Leadshine Technology DM870 User manual

User sManual
For
DM870
FullyDigital SteppingDrive
Version 1.0
2009All RightsReserved
Attention:Pleaseread thismanual carefullybeforeusingthe Drive!
3/F, Block 2, NanyouTiananIndustrialPark, NanshanDist, Shenzhen, China
T: (86)755-26434369 F: (86)755-26402718
Website: www.leadshine.com E-Mail: [e-mail]
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.
2009byLeadshineTechnologyCompanyLimited.
AllRightsReserved

Contents
I
TableofContents
1. Introduction, FeaturesandApplications....................................................................1
Introduction...........................................................................................................1
Features.................................................................................................................1
Applications..........................................................................................................1
2. Specifications............................................................................................................2
ElectricalSpecifications........................................................................................2
MechanicalSpecifications.....................................................................................2
EliminationofHeat...............................................................................................2
OperatingEnvironmentandotherSpecifications..................................................3
3. PinAssignmentandDescription...............................................................................3
ConnectorP1 Configurations................................................................................4
SelectingActivePulseEdgeandControlSignalMode........................................4
ConnectorP2 Configurations................................................................................4
4. ControlSignalConnector(P1)Interface...................................................................5
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.......................................9
MicrostepResolutionSelection............................................................................9
CurrentSettings...................................................................................................10
Contents
II
Dynamiccurrentsetting..............................................................................10
Standstill currentsetting..............................................................................10
8. Wiring Notes...........................................................................................................11
9. TypicalConnection..................................................................................................11
10. Sequence ChartofControlSignals.......................................................................12
11. ProtectionFunctions..............................................................................................12
Over-currentProtection...............................................................................12
Over-voltageProtection..............................................................................13
PhaseErrorProtection.................................................................................13
ProtectionIndications..................................................................................13
12. FrequentlyAskedQuestions..................................................................................13
ProblemSymptomsand PossibleCauses............................................................14
13. ProfessionalTuningSoftwareProTuner................................................................15
Introduction.........................................................................................................15
SoftwareInstallation...........................................................................................15
ConnectionsandTesting.....................................................................................19
RS232 Interface Connection...............................................................................19
TestingtheSteppingSystem...............................................................................19
SoftwareIntroduction..........................................................................................20
ProTunerMain Window..............................................................................20
ComConfig Window..................................................................................21
Tuning.........................................................................................................21
Anti-ResonanceIntroduction......................................................................25
ProcedureforAchieving OptimumPerformance........................................26
APPENDIX.................................................................................................................29
TwelveMonthLimited Warranty........................................................................29
Exclusions...........................................................................................................29
Obtaining WarrantyService................................................................................29
WarrantyLimitations...........................................................................................29
ContactUs...................................................................................................................30

DM870MicrosteppingDriverManual V1.0
Tel:[phone]WebSite: www.leadshine.com
1. Introduction,Featuresand Applications
Introduction
TheDM870isaversatilityfullydigitalsteppingDrivebasedon aDSP withadvancedcontrol
algorithm.TheDM870isthenextgenerationofdigital steppingmotorcontrols.Itbringsaunique
levelofsystemsmoothness,providingoptimumtorqueandnullsmid-rangeinstability.Motor
auto-identificationand parameterauto-configurationtechnologyoffersoptimumresponseswith
differentmotorsandeasy-to-use.Thedrivenmotorscanrunwithmuchsmallernoise,lower
heating,smoothermovementthanmostoftheDrivesinthemarkets.Itsuniquefeaturesmakethe
DM870anidealsolutionforapplicationsthatrequirelow-speedsmoothness.
ComparedtotheDM432C,broaderinputvoltageandoutputcurrentrangesmaketheDM870can
drivemuchmoremotorsthantheDM432C.What smore,owingtoitshigherperformanceDSP,
drivenmotorscanachievemuchhigherspeed(above3000RPM)thanthatoftheDM432C,
offeringservo-likeperformances.ItcanberegardedasanimprovedmodeloriginfromDM556,
whilesupportsbroaderinputvoltagerange.
Features
lAnti-Resonance,providesoptimumtorque
and nullsmid-rangeinstability
lMotorauto-identificationandparameter
auto-configurationtechnology,offers
optimum responseswithdifferent motors
lMulti-Steppingallowsalowresolutionstep
inputtoproduceahighermicrostepoutput
forsmoothsystemperformance
lMicrostepresolutionsprogrammable,from
full-stepto102,400steps/rev
lSupplyvoltageupto+72VDC
lOutputcurrentprogrammable,from0.5Ato
7.0A
lPulseinputfrequencyup to200KHz
lTTLcompatibleandopticallyisolatedinput
lAutomaticidle-current reduction
lSuitablefor2-phaseand4-phasemotors
lSupportPUL/DIRand CW/CCWmodes
lOver-voltage, over-current,phase-error
protections
Applications
Suitableforawiderangeofsteppingmotors,fromNEMAsize17to34.Itcanbeusedinvarious
kindsofmachines,suchaslasercutters, lasermarkers,highprecisionX-Ytables,labelingmachines,
andsoon.ItsuniquefeaturesmaketheDM870anidealsolution forapplicationsthatrequireboth
low-speedsmoothnessandhigh speedperformances.
DM870DigitalSteppingDriverManualV1.0
Tel:[phone]WebSite: www.leadshine.com
2. Specifications
ElectricalSpecifications(Tj= 25 /77℉)
DM870
Parameters Min Typical Max Unit
Output current 0.5 - 7.0(5.0RMS) A
Supplyvoltage +24 +48 +72 VDC
Logicsignal current 7 10 16 mA
Pulseinputfrequency 0 - 200 kHz
Isolationresistance 500 MΩ
MechanicalSpecifications(unit: mm [inch], 1 inch= 25.4 mm)
Figure 1:Mechanicalspecifications
EliminationofHeat
lDrive sreliableworkingtemperatureshouldbe<70 (158 ),and motorworkingtemperature
shouldbe<80 (176 );
lItisrecommendedtouseautomaticidle-currentmode,namelycurrentautomaticallyreduceto
60%whenmotorstops,soastoreduceDriveheatingand motorheating;
lTheDrivemustbemountedverticallytomaximizeheatsinkareaasshowninthefollowing
picture. Useforcedcoolingmethodtocool thesystemifnecessary.

