DMA860H驱动器

BQS2-MA860H型步进伺服驱动器使用说明书１、概述本公司是长期从事机电一体化微电脑控制和步进电动机驱动器等产品研制和生产的专业公司。

BQS2-MA860H型步进伺服驱动器是本公司在BQS2-860Ma的基础上精心研制的升级产品。

BQS2-MA860H和同类产品相比具有多细分、高转矩、高可靠、低谐振、低噪音、运行平稳、控制简单、维护方便等特点。

适合驱动中小型的驱动电压和电流适宜的两相或四相混合式步进电机。

可广泛应用于雕刻机、打标机、贴标机、绣花机、花样机、切字机、焊接机、切割机、绘图仪、微型机床、机器人等各种小型精密自动化设备。

深受广大用户的青睐。

２、面板及端口说明２.1 指示灯：(PWR)电源指示灯(绿色)(ALARM)故障指示灯(红色)２.2 输入信号接口：DIR-/CCW- 方向电平／反转步进脉冲信号负端DIR+/CCW+ 方向电平／反转步进脉冲信号正端PUL-/CW- 步进脉冲／正转步进脉冲信号负端PUL+/CW+ 步进脉冲／正转步进脉冲信号正端ENA- 使能电平信号负端ENA+ 使能电平信号正端２.3 拨位开关设定：第1 2 3 3位设定输出电流值第4 1位设定锁定电流值第5 1位设定单、双脉冲第6 7 8 9 10 4位设定电机步距角２.４电机输出接口：A+、A-、B+、B- 电机信号接出端２.５电源输入接口：AC80V 隔离供电接入端３、主要性能３.１供电电源：市电经隔离变压器降压提供AC24～80V、50～60Hz，功率不小于120W。

３.２驱动电压：DC32～110V。

３.３驱动电流：八种电流设3位拨位开关（峰值电流）选择：拨位／１２３电流值适配电机０００ 2.40A００１ 3.08A０１０ 3.77A０１１ 4.45A１００ 5.14A１０１ 5.83A１１０ 6.52A１１１7.20A３.４半流或满流锁定设１位拨位开关选择：拨位／４锁定电流０满流１半流３.５单、双脉冲控制方式设１位拨位开关选择：拨位／５脉冲方式０双脉冲１单脉冲３.６二十四种细分设5位拨位开关选择：拨位／６７８９10 步数／转步距角０００００４０００.９°００００１８０００.４５°０００１０１６０００.２２５°０００１１３２０００.１１２５°００１００６４０００.０５６２５°００１０１１２８０００.０２８１２５°００１１０２５６０００.０１４０６２５°００１１１５１２０００.００７０３１２５°０１０００１００００.３６°０１００１２００００.１８°０１０１０４００００.０９°０１０１１５００００.０７２°０１１００８００００.０４５°０１１０１１０００００.０３６°０１１１０２０００００.０１８°０１１１１４０００００.００９°１００００６０００.６°１０００１１２０００.３°１００１０１８０００.２°１００１１３６０００.１°１０１００７２０００.０５°１０１０１１２００００.０３°１０１１０１８００００.０２°１０１１１３６００００.０１°３.７过流保护：实时检测到过流信号时，驱动器软硬件均保护。

工定制：否品牌：雷赛型号：DMA860H功率：0.5（KW）额定电压：18-80（V）产品认证：ISO9001,CE,UL,RoHS质量认证速度响应频率：400（KHz）适用电机：57 86 110二相步进电机产品优势：高稳定，低噪音，减少电机发热驱动器：57 86 110步进电机驱动器应用范围：雕刻机、机床改造，自动装配设备等∙主要特点∙DMA860H产品概述DMA860H是雷赛公司推出的数字式步进电机驱动器，采用最新32位DSP技术，能够满足大多数场合的应用需要。

