Leadshine Technology DM432 User manual

User sManual
For
DM432
FullyDigitalStepping Driver
Version 1.0
2008 All RightsReserved
Attention: Please read thismanualcarefullybefore using the driver!
3/F, Block2, Nanyou Tianan IndustrialPark, Nanshan Dist, Shenzhen, China
T: (86)755-26434369F: (86)755-26402718
Website: www.leadshine.com E-Mail: [e-mail]
The contentinthismanualhas beencarefullypreparedand isbelievedtobeaccurate,butno
responsibilityisassumedforinaccuracies.
Leadshinereserves therighttomake changes withoutfurthernotice toanyproductshereinto
improvereliability,function ordesign.Leadshinedoes notassume anyliabilityarisingoutofthe
applicationoruse ofanyproductorcircuitdescribedherein;neitherdoes itconveyanylicense
underitspatentrightsofothers.
Leadshine sgeneralpolicydoes notrecommend theuse ofitsproductsinlifesupportoraircraft
applicationswhereinafailureormalfunction oftheproductmaydirectlythreatenlifeorinjury.
AccordingtoLeadshine stermsand conditionsofsales,theuserofLeadshine sproductsinlife
supportoraircraftapplicationsassumesall risksofsuchuse andindemnifies Leadshineagainstall
damages.
2008 byLeadshine TechnologyCompanyLimited.
All RightsReserved

Contents
I
Table ofContents
1. Introduction, Featuresand Applications....................................................................1
Introduction...........................................................................................................1
Features.................................................................................................................1
Applications..........................................................................................................1
2. Specifications............................................................................................................2
ElectricalSpecifications........................................................................................2
MechanicalSpecifications.....................................................................................2
Elimination ofHeat...............................................................................................2
Operating Environmentand otherSpecifications..................................................3
3. PinAssignmentand Description...............................................................................3
ConnectorP1Configurations................................................................................3
Selecting ActivePulse Edge and ControlSignalMode........................................4
ConnectorP2Configurations................................................................................4
4. ControlSignalConnector(P1)Interface...................................................................4
5. Connecting the Motor................................................................................................5
Connectionsto 4-lead Motors...............................................................................5
Connectionsto 6-lead Motors...............................................................................5
Half Coil Configurations...............................................................................5
Full Coil Configurations................................................................................6
Connectionsto 8-lead Motors...............................................................................6
SeriesConnections........................................................................................6
ParallelConnections......................................................................................7
6. PowerSupplySelection............................................................................................7
Regulated orUnregulated PowerSupply..............................................................7
Multiple Drivers....................................................................................................8
Selecting SupplyVoltage.......................................................................................8
7. Selecting Microstep Resolution and DriverOutputCurrent.....................................8
Microstep Resolution Selection............................................................................8
CurrentSettings.....................................................................................................9
Contents
II
Dynamic currentsetting..............................................................................10
Standstill currentsetting..............................................................................10
8. Wiring Notes...........................................................................................................10
9. TypicalConnection..................................................................................................11
10. SequenceChart ofControlSignals.......................................................................11
11. Protection Functions..............................................................................................12
Over-currentProtection...............................................................................12
Over-voltage Protection..............................................................................12
PhaseErrorProtection.................................................................................12
Protection Indications..................................................................................13
12. FrequentlyAsked Questions..................................................................................13
ProblemSymptomsand Possible Causes............................................................13
13. ProfessionalTuning Software ProTuner...............................................................15
Introduction.........................................................................................................15
Software Installation...........................................................................................15
Connectionsand Testing.....................................................................................19
RS232 Interface Connection...............................................................................19
Testing the SteppingSystem...............................................................................19
Software Introduction..........................................................................................20
ProTunerMainWindow..............................................................................20
ComConfigWindow..................................................................................21
Tuning.........................................................................................................21
Anti-Resonance Introduction......................................................................24
Procedure forAchieving OptimumPerformance........................................25
APPENDIX.................................................................................................................30
Twelve Month Limited Warranty........................................................................30
Exclusions...........................................................................................................30
Obtaining WarrantyService................................................................................30
WarrantyLimitations...........................................................................................30

