DB810-50V
Contents
1. error Opto isolated step and direction inputs Small size Over current and short circuit protection Applications Suitable for a wide range of equipments and instruments such as mini type engraving machines jet ink machines and etc It performs better in equipments desired with low noise high velocity and high precision Tel 86 755 26434369 1 Web site www leadshine com TUMBAMBRARBRAS D E DB810 50V Digital DC Servo Driver Manual V1 0 2 Specifications and Operating Environment Mechanical Specifications unit mm 1 inch 25 4 mm Figure 1 Mechanical specifications Electrical Specifications Tj 25 C Tel 86 755 26434369 2 Web site www leadshine com RUMBAMBRCKARBRZa Leadshine Technology Co Ltd DB810 S50V Digital DC Servo Driver Manual V1 0 Operating Environment and Parameters Environment Avoid dust oil fog and corrosive gases Ambient Temperature hE SUNC Humidity 40 95 RH Vibration 5 9 m s Max Approx 100 grams 3 53 oz 3 Connections Connector Configuration 7 2 8 3 A 10 5 11 6 12 DB810 50V Driver 200Q NOTES R 0 if VCC 5V R 1K gt 0 125W if VCC 12V R 2K gt 0 125W if VCC 24V R must be connected to controller signal terminal Figure 2 Control signal connection Tel 86 755 26434369 3 Web site www leadshine com RUMBAMBRCKARBRZA Leadshine Technology Co Ltd DB810 50V Digital DC Servo Driver Manual V2. excess of what the motor can deliver 4 The current LIMIT 1s set too low 5 The power supply current is insufficient for the demand 6 The motor is wired backwards is broken or disconnected 7 Encoder failure Reversing Default Motor Direction The DB810 50V will turn the motor in the CW direction when the DIRECTION input is high logical 1 or 5VDC If instead CCW is preferred then 1 Reverse the motor and leads 2 Reverse the encoder Channel A and Channel B leads ERR RES This terminal functions as an ERROR output and as a RESET input Because this Tel 86 755 26434369 10 Web site www leadshine com ee DB810 S50V Digital DC Servo Driver Manual V1 0 terminal functions as both an input and an output some detailed description is necessary When first testing the DB810 50V ERR RES term 5 was connected to E 5V term 7 It can be left that way if it is not necessary to read the state of the ERROR output Otherwise the following details are important The ERROR output is latched in the ERROR state term 5 0 by the power on reset circuitry in the DB810 S50V It will stay in this state indefinitely until it is cleared by applying 5V to this terminal for at least 5 seconds The voltage on this terminal is 5VDC when the DB810 50V is functioning normally The voltage on this terminal goes to OVDC whenever the FAULT indicator is lit This output can be used to
3. signal your controller that an error has occurred FROM FAULT as aa DETECTORS FAULT 0 FAULTLED i i i CIRCUIT S 220 PN2907 St RESET FOR INTERNAL CIRCUIT RESET 1 TO COMPUTER FAULT LED 5V a 470 210K START TERM 5 ERR RES MOMENTARY CENTER OFF STOP DB810 50V Figure 7 Error clear and Reset circuit of the DB810 50V The above circuit shows how to implement an external switch to clear an ERROR condition and RESET the DB810 50V while still being able to read the state of the Tel 86 755 26434369 11 Web site www leadshine com acii DB810 50V Digital DC Servo Driver Manual V1 0 drive It also includes an optional FAULT LED circuit if a remote indication of the state of the DB810 50V is desired Tel 86 755 26434369 12 Web site www leadshine com ee DB810 S50V Digital DC Servo Driver Manual V1 0 APPENDIX TWELVE MONTH LIMITED WARRANTY Leadshine Technology Co Ltd warrants its products against defects in materials and workmanship for a period of 12 months from shipping date During the warranty period Leadshine will either at its option repair or replace products which proved to be defective EXCLUSIONS The above warranty shall not apply to defects resulting from improper or inadequate handling by customer improper or inadequate customer wiring unauthorized modification or misuse or operation
4. time Please refer to Adjusting PID Coefficients in page 8 5 Tuning the Servo Testing the Servo Turn on the power supply the FAULT light should turn off after pushing the servo starter a momentary switch If everything is correct you should hear the motor singing This is normal The motor is dithering or bouncing between adjacent encoder counts The integral term in a PID loop has infinite DC gain over time and will amplify even the smallest position error Because encoder feedback can only occur on count edges the loop is blind until it encounters an encoder count edge It then reverses the motor direction until another edge is found then the process repeats If the motor jumps slightly and the FAULT LED immediately turn on then either the motor is wired in reversal or the trimpots are misadjusted Check the trimpot settings If they are right then switch the motor leads and try again If it still doesn t work after you followed all of the previous steps please contact us at tech leadshine com Now turn on your step pulse source and ramp the speed up to see if the motor runs It should run clockwise with a logical 1 on the direction input Tuning the Servo The optimum way to turn the servo is to induce an impulse load on the motor while watching an oscilloscope to see how the motor behaves in response then adjusting the PID coefficients for optimal performances In all cases the motor should
