User`s Manual - American Motion Technology LLC
Contents
1. 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 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 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 c2. from http www leadshine com ProTuner 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 Ifyou have any other programs running please click ancel close the programs and run this setup again therwise 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 PA Proluner All Setup DM442 Digital Stepping Drive 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 install the ProTuner See Figure 14 pA Proluner All Setup User Information Enter your user information and click Next to continue Name Company Figure 13 User s information settings Tel 086 0755 26434369 16 Web Site www leadshine com A Leadshine Technology Co Ltd amp Proluner All Setup DM442 Digital Stepping Drive Manual V1 0 Installation Fo
3. DM442 Digital Stepping Drive Manual V1 0 Over Voltage Over voltage Protection When power supply voltage exceeds 42 1 VDC protection will be activated PhaseErr Phase Error Protection Motor power lines wrong amp not connected will activate this protection ErrCounter Displays current error s and current error history Erase Current Err Erase Current Err button The user can clear current error s by clicking this button Erase All Erase All button The user can clear all error s including error history by clicking this button About The user can choose two drop down menus by clicking About including Product Information and Contact Us Product Information window Shows some product information about ProTuner Contact Us window Shows some contact information about Leadshine Tel 0 755 26433338 Fax 0 755 26402718 Web www leadshine com Addr Floor3 Block2 NanyouTianan Industrial Park Nanshan ZIP 518052 Figure 29 Contact information Tel 086 0755 26434369 30 Web Site www leadshine com A Leadshine Technology Co Ltd APPENDIX DM442 Digital Stepping Drive 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
4. DM442 Digital Stepping Drive Manual V1 0 it s 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 Menu Bar Leading Technology Shining Value LEADSHINE Status Bar HR www leadshine com Status a Leadshine Technology Co Ltd Date 2010 11 8 TimejDigital Stepper ProTuner Figure 20 ProTuner ProTuner Toolbar Current Loop Tuning Product Information Com Configuration Error Check Parameters Configuration Contact Information System Configure Exit Tel 086 0755 26434369 20 Web Site www leadshine com A Leadshine Technology Co Ltd Option DM442 Digital Stepping Drive Manual V1 0 The user can choose three drop down menus by clicking Option including Com Configuration Parameters Configuration and Exit Com Configuration Configure Com communication interface Parameteres Configuration Read write parameters between the drive and the ProTuner or save configuration as a file and load configuration from a file Exit Exit the ProTuner Com Config Window Com Config Serial Port com zl Baud Rate Figure 21 RS232 communic
5. 3000 Current Loop Integra 365 0 1000 PeakCurrent 3 0 1 5 6 UnitO 1A MircoStep 16 tasie Amplitude 1 2533 0 3500 Fhase 1 Amplitude 2 Phase 2 Amplitude 3 Phase 3 Idle Current 0 1608 0 3500 0 1608 0 256 0 256 0 100 Unit Write EEprom Idle time 10 3000 Unit ms Filtering Enable OOR1 Electronic Damp 0 6000 Reset Driver Figure 22 Parameters configuration window 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 drive 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 drive to current setting command Low Proportional Gain provides a stable system doesn t oscillate has low stiffness and Tel 086 0755 26434369 22 Web Site www leadshine com A Leadshine Technology Co Ltd large current error causing poor performances in tracking current setting command in each step like DM442 Digital Stepping Drive Manual V1 0 Figure 23 Too large Proportional Gain values will cause oscillations and unstable systems Kp 998 Ki Jot I test 1 ZE Figure 23 Current Tuning window Ki Integral Gain Integral Gain helps the drive to overcome static current err
