The content in this manual has been carefully prepared and is believed to be accurate,

but no responsibility is assumed for inaccuracies.

User’s Manual
Leadshine reserves the right to make changes without further notice to any products
For
herein to improve reliability, function or design. Leadshine does not assume any

DCS810V2 liability arising out of the application or use of any product or circuit described
herein; neither does it convey any license under its patent rights of others.

Leadshine’s general policy does not recommend the use of its products in life
Digital DC Servo Driver support or aircraft applications wherein a failure or malfunction of the product may
Revision 1.0 directly threaten life or injury. According to Leadshine’s terms and conditions of
©2009 All Rights Reserved sales, the user of Leadshine’s products in life support or aircraft applications
Attention: Please read this manual carefully before using the driver! assumes all risks of such use and indemnifies Leadshine against all damages.

©2009 by Leadshine Technology Company Limited.

All Rights Reserved

 Contents Contents

Cable Routing ........................................................................................... 12

Table of Contents Twisted Wires............................................................................................ 12
Cable Shielding ......................................................................................... 13
1. Introduction, Features and Applications.................................................................. 1
System Grounding..................................................................................... 13
Introduction .......................................................................................................... 1
Power Supply Connection......................................................................... 13
Features ................................................................................................................ 1
5. Tuning the servo.................................................................................................... 14
Applications ......................................................................................................... 2
Testing the servo................................................................................................. 14
2. Specifications and Operating Environment............................................................. 3
Tuning the Servo ................................................................................................ 15
Mechanical Specifications.................................................................................... 3
6. PC window based Tuning Using ProTuner ........................................................... 17
Elimination of Heat .............................................................................................. 3
Introduction ........................................................................................................ 17
Electrical Specifications ....................................................................................... 3
Software Installation .......................................................................................... 17
Operating Environment and Parameters............................................................... 4
RS232 Interface Connection .............................................................................. 21
3. Connections............................................................................................................. 4
Testing the servo................................................................................................. 22
Connector Configuration...................................................................................... 4
Software Introduction......................................................................................... 23
General information .................................................................................... 4
ProTuner Main Window............................................................................ 23
More about PUL/DIR/EN Signals............................................................... 5
Com Config Window ................................................................................ 24
PUL/DIR and CW/CCW Mode Settings ..................................................... 6
Tuning ....................................................................................................... 24
Control Signal Connections.................................................................................. 6
Digital_monitor ......................................................................................... 30
Encoder Connections............................................................................................ 8
Err_check .................................................................................................. 30
RS232 Interface Connection................................................................................. 9
About......................................................................................................... 32
Typical Connections ............................................................................................. 9
Servo Tuning ...................................................................................................... 33
4. Servo Setup ........................................................................................................... 10
Position Loop Introduction ....................................................................... 33
Install Encoder.................................................................................................... 10
Position around Velocity ........................................................................... 33
Prepare Power Supply ........................................................................................ 11
Position around Torque ............................................................................. 33
Regulated or Unregulated Power Supply .................................................. 11
Current Loop Tuning Example.................................................................. 34
Selecting Supply Voltage........................................................................... 11
Velocity and Position Loop Tuning........................................................... 39
Prepare Controller .............................................................................................. 11
7. Using Tips ............................................................................................................. 45
System Connections and Noise Prevention ........................................................ 12
Sequence Chart of Control Signals .................................................................... 45
Wire Gauge................................................................................................ 12
Protection Functions........................................................................................... 45

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 Contents
DCS810V2 Digital DC Servo Driver Manual Rev1.0

Over-current Protection............................................................................. 46
Over-voltage Protection ............................................................................ 46
1. Introduction, Features and Applications
Phase Error Protection............................................................................... 46
Introduction
Encoder Error Protection........................................................................... 46
Position Following Error Protection.......................................................... 46 The DCS810V2 is a digital DC servo driver developed with DSP and high efficient
Protection Indications................................................................................ 47 MOSFET technologies. In position control, it’s easy for the end users to change
Changing Default Motor Direction .................................................................... 47 stepping drivers to the DCS810V2 without changing control systems, because its
Maximum Pulse Input Frequency ...................................................................... 48 input command is PUL/DIR signal, which is compatible with that of stepping
Save data to a file ............................................................................................... 48 drivers. In low power motion control applications, performances of DC servo
Load data from file to Drive ............................................................................... 49 systems using the DCS810V2 are better than those of digital AC servo systems in
APPENDIX ................................................................................................................. 1 velocity, precision, noise, stability, or at least as good as those of digital AC servo
TWELVE MONTH LIMITED WARRANTY ..................................................... 1 systems. However, the cost of the DCS810V2 stays at the price line of stepping
EXCLUSIONS ..................................................................................................... 1 driver, namely far lower than those of AC servo drivers.
OBTAINING WARRANTY SERVICE ............................................................... 1
Compared to the DB810-50V, the DCS810V2 can accept differential control signals
WARRANTY LIMITATIONS.............................................................................. 1
and differential encoder feedback signals, offering better anti-interference
SHIPPING FAILED PRODUCT.......................................................................... 2
performances. Meanwhile the DCS810V2 has higher Max Pulse Input Frequency,
Contact Us................................................................................................................... 3
hence can drive a faster motor or choose a higher accuracy encoder for a given motor.
What's more, broader input voltage range makes the DCS810V2 can drive broader
range of servo motors. Compared to the DB810A, parameter visible tuning tools
make the DCS810V2 much easier to tune. Compared to DCS810V1, an extra
velocity loop is built to DCS810V2 for better motor control and flexible tuning.

The DCS810V2 is very easy to tune and all parameters are visible. Parameter visible
tuning tools, including ProTuner (Windows based setup software) and STU (Small
servo tuning unit) can meet different tuning environments or requirements.

Features
l 18-80VDC, 0-20A, 20-400W.
l Based on DSP control technology and high smooth servo control algorithm.

