CS1-D507S & CS1-D503S Closed Loop Stepper Drive User Manual

User Manual
CS1-D507S & CS1-D503S

Closed Loop Stepper Drive

Revision 1.0

©2019 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]
 CS1-D507S & CS1-D503S 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.

Record of Revisions

Revision Date Description of Release

1.00 Aug, 2019 Initial Release

1.01 Nov, 2019 Modified the configuration of S1 rotating switch;

Add the description of CS1-D503S

 CS1-D507S & CS1-D503S Closed Loop Stepper Drive User Manual

Table of Content
1. Introduction.......................................................................................................................................................................1

1.1 Features...................................................................................................................................................................1

1.2 Applications............................................................................................................................................................ 2

2. Specifications....................................................................................................................................................................2

2.1 Electrical Specifications......................................................................................................................................... 2

2.2 Environment............................................................................................................................................................2

2.3 Mechanical Specifications......................................................................................................................................3

2.4 Heat Dissipation......................................................................................................................................................3

3. Connections and LED Indication..................................................................................................................................... 4

3.1 P1 – Control and Digital Output Connections....................................................................................................... 4

3.2 P2 - Encoder Signal Input Connector.....................................................................................................................6

3.3 P3 - Motor Connector............................................................................................................................................. 6

3.4 P4 - Power Connector.............................................................................................................................................6

3.5 P5 - Tuning Port......................................................................................................................................................7

3.6 Status LED Lights...................................................................................................................................................7

3.7 Switches.................................................................................................................................................................. 7

4. Motor Selection.................................................................................................................................................................8

5. Power Supply Selection....................................................................................................................................................8

5.1 Regulated or Unregulated Power Supply............................................................................................................... 8

5.2 Power Supply Sharing............................................................................................................................................ 8

5.3 Selecting Supply Voltage........................................................................................................................................8

6.Switch Configurations....................................................................................................................................................... 9

6.1 S1 - Rotating Switch Configurations......................................................................................................................9

6.2 S2 - DIP Switch Configurations........................................................................................................................... 10

6.2.1 Micro Step (SW1-SW4)............................................................................................................................ 11

6.2.2 Mode Setting (SW5 - SW8).......................................................................................................................11

 CS1-D507S & CS1-D503S Closed Loop Stepper Drive User Manual

6.2.3 Smoothing Filter Time Configuration (SW9-SW10)................................................................................ 11

6.2.4 Encoder Resolution Configuration (SW11-SW12)...................................................................................12

6.3 S3 - Selector Switch Configurations.................................................................................................................... 12

7. Typical Connection......................................................................................................................................................... 12

7.1 Digital Input Connection...................................................................................................................................... 13

7.2 Digital Output Connection....................................................................................................................................14

7.2.1 In position and Fault Output Connection.................................................................................................. 14

7.2.2 Encoder Output Connection...................................................................................................................... 15

7.2.3 Brake Output Connection.......................................................................................................................... 15

8. Sequence Chart of Control Signals.................................................................................................................................15

9. Fault Protections............................................................................................................................................................. 16

10. Software Configuration................................................................................................................................................ 17

11. Accessories....................................................................................................................................................................17

12. Troubleshooting............................................................................................................................................................ 17

13. Warranty........................................................................................................................................................................19
 CS1-D507S & CS1-D503S Closed Loop Stepper Drive User Manual

1. Introduction

Leadshine CS1-D507S & CS1-D503S are closed loop stepper drives designed to solve the loss of step problem in open
loop stepper control systems, thus increase system reliability at minimal cost increase. It implements advanced control
algorithm of Leadshine based on its tens of years’ experience in stepper and servo controls. The CS1-D507S &
CS1-D503S are highly reliable and affordable and performs excellent in many industrial applications such as CNC,
medical, electronics, packaging...

