Leadshine Technology DCS810 User manual

User sManual
For
DCS810
Digital DC Servo Driver
Revision 1.0
2008 All Rights Reserved
Attention: Pleaseread thismanual carefully beforeusing the driver!
3/F,Block2,Nanyou Tianan Industrial Park, Nanshan Dist, Shenzhen, China
Tel: [phone]Fax: [phone]
URL: www.leadshine.com E-Mail: [e-mail]
The content in this manualhas beencarefullypreparedand isbelievedto be accurate,
butnoresponsibility is assumedfor inaccuracies.
Leadshinereserves theright tomakechanges withoutfurther noticetoanyproducts
hereinto improvereliability,functionordesign.Leadshinedoesnotassumeany
liabilityarisingoutoftheapplicationoruseofanyproductorcircuitdescribed
herein; neitherdoes itconvey anylicense under its patent rights ofothers.
Leadshine sgeneralpolicydoes notrecommend theuse ofitsproductsinlife
supportoraircraftapplicationswhereinafailure ormalfunction oftheproductmay
directlythreatenlifeorinjury.Accordingto Leadshine stermsandconditionsof
sales, theuser ofLeadshine sproductsin life supportoraircraftapplications
assumes all risks of suchuseandindemnifies Leadshine againstalldamages.
©2008 byLeadshineTechnologyCompanyLimited.
All RightsReserved

Contents
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Tableof Contents
1. Introduction, Features andApplications..................................................................1
Introduction..........................................................................................................1
Features................................................................................................................1
Applications.........................................................................................................2
2. Specifications andOperating Environment.............................................................3
MechanicalSpecifications....................................................................................3
EliminationofHeat..............................................................................................3
ElectricalSpecifications.......................................................................................3
OperatingEnvironment andParameters...............................................................4
3. Connections.............................................................................................................4
ConnectorConfiguration......................................................................................4
Generalinformation....................................................................................4
More aboutPUL/DIR/ENSignals...............................................................5
PUL/DIR and CW/CCWMode Settings.....................................................6
ControlSignalConnections..................................................................................6
Encoder Connections............................................................................................8
RS232Interface Connection................................................................................9
TypicalConnections.............................................................................................9
4. ServoSetup...........................................................................................................10
InstallEncoder....................................................................................................10
Prepare Power Supply........................................................................................11
RegulatedorUnregulatedPower Supply..................................................11
SelectingSupplyVoltage...........................................................................11
Prepare Controller..............................................................................................11
SystemConnectionsandNoise Prevention........................................................12
Wire Gauge................................................................................................12
Contents
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Cable Routing...........................................................................................12
TwistedWires............................................................................................12
Cable Shielding.........................................................................................13
SystemGrounding.....................................................................................13
Power SupplyConnection.........................................................................13
5.Tuningthe servo....................................................................................................14
Testingthe servo.................................................................................................14
Tuningthe Servo................................................................................................15
6. UsingTips.............................................................................................................17
Sequence Chartof Control Signals....................................................................17
ProtectionFunctions...........................................................................................17
Over-current Protection.............................................................................18
Over-voltage Protection............................................................................18
Under-voltageProtection..........................................................................18
Phase Error Protection...............................................................................18
Encoder ErrorProtection...........................................................................18
Position Following Error Protection.........................................................18
ProtectionIndications................................................................................19
ChangingDefaultMotor Direction....................................................................19
MaximumPulse Input Frequency......................................................................19
APPENDIX...............................................................................................................20
TWELVE MONTHLIMITEDWARRANTY...................................................20
EXCLUSIONS...................................................................................................20
OBTAINING WARRANTYSERVICE.............................................................20
WARRANTYLIMITATIONS...........................................................................20
SHIPPINGFAILEDPRODUCT.......................................................................21

