User 'S Manual: Fully Digital Stepping Driver

Users Manual The content in this manual has been carefully prepared and is believed to be accurate, but no
For responsibility is assumed for inaccuracies.
DM422 Leadshine reserves the right to make changes without further notice to any products herein to
improve reliability, function or design. Leadshine does not assume any liability arising out of the
application or use of any product or circuit described herein; neither does it convey any license
Fully Digital Stepping Driver under its patent rights of others.
Version 1.0 Leadshines general policy does not recommend the use of its products in life support or aircraft
2010 All Rights Reserved applications wherein a failure or malfunction of the product may directly threaten life or injury.
Attention: Please read this manual carefully before using the driver! According to Leadshines terms and conditions of sales, the user of Leadshines products in life
support or aircraft applications assumes all risks of such use and indemnifies Leadshine against all
damages.
3/F, Block 2, Nanyou Tianan Industrial Park, Nanshan Dist, Shenzhen, China
2010 by Leadshine Technology Company Limited.
T: (86)755-26434369 F: (86)755-26402718 All Rights Reserved
Web site: www.leadshine.com E-Mail: [email protected]

Contents Contents
Dynamic current setting ................................................................................ 9
Table of Contents
Standstill current setting.............................................................................. 10
1. Introduction, Features and Applications.................................................................... 1 8. Wiring Notes ........................................................................................................... 10
Introduction ........................................................................................................... 1 9. Typical Connection.................................................................................................. 10
Features ................................................................................................................. 1 10. Sequence Chart of Control Signals ....................................................................... 11
Applications .......................................................................................................... 1 11. Protection Functions.............................................................................................. 12
2. Specifications ............................................................................................................ 2 Over-current Protection............................................................................... 12
Electrical Specifications ........................................................................................ 2 Over-voltage Protection .............................................................................. 12
Mechanical Specifications..................................................................................... 2 Phase Error Protection................................................................................. 12
Elimination of Heat ............................................................................................... 2 Protection Indications.................................................................................. 12
Operating Environment and other Specifications.................................................. 3 12. Frequently Asked Questions.................................................................................. 13
3. Pin Assignment and Description ............................................................................... 3 Problem Symptoms and Possible Causes ............................................................ 14
Connector P1 Configurations ................................................................................ 3 13. Professional Tuning Software ProTuner................................................................ 15
Selecting Active Pulse Edge and Control Signal Mode ........................................ 4 Introduction ......................................................................................................... 15
Connector P2 Configurations ................................................................................ 4 Software Installation ........................................................................................... 15
4. Control Signal Connector (P1) Interface................................................................... 4 Connections and Testing ..................................................................................... 19
5. Connecting the Motor................................................................................................ 5 RS232 Interface Connection ............................................................................... 19
Connections to 4-lead Motors ............................................................................... 5 Testing the Stepping System ............................................................................... 19
Connections to 6-lead Motors ............................................................................... 5 Software Introduction.......................................................................................... 20
Half Coil Configurations ............................................................................... 5 ProTuner Main Window .............................................................................. 20
Full Coil Configurations................................................................................ 6 ProTuner Toolbar......................................................................................... 20
Connections to 8-lead Motors ............................................................................... 6 Option.......................................................................................................... 21
Series Connections ........................................................................................ 6 Com Config Window .................................................................................. 21
Parallel Connections...................................................................................... 7 Parameters Configuration Window ............................................................. 21
6. Power Supply Selection ............................................................................................ 7 Tuning ......................................................................................................... 22
Regulated or Unregulated Power Supply .............................................................. 7 Anti-Resonance Introduction ...................................................................... 25
Multiple Drivers .................................................................................................... 8 Internal Pluser ............................................................................................. 26
Selecting Supply Voltage....................................................................................... 8 Procedure for Achieving Optimum Performance ........................................ 27
7. Selecting Microstep Resolution and Driver Output Current ..................................... 8 Err_check .................................................................................................... 28
Microstep Resolution Selection ............................................................................ 8 About........................................................................................................... 29
Current Settings..................................................................................................... 9 APPENDIX ................................................................................................................. 29
I II
Contents DM422 Digital Stepping Drive Manual V1.0
Twelve Month Limited Warranty ........................................................................ 29
1. Introduction, Features and Applications
Exclusions ........................................................................................................... 29
Obtaining Warranty Service ................................................................................ 29 Introduction
Warranty Limitations........................................................................................... 29
The DM422 is a versatility fully digital stepping driver based on a DSP with advanced control
Contact Us................................................................................................................... 30
algorithm. The DM422 is the next generation of digital stepping motor controls. It brings a unique
level of system smoothness, providing optimum torque and nulls mid-range instability. Motor
self-test and parameter auto-setup technology offers optimum responses with different motors and
easy-to-use. The driven motors can run with much smaller noise, lower heating, smoother
movement than most of the drivers in the markets. Its unique features make the DM422 an ideal
solution for applications that require low-speed smoothness. Compared to the DM422C, the
DM422 makes the motor run into higher speed and the user can configure the standstill current in
the software. Whats more, a pulse filter (smoother) has been built into the DM422.
Features
l Anti-Resonance, provides optimum torque l Supply voltage up to +40 VDC

