Leadshine Technology DB810A User manual

User sManual
For
DB810A
Digital DC Servo Driver
Version 1.0
2000 All Rights Reserved
Attention: Pleaseread thismanual carefully beforeusing the driver!
Floor 3,Block2,NanyouTianan IndustryPark, Nanshan Dist,Shenzhen,China
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©2000 byLeadshineTechnologyCompanyLimited.
All RightsReserved

Contents
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Tableof Contents
1. Introduction, Features andApplications..................................................................1
Introduction..........................................................................................................1
Features................................................................................................................1
Applications.........................................................................................................1
2. Specifications andOperating Environment.............................................................2
MechanicalSpecifications....................................................................................2
ElectricalSpecifications.......................................................................................2
OperatingEnvironment andParameters...............................................................3
3. Connections.............................................................................................................3
ConnectorConfiguration......................................................................................3
ControlSignalConnections..................................................................................4
Encoder Connections............................................................................................5
TypicalConnections.............................................................................................6
4. ServoSetup.............................................................................................................7
InstallEncoder......................................................................................................7
Prepare Power Supply..........................................................................................8
RegulatedorUnregulatedPower Supply....................................................8
SelectingSupplyVoltage.............................................................................8
Prepare Controller................................................................................................8
Initialize theDB810A..........................................................................................9
SystemConnectionsandNoise Prevention..........................................................9
Wire Gauge................................................................................................10
Cable Routing............................................................................................10
TwistedWires............................................................................................10
Cable Shielding.........................................................................................10
SystemGrounding.....................................................................................11
Contents
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Power SupplyConnection.........................................................................11
5.Tuningthe servo....................................................................................................12
Testingthe servo.................................................................................................12
Tuningthe Servo................................................................................................12
AdjustingGainand DampCoefficients.............................................................15
6. UsingTips.............................................................................................................20
CurrentLimit Setting.........................................................................................20
AlarmLED.........................................................................................................20
ChangingDefaultMotor Direction....................................................................21
ERR/RES Port....................................................................................................21
MaximumPulse Input Frequency......................................................................22
APPENDIX...............................................................................................................23
TWELVE MONTHLIMITEDWARRANTY...................................................23
EXCLUSIONS...................................................................................................23
OBTAINING WARRANTYSERVICE.............................................................23
WARRANTYLIMITATIONS...........................................................................23
SHIPPINGFAILEDPRODUCT.......................................................................24

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1. Introduction, Featuresand Applications
Introduction
TheDB810AisadigitalDCservo driverdevelopedwith CPLDandhighefficient
MOSFETtechnologies. Inposition control,it seasyfortheendusers to change
stepping drivers to theDB810Awithout changing control systems, because itsinput
command isPUL/DIR signal,whichiscompatiblewith thatofstepping drivers. In
lowpower motioncontrolapplications,performances ofDCservosystemsusingthe
DB810Aarebetter thanthose ofdigital ACservo systemsin velocity,precision,
noise, stability,oratleastas goodas those ofdigitalACservosystems. However,
thecostoftheDB810Astaysattheprice lineofstepping driver,namelyfar lower
thanthose ofAC servo drivers.
Features
l18-80VDC, 0-20A,20-400W
lPIDfeedbackservo drive
lFeedbackresolution 4encoder linecount
lLockrange+/- 128count followingerror
lOpto-isolated pulse and direction inputs (differential)
lOver-current and short-circuit protection
lSmall size
Applications
Suitableforawiderangeofequipmentsandinstrumentssuchas mini type
engraving machines, jet-inkmachines, etc.Itperformsbetter in equipmentsdesired
for lownoise, highvelocity andhighprecision.
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2. SpecificationsandOperating Environment
MechanicalSpecifications (unit:mm, 1 inch = 25.4 mm)
Figure 1:Mechanicalspecifications
ElectricalSpecifications (Tj = 25 )
DB810AParameters
Min. Typical Max. Unit
Peakoutputcurrent 0 - 20 A
Supplyvoltage +18 - +80 VDC
Logic signalcurrent 7 10 15 mA
Pulse inputfrequency 0 - 500 KHz
Isolationresistance 500 MΩ
Currentprovidedto encoder 50 mA

