MSDD-80-5.6
Contents
1. Multi Stepping allows a low resolution step input to produce a higher microstep output for smooth system performance Microstep resolutions programmable from full step to 102 400 steps rev Applications Supply voltage up to 80 VDC Output current programmable from 0 5A to 5 6A Pulse input frequency up to 200 KHz TTL compatible and optically isolated input Automatic idle current reduction Suitable for 2 phase and 4 phase motors Support PUL DIR and CW CCW modes phase error Over voltage over current protections Suitable for a wide range of stepping motors from NEMA size 17 to 34 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 MSD 80 5 6 an ideal solution for applications that require both low speed smoothness and high speed performances MSD 80 5 6 Digital Stepping Driver Manual V1 0 2 Specifications Electrical Specifications T 25 C 77F 5 6 4 0 RMS 20 80 VDC 7 10 16 mA 0 200 kHz 500 MQ Mechanical Specifications unit mm inch 1 inch 25 4 mm 118 4 646 75 5 2 972 47 8 1 882 112 4 409 Figure 1 Mechanical specifications Elimination of Heat Driver s reliable working temperature should be lt 70 C 158 F and motor working temperature should be lt 80 C 176 F It is recommended to use automatic idle2. O I do not agree to the terms of this license agreement Figure 12 License agreement Choose I agree to the terms of this license agreement and click Next to continue installation The user can enter user s information in the following window See Figure 13 After entering the user s information click Next to select installation folder where you would like to install the ProTuner See Figure 14 o Pro uner_DE856 Setup Paul _XP Company le adshine Figure 13 User s information settings MSD 80 5 6 Digital Stepping Driver Manual V1 0 Proluner_DES56 Setup Installation Folder Where would you like ProTuner_DM856 to be installed The software will be installed in the folder listed below To select a different location either type in a new path or click Change to browse for an existing folder Install ProTuner_DMS56 to D Program Files ProTuner_DM856 L Space required 5 17 MB Space available on selected drive 9 62 GB Figure 14 Installation folder settings o Pro uner_DE856 Setup The shortcut icons will be created in the folder indicated below If you don t want to use the default folder you can either type a new name or select an existing folder from the list Shortcut Folder ProTuner_DM856 Install shortcuts for current user only Make shortcuts available to all users Figure 15 Shortcut folder setting MSD 80 5 6 Digital
3. multiply the specified phase current by 1 4 to determine the peak output current P2 A A B B 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 motor s inductor windings The higher torque configuration or full coil uses the full windings of the phases 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 MSD 80 5 6 Digital Stepping Driver Manual V1 0 setting the driver output current multiply the specified per phase or unipolar current rating by 1 4 to determine the peak output current P2 B NC 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 motors should be run at only 70 of their rated current to prevent over heating P2 A pe NC B B Figure 6 6 lead motor full co
4. Stepping Driver Manual V1 0 Selecting Active Pulse Edge and Control Signal Mode The MSD 80 5 6 supports PUL DIR and CW CCW modes and pulse actives at rising or falling edge See more information about these settings in Section 13 Default setting is PUL DIR mode and rising edge active NPN and PNP control signal is on the contrary Connector P2 Configurations Motor Phase B 4 Control Signal Connector P1 Interface The MSD 80 5 6 can accept differential and single ended inputs including open collector and PNP output The MSD 80 5 6 has 3 optically isolated logic inputs which are located on connector P1 to accept line driver control signals These inputs are isolated to minimize or eliminate electrical noises coupled onto the drive control signals Recommend use line driver control signals to increase noise immunity of the driver in interference environments In the following figures connections to open collector and PNP signals are illustrated Driver VCC Figure 2 Connections to open collector signal common anode MSD 80 5 6 Digital Stepping Driver Manual V1 0 Controller Driver Figure 3 Connection to PNP signal common cathode 5 Connecting the Motor The MSD 80 5 6 can drive any 2 pahse and 4 pahse hybrid stepping motors Connections to 4 lead Motors 4 lead motors are the least flexible but easiest to wire Speed and torque will depend on winding inductance In setting the driver output current
