User S Manual: High Performance Microstepping Driver

User’s Manual The content in this manual has been carefully prepared and is believed to be accurate, but no
responsibility is assumed for inaccuracies.

For
Leadshine reserves the right to make changes without further notice to any products herein to
MA860 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.
High Performance Microstepping Driver
Leadshine’s general policy does not recommend the use of its products in life support or aircraft
Version 1.0
applications wherein a failure or malfunction of the product may directly threaten life or injury.
©2007 All Rights Reserved
According to Leadshine’s terms and conditions of sales, the user of Leadshine’s products in life
Attention: Please read this manual carefully before using the driver!
support or aircraft applications assumes all risks of such use and indemnifies Leadshine against all
damages.
3/F, Block 2, Nanyou Tianan Industrial Park, Nanshan Dist, Shenzhen, China
©2007 by Leadshine Technology Company Limited.
T: (86)755-26434369 F: (86)755-26402718 All Rights Reserved
Web site: www.leadshine.com E-Mail: sales@leadshine.com

Contents Contents
Table of Contents Standstill current setting................................................................................ 9
1. Introduction, Features and Applications.................................................................... 1 8. Wiring Notes ........................................................................................................... 10
Introduction ........................................................................................................... 1 9. Typical Connection.................................................................................................. 10
Features ................................................................................................................. 1 10. Sequence Chart of Control Signals ....................................................................... 11
Applications .......................................................................................................... 1 11. Protection Functions.............................................................................................. 11
2. Specifications ............................................................................................................ 1 Short-voltage and Over-voltage protection ......................................................... 11
Electrical Specifications ........................................................................................ 1 Over-current Protection....................................................................................... 11
Operating Environment and other Specifications.................................................. 2 Short Circuit Protection....................................................................................... 12
Mechanical Specifications..................................................................................... 2 12. Frequently Asked Questions.................................................................................. 12
Elimination of Heat ............................................................................................... 3 Problem Symptoms and Possible Causes ............................................................ 13
3. Pin Assignment and Description ............................................................................... 3 APPENDIX ................................................................................................................. 13
Connector P1 Configurations ................................................................................ 3 Twelve month limited warranty .......................................................................... 13
Selecting Effective Pulse Edge or Effective Level and Control Signal Mode ...... 3 Exclusions ........................................................................................................... 13
Connector P2 Configurations ................................................................................ 4 Obtaining warranty service ................................................................................. 13
4. Control Signal Connector (P1) Interface................................................................... 4 Warranty limitations ............................................................................................ 13
5. Connecting the Motor................................................................................................ 5
Connections to 4-lead Motors ............................................................................... 5
Half Coil Configurations ............................................................................... 5
Full Coil Configurations................................................................................ 6
Series Connections ........................................................................................ 6
Parallel Connections...................................................................................... 7
6. Power Supply Selection ............................................................................................ 7
Regulated or Unregulated Power Supply .............................................................. 7
Multiple Drivers .................................................................................................... 7
Selecting Supply Voltage....................................................................................... 8
7. Selecting Microstep Resolution and Driver Output Current ..................................... 8
Microstep Resolution Selection ............................................................................ 8
Current Settings..................................................................................................... 9
Dynamic current setting ................................................................................ 9
I II
MA860 Microstepping Driver Manual V1.0 MA860 Microstepping Driver Manual V1.0
Operating Environment and other Specifications

