Leadshine Technology AM882 User manual

User sManual
For
AM882
FullyDigital SteppingDrive
Version 1.0
2010All RightsReserved
Attention:Pleaseread thismanual carefullybeforeusingthe drive!
The contentinthismanualhasbeencarefullypreparedand isbelievedtobeaccurate,butno
responsibilityisassumedforinaccuracies.
Leadshinereservestherighttomakechangeswithoutfurthernoticetoanyproductshereinto
improvereliability,function ordesign.Leadshinedoesnotassumeanyliabilityarisingoutofthe
applicationoruseofanyproductorcircuitdescribedherein;neitherdoesitconveyanylicense
underitspatentrightsofothers.
Leadshine sgeneralpolicydoesnotrecommend theuseofitsproductsinlifesupportoraircraft
applicationswhereinafailureormalfunctionoftheproductmaydirectlythreatenlifeorinjury.
AccordingtoLeadshine stermsandconditionsofsales,theuserofLeadshine sproductsinlife
supportoraircraftapplicationsassumesall risksofsuchuseandindemnifiesLeadshineagainst all
damages.
2010byLeadshineTechnologyCompanyLimited.
AllRightsReserved

Contents
I
TableofContents
1. Introduction, FeaturesandApplications....................................................................1
Introduction...........................................................................................................1
Features.................................................................................................................1
Applications..........................................................................................................2
2. Specifications............................................................................................................2
ElectricalSpecifications........................................................................................2
MechanicalSpecifications.....................................................................................2
EliminationofHeat...............................................................................................3
OperatingEnvironmentandotherSpecifications..................................................3
3. PinAssignmentandDescription...............................................................................3
ConnectorP1 Configurations................................................................................3
SelectingActivePulseEdgeandControlSignalMode........................................4
ConnectorP2 Configurations................................................................................4
4. ControlSignalConnector(P1)Interface...................................................................4
5. Connecting theMotor................................................................................................5
Connectionsto4-leadMotors...............................................................................5
Connectionsto6-leadMotors...............................................................................6
HalfCoil Configurations...............................................................................6
FullCoil Configurations................................................................................6
Connectionsto8-leadMotors...............................................................................7
SeriesConnections........................................................................................7
ParallelConnections......................................................................................7
6. PowerSupplySelection............................................................................................7
RegulatedorUnregulatedPowerSupply..............................................................8
MultipleDrives.....................................................................................................8
SelectingSupplyVoltage.......................................................................................8
7. SelectingMicrostepResolutionand DriveOutputCurrent.......................................8
MicrostepResolutionSelection............................................................................9
CurrentSettings.....................................................................................................9
Contents
II
Dynamiccurrentsetting......................................................................................10
Standstill currentsetting......................................................................................10
AutoconfigurationbySW4................................................................................10
Setactiveedge.....................................................................................................11
8. Selectconfigurationfordifferentmotor..................................................................11
9. Wiring Notes...........................................................................................................11
10. TypicalConnection................................................................................................12
11. SequenceChartofControlSignals........................................................................12
12. Protection Functions..............................................................................................13
Over-currentProtection...............................................................................13
Over-voltageProtection..............................................................................13
PhaseErrorProtection.................................................................................13
Sensorless Stall Protection..........................................................................13
ProtectionIndications..................................................................................14
13. FrequentlyAskedQuestions..................................................................................14
ProblemSymptomsand PossibleCauses............................................................15
14. ProfessionalTuningSoftwareProTuner................................................................16
Introduction.........................................................................................................16
SoftwareInstallation...........................................................................................16
ConnectionsandTesting.....................................................................................20
RS232 Interface Connection...............................................................................20
TestingtheSteppingSystem...............................................................................20
SoftwareIntroduction..........................................................................................21
ProTunerMain Window..............................................................................21
ProTunerToolbar.........................................................................................21
Option..........................................................................................................22
ComConfig Window..................................................................................22
ParametersConfiguration Window.............................................................22
Tuning.........................................................................................................23
Anti-ResonanceIntroduction......................................................................28
InternalPluser.............................................................................................28

Contents
III
ProcedureforAchievingOptimumPerformance........................................29
Err_check....................................................................................................30
About...........................................................................................................31
AM882DigitalSteppingDriveManual V1.0
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1. Introduction,Featuresand Applications
Introduction
TheAM882isaversatilityfullydigitalsteppingdrivebasedonaDSPwithadvancedcontrol
algorithm.TheAM882isthenextgenerationofdigital steppingmotorcontrols.Itbringsaunique
levelofsystemsmoothness,providingoptimumtorqueandnullsmid-rangeinstability.Motor
self-testandparameterauto-setuptechnologyoffersoptimumresponseswithdifferentmotorsand
easy-to-use.Thedrivenmotorscanrunwithmuchsmallernoise,lowerheating,smoother
movementthanmostofthedrivesinthemarkets.ItsuniquefeaturesmaketheAM882anideal
solutionforapplicationsthatrequirelow-speedsmoothness.
TheAM882 buildsthe*sensorlessstall detection functiontoeliminatethecostoffeedback
deviceandcabling.Apartfromtheautoconfiguration,ithasextra16selectablebuilt-in
auto-configuration parameterswhicharebestmatchtoLeadshinesteppingmotors.
*Note:AtpresenttheAM882 onlydetectmotorstall whenrunning speed>300RPM.
Features
lSensorlesstall detection,eliminatescostoffeedbackdeviceandcabling(>300RPM)
lAnti-Resonance,providesoptimum torqueandnullsmid-rangeinstability
lMotorauto-identificationand parameterauto-configurationtechnology,offersoptimum
responseswithdifferentmotors
lBuilt-inauto-configuration parametersfor16Leadshinesteppingmotor
lMulti-Steppingallowsalowresolutionstepinputtoproduceahighermicrostepoutputfor
smoothsystemperformance
lMicrostepresolutionsprogrammable, fromfull-stepto102,400steps/rev
lSupplyvoltageupto+80VDC,Output currentprogrammable,from0.1Ato8.2A
lPulseinputfrequencyup to200KHz
lTTLcompatibleandopticallyisolatedinput
lAutomaticidle-current reductionandsoftwareconfiguredreduction rate
lSuitablefor2-phaseand4-phasemotors
lSupportPULSE/DIRECTION and CW/CCWmodes
lOver-voltage, over-current,phase-errorprotections