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Operating Environmentand Parameters
Cooling Naturalcooling or forcedcooling
Environment Avoid dust,oilfog and corrosivegases
Ambient Temperature
0 ºC–50 ºC
Humidity 40 –95%RH
OperatingEnvironment
Vibration 5.9m/s2Max
StorageTemperature -20 ºC –+65 ºC
Weight Approx. 130 grams (4.6oz)
3. Connections
Connector Configuration
Term.
Pin Descriptions
1 PUL+ Connect topositivepoleof thepulsecontrol signal.
2 PUL- Connect tonegativepoleof thepulsecontrol signal.
3 DIR+ Connect topositivepoleof thedirection control signal.
4 DIR- Connect tonegativepoleof thedirectioncontrol signal.
5 EB+ Connect topositivepoleof theencoderchannel Bfeedback signal.
6 EB- Connect tonegativepoleof theencoderchannel Bfeedbacksignal.
7 EA+ Connect topositivepoleof theencoderchannelA feedback signal.
8 EA- Connect tonegativepoleof theencoderchannelA feedbacksignal.
9 E +5V Positivepoleof theauxiliarypowersupply(50 mA(Max)).
10 EGND Ground oftheauxiliarypowersupply.
11 ERR/RES Error alarmand reset/start port.
12 Motor+ Connect topositivepoleof theDCservo motor.
13 Motor- Connect tonegativepoleof theDCservo motor.
14 +18 TO80VDC
Connect topositivepoleof the+18 TO 80VDCpowersupply.
15 PGND Connect togroundof the+18 TO 80VDCpowersupply.
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ControlSignalConnections
TheDB810Acanacceptdifferentialandsingle-endedinputs(including
open-collectorandPNPoutput).TheDB810Ahave2opticallyisolatedlogicinputs
to accept linedriver control signals. These inputsare isolatedto minimize or
eliminateelectricalnoises coupledontothedrivecontrol signals. Recommend use
linedriver control signalstoincrease noise immunityin interferenceenvironments.
Inthefollowingfigures,connectionstoopen-collectoranddifferentialcontrol
signals are illustrated.
Figure 2:Connections to open-collector controlsignal(common-anode)
Figure 3:Connections to PNPsignal(common-cathode)

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Figure 4:Connections to differentialcontrolsignal
Encoder Connections
TheDB810Acanacceptencoderinputfromeither differentialorsingle-ended
encoders.Differentialencoders arepreferredduetotheirexcellentnoise immunity.
Theconnectionsforasingle-endedencoder are identicalto adifferentialencoder
except thatno connectionsshould bemadetochannelA-and channelB-. (TheA-
and B- lines are pulledupinternallyto+2.5V). Notethattwisted-pairshielded
cablingprovides the bestimmunityinelectricallynoisy environments.
If theencoderdrainsless than50mA,theDB810Acansupplytheencoder directly,
and connectitas Figure 5orFigure 6.If theencoder drainsmore than50mA,use an
externalDC supplyandconnectitas Figure 7or Figure 8.
Figure 5: TheDB810Asupplies theFigure6: TheDB810Asuppliesthe
differentialencoderdirectlysingle-endedencoderdirectly
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Figure 7:Using externalDCpowersupplyFigure8: Using externalDC powersupply
to supplythe differentialencoderto supplythe single-endedencoder
TypicalConnections
TwotypicalconnectionsoftheDB810Aare shown as Figure9andFigure10.
Please consult “ControlSignalConnections”and “Encoder Connections”formore
information about controller andencoder connections.
Figure 9: Typicalconnection (Open-collector control signaland single-endedencoder.)