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1. Introduction, Featuresand Applications
Introduction
TheDCS810isadigitalDCservodriverdevelopedwith DSPandhighefficient
MOSFETtechnologies. Inposition control,it seasyfortheendusers to change
stepping drivers to theDCS810without changing control systems, becauseitsinput
command isPUL/DIR signal,whichiscompatiblewith thatofstepping drivers. In
lowpower motioncontrolapplications,performances ofDCservosystemsusingthe
DCS810 are better thanthose ofdigitalACservo systemsin velocity,precision,
noise, stability,oratleastas goodas those ofdigitalACservosystems. However,
thecostoftheDCS810staysattheprice lineofsteppingdriver,namelyfar lower
thanthose ofAC servo drivers.
Comparedto theDB810-50V,theDCS810canaccept differentialcontrol signalsand
differentialencoder feedbacksignals, offering better anti-interferenceperformances.
MeanwhiletheDCS810hashigher Max Pulse Input Frequency,hence candrivea
faster motororchooseahigher accuracyencoder foragivenmotor.What'smore,
broader input voltagerangemakes theDCS810 candrivebroaderrangeofservo
motors. ComparedtotheDB810A,parameter visibletuningtoolsmaketheDCS810
mucheasier to tune.
TheDCS810 isveryeasytotuneandall parameters are visible.Parameter visible
tuningtools, includingProTuner(Windowsbasedsetupsoftware),EZTuner (Text
Monitor) andSTU(Small servotuningunit)canmeetdifferenttuningenvironments
or requirements.
Features
l18-80VDC, 0-20A,20-400W.
lBasedonDSPcontroltechnologyandhighsmooth servocontrol algorithm.
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lParameter visibletuning tools, includingProTuner, EZ Tuner andSTU.
lFeedbackresolution ×4encoder linecount.
lPosition Following error lockrangeadjustable
lPosition errorcanbeeliminatedto1count,andVelocityerrorcanbe
eliminatedtothe DesiredVelocity* ±0.3%
lElectronicgear ratiofrom1/255to255
lBuilt-inmotion controller for self-testwithtrapezoidalvelocity profile
lSupportPUL/DIR and CW/CCW control signals
lOpto-isolated inputs,supportsingle-ended anddifferentialsignals
l10 latesterrors self-recordfunction
lOver-current,over-voltage,under-voltage,phaseerror,encodererror,position
followingerror protections
lSmall size, surface-mount technology
Applications
Suitableforawiderangeofequipmentsandinstrumentssuchas mini type
engraving machines, jet-inkmachines, etc.Itperformsbetter in equipmentsdesired
for lownoise, highvelocity,highprecision andhighreliability.

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2. SpecificationsandOperating Environment
MechanicalSpecifications (unit: mm, 1 inch = 25.4 mm)
Figure 1:Mechanicalspecifications
EliminationofHeat
lDriver sreliableworkingtemperature shouldbe<60 , andmotorworking
temperature shouldbe<80;
lItis recommendedtomountthedriver verticallytomaximize heatsinkarea.
ElectricalSpecifications (Tj = 25 )
DCS810
Parameters
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. 210 grams (7.41 oz)
3. Connections
Connector Configuration
Generalinformation
Control Signal Connector
Pin Signal Description I/O
1 PUL+ Pulsecontrolsignal (+).See moreinformation aboutPULin “More
aboutPUL/DIR/EN Signals”section. I
2 PUL- Pulsecontrol signal(-). I
3 DIR+ Direction controlsignal(+).See moreinformation aboutDIRin
“Moreabout PUL/DIR/EN Signals”section. I
4 DIR- Direction control signal (-). I
5 EN+ Enablecontrol signal (+). I
6 EN- Enablecontrol signal (-). I
EncoderSignal Connector
Pin Signal Description I/O
1 EB+ Encoderchannel B(+)input. I
2 EB- Encoderchannel B(-) input. I
3 EA+ EncoderchannelA (+)input. I
4 EA- EncoderchannelA (-) input. I
5 E +5V Positivepoleof theauxiliarypowersupply(50 mA(Max)). O
6 EGND Ground oftheauxiliarypowersupply. GND

