Leadshine DM856 User manual

User sManual
For
DM856
FullyDigital SteppingDriver
Version 1.0
2009All RightsReserved
Attention:Pleaseread thismanual carefullybeforeusingthe driver!
The contentinthismanualhasbeencarefullypreparedand isbelievedtobeaccurate,butno
responsibilityisassumedforinaccuracies.
Leadshinereservestherighttomakechangeswithoutfurthernoticetoanyproductshereinto
improvereliability,function ordesign.Leadshinedoesnotassumeanyliabilityarisingoutofthe
applicationoruseofanyproductorcircuitdescribedherein;neitherdoesitconveyanylicense
underitspatentrightsofothers.
Leadshine sgeneralpolicydoesnotrecommend theuseofitsproductsinlifesupportoraircraft
applicationswhereinafailureormalfunctionoftheproductmaydirectlythreatenlifeorinjury.
AccordingtoLeadshine stermsandconditionsofsales,theuserofLeadshine sproductsinlife
supportoraircraftapplicationsassumesall risksofsuchuseandindemnifiesLeadshineagainst all
damages.
2009byLeadshineTechnologyCompanyLimited.
AllRightsReserved

Contents
I
TableofContents
1. Introduction, FeaturesandApplications....................................................................1
Introduction...........................................................................................................1
Features.................................................................................................................1
Applications..........................................................................................................1
2. Specifications............................................................................................................2
ElectricalSpecifications......................................................................................2
MechanicalSpecifications.....................................................................................2
EliminationofHeat...............................................................................................2
OperatingEnvironmentandotherSpecifications..................................................3
3. PinAssignmentandDescription...............................................................................3
ConnectorP1 Configurations................................................................................3
SelectingActivePulseEdgeandControlSignalMode........................................4
ConnectorP2 Configurations................................................................................4
4. ControlSignalConnector(P1)Interface...................................................................4
5. Connecting theMotor................................................................................................5
Connectionsto4-leadMotors...............................................................................5
Connectionsto6-leadMotors...............................................................................5
HalfCoil Configurations...............................................................................5
FullCoil Configurations................................................................................6
Connectionsto8-leadMotors...............................................................................6
SeriesConnections........................................................................................6
ParallelConnections......................................................................................7
6. PowerSupplySelection............................................................................................7
RegulatedorUnregulatedPowerSupply..............................................................7
MultipleDrivers....................................................................................................8
SelectingSupplyVoltage.......................................................................................8
7. SelectingMicrostepResolutionand DriverOutputCurrent.....................................8
MicrostepResolutionSelection............................................................................8
CurrentSettings.....................................................................................................9
Contents
II
Dynamiccurrentsetting..............................................................................10
Standstill currentsetting..............................................................................10
8. Wiring Notes...........................................................................................................10
9. TypicalConnection..................................................................................................11
10. Sequence ChartofControlSignals.......................................................................11
11. ProtectionFunctions..............................................................................................12
Over-currentProtection...............................................................................12
Over-voltageProtection..............................................................................12
PhaseErrorProtection.................................................................................12
ProtectionIndications..................................................................................13
12. FrequentlyAskedQuestions..................................................................................13
ProblemSymptomsand PossibleCauses............................................................14
13. ProfessionalTuningSoftwareProTuner................................................................15
Introduction.........................................................................................................15
SoftwareInstallation...........................................................................................15
ConnectionsandTesting.....................................................................................15
RS232 Interface Connection...............................................................................19
TestingtheSteppingSystem...............................................................................19
SoftwareIntroduction..........................................................................................20
ProTunerMain Window..............................................................................20
ComConfig Window..................................................................................21
Tuning.........................................................................................................21
Anti-ResonanceIntroduction......................................................................25
ProcedureforAchieving OptimumPerformance........................................26