6. Resolution and Drive Output Current 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 Tel 086 0755 26434369 25 Web Site www leadshine com A Leadshine Technology Co Ltd out of control The optimal value depends on the system and the default value is 3000 DM442 Digital Stepping Drive Manual V1 0 Idle Current Standstill Current when motor stop When the motor stop time exceeds the Idle Time the motor coil current reduces to Idle Current In percentage The percentage is rated to the Peak Current Idle Time See Idle Current Pulse Filter Enable Click the check box will turn on the internal pulse smoother or filter of DM442 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 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 drive works in CW CCW mode no matter what level is at fixed level terminal the drive can works properly Anti Resonance Introduction Step moto
7. 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 A Leadshine Technology Co Ltd DM442 Digital Stepping Drive Manual V1 0 NO B00 8 1600 O2 400 re o oN 8 25600 OF OFF OF ON 5 000 O ON O ON ON OR OwO w O ON ON OOF 20000 ON OFF ON OFF 5000 OFF OOR ON OFF 408000 ON ON OFF OFF 5010000 OFF ON OFF OFF 10920000 ON OFF OFF OFF Ps 25000 OFF OFF OFF OFF Current Settings For a given motor higher drive current will make the motor to output more torque but at the same time causes more heating in the motor and drive 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 drive output current depending on motor phase current motor leads and connection methods Phase current rating supplied by motor manufacturer is important in selecting drive current however the selection also depends on leads and connections When it s not in software configured mode the first three bits SW1 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 OY sensative Technology Co Ltd Dynamic current setting
8. problems Since there is no protection against power leads reversal it is critical to make sure that power supply leads correctly connected to drive Otherwise the drive will be damaged instantly Tel 086 0755 26434369 12 Web Site www leadshine com A Leadshine Technology Co Ltd Protection Indications DM442 Digital Stepping Drive Manual V1 0 Priority Time s of ON Sequence wave of RED LED Description ON 1 1 OFF 38 0 2s 0 3s 3 4 Phase error protection Over current protection De 2 Over voltage protection 12 Frequently Asked Questions In the event that your drive 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 you 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 lead
9. www leadshine com OY sencsrine Technology Co Ltd high current flowing through motor coils even when motor is at standstill Pulling or plugging DM442 Digital Stepping Drive Manual V1 0 connector P2 with power on will cause extremely high back EMF voltage surge which may damage the drive 9 Typical Connection A complete stepping system should include stepping motor stepping drive power supply and controller pulse generator A typical connection is shown as figure 9 Controller DM442 Driver VCCo PUL 20 36 VDC Stepping Motor B 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 gt 5ps Degne amig PUL PUL CW l 1 A High Level gt 3 5V iy eee lies i Low Level lt 0 5V it 5s 1 DIR JIR CCW High Level gt 3 5V t gt 5ps Low Level lt 0 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 DM442 Digital Stepping Dr
10. Current cceeeeeeeeeeees Microsten Resolution Selec ON acta iit tet ieee eae CUSCO Seisean E a a E R Contents Dinamie CULTS CUTS eenn E dn sateatesngigedencacecme aes 10 Standstill current Setini N sedea i dais ha caeianttens 10 ec ie NOL T aan a snaie ae ean aaa essa eee ae 10 DRY iCal COMME CU OM esaea aO 11 LO Sequence Chart OL Contool Sirona eese aaa saeteescamnneeceats 11 1 Protection Function o25cissiceis daca ahatessaasesis ain Sanden ie ed eee a ieee 12 Over cur nE PTO CIO oaase snares hexccaniese in eeaeema asesaeaeaeasats 12 Over voltase ProvecuOn 2 1intiianminierinlan ower ennui 12 Phasc Error P OCU OM gasses E a EO 12 Proteci n VOC Al ONS rasa a A E i Ral 13 2 Prequenthy Asked Questions oiin a a a a ceased 13 Problem Symptoms and Possible Causes ccccccccccccceeeesssseeseeseeeeeeeeeeeeeeeaaas 14 13 Professional Tunings Software Pro Tune c siscssinu destin E 15 IM MOGUCILON iaikeviac Attia nen Aelia ite alia a ee a 15 SORE W abe TAS CAAT OM eese a E A A es 15 Connections and TESNE 2 632 2iiic ei cae ete tea tied ates 19 IRS 2 92 Inte rlaCe Connec on aana a N ses 19 Testne the Steppe SVS LOM paella e E S da tatna easiness hanaeiantteas 19 DOE W aS MaPOC CUO Missions as es caves sige a ea 20 Pro Tuner Main Window ss scstesssacceesencsecvead scdtonesasetucsaass2esed aa 20 Pro unr I ool baie a Aa 20 ODHOD eena Sia idand acai ia Latent andra aces eee aetna tae 21 CONC OI WO W enana ana achexcacarcse a
