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1. Inadequate heat sinking cooling Current is set too high 132. B Figure 8 8 lead motor series connections A Leadshine Technology Co Ltd Parallel Connections M752 Microstepping Driver Manual V1 0 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 Figure 9 8 lead motor parallel connections 6 Power Supply Selection The M752 can match medium and small size stepping motors from NEMA frame size 17 to 43 made by Leadshine or other motor manufactures around the world To achieve good driving performances it is important to select supply voltage and output current properly Generally speaking supply voltage determines the high speed performance of the motor while output current determines 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
3. 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supply only during the ON duration of the PWM cycle but not during the OFF duration Therefore the average current withdrawn from power supply is considerably less than motor current For example two 3A motors can be well supplied by one power supply of 4A rating A Leadshine Technology Co Ltd Multiple Drivers M752 Microstepping Driver Manual V1 0 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 M752 can actually operate within 20 75VDC 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 vi
4. between motor coil and ground When above protections are active the motor shaft will be free or the LED will turn red except short voltage protection Reset the driver by repowering it to make it function properly after removing above problems 12 Frequently Asked Questions In the event that your driver doesn t operate properly the first step is to identify whether the problem 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 up your system and verify that they operate independently It is important to document each step in the troubleshooting process You may need this documentation to refer back to at a later date and these details will greatly assist our Technical Support staff in determining the problem should you need assistance Many of the problems that affect motion control systems can be traced to electrical noise controller software errors or mistake in wiring 12 Leadshine Technology Co Ltd M752 Microstepping Driver Manual V1 0 Problem Symptoms and Possible Causes Microstep resolution setting is wrong Fault condition exists Motor phases may be connected in reverse Something wrong with motor coil Control signal is interfered Something wrong with motor coil Current setting is too small Acceleration is set too high
5. tee meh as tae cel ns PON ALONG a alee alta eae ae ae a ae la ie ale cla oe La DSCC LIC ATION S arune E FIGCtRICAl SpeClMCAMONS oeri reece terete cre tee eee teeter reece aman Operating Environment and other Specifications cccccccccccccccceeeeeeeeeeeseeeeeeeeees NIE ChamiCaleS Pe Ci CallOMss eorr n rt cess cot ee nectceee tent erect eae tent eee eectceae mentee sectias heausaveva 010 ke de a bare Summa te Tiber nent one rtee ener ee tires te ener eter nner rtee orny ir rnn erste ter sre rrnrrante erat Pin Assionment and Description sam acicnnsteinnedinnsn inn sdonndn R Connector PL Confit rationS iscsi ce ceeiceetiice cence is ol cence ot ceetcee en ake Selecting Active Edge or Active Level and Control Signal Mode Connector P2 Cone urations uenis ristir arne AE AERE AEREA EARRA 4 Control Signal Connector P D Miemace lt 5 oe ee oe re erreur eceeruee 5s One cline the MOTOR 25 555 assesses iain Gash dees dda Conniecnons 16 4 lead Motors sexicnaccnnicanacanearnesu enone iiape te iaaneentenassta Ganaaenesseaite Connections to 6 lead Motors cccccssessseessssnneceeeeeeeeeeeeeseeseeesessnnaaeeeeeeeeeeeeees Halt C oil Cone ut ations iccrscuncnataar rata e Full Col Conneurauons 4 6 2 52 0G e SESS SOE SESS Connections 10S 21ead Moto enoue aa E A Series onn ec iON Serea EEE ERE Pate He We Onec HON aea a E 6 Power Supply Selection sil an ane GEG A Resulsted or Unregulated Power SUD DIY
6. The content in this manual has been carefully prepared and is believed to be accurate but no responsibility is assumed for inaccuracies Leadshine reserves the right to make changes without further notice to any products herein to User s Manual For application or use of any product or circuit described herein neither does it convey any license applications wherein a failure or malfunction of the product may directly threaten life or injury High Performance Microstepping Driver According to Leadshine s terms and conditions of sales the user of Leadshine s products in life support or aircraft applications assumes all risks of such use and indemnifies Leadshine against all improve reliability function or design Leadshine does not assume any liability arising out of the under its patent rights of others Leadshine s general policy does not recommend the use of its products in life support or aircraft Version 1 0 2008 All Rights Reserved Attention Please read this manual carefully before using the driver damages Leadshine Technology Co Ltd 2008 by Leadshine Technology Company Limited All Rights Reserved Contents Table of Contents 1 Introduction Features and Applications cccccccccccccccccccceceeeeeeeeeeeeeeeeseseeeeeeeeeeeeeees Bajnwee tb ej h n Weer eesmen wes e veeter ste OMe ennrtreer ener mr er eenty Shr one Rr ere Deemer oer anc eer rer reer IC AILS ier ice cr aioe a ces em
7. bration 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 68VDC leaving room for power fluctuation and back EMF 7 Selecting Microstep Resolution and Driver Output Current This driver uses an 8 bit DIP switch to set microstep resolution and motor operating current as shown below Dynamic Current Microstep Resolution rA 1 2 3 4 5 e 7 8 Standstill Current half full Microstep Resolution Selection Microstep resolution is set by SW5 6 7 8 of the DIP switch as shown in the following table Microstep Steps rev for 1 8 motor SWS SW6 SW7 SWB 0 ON ON ON ON OFF ON ON ON OFF OFF ON ON ON OFF ON ON ON ON OFF ON OFF ON OFF ON OFF OFF OFF ON ON OFF OFF ON ON ON ON OFF OFF ON ON OFF Leadshine Technology Co Ltd M752 Microstepping Driver Manual V1 0 2 4000 CFF OFF ON OFF ON OFF ON OFF ON ON OFF OFF OFF ON OFF OFF ON OFF OFF OFF OFF OFF OFF OFF Current Settings 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 wi
