminal for shield

3.2 Encoder Signal Input CN2

CN2 – Feedback Signal (Encoder) Connector

Leadshine Technology Co., Ltd

Pin Name I/O Description

1 EA+ I Encoder A+ input

2 EB+ I Encoder A- input

3 EGND I/O +5V output return ground

6 FG I Ground terminal for shield

7 EZ+ I Encoder Z+ input

8 EZ- I Encoder Z- input

11 EA- I Encoder A- input

12 EB- I Encoder B- input

13 VCC O +5V power output

3.3 RS232 Communication Connector for Tuning CN3

3.5 Power and motor Connector

Power Supply and motor Connector:

Leadshine Technology Co., Ltd

3.6 Connector Pin-Out

CN2 – Feedback Signal Connector

Leadshine Technology Co., Ltd

CN4 – RS232 & RS485 Connector

Power Supply and motor Connector

3.7 Matching CS-M Series Easy Servo Motors

3.8 Motor Encoder Cable Pin-Out

Leadshine Technology Co., Ltd

11 EB+ Yellow O Channel B+ output

3.9 Motor Encoder Extension Cable

4.0 Getting Start

Leadshine Technology Co., Ltd

4.1 Wiring Diagrams

Encoder Extension Cable (must be sued)

Power Extension Cable

Wiring Diagram of the ES2-DA808 and CS-M series motor

4.1.1 Power Wiring

Leadshine Technology Co., Ltd

Selecting Supply Voltage

4.1.2 Control Signal Wiring

Connections to controller of differential output

Leadshine Technology Co., Ltd