由于采用内置微细分技术，即使在低细分的条件下，也能够达到高细分的效果,低中高速运行都很平稳，噪音超小。

驱动器内部集成了参数自动整定功能，能够针对不同电机自动生成最优运行参数，最大限度发挥电机的性能。

主要应用领域适合各种大中型自动化设备，例如：雕刻机、切割机、切割机、包装机械、数控机床、自动装配设备等。

在用户期望小噪声、高速度的设备中应用效果特佳。

驱动器功能说明参数设定DMA860H驱动器采用八位拨码开关设定细分精度、动态电流和半流/全流。

详细描述如下：工作电流设定微步细分设定400 on on on on 800 off on on on 1600 on off on on 3200 off off on on 6400 on on off on 12800 off on off on 25600 on off off on 51200 off off off on 1000 on on on off 2000 off on on off 4000 on off on off 5000 off off on off 8000 on on off off 10000 off on off off 20000 on off off off 40000 off off off off安装尺寸步进电机驱动器是步进系统中的核心组件之一。

如下图所示，它按照控制器发来的脉冲/方向指令(弱电信号)对电机线圈电流(强电)进行控制，从而控制电机转轴的位置和速度。

User’s ManualForDMA860HFully Digital Stepper DriveVersion 1.0©2012 All Rights ReservedAttention: Please read this manual carefully before using the drive!3/F, Block 2, Nanyou Tianan Industrial Park, Nanshan Dist, Shenzhen, China T: (86)755-26409254 F: (86)755-26402718Web site: E-Mail: *******************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.©2012 by Leadshine Technology Company Limited.All Rights ReservedContentsTable of Contents1. Introduction, Features and Applications (1)Introduction (1)Features (1)Applications (1)2. Specifications (1)Electrical Specifications (1)Operating Environment and other Specifications (2)Mechanical Specifications (2)Elimination of Heat (2)3. Pin Assignment and Description (3)Connector P1 Configurations (3)Selecting Active Pulse Edge or Active Level and Control Signal Mode (3)Connector P2 Configurations (4)4. Control Signal Connector (P1) Interface (4)5. Connecting the Motor (4)Connections to 4-lead Motors (4)Connections to 6-lead Motors (5)Half Coil Configurations (5)Full Coil Configurations (5)Connections to 8-lead Motors (5)Series Connections (5)Parallel Connections (6)6. Power Supply Selection (6)Regulated or Unregulated Power Supply (6)Multiple Drivers (6)Selecting Supply Voltage (7)7. Selecting Microstep Resolution and Driver Output Current (7)Microstep Resolution Selection (7)Current Settings (7)Dynamic Current Setting (8)Standstill Current Setting (8)Auto Tuning by SW4 (8)8. Wiring Notes (9)9. Typical Connection (9)10. Sequence Chart of Control Signals (10)11. Protection Functions (11)Over-voltage protection (11)Over-current Protection (11)Short Circuit Protection (11)12. Frequently Asked Questions (11)Problem Symptoms and Possible Causes (11)APPENDIX (12)DMA860H Fully Digital Stepper Drive Manual V1.0 Twelve Month Limited Warranty (12)Exclusions (12)Obtaining Warranty Service (12)Warranty Limitations (12)Contact Us (13)1. Introduction, Features and ApplicationsIntroductionThe DMA860H is a fully digital stepper drive developed with advanced DSP control algorithm based on the latest motion control technology. It has achieved a unique level of system smoothness, providing optimal torque and nulls mid-range instability. Its motor auto-identification and parameter auto-configuration feature offers quick setup to optimal modes with different motors. Compared with traditional analog drives, DMA860H can drive a stepper motor at much lower noise, lower heating, and smoother movement. Its unique features make DMA860H an ideal choice for high requirement applications.Features●Anti-Resonance provides optimal torque and nulls mid-range instability●Motor auto-identification and parameter auto-configuration technology, offers optimal responses with differentmotors●Multi-Stepping allows a low resolution step input to produce a higher microstep output, thus offers smoothermotor movement●16 selectable microstep resolutions including 400, 800, 1600, 3200, 6400, 12800, 25600, 51200, 1000, 2000, 4000,5000, 8000, 10000, 20000, 40000●Soft-start with no “jump” when powered on●Input voltage 36-112VDC or 24V—80V AC●8 selectable peak current including 2.40A, 3.08A, 3.77A, 4.45A, 5.14A, 5.83A, 6.52A, 7.20A●Pulse input frequency up to 200 KHz, TTL compatible and optically isolated input●Automatic idle-current reduction●Suitable for 2-phase and 4-phase motors●Support PUL/DIR and CW/CCW modes●Over-voltage, over-current protectionsApplicationsSuitable for a wide range of stepping motors, from NEMA size 17 to 42. It can be used in various kinds of machines, such as X-Y tables, engraving machines, labeling machines, laser cutters, pick-place devices, and so on. Particularly adapt to the applications desired with low noise, low heating, high speed and high precision.2. SpecificationsElectrical Specifications (T j = 25℃/77℉)Operating Environment and other SpecificationsMechanical Specifications (unit: mm [inch])Figure 1: Mechanical specifications*Recommend use side mounting for better heat dissipationElimination