Leadshine DB810 User manual

User sManual
For
DB810
Digital DC Servo Driver
Version 1.0
2000 All Rights Reserved
Attention: Pleaseread thismanual carefully beforeusing driver!
Floor 6, Block B,Yuehai Building, Nanhai Avenue,Shenzhen, China
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hereinto improvereliability,functionordesign.Leadshinedoesnotassumeany
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©2000 byLeadshineTechnologyCompanyLimited.
All RightsReserved
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Contents
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Tableof Contents
1. Introduction, Features andApplications..................................................................1
1.1Introduction....................................................................................................1
1.2Features..........................................................................................................1
1.3Applications....................................................................................................1
2. Specifications andOperating Environment.............................................................2
2.1MechanicalSpecifications..............................................................................2
2.2ElectricSpecifications....................................................................................2
2.3OperatingEnvironment andParameters.........................................................3
3. Connections.............................................................................................................3
3.1ConnectorConfiguration................................................................................3
3.2ControlSignalConnection.............................................................................4
3.3TypicalConnections.......................................................................................4
4. ServoSetup.............................................................................................................5
4.1Install Encoder................................................................................................5
4.2Prepare Power Supply....................................................................................5
4.3Prepare Controller..........................................................................................6
4.4InitializeDB810.............................................................................................6
4.5Motorconnection...........................................................................................6
5.Tuningthe Servo.....................................................................................................6
5.1Testingthe Servo............................................................................................6
5.2Tuningthe Servo............................................................................................7
5.3AdjustingPIDCoefficients.............................................................................8
6. UsingTips...............................................................................................................9
6.1Current LIMITSetting...................................................................................9
6.2FaultIndicator..............................................................................................10
6.3ReversingDefaultMotorDirection..............................................................11
Contents
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6.4ERR/RES......................................................................................................11
APPENDIX...............................................................................................................13
TWELVE MONTHLIMITEDWARRANTY...................................................13
EXCLUSIONS...................................................................................................13
OBTAINING WARRANTYSERVICE.............................................................13
WARRANTYLIMITATIONS...........................................................................13
SHIPPINGFAILEDPRODUCT.......................................................................14
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1. Introduction, Featuresand Applications
1.1 Introduction
DB810isanewdigitalDCservodriverdevelopedwith theadvanced21-century
technologyintheworldtoday.Inposition control,it seasyfortheenduser to
changethestepdriver toDB810withoutchangingcontrol system,becauseitsinput
command isPUL/DIR signal,whichiscompatiblewith thatofstepdriver.In
velocitycontrol,thepositionfeedbackoftheencoder caneffectively eliminatethe
“zero-speeddrift”phenomenonwhenthe analogservo isstandstill.Inthelowpower
motion controlapplications,performances ofDCservo systemsusingDB810are
better thanthose ofdigitalACservo systemsin velocity,precision,noise,stability
and someother aspects, at leastas goodas those ofdigitalACservo systems.
Synchronously theprice ofDB810staysattheprice lineofstepdriver,namelyfar
lower thanthatofAC servo.
1.2 Features
l18-80VDC, 0-20A,20-400W
lPIDfeedbackservo drive
lFeedbackresolutionX4encoder line count
lLockrange+/- 128count followingerror
lOpto-isolated stepanddirectioninputs
lSmall size
lOver-current and short-circuit protection
1.3 Applications
Suitableforawiderangeofequipmentsandinstrumentssuchas mini type
engraving machines, jet-inkmachines and etc.Itperformsbetter in equipments
whichexpectedtobe lownoise, high precisionandhigh velocity.