DM432 MicrosteppingDriverManual V1.0
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1. Introduction, Features and Applications
Introduction
TheDM432 isaversatilityfullydigitalsteppingdriverbasedon aDSPwithadvancedcontrol
algorithm.TheDM432isthenextgeneration ofdigitalsteppingmotorcontrols.It bringsaunique
levelofsystemsmoothness,providingoptimumtorqueand nullsmid-rangeinstability.Motor
auto-identification andparameterauto-configurationtechnologyoffersoptimumresponses with
differentmotorsand easy-to-use.Thedrivenmotorscanrunwithmuchsmallernoise,lower
heating,smoothermovementthanmostofthedriversinthemarkets.Itsuniquefeatures makethe
DM432anidealsolution forapplicationsthatrequirelow-speedsmoothness.
Features
lAnti-Resonance,provides optimumtorque
and nullsmid-rangeinstability
lMotorauto-identification and parameter
auto-configurationtechnology,offers
optimumresponses withdifferentmotors
lMulti-Steppingallowsalowresolutionstep
inputtoproduce ahighermicrostepoutput
forsmoothsystemperformance
lMicrostepresolutionsprogrammable,from
full-stepto51,200steps/rev
lSupplyvoltageup to+40VDC
lOutputcurrentprogrammable,from0.1Ato
3.2A
lPulse inputfrequencyup to200KHz
lTTLcompatibleandopticallyisolatedinput
lAutomaticidle-currentreduction
lSuitablefor2-phase and 4-phase motors
lSupport PUL/DIR and CW/CCWmodes
lOver-voltage,over-current,phase-error
protections
Applications
Suitableforawiderangeofsteppingmotors,fromNEMAsize 14to23.It canbeusedinvarious
kindsofmachines,suchaslasercutters,lasermarkers,highprecisionX-Ytables,labelingmachines,
and soon.Itsuniquefeatures maketheDM432 anidealsolution forapplicationsthatrequire
low-speedsmoothness.
DM432 DigitalSteppingDriverManualV1.0
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2. Specifications
ElectricalSpecifications(Tj= 25 )
DM432
Parameters
Min Typical Max Unit
Outputcurrent 0.1 - 3.2(2.3RMS) A
Supplyvoltage +20 - +40 VDC
Logicsignalcurrent 7 10 16 mA
Pulse inputfrequency 0 - 200 kHz
Isolationresistance 500 MΩ
MechanicalSpecifications(unit:mm, 1 inch = 25.4 mm)
Figure 1:Mechanicalspecifications
Elimination ofHeat
lDriver sreliableworkingtemperatureshouldbe<60 ,andmotorworkingtemperatureshould
be<80;
lIt isrecommendedtouse automaticidle-currentmode,namelycurrentautomaticallyreduce to
60%whenmotorstops, soas toreduce driverheatingandmotorheating;
lIt isrecommendedtomountthedriververticallytomaximize heatsinkarea. Use forcedcooling

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method tocoolthesystemifnecessary.
Operating Environmentand otherSpecifications
Cooling NaturalCoolingorForcedcooling
Environment Avoiddust, oilfogand corrosivegases
AmbientTemperature 0 50
Humidity 40%RH 90%RH
OperatingTemperature 70Max
OperatingEnvironment
Vibration 5.9m/s2 Max
StorageTemperature -20 65
Weight Approx. 190g(6.8oz)
3. PinAssignmentand Description
TheDM432has twoconnectors,connectorP1forcontrolsignalsconnections,andconnectorP2for
powerand motorconnections.Thefollowingtables arebriefdescriptionsofthetwoconnectors.
Moredetaileddescriptionsofthepinsandrelatedissues arepresentedinsection4,5,9.
ConnectorP1Configurations
PinFunction Details
PUL+
PUL-
Pulse signal: Insinglepulse (pulse/direction)mode,thisinputrepresentspulse
signal,eachrisingorfallingedgeactive(softwareconfigurable); 4-5Vwhen
PUL-HIGH,0-0.5VwhenPUL-LOW.Indoublepulse mode(pulse/pulse),
thisinputrepresentsclockwise (CW)pulse，activebothathighleveland low
level(softwareconfigurable).Forreliableresponse,pulse widthshouldbe
longerthan2.5μs.Series connectresistorsforcurrent-limitingwhen+12Vor
+24Vused.Thesameas DIR and ENAsignals.
DIR+
DIR-
DIR signal: Insingle-pulse mode,thissignalhas low/highvoltagelevels,
representingtwodirectionsofmotorrotation;indouble-pulse mode(software
configurable),thissignaliscounter-clock(CCW)pulse，activebothathigh
leveland lowlevel(softwareconfigurable).Forreliablemotionresponse,DIR
signalshouldbeaheadofPULsignalby5μsatleast.4-5VwhenDIR-HIGH,
0-0.5VwhenDIR-LOW.Please notethatrotationdirectionisalsorelatedto
motor-driverwiringmatch.Exchangingtheconnectionoftwowires foracoil
tothedriverwill reverse motion direction.
ENA+
ENA-
Enablesignal: Thissignalisusedforenabling/disablingthedriver.Highlevel
(NPNcontrolsignal,PNPandDifferentialcontrolsignalsareon thecontrary,
namelyLowlevelforenabling.)forenablingthedriverand lowlevelfor
disablingthedriver. Usuallyleft UNCONNECTED(ENABLED).
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Selecting Active Pulse Edgeand ControlSignalMode
TheDM432supportsPUL/DIR and CW/CCWmodes and pulse activeatrisingorfallingedge.See
moreinformation aboutthese settingsinSection13.Default settingisPUL/DIR modeand rising
edgeactive(NPN, and PNPcontrolsignalison thecontrary).
ConnectorP2Configurations
PinFunction Details
+Vdc Powersupply, 20~40VDC, IncludingvoltagefluctuationandEMFvoltage.
GND PowerGround.
A+,A- MotorPhase A
B+, B- MotorPhase B
4. ControlSignalConnector(P1)Interface
TheDM432canacceptdifferentialandsingle-endedinputs(includingopen-collectorandPNP
output).TheDM432has 3opticallyisolatedlogicinputswhicharelocatedon connectorP1toaccept
linedrivercontrolsignals. These inputsareisolatedtominimize oreliminateelectricalnoises coupled
ontothedrivecontrolsignals.Recommend uselinedrivercontrolsignalstoincrease noise immunity
ofthedriverininterference environments.Inthefollowingfigures,connectionstoopen-collectorand
PNPsignalsareillustrated.
Figure 2:Connectionstoopen-collectorsignal(common-anode)