8. commended 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 flowing through motor coils even when motor is at standstill Pulling or plugging connector P2 with power on will cause extremely high back EMF voltage surge which may damage the driver 9 Typical Connection A complete stepping system should include stepping motor stepping driver power supply and controller pulse generator A typical connection is shown as figure 10 Controller M752 Driver 20 68 VDC Stepping Motor B ee 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 10 Typical connection 10 A Leadshine Technology Co Ltd 10 Sequence Chart of Control Signals M752 Microstepping Driver Manual V1 0 In order to avoid some fault operations and deviations PUL DIR and ENA should abide by some rules sho
9. e 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 i Leadshine Technology Co Ltd setting the driver output current multiply the specified per phase or unipolar current rating by 1 4 to determine the peak output current M752 Microstepping Driver Manual V1 0 P2 A NC B B NC Figure 6 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 4 NC B B Figure 7 6 lead motor full coil 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
10. ion Elimination of Heat Driver s reliable working temperature should be lt 60 C and motor working temperature should be lt 80 C It is recommended to use automatic idle current mode namely current automatically reduce to 60 when motor stops so as to reduce driver heating and motor heating Pender ine Technolgy Co a M752 Microstepping Driver Manual V1 0 It is recommended to mount the driver vertically to maximize heat sink area Use forced cooling method to cool the system if necessary 3 Pin Assignment and Description The M752 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 set by inside jumper J1 this signal is counter clock CCW pulse active at high level or low level set by inside jumper J3 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 The defaul
11. ll 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 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 Dynamic current setting 090A ON OFF ON ON ON OFF ON OFF OFF ON ON ON OFF OFF ON OFF ON OFF OFF OFF OFF OFF 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 ON ON A Leadshine Technology Co Ltd M752 Microstepping Driver Manual V1 0 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 re
12. mances at higher speed than most of the drivers in the markets It is suitable for driving 2 phase and 4 phase hybrid stepping motors Features High performance cost effective Supply voltage up to 75 VDC Output current up to 5 2A Self adjustment technology Automatic idle current reduction 16 selectable resolutions in decimal and binary up to 51 200 steps rev Suitable for 2 phase and 4 phase motors Pure sinusoidal current control technology Support PUL DIR and CW CCW modes Pulse input frequency up to 300 KHz Short voltage over voltage over current TTL compatible and optically isolated input protections Applications 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 X Y tables labeling machines laser cutters engraving machines pick place devices and so on Particularly adapt to the applications desired with low noise low heating high speed and high precision 2 Specifications Electrical Specifications Tj 25 C A Leadshine Technology Co Ltd Operating Environment and other Specifications M752 Microstepping Driver Manual V1 0 Environment Avoid dust oil fog and corrosive gases Humidity 40 RH 90 RH Vibration 5 9m s Max Approx 280g 10 oz Mechanical Specifications unit mm 1 inch 25 4 mm Figure 1 Mechanical specifications Recommend use side mounting for better heat dissipat
13. t rotation direction can be reverse by inside jumper J2 Selecting Active Edge or Active Level and Control Signal Mode There are two jumpers J1 and J3 inside the M752 specifically for selecting active pulse edge or active level and control signal mode as shown in figure 2 Default setting is PUL DIR mode and rising edge active NPN and PNP control signal is on the contrary J2 inside the driver is used to reverse the default rotation direction 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 A Leadshine Technology Co Ltd Jl J3 Jl J3 j b J1 open circuit J3 shirt circuit M752 Microstepping Driver Manual V1 0 a J1 J3 open circuit PUL DIR mode and Active at rising edge NPN PUL DIR mode and active at falling edge NPN H E Ot d J1 J3short circuit CW CCW mode and active at high level The fixed level c J1 short circuit J3 open circuit CW CCW mode and active at low level The fixed level Figure 2 J1 and J3 jumpers Connector P2 Configurations Motor Phase B 4 Control Signal Connector P1 Interface The M752 can accept differential and single ended inputs including open collector and PNP output The M752 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 elec
14. trical 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 Controller Driver vcc O Figure 3 Connections to open collector signal common anode A Leadshine Technology Co Ltd Controller M752 Microstepping Driver Manual V1 0 Driver hes gt Figure 4 Connection to PNP signal common cathode 5 Connecting the Motor The M752 can drive any 2 phase and 4 phase 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 multiply the specified phase current by 1 4 to determine the peak output current P2 A A B B Figure 5 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 inductanc
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16. wn as following diagram t 25us t3 ti rr High Level gt 3 5V S l l l i PUL CW ee waco iH gh Level gt 3 5V PE leas ee ae Loreo ay it 20us DIR JIR CCW t Sus Low Level lt 0 5V ENA ENA PUL DIR CW CCW Figure 11 Sequence chart of control signals 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 Sus to ensure correct direction c t3 Pulse width not less than 1 5 us d t4 Low level width not less than 1 5 us 11 Protection Functions To improve reliability the driver incorporates some built in protections features Short voltage and Over voltage protection When power supply voltage is lower than 17VDC short voltage protection will be activated and the power indicator LED will turn off When the power supply voltage is back to normal operation range the driver will automatically reset and power indicator LED will turn on When power supply voltage exceeds 95VDC over voltage protection will be activated and power indicator LED will turn red 1 i Leadshine Technology Co Ltd Over current Protection M752 Microstepping Driver Manual V1 0 Protection will be activated when continuous current reaches to 16A Short Circuit Protection Protection will be activated in case of short circuit between motor coils or
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