of Heat● Driver’s reliable working temperature should be <70℃(158℉), and motor working temperature should be<80℃(176℉);● It is recommended to use automatic idle-current mode, namely current automatically reduce to 50% when motorstops, 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 coolthe system if necessary.3. Pin Assignment and DescriptionThe DMA860H 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 ConfigurationsSelecting Active Pulse Edge or Active Level and Control Signal ModeThere are two jumpers J1 and J2 inside the DMA860H specifically for selecting active pulse edge and control signal mode, as shown in figure 2. Default setting is PUL/DIR mode and upward-rising edge active. (Note: J3 inside the driver is used to reverse the default rotation direction.)(a) J1, J2 open circuit (b) J1 open circuit, J3 shirt circuitPUL/DIR mode and Active at rising edge (NPN) PUL/DIR mode and active at falling edge (NPN)(c) J1 short circuit, J3 open circuit (d) J1, J3 short circuitCW/CCW mode and Active at rising edge (NPN) CW/CCW mode and active at falling edge (NPN)Figure 2: J1 and J2 jumper SettingsConnector P2 Configurations4. Control Signal Connector (P1) InterfaceThe DMA860H can accept differential and single-ended inputs (including open-collector and PNP output). The DMA860H 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.Figure 3: Connections to open-collector Figure 4: Connection to PNP signal (common-cathode)signal (common-anode)5. Connecting the MotorThe DMA860H can drive any 2-pahse and 4-pahse hybrid stepping motors. Connections to 4-lead Motors4 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.Figure 5: 4-lead Motor ConnectionsConnections to 6-lead MotorsLike 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 ConfigurationsAs 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 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) connectionsFull Coil ConfigurationsThe 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.Figure 7: 6-lead motor full coil (higher torque) connectionsConnections to 8-lead Motors8 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 ConnectionsA 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.Figure 8: 8-lead motor series connectionsParallel ConnectionsAn 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.Figure 9: 8-lead motor parallel connections6. Power Supply SelectionThe DMA860H can match medium and small size stepping motors (from NEMA frame size 17 to 34) made by Leadshine or other motor manufactures around the world. To achieve good driving performances, it is important to select supply voltage and output 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 SupplyBoth regulated and unregulated power supplies can be used to supply the driver. However, unregulated power supplies are preferred due to their ability to withstand current surge. If regulated power supplies (such as most switching supplies.) are indeed used, it is important to have large current output rating to avoid problems like current clamp, for example using 4A supply for 3A motor-driver operation. On the other hand, if unregulated supply is used, one may use a power supply of lower current rating than that of motor (typically 50%～70% of motor current). The reason is that the driver draws current from the power supply capacitor of the unregulated supply only during the ON duration of the PWM cycle, but not during the OFF duration. Therefore, the average current withdrawn from power supply is considerably less than motor current. For example, two 3A motors can be well supplied by one power supply of 4A rating.Multiple DriversIt 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 connectSelecting Supply VoltageThe power MOSFETS inside the DMA860H can actually operate within +24 ~ +80VDC or 24V—80V AC, including power input fluctuation and back EMF voltage generated by motor coils during motor shaft deceleration. Higher supply voltage can increase motor torque at higher speeds, thus helpful for avoiding losing steps. However, higher voltage may cause bigger motor vibration at lower speed, and it may also cause over-voltage protection or even driver damage. Therefore, it is suggested to choose only sufficiently high supply voltage for intended applications, and it is suggested to use power supplies with theoretical output voltage of +20 ~ +68VDC or 24V—68V AC, leaving room for power fluctuation and back-EMF.7. Selecting Microstep Resolution and Driver Output CurrentThis driver uses an 8-bit DIP switch to set microstep resolution, and motor operating current, as shown below:Microstep Resolution SelectionMicrostep resolution