DM870DigitalSteppingDriverManualV1.0
Tel:[phone]WebSite: www.leadshine.com
Operating EnvironmentandotherSpecifications
Cooling Natural CoolingorForcedcooling
Environment Avoiddust, oil fog andcorrosivegases
AmbientTemperature 0 －40 (32 －104 )
Humidity 40%RH －90%RH
OperatingTemperature 70 (158 )Max
OperatingEnvironment
Vibration 5.9m/s2 Max
StorageTemperature -20 －65 (-4 －149 )
Weight Approx. 280g(10oz)
3. PinAssignmentand Description
TheDM870hastwoconnectors,connectorP1forcontrolsignalsconnections,and connectorP2for
powerandmotorconnections.Thefollowingtablesarebriefdescriptionsofthetwoconnectors.
Moredetaileddescriptionsofthepinsandrelatedissuesarepresentedinsection4,5, 9.
Important NOTE：Thedrivermustbemountedvertically onto
aplateoraheatsinkingtomaximizeheatsinkareaasshown
intheabovepicture.Pleaseuseadditionalheatsinkingorcool
fanifnecessary.
DM870DigitalSteppingDriverManualV1.0
Tel:[phone]WebSite: www.leadshine.com
ConnectorP1 Configurations
PinFunction Details
PUL+
PUL-
Pulsesignal: Insinglepulse(pulse/direction)mode,thisinputrepresentspulse
signal,eachrisingorfallingedgeactive(softwareconfigurable);4-5Vwhen
PUL-HIGH,0-0.5VwhenPUL-LOW.Indoublepulsemode(pulse/pulse),
thisinputrepresentsclockwise(CW)pulse，activebothathighlevelandlow
level(softwareconfigurable).Forreliableresponse,pulsewidthshouldbe
longerthan2.5μs.Seriesconnectresistorsforcurrent-limitingwhen+12Vor
+24Vused. ThesameasDIRandENAsignals.
DIR+
DIR-
DIRsignal: Insingle-pulsemode,thissignalhaslow/highvoltagelevels,
representingtwodirectionsofmotorrotation;indouble-pulsemode(software
configurable),thissignaliscounter-clock(CCW)pulse，activebothathigh
level andlowlevel(softwareconfigurable).Forreliablemotionresponse,DIR
signalshouldbeaheadofPULsignalby5μsatleast.4-5VwhenDIR-HIGH,
0-0.5VwhenDIR-LOW.Pleasenotethatrotationdirection isalsorelatedto
motor-Drivewiringmatch.Exchangingtheconnectionoftwowiresforacoil
totheDrivewillreversemotion direction.
ENA+
ENA-
Enablesignal: Thissignalisusedforenabling/disablingtheDrive.Highlevel
(NPNcontrolsignal,PNPand Differentialcontrolsignalsareonthecontrary,
namelyLowlevelforenabling.)forenablingtheDriveandlowlevelfor
disablingtheDrive.Usuallyleft UNCONNECTED (ENABLED).
SelectingActivePulseEdgeandControlSignalMode
TheDM870 supportsPUL/DIRand CW/CCWmodesand pulseactivesat risingorfallingedge. See
moreinformationaboutthesesettingsinSection13.DefaultsettingisPUL/DIRmodeand rising
edgeactive(NPN, andPNPcontrolsignal isonthecontrary).
ConnectorP2 Configurations
PinFunction Details
+Vdc Powersupply, 24~72VDC,IncludingvoltagefluctuationandEMFvoltage.
GND PowerGround.
A+,A- MotorPhaseA
B+, B- MotorPhaseB

