Leadshine Technology DM856 User manual

User sManual
For
DM856
FullyDigitalStepping Driver
Version 1.0
2009 All RightsReserved
Attention: Pleasereadthismanualcarefullybeforeusingthedriver!
3/F,Block2, Nanyou Tianan IndustrialPark,Nanshan Dist, Shenzhen,China
T:(86)755-26434369 F:(86)755-26402718
Website: www.leadshine.com E-Mail: [e-mail]
The contentinthismanualhas been carefullyprepared and isbelievedtobe accurate,butno
responsibilityisassumed forinaccuracies.
Leadshinereservestherighttomakechangeswithoutfurthernoticetoany productshereinto
improvereliability,function ordesign.Leadshine doesnotassumeanyliabilityarising outofthe
application oruseofanyproductorcircuitdescribed herein;neitherdoesit conveyanylicense
underitspatentrightsofothers.
Leadshine sgeneralpolicydoesnotrecommend theuseofitsproductsinlifesupportoraircraft
applicationswhereinafailureormalfunctionofthe productmaydirectlythreaten lifeorinjury.
According toLeadshine stermsand conditionsofsales,the userofLeadshine sproductsinlife
supportoraircraftapplicationsassumesall risksofsuchuseandindemnifiesLeadshine againstall
damages.
2009byLeadshineTechnologyCompanyLimited.
All RightsReserved

Contents
I
Tableof Contents
1.Introduction,FeaturesandApplications....................................................................1
Introduction...........................................................................................................1
Features.................................................................................................................1
Applications..........................................................................................................1
2.Specifications............................................................................................................2
ElectricalSpecifications......................................................................................2
MechanicalSpecifications.....................................................................................2
Elimination of Heat...............................................................................................2
Operating EnvironmentandotherSpecifications..................................................3
3.PinAssignmentandDescription...............................................................................3
Connector P1Configurations................................................................................3
SelectingActivePulseEdgeandControlSignalMode........................................4
Connector P2Configurations................................................................................4
4.ControlSignalConnector(P1)Interface...................................................................4
5.Connecting theMotor................................................................................................5
Connectionsto4-leadMotors...............................................................................5
Connectionsto6-leadMotors...............................................................................5
HalfCoilConfigurations...............................................................................5
FullCoilConfigurations................................................................................6
Connectionsto8-leadMotors...............................................................................6
SeriesConnections........................................................................................6
ParallelConnections......................................................................................7
6.Power SupplySelection............................................................................................7
Regulatedor UnregulatedPower Supply..............................................................7
Multiple Drivers....................................................................................................8
SelectingSupplyVoltage.......................................................................................8
7.SelectingMicrostepResolutionandDriverOutputCurrent.....................................8
MicrostepResolutionSelection............................................................................8
CurrentSettings.....................................................................................................9
Contents
II
Dynamic currentsetting..............................................................................10
Standstillcurrentsetting..............................................................................10
8.WiringNotes...........................................................................................................10
9.TypicalConnection..................................................................................................11
10.SequenceChartofControlSignals.......................................................................11
11. Protection Functions..............................................................................................12
Over-currentProtection...............................................................................12
Over-voltage Protection..............................................................................12
PhaseErrorProtection.................................................................................12
ProtectionIndications..................................................................................13
12.FrequentlyAskedQuestions..................................................................................13
ProblemSymptomsandPossibleCauses............................................................14
13. ProfessionalTuningSoftwareProTuner...............................................................15
Introduction.........................................................................................................15
SoftwareInstallation...........................................................................................15
ConnectionsandTesting.....................................................................................19
RS232InterfaceConnection...............................................................................19
TestingtheSteppingSystem...............................................................................19
SoftwareIntroduction..........................................................................................20
ProTunerMainWindow..............................................................................20
ComConfigWindow..................................................................................21
Tuning.........................................................................................................21
Anti-ResonanceIntroduction......................................................................25
Procedurefor AchievingOptimumPerformance........................................26
APPENDIX.................................................................................................................29
TwelveMonthLimitedWarranty........................................................................29
Exclusions...........................................................................................................29
Obtaining WarrantyService................................................................................29
WarrantyLimitations...........................................................................................29