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 DCS810V2 Digital DC Servo Driver Manual Rev1.0 DCS810V2 Digital DC Servo Driver Manual Rev1.0

l Parameter visible tuning tools, including Pro Tuner, EZ Tuner and STU.
l Feedback resolution ×4 encoder line count.
2. Specifications and Operating Environment
l Position Following error lock range adjustable
Mechanical Specifications (unit: mm[inch])
l Position error can be eliminated to 1 count, and Velocity error can be
eliminated to the Desired Velocity* ±0.3%
l Electronic gear ratio from 1/255 to 255
l Built-in motion controller for self-test with trapezoidal velocity profile
l Support PUL/DIR and CW/CCW control signals
l Opto-isolated inputs, support single-ended and differential signals
l 10 latest errors self-record function
l Over-current, over-voltage, under-voltage, phase error, encoder error, position
following error protections
l Small size, surface-mount technology Figure 2-1: Mechanical specifications

Applications Elimination of Heat

Suitable for a wide range of equipments and instruments such as mini type l Driver’s reliable working temperature should be <70℃(158℉), and motor
engraving machines, jet-ink machines, etc. It performs better in equipments desired working temperature should be <80℃(176℉);
for low noise, high velocity, high precision and high reliability. l It is recommended to mount the driver vertically to maximize heat sink area.

Electrical Specifications (Tj = 25℃/77℉)

DCS810V2
Parameters
Min. Typical Max. Unit
Peak output current 0 - 20 A
Supply voltage +18 - +80 VDC
Logic signal current 7 10 15 mA
Pulse input frequency 0 - 500 KHz
Isolation resistance 500 MΩ
Current provided to encoder 50 mA

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 DCS810V2 Digital DC Servo Driver Manual Rev1.0 DCS810V2 Digital DC Servo Driver Manual Rev1.0

Operating Environment and Parameters Power Connector

Pin Signal Description I/O
Cooling Natural cooling or forced cooling 1 Motor+ Motor positive connection. O

Environment Avoid dust, oil fog and corrosive gases 2 Motor- Motor negative connection. O

0℃－50℃ (32℉－122℉) 3 +VDC +18 TO 80VDC power input. I

Ambient Temperature
Operating Environment 4 GND Power ground. GND
Humidity 40%RH－90%RH
RS232 Communication Connector
Vibration 5.9 m/s2 Max Pin Signal Description I/O
Storage Temperature -20℃ － 65℃ (-4℉ － 149℉) 1 NC Not connected. -
2 +5V +5V power only for STU. O
Weight Approx. 210 grams (7.41 oz) 3 TxD RS232 transmit. O
4 GND Ground. GND
5 RxD RS232 receive. I
3. Connections 6 NC Not connected. -

More about PUL/DIR/EN Signals

Connector Configuration
Pin Function Details
General information
Pulse signal: In single pulse (pulse/direction) mode, this input represents
Control Signal Connector PUL+ pulse signal; 4-5V when PUL-HIGH, 0-0.5V when PUL-LOW. In double
pulse mode (pulse/pulse) , this input represents clockwise (CW) pulse，
Pin Signal Description I/O
effective at LOW level (the fixed level). For reliable response, pulse width
Pulse control signal (+). See more information about PUL in “More
1 PUL+ I PUL- should be longer than 1.0μs. Series connect resistors for current-limiting
about PUL/DIR/EN Signals” section.
when using +12V or +24V control signals.
2 PUL- Pulse control signal (-). I
DIR signal: In single-pulse mode, this signal has low/high voltage levels,
Direction control signal (+). See more information about DIR in
3 DIR+ I representing two directions of motor rotation(set by inside R33 and R37); in
“More about PUL/DIR/EN Signals” section.
4 DIR- Direction control signal (-).
DIR+ double-pulse mode, this signal is counter-clock (CCW) pulse，effective at
I
LOW level (the fixed level). For reliable motion response, DIR signal should
5 EN+ Enable control signal (+). I
be ahead of PUL signal by 5μs at least. 4-5V when DIR-HIGH, 0-0.5V when
6 EN- Enable control signal (-). I
DIR-LOW. Please note that motion direction is also related to motor-driver
Encoder Signal Connector wiring and encoder feedback A/B phase signals. Exchanging the connections
DIR-
Pin Signal Description I/O of two wires of the motor to the driver and A/B phase signals of encoder will
1 EB+ Encoder channel B (+) input. I reverse motion direction.
2 EB- Encoder channel B (-) input. I Enable signal: This signal is used for enabling/disabling the driver. High
3 EA+ Encoder channel A (+) input. I EN+ level (NPN control signal, PNP and Differential control signals are on the
4 EA- Encoder channel A (-) input. I contrary, namely Low level for enabling.) for enabling the driver and low
5 E +5V Positive pole of the auxiliary power supply (50 mA (Max)). O level for disabling the driver. Usually left UNCONNECTED (ENABLED).
6 EGND Ground of the auxiliary power supply. GND EN- Series connect resistors for current-limiting when using +12V or +24V
control signals.

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 DCS810V2 Digital DC Servo Driver Manual Rev1.0 DCS810V2 Digital DC Servo Driver Manual Rev1.0

PUL/DIR and CW/CCW Mode Settings

There are four resistors (R31/R32/R33/R37) inside the DCS810V2 specifically for
setting PUL/DIR and CW/CCW modes, as shown in figure 3-1. Default setting is (b),
namely PUL/DIR mode, DIR LOW for positive direction and DIR HIGH for
negative direction.

(a) R31, R37 short circuit, PUL/DIR mode (b) R31, R37 short circuit, PUL/DIR mode Figure 3-2: Connections to open-collector control signal (common-anode)
DIR HIGH for Positive Direction DIR LOW for Positive Direction
DIR LOW for Negative Direction DIR HIGH for Negative Direction

(c) R32, R37 short circuit, CW/CCW mode

effective at LOW level (The fixed level)
Figure 3-1: PUL/DIR and CW/CCW settings

Control Signal Connections

The DCS810V2 can accept differential and single-ended inputs (including
open-collector and PNP output). The DCS810V2 has 2 optically isolated logic inputs
to accept line driver control signals. These inputs are isolated to minimize or Figure 4: Connections to PNP signal (common-cathode)

eliminate electrical noises coupled onto the control signals. Recommend use line
driver control signals to increase noise immunity in interference environments. In
the following figures, connections to open-collector and differential control signals
are illustrated.