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Figure 10: Typicalconnection(Differentialcontrolsignalanddifferentialencoder.)
4. Servo Setup
Before youstartthe servo, you canfollowthebelowsteps.
Install Encoder
If yourmotorhas noencoder,youmusthaveanencoder (more than200lines)
properlymountedonthemotorbefore youstart.And please assembletheencoder
accordingtoitsfactorymanual. Here, werecommend use differential encoder
again. If you do haveto useasingle-endedencoder,please use shieldedcablesand
separateencoder signalcablefrominterferencesources, suchas motorwires and
power wires atleast5cm.
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Prepare Power Supply
RegulatedorUnregulatedPower Supply
Bothregulatedandunregulatedpower supplies canbeusedto supplythedriver.
However,unregulatedpower supplies arepreferredduetotheirabilitytowithstand
currentsurge.If regulatedpower supplies(suchas mostswitchingsupplies.) are
indeedused,itisimportanttohavelargecurrentoutput rating toavoidproblems
likecurrent clamp,forexampleusing4Asupplyfor3Amotor-driver operation.On
theother hand,ifunregulatedsupplyisused,onemayuse apower supplyoflower
currentratingthanthatof motor (typically50%～70% ofmotor current). The reason
isthatthedriver drawscurrent fromthepower supplycapacitoroftheunregulated
supplyonlyduringtheONduration ofthePWMcycle, butnot duringtheOFF
duration.Therefore,theaveragecurrentwithdrawnfrompower supplyis
considerablyless thanmotorcurrent.Forexample, two3Amotorscanbewell
suppliedbyonepower supplyof 4Arating.
SelectingSupplyVoltage
TheDB810Acanactuallyoperatewithin+18Vto+80VDC, includingpower input
fluctuation andback EMFvoltagegeneratedbymotorcoilsduringmotorshaft
deceleration.Theratedvoltageofthemotorisanimportantparameter when
selectingsupplyvoltage.Generallyspeaking,donotuseapower supplyvoltage
more than5voltsoftheratedvoltageofthemotor.Higher voltagemaycause bigger
motorvibration atlower speed,and it mayalsocause over-voltageprotectionor
evendriver damage.
Prepare Controller
Prepare a controller with pulse anddirectionsignals.

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Initialize the DB810A
TheDB810Ause three potentiometers to tunethecurrent Limit,theGain and the
Damp.See Figure 11.These potentiometers are 10-turnpotentiometers. CW
increases valueandCCWreducesvalue.Before goingon,set the currentLimit
according toyourmotor sMaximumSubtransient Current and usuallycurrent Limit
issetto1.2times ofmotor sMaximumSubtransientCurrent.ThecurrentLimit
potentiometer cansetthecurrentLimit from0Ato 20A.TurntheGain
potentiometer fullyoff. Starting fromoffposition,turntheDamppotentiometer CW
to 2turns.
Figure 11: Sketchof the DB810A
SystemConnections and Noise Prevention
After finishingthe above steps, youcanconnectyour servo system. Before you start,
makesure thatthepower isoff. Checkto see ifthepotentiometer settingsare set
accordingtothe “Initialize theDB810A”section.Connectyoursystemaccordingto
connectiondiagrams before, andpayattentiontothefollowingtips whenwiring.
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Wire Gauge
Thesmaller wire diameter (lower gauge), thehigher impedance.Higherimpedance
wire will broadcastmore noisethanlower impedance wire.Therefore, when
selectingthewire gauge,it ispreferabletoselectlowergauge(i.e.larger diameter)
wire. Thisrecommendationbecomes more criticalas thecablelengthincreases.Use
the followingtableto selecttheappropriate wire size touse inyour application.
Current(A) Minimumwiresize (AWG)
10 #20
15 #18
20 #16
CableRouting
All content sensitivesignalwires should beroutedas far awayfrommotorpower
wires anddriver power wires aspossible.Motorpoweranddriver power wires are
majorsourcesofnoise andcaneasilycorrupt anearbysignal.Thisissuebecomes
increasinglyimportant withlonger motorpower anddriver power wires lengths.
TwistedWires
Twistedwireseffectivelyincreasingnoiseimmunity.Thesuccessivetwistseliminate
noisetransientsalongthelengthofthecable. Bothsignalcablesandpower cables
should beofthetwistedand shieldedtype. Differentialsignalwires shouldbe
twistedas apair.Thecombinationoftwistedpairwires andadifferentialsignal
significantlyaddstonoiseimmunity.Power wires shouldbetwistedas agroup
along withtheground(or chassis) wire, ifavailable.
Cable Shielding
All signalwires shouldbebundledandshieldedseparatelyfromdriver power and
motorpowerwires. Powerwires shouldalsobebundledandshielded.When