5. the problem along with contact name and address Send failed product to distributor in your area or Leadshine Technology Co Ltd 3 F Block 2 Nanyou Tianan Industrial Park Nanshan Dist Shenzhen China Also enclose information regarding the circumstances prior to product failure
6. Stepping Driver Manual V1 0 ProTuner_DE856 Setup Ready to Install You are now ready to install ProTuner_DM656 1 0 0 856 The installer now has enough information to install ProTuner_DM856 on your computer The following settings will be used Install folder D Program Files ProTuner_DM856 Shortcut folder ProTuner_DM856 Please click Next to proceed with the installation P Pro uner_DE856 Setup Installing ProTuner_DE856 Please wait Creating Uninstall Creating uninstall data file Figure 17 Installing the ProTuner 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 MSD 80 5 6 Digital Stepping Driver Manual V1 0 Co ProTuner_DM856 Setup B Installation Successful The ProTuner_DM856 1 0 0 86856 installation is complete Thank you for choosing ProTuner_DM856 Please click Finish to exit this installer 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 MSD 80 5 6 1 PC with ProTuner Digital Stepping Driver Special Cable Figure 19 RS232 interface connection Testing the Stepping System Turn on the power supply the green Po
7. acecees eatectietinit aces Satan Landaa teasteates FUCO Cont Cuca OM esis a asta vennauawisaedd assim vecsatece Connections 10 82 lead MOtOLSs tisusgesseadis cisuieer dais acs T acta iene Seres CONNEC ONS counser a ie e e rE E E ParallelCOnne cu Ons siea ene E E E 6 Power Supply Sele Con reran rena teed ncaa ate aes es Regulated or Unregulated Power Supply cccssessesssessncnsenneaeeeeceeceeeeeeeeeeees Mula ple TOI CIS aeee e A sthoteae tenant ie ATES Selechine Supply VOMAG Eea a a a te nceceneaweasbaweruered 7 Selecting Microstep Resolution and Driver Output Current ccccecceeeeeeeeeees Microstep Resolution SeleChOn ci2 42asat carck cuseiaeis dovaner R Curent SOUNS eeemnre terra eres Merenen ten enee nrc MEM every errmnry trenner tr tenrerer ire erect wares tern seer e Contents Dynamic Current Setn erin ae a eat 10 Slandstill CUme nt SEMIN 9 nana aa a 10 Bic WIDA NOLES aena e E E E a aso 10 Oe Typical COMME iOa ra e E O A 11 10 Sequence Chart of Control Signals nrimane a AEA 11 L POLE COON PUMC GOONS excatawresesehina schon ai a Menestoet ruanadeapenstaneinbaneeaes 12 Over c rrent POLE CHION sepcccuusveveiebrgadeseadi vind laeasuennadedsosdiacbadorcsondaneddeedsemmseaveds 12 Over voltase Protec ilOM 35 satancocadiaconsscodnerbsnnat E A 12 Phase Error Protecu On sriisctadeos ie eas tian eedoae eee tba ica einde salen 12 Protection Indicat omore aa 13 12 Frequently Asked Questions 3 sisssscearnomc
8. age Protection When power supply voltage exceeds 91 1 VDC protection will be activated PhaseErr Phase Error Protection Motor power lines wrong amp 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 y About The user can choose two drop down menus by clicking About including Product Information and Contact Us Product Information window Shows some product information about ProTuner Contact Us window Shows some contact information about Leadshine Leadshine Stepper Model D856 Date www leadshine com Figure 29 Product information Contact Us Leadshine Technology Co Ltd Tel 0755 26433338 Fax 0755 26402718 FTeb wrrr leadshine com Addr Floor3 Block2 HanyouTi anan Industrial Park Hanshan District Shenzhen China ZIP 518052 Figure 30 Contact information MSD 80 5 6 Microstepping Driver Manual V1 0 APPENDIX Twelve Month Limited Warranty Leadshine Technology Co Ltd warrants its products against defects in materials and workmanship for a period of 12 months from shipment out of factory During the warranty period Leadshine will either at its option repair or replace products which proved to b