and nulls mid-range instability l Output current programmable, from 0.3A to
l Motor self-test and parameter auto-setup 2.2A
technology, offers optimum responses with l Pulse input frequency up to 75 KHz
different motors l TTL compatible and optically isolated input
l Multi-Stepping allows a low resolution step l Automatic idle-current reduction
input to produce a higher microstep output (Reduction rate can be software configured)
for smooth system performance l Support PUL/DIR and CW/CCW modes
l Microstep resolutions programmable, from l Over-voltage, over-current, phase-error
full-step to 102,400 steps/rev protections
Applications
Suitable for a wide range of stepping motors, from NEMA frame size 14 to 23. It can be used in
various kinds of machines, such as laser cutters, laser markers, high precision X-Y tables, labeling
machines, and so on. Its unique features make the DM422 an ideal solution for applications that
require low-speed smoothness.
III
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DM422 Digital Stepping Drive Manual V1.0 DM422 Digital Stepping Drive Manual V1.0
2. Specifications Operating Environment and other Specifications
Electrical Specifications (Tj = 25/77) Cooling Natural Cooling or Forced cooling

Environment Avoid dust, oil fog and corrosive gases
DM422
Parameters Ambient Temperature 050 (32122)
Min Typical Max Unit
Operating Environment Humidity 40%RH90%RH
Output current 0.3 - 2.2 (1.6 RMS) A 70 (158) Max
Operating Temperature
Supply voltage +20 - +40 VDC 5.9m/s2 Max
Vibration
Logic signal current 7 10 16 mA
Storage Temperature -2065 (-4149)
Pulse input frequency 0 - 75 kHz
Weight Approx. 100g (3.5274oz)
Isolation resistance 500 M
3. Pin Assignment and Description
Mechanical Specifications ( unit: mm [inch] )
The DM422 has two connectors, connector P1 for control signals connections, and connector P2 for
power and motor connections. The following tables are brief descriptions of the two connectors.
More detailed descriptions of the pins and related issues are presented in section 4, 5, 9.
Connector P1 Configurations
Pin Function Details
Pulse signal: In single pulse (pulse/direction) mode, this input represents pulse
signal, each rising or falling edge active (software configurable); 4-5V when
PUL-HIGH, 0-0.5V when PUL-LOW. In double pulse mode (pulse/pulse) ,
PUL this input represents clockwise (CW) pulseactive both at high level and low
level (software configurable). For reliable response, pulse width should be
longer than 7.5s. Series connect resistors for current-limiting when +12V or
+24V used. The same as DIR and ENA signals.
DIR signal: In single-pulse mode, this signal has low/high voltage levels,
representing two directions of motor rotation; in double-pulse mode (software
Figure 1: Mechanical specifications configurable), this signal is counter-clock (CCW) pulseactive both at high
level and low level (software configurable). For reliable motion response, DIR
DIR
Elimination of Heat signal should be ahead of PUL signal by 5s at least. 4-5V when DIR-HIGH,
0-0.5V when DIR-LOW. Please note that rotation direction is also related to
l Drivers reliable working temperature should be <70(158), and motor working temperature motor-driver wiring match. Exchanging the connection of two wires for a coil
to the driver will reverse motion direction.
should be <80(176);
Opto-coupler power supply, and the typical voltage is +5V. Series connect
l It is recommended to use automatic idle-current mode, namely current automatically reduce to OPTO resistors (at the PUL, DIR, ENA terminals) for current-limiting when +12V or
60% when motor stops, so as to reduce driver heating and motor heating; +24V used.
l It is recommended to mount the driver vertically to maximize heat sink area. Use forced cooling Enable signal: This signal is used for enabling/disabling driver. High level for
method to cool the system if necessary. ENA enabling the driver and low level for disabling the driver. Usually left
UNCONNECTED (ENABLED).
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Selecting Active Pulse Edge and Control Signal Mode
The DM422 supports PUL/DIR and CW/CCW modes and pulse active at rising or falling edge. See
more information about these settings in Section 13. Default setting is PUL/DIR mode and rising
edge active.
Connector P2 Configurations
Pin Function Details