The CS1-D507S & CS1-D503S can power 2-phase NEMA 8, 11, 14, 17, 23, and 24 stepper motors with incremental
encoders. Compared with traditional open loop stepper systems, the CS1-D507S & CS1-D503S adopted closed loop
step system can eliminate potential loss of step, make real-time position error correction, and do not need torque
reservation (100% torque implementation). Also it can power the driven stepper motor with reduced heating, lower
noise, low vibration…

1.1 Features

 No loss of step
 No torque reservation
 No hunting or overshooting
 No tuning for easy setup
 Enhance performance at low speed application( 30-120 RPM)
 20-50VDC supply voltage, max 7A output current
 Max 500 KHz input frequency
 Brake output without connecting a relay

Inputs and Outputs Switch Setting

● Step & DIR (CW & CCW) inputs ● Microstep resolution
● Enable input and Error Reset input ● Rotation direction
● Alarm output and In Position output ● Pulse Mode
● Brake outputs ● Positional command filter
● Encoder A/B/Z outputs ● Closed / Open Loop Mode
● Encoder resolution
Protections ● Gain adjustment and output current
● Over current
● 5V or 24V control signal voltage selector
● Over voltage
● Motor connection error Software Tuning
● Encoder connection error ● Output current
● Position following error ● Input/Output signals level
● ROM error ● Motion parameters
● Auto-tuning error ● Brake parameters

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 CS1-D507S & CS1-D503S Closed Loop Stepper Drive User Manual

1.2 Applications

When a CS1-D507S & CS1-D503S closed loop stepper drive is implemented with a compatible stepper motor with
encoder, the closed stepper system can be adopted in many small to median speed applications such as CNC routers,
CNC mills, CNC laser cutters, CNC plasma, lab automation instruments, plotters, medical equipment, electronic
equipment, small packaging machines, etc.

2. Specifications

2.1 Electrical Specifications

Parameters Min Typical Max Unit

CS1-D507S Current 0.5 6.0 7.0 (Peak) A

CS1-D503S Current 0.3 2.5 3.0 (Peak) A

Operating Voltage 20 24, 36, 48 50 VDC

Logic input signal current 7 10 16 mA

Pulse input frequency 0 - 500 kHz

Brake output signal current - - 500 mA

Alarm output voltage - - 24 VDC

Minimal pulse width 1.0 - - μS

Minimal direction setup 2.0 - - μS

Isolation resistance 500 MΩ

2.2 Environment

Cooling Natural Cooling or Forced Cooling

Environment Avoid dust, oil fog and corrosive gases

Ambient Temperature 0°C － 65°C (32°F - 149°F)

Operating Environment Humidity 40%RH－90%RH

Operating Temperature 0°C － 50°C (32°F - 122°F)

Vibration 10-50Hz / 0.15mm

Storage Temperature -20°C － 65°C (-4°F - 149°F)

Weight Approx. 280 g (9.9 Oz)

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 CS1-D507S & CS1-D503S Closed Loop Stepper Drive User Manual

2.3 Mechanical Specifications

(unit: mm [1inch=25.4mm])

Figure 1: Mechanical specifications

2.4 Heat Dissipation

 CS1-D507S & CS1-D503S reliable working temperature should be no more than 60℃ (140°F)

 It is recommended to mount the drive vertically to maximize heat dissipation. Mount a cooling fan nearby if
necessary.

 If multiple CS1-D507S & CS1-D503S drives are installed, it is suggested to keep a minimal 30mm (12 inches)
between two of them.

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 CS1-D507S & CS1-D503S Closed Loop Stepper Drive User Manual

3. Connections and LED Indication

A CS1-D507S & CS1-D503S closed loop stepper drive has 5 connection blocks from P1 to P5 (see figure 2).

Figure 2: CS1-D507S & CS1-D503S connectors

3.1 P1 – Control and Digital Output Connections

The P1 connector in Figure 2 contains connections for control signals and a configurable digital output.

See the following table for details.

PIN I/O Details

PUL+
I
(CW+) Pulse and Direction Connection:

PUL- (1) Optically isolated, high level 3.5-5V or 24V, low voltage 0-0.5V
I
(CW-) (2) Maximum 500 KHz input frequency
(3) The width of PUL signal is at least 1.0μs, duty cycle is recommended 50%
DIR+
I (4) Single pulse (step & direction) or double pulse (CW/CCW) is set by DIP Switch SW7
(CCW+)
(5) DIR signal requires advance PUL signal minimum 2 μs in single pulse mode
DIR- (6) The factory setting of control signal voltage is 24V, must need to set S3 (figure 2) if it is 5V
I
(CCW-)

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 CS1-D507S & CS1-D503S Closed Loop Stepper Drive User Manual

Alarm Reset and Enable Signals: Optional.

