ES2-D508 Vector Easy Servo Drive User Manual Version 1.

User Manual
H2-506
Vector Easy Servo Drive

Revision 1.0
© 2016 Leadshine Technology Co.,Ltd.

Address: 11/F, Block A3, iPark No.1001 Xueyuan Blvd. Nanshan District, Shenzhen, China
Tel: 86-400-885-5521
Fax: 86-755-2640-2718
Web: www.leadshine.com
Sales: sales@leadshine.com
Support: tech@leadshine.com
 H2-506 Vector Easy Servo Drive User Manual Version 1.0

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 Dec, 2016 Initial Release

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 H2-506 Vector Easy Servo Drive User Manual Version 1.0

Table of Contents
1 Introductions................................................................................................................................................................. 4

1.1 Features ............................................................................................................................................................. 4

1.2 Applications ....................................................................................................................................................... 4

2. Specifications .............................................................................................................................................................. 4

2.1 Electrical Specifications .................................................................................................................................... 4

2.2 I/O Interface Specifications ............................................................................................................................... 5

2.3 Mechanical Specifications ................................................................................................................................. 5

2.4 Operating Environment ..................................................................................................................................... 5

3 Connectors and Pin Assignments ................................................................................................................................. 6

3.1 Control Signal Connector CN1 ......................................................................................................................... 6

3.2 Encoder Signal Input CN2 ................................................................................................................................ 7

3.3 RS232 Communication Connector for Tuning CN3 ......................................................................................... 8

3.3 Power Connector ............................................................................................................................................... 8

3.4 Connector Pin-Out............................................................................................................................................. 9

3.5 Matching ESM Series Easy Servo Motors ...................................................................................................... 10

4 Getting Start ............................................................................................................................................................... 10

4.1Wiring Diagrams ...............................................................................................................................................11

4.1.1 Power Wiring .........................................................................................................................................11

4.1.2 Control Signal Wiring.............................................................................................................................11

4.2 Sequence Chart of Control Signals.................................................................................................................. 12

4.3 Configuring H2-506 ........................................................................................................................................ 13

4.3.1 Configuring H2-506 by the on-board HMI ............................................................................................ 13

4.3.2 Configuring H2-506 by the ProTuner .................................................................................................... 15

5 Frequently Asked Questions ....................................................................................................................................... 21

6 Warranty ..................................................................................................................................................................... 22

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 H2-506 Vector Easy Servo Drive User Manual Version 1.0

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
H2-506 operating voltage is 24-50VDC and it can output up to 8.0 current. Therefore, the H2-506 is ideal for
applications requiring fast response, precise position and smooth movement of NEMA 17, 23, 24 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 lose 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 24 to 50VDC; 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 1000,2500,5000 lines (recommend 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. H2-506 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 H2-506
Operating Voltage 24 – 50VDC
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

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2.2 I/O Interface Specifications

Parameters H2-506
Command Input Step/Direction, CW/CCW
Enable/Disable Input Differential
Alarm Signal Output Isolated OC Output
Encoder Signal Output ABZ Output
Tuning Interface On-board HMI or RS232 communication
Regeneration Resistor Built-in ( 50 Ohm, 100W), Support External

2.3 Mechanical Specifications

(unit: mm [1inch=25.4mm])
Parameters H2-506
Size 125mm * 99mm* 44mm
Weight 280 g

2.4 Operating Environment

(Tj = 25℃/77℉)
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

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3 Connectors and Pin Assignments

On-board HMI
Self-test,
On-board Configuration

CN3 CN1
RS232 Configuration Control Signal Connector
Port Pulse, Direction, Enable Inputs
and Fault and encoder Output

Main Power Input

CN2
Feedback Signal Connector
Encoder Connection
Motor Outputs

3.1 Control Signal Connector CN1

CN1 – Control Signal Connector

DB26, 26Pin, Female
Pin Name I/O Description
Enable signal: This signal is used for enabling/disabling the driver. By default, high level
1 ENA+ -
(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 and Differential
2 ENA- - control signals are on the contrary, namely Low level for enabling. The active level of
ENA signal is software configurable.