is set by SW5, 6, 7, 8 of the DIP switch as shown in the following table:Current SettingsFor 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 SettingNotes: 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 SettingSW4 is used for this purpose. OFF meaning that the standstill current is set to be half of the selected dynamic current, and ON meaning that standstill current is set to be the same as the selected dynamic current.The current automatically reduced to 50% 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 the application needs a different standstill current, please contact Leadshine.A uto Tuning by SW4To get the optimized performance, switch SW4 two times in one second to identify the motor parameter after power-up if it is the first time installation. The motor parameter is identified and the drive’s current loop parameters are calculated automatically when SW4 is activated. The motor shaft will have a little vibration during auto-configuration. If the user changes the motor or the power supply, don’t forget to toggle SW4 once again.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 uptogether. 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 ofdaisy-chaining. ● It is prohibited to pull and plug connector P2 while the driver is powered ON, because there is high currentflowing 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 ConnectionA complete stepping system should include stepping motor, stepping driver, power supply and controller (pulse generator). A typical connection is shown as figure 10.Auto Tuning Requirement and Procedure : 1. Motor is connected to drive. 2. Power is connected to drive. 3. Turn on the power.4. Make sure there is no pulse applied to drive.5. Switch SW4 two times in one second. That is OFF-ON-OFF or ON-OFF-ON.Figure 10: Typical connection10. Sequence Chart of Control SignalsIn order to avoid some fault operations and deviations, PUL, DIR and ENA should abide by some rules, shown as following diagram:Figure 11: Sequence chart of control signalsRemark: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 2.5µs; d) t4: Low level width not less than 2.5µs.11. Protection FunctionsTo improve reliability, the driver incorporates some built-in protections features. Over-voltage protectionWhen power supply voltage exceeds +94VDC, over-voltage protection will be activated and power indicator LED will turn red.Over-current ProtectionProtection will be activated when continuous current exceeds the limit. Short Circuit ProtectionProtection will be activated in case of short circuit between motor coils or between motor coil and ground.When above protections are active, the motor shaft will be free or the LED will turn red. Reset the driver by repowering it to make it function properly after removing above problems.12. Frequently Asked QuestionsIn 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.Problem Symptoms and Possible CausesAPPENDIXTwelve Month Limited WarrantyLeadshine 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.ExclusionsThe 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 ServiceTo obtain warranty service, a returned material authorization number (RMA) must be obtained from customer service at e-mail: ****************** 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 LimitationsLeadshine makes no other warranty, either expressed or implied, with respect to the product. Leadshine specifically disclaims the implied warranties of merchantability and fitness for a particular purpose. Some jurisdictions do not allow limitations on how long and implied warranty lasts, so the above limitation or exclusion may not apply to you. However, any implied warranty of merchantability or fitness is limited to the 12-month duration of this written warranty.Shipping Failed ProductIf your product fail during the warranty period, e-mail customer service at ****************** 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.Contact UsChina HeadquartersAddress: 3/F, Block 2, Nanyou Tianan Industrial Park, Nanshan District Shenzhen, ChinaWeb: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: 86-755-2640-2718Email:*******************.Technical Support:Tel: 86 755-2641-8447 and 86-755-2647-1129Fax: 86-755-2640-2718Email:******************.Leadshine U.S.AAddress: 25 Mauchly, Suite 318 Irvine, California 92618Tel: 1-949-608-7270Fax: 1-949-608-7298Web: Email:********************** and ************************.Leadshine Hong KongAddress: Rm 3, 9/F, Block E, Wah Lok Industrial Center,31-41 Shan Mei St., Fo Tan, Shatin, Hong Kong Tel: 852-2952-9114Fax: 852-2952-9395Email:**********************.。