1. Introduction, Features and Applications
Cooling Natural Cooling or Forced cooling
Introduction
Environment Avoid dust, oil fog and corrosive gases
The MA860 is a high performance microstepping driver based on pure-sinusoidal current control Ambient Temperature 0℃ － 50℃ (32℉ － 122℉)
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, Operating Environment Humidity 40%RH － 90%RH
lower heating, smoother movement and have better performances at higher speed than most of the 70℃ (158℉) Max
drivers in the markets. It is suitable for driving 2-phase and 4-phase hybrid stepping motors. Operating Temperature
Vibration 5.9m/s2 Max
Features
Storage Temperature -20℃ － 65℃ (-4℉ － 149℉)
l High performance, cost-effective l Automatic idle-current reduction Weight Approx. 570g (20.10 oz)
l Supply voltage up to 60VAC or +80VDC l 15 selectable resolutions in decimal and
l Output current up to 7.2A binary, up to 51,200 steps/rev
Mechanical Specifications (unit: mm[inch])
l Self-adjustment technology l Suitable for 2-phase and 4-phase motors
l Pure-sinusoidal current control technology l Support PUL/DIR and CW/CCW modes
l Pulse input frequency up to 300 KHz l Short-voltage, over-voltage, over-current
l TTL compatible and optically isolated input and short-cicuit protection
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 and high precision.
2. Specifications
Electrical Specifications (Tj = 25℃/77℉)
MA860
Parameters
Min Typical Max Unit
Output current 1.8 - 7.2 (5.1 RMS) A
18 48 60 VAC
Supply voltage
+24 +68 +80 VDC
Figure 1: Mechanical specifications
Logic signal current 7 10 16 mA
*Recommend use side mounting for better heat dissipation
Pulse input frequency 0 - 300 KHz
Isolation resistance 500 MΩ
Tel: +086 0755-26434369 1 Web Site: www.leadshine.com Tel: +086 0755-26434369 2 Web Site: www.leadshine.com
Elimination of Heat
l Driver’s reliable working temperature should be <70℃(158℉), and motor working temperature
(a) J1, J3 open circuit (b) J1 open circuit, J3 shirt circuit
should be <80℃(176℉);
PUL/DIR mode and Active at rising edge (NPN) PUL/DIR mode and active at falling edge (NPN)
l 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;
l It is recommended to mount the driver vertically to maximize heat sink area. Use forced cooling
method to cool the system if necessary. (c) J1 short circuit, J3 open circuit (d) J1, J3short circuit
CW/CCW mode and active at low level (The fixed level) CW/CCW mode and active at high level (The fixed level)
3. Pin Assignment and Description Figure 2: J1 and J3 jumpers
The MA860 has two connectors, connector P1 for control signals connections, and connector P2 for Connector P2 Configurations
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. Pin Function Details
Connector P1 Configurations AC Power supply, 18 ~ 60 VAC or 24~80 VDC, Including voltage fluctuation
AC and EMF voltage.
Pin Function Details
A+, A- Motor Phase A
Pulse signal: In single pulse (pulse/direction) mode, this input represents pulse
PUL+ signal, active at each rising or falling edge (set by inside jumper J3); 4-5V B+, B- Motor Phase B
when PUL-HIGH, 0-0.5V when PUL-LOW. In double pulse mode
(pulse/pulse) , this input represents clockwise (CW) pulse，active at high level
or low level (set by inside jumper J3). For reliable response, pulse width 4. Control Signal Connector (P1) Interface
PUL- should be longer than 1.5μs. Series connect resistors for current-limiting when
+12V or +24V used. The same as DIR and ENA signals. The MA860 can accept differential and single-ended inputs (including open-collector and PNP
DIR signal: In single-pulse mode, this signal has low/high voltage levels, output). The MA860 has 3 optically isolated logic inputs which are located on connector P1 to accept
representing two directions of motor rotation; in double-pulse mode (set by line driver control signals. These inputs are isolated to minimize or eliminate electrical noises coupled
DIR+ inside jumper J1), this signal is counter-clock (CCW) pulse，active at high onto the drive control signals. Recommend use line driver control signals to increase noise immunity
level or low level (set by inside jumper J3). For reliable motion response, DIR of the driver in interference environments. In the following figures, connections to open-collector and
signal should be ahead of PUL signal by 5μs at least. 4-5V when DIR-HIGH,
PNP signals are illustrated.
0-0.5V when DIR-LOW. Please note that motion direction is also related to
DIR- motor-driver wiring match. Exchanging the connection of two wires for a coil
to the driver will reverse motion direction.
Enable signal: This signal is used for enabling/disabling the driver. High level
ENA+ (NPN control signal, PNP and Differential control signals are on the contrary,
namely Low level for enabling.) for enabling the driver and low level for
ENA- disabling the driver. Usually left UNCONNECTED (ENABLED).
Selecting Effective Pulse Edge or Effective Level and Control Signal Mode
There are two jumpers J1 and J3 inside the MA860 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 Figure 3: Connections to open-collector signal (common-anode)
upward-rising edge active.(Note: J2 inside the driver is used to reverse the default rotation direction.)
setting the driver output current multiply the specified per phase (or unipolar) current rating by 1.4 to
determine the peak output current.
Figure 6: 6-lead motor half coil (higher speed) connections
Full Coil Configurations