Figure 3-3: Connections to differential control signal

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 DCS810V2 Digital DC Servo Driver Manual Rev1.0 DCS810V2 Digital DC Servo Driver Manual Rev1.0

Encoder Connections RS232 Interface Connection

The DCS810V2 can accept encoder input from either differential or single-ended
encoders. Differential encoders are preferred due to their excellent noise immunity.
The connections for a single-ended encoder are identical to a differential encoder
except that no connections should be made to channel A- and channel B-. (The A-
and B- lines are pulled up internally to +2.5V). Note that twisted-pair shielded
cabling provides the best immunity in electrically noisy environments. Figure 3-8: RS232 interface connection

If the encoder drains less than 50mA, the DCS810V2 can supply the encoder Typical Connections
directly, and connect it as Figure 3-4 or Figure 3-5. If the encoder drains more than Two typical connections of the DCS810V2 are shown as Figure 3-9 and Figure 3-10.
50mA, use an external DC supply and connect it as Figure 3-6 or Figure 3-7. Please consult “Control Signal Connections” and “Encoder Connections” for more
information about controller and encoder connections.

Figure 3-4: The DCS810V2 supplies the Figure 3-5: The DCS810V2 supplies
the differential encoder directly single-ended encoder directly

Figure 3-6: Using external DC power supply Figure 3-7: Using external DC power to Figure 3-9: Typical connection (Open-collector control signal and single-ended encoder.)
to supply the differential encoder supply the single-ended encoder

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 DCS810V2 Digital DC Servo Driver Manual Rev1.0 DCS810V2 Digital DC Servo Driver Manual Rev1.0

Prepare Power Supply

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
Figure 3-10: Typical connection (Differential control signal and differential encoder.)
supplied by one power supply of 4A rating.

4. Servo Setup Selecting Supply Voltage

The DCS810V2 can actually operate within +18V to +80VDC, including power
Before you start the servo, you can follow the below steps.
input fluctuation and back EMF voltage generated by motor coils during motor shaft
Install Encoder deceleration. The rated voltage of the motor is an important parameter when
selecting supply voltage. Generally speaking, do not use a power supply voltage
If your motor has no encoder, you must have an encoder (more than 200 lines)
more than 5 volts of the rated voltage of the motor. Higher voltage may cause bigger
properly mounted on the motor before you start. And please assemble the encoder
motor vibration at lower speed, and it may also cause over-voltage protection or
according to its factory manual. Here, we recommend use differential encoder
even driver damage.
again. If you do have to use a single-ended encoder, please use shielded cables and
separate encoder signal cable from interference sources, such as motor wires and Prepare Controller
power wires at least 5 cm.
Prepare a controller with pulse and direction signals. However, the DCS810V2 has a
built-in motion controller for self-test and Servo Tuning. The built-in motion
controller can generate control signal with trapezoidal velocity profile.

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 DCS810V2 Digital DC Servo Driver Manual Rev1.0 DCS810V2 Digital DC Servo Driver Manual Rev1.0

System Connections and Noise Prevention along with the ground (or chassis) wire, if available.

After finishing the above steps, you can connect your servo system. Before you start, Cable Shielding
make sure that the power is off. Connect your system according to connection
All signal wires should be bundled and shielded separately from driver power and
diagrams before, and pay attention to the following tips when wiring.
motor power wires. Power wires should also be bundled and shielded. When
Wire Gauge grounding a shield, the rule-of-thumb is to do so at the ‘source’ of power while
leaving the other shield end open. For example, in the case of motor power wires,
The smaller wire diameter (lower gauge), the higher impedance. Higher impedance
this would be the drive side. Ideally, twisted pairs should be individually shielded
wire will broadcast more noise than lower impedance wire. Therefore, when
and isolated from the outer shield, which encompasses all wires within the cable.
selecting the wire gauge, it is preferable to select lower gauge (i.e. larger diameter)
However, since this type of stringent shielding practice is often not required, typical
wire. This recommendation becomes more critical as the cable length increases. Use
cables do not provide isolation between inner and outer shields.
the following table to select the appropriate wire size to use in your application.
System Grounding
Current (A) Minimum wire size (AWG)
10 #20 Good grounding practices help reduce the majority of noise present in a system. All
15 #18 common grounds within an isolated system should be tied to PE (protective earth)
20 #16 through a ‘SINGLE’ low resistance point. Avoiding repetitive links to PE creating
ground loops, which are a frequent source of noise. Central point grounding should
Cable Routing
also be applied to cable shielding; shields should be open on one end and grounded
All content sensitive signal wires should be routed as far away from motor power on the other. Close attention should also be given to chassis wires. For example,
wires and driver power wires as possible. Motor power and driver power wires are motors are typically supplied with a chassis wire. If this chassis wire is connected to
major sources of noise and can easily corrupt a nearby signal. This issue becomes PE, but the motor chassis itself is attached to the machine frame, which is also
increasingly important with longer motor power and driver power wires lengths. connected to PE, a ground loop will be created. Wires used for grounding should be
of a heavy gauge and as short as possible. Unused wiring should also be grounded
Twisted Wires
when safe to do so since wires left floating can act as large antennas, which
Twisted wires effectively increasing noise immunity. The successive twists eliminate contribute to EMI.
noise transients along the length of the cable. Both signal cables and power cables
Power Supply Connection
should be of the twisted and shielded type. Differential signal wires should be
twisted as a pair. The combination of twisted pair wires and a differential signal NEVER connect power and ground in the wrong direction, because it will damage
significantly adds to noise immunity. Power wires should be twisted as a group the DCS810V2 driver. The distance between the DC power supply of the drive and