DM856 MicrosteppingDriverManual V1.0
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1.Introduction,FeaturesandApplications
Introduction
The DM856isaversatilityfullydigitalsteppingdriverbased onaDSPwithadvanced control
algorithm.The DM856isthe nextgeneration ofdigitalsteppingmotorcontrols.Itbringsaunique
levelofsystemsmoothness,providing optimumtorque and nullsmid-rangeinstability.Motor
auto-identification andparameterauto-configuration technologyoffersoptimumresponseswith
differentmotorsandeasy-to-use.Thedrivenmotors canrun withmuchsmallernoise,lower
heating,smoothermovementthanmostofthe drivers inthe markets.Itsunique featuresmakethe
DM856anidealsolutionforapplicationsthat requirelow-speedsmoothness.
Compared totheDM432C,broaderinputvoltage andoutputcurrentrangesmakethe DM856can
drivemuchmoremotors thantheDM432C.What smore,owingtoitshigherperformanceDSP,
drivenmotorscanachievemuchhigherspeed (above3000RPM)than thatofthe DM432C,
offeringservo-likeperformances.It canberegardedas an improved modeloriginfromDM556,
whilesupportsbroaderinput voltage range.
Features
lAnti-Resonance,providesoptimumtorque
and nullsmid-rangeinstability
lMotorauto-identificationandparameter
auto-configuration technology,offers
optimumresponseswithdifferent motors
lMulti-Stepping allowsalow resolutionstep
inputtoproduceahighermicrostepoutput
forsmoothsystemperformance
lMicrostepresolutionsprogrammable,from
full-step to102,400steps/rev
lSupplyvoltage up to+80VDC
lOutputcurrentprogrammable,from0.5Ato
5.6A
lPulseinputfrequencyupto200 KHz
lTTLcompatibleandopticallyisolated input
lAutomaticidle-currentreduction
lSuitablefor2-phaseand4-phasemotors
lSupport PUL/DIRandCW/CCWmodes
lOver-voltage, over-current,phase-error
protections
Applications
Suitableforawide range ofsteppingmotors,fromNEMAsize17 to34.Itcanbeusedinvarious
kindsofmachines,suchaslasercutters,lasermarkers,highprecision X-Ytables,labeling machines,
and soon.Itsunique featuresmakethe DM856an idealsolutionforapplicationsthatrequireboth
low-speed smoothnessand high speed performances.
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2. Specifications
ElectricalSpecifications(Tj=25 /77℉)
DM856
Parameters Min Typical Max Unit
Outputcurrent 0.5 - 5.6(4.0RMS) A
Supplyvoltage +20 - +80 VDC
Logicsignal current 7 10 16 mA
Pulseinputfrequency 0 - 200 kHz
Isolationresistance 500 MΩ
MechanicalSpecifications(unit: mm [inch], 1inch=25.4mm)
Figure1:Mechanicalspecifications
Eliminationof Heat
lDriver sreliableworkingtemperatureshouldbe<70 (158 ), andmotorworkingtemperature
shouldbe <80 (176 );
lItisrecommended touseautomaticidle-currentmode,namelycurrentautomaticallyreduceto
60%when motorstops,soastoreducedriverheatingand motorheating;
lIt isrecommendedtomount the driververticallytomaximizeheat sinkarea. Useforced cooling
methodtocool the system ifnecessary.

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OperatingEnvironmentandotherSpecifications
Cooling Natural Cooling orForced cooling
Environment Avoiddust, oil fogand corrosivegases
AmbientTemperature 0 －50 (32 －122 )
Humidity 40%RH －90%RH
Operating Temperature 70 (158 )Max
OperatingEnvironment
Vibration 5.9m/s2 Max
Storage Temperature -20 －65 (-4 －149 )
Weight Approx. 280g (10oz)
3. PinAssignmentandDescription
TheDM856hastwoconnectors,connectorP1forcontrolsignalsconnections,andconnectorP2 for
powerand motorconnections.Thefollowing tablesarebriefdescriptionsofthe twoconnectors.
Moredetailed descriptionsofthe pinsand related issuesarepresentedinsection 4,5,9.
Connector P1Configurations
PinFunction Details
PUL+
PUL-
Pulsesignal: Insinglepulse(pulse/direction)mode,thisinputrepresentspulse
signal, eachrising orfallingedgeactive(softwareconfigurable);4-5Vwhen
PUL-HIGH,0-0.5Vwhen PUL-LOW.Indoublepulsemode(pulse/pulse),
thisinputrepresentsclockwise(CW)pulse，activebothathigh leveland low
level(softwareconfigurable).Forreliableresponse,pulsewidthshouldbe
longerthan2.5μs.Seriesconnectresistorsforcurrent-limiting when +12Vor
+24Vused.The sameasDIRandENAsignals.
DIR+
DIR-
DIRsignal: Insingle-pulsemode,thissignalhaslow/high voltagelevels,
representingtwodirectionsofmotorrotation;indouble-pulsemode (software
configurable),thissignaliscounter-clock (CCW)pulse，activebothathigh
levelandlowlevel(softwareconfigurable).Forreliablemotionresponse,DIR
signalshouldbeaheadofPULsignalby5μsatleast.4-5Vwhen DIR-HIGH,
0-0.5Vwhen DIR-LOW.Please notethatrotation directionisalsorelated to
motor-driverwiring match.Exchangingthe connectionoftwowiresforacoil
tothedriverwill reversemotiondirection.
ENA+
ENA-
Enablesignal: Thissignalisusedforenabling/disabling the driver.High level
(NPNcontrolsignal,PNPandDifferentialcontrolsignalsareon the contrary,
namelyLowlevelforenabling.)forenabling the driverand lowlevelfor
disablingthedriver. Usuallyleft UNCONNECTED (ENABLED).
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SelectingActive PulseEdgeand ControlSignalMode
TheDM856supportsPUL/DIRand CW/CCWmodesand pulseactivesatrisingorfallingedge.See
moreinformation aboutthesesettingsinSection13.Defaultsetting isPUL/DIRmode and rising
edgeactive(NPN, and PNPcontrolsignalison the contrary).
Connector P2Configurations
PinFunction Details
+Vdc Powersupply, 20~80VDC, Including voltage fluctuation and EMFvoltage.
GND PowerGround.
A+, A- MotorPhaseA
B+, B- MotorPhaseB
4. Control SignalConnector(P1)Interface
TheDM856canacceptdifferentialand single-ended inputs(includingopen-collectorand PNP
output).The DM856has3opticallyisolated logicinputswhicharelocatedon connectorP1toaccept
line drivercontrolsignals. Theseinputsareisolatedtominimizeoreliminateelectrical noisescoupled
ontothe drivecontrolsignals.Recommend useline drivercontrolsignalstoincreasenoiseimmunity
ofthe driverininterferenceenvironments.Inthe followingfigures, connectionstoopen-collectorand
PNPsignalsareillustrated.
Figure2:Connectionstoopen-collector signal(common-anode)