9. ant EMMI t AOU Sass hansen tas toast ats wantss E adaateneeoacs 29 I MSD 80 5 6 Microstepping Driver Manual V1 0 1 Introduction Features and Applications Introduction The MSD 80 5 6 is a versatility fully digital stepping driver based on a DSP with advanced control algorithm The MSD 80 5 6 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 auto identification and parameter auto configuration 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 MSD 80 5 6 an ideal solution for applications that require low speed smoothness Compared to the DM432C broader input voltage and output current ranges make the MSD 80 5 6 can drive much more motors than the DM432C What s more owing to its higher performance DSP driven motors can achieve much higher speed above 3000RPM than that of the DM432C offering servo like performances It can be regarded as an improved model origin from DM556 while supports broader input voltage range Features Anti Resonance provides optimum torque and nulls mid range instability Motor auto identification and parameter offers auto configuration technology optimum responses with different motors
10. anual WV For SDD 80 5 6 Full y Digi gital Steppin g Driv er Attenti ention Please 2009 Pein 10 read this ee Res ce nen bts y befo re usin g the dri river aN SS x N NISS SSS SOS NISS NSS AS oo Contents Table of Contents 1 Introduction Features and Applications ccccccccccceeeeeseeeeeeeeeeseeseeeeeeeeeseessensenseegs PTVPRO CNG HO i MATETE E E E E E AA NOS AU E E P E E E E E A TA A EET EE O E E TE APPHCIUONS aiee e a O EEA ENS 2o O PECICA OS e R O Blectrical SPECHICAUONS dnesne a a iehae eat hiacle etanaednaated MechaniGallS Pe CHICA ON Sy sicersastsariasiacteyisderstactasdenet sean nuetegcnetisisauanecenstoeieaaans FATT ON OR ELE AL sis 55s coeaaeloenielacenpasada E E ues een neds Operating Environment and other Specifications ccccccceccccccccceeeeceeseeseeseeeeees 3 PincAsSSienment and DESCMpUOMN iss cccatsinuumnectiuete a fod oleudiudead nots Connector PIC Oni 9 UPAtlONS arrasan oar A a Selecting Active Pulse Edge and Control Signal Mode c ccseessesseseereeees Connector F2 C OniO Ul ations eisean a E 4 Control Signal Connector P1 Interface cccccccceccececeeceeceeeeeeeseeseeseneeeeeees COnnechins The WOOK iscasseaicucastisiaecsonttevocush a asauasagnseecesencats Connections 10 4 lead NIG Ors susre a E T ES Connections to 0 lead MOOT S ian oietaes asec anas eaten senna Sanne eae Half Con C Oni Sur au ONS isistc0s2dsenscs xhsciasdaale
11. current mode namely current automatically reduce to 60 when motor stops so as to reduce driver heating and motor heating It is recommended to mount the driver vertically to maximize heat sink area Use forced cooling method to cool the system if necessary MSD 80 5 6 Digital Stepping Driver Manual V1 0 Operating Environment and other Specifications Environment Avoid dust oil fog and corrosive gases Humidity 40 RH 90 RH 2 Vibration 5 9m s Max Approx 280g 10 oz 3 Pin Assignment and Description The MSD 80 5 6 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 DIR signal In single pulse mode this signal has low high voltage levels representing two directions of motor rotation in double pulse mode software configurable this signal is counter clock CCW pulse active both at high level and low level software configurable For reliable motion response DIR signal should be ahead of PUL signal by Sus at least 4 5V when DIR HIGH 0 0 5V when DIR LOW Please note that rotation direction is also related to motor driver wiring match Exchanging the connection of two wires for a coil to the driver will reverse motion direction MSD 80 5 6 Digital
12. e defective Exclusions 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 misuse or operation beyond the electrical specifications of the product and or operation beyond environmental specifications for the product Obtaining Warranty Service To obtain warranty service a returned material authorization number RMA must be obtained from customer service at e mail tech leadshine com before returning product for service Customer shall prepay shipping charges for products returned to Leadshine for warranty service and Leadshine shall pay for return of products to customer Warranty Limitations Leadshine makes no other warranty either expressed or implied with respect to the product Leadshine specifically disclaims the implied warranties of merchantability and fitness for a 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 merchantability or fitness is limited to the 12 month duration of this written warranty Shipping Failed Product If your product fail during the warranty period e mail customer service at tech leadshine com to obtain a returned material authorization number RMA before returning product for service Please include a written description of