3 PUL+ I Pulse signal: In single pulse (pulse/direction) mode, this input represents pulse 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
4 PUL- I level and low level. 5-24V when PUL-HIGH, 0-0.5V when PUL-LOW. For reliable

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response, pulse width should be longer than 2.5uS(200K bandwidth) or 1uS(500K

bandwidth)
Direction Signal: In single-pulse mode, this signal has low/high voltage levels,
5 DIR+ 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 signal by 5μs at
6 DIR- I least. 5-24V when DIR-HIGH, 0-0.5V when DIR-LOW. The direction signal’s polarity is
software configurable.

7 NC
No connection.
8 NC

9 SGND O Signal GND

In-position Signal: OC output signal, active when the difference between the actual
10 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.
11 Pend- O The signal also can be used for brake output by setting parameter NO 30004 in
ProTuner.
Alarm Signal: OC (Open Collector) output signal, activated when one of the following
12 ALM+ O
protection is activated: over-voltage, over current, braking error and position following
error. They can sink or source MAX 100mA current at 5V. The active impedance of
13 ALM- O alarm signal is software configurable.

14--16 NC - No connection.

17 FG - shield GND

18 SGND Signal GND

19 +5V I 5V+ input for encoder,50MA

20 AO+ O Encoder A + output

21 AO- O Encoder A - output

22 BO+ O Encoder B+ output

23 BO- O Encoder B- output

24 ZO+ O Encoder Z+ output

25 ZO- O Encoder Z- output

26 SGND Signal GND

3.2 Encoder Signal Input CN2

CN2 – Feedback Signal (Encoder) Connector
HDD15, 15Pin, Female

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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

4 NC I No Connection.

5 NC I No Connection.

6 FG I Ground terminal for shield

7 EZ+ I Encoder Z+ input

8 EZ- I Encoder Z- input

9 NC I No Connection.

10 NC I No Connection.

11 EA- I Encoder A- input

12 EB- I Encoder B- input

13 VCC O +5V power output

14 NC I No Connection.

15 NC I No Connection.

3.3 RS232 Communication Connector for Tuning CN3

CN3 – RS232 Communication Connector
Can be connected to PC for drive and motor tuning. Recommended twisted shielded c able and
RS232
cable length < 2 meter.
Pin Name I/O Description
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

3.3 Power Connector

Power Supply and motor Connector:
Pin Name I/O Description
1 Vdc I
Main power supply input connected to 24-48VDC.
2 GND I

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3 PE I

4 A+ O Motor phase A+

5 A- O Motor phase A-

6 B+ O Motor phase B+

7 B- O Motor phase B+

3.4 Connector Pin-Out

CN1 – Control Signal Connector

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

CN3 – RS232 & RS485 Connector

1 GND 3 +5V 5 NC

2 TxD 4 RxD 6 NC
Power Supply Connector

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3.5 Matching ES2 Series Easy Servo Motors

ES2-M21706- ES2-M21708- ES-M22320B-
Wiring Diagram
E2Z E2Z E2Z
Step Angle (°) 1.8 1.8 1.8
Holding Torque (N.m) 0.6 0.8 2.0
Phase Current (A) 2..3 2.3 4.2
Phase Resistance (Ohm) 1.0 1.4 0.55
Phase Inductance (mH) 1.9 3.1 2.0
2
Shaft Inertia (Kg.cm ) 0.077 0.115 0.5
Weight (Kg) 0.53 0.67 1.65
2500 2500 2500
Encoder (lines / Rev.) (10000cpr) (10000cpr) (10000cpr)

ES2-M22314- ES2-M22324- ES2-M22327-

Wiring Diagram
E5Z E5Z E5Z
Step Angle (°) 1.8 1.8 1.8
Holding Torque (N.m) 1.4 2.4 2.0
Phase Current (A) 4.0 5.0 5.0
Phase Resistance (Ohm) 0.42 0.38 0.44
Phase Inductance (mH) 1.6 1.75 2.0
2
Shaft Inertia (Kg.cm ) 0.30 0.48 0.52
Weight (Kg) 0.9 1.3 1.6
5000 5000 5000
Encoder (lines / Rev.) (20000cpr) (20000cpr) (20000cpr)

4 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

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4.1Wiring Diagrams

DC Power
24-50VDC
RS232 Cable

Or USB-232 Converter

Motion Controller

Encoder Extension Cable

Power Extension Cable

4.1.1 Power Wiring

The H2-506 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.

