High-performance DC motor driver
Manual（V1.01）
Category Content
Supported motor types PMSM/BLDC/BDC(The brush motor is connected to drive U and W)
Supported feedback Photoelectric feedback; Hall feedback;
sensor types
Control method Position closed loop, speed closed loop, torque loop
Supported control types RS485, CANOPEN bus, EtherCAT bus
Features The working current of LDS series DC servo controller can reach
200A;
Acceleration and acceleration mode control, fast positioning
without shaking;
Configure computer debugging software, you can use Type-C for
USB debugging;
CANOPEN bus communication, multi-axis linkage work;
Support RS485 (MODBUS-RTU, MODBUS-ASCII)
communication protocol, which is convenient for communication
control of multiple controllers (such as PLC), and supports
shutdown and shutdown protection;
Multiple hardware and software to protect the motor;
Real-time reading current, speed, position;
ESD protection of all terminals;
LDS dual-channel series high-performance DC servo motor
driverManual
LDS25B96G-2 robot series
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High-performance DC motor driver
Manual（V1.01）
LDS series DC servo motor driver is a high-performance DC motor driver which has been
introduced by senior experts after more than ten years of application experience in the robot
industry, combined with leading motor control and current accurate detection technology. The
powerful PID adjustment technology can perfectly control the motor's smooth forward and reverse
rotation, commutation and braking. The output current can be adjusted in real time to prevent
overcurrent. The motor speed and rotation position can be accurately controlled. The motor has a
short response time and low recoil. We can provide 5A-200A high current, wide voltage input
12v-96v and other serialized products.
This product is widely used in mobile cars, service robots, wearable exoskeleton robots and
other products.
Product Series
LDS 10 B 60 G-2
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High-performance DC motor driver
Manual（V1.01）
1. Product Specifications
Model LDS10B60G-2LG LDS15B60G-2 LDS25B96G-2 LDS65C96G-2
Single channel
10Arms±1% 15Arms±1% 25Arms±1% 65Arms±1%
rated current
Single channel
maximum 20Arms±1% 30Arms±1% 50Arms±1% 130Arms±1%
current
Maximum
overload time of 20S 20S 10S 6S
Basic
single channel
parameters
Single channel
90S(Requires external auxiliary heat
overload 90S
dissipation)
recovery time
Limit power
16 VDC～60 VDC 18 VDC～96VDC
supply range
Temperature rise Rated current operation 30min≤40K (refer to cooling mode)
Drive frequency 6 ～ 16KHz±0.1KHz
Good ventilation conditions, need to
cooling method Natural cooling add heat sink aluminum fins at the
bottom
The leakage current of input and output to the chassis DC 1000V is less than
Rated insulation withstand voltage
3mA,
Insulation resistance of the whole
At a temperature of 40 ° and a humidity of 95% ≥1M (no dew on the board)
machine
Mean Time Between Failures
≥5000 hours
(MTBF)
cooling method Vector control
Protection level IP32
2 analog voltage 12-bit AD acquisition.
input ports Input analog voltage: 0V～5VDC
7 IO control
Voltage input range: 3V～12VDC (capture input can be configured)
input ports
Open collector output, maximum withstand voltage 30V, maximum continuous
3 digital IO
current 300mA, the software can set the output valid state, the default output is
Basic port output ports
not conductive
information
Recommended external Recommended external Recommended external
Vent interface
10 ohm 50W 5 ohm 200W 1 ohm 800W
1 way USB
The interface is a Type-C interface, used for computer software debugging.
interface
1 way 485
The modbus protocol is compatible with ASCII and RTU.
interface
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Manual（V1.01）
CANOPEN protocol (Cia DS301
1 CAN interface and Cia DSP402), custom CAN
protocol.