13. ed for test during tuning See Picture 25 PeakCur Peak Current The value is the peak current to the selected motor and can be set from 0 5 to 5 6 A The user can set the peak current with ProTuner or DIP switches see more information about setting output current of the driver in section 5 Connecting the Motor and section 7 Selecting Microstep Resolution and Driver Output Current MicroStep Microstep Resolution The value is driver s microstep resolution setting and can be set from 1 to 512 The user can set the microstep with ProTuner or DIP switches See more information about setting output current of the driver in section 7 Selecting Microstep Resolution and Driver Output Current MSD 80 5 6 Digital Stepping Driver Manual V1 0 SystemConfizg StepperConfig PeakCurlA 5 60 MircoStep 1 512 g ElecDamp 1000 CommandT ype ActiveEdge DirectionDef PUL DIR Cw CCW Rising Falling f Low High 1st ResonanceArea Ampt 0 __ 2nd E Amp2 0 Phase2 0 OO 3rd ResonanceArea Amp3 128 Phase3 1128 InternalPulser ld xDD ps M Cycle Reverse Interval ms 50 Repeat 5 Length r f 0 Start Figure 25 SystemConfig window ElecDamp Electronic Damping Coefficient The electronic damping restrain resonance of the 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 de
14. essional Tuning Software ProTuner Introduction This section will provide an overview of connection and basic setup instructions for Leadshine s digital stepping driver MSD 80 5 6 using the ProTuner software These instructions will walk you through the following steps necessary to start up your driver and motor This section is intended for setting up the driver with the ProTuner Software Installation The ProTuner is windows based setup software for tuning Leadshine s digital stepper driver MSD 80 5 6 It can run in windows systems including Win95 Win98 WindowsNT Windows 2000 Windows XP And the selected PC should have 1 serial port at least for communicating with the driver Double click ProTuner_MSD 80 5 6 exe to begin installing the ProTuner See Figure 11 Click Next to enter the License Agreement window See Figure 12 amp Pro uner_DE556 Setup Welcome Welcome to the installer for ProTuner_DM556 1 0 0 556 It is strongly recommended that you exit all Windows programs before continuing with this installation If you have any other programs running please click Cancel close the programs and run this setup again Otherwise click Next to continue Figure 11 Begin to install the ProTuner MSD 80 5 6 Digital Stepping Driver Manual V1 0 amp Proluner DE856 Setup License Agreement Please read the following license agreement carefully Thank you for choosing Leadshine product
15. etween each cycle unit is millisecond Repeat edit box Total motion cycles MSD 80 5 6 Digital Stepping Driver Manual V1 0 Length edit box Move distance of each cycle unit is revolution Start Stop button The user can Start Stop a motion test by clicking this button Procedure for Achieving Optimum Performance Step 1 Start the motion test by clicking Start Stop button Find an resonance speed by slightly moving the slider bar of internal pulse generator back and forth See Figure 26 Step 2 Run the motor at the resonance speed and verify the motor smoothness You may find a better 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 unloaded motor Running at an incorrect test speed will not excite the motor at its peak resonance making it more difficult to find proper adjustment values Optimum AMP s and Phase s values may be a little different between running the tests with an unloaded motor and a load motor Please remember to click SavetoDrive to download the final parameter settings to the driver when finish tuning See Figure 27 SysteaConfig StepperConfig PeakCurlA 15 60 MircoStep 1 51 2h 9 ElecDamp 1000 CommandT ype ActiveEdge DirectionDef f PUL DIR CW CCW Rising Falling f Low High Ist ResonanceArea Amp 2571 Phase1 11160 da a ye 2nd Hasonancakina A