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Applications
Suitableforawiderangeofsteppingmotors,fromNEMAframesize17to34.Itcanbeusedin
variouskindsofmachines,suchaslasercutters,lasermarkers,highprecisionX-Ytables,labeling
machines,andsoon.ItsuniquefeaturesmaketheAM882anidealsolutionforapplicationsthat
requirebothlow-speedsmoothnessandhighspeedperformances.
2. Specifications
ElectricalSpecifications(Tj= 25 /77℉)
Parameters
Min Typical Max Unit
Output current 0.1 - 8.2(5.86RMS)
A
Supplyvoltage +20 +68 +80 VDC
Logicsignal current 7 10 16 mA
Pulseinputfrequency 0 - 200 kHz
Isolationresistance 500 MΩ
MechanicalSpecifications(unit: mm [inch])
151 [ 5.945]
139 [ 5.472]
97[3.819] 52[ 2.047]
14.5[ 0.571]
4.5[0.177]
Figure 1:Mechanicalspecifications
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EliminationofHeat
lDrive sreliableworkingtemperatureshouldbe<70 (158 ),and motorworkingtemperature
shouldbe<80 (176 );
lItisrecommendedtouseautomaticidle-currentmode,namelycurrentautomaticallyreduceto
60%whenmotorstops,soastoreducedriveheatingandmotorheating;
lItisrecommendedtomount thedriveverticallytomaximize heatsinkarea.Useforcedcooling
methodtocool thesystem ifnecessary.
Operating EnvironmentandotherSpecifications
Cooling Natural CoolingorForcedcooling
Environment Avoiddust, oil fog andcorrosivegases
AmbientTemperature 0 －50 (32 －122 )
Humidity 40%RH －90%RH
OperatingTemperature 70 (158 )Max
OperatingEnvironment
Vibration 5.9m/s2 Max
StorageTemperature -20 －65 (-4 －149 )
Weight Approx. 570g(20oz)
3. PinAssignmentand Description
TheAM882hastwoconnectors,connectorP1forcontrolsignalsconnections,and connectorP2for
powerandmotorconnections.Thefollowingtablesarebriefdescriptionsofthetwoconnectors.
Moredetaileddescriptionsofthepinsandrelatedissuesarepresentedinsection4,5, 9.
ConnectorP1 Configurations
PinFunction Details
PUL﹢
PUL-
Pulsesignal:Insinglepulse(pulse/direction)mode,thisinputrepresentspulse
signal, eachrisingorfallingedgeactive(DIPswitchconfigurable);4-5Vwhen
PUL-HIGH,0-0.5VwhenPUL-LOW.Indoublepulsemode(pulse/pulse),
thisinputrepresentsclockwise(CW)pulse，activebothathighlevelandlow
level.Forreliableresponse,pulsewidthshouldbelongerthan2.5μs.Series
connectresistorsforcurrent-limitingwhen+12Vor+24Vused.Thesameas
DIRandENAsignals.

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DIR+
DIR-
Directionsignal: Insingle-pulsemode,thissignalhaslow/highvoltagelevels,
representingtwodirectionsofmotorrotation;indouble-pulsemode(software
configurable),thissignaliscounter-clock(CCW)pulse，activebothathigh
levelandlowlevel.Forreliablemotionresponse,DIRsignalshouldbeahead
ofPULsignal by5μsatleast. 4-5VwhenDIR-HIGH, 0-0.5VwhenDIR-LOW.
Pleasenotethatrotationdirectionisalsorelatedtomotor-driverwiringmatch.
Exchangingtheconnection oftwowiresforacoil tothedriverwillreverse
motiondirection.
ALM+
ALM-
Alarmsignal: OCoutputsignal,activatedwhenover-voltage,overcurrent,
under-voltage,phase-errorand stall-errorprotection.Outputpolaritycanbe
programmable.30V@100mA.
ENA+
ENA-
Enablesignal: Thissignalisusedforenabling/disablingthedriver.Highlevel
(NPNcontrolsignal,PNPand Differentialcontrolsignalsareonthecontrary,
namelyLowlevelforenabling.)forenablingthedriverandlowlevelfor
disablingthedriver.Usuallyleft UNCONNECTED (ENABLED).
SelectingActivePulseEdgeandControlSignalMode
TheAM882 supportsPULSE/DIRECTION and CW/CCWmodesand pulseactivesatrisingor
fallingedge.See moreinformationaboutthesesettingsinSection13.Defaultsettingis
PULSE/DIRECTION modeand risingedgeactive(NPN,andPNPcontrol signalisonthecontrary).
ConnectorP2 Configurations
PinFunction Details
+Vdc Powersupply, 24~80VDC,IncludingvoltagefluctuationandEMFvoltage.
GND PowerGround.
A+,A- MotorPhaseA
B+, B- MotorPhaseB
4. ControlSignalConnector(P1)Interface
TheAM882canacceptdifferentialandsingle-endedinputs(includingopen-collectorandPNP
output). TheAM882has3opticallyisolatedlogicinputswhicharelocatedonconnectorP1toaccept
linedrivecontrolsignals.Theseinputsareisolatedtominimizeoreliminateelectricalnoisescoupled
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ontothedrivecontrolsignals.Recommend uselinedrivecontrolsignalstoincreasenoiseimmunity
ofthedriveininterferenceenvironments.ThereisalsoanopticallyisolatedOC(opencollector)
outputforthealarmsignalinP1.Inthefollowingfigures,connectionstoopen-collectorand PNP
signalsareillustrated.
Figure 2:Connectionstoopen-collectorsignal(common-anode)
Figure 3:ConnectiontoPNPsignal(common-cathode)
5. ConnectingtheMotor
TheAM882candriveany2-phaseand4-phasehybridsteppingmotors.
Connectionsto 4-leadMotors
4leadmotorsaretheleastflexiblebuteasiesttowire.Speedandtorquewilldepend onwinding
inductance.Insettingthedriveoutputcurrent,multiplythespecifiedphasecurrentby1.4to
determinethepeakoutput current.