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 DCS810V2 Digital DC Servo Driver Manual Rev1.0 DCS810V2 Digital DC Servo Driver Manual Rev1.0

the drive itself should be as short as possible since the cable between the two is a Tuning the Servo
source of noise. When the power supply lines are longer than 50 cm, a
A servo system is error-driven. The “Gain” of the system determines how hard the
1000µF/100V electrolytic capacitor should be connected between the terminal
servo tries to reduce the error. A high-gain system can produce large correcting
“GND” and the terminal “+VDC”. This capacitor stabilizes the voltage supplied to
torques when the error is very small. A high gain is required if the output is required
the drive as well as filters noise on the power supply line. Please note that the
to follow the input faithfully with minimal error.
polarity can not be reversed.
A servo motor and its load both have inertia, which the servo amplifier must
It is recommended to have multiple drivers to share one power supply to reduce cost
accelerate and decelerate while attempting to follow a change at the input. The
if the supply has enough capacity. To avoid cross interference, DO NOT daisy-chain
presence of the inertia will tend to result in over-correction, with the system
the power supply input pins of the drivers. Instead, please connect them to power
oscillating beyond either side of its target. It’s called UNDER DAMPED status. See
supply separately.
Figure 5-1. This oscillation must be damped, but too much damping will cause the
response to be sluggish, namely cause the system to get into an OVER DAMPED
5. Tuning the servo state. When we tune a servo, we are trying to achieve the fastest response with little
or no overshoot, namely get a CRITICALLY DAMPED response.
Testing the servo
You may wish to secure the motor so it can’t jump off the bench. Turn on the power
supply, the green (Power) LED will light. The DCS810V2 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 motor jumps slightly and the red LED immediately turns on (flickers), then
either the motor or the encoder is wired in reversal. Open the tuning software
ProTuner and check driver status by clicking Err_check. If it’s Phase Error, then
reversal motor wires or exchange encoder inputs and try again. If it’s Encoder
Error, please check encoder and its wirings, and then try again. If it still doesn’t
work after you followed all of the previous steps, please contact us at
tech@leadshine.com. Figure 5-1: Step and impulse responses

If the red LED is off and the motor is normal, then you can start to tune the servo As mentioned in previous contents, the DCS810V2 is a digital servo driver and its
with selected tool. ProTuner, and STU are available for the DCS810V2. input command is PUL/DIR signal. In other words, step response just exists in each

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 DCS810V2 Digital DC Servo Driver Manual Rev1.0 DCS810V2 Digital DC Servo Driver Manual Rev1.0

step command signal. For each step command signal is a very small movement, so
OVER SHOOT and SETTLING TIME between each step are very small, causing
6. PC window based Tuning Using ProTuner
you hardly can see a step response such as Figure 13, even if the SET POINT is a
Introduction
very large quantity and the acceleration is very high.
This manual will provide an overview of connection and basic setup instructions for
However, if you try to evaluate performances of the digital servo by investigating its
Leadshine’s digital servo driver DCS810V2 using the ProTuner software. The basic
position tracking-error or position following error, you may find it’s much easier
setup of a digital driver is designed to be analogous to the setup and tuning of an
than investigating its step response. The easiest way to get a tracking-error or
analog amplifier. These instructions will walk you through the following steps
position following error response is to induce an impulse load on the motor. See
necessary to start up your driver and motor. This document is intended for setting up
Figure 13 at “time 20”.
the driver with the ProTuner.
Leadshine offer a Windows based setup software ProTuner and a Small servo
Software Installation
tuning unit STU (optional) to its customers for evaluating servo performances. STU
is for field tuning without PC. The ProTuner is windows based setup software for tuning Leadshine’s digital drivers.
It can run in windows systems, including Win95/Win98/WindowsNT/ Windows
Tuning servo systems formed by DCS810V2 drivers can be summarized as the
2000/Windows XP. And the selected PC should have 1 serial port at least for
following rules:
communicating with the driver.
1. If servo system is UNSTABLE, then the first thing of tuning is to stabilize
Double click “ProTuner_All_Setup_V1.0.exe” to begin installing the ProTuner.
the system. You can increase Derivative Gain of Position Loop (Kd) or
See Figure 6-1. Click Next to enter the “License Agreement” window. See Figure
decrease Proportional Gain of Position Loop (Kp) or Integral Gain of
6-2.
Position Loop (Ki).
2. If servo system is UNDER DAMPED, then increase Kd or decrease Kp or Note: ProTuner_All_Setup_V1.0.exe can be used for all Leadshine digital drives. User can
Ki. get it from either Leadshine CD or website. Please get the lasted version from
3. If servo system is CRITICALLY DAMPED, then stop tuning and http://www.leadshine.com.
download the parameter settings to the driver’s EEPROM.
4. If servo system is OVER DAMPED, then decrease Kd or increase Kp or
Ki.

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 DCS810V2 Digital DC Servo Driver Manual Rev1.0 DCS810V2 Digital DC Servo Driver Manual Rev1.0

Figure 6-3: User’s information settings

Figure 6-1: Begin to install the ProTuner

Figure 6-2: License agreement Figure 6-4: Installation folder settings

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 6-3. After entering the user’s information, click Next to select installation
folder, where you would like to install the ProTuner. See Figure 6-4.

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 DCS810V2 Digital DC Servo Driver Manual Rev1.0 DCS810V2 Digital DC Servo Driver Manual Rev1.0

Figure 6-5: Shortcut folder setting Figure 6-7: Installing the ProTuner

Set the “Shortcut Folder” in Figure 6-5 and continue to install the ProTuner by
following Figure 6-6 and Figure 6-7. An Installation Successful window will
appear if the ProTuner is installed successfully. See Figure 6-8.

Figure 6-8: Finish installation

Note: Leadshine also offers special version ProTuner which does not need installation. Please visit
our website www.leadshine.com for latest ProTuner.

Figure 6-6: Installation information summarization RS232 Interface Connection

Connect the servo system according to chapter “Connections” and connect the PC
to the driver as the following figure.

