ACS806 Digital AC Servo Dri ve Datasheet ACS806 Digital AC Servo Dri ve Datasheet

3. Applications

Digital AC Servo Drive ACS806 Suitable for large and medium automation machines and equipments, such as inkjet printers,
engraving machines, electronics manufacturing equipments, special NC machines, pick and place
devices, packing devices, and so on. Particularly adapt to the applications require high speed, high
precision, and low motor noise.
4. Specifications
1. Introduction
Leadshine's fully digital AC servo drive ACS806 is
Electrical Specifications (Tj = 25℃/77℉)
developed with 32-bit DSP based on advanced control
ACS806
algorithm. Since its input commands are PUL/DIR Parameters
signals, the users can upgrade stepping drives to the Min. Typical Max. Unit
ACS806 without changing control systems. The Peak output current 0 - 18 A
ACS806 can offer high precision, high speed and high
reliability performance, and widely used in inkjet Continue output current 0 - 6 A
printers, engraving machines, and etc. A built-in Supply voltage +18 - +80 VDC
controller can be used for testing and tuning. PC based
Logic signal current 7 10 16 mA
and handheld configuration & tuning tools can meet
different tuning environments or requirements. Pulse input frequency 0 - 600 kHz
Isolation resistance 500 MΩ
Current provided to encoder - - 100 mA
2. Features
Performance Specifications (with ACM Series Servo Motors)
l Input: 18 - 80VDC,
l Peak Current: 18A , Continuous Current: 6 A (Max), 50 - 400 W l Position following error : +/-1 count
l FOC-SVPWM technologies
l Velocity accuracy: +/-2rpm
l PC based and handheld configuration tools
l Electronic gear rate from 1/255 to 255 l Maximum acceleration speed (No Load) : 80 rpm/ms2
l Self-test function with trapezoidal velocity profile l Input frequency up to 600 kHz
l Support PUL/DIR and CW/CCW control signals l Maximum speed : 4000 rpm
l Opto-isolated, support single-ended and differential inputs
l Allowable low speed reaches1 rpm
l Encoder output
l Following error lock range adjustable l Positioning accuracy :+/-1 count
l Over-voltage, over-current, encoder failure protections l Suitable for 18 - 80 VDC AC servo motors
l 10 latest failures self-record function
l Small size, surface-mount technology

Tel: (86)755-26434369 1 Website: www.leadshine.com Tel: (86)755-26434369 1 Website: www.leadshine.com

 ACS806 Digital AC Servo Dri ve Datasheet ACS806 Digital AC Servo drive Datasheet

Operating Environment and Parameters

5. Connector Configuration
Cooling Natural cooling or Forced cooling
Environment Avoid dust, oil fog and corrosive gases General Information
Ambient Temperature 0℃－50℃ (32℉－122℉)
Operating Environment Digital & Analog I/O Connector
Humidity 40%RH－90%RH
2
5.9m/s Max Pin Signal Description I/O
Vibration
1 ENA+ Enable signal input + I
Storage Temperature -20℃－65℃ (-4℉－149℉)
2 ENA- Enable signal input - I
Weight Approx. 450g (15.88oz)
3 PUL+ Pulse signal input + I
4 PUL- Pulse signal input - I
Mechanical Specifications (unit: mm[inch]) 5 DIR+ Direction signal input + I
6 DIR- Direction signal input - I
166[ 6.535]
7 FL Positive limit signal input I
3[ 0.118]
8 RL Negative limit signal input I
9 SGND Signal ground GND
5[ 0.197]

R1.5[ 0.059]
10 Pend+ In position signal output+ O
97[ 3.819] 50[ 1.969]
11 Pend- In position signal output- O
3[ 0.118]
12 ALM+ Alarm output signal+ O
13 ALM- Alarm output signal- O
22[ 0.866]

14 NC Not connected -

150[5.906]
15 NC Not connected -
16 NC Not connected -
32[ 1.260] 17 FG Ground terminal for shield GND
15.5[ 0.610] 3[ 0.118]
18 SGND Signal ground GND
19 +5V +5V@10mA power supply O
Figure 1: Mechanical specifications
20 A+ Encoder channel A+ output O
21 A- Encoder channel A- output O
22 B+ Encoder channel B+ output O
23 B- Encoder channel B- output O

Tel: (86)755-26434369 3 Web site: www.leadshine.com

Tel: (86)755-26434369 2 Web site: www.leadshine.com
 ACS806 Digital AC Servo drive Datasheet ACS806 Digital AC Servo drive Datasheet

24 Z+ Encoder channel Z+ output O Pin Signal Description I/O

25 Z- Encoder channel Z- output O 1 NC Not connected -
2 +5V +5V power only for STU. O
26 SGND Signal ground GND
3 TxD RS232 transmit. O
Halls & Encoder Connector
4 GND Ground. GND
Pin Signal Description I/O 5 RxD RS232 receive. I
1 EA+ Encoder channel A+ input I 6 NC Not connected -
2 EB+ Encoder channel B+ input I
3 EGND Signal ground GND
More about I/O Signals
4 HallW+ Hall sensor W+ input I Signal Description
5 HallU+ Hall sensor U+ input I Enable input signal. This signal used for enabling/disabling the drive. High level
6 FG Ground terminal for shielded GND ENA+/ENA- for enabling the drive and low level for disabling the drive. Usually left
7 EZ+ Encoder channel Z+ input I UNCONNECTED (ENABLED).