11. DM442 Digital Stepping Drive Manual V1 0 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 software configured and ON meaning that standstill current is set to be the same as the selected dynamic current By default the current automatically reduced to 60 of the selected dynamic current two second after the last pulse Theoretically this will reduce motor heating to 36 due to P I R of the original value Reduction rate and idle time can be configured in the PC software ProTuner See more information in section 13 8 Wiring Notes In order to improve anti interference performance of the drive 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 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 drives separately connecting the drives is recommended instead of daisy chaining It is prohibited to pull and plug connector P2 while the drive is powered ON because there is Tel 086 0755 26434369 10 Web Site
12. User s Manual For DM442 Fully Digital Stepping Drive Version 1 0 2010 All Rights Reserved Attention Please read this manual carefully before using the drive 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 2010 by Leadshine Technology Company Limited All Rights Reserved Contents Table of Contents 1 Introduction Features and Applications ccccccccccccccccceceeeeeeesesseeeeeee
13. al Stepping Drive Manual V1 0 Electrical Specifications T 25 C 77F 20 36 40 VDC Mechanical Specifications unit mm inch 109 4 295 116 4 570 26 5 1 044 109 4 295 69 2 2 726 19 5 0 768 47 5 1 872 Figure 1 Mechanical specifications Elimination of Heat Drive s reliable working temperature should be lt 70 C 158 F and motor working temperature should be lt 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 drive heating and motor heating It is recommended to mount the drive 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 DM442 Digital Stepping Drive Manual V1 0 Operating Environment and other Specifications Environment Avoid dust oil fog and corrosive gases Humidity 40 RH 90 RH 2 Vibration 5 9m s Max Weight Approx 200g 7 0502 3 Pin Assignment and Description The DM442 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
14. ation configuration window Serial Port Select the serial communication port to which the drive is connected The factory default setting is COM 1 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 read stored parameter setting from the drive to the ProTuner or write new parameter setting from the ProTuner to the drive settings in the parameters configuration window Parameters Configuration Window Recommend to always keep this window active In this window the user can read the parameter setting from the drive or write parameters setting to the drive after finishing to configure all the settings In addition the user can also save the configuration to a file for later use or load a Tel 086 0755 26434369 21 Web Site www leadshine com A Leadshine Technology Co Ltd configuration from a stored file See figure 22 DM442 Digital Stepping Drive Manual V1 0 Read RAM Read parameter settings from the drive s RAM to the ProTuner Write RAM Write parameter settings from the ProTuenr to the drive s RAM Write EEprom Write parameter settings from the ProTuenr to the drive s EEprom Reset Drive Reset all parameter to default value Load configurations from a file Save configuration to a file Close this window Parameters Configuration Setting Range Current Loop Proport 998 0
15. ed 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 A Leadshine Technology Co Ltd setting the drive output current multiply the specified per phase or unipolar current rating by 1 4 to DM442 Digital Stepping Drive Manual V1 0 determine the peak output current P2 A E 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 offer 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 star