Vdc
Power input DC Power
GND
24-50VDC

4.1.2 Control Signal Wiring

Controller Drive Controller Drive

PUL+
PUL PUL+ VCC
PUL-
VCC PUL-
PUL
DIR+
DIR DIR+
DIR-
DIR- DIR
ENA+
ENABLE ENA+
ENA-
ENA-
ENABLE

Connections to open-collector signal (common-anode) Connections to PNP signal (common-cathode)

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ES2-D506
PUL+ R
PUL-
R EA+
DIR+
DIR- EA-
ENA+ R
EB+
ENA-
PEND+
EB- Encoder
EZ+
PEND-
Controller ALM+ EZ-
ALM- GND
AO+
VCC
AO-
BO+
BO-
ZO+
ZO-

A+
A-
Power Supply +Vdc B+ Motor
DC24~48V GND B-

Connection to differential signa

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:

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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 H2-506

4.3.1 Configuring H2-506 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. More detailed descriptions of the parameters on the panel are presented in
section 4.3.2

7-segment Display

Left Shift Digits Decrease or Next

M ENT Enter, Confirm

Mode Switching

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.

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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.

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“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 H2-506 by the ProTuner

Leadshine also provide the tuning software named ProTuner to configure the parameter of H2-506.
Parameter list
NO. Default
Definition Property Range Description
ProTuner Panel value

15 0 Current loop Kp R/W 0 0—65535 Invalid

16 1 Current loop Ki R/W 0 0—65535 Invalid

Tuning
Unit：%. This parameter can be
124 2 proportionality for R/W/S 100 0~1024
modified
Current loop
30053 3 Position Loop Kp R/W/S 100 0~10000

30055 4 Speed loop Ki R/W/S 60 0~10000

30054 5 Speed loop Kp R/W/S 100 0~1000

30058 6 Torque feed- forward R/W/S 0 0~1000 Invalid

1 7 Pulse /Rev R/W/S 1600 200~65535 Motor runs a round needs pulse
Four multiplying frequency for
29 8 Encoder resolution R/W/S 4000 200~20000
1000 line encoder
Position following
30 9 R/W/S 4000 1~65535 Unit：pulse
error
The percent of Maximum current.
Lock Shaft Current
30007 10 R/W/S 15 0~100 it is effective when NO.30015
Percentage( power on)
setting is 3.
Percent of closed loop
27 11 R/W 80 1~100 Invalid
current
Unit：100ms。
Soft Start Time(power
30006 12 R/W/S 2 1~30 Reduce the vibration when power
on)
up or Enable

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9 13 Pulse filter enable R/W 1 0/1 Invalid

Command Pulse Filter
30001 14 R/W/S 60 0~600 Unit：0.05ms
Time
0：High
6 15 Enable level R/W/S 1 0/1
1：Low
0：High
30003 16 Fault Output Level R/W/S 0 0/1
1：Low
0：Pulse + Direction
49 17 Pulse input mode R/W/S 0 0/1
1：CW/CCW
0：Rising Edge
50 18 Pulse active edge 0 0/1
R/W/S 1：Following Edge
Motor Running 0：Forward
51 19 R/W/S 1 0/1
Direction 1：Backward
19 20 Bandwidth R/W/S 0 0/1 Invalid

21 Acceleration R/W 200 1~2000

22 Speed R/W 60 1~3000

23 Distance R/W 100 1~65535

These parameters are effective
24 Running times R/W 1 1~65535
NA when running the motor with
25 Start direction R/W 1 0/1
HMI panel
26 Running interval time R/W 100 1~65535
Enable for
27 R/W 1 0/1
reciprocating motion
28 Start Stop R/W 0 0/1
Open/Closed -loop 0：Open loop
24 29 R/W/S 1 0/1
Mode selection 1：Closed loop
30 Auto tuning R/W 1 0/1 Invalid
NA
Resonance
31 R/W 0 0~1000 Invalid
compensation
Choosing Shaft 0：Unlock
7 32 R/W/S 0 0/1
Locking in Disable 1：Lock
Reset fault by enable 0-Disable
57 33 0 0/1
input R/W/S 1-Enable
Choosing Winding
0-No winding short
30008 34 Short of R/W/S 0 0/1
1-Winding short
Lower Bridge Arm
Pend port output 0：Pend output
30004 35 R/W/S 0 0/1
function 1：brake output
0：High
30005 36 Pend port output level R/W/S 0 0/1
1：Low
30059 37 Gravity Compensation R/W/S 0 0/1 Invalid

