User`s Manual
Contents
1. ccccccccccccccccceceeeeeeesesseeeeeeeeeeeeeeeeeeeaaas PROC UC HO I m m laesus eR Em VAN 6 6 L672 a Wee A Ary EA SE E A ooo p fL Urin 2 SDeCIHOOLLODBS x3 cde kb doseecsacaasdersacieussacsaacs want baseaadsaaaraussacesads address eaadsiaacieees Electrical Speci CaniOms 20 ERIS N NENA Mechanical Speci Cau Ons ersstec uacuum De M nace AN ETOO EPI dE Looctecsstasieo tiat edite E te odio se oo iets ode am E Operating Environment and other Specifications ccccccccccccsssssssssssssseeeeeeeees Sc Pn AsSsrenfent dud DesCri Pil OM stor aac enc ue o ER A a e qo bM pace a cvs eaae Conector Pl COnIIP UEdatOlis sadi eter nete E da ota asain a ob ct Selecting Active Pulse Edge and Control Signal Mode Connector P2 Comm Surat OMS 2i ro tasa tuo tota doro at data asa tr dedi AEA 4 Control signal Connector PL Intetface nio REESE ERE esisi enacts 2 Gonfhectine tie MOLPOL 2 ii oU d Op Ne qM EE Connections to 4 Iead WIOLOLS 22 2 2 9 08 2 002 CDI E Connections to 6 Icad MOtOES nep ob Ee etd m ioa ER Half Coll C ONT SU EIOS ccce ote SE ERO eae E nei ReHe E ne Eoo SS ENDE R UTE Full Coil Confrguratiofis ze e a sen th et cna be ee iid Connections toS ead MOLOES iiie Eoo a Ea iouis ER rditks DOLES C ONMECEH OMS ode rre ort rem oem en eee enemies toes Parallel C onnecliOflg cour EROS M ERN RUN PIRE ILI PIN IM M PUER SUE 0 Power Supply SelecHoD usse d de dc E C id aem e Pene a Regulated or Unr2. suitable for a wide range of stepping motors from NEMA size 17 to 34 It can be used in various kinds of machines such as laser cutters laser markers high precision X Y tables labeling machines and so on Its unique features make the DM856 an ideal solution for applications that require both low speed smoothness and high speed performances Tel 086 0755 26434369 1 Web Site www leadshine com Leadshine Technology Co Ltd DM856 Digital Stepping Driver Manual V1 0 2 Specifications Electrical Specifications T 25 C 77F 5 6 4 0 RMS 20 80 VDC 7 10 16 mA 0 200 kHz 500 MQ Mechanical Specifications unit mm inch 1 inch 25 4 mm 118 4 646 9 25 0 364 4 5 0 177 3 O 2g N g 25 3 0 996 75 5 2 972 47 8 1 882 112 4 409 Figure 1 Mechanical specifications Elimination of Heat Driver s reliable working temperature should be lt 70 C 158 T and motor working temperature should be 80 C 176 F It is recommended to use automatic idle current mode namely current automatically reduce to 60 when motor stops so as to reduce driver heating and motor heating It is recommended to mount the driver vertically to maximize heat sink area Use forced cooling method to cool the system if necessary Tel 086 0755 26434369 2 Web Site www leadshine com Leadshine Technology Co Ltd DM856 Digital Stepping Driver Man
3. Sales Hot Line Tel 86 755 2643 4369 for All 86 755 2641 7674 for Asia Australia Africa areas 86 755 2640 9254 for Europe America areas Fax 86 755 2640 2718 Email sales leadshine com Technical Support Tel 86 755 2641 8447 and 86 755 2647 1129 Fax 86 755 2640 2718 Email tech leadshine com and vic leadshine com Leadshine U S A Address 25 Mauchly Suite 318 Irvine California 92618 Tel 1 949 608 7270 Fax 1 949 608 7298 Web hittp www leadshineUSA com Email sales leadshineUSA com and support leadshineUSA com Leadshine Hong Kong Address Rm 3 9 F Block E Wah Lok Industrial Center 31 41 Shan Mei St Fo Tan Shatin Hong Kong Tel 852 2952 9114 Fax 852 2952 9395 Email hk_sales leadshine com Tel 086 0755 26434369 30 Web Site www leadshine com
4. and motor operating current as shown below Dynamic Current Microstep Resolution AIL OFF is software configured All ON is software configured BOON OE Standstill Current ON haft OFF full Motor auto identification and parameter auto configuration 2 change in second Microstep Resolution Selection When it s not in software configured mode microstep resolution is set by SW5 6 7 8 of the DIP switch as shown in the following table Tel 086 0755 26434369 8 Web Site www leadshine com GD nne Technology Ca 158 DM856 Digital Stepping Driver Manual V1 0 ____ __ AR SS oe 03 04 1600 0 400 er omo m 8 25600 OFF OW OF ON 008 wo ON ON ON OFF 102000 OF ON ON OFF 003 49 ON OFF ON OFF 02 89 OFF OOR ON OF 0049 889 ON ON Om OFF 08 ww OFF ON OF OF O4 290 ON OF OF OF PS 3899 OF OF OFF OFF Current Settings For a given motor higher driver current will make the motor to output more torque but at the same time causes more heating in the motor and driver Therefore output current is generally set to be such that the motor will not overheat for long time operation Since parallel and serial connections of motor coils will significantly change resulting inductance and resistance it is therefore important to set driver output current depending on motor phase current motor leads and connection methods Phase current rating supplied by mo