DM870DigitalSteppingDriverManualV1.0
Tel:[phone]WebSite: www.leadshine.com
4. ControlSignalConnector(P1)Interface
TheDM870canacceptdifferentialandsingle-endedinputs(includingopen-collectorandPNP
output). TheDM870has3opticallyisolatedlogicinputswhicharelocatedonconnectorP1toaccept
lineDrivecontrolsignals. Theseinputsareisolatedtominimizeoreliminateelectricalnoisescoupled
ontothedrivecontrolsignals.Recommend uselineDrivecontrolsignalstoincreasenoiseimmunity
oftheDriveininterference environments.Inthefollowingfigures,connectionstoopen-collectorand
PNPsignalsareillustrated.
Figure 2:Connectionstoopen-collectorsignal(common-anode)
Figure 3:ConnectiontoPNPsignal(common-cathode)
5. ConnectingtheMotor
TheDM870candriveany2-pahseand 4-pahsehybridsteppingmotors.
Connectionsto 4-leadMotors
4leadmotorsaretheleastflexiblebuteasiesttowire.Speedandtorquewilldepend onwinding
DM870DigitalSteppingDriverManualV1.0
Tel:[phone]WebSite: www.leadshine.com
inductance.InsettingtheDriveoutputcurrent,multiplythespecifiedphasecurrentby1.4to
determinethepeakoutput current.
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)current ratingby1.4to
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

DM870DigitalSteppingDriverManualV1.0
Tel:[phone]WebSite: www.leadshine.com
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
TheDM870canmatchmediumandsmall sizesteppingmotors(fromNEMAframesize17to34)
madebyLeadshineorothermotormanufacturesaroundtheworld.Toachievegooddriving
performances,it isimportanttoselectsupplyvoltageandoutputcurrentproperly.Generallyspeaking,
supplyvoltagedeterminesthehighspeedperformanceofthemotor,whileoutputcurrentdetermines
DM870DigitalSteppingDriverManualV1.0
Tel:[phone]WebSite: www.leadshine.com
theoutputtorqueofthedrivenmotor(particularlyatlowerspeed).Highersupplyvoltagewillallow
highermotorspeedtobeachieved,atthepriceofmorenoiseand heating.Ifthemotionspeed
requirementislow,it sbettertouselowersupplyvoltagetodecreasenoise,heatingand improve
reliability.
Note:MEANWELL DRP-240-24(24VDC, 240Watt powersupply)mustbeselectedinorder
tomakethewholesystemcomplywithULstandardsforsafety.
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
ItisrecommendedtohavemultipleDrivestoshareonepowersupplytoreducecost, ifthesupply
hasenoughcapacity.Toavoidcrossinterference, DONOT daisy-chainthepowersupplyinputpins
oftheDrives.Instead,pleaseconnectthem topowersupplyseparately.
Selecting Supply Voltage
ThepowerMOSFETSinsidetheDM870canactuallyoperatewithin+24~+80VDC,including
powerinputfluctuationandbackEMFvoltagegeneratedbymotorcoilsduringmotorshaft
deceleration.Highersupplyvoltagecanincreasemotortorqueathigherspeeds,thushelpfulfor
avoidinglosingsteps.However,highervoltagemaycausebiggermotorvibrationatlowerspeed,and
itmayalsocauseover-voltageprotection orevenDrivedamage.Therefore,it issuggestedtochoose
onlysufficientlyhighsupplyvoltageforintendedapplications,and itissuggestedtousepower
supplieswiththeoreticaloutputvoltageof+24 ~+72VDC,leaving roomforpowerfluctuationand
back-EMF.

