H2-758 Eng

H2-758
Digital Hybrid Servo Driver user's Guide
Copyright is not allowed to be reproduced 【Please read
this manual carefully before use to avoid
damage to the drive】
深圳市雷赛智能控制股份有限公司
land Address: 11th Floor , Building A3 , Nanshan Zhiyuan, No. 1001 Xueyuan Avenue, Nanshan District, Shenzhen
mail Ed: 518055 Electricity Phone: 400-885-5521
pass True: 0755-26402718 Email : info@leisai.com
net Address: www.leisai.com

H2-758 Digital Hybrid Servo Drive Instruction Manual H2-758 Digital Hybrid Servo Drive Instruction Manual
Shanghai Branch Beijing Office land Address: Jiuxin Road, Jiuting Town,
Songjiang District, Shanghai land Address: Courtyard Territory, No. 13 , Beiyuan Road, Chaoyang District,
深圳市雷赛智能控制股份有限公司
Beijing
Unit 606 , Building A , Office 1 , 9th Floor , Jiahe Sunshine Building, No. 76 electricity Tel: 021-37829639 Tel :
021-37829639 Phone: 010-52086876 pass True: 021-37829680 Biography True: 010-52086875
head record 2. Use environment and parameters ...................................

................................................... ....3
1. Product introduction ................................... ...................................................
3. Mechanical installation diagram ...................................
............. 2
................................................... .............. 4 4. Enhanced heat dissipation
1. Overview ................................................ ...................................................
..................... 2 method ..................... ................................................... .......... 4 3. Driver
2. Technical features ................................................
interface and wiring introduction ...................
................................................... .............. 2
3. Application field ................................................ ................................................... .......... 4
1. Interface Definition ................................................

................................................... .......... 3
................................................... .......... 4
2. Electrical, mechanical and environmental indicators
2. Control Signal Interface Circuit ................................................
................................... ................................................ 3 ................................................... 7
1. Electrical Index ................................................ ................................................... 3. Control Signal Timing Diagram ...................................
.......... 3 ................................................... .... 8
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26433338 ( line 20 ) URL: www.leisai.com
H2-758 数字式混合伺服驱动器使用说明书 H2-758 数字式混合伺服驱动器使用说明书
4. Control Signal Mode ................................................ H2-758 is a new type of hybrid servo driver successfully developed by
................................................... .......... 9 5. Encoder wiring Leisai Company based on more than ten years of experience in stepping
and servo research and development. It adopts the latest dedicated

..................................... ................................................... ................................ 9 4.
motor control DSP chip and vector closed-loop control technology to
Drive parameter setting .....................................
completely overcome the loss At the same time, it can significantly
................................................... .............. 9 5. Typical Application Wiring
improve the high-speed performance of the motor, reduce the heat
.............................. ................................................... ................................................
generation of the motor and reduce the vibration of the motor, thereby
13
1. Hybrid Servo Motor Line Definition ................................................ improving the processing speed and precision of the machine and
................................................ 13 reducing the energy consumption of the machine. In addition, when the
2. Wiring method of motor with brake ...................................... motor is continuously overloaded, the driver will output an alarm signal,
................................................ 14 Raytheon products Terms of Warranty which has the same reliability as the AC servo system. The installation
................................................ ................................................... .17 size of the H2-758 adapted motor is fully compatible with the traditional 86
H2-758 series stepper motor. The traditional stepper drive scheme is easy to upgrade, and the
cost is only 50% of the traditional AC servo system .
High Voltage Digital Hybrid Servo Driver 2、 technical features
1. Product Introduction
◆ Using a new 32 -bit motor control dedicated DSP chip;
1、 overview ◆ Adopt advanced vector closed-loop control technology;
◆ With trapezoidal wave test function;