Figure 4: Connection to PNP signal (common-cathode) 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
5. Connecting the Motor motors should be run at only 70% of their rated current to prevent over heating.
The MA860 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
Figure 7: 6-lead motor full coil (higher torque) connections
inductance. In setting the driver output current, multiply the specified phase current by 1.4 to
determine the peak output current.
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
Figure 5: 4-lead Motor 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
Connections to 6-lead Motors degrade at higher speeds. In series mode, the motors should also be run at only 70% of their rated
current to prevent over heating.
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

Figure 8: 8-lead motor series connections
As previously stated, the half coil configuration uses 50% of the motor phase windings. This gives
lower inductance, hence, lower torque output. Like the parallel connection of 8 lead motor, the torque
output will be more stable at higher speeds. This configuration is also referred to as half chopper. In
Parallel Connections 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.)
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 Selecting Supply Voltage
(or unipolar) current rating by 1.96, or the bipolar current rating by 1.4, to determine the peak output
The power MOSFETS inside the MA860 can actually operate within 18 ~ 60VAC or +24 ~ +80VDC,
current.
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 ~ 55VAC or +24 ~ +75VDC, leaving room for power
fluctuation and back-EMF.
Figure 9: 8-lead motor parallel connections 7. Selecting Microstep Resolution and Driver Output Current
6. Power Supply Selection This driver uses an 8-bit DIP switch to set microstep resolution, and motor operating current, as
shown below:
The MA860 can match medium and small size stepping motors (from Nema 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 Microstep Resolution Selection
low, it’s better to use lower supply voltage to decrease noise, heating and improve reliability.
Microstep resolution is set by SW5, 6, 7, 8 of the DIP switch as shown in the following table:
Regulated or Unregulated Power Supply
Microstep Steps/rev.(for 1.8°motor) SW5 SW6 SW7 SW8
Both regulated and unregulated power supplies can be used to supply the driver. However, 400 ON ON ON ON
2
unregulated power supplies are preferred due to their ability to withstand current surge. If regulated
4 800 OFF ON ON ON
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 8 1600 ON OFF ON ON
motor-driver operation. On the other hand, if unregulated supply is used, one may use a power supply 3200 OFF OFF ON ON
16
of lower current rating than that of motor (typically 50%～70% of motor current). The reason is that
32 6400 ON ON OFF ON
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 64 12800 OFF ON OFF ON
withdrawn from power supply is considerably less than motor current. For example, two 3A motors 25600 ON OFF OFF ON
128
can be well supplied by one power supply of 4A rating.
256 51200 OFF OFF OFF ON
Multiple Drivers 5 1000 ON ON ON OFF
It is recommended to have multiple drivers to share one power supply to reduce cost, if the supply 10 2000 OFF ON ON OFF
20 4000 ON OFF ON OFF dynamic current, and ON meaning that standstill current is set to be the same as the selected dynamic
current.
25 5000 OFF OFF ON OFF
40 8000 ON ON OFF OFF 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=I2*R) of the original value. If
50 10000 OFF ON OFF OFF
the application needs a different standstill current, please contact Leadshine.
100 20000 ON OFF OFF OFF
200 40000 OFF OFF OFF OFF 8. Wiring Notes