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Figure3:Connectionto PNPsignal(common-cathode)
5. ConnectingtheMotor
TheDM856 candriveany2-pahseand 4-pahsehybridstepping motors.
Connectionsto4-leadMotors
4leadmotors arethe leastflexiblebuteasiesttowire.Speedandtorque willdependon winding
inductance.Insettingthedriveroutputcurrent,multiplythe specified phasecurrentby1.4to
determinethe peak outputcurrent.
Figure4:4-leadMotor Connections
Connectionsto6-leadMotors
Like8leadstepping motors,6leadmotors havetwoconfigurationsavailableforhigh speed orhigh
torque operation.The higherspeedconfiguration, orhalfcoil,issodescribedbecauseitusesone half
ofthe motor sinductorwindings.The highertorque configuration,orfull coil,usesthe fullwindings
ofthe phases.
HalfCoil Configurations
Aspreviouslystated,thehalfcoilconfiguration uses50%ofthemotorphasewindings.Thisgives
lowerinductance,hence,lowertorqueoutput. Liketheparallelconnection of8leadmotor,the torque
outputwillbemorestableathigherspeeds.Thisconfigurationisalsoreferred toas halfchopper.In
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settingthe driveroutputcurrentmultiplythe specified perphase(orunipolar)current rating by1.4to
determinethe peak outputcurrent.
Figure5:6-leadmotor halfcoil (higher speed)connections
Full CoilConfigurations
Thefullcoilconfiguration on asixleadmotorshouldbeused inapplicationswherehighertorque at
lowerspeedsisdesired.Thisconfigurationisalsoreferredtoasfull copper.Infullcoil mode,the
motorsshouldbe runat only70%oftheirrated current toprevent overheating.
Figure6:6-leadmotor fullcoil(highertorque)connections
Connectionsto8-leadMotors
8leadmotors offerahigh degree offlexibilitytothesystemdesignerinthattheymaybeconnected
inseriesorparallel, thussatisfyingawide rangeofapplications.
SeriesConnections
Aseriesmotorconfiguration wouldtypicallybeused inapplicationswhereahighertorque at lower
speedsisrequired.Becausethisconfiguration has the most inductance,the performancewill start to
degrade athigherspeeds. Inseriesmode, the motorsshouldalsoberun at only70%oftheirrated
currenttopreventoverheating.
Figure7:8-leadmotor seriesconnections