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Figure 4:4-leadMotorConnections
Connectionsto 6-leadMotors
Like8leadsteppingmotors,6leadmotorshavetwoconfigurationsavailableforhighspeedorhigh
torqueoperation. Thehigherspeedconfiguration,orhalfcoil,issodescribedbecauseit usesonehalf
ofthemotor sinductorwindings.Thehighertorqueconfiguration, orfullcoil,usesthefullwindings
ofthephases.
HalfCoilConfigurations
Aspreviouslystated,thehalfcoilconfigurationuses50%ofthemotorphasewindings.Thisgives
lowerinductance, hence,lowertorqueoutput. Liketheparallel connectionof8leadmotor, thetorque
outputwillbemorestableathigherspeeds.Thisconfigurationisalsoreferredtoashalfchopper.In
settingthedriveoutputcurrentmultiplythespecifiedperphase(orunipolar)currentratingby1.4to
determinethepeakoutput current.
Figure 5:6-leadmotorhalfcoil (higherspeed)connections
FullCoilConfigurations
Thefullcoil configurationonasixleadmotorshouldbeusedinapplicationswherehighertorqueat
lowerspeedsisdesired.Thisconfigurationisalsoreferredtoasfullcopper.Infull coil mode,the
motorsshouldberunatonly70%oftheirratedcurrenttopreventoverheating.
Figure 6:6-leadmotorfull coil (highertorque)connections
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Connectionsto 8-leadMotors
8leadmotorsofferahighdegreeofflexibilitytothesystemdesignerinthattheymaybeconnected
inseriesorparallel, thussatisfyingawiderangeofapplications.
SeriesConnections
Aseriesmotorconfiguration wouldtypicallybeusedinapplicationswhereahighertorqueatlower
speedsisrequired.Becausethisconfigurationhasthemostinductance,theperformancewillstartto
degradeathigherspeeds.Inseriesmode,themotorsshouldalsoberunat only70%oftheirrated
currenttopreventoverheating.
Figure 7:8-leadmotorseriesconnections
ParallelConnections
An8leadmotorinaparallel configurationoffersamorestable, butlowertorqueatlowerspeeds.But
becauseofthelowerinductance,therewill behighertorqueathigherspeeds.Multiplytheperphase
(orunipolar) currentratingby1.96,orthebipolarcurrent ratingby1.4, todeterminethepeakoutput
current.
Figure 8:8-leadmotorparallelconnections
NEVER disconnect orconnectthemotorwhilethepowersource isenergized.
6. PowerSupplySelection
TheAM882canmatchmediumandsmall sizesteppingmotors(fromNEMAframesize14to34)
madebyLeadshineorothermotormanufacturesaroundtheworld.Toachievegooddriving
performances,it isimportanttoselectsupplyvoltageandoutputcurrentproperly.Generallyspeaking,
supplyvoltagedeterminesthehighspeedperformanceofthemotor,whileoutputcurrentdetermines