DM870DigitalSteppingDriverManualV1.0
Tel:[phone]WebSite: www.leadshine.com
7. SelectingMicrostepResolutionand DriveOutputCurrent
Microstepresolutionsandoutputcurrentareprogrammable,theformercanbesetfromfull-stepto
102,400steps/revandthelattercanbesetfrom0.5Ato7.0A.See moreinformation about Microstep
and OutputCurrentSetting inSection13.
However,whenit snotinsoftwareconfiguredmode,thisDriveusesan8-bitDIPswitchtoset
microstepresolution,andmotoroperatingcurrent, asshownbelow:
MicrostepResolutionSelection
Whenit snotinsoftwareconfiguredmode,microstepresolutionissetbySW5,6,7,8oftheDIP
switch asshowninthefollowingtable:
Microstep Steps/rev.(for1.8 motor) SW5 SW6 SW7 SW8
1to512 Default/Software configured ON ON ON ON
2 400 OFF ON ON ON
4 800 ON OFF ON ON
8 1600 OFF OFF ON ON
16 3200 ON ON OFF ON
32 6400 OFF ON OFF ON
64 12800 ON OFF OFF ON
128 25600 OFF OFF OFF ON
5 1000 ON ON ON OFF
10 2000 OFF ON ON OFF
20 4000 ON OFF ON OFF
25 5000 OFF OFF ON OFF
40 8000 ON ON OFF OFF
50 10000 OFF ON OFF OFF
DM870DigitalSteppingDriverManualV1.0
Tel:[phone] WebSite: www.leadshine.com
100 20000 ON OFF OFF OFF
125 25000 OFF OFF OFF OFF
CurrentSettings
Foragivenmotor,higherDrivecurrentwillmakethemotortooutputmoretorque,butatthesame
timecausesmoreheatinginthemotorandDrive. Therefore, outputcurrentisgenerallyset tobesuch
thatthemotorwill notoverheatforlongtimeoperation.Since paralleland serialconnectionsof
motorcoilswill significantlychangeresultinginductanceandresistance,it isthereforeimportantto
setDriveoutputcurrentdependingon motorphasecurrent, motorleadsandconnection methods.
PhasecurrentratingsuppliedbymotormanufacturerisimportantinselectingDrivecurrent,however
theselectionalsodependsonleadsand connections.
Whenit snotinsoftwareconfiguredmode,thefirstthreebits(SW1,2, 3)oftheDIPswitchareused
tosetthedynamiccurrent.Selectasettingclosest toyourmotor srequiredcurrent.
Dynamiccurrentsetting
PeakCurrent RMSCurrent SW1 SW2 SW3
Default/Software configured(0.5to7.0A) OFF OFF OFF
2.6A 1.8A ON OFF OFF
3.4A 2.4A OFF ON OFF
4.0A 2.8A ON ON OFF
4.8A 3.4A OFF OFF ON
5.4A 3.8A ON OFF ON
6.1A 4.3A OFF ON ON
7.0A 5.0A ON ON ON
Notes: Duetomotorinductance,theactualcurrentinthecoil maybesmallerthanthedynamic
currentsetting,particularlyunderhighspeedcondition.
Standstillcurrentsetting
SW4isusedforthispurpose.OFFmeaningthatthestandstill currentissettobehalfoftheselected
dynamiccurrent,andONmeaningthatstandstillcurrentissettobethesameastheselecteddynamic
current.

DM870DigitalSteppingDriverManualV1.0
Tel:[phone]WebSite: www.leadshine.com
Thecurrentautomaticallyreducedto60%oftheselecteddynamiccurrentonesecond afterthelast
pulse.Theoretically,thiswillreduce motorheatingto36%(duetoP=I2*R)oftheoriginalvalue.If
theapplicationneedsadifferentstandstill current, pleasecontact Leadshine.
8. WiringNotes
lInordertoimproveanti-interference performance oftheDrive,itisrecommendedtouse
twistedpairshieldcable.
lTopreventnoiseincurredinPUL/DIRsignal,pulse/directionsignalwiresandmotorwires
shouldnotbetieduptogether.Itisbettertoseparatethembyatleast10cm,otherwisethe
disturbingsignalsgeneratedbymotorwilleasilydisturbpulsedirectionsignals,causingmotor
positionerror,system instabilityand otherfailures.
lIf apowersupplyservesseveralDrives,separatelyconnectingtheDrivesisrecommended
insteadofdaisy-chaining.
lItisprohibitedtopulland plugconnectorP2whiletheDriveispoweredON,becausethereis
highcurrentflowingthroughmotorcoils(evenwhenmotorisatstandstill).Pullingorplugging
connectorP2withpoweronwill causeextremelyhigh back-EMFvoltagesurge,whichmay
damagetheDrive.
9.TypicalConnection
Acompletesteppingsystemshouldincludesteppingmotor,steppingDrive,powersupplyand
controller(pulsegenerator).Atypical connection isshownasfigure9.
Figure 9:Typicalconnection
DM870DigitalSteppingDriverManualV1.0
Tel:[phone] WebSite: www.leadshine.com
10. SequenceChartofControlSignals
Inordertoavoidsomefaultoperationsanddeviations,PUL,DIRandENAshouldabidebysome
rules,shownasfollowingdiagram:
Figure 10:Sequence chartofcontrolsignals
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.
11. ProtectionFunctions
Toimprovereliability,theDriveincorporatessomebuilt-inprotectionfunctions.TheDM870 uses
oneREDLEDtoindicatewhatprotectionhasbeenactivated.TheperiodictimeofREDis3s
(seconds),and howmanytimestheREDturnsonindicateswhatprotectionhasbeenactivated.
BecauseonlyoneprotectioncanbedisplayedbyREDLED,sotheDrivewilldecidewhaterrorto
displayaccordingtotheirpriorities.Seethefollowing ProtectionIndications tablefordisplaying
priorities.
Over-currentProtection
Over-currentprotectionwill beactivatedwhencontinuouscurrentexceeds16Aorincaseofshort
circuitbetweenmotorcoilsorbetweenmotorcoil andground,and REDLEDwillturnononce
withineachperiodictime(3s).