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 DCS810V2 Digital DC Servo Driver Manual Rev1.0 DCS810V2 Digital DC Servo Driver Manual Rev1.0

Software Introduction
ProTuner Main Window

Figure 6-9: RS232 interface connection

Menu Bar
Testing the servo
You may wish to secure the motor so it can’t jump off the bench. Turn on the power
supply, the green (Power) LED will light. The DCS810V2 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 motor jumps slightly and the red LED immediately turns on (flickers), then
either the motor or the encoder is wired in reversal. Open the tuning software
ProTuner and check driver status by clicking Err_check. If it’s Phase Error, then Status Bar
reversal motor wires or exchange encoder inputs and try again. If it’s Encoder
Error, please check encoder and its wirings, and then try again. If it still doesn’t
Figure 6-10: ProTuner
work after you followed all of the previous steps, please contact us at
tech@leadshine.com.
Ø Option
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 The user can choose three drop-down menus by clicking “Option”, including Com
starting tuning. Config, SaveToDriver, Archives and Exit.

l Com Config: Configure Com communication interface.

l SaveToDriver: Download the current parameter settings to the driver.
l Archives: Save the current parameter to a file or read parameter from a file.
l Exit: Exit the ProTuner.

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 DCS810V2 Digital DC Servo Driver Manual Rev1.0 DCS810V2 Digital DC Servo Driver Manual Rev1.0

Com Config Window

Kp: Current Proportional gain. Increase this parameter to make current rise fast.
Figure 6-11: RS232 communication configuration window
Ki: Current Integral gain. Adjust this parameter to reduce the steady error.
Serial Port: Select the serial communication port to which the driver is connected.
The factory default setting is COM1. I-test: The current amplitude for the step response.

Baud Rate: Select the communication baud rate. The factory default setting is Start button: Click to activate the test. A target curve and a actual curve will display
38400. on the screen for user analysis.

Click Open button to establish a connection with the specified settings. When l PositionLoop: There are three tabs in Position Loop Tuning window,
connecting, you can choose SaveToDrive to download the current parameter including P_parameter, T_Speed_Par, and CurveSetting tabs.
settings to the driver, or to upload the stored driver settings into the ProTuner by
clicking Tuning > Position Loop on the menu bar.

Tuning

The user can choose one or two drop-down menu(s) by clicking Tuning, including
CurrentLoop and PositionLoop.

l CurrentLoop: It is used to configure current loop parameters according to

different motor. In the tuning window, User can set Kd, Ki and I-test.

Figure 6-12: P_parameter tab

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 DCS810V2 Digital DC Servo Driver Manual Rev1.0 DCS810V2 Digital DC Servo Driver Manual Rev1.0

In P_parameter tab, the user can set Position Loop PID parameters, Electronic Encoder Lines parameter in this tab is just for self-test motion controller during
Gear Ratio, Position Following Error Limit, etc. tuning, and will not affect the driver to interpret the encoder feedback signal. With
regard to the DCS810V2, feedback resolution is ×4 encoder line count.
Kp: Position Proportional Gain. Proportional Gain determines the response of the
system to position errors. Low Proportional Gain provides a stable system (doesn’t edge: Active Edge. The user can set the triggered edge of pulse command signal in
oscillate), has low stiffness, and large position errors under load. Too large this panel. Up means up-rise edge and Down means falling edge. When the driver
Proportional Gain values will cause oscillations and unstable systems. works in CW/CCW mode, no matter what level is at fixed level terminal, the driver
can works properly.
Kaff: Position Acceleration feed-forward gain. It is used to adjust the position
following error during acceleration and deceleration. reverse: Reverse Direction : Change the default direction to the same input level in
DIR. For example, the motor run CW at default setting and will run CCW if reverse
Kd: Position Derivative Gain. Derivative Gain provides damping by adjusting the
is selected.
output value as a function of the rate of change of error. A low value provides very
little damping, which may cause overshoot after a step change in position. Large Start/Stop button: The user can start or stop self-test by clicking this button.
values have slower step response but may allow higher Proportional Gain to be used
without oscillation.

Vp: Velocity Proportional Gain. It is similar as Kd but for velocity loop.

Vi: Velocity Integral Gain. It is used to adjust the steady velocity error when the
velocity is stable.

CAM_numerator: Numerator of Electronic Gear. Can be set from 1 to 255.

CAM_denominator: Denominator of Electronic Gear. Can be set from 1 to 255.

Position FollowErrLimit: Position Following Error Limit. The limit of the

difference between commanded position and the actual measured position. When
position following error reaches Position Following Error Limit parameter setting in
the driver, the protection will be activated. Figure 6-13: T_Speed_Par tab

Encoder Lines: Encoder Line Count. The DCS810V2 supports single-ended and In T_Speed_Par tab, the user can set velocity profile for self motion test and tuning,
differential-ended incremental encoders. Here, one thing should explained is that the including Maximum Speed, Acceleration, position move Distance of trapezoidal

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 DCS810V2 Digital DC Servo Driver Manual Rev1.0 DCS810V2 Digital DC Servo Driver Manual Rev1.0

velocity profile, and Interval, Repeat Times of self motion test. Error (v_err), Position Following Error (p_err), Current Feedback (i_bak),
Velocity Feedback (v_bak), Position Feedback (p_bak), Current Command
V_top: Maximum Speed. The maximum speed of trapezoidal velocity profile. Its
(i_ref), Velocity Command (v_ref), Position Command (p_ref).
unit is RPM.
i_err: Current Following Error. The difference between commanded current and
Accel: Acceleration. The acceleration of trapezoidal velocity profile. Its unit is
the actual measured current.
(r/s)/s.
v_err: Velocity Following Error. The difference between commanded velocity and
Length: Distance. The distance required to move. Its unit is pulse (count).
the actual measured velocity.
Interval: The interval between positive rotation and negative movement.
p_err: Position Following Error. The difference between commanded position and
Repeat_times: The repeat times of positive and negative movement. the actual measured position.