5. will require the operator to correct the problem that caused the fault and then push the switch to START for 5 seconds to re enable the DB810 S0V At anytime the operator can push the switch to the STOP position to immediately halt the DB810 50V drive Anytime the DB810 S50V is in the FAULT state FAULT LED lit all switching action stops and the motor freewheels and is unpowered This will light the FAULT light Tel 86 755 26434369 9 Web site www leadshine com Tat ee DB810 50V Digital DC Servo Driver Manual V1 0 The FAULT indicator is on while the drive is in power on reset the DISABLE input is held low or if the protection circuit is tripped due to a fault condition All power MOSFETs are turned off and all internal counters are reset The FAULT condition lasts for 3 seconds and then self resets to try again If the protection circuit tripped it and the cause is not cleared then it will immediately re enter the FAULT state again and repeat the cycle There are two conditions that will trip the protection circuit One condition is if a short circuit occurs and current exceeds 20 amps The other condition is if the POSITION ERROR exceeds 128 counts causing a break of the servo lock This condition can have several causes 1 The loop settings are severely under damped and the motor breaks out into oscillation 2 Excessive motor load due to acceleration or workload 3 The speed command in
6. 1 0 Typical Connections If the encoder drains less than 50mA the DB810 50V can supply the encoder directly and connect it as Figure 3 If the encoder drains more than 50mA use an external 5VDC supply and connect it as Figure 4 DB810 50V Driver VCC di Channel A Encoder DC Power 18V to 50V _ Power GND NOTES normally when the DB810 50V is first powered up it will be necessary to push the momentary switch Servo Starter Resetting Key to START This will clear the power on reset condition and extinguish the FAULT LED The motor will then be enabled and the drive will bein to operate Figure 3 Typical connection The DB810 50V supply the encoder directly DB810 50V Driver 200Q GND VCC djChannel Af Channel B Sv Suppl e Meee av to 350V Power 6 418V to 50v Power GND NOTES normally when the DB810 50V is first powered up it will be necessary to push the momentary switch Servo Starter Resetting Key to START This will clear the power on reset condition and extinguish the FAULT LED The motor will then be enabled and the drive will beain to operate Figure 4 Typical connection Using external 5V to supply the encoder Tel 86 755 26434369 4 Web site www leadshine com A Sk BE 2 TC Fe FZ Leadshine Technology Co Ltd u x DB810 50V Digital DC Servo Driver Manual V1 0 4 Servo Setup Before you start servo you can follow the following steps Install Encoder Y
7. User s Manual DB810 50V Digital DC Servo Driver Version 1 0 2000 All Rights Reserved Attention Please read this manual carefully before using the driver Leadshine Technology Co Ltd Floor 3 Block 2 Nanyou Tianan Industry Park Nanshan Dist Shenzhen China Tel 86 755 26434369 Fax 86 755 26402718 URL 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 2000 by Leadshine Technology Company Limited All Rights Reserved Contents Contents FRR RE Srpna cass at nace antes at aatsasanauenasiaas ace mamas abanenaaaneveettnataaeuctetcianens 10 Table of Con
8. beyond the electrical specifications of the product and or operation byond 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 shall prepay shipping charges for products returned to Leadshine for warranty service and Leadshine shall pay for return of products to customer WARRANTY LIMITATIONS Leadshine makes no other warranty either expressed or implied with respect to the product Leadshine specifically disclaims the implied warranties of merchantability and fitness for a particular purpose Some jurisdictions do not allow limitations on how long and implied warranty lasts so the above limitation or exclusion may not apply to you However any implied warranty of merchantability or fitness is limited Tel 86 755 26434369 13 Web site www leadshine com _ DB810 50V Digital DC Servo Driver Manual V1 0 to the 12 month duration of this written warranty SHIPPING FAILED PRODUCT If your product should 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 Techno
9. gher GAIN is set the noisier the motor will be when stopped This is because higher gain causes more vigorous dithering between encoder counts at rest Tel 86 755 26434369 7 Web site www leadshine com A nM aM BRA RARAS Leadshine Technology Co Ltd DB810 50V Digital DC Servo Driver Manual V1 0 Adjusting PID Coefficients The error between servo actual position and pulse command position can be reduced by tuning servo parameters You can detective how the motor behaves in response to an impulse load by watching an oscilloscope as shown in Figure 6 The easiest way to induce a disturbance is to switch the DIRECTION input while commanding a constant speed via the STEP input The abrupt direction change puts just the momentary load needed on the motor while you watch how it responds If you are using an oscilloscope use channel 1 on the test point and channel 2 on the DIRECTION input Set the trigger to normal trigger source to channel 2 and trigger edge to You should see a single sweep for every clockwise change in direction a i 1v 2ms OVERDAMPED CRITICALLY DAMPED UNDERDAMPED Figure 6 Response to an impulse load Slowly increase STEP speed until you get a picture similar to one of the three above and then do the following steps Gd OVERDAMPED Decrea