16. eeeeeeeeeeeeaaas PROC UC onere e E E E A E E RECARE E E E E E te atte i E E E TT aa 181 011s E A A EA SE E A A T E ee erry E S ets Zs OPCI CAONS Acetone dats aE wari baseasdsaaarausiacesads address eaadiaacieees Electrical S pe Cit CaliOms crepie NENEN Mechanical Speci Cau ons ssis iaste Salis tes a ese esta nae ate ia ETOO PH I ceetesosta si cat xigateatasans E E E E E Operating Environment and other SpecificationSs sssssseooeeeeesssssssssssssseeeereeee VPNASS Lament and DesCri Pil onenn a Sateen ain nwa o E Conecto PIC OnMe UCAtlOMS yikes icle stan adele E da iolna asain eames Selecting Active Pulse Edge and Control Signal Mode cc eeeessseseeeeeeeeeeees Connector P2 Comm Surat OMS ossaa a aa AEA A Control signal Connector P 1 Iintertace eea REAN J GOmmect ng he WO lOr rinon laces pattie dete A edie ade Connections to 4 lead MOOS pasasaan E Connections to 6 lead Motol eu cnieinnicaneusian ew eand ele Halt Colt ONT SU AMONG aaar E E E E Pull CO nh Co Omit Sue AU ONS ae ce a sen th et E apd Connections toS ead MOOS 0 5 ccssctetactaaattea a e a Sories C ONMECEH OMS ieena AE E AEAEE AER Parallel OMMeCiOns espin N NENA 6 Power Supply SclechOn e a Regulated or Unregulated Power Supply ccccccccccccccceeesssssesseeeeeeceeeeeeeeeeaaas Mili ple DEV CS 2 55 4iiie chet espla i atewreeie a e NCIECHIMS SUPPLY Volta enar ees exacaaicecee N nacre acerca esata 7 Selecting Microstep Resolution and Drive Output
17. he power MOSFETS inside the DM442 can actually operate within 20 40VDC 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 drive 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 36VDC leaving room for power fluctuation and back EMF 7 Selecting Microstep Resolution and Drive 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 4 2A See more information about Microstep and Output Current Setting in Section 13 However when it s not in software configured mode this drive uses an 8 bit DIP switch to set microstep resolution and motor operating current as shown below Dynamic Current Microstep Resolution All ON is software configured All ON is software configured OOF ON 11213 4 s o 7 s8 Standstill Current ON half OFF full Motor auto identification and parameter auto configuration 2 change in 2 second Microstep Resolution Selection When it s not in software configured mode
18. ing distance if the motor is Tel 086 0755 26434369 27 Web Site www leadshine com A Leadshine Technology Co Ltd installed on a machine It is recommended that set low speed and small distance if you are not sure DM442 Digital Stepping Drive Manual V1 0 whether the direction and distance is correct or not Procedure for Achieving Optimum Performance Step 1 Start the motion test by clicking Start Stop button Find a resonance speed by slightly moving the slider bar of internal pulse generator back and forth You can also use the arrow keys to adjust the speed precisely 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 test 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 For example we find a resonance speed at 0 98 rps We begin to move the Amp slider forth and the motor vibration and noise became lower and lower Finally we find the move is the smoothest when Amp 1 is 3300 The motor vibration and noise increase if Amp 1 exceeds 3300 Then we follow the same proced
19. ive Manual V1 0 b t2 DIR must be ahead of PUL active edge by Sus 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 drive incorporates some built in protection functions The DM442 uses one RED LED to indicate what protection has been activated The periodic time of RED is 5 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 drive 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 the limit 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 5 s Over voltage Protection When power supply voltage exceeds 5021 VDC protection will be activated and RED LED will turn on twice within each periodic time 5 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 5 s Attention When above protections are active the motor shaft will be free or the LED will blink Reset the drive by repowering it to make it function properly after removing above
20. lder 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 PA Proluner 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 dont 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 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 installed successfully See Figure 18 Tel 086 0755 26434369 17 Web Site www leadshine com A Leadshine Technology Co Ltd Proluner All Setup DM442 Digital Stepping Drive 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 FilesiPr