8 EZ- Encoder channel Z- input I Pulse input signal. In single pulse (pulse/direction) mode, this input represents
pulse signal, each rising or falling edge active (software configurable); 4-5V when
9 HallV+ Hall sensor V+ input I
PUL-HIGH, 0-0.5V when PUL-LOW. In double pulse mode (pulse/pulse) , this
10 HallV- Hall sensor V- input I PUL+/PUL- input represents clockwise (CW) pulse，active at both high level and low level . For
11 EA- Encoder channel A- input I reliable response, pulse width should be longer than 0.85μs. Series connect
12 EB- Encoder channel B- input I resistors for current-limiting when +12V or +24V used. The same as DIR and ENA
signals.
13 VCC +5V @ 100 mA max. O
14 HallW- Hall sensor W- input I Directions input signal. In single-pulse mode, this signal has low/high voltage
levels, representing two directions of motor rotation; in double-pulse mode
15 HallU- Hall sensor U- input I DIR+/DIR- (software configurable), this signal is counter-clock (CCW) pulse，active at both
High Voltage Connector high level and low level. For reliable motion response, DIR signal should be ahead
of PUL signal by 5μs at least. 4-5V when DIR-HIGH, 0-0.5V when DIR-LOW.
Pin Signal Description I/O
1 PE Motor case ground GND Positive or negative limit input signal. Use signal ground for reference. 0-0.5V is
2 U Motor phase U O Low level input and 4-5V is High Level input. The active level can be set with
configuration tools such as ProTuner, STU-ACS. If active at low level, FL/RL must
3 V Motor phase V O be kept at high level for normal drive operation, and the drive will short-circuit the
FL/RL
4 W Motor phase W O motor coils to stop the motor immediately when FL/RL turn to low level. If active
at high level, FL/RL must be kept at low level for normal drive operation, and the
5 Rbrake Brake resistor connection (VDC-RBrake) I drive will short-circuit the motor coils to stop the motor immediately when FL /RL
6 +Vdc DC power Input (18-80VDC) I turn to high level. Please select active at high level when RL/RL is not connected.
7 GND Power Ground. GND
RS232 Communication Connector

Tel: (86)755-26434369 4 Web site: www.leadshine.com Tel: (86)755-26434369 5 Web site: www.leadshine.com
 ACS806 Digital AC Servo drive Datasheet ACS806 Digital AC Servo drive Datasheet

More about I/O Signals(Continue)

In position signal output. OC output, high impedance when the position error is
Pend+/Pend-
more than 2 pulses and low impedance when the position error is less than 2 pluses.

Alarm signal output. OC output, high impedance when the working status is
ALM+/ALM- normal and low impedance when over-voltage, over-current, phase error, encoder
error, limit error, position following error happens.

A+/A-/B+ Encoder feedback signals output, usually offered to the controller for external
/B-/Z+/Z- velocity/position loop.

6. RS232 Interface Connection

Figure 2: RS232 interface connection

7. Typical Connections
A typical connection of the ACS806 is shown as Figure 3.

Figure 3: Typical connection of ACS806

Tel: (86)755-26434369 6 Web site: www.leadshine.com Tel: (86)755-26434369 7 Web site: www.leadshine.com
 ACS806 Digital AC Servo drive Datasheet ACS806 Digital AC Servo drive Datasheet

8. Accessories
ACS806 Accessories and Connections

Figure 5: ACS806 accessories and connections with extended cables

More Information about ACS806 Accessories

Figure 4: ACS806 accessories and connections ProTuner

Description PC-based configuration & tuning software.
Order Standard Accessory, user can download from Leadshine website for free.

Tel: (86)755-26434369 8 Web site: www.leadshine.com Tel: (86)755-26434369 9 Web site: www.leadshine.com
 ACS806 Digital AC Servo drive Datasheet ACS806 Digital AC Servo drive Datasheet

CABLE-PC CABLE-DB26

Special RS232 cable designed to setup communication between the drive and Connector and cable for control signals include ENA+，ENA-, PUL+, PUL-,
Description Description
PC-based configuration & tuning software ProTuner. DIR+ and DIR-.

Standard Accessory, one is enough for a user to configure and tune multiple Order Standard Accessory, one driver needs at least one.
Order
drives.

Pin Color Signal Description

STU-ACS
1 Green ENA+ Enable signal input +

Description Handheld configuration & tuning unit. 2 Black ENA- Enable signal input -
3 Red PUL+ Pulse signal input +
Wires
Order Optional Accessory, one is enough to configure and tune multiple drives. 4 Yellow PUL- Pulse signal input -
5 Blue DIR+ Direction signal input +
6 White DIR- Direction signal input -
17 - FG Ground terminal for shielded
CABLE-ACM-ENCODER

Description Extended cable for the feedback wires between the driver and servo motor.
CABLE-STU

Special RS232 cable designed to setup communication between drive and Optional Accessory, Leadshine provides 1.2m, 2.2m, 5m, 10m cable for user
Description Order
Handheld configuration & tuning unit STU-ACS. selection. Users can select the proper length according to their needs.

Order One STU-ACS needs at least one.

Tel: (86)755-26434369 10 Web site: www.leadshine.com Tel: (86)755-26434369 11 Web site: www.leadshine.com
 ACS806 Digital AC Servo drive Datasheet

CABLE-ALM-WINDING

Extended cable for power leads between the drive and Leadshine ACM series
Description
AC servo motor.

Optional Accessory, Leadshine provides 1.2m, 2.2m, 5m, 10m cable for user
Order
selection. Users can select the proper length according to their needs.

Pin Color Signal Description

1 Yellow PE Motor case ground
Wires 2 Red U Motor phase U
3 Blue V Motor phase V
4 Black W Motor phase W

Tel: (86)755-26434369 12 Web site: www.leadshine.com