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Figure 3:ConnectiontoPNPsignal(common-cathode)
5. Connecting theMotor
TheDM432candriveany2-pahseand 4-pahse hybridsteppingmotors.
Connectionsto4-lead Motors
4leadmotorsaretheleastflexiblebuteasiesttowire.Speedandtorquewill dependonwinding
inductance.Insettingthedriveroutputcurrent,multiplythespecifiedphase currentby1.4to
determinethepeakoutputcurrent.
Figure 4:4-leadMotorConnections
Connectionsto6-lead Motors
Like8leadsteppingmotors,6leadmotorshavetwoconfigurationsavailableforhighspeedorhigh
torqueoperation.Thehigherspeedconfiguration,orhalfcoil,issodescribedbecause it uses onehalf
ofthemotor sinductorwindings.Thehighertorqueconfiguration,orfull coil,uses thefull windings
ofthephases.
Half Coil Configurations
Aspreviouslystated,thehalfcoil configuration uses 50%ofthemotorphase windings.Thisgives
lowerinductance, hence,lowertorqueoutput.Liketheparallelconnection of8leadmotor,thetorque
outputwill bemorestableathigherspeeds.Thisconfigurationisalsoreferredtoas halfchopper.In
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settingthedriveroutputcurrentmultiplythespecifiedperphase (orunipolar)currentratingby1.4to
determinethepeakoutputcurrent.
Figure 5:6-leadmotorhalfcoil(higherspeed)connections
Full Coil Configurations
Thefull coilconfigurationonasixleadmotorshouldbeusedinapplicationswherehighertorqueat
lowerspeedsisdesired.Thisconfiguration isalsoreferredtoasfull copper.Infullcoilmode,the
motorsshouldberunatonly70%oftheir ratedcurrenttopreventoverheating.
Figure 6:6-leadmotorfull coil(higher torque) connections
Connectionsto8-lead Motors
8leadmotorsofferahighdegree offlexibilitytothesystemdesignerinthattheymaybeconnected
inseries orparallel, thussatisfyingawiderangeofapplications.
Series Connections
Aseriesmotorconfigurationwouldtypicallybeusedinapplicationswhereahighertorqueatlower
speedsisrequired. Because thisconfiguration has themostinductance, theperformance will start to
degradeathigherspeeds. Inseries mode, themotorsshouldalsoberunatonly70%oftheir rated
currenttopreventoverheating.
Figure 7:8-leadmotorseriesconnections