10. he SeNOninninaorn nn e E E E A E 6 Adj stine PID OCT ICICINS eainiie anaE e EA Te E 8 OUSIDE e a a A A 9 Corrent GIMI Sein min a 9 Fabi TG CA LOL aeiaai E E E A RA 9 Reversing Default Motor Direction s ssis niei e i e 10 Tel 86 755 26434369 I Web site www leadshine com Tel 86 755 26434369 II Web site www leadshine com Qa ii DB810 50V Digital DC Servo Driver Manual V1 0 1 Introduction Features and Applications Introduction The DB810 50V is a digital DC servo driver developed with one of the advanced 21 century technologies in the world today In position control it s easy for the end users to change stepping drivers to the DB810 50V without changing control systems because its input command is PUL DIR signal which is compatible with that of stepping driver In velocity control the position feedback of the encoder can effectively eliminate the zero speed drift phenomenon when the servo is standstill In low power motion control applications performances of DC servo systems using the DB810 S50V are better than those of digital AC servo systems in velocity precision noise stability and some other aspects or at least as good as those of digital AC servo systems However the price of the DB810 50V stays at the price line of stepping driver namely far lower than that of AC servo Features 18 S50VDC 0 20A 20 400W PID feedback servo drive Feedback resolution X4 encoder line count Lock range 128 count following
11. logy Co Ltd Floor 3 Block 2 Tianan Industry Park Nanshan Dist Shenzhen China Also enclose information regarding the circumstances prior to product failure Tel 86 755 26434369 14 Web site www leadshine com
12. ou must have a suitable encoder properly mounted on the motor Please assemble the encoder according to its factory manual Prepare Power Supply You must have a DC power supply suitable for the motor Do not use a power supply voltage more than 5 volts in excess of the rated voltage of the motor The power supply current rating must equal the maximum current you expect to run the motor at When the power supply leads are longer than 50 cm a 1000uF 100V electrolytic capacitor should be connected between the pin POWER GROUND and the pin 18 TO 50VDC Please note that the polarity can not be reversed Prepare Controller Prepare a controller with STEP and DIR signal Initialize DB810 50V Before going on turn the current LIMIT trimpot a quarter to half of full scale Turn the GAIN trimpot fully off and turn the DAMP trimpot to a quarter of full scale The trimpots are single turn do not over torque them with a screwdriver Motor Connection Make sure that the power is off and the STEP pulse source is set to zero pulse per second Check to see if the potentiometer settings are set according to the instructions You may wish to secure the motor so it can t jump off the bench Motor Tel 86 755 26434369 5 Web site www leadshine com A RIMERNERKARARZE Leadshine Technology Co Ltd a x DB810 50V Digital DC Servo Driver Manual V1 0 may return to command position rapidly with little or no overshoot in the minimal amount of
13. return to the command position what matters is how it does it The manner in which the Tel 86 755 26434369 6 Web site www leadshine com A RUB aMBRCARBRAa Leadshine Technology Co Ltd DB810 50V Digital DC Servo Driver Manual V1 0 motor returns to its command position is called damping At one extreme called overdamped response the motor returns to position after a long drawn out delay At the other extreme called underdamped response the motor returns to its position too rapidly overshoots returns and undershoots and so on until it finally settles at its command position This is also caused ringing when extreme the over undershoot builds in amplitude until the motor enters violent oscillation Between the two extremes is the optimal response called critical damping Here the motor rapidly returns to its position with little or no overshoot in the minimal amount of time There are three trimpots at the side of the DB810 50V They are GAIN DAMP and LIMIT separately for current setting as shown in Figure 5 M CURRENT LIMIT TRIMPOT EE TRIMPOT ma GAIN TRIMPOT OMI TEST POINT GND TEST POINT Figure 5 Sketch of DB810 50V GAIN and DAMPING setting generally track each other If you increase GAIN greater stiffness then increase DAMPING is needed as well to restore critical damping Be careful increasing GAIN without increasing DAMPING may cause the motor to break out into violent oscillation The hi
14. se DAMPING or increase GAIN 2 CRITICALLY DAMPED Do nothing you are here 8 UNDERDAMPED Decrease GAIN or increase DAMPING In order to make it convenient for the users to turn a test point is set inside of the Tel 86 755 26434369 8 Web site www leadshine com A nUMBRMBRCARARAa sarah aia cea DB810 50V Digital DC Servo Driver Manual V1 0 DB810 50V as shown in Figure 5 Tune DAMPING and GAIN until performances of the servo are satisfying 6 Using Tips Current LIMIT Setting The current LIMIT trimpot sets maximum current the motor is permitted to have It is adjustable from 0 amps to 20 amps Normally the LIMIT trimpot is set to maximum 20 amps unless you want to limit motor torque to a lower value More speed and position is unaffected by the current LIMIT setting unless the torque demand due to load exceeds this setting then the motor position will fall behind the command position because of insufficient torque Fault Indicator Normally when the DB810 50V is first powered up it will be necessary to push the momentary switch to START for 5 seconds This will clear the power on reset condition and extinguish the FAULT LED The motor will then be enabled and the drive will begin to operate If at any time after that a condition occurs that causes the DB810 50V to fault out such as not being able to complete a step command the ERR RES terminal will go to 0 signaling the computer an error has occurred This
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