AM882DigitalSteppingDriveManual V1.0
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theoutputtorqueofthedrivenmotor(particularlyatlowerspeed).Highersupplyvoltagewillallow
highermotorspeedtobeachieved,atthepriceofmorenoiseand heating.Ifthemotionspeed
requirementislow,it sbettertouselowersupplyvoltagetodecreasenoise,heatingand improve
reliability.
RegulatedorUnregulatedPowerSupply
Bothregulatedand unregulatedpowersuppliescanbeusedtosupplythedrive.However,
unregulatedpowersuppliesarepreferredduetotheirabilitytowithstandcurrentsurge.Ifregulated
powersupplies(suchasmostswitchingsupplies.)areindeedused,itisimportanttohavelarge
currentoutputratingtoavoidproblemslikecurrentclamp,forexampleusing4Asupplyfor3A
motor-driveoperation.Ontheotherhand,ifunregulatedsupplyisused,onemayuseapowersupply
oflowercurrent ratingthanthatofmotor(typically50%～70%ofmotorcurrent).Thereasonisthat
thedrivedrawscurrentfromthepowersupplycapacitoroftheunregulatedsupplyonlyduringthe
ON duration ofthePWMcycle,butnotduringtheOFFduration.Therefore,theaveragecurrent
withdrawnfrompowersupplyisconsiderablyless thanmotorcurrent.Forexample,two3Amotors
canbewellsuppliedbyonepowersupplyof4Arating.
MultipleDrives
It isrecommendedtohavemultipledrivestoshareonepowersupplytoreducecost, ifthesupplyhas
enoughcapacity.Toavoidcross interference, DONOT daisy-chainthepowersupplyinputpinsof
thedrives. Instead,pleaseconnectthem topowersupplyseparately.
Selecting Supply Voltage
ThepowerMOSFETSinsidetheAM882canactuallyoperatewithin+20~+80VDC,including
powerinputfluctuationandbackEMFvoltagegeneratedbymotorcoilsduringmotorshaft
deceleration.Highersupplyvoltagecanincreasemotortorqueathigherspeeds,thushelpfulfor
avoidinglosingsteps.However,highervoltagemaycausebiggermotorvibrationatlowerspeed,and
itmayalsocauseover-voltageprotectionorevendrivedamage.Therefore,itissuggestedtochoose
onlysufficientlyhighsupplyvoltageforintendedapplications,and itissuggestedtousepower
supplieswiththeoreticaloutputvoltageof+20 ~+72VDC,leaving roomforpowerfluctuationand
back-EMF.
7. SelectingMicrostepResolutionand DriveOutputCurrent
Microstepresolutionsandoutputcurrentareprogrammable,theformercanbesetfromfull-stepto
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102,400steps/revandthelattercanbesetfrom0.5Ato8.2A.See moreinformation about Microstep
and OutputCurrentSetting inSection14.
However,whenit snotinsoftwareconfiguredmode,thisdriveusesan8-bitDIPswitchtoset
microstepresolution,andmotoroperatingcurrent, standstillcurrentandpulseactiveedgeasshown
inthefollowingfigure:
MicrostepResolutionSelection
MicrostepresolutionissetbySW5,6,7oftheDIPswitch asshowninthefollowingtable:
Microstep Steps/rev.(for1.8 motor) SW5 SW6 SW7
1to512 Default/Software configured ON ON ON
2 400 OFF ON ON
4 800 ON OFF ON
8 1600 OFF OFF ON
16 3200 ON ON OFF
32 6400 OFF ON OFF
64 12800 ON OFF OFF
128 25600 OFF OFF OFF
CurrentSettings
Foragivenmotor,higherdrivecurrentwillmakethemotortooutputmoretorque,butatthesame
timecausesmoreheatinginthemotoranddrive.Therefore,outputcurrentisgenerallysettobesuch
thatthemotorwill notoverheatforlongtimeoperation.Since paralleland serialconnectionsof
motorcoilswill significantlychangeresultinginductanceandresistance,it isthereforeimportantto
setdriveoutputcurrentdependingonmotorphasecurrent, motorleadsand connectionmethods.
Phasecurrentratingsuppliedbymotormanufacturerisimportant inselectingdrivecurrent,however

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theselectionalsodependsonleadsand connections.
Whenit snotinsoftwareconfiguredmode,thefirstthreebits(SW1,2, 3)oftheDIPswitchareused
tosetthedynamiccurrent.Selectasettingclosest toyourmotor srequiredcurrent.
Dynamiccurrentsetting
PeakCurrent RMSCurrent SW1 SW2 SW3
Default/Software configured(0.1to8.2A) ON ON ON
2.7A 1.93A OFF ON ON
3.6A 2.57A ON OFF ON
4.6A 3.29A OFF OFF ON
5.5A 3.93A ON ON OFF
6.4A 4.57A OFF ON OFF
7.3A 5.21A ON OFF OFF
8.2A 5.86A OFF OFF OFF
Notes: Duetomotorinductance,theactualcurrentinthecoil maybesmallerthanthedynamic
currentsetting,particularlyunderhighspeedcondition.
Standstill currentsetting
SW4isusedforthispurpose.OFFmeaningthatthestandstillcurrentissoftwareconfigured,and ON
meaningthatstandstill currentissettobethesameastheselecteddynamiccurrent.
Bydefault,thecurrentautomaticallyreducedto60%oftheselecteddynamiccurrenttwosecond
afterthelastpulse.Theoretically,thiswill reducemotorheatingto36%(duetoP=I2*R)ofthe
originalvalue. ReductionrateandidletimecanbeconfiguredinthePCsoftwareProTuner.See
moreinformationinsection13.
Auto configurationby SW4
ChangeSW4twotimesinonesecond toidentifythemotorparameterafter
power-up ifitisthefirsttimeinstallation.Pleasenotethattherotation
switchposition must be0whenusingthisfunction.
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Setactiveedge
SW8isusedtosettheactiveedgeoftheinputpulsecommand signal. Thedriverwillmakemotor
shaftwouldmoveonemicrostepwhenreceiveoneactivepulseedge.
SW8 ActiveEdge SW8 ActiveEdge
ON Up-rising OFF Following
8. Selectconfigurationfordifferentmotor
Thereisarotationswitchtoselectthebuilt-inconfigurationparametersfor
different motor. Usercanselectthecorrespondingparameteraccordingthemotor
partnumber.Whenitis0,usercantunetheparametersintheconfiguration
softwareorjustactivatetheauto-configurationbySW4.
Motor SwitchPosition Motor SwitchPosition
Default 0 Reserved 8
57HS09 1 Reserved 9
57HS13 2 Reserved A
57SH22 3 ReservedB
86HS35 4 Reserved C
86HS38 5 Reserved D
86HS45 6 Reserved E
86HS85 7 Reserved F
9. WiringNotes
lInordertoimproveanti-interferenceperformanceofthedrive,itisrecommendedtousetwisted
pairshieldcable.
lTopreventnoiseincurredinPULSE/DIRECTION signal,pulse/directionsignalwiresand
motorwiresshouldnotbetiedup together.Itisbettertoseparatethembyatleast10cm,
otherwisethedisturbingsignalsgeneratedbymotorwilleasilydisturbpulsedirectionsignals,
causingmotorpositionerror,system instabilityand otherfailures.
lIf apowersupplyservesseveraldrives,separatelyconnectingthedrivesisrecommended
insteadofdaisy-chaining.