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ParallelConnections
An8leadmotorinaparallelconfiguration offersamorestable, butlowertorqueatlowerspeeds. But
because ofthelowerinductance,therewill behighertorqueathigherspeeds.Multiplytheperphase
(orunipolar)currentratingby1.96,orthebipolarcurrentratingby1.4,todeterminethepeakoutput
current.
Figure 8:8-leadmotorparallelconnections
NEVER disconnectorconnectthemotorwhilethepowersource isenergized.
6. PowerSupply Selection
TheDM432 canmatchmediumand small sizesteppingmotors(fromNEMAframe size 14 to23)
madebyLeadshineorothermotormanufactures around theworld.Toachievegooddriving
performances,it isimportanttoselectsupplyvoltageand outputcurrentproperly.Generallyspeaking,
supplyvoltagedetermines thehighspeedperformance ofthemotor,whileoutputcurrentdetermines
theoutputtorqueofthedrivenmotor(particularlyatlowerspeed).Highersupplyvoltagewill allow
highermotorspeedtobeachieved,attheprice ofmorenoiseand heating.Ifthemotion speed
requirementislow,it sbettertouse lowersupplyvoltagetodecrease noise,heatingandimprove
reliability.
Regulated orUnregulated PowerSupply
Bothregulatedandunregulatedpowersupplies canbeusedtosupplythedriver.However,
unregulatedpowersupplies arepreferredduetotheirabilitytowithstandcurrentsurge.Ifregulated
powersupplies (suchas mostswitchingsupplies.)areindeedused,it isimportanttohavelarge
currentoutputratingtoavoidproblemslikecurrentclamp,forexampleusing4Asupplyfor3A
motor-driveroperation. Ontheotherhand, ifunregulatedsupplyisused, onemayuse apowersupply
oflowercurrentratingthanthatofmotor(typically50%～70%ofmotorcurrent).Thereason isthat
thedriverdrawscurrentfromthepowersupplycapacitoroftheunregulatedsupplyonlyduringthe
ON durationofthePWMcycle,butnotduringtheOFF duration.Therefore,theaveragecurrent
withdrawnfrompowersupplyisconsiderablyless thanmotorcurrent.Forexample,two3Amotors
canbewell suppliedbyonepowersupplyof4Arating.
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Multiple Drivers
It isrecommendedtohavemultipledriverstoshareonepowersupplytoreduce cost,ifthesupply
has enoughcapacity.Toavoidcross interference, DONOT daisy-chainthepowersupplyinputpins
ofthedrivers. Instead,please connectthemtopowersupplyseparately.
Selecting SupplyVoltage
ThepowerMOSFETSinsidetheDM432canactuallyoperatewithin+20 ~+40VDC,including
powerinputfluctuationandbackEMF voltagegeneratedbymotorcoilsduringmotorshaft
deceleration.Highersupplyvoltagecanincrease motortorqueathigherspeeds,thushelpfulfor
avoidinglosingsteps.However,highervoltagemaycause biggermotorvibrationatlowerspeed,and
it mayalsocause over-voltageprotectionorevendriverdamage.Therefore,it issuggestedtochoose
onlysufficientlyhighsupplyvoltageforintendedapplications,and it issuggestedtouse power
supplies withtheoreticaloutputvoltageof+20 ~+36VDC,leavingroomforpowerfluctuation and
back-EMF.
7. Selecting MicrostepResolutionand DriverOutputCurrent
Microstepresolutionsandoutputcurrentareprogrammable,theformercanbesetfromfull-stepto
51,200steps/revandthelattercanbesetfrom0.1Ato3.2A.See moreinformation about Microstep
andOutputCurrentSetting inSection 13.
However,whenit snotinsoftwareconfiguredmode,thisdriveruses an8-bit DIPswitchtoset
microstepresolution, andmotoroperatingcurrent,as shownbelow:
Microstep Resolution Selection
Whenit snotinsoftwareconfiguredmode,microstepresolutionissetbySW5,6,7,8oftheDIP
switch as showninthefollowingtable:

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Microstep Steps/rev.(for1.8 motor) SW5 SW6 SW7 SW8
1to512 Default/Softwareconfigured
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
100 20000 ON OFF OFF OFF
125 25000 OFF OFF OFF OFF
CurrentSettings
Foragivenmotor,higherdrivercurrentwill makethemotortooutputmoretorque,butatthesame
timecausesmoreheatinginthemotoranddriver.Therefore,outputcurrentisgenerallysettobesuch
thatthemotorwill notoverheatforlongtimeoperation.Since parallelandserialconnectionsof
motorcoilswill significantlychangeresultinginductance andresistance,itisthereforeimportantto
setdriveroutputcurrentdependingonmotorphase current,motorleadsandconnectionmethods.
Phase currentratingsuppliedbymotormanufacturerisimportantinselectingdrivercurrent, however
theselection alsodependson leadsand connections.
Whenit snotinsoftwareconfiguredmode,thefirstthree bits(SW1,2,3)oftheDIPswitchareused
tosetthedynamiccurrent. Selectasettingclosesttoyourmotor srequiredcurrent.
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Dynamiccurrentsetting
PeakCurrent RMSCurrent SW1 SW2 SW3
Default/Softwareconfigured(0.1to3.2A) ON ON ON
1.31A 0.94A OFF ON ON
1.63A 1.16A ON OFF ON
1.94A 1.39A OFF OFF ON
2.24A 1.60A ON ON OFF
2.55A 1.82A OFF ON OFF
2.87A 2.05A ON OFF OFF
3.20A 2.29A OFF OFF OFF
Notes: Duetomotorinductance,theactualcurrentinthecoilmaybesmallerthanthedynamic
currentsetting,particularlyunderhighspeedcondition.
Standstill currentsetting
SW4isusedforthispurpose.OFFmeaningthatthestandstillcurrentissettobehalfoftheselected
dynamiccurrent,and ON meaningthatstandstill currentissettobethesameas theselecteddynamic
current.
Thecurrentautomaticallyreducedto60%oftheselecteddynamiccurrentonesecond afterthelast
pulse.Theoretically,thiswill reduce motorheatingto36%(duetoP=I2*R) oftheoriginalvalue.If
theapplicationneedsadifferentstandstillcurrent,please contactLeadshine.
8. Wiring Notes
lInordertoimproveanti-interference performance ofthedriver,itisrecommendedtouse
twistedpair shieldcable.
lTopreventnoise incurredinPUL/DIR signal,pulse/direction signalwires and motorwires
shouldnotbetieduptogether.Itisbettertoseparatethembyatleast10 cm,otherwise the
disturbingsignalsgeneratedbymotorwill easilydisturbpulse direction signals,causingmotor
positionerror, systeminstabilityand otherfailures.
lIfapowersupplyserves severaldrivers,separatelyconnectingthedriversisrecommended
insteadofdaisy-chaining.
lIt isprohibitedtopull andplugconnectorP2whilethedriverispoweredON,because thereis
highcurrentflowingthroughmotorcoils(evenwhenmotorisatstandstill). Pullingorplugging