5. 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 drivers separately connecting the drivers is recommended instead of daisy chaining It is prohibited to pull and plug connector P2 while the driver is powered ON because there is high current flowing through motor coils even when motor is at standstill Pulling or plugging Tel 086 0755 26434369 10 Web Site www leadshine com UT Leadshine Technology Co Ltd connector P2 with power on will cause extremely high back EMF voltage surge which may damage the driver DM856 Digital Stepping Driver Manual V1 0 9 Typical Connection A complete stepping system should include stepping motor stepping driver power supply and controller pulse generator A typical connection is shown as figure 9 Controller DM856 Driver R 0 if VCC 5V R 1K Power gt 0 125W if VCC 12V R 2K Power gt 0 125W if VCC 24V R must be connected to control signal terminal Figure 9 Typical connection 10 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 t 25ps tzm to High Level gt 3 5V EUL I I I l l PUL CW yes mem hos ies PSI Low Level lt 0 5V DIR B JIR CCW t5ps REST Low Level lt 0
6. 13 Default setting is PUL DIR mode and rising edge active NPN and PNP control signal is on the contrary Connector P2 Configurations Motor Phase B 4 Control Signal Connector P1 Interface The DM856 can accept differential and single ended inputs including open collector and PNP output The DM856 has 3 optically isolated logic inputs which are located on connector P1 to accept line driver control signals These inputs are isolated to minimize or eliminate electrical noises coupled onto the drive control signals Recommend use line driver control signals to increase noise immunity of the driver in interference environments In the following figures connections to open collector and PNP signals are illustrated Driver VCC Figure 2 Connections to open collector signal common anode Tel 086 0755 26434369 4 Web Site www leadshine com UT Leadshine Technology Co Ltd DM856 Digital Stepping Driver Manual V1 0 Figure 3 Connection to PNP signal common cathode 5 Connecting the Motor The DMS 8956 can drive any 2 pahse and 4 pahse hybrid stepping motors Connections to 4 lead Motors 4 lead motors are the least flexible but easiest to wire Speed and torque will depend on winding inductance In setting the driver output current multiply the specified phase current by 1 4 to determine the peak output current P2 A A B B Figure 4 4 lead Motor Connections Connections to 6 lead Motors Like
7. 8 lead stepping motors 6 lead motors have two configurations available for high speed or high torque operation The higher speed configuration or half coil is so described because it uses one half of the motor s inductor windings The higher torque configuration or full coil uses the full windings of the phases Half Coil Configurations As previously stated the half coil configuration uses 50 of the motor phase windings This gives lower inductance hence lower torque output Like the parallel connection of 8 lead motor the torque output will be more stable at higher speeds This configuration is also referred to as half chopper In Tel 086 0755 26434369 5 Web Site www leadshine com UT Leadshine Technology Co Ltd DM856 Digital Stepping Driver Manual V1 0 setting the driver output current multiply the specified per phase or unipolar current rating by 1 4 to determine the peak output current P2 A NC B B NC Figure 5 6 lead motor half coil higher speed connections Full Coil Configurations The full coil configuration on a six lead motor should be used in applications where higher torque at lower speeds is desired This configuration is also referred to as full copper In full coil mode the motors should be run at only 70 of their rated current to prevent over heating P2 A NC B B Figure 6 6 lead motor full coil higher torque connections Connections to 8 lead Motors 8 lead motors off
8. Generally speaking supply voltage determines the high speed performance of the motor while output current determines the output torque of the driven motor particularly at lower speed Higher supply voltage will allow higher motor speed to be achieved at the price of more noise and heating If the motion speed requirement is low it s better to use lower supply voltage to decrease noise heating and improve reliability Regulated or Unregulated Power Supply Both regulated and unregulated power supplies can be used to supply the driver However unregulated power supplies are preferred due to their ability to withstand current surge If regulated power supplies such as most switching supplies are indeed used it is important to have large current output rating to avoid problems like current clamp for example using 4A supply for 3A motor driver operation On the other hand if unregulated supply is used one may use a power supply of lower current rating than that of motor typically 50 70 of motor current The reason is that the driver draws current from the power supply capacitor of the unregulated supply only during the ON duration of the PWM cycle but not during the OFF duration Therefore the average current withdrawn from power supply is considerably less than motor current For example two 3A motors can be well supplied by one power supply of 4A rating Tel 086 0755 26434369 7 Web Site www leadshine com A Leadshine Technolo