RST I
(1) RST means alarm reset, ENA means Enable. Optically isolated, single-ended.

(2) RST and ENA: Effective high level is 3.5-24V; Effective low level is 0-0.5V connection

(3) RST signal can clear the alarm of “Position following error” and “Fail to lock motor shaft” ,
ENA I other alarms require the power supply to be restarted

(4) ENA signal requires advance DIR signal minimum 2μs in single pulse mode, (default no
connection)

COMI I Common connection of single-end input signals (common-cathode and common-anode)

COMO O Common connection of single-end output signals (common-cathode)

PEND O
In Position and Alarm : They takes a sinking or sourcing 100mA current at 5-24V. Max 30V
ALM O

EA+ O Encoder A+ output

EA- O Encoder A- output

EB+ O Encoder B+ output

EB- O Encoder B- output

EZ+ O Encoder Z +/- output, optional. Only if the closed-loop motor has Z signal input to CS1-D507S

EZ- O & CS1-D503S, the CS1-D507S & CS1-D503S will have Z signal output to controller or PLC

24VB I Used for brake signal, connect with +24 DC of external power supply, refer to chapter 7.2.3

BRK+ O Brake + signal, Max. 24/500mA, connect with brake coil.

Brake-signal, Max. 24/500mA, connect with brake coil. It’s shown as SO7 in Leadshine
BRK- O
ProTuner and level cannot be modified

S-GND O Signal GND

Notes: (1) Shielding control signal wires is suggested; (2) to avoid/reduce interference, don’t tie control signal cables
and power wires together

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 CS1-D507S & CS1-D503S Closed Loop Stepper Drive User Manual

3.2 P2 - Encoder Signal Input Connector

The P2 connector in Figure 2 is for encoder signal connection. Refer to the following table for details.

Drive Pin Name Description

NC No connection

VCC +5V voltage for encoder

GND Power ground connection

EZ+ Encoder Z+ input connection

EZ- Encoder Z- input connection

EB+ Encoder B+ input connection

EB- Encoder B- input connection

EA+ Encoder A+ input connection

EA- Encoder A- input connection

3.3 P3 - Motor Connector

PIN Details

A+ Connect to motor A+ wire

A- Connect to motor A- wire

B+ Connect to motor B+ wire

B- Connect to motor B- wire

3.4 P4 - Power Connector

Pin Details

GND Connect to power supply ground connection.

+VDC Connect to power supply positive connection. Suggest 24-48VDC power supply voltage

!
Warning
Warning: Don’t plug/unplug P3 or P4 connector to avoid drive damage or injury while powered on.

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 CS1-D507S & CS1-D503S Closed Loop Stepper Drive User Manual

3.5 P5 - Tuning Port

CS1 series has a tuning port with RS232 to modify the drive parameters, it’s only for tuning, not for equipment control
because neither precision nor stability is sufficient. If you need a field bus drive, use a Leadshine RS485 or EtherCAT
type drives:
http://www.leadshine.com/ProductSubType.aspx?type=products&category=stepper-products&producttype=stepper-dri
ves&subtype=network-stepper-drives

The interface definition is as follows:

Figure 3: CABLE-PC-1 connectors

3.6 Status LED Lights

There are two LED lights for CS1 Series. The GREEN one is the power indicator which should be always on in normal
circumstance. The RED one is a drive status indication light, which will be OFF while working normally but ON and
flash 1 or 2 times in a 3-second period in the case of enabled over-current or over-voltage protection.

3.7 Switches

The CS1-D507 has one rotating switch, one 12-bit DIP switch and one 1-bit selector switch.