21. nt Microstep Elec Damp Idle Current Idle Time Command Type Active Edge and eliminate motor resonance A built in pulse generator can be used for test during tuning See Picture 25 Tel 086 0755 26434369 24 Web Site www leadshine com A Leadshine Technology Co Ltd DM442 Digital Stepping Drive Manual V1 0 SysteaConfiz StepperConfig PeakCur A 2 00 MircoStep lg Elec Damp 11000 Idle Curent 50 Idle time s 2000 5 CommandType ActiveEdge DirectionDef f PUL DIR Cw CCW Rising Falling Low High 1st ResonanceArea Ampi i0 ee mG SOUTER CE IS DT E E ETC Phase1 0 1 2st ResonanceArea 3st ResonanceArea Amp3 128 Phase3 1128 InternalPulser ST xO 01 ps V Bidirectional V Positive Interval ms 50 Repeats 5 Distancefr f 0 Ba Figure 25 System Configure Window PeakCur Peak Current The value is the peak current to the selected motor and can be set from 0 1 to 4 2 A The user can set the peak current with ProTuner or DIP switches see more information about setting output current of the drive in section 5 Connecting the Motor and section 7 Selecting Microstep Resolution and Drive Output Current MicroStep Microstep Resolution The value is drive 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 drive in section 7 Selecting Microstep
22. oTuner All Shortcut folder ProTuner All Please click Next to proceed with the installation PA Pro uner All Setup Installing ProTuner All Please wait Installing Files Seeking TT Cancel Figure 17 Installing the ProTuner Tel 086 0755 26434369 18 Web Site www leadshine com A Leadshine Technology Co Ltd ProTuner All Setup DM442 Digital Stepping Drive 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 Finish Figure 18 Finish installation Connections and Testing Connect the stepping system according to the contents in previous sections and connect the PC to the drive 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 DM442 has default parameters stored in the drive If the system has no hardware and wirings problem the motor should be locked and the drive 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 drive status by clicking Err_check If
23. oltage to decrease noise heating and improve reliability Regulated or Unregulated Power Supply Both regulated and unregulated power supplies can be used to supply the drive 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 drive 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 drive 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 Technology Co Ltd Multiple Drives DM442 Digital Stepping Drive Manual V1 0 It is recommended to have multiple drives 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 drives Instead please connect them to power supply separately Selecting Supply Voltage T
24. ons that require low speed smoothness Compared to the DM432C DM442 can output more current 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 Features Anti Resonance provides optimum torque and nulls mid range instability Motor self test and parameter auto setup technology offers optimum responses with different motors Multi Stepping allows a low resolution step input to produce a higher microstep output for smooth system performance Microstep resolutions programmable from Supply voltage up to 40 VDC Output current programmable from 0 5A to 4 2A Pulse input frequency up to 200 KHz TTL compatible and optically isolated input Automatic idle current reduction Reduction rate can be software configured Support PUL DIR and CW CCW modes Over voltage over current phase error full step to 102 400 steps rev protections Applications Suitable for a wide range of stepping motors from NEMA frame 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 DM442 an ideal solution for applications that require both low speed smoothness and high speed performances MI Tel 086 0755 26434369 1 Web Site www leadshine com A Leadshine Technology Co Ltd 2 Specifications DM442 Digit
25. ontact 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 31 Web Site www leadshine com Gq Heacarene Technology fc 260 DM442 Digital Stepping Drive Manual V1 0 Contact Us China Headquarters Address 3 F Block 2 Nanyou Tianan Industrial Park Nanshan District Shenzhen China Web http www leadshine com 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 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 Leadshine U S A Address 25 Mauchly Suite 318 Irvine California 92618 Tel 1 301 433 3780 Fax 1 301 637 2718 Web hitp www leadshineUSA com Email usa_sales leadshine com and cli leadshine com Tel 086 0755 26434369 32 Web Site www leadshine com