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◆ Static current and dynamic current can be set arbitrarily ( within

the range of 0---8A );
◆ Can drive 86 series hybrid servo motor;
◆ Optocoupler isolated differential signal input;
◆ Impulse response frequency 200KHz ;
◆ Subdivision setting ( within 200~51200 );
◆ With over-current, over-voltage and tracking error protection;
◆ Six-digit digital tube display, which is convenient for setting

1 2
parameters and monitoring the running status of the motor, etc. H2-758
ginseng number minimum typical maximum unit
3. Field of application
value value value
It is suitable for various automation equipment and instruments Continuous output 0 - 8 A
with high torque requirements, such as: engraving machine, wire current
stripping machine, marking machine, cutting machine, laser Input supply voltage 50 75 80 VAC
phototypesetting, plotter, CNC machine tool, flying probe testing Logic input current 7 10 20 mA
machine, automatic assembly equipment, etc. Pulse frequency - 200 300 kHz
The application effect is especially good in the equipment where the Insulation resistance 100 - - MΩ
user expects low noise and high speed. Alarm output logic - - 100 mA
current
2. Electrical, mechanical and environmental indicators 2. Use environment and parameters
1. Electrical indicators cooling method sinceNatural cooling or external heat sink

occasions of use Try to avoid dust, oil mist and ．机械安装尺寸图

corrosive gas
use environment
temperature 0 °C - 40 °C
humidity 40－90 % RH
shock 10~55Hz/0.15mm
storage -20 ℃ －65 ℃ 158

145
temperature
Heavy quantity about 1200 grams
130 40
54
When designing the installation size, the terminal size and ventilation
and heat dissipation should be considered.
4. Enhance heat dissipation
（1） The reliable operating temperature of the driver is usually within

60 °C, and the operating temperature of the motor is within 80
°C;
Terminal symbol name say explain bright Figure 2 shows. Press the key " M " to select the display mode, and
number Number press the up and down keys to select the monitoring state of the
1 AC Recommended motor. The following table shows the meanings of each monitoring
AC power input
2 AC AC 75V code.
3 A+ Hybrid Servo Motor black
4 A- Terminals red
5 B+ (Note that the wiring yellow
color cannot be
6 B- blue
mistaken)
（2） When installing the driver, please install it upright and sideways 3. Driver interface and wiring introduction
to form a strong air convection on the surface of the radiator; if
1. Interface definition
necessary, install a fan near the driver to force heat dissipation to
ensure that the driver works within a reliable operating 1 ) Power terminal interface
temperature range.
3 4
Terminal symbol name say explain bright

number Number
3 PUL+ Pulse positive input
4 PUL- Pulse Negative Input
Only supports
5 DIR+ Direction positive input
5V
6 DIR- Negative direction
input Tel: 0755-26433338 ( line 20 ) Website: www.leisai.com Tel: 0755-26433338 ( line 20 ) URL: www.leisai.com
7 ALM+ Alarm positive output

8 ALM- Alarm negative output
9 Pend+ In-position signal It can be set as
positive output a brake signal
10 Pend- In place signal negative by adjusting
output parameters
11 ENA + Enable positive input 5V and 24V
12 ENA - Enable Negative Input compatible
twenty three EA+ Encoder phase A
differential output
positive terminal
twenty four EA- Encoder phase A
differential output
negative terminal
25 EB+ Encoder phase B
differential output
positive terminal
26 EB- Encoder phase B
differential output
negative terminal
2) 27 EZ+ Encoder Z- phase Control signal port ( 44 -pin DB header)