+Vdc Power supply, 20~40 VDC, Including voltage fluctuation and EMF voltage.
GND Power Ground.
Figure 3: Connections to differential control signal
A+, A- Motor Phase A
B+, B- Motor Phase B 5. Connecting the Motor
4. Control Signal Connector (P1) Interface The DM422 can drive any 2-pahse and 4-pahse hybrid stepping motors.
The DM422 uses opto-couplers to increase noise immunity and interface flexibility. If the Connections to 4-lead Motors
opto-couplers supply voltage is higher than +5V, a current-limiting resistor needs to be connected
4 lead motors are the least flexible but easiest to wire. Speed and torque will depend on winding
at each command signal terminal to prevent overheating the opto-couplers. In the following
inductance. In setting the driver output current, multiply the specified phase current by 1.4 to
figures, connections to open-collector and differential controller are illustrated. determine the peak output current.
Figure 4: 4-lead Motor Connections
Connections to 6-lead Motors
Like 8 lead stepping motors, 6 lead motors have two configurations available for high speed or high
torque operation. The higher speed configuration, or half coil, is so described because it uses one half
of the motors inductor windings. The higher torque configuration, or full coil, uses the full windings
of the phases.
Figure 2: Connections to open-collector signal (common-anode)
Half Coil Configurations
As previously stated, the half coil configuration uses 50% of the motor phase windings. This gives
lower inductance, hence, lower torque output. Like the parallel connection of 8 lead motor, the torque
output will be more stable at higher speeds. This configuration is also referred to as half chopper. In Parallel Connections
setting the driver output current multiply the specified per phase (or unipolar) current rating by 1.4 to
determine the peak output current. An 8 lead motor in a parallel configuration offers a more stable, but lower torque at lower speeds. But
because of the lower inductance, there will be higher torque at higher speeds. Multiply the per phase
(or unipolar) current rating by 1.96, or the bipolar current rating by 1.4, to determine the peak output
current.
Figure 5: 6-lead motor half coil (higher speed) connections
Full Coil Configurations

The full coil configuration on a six lead motor should be used in applications where higher torque at
lower speeds is desired. This configuration is also referred to as full copper. In full coil mode, the
Figure 8: 8-lead motor parallel connections
motors should be run at only 70% of their rated current to prevent over heating.
NEVER disconnect or connect the motor while the power source is energized.
6. Power Supply Selection

The DM422 can match medium and small size stepping motors (from NEMA frame size 14 to 23)
made by Leadshine or other motor manufactures around the world. To achieve good driving
Figure 6: 6-lead motor full coil (higher torque) connections
performances, it is important to select supply voltage and output current properly. Generally speaking,
supply voltage determines the high speed performance of the motor, while output current determines
Connections to 8-lead Motors
the output torque of the driven motor (particularly at lower speed). Higher supply voltage will allow
8 lead motors offer a high degree of flexibility to the system designer in that they may be connected higher motor speed to be achieved, at the price of more noise and heating. If the motion speed
in series or parallel, thus satisfying a wide range of applications. requirement is low, its better to use lower supply voltage to decrease noise, heating and improve
reliability.
Series Connections
A series motor configuration would typically be used in applications where a higher torque at lower Regulated or Unregulated Power Supply
speeds is required. Because this configuration has the most inductance, the performance will start to
degrade at higher speeds. In series mode, the motors should also be run at only 70% of their rated Both regulated and unregulated power supplies can be used to supply the driver. However,
current to prevent over heating. unregulated power supplies are preferred due to their ability to withstand current surge. If regulated
power supplies (such as most switching supplies.) are indeed used, it is important to have large
current output rating to avoid problems like current clamp, for example using 4A supply for 3A
motor-driver operation. On the other hand, if unregulated supply is used, one may use a power supply
of lower current rating than that of motor (typically 50%70% of motor current). The reason is that
the driver draws current from the power supply capacitor of the unregulated supply only during the
Figure 7: 8-lead motor series connections ON duration of the PWM cycle, but not during the OFF duration. Therefore, the average current
withdrawn from power supply is considerably less than motor current. For example, two 3A motors
can be well supplied by one power supply of 4A rating.
Multiple Drivers Microstep Steps/rev.(for 1.8motor) SW5 SW6