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lItisprohibitedtopull andplugconnectorP2whilethedriveispoweredON,becausethereis
highcurrentflowingthroughmotorcoils(evenwhenmotorisatstandstill).Pullingorplugging
connectorP2withpoweronwill causeextremelyhigh back-EMFvoltagesurge,whichmay
damagethedrive.
10.TypicalConnection
Acompletesteppingsystemshouldincludesteppingmotor,steppingdrive,powersupplyand
controller(pulsegenerator).Atypical connection isshownasfigure9.
Figure 9:Typicalconnection
11. Sequence ChartofControlSignals
Inordertoavoidsomefaultoperationsanddeviations,PUL,DIRandENAshouldabidebysome
rules,shownasfollowingdiagram:
Figure 10:Sequence chartofcontrolsignals
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Remark:
a) t1:ENAmustbeaheadofDIRbyatleast5µs.Usually,ENA+and ENA-areNC(not
connected).See “ConnectorP1Configurations”formoreinformation.
b) t2:DIRmustbeaheadofPULactiveedgeby5µstoensurecorrectdirection;
c) t3:Pulsewidthnotlessthan2.5µs;
d) t4:Lowlevelwidthnotlessthan2.5µs.
12. ProtectionFunctions
Toimprovereliability,thedriveincorporatessomebuilt-inprotectionfunctions.TheAM882uses
oneREDLEDtoindicatewhatprotectionhasbeenactivated.TheperiodictimeofREDis5s
(seconds),andhowmanytimestheREDturnsonindicateswhatprotectionhasbeenactivated.
Becauseonlyoneprotection canbedisplayedbyREDLED, sothedrivewilldecidewhaterrorto
displayaccordingtotheirpriorities.See thefollowing ProtectionIndications tablefordisplaying
priorities.
Over-currentProtection
Over-currentprotection willbeactivatedwhencontinuouscurrentexceedsthelimitorincaseof
shortcircuit betweenmotorcoilsorbetweenmotorcoilandground, andREDLEDwillturnon once
withineachperiodictime(5s).
Over-voltageProtection
Whenpowersupplyvoltageexceeds90±1VDC,protection will beactivatedandREDLEDwill
turnontwice withineachperiodictime(5s).
PhaseErrorProtection
Motorpowerlineswrong&notconnectedwill activatethisprotection.REDLEDwill turnon four
timeswithineachperiodictime(5s).
SensorlessStall Protection
TheAM882 candetect themotorstallstatususingifmotorshaft speedisabove300RPM.Whenthe
detectionisactive,REDLEDwillblinkfivetimeswithineachperiodictime(5s).
Attention: Whenaboveprotectionsareactive,themotorshaftwillbefreeortheLEDwillblink.

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Resetthedrivebyrepoweringittomakeitfunctionproperlyafterremovingaboveproblems.Since
thereisnoprotection againstpowerleads(﹢,﹣)reversal, itiscriticaltomakesurethatpower
supplyleadscorrectlyconnectedtodrive.Otherwise, thedrivewill bedamagedinstantly.
ProtectionIndications
Priority
Time(s)ofON Sequence wave ofREDLED Description
1st 1 Over-currentprotection
2nd 2
Over-voltageprotection
3rd 4 Phase errorprotection
4th 5 Sensorlessstall detection
13. FrequentlyAskedQuestions
Intheeventthatyourdrivedoesn toperateproperly,thefirststepistoidentifywhethertheproblem
iselectricalormechanicalinnature. Thenextstepistoisolatethesystemcomponentthatiscausing
theproblem. Aspart ofthisprocess youmayhavetodisconnecttheindividual componentsthatmake
up yoursystemandverifythattheyoperateindependently.Itisimportanttodocumenteachstepin
thetroubleshootingprocess.Youmayneedthisdocumentationtoreferbacktoatalaterdate,and
thesedetailswill greatlyassistourTechnicalSupportstaffindeterminingtheproblemshouldyou
needassistance.
Manyoftheproblemsthataffectmotioncontrolsystemscanbetracedtoelectricalnoise,controller
softwareerrors, ormistakeinwiring.
AM882DigitalSteppingDriveManual V1.0
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ProblemSymptomsand PossibleCauses
Symptoms PossibleProblems
Nopower
Microstepresolutionsettingiswrong
DIPswitchcurrentsettingiswrong
Fault condition exists
Motorisnotrotating
Thedriveisdisabled
Motorrotatesinthewrongdirection
Motorphasesmaybeconnectedinreverse
DIPswitchcurrentsettingiswrong
Thedriveinfault Somethingwrongwithmotorcoil
Control signal istoo weak
Control signal isinterfered
Wrongmotorconnection
Somethingwrongwithmotorcoil
Erraticmotormotion
Current settingistoo small, losingsteps
Current settingistoo small
Motorisundersizedfortheapplication
Accelerationissettoo high
Motorstallsduringacceleration
Powersupplyvoltagetoo low
Inadequateheatsinking/cooling
Automaticcurrentreductionfunction not beingutilized
Excessivemotorand driveheating
Current issettoo high