Switch Pic Details

Rotating
switch S1 Drive Peak Current and Gain adjustment

Microstep resolution
Rotation direction
DIP Pulse Mode
switch S2 Positional command filter
Closed / Open Loop Mode
Encoder resolution

Selector 5V or 24V control signal voltage selector.

switch S3 The factory setting is 24V, must need to set S3 if the
control signal voltage is 5V
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 CS1-D507S & CS1-D503S Closed Loop Stepper Drive User Manual

4. Motor Selection
The CS1-D507S & CS1-D503S are designed to power 2-phase (or 4-phase 0.9 degree) NEMA 8/11/17/23/24 stepper
motors under 5000-line incremental encoders. Leadshine offers many high performance closed loop stepper motors.
Notes: Default closed-loop stepper motors is equipped with a 1000-line incremental encoder without Z signal, contact
Leadshine for stepper motor with 2500-line, 5000-line encoders and with Z ( Index) signal.

5. Power Supply Selection

The CS1-D507S & CS1-D503S can power small and medium size closed loop stepper motors (frame size from
NEMA17 to 24) from Leadshine. To get good system performance, it is important to select proper supply voltage and
output current. 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.

5.1 Regulated or Unregulated Power Supply

Both regulated and unregulated power supplies can be used to supply the drive. However, unregulated power supplies
are preferred due to their ability to withstand current surge and fast response for current change. If you prefer to a
regulated power supply, it is suggested to choose such a power supply specially designed for stepper/servo controls
such as Leadshine RPS series (http://www.leadshine.com/producttypes.aspx?producttype=regulated-switching). Or, in
the case when only normal switching power supplies are available, it is important to use “OVERSIZE” high current
output rating power supplies (for example, using a 4A power supply for 3A stepper motor) to avoid problems such as
current clamp. On the other hand, if unregulated supply is used, one may use a power supply of lower current rating
than that of motor (typically 50%-70% of motor current). The reason is that the drive draws current from the power
supply capacitor of the unregulated supply only during the ON duration of the PWM cycle, but not during the OFF
duration. Therefore, the average current withdrawn from power supply is considerably less than motor current. For
example, two 3A motors can be well supplied by one power supply of 4A rating.

5.2 Power Supply Sharing

Multiple CS1-D507S & CS1-D503S drives can share one power supply to save space and reduce cost, if that power
supply has enough power capacity. To avoid cross interference, connect each stepper drive directly to the shared power
supply separately. To avoid cross interference, DO NOT daisy-chain connect the power supply input pins of the Drivers.
Instead connect them to power supply separately.

5.3 Selecting Supply Voltage

The CS1-D507S & CS1-D503S are designed to operate within 20-50VDC voltage input. When selecting a power
supply, besides voltage from the power supply power line voltage fluctuation and back EMF voltage generated during
motor deceleration needs also to be taken into account. Ideally it is suggested to use a power supply with the output of
20-48VDC, leaving room for power line voltage fluctuation and back-EMF.
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 CS1-D507S & CS1-D503S Closed Loop Stepper Drive User Manual

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.

6. Switch Configurations

The CS1 series has one rotating switch, one 12-bit DIP switch and one 1-bit selector switch. “Default” means that
parameters can be modified by Leadshine PC software software, “Factory” means that factory setting, suitable for most
customer applications

6.1 S1 - Rotating Switch Configurations

This rotating switch is used to set the peak current of the drive and motion gain, from the motor phase current and
application requirements. When the rotating switch code is set to 0 (default), the user can modify the drive peak current
value and Kp & Ki value through Leadshine PC software.
CS1-D507S:
Peak Code Velocity Position Velocity Remark
Current loop Ki loop Kp loop Kp
0(default) 0 25 25 1) Recommended motors are CS-M22306 and
CS-M22313.
1 0 50 15
2) Velocity loop Ki Indicates the stop time and
2 0 75 10 position accuracy , “0” indicates the stop
time is long, but the position error is smaller.
3 0 100 5 “16” means the stop time is short, but the
position error is slightly larger.
4A 4 16 25 25 3) Position loop Kp and velocity loop Kp is a
pair of composite parameters that represent
5 16 50 15 rigidity. “25” and “25”composite parameters
indicate the rigidity is weak, “100” and
“5”composite parameters indicate the
6 16 75 10 rigidity is strong.