DM856MicrosteppingDriverManual V1.0
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1. Introduction,Featuresand Applications
Introduction
TheDM856isaversatilityfullydigitalsteppingdriverbasedonaDSPwithadvancedcontrol
algorithm.TheDM856isthenextgenerationofdigital steppingmotorcontrols.Itbringsaunique
levelofsystemsmoothness,providingoptimumtorqueandnullsmid-rangeinstability.Motor
auto-identificationand parameterauto-configurationtechnologyoffersoptimumresponseswith
differentmotorsandeasy-to-use.Thedrivenmotorscanrunwithmuchsmallernoise,lower
heating, smoothermovementthanmostofthedriversinthemarkets.Itsuniquefeaturesmakethe
DM856anidealsolutionforapplicationsthatrequirelow-speedsmoothness.
ComparedtotheDM432C,broaderinputvoltageandoutputcurrentrangesmaketheDM856can
drivemuchmoremotorsthantheDM432C.What smore,owingtoitshigherperformanceDSP,
drivenmotorscanachievemuchhigherspeed(above3000RPM)thanthatoftheDM432C,
offeringservo-likeperformances.ItcanberegardedasanimprovedmodeloriginfromDM556,
whilesupportsbroaderinputvoltagerange.
Features
lAnti-Resonance,providesoptimumtorque
and nullsmid-rangeinstability
lMotorauto-identificationandparameter
auto-configurationtechnology,offers
optimum responseswithdifferent motors
lMulti-Steppingallowsalowresolutionstep
inputtoproduceahighermicrostepoutput
forsmoothsystemperformance
lMicrostepresolutionsprogrammable,from
full-stepto102,400steps/rev
lSupplyvoltageupto+80VDC
lOutputcurrentprogrammable,from0.5Ato
5.6A
lPulseinputfrequencyup to200KHz
lTTLcompatibleandopticallyisolatedinput
lAutomaticidle-current reduction
lSuitablefor2-phaseand4-phasemotors
lSupportPUL/DIRand CW/CCWmodes
lOver-voltage, over-current,phase-error
protections
Applications
Suitableforawiderangeofsteppingmotors,fromNEMAsize17to34.Itcanbeusedinvarious
kindsofmachines,suchaslasercutters, lasermarkers,highprecisionX-Ytables,labelingmachines,
andsoon.ItsuniquefeaturesmaketheDM856anidealsolution forapplicationsthatrequireboth
low-speedsmoothnessandhigh speedperformances.
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2. Specifications
ElectricalSpecifications(Tj= 25 /77℉)
DM856
Parameters
Min Typical Max Unit
Output current 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], 1 inch= 25.4 mm)
Figure 1:Mechanicalspecifications
EliminationofHeat
lDriver sreliableworkingtemperatureshouldbe<70 (158 ),and motorworkingtemperature
shouldbe<80 (176 );
lItisrecommendedtouseautomaticidle-currentmode,namelycurrentautomaticallyreduceto
60%whenmotorstops,soastoreducedriverheatingandmotorheating;
lIt isrecommendedtomountthedriververticallytomaximize heatsinkarea. Useforcedcooling
methodtocool thesystem ifnecessary.

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Operating EnvironmentandotherSpecifications
Cooling Natural CoolingorForcedcooling
Environment Avoiddust, oil fog andcorrosivegases
AmbientTemperature 0 －50 (32 －122 )
Humidity 40%RH －90%RH
OperatingTemperature 70 (158 )Max
OperatingEnvironment
Vibration 5.9m/s2 Max
StorageTemperature -20 －65 (-4 －149 )
Weight Approx. 280g(10oz)
3. PinAssignmentand Description
TheDM856hastwoconnectors,connectorP1forcontrolsignalsconnections,and connectorP2for
powerandmotorconnections.Thefollowingtablesarebriefdescriptionsofthetwoconnectors.
Moredetaileddescriptionsofthepinsandrelatedissuesarepresentedinsection4,5, 9.
ConnectorP1 Configurations
PinFunction Details
PUL+
PUL-
Pulsesignal: Insinglepulse(pulse/direction)mode,thisinputrepresentspulse
signal,eachrisingorfallingedgeactive(softwareconfigurable);4-5Vwhen
PUL-HIGH,0-0.5VwhenPUL-LOW.Indoublepulsemode(pulse/pulse),
thisinputrepresentsclockwise(CW)pulse，activebothathighlevelandlow
level(softwareconfigurable).Forreliableresponse,pulsewidthshouldbe
longerthan2.5μs.Seriesconnectresistorsforcurrent-limitingwhen+12Vor
+24Vused. ThesameasDIRandENAsignals.
DIR+
DIR-
DIRsignal: Insingle-pulsemode,thissignalhaslow/highvoltagelevels,
representingtwodirectionsofmotorrotation;indouble-pulsemode(software
configurable),thissignaliscounter-clock(CCW)pulse，activebothathigh
level andlowlevel(softwareconfigurable).Forreliablemotionresponse,DIR
signalshouldbeaheadofPULsignalby5μsatleast.4-5VwhenDIR-HIGH,
0-0.5VwhenDIR-LOW.Pleasenotethatrotationdirection isalsorelatedto
motor-driverwiringmatch.Exchangingtheconnectionoftwowiresforacoil
tothedriverwill reversemotiondirection.
ENA+
ENA-
Enablesignal: Thissignalisusedforenabling/disablingthedriver.Highlevel
(NPNcontrolsignal,PNPand Differentialcontrolsignalsareonthecontrary,
namelyLowlevelforenabling.)forenablingthedriverandlowlevelfor
disablingthedriver.Usuallyleft UNCONNECTED (ENABLED).
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SelectingActivePulseEdgeandControlSignalMode
TheDM856 supportsPUL/DIRand CW/CCWmodesand pulseactivesat risingorfallingedge. See
moreinformationaboutthesesettingsinSection13.DefaultsettingisPUL/DIRmodeand rising
edgeactive(NPN, andPNPcontrolsignal isonthecontrary).
ConnectorP2 Configurations
PinFunction Details
+Vdc Powersupply, 20~80VDC,IncludingvoltagefluctuationandEMFvoltage.
GND PowerGround.
A+,A- MotorPhaseA
B+, B- MotorPhaseB
4. ControlSignalConnector(P1)Interface
TheDM856canacceptdifferentialandsingle-endedinputs(includingopen-collectorandPNP
output). TheDM856has3opticallyisolatedlogicinputswhicharelocatedonconnectorP1toaccept
linedrivercontrol signals.Theseinputsareisolatedtominimizeoreliminateelectricalnoisescoupled
ontothedrivecontrolsignals.Recommend uselinedrivercontrolsignalstoincreasenoiseimmunity
ofthedriverininterferenceenvironments. Inthefollowingfigures,connectionstoopen-collectorand
PNPsignalsareillustrated.
Figure 2:Connectionstoopen-collectorsignal(common-anode)

