MA860H - Leadshine
Contents
1. Features and Applications MA860H Microstepping Driver Manual V1 0 Introduction The MA860HH is a high performance microstepping driver based on pure sinusoidal current control technology Owing to the above technology and the self adjustment technology self adjust current control parameters according to different motors the driven motors can run with smaller noise lower heating smoother movement and have better performances 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 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 Support PUL DIR and CW CCW modes Short voltage over voltage over current and short cicuit protection High performance cost effective Supply voltage up to 80VAC or 110VDC Output current up to 7 2A Self adjustment technology Pure sinusoidal current control technology Pulse input frequency up to 300 KHz TTL compatible and optically isolated input Applications Suitable for a wide range of stepping motors from NEMA size 17 to 43 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 performance 2 Specifications Electrical2. The fixed level CW CCW mode and active at high level The fixed level Figure 2 J1 and J3 jumpers Connector P2 Configurations Power supply 18 80 VAC or 24 110 VDC Including voltage fluctuation and EMF voltage Recommended 18 60VAC or 24 85VDC Motor Phase B 4 Control Signal Connector P1 Interface The MA860H can accept differential and single ended inputs including open collector and PNP output The MA860H 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 Controller vcc O is pes pnesitecys Figure 3 Connections to open collector signal common anode Tel 086 0755 26434369 4 Web Site www leadshine com A Leadshine Technology Co Ltd MA860H Microstepping Driver Manual V1 0 Figure 4 Connection to PNP signal common cathode 5 Connecting the Motor The MA860H 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 multiply
3. Specifications T 25 C 77 F 36 48 80 VAC 110 VDC 50 68 Tel 086 0755 26434369 1 Web Site www leadshine com A Leadshine Technology Co Ltd Operating Environment and other Specifications Mechanical Specifications unit mm inch MA860H Microstepping Driver Manual V1 0 40 RH 90 RH Vibration 5 9m s Max Approx 580g 20 460z 139 5 472 52 2 047 151 5 945 m m O BE a my Wi t Wi C mg Lo D Wi 0 143 5 63 Figure 1 Mechanical specifications Recommend use side mounting for better heat dissipation Tel 086 0755 26434369 2 Web Site www leadshine com Leadshine Technology Co Ltd MA860H Microstepping Driver Manual V1 0 Elimination of Heat Driver s reliable working temperature should be lt 70 C 158 T and motor working temperature should be lt 80 C 176 F 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 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 MA860H 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 th
4. User s Manual For MA860H High Performance Microstepping Driver Version 1 0 2009 All Rights Reserved Attention Please read this manual carefully before using the driver Leadshine Technology Co Ltd 3 F Block 2 Nanyou Tianan Industrial Park Nanshan Dist Shenzhen China T 86 755 26434369 F 86 755 26402718 Web site www leadshine com E Mail sales leadshine com 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 improve reliability function or design Leadshine does not assume any liability arising out of the application or use of any product or circuit described herein neither does it convey any license under its patent rights of others Leadshine s general policy does not recommend the use of its products in life support or aircraft applications wherein a failure or malfunction of the product may directly threaten life or injury 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 damages 2009 by Leadshine Technology Company Limited All Rights Reserved Contents Table of Contents 1 Introduction Features and Applications ccccccccccccccccceceeeeeeeeseses
5. assistance Many of the problems that affect motion control systems can be traced to electrical noise controller software errors or mistake in wiring Tel 086 0755 26434369 12 Web Site www leadshine com 7 pre Technology Co ted MA860H Microstepping Driver Manual V1 0 QP isecen wcroteaso 8 ____MAs60H Micrstepping Driver Manual V1 0 Problem Symptoms and Possible Causes 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 be 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 warran