16. fault value is 3000 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 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 MSD 80 5 6 Digital Stepping Driver Manual V1 0 Anti Resonance Introduction 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 velocities the resonance can become so severe that the motor looses synchronization and stalls The MSD 80 5 6 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 improperly the effectiveness of the feature may be diminished 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 ot
17. g through motor coils even when motor is at standstill Pulling or plugging MSD 80 5 6 Digital Stepping Driver Manual V1 0 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 DM856 Driver PUL 2700 Controller R 0 if VCC 5V R 1K Power gt 0 125W if VCC 12V R 2K Power gt 0 125W if VCC 24V R must be connected to control signal terminal Figure 9 Typical connection 10 Sequence Chart of Control Signals In order to avoid some fault operations and deviations PUL DIR and ENA should abide by some rules shown as following diagram tus t t High Level gt 3 5V l l I l I PUL PUL CW High Level gt 3 5V ie a i Low Level lt 0 5V ito 5us DIR JIR CCW t5ps Low Level lt 0 5V ENA ENA PUL DIR CW CCW Figure 10 Sequence chart of control signals MSD 80 5 6 Digital Stepping Driver Manual V1 0 Remark a tl ENA must be ahead of DIR by at least Sus Usually ENA and ENA are NC not connected See Connector P1 Configurations for more information b t2 DIR must be ahead of PUL active edge by 5us to ensure correct direction c t3 Pulse width not less than 2 5us d t4 Low level width not less than 2 5us 11 P
18. herwise is to invoke the feature It should be enabled unless the system configuration either does not need it or cannot tolerate it A system with loose couplings or viscous loading generally does not need this feature If a system has compliant springy coupling and is absent appreciably viscosity it may not respond well to the active th anti resonant loop in the drive The anti resonant feature is not designed to damp such a 4 order system If the application of anti resonance results in degradation or instability it should be disabled 1 ResonanceArea Parameters for 1 resonance area Usually between 0 6rps and 1 2rps Ampl is Amplitude adjustment for 1 resonance area Phasel is Phase adjustment for 1 resonance area The user can enter a value directly in the text box or move the slider bar back and forth to get an optimum value 2 ResonanceArea Parameters for 2 resonance area Usually between 1 2rps and 2 4rps Default Amp2 and Phase2 values are zero 3 ResonanceArea Parameters for 3 resonance area Usually between 2 4rps and 4 8rps Default Amp3 and Phase3 values are 128 InternerPulser There is an internal pulse generator designed for driver self testing and anti resonance tuning You can issue a motion by this simple controller Cycle check box The motion will repeat if this box is checked Reverse check box The motor shaft will reverse direction if this box is checked Interval edit box The stop time b
19. il higher torque connections Connections to 8 lead Motors 8 lead motors offer a high degree of flexibility to the system designer in that they may be connected in series or parallel thus satisfying a wide range of applications Series Connections A series motor configuration would typically be used in applications where a higher torque at lower 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 current to prevent over heating P2 A B B Figure 7 8 lead motor series connections MSD 80 5 6 Digital Stepping Driver Manual V1 0 Parallel Connections 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 P2 A B B Figure 8 8 lead motor parallel connections NEVER disconnect or connect the motor while the power source is energized 6 Power Supply Selection The MSD 80 5 6 can match medium and small size stepping motors from NEMA frame size 17 to 34 made by Leadshine or other motor manufactures around the world To achieve good driving performances it is important to select supply voltage and output cur