MA860H（低成本7.2Ａ，80ＶAC）256细分步进驱动器使用手册Version1.0版权所有不得翻印【使用前请仔细阅读本手册，以免损坏驱动器】宁波纳川自动化科技有限公司MA860H步进电机驱动器使用说明在使用本品前，请仔细阅读本使用说明书请妥善保管本说明书，以备日后参考本册外观图片仅供参考，请以实物为准安全注意事项本产品为交直流电源供电。

请勿带电插拔连接线缆。

此产品非密封，请勿在内部混入镙丝、金属屑等导电性异物或可燃性异物，储存和使用时请注意防潮防湿。

驱动器为功率设备，尽量保持工作环境的散热通风。

在连上步进电机，调节好电流后使其连续工作半小时后观察步进电机是否在。

额定温度后方可进行后续使用，如果电机温度过高请联系制造商。

一、产品简介1.1 产品特点⏹平均电流控制，两相正弦电流驱动输出⏹供电电压可达110VDC，80VAC⏹输出电流峰值可达7.2A(均值6Ａ)⏹静止时电流自动减半⏹可驱动4,6,8线两相、四相步进电机⏹高速光耦隔离信号输入，脉冲响应频率最高可达300KHz⏹抗高频干扰能力强⏹输出电流1.0A~7.2Ａ。

⏹输出电流设定方便⏹细分精度2,4,6,8,16, 32, 64, 128, 256, 5, 10, 20, 25, 40, 50, 100, 125, 250 细分；⏹有过压、欠压、过流、相间短路保护功能1.2 应用领域适合各种中中型自动化设备和仪器，例如：雕刻机、打标机、切割机、激光照排、绘图仪、数控机床、拿放装置等。

在用户期望低成本、小噪声、高速度的设备中效果特佳。

二、电气、机械和环境指标2.1 电气指标说明 MA860H最小值 典型值 最大值 单位 输出电流 2.6 - 7.2(均值6A) A 输入电源电压 24 60-100 150（含纹波） VDC 18 55-80 100（含纹波）VAC 逻辑输入电流 7 10 16 mA 步进脉冲频率 0 - 300 KHZ绝缘电阻500M Ω2.2 使用环境及参数冷却方式自然冷却使用环境场合 尽量避免粉尘、油雾及腐蚀性气体环境温度0℃-+50℃ 最高工作温度70℃湿度 40-90% RH9 （不能结露和有水珠）震动 5.9m/S2 Max 保存温度 -20℃-125℃ 重量约500克2.3 机械安装图 单位：毫米※：推荐采用侧面安装，散热效果更佳三、驱动器接口及接线介绍：3.1：弱电接线信号接口描述3.2：强电接口描述* 交流电输入时按照直流电压的1/1.4来选择电压临界值3.3输入接口描述MA860H 内置高速光电耦合器，允许接收长线控制器，集电极开路和PNP 输出电路的信号。

深圳市雷赛智能控制股份有限公司地址：深圳市南山区学苑大道1001号南山智园A3栋10-11楼邮编：518000电话：400-885-5521传真：*************Email：********************网址：DMA860H数字式两相步进驱动器使用说明书版本：V1.10版权所有不得翻印【使用前请仔细阅读本手册，以免损坏驱动器】深圳市雷赛智能控制股份有限公司版本说明版本日期更改内容V1.002018-09-20V1.102020-03-31增删部分内容,目录一、产品简介 (2)1.概述 (2)2.特点 (2)3.应用领域 (2)二、电气、机械和环境指标 (2)1.电气指标 (2)2.使用环境及参数 (3)3.机械安装图 (3)4.散热方式 (4)三、驱动器接口和接线介绍 (4)1.接口描述 (4)2.控制信号接口电路 (5)3.控制信号时序图 (5)4.控制信号模式设置 (6)5.接线要求 (6)四、电流、细分拨码开关设定和参数自整定 (7)1.电流设定 (7)2.细分设定 (7)3.参数自整定功能 (8)五、供电电源选择 (8)六、电机选配 (8)1.电机选配 (8)1.电机接线 (9)2.输入电压和输出电流的选用 (9)七、典型接线案例 (10)八、保护功能 (11)九、常见问题 (12)1.应用中常见问题和处理方法 (12)2.用户常见问题解答 (13)雷赛产品保修条款 (14)DMA860H数字式两相步进驱动器一、产品简介1.概述DMA860H是雷赛公司新推出的数字式两相步进电机驱动器，采用数字DIP技术，用户可以设置400~51200内的细分以及额定电流内的任意电流值，能够满足大多数场合的应用需要。