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PowerConnector
Pin Signal Description I/O
1 Motor+ Motorpositiveconnection. O
2 Motor- Motornegativeconnection. O
3 +VDC +18 TO 80VDCpowerinput. I
4 GND Powerground. GND
RS232 CommunicationConnector
Pin Signal Description I/O
1 NC Not connected. -
2 +5V +5VpoweronlyforSTU. O
3 TxD RS232transmit. O
4 GND Ground. GND
5 RxD RS232receive. I
6 NC Not connected. -
More about PUL/DIR/ENSignals
PinFunction Details
PUL+
PUL-
Pulsesignal: Insinglepulse(pulse/direction) mode, thisinputrepresents
pulsesignal;4-5VwhenPUL-HIGH,0-0.5VwhenPUL-LOW.In double
pulsemode(pulse/pulse),thisinputrepresentsclockwise (CW)pulse
effectiveat LOWlevel(thefixedlevel).Forreliable response,pulsewidth
should belongerthan1.0μs.Seriesconnectresistorsfor current-limiting
whenusing +12Vor +24Vcontrol signals.
DIR+
DIR-
DIR signal: In single-pulsemode, thissignalhaslow/high voltagelevels,
representing two directionsofmotor rotation(setbyinsideR33and R37);in
double-pulse mode,thissignaliscounter-clock(CCW)pulse effectiveat
LOWlevel(thefixedlevel).Forreliablemotionresponse, DIRsignalshould
beaheadofPULsignalby5μsatleast.4-5VwhenDIR-HIGH,0-0.5Vwhen
DIR-LOW.Pleasenotethatmotion direction isalsorelatedtomotor-driver
wiring and encoderfeedbackA/Bphasesignals.Exchanging theconnections
of two wiresof themotor to thedriverandA/B phasesignalsof encoderwill
reverse motion direction.
EN+
EN-
Enablesignal: Thissignalisusedfor enabling/disablingthedriver.High
level(NPNcontrol signal,PNPand Differentialcontrolsignalsareon the
contrary,namelyLow levelforenabling.)for enabling thedriverandlow
levelfordisabling thedriver.Usuallyleft UNCONNECTED (ENABLED).
Seriesconnectresistorsfor current-limiting whenusing +12Vor +24V
controlsignals.
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PUL/DIRand CW/CCWMode Settings
There are fourresistors (R31/R32/R33/R37)insidetheDCS810specificallyfor
settingPUL/DIR andCW/CCWmodes, as shown infigure2.Defaultsettingis(b),
namelyPUL/DIR mode, DIR LOWforpositivedirectionandDIR HIGH for
negativedirection.
(a)R31, R37 short circuit, PUL/DIRmode(b) R31, R37 short circuit,PUL/DIRmode
DIRHIGH for PositiveDirection DIRLOWfor PositiveDirection
DIRLOWfor NegativeDirection DIRHIGH for NegativeDirection
(c)R32, R37 short circuit, CW/CCWmode
effectiveat LOWlevel (Thefixedlevel)
Figure 2:PUL/DIR and CW/CCWsettings
ControlSignalConnections
TheDCS810canaccept differentialandsingle-endedinputs(including
open-collectorandPNPoutput). TheDCS810has 2opticallyisolatedlogicinputsto
accept linedriver controlsignals. These inputsare isolatedtominimizeoreliminate
electricalnoises coupledontothecontrol signals. Recommend use linedriver
control signalsto increasenoise immunityin interferenceenvironments. Inthe
followingfigures, connectionstoopen-collectoranddifferentialcontrol signalsare
illustrated.

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Figure 3:Connections to open-collector controlsignal(common-anode)
Figure 4:Connections to PNPsignal(common-cathode)
Figure 5:Connections to differentialcontrolsignal
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Encoder Connections
TheDCS810 canacceptencoderinputfromeither 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 theencoderdrainslessthan50mA,theDCS810cansupplytheencoder directly,
and connectitas Figure 6orFigure 7.If theencoder drainsmore than50mA,use an
externalDC supplyandconnectitas Figure 8or Figure 9.
Figure 6: TheDCS810 suppliestheFigure7: TheDCS810 suppliesthe
differentialencoderdirectlysingle-endedencoderdirectly
Figure 8:Using externalDCpowersupplyFigure9: Using externalDC powersupply
to supplythedifferentialencoderto supplythe single-endedencoder

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RS232 Interface Connection
Figure 10:RS232 interface connection
TypicalConnections
TwotypicalconnectionsoftheDCS810 are shownasFigure11and Figure12.
Please consult “ControlSignalConnections”and “Encoder Connections”formore
information about controller andencoder connections.
Figure 11: Typicalconnection(Open-collector control signaland single-endedencoder.)
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Figure 12: 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
Regulated orUnregulated Power 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.
SelectingSupply Voltage
TheDCS810canactuallyoperatewithin +18Vto+80VDC, including power 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 acontroller with pulse and directionsignals. However,theDCS810 has a
built-inmotion controllerforself-testand ServoTuning.Thebuilt-inmotion
controller cangeneratecontrol signalwith trapezoidalvelocityprofile.
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SystemConnections and Noise Prevention
After finishingthe above steps, youcanconnectyour servo system. Before you start,
makesure thatthepower isoff. Connectyoursystemaccordingto connection
diagrams before, andpayattentiontothe followingtipswhenwiring.
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
Cable Routing
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.
Twisted Wires
Twistedwireseffectivelyincreasingnoiseimmunity.Thesuccessivetwistseliminate
noisetransientsalongthelengthofthecable. Bothsignalcablesandpower cables
should beofthetwistedand shieldedtype. Differentialsignalwires shouldbe
twistedas apair.Thecombinationoftwistedpairwires andadifferentialsignal
significantlyaddstonoiseimmunity.Power wires shouldbetwistedas agroup