Start/Stop button: The user can start or stop self-test by clicking this button. i_bak: Current Feedback. This is the actual measured current in motor coil. Ideally,
this value should be as close as possible to the commanded current.

v_bak: Velocity Feedback. This is the actual measured velocity measured by the
encoder. Ideally, this value should be as close as possible to the commanded
velocity.

p_bak: Position Feedback. This is the actual measured position measured by the
encoder. Ideally, this value should be as close as possible to the commanded
position.

i_ref: Current Command. This is the commanded current.

v_ref: Velocity Command. This is the commanded velocity.

p_ref: Position Command. This is the commanded position.

Figure 6-14: CurveSetting tab
Trace Time: Trace Time. This is the trace time of the digital scope.
In CurveSetting tab, the user can choose curves displayed in digital scope of
Start/Stop button: The user can start or stop self-test by clicking this button.
Position Loop Tuning window and DigitalMonitor window, and set their Trace
Time. These curves includes Current Following Error (i_err), Velocity Following

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 DCS810V2 Digital DC Servo Driver Manual Rev1.0 DCS810V2 Digital DC Servo Driver Manual Rev1.0

Digital_monitor

l Digital Monitor: Displays curves and dynamic values of different point of

different curves.

Figure 6-16: Error check window

OverCurrent: Over-current Protection. Protection will be activated when

Figure 6-15: Digital scope window continuous current exceeds 20A.

I: Current. Displays dynamic values for Current related curve(s). Dynamic value OverVoltage: Over-voltage Protection. When power supply voltage exceeds 36.5
will change with mouse focus changes. Its unit is mA. ±1.5 VDC, protection will be activated.

V: Velocity. Displays dynamic values for Velocity related curve(s). Dynamic value PhaseErr: Phase Error Protection. Motor power lines wrong & not connected and
will change with mouse focus changes. Its unit is r/min. encoder feedback signals A/B phases wrong connected will activate this protection.

P: Position. Displays dynamic values for Position related curve(s). Dynamic value EncoderErr: Encoder Error Protection. No encoder feedback signals or wrong
will change with mouse focus changes. Its unit is pulse (count). encoder feedback signals will activate this protection.

T: Time. Displays dynamic values for Time. Dynamic value will change with mouse FollowingErr: Position Following Error Limit Protection. When position
focus changes. Its unit is ms. following error reaches Position Following Error Limit parameter setting in the
driver, this protection will be activated.
Err_check
ErrCounter: Displays current error(s) and current error history.
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 Erase Current Err!: Erase Current Err button. The user can clear current error(s)
Err! button, and all error events can be reset by clicking Erase All! button. by clicking this button.

Erase All!: Erase All! button. The user can clear all error(s) including error history

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 DCS810V2 Digital DC Servo Driver Manual Rev1.0 DCS810V2 Digital DC Servo Driver Manual Rev1.0

by clicking this button. Servo Tuning

About Position Loop Introduction

The user can choose two drop-down menus by clicking “About”, including Product Position loop tuning is dependant on the mechanical load, and therefore will change
Information and Contact Us. with any mechanical system changes. Position loop tuning should be performed with
the motor installed in the system. The position loop can be closed around velocity or
l Product Information window: Shows some product information about
torque mode (depending on whether the velocity loop is enabled or disabled). If it is
ProTuner.
closed around velocity mode, the position loop algorithm output becomes the new
l Contact Us window: Shows some contact information about Leadshine.
velocity set point. If it is closed around torque mode, the position loop algorithm
output becomes the new torque set point. There are some important differences in the
tuning process and application of these two approaches:
Position around Velocity: This mode is most common in "contouring" application,
where a position trajectory must be tracked very closely. The velocity loop provides
additional "stiffness", and keeps the dynamic position errors minimal, since the
system now reacts to not just position errors, but also velocity errors (which can be
interpreted as position error changes). It is important to start with a stable yet
Figure 6-17: Product information responsive velocity loop. Typically, it is sufficient to just use the position loop
proportional gain. Feed-forward gain can be added to improve tracking performance
(i.e. minimize the difference between commanded and actual position). The velocity
loop is disabled in current version DCS810V2, and it adopts Position around
Current (Torque) mode.
Position around Torque: This mode is most common in point-to-point applications,
where actual motion between start and end point is not very critical. In this case,
velocity loop tuning can be avoided. This can be advantageous if the velocity
feedback is poor (e.g. low resolution encoder, poor encoder quadrature.). In this
Figure 6-18: Contact information case, the tuning process requires that the position loop proportional and
derivative gain are increased simultaneously, unless the system has sufficient
friction, in which case no derivative gain is necessary. Once a stable response is

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 DCS810V2 Digital DC Servo Driver Manual Rev1.0 DCS810V2 Digital DC Servo Driver Manual Rev1.0

achieved, integral gain can be added to improve stiffness. It is best to use a step
command with the profiler enabled as a reference signal during tuning.
Driver tuning is a multi-step process that involves proper tuning of up to three
different servo loops, namely current loop, velocity loop and position loop. You can
either tune the position loop around the velocity loop, or around the current loop.
Generally, it is much easier to tune a position loop around a velocity loop because
only the proportional gain is needed. When tuning position around the current loop, a
high derivative gain may be necessary on top of both proportional and integral gains.
For most of the DCS810V2 drivers have been being sold to the customers with
Leadshine’s DCM5xxxx DC servo motors, Leadshine will tune the current loop
before sending drivers out of the factory. Most of customers just need to tune the
position loop parameters with the standard version if they use the drivers with
Leadshine’s DCM5xxxx DC servo motors. If you use the DCS810V2 with DC servo
motors from other manufacturers and current loop tuning is needed. Please use
ProTuner to tune the current loop at first. Figure 6-19: Connections in tuning example
Follow the steps below for tuning the driver with the ProTuner.
Step 1: See figure 6-20. Set I-test 1 and begin the tuning with small Kp and zero Ki.
Current Loop Tuning Example Here we give Kp 500. Please hit the “Enter” key after entering in the number.