Incremental encoder ABZUVW
Feedback
(differential), ABZ signal can be
method
configured as TTL, UVW as hall signal
Position loop/speed loop/torque loop
Operating mode control, factory default speed loop
control mode
Power-on ready The drive is ready within 3S without
time fault after power-on
Servo start, position loop pulse error
clearance, zero speed clamp, position
command trigger, torque limit, speed
limit, speed command, torque command,
IO input
mode switching command, emergency
configuration
stop, reverse rotation prohibition limit,
(control
forward prohibition limit, positive Jog,
commands)
reverse jog, return to origin, origin
search command, abnormal reset, speed
loop gain switch, input reverse
command, electronic gear numerator,
communication protocol
basic skills Power supply undervoltage, abnormal
position, Hall error (abnormal
feedback), overcurrent, overload,
EEPROM failure,
IGBT failure, driver overheating, motor
phase loss, current out of tolerance,
IO output speed out of tolerance, motor
configuration overheating,
(control Power supply overvoltage, servo ready,
commands) servo running, zero speed reached,
target speed reached, torque limit in
progress, warning, brake output, origin
return completed, load threshold
exceeded, error alarm, command
completed, direction blocked, forward
blocked Turn and reverse instructions
Power supply undervoltage, abnormal
Failsafe position, Hall error, overcurrent,
overload, EEPROM failure, IGBT
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High-performance DC motor driver
Manual（V1.01）
failure, driver overheating, motor phase
loss, current out-of-tolerance, speed
out-of-tolerance, motor overheating,
power supply overvoltage, running fault,
brake opening failure , Encoder error,
version error, internal error
Operating
0℃～+45℃ (no freezing)
temperature
-10℃～+65℃ (no freezing)
Storage
5%～90%RH (no condensation)
temperature
It needs to be derated for use at altitudes
Environmental Relative
above 1000 meters, and it will be
requirements humidity
reduced by 1.5% every 100 meters.
high
Frequency: from 5Hz to 25Hz,
Vibration
amplitude 1.6mm, 25Hz to 200Hz, 1.2g,
requirements
30min;
We also provide customized products for the following industries:
No. Industry Photo Features
Precision instrument
The heat dissipation performance is
good, the power range is wide, and the
firmware can be upgraded remotely, and
1
the relevant interfaces and application
functions can be customized according
to industry applications.
AGV Two-way control saves volume and cost.
Hall feedback vector control runs more
smoothly, and the instantaneous large
2
current overload is 30A effective value,
making the car more stable over
obstacles.
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Manual（V1.01）
2. Size
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3. Interface definition
3.1 X1 and X3 feedback interface definition
Motor feedback terminal X1 and X3 interface definition and wiring harness selection
Pin number Signal Pin number Signal Harness selection
1 B+ 9 V-
2 A+ 10 U-
3 W+ 11 Z+ It is recommended to use a wire
harness with a tinned copper braid
4 V+ 12 Z-
with a copper core wire
5 U+ 13 +5V
cross-sectional area of 0.15 mm2area
6 B- 14 GND of 0.15 mm2
7 A- 15 PE
8 W- 9 V-
If it is Hall feedback, connect to U+, V+, W+, +5V, GND.
If the feedback is a TTL single-ended signal, then the feedback signal is connected to the + signal.
There is a pin number on the side of the welding pin of the DB butt male connector.
3.2 X2 control signal
Communication terminal interface definition and wire diameter, terminal, crimping tool selection
Pin number Signal name Signal definition
1 485A
485 bus (without 120 resistance)
2 485B
3 CANL
CAN bus (without 120 resistance), terminal resistance must be added
4 CANH
CAN bus and 485 bus ground, it is recommended to connect to the
5 GND ground
IO input and output ground
6 IN0
7 IN1 IO input, high voltage input range: 3V～12VDC
8 IN2 (Configurable capture input)
9 IN3
10 485A
485 bus (without 120 resistance)
11 485B
12 CANL CAN bus (without 120 resistance), terminal resistance must be added
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13 CANH
CAN bus and 485 bus ground, it is recommended to connect to the
14 GND ground
IO input and output ground
15 IN4 IO input, high voltage input range: 3V～12VDC
16 IN5 (Configurable capture input)
17 IN6 IO input, high voltage input range: 3V～12VDC
18 GND IO input and output ground
5V power supply, maximum 200mA; can be used for non-isolated IO
19 VCC
output and input, and can also be used for analog input.
20 AIN0
Input analog voltage: 0V～5VDC (input impedance 10K)
21 AIN1
22 AGND Analog ground of AIN1 and AIN2
23 OUT0
IO output open collector output, maximum withstand voltage 30V,
24 OUT1
maximum continuous current 100mA.