l In order to improve anti-interference performance of the driver, it is recommended to use
Current Settings twisted pair shield cable.
For a given motor, higher driver current will make the motor to output more torque, but at the same l To prevent noise incurred in PUL/DIR signal, pulse/direction signal wires and motor wires
time causes more heating in the motor and driver. Therefore, output current is generally set to be such should not be tied up together. It is better to separate them by at least 10 cm, otherwise the
that the motor will not overheat for long time operation. Since parallel and serial connections of disturbing signals generated by motor will easily disturb pulse direction signals, causing motor
motor coils will significantly change resulting inductance and resistance, it is therefore important to position error, system instability and other failures.
set driver output current depending on motor phase current, motor leads and connection methods. l If a power supply serves several drivers, separately connecting the drivers is recommended
Phase current rating supplied by motor manufacturer is important in selecting driver current, however instead of daisy-chaining.
the selection also depends on leads and connections.
l It is prohibited to pull and plug connector P2 while the driver is powered ON, because there is
The first three bits (SW1, 2, 3) of the DIP switch are used to set the dynamic current. Select a setting high current flowing through motor coils (even when motor is at standstill). Pulling or plugging
closest to your motor’s required current. connector P2 with power on will cause extremely high back-EMF voltage surge, which may
damage the driver.
Dynamic current setting
Ref Current (Screen printing) Peak Current SW1 SW2 SW3
9. Typical Connection
2.00A 2.40A ON ON ON A complete stepping system should include stepping motor, stepping driver, power supply and
2.57A 3.08A OFF ON ON controller (pulse generator). A typical connection is shown as figure 10.
3.14A 3.77A ON OFF ON
3.71A 4.45A OFF OFF ON
4.28A 5.14A ON ON OFF
4.86A 5.83A OFF ON OFF
5.43A 6.52A ON OFF OFF
6.00A 7.20A OFF OFF OFF
Notes: Ref Current table on the screen printing is used for the users of the M860 to refer. 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

Figure 10: Typical connection
SW4 is used for this purpose. OFF meaning that the standstill current is set to be half of the selected
10. Sequence Chart of Control Signals Short Circuit Protection

In order to avoid some fault operations and deviations, PUL, DIR and ENA should abide by some Protection will be activated in case of short circuit between motor coils or between motor coil and
rules, shown as following diagram: 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 assistance.
Many of the problems that affect motion control systems can be traced to electrical noise, controller
Figure 11: Sequence chart of control signals
software errors, or mistake in wiring.
Remark:
a) t1: ENA must be ahead of DIR by at least 5µs. 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 5µs to ensure correct direction;
c) t3: Pulse width not less than 1.5µs;
d) t4: Low level width not less than 1.5µs.
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 turn off. When power supply voltage exceeds 67VAC or
+94VDC, over-voltage protection will be activated and Alarm indicator LED will turn on.
Over-current Protection
Protection will be activated when continuous current reaches to 16A.
Problem Symptoms and Possible Causes

APPENDIX
Symptoms Possible Problems
Twelve month limited warranty
No power
Leadshine Technology Co., Ltd. warrants its products against defects in materials and
Microstep resolution setting is wrong
workmanship for a period of 12 months from shipment out of factory. During the warranty period,
Motor is not rotating DIP switch current setting is wrong Leadshine will either, at its option, repair or replace products which proved to be defective.
Fault condition exists
Exclusions
The driver is disabled
Motor rotates in the wrong direction Motor phases may be connected in reverse 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
DIP switch current setting is wrong
The driver in fault misuse, or operation beyond the electrical specifications of the product and/or operation beyond
Something wrong with motor coil environmental specifications for the product.
Control signal is too weak
Obtaining warranty service
Control signal is interfered
Erratic motor motion Wrong motor connection 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.
Something wrong with motor coil Customer shall prepay shipping charges for products returned to Leadshine for warranty service,
Current setting is too small, losing steps and Leadshine shall pay for return of products to customer.
Current setting is too small
Warranty limitations
Motor is undersized for the application
Motor stalls during acceleration Leadshine makes no other warranty, either expressed or implied, with respect to the product.
Acceleration is set too high
Leadshine specifically disclaims the implied warranties of merchantability and fitness for a
Power supply voltage too low particular purpose. Some jurisdictions do not allow limitations on how long and implied warranty
Inadequate heat sinking / cooling 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.
Excessive motor and driver heating Automatic current reduction function not being utilized
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.
MA860 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 Europe, 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: http://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

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

responsibility is assumed for inaccuracies.

Web site: www.leadshine.com E-Mail: sales@leadshine.com

Operating Environment and other Specifications

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

Full Coil Configurations

Connections to 4-lead Motors

Half Coil Configurations

200 40000 OFF OFF OFF OFF 8. Wiring Notes

Standstill current setting

10. Sequence Chart of Control Signals Short Circuit Protection

12. Frequently Asked Questions

11. Protection Functions

Short-voltage and Over-voltage protection

Protection will be activated when continuous current reaches to 16A.

Problem Symptoms and Possible Causes

Sales Hot Line:

Leadshine Hong Kong

Tel: +086 0755-26434369 14 Web Site: www.leadshine.com

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