20. mp2 1607 3rd ResonanceArea Amp3 1128 Phase3 1128 InternalPulser Be 104 xO001ms i Cyclel Reverse Interval ms 50 Repeat 5 Length r f 0 Stop Figure 26 Anti resonance tuning Tel 086 0755 26434369 26 Web Site www leadshine com MSD 80 5 6 Digital Stepping Driver Manual V1 0 SysteaConfizg m StepperConfig PeakCurA 5 60 MircoStep 1 51 2 9 ElecD amp 1000 m CommandT ype gt ActiveEdge DirectionDef PUL DIR Cw CCW Rising Falling Low High Tst ResonanceArea Amp 2571 Phase1 1160 r 2nd ResonanceArea Amp2 607 Phase2 580 RECT Hasse 3rd ResonanceArea Amp3 1128 Phase3 128 InternalPulser ee xO 0lms WM Cycle lV Reverse Interval ms 50 Repeat 5 Lengthfr p 0 C Stat Figure 27 Finishing tuning and download parameter settings to the driver yY Err_check 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 recent 9 is the oldest See Figure 28 Err Check Figure 28 Error check window OverCurrent Over current Protection Protection will be activated when continuous current exceeds 16A MSD 80 5 6 Digital Stepping Driver Manual V1 0 OverVoltage Over volt
21. rent properly Generally speaking supply voltage determines the high speed performance of the motor while output current determines the output torque of the driven motor particularly at lower speed Higher supply voltage will allow higher motor speed to be achieved at the price of more noise and heating If the motion speed requirement is low it s better to use lower supply voltage to decrease noise heating and improve reliability Regulated or Unregulated Power Supply Both regulated and unregulated power supplies can be used to supply the driver However 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 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 MSD 80 5 6 Digital Stepping Driver Manual V1 0 Multiple Driver
22. rial Port a Choose Baudrate Open 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 Baud Rate Select the communication baud rate The factory default setting is 38400 Click Open button to establish a connection with the specified settings When connecting you can choose SaveToDrive to download the current parameter settings to the driver or to upload the stored driver settings into the ProTuner by clicking Tuning gt Position Loop on the menu bar Tuning The user can choose one or two drop down menu s by clicking Tuning including CurrentLoop and SystemConfig CurrentLoop In Current Tuning window the user can tune the Kp Proportional Gain and Ki Integral Gain of driver s 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 doesn t oscillate has low stiffness and large current error causing poor performances in tracking current setting command in each step like Figure 23 Too large Proportional Gain values will cause oscillations and unstable systems MSD 80 5 6 Digital Stepping Driver Manual V1 0 Current Tuning EE 250 Ke 1734 Figure 22 C
23. rotection Functions To improve reliability the driver incorporates some built in protection functions The MSD 80 5 6 uses one RED LED to indicate what protection has been activated The periodic time of RED is 3 s seconds and how many times the RED turns on indicates what protection has been activated Because only one protection can be displayed by RED LED so the driver will decide what error to display according to their priorities See the following Protection Indications table for displaying priorities Over current Protection Over current protection will be activated when continuous current exceeds 16A or in case of short circuit between motor coils or between motor coil and ground and RED LED will turn on once within each periodic time 3 s Over voltage Protection When power supply voltage exceeds 91 1 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 amp 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