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connectorP2withpoweron willcause extremelyhighback-EMFvoltagesurge,whichmay
damagethedriver.
9. TypicalConnection
Acompletesteppingsystemshouldincludesteppingmotor,steppingdriver,powersupplyand
controller(pulse generator).Atypicalconnectionisshownas figure9.
Figure 9:Typicalconnection
10. Sequence Chart ofControlSignals
Inordertoavoidsomefault operationsanddeviations,PUL,DIR and ENAshouldabidebysome
rules, shownas followingdiagram:
Figure 10:Sequencechartofcontrol signals
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Remark:
a) t1:ENAmustbeaheadofDIR byatleast5ms.Usually,ENA+and ENA-areNC (not
connected).See “ConnectorP1Configurations”formoreinformation.
b) t2:DIR mustbeaheadofPULeffectiveedgeby5mstoensurecorrectdirection;
c) t3:Pulse widthnotless than2.5ms;
d) t4:Lowlevelwidthnotless than2.5ms.
11. ProtectionFunctions
Toimprovereliability,thedriverincorporates somebuilt-inprotectionfunctions.TheDM432 uses
oneREDLEDtoindicatewhatprotectionhas beenactivated.TheperiodictimeofREDis3s
(seconds),and howmanytimestheREDturnsonindicates whatprotectionhas beenactivated.
Because onlyoneprotectioncanbedisplayedbyREDLED, sothedriverwill decidewhaterrorto
displayaccordingtotheir priorities.See thefollowing ProtectionIndications tablefordisplaying
priorities.
Over-currentProtection
Over-currentprotectionwill beactivatedwhencontinuouscurrentexceeds16Aorincase ofshort
circuit betweenmotorcoilsorbetweenmotorcoil and ground,and REDLEDwill turnon once
withineachperiodictime(3s).
Over-voltageProtection
Whenpowersupplyvoltageexceeds42±1VDC,protection willbeactivatedand REDLEDwill
turnontwice withineachperiodictime(3s).
PhaseErrorProtection
Motorpowerlines wrong&notconnectedwill activatethisprotection.REDLEDwill turnonfour
timeswithineachperiodictime(3s).
Attention: Whenaboveprotectionsareactive,themotorshaftwillbefree ortheLEDwill turnred.
Resetthedriverbyrepoweringit tomakeit function properlyafterremovingaboveproblems.Since
thereisno protectionagainstpowerleads(﹢,﹣)reversal,it iscriticaltomakesurethatpower
supplyleadscorrectlyconnectedtodriver. Otherwise, thedriverwillbedamagedinstantly.

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ProtectionIndications
Priority Time(s)ofON Sequence waveofREDLED Description
1st 1 Over-currentprotection
2nd 2
Over-voltageprotection
3rd 4 Phaseerrorprotection
12. FrequentlyAskedQuestions
Intheeventthatyourdriverdoesn toperateproperly,thefirststepistoidentifywhethertheproblem
iselectricalormechanicalinnature.Thenextstepistoisolatethesystemcomponentthatiscausing
theproblem.Aspart ofthisprocess you mayhavetodisconnecttheindividualcomponentsthatmake
up yoursystemand verifythattheyoperateindependently.It isimportanttodocumenteachstepin
thetroubleshootingprocess.You mayneedthisdocumentation toreferbacktoatalaterdate,and
these detailswill greatlyassistourTechnicalSupport staffindeterminingtheproblemshouldyou
needassistance.
Manyoftheproblemsthataffectmotioncontrolsystemscanbetracedtoelectricalnoise,controller
softwareerrors, ormistakeinwiring.
ProblemSymptomsand Possible Causes
Symptoms PossibleProblems
Nopower
Microstepresolution settingiswrong
DIPswitchcurrentsettingiswrong
Fault conditionexists
Motorisnotrotating
Thedriverisdisabled
Motorrotates inthewrongdirection
Motorphases maybeconnectedinreverse
DIPswitchcurrentsettingiswrong
Thedriverinfault Somethingwrongwithmotorcoil
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Controlsignalistooweak
Controlsignalisinterfered
Wrongmotorconnection
Somethingwrongwithmotorcoil
Erraticmotormotion
Currentsettingistoosmall, losing steps
Currentsettingistoosmall
Motorisundersizedfortheapplication
Acceleration issettoohigh
Motorstallsduringacceleration
Powersupplyvoltagetoo low
Inadequateheatsinking/cooling
Automaticcurrentreduction function notbeingutilized Excessivemotoranddriverheating
Currentissettoohigh