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Figure 3:ConnectiontoPNPsignal(common-cathode)
5. ConnectingtheMotor
TheDM856candriveany2-phaseand 4-phasehybridsteppingmotors.
Connectionsto 4-leadMotors
4leadmotorsaretheleastflexiblebuteasiesttowire.Speedandtorquewilldepend onwinding
inductance.Insettingthedriveroutputcurrent,multiplythespecifiedphasecurrentby1.4to
determinethepeakoutput current.
Figure 4:4-leadMotorConnections
Connectionsto 6-leadMotors
Like8leadsteppingmotors,6leadmotorshavetwoconfigurationsavailableforhighspeedorhigh
torqueoperation. Thehigherspeedconfiguration,orhalfcoil,issodescribedbecauseit usesonehalf
ofthemotor sinductorwindings.Thehighertorqueconfiguration, orfullcoil,usesthefullwindings
ofthephases.
HalfCoilConfigurations
Aspreviouslystated,thehalfcoilconfigurationuses50%ofthemotorphasewindings.Thisgives
lowerinductance, hence,lowertorqueoutput. Liketheparallel connectionof8leadmotor, thetorque
outputwillbemorestableathigherspeeds.Thisconfigurationisalsoreferredtoashalfchopper.In
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settingthedriveroutputcurrentmultiplythespecifiedperphase(orunipolar) currentratingby1.4to
determinethepeakoutput current.
Figure 5:6-leadmotorhalfcoil (higherspeed)connections
FullCoilConfigurations
Thefullcoil configurationonasixleadmotorshouldbeusedinapplicationswherehighertorqueat
lowerspeedsisdesired.Thisconfigurationisalsoreferredtoasfullcopper.Infull coil mode,the
motorsshouldberunatonly70%oftheirratedcurrenttopreventoverheating.
Figure 6:6-leadmotorfull coil (highertorque)connections
Connectionsto 8-leadMotors
8leadmotorsofferahighdegreeofflexibilitytothesystemdesignerinthattheymaybeconnected
inseriesorparallel, thussatisfyingawiderangeofapplications.
SeriesConnections
Aseriesmotorconfiguration wouldtypicallybeusedinapplicationswhereahighertorqueatlower
speedsisrequired.Becausethisconfigurationhasthemostinductance,theperformancewillstartto
degradeathigherspeeds.Inseriesmode,themotorsshouldalsoberunat only70%oftheirrated
currenttopreventoverheating.
Figure 7:8-leadmotorseriesconnections