DM870DigitalSteppingDriverManualV1.0
Tel:[phone] WebSite: www.leadshine.com
Over-voltageProtection
Whenpowersupplyvoltageexceeds91±1VDC,protection will beactivatedandREDLEDwill
turnontwice withineachperiodictime(3s).
PhaseErrorProtection
Motorpowerlineswrong&notconnectedwill activatethisprotection.REDLEDwill turnon four
timeswithineachperiodictime(3s).
Attention: Whenaboveprotectionsareactive,themotorshaftwill befreeortheLEDwill turnred.
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
12. FrequentlyAskedQuestions
Intheevent thatyourDrivedoesn toperateproperly,thefirststepistoidentifywhethertheproblem
iselectricalormechanicalinnature. Thenextstepistoisolatethesystemcomponentthatiscausing
theproblem. Aspart ofthisprocess youmayhavetodisconnecttheindividual componentsthatmake
up yoursystemandverifythattheyoperateindependently.Itisimportanttodocumenteachstepin
thetroubleshootingprocess.Youmayneedthisdocumentationtoreferbacktoatalaterdate,and
thesedetailswill greatlyassistourTechnicalSupportstaffindeterminingtheproblemshouldyou
needassistance.
Manyoftheproblemsthataffectmotioncontrolsystemscanbetracedtoelectricalnoise,controller
softwareerrors, ormistakeinwiring.
DM870DigitalSteppingDriverManualV1.0
Tel:[phone] WebSite: www.leadshine.com
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

DM870DigitalSteppingDriverManualV1.0
Tel:[phone] WebSite: www.leadshine.com
13. ProfessionalTuningSoftwareProTuner
Introduction
Thissectionwillprovideanoverviewofconnectionand basicsetup instructionsforLeadshine s
digitalsteppingDriveDM870usingthe ProTuner software.Theseinstructionswill walkyouthrough
thefollowingstepsnecessarytostartup yourDriveandmotor.Thissectionisintendedforsettingup
theDrivewiththe ProTuner.
SoftwareInstallation
The ProTuner iswindowsbasedsetupsoftwarefortuningalltheLeadshine sdigitalDrivesincludes
steppingDriveDM870.Itcanruninwindowssystems,includingWin95/Win98/WindowsNT/
Windows2000/WindowsXP.And theselectedPCshouldhave1serialportatleastfor
communicatingwiththeDrive.
Doubleclick “ProTuner_All_Setup_V1.0.exe”tobegininstallingthe ProTuner. SeeFigure11.Click
Next toenterthe “LicenseAgreement”window. SeeFigure12.
Figure 11:Begintoinstall the ProTuner
Note:ProTuner_All_Setup_V1.0.exe canbeusedforallLeadshinedigitaldrives.Usercan
getitfromeitherLeadshineCDorwebsite.Pleasegetthelatestversionfrom
http://www.leadshine.com.
DM870DigitalSteppingDriverManualV1.0
Tel:[phone] WebSite: www.leadshine.com
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

DM870DigitalSteppingDriverManualV1.0
Tel:[phone] WebSite: www.leadshine.com
Figure 14:Installation foldersettings
Figure 15:Shortcutfoldersetting
Setthe “ShortcutFolder”inFigure15andcontinuetoinstallthe ProTuner byfollowingFigure16
andFigure17.An InstallationSuccessful windowwillappearifthe ProTuner isinstalled
successfully. SeeFigure18.
DM870DigitalSteppingDriverManualV1.0
Tel:[phone] WebSite: www.leadshine.com
Figure 16:Installation informationsummarization
Figure 17:Installing the ProTuner