6. desadereisied teisadenaaadcaee 7 Selecting Microstep Resolution and Driver Output Current sssseeeeeeessssssssssseee Microstep Resolution Select ON acs pstae ts caicipe tase stiles eae enta Ai ine arian raasieleataesabe CUE CUEING a ag ee eat aa aad cecal aaah E ana Sena Dy annie Cunen Se CIN esa ES areca es RE TTO Contents SPAMS Curren SEMIN ie e ccs ants sca denketn E a seieadnGelens sous 9 o WME UN OLS Sse sala as satchel eich oe sth Taiwan Ta icon bee dike Duis wa heats 10 De RV iCal OMe CU Os oat ey A nae cece ea eee 10 10 Sequence Chart of Control Signals ccccccccccccccceeecceeeeeeeeeesesseeeeeeceeeeeeeeeeenaas 11 Te Protection Funciona A a RAN 11 Short voltage and Over voltage protection cccccscccccceeeeeeceeeeeeeeessseseeeeeeees 11 Over cure M PEOC Orensana caesar aexcanmcese ms eeeeema acesaeaes casa 11 Shor Circuit ProwecuOn sie nee ane anion ani O A 12 12 req uentlhy Asked CQUESUIONS crrr E E 12 Problem Symptoms and Possible Causes roce 13 ALPE NDIA teres merce eee vraeree ee a rN Tee rire ete wtp ee ee an avy roe ore teen yer 13 Twelve month limited warranty cccccccccsssssssssssseseeececceeeeeceeesaeeaeesssesseeeeeeeees 13 b LEGS 1s rg ee eee eee 13 Obtains Warranty ServiCe s cc 6 2a area etait Plead Pee aa 13 NW cer AV TA LAOS etter casas E E EAE 13 MOAT NG hte s a edd ctstiacly tin ty ectstacle ado a ad 14 Il A Leadshine Technology Co Ltd 1 Introduction
7. e 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 5us at least 4 5V when DIR HIGH 0 0 5V when DIR LOW Please note that motion 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 Selecting Effective Pulse Edge or Effective Level and Control Signal Mode There are two jumpers J1 and J3 inside the MA860H specifically for selecting active pulse edge or effective level and control signal mode as shown in figure 2 Default setting is PUL DIR mode and upward rising edge active Note J2 inside the driver is used to reverse the default rotation direction Tel 086 0755 26434369 3 Web Site www leadshine com D ceeds Technology Co He MAS860H Microstepping Driver Manual V1 0 TRESE Boll a J1 J3 open circuit b J1 open circuit J3 shirt circuit PUL DIR mode and Active at rising edge NPN PUL DIR mode and active at falling edge NPN Tae Mou c J1 short circuit J3 open circuit d J1 J3short circuit CW CCW mode and active at low level
8. eeeeeeeeeeeeeeeeeaaas INTROCUCHION i3 5 e teccionis ten eu eae nae eae E Features iin N denna locates cen tas Gon ena hen toes Sa ona dna anes don ana haan ee en Osea ease dace Sees VAN 0 0 HUGE 1H 0101 enee aE Oat erica a Pre Te OPE eN are ea Cee ate are ee Onna are ke nee eee 2 ae CMC ALL OUS casein A A EEN tse E S A E E nd EE E EA S E SA Electrical Specifications sa iermesnanu ara a A A E AA Operating Environment and other SpecificationSs sssssseooeeeeesesssssssssssseeeeereee Mechanical SpeciiCaUlOns vistas tesceiitatte tte ctelat ates a esi esta a alae alesis Eiminadomo CAL uneneen a E E 3 Pin Assignment and Description eeen a a Connector FI ComiCuranOns a steele Seen A E Selecting Effective Pulse Edge or Effective Level and Control Signal Mode Connector P2 Con euranOns eoe teeny Sea ane ee 4 Control Signal Connector P1 Interface cccccsssssssssseeeececeeeeeeeseeeaaaeeeeesees 5s Conen ehe MOL Ol essan a R teen astaeepeaeeneeieees Connections to4lead Mots cists aces iia lice nes alate ieee lace eae Connections tO G lead MIOS ea Halt Colt onnsuraons acniaienn ican OE ud Corl Oi Sura OMS reeset sce tice T A EEA COMMectiOns tOs lead M ts ssiis eas aie a een c atansd SEES OMe U ONS can az what e E E Faraile l COMMCCH OMS eenen EEEE E ENEE O POWer o ipp y Selecione E E aanceia sean erases Regulated or Unregulated Power Supply cnasssr e BAEN AB a ha e AEE E E EAA en AA A AE E E A Selecine SUPPLY Vot E E ai
9. f 4A rating Multiple Drivers It is recommended to have multiple drivers to share one power supply to reduce cost if the supply Tel 086 0755 26434369 7 Web Site www leadshine com A Leadshine Technology Co Ltd MA860H Microstepping Driver Manual V1 0 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 MA860H can actually operate within 18 80VAC or 24 110VDC 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 18 60VAC or 24 85VDC 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 P 1 2 8 4 5 6 7 8 Standstill Current half full Microstep Resolutio