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13. ProfessionalTuningSoftwareProTuner
Introduction
Thissection will provideanoverviewofconnectionand basicsetupinstructionsforLeadshine s
digitalsteppingdriverDM432 usingthe ProTuner software.Theseinstructionswill walkyou through
thefollowingstepsnecessarytostart up yourdriverand motor.Thissection isintendedforsettingup
thedriverwiththe ProTuner.
Software Installation
The ProTuner iswindowsbasedsetup softwarefortuningLeadshine sdigitalstepperdriverDM432.
It canruninwindowssystems,includingWin95/Win98/WindowsNT/Windows2000/WindowsXP.
And theselectedPCshouldhave1serialport atleastforcommunicatingwiththedriver.
Doubleclick “ProTuner_DM432.exe”tobegininstallingthe ProTuner.See Figure11.Click Next to
enterthe “License Agreement”window. See Figure12.
Figure 11:Begintoinstall theProTuner
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Figure 12:Licenseagreement
Choose “Iagree tothetermsofthislicense agreement”andclick Next tocontinueinstallation.The
usercanenteruser sinformation inthefollowingwindow.See Figure13.Afterenteringtheuser s
information, click Next toselectinstallationfolder, whereyou wouldliketoinstall the ProTuner. See
Figure14.
Figure 13:User sinformationsettings

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Figure 14:Installation folder settings
Figure 15:Shortcutfolder setting
Setthe “ShortcutFolder”inFigure15andcontinuetoinstall the ProTuner byfollowingFigure16
and Figure17.An InstallationSuccessful windowwill appearifthe ProTuner isinstalled
successfully. See Figure18.
DM432 DigitalSteppingDriverManualV1.0
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Figure 16:Installation informationsummarization
Figure 17:InstallingtheProTuner

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Figure 18:Finishinstallation
Connectionsand Testing
ConnectthesteppingsystemaccordingtothecontentsinprevioussectionsandconnectthePCtothe
driveras thefollowingfigure.
RS232 Interface Connection
Figure 19:RS232interfaceconnection
Testing the Stepping System
Turnon thepowersupply,thegreen(Power) LEDwill light.TheDM432has default parameters
storedinthedriver.Ifthesystemhas no hardwareand wiringsproblem,themotorshouldbelocked
and thedrivershouldbeready.
IftheredLEDimmediatelyturnson (flickers),thencheckpowersupply,themotor,motorwirings
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and tryagain.Openthetuningsoftware ProTuner and checkdriverstatusbyclicking Err_check.If
it s Phase Error,checkthemotor,motorwiringsand tryagain.Ifit still doesn tworkafteryou
followedall oftheprevioussteps,please contactusat [e-mail].
IftheREDLEDisoffand themotorisnormal,thenyou canstart totunetheservowith ProTuner.
However,werecommend you see thefollowingcontentsbeforestartingtuning.
Software Introduction
ProTunerMain Window
Figure 20:ProTuner
ØOption
Theusercanchoose three drop-downmenusbyclicking “Option”,including ComConfig,
SaveToDriver and Exit.
lComConfig:ConfigureComcommunication interface.
lSaveToDriver: Downloadthecurrentparametersettingstothedriver.
Menu Bar
StatusBar

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lExit: Exit the ProTuner.
ComConfigWindow
Figure 21:RS232communicationconfigurationwindow
SerialPort: Selecttheserialcommunication port towhichthedriverisconnected.Thefactorydefault
settingisCOM1.
Baud Rate: Selectthecommunication baudrate. Thefactorydefault settingis38400.
Click Open buttontoestablishaconnectionwiththespecifiedsettings.Whenconnecting,you can
choose SaveToDrive todownloadthecurrentparametersettingstothedriver,ortouploadthestored
driversettingsintothe ProTuner byclicking Tuning > PositionLoop on themenu bar.
Tuning
Theusercanchoose oneortwodrop-downmenu(s)byclicking Tuning,including CurrentLoop and
SystemConfig.
lCurrentLoop:InCurrentTuning window,theusercantunethe Kp (ProportionalGain)and
Ki (IntegralGain) ofdriver scurrentlooptooptimize responses withdifferentmotors.
Start/Restart aStepResponse testtogetanoptimumresponse.
Kp:ProportionalGain.ProportionalGaindetermines theresponse ofthedrivertocurrentsetting
command.LowProportionalGainprovides astablesystem(doesn toscillate),has lowstiffness,and
largecurrenterror,causingpoorperformances intrackingcurrentsettingcommand ineachsteplike
Figure23. Too largeProportionalGainvalues will cause oscillationsandunstablesystems.
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Figure 22:CurrentTuningwindow
Ki: IntegralGain.IntegralGainhelpsthedrivertoovercomestaticcurrenterrors.Aloworzero
valuefortheIntegralGainmayhavecurrenterrorsatrest.IncreasingtheIntegralGaincanreducethe
error. IftheIntegralGainistoolarge, thesystemsmay “hunt”(oscillate)aboutthedesiredposition.
Start button:TheusercanstartaStepResponsetestbyclickingthisbutton.Start/Restart aStep
Response testtogetanoptimumresponse likeFigure22,andremembertosavethesettingstothe
driverwhenfinishtuning. See Figure24.
Figure 23:Kp=2604,Ki=0(poorperformances)

