Datasheet of the integrated servo motor iSV-B23xxx

Datasheet Of Integrated Servo Motor iSV-B23xxx

BLDC Servo Motor + Drive, 24-36VDC, NEMA23, 90W-180W

Leadshine’s iSV-B23xxx integrated servo motor is a NEMA 23 brushless motor

integrated with a 1,000-line (4,000 PPR) encoder and a servo drive. At very
compact size and with all components integrated, the iSV-B23xxx can save
mounting space, eliminate encoder connection & motor wiring time, reduce
interference, and cut/reduce cable and labor costs.

Part Number iSV-B23090–S21 iSV-B23130-S21 iSV-B23180-S21 Unit

Rated Power 90 130 180 W
Rated Torque 0.30 0.45 0.6 N.M
Peak Torque 0.90 1.1 1.1 N.M
Rated Speed 3000 3000 3000 RPM
Peak Speed 4000 4000 4000 RPM
Rated Voltage 36 36 36 VDC
Rated Current 3.6 5.4 7.5 Arms
Weight 0.95 1.25 1.54 Kg
Max. Cogging Torque 9.8 11.6 14.5 mN.m

Features
 Integrated compact size for saving mounting space & setup time, and reducing electrical interference
 Step & direction or CW/CCW command input for position or velocity control
 Compatible mounting size with stepper motor
 Smooth motor movement and good respond time
 15 micro step resolution options via DIP switches; or any value from 200-51,200 (Increased by 1) via
software configuration
 Isolated control inputs of Pulse, Direction and Enable
 In-position and fault outputs to external motion controllers for complete system controls.
 Over voltage, over-current, and position-error protection

Applications
Leadshine’s iSV-B23xxx can be used in various applications such as laser cutters, laser markers, high precision X-Y
tables, labeling machines, CNC router, etc. Its unique features make the iSV-B23xxx an ideal choice for applications
that require both low-speed smoothness and small mounting space.

Specifications
Electrical Specifications
Parameter Min Typical Max Unit
Input Voltage 24 36 50 VDC
Pulse Input Frequency 0 - 200 kHz
Pulse Voltage 0 5 24 V
Logic Signal Current 7 10 16 mA
Isolation Resistance 100 - - MΩ

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 Datasheet of the integrated servo motor iSV-B23xxx

Operating Environment
Cooling Natural Cooling or Forced cooling
Environment Avoid dust, oil fog and corrosive gases
Operating Ambient Temperature 0℃ － 40℃ (32℉ － 104℉)
Environment Humidity 40%RH － 90%RH
Operating Temperature (Heat Sink) 70℃ (158℉) Max
Storage Temperature -20℃ － 65℃ (-4℉ － 149℉)

Mechanical Specifications

Mechanical Specification of iSV-B23090-S21

Mechanical Specification of iSV-B23130-S21

Mechanical Specification of iSV-B23180-S21

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 Datasheet of the integrated servo motor iSV-B23xxx

Connectors and Pin Assignment

Leadshine iSV-B23xxx has three connectors, a connector for control signals connections, a connector for RS232
communication connection, and a connector for power connections.

Control Signal Connector

Pin Name I/O Description
Pulse Signal: In single pulse (pulse/direction) mode, this input represents pulse signal,
1 PUL+ I active at each rising or falling edge (Software configurable). In double pulse mode
(software configurable), this input represents clockwise (CW) pulse, active both at each
high level and low level. 4.5-24V for PUL-HIGH, 0-0.5V for PUL-LOW. For reliable response,
2 PUL- I pulse width should be longer than 2.5μs for 200K MAX input frequency or 1μs for 500K
MAX input frequency.

Direction Signal: In single-pulse mode, this signal has low/high voltage levels, representing
3 DIR+ I
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 least. 4.5-24V for DIR-HIGH,
4 DIR- I
0-0.5V for DIR-LOW. Toggle DIP switch SW5 to reverse motion direction.

Enable signal: This signal is used for enabling/disabling the driver. By default, high level
5 ENA+ I
(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 control
6 ENA- I signals are on the contrary, namely Low level for enabling. The active level of ENA signal is
software configurable.

In-position Signal: OC output signal, activated when actual motor position reaches to target
7 PED+ O
position. This port can sink or source MAX 50mA current at 24V. By default, the impedance
between PED+ and PED- is low for normal operation and becomes high when the target
8 PED- O
position is reached. The active impedance of in-position signal is software configurable.
Alarm Signal: OC output signal, activated when one of the following protection is activated:
9 ALM+ O
over-voltage and over current error. They can sink or source MAX 50mA current at 24V. By
default, the impedance between ALM+ and ALM- is low for normal operation and becomes
high when any protection is activated. The active impedance of alarm signal is software
10 ALM- O
configurable.

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 Datasheet of the integrated servo motor iSV-B23xxx

Connectors and Pin Assignment (Continued)

Power Connector
Pin Name I/O Description
Power Supply Input (Positive)
1 +Vdc I 24-36VDC recommended. Please leave reasonable reservation for voltage fluctuation and
back-EMF during deceleration.

2 GND GND Power Ground (Negative)

RS232 Communication Connector

Pin Name I/O Description
1 +5V O +5V power output ( Note: Do not connect it to PC’s serial port)
2 TxD O RS232 transmit.
3 GND GND Ground.
4 RxD I RS232 receive.
5 NC - Not connected.