1 to 512 Default/Software configured ON ON
It is recommended to have multiple drivers to share one power supply to reduce cost, if the supply
8 1600 OFF ON
has enough capacity. To avoid cross interference, DO NOT daisy-chain the power supply input pins
16 3200 ON OFF
of the drivers. Instead, please connect them to power supply separately.
32 6400 OFF OFF
Selecting Supply Voltage
Current Settings
The power MOSFETs inside the DM422 can actually operate within +20 ~ +40VDC, including
power input fluctuation and back EMF voltage generated by motor coils during motor shaft For a given motor, higher driver current will make the motor to output more torque, but at the same
deceleration. Higher supply voltage can increase motor torque at higher speeds, thus helpful for time causes more heating in the motor and driver. Therefore, output current is generally set to be such
avoiding losing steps. However, higher voltage may cause bigger motor vibration at lower speed, and that the motor will not overheat for long time operation. Since parallel and serial connections of
it may also cause over-voltage protection or even driver damage. Therefore, it is suggested to choose motor coils will significantly change resulting inductance and resistance, it is therefore important to
only sufficiently high supply voltage for intended applications, and it is suggested to use power set driver output current depending on motor phase current, motor leads and connection methods.
supplies with theoretical output voltage of +20 ~ +36VDC, leaving room for power fluctuation and Phase current rating supplied by motor manufacturer is important in selecting driver current, however
back-EMF.
the selection also depends on leads and connections.
7. Selecting Microstep Resolution and Driver Output Current
When its not in software configured mode, the first three bits (SW1, 2, 3) of the DIP switch are used
Microstep resolutions and output current are programmable, the former can be set from full-step to to set the dynamic current. Select a setting closest to your motors required current.
102,400 steps/rev and the latter can be set from 0.3A to 2.2A. See more information about Microstep
Dynamic current setting
and Output Current Setting in Section 13.
Peak Current RMS Current SW1 SW2 SW3
However, when its not in software configured mode, this driver uses a 6-bit DIP switch to set
Default/Software configured (0.3 to 2.2A) ON ON ON
microstep resolution, and motor operating current, as shown below:
0.5A 0.35 A OFF ON ON
0.7A 0.50 A ON OFF ON
1.0A 0.71 A OFF OFF ON
1.3A 0.92 A ON ON OFF
1.6A 1.13 A OFF ON OFF
1.9A 1.34 A ON OFF OFF
2.2A 1.56 A OFF OFF OFF
Microstep Resolution Selection
Notes: Due to motor inductance, the actual current in the coil may be smaller than the dynamic
When its not in software configured mode, microstep resolution is set by SW5, 6 of the DIP switch current setting, particularly under high speed condition.
as shown in the following table:
Standstill current setting
SW4 is used for this purpose. OFF meaning that the standstill current is software configured, and ON
meaning that standstill current is set to be the same as the selected dynamic current.
By default, the current automatically reduced to 60% of the selected dynamic current two second
after the last pulse. Theoretically, this will reduce motor heating to 36% (due to P=I2*R) of the
original value. Reduction rate and idle time can be configured in the PC software ProTuner. See
more information in section 13.
8. Wiring Notes
l In order to improve anti-interference performance of the driver, it is recommended to use
twisted pair shield cable.
l To prevent noise incurred in PUL/DIR signal, pulse/direction signal wires and motor wires Figure 9: Typical connection
should not be tied up together. It is better to separate them by at least 10 cm, otherwise the
disturbing signals generated by motor will easily disturb pulse direction signals, causing motor 10. Sequence Chart of Control Signals
position error, system instability and other failures.
In order to avoid some fault operations and deviations, PUL, DIR and ENA should abide by some
l If a power supply serves several drivers, separately connecting the drivers is recommended rules, shown as following diagram:
instead of daisy-chaining.
l It is prohibited to pull and plug connector P2 while the driver is powered ON, because there is
high current flowing through motor coils (even when motor is at standstill). Pulling or plugging
connector P2 with power on will cause extremely high back-EMF voltage surge, which may
damage the driver.
9. Typical Connection
A complete stepping system should include stepping motor, stepping driver, power supply and
controller (pulse generator). A typical connection is shown as figure 9.
Figure 10: Sequence chart of control signals
Remark:
a) t1: ENA must be ahead of DIR by at least 5s. Usually, ENA+ and ENA- are NC (not
connected). See Connector P1 Configurations for more information.
b) t2: DIR must be ahead of PUL effective edge by 5s to ensure correct direction;
c) t3: Pulse width not less than 7.5s;
d) t4: Low level width not less than 7.5s.
11. Protection Functions 12. Frequently Asked Questions

To improve reliability, the driver incorporates some built-in protection functions. The DM422 uses In the event that your driver doesnt operate properly, the first step is to identify whether the problem
one RED LED to indicate what protection has been activated. The periodic time of RED is 3 s is electrical or mechanical in nature. The next step is to isolate the system component that is causing
(seconds), and how many times the RED turns on indicates what protection has been activated. the problem. As part of this process you may have to disconnect the individual components that make
Because only one protection can be displayed by RED LED, so the driver will decide what error to up your system and verify that they operate independently. It is important to document each step in
display according to their priorities. See the following Protection Indications table for displaying
the troubleshooting process. You may need this documentation to refer back to at a later date, and
priorities.
these details will greatly assist our Technical Support staff in determining the problem should you
Over-current Protection need assistance.
Over-current protection will be activated when continuous current exceeds the limit or in case of
Many of the problems that affect motion control systems can be traced to electrical noise, controller
short circuit between motor coils or between motor coil and ground, and RED LED will turn on once
within each periodic time (3 s). software errors, or mistake in wiring.
Over-voltage Protection
When power supply voltage exceeds 482 VDC, protection will be activated and RED LED will
turn on twice within each periodic time (3 s).
Phase Error Protection