9. 5V ENA ENA PUL DIR CW CCW Figure 10 Sequence chart of control signals Tel 086 0755 26434369 11 Web Site www leadshine com A Leadshine Technology Co Ltd Remark a tl ENA must be ahead of DIR by at least 5us Usually ENA and ENA are NC not connected See Connector P1 Configurations for more information DM856 Digital Stepping Driver Manual V1 0 b t2 DIR must be ahead of PUL active edge by 5us to ensure correct direction c t3 Pulse width not less than 2 5uUs d t4 Low level width not less than 2 5us 11 Protection Functions To improve reliability the driver incorporates some built in protection functions The DM856 uses one RED LED to indicate what protection has been activated The periodic time of RED is 3 s seconds and how many times the RED turns on indicates what protection has been activated Because only one protection can be displayed by RED LED so the driver will decide what error to display according to their priorities See the following Protection Indications table for displaying priorities Over current Protection Over current protection will be activated when continuous current exceeds 16A or in case of short circuit between motor coils or between motor coil and ground and RED LED will turn on once within each periodic time 3 s Over voltage Protection When power supply voltage exceeds 913 1 VDC protection will be activated and RED LED will turn on twice within each periodic tim
10. C Cw CCw Rising C Falling Low C High protection Ist ResonanceArea ErrCounter Displays current error s and current error history Mop Erase Current Err Erase Current Err button Th by clicking thi ET TEN rase Current Err Erase Current Err button The user can clear current error s by clicking this 2nd ResonanceArea button Amp2 607 A Erase All Erase All button The user can clear all error s including error history by clicking this Phase2 580 ooo button Amp3 128 y About oo E The user can choose two drop down menus by clicking About including Product Information and Contact Us intemalP lisr x001 ps M Cycle Reverse Interval ms 50 Product Information window Shows some product information about ProTuner Repeat 5 Length r 10 Stet Contact Us window Shows some contact information about Leadshine Leadshine Stepper Figure 27 Finishing tuning and download parameter settings to the driver y Err check Error Check This window shows both the present status of each error event and their history Model DM amp 56 Date Current error event s can be reset by clicking Erase Current Err button and all error events www leadshine com can be reset by clicking Erase All button List of the last ten drive faults 0 being the most recent 9 is the oldest See Figure 28 Figure 29 Product information Err Check Cont
11. E RM NC Phase2 10 ee ee 3rd ResonanceArea Amp3 128 Phase3 1128 InternalPulser x00 ps M Cycle V Reverse Intervalms 50 Repeat 5 Length r 10 o Stat Figure 25 SystemConfig window ElecDamp Electronic Damping Coefficient The electronic damping restrain resonance of the system and prevent amplitude of the oscillation from increasing to the extend that it makes the motor out of control The optimal value depends on the system and the default value is 3000 CommandType Command Type of control signal including PUL DIR and CW CCW Set this parameter according to Command Type of motion controller ActiveEdge Active Edge The user can set the triggered edge of pulse command signal in this panel When the driver works in CW CCW mode no matter what level is at fixed level terminal the driver can works properly DirectionDef Direction Definition Relate the default running direction to a HIGH level input in DIR or Low level input in DIR This panel is used for PUL DIR command type only Please note that the default direction is also related to motor coil connections Tel 086 0755 26434369 24 Web Site www leadshine com UT Leadshine Technology Co Ltd Anti Resonance Introduction DM856 Digital Stepping Driver Manual V1 0 Step motors are highly resonant which results in vibration and ringing The ringing utilizes a large fraction of the motor s available torque thereby wasting performance Furt
12. User s Manual For DM856 Fully Digital Stepping Driver Version 1 0 2009 All Rights Reserved Attention Please read this manual carefully before using the driver W SN zum ANS S SS GS SS S NY E Leadshine Technology Co Ltd 3 F Block 2 Nanyou Tianan Industrial Park Nanshan Dist Shenzhen China T 86 755 26434369 F 86 755 26402718 Web site www leadshine com E Mail sales leadshine com The content in this manual has been carefully prepared and is believed to be accurate but no responsibility is assumed for inaccuracies Leadshine reserves the right to make changes without further notice to any products herein to improve reliability function or design Leadshine does not assume any liability arising out of the application or use of any product or circuit described herein neither does it convey any license under its patent rights of others Leadshine s general policy does not recommend the use of its products in life support or aircraft applications wherein a failure or malfunction of the product may directly threaten life or injury According to Leadshine s terms and conditions of sales the user of Leadshine s products in life support or aircraft applications assumes all risks of such use and indemnifies Leadshine against all damages 2009 by Leadshine Technology Company Limited All Rights Reserved Contents Table of Contents 1 Introduction Features and Applications