由于采用内置微细分技术，即使在低细分的条件下，也能够达到高细分的效果,低中高速运行都很平稳，噪音超小。

驱动器内部集成了参数自动整定功能，能够针对不同电机自动生成最优运行参数，最大限度发挥电机的性能。

MA860H型两相混合式步进电机驱动器使用说明书概述MA860H型细分型两相混合式步进电机驱动器，采用AC18-80V或DC24～110V 供电，适合驱动电流小于8.0A外径57～86毫米的两相混合式步进电机。

此驱动器采用交流伺服驱动器的电流环进行细分控制，电机的转矩波动小，低速运行平稳，振动和噪音低。

高速时可输出相对较高的力矩，定位精度高。

广泛适用于雕刻机、数控机床、包装机械、传动设备等分辩率要求较高的设备上。

主要特点1 平均电流控制，两相正弦电流驱动输出2 AC18-80V或DC24～110V供电3 光电隔离信号输入/输出4 有过压、欠压、过流、相间短路保护功能5 十四档细分和自动半流功能6 八档输出相电流设置7 具备脱机功能8 启动转速高9 高速力矩大电气参数输入电压 AC18-80V或DC24～110V供电输入电流 小于8安培输出电流 2.0A～7.8A温 度 工作温度-10～45℃；存放温度-40℃～70℃湿 度 不能结露，不能有水珠气 体 禁止有可燃气体和导电灰尘重 量 450克注：拨码开关请在未上电时调好，严禁带电操作，切记！控制信号接口图1是驱动器的接线原理图1、控制信号定义PUL+： 步进脉冲信号输入正端PUL-： 步进脉冲信号输入负端DIR+： 步进方向信号输入正端DIR-： 步进方向信号输入负端ENA+： 脱机使能复位信号输入正端ENA-： 脱机使能复位信号输入负端脱机使能信号有效时复位驱动器故障，禁止任何有效的脉冲，驱动器的输出功率元件被关闭，电机无保持扭矩。

2、控制信号连接上位机的控制信号可以高电平有效，也可以低电平有效。

当高有效时，把所有控制信号的负端连在一起作为信号地，低有效时，把所有控制信号的正端连在一起作为信号公共端。

现在以集电极开路和PNP输出为例，接口电路示意图如下：图1. 输入接口电路（共阳极接法）控制器集电极开路输出图2. 输入接口电路（共阴极接法）控制器PNP输出注意：VCC值为5V时，R短接；VCC值为12V时，R为1K，大于1/8W电阻；VCC值为24V时，R为2K，大于1/8W电阻；R必须接在控制器信号端。

东么川伺服东么川—专注于电机设计与控制技术研究中国-深圳深圳市东么川伺服控制技术有限公司shenzhen Digital Motor Control technology Co.Ltd地址：深圳市龙华区硅谷动力清湖园A6栋2楼电话：*************传真：*************技术支持：134****0132网址：使用手册USERˊS GUIDE Version1.1版权所有不得翻印【使用前仔细阅读本手册，以免损坏驱动器】DMA860H东么川数字型步进电机驱动器△安全注意事项为保证安全正确使用，请在使用前仔细阅读“安全注意事项”产品保证产品无偿保证期限为540天，如因顾客人为过失而造成产品损害除外，我司也将诚意保持产品在保证期限后的质量。