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along withtheground(or chassis) wire, ifavailable.
Cable Shielding
All signalwires shouldbebundledandshieldedseparatelyfromdriver power and
motorpowerwires. Powerwires shouldalsobebundledandshielded.When
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 Supply Connection
NEVER connectpower and ground inthewrong direction,because itwill damage
theDCS810 driver.ThedistancebetweentheDCpowersupplyofthe driveandthe
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driveitselfshould beasshortaspossiblesincethecablebetweenthetwoisasource
ofnoise. Whenthepowersupplylinesare longer than50 cm,a1000µF/100V
electrolyticcapacitorshouldbeconnectedbetweentheterminal “GND”andthe
terminal “+VDC”.Thiscapacitorstabilizes thevoltagesuppliedtothedriveas well
as filters noiseonthepower supplyline. Pleasenotethatthepolaritycannot be
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) LEDwill light.TheDCS810 has defaultparameters
storedinthedriver.If thesystemhas nohardware and wiringsproblem,themotor
shouldbelockedandthedriver should beready.
If themotorjumpsslightlyand theredLEDimmediatelyturnson (flickers), then
either themotorortheencoder iswiredinreversal.Openthetuningsoftware
ProTuner andcheckdriver statusbyclicking Err_check.If it s Phase Error,then
reversalmotorwires orexchangeencoder inputsand tryagain.Ifit s Encoder
Error,pleasecheckencoder anditswirings,andthentryagain.If it stilldoesn t
workafter you followed all oftheprevioussteps, please contactusat
[e-mail].
If theredLEDisoffandthemotorisnormal,thenyou canstarttotunetheservo
with selectedtool. ProTuner, EZ-Tuner and STU are available for the DCS810.

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Tuning the Servo
Aservosystemiserror-driven.The “Gain”ofthesystemdetermines howhardthe
servo tries toreducetheerror. Ahigh-gainsystemcanproduce largecorrecting
torqueswhentheerrorisverysmall.Ahighgainisrequirediftheoutputisrequired
to followthe input faithfullywith minimalerror.
Aservomotoranditsloadbothhave inertia,whichtheservoamplifier must
accelerateanddeceleratewhileattempting to followachangeattheinput.The
presence oftheinertiawill tend toresult inover-correction,with thesystem
oscillatingbeyond either sideofitstarget.It scalledUNDER DAMPEDstatus. See
Figure13.Thisoscillationmustbedamped,buttoomuchdamping willcausethe
responsetobesluggish,namelycause thesystemto getintoanOVER DAMPED
state.Whenwetuneaservo,weare tryingtoachievethefastestresponse with little
or noovershoot,namelygeta CRITICALLYDAMPEDresponse.
Figure 13:Stepand impulseresponses
Asmentionedin previous contents, the DCS810 is a digitalservo driver and its input
command isPUL/DIR signal.Inother words, stepresponse justexistsin eachstep
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command signal.Foreachstepcommand signalisaverysmall movement,so
OVER SHOOTand SETTLING TIMEbetweeneachstepare verysmall,causing
you hardlycanseeastepresponse suchas Figure 13,eveniftheSETPOINTisa
verylargequantityandtheaccelerationisveryhigh.
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
Figure 13at “time 20”.
Leadshineoffer aWindowsbasedsetupsoftware ProTuner andaspecialtext
monitor EZ-Tuner (optional)toitscustomers forevaluatingservoperformances.
Small servo tuningunit STU (optional)isavailabletoo,andit sforfieldtuning
withoutPC orpower supplyfor the EZ-Tuner.
TuningservosystemsformedbyDCS810drivers canbesummarizedasthe
followingrules:
1. If servo systemisUNSTABLE, thenthefirstthingoftuningistostabilize
thesystem.You canincrease Derivative Gain of PositionLoop (Kd)or
decrease ProportionalGain ofPosition Loop(Kp)or IntegralGain of
Position Loop(Ki).
2. If servo systemisUNDER DAMPED,thenincrease Kdordecrease Kpor
Ki.
3. If servo systemisCRITICALLYDAMPED,then stop tuningand
downloadthe parameter settingstothedriver s EEPROM.
4. If servo systemisOVER DAMPED,thendecrease Kdorincrease Kpor
Ki.
Please seeuser smanuals ofthose tuningtoolsfor more detailaboutServo Tuning.