DM870DigitalSteppingDriverManualV1.0
Tel:[phone] WebSite: www.leadshine.com
Figure 18:Finishinstallation
ConnectionsandTesting
ConnectthesteppingsystemaccordingtothecontentsinprevioussectionsandconnectthePCtothe
Driveasthefollowingfigure.
RS232 InterfaceConnection
Figure 19:RS232interface connection
Testing theStepping System
Turnonthepowersupply,thegreen(Power)LEDwilllight.TheDM870 hasdefaultparameters
storedintheDrive.Ifthesystemhasnohardwareandwiringsproblem,themotorshouldbelocked
and theDriveshouldbeready.
If theredLEDimmediatelyturnson (flickers),thencheckpowersupply,themotor,motorwirings
DM870
DM870DigitalSteppingDriverManualV1.0
Tel:[phone] WebSite: www.leadshine.com
andtryagain.Openthetuningsoftware ProTuner andcheckDrivestatusbyclicking Err_check.If
it s PhaseError,checkthemotor,motorwiringsandtryagain.Ifitstill doesn tworkafteryou
followedall oftheprevioussteps,pleasecontactusat [e-mail].
If theREDLEDisoffand themotorisnormal,thenyoucanstarttotunetheservo with ProTuner.
However, werecommend youseethefollowingcontentsbeforestartingtuning.
SoftwareIntroduction
ProTuner MainWindow
Figure 20:ProTuner
ØOption
Theusercanchoosethree drop-downmenusbyclicking “Option”,including ComConfig,
SaveToDrive and Exit.
lComConfig:ConfigureComcommunicationinterface.
lSaveToDrive: DownloadthecurrentparametersettingstotheDrive.
MenuBar
StatusBar

DM870DigitalSteppingDriverManualV1.0
Tel:[phone] WebSite: www.leadshine.com
lExit: Exit the ProTuner.
ComConfigWindow
Figure 21:RS232communication configurationwindow
Serial Port: Selecttheserial communicationport towhichtheDriveisconnected. Thefactorydefault
settingisCOM1.
BaudRate: Selectthecommunication baudrate. Thefactorydefaultsettingis38400.
Click Open buttontoestablishaconnectionwiththespecifiedsettings.Whenconnecting,youcan
choose SaveToDrive todownloadthecurrentparametersettingstotheDrive,ortouploadthestored
Drivesettingsintothe ProTuner byclicking Tuning > PositionLoop onthemenubar.
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
largecurrenterror,causingpoorperformancesintrackingcurrentsettingcommand ineachsteplike
Figure23.Too largeProportionalGainvalueswill causeoscillationsandunstablesystems.
DM870DigitalSteppingDriverManualV1.0
Tel:[phone] WebSite: www.leadshine.com
Figure 22:CurrentTuningwindow
Ki: IntegralGain.IntegralGainhelpstheDrivetoovercomestaticcurrenterrors.Aloworzero
valuefortheIntegralGainmayhavecurrenterrorsatrest. IncreasingtheIntegralGaincanreducethe
error. IftheIntegralGainistoo large,thesystemsmay “hunt”(oscillate)about thedesiredposition.
Start button:TheusercanstartaStepResponsetestbyclickingthisbutton.Start/RestartaStep
ResponsetesttogetanoptimumresponselikeFigure22,andremembertosavethesettingstothe
Drivewhenfinishtuning. SeeFigure24.
Figure 23:Kp=543, Ki=0(poorperformances)