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Parallel Connections
An8leadmotorinaparallelconfiguration offersamorestable, butlowertorque at lowerspeeds.But
becauseofthe lowerinductance,therewillbe highertorque athigherspeeds.Multiplytheperphase
(orunipolar)currentratingby1.96,orthe bipolarcurrentrating by1.4,todetermine the peakoutput
current.
Figure8:8-leadmotor parallelconnections
NEVER disconnect orconnect the motorwhilethe powersourceisenergized.
6. PowerSupplySelection
TheDM856 canmatchmediumand small sizesteppingmotors(fromNEMAframesize17to34)
made byLeadshineorothermotormanufacturesaroundtheworld.Toachievegooddriving
performances, it isimportanttoselectsupplyvoltage and outputcurrentproperly. Generallyspeaking,
supplyvoltage determinesthe high speed performanceofthe motor,whileoutputcurrentdetermines
the outputtorque ofthe drivenmotor(particularlyatlowerspeed).Highersupplyvoltage will allow
highermotorspeed tobeachieved,atthe priceofmorenoise andheating.Ifthemotionspeed
requirementislow,it sbettertouselowersupplyvoltagetodecreasenoise,heatingandimprove
reliability.
RegulatedorUnregulated PowerSupply
Bothregulated and unregulatedpowersuppliescanbeused tosupplythe driver.However,
unregulated powersuppliesarepreferredduetotheirabilitytowithstand currentsurge.Ifregulated
powersupplies(suchasmostswitching supplies.)areindeed used,itisimportanttohavelarge
currentoutputrating toavoidproblemslikecurrentclamp,forexampleusing 4Asupplyfor3A
motor-driveroperation. Onthe otherhand,ifunregulated supplyisused,one mayuseapowersupply
oflowercurrentratingthan thatofmotor(typically50%～70%ofmotorcurrent).Thereasonisthat
the driverdrawscurrentfromthe powersupplycapacitorofthe unregulated supplyonlyduring the
ON duration ofthe PWMcycle,butnotduring the OFFduration.Therefore,theaverage current
withdrawnfrompowersupplyisconsiderablyless thanmotorcurrent.Forexample,two3Amotors
canbewell suppliedbyone powersupplyof4Arating.
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MultipleDrivers
Itisrecommendedtohavemultipledrivers toshareonepowersupplytoreducecost, ifthe supply
hasenough capacity.Toavoidcross interference, DONOT daisy-chainthepowersupplyinputpins
ofthe drivers.Instead, pleaseconnectthemtopowersupplyseparately.
SelectingSupplyVoltage
ThepowerMOSFETSinside theDM856canactuallyoperatewithin+20~+80VDC,including
powerinputfluctuationand backEMFvoltage generated bymotorcoilsduringmotorshaft
deceleration.Highersupplyvoltagecanincreasemotortorque athigherspeeds,thushelpfulfor
avoiding losingsteps.However,highervoltage maycausebiggermotorvibration atlowerspeed,and
it mayalsocauseover-voltage protection oreven driverdamage.Therefore,it issuggested tochoose
onlysufficientlyhighsupplyvoltage forintended applications,andit issuggested tousepower
supplieswiththeoreticaloutputvoltage of+20 ~+72VDC, leavingroomforpowerfluctuation and
back-EMF.
7. SelectingMicrostepResolutionandDriverOutputCurrent
Microstepresolutionsand outputcurrentareprogrammable,theformercanbesetfromfull-step to
102,400 steps/revand the lattercanbesetfrom0.5Ato5.6A. See moreinformationabout Microstep
andOutputCurrentSetting inSection13.
However,when it snotinsoftwareconfigured mode,thisdriverusesan8-bitDIPswitchtoset
microstep resolution, and motoroperating current, asshownbelow:
MicrostepResolutionSelection
When it snotinsoftwareconfigured mode,microstepresolutionissetbySW5,6,7,8ofthe DIP
switch asshowninthe followingtable:

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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,higherdrivercurrentwillmake themotortooutputmoretorque,butatthe same
timecausesmoreheating inthe motorand driver. Therefore,outputcurrent isgenerallysettobesuch
thatthe motorwillnotoverheatforlong timeoperation.Sinceparallelandserialconnectionsof
motorcoilswill significantlychange resulting inductanceand resistance,itisthereforeimportantto
setdriveroutputcurrentdepending on motorphasecurrent, motorleadsandconnection methods.
Phasecurrent ratingsupplied bymotormanufacturerisimportantinselectingdrivercurrent,however
the selection alsodependson leads and connections.
When it snotinsoftwareconfigured mode,the firstthree bits(SW1,2,3)ofthe DIPswitchareused
tosetthe dynamiccurrent.Select asettingclosest toyourmotor srequired current.
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Dynamiccurrentsetting
PeakCurrent RMSCurrent SW1 SW2 SW3
Default/Softwareconfigured(0.5to5.6A) OFF OFF OFF
2.1A 1.5A ON OFF OFF
2.7A 1.9A OFF ON OFF
3.2A 2.3A ON ON OFF
3.8A 2.7A OFF OFF ON
4.3A 3.1A ON OFF ON
4.9A 3.5A OFF ON ON
5.6A 4.0A ON ON ON
Notes: Due tomotorinductance,the actualcurrentinthe coil maybesmallerthan the dynamic
current setting, particularlyunderhigh speed condition.
Standstill currentsetting
SW4isusedforthispurpose.OFFmeaning thatthe standstill currentissettobe halfofthe selected
dynamiccurrent, and ONmeaningthat standstill currentissettobe the sameasthe selected dynamic
current.
Thecurrentautomaticallyreducedto60%ofthe selected dynamiccurrentone secondafterthe last
pulse.Theoretically,thiswill reducemotorheating to36%(duetoP=I2*R)ofthe originalvalue.If
the application needsadifferentstandstill current, pleasecontact Leadshine.
8. WiringNotes
lInordertoimproveanti-interferenceperformanceofthedriver,itisrecommended touse
twisted pairshieldcable.
lTopreventnoiseincurred inPUL/DIRsignal,pulse/direction signalwiresand motorwires
shouldnotbe tied uptogether.Itisbettertoseparatethembyatleast10cm,otherwisethe
disturbing signalsgenerated bymotorwill easilydisturbpulsedirection signals,causing motor
positionerror, systeminstabilityandotherfailures.
lIfapowersupplyservesseveraldrivers,separatelyconnecting the driversisrecommended
insteadofdaisy-chaining.
lItisprohibited topull and plugconnectorP2whilethe driverispowered ON, becausethereis
high currentflowing throughmotorcoils(evenwhenmotorisatstandstill). Pulling orplugging