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6. Using Tips
Sequence ChartofControlSignals
Inorder to avoid somefaultoperationsand deviations,PUL, DIR and ENshould
abidebysomerules,shownas the following figure:
Figure14: Sequence chartofcontrol signals
Notes:
a) t1:ENmustbeaheadofDIR byatleast5ms. Usually,EN+and EN-are NC
(not connected). See Connections section formore information.
b) t2:DIR mustbeaheadofPULeffectiveedgebyatleast5msto ensure
correctdirection.
c) t3:Pulsewidthnotless than 1.0s;
d) t4:Lowlevelwidthnot less than1.0s.
Protection Functions
Toimprovereliability,thedriverincorporatessomebuilt-inprotectionfunctions.
TheDCS810uses oneREDLEDtoindicatewhatprotection has beenactivated.The
periodictimeofREDis5s(seconds), and howmanytimes theREDturnson
indicateswhatprotectionhas beenactivated.Becauseonlyoneprotectioncanbe
displayedbyREDLED,sothedriver willdecidewhaterrortodisplay accordingto
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theirpriorities. See thefollowing ProtectionIndications tablefordisplaying
priorities.
Over-current Protection
Protectionwillbeactivatedwhencontinuouscurrentexceeds20A,andREDLED
will turnononce within eachperiodictime (5s).
Over-voltageProtection
Whenpower supplyvoltageexceeds85±1.5VDC, protectionwillbeactivatedand
REDLEDwillturnon twicewithin eachperiodictime (5 s).
Under-voltage Protection
Whenpowersupplyvoltageislower than16.5±1.5VDC, protection will be
activatedand REDLEDwillturnon three times within eachperiodic time (5s).
Phase ErrorProtection
Motorpower lineswrong&notconnected andencoder feedbacksignalsA/Bphases
wrong connectedwillactivatethisprotection.REDLEDwillturnonfourtimes
withineachperiodic time (5s).
Encoder Error Protection
Noencoder feedbacksignalsorwrongencoder feedbacksignalswillactivatethis
protection. REDLEDwill turnonfive times withineach periodictime(5s).
Position FollowingErrorProtection
Whenpositionfollowing errorreachesPosition Following ErrorLimit parameter
setting in thedriver,thisprotection willbeactivated.REDLEDwill turnon seven
times within eachperiodictime (5s).

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Attention: Since there isnoprotectionagainstpower leads(﹢,﹣)reversal,it is
criticalto makesurethat power supplyleadscorrectlyconnectedtodriver.
Otherwise, the driver willbe damagedinstantly.
Protection Indications
Priority Time(s) of ON Sequence waveof REDLED Description
1st 1 Over-current protection
2nd 2
Over-voltageprotection
3rd 3 Under-voltageprotection
4th 4 Phaseerror protection
5th 5 Encodererror protection
6th 7
Position followingerror
protection
Changing Default Motor Direction
TheDCS810will turnthemotorin theCWdirection whenthedirectioninput is
“high”(logical “1”). If insteadCCWispreferred,then:
1) Reverse the “motor +”and “motor -”leads.
2) Reverse theencoder “ChannelA”and “ChannelB”leads.
MaximumPulse InputFrequency
MaximumPulse InputFrequencyisthehighestfrequencyatwhichthedrivercan
interpretencoder feedback.ToconvertthisfrequencytoRPM,usethefollowing
formula:
4)(
60)(
(max)
´
´
=
CountLineEncoder
FrequenceInputPulseMax
RPM
D D
C
C
S
S
8
8
1
1
0
0
D
D
i
i
g
g
i
i
t
t
a
a
l
l
D
D
C
C
S
S
e
e
r
r
v
v
o
o
D
D
r
r
i
i
v
v
e
e
r
r
M
M
a
a
n
n
u
u
a
a
l
l
R
R
e
e
v
v
1
1
.
.
0
0
Tel: [phone] Website: www.leadshine.com
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

D DC CS S8 81 10 0 D Di ig gi it ta al l D DC C S Se er rv vo o D Dr ri iv ve er r M Ma an nu ua al l R Re ev v1 1. .0 0
Tel: [phone] Website: www.leadshine.com
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
yourarea or:LeadshineTechnologyCo.,Ltd.Floor3, Block2,TiananIndustrial
Park,NanshanDist,Shenzhen,China. Alsoencloseinformationregardingthe
circumstancespriorto productfailure.