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ParallelConnections
An8leadmotorinaparallel configurationoffersamorestable, butlowertorqueatlowerspeeds.But
becauseofthelowerinductance,therewill behighertorqueathigherspeeds.Multiplytheperphase
(orunipolar) currentratingby1.96,orthebipolarcurrent ratingby1.4, todeterminethepeakoutput
current.
Figure 8:8-leadmotorparallelconnections
NEVER disconnect orconnectthemotorwhilethepowersource isenergized.
6. PowerSupplySelection
TheDM856canmatchmediumandsmall sizesteppingmotors(fromNEMAframesize17to34)
madebyLeadshineorothermotormanufacturesaroundtheworld.Toachievegooddriving
performances,it isimportanttoselectsupplyvoltageandoutputcurrentproperly.Generallyspeaking,
supplyvoltagedeterminesthehighspeedperformanceofthemotor,whileoutputcurrentdetermines
theoutputtorqueofthedrivenmotor(particularlyatlowerspeed).Highersupplyvoltagewillallow
highermotorspeedtobeachieved,atthepriceofmorenoiseand heating.Ifthemotionspeed
requirementislow,it sbettertouselowersupplyvoltagetodecreasenoise,heatingand improve
reliability.
RegulatedorUnregulatedPowerSupply
Bothregulatedandunregulatedpowersuppliescanbeusedtosupplythedriver.However,
unregulatedpowersuppliesarepreferredduetotheirabilitytowithstandcurrentsurge.Ifregulated
powersupplies(suchasmostswitchingsupplies.)areindeedused,itisimportanttohavelarge
currentoutputratingtoavoidproblemslikecurrentclamp,forexampleusing4Asupplyfor3A
motor-driveroperation. Ontheotherhand,ifunregulatedsupplyisused, onemayuseapowersupply
oflowercurrent ratingthanthatofmotor(typically50%～70%ofmotorcurrent).Thereasonisthat
thedriverdrawscurrentfromthepowersupplycapacitoroftheunregulatedsupplyonlyduringthe
ON duration ofthePWMcycle,butnotduringtheOFFduration.Therefore,theaveragecurrent
withdrawnfrompowersupplyisconsiderablyless thanmotorcurrent.Forexample,two3Amotors
canbewellsuppliedbyonepowersupplyof4Arating.
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MultipleDrivers
Itisrecommendedtohavemultipledriverstoshareonepowersupplytoreduce cost, ifthesupply
hasenoughcapacity.Toavoidcrossinterference, DONOT daisy-chainthepowersupplyinputpins
ofthedrivers. Instead,pleaseconnectthem topowersupplyseparately.
Selecting Supply Voltage
ThepowerMOSFETSinsidetheDM856canactuallyoperatewithin+20~+80VDC,including
powerinputfluctuationandbackEMFvoltagegeneratedbymotorcoilsduringmotorshaft
deceleration.Highersupplyvoltagecanincreasemotortorqueathigherspeeds,thushelpfulfor
avoidinglosingsteps.However,highervoltagemaycausebiggermotorvibrationatlowerspeed,and
itmayalsocauseover-voltageprotectionorevendriverdamage.Therefore, itissuggestedtochoose
onlysufficientlyhighsupplyvoltageforintendedapplications,and itissuggestedtousepower
supplieswiththeoreticaloutputvoltageof+20 ~+72VDC,leaving roomforpowerfluctuationand
back-EMF.
7. SelectingMicrostepResolutionand DriverOutputCurrent
Microstepresolutionsandoutputcurrentareprogrammable,theformercanbesetfromfull-stepto
102,400steps/revandthelattercanbesetfrom0.5Ato5.6A.See moreinformation about Microstep
and OutputCurrentSetting inSection13.
However,whenit snotinsoftwareconfiguredmode,thisdriverusesan8-bitDIPswitchtoset
microstepresolution,andmotoroperatingcurrent, asshownbelow:
MicrostepResolutionSelection
Whenit snotinsoftwareconfiguredmode,microstepresolutionissetbySW5,6,7,8oftheDIP
switch asshowninthefollowingtable:

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Microstep Steps/rev.(for1.8 motor) SW5 SW6 SW7 SW8
1to512 Default/Software configured ON ON ON ON
2 400 OFF ON ON ON
4 800 ON OFF ON ON
8 1600 OFF OFF ON ON
16 3200 ON ON OFF ON
32 6400 OFF ON OFF ON
64 12800 ON OFF OFF ON
128 25600 OFF OFF OFF ON
5 1000 ON ON ON OFF
10 2000 OFF ON ON OFF
20 4000 ON OFF ON OFF
25 5000 OFF OFF ON OFF
40 8000 ON ON OFF OFF
50 10000 OFF ON OFF OFF
100 20000 ON OFF OFF OFF
125 25000 OFF OFF OFF OFF
CurrentSettings
Foragivenmotor,higherdrivercurrentwillmakethemotortooutputmoretorque,butatthesame
timecausesmoreheatinginthemotoranddriver. Therefore, outputcurrentisgenerallysettobesuch
thatthemotorwill notoverheatforlongtimeoperation.Since paralleland serialconnectionsof
motorcoilswill significantlychangeresultinginductanceandresistance,it isthereforeimportantto
setdriveroutputcurrentdependingonmotorphasecurrent,motorleadsand connectionmethods.
Phasecurrentratingsuppliedbymotormanufacturerisimportantinselectingdrivercurrent,however
theselectionalsodependsonleadsand connections.
Whenit snotinsoftwareconfiguredmode,thefirstthreebits(SW1,2, 3)oftheDIPswitchareused
tosetthedynamiccurrent.Selectasettingclosest toyourmotor srequiredcurrent.
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Dynamiccurrentsetting
PeakCurrent RMSCurrent SW1 SW2 SW3
Default/Software configured(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: Duetomotorinductance,theactualcurrentinthecoil maybesmallerthanthedynamic
currentsetting,particularlyunderhighspeedcondition.
Standstillcurrentsetting
SW4isusedforthispurpose.OFFmeaningthatthestandstill currentissettobehalfoftheselected
dynamiccurrent,andONmeaningthatstandstillcurrentissettobethesameastheselecteddynamic
current.
Thecurrentautomaticallyreducedto60%oftheselecteddynamiccurrentonesecond afterthelast
pulse.Theoretically,thiswillreduce motorheatingto36%(duetoP=I2*R)oftheoriginalvalue.If
theapplicationneedsadifferentstandstill current, pleasecontact Leadshine.
8. WiringNotes
lInordertoimproveanti-interferenceperformanceofthedriver,itisrecommendedtouse
twistedpairshieldcable.
lTopreventnoiseincurredinPUL/DIRsignal,pulse/directionsignalwiresandmotorwires
shouldnotbetieduptogether.Itisbettertoseparatethembyatleast10cm,otherwisethe
disturbingsignalsgeneratedbymotorwilleasilydisturbpulsedirectionsignals,causingmotor
positionerror,system instabilityand otherfailures.
lIf apowersupplyservesseveraldrivers,separatelyconnectingthedriversisrecommended
insteadofdaisy-chaining.
lItisprohibitedtopullandplugconnectorP2whilethedriverispoweredON,becausethereis
highcurrentflowingthroughmotorcoils(evenwhenmotorisatstandstill).Pullingorplugging

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connectorP2withpoweronwill causeextremelyhigh back-EMFvoltagesurge,whichmay
damagethedriver.
9.TypicalConnection
Acompletesteppingsystemshouldincludesteppingmotor,steppingdriver,powersupplyand
controller(pulsegenerator).Atypical connection isshownasfigure9.
Figure 9:Typicalconnection
10. SequenceChartofControlSignals
Inordertoavoidsomefaultoperationsanddeviations,PUL,DIRandENAshouldabidebysome
rules,shownasfollowingdiagram:
Figure 10:Sequence chartofcontrolsignals
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Remark:
a) t1:ENAmustbeaheadofDIRbyatleast5µs.Usually,ENA+and ENA-areNC(not
connected).See “ConnectorP1Configurations”formoreinformation.
b) t2:DIRmustbeaheadofPULactiveedgeby5µstoensurecorrectdirection;
c) t3:Pulsewidthnotlessthan2.5µs;
d) t4:Lowlevelwidthnotlessthan2.5µs.
11. ProtectionFunctions
Toimprovereliability,thedriverincorporatessomebuilt-inprotectionfunctions.TheDM856uses
oneREDLEDtoindicatewhatprotectionhasbeenactivated.TheperiodictimeofREDis3s
(seconds),and howmanytimestheREDturnsonindicateswhatprotectionhasbeenactivated.
BecauseonlyoneprotectioncanbedisplayedbyREDLED,sothedriverwill decidewhaterrorto
displayaccordingtotheirpriorities.Seethefollowing ProtectionIndications tablefordisplaying
priorities.
Over-currentProtection
Over-currentprotectionwill beactivatedwhencontinuouscurrentexceeds16Aorincaseofshort
circuitbetweenmotorcoilsorbetweenmotorcoil andground,and REDLEDwillturnononce
withineachperiodictime(3s).
Over-voltageProtection
Whenpowersupplyvoltageexceeds91±1VDC,protection will beactivatedandREDLEDwill
turnontwice withineachperiodictime(3s).
PhaseErrorProtection
Motorpowerlineswrong&notconnectedwill activatethisprotection.REDLEDwill turnon four
timeswithineachperiodictime(3s).
Attention: Whenaboveprotectionsareactive,themotorshaftwill befreeortheLEDwill turnred.
Resetthedriverbyrepoweringit tomakeitfunctionproperlyafterremovingaboveproblems.Since
thereisnoprotection againstpowerleads(﹢,﹣)reversal, itiscriticaltomakesurethatpower
supplyleadscorrectlyconnectedtodriver.Otherwise,thedriverwill bedamagedinstantly.