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connectorP2 withpoweron will causeextremelyhighback-EMFvoltage surge,whichmay
damage thedriver.
9.Typical Connection
Acompletestepping systemshouldinclude stepping motor,steppingdriver,powersupplyand
controller(pulsegenerator).A typicalconnection isshownasfigure9.
Figure9:Typicalconnection
10. SequenceChartofControlSignals
Inordertoavoidsomefault operationsanddeviations,PUL,DIRandENAshouldabide bysome
rules, shownasfollowingdiagram:
Figure10:Sequence chartof controlsignals
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Remark:
a) t1:ENAmustbeaheadofDIRbyatleast5µs.Usually,ENA+and ENA-areNC(not
connected).See “ConnectorP1Configurations”formoreinformation.
b) t2:DIRmust be aheadofPULactive edge by5µstoensurecorrect direction;
c) t3: Pulsewidthnotless than2.5µs;
d) t4:Low levelwidthnot less than2.5µs.
11.ProtectionFunctions
Toimprove reliability,the driverincorporatessomebuilt-inprotection functions.The DM856uses
one RED LEDtoindicatewhatprotection hasbeenactivated.The periodictimeofRED is3s
(seconds),andhowmanytimestheREDturnson indicateswhatprotection hasbeen activated.
Becauseonlyoneprotectioncanbedisplayed byRED LED, sothedriverwilldecidewhaterrorto
displayaccording totheirpriorities.See thefollowing Protection Indications tablefordisplaying
priorities.
Over-currentProtection
Over-currentprotectionwill beactivated whencontinuouscurrentexceeds16Aorincase ofshort
circuit between motorcoilsorbetween motorcoiland ground,and RED LEDwillturnononce
withineachperiodictime(3s).
Over-voltage Protection
When powersupplyvoltage exceeds91±1VDC, protection will be activatedandRED LEDwill
turnontwicewithineachperiodictime(3s).
PhaseErrorProtection
Motorpowerlineswrong &notconnected willactivatethisprotection.RED LEDwill turnonfour
timeswithineachperiodictime(3s).
Attention: Whenaboveprotectionsareactive,the motorshaftwillbefree orthe LEDwillturnred.
Resetthedriverbyrepowering it tomakeitfunction properlyafterremoving aboveproblems.Since
thereisno protection againstpowerleads(﹢,﹣)reversal,itiscriticaltomakesurethatpower
supplyleadscorrectlyconnectedtodriver. Otherwise,the driverwill bedamaged instantly.

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ProtectionIndications
Priority Time(s)of ON Sequencewaveof RED LED Description
1st 1 Over-currentprotection
2nd 2
Over-voltageprotection
3rd 4 Phaseerrorprotection
12. Frequently AskedQuestions
Intheeventthatyourdriverdoesn toperateproperly,thefirststepistoidentifywhetherthe problem
iselectricalormechanicalinnature.The nextstepistoisolatethe systemcomponentthatiscausing
the problem. Aspartofthisprocess you mayhavetodisconnectthe individualcomponentsthatmake
upyoursystemandverifythattheyoperateindependently.Itisimportanttodocumenteachstep in
the troubleshooting process.Youmayneed thisdocumentation toreferbacktoatalaterdate,and
thesedetailswillgreatlyassistourTechnicalSupportstaffindeterminingtheproblemshouldyou
needassistance.
Manyofthe problemsthataffectmotioncontrolsystemscanbetraced toelectricalnoise,controller
softwareerrors,ormistakeinwiring.
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ProblemSymptomsand PossibleCauses
Symptoms PossibleProblems
Nopower
Microstepresolution setting iswrong
DIPswitchcurrentsettingiswrong
Fault conditionexists
Motorisnotrotating
The driverisdisabled
Motorrotatesinthewrongdirection
Motorphasesmaybeconnected inreverse
DIPswitchcurrentsettingiswrong
Thedriver infault Somethingwrong withmotorcoil
Controlsignalistooweak
Control signal isinterfered
Wrong motorconnection
Somethingwrong withmotorcoil
Erraticmotormotion
Current setting istoo small, losing steps
Current setting istoo small
Motorisundersizedfortheapplication
Acceleration isset too high
Motorstallsduring acceleration
Powersupplyvoltagetoolow
Inadequateheat sinking / cooling
Automaticcurrent reductionfunctionnotbeingutilized
Excessivemotoranddriver heating
Current issettoo high