13. act Us Leadshine Technology Co Ltd Tel 0T55 26433338 Fax 0755 26402T18 Veb were leadshine com Addr Floor3 Block2 HanyouTi anan Industrial Park Hanshan District Shenzhen China ZIP 518052 Figure 28 Error check window OverCurrent Over current Protection Protection will be activated when continuous current exceeds 164A Figure 30 Contact information Tel 086 0755 26434369 27 Web Site www leadshine com Tel 086 0755 26434369 28 Web Site www leadshine com UT Leadshine Technology Co Ltd APPENDIX DM856 Microstepping Driver Manual V1 0 Twelve Month Limited 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 tech leadshine com before returning product for service Customer shal
14. ave 1 serial port at least for communicating with the driver Double click ProTuner All Setup V1 0 exe to begin installing the ProTuner See Figure 11 Click Next to enter the License Agreement window See Figure 12 Note ProTuner All Setup V1 0 exe can be used for all Leadshine digital drives User can get it from either Leadshine CD or website Please get the latest version from http www leadshine com e ProIuner All Setup Welcome Welcome to the installer for ProTuner All 1 0 itis strongly recommended that you exit all Windows programs before continuing with this installation If you have any other programs running please click Cancel close the programs and run this setup again Otherwise click Next to continue Figure 11 Begin to install the ProTuner Tel 086 0755 26434369 15 Web Site www leadshine com A Leadshine Technology Co Ltd ProTuner All Setup DM856 Digital Stepping Driver Manual V1 0 License Agreement Please read the following license agreement carefully Thank you for choosing Leadshine product do not agree to the terms of this license agreement Figure 12 License agreement Choose I agree to the terms of this license agreement and click Next to continue installation The user can enter user s information in the following window See Figure 13 After entering the user s information click Next to select installation folder where you would like to
15. cau coi aiios ocieo f oe doasa e 15 Connections and TESNE uc sooo do belio iG oa Erebi ates 15 155222 Interfaces OD COLD oos eoe Eae Reo wast ON Faxee aac em ben Een RD SM page S ete eub 19 Testne tlie Steppe Syste HIT euis e Go uten ieiuna b bea easiness tute 19 DSOILWAre InttOXdUctiOTEa se uio an oce Endet n dou eR 20 Pro Tuner Main Window ss escis ate id eere E PATI aa 20 Com Contro Window ei E PNREREEERAE OIM ANM nee 21 D aaniaee asc atateet 21 Anti R es onance IntrOductlon s eii iori pape ensi oec R8 i a ceeaeaganensacaeiess 25 Procedure for Achieving Optimum Performance sssessse 26 APPEND cR 29 Twelve Month Limited Warranty e a et eta aeta e Ret Gradi e ved lus 20 XC HIS TONG cde Paced des eras oto UE Lr ae 29 Obtainine Warranty Ser VICE xduxaedeei eife aset van Close ta tede qe den intere ago dove a tede 20 WY cE ALY LATINA LOIS Go oic ar idec unie Ro e iSo bot boramasidesi nu ibeosa ido o caca deas inedite 20 II A Leadshine Technology Co Ltd 1 Introduction Features and Applications DM856 Microstepping Driver Manual V1 0 Introduction The DM856 is a versatility fully digital stepping driver based on a DSP with advanced control algorithm The DM856 is the next generation of digital stepping motor controls It brings a unique level of system smoothness providing optimum torque and nulls mid range instability Motor auto identification and parameter au
16. d successfully See Figure 18 Tel 086 0755 26434369 17 Web Site www leadshine com A Leadshine Technology Co Ltd e Proluner All Setup DM856 Digital Stepping Driver Manual V1 0 Ready to Install You are now ready to install ProTuner All 1 0 The installer now has enough information to install ProTuner All on your computer The following settings will be used Install folder D Program FilesiProTuner All Shortcut folder ProTuner All Please click Next to proceed with the installation e Proluner All Setup Installing ProTuner All Please wait Installing Files Seeking en mm os a mn TT Cancel Figure 17 Installing the ProTuner Tel 086 0755 26434369 18 Web Site www leadshine com UT Leadshine Technology Co Ltd Ub ProTuner All Setup DM856 Digital Stepping Driver Manual V1 0 Installation Successful The ProTuner All 1 0 installation is complete Thank you for choosing ProTuner All Please click Finish to exit this installer Figure 18 Finish installation Connections and Testing Connect the stepping system according to the contents in previous sections and connect the PC to the driver as the following figure RS232 Interface Connection 1 PC with ProTuner Digital Stepping Driver Special Cable Figure 19 RS232 interface connection Testing the Stepping System Turn on the power supply the green Power LED will light The DM856 has default parameters
17. e 3 s Phase Error Protection Motor power lines wrong amp not connected will activate this protection RED LED will turn on four times within each periodic time 3 s Attention When above protections are active the motor shaft will be free or the LED will turn red Reset the driver by repowering it to make it function properly after removing above problems Since there is no protection against power leads reversal it is critical to make sure that power supply leads correctly connected to driver Otherwise the driver will be damaged instantly Tel 086 0755 26434369 12 Web Site www leadshine com A Leadshine Technology Co Ltd Protection Indications DM856 Digital Stepping Driver Manual V1 0 Over current protection wo Over voltage protection FRIES 12 Frequently Asked Questions Phase error protection In the event that your driver 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 y