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ProtectionIndications
Priority Time(s)ofON Sequence wave ofREDLED Description
1st 1 Over-currentprotection
2nd 2
Over-voltageprotection
3rd 4 Phase errorprotection
12. FrequentlyAskedQuestions
Intheeventthatyourdriverdoesn toperateproperly, thefirst stepistoidentifywhethertheproblem
iselectricalormechanicalinnature. Thenextstepistoisolatethesystemcomponentthatiscausing
theproblem. Aspart ofthisprocess youmayhavetodisconnecttheindividual componentsthatmake
up yoursystemandverifythattheyoperateindependently.Itisimportanttodocumenteachstepin
thetroubleshootingprocess.Youmayneedthisdocumentationtoreferbacktoatalaterdate,and
thesedetailswill greatlyassistourTechnicalSupportstaffindeterminingtheproblemshouldyou
needassistance.
Manyoftheproblemsthataffectmotioncontrolsystemscanbetracedtoelectricalnoise,controller
softwareerrors, ormistakeinwiring.
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ProblemSymptomsand PossibleCauses
Symptoms PossibleProblems
Nopower
Microstepresolutionsettingiswrong
DIPswitchcurrentsettingiswrong
Fault condition exists
Motorisnotrotating
Thedriverisdisabled
Motorrotatesinthewrongdirection
Motorphasesmaybeconnectedinreverse
DIPswitchcurrentsettingiswrong
Thedriverinfault Somethingwrongwithmotorcoil
Control signal istoo weak
Control signal isinterfered
Wrongmotorconnection
Somethingwrongwithmotorcoil
Erraticmotormotion
Current settingistoo small, losingsteps
Current settingistoo small
Motorisundersizedfortheapplication
Accelerationissettoo high
Motorstallsduringacceleration
Powersupplyvoltagetoo low
Inadequateheatsinking/cooling
Automaticcurrentreductionfunction not beingutilized Excessivemotorand driverheating
Current issettoo high

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13. ProfessionalTuningSoftwareProTuner
Introduction
Thissectionwillprovideanoverviewofconnectionand basicsetup instructionsforLeadshine s
digitalsteppingdriverDM856usingthe ProTuner software.Theseinstructionswill walkyouthrough
thefollowingstepsnecessarytostart up yourdriverandmotor. Thissectionisintendedforsettingup
thedriverwiththe ProTuner.
SoftwareInstallation
The ProTuner iswindowsbasedsetupsoftwarefortuningLeadshine sdigitalstepperdriverDM856.
Itcanruninwindowssystems,includingWin95/Win98/WindowsNT/Windows2000/WindowsXP.
And theselectedPCshouldhave1serialportat leastforcommunicatingwiththedriver.
Doubleclick “ProTuner_All_Setup_V1.0.exe”tobegininstallingthe ProTuner.SeeFigure11.
Click Next toenterthe “LicenseAgreement”window. SeeFigure12.
Figure 11:Begintoinstall the ProTuner
Note:ProTuner_All_Setup_V1.0.exe canbeusedforallLeadshinedigitaldrives.Usercan
getitfromeitherLeadshineCDorwebsite.Pleasegetthelatestversionfrom
http://www.leadshine.com.
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Figure 12:License agreement
Choose “Iagree tothetermsofthislicenseagreement”andclick Next tocontinueinstallation.The
usercanenteruser sinformationinthefollowingwindow.SeeFigure13.Afterenteringtheuser s
information, click Next toselectinstallationfolder,whereyouwouldliketoinstall the ProTuner.See
Figure14.
Figure 13:User sinformationsettings

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Figure 14:Installation foldersettings
Figure 15:Shortcutfoldersetting
Setthe “ShortcutFolder”inFigure15andcontinuetoinstallthe ProTuner byfollowingFigure16
andFigure17.An InstallationSuccessful windowwillappearifthe ProTuner isinstalled
successfully. SeeFigure18.
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Figure 16:Installation informationsummarization
Figure 17:Installing the ProTuner