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14. ProfessionalTuningSoftwareProTuner
Introduction
Thissectionwillprovideanoverviewofconnectionand basicsetup instructionsforLeadshine s
digitalsteppingdriveAM882 usingthe ProTuner software.Theseinstructionswillwalkyouthrough
thefollowingstepsnecessarytostartupyourdriveandmotor.Thissection isintendedforsettingup
thedrivewiththe ProTuner.
SoftwareInstallation
The ProTuner iswindowsbasedsetup softwarefortuningLeadshine sdigitalstepperdriveAM882.
Itcanruninwindowssystems,includingWin95/Win98/WindowsNT/Windows2000/WindowsXP.
And theselectedPCshouldhave1serialportat leastforcommunicatingwiththedrive.
Doubleclick “ProTuner_AM882_Setup_V2.0.exe”tobegininstallingthe ProTuner.SeeFigure11.
Click Next toenterthe “LicenseAgreement”window. SeeFigure12.
Figure 11:Begintoinstall the ProTuner
Note:TheusercangetthesoftwarefromeitherLeadshineCDorwebsite.Pleasegetthelatest
versionfrom http://www.leadshine.com.
AM882DigitalSteppingDriveManual V1.0
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Figure 12:License agreement
Choose “Iagree tothetermsofthislicenseagreement”andclick Next tocontinueinstallation.The
usercanenteruser sinformationinthefollowingwindow.SeeFigure13.Afterenteringtheuser s
information, click Next toselectinstallationfolder,whereyouwouldliketoinstall the ProTuner.See
Figure14.
Figure 13:User sinformationsettings

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Figure 14:Installation foldersettings
Figure 15:Shortcutfoldersetting
Setthe “ShortcutFolder”inFigure15andcontinuetoinstallthe ProTuner byfollowingFigure16
andFigure17.An InstallationSuccessful windowwillappearifthe ProTuner isinstalled
successfully. SeeFigure18.
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Figure 16:Installation informationsummarization
Figure 17:Installing the ProTuner

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Figure 18:Finishinstallation
ConnectionsandTesting
ConnectthesteppingsystemaccordingtothecontentsinprevioussectionsandconnectthePCtothe
driveasthefollowingfigure.
RS232 InterfaceConnection
Figure 19:RS232interface connection
Testing theStepping System
Turnon thepowersupply,thegreen(Power) LEDwilllightandblink.TheAM882hasdefault
parametersstoredinthedrive.Ifthesystemhasnohardwareandwiringsproblem, themotorshould
belockedand thedriveshouldbeready.
If theredLEDimmediatelyturnson (flickers),thencheckpowersupply,themotor,motorwirings
AM882
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and tryagain.Openthetuningsoftware ProTuner and checkdrivestatusbyclicking Err_check.If
it s PhaseError,checkthemotor,motorwiringsandtryagain.
If theREDLEDisOFFandthemotorisnormal,thenyoucanstarttotunetheservo with ProTuner.
However, werecommend youseethefollowingcontentsbeforestartingtuning.
SoftwareIntroduction
ProTunerMainWindow
Figure 20:ProTuner
ProTunerToolbar
MenuBar
StatusBar
ComConfiguration
CurrentLoopTuning
ParametersConfiguration
SystemConfigure
ErrorCheck
Contact Information
Product Information
Exit

AM882DigitalSteppingDriveManual V1.0
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Option
Theusercanchoosethreedrop-downmenusbyclicking “Option”,including ComConfiguration,
ParametersConfiguration,and Exit.
lComConfiguration:ConfigureComcommunicationinterface.
lParameteresConfiguration: Read/writeparametersbetweenthedriveandtheProTuner, or
saveconfigurationasafileandloadconfigurationfromafile.
lExit: Exit the ProTuner.
ComConfigWindow
Figure 21:RS232communication configurationwindow
SerialPort: Selecttheserialcommunication porttowhichthedriveisconnected.Thefactorydefault
settingisCOM1.
BaudRate: Selectthecommunication baudrate. Thefactorydefaultsettingis38400.
Click Open buttontoestablishaconnectionwiththespecifiedsettings.Whenconnecting,youcan
readstoredparametersettingfromthedrivetotheProTuner,orwritenewparametersettingfromthe
ProTunertothedrivesettingsinthe parametersconfiguration window.
ParametersConfigurationWindow
Recommend toalwayskeepthiswindowactive.Inthiswindow,theusercanreadtheparameter
settingfromthedrive,orwriteparameterssettingtothedriveafterfinishingtoconfigureallthe
settings.Inaddition,theusercanalsosavetheconfigurationtoafileforlateruseorloada
AM882DigitalSteppingDriveManual V1.0
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configurationfromastoredfile.Seefigure22.
ReadRAM: Readparametersettingsfrom thedrive sRAMtotheProTuner.
WriteRAM: WriteparametersettingsfromtheProTuenrtothedrive sRAM.
WriteEEprom: WriteparametersettingsfromtheProTuenrtothedrive sEEprom.
ResetDrive: Reset allparametertodefaultvalue.
Figure 22:Parametersconfiguration window
Tuning
Theusercanchooseoneortwodrop-downmenu(s)byclicking Tuning,including CurrentLoop and
SystemConfig.
lCurrentLoop:InCurrentTuningwindow,theusercantunethe Kp (ProportionalGain)and
Ki (IntegralGain) ofdrive scurrentlooptooptimizeresponseswithdifferentmotors.
Start/RestartaStepResponsetesttogetanoptimum response.
Kp:ProportionalGain.ProportionalGaindeterminestheresponseofthedrivetocurrentsetting
command.LowProportionalGainprovidesastablesystem(doesn toscillate),haslowstiffness,and
Loadconfigurationsfromafile
Saveconfigurationtoafile
Closethiswindow.
SaveconfigurationtoEEprom