7 16 100 5 4) Usually keep factory settings

8(factory) 0 25 25 1) Recommended motors are CS-M22323,

CS-M22321-L, CS-M22331-L, CS-M22430.
9 0 50 15 2) Velocity loop Ki Indicates the stop time and
position accuracy , “0” indicates the stop
A 0 75 10 time is long, but the position error is smaller.
“16” means the stop time is short, but the
B 0 100 5
6A position error is slightly larger.
C 16 25 25 3) Position loop Kp and velocity loop Kp is a
pair of composite parameters that represent
D 16 50 15 rigidity. “25” and “25”composite parameters
indicate the rigidity is weak, “100” and
E 16 75 10 “5”composite parameters indicate the
rigidity is strong.
F 16 100 5
4) Usually keep factory settings
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 CS1-D507S & CS1-D503S Closed Loop Stepper Drive User Manual

CS1-D503S:

Peak Code Velocity Position Velocity Remark

Current loop Ki loop Kp loop Kp
0(default) 0 25 25 1) Recommended motors are CS-M211013,
CS-M21702 and CS-M21704
1 0 50 15
2) Velocity loop Ki Indicates the stop time and
2 0 75 10 position accuracy , “0” indicates the stop
time is long, but the position error is smaller.
3 0 100 5 “16” means the stop time is short, but the
position error is slightly larger.
1.2A 4 16 25 25 3) Position loop Kp and velocity loop Kp is a
pair of composite parameters that represent
5 16 50 15 rigidity. “25” and “25”composite parameters
indicate the rigidity is weak, “100” and
“5”composite parameters indicate the
6 16 75 10 rigidity is strong.

7 16 100 5 4) Usually keep factory settings

8(factory) 0 25 25 1) Recommended motors are CS-M21706,

CS-M21708.
9 0 50 15 2) Velocity loop Ki Indicates the stop time and
position accuracy , “0” indicates the stop
A 0 75 10 time is long, but the position error is smaller.
“16” means the stop time is short, but the
B 0 100 5
2.5A position error is slightly larger.
C 16 25 25 3) Position loop Kp and velocity loop Kp is a
pair of composite parameters that represent
D 16 50 15 rigidity. “25” and “25”composite parameters
indicate the rigidity is weak, “100” and
E 16 75 10 “5”composite parameters indicate the
rigidity is strong.
F 16 100 5
4) Usually keep factory settings

6.2 S2 - DIP Switch Configurations

The 12-bit is located on the side (DIP switch S2 in Figure 2) and used to configure settings of micro step resolution,
output current, and motor standstill current as shown below, the factory setting of SW1-SW12 is ON, OFF, OFF, ON,
OFF, OFF, ON, OFF, OFF, OFF, OFF, OFF.
SW1 SW2 SW3 SW4 SW5 SW6 SW7 SW8 SW9 SW10 SW11 SW12

Microstep Rotation direction No Auto tuning Control mode Smoothing filter time Encoder resolution

Pulse mode

Figure 4: DIP switches

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 CS1-D507S & CS1-D503S Closed Loop Stepper Drive User Manual

6.2.1 Micro Step (SW1-SW4)

Each CS1-D507S & CS1-D503S has 8 micro step settings which can be configured through DIP switch SW5, SW6,
SW7 and SW8. See the following table for detail. When they are set to ON, ON, ON,ON, the microstep can be set via
Leadshine PC software.

Micro step Pulses/Rev. (for 1.8°motor) SW5 SW6 SW7 SW8

2 400 (default) ON ON ON ON
5 1000 OFF ON ON ON
8 1600 ON OFF ON ON
10 2000 OFF OFF ON ON
16 3200 ON ON OFF ON
18 3600 OFF ON OFF ON
20 4000 (factory) ON OFF OFF ON
25 5000 OFF OFF OFF ON
32 6400 ON ON ON OFF
40 8000 OFF ON ON OFF
50 10000 ON OFF ON OFF
100 20000 OFF OFF ON OFF
125 25000 ON ON OFF OFF
180 36000 OFF ON OFF OFF
200 40000 ON OFF OFF OFF
250 50000 OFF OFF OFF OFF

6.2.2 Mode Setting (SW5 - SW8)

Function ON OFF

SW5 Rotation Direction CW (clockwise) CCW (counterclockwise)