25 OUT2
26 PE Connect the shell shield
3.3 L left power interface
Serial Define and recommend the cross-sectional area of
Name definition
number multi-strand copper cores for high temperature wear
1 B+ Each channel of B+ can flow a maximum of 25A
current, and the 2 channels on the left limit current
Power is positive
2 B+ flow of 40A. Recommended single-track material
2～4mm2
3 B- B-The maximum current flowing through each
channel is 25A, and the 2 channels on the left limit
Power negative
4 B- the current flowing through 40A. Recommended
single-track material 2～4mm2
5 PE 2～4mm2 2～4mm2
6 U U phase of left motor 6～8mm2
7 V V phase of left motor 6～8mm2
8 W W phase of left motor 6～8mm2
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Manual（V1.01）
3.4 R right power interface
Serial Name definition Define and recommend the cross-sectional area of
number multi-strand copper cores for high temperature wear
1 B+ Power is positive B+Maximum flow of 25A current per channel
2 B- Power negative B-The maximum current flowing through each
channel is 25A
3 RB+ Bleeder circuit Specially used to connect bleeder resistance
4 RB-
5 PE Left motor shielded 2～4mm2
wire
6 U U phase of left motor 6～8mm2
7 V V phase of left motor 6～8mm2
8 W W phase of left motor 6～8mm2
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Manual（V1.01）
4. Interface instructions
4.1 Instructions for IN0～IN6
● The VCC of the 19 pins of the X2 interface is the high level of IN0~IN6 input.
●The GND of the 14 and 18 pins of the X2 interface is the ground of the IN0~IN6 input.
● If IN0~IN6 are not connected to any external circuit, the default input is low level.
●The input high level recognition range of IN0~IN6 is 3V~12V
●IN0~IN4 can be configured as capture inputs.
4.2 Instructions for OUT0～OUT2
●The GND of the 14 and 18 pins of the X2 interface is the ground for OUT0~OUT2 input.
●The maximum withstand voltage of the output open-collector transistor is 30V, and the
continuous current is 100mA. It is used to pay attention to the current when the relay is turned
on. The control relay must be added with the diode shown in the example diagram below.
4.3 AIN0 and AIN1 analog input description
●The maximum allowable input voltage is 0V~5V.
●The resolution of the input AD converter is 12bit.
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●The 22-pin AGND of the X2 interface is the ground of AIN0 and AIN1.
4.4 Bleeding circuit
The bleeder resistor is connected to + and RB. The recommended bleeder resistor is 5 ohm
200W.
●The bleeder circuit can be turned on in the host computer configuration. If the software is not
configured, the bleeder circuit is turned on by default at 92V, and the hysteresis voltage is 2V.
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5. Communication
5.1 Rs485 communication
The figure below is the schematic diagram of Rs485 communication wiring.
The communication line of Rs485 communication should not be run together with the
high-voltage line or high-current power line. For wiring precautions, please refer to 4.2
Communication Cable Wiring Method below.
5.2. CAN communication
The following figure shows the schematic diagram of CAN communication wiring.
● It is recommended to use shielded twisted pair connection. Connect two 120Ω terminal
matching resistors at both ends of the bus to prevent signal reflection.
● Measure the resistance between CANL and CANH with a multimeter to confirm
whether the field termination resistance is correct. The normal resistance value should be
about 60Ω. (Two electricity
Resistance parallel)
● The maximum number of connected devices is 64.
● When CAN devices communicate over long distances, the common ground GND of
different CAN circuits needs to be connected to each other to ensure that the reference
potentials between different communication devices are equal.
● CAN communication line should not go together with high voltage line or high current
power line.
The following figure is an introduction to the use of twisted pair for CAN
communication
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● The twisted-pair torque D should be less than 2cm. The smaller the torque, the better
the anti-interference.
● For short-distance and low-speed communication, twisted-pair shielded wire can be
used in order to increase the anti-interference ability, and the shielding layer is
double-terminated with PE.
● It is not recommended to use shielded wire for high-speed communication over long
distances. Because of the large distributed capacitance between the shield layer and the signal
line, it will cause a delay in transmitting the signal.
5.3. Different wiring methods of communication cables
If you use the topological interface in the above figure, please note that the length of each branch
is less than 0.3m. Whether it will cause reflection causes communication problems.
The interference line and the CAN line should be routed in the vertical direction. When the
line is parallel, the distance between the power supply and the CAN signal line is D1> 10cm,
and the distance between the motor U / V / W and the CAN signal is D2> 15cm.
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Manual（V1.01）
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Manual（V1.01）
6. Commissioning software:
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Manual（V1.01）
Revise history
Version Date Cause
V0.90 2018/03/27 Create document
V0.91 2019/08/01 Modify some text and pictures;
Disclaimer
This document provides instructions for using related products. This document does not grant
any intellectual property licenses, nor express or
Imply, or grant any intellectual property license by prohibiting speaking or otherwise. In
addition, we do not make any express or implied guarantees for the sale and / or use of this
product, including the suitability for the specific use of the product, the marketability, or the
infringement of any patent rights, copyright or other intellectual property rights, etc. This drive is
an industrial-grade product and is not designed for medical, life-saving or life-supporting purposes.
We may make changes to product specifications and product descriptions at any time without
notice.
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