AM882DigitalSteppingDriveManual V1.0
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largecurrenterror,causingpoorperformancesintrackingcurrentsettingcommand ineachsteplike
Figure23.Too largeProportionalGainvalueswill causeoscillationsandunstablesystems.
Figure 23:CurrentTuningwindow
Ki: Integral Gain.IntegralGainhelpsthedrivetoovercomestaticcurrenterrors. Aloworzerovalue
fortheIntegralGainmayhavecurrenterrorsatrest. IncreasingtheIntegralGaincanreducetheerror.
If theIntegralGainistoo large,thesystemsmay “hunt”(oscillate)aboutthedesiredposition.
Start button:TheusercanstartaStepResponsetestbyclickingthisbutton.Start/RestartaStep
ResponsetesttogetanoptimumresponselikeFigure23,andremembertosavethesettingstothe
drivebyclicking WriteEEprom in parametersconfiguration windowwhenfinishtuning.
Auto button:Clickthisbutton toauto-configureKpandKifortheconnectedmotor.Ithasthesame
effect aschangingSW4twotimesinonesecond.
AM882DigitalSteppingDriveManual V1.0
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Figure 24:Kp=300, Ki=15 (poorperformances)
Notes:
However,iftheuserdoesnotwanttotunethecurrentloopafterchangingadifferentsteppingmotor,
then Motorself-testand parameter auto-setup technologyoftheAM882 canreplacemanualtuning
thedrivewith ProTuner. JustchangesSW4twotimesin1second(withoutProTuner),orclick Auto
button,andthenthedrivewillauto-identifythenewmotorand auto-configurerelatedcontrol
parametersforoptimum responses. Recommend usethisfunctionafterchangingthedrivenmotor.
lSystemConfig:
In SystemConfig window,theusercanconfigurePeakCurrent,Microstep,ElecDamp,IdleCurrent,
IdleTime,CommandType,ActiveEdgeandeliminatemotorresonance.Abuilt-inpulsegenerator
canbeusedfortest duringtuning.SeePicture25.

AM882DigitalSteppingDriveManual V1.0
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Figure 25:SystemConfigure Window
PeakCur: PeakCurrent.Thevalueisthepeakcurrent totheselectedmotorandcanbesetfrom0.1
to8.2A.Theusercansetthepeakcurrentwith ProTuner orDIPswitches,seemoreinformation
aboutsettingoutputcurrentofthedriveinsection5 “ConnectingtheMotor”andsection 7
“SelectingMicrostepResolutionandDriveOutputCurrent”.
MicroStep: MicrostepResolution.Thevalueisdrive smicrostepresolutionsettingand canbeset
from1to512.Theusercansetthemicrostepwith ProTuner orDIPswitches,Seemoreinformation
aboutsettingoutputcurrentofthedriveinsection7 “SelectingMicrostepResolutionandDrive
OutputCurrent”.
ElecDamp:ElectronicDampingCoefficient.Theelectronicdampingrestrainsresonanceofthe
systemand preventsamplitudeoftheoscillationfromincreasingtotheextent thatitmakesthemotor
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beoutofcontrol. Theoptimalvaluedependsonthesystem, andthedefault valueis3000.
IdleCurrent: StandstillCurrentwhenmotorstop. When themotorstop timeexceedsthe Idle
Time,themotorcoilcurrentreducestoIdleCurrent(Inpercentage).Thepercentageisratedtothe
PeakCurrent.
IdleTime:See IdleCurrent.
AlarmSignal:Setactivelevel forthealarm signal.High foractivehighand Lowforactivelow..
CommandType:Command Type ofcontrolsignal,includingPULSE/DIRECTION and CW/CCW.
Setthisparameteraccordingto Command Type ofmotioncontroller.
ActiveEdge:ActiveEdge. Thisfunction isdisabledinthesoftwarebecauseyoucansetit bytheDIP
switchSW8.See chapter7formoreinformation.
DirectionDef:DirectionDefinition. Relatethedefaultrunningdirectionto aHIGH levelinputin
DIRor Low levelinputinDIR.ThispanelisusedforPULSE/DIRECTION command typeonly.
Pleasenotethatthedefault directionisalsorelatedtomotorcoil connections.
PhaseErrorDetection: Selectwhetherthephaseerrorprotection isactivatedwhenthereisaphase
error.Checktheboxtoenablethephaseerrordetection,Unchecktheboxtodisablethephaseerror
detection.
SensorlessStall Detection: Select whetherthesensorlessstall detectionisactivatedwhenmotorstall.
Checktheboxtoenablethesensorlessstall detectionandunchecktheboxtodisablethephaseerror
detection.
PulseSmoother: Enable/disablethepulsesmoother.Adigitalfilterhasbeenbuilt intotheAM822to
eliminatetherippleoftheinputpulseandsmooththemotion.Checktheboxtoenablethepulse
smootherandunchecktheboxtodisablethesmoother.
ENA Reset: Select whethertheENAsignalcanbeusedtoresetthedriverwhenthealarm isactivated.
ChecktheboxtoallowENAresetandunchecktheboxtodisableit.
Low-activeENA: SelectactivelevelforENA(Enable)input.