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13. Professional TuningSoftwareProTuner
Introduction
Thissection willprovideanoverviewofconnectionand basicsetup instructionsforLeadshine s
digital steppingdriverDM856usingthe ProTuner software.Theseinstructionswill walkyou through
the following stepsnecessarytostart up yourdriverand motor.Thissection isintendedforsetting up
the driverwiththe ProTuner.
SoftwareInstallation
The ProTuner iswindowsbased setupsoftwarefortuningLeadshine sdigitalstepperdriverDM856.
Itcanruninwindowssystems,includingWin95/Win98/WindowsNT/Windows2000/WindowsXP.
And theselected PCshouldhave1serial port at least forcommunicating withthe driver.
Doubleclick “ProTuner_DM856.exe”tobegininstalling the ProTuner.See Figure11.Click Next to
enterthe “LicenseAgreement”window. See Figure12.
Figure11:Begintoinstall theProTuner
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Figure12:Licenseagreement
Choose “Iagree tothetermsofthislicenseagreement”andclick Next tocontinueinstallation.The
usercanenteruser sinformationinthe following window. SeeFigure13.Afterentering the user s
information, click Next toselectinstallation folder, whereyou wouldliketoinstall the ProTuner. See
Figure14.
Figure13:User sinformationsettings

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Figure14:Installationfoldersettings
Figure15:Shortcutfolder setting
Setthe “ShortcutFolder”inFigure15andcontinuetoinstall the ProTuner byfollowing Figure16
and Figure17.An InstallationSuccessful windowwill appearifthe ProTuner isinstalled
successfully. See Figure18.
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Figure16:Installationinformationsummarization
Figure17:InstallingtheProTuner

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Figure18:Finishinstallation
Connectionsand Testing
Connectthe stepping systemaccordingtothe contentsinprevioussectionsand connectthe PCtothe
driverasthe followingfigure.
RS232InterfaceConnection
Figure19:RS232interface connection
Testingthe SteppingSystem
Turnonthe powersupply,the green(Power) LEDwilllight. TheDM856hasdefault parameters
stored inthe driver.Ifthesystemhas nohardwareandwiringsproblem,themotorshouldbelocked
and the drivershouldbeready.
Ifthe red LEDimmediatelyturnson (flickers),thencheckpowersupply,the motor,motorwirings
DM856
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and tryagain.Open thetuning software ProTuner andcheckdriverstatusbyclicking Err_check.If
it s Phase Error,checkthe motor,motorwiringsandtryagain.Ifit stilldoesn tworkafteryou
followedall ofthe previoussteps,pleasecontact usat [e-mail].
IftheRED LEDisoff andthemotorisnormal, then you canstarttotune the servowith ProTuner.
However, werecommend yousee the followingcontentsbeforestarting tuning.
SoftwareIntroduction
ProTunerMainWindow
Figure20:ProTuner
ØOption
Theusercanchoosethree drop-downmenusbyclicking “Option”,including ComConfig,
SaveToDriver and Exit.
lComConfig: ConfigureComcommunication interface.
lSaveToDriver: Downloadthe current parametersettingstothe driver.
Menu Bar
StatusBar

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lExit: Exit the ProTuner.
ComConfigWindow
Figure21:RS232 communicationconfigurationwindow
Serial Port: Select the serialcommunicationport towhichthedriverisconnected. The factorydefault
settingisCOM1.
BaudRate: Select the communication baud rate.The factorydefault setting is38400.
Click Open buttontoestablishaconnection withthe specified settings.When connecting,youcan
choose SaveToDrive todownloadthe currentparametersettingstothe driver,ortouploadthe stored
driversettingsintothe ProTuner byclicking Tuning > PositionLoop onthe menu bar.
Tuning
Theusercanchooseoneortwodrop-downmenu(s)byclicking Tuning,including CurrentLoop and
SystemConfig.
lCurrentLoop:InCurrentTuning window, the usercantune the Kp (ProportionalGain)and
Ki (IntegralGain) ofdriver scurrentlooptooptimizeresponseswithdifferentmotors.
Start/Restart aStepResponsetesttoget anoptimumresponse.
Kp:ProportionalGain.ProportionalGaindeterminesthe response ofthe drivertocurrentsetting
command.LowProportionalGainprovidesastablesystem(doesn toscillate),haslowstiffness,and
large currenterror,causing poorperformancesintracking currentsetting command ineachsteplike
Figure23. Toolarge ProportionalGainvalueswillcauseoscillationsand unstablesystems.
DM856DigitalSteppingDriverManualV1.0
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Figure22:CurrentTuningwindow
Ki: IntegralGain.IntegralGainhelpsthe drivertoovercomestaticcurrenterrors.Aloworzero
value fortheIntegralGainmayhavecurrenterrorsatrest.Increasing the IntegralGaincanreducethe
error. Ifthe IntegralGainistoo large,the systemsmay “hunt”(oscillate)about the desiredposition.
Start button:The usercanstart aStepResponsetestbyclickingthisbutton.Start/RestartaStep
Responsetesttogetanoptimumresponselike Figure22,and remembertosavethe settingstothe
driverwhen finishtuning. See Figure24.
Figure23:Kp=543, Ki=0(poor performances)