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groundingashield,therule-of-thumbistodosoatthe ‘source ofpowerwhile
leavingtheother shieldendopen.Forexample, inthecase ofmotorpower wires,
thiswouldbethedriveside. Ideally,twistedpairs shouldbeindividuallyshielded
andisolatedfromtheouter shield,whichencompasses allwires withinthecable.
However, sincethistypeofstringentshieldingpracticeisoftennot required,typical
cables do notprovideisolation betweeninner and outer shields.
System Grounding
Good grounding practices helpreducethe majorityofnoise present inasystem.All
common groundswithinanisolatedsystemshould betiedtoPE (protectiveearth)
througha ‘SINGLE lowresistance point.Avoiding repetitivelinksto PE creating
groundloops, whichareafrequentsourceofnoise. Centralpoint groundingshould
alsobeappliedtocableshielding; shieldsshouldbeopenononeendand grounded
on theother. Close attentionshouldalsobegiventochassiswires.Forexample,
motors are typicallysuppliedwithachassiswire. If thischassiswire isconnectedto
PE, but themotorchassisitselfisattachedto themachineframe, whichisalso
connectedtoPE, agroundloop willbecreated.Wires usedforgroundingshouldbe
ofaheavygaugeandas shortas possible. Unusedwiring shouldalsobegrounded
whensafe todososince wires leftfloatingcanactaslargeantennas,which
contribute toEMI.
Power SupplyConnection
NEVER connectpower and ground inthewrong direction,because itwill damage
theDB810Adriver.ThedistancebetweentheDCpowersupplyofthedriveandthe
driveitselfshould beasshortaspossiblesincethecablebetweenthetwoisasource
ofnoise. Whenthepowersupplylinesare longer than50 cm,a1000µF/100V
electrolyticcapacitorshould beconnectedbetweentheterminal “PGND”andthe
terminal “+18TO80VDC”.Thiscapacitorstabilizes thevoltagesuppliedtothe
driveas well as filters noiseon thepowersupplyline. Please notethatthepolarity
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cannotbe reversed.
Itisrecommendedtohavemultipledrivers to shareonepowersupplytoreducecost
if thesupplyhas enough capacity. Toavoidcross interference, DONOT daisy-chain
thepower supplyinput pinsofthedrivers. Instead,please connectthemto power
supplyseparately.
5.Tuning theservo
Testing the servo
You maywishtosecure themotorsoitcan tjumpoffthebench.Turnonthepower
supply,thegreen(Power) and red(Alarm)LEDwill light.After starting orresetting
(pushingtheservo starter (a momentaryswitch)) theservo,theredLEDwill turnoff.
You mayhearthemotor “singing”.It snormal.Thesystemis “zero-speeddrift”.
ChangeGainandDampcoefficients, themotor “singing”willbechanged.
If themotorjumpsslightlyandtheredLEDimmediatelyturnson,theneither the
motorortheencoder iswiredinreversalorthepotentiometers are misadjusted.
Checkthepotentiometer settings. If theyare rightthenswitchthemotororthe
encoder leadsand tryagain.If it still doesn tworkafter you followedallofthe
previoussteps, pleasecontactusat [e-mail].
If theredLEDisoffand themotorisnormal,turnon controller orpulse source and
rampthe speeduptosee if the motor runs.Itshouldrun clockwise witha logical “1”
on thedirectioninput.
Tuning the Servo
Aservosystemiserror-driven.The “Gain”ofthesystemdetermines howhardthe
servo tries toreducetheerror. Ahigh-gainsystemcanproduce largecorrecting
torques whenthe errorisverysmall.Ahigh gainisrequiredifthe outputis to follow