26. ors 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 23 and remember to save the settings to the drive by clicking Write EEprom in parameters configuration window when finish tuning Auto button Click this button to auto configure Kp and Ki for the connected motor It has the same effect as changing SW4 two times in one second Tel 086 0755 26434369 23 Web Site www leadshine com A Leadshine Technology Co Ltd DM442 Digital Stepping Drive Manual V1 0 Kp 356 Kae 15 I test Figure 24 Kp 356 Ki 15 poor performances Notes However if the user does not want to tune the current loop after changing a different stepping motor then Motor self test and parameter auto setup technology of the DM442 can replace manual tuning the drive with ProTuner Just changes SW4 two times in 1 second without ProTuner or click Auto button and then the drive will auto identify the new motor and auto configure related control parameters for optimum responses Recommend use this function after changing the driven motor SystemConfig In SystemConfig window the user can configure Peak Curre
27. 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 5us at least 4 5V when DIR HIGH 0 0 5V when DIR LOW Please note that rotation direction is also related to motor drive wiring match Exchanging the connection of two wires for a coil to the drive will reverse motion direction Tel 086 0755 26434369 3 Web Site www leadshine com A Leadshine Technology Co Ltd Selecting Active Pulse Edge and Control Signal Mode DM442 Digital Stepping Drive Manual V1 0 The DM442 supports PUL DIR and CW CCW modes and pulse actives at rising or falling edge See more information about these settings in Section 13 Default setting is PUL DIR mode and rising edge active NPN and PNP control signal is on the contrary Connector P2 Configurations Pin Function Details Vdc Power supply 20 40 VDC Including voltage fluctuation and EMF voltage GND Power Ground A A Motor Phase A B B Motor Phase B 4 Control Signal Connector P1 Interface The DM442 can accept differential and single ended inputs including open collector and PNP output The DM442 has 3 optically isolated logic inputs which are located on connector P1 to accept line drive control signals These inp
28. rs are highly resonant which results in vibration and ringing The ringing utilizes a large fraction of the motor s available torque thereby wasting performance Furthermore at mid range velocities the resonance can become so severe that the motor looses synchronization and stalls The DM442 drive provides robust anti resonance control to stop the vibrations and maintain equilibrium This feature requires that the drive 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 Tel 086 0755 26434369 26 Web Site www leadshine com A Leadshine Technology Co Ltd th anti resonant loop in the drive The anti resonant feature is not designed to damp such a 4 order DM442 Digital Stepping Drive Manual V1 0 system If the application of anti resonance results in degradation or instability it should be disabled 1 ResonanceArea Parameters for 1 resonance area It is u
29. se eacauaaiesseaceeasat 21 Parameters Configuration Window cccccccccceccceceeeeeseseseeeeeeceeeeeeeeeeeaaas 21 SUING sp dooce earache E TE AEE A TEE A A AOA AEE TE 22 Anti Resonance Mtroducti on sresti err a aati 26 Int ernal Pluser Pulse Generator oresar naa a a 21 Procedure for Achieving Optimum Performance cccccececeeeeeeeeeeeeees 28 a A 29 ADO U oeo a n E T ae ea 30 APEE NDD oee E E nny cre Maren reer ne eer er ect ry ere 31 Contents D Leadshine Technology Co Ltd Twelve Month Limited Warranty ccccccsccccccccceceeeeaeeeessesseeeeecceseeeeeeeeaaas 31 DM442 Digital Stepping Drive Manual V1 0 1 Introduction Features and Applications Exe SIONS arais E Oer rE Or ES eE 31 ODL aime Warranty SCV IC ensina a a a 31 Introduction eA EEI ONS EEEE TEE ENTE ORITA TETEE ENT EEE EITE ETTET 31 The DM442 is a versatility fully digital stepping drive based on a DSP with advanced control COOMIACE IS P E E T A E 32 algorithm The DM442 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 self test and parameter auto setup 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 drives in the markets Its unique features make the DM442 an ideal solution for applicati
30. shine com Leadshine Technology Co Ltd DM442 Digital Stepping Drive 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 is set too high Tel 086 0755 26434369 14 Web Site www leadshine com A Leadshine Technology Co Ltd 13 Professional Tuning Software ProTuner DM442 Digital Stepping Drive Manual V1 0 Introduction This section will provide an overview of connection and basic setup instructions for Leadshine s digital stepping drive DM442 using the ProTuner software These instructions will walk you through the following steps necessary to start up your drive and motor This section is intended for setting up the drive with the ProTuner Software Installation The ProTuner is windows based setup software for tuning Leadshine s digital stepper drive DM442 It can run in windows systems including Win95 Win98 WindowsNT Windows 2000 Windows XP And the selected PC should have 1 serial port at least for communicating with the drive Double click ProTuner_DM442_V2 0 exe to begin installing the ProTuner See Figure 11 Click Next to enter the License Agreement window See Figure 12 Note The user can get it from either Leadshine CD or website Please get the latest version