If user uses Leadshine DCM series motor, they don’t need to tune the current loop
parameter. But if other brand motor is selected, please contact Leadshine for the
password for current loop tuning. Below is an example to show the tuning procedure
of current loop based on Leadshine DCM50207D-1000. See Figure 6-19 for
connection information and other necessary component.
(DCM50207D-1000 specification:
0.35Nm@2900RPM, Phase resistance=0.9Ohm
Phase Inductance=1.6mH, Encoder Lines = 1000)

Figure 6-20: Initial value for Kp, Ki and I-test for current loop tuning

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 DCS810V2 Digital DC Servo Driver Manual Rev1.0 DCS810V2 Digital DC Servo Driver Manual Rev1.0

Step 2: Click the Start button and the plot window will show two curves. The red Kp and back off. Our purpose is to make the green curve (the actual current) a little
one is target current and the green one is actual current. There is large gap between higher than the red curve (the target). So we decrease Kp to 4500, 4200 and until the
them in the scope. It indicates that a large Kp need to be introduced. See figure 6-21. actual value is exactly over the target value.

↑Kp=2000, Ki=0

↑Kp=3000, Ki=0

↑Kp=4000, Ki=0

↑Kp=5000, Ki=0

Figure 6-21: Current loop tuning with Kp=500, Ki=0 ↓Kp=4500, Ki=0

Step 3: Increase Kp to 1000 and click Start. The gap between target value and ↓Kp=4200, Ki=0
actual value is smaller but a higher Kp is needed. See figure 6-22.
Figure 6-23: Current loop tuning with with Ki=0 and increasing Kp

Step 4: Now Kp is relative good enough. But there is still gap between the green
curve and the red curve when we use the mouse to zoom in it as shown in figure
6-24. There is also big vibration, which will cause motor noise, on the green curve.
So we need to introduce Ki, the integral gain to reduce the “gap” or steady error at
the constant part. It follows the same procedure as Kp. Too high Ki will causes big
vibration, system lag and makes the performance worse. See figure 6-24 for this
procedure. Increase Ki until the gap can be accepted and not causes much vibration.

Figure 6-22: Current loop tuning with with Kp=1000, Ki=0 Step 5: The current loop tuning is basically finished. You can continue to adjust Kp
and Ki for better performance. Now the updated Kp and Ki is just stored in the
Step 3: Give Kp 2000, 3000, 4000, 5000 and click Start, respectively. The green
driver’s RAM. They will be lost when we power off the driver. Please click
curve is getting more and more close to the red curve. See figure 6-23. Over-shoot
Option->SaveToDriver to store the changed value to the driver’s EEPROM.
begins when we increase Kp to 5000. It indicates that you need to stop increasing

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 DCS810V2 Digital DC Servo Driver Manual Rev1.0 DCS810V2 Digital DC Servo Driver Manual Rev1.0

Velocity and Position Loop Tuning

Before trying to manage the velocity and position loop parameters (Vp, Vi, Kp, Kp,
Kaff, see page 25), connect the system as figure 6-19. Then set self-test motion
parameter and select the display curve in digital scope as figure 6-25, figure 26.
TraceTime affects the display length of the curve. Here we select 720ms.

Vtop = 1000 RPM

Accel = 250 R/S2

Figure 6-23: Drag a rectangle to zoom in the steady error Length = 30000 pulses
Inernal = 80 ms
Repeat = 1

Kp=4200, ↑Ki=200

Kp=4200, ↑Ki=800 Figure 6-25: Self-test motion settings for the tuning

Kp=4200, ↑Ki=1500

Kp=4200, ↑Ki=2500

Figure 6-24: Current loop tuning with Kp=4200 and increasing Ki

Figure 6-26: Digital Scope settings for the tuning

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 DCS810V2 Digital DC Servo Driver Manual Rev1.0 DCS810V2 Digital DC Servo Driver Manual Rev1.0

Our purpose is to get the highest system stiffness but lowest motor noise. However, Step 2: Increase Vp until motor noise/vibration begins. Then back off. To activate
sometimes we need to trade off between them because high loop gain leads to big the noise/vibration, sometimes you need to give a disturbance to the load by either
overshoot even vibration. In this example, we start with small loop gain and then clicking the Start button or trying to push/pull the load. In this example, we give Vp
back off, at the time when the motor noise begins. The Kaff (application 120, 150, 200, 250 and find that the noise/vibration at Vp=250 can be accepted. So
feed-forward gain) will be increased to further reduce the position following error if we stop increasing Vp. Figure 6-28 shows the velocity (The green curve) and
necessary. The tuning procedure is shown as follows: position following error (The blue curve). And we can see the current position
following error is 1074 at the top of the digital scope.
①Small Vp/Kp/Kaff ②Vp↑ , Vp↓ ③Kp↑ , Kp↓ ④Kaff↑
Tip: The digital scope displays actual velocity (the green curve) and position
Step 1: Set Vp = 90, Vi = 0, Kp = 300, Kaff = 0, Kd = 500, Encoder line = 4000. following error (The blue curve) as shown in figure 6-28. It is the result of the
Please hit the “Enter” key in the keyboard and click Option->SaveToDrive after trapezoidal velocity test by clicking Start button. Click the button once again to
changing the parameter. The initial value for the tuning is depending on supply hold on the curves (The button caption is “Start”). Otherwise the scope will be
voltage, motor and reflected load inertia. The above settings may not suitable for always updated (The button is “Stop”). The user can put the mouse (cursor) on
your system. Please adjust them according to different symptom as follows: the curve to check the curve point value at the top status bar.

l Decrease Vp/Kp if the motor generates big noise.