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theinputfaithfullywithminimalerror.
Aservomotoranditsloadbothhave inertia,whichtheservoamplifier must
accelerateanddeceleratewhileattempting to followachangeattheinput.The
presence oftheinertiawill tend toresult inover-correction,with thesystem
oscillatingor “ringing”beyond either sideofitstarget,forithasgotteninto a
UNDER DAMPEDstate.See Figure12.Thisringingmustbedamped,buttoo much
damping willcausetheresponse tobesluggish,namelycausethesysteminto an
OVER DAMPEDstate.Whenwetuneaservo,wearetryingtoachievethefastest
responsewithlittleornoovershoot,namelyget aCRITICALLYDAMPED
response.
Figure 12:Stepand impulseresponses
Aspreviousmention,theDB810Aisadigitalservodriver anditsinputcommand is
PUL/DIR signal,in other words, stepresponseisjustexistineachstepcommand
signal.Foreachstepcommandsignalisaverysmall movement,soOVER SHOOT
andSETTLING TIMEbetweeneachstepare verysmall,causingyouhardlycansee
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astepresponsesuchasFigure 12,eveniftheSETPOINTisaverylargequantity
andthe acceleration/deceleration is veryhigh.
However,ifyou tryto evaluateperformances ofthedigitalservo byinvestigatingits
position tracking-errororpositionfollowing error,youmayfind it smucheasier
thaninvestigatingitsstepresponse. Theeasiestwayto getatracking-erroror
position following errorresponseisto induce animpulse loadon themotor.See
Figure12at “time20”.And forevaluatingservoperformances,atestpoint
(includingTESTpoint andGND point)issetinsideoftheDB810A.See Figure 14.
Whenthere is no positionerror, the voltageshould be 2.5V. The voltage betweenthe
TESTpointandtheGND pointwilldecreaseby19.53mVforeverypositive
encoder counterror,and thevoltagebetweentheTESTpoint and theGND point
will increaseby19.53 mVforeverynegativeencoder count error.TuneDampand
Gain until performances of the servo are satisfying.
Thefirstobjectiveoftuningistostabilizethesystem.If thesystemisunstable, then
no matter how small thepositionsetpoint orhowlittleadisturbance(motortorque
variation,loadchange, encodernoise,etc.) thesystemreceives, thepositionerror
will increase continuously.Inpractice, whenthesystemexperiencesinstability,the
actualpositionwilloscillatein anexponentiallydiverging fashionas shown inthe
Figure13below.The ±128 countsfollowing errorprotectfunctionoftheDB810A
will protectthesystemfromlargepositionerror.|ΔY(1)|/0.01953=2.5/0.01953=
128counts.Whenyou tunetheservowith theload orforthenotproperlytuned
parameters, thisprotection function willlimitstheoscillation andtellsthecontroller
ortheuser whether thesystemhas reached theFOLLOWING ERRORLIMITornot.
Whether thesystemhas reachedtheFOLLOWING ERRORLIMITornotis
reflectedonwhether thevoltagebetweentheTESTpointandtheGND point has
reached+5Vor0Vornot.See Figure13.If thesystemreachesthelimit,theAlarm
LEDwill lightandyouhave to reset/restarttheDB810Atoclear theAlarm.

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(a)Negativeerror limit (b) Positive errorlimit
Figure 13:Position errorlimit
Adjusting Gain and Damp Coefficients
Thefollowing contentsshow howtoimprovetheperformances theofservo system
formedbytheDB810Adriver,theDCM50207-1000 motorandtheDMC5400
controller throughadjustingGain and Dampcoefficients. See Figure14.Weinduce
adisturbance byswitching thedirection input (use theSwitchinFigure 14)while
commanding a constantspeed(8000p/s, namely2rpm) viathe DMC5400.
Weinitiallytunedthesystemto beanUNSTEADYsystem.Namely,theinitial
responses ofthetestsystemwere likeFigure 13whengivenasmall setpointor
small interferenceonthemotorshaft.Sothefirstobjectiveoftuningistostabilize
thesystem.After increasing DampordecreasingGain,wegotanimpulseresponse
shownas Figure 15.ThisisUNDER DAMPEDresponse. Thesystemhas aslightly
oscillatoryresponse, causingalonger settling time(about 34.5ms). Thisoscillatory
responseisacauseofmotorringing too.Althoughthesteadystatepositionerrorof
theDB810Aservo systemisusuallycanbeeliminatedto ±1count (seeFigure16.),
here weassumedthattheacceptableSETTLING BAND is ±(|ΔY(1)|/0.01953)=
±(0.0563/0.01953) ≈±3counts. Thesameas the following contents.
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Figure 14: Testsystem
PleasenotethattheMAX ERROR(seeFigure15 (a) ΔY(1)) and theSETTLING
TIME (see Figure 15(b) ΔX) are relatedto themotion speedandthe rotator inertia of
themotor.Different rotation speedand motorrotatorinertia, namelydifferent
impulse loadand different motor youwill getdifferent results.
(a)Maxerror (b) Steadystate error
Figure 15:UNDERDAMPEDresponse