differential output
positive terminal
28 EZ- Encoder Z- phase
differential output The display
negative terminal LED display meaning Remark
parameters are defined in the following table:
data low
data high
Difference between given
position error
pulse and feedback pulse
Motor speed: r/min
图按键面板图
Given speed: r/min
Feedback pulse: p
Given pulse: p
Current given: mA
001——overcurrent
protection
3) Status indication drive fault code
002——overvoltage
H2-758 has an LED to indicate the power supply and a six-digit digital tube protection
to display the status. The operation of the digital tube panel is as follows:
5 6
When the drive fails, the drive will stop and prompt the corresponding fault code. The fault can only be cleared when the user needs to
power off and power on again. When the drive fails, the drive will store the latest faults in the EEPROM of the drive in the form of a queue , and the
drive can save up to 10 latest historical faults.
2 . Control signal interface circuit diagram
Control signal input and output interface circuit diagram, as shown in Figure 3 .
H2-758 Digital Hybrid Servo Drive Instruction Manual
H2-758 Digital Hybrid Servo Drive Instruction Manual
020——Out-tolerance
protection
00d——disconnection
protection
Voltage = display
Rectified bus voltage
data/10
Driver version number
Figure 3(b) Wiring diagram of single-ended mode control signal interface
Note: When the VCC value is 5V , there is no need to connect a

resistor in series;
the VCC value is 12V , R is 1K , greater than or equal to
1/4W resistance ; when the VCC value is 24V , R is 2K ,
greater than or equal to 1/4W resistance ;
3. Control Signal Timing Diagram
In order to avoid some malfunctions and deviations, PUL , DIR and
ENA should meet certain requirements, as shown in Figure 4 below :
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) URL: www.leisai.com
t3 t2 >5us 高电平高于 3.5V

PUL
t2 t4
>5us 0.5V
高电平高于 3.5V
DIR
t1 >5us 低电平低于 0.5V

ENA
图控制信号时序图
7 8
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26433338 ( line 20 ) URL: www.leisai.com
Notes:
DB letter describe described
（1） t1 : ENA (enable signal) should be asserted high at least
header Number
5µs ahead of DIR . In general, it is recommended that ENA+ and pin
ENA- be left unconnected.

1 EA + Encoder A channel positive input
2 EB + Encoder B channel positive input
（2） t2 : DIR determines its state high or low at least 5μs ahead
3 GND Encoder GND input
of the falling edge of PUL .
11 EA - Encoder A channel negative input
（3） t3 : The pulse width is at least not less than 2.5μs .
12 EB- _ Encoder B channel negative input
（4） t4 : Low level width not less than 2.5μs . 13 VCC Encoder +5V power input
4. Control signal mode setting 4. Drive parameter setting
H2-758 driver: set the parameters directly on the button

Pulse trigger edge and single and double pulse selection: Set the
panel of the driver. There is a set of default factory
pulse rising edge or falling edge trigger to be valid through the
configuration parameters that correspond to the best
keypad; you can also set single pulse mode or double pulse mode.
motors inside the driver. The user only needs to adjust the
5. Encoder Wiring subdivision number inside the driver according to the
specific usage. The specific adjustable parameters and
Encoder wiring is provided by our company with 15- pin extension
functions are shown in the table below:
cable and motor encoder cable. The extension cable is directly
connected to
motors and drives without customer wiring. The following table is the H2-758 button operation method is as follows.
H2-758 encoder interface definition.
parameter parameter name parameter parameter Remark

number value range
00 Current loop K p Based on 0~65535 Unchangeable
01 Current loop Ki the 0~65535 Unchangeable
displayed
value
02 Adjustment ratio of 50 0~200 Unit: %
current loop gain
03 Position loop Kp 300 0~10000
04 Speed ring Ki 100 0~10000
05 Speed loop Kp 700 0~10000
06 Torque 0 0~1000
feedforward
07 Pulses per 1600 200~51200
revolution
08 Encoder resolution 4000 200~20000
09 Position out-of- 1000 1~6000
tolerance alarm
threshold
10 Power-on shaft 20 0~100
lock current
percentage
11 Closed Loop 80 1~100 Unchangeable
Current
Percentage
12 Power-on soft- 8 1~20 Actual value = display
start delay value * 100ms
Figure 5 key operation flow chart Parameter mode digital tube displays
as follows: Among them, " 00 " represents the