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2. SpecificationsandOperating Environment
2.1 MechanicalSpecifications (unit:mm, 1 inch = 25.4 mm)
Figure 1:Mechanicalspecifications
2.2 ElectricalSpecifications (Tj = 25 )
DB810
Parameters
Min. Typical Max. Unit
PeakOutputCurrent 0 - 20 Amps
Supplyvoltage +18 - +80 VDC
Logicsignalcurrent 6 12 20 mA
Pulse inputfrequency 0 - 250 KHz
Isolationresistance 500 MΩ
Current providedto encoder 50 mA
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2.3 Operating Environmentand Parameters
Cooling-down Method Naturalcooling or forcedcooling
Environment Avoid dust,oilfrostand corrosive gases
Ambient Temperature 0－ 50
Humidity 40 －95%RH
OperatingEnvironment
Vibration 5.9m/s2Max
StorageTemperature -20 －+65
Weight Approx. 100 grams (3.53 oz)
3. Connections
3.1 ConnectorConfiguration
Pin Number(Term.) Function Pin Number(Term.) Function
1 POWERGROUND 7 E+5V
2 +18 TO+80VDC 8 PHASEA
3 MOTOR+ 9 PHASE B
4 MOTOR- 10 DIR
5 ERR/RES 11 STEP
6 EGND 12 +5V
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3.2 ControlSignalConnection
Figure 2:Controlsignalconnection
3.3 TypicalConnections
If theencoderdrainsless than50mA,DB810cansupply theencoderdirectly,and
connectitasFigure 3.Iftheencoder drainsmore than50mA,use anexternal
+5VDC supply, andconnect it as Figure 4.
Figure 3: Typicalconnection (DB810 supplytheencoderdirectly)
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Figure 4: Typicalconnection (Using external+5Vto supplythe encoder)
4. Servo Setup
Before youstartservo, youcanfollowthefollowingsteps:
4.1 Install Encoder
You musthaveasuitableencoder properlymountedonthemotor.Please assemble
theencoder accordingtoitsfactorymanual.
4.2 Prepare PowerSupply
You musthave a DC power supplysuitable for the motor. Donot use apower supply
voltagemore than5voltsinexcess oftheratedvoltageofthemotor.Thepower
supplycurrentratingmustequalthemaximumcurrent you expecttorun themotor
at.Whenthepower supplyleadislongerthan50cm,a1000uF/100Velectrolytic
capacitorshouldbeconnectedbetween the “pinPOWER GROUND”and the “pin
+18TO+80VDC”. Payattentionthatthepolaritycannot be reversed.
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4.3 Prepare Controller
Prepare a controller with STEPandDIR signal.
4.4 Initialize DB810
Before goingon,turnthecurrentLIMITtrimpot aquarter tohalfoffull scale.
TurntheGAINtrimpot fully offandturntheDAMPtrimpot to aquarter offullscale.
Thetrimpots are single-turn,donot over-torque themwith ascrewdriver.
4.5 Motorconnection
Makesure thatthepower isoffandtheSTEPpulsesource issettozeropulseper
second.Checktoseeifthepotentiometer settingsare setaccordingtothe
instructions. You maywishto secure themotorsoitcan tjumpoffthebench.Motor
mayreturntocommand position rapidlywith littleorno overshootin theminimal
amount of time. Please referto AdjustingPIDCoefficients”.
5.Tuning theServo
5.1 Testing the Servo
Turnonthepower supply,theFAULTlight shouldturnoffafter pushingtheservo
starter (a momentaryswitch).
If everythingiscorrectyou shouldhear themotor “singing”.Thisisnormal.The
motorisdithering orbouncing betweenadjacentencoder counts.Theintegralterm
in aPIDloop has infiniteDCgain over timeand will amplifyeventhesmallest
positionerror.Becauseencoder feedbackcanonlyoccuroncountedges,theloopis
“blind”untilit encountersanencodercount edge.Itthenreverses themotor
direction untilanother edge is found, then theprocess repeats.
If themotorjumpsslightlyandtheFAULTlightimmediatelyturnsbackon,then
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either themotoriswiredbackwardsorthetrimpotsare misadjusted.Checkthe
trimpot settings. If theyarerightthenswitchthemotorleadsandtryagain.If itstill
doesn tworkafter you followedalloftheprevioussteps, pleasecontactusat
[e-mail].
Nowturnon yourSTEPpulse sourceandrampthespeed up to see ifthemotorruns.
Itshouldrunclockwise with a logical “1”onthe DIRECTION input.