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(a)Steadystate position error detectedbyoscilloscope
(b) Steadystateposition error detectedbythe DMC5400
Figure 16:Steadystate position error
Remark: Figure16(b) isbetweenX1andX2 in Figure16(a); beforeX1was adeceleration
period.
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Whenyouencounter UNDER DAMPEDresponse,you shoulddecrease Gainor
increase DamptogetaCRITICALLYDAMPEDresponse, likeFigure 17 below.
Here themotorrapidlyreturnstothesetpoint withlittleornoovershootandthe
minimalSETTLING TIME. InFigure 17 (b)theSETTLING TIMEis13.30ms
muchfaster thanthatofFigure 15 (b). WhenyougetaCRITICALLYDAMPED
response, youcanstoptuningthe servo.
(a)Maxerror (b) Steadystate error
Figure 17:CRITICALLYDAMPEDresponse
However,ifyou increase Dampordecrease Gaintoomuch,youmaygetanOVER
DAMPEDresponse likeFigure 18. Inthissituation, themotor returnsto SETTLING
BAND with alongSETTLING TIME. In Figure 18(b)theSETTLING TIMEis
237ms, muchlonger than thatofFigure 17(b). WhenyouencounterOVER
DAMPEDresponse, you should increase Gain ordecrease Dampto geta
CRITICALLYDAMPEDresponse, like Figure 17.
Gain andDampsettinggenerallytrack eachother.If you increase Gain,then
increase Dampisneededaswelltorestore CRITICALLYDAMPEDstate.Notethat
differentsystemyou will getdifferent curves ofUNDER DAMPED,CRITICALLY
DAMPEDand OVER DAMPEDresponses. Tuningistheprocess ofadjustingGain
and Dampcoefficientstoprovidesatisfying control foraparticular systemofmotors
and loads. It snot easyto getanideallyoptimizedperformance orCRITICALLY

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DAMPEDresponse likeFigure 12.Remember tuning theservo istogetsatisfying
performances,gettingthebestperformances oftheservoisatimeconsuming work.
Soiftheservoperformance canmeetyourapplication requirements,thentheeasier
tuningwaythebetter.Justlikeiftheperformances oftheproductscanmeetyour
applicationrequirements, thenthecheaperthebetter.
(a)Maxerror (b) Steadystate error
Figure 18:OVERDAMPEDresponse
Usuallymanuallyinduce aninterferenceloadtothemotorshaftortheload,and
investigatingorevaluating theresponseoftheservo isalsoaneasywayforan
experienceengineer totunethe servo.
TuningservosystemsformedbyDB810Adrivers canbesummarizedasthe
followingrules:
1. If servo systemisUNSTABLE, thenthefirstobjectiveoftuningisto
stabilize thesystem.You canincrease Dampor decrease Gain.
2. If servosystemisUNDER DAMPED,thenincrease Dampordecrease
Gain.
3. If servo systemis CRITICALLYDAMPED, thenstop tuning.
4. If servo systemis OVER DAMPED, then decrease Dampor increase Gain.
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6. Using Tips
CurrentLimit Setting
ThecurrentLimit potentiometer isadjustablefrom0Ato 20A.NormallytheLimit
potentiometer issettoMaximumSubtransientCurrent ofthemotor(default setting
is 20A) unless you wanttolimit motor torqueto a lower value.
Whenthetorquedemand duetoloaddoesn texceedscurrentLimit setting,motor
speedandposition are unaffectedbythe current Limitsetting.Whenthecurrent
Limit setting isactive,themotorpositionmayfall behindthecommand position
because of insufficienttorque.
AlarmLED
NormallywhentheDB810Aisfirstpoweredup,it will benecessaryto pushthe
momentaryswitchtoSTARTservofor2seconds.Thiswillclear thepower-on reset
condition and extinguishtheAlarmLED.Themotorwill thenbeenabledandthe
drivewillbegintooperate.
After starting theservo,ifaconditionoccurs thatcausestheDB810Ato “fault out”,
suchas thePOSITION FOLLOWINGERRORreaches ±128 counts,theERR/RES
terminalwillgoto “0”,signalingthecontroller anerrorhasoccurred.Theuser must
correcttheproblemthatcausedthefaultandthenrestart or re-enable the DB810A.
Atanytimetheuser canpulltheERR/RESto “0”toimmediatelyhalttheDB810A
drive.SeeFigure 19.When theDB810Aisinthe “FAULT”state(AlarmLEDlit),
all switchingactionstops,all internalcounters are resetandthemotorfreewheels
andunpowered.
Therearetwo conditionsthatwillactivatetheprotectionfunction.Oneconditionis
a shortcircuitoccurs or current exceeds current Limit setting.