18. egulated Power Supply ccccccccccccccceeesssseeseeseeeeceeeeeeeeeeaaas IM lBple DEI Vets ssi ioo o oid ooo Eon Mtt oua e selectis SUDDD VOlfdSe eum ea pere ie et ie umet adds 7 Selecting Microstep Resolution and Driver Output Current uuuuuse IMicrostep Resolution Sele CHOLD 8i imd e EE RR PA t dun CUr SeS Suse eas aod neca oat daa tas dena team eae edil oa se nad oddceap Lie ean ela dk Contents Dinamie ceuttent se t E osse otim E m o Pedes em eh e Eun b S fadi strebt 10 Standstill current Setini N ida Goto e Ato 10 ec ie NOL CS educ ue un i d iu E 10 2 Typical COMME UOI onsecacc e rae ne aO 11 I0 Sequence Chart or Control S19ngls 5 2 ERR REO CHEER REL AMRRR RR ME 11 lin Protection Function o5 ode pde Recon aiu d ie ed gu Ora ERR 12 OvVerccubrent P OICCLOD G5 20 2 598 9 0645 96 0 00 1 0 1 0 MI TST ESO CAELO DOPO Soie done a 12 Over voltase PFOLCCUODG ioo nO RH ERE ower END Du dies 12 Phase Error Prove ct OM gasses E use isses ut insulam Eo sudareetecaecastantnaes 12 Protectom VOC Al ONS 2 aset eet Rts cine eds abe utto ce gut Mean uut 13 2 brequentEy Asked Questions uode a ooo Eden n ne ionis EE 13 Problem Symptoms and Possible Causes ccccccccccccceeeesssseeseeseeeeeeeeeeeeeeeaaas 14 15 Professional Tuning Software Pro Tuner 2 9 E 15 InttOGHC DEOTE 92 ds n ut ecole d de uiuit alia uUi dus a 15 DOR Ware TAS CAAT OM di oe iaiiec fe oocdia i ii deofe eode con nt ieafo
19. er a high degree of flexibility to the system designer in that they may be connected in series or parallel thus satisfying a wide range of applications Series Connections A series motor configuration would typically be used in applications where a higher torque at lower speeds is required Because this configuration has the most inductance the performance will start to degrade at higher speeds In series mode the motors should also be run at only 70 of their rated current to prevent over heating P2 A B B Figure 7 8 lead motor series connections Tel 086 0755 26434369 6 Web Site www leadshine com UT Leadshine Technology Co Ltd Parallel Connections DM856 Digital Stepping Driver Manual V1 0 An 8 lead motor in a parallel configuration offers a more stable but lower torque at lower speeds But because of the lower inductance there will be higher torque at higher speeds Multiply the per phase or unipolar current rating by 1 96 or the bipolar current rating by 1 4 to determine the peak output current P2 Figure 8 8 lead motor parallel connections NEVER disconnect or connect the motor while the power source is energized 6 Power Supply Selection The DM 856 can match medium and small size stepping motors from NEMA frame size 17 to 34 made by Leadshine or other motor manufactures around the world To achieve good driving performances it is important to select supply voltage and output current properly
20. est speed will not excite the motor at its peak resonance making it more difficult to find proper adjustment values Optimum AMP s and Phase s values may be a little different between running the tests with an unloaded motor and a load motor Please remember to click SavetoDrive to download the final parameter settings to the driver when finish tuning See Figure 27 SystemConfig StepperConfig PeakCujA 5 60 MircoStep i7512 a ElecDamp 1000 CommandT ype ActiveE dge DirectionD ef PUL DIR C Cw CCw Rising Falling Low C High 1st ResonanceArea Ampl 12571 Phase1 1160 2nd Hesmancakinn Amp2 607 ll ea mee T 3rd CRUSUAUEUNSUWUES Amp3 128 Phase3 128 InternalPulser oaeee xO 0lms i Cycle Reverse Interval ms 50 Repeat 5 Lenath r f 0 Stop Figure 26 Anti resonance tuning Tel 086 0755 26434369 26 Web Site www leadshine com e Technology Co Ltd DM856 Digital Stepping Driver Manual V1 0 A Leadshine Technology Co Ltd DM856 Digital Stepping Driver Manual V1 0 cacai OverVoltage Over voltage Protection When power supply voltage exceeds 91 1 VDC protection StepperConfig will be activated PeakCur amp 5 60 MircoStep 1 512 3 ElecDamp 1000 l l R xcd PhaseErr Phase Error Protection Motor power lines wrong amp not connected will activate this m CommandT ype ActiveEdge DirectionDef PUL DIR
21. figure related control parameters for optimum responses Recommend use this function after changing the driven motor SystemConfig In SystemConfig window the user can configure Peak Current Microstep Command Type Active Edge and eliminate motor resonance A built in pulse generator can be used for test during tuning See Picture 25 PeakCur Peak Current The value is the peak current to the selected motor and can be set from 0 5 to 5 6 A The user can set the peak current with ProTuner or DIP switches see more information about setting output current of the driver in section 5 Connecting the Motor and section 7 Selecting Microstep Resolution and Driver Output Current MicroStep Microstep Resolution The value is driver s microstep resolution setting and can be set from 1 to 512 The user can set the microstep with ProTuner or DIP switches See more information about setting output current of the driver in section 7 Selecting Microstep Resolution and Driver Output Current Tel 086 0755 26434369 23 Web Site www leadshine com UT Leadshine Technology Co Ltd SysteaConfig DM856 Digital Stepping Driver Manual V1 0 StepperConfig PeakCur A 5 60 MircoStep 1 51 2 fa ElecD amp 1000 CommandT ype ActiveE dge DirectionD ef PUL DIR Cw CCw Rising Falling f Low High 1st ResonanceArea Amp 0 Ss Phasel 0 2nd Hasonancekian Amp2 0 fo mcm E IE