DM432 DigitalSteppingDriverManualV1.0
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Figure 24:Finishtuningandsavesettingtothedriver
Notes:
However,iftheuserdoes notwanttotunethecurrentloopafterchangingadifferentsteppingmotor,
then Motorauto-identificationandparameter auto-configuration technologyoftheDM432can
replace manualtuningthedriverwith ProTuner.Justchanges SW4twotimesin1second,and then
thedriverwill auto-identifythenewmotorand auto-configurerelatedcontrolparametersforoptimum
responses. Recommend use thisfunction afterchangingthedrivenmotor.
lSystemConfig:
In SystemConfig window,theusercanconfigurePeakCurrent,Microstep,Command Type,Active
Edge,andeliminatemotorresonance.Abuilt-inpulse generatorcanbeusedfortestduringtuning.
See Picture25.
PeakCur: PeakCurrent.Thevalueisthepeakcurrenttotheselectedmotorand canbesetfrom0.1
to3.2A.Theusercansetthepeakcurrentwith ProTuner orDIPswitches,see moreinformation
aboutsettingoutputcurrentofthedriverinsection5 “ConnectingtheMotor”and section 7
“SelectingMicrostepResolutionand DriverOutputCurrent”.
MicroStep: MicrostepResolution.Thevalueisdriver smicrostepresolutionsettingandcanbeset
from1to512.Theusercansetthemicrostepwith ProTuner orDIPswitches,See moreinformation
aboutsettingoutputcurrentofthedriverinsection 7 “SelectingMicrostepResolutionandDriver
OutputCurrent”.
StepAngle:StepAngle. Thedriverwill autodetectthe StepAngle ofthedrivenmotor.
DM432 DigitalSteppingDriverManualV1.0
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CommandType:CommandType ofcontrolsignal,includingPUL/DIR andCW/CCW.Setthis
parameteraccordingto CommandType ofmotion controller.
ActiveEdge:ActiveEdge. Theusercansetthetriggerededgeofpulse command signalinthispanel.
WhenthedriverworksinCW/CCWmode,no matterwhatlevelisatfixedlevelterminal,thedriver
canworksproperly.
Anti-Resonance Introduction
Stepmotorsarehighlyresonant,whichresultsinvibrationand ringing.Theringingutilizes alarge
fraction ofthemotor'savailabletorque –therebywastingperformance.Furthermore,atmid-range
velocities,theresonance canbecomesoseverethatthemotorlooses synchronizationandstalls.The
DM432driverprovides robustanti-resonance controltostopthevibrationsandmaintainequilibrium.
Thisfeaturerequires thatthedriverbeconfiguredwithrespecttothetotalinertiainthesystem.Ifset
improperly, theeffectivenessofthefeaturemaybediminished.
Theusercaninvokeordisablethefeaturebysetting Amp and Phase values in SystemConfig
window. Amp and Phase values all zeroistodisablethefeature,otherwise istoinvokethefeature.It
shouldbeenabledunless thesystemconfiguration eitherdoes notneedit orcannottolerateit.A
systemwithloose couplingsorviscousloadinggenerallydoes notneedthisfeature.Ifasystemhas
compliant(springy)couplingandisabsentappreciablyviscosity,it maynotrespondwell totheactive,
anti-resonantloopinthedrive.Theanti-resonantfeatureisnotdesignedtodampsucha4
th order
system. Iftheapplicationofanti-resonance resultsindegradationorinstability, it shouldbedisabled.
1st ResonanceArea:Parameters for1st resonance area. Usuallybetween0.6rpsand1.2rps.
Amp1 isAmplitudeadjustmentfor1st resonance area.
Phase1 isPhase adjustmentfor1st resonance area.Theusercanenteravaluedirectlyinthetextbox
ormovethesliderbarbackand forthtogetanoptimumvalue.
LowerLimit isthe Lower Limit ofthe1st resonance area,andtheusercancapturethisvaluewhen
findsit duringmovethesliderbarofinternalpulse generator.
UpperLimit isthe Upper Limit ofthe1st resonance area. Default Amp1 and Phase1 values arezero.
2nd ResonanceArea:Parameters for2
nd resonance area. Usuallybetween1.2rpsand2.4rps.
Default Amp2 and Phase2 valuesarezero.