parameter serial number, and the specific meaning is as follows
9 10
13 Pulse filter enable 0 0/1 Unchangeable
14 filter time 30 1~600 Actual value = display
value * 0.05ms
0 - When enabled ( the
motor can respond to
pulses ) , the
optocoupler is turned
on, and the EN port
needs to input a 5V
15 Enable level 1 0/1 signal
1 ——When enabled
(the motor can respond
to pulses), the
optocoupler is cut off,
and the EN port does
not need to input
signals
Fault Output 0 - high resistance
16 0 0/1
Resistance 1 - low resistance
Single and double 0 - pulse + direction
17 0 0/1
pulse selection 1 - double pulse mode
0 - rising edge
18 Pulse valid edge 0 0/1
1 - Falling edge
0 and 1 represent two
Motor rotation
19 1 0/1 different running
direction
directions
0 : 200KHz
20 bandwidth selection 0 0/1
1 : 300KHz
twenty These parameters are

acceleration 200 1~2000
one used when controlling
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URL: www.leisai.com
the motor rotation

through the key panel
twenty speed 60 1~3000
two
twenty journey 100 1~65535
three
twenty Number of runs 1 1~65535
four
25 start direction 1 0/1
26 run interval 100 1~65535
27 Whether to 1 0/1
reciprocate
28 start / stop test 0 0/1
0 Open loop 1 Vector 2

Leading angle Note:
When changing this
Open and closed
29 1 0/1/2 parameter, the drive
loop selection
will be disconnected
and enabled. Save and
restart works.
30 Auto-tuning settings 1 0/1
31 resonance 0 0~1000 invalid
compensation
32 Whether to lock the 0 0/1 0 Unlock shaft 1 Lock
shaft if it is not shaft
enabled
33 enable clear alarm 0 0/1 0 not open 1 open

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34 Is the winding of the 0 0/1 0 not shorted 1 shorted

lower bridge arm
short-circuited?
35 PEND signal function 0 0/1 0 in-position output 1
selection brake output
36 PEND output 0 0/1 0 high resistance 1 low
resistance state resistance

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37 gravity 0 0/1 invalid
compensation
38 Speed loop integral 20 0~80 Actual value = display
limit value * 100mA
39 occupancy 15 0~127
parameter 1
parameter 2
41 Percentage of cut-off 0 0~100 invalid
voltage
=6 86HSM85H-E1
Motor Type =7 86HSM80-E1
42 6 0~100 =8 86HSM85H-BZ-E1
Selection =9 86HSM120H-E1
=10 86HSM45-E1
43 Error setting value 4 0~100 Actual value = display
when in place value * 1 pulse
44 In-position position 3 0~100 Actual value = display
error debounce delay value * 1ms
45 Velocity ring VpH 1000 0~10000 Improved high-speed
speed loop gain
parameter 3
47 Closed loop holding 45 0~100 Unit: %
current percentage
48 Starting voltage 160 0~500
value of braking
resistor
49 Whether the braking 1 0/1 0 do not start 1 start
resistor is activated
0~2 : Trajectory mode
50 sport mode selection 1 0~9
3 : point mode

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Note: The default current loop, position loop and speed loop
51 Position loop filter 4 0~31
frequency
parameters of the drive are the best parameters of the supporting The corresponding
Speed loop filter parameter in the upper
motor, and customers generally do not need to modify them, only need 52 0 0~31
frequency computer is: occupying
to select the motor subdivision number and the percentage of open and parameter 8
53 High-speed speed 2 0~31
closed loop current according to the needs of system control. If you loop filter frequency
54 Speed loop sampling 4 0~31
need, you can call Leisai Company. The parameters of the button panel
frequency
are adjusted as follows: Adjustment ratio of
55 current loop gain in 100 0~200
1. Select the motor: the external pulse stops sending. Press the button to
motion
select parameter No. 42 , select the matched motor, 56 Self-running when 0 0/1 0 off 1 on
the motor is
11 12
powered on
The default parameters are adapted to 86HSM85H-E1 . If the motor base 59 Motor peak current 80 0~100 Unit: 0.1A
size or torque selected by the customer is smaller than the default 60 Open loop holding 45 0~100 Unit: %
current percentage
motor, the parameters in step 2 should be reduced accordingly, otherwise, it 77 occupancy 0 0~255 MFC frequency
needs to be increased. parameter 9
2. Change parameters: 78 occupancy 0 0~2000 Notch frequency
parameter 10
PA03 position loop Kp : position loop proportional gain coefficient, the
loop proportional gain coefficient, the value is about 1/8 of PA05 speed
value is about 1/4 of PA05 speed loop Kp . PA04 speed loop KI : current
loop Kp .