22. gy Co Ltd Multiple Drivers DM856 Digital Stepping Driver Manual V1 0 It is recommended to have multiple drivers to share one power supply to reduce cost if the supply has enough capacity To avoid cross interference DO NOT daisy chain the power supply input pins of the drivers Instead please connect them to power supply separately Selecting Supply Voltage The power MOSFETS inside the DM856 can actually operate within 20 80VDC including power input fluctuation and back EMF voltage generated by motor coils during motor shaft deceleration Higher supply voltage can increase motor torque at higher speeds thus helpful for avoiding losing steps However higher voltage may cause bigger motor vibration at lower speed and it may also cause over voltage protection or even driver damage Therefore it is suggested to choose only sufficiently high supply voltage for intended applications and it is suggested to use power supplies with theoretical output voltage of 20 72VDC leaving room for power fluctuation and back EMF 7 Selecting Microstep Resolution and Driver Output Current Microstep resolutions and output current are programmable the former can be set from full step to 102 400 steps rev and the latter can be set from 0 5A to 5 6A See more information about Microstep and Output Current Setting in Section 13 However when it s not in software configured mode this driver uses an 8 bit DIP switch to set microstep resolution
23. hermore at mid range velocities the resonance can become so severe that the motor looses synchronization and stalls The DM856 driver provides robust anti resonance control to stop the vibrations and maintain equilibrium This feature requires that the driver be configured with respect to the total inertia in the system If set improperly the effectiveness of the feature may be diminished The user can invoke or disable the feature by setting Amp and Phase values in SystemConfig window Amp and Phase values all zero is to disable the feature otherwise is to invoke the feature It should be enabled unless the system configuration either does not need it or cannot tolerate it A system with loose couplings or viscous loading generally does not need this feature If a system has compliant springy coupling and is absent appreciably viscosity it may not respond well to the active th anti resonant loop in the drive The anti resonant feature is not designed to damp such a 4 order system If the application of anti resonance results in degradation or instability it should be disabled I ResonanceArea Parameters for 1 resonance area Usually between 0 6rps and 1 2rps Ampl is Amplitude adjustment for 1 resonance area Phasel is Phase adjustment for 1 resonance area The user can enter a value directly in the text box or move the slider bar back and forth to get an optimum value 2 ResonanceArea Parameters for 2 resonance area Usuall
24. hnology Co Ltd Exit Exit the ProTuner DM856 Digital Stepping Driver Manual V1 0 Com Config Window Com Config Choose Serial Port a Choose Baudrate Open Figure 21 RS232 communication configuration window Serial Port Select the serial communication port to which the driver is connected The factory default setting is COMI Baud Rate Select the communication baud rate The factory default setting is 38400 Click Open button to establish a connection with the specified settings When connecting you can choose SaveToDrive to download the current parameter settings to the driver or to upload the stored driver settings into the ProTuner by clicking Tuning Position Loop on the menu bar Tuning The user can choose one or two drop down menu s by clicking Tuning including CurrentLoop and SystemConfig CurrentLoop In Current Tuning window the user can tune the Kp Proportional Gain and Ki Integral Gain of driver s current loop to optimize responses with different motors Start Restart a Step Response test to get an optimum response Kp Proportional Gain Proportional Gain determines the response of the driver to current setting command Low Proportional Gain provides a stable system doesn t oscillate has low stiffness and large current error causing poor performances in tracking current setting command in each step like Figure 23 Too large Proportional Gain values will cause oscillat
25. install the ProTuner See Figure 14 ProTuner All Setup User Information Enter your user information and click Next to continue Name Company Cancel Figure 13 User s information settings Tel 086 0755 26434369 16 Web Site www leadshine com UT Leadshine Technology Co Ltd e Proluner All Setup DM856 Digital Stepping Driver Manual V1 0 Installation Folder Where would you like ProTuner All to be installed The software will be installed in the folder listed below To select a different location either type in a new path or click Change to browse for an existing folder Install ProTuner All to D Program Files ProTuner All Space required 27 5 MB Space available on selected drive 5 46 GB Figure 14 Installation folder settings e ProTIuner All Setup Shortcut Folder Where would you like the shortcuts to be installed The shortcut icons will be created in the folder indicated below If you don t want to use the default folder you can either type a new name or select an existing folder from the list Shortcut Folder ProTuner All Install shortcuts for current user only Make shortcuts available to all users Cancel Figure 15 Shortcut folder setting Set the Shortcut Folder in Figure 15 and continue to install the ProTuner by following Figure 16 and Figure 17 An Installation Successful window will appear if the ProTuner is installe