Motor power lines wrong & not connected will activate this protection. RED LED will turn on four
times within each periodic time (3 s).
Attention: When above protections are active, the motor shaft will be free or the LED will turn red.
Reset the driver by repowering it to make it function properly after removing above problems. Since
there is no protection against power leads (,) reversal, it is critical to make sure that power
supply leads correctly connected to driver. Otherwise, the driver will be damaged instantly.
Protection Indications
Priority Time(s) of ON Sequence wave of RED LED Description
1st 1 Over-current protection
2nd 2 Over-voltage protection
3rd 4 Phase error protection
Problem Symptoms and Possible Causes 13. Professional Tuning Software ProTuner
Symptoms Possible Problems Introduction
No power
This section will provide an overview of connection and basic setup instructions for Leadshines
Microstep resolution setting is wrong
digital stepping driver DM422 using the ProTuner software. These instructions will walk you through
Motor is not rotating DIP switch current setting is wrong
the following steps necessary to start up your driver and motor. This section is intended for setting up
Fault condition exists
the driver with the ProTuner.
The driver is disabled
Motor rotates in the wrong direction Motor phases may be connected in reverse Software Installation
DIP switch current setting is wrong The ProTuner is windows based setup software for tuning Leadshines digital stepper driver DM422.
The driver in fault
Something wrong with motor coil It can run in windows systems, including Win95/Win98/WindowsNT/ Windows 2000/Windows XP.
Control signal is too weak And the selected PC should have 1 serial port at least for communicating with the driver.
Control signal is interfered
Double click ProTuner_DM422_Setup_V2.0.exe to begin installing the ProTuner. See Figure 11.
Erratic motor motion Wrong motor connection
Click Next to enter the License Agreement window. See Figure 12.
Something wrong with motor coil
Current setting is too small, losing steps
Note: The user can get the software from either Leadshine CD or website. Please
Current setting is too small
get the latest version from http://www.leadshine.com.
Motor is undersized for the application
Motor stalls during acceleration
Acceleration is set too high
Power supply voltage too low
Inadequate heat sinking / cooling
Excessive motor and driver heating Automatic current reduction function not being utilized
Current is set too high
Figure 11: Begin to install the ProTuner
Figure 12: License agreement Figure 14: Installation folder settings
Choose I agree to the terms of this license agreement and click Next to continue installation. The
user can enter users information in the following window. See Figure 13. After entering the users
information, click Next to select installation folder, where you would like to install the ProTuner. See
Figure 14.
Figure 15: Shortcut folder setting
Set the Shortcut Folder in Figure 15 and continue to install the ProTuner by following Figure 16
and Figure 17. An Installation Successful window will appear if the ProTuner is installed
successfully. See Figure 18.
Figure 13: Users information settings
Figure 16: Installation information summarization Figure 18: Finish installation
Connections and Testing
Connect the stepping system according to the contents in previous sections and connect the PC to the
driver as the following figure.
RS232 Interface Connection
DM422
Figure 17: Installing the ProTuner
Figure 19: RS232 interface connection
Testing the Stepping System
Turn on the power supply, the green (Power) LED will light. The DM422 has default parameters
stored in the driver. If the system has no hardware and wirings problem, the motor should be locked
and the driver should be ready.
If the red LED immediately turns on (flickers), then check power supply, the motor, motor wirings
and try again. Open the tuning software ProTuner and check driver status by clicking Err_check. If Option
its Phase Error, check the motor, motor wirings and try again. If it still doesnt work after you The user can choose three drop-down menus by clicking Option, including Com Configuration,
followed all of the previous steps, please contact us at [email protected]. Parameters Configuration, and Exit.
If the RED LED is OFF and the motor is normal, then you can start to tune the servo with ProTuner. l Com Configuration: Configure Com communication interface.
However, we recommend you see the following contents before starting tuning. l Parameteres Configuration: Read/write parameters between the driver and the ProTuner, or
save configuration as a file and load configuration from a file.
Software Introduction
l Exit: Exit the ProTuner.
ProTuner Main Window
Com Config Window
Menu Bar
Figure 21: RS232 communication configuration window
Serial Port: Select the serial communication port to which the driver is connected. The factory default
setting is COM1.
Status Bar
Baud Rate: Select the communication baud rate. The factory default setting is 38400.
Figure 20: ProTuner Click Open button to establish a connection with the specified settings. When connecting, you can
read stored parameter setting from the driver to the ProTuner, or write new parameter setting from the
ProTuner Toolbar
Current Loop Tuning Product Information ProTuner to the driver settings in the parameters configuration window.
Com Configuration Error Check
Parameters Configuration Window
Recommend to always keep this window active. In this window, the user can read the parameter
setting from the driver, or write parameters setting to the driver after finishing to configure all the
settings. In addition, the user can also save the configuration to a file for later use or load a
Parameters Configuration Contact Information
configuration from a stored file. See figure 22.
System Configure Exit
Read RAM: Read parameter settings from the drivers RAM to the ProTuner.
Write RAM: Write parameter settings from the ProTuenr to the drivers RAM.
Write EEprom: Write parameter settings from the ProTuenr to the drivers EEprom.
Reset Driver: Reset all parameter to default value.
Load configurations from a file
Save configuration to a file
Close this window. Figure 23: Current Tuning window
Ki: Integral Gain. Integral Gain helps the driver to overcome static current errors. A low or zero
value for the Integral Gain may have current errors at rest. Increasing the Integral Gain can reduce the
error. If the Integral Gain is too large, the systems may hunt (oscillate) about the desired position.
Start button: The user can start a Step Response test by clicking this button. Start/Restart a Step
Response test to get an optimum response like Figure 23, and remember to save the settings to the
driver by clicking Write EEprom in parameters configuration window when finish tuning .
Auto button: Click this button to auto-configure Kp and Ki for the connected motor. It has the same
Figure 22: Parameters configuration window
effect as changing SW4 two times in one second.
Tuning
The user can choose one or two drop-down menu(s) by clicking Tuning, including CurrentLoop and
SystemConfig.
l CurrentLoop: In Current Tuning window, the user can tune the Kp (Proportional Gain) and
Ki (Integral Gain) of drivers current loop to optimize responses with different motors.
Start/Restart a Step Response test to get an optimum response.
Kp: Proportional Gain. Proportional Gain determines the response of the driver to current setting
command. Low Proportional Gain provides a stable system (doesnt oscillate), has low stiffness, and
large current error, causing poor performances in tracking current setting command in each step like
Figure 24: Kp=356, Ki=15 (poor performances)
Figure 23. Too large Proportional Gain values will cause oscillations and unstable systems.
Notes: PeakCur: Peak Current. The value is the peak current to the selected motor and can be set from 0.1
to 2.2 A. The user can set the peak current with ProTuner or DIP switches, see more information
However, if the user does not want to tune the current loop after changing a different stepping motor,
about setting output current of the driver in section 5 Connecting the Motor and section 7
then Motor self-test and parameter auto-setup technology of the DM422 can replace manual tuning