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PA05 speed loop Kp : the proportional gain coefficient of the speed
loop, which is equivalent to rigidity. The larger the parameter is within
the acceptable noise and vibration range of the customer, the better
the mechanical effect will be. Generally not more than 1000 .
five. Typical Application Wiring Diagram
of H2-758 driver and so on is shown in Figure 6 . The power supply is

AC50~80V according to the voltage level of the motor matching Leisai .
1、 Mixing Servo Motor Wire Colors and Definitions

pin color letter describe described
Number
1 black A+
Hybrid servo motor power line,
2 red A-
the motor is provided by our
3 yellow B+
company, the model is
4 blue B- 86HSM85H-E1

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Note: This driver adopts the latest full-closed-loop vector control, so The reference wiring of the relay is as shown in Figure 7. Since the
the wiring direction of the motor must not be wrong, otherwise the brake coil and the relay coil are both inductive loads, it is recommended
driver may report an error or the motor may be reversed. In addition, to add a diode. The diode type can be an ordinary rectifier diode (such
customers are strictly prohibited from short-circuiting the motor as: IN4007 ). In addition, the polarity of the diode must not be reversed.
windings after power failure. If customers need power-off brakes, our It is recommended that customers use solid-state relays, so there is no
company has high-quality brake motors. need to add diodes. The advantages of solid-state relays: fast response,
no need to add diodes, and no sound when on and off; it is recommended

2、 Wiring method of motor with brake
to use "Kaiser" KS1-10DD solid-state relays .
When using the brake function, the customer must set parameter No.
35 ( Pend output port function selection) to 1 , that is, the brake output, and
then the brake function will be enabled.

13 14

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Raytheon Product Warranty Terms

1 One year warranty
Raytheon provides a one-year warranty for its products against defects in raw materials and
workmanship from the date of shipment. During the warranty period, Leisai provides free repair services
for defective products.
2 Not covered by warranty
● Improper wiring, such as reverse connection of positive and negative poles of the power supply and
live plugging and unplugging
● Unauthorized changes to internal devices
● Use beyond electrical and environmental requirements
● The ambient heat dissipation is too poor
3 maintenance process
If you need to repair the product, it will be handled according to the following procedures:
Figure 7(a) Ordinary relay connected to the brake motor ( 1 ) Before delivery, you need to call the customer service personnel of Leisai Company to obtain the
repair permit number;
（2） A written description is attached with the goods, explaining the fault phenomenon of the
repaired drive; the voltage, current and operating environment when the fault occurs; the name, phone
number and mailing address of the contact person and other information.
（3） Leisai Intelligent Control Co., Ltd., 3rd Floor, Building 22, Fifth District, Baiwangxin Industrial
Zone, Songbai Road, Nanshan District, Shenzhen Zip code: 518052 . (The return postage will be paid by Leisai
Company)
4 Warranty Limitations
● The warranty scope of Raytheon products is limited to the components and workmanship (ie
consistency) of the products.
● Leisai does not guarantee that its products are suitable for the specific purpose of the customer, because whether it is suitable is also related to the
technical index requirements of the purpose, the conditions of use and the environment. The company does not recommend the use of this product
for clinical medical purposes.
5 maintenance requirements
When returning for repair, please fill in the "Maintenance Report" truthfully ( this form can be downloaded from www.leisai.com or Email :
tech@leisai.com) for maintenance analysis. Mailing address: Leisai Intelligent Control Co., Ltd., 3rd Floor, Building 22 , Fifth District, Baiwangxin Industrial
Zone, Songbai Road, Nanshan District, Shenzhen, China Zip code: 518055
Figure 7(b) The solid state relay is connected to the brake motor
15 Tel: 0755-26433338 ( line 20 ) Website: www.leisai.com Tel: 0755-26433338 ( line 20 ) URL: www.leisai.com 16