26. ions and unstable systems Tel 086 0755 26434369 21 Web Site www leadshine com UT Leadshine Technology Co Ltd Current Tuning DM856 Digital Stepping Driver Manual V1 0 Ke fras Kt 250 Figure 22 Current Tuning window Ki Integral Gain Integral Gain helps the driver to overcome static current errors A low or zero value for the Integral Gain may have current errors at rest Increasing the Integral Gain can reduce the error If the Integral Gain is too large the systems may hunt oscillate about the desired position Start button The user can start a Step Response test by clicking this button Start Restart a Step Response test to get an optimum response like Figure 22 and remember to save the settings to the driver when finish tuning See Figure 24 Kp 543 Kt fo Figure 23 Kp 543 Ki 0 poor performances Tel 086 0755 26434369 22 Web Site www leadshine com UT Leadshine Technology Co Ltd Current Tuning DM856 Digital Stepping Driver Manual V1 0 Kp 1734 Kr 250 Figure 24 Finish tuning and save setting to the driver Notes However if the user does not want to tune the current loop after changing a different stepping motor then Motor auto identification and parameter auto configuration technology of the DM856 can replace manual tuning the driver with ProTuner Just changes SW4 two times in second and then the driver will auto identify the new motor and auto con
27. l 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 tech leadshine com 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 or Leadshine Technology Co Ltd 3 F Block 2 Nanyou Tianan Industrial Park Nanshan Dist Shenzhen China Also enclose information regarding the circumstances prior to product failure Tel 086 0755 26434369 29 Web Site www leadshine com D Leadshine Technology Co Ltd Contact Us DM856 Digital Stepping Driver Manual V1 0 China Headquarters Address 3 F Block 2 Nanyou Tianan Industrial Park Nanshan District Shenzhen China Web http www leadshine com
28. ou need assistance Many of the problems that affect motion control systems can be traced to electrical noise controller software errors or mistake in wiring Tel 086 0755 26434369 13 Web Site www leadshine com A Leadshine Technology Co Ltd DM856 Digital Stepping Driver Manual V1 0 Problem Symptoms and Possible Causes Microstep resolution setting is wrong Fault condition exists Motor phases may be connected in reverse Something wrong with motor coil Control signal is interfered Something wrong with motor coil Current setting is too small Acceleration is set too high Inadequate heat sinking cooling Current is set too high Tel 086 0755 26434369 14 Web Site www leadshine com UT Leadshine Technology Co Ltd 13 Professional Tuning Software ProTuner DM856 Digital Stepping Driver Manual V1 0 Introduction This section will provide an overview of connection and basic setup instructions for Leadshine s digital stepping driver DM856 using the ProTuner software These instructions will walk you through the following steps necessary to start up your driver and motor This section is intended for setting up the driver with the ProTuner Software Installation The ProTuner is windows based setup software for tuning Leadshine s digital stepper driver DM856 It can run in windows systems including Win95 Win98 WindowsNT Windows 2000 Windows XP And the selected PC should h
29. stored in the driver If the system has no hardware and wirings problem the motor should be locked and the driver should be ready If the red LED immediately turns on flickers then check power supply the motor motor wirings Tel 086 0755 26434369 19 Web Site www leadshine com A Leadshine Technology Co Ltd and try again Open the tuning software ProTuner and check driver status by clicking Err_check If DM856 Digital Stepping Driver Manual V1 0 its Phase Error check the motor motor wirings and try again If it still doesn t work after you followed all of the previous steps please contact us at tech leadshine com If the RED LED is off and the motor is normal then you can start to tune the servo with ProTuner However we recommend you see the following contents before starting tuning Software Introduction ProTuner Main Window amp DN856 Digital Stepper ProTuner TER Option Tuning Err_check About Menu Bar Leading Technology Shining Value LEADSHINE Status Bar X www leadshine com Status C Leadshine Technology Co Ltd Date 2009 3 3 Time 15 11 5 Figure 20 ProTuner y Option The user can choose three drop down menus by clicking Option including Com Config SaveToDriver and Exit Com Config Configure Com communication interface SaveToDriver Download the current parameter settings to the driver Tel 086 0755 26434369 20 Web Site www leadshine com UT Leadshine Tec