SW6 No Auto Tuning Enable Disable

SW7 Pulse Mode CW/CCW (double pulse) PUL/DIR (single pulse)

SW8 Control Mode Open loop control Closed loop control

6.2.3 Smoothing Filter Time Configuration (SW9-SW10)

CS1-D507S & CS1-D503S has an advanced feature called control command smoothing to make the input pulse from
pulse generator (controller, PLC, etc.) S-curve acceleration, to improve motion smoothness and high-speed start

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 CS1-D507S & CS1-D503S Closed Loop Stepper Drive User Manual

frequency in many circumstances.

This is achieved through adding filtering time which is configured SW9-SW10. See the following table for how to
configure. When SW9-SW10 setting is OFF, OFF, the filtering time can be set by Leadshine PC software.

Filter Time SW9 SW10

1.5 ms (default and factory) OFF OFF

3 ms OFF ON

12 ms ON OFF

37 ms ON ON

!
Warning
The Filter Time value must be set to the same for each CS1-D507S & CS1-D503S in multi-axis
applications

6.2.4 Encoder Resolution Configuration (SW11-SW12)

CS1-D507S & CS1-D503S can power closed loop stepper motors with incremental encoders (include and under 5000
ppr resolution ) , it has 2-bit DIP switch to set motor encoder resolution as below, When SW11-SW12 setting is ON,
ON, the encoder resolution can be set by Leadshine PC software.

Encoder Resolution (ppr) Count per Rev. (cpr) SW11 SW12

1000 4000 (default) ON ON

2000 8000 OFF ON

5000 20000 ON OFF

2500 10000 (factory) OFF OFF

6.3 S3 - Selector Switch Configurations

The 1-bit selector is located on the top (S3 in figure 2), used to configure the voltage of control signals. For the safety
of optically coupled, the factory setting is 24V, which no need to connect 2K resistors, making it easier to use. When
the voltage of the control signal is 5V, the S3 must be set to 5V, otherwise, the motor won't work.

7. Typical Connection

A complete closed loop stepper system should include a stepper motor with encoder, CS1-D507S & CS1-D503S drive,
power supply and controller (pulse generator). A typical connection is as below.

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 CS1-D507S & CS1-D503S Closed Loop Stepper Drive User Manual

Figure 5: Typical connection

Notes: (1) If need Z signal output, please contact Leadshine for the motor and encoder extension cable with Z signal.
(2) Pulse and direction inputs level 5V or 24V selected by selector switch S3. When it is 24 V, the S3 selection of 5V
will damage the input photo-coupling.
(3) Enable (ENA) and alarm reset (RST) signal is 5V~24V compatible.

7.1 Digital Input Connection

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 CS1-D507S & CS1-D503S Closed Loop Stepper Drive User Manual

Figure 6: Digital input connections

7.2 Digital Output Connection

7.2.1 In position and Fault Output Connection

The PEND (In-position) and ALM (Alarm) can be connected either in sinking or sourcing as below:

Figure 7 Sinking output Figure 8 Sourcing output

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 CS1-D507S & CS1-D503S Closed Loop Stepper Drive User Manual

7.2.2 Encoder Output Connection

The CS1-D507S & CS1-D503S has a differential encoder output signal (EA+/-, EB+/-, EZ+/-), can be connected to the
upper controller to feedback the position information of the motor.

Figure 9 Encoder signals output

7.2.3 Brake Output Connection

This drive has a special brake output, built-in a fly-wheel diode, driving current up to 500 mA, can directly drive the
motor brake without relays. The connection is below:

Figure 10 Brake output connection

8. 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:

Figure 11: Sequence chart of control signals

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 CS1-D507S & CS1-D503S Closed Loop Stepper Drive User Manual

Remark:

a) t1: ENA must be ahead of DIR by at least 300ms. 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 2us to ensure correct direction;
c) t3: Pulse width not less than 1us;
d) t4: Low level width not less than 1us.