H2-758 Eng

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H2-758

Digital Hybrid Servo Driver user's Guide

Copyright is not allowed to be reproduced 【Please read

this manual carefully before use to avoid

damage to the drive】

mail Ed: 518055 Electricity Phone: 400-885-5521

pass True: 0755-26402718 Email : info@leisai.com

net Address: www.leisai.com

021-37829639 Phone: 010-52086876 pass True: 021-37829680 Biography True: 010-52086875

head record 2. Use environment and parameters ...................................

3. Application field ................................................ ................................................... .......... 4

1. Interface Definition ................................................

Tel: 0755-26433338 ( line 20 ) Website: www.leisai.com Tel: 0755-

and servo research and development. It adopts the latest dedicated

High Voltage Digital Hybrid Servo Driver 2、 technical features

1、 overview ◆ Adopt advanced vector closed-loop control technology;

◆ With trapezoidal wave test function;

◆ Static current and dynamic current can be set arbitrarily ( within

◆ Can drive 86 series hybrid servo motor;

◆ Optocoupler isolated differential signal input;

◆ Impulse response frequency 200KHz ;

◆ Subdivision setting ( within 200~51200 );

◆ With over-current, over-voltage and tracking error protection;

◆ Six-digit digital tube display, which is convenient for setting

It is suitable for various automation equipment and instruments Continuous output 0 - 8 A

1. Electrical indicators cooling method sinceNatural cooling or external heat sink

occasions of use Try to avoid dust, oil mist and ．机械安装尺寸图

storage -20 ℃ －65 ℃ 158

Heavy quantity about 1200 grams

4. Enhance heat dissipation

（1） The reliable operating temperature of the driver is usually within

Terminal symbol name say explain bright

7 ALM+ Alarm positive output

2) 27 EZ+ Encoder Z- phase Control signal port ( 44 -pin DB header)

2 . Control signal interface circuit diagram

Driver version number

Figure 3(b) Wiring diagram of single-ended mode control signal interface

Note: When the VCC value is 5V , there is no need to connect a

the VCC value is 12V , R is 1K , greater than or equal to

1/4W resistance ; when the VCC value is 24V , R is 2K ,

greater than or equal to 1/4W resistance ;

3. Control Signal Timing Diagram

In order to avoid some malfunctions and deviations, PUL , DIR and

ENA should meet certain requirements, as shown in Figure 4 below :

Tel: 0755-26433338 ( line 20 ) Website: www.leisai.com Tel: 0755-26433338 ( line 20

t3 t2 >5us 高电平高于 3.5V

t1 >5us 低电平低于 0.5V

Tel: 0755-26433338 ( line 20 ) Website: www.leisai.com Tel: 0755-

ENA- be left unconnected.

4. Control signal mode setting 4. Drive parameter setting

H2-758 driver: set the parameters directly on the button

H2-758 encoder interface definition.

parameter parameter name parameter parameter Remark

as follows: Among them, " 00 " represents the

15 Enable level 1 0/1 signal

twenty These parameters are

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the motor rotation

0 Open loop 1 Vector 2

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34 Is the winding of the 0 0/1 0 not shorted 1 shorted

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Tel: 0755-26433338 ( line 20 ) Website: www.leisai.com Tel: 0755-26433338 ( line 20 )