24. s It is recommended to have multiple drivers to share one power supply to reduce cost if the supply has enough capacity To avoid cross interference DO NOT daisy chain the power supply input pins of the drivers Instead please connect them to power supply separately Selecting Supply Voltage The power MOSFETS inside the MSD 80 5 6 can actually operate within 20 80VDC including power input fluctuation and back EMF voltage generated by motor coils during motor shaft deceleration Higher supply voltage can increase motor torque at higher speeds thus helpful for avoiding losing steps However higher voltage may cause bigger motor vibration at lower speed and it may also cause over voltage protection or even driver damage Therefore it is suggested to choose only sufficiently high supply voltage for intended applications and it is suggested to use power supplies with theoretical output voltage of 20 72VDC leaving room for power fluctuation and back EMF 7 Selecting Microstep Resolution and Driver Output Current Microstep resolutions and output current are programmable the former can be set from full step to 102 400 steps rev and the latter can be set from 0 5A to 5 6A See more information about Microstep and Output Current Setting in Section 13 However when it s not in software configured mode this driver uses an 8 bit DIP switch to set microstep resolution and motor operating current as shown below Dynamic Current Micro
25. sseares sates mctedacsmasssatsbassakeshalelarsaussassetezensadin 13 Problem Symptoms and Possible Causes ccssssssssseccecnccaeceeeeeceeeeeeeeeeeeeeees 14 13 Professional Tuning Software ProTumer 0 0 cccccccccccccccccccccececcececeeceeeeeeeeeeeeeseeees 15 BA EROGIUIC LO Mics eesacecaasadectcleerseacduiatatawa e sent a taasaatah es 15 SOrewanre WStallAOMne sa cictierss sacs vcoiboncoacabaensereassennditatansh ductal unidtons nti samsenmibeastiions 15 Connections and Testni as 50554 Gai sacdexs osc ocset lecine cided see desire dedi Ta 19 RS232 Intemace Connectoren icra a hemo e nase 19 Testing The Stepping System wis ccsieaseediicecdeicadinneocleesdnsdecddevowWiveusdacaeddstiedsabaceumeasbode 19 SOP Ware Modic Osen eaecawcnuc E a aeeiunaduadiemandecets 20 Pro Tuner Main Wind Ow aoan aaa ca teutoser a ee eatanes 20 Com Conie WINGO Wx ccuststaseutsleuwmco ss aloud tates fete howtdl died picautn Goth deadinednanaes 21 Tuni oan tases cetesen ack asacaateusa sas satasios een asec O E A 21 Anti Resonance Introduction 45 3se ssa ee each eet hace ens 25 Procedure for Achieving Optimum Performance ccccccceeeeeesesttteeeeees 26 APPENDIX 3 dct se tiessa E a a A mates tee eeeee 29 Twelve Month Limited Warranty usteas sca Sedaesenecat oct sg Udusacs susan nn Seeds a T 29 Exclus ONS ae seesetsslecons obows seee sd onanehontatomesn eee aneweciees 29 Obtainine Warranty Service eanes ie tans th ev eche onesies Mean cas en a ena 29 War
26. step Resolution All OFF is software configured All ON is software configured Standstill Current ON haft OFF full Motor auto identification and parameter auto configuration change in second Microstep Resolution Selection When it s not in software configured mode microstep resolution is set by SW5 6 7 8 of the DIP switch as shown in the following table MSD 80 5 6 Digital Stepping Driver Manual V1 0 140512 DefaluSotvareconigured ON ON ON ON a Nm NNN am Nome ON 8 NNN NON NON w o aw N o Current Settings OFF OFF For a given motor higher driver current will make the motor to output more torque but at the same time causes more heating in the motor and driver Therefore output current is generally set to be such that the motor will not overheat for long time operation Since parallel and serial connections of motor coils will significantly change resulting inductance and resistance it is therefore important to set driver output current depending on motor phase current motor leads and connection methods Phase current rating supplied by motor manufacturer is important in selecting driver current however the selection also depends on leads and connections When it s not in software configured mode the first three bits SW1 2 3 of the DIP switch are used to set the dynamic current Select a setting closest to your motor s required current MSD 80 5 6 Digital Stepping Dri
27. urrent 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 22 and remember to save the settings to the driver when finish tuning See Figure 24 Current Tuning Kp 543 Ki fo Figure 23 Kp 543 Ki 0 poor performances MSD 80 5 6 Digital Stepping Driver Manual V1 0 Ke fiza Ki 250 Figure 24 Finish tuning and save setting to the driver Notes However if the user does not want to tune the current loop after changing a different stepping motor then Motor auto identification and parameter auto configuration technology of the MSD 80 5 6 can replace manual tuning the driver with ProTuner Just changes SW4 two times in 1 second and then the driver will auto identify the new motor and auto configure related control parameters for optimum responses Recommend use this function after changing the driven motor SystemConfig In SystemConfig window the user can configure Peak Current Microstep Command Type Active Edge and eliminate motor resonance A built in pulse generator can be us