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Figure 18:Finishinstallation
ConnectionsandTesting
ConnectthesteppingsystemaccordingtothecontentsinprevioussectionsandconnectthePCtothe
driverasthefollowingfigure.
RS232 InterfaceConnection
Figure 19:RS232interface connection
Testing theStepping System
Turnonthepowersupply,thegreen(Power)LEDwilllight.TheDM856 hasdefaultparameters
storedinthedriver.Ifthesystemhasnohardwareandwiringsproblem,themotorshouldbelocked
and thedrivershouldbeready.
If theredLEDimmediatelyturnson (flickers),thencheckpowersupply,themotor,motorwirings
DM856
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and tryagain.Openthetuningsoftware ProTuner andcheckdriverstatusbyclicking Err_check.If
it s PhaseError,checkthemotor,motorwiringsandtryagain.
If theREDLEDisoffand themotorisnormal,thenyoucanstarttotunetheservo with ProTuner.
However, werecommend youseethefollowingcontentsbeforestartingtuning.
SoftwareIntroduction
ProTuner MainWindow
Figure 20:ProTuner
ØOption
Theusercanchoosethree drop-downmenusbyclicking “Option”,including ComConfig,
SaveToDriver and Exit.
lComConfig:ConfigureComcommunicationinterface.
lSaveToDriver: Downloadthecurrentparametersettingstothedriver.
MenuBar
StatusBar

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lExit: Exit the ProTuner.
ComConfigWindow
Figure 21:RS232communication configurationwindow
Serial Port: Selecttheserial communicationporttowhichthedriverisconnected. Thefactorydefault
settingisCOM1.
BaudRate: Selectthecommunication baudrate. Thefactorydefaultsettingis38400.
Click Open buttontoestablishaconnectionwiththespecifiedsettings.Whenconnecting,youcan
choose SaveToDrive todownloadthecurrentparametersettingstothedriver,ortouploadthestored
driversettingsintothe ProTuner byclicking Tuning > PositionLoop onthemenubar.
Tuning
Theusercanchooseoneortwodrop-downmenu(s)byclicking Tuning,including CurrentLoop and
SystemConfig.
lCurrentLoop:InCurrentTuningwindow,theusercantunethe Kp (ProportionalGain)and
Ki (IntegralGain) ofdriver scurrentlooptooptimizeresponseswithdifferentmotors.
Start/RestartaStepResponsetesttogetanoptimum response.
Kp:ProportionalGain.ProportionalGaindeterminestheresponseofthedrivertocurrentsetting
command.LowProportionalGainprovidesastablesystem(doesn toscillate),haslowstiffness,and
largecurrenterror,causingpoorperformancesintrackingcurrentsettingcommand ineachsteplike
Figure23.Too largeProportionalGainvalueswill causeoscillationsandunstablesystems.
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Figure 22:CurrentTuningwindow
Ki: IntegralGain.IntegralGainhelpsthedrivertoovercomestaticcurrenterrors.Aloworzero
valuefortheIntegralGainmayhavecurrenterrorsatrest. IncreasingtheIntegralGaincanreducethe
error. IftheIntegralGainistoo large,thesystemsmay “hunt”(oscillate)about thedesiredposition.
Start button:TheusercanstartaStepResponsetestbyclickingthisbutton.Start/RestartaStep
ResponsetesttogetanoptimumresponselikeFigure22,andremembertosavethesettingstothe
driverwhenfinishtuning. SeeFigure24.
Figure 23:Kp=543, Ki=0(poorperformances)

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Figure 24:Finishtuningandsavesetting tothe driver
Notes:
However,iftheuserdoesnotwanttotunethecurrentloopafterchangingadifferentsteppingmotor,
then Motorauto-identificationand parameterauto-configuration technologyoftheDM856 can
replacemanualtuningthedriverwith ProTuner.JustchangesSW4twotimesin1second,andthen
thedriverwillauto-identifythenewmotorandauto-configurerelatedcontrol parametersforoptimum
responses. Recommend usethisfunctionafterchangingthedrivenmotor.
lSystemConfig:
In SystemConfig window,theusercanconfigurePeakCurrent,Microstep,Command Type,Active
Edge,andeliminatemotorresonance.Abuilt-inpulsegeneratorcanbeusedfortestduringtuning.
See Picture25.
PeakCur: PeakCurrent.Thevalueisthepeakcurrent totheselectedmotorandcanbesetfrom0.5
to5.6A.Theusercansetthepeakcurrentwith ProTuner orDIPswitches,seemoreinformation
aboutsettingoutputcurrentofthedriverinsection5 “ConnectingtheMotor”andsection7
“SelectingMicrostepResolutionandDriverOutputCurrent”.
MicroStep: MicrostepResolution.Thevalueisdriver smicrostepresolutionsettingandcanbeset
from1to512.Theusercansetthemicrostepwith ProTuner orDIPswitches,Seemoreinformation
aboutsettingoutputcurrentofthedriverinsection7 “SelectingMicrostepResolutionand Driver
OutputCurrent”.
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Figure 25:SystemConfigwindow
ElecDamp:ElectronicDampingCoefficient.Theelectronicdampingrestrainresonanceofthe
systemand preventamplitudeoftheoscillationfromincreasingtotheextendthatit makesthemotor
out ofcontrol. Theoptimalvaluedependsonthesystem, andthedefaultvalueis3000.
CommandType:Command Type ofcontrolsignal,includingPUL/DIRand CW/CCW.Setthis
parameteraccordingto Command Type ofmotioncontroller.
ActiveEdge:ActiveEdge. Theusercansetthetriggerededgeofpulsecommand signal inthispanel.
WhenthedriverworksinCW/CCWmode,nomatterwhatlevelisatfixedlevelterminal,thedriver
canworksproperly.
DirectionDef:DirectionDefinition. Relatethedefaultrunningdirectionto aHIGH levelinputin
DIRor Low level inputinDIR.ThispanelisusedforPUL/DIRcommand typeonly.Pleasenotethat
thedefaultdirectionisalsorelatedtomotorcoil connections.