5.2 Tuning the Servo
Theoptimumwaytotunetheservo istoinduceanimpulseloadonthemotorwhile
watchinganoscilloscopetoseehowthemotorbehavesinresponse,thenadjusting
thePIDcoefficientsforoptimalbehavior.Inall cases themotorshouldreturnto the
command position,whatmatters ishowitdoes it.Themanner in whichthemotor
returnstoitscommand position iscalleddamping.Atoneextremecalled
overdampedresponse,themotorreturnstopositionafter along,drawnoutdelay.
Attheother extremecalledunderdampedresponse, themotorreturnsto itsposition
toorapidly,overshoots, returnsand undershootsandsoonuntil it finally settles atits
command position.Thisisalsocausedringing;whenextreme, theover/undershoot
buildsinamplitudeuntil themotorenters violentoscillation.Betweenthetwo
extremes istheoptimalresponsecalled criticaldamping.Here the motorrapidly
returnsto itspositionwithlittleor noovershoot in theminimalamount of time.
TherearethreetrimpotsatthesideofDB810.TheyareGAIN,DAMPandLIMIT
separatelyforcurrentsetting, as shownin Figure 5.
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Figure 5:Sketchof DB810
GAINand DAMPING settinggenerallytrack eachother.If youincreaseGAIN
(greater stiffness), thenincrease DAMPING isneededas well torestore critical
damping. Be careful,increasing GAINwithout increasingDAMPING maycause the
motorto breakout intoviolentoscillation.ThehigherGAINisset,thenoisier the
motorwill bewhenstopped.Thisisbecausehigher gaincauses more vigorous
dithering betweenencoder counts atrest.
5.3 Adjusting PIDCoefficients
Theerrorbetweenservoactualpositionandpulsecommand position canbereduced
bytuning servoparameters.
You candetectivehowthemotorbehaves inresponse toanimpulseloadby
watchinganoscilloscope, as showninFigure 6. Theeasiestwayto induce a
disturbanceistoswitchtheDIRECTION inputwhilecommandingaconstantspeed
viatheSTEPinput.Theabruptdirectionchangeputsjustthemomentaryload
neededonthemotorwhileyouwatchhowitresponds. If you areusingan
oscilloscope,use channel1onthetestpointandchannel2ontheDIRECTION
input.Setthetrigger to “normal”,trigger sourcetochannel2andtrigger edgeto “+”.
You shouldsee a single sweepforeveryclockwise change indirection.
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OVERDAMPEDCRITICALLYDAMPEDUNDERDAMPED
Figure 6:Response to animpulse load
Slowlyincrease STEPspeeduntilyou getapicturesimilar to oneofthethree above,
andthendothe following steps:
①OVERDAMPED:Decrease DAMPINGor increase GAIN
②CRITICALLYDAMPED:Donothing;you are here
③UNDERDAMPED:Decrease GAINor increase DAMPING
Inorder tomakeitconvenientforusersto turn,atestpoint issetinsideofthe
DB810,as showninFigure5. TuneDAMPING and GAINuntil performances of the
servo are satisfying.
6. Using Tips
6.1 CurrentLIMITSetting
ThecurrentLIMITtrimpot setsmaximumcurrentthemotorispermitted tohave.It
isadjustablefrom0ampsto 20amps. NormallytheLIMITtrimpot issetto
maximum(20 amps) unless you wanttolimit motor torque toa lower value.
More speedand position isunaffectedby the currentLIMITsettingunless thetorque
demand duetoloadexceedsthissetting,thenthemotorpositionwillfall behindthe
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command position becauseof insufficient torque.
6.2 Fault Indicator
NormallywhentheDB810isfirstpoweredup,itwill benecessaryto pushthe
momentaryswitchtoSTARTfor5seconds. Thiswill clear thepower-on reset
conditionandextinguishtheFAULTLED.Themotorwill thenbeenabledand the
drivewillbegintooperate.
If atanytimeafter thataconditionoccursthatcausestheDB810to “faultout”,such
as notbeingabletocompleteastepcommand,theERR/RES terminalwill goto “0”,
signalingthecomputer an errorhasoccurred.Thiswill require theoperatorto
correcttheproblemthatcausedthefaultandthenpushtheswitchto “START”for5
secondsto re-enablethe DB810.