28. ver Manual V1 0 Dynamic current setting ON OFF OFF ON ON ON ON Notes Due to motor inductance the actual current in the coil may be smaller than the dynamic current setting particularly under high speed condition Standstill current setting SW4 is used for this purpose OFF meaning that the standstill current is set to be half of the selected dynamic current and ON meaning that standstill current is set to be the same as the selected dynamic current The current automatically reduced to 60 of the selected dynamic current one second after the last pulse Theoretically this will reduce motor heating to 36 due to P I R of the original value If the application needs a different standstill current please contact Leadshine 8 Wiring Notes In order to improve anti interference performance of the driver it is recommended to use twisted pair shield cable To prevent noise incurred in PUL DIR signal pulse direction signal wires and motor wires 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 position error system instability and other failures If a power supply serves several drivers separately connecting the drivers is recommended instead of daisy chaining It is prohibited to pull and plug connector P2 while the driver is powered ON because there is high current flowin
29. wer LED will light The MSD 80 5 6 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 MSD 80 5 6 Digital Stepping Driver Manual V1 0 and try again Open the tuning software ProTuner and check driver status by clicking Err_check If its Phase Error check the motor motor wirings and try again If it still doesn t work after you followed all of the previous steps please contact us at tech leadshine com If the RED LED is off and the motor is normal then you can start to tune the servo with ProTuner However we recommend you see the following contents before starting tuning Software Introduction ProTuner Main Window W DE856 Digital Stepper ProTuner ning Err_check About Leading Technology Shining Value Menu Bar LEADSHINE Status Bar J www leadshine com Status C Leadshine Technology Co Ltd Date 2009 3 3 Time 1511 5 Figure 20 ProTuner Option The user can choose three drop down menus by clicking Option including Com Config SaveToDriver and Exit Com Config Configure Com communication interface SaveToDriver Download the current parameter settings to the driver MSD 80 5 6 Digital Stepping Driver Manual V1 0 l Exit Exit the ProTuner Com Config Window Choose Se
30. will be damaged instantly MSD 80 5 6 Digital Stepping Driver Manual V1 0 MSD 80 5 6 Digital Stepping Driver Manual V1 0 Protection Indications Problem Symptoms and Possible Causes 0 2s 0 3s Phase error protection Over current protection Microstep resolution setting is wrong Fault condition exists Motor phases may be connected in reverse 12 Frequently Asked Questions In the event that your driver doesn t operate properly the first step is to identify whether the problem Something wrong with motor coil is electrical or mechanical in nature The next step is to isolate the system component that is causing the problem As part of this process you may have to disconnect the individual components that make Cenal cael 4s Nene up your system and verify that they operate independently It 1s important to document each step in the troubleshooting process You may need this documentation to refer back to at a later date and Something wrong with motor coil these details will greatly assist our Technical Support staff in determining the problem should you need assistance Current setting is too small Many of the problems that affect motion control systems can be traced to electrical noise controller software errors or mistake in wiring Acceleration is set too high Inadequate heat sinking cooling Current is set too high MSD 80 5 6 Digital Stepping Driver Manual V1 0 13 Prof
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