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Theother conditionisthePOSITION FOLLOWING ERRORexceeds ±128counts
causingservo-lock.Thisconditionmayhave severalcauses:
1)Theservo systemisUNSTABLE orseverelyUNDER DAMPED,causing
POSITION FOLLOWINGERROR limit occurs.
2)Excessivemotorload duetoaccelerationorworkload,thePOSITION
FOLLOWINGERROR exceeds ±128 countscausingservo-lock.
3)Thespeedcommand in excess ofwhatthemotorcandeliver,causing
POSITION FOLLOWINGERROR occurs.
4)Thecurrent Limit issettoo low,causingthemotorcan toutputenough torque
to followthe commanding and POSITIONFOLLOWINGERROR occurs.
5)Thepower supplycurrentisinsufficientfortheapplication,causingthemotor
can toutputenough torquetofollow thecommandingandPOSITION
FOLLOWINGERROR occurs.
6)The motor is wiredbackwards, oris brokenordisconnected.
7) Encoder failure or is wiredbackwards.
Changing Default Motor Direction
TheDB810AwillturnthemotorintheCWdirectionwhenthedirectioninputis
“high”(logical “1”). If insteadCCWispreferred,then:
1) Reverse the “motor +”and “motor -”leads.
2) Reverse theencoder “ChannelA”and “ChannelB”leads.
ERR/RESPort
Thisportfunctionsas anerroroutputandas aservostart/restartinput.Whenfirst
testingtheDB810Aoritisnotnecessaryto readthestateoftheerroroutput,
ERR/RES portcanbe connectedtoE +5Vport.
WhentheDB810Aisfunctioningnormally,thevoltageonthisterminalis+5VDC.
Thevoltageonthisterminalwillgoesto0VDCwhen theAlarmLEDislit.This
outputcanbe usedtosignalyour controller thatanerrorhas occurred.
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Figure19showsanexternalswitchtoclear anERRORconditionand
START/RESETtheDB810A,while stillcan readthestateofthedrive.Italso
includes anoptionalAlarmLEDcircuit if a remote state indicationisdesired.
MaximumPulse InputFrequency
Thehighestfrequencyatwhichthedrivecaninterpretencoder feedback.Toconvert
this frequencyto RPM,use the followingformula:
4)(
60)(
(max)
´
´
=
CountLineEncoder
FrequenceInputPulseMax
RPM
Figure 19:Alarm indicationandstart/stop circuitof the DB810A

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APPENDIX
TWELVE MONTHLIMITED WARRANTY
LeadshineTechnologyCo.,Ltd.warrantsitsproductsagainstdefectsin materials
and workmanship for a period of 12months fromshipping date. Duringthe warranty
period,Leadshinewilleither,atitsoption,repairorreplaceproductswhich proved
to bedefective.
EXCLUSIONS
Theabovewarrantyshallnotapplyto defectsresultingfrom:improper or
inadequatehandling bycustomer;improper orinadequatecustomer wiring;
unauthorizedmodificationormisuse;oroperationbeyond theelectrical
specificationsoftheproductand/oroperationbeyondenvironmentalspecifications
for theproduct.
OBTAINING WARRANTY SERVICE
Toobtainwarrantyservice,areturnedmaterialauthorizationnumber (RMA)must
beobtainedfromcustomer serviceate-mail: [e-mail] before returning
productforservice.Customer shallprepay shippingcharges forproductsreturnedto
Leadshineforwarrantyservice, and Leadshineshallpayforreturnofproductsto
customer.
WARRANTY LIMITATIONS
Leadshinemakes noother warranty,either expressedorimplied,withrespectto the
product.Leadshinespecificallydisclaimstheimpliedwarranties ofmerchantability
andfitness foraparticular purpose.Somejurisdictionsdonot allowlimitationson
howlongandimpliedwarrantylasts, sotheabovelimitationorexclusionmaynot
applytoyou.However,anyimpliedwarrantyofmerchantabilityorfitness islimited
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to the12-month durationofthis writtenwarranty.
SHIPPINGFAILEDPRODUCT
If yourproductshouldfail duringthewarrantyperiod,e-mail customer serviceat
[e-mail] to obtainareturnedmaterialauthorizationnumber (RMA)
before returning productforservice.Please includeawrittendescription ofthe
problemalongwithcontactnameandaddress. Sendfailedproducttodistributorin
yourareaor:Leadshine TechnologyCo.,Ltd.Floor3, Block2,TiananIndustryPark,
NanshanDist,Shenzhen,China. Alsoencloseinformationregardingthe
circumstancespriorto productfailure.