Protection Indications
The green light turns on when iSV-B23xxx is powered on and functions normally. In any case that drive protection is
activated, the red LED blinks periodically (in every 4 seconds) to indicate the error type. In each blink, red light is on
for 0.2 second and then off for 0.3 second.

Time(s) of
Priority Sequence wave of red LED Description
Blink
Over-current protection activated when peak
1st 1
current is greater than 18A

Over-voltage protection activated when drive

2nd 2
working voltage is greater than 60VDC

Encoder error activated when encoder connection

3rd 5
or feedback is not correct
Position following error activated when position
following error limit exceeded the pre-set value
4th 7
(4000 pulses by default, or value set value by a
customer)

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 Datasheet of the integrated servo motor iSV-B23xxx

DIP Switch Settings

Pulses/Rev Setting (S1-S4)
Pulses/Rev of the iSV-B23xxx can be configured via a 4-bit DIP switch, or Leadshine’s tuning software ProTuner. When
all bits of the DIP switch are at “ON” positions, the integrated servo drive will take the pulses/rev setting set by the
software (4000 by default). In this case, a user can re-configure the pulses/rev setting to any value between 200 and
51, 200 (increased by 1) through software. If any bit of the DIP switch is at “OFF” position, the integrated drive will
take pulses/rev setting determined by bit positions of the DIP switch. Use the following table for their pulses/rev
setting via the DIP switch.

Pulses/Rev (S1-S4)
Pulses/Rev S1 S2 S3 S4
Software Configured (Default 400) On On On On
800 Off On On On
1600 On Off On On
3200 Off Off On On
6400 On On Off On
12800 Off On Off On
25600 On Off Off On
51200 Off Off Off On
1000 On On On Off
2000 Off On On Off
4000 On Off On Off
5000 Off Off On Off
8000 On On Off Off
10000 Off On Off Off
20000 On Off Off Off
40000 Off Off Off Off

Motor Shaft Direction (S5)

DIP switch S5 is used for changing motor shaft rotation direction. Changing position from “ON” to “OFF”, or “OFF” to
“ON” will reverse iSV-B23xxx rotation direction.

Self-Test (S6)
By default, DIP switch S6 is OFF (normal mode) and the iSV-B23xxx responses to any pulse input. If it is turned ON,
the iSV-B23xxx goes into self-test mode. In self-test mode, the motor shaft rotates 1 revolutions CW and then 1
revolutions CCW. The self-motion repeats until S6 is turned OFF (the motor shaft will stop immediately). Note that
you are unable to communicate with the iSV-B23xxx via the RS232 port when it is in self-test mode.

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 Datasheet of the integrated servo motor iSV-B23xxx

Fine Tuning
Leadshine already loads default current-loop parameters and position-loop parameters. The default parameter
values of the current loop have been optimized and there is no need to tune them. However, you need to tune the
position loop parameters for your application to achieve the best performance. The actual value is determined by
power supply voltage, load inertia and motion profile. Leadsihine also offers tuning software, ProTuner, which allows
you to adjust those current-loop and position-loop parameters (see software manual).

RS232 Communication Cable Connections

Note1: The RS232 communication port is not isolated. Please use an isolated power supply for the iSV-B23xxx when
the PC’s serial port is not isolated.
Note2: Do not plug or unplug the connector when power is on.

Typical Connections

Controller iSV-x23xxx

Power Connector
5-24V PUL+ 1
5V recommended PUL- 2
1 +Vdc
Step DIR+ 3 24-36VDC recommended,
2 leaving rooms for voltage fluctuation
DIR- 4 GND
and back EMF of motor
Direction ENA+ 5
ENA- 6
Enable
Control Signal
5V
Connector
1 5V
PED+ 7
In-Position 2 TX Pin2 of PC serial port

PED- 3 GND Pin5 of PC serial port

8
4 RX Pin3 of PC serial port
Alarm ALM+ 9 5 NC

ALM- 10
RS232 Connector

Connect iSV-B23xxx to controller of sinking output

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 Datasheet of the integrated servo motor iSV-B23xxx

Typical Connections (Continued)

Controller iSV-x23xxx
VCC = 5-24V
VCC 5V recommended Power Connector
Step PUL+ 1
VCC PUL- 2 1 +Vdc
Direction 24-36VDC recommended,
DIR+ 3 leaving rooms for voltage fluctuation
2 GND
VCC DIR- 4 and back EMF of motor
Enable ENA+ 5
ENA- 6

Control Signal
5V
Connector
In-position 1 5V
PED+ 7
2 TX Pin2 of PC serial port
PED- 8 3 GND Pin5 of PC serial port
4 RX Pin3 of PC serial port
Alarm ALM+ 9 5 NC

ALM- 10
RS232 Connector

Connect iSV-B23xxx to controller of sourcing output

Controller iSV-x23xxx

5V Power Connector
PUL+ 1
Step PUL- 2
DIR+ 3 1 +Vdc 24-36VDC recommended,
Direction DIR- 4 2 GND leaving rooms for voltage fluctuation
and back EMF of motor
ENA+ 5
Enable ENA- 6

Control Signal
5V
Connector
1 5V
In-Position PED+ 7
2 TX Pin2 of PC serial port
PED- 8 3 GND Pin5 of PC serial port
4 RX Pin3 of PC serial port
Alarm ALM+ 9 5 NC

ALM- 10
RS232 Connector

Connect iSV-B23xxx to controller of differential output

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