the driver with ProTuner. Just changes SW4 two times in 1 second (without ProTuner), or click Auto Selecting Microstep Resolution and Driver Output Current.
button, and then the driver will auto-identify the new motor and auto-configure related control MicroStep: Microstep Resolution. The value is drivers microstep resolution setting and can be set
parameters for optimum responses. Recommend use this function after changing the driven motor.
from 1 to 512. The user can set the microstep with ProTuner or DIP switches, See more information
l SystemConfig: about setting output current of the driver in section 7 Selecting Microstep Resolution and Driver
Output Current.
In SystemConfig window, the user can configure Peak Current, Microstep, Elec Damp, Idle Current,
Idle Time, Command Type, Active Edge and eliminate motor resonance. A built-in pulse generator ElecDamp: Electronic Damping Coefficient. The electronic damping restrain resonance of the
can be used for test during tuning. See Picture 25. system and prevent amplitude of the oscillation from increasing to the extend that it makes the motor
out of control. The optimal value depends on the system, and the default value is 3000.
Idle Current: Standstill Current when motor stop. When the motor stop time exceeds the Idle
Time, the motor coil current reduces to Idle Current (In percentage). The percentage is rated to the
Peak Current.
Idle Time: See Idle Current.
Pulse Filter Enable: Click the check box will turn on the internal pulse smoother or filter of DM422.
DirectionDef: Direction Definition. Relate the default running direction to a HIGH level input in
DIR or Low level input in DIR. This panel is used for PUL/DIR command type only. Please note that
the default direction is also related to motor coil connections.
CommandType: Command Type of control signal, including PUL/DIR and CW/CCW. Set this
parameter according to Command Type of motion controller.
ActiveEdge: Active Edge. The user can set the triggered edge of pulse command signal in this panel.
When the driver works in CW/CCW mode, no matter what level is at fixed level terminal, the driver
can works properly.
Anti-Resonance Introduction
Figure 25: System Configure Window
Step motors are highly resonant, which results in vibration and ringing. The ringing utilizes a large
fraction of the motor's available torque thereby wasting performance. Furthermore, at mid-range Interval: Stop time before the next motion repeat. Unit: ms.
velocities, the resonance can become so severe that the motor looses synchronization and stalls. The
Repeats: Motion repeat times. If it is bidirectional, one repeat is moving forward then back.
DM422 driver provides robust anti-resonance control to stop the vibrations and maintain equilibrium.
This feature requires that the driver be configured with respect to the total inertia in the system. If set Distance: Moving distance in one direction in revolution.
improperly, the effectiveness of the feature may be diminished.
Start/Stop: Start/Stop the motion.
The user can invoke or disable the feature by setting Amp and Phase values in SystemConfig
window. Amp and Phase values all zero is to disable the feature, otherwise is to invoke the feature. It Note:
should be enabled unless the system configuration either does not need it or cannot tolerate it. A
When you adjust the velocity by moving the slider forth and back, the motor velocity would not
system with loose couplings or viscous loading generally does not need this feature. If a system has
change immediately as you expected. That is because the driver only read the new speed when it
compliant (springy) coupling and is absent appreciably viscosity, it may not respond well to the active,
changes direction. Also be careful about the initial direction and moving distance if the motor is
th
anti-resonant loop in the drive. The anti-resonant feature is not designed to damp such a 4 order installed on a machine. It is recommended that set low speed and small distance if you are not sure
system. If the application of anti-resonance results in degradation or instability, it should be disabled.
whether the direction and distance is correct or not.
1st ResonanceArea: Parameters for 1st resonance area. It is usually between 0.6rps and 1.2rps.
Procedure for Achieving Optimum Performance
Amp1 is Amplitude adjustment for 1st resonance area. Step 1: Start the motion test by clicking Start/Stop button. Find a resonance speed by slightly moving
Phase1 is Phase adjustment for 1st resonance area. The user can enter a value directly in the text box the slider bar of internal pulse generator back and forth. You can also use the arrow keys to adjust the
or move the slider bar back and forth to get an optimum value. speed precisely.
2nd ResonanceArea: Parameters for 2nd resonance area. It is usually between 1.2rps and 2.4rps. Step 2: Run the motor at the resonance speed and verify the motor smoothness. You may find a better
Default Amp2 and Phase2 values are zero. smoothing value by slightly moving the slider bars of AMP(s) and Phase(s) back and forth.
It is very important to make the AMP(s) and Phase(s) adjustments at the proper test speeds with an
3rd ResonanceArea: Parameters for 3rd resonance area. It is usually between 2.4rps and 4.8rps.
unloaded motor. Running at an incorrect test speed will not excite the motor at its peak resonance,
Default Amp3 and Phase3 values are 128.
making it more difficult to find proper adjustment values. Optimum AMP(s) and Phase(s) values may
Internal Pluser( Pulse Generator) be a little different between running the tests with an unloaded motor and a load motor.
The internal pulse generator offers a simple motion control for self-test and anti-resonance tuning. The For example, we find a resonance speed at 0.98 rps. We begin to move the Amp1 slider forth and the
user can adjust moving velocity, configure the direction and repeats of the motion. motor vibration and noise became lower and lower. Finally we find the move is the smoothest when
Amp 1 is 3300. The motor vibration and noise increase if Amp 1 exceeds 3300. Then we follow the
Bidirectional: Click the check box to make the motion be bidirectional. Otherwise the motor only run
same procedure to search the best point for Phase 1. See Figure 26. Anti-resonance tuning is done.
in one direction.
Please remember to click Write EEprom to write the final parameter settings to the driver when
Positive: It is used to change the initial direction for the motion.
finish tuning.
OverCurrent: Over-current Protection. Protection will be activated when continuous current
exceeds 16A.
OverVoltage: Over-voltage Protection. When power supply voltage exceeds 421 VDC, protection
will be activated.
PhaseErr: Phase Error Protection. Motor power lines wrong & not connected will activate this
protection.
ErrCounter: Displays current error(s) and current error history.
Erase Current Err!: Erase Current Err button. The user can clear current error(s) by clicking this
button.
Erase All!: Erase All! button. The user can clear all error(s) including error history by clicking this
button.
About
The user can choose two drop-down menus by clicking About, including Product Information and
Contact Us.
l Product Information window: Shows some product information about ProTuner.
l Contact Us window: Shows some contact information about Leadshine.
Figure 26: 1st Anti -Resonance Tuning (Speed=0.98rps)
Err_check
l Error Check: This window shows both the present status of each error event and their history.
Current error event(s) can be reset by clicking Erase Current Err! button, and all error events
can be reset by clicking Erase All! button. List of the last ten drive faults. #0 being the most Figure 28: Product information
recent, #9 is the oldest. See Figure 27.
Figure 27: Error check window Figure 29: Contact information
APPENDIX Contact Us
Twelve Month Limited Warranty
China Headquarters
Leadshine Technology Co., Ltd. warrants its products against defects in materials and Address: 3/F, Block 2, Nanyou Tianan Industrial Park, Nanshan District Shenzhen, China
workmanship for a period of 12 months from shipment out of factory. During the warranty period, Web: http://www.leadshine.com
Leadshine will either, at its option, repair or replace products which proved to be defective.
Exclusions Sales Hot Line:

Tel: 86-755-2643 4369 (for All)
The above warranty does not extend to any product damaged by reasons of improper or inadequate
handlings by customer, improper or inadequate customer wirings, unauthorized modification or 86-755-2641-7674 (for Asia, Australia, Africa areas)
misuse, or operation beyond the electrical specifications of the product and/or operation beyond 86-755-2640-9254 (for Europe, America areas)
environmental specifications for the product. Fax: 86-755-2640-2718
Obtaining Warranty Service Email: [email protected].
To obtain warranty service, a returned material authorization number (RMA) must be obtained
Technical Support:
from customer service at e-mail: [email protected] before returning product for service.
Customer shall prepay shipping charges for products returned to Leadshine for warranty service, Tel: 86 755-2641-8447 and 86-755-2647-1129
and Leadshine shall pay for return of products to customer. Fax: 86-755-2640-2718
Warranty Limitations Email: [email protected] and [email protected].
Leadshine makes no other warranty, either expressed or implied, with respect to the product. Leadshine U.S.A
Leadshine specifically disclaims the implied warranties of merchantability and fitness for a
Address: 25 Mauchly, Suite 318 Irvine, California 92618
particular purpose. Some jurisdictions do not allow limitations on how long and implied warranty
lasts, so the above limitation or exclusion may not apply to you. However, any implied warranty of Tel: 1-949-608-7270
merchantability or fitness is limited to the 12-month duration of this written warranty. Fax: 1-949-608-7298
Shipping Failed Product Web: http://www.leadshineUSA.com
If your product fail during the warranty period, e-mail customer service at [email protected] to Email: [email protected] and [email protected].
obtain a returned material authorization number (RMA) before returning product for service.
Leadshine Hong Kong
Please include a written description of the problem along with contact name and address. Send
Address: Rm 3, 9/F, Block E, Wah Lok Industrial Center,31-41 Shan Mei St., Fo Tan,
failed product to distributor in your area or: Leadshine Technology Co., Ltd. 3/F, Block 2, Nanyou
Shatin, Hong Kong
Tianan Industrial Park, Nanshan Dist, Shenzhen, China. Also enclose information regarding the
Tel: 852-2952-9114
circumstances prior to product failure.
Fax: 852-2952-9395
Email: [email protected].