DM856DigitalSteppingDriverManualV1.0
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Figure24:Finishtuning andsavesettingto thedriver
Notes:
However,ifthe userdoesnotwanttotune the currentloop afterchanging adifferentsteppingmotor,
then Motorauto-identificationandparameterauto-configuration technologyofthe DM856 can
replacemanualtuningthe driverwith ProTuner.JustchangesSW4twotimesin1second,andthen
the driverwill auto-identifythe newmotorandauto-configurerelated controlparametersforoptimum
responses. Recommend usethisfunction afterchanging the drivenmotor.
lSystemConfig:
In SystemConfig window, the usercanconfigurePeakCurrent, Microstep,CommandType,Active
Edge,and eliminatemotorresonance.Abuilt-inpulsegeneratorcanbe usedfortestduringtuning.
See Picture25.
PeakCur: PeakCurrent.Thevalueisthepeak currenttotheselected motorand canbe setfrom0.5
to5.6A.The usercansetthe peak currentwith ProTuner orDIPswitches,see moreinformation
aboutsetting outputcurrentofthe driverinsection5 “Connecting theMotor”and section 7
“SelectingMicrostepResolutionand DriverOutputCurrent”.
MicroStep: MicrostepResolution.Thevalue isdriver smicrostepresolution settingandcanbeset
from1to512.The usercansetthemicrostepwith ProTuner orDIPswitches,See moreinformation
aboutsetting outputcurrentofthe driverinsection 7 “SelectingMicrostepResolutionandDriver
OutputCurrent”.
DM856DigitalSteppingDriverManualV1.0
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Figure25:SystemConfig window
ElecDamp:ElectronicDampingCoefficient.The electronicdampingrestrainresonanceofthe
systemand preventamplitude ofthe oscillation fromincreasing tothe extendthatitmakesthemotor
outofcontrol. Theoptimalvalue dependsonthe system, andthe default value is3000.
CommandType:Command Type ofcontrolsignal, includingPUL/DIRandCW/CCW.Setthis
parameteraccordingto CommandType ofmotioncontroller.
ActiveEdge:ActiveEdge. The usercansetthe triggered edge ofpulsecommand signalinthispanel.
When the driverworksinCW/CCWmode,no matterwhatlevelisatfixed levelterminal,thedriver
canworksproperly.
DirectionDef:Direction Definition. Relatethe default running directionto aHIGH levelinputin
DIRor Low levelinputinDIR.Thispanelisused forPUL/DIRcommandtype only.Pleasenotethat
the default direction isalsorelated tomotorcoilconnections.

DM856DigitalSteppingDriverManualV1.0
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Anti-Resonance Introduction
Step motors arehighlyresonant, whichresultsinvibrationand ringing.The ringingutilizesalarge
fractionofthemotor'savailabletorque –therebywasting performance.Furthermore,atmid-range
velocities,the resonancecanbecomesoseverethatthe motorloosessynchronization and stalls.The
DM856 driverprovidesrobustanti-resonancecontroltostopthe vibrationsand maintainequilibrium.
Thisfeaturerequiresthatthe driverbe configuredwithrespecttothe totalinertiainthe system.Ifset
improperly, the effectiveness ofthefeaturemaybediminished.
Theusercaninvokeordisablethe featurebysetting Amp and Phase valuesin SystemConfig
window. Amp and Phase valuesall zeroistodisablethe feature,otherwiseistoinvokethe feature.It
shouldbeenabledunless the systemconfigurationeitherdoesnotneed it orcannottolerateit.A
systemwithloosecouplingsorviscousloadinggenerallydoesnotneed thisfeature.Ifasystemhas
compliant(springy)coupling andisabsentappreciablyviscosity, it maynotrespond well tothe active,
anti-resonantloopinthe drive.The anti-resonantfeatureisnotdesignedtodampsucha4th order
system.Ifthe application ofanti-resonanceresultsindegradation orinstability,it shouldbe disabled.
1
st ResonanceArea:Parametersfor 1st resonance area. Usuallybetween 0.6rpsand1.2rps.
Amp1 isAmplitude adjustment for1st resonancearea.
Phase1 isPhaseadjustmentfor1st resonancearea.The usercanenteravaluedirectlyinthetextbox
ormovethe sliderbarbackandforthtogetanoptimumvalue.
2
nd ResonanceArea:Parametersfor 2 nd resonance area. Usuallybetween1.2rpsand 2.4rps.
Default Amp2 and Phase2 valuesarezero.
3rd ResonanceArea:Parametersfor3rd resonance area. Usuallybetween 2.4rpsand4.8rps. Default
Amp3 and Phase3 valuesare128.
InternerPulser: Thereisaninternalpulsegeneratordesignedfordriverself-testingand
anti-resonancetuning. Youcanissue amotion bythissimplecontroller.
Cycle checkbox: The motion will repeat ifthisboxischecked.
Reverse checkbox:The motorshaftwill reversedirectionifthisbox ischecked.
Interval edit box: The stoptimebetween eachcycle,unitis millisecond.
Repeat edit box: Total motioncycles.
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Length edit box:Movedistanceofeachcycle, unit is revolution.
Start/Stop button: The usercanStart/Stop amotiontest byclicking thisbutton.
Procedure forAchievingOptimumPerformance
Step1: Startthe motiontestbyclicking Start/Stop button.Find anresonancespeed byslightly
moving thesliderbarofinternal pulsegeneratorbackandforth. See Figure26.
Step2: Runthemotorattheresonancespeed andverifythemotorsmoothness.Youmayfind abetter
smoothingvaluebyslightlymovingthe sliderbars of AMP(s)and Phase(s)back and forth.
Itisveryimportanttomake the AMP(s)and Phase(s)adjustmentsatthe propertestspeedswithan
unloadedmotor.Runningatanincorrecttestspeed willnotexcitethemotoratitspeakresonance,
making itmoredifficult tofind properadjustmentvalues.Optimum AMP(s)and Phase(s)valuesmay
bealittledifferent between running the testswithanunloaded motorandaloadmotor.
Pleaseremembertoclick SavetoDrive todownloadthefinalparametersettingstothe driverwhen
finishtuning.See Figure27.
Figure26:Anti-resonance tuning