AM882DigitalSteppingDriveManual V1.0
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Anti-ResonanceIntroduction
Stepmotorsarehighlyresonant, whichresultsinvibrationandringing.Theringingutilizesalarge
fractionofthemotor'savailabletorque –therebywastingperformance.Furthermore,atmid-range
velocities,theresonance canbecomesoseverethatthemotorloosessynchronizationandstalls.The
AM882 driveprovidesrobustanti-resonancecontroltostop thevibrationsandmaintainequilibrium.
Thisfeaturerequiresthatthedrivebeconfiguredwithrespecttothetotalinertiainthesystem. Ifset
improperly, theeffectivenessofthefeaturemaybediminished.
Theusercaninvokeordisablethefeaturebysetting Amp and Phase valuesin SystemConfig
window. Amp and Phase valuesall zeroistodisablethefeature,otherwiseistoinvokethefeature.It
shouldbeenabledunlessthesystemconfigurationeitherdoesnotneeditorcannottolerateit.A
systemwithloosecouplingsorviscousloadinggenerallydoesnotneedthisfeature.Ifasystemhas
compliant(springy)couplingandisabsentappreciablyviscosity,itmaynotrespondwelltotheactive,
anti-resonantloopinthedrive.Theanti-resonantfeatureisnotdesignedtodampsucha4
th order
system. Iftheapplication ofanti-resonanceresultsindegradationorinstability, it shouldbedisabled.
1
st ResonanceArea:Parametersfor1st resonancearea. It isusuallybetween0.6rpsand1.2rps.
Amp1 isAmplitudeadjustmentfor1st resonance area.
Phase1 isPhaseadjustmentfor1st resonancearea.Theusercanenteravaluedirectlyinthetextbox
ormovethesliderbarbackandforthtogetanoptimumvalue.
2
nd ResonanceArea:Parametersfor2 nd resonance area. Itisusuallybetween1.2rpsand2.4rps.
Default Amp2 and Phase2 valuesarezero.
3rd ResonanceArea:Parametersfor3
rd resonancearea. Itisusuallybetween2.4rpsand4.8rps.
Default Amp3 and Phase3 valuesare128.
InternalPluser(PulseGenerator)
Theinternalpulsegeneratoroffersasimplemotioncontrolforself-testandanti-resonancetuning.The
usercanadjustmovingvelocity, configurethedirection andrepeatsofthemotion.
Bidirectional:Clickthecheckboxtomakethemotionbebidirectional.Otherwisethemotoronlyrun
AM882DigitalSteppingDriveManual V1.0
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inonedirection.
Positive:It isusedtochangetheinitialdirectionforthemotion.
Interval:Stoptimebeforethenextmotionrepeat.Unit:ms.
Repeats:Motionrepeattimes. Ifitisbidirectional, onerepeatismovingforwardthenback.
Distance:Movingdistanceinonedirectioninrevolution.
Start/Stop:Start/Stopthemotion.
Note:
Whenyouadjustthevelocitybymovingthesliderforthandback,themotorvelocitywouldnot
changeimmediatelyasyouexpected.Thatisbecausethedriveonlyreadthenewspeedwhenit
changesdirection.Alsobecarefulabouttheinitialdirectionandmovingdistance ifthemotoris
installedonamachine.It isrecommendedthatset lowspeedandsmalldistance ifyouarenotsure
whetherthedirectionanddistanceiscorrectornot.
ProcedureforAchievingOptimumPerformance
Step1: Startthemotiontestbyclicking Start/Stop button.Findaresonancespeedbyslightlymoving
thesliderbarofinternal pulsegeneratorbackandforth.Youcanalsousethearrowkeystoadjust the
speedprecisely.
Step2: Run themotorattheresonance speedand verifythemotorsmoothness.Youmayfindabetter
smoothingvaluebyslightlymovingthesliderbarsof AMP(s)and Phase(s)backandforth.
Itisveryimportanttomakethe AMP(s)and Phase(s)adjustmentsatthepropertestspeedswithan
unloadedmotor.Runningatanincorrecttestspeedwillnotexcitethemotoratitspeakresonance,
makingit moredifficult tofindproperadjustment values. Optimum AMP(s)and Phase(s)valuesmay
bealittledifferentbetweenrunningthetestswithanunloadedmotorandaloadmotor.
Forexample,wefind aresonancespeedat0.98 rps.We begintomovetheAmp1 sliderforthandthe
motorvibrationandnoisebecamelowerandlower.Finallywefindthemoveisthesmoothestwhen
Amp1 is1400.Themotorvibrationandnoiseincreaseif Amp1 exceeds1400.Thenwefollowthe
sameproceduretosearchthebestpoint for Phase1.SeeFigure26. Anti-resonance tuningisdone.

AM882DigitalSteppingDriveManual V1.0
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Pleaseremembertoclick WriteEEprom towritethefinalparametersettingstothedrivewhenfinish
tuning.
Figure 26:1st Anti -Resonance Tuning(Speed=0.98rps)
Err_check
lErrorCheck:Thiswindowshowsboththepresentstatusofeacherroreventandtheirhistory.
Currenterrorevent(s)canberesetbyclicking EraseCurrentErr! button,andallerrorevents
canberesetbyclicking EraseAll! button.Listofthelasttendrivefaults.#0beingthemost
recent, #9istheoldest.SeeFigure27.
AM882DigitalSteppingDriveManual V1.0
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Figure 27:Errorcheckwindow
OverCurrent: Over-currentProtection.Protection willbeactivatedwhencontinuouscurrent
exceedsthelimit.
OverVoltage:Over-voltageProtection.Whenpowersupplyvoltageexceeds90±1VDC,protection
willbeactivated.
PhaseErr: PhaseErrorProtection.Motorpowerlineswrong&notconnectedwillactivatethis
protection.
ErrCounter: Displayscurrenterror(s)andcurrenterrorhistory.
EraseAll!: EraseAll! button.Theusercanclearallerror(s)includingerrorhistorybyclickingthis
button.
About
Theusercanchoosetwodrop-downmenusbyclicking “About”,including ProductInformation and
ContactUs.
lProductInformation window:Showssomeproduct information about ProTuner.
lContactUs window: Showssomecontactinformationabout Leadshine.
Figure 28:Productinformation

AM882DigitalSteppingDriveManual V1.0
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Figure 29:Contactinformation