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Limit for speed

30056 38 R/W/S 20 0~80
loop Ki
30090 39 Ocuppied parameter1 R/W/S 0 0~127 Invalid

30091 40 Ocuppied parameter2 R/W/S 0 0~64 Invalid

Voltage Percentage in
30009 41 0 0~100 Invalid
Power Off R/W/S
=1 ES-M21705
=2 ES-M21707
59 42 Motor model R/W/S 3 0~100 =3 ES-M22320
=4 ES-M22310
=5 ES-M22430
Pend output pulse
85 43 R/W/S 4 0~100 Unit：pulse
limit value
Delay for vibration
30000 44 R/W/S 3 0~100 Unit：1ms
removing of software
Velocity loop Kp in
134 45 R/W/S 100 0~10000
high speed
30092 46 Ocuppied parameter3 R/W/S 12 0~64 Invalid
Time Constant for
30011 47 Over Voltage R/W/S 2 0~20 Unit：100ms
Detection
Voltage Limited Value
30014 48 for Enabling Brake R/W/S 72 0~500 Unit：V
Resistor
0：Disable
30013 49 Brake Resistor Enable R/W/S 1 0/1
1：Enable
0-3：interpolation motion
30015 50 Motion model R/W/S 1 0~9
4-5：point to point motion
Position Loop Filter
128 51 R/W/S 2 0~31 The actual range is 0-12
Frequency
Speed Loop Filter
129 52 R/W/S 6 0~31 The actual range is 0-12
Frequency
High Speed Loop
30063 53 R/WS 10 0~31 The actual range is 0-12
Filter Frequency
Speed Loop Sampling
132 54 R/W/S 4 0~31 The actual range is 0-12
Frequency
Tuning
proportionality for
30064 55 R/W/S 100 0~200
Speed loop gain in
running
0-Disable, 1-Enable(for special
83 56 Self-test Enable R/W/S 0 0/1
application)
1：Enable 0：Disable
bit0：Over current
Fault Detection
bit1：Over voltage
56 57 Enable 131 0~65535
R/W/S Bit7：Position following error
(bit operation)
Bit9：Brake output
Bit12：Encoder cable broken

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30002 58 ALM output function R/W/S 1 1~5 1- Fault,2~5-Reserved

30010 59 Over Voltage Value R/W/S 90 0~500 Unit：V

Times For Over Current jitters times limited
30012 60 Current Jitters R/W/S 6 0~50 before outputting over current
Elimination error
17 61 Current loop Kc R/W 0 0~32767 Invalid
Motor back EMF
125 62 R/W/S 0 0~32767 Invalid
coefficient
Weak magnetic
126 63 R/W/S 0 0~255 Invalid
coefficient 0
Weak magnetic
127 64 R/W/S 0 0~255 Invalid
coefficient 01
133 65 Position loop KpH R/W/S 100 0~1000

30051 66 Rigidity R/W/S 0 0~31 Invalid

30052 67 Inertia ratio R/W/S 100 100~10000 Invalid

30057 68 Speed feed-forward R/W/S 28 0~32

Time for position 3rd
30060 69 R/W/S 20 0~1000 Invalid
gain
30061 70 Position 3rd gain ratio R/W/S 16 0~1000 Invalid

30062 71 Motor pole R/W/S 50 2~100 Invalid

30093 72 Ocuppied paramete4 R/W/S 0 0~255 Invalid

30094 73 Ocuppied paramete5 R/W/S 100 0~255 Invalid

30095 74 Ocuppied paramete6 R/W/S 20 0~255 Invalid

30096 75 Ocuppied paramete7 R/W/S 2 0~255 Invalid

30097 76 Ocuppied paramete8 R/W/S 0 0~255 Invalid

300098 77 Ocuppied paramete9 R/W/S 0 0~255 Invalid

30099 78 Ocuppied paramete10 R/W/S 0 0~255 Invalid

Notice!
The sequence of parameters in ProTuner is different from HMI panel. For example, the speed loop kp is NO.5 on HMI
panel, but NO.30054 in the ProTuner.