DM870DigitalSteppingDriverManualV1.0
Tel:[phone] WebSite: www.leadshine.com
Figure 24:Finishtuningandsavesetting tothe Drive
Notes:
However,iftheuserdoesnotwanttotunethecurrentloopafterchangingadifferentsteppingmotor,
then Motorauto-identificationand parameterauto-configuration technologyoftheDM870 can
replacemanualtuningtheDrivewith ProTuner.JustchangesSW4twotimesin1second,and then
theDrivewill auto-identifythenewmotorandauto-configurerelatedcontrolparametersforoptimum
responses. Recommend usethisfunctionafterchangingthedrivenmotor.
lSystemConfig:
In SystemConfig window,theusercanconfigurePeakCurrent,Microstep,Command Type,Active
Edge,andeliminatemotorresonance.Abuilt-inpulsegeneratorcanbeusedfortestduringtuning.
See Picture25.
PeakCur: PeakCurrent.Thevalueisthepeakcurrent totheselectedmotorandcanbesetfrom0.5
to5.6A.Theusercansetthepeakcurrentwith ProTuner orDIPswitches,seemoreinformation
aboutsettingoutputcurrentoftheDriveinsection5 “ConnectingtheMotor”andsection7
“SelectingMicrostepResolutionandDriveOutputCurrent”.
MicroStep: MicrostepResolution.ThevalueisDrive smicrostepresolutionsettingandcanbeset
from1to512.Theusercansetthemicrostepwith ProTuner orDIPswitches,Seemoreinformation
aboutsettingoutputcurrentoftheDriveinsection 7 “SelectingMicrostepResolutionandDrive
OutputCurrent”.
DM870DigitalSteppingDriverManualV1.0
Tel:[phone] WebSite: www.leadshine.com
Figure 25:SystemConfigwindow
ElecDamp:ElectronicDampingCoefficient.Theelectronicdampingrestrainresonanceofthe
systemand preventamplitudeoftheoscillationfromincreasingtotheextendthatit makesthemotor
out ofcontrol. Theoptimalvaluedependsonthesystem, andthedefaultvalueis3000.
CommandType:Command Type ofcontrolsignal,includingPUL/DIRand CW/CCW.Setthis
parameteraccordingto Command Type ofmotioncontroller.
ActiveEdge:ActiveEdge. Theusercansetthetriggerededgeofpulsecommand signal inthispanel.
WhentheDriveworksinCW/CCWmode,nomatterwhatlevelisatfixedlevelterminal, theDrive
canworksproperly.
DirectionDef:DirectionDefinition. Relatethedefaultrunningdirectionto aHIGH levelinputin
DIRor Low level inputinDIR.ThispanelisusedforPUL/DIRcommand typeonly.Pleasenotethat
thedefaultdirectionisalsorelatedtomotorcoil connections.

DM870DigitalSteppingDriverManualV1.0
Tel:[phone] WebSite: www.leadshine.com
Anti-ResonanceIntroduction
Stepmotorsarehighlyresonant, whichresultsinvibrationandringing.Theringingutilizesalarge
fractionofthemotor'savailabletorque –therebywastingperformance.Furthermore,atmid-range
velocities,theresonance canbecomesoseverethatthemotorloosessynchronizationandstalls.The
DM870Driveprovidesrobustanti-resonancecontroltostopthevibrationsandmaintainequilibrium.
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-resonantfeatureisnotdesignedtodampsucha4th order
system. Iftheapplication ofanti-resonanceresultsindegradationorinstability, it shouldbedisabled.
1
st ResonanceArea:Parametersfor1st resonancearea. Usuallybetween0.6rpsand1.2rps.
Amp1 isAmplitudeadjustmentfor1st resonance area.
Phase1 isPhaseadjustmentfor1st resonancearea.Theusercanenteravaluedirectlyinthetextbox
ormovethesliderbarbackandforthtogetanoptimumvalue.
2
nd ResonanceArea:Parametersfor2 nd resonancearea. Usuallybetween1.2rpsand2.4rps.
Default Amp2 and Phase2 valuesarezero.
3rd ResonanceArea:Parametersfor3rd resonancearea. Usuallybetween2.4rpsand4.8rps. Default
Amp3 and Phase3 valuesare128.
InternerPulser: ThereisaninternalpulsegeneratordesignedforDriveself-testingand
anti-resonancetuning. You canissueamotionbythissimplecontroller.
Cycle checkbox:Themotionwillrepeatifthisboxischecked.
Reverse checkbox:Themotorshaftwillreversedirectionifthisboxischecked.
Interval editbox:Thestoptimebetweeneachcycle, unitis millisecond.
Repeat edit box:Total motioncycles.
DM870DigitalSteppingDriverManualV1.0
Tel:[phone] WebSite: www.leadshine.com
Length editbox:Movedistanceofeachcycle, unitis revolution.
Start/Stop button:TheusercanStart/Stopamotion testbyclickingthisbutton.
ProcedureforAchievingOptimumPerformance
Step1: Startthemotiontestbyclicking Start/Stop button.Findanresonance speedbyslightly
movingthesliderbarofinternalpulsegeneratorbackandforth.See Figure26.
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.
Pleaseremembertoclick SavetoDrive todownloadthefinalparametersettingstotheDrivewhen
finishtuning.SeeFigure27.
Figure 26:Anti-resonance tuning