DM856DigitalSteppingDriverManualV1.0
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Figure27:Finishing tuninganddownloadparametersettingsto thedriver
ØErr_check
lErrorCheck:Thiswindowshowsboththe presentstatusofeach erroreventand their history.
Currenterrorevent(s)canberesetbyclicking EraseCurrentErr! button,andallerrorevents
canberesetbyclicking EraseAll! button.Listofthe lastten drivefaults.#0 being the most
recent, #9 isthe oldest. See Figure28.
Figure28:Error checkwindow
OverCurrent: Over-currentProtection.Protectionwill beactivated when continuouscurrent
exceeds16A.
DM856DigitalSteppingDriverManualV1.0
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OverVoltage:Over-voltage Protection. When powersupplyvoltage exceeds91±1VDC,protection
willbeactivated.
PhaseErr: Phase ErrorProtection.Motorpowerlineswrong&notconnectedwill activatethis
protection.
ErrCounter: Displayscurrent error(s) and current errorhistory.
EraseCurrentErr!:EraseCurrentErr button.Theusercanclearcurrenterror(s)byclickingthis
button.
EraseAll!:EraseAll! button.Theusercanclearall error(s)includingerrorhistorybyclickingthis
button.
ØAbout
Theusercan choosetwodrop-downmenusbyclicking “About”, including ProductInformation and
ContactUs.
lProductInformation window: Showssomeproduct information about ProTuner.
lContactUs window: Showssomecontactinformation about Leadshine.
Figure29:Productinformation
Figure30:Contactinformation

DM856 MicrosteppingDriverManual V1.0
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APPENDIX
TwelveMonthLimited Warranty
LeadshineTechnologyCo., Ltd.warrantsitsproductsagainstdefectsinmaterialsand
workmanshipforaperiod of12 monthsfromshipment outoffactory.Duringthe warrantyperiod,
Leadshinewill either,at itsoption, repairorreplaceproductswhichproved tobedefective.
Exclusions
The abovewarrantydoesnot extendtoanyproductdamaged byreasonsofimproperorinadequate
handlingsbycustomer,improperorinadequatecustomerwirings,unauthorized modification or
misuse,oroperationbeyondtheelectricalspecificationsofthe productand/oroperationbeyond
environmental specificationsforthe product.
ObtainingWarrantyService
Toobtainwarrantyservice,areturned materialauthorization number(RMA)mustbeobtained
fromcustomerserviceate-mail: [e-mail] beforereturning productforservice.
Customershallprepayshipping chargesforproductsreturned toLeadshine forwarrantyservice,
andLeadshine shall payforreturnofproductstocustomer.
WarrantyLimitations
Leadshinemakesnootherwarranty,eitherexpressed orimplied,withrespecttothe product.
Leadshinespecificallydisclaimsthe implied warrantiesofmerchantabilityand fitnessfora
particularpurpose.Somejurisdictionsdo notallowlimitationson howlongand implied warranty
lasts,sothe abovelimitationorexclusionmaynotapplytoyou.However, any impliedwarrantyof
merchantabilityorfitnessislimited tothe 12-monthduration ofthiswrittenwarranty.
ShippingFailedProduct
Ifyourproductfailduring the warrantyperiod,e-mail customerserviceat [e-mail] to
obtainareturned materialauthorizationnumber(RMA)beforereturning productforservice.
Pleaseincludeawritten description ofthe problemalongwithcontactnameandaddress.Send
failed producttodistributorinyourarea or:Leadshine Technology Co., Ltd.3/F,Block2,Nanyou
TiananIndustrialPark,NanshanDist, Shenzhen,China. Alsoencloseinformation regarding the
circumstancespriortoproductfailure.