User 'S Manual: Fully Digital Stepping Driver

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Users Manual The content in this manual has been carefully prepared and is believed to be accurate, but no

For responsibility is assumed for inaccuracies.

Web site: www.leadshine.com E-Mail: [email protected]

l Anti-Resonance, provides optimum torque l Supply voltage up to +40 VDC

2. Specifications Operating Environment and other Specifications

Electrical Specifications (Tj = 25/77) Cooling Natural Cooling or Forced cooling

Selecting Active Pulse Edge and Control Signal Mode

Pin Function Details

Figure 4: 4-lead Motor Connections

Connections to 6-lead Motors

Figure 5: 6-lead motor half coil (higher speed) connections

Full Coil Configurations

6. Power Supply Selection

Multiple Drivers Microstep Steps/rev.(for 1.8motor) SW5 SW6

Figure 10: Sequence chart of control signals

11. Protection Functions 12. Frequently Asked Questions

Phase Error Protection

1st 1 Over-current protection

2nd 2 Over-voltage protection

3rd 4 Phase error protection

Figure 11: Begin to install the ProTuner

Figure 12: License agreement Figure 14: Installation folder settings

Figure 15: Shortcut folder setting

Figure 16: Installation information summarization Figure 18: Finish installation

Connections and Testing

RS232 Interface Connection

Figure 17: Installing the ProTuner

Figure 19: RS232 interface connection

Testing the Stepping System

Figure 21: RS232 communication configuration window

Reset Driver: Reset all parameter to default value.

Load configurations from a file

Save configuration to a file

Close this window. Figure 23: Current Tuning window

Idle Time: See Idle Current.

Figure 26: 1st Anti -Resonance Tuning (Speed=0.98rps)

recent, #9 is the oldest. See Figure 27.

Figure 27: Error check window Figure 29: Contact information

Exclusions Sales Hot Line:

Warranty Limitations Email: [email protected] and [email protected].

Shipping Failed Product Web: http://www.leadshineUSA.com

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