30. to configuration technology offers optimum responses with different motors and easy to use The driven motors can run with much smaller noise lower heating smoother movement than most of the drivers in the markets Its unique features make the DMS56 an ideal solution for applications that require low speed smoothness Compared to the DM432C broader input voltage and output current ranges make the DM856 can drive much more motors than the DM432C What s more owing to its higher performance DSP driven motors can achieve much higher speed above 3000RPM than that of the DM432C offering servo like performances It can be regarded as an improved model origin from DM556 while supports broader input voltage range Features Anti Resonance provides optimum torque Supply voltage up to 80 VDC and nulls mid range instability Output current programmable from 0 5A to Motor auto identification and parameter 5 6A auto configuration technology offers Pulse input frequency up to 200 KHz optimum responses with different motors TTL compatible and optically isolated input Automatic idle current reduction Multi Stepping allows a low resolution step Suitable for 2 phase and 4 phase motors Support PUL DIR and CW CCW modes Over voltage over current phase error input to produce a higher microstep output for smooth system performance Microstep resolutions programmable from full step to 102 400 steps rev protections Applications
31. tor manufacturer is important in selecting driver current however the selection also depends on leads and connections When it s not in software configured mode the first three bits SWI 2 3 of the DIP switch are used to set the dynamic current Select a setting closest to your motor s required current Tel 086 0755 26434369 9 Web Site www leadshine com GD nne Technolag Co 158 DMS856 Digital Stepping Driver Manual V1 0 Dynamic current setting a A Notes Due to motor inductance the actual current in the coil may be smaller than the dynamic current setting particularly under high speed condition Standstill current setting SW4 is used for this purpose OFF meaning that the standstill current is set to be half of the selected dynamic current and ON meaning that standstill current is set to be the same as the selected dynamic current The current automatically reduced to 60 of the selected dynamic current one second after the last pulse Theoretically this will reduce motor heating to 36 due to P I R of the original value If the application needs a different standstill current please contact Leadshine 8 Wiring Notes In order to improve anti interference performance of the driver 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
32. ual V1 0 Operating Environment and other Specifications Environment Avoid dust oil fog and corrosive gases Humidity 40 RH 90 RH 5 Om s Max Vibration Weight Approx 280g 10 oz 3 Pin Assignment and Description The DM856 has two connectors connector P1 for control signals connections and connector P2 for power and motor connections The following tables are brief descriptions of the two connectors More detailed descriptions of the pins and related issues are presented in section 4 5 9 Connector P1 Configurations DIR signal In single pulse mode this signal has low high voltage levels 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 software configurable For reliable motion response DIR signal should be ahead of PUL signal by 5ys at least 4 5V when DIR HIGH 0 0 5V when DIR LOW Please note that rotation direction is also related to motor driver wiring match Exchanging the connection of two wires for a coil to the driver will reverse motion direction Tel 086 0755 26434369 3 Web Site www leadshine com A Leadshine Technology Co Ltd DM856 Digital Stepping Driver Manual V1 0 Selecting Active Pulse Edge and Control Signal Mode The DM856 supports PUL DIR and CW CCW modes and pulse actives at rising or falling edge See more information about these settings in Section
33. y between 1 2rps and 2 4rps Default Amp2 and Phase2 values are zero 3 ResonanceArea Parameters for 3 resonance area Usually between 2 4rps and 4 8rps Default Amp3 and Phase3 values are 128 InternerPulser There is an internal pulse generator designed for driver self testing and anti resonance tuning You can issue a motion by this simple controller Cycle check box The motion will repeat if this box is checked Reverse check box The motor shaft will reverse direction if this box is checked Interval edit box The stop time between each cycle unit is millisecond Repeat edit box Total motion cycles Tel 086 0755 26434369 25 Web Site www leadshine com UT Leadshine Technology Co Ltd Length edit box Move distance of each cycle unit is revolution DM856 Digital Stepping Driver Manual V1 0 Start Stop button The user can Start Stop a motion test by clicking this button Procedure for Achieving Optimum Performance Step 1 Start the motion test by clicking Start Stop button Find an resonance speed by slightly moving the slider bar of internal pulse generator back and forth See Figure 26 Step 2 Run the motor at the resonance speed and verify the motor smoothness You may find a better smoothing value by slightly moving the slider bars of AMP s and Phase s back and forth It is very important to make the AMP s and Phase s adjustments at the proper test speeds with an unloaded motor Running at an incorrect t
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