DM870DigitalSteppingDriverManualV1.0
Tel:[phone] WebSite: www.leadshine.com
Figure 27:Finishing tuninganddownloadparametersettingstothe Drive
ØErr_check
lErrorCheck:Thiswindowshowsboththepresentstatusofeacherroreventandtheirhistory.
Currenterrorevent(s)canberesetbyclicking EraseCurrentErr! button,andallerrorevents
canberesetbyclicking EraseAll! button.Listofthelasttendrivefaults.#0beingthemost
recent, #9istheoldest.SeeFigure28.
Figure 28:Errorcheckwindow
OverCurrent: Over-currentProtection.Protection willbeactivatedwhencontinuouscurrent
exceeds16A.
DM870DigitalSteppingDriverManualV1.0
Tel:[phone] WebSite: www.leadshine.com
OverVoltage:Over-voltageProtection.Whenpowersupplyvoltageexceeds91±1VDC,protection
willbeactivated.
PhaseErr: PhaseErrorProtection.Motorpowerlineswrong&notconnectedwillactivatethis
protection.
ErrCounter: Displayscurrenterror(s)andcurrenterrorhistory.
EraseCurrentErr!:EraseCurrentErr button.Theusercanclearcurrenterror(s)byclickingthis
button.
EraseAll!: EraseAll! button.Theusercanclearallerror(s)includingerrorhistorybyclickingthis
button.
ØAbout
Theusercanchoosetwodrop-downmenusbyclicking “About”,including ProductInformation and
ContactUs.
lProductInformation window:Showssomeproduct information about ProTuner.
lContactUs window: Showssomecontactinformationabout Leadshine.
Figure 29:Productinformation
Figure 30:Contactinformation

DM870MicrosteppingDriverManual V1.0
Tel:[phone] WebSite: www.leadshine.com
APPENDIX
TwelveMonthLimitedWarranty
LeadshineTechnologyCo., Ltd.warrantsitsproductsagainstdefectsinmaterialsand
workmanshipforaperiodof12monthsfromshipment outoffactory.Duringthewarrantyperiod,
Leadshinewilleither,atitsoption,repairorreplaceproductswhichprovedtobedefective.
Exclusions
Theabovewarrantydoesnotextendtoanyproduct damagedbyreasonsofimproperorinadequate
handlingsbycustomer,improperorinadequatecustomerwirings,unauthorizedmodificationor
misuse,oroperationbeyond theelectricalspecificationsoftheproductand/oroperationbeyond
environmentalspecificationsfortheproduct.
ObtainingWarranty Service
Toobtainwarrantyservice,areturnedmaterialauthorizationnumber(RMA)mustbeobtained
fromcustomerserviceate-mail: [e-mail] beforereturningproductforservice.
CustomershallprepayshippingchargesforproductsreturnedtoLeadshineforwarrantyservice,
and Leadshineshallpayforreturnofproductstocustomer.
Warranty Limitations
Leadshinemakesnootherwarranty,eitherexpressedorimplied,withrespecttotheproduct.
Leadshinespecificallydisclaimstheimpliedwarrantiesofmerchantabilityand fitnessfora
particularpurpose.Somejurisdictionsdonotallowlimitationsonhowlongandimpliedwarranty
lasts,sotheabovelimitationorexclusionmaynot applytoyou. However, anyimpliedwarrantyof
merchantabilityorfitnessislimitedtothe12-monthdurationofthiswrittenwarranty.
Shipping FailedProduct
If yourproductfailduringthewarrantyperiod,e-mailcustomerserviceat [e-mail] to
obtainareturnedmaterialauthorizationnumber(RMA)beforereturningproductforservice.
Pleaseincludeawrittendescriptionoftheproblemalongwithcontactnameandaddress.Send
failedproducttodistributorinyourareaor:LeadshineTechnologyCo., Ltd.3/F,Block2,Nanyou
TiananIndustrialPark,NanshanDist,Shenzhen,China. Alsoencloseinformationregardingthe
circumstancespriortoproductfailure.
DM870DigitalSteppingDriverManualV1.0
Tel:[phone] WebSite: www.leadshine.com
ContactUs
ChinaHeadquarters
Address: 3/F,Block2,NanyouTiananIndustrialPark,Nanshan District Shenzhen, China
Web: http://www.leadshine.com
SalesHotLine:
Tel: [phone](forAll)
86-755-2641-7674(forAsia,Australia,Africaareas)
86-755-2640-9254(forEurope,Americaareas)
Fax: [phone]
Email: [e-mail].
TechnicalSupport:
Tel: [phone]and86-755-2647-1129
Fax: [phone]
Email: [e-mail] and [e-mail].
LeadshineU.S.A
Address: 25Mauchly, Suite318Irvine, California92618
Tel: [phone]
Fax: [phone]
Web: http://www.leadshineUSA.com
Email: [e-mail] and [e-mail].
LeadshineHongKong
Address: Rm3,9/F,BlockE, WahLokIndustrialCenter,31-41 ShanMeiSt., FoTan,
Shatin,HongKong
Tel: [phone]
Fax: [phone]
Email: [e-mail].