| Features |
- CANopen protocol support over EtherCAT (CoE) with full support for CiA402, 100Mbps full-duplex
- Input: 20 to 50 VDC; Output: 1.0 to 7.0A
- Integrated heatsink and connector included
- New software for adjusting parameters on PC: Leadshine Motion Studio
- 7 programmable inputs: Limit (+/-), origin, quick stop, alarm acknowledgement, Enable, JOG input (+/-), probing, GPIOs
- 7 optically isolated configurable digital outputs, including output for braking: Alarm, Brake, in position, GPIOs
- Operating modes: speed profile, position profile, synchronized cyclic position, homing
- Very low noise; low heat dissipation, very fluid movement even at low speed
- No step loss, no hunting, no torque reservation
- Speed display on two LED or slave ID segments or operating mode or error code
- Anti-resonance system for optimum torque over the entire speed range
- Protection against over voltage, over current, phase errors, position tracking errors and encoder cable errors.
- CE certified and RoHS compliant
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| Introduction |
The CS3E series offers closed-loop stepper drivers based on the CANopen protocol over EtherCAT (CoE) with full support for CiA402,100Mbps full-duplex, for networking up to 255 axes.
It supports CANopen control over EtherCAT (CoE) and CiA 402 operating modes, including position profile (PP), speed profile (PV), homing (HM) and cyclic synchronous position (CSP). The product can be associated with many brands of EtherCAT controllers / APIs such as Beckhoff, Omron, Trio, Keneyce etc ...
The CS3E is capable of powering NEMA 23 and 24, 2 and 4 phase stepper motors with incremental encoders. It is very reliable and affordable and works perfectly in many industrial applications. |
| Applications |
Usable with NEMA 17, NEMA 23 and 24 sized motors, this driver is particularly recommended for 2 and 4 phase motors of the CS-M ... series in the SOPROLEC range, that have an integrated encoder with a resolution of 1000 at 5000 pulses per revolution.
It can be adopted by many industries (CNC machines, electronics, medical, automation, packaging ...) for applications such as automation machines, medical machines, laser cutting machines, XY tables, labellers, pick & place devices, etc ...
Its excellent performance, increased anti-disturbance capacity, simple wiring and long communication distance (up to 100 meters) make it the ideal driver for many EtherCAT control type applications.
Finally, it will bring you optimum operation with reduced noise, and its configuration via USB connection allows you to adjust the driver settings optimally. |
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Mecanical specifications (Unit: mm, 1 inch=25.4 mm)
Dimensions: 130*90.4*34 mm
Weight : 0.65 kg
Operation temperature : 0-50℃ (32 F – 122 F)
Storage temperature : -20℃-65℃ (-4 F – 149 F)
Humidity : 40-90%RH
Vibrations : 10-55Hz/0.15mm
Mounting : Vertical or Horizontal |
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Figure 1 Mechanical specifications
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Pinout and description
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CN1 - Input Power Connector
| PIN |
Signal |
Description |
| 1 |
VDC |
20V- 50V |
| 2 |
GND |
GND |
CN2 - Motor Connector
| PIN |
Signal |
Description |
| 1 |
A+ |
Motor phase A+ |
| 2 |
B+ |
Motor phase B+ |
| 3 |
A- |
Motor phase A- |
| 4 |
B- |
Motor phase B- |
CN3 - Encoder Input Signals Connector
| PIN |
Signal |
Description |
| 1 |
EA+ |
Encoder signal of phase A+ |
| 2 |
EA- |
Encoder signal of phase A- |
| 3 |
EB+ |
Encoder signal of phase B+ |
| 4 |
EB- |
Encoder signal of phase B- |
| 5 |
EZ+ |
Encoder Z+ signal |
| 6 |
EZ- |
Encoder Z- signal |
| 7 |
VCC |
Encoder +5V voltage |
| 8 |
GND |
Encoder ground |
| 9 |
U |
Reserved |
| 10 |
V |
Reserved |
| 11 |
W |
Reserved |
| 12 |
PE |
Shield ground |
CN4 - I/O Signals Connector
| PIN |
Signal |
I/O |
Description |
| 1 |
I1+ |
I |
Configurable Differential Digital
Input I1, 3.3V - 5V, 500KHz,
Touch Probe 1 (default) |
| 2 |
I1- |
I |
| 3 |
I2+ |
I |
Configurable Differential Digital
Input I2, 3.3V - 5V, 500KHz,
Touch Probe 2 (default) |
| 4 |
I2- |
I |
| 5 |
I3 |
I |
Configurable Single-ended Digital
Inputs I3-I7, 12V - 24V, 10KHz, I3 is
Origin Signal, I4 is Positive Limit, I5
is Negative Limit, I6 and I7 are GPIO |
| 6 |
I6 |
I |
| 7 |
I4 |
I |
| 8 |
I7 |
I |
| 9 |
I5 |
I |
| 10 |
COMI |
I |
Common connection of single-end
input signals (common-cathode and
common-anode) |
| 11 |
O1+ |
O |
Configurable Differential Digital
Output O1, Max. 30V/100mA.
Alarm (default). |
| 12 |
O1- |
O |
| 13 |
O2+ |
O |
Configurable Differential Digital
Output O2, Max. 30V/100mA.
In Position (default). |
| 14 |
O2- |
O |
| 15 |
O3 |
O |
Configurable Single-ended Digital
Outputs O3, O4, O6, Max.
30V/100mA. Default is GPIO |
| 16 |
O6 |
O |
| 17 |
O4 |
O |
| 19 |
O5 |
O |
| 18 |
24VB |
O |
Used for brake signal, connect with
+24 DC of external power supply,
refer to chapter 4.2.5 |
| 20 |
BR+ |
O |
Brake + signal, Max. 24/500mA,
connect with brake coil. It’s shown as
SO7 in Leadshine ProTuner and level
cannot be modified |
| 21 |
COMO |
O |
Common connection of single-end
output signals (common-cathode) |
| 22 |
BR- |
O |
Brake-signal, Max. 24/500mA,
connect with brake coil. It’s shown as
SO7 in Leadshine ProTuner and level
cannot be modified |
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Rotary Switches
The CS3E driver series uses 2 rotary switches (16 positions for each) in order to setup their Slave ID (also know as "Site Alias"). You thus obtain an ID in hexadecimal (01 to FF).
[The Object parameter (2151h) must be first set to 0. Then reboot the driver after setting.]
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| Current Setting |
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The double 7 segments Led display :
The displayed content can be set by par Object (214b-00h):
-> 0-Status machine / operation mode
-> 1-Slave ID
-> 2-Speed
In case an alarm occurs, it will then only display the alarm code (see chapiter 5.2 of the Manual)
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| Typical Connections |
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Figure 3: Typical connections
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