Atanytimetheoperatorcan pushtheswitchtothe “STOP”positiontoimmediately
halttheDB810drive. AnytimetheDB810 is inthe “FAULT”state(FAULTLEDlit),
all switchingaction stopsandthe motor freewheels and is unpowered.This willlight
the “FAULT”light.
TheFAULTindicatorison whilethedriveisinpower-onreset,theDISABLE input
isheld “low”oriftheprotectioncircuitistrippedduetoafaultcondition.Allpower
MOSFETsareturnedoffandallinternalcounters arereset.TheFAULTcondition
lastsfor3seconds, andthenself-resetstotryagain.Iftheprotectioncircuittripped
it andthecause isnotcleared,thenit will immediately re-enter the FAULTstate
again andrepeatthecycle.
There are two conditionsthatwilltrip theprotection circuit.Onecondition isifa
short-circuitoccurs andcurrent exceeds 20amps.
Theother conditionisifthePOSITIONERRORexceeds+/-128countscausinga
breakoftheservo-lock.This condition canhaveseveralcauses:
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1). Theloopsettingsareseverelyunder-dampedand themotorbreaksoutinto
oscillation.
2). Excessivemotor loaddue toacceleration or workload.
3). The speedcommand in excess of whatthe motor candeliver.
4). The currentLIMITisset toolow.
5). Thepowersupplycurrentisinsufficientfor thedemand.
6). The motor is wiredbackwards, isbrokenor disconnected.
7). Encoder failure.
6.3 Reversing Default MotorDirection
TheDB810will turnthemotorintheCWdirectionwhentheDIRECTION inputis
“high”(logical “1”,or +5VDC). If insteadCCWispreferred, then:
1) Reverse themotor “+”and “-”leads
2) Reverse theencoder “ChannelA”and “ChannelB”leads
6.4 ERR/RES
Thisterminalfunctionsas anERRORoutputandasaRESETinput.Because this
terminalfunctionsas both aninput andanoutput,somedetailed description is
necessary.
WhenfirsttestingtheDB810,ERR/RES (term.5)was connectedto E+5V(term.7).
Itcanbeleftthatwayifitisnotnecessaryto readthestateoftheERRORoutput.
Otherwise, the followingdetailsare important.
TheERRORoutputislatchedinthe “ERROR”state(term.5=0)by thepower-on
resetcircuitryin theDB810.Itwill stayin thisstateindefinitelyuntilitisclearedby
applying+5Vto thisterminalfor atleast5seconds.
Thevoltageonthisterminalis+5VDCwhentheDB810isfunctioningnormally.
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Thevoltageonthisterminalgoes to 0VDCwhenevertheFAULTindicatorislit.
Thisoutput canbe usedto signalyourcontroller thatanerror has occurred.
Figure 7:ErrorclearandResetcircuitof the DB810
Theabovecircuitshowshow to implement anexternalswitchtoclear anERROR
conditionand RESETtheDB810,whilestill being abletoreadthestateofthedrive.
ItalsoincludesanoptionalFAULTLEDcircuitifaremoteindicationofthestateof
the DB810isdesired.
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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/oroperationbyond environmentalspecifications
for theproduct.
OBTAININGWARRANTYSERVICE
Toobtainwarrantyservice,areturnedmaterialauthorizationnumber (RMA)must
beobtainedfromcustomer serviceate-mail: [e-mail] before returning
productforservice.Customer shallprepay shippingcharges forproductsreturnedto
Leadshineforwarrantyservice, and Leadshineshallpayforreturnofproductsto
customer.
WARRANTYLIMITATIONS
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.
SHIPPINGFAILED PRODUCT
If yourproductshouldfail duringthewarrantyperiod,e-mail customer serviceat
[e-mail] to obtainareturnedmaterialauthorizationnumber (RMA)
before returning productforservice.Please includeawrittendescription ofthe
problemalongwithcontactnameandaddress. Sendfailedproducttodistributorin
yourarea or:LeadshineTechnologyCo.,Ltd.Floor6,BlockB, YuehaiBuilding,
NanhaiAvenue, Shenzhen,China. Alsoenclose information regardingthe
circumstancespriorto productfailure.
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