我们每种产品在下线前都有进行及其长时间的老化测试及产品平均故障间隔（MTBF）预测计算。

使用指导(电产品基本注意事项及使用环境要求)在使用之前，请您仔细详读本手册以确保使用上的正确。

此外，请将它妥善放置在安全的地点以便随时查阅。

下列在您尚未读完本手册时，请务必遵守事项：● 安装的环境必须没有水气，腐蚀性气体及可燃性气体● 接线时禁止将电源接至电机输出端子，一旦接错时将损坏驱动器● 在通电时，请勿拆解驱动器、电机或更改配线● 在通电运作前，请确定紧急停机装置是否随时启动● 在通电运作时，请勿接触散热片，以免烫伤本使用操作手册适合下列使用者参考● 安装或配线人员● 试转调机人员● 维护或检查人员驱动器用于通用工业设备。

要注意下列事项：(1).为了确保正确操作，在安装、接线和操作之前必须通读操作说明书。

(2).勿改造产品。

(3).当在下列情况下使用本产品时，应该采取有关操作、维护和管理的相关措施。

在这种情况下，请与我们联系。

①用于与生命相关的医疗器械。

②用于可能造成人身安全的设备，例如：火车或升降机。

③用于可能造成社会影响的计算机系统④用于有关对人身安全或对公共设施有影响的其他设备。

工定制：否品牌：雷赛型号：DMA860H功率：0.5（KW）额定电压：18-80（V）产品认证：ISO9001,CE,UL,RoHS质量认证速度响应频率：400（KHz）适用电机：57 86 110二相步进电机产品优势：高稳定，低噪音，减少电机发热驱动器：57 86 110步进电机驱动器应用范围：雕刻机、机床改造，自动装配设备等•主要特点•DMA860H产品概述DMA860H是雷赛公司推出的数字式步进电机驱动器，采用最新32位DSP技术，能够满足大多数场合的应用需要。

由于采用内置微细分技术，即使在低细分的条件下，也能够达到高细分的效果,低中高速运行都很平稳，噪音超小。

驱动器内部集成了参数自动整定功能，能够针对不同电机自动生成最优运行参数，最大限度发挥电机的性能。

主要应用领域适合各种大中型自动化设备，例如：雕刻机、切割机、切割机、包装机械、数控机床、自动装配设备等。

在用户期望小噪声、高速度的设备中应用效果特佳。

驱动器功能说明图说明。

输出电流设定由 SW1－SW3 三个拨码开关来设定驱动器输出电流，其输出电流共有8档。

具体输出电流的设定，请驱动器面版图说明。

自动半流功能用户可通过SW4来设定驱动器的自动半流功能。

off表示静态电流设为动态电流的一半，on表示静态电流与动态电流相同。

一般用途中应将 SW4 设成 off，使得电机和驱动器的发热减少，可靠性提高。

脉冲串停止后约0.4秒左右电流自动减至一半左右（实际值的60％），发热量理论上减至36％。

信号接口PUL＋和 PUL－为控制脉冲信号正端和负端；DIR＋和DIR－为方向信号正端和负端；ENA＋和 ENA－为使能信号的正端和负端。

电机接口A＋和 A－接步进电机A相绕组的正负端；B＋和B－接步进电机B相绕组的正负端。

当A、B两相绕组调换时，可使电机方向反向。

电源接口采用直流电源供电，工作电压范围建议为48－75VAC，电源功率大于500W。

指示灯驱动器有红绿两个指示灯。

D M860型两相混合式步进电机驱动器使用说明书一、概述DM860型细分型两相混合式步进电机驱动器，采用直流24～80V供电，适合驱动电压24V～80V，电流小于8.0A外径57～110毫米的两相混合式步进电机。