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: tech@leadshine.com
 H2-506 Vector Easy Servo Drive User Manual Version 1.0

Key Parameters

NO. in Protuner NO. on HMI panel Range unit default

Position Loop Kp
30053 3 0—10000 - 100
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 value as large
as possible base on the machine without shout.

NO. in Protuner NO. on HMI panel Range unit default

Speed loop Ki
30055 4 0—10000 - 60
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 value as small as possible base on the machine without vibration.

NO. in Protuner NO. on HMI panel Range unit default

Speed loop Kp
30054 5 0—10000 - 100
You can determine the response of the velocity loop. In order to increase the response of overall servo
system by setting high velocity loop gain. However, too high setup may cause vibration. Set a value as large
as possible base on the machine without shout.

NO. in Protuner NO. on HMI panel Range unit default

Pulse /Rev.
1 7 200—65535 - 1600
Pulse per Revolution.

NO. in Protuner NO. on HMI panel Range unit default

Encoder resolution
29 8 200—20000 - 4000
The encoder of easy servo motor from Leadshine is 1000, 2500, 5000PPR, so If you use these motors, the
value must be 4000, 10000, 20000 respectively. The recommend encoder is 5000 lines .

NO. in Protuner NO. on HMI panel Range unit default

Position following error
30 9 1—65535 - 4000
The tolerance for position following error, if the error is over this value of setting, drive will display
ERR20 .

NO. in Protuner NO. on HMI panel Lock Shaft Current Range unit default
30007 10 Percentage( power on) 1—100 0.1A 40
The current uses for locking the motor shaft when, it is effective only when NO.30015 in ProTnuer is set to
3or 4. And if the parameter No.24 in ProTuner is set to 0 (Open-loop), this current will be peak current for
motor.

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: tech@leadshine.com
 H2-506 Vector Easy Servo Drive User Manual Version 1.0

NO. in Protuner NO. on HMI panel Range unit default

Soft Start Time(power on)
30006 12 1—30 2 100ms
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.

NO. in Protuner NO. on HMI panel Command Pulse Filter Range unit default
3001 14 Time 0—600 0.05ms 60
Smoothing the command pulse, higher value will reduce the vibration when the motor is beginning run and
increase the largest motor startup frequency.

NO. in Protuner NO. on HMI panel Range unit default

Motor model
59 42 0--100 3
=1 ES2-M21706-E2
=2 ES2-M21708-E2
=3 ES2-M22320-E5
=4 ES2-M22310-E5
=5 ES2-M22430-E5
Set correctly codebase on the motor model you are using. Not to be recommended connecting other motors.

NO. in Protuner NO. on HMI panel

Speed loop Kp in high Range unit default
134 45 speed 0—10000 - 100
If the motor needs to run up to 1000RPM, Set a value as large as possible base on the machine without
shout.

NO. in Protuner NO. on HMI panel Range unit default

Motion model
30015 50 0--9 1
0-3：interpolation motion
4-5：point to point motion
This parameter setting depend on the application, if it is used for interpolation application, such as
engraving, laser cutting, milling, and so on, it can be set 0-3; if used for point to point application, like
SCARA arm or STM, it can be set 4-5.

NO. in Protuner NO. on HMI panel Speed Loop Sampling Range unit default
132 54 Frequency 0--31 4
Smoothing the speed loop overshoot, higher value will reduce the vibration when the speed loop Kp is large
enough.

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: tech@leadshine.com
 H2-506 Vector Easy Servo Drive User Manual Version 1.0

NO. in Protuner NO. on HMI panel Range unit default

Speed feed-forward
30057 68 0--32 28
Higher value will reduce the following position error when the motor running in high speed.

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

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: tech@leadshine.com
 H2-506 Vector Easy Servo Drive User Manual Version 1.0

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.

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: tech@leadshine.com