10. g 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 MA860H Driver Stepping Motor 18 60VAC 24 85VDC R must be connected to control signal terminal R 0 if VCC 5V R 1K Power gt 0 125W if VCC 12V R 2K Power gt 0 125W if VCC 24V Figure 10 Typical connection Tel 086 0755 26434369 10 Web Site www leadshine com A Leadshine Technology Co Ltd 10 Sequence Chart of Control Signals MA860H Microstepping Driver Manual V1 0 In order to avoid some fault operations and deviations PUL DIR and ENA should abide by some rules shown as following diagram t 5us tie ote High Level gt 3 5V l I PUL PUL CW High Level gt 3 5V Low Level lt 0 5V JIR CCW t 5ps ae 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 effective edge by Sus to ensure correct direction c t3 Pulse width not less than 1 5us d t4 Low leve
11. l width not less than 1 5us 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 13VAC or 18VDC short voltage protection will be activated and power indicator LED will blink When power supply voltage exceeds 123VAC or 173VDC over voltage protection will be activated and Alarm indicator LED will turn on Over current Protection Protection will be activated when continuous current exceeds the limit Tel 086 0755 26434369 11 Web Site www leadshine com A Leadshine Technology Co Ltd Short Circuit Protection MA860H Microstepping Driver Manual V1 0 Protection will be activated in case of short circuit between motor coils or between motor coil and ground 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
12. n Selection Microstep resolution is set by SWS 6 7 8 of the DIP switch as shown in the following table ON ON ON ON OFF ON ON ON ON OFF ON ON OFF OFF ON ON ON ON OFF ON OFF ON OFF ON ON OFF OFF ON OFF OFF OFF ON ON ON ON OFF OFF ON ON OFF Tel 086 0755 26434369 8 Web Site www leadshine com OY ssncarine Technology Co Ltd MA860H Microstepping Driver Manual V1 0 OFF ON 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 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 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 STA 808A OFF ON ON TIA SAP OFF ON 6008 TA O Notes Ref Current table on the screen printing is used for the users of the M860H to refer Due to motor inductance the actual current in the coil ma
13. od 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 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 o
14. rope America areas Fax 86 755 2640 2718 Email sales leadshine com Technical Support Tel 86 755 2641 8447 and 86 755 2647 1129 Fax 86 755 2640 2718 Email tech leadshine com and vic leadshine com Leadshine U S A Address 25 Mauchly Suite 318 Irvine California 92618 Tel 1 949 608 7270 Fax 1 949 608 7298 Web hittp www leadshineUSA com Email sales leadshineUSA com and support leadshineUSA com Leadshine Hong Kong Address Rm 3 9 F Block E Wah Lok Industrial Center 31 41 Shan Mei St Fo Tan Shatin Hong Kong Tel 852 2952 9114 Fax 852 2952 9395 Email hk_sales leadshine com Tel 086 0755 26434369 14 Web Site www leadshine com
15. 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 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 Tel 086 0755 26434369 5 Web Site www leadshine com A Leadshine Technology Co Ltd MA860H Microstepping 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 A AW 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 c
16. ty 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 Current is set too high 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 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 Tel 086 0755 26434369 13 Web Site www leadshine com Tel 086 0755 26434369 13 Web Site www leadshine com A eaters Technolgy En La MA860H Microstepping Driver Manual V1 0 Contact Us China Headquarters Address 3 F Block 2 Nanyou Tianan Industrial Park Nanshan District Shenzhen China Web http www leadshine com Sales Hot Line Tel 86 755 2643 4369 for All 86 755 2641 7674 for Asia Australia Africa areas 86 755 2640 9254 for Eu
17. urrent to prevent over heating P2 A rN 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 B Figure 8 8 lead motor series connections Tel 086 0755 26434369 6 Web Site www leadshine com A Leadshine Technology Co Ltd Parallel Connections MA860H 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 A B B Figure 9 8 lead motor parallel connections 6 Power Supply Selection The MA860H can match Large and small size stepping motors from Nema size 17 to 43 made by Leadshine or other motor manufactures around the world To achieve go
18. y 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 Tel 086 0755 26434369 9 Web Site www leadshine com A Leadshine Technology Co Ltd MA860H Microstepping Driver Manual V1 0 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
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