9. Fault Protections
To improve reliability, the drive incorporates some built-in protection features.

Blink
Sequence wave of red LED Description Trouble shooting
time(s)
5S Turn off the power immediately.
0.2S

1 Over-current a) Check wiring is short-circuited or not;

b) Check motor is short-circuited or not.
5S Turn off the power immediately.
0.3S 0.2S

2 Over-voltage a) Check if the power voltage is higher

than 90VDC
Restart the power supply, if the drive is
3 Chip error
still alarm, please contact after-sale
a) The drive is not connected to a motor;
b) If alarm is occurred when connect a
Fail to lock motor
4 motor , set DIP switch SW6 to ‘on’ and
shaft
restart power supply; If it still alarm,
please check the motor power cable.
Restart the power supply, if the drive is
5 EEPROM error
still alarm, please contact after-sale

6 Fail to auto tuning Set DIP switch SW6 to ‘on’

a) The value of position following error

5S is set too small;
0.3S 0.2S Position following
7 b) Motor torque is not enough or motor
error
speed is too high;
c) Motor wiring error, check wiring
PCB board is Contact after-sale
Always -
burned out a) Power supply connection is wrong
When above protections are active, the motor shaft will be free or the red LED blinks. Reset the drive by repowering it
to make it function properly after removing above problems.

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 CS1-D507S & CS1-D503S Closed Loop Stepper Drive User Manual

10. Software Configuration

The CS1-D507S & CS1-D503S is designed for simple setup and implementation. For most applications no software
configuration or tuning is needed especially when driving Leadshine stepper motors with encoders. If you want to do
fine tuning or custom configurations such as micro-step, current percentage change…, you can use Leadshine’s free
ProTuner software to make the changes.

11. Accessories

If you plan to use the ProTuner software, contact your supplier or Leadshine to purchase the RS232 cable with part
number CABLE-PC-1 for connecting the CS1-D507S & CS1-D503S to a computer with Windows 7/8/10 installed. In
the case of using USB to RS232 conversion, contact your supplier or Leadshine for such a cable with part number
USB2.0-232 which has been verified working fine.

CABLE-PC-1 USB2.0-232

(RS232 tuning cable) (USB to RS232 Conversion Cable)

12. Troubleshooting

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.

Symptoms Possible Problems Solutions

No power Connect power supply correctly

Motor is not rotating Microstep resolution setting is wrong Setting appropriate microstep

Fault condition exists Check wiring and restart power

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 CS1-D507S & CS1-D503S Closed Loop Stepper Drive User Manual

Drive restore factory setting, and keep

The drive is disabled
ENA+, ENA- input signals unconnected.

Wrong motor rotation direction The Direction signal level is reverse Toggling the SW5 DIP switch

Red light flashes once in a 5-second The motor coil may short circuit or exiting
period the wrong wiring

Red light flashes twice in a 5-second The power supply exceeds Max. operation
period voltage

The drive in fault If using Leadshine’s motor, refer to motor

Red light flashes 7-times in a 5-second wiring in datasheet; If using 3rd motor,
period need to swap the wiring of motor phase
A+ and phase A-

Red light is always on after power on The drive is burned

Ensure the current of control signal is

Control signal is too weak
within 7-16mA

Don’t tie the control signal cable with

Control signal is interfered
Erratic motor motion power cable together

Refer to user manual of drive and motor

Wrong motor connection
datasheet

Something wrong with motor coil Check the motor is normal

Choose another power supply with lager

Current setting is too small power or increase the output current of
drive

Motor stalls during acceleration Motor is undersized for the application Choose another motor with higher torque

Acceleration is set too high Reduce the acceleration

Choose another power supply with large

Power supply voltage too low
voltage output

Inadequate heat sinking / cooling Refer to chapter 2.4

Excessive motor & drive heating Reduce the current value refer to motor
Motor peak current setting is too high
datasheet

Motor vibration when power on Speed loop Kp is too high Reduce the speed loop Kp value

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 CS1-D507S & CS1-D503S Closed Loop Stepper Drive User Manual

13. Warranty

Twelve Month 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, please contact your seller to obtain a returned material authorization number (RMA) before
returning product for service.

Shipping Failed Products

If your product fail during the warranty period, please contact your seller for how and where to ship the failed product
for warranty or repair services first, you can also e-mail customer service at [email protected] 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.

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