Leadshine DB810 Manual de usuario

User sManual

For

DB810

Digital DC Servo Driver

Version 1.0

Attention: Pleaseread thismanual carefully beforeusing driver!

Floor 6, Block B,Yuehai Building, Nanhai Avenue,Shenzhen, China

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URL: www.leadshine.com E-Mail: sales@leadshine.com

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.

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

tech@leadshine.com.

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: tech@leadshine.com 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

tech@leadshine.com 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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