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Anti-ResonanceIntroduction
Stepmotorsarehighlyresonant, whichresultsinvibrationandringing.Theringingutilizesalarge
fractionofthemotor'savailabletorque –therebywastingperformance.Furthermore,atmid-range
velocities,theresonance canbecomesoseverethatthemotorloosessynchronizationandstalls.The
DM856 driverprovidesrobustanti-resonancecontrol tostopthevibrationsand maintainequilibrium.
Thisfeaturerequiresthat thedriverbeconfiguredwithrespect tothetotal inertiainthesystem.Ifset
improperly, theeffectivenessofthefeaturemaybediminished.
Theusercaninvokeordisablethefeaturebysetting Amp and Phase valuesin SystemConfig
window. Amp and Phase valuesall zeroistodisablethefeature,otherwiseistoinvokethefeature.It
shouldbeenabledunlessthesystemconfigurationeitherdoesnotneeditorcannottolerateit.A
systemwithloosecouplingsorviscousloadinggenerallydoesnotneedthisfeature.Ifasystemhas
compliant(springy)couplingandisabsentappreciablyviscosity,itmaynotrespondwelltotheactive,
anti-resonantloopinthedrive.Theanti-resonantfeatureisnotdesignedtodampsucha4
th order
system. Iftheapplication ofanti-resonanceresultsindegradationorinstability, it shouldbedisabled.
1
st ResonanceArea:Parametersfor1st resonancearea. Usuallybetween0.6rpsand1.2rps.
Amp1 isAmplitudeadjustmentfor1st resonance area.
Phase1 isPhaseadjustmentfor1st resonancearea.Theusercanenteravaluedirectlyinthetextbox
ormovethesliderbarbackandforthtogetanoptimumvalue.
2
nd ResonanceArea:Parametersfor2 nd resonancearea. Usuallybetween1.2rpsand2.4rps.
Default Amp2 and Phase2 valuesarezero.
3rd ResonanceArea:Parametersfor3rd resonancearea. Usuallybetween2.4rpsand4.8rps. Default
Amp3 and Phase3 valuesare128.
InternerPulser: Thereisaninternalpulsegeneratordesignedfordriverself-testingand
anti-resonancetuning. You canissueamotionbythissimplecontroller.
Cycle checkbox:Themotionwillrepeatifthisboxischecked.
Reverse checkbox:Themotorshaftwillreversedirectionifthisboxischecked.
Interval editbox:Thestoptimebetweeneachcycle, unitis millisecond.
Repeat edit box:Total motioncycles.
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Length editbox:Movedistanceofeachcycle, unitis revolution.
Start/Stop button:TheusercanStart/Stopamotion testbyclickingthisbutton.
ProcedureforAchievingOptimumPerformance
Step1: Startthemotiontestbyclicking Start/Stop button.Findanresonance speedbyslightly
movingthesliderbarofinternalpulsegeneratorbackandforth.See Figure26.
Step2: Run themotorattheresonance speedand verifythemotorsmoothness.Youmayfindabetter
smoothingvaluebyslightlymovingthesliderbarsof AMP(s)and Phase(s)backandforth.
Itisveryimportanttomakethe AMP(s)and Phase(s)adjustmentsatthepropertestspeedswithan
unloadedmotor.Runningatanincorrecttestspeedwillnotexcitethemotoratitspeakresonance,
makingit moredifficult tofindproperadjustment values. Optimum AMP(s)and Phase(s)valuesmay
bealittledifferentbetweenrunningthetestswithanunloadedmotorandaloadmotor.
Pleaseremembertoclick SavetoDrive todownloadthefinalparametersettingstothedriverwhen
finishtuning.SeeFigure27.
Figure 26:Anti-resonance tuning

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