31. sually between 0 6rps and 1 2rps Amp 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 It is usually between 1 2rps and 2 4rps Default Amp2 and Phase2 values are zero 3 ResonanceArea Parameters for 3 resonance area It is usually between 2 4rps and 4 8rps Default Amp3 and Phase3 values are 128 Internal Pluser Pulse Generator The internal pulse generator offers a simple motion control for self test and anti resonance tuning The user can adjust moving velocity configure the direction and repeats of the motion Bidirectional Click the check box to make the motion be bidirectional Otherwise the motor only run in one direction Positive It is used to change the initial direction for the motion Interval Stop time before the next motion repeat Unit ms Repeats Motion repeat times If it is bidirectional one repeat is moving forward then back Distance Moving distance in one direction in revolution Start Stop Start Stop the motion Note When you adjust the velocity by moving the slider forth and back the motor velocity would not change immediately as you expected That is because the drive only read the new speed when it changes direction Also be careful about the initial direction and mov
32. t 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 A B B Figure 7 8 lead motor series connections Tel 086 0755 26434369 6 Web Site www leadshine com A Leadshine Technology Co Ltd Parallel Connections DM442 Digital Stepping Drive 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 DM442 can match medium and small size stepping motors from NEMA frame size 14 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 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 v
33. ure to search the best point for Phase 1 See Figure 26 Anti resonance tuning is done Please remember to click Write EEprom to write the final parameter settings to the drive when finish tuning Tel 086 0755 26434369 28 Web Site www leadshine com A Leadshine Technology Co Ltd SysteaConfig DM442 Digital Stepping Drive Manual V1 0 StepperConfig PeakCurlA 2 00 MircoStep E Elec Damp 11000 Idle Current 50 Idle timefms 2000 ia CommandType ActiveEdge DirectionDef PUL DIR Cw CCW Rising Falling f Low High 1st ResonanceArea ampi 3000 j MMMlA Phase1 74 R a o E E E E E e E 2st ResonanceArea Amp2 0 as EE aa au Ga oa a au aa Phase2 0 pE n ct a ar i Sa ar 3st ResonanceArea Amp3 128 Phase3 f128 IntemalPulser Repeats 5 Distancefr 1o Do Figure 26 1 Anti Resonance Tuning Speed 0 98rps Err_check Error Check This window shows both the present status of each error event and their history Current error event s can be reset by clicking Erase Current Err button and all error events 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 27 Err Check Figure 27 Error check window Tel 086 0755 26434369 29 Web Site www leadshine com A Leadshine Technology Co Ltd OverCurrent Over current Protection Protection will be activated when continuous current exceeds 16A
34. uts are isolated to minimize or eliminate electrical noises coupled onto the drive control signals Recommend use line drive control signals to increase noise immunity of the drive in interference environments In the following figures connections to open collector and PNP signals are illustrated Driver vcc O Figure 2 Connections to open collector signal common anode Tel 086 0755 26434369 4 Web Site www leadshine com A Leadshine Technology Co Ltd Controller DM442 Digital Stepping Drive Manual V1 0 GND ae ss Figure 3 Connection to PNP signal common cathode 5 Connecting the Motor The DM442 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 drive output current multiply the specified phase current by 1 4 to determine the peak output current P2 A B B Figure 4 4 lead Motor Connections Connections to 6 lead Motors Like 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 stat
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