DM432 DigitalSteppingDriverManualV1.0
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3rd ResonanceArea:Parameters for3rd resonancearea. Usuallybetween2.4rpsand 4.8rps. Default
Amp3 and Phase3 values are128.
Start/Stop button:Theusercanstart/Stopamotiontestbyclicking thisbutton.
Figure 25:SystemConfigwindow
Procedure forAchievingOptimumPerformance
Step1: Start themotion testbyclicking Start/Stop button.Find the Lower Limit values and Upper
Limit values foreachresonance area byslightlymovingthesliderbarofinternalpulse generatorback
and forth,and capturethese values foranti-resonance algorithmbyclicking Capture buttons.See
Figure26.
Step2: Runthemotoratthegiventestspeedandverifythemotorsmoothness.Youmayfind abetter
smoothingvaluebyslightlymovingthesliderbarsof AMP(s)and Phase(s)backand forth.
It isveryimportanttomakethe AMP(s)and Phase(s)adjustmentsatthepropertestspeedswithan
unloadedmotor.Runningatanincorrecttestspeedwill notexcitethemotoratitspeakresonance,
DM432 DigitalSteppingDriverManualV1.0
Tel: [phone]WebSite: www.leadshine.com
makingit moredifficult tofind properadjustmentvalues.Optimum AMP(s)and Phase(s)values may
bealittledifferentbetweenrunningthetestswithanunloadedmotorandaloadmotor.
Please remembertoclick SavetoDrive todownloadthefinalparametersettingstothedriverwhen
finishtuning. See Figure27.
Figure 26:Anti-resonance tuning

DM432 DigitalSteppingDriverManualV1.0
Tel: [phone]WebSite: www.leadshine.com
Figure 27:Finishingtuninganddownloadparametersettingstothedriver
ØErr_check
lErrorCheck:Thiswindowshowsboththepresentstatusofeacherroreventand their history.
Currenterrorevent(s)canberesetbyclicking Erase CurrentErr! button,andall errorevents
canberesetbyclicking Erase All! button.Listofthelasttendrivefaults.#0beingthemost
recent, #9istheoldest. See Figure28.
Figure 28:Errorcheckwindow
DM432 DigitalSteppingDriverManualV1.0
Tel: [phone]WebSite: www.leadshine.com
OverCurrent: Over-currentProtection.Protectionwill beactivatedwhencontinuouscurrent
exceeds16A.
OverVoltage:Over-voltageProtection. Whenpowersupplyvoltageexceeds42±1VDC,protection
will beactivated.
PhaseErr: PhaseErrorProtection.Motorpowerlines wrong&notconnectedwill activatethis
protection.
ErrCounter: Displayscurrenterror(s)andcurrenterrorhistory.
Erase CurrentErr!: Erase CurrentErr button.Theusercanclearcurrenterror(s)byclickingthis
button.
Erase All!: Erase All! button.Theusercanclearall error(s)includingerrorhistorybyclickingthis
button.
ØAbout
Theusercanchoose twodrop-downmenusbyclicking “About”, including ProductInformation and
ContactUs.
lProductInformation window:Showssomeproductinformation aboutProTuner.
lContactUs window: Showssome contactinformation aboutLeadshine.
Figure 29:Productinformation

DM432 DigitalSteppingDriverManualV1.0
Tel: [phone]WebSite: www.leadshine.com
Figure 30:Contactinformation
DM432 MicrosteppingDriverManual V1.0
Tel: [phone]WebSite: www.leadshine.com
APPENDIX
Twelve MonthLimited Warranty
LeadshineTechnologyCo., Ltd.warrantsitsproductsagainstdefectsinmaterialsand
workmanshipforaperiodof12monthsfromshipment outoffactory.Duringthewarrantyperiod,
Leadshinewill either, atitsoption, repair orreplace productswhichprovedtobedefective.
Exclusions
Theabovewarrantydoes notextendtoanyproductdamagedbyreasonsofimproperorinadequate
handlingsbycustomer,improperorinadequatecustomerwirings,unauthorizedmodification or
misuse,oroperation beyond theelectricalspecificationsoftheproductand/oroperation beyond
environmentalspecificationsfortheproduct.
Obtaining Warranty Service
Toobtainwarrantyservice,areturnedmaterialauthorization number(RMA)mustbeobtained
fromcustomerservice ate-mail: [e-mail] beforereturningproductforservice.
Customershall prepayshippingcharges forproductsreturnedtoLeadshineforwarrantyservice,
and Leadshineshallpayforreturnofproductstocustomer.
Warranty Limitations
Leadshinemakes no otherwarranty,eitherexpressedorimplied,withrespecttotheproduct.
Leadshinespecificallydisclaimstheimpliedwarranties ofmerchantabilityand fitness fora
particularpurpose.Somejurisdictionsdonotallowlimitationsonhowlongandimpliedwarranty
lasts, sotheabovelimitation orexclusion maynotapplytoyou. However, anyimpliedwarrantyof
merchantabilityorfitness islimitedtothe12-monthdurationofthiswrittenwarranty.
Shipping Failed Product
Ifyourproductfail duringthewarrantyperiod,e-mail customerservice at [e-mail] to
obtainareturnedmaterialauthorizationnumber(RMA)beforereturningproductforservice.
Please includeawrittendescriptionoftheproblemalongwithcontactnameand address.Send
failedproducttodistributorinyourarea or:LeadshineTechnology Co.,Ltd.3/F,Block2,Nanyou
TiananIndustrialPark,NanshanDist,Shenzhen,China. Alsoenclose information regardingthe
circumstances priortoproductfailure.