Actual Velocity Time
l Increase Vp/Kp if the drive’s red LED blinks (Protection mode). Actual Current Following Error

Tip: Giving an external torque by rotating the motor shaft (or moving the load)
manually is good way to check whether the Vp and Vd are suitable or not. If it Green Curve:

is hard to rotate/move and the motor generates big noise, you should lower Actual Velocity

down Vp/Kp. If it is easy to rotate/move and even the drive goes into Blue Curve:
protection mode (the red LED blinks), you should increase Vp/Kp. Position Following Error
Kp = 300
Position following error = 1074

Figure 6-27: Observe the motor noise/vibration when increasing loop gain Figure 6-28: Digital scope for position/velocity loop tuning

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 DCS810V2 Digital DC Servo Driver Manual Rev1.0 DCS810V2 Digital DC Servo Driver Manual Rev1.0

Step 3: Increase Kp to maximize the system stiffness until motor noise/vibration

begins, following the same way as Vp. See figure 6-29, 6-30, 6-31 and 6-32. The
motor shaft or load is stiff enough at standstill when we increase Kp to 1800 and the
motor noise/vibration can be accepted.

Kp = 1200
Position following error = 266

Kp = 500
Position following error = 644 Figure 6-31: Increase Kp to 1200 for quick response

Figure 6-29: Increase Kp to 500 for quick response

Kp = 1800
Position following error = 178

Kp = 800
Position following error = 404 Figure 6-32: Increase Kp to 1800 for quick response

Now the system has been basically tuned. In the following step, the user can
increase Kaff to further reduce the position following error if necessary.

Step 4: Increase Kaff to 5000 and 10000. The position following error reduces to
Figure 6-30: Increase Kp to 800 for quick response
132 and 86, respectively. See figure 6-33 and 6-34.

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 DCS810V2 Digital DC Servo Driver Manual Rev1.0 DCS810V2 Digital DC Servo Driver Manual Rev1.0

7. Using Tips

Sequence Chart of Control Signals

In order to avoid some fault operations and deviations, PUL, DIR and EN should
Kaff = 5000 abide by some rules, shown as the following figure:
Position following error = 132

Figure 6-33: Increase Kaff to 5000 for quick response

Figure 7-1: Sequence chart of control signals

Notes:
Kaff = 10000 a) t1: EN must be ahead of DIR by at least 5µs. Usually, ENA is NC (not
Position following error =86 connected). See Connections section for more information.
b) t2: DIR must be ahead of PUL effective edge by at least 5µs to ensure
correct direction.
c) t3: Pulse width not less than 2.5s;
d) t4: Low level width not less than 2.5s.
Figure 6-34: Increase Kaff to 10000 for quick response
Protection Functions
Remember that tuning the servo is to get satisfying performances, getting the best
performances of the servo is a time consuming work. So if the servo performance To improve reliability, the driver incorporates some built-in protection functions.
can meet your application requirements, then the easier tuning way the better. Just The DCS810V2 uses one RED LED to indicate what protection has been activated.
like if the performances of the products can meet your application requirements, then The periodic time of RED is 5 s (seconds), and how many times the RED turns on
the cheaper the better. indicates what protection has been activated. Because only one protection can be

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 DCS810V2 Digital DC Servo Driver Manual Rev1.0 DCS810V2 Digital DC Servo Driver Manual Rev1.0

displayed by RED LED, so the driver will decide what error to display according to times within each periodic time (5 s).
their priorities. See the following Protection Indications table for displaying
Attention: Since there is no protection against power leads (﹢,﹣) reversal, it is
priorities.
critical to make sure that power supply leads correctly connected to driver.
Over-current Protection Otherwise, the driver will be damaged instantly.

Protection will be activated when continuous current exceeds 20A, and RED LED Protection Indications
will turn on once within each periodic time (5 s).
Priority Time(s) of ON Sequence wave of RED LED Description

Over-voltage Protection
1st 1 Over-current protection

When power supply voltage exceeds 84.5±1.5 VDC, protection will be activated
and RED LED will turn on twice within each periodic time (5 s). 2nd 2 Over-voltage protection

Phase Error Protection 3rd 4 Phase error protection

th
4 5 Encoder error protection
When power-up, motor power lines wrong connected and encoder feedback signals
Position following error
A/B phases wrong connected will activate this protection. If the motor power line(s) 5th 7
protection
drop(s) from the drive will also cause this protection. RED LED will turn on four
times within each periodic time (5 s).
Note: When power-up, the motor shaft needs to be rotated 1 revolution to activate Changing Default Motor Direction
this protection if the motor power lines are not connected.
The DCS810V2 will turn the motor in the CW direction when the direction input is
Encoder Error Protection “high” (logical “1”). If instead CCW is preferred, then:
No encoder feedback signals or wrong encoder feedback signals will activate this 1) Reverse the “motor +” and “motor -” leads.
protection. RED LED will turn on five times within each periodic time (5 s). 2) Reverse the encoder “Channel A” and “Channel B” leads.
Note: When power-up, the motor shaft needs to be stalled or rotated several
revolutions to activate this protection if the motor encoder wire(s) not connected.

Position Following Error Protection

When position following error reaches Position Following Error Limit parameter
setting in the driver, this protection will be activated. RED LED will turn on seven

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 DCS810V2 Digital DC Servo Driver Manual Rev1.0 DCS810V2 Digital DC Servo Driver Manual Rev1.0

Maximum Pulse Input Frequency Load data from file to Drive

Maximum Pulse Input Frequency is the highest frequency that the driver can accept. When communication between the ProTuner and the ACS806 is established, you
To convert this frequency to RPM, use the following formula: can open a configuration file then download the data from the file to the drive. See
figure 7-3 for more detail.
(Max Pulse Input Frequence ) × 60 CAM _ numerator
RPM (max) = ×
CAM _ deno min ator
( Encoder Line Count ) × 4

Save data to a file

The ProTuner offers a tool to save parameter to a file. It is very useful when
building machines with the same motors and other components. Select Select a configure file in the
Option->Archives, the archives window will appear as figure 7-2. To save the
current parameter to a file, type in the path and file name in the edit box and then
click ‘ToDisk’ button. See figure 7-2 for more detail.

Click to download data to the Drive from the selected file.

Figure 4: Download data to the drive

Type in path and file name Save to file

Figure 7-2: Save parameter to a file

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