此驱动器采用交流伺服驱动器的电流环进行细分控制，电机的转矩波动很小，低速运行很平稳，几乎没有振动和噪音。

高速时力矩也大大高于其它二相驱动器，定位精度高。

广泛适用于雕刻机、数控机床、包装机械等分辨率要求较高的设备上。

主要特点1 平均电流控制，两相正弦电流驱动输出2 直流24～80V供电3 光电隔离信号输入/输出4 有过压、欠压、过流、过热、相间短路保护功能5 十四档细分和自动半流功能6 八档输出相电流设置7 具有脱机信号输人端子8 高启动转速，高速力矩大二、控制信号接口图1是驱动器的接线原理图1、控制信号定义PUL/CW+：步进脉冲信号输入正端或正向步进脉冲信号输入正端PUL/CW-：步进脉冲信号输入负端或正向步进脉冲信号输入负端DIR/CCW+：步进方向信号输入正端或反向步进脉冲信号输入正端DIR/CCW-：步进方向信号输入负端或反向步进脉冲信号输入负端ENBL+：脱机使能复位信号输入正端ENBL-：脱机使能复位信号输入负端脱机使能信号有效时复位驱动器故障，禁止任何有效的脉冲，驱动器的输出功率元件被关闭，电机无保持扭矩。

2、控制信号连接上位机的控制信号可以高电平有效，也可以低电平有效。

当高有效时，把所有控制信号的负端连在一起作为信号地，低有效时，把所有控制信号的正端连在一起作为信号公共端。

现在以集电极开路和PNP输出为例，接口电路示意图如下：图1. 输入接口电路（共阳极接法）控制器集电极开路输出图2. 输入接口电路（共阴极接法）控制器PNP输出注意：VCC值为5V时，R短接；VCC值为12V时，R为1K，大于1/8W电阻；VCC值为24V时，R为2K，大于1/8W电阻；R必须接在控制器信号端。

工定制：否品牌：雷赛型号：DMA860H功率：0.5（KW）额定电压：18-80（V）产品认证：ISO9001,CE,UL,RoHS质量认证速度响应频率：400（KHz）适用电机：57 86 110二相步进电机产品优势：高稳定，低噪音，减少电机发热驱动器：57 86 110步进电机驱动器应用范围：雕刻机、机床改造，自动装配设备等•主要特点•DMA860H产品概述DMA860H是雷赛公司推出的数字式步进电机驱动器，采用最新32位DSP技术，能够满足大多数场合的应用需要。

由于采用内置微细分技术，即使在低细分的条件下，也能够达到高细分的效果,低中高速运行都很平稳，噪音超小。

驱动器内部集成了参数自动整定功能，能够针对不同电机自动生成最优运行参数，最大限度发挥电机的性能。

主要应用领域适合各种大中型自动化设备，例如：雕刻机、切割机、切割机、包装机械、数控机床、自动装配设备等。

在用户期望小噪声、高速度的设备中应用效果特佳。

驱动器功能说明图说明。

输出电流设定由 SW1－SW3 三个拨码开关来设定驱动器输出电流，其输出电流共有8档。

具体输出电流的设定，请驱动器面版图说明。

自动半流功能用户可通过SW4来设定驱动器的自动半流功能。

off表示静态电流设为动态电流的一半，on表示静态电流与动态电流相同。

一般用途中应将 SW4 设成 off，使得电机和驱动器的发热减少，可靠性提高。

脉冲串停止后约0.4秒左右电流自动减至一半左右（实际值的60％），发热量理论上减至36％。

信号接口PUL＋和 PUL－为控制脉冲信号正端和负端；DIR＋和DIR－为方向信号正端和负端；ENA＋和 ENA－为使能信号的正端和负端。

电机接口A＋和 A－接步进电机A相绕组的正负端；B＋和B－接步进电机B相绕组的正负端。

当A、B两相绕组调换时，可使电机方向反向。

电源接口采用直流电源供电，工作电压范围建议为48－75VAC，电源功率大于500W。

指示灯驱动器有红绿两个指示灯。

hb860mb驱动器说明书z AC20-60V或DC24-80V电源供电z高性价比，超低噪声z采用电流闭环控制技术z光电隔离差分信号输入z脉冲响应频率高达200KHZ z多达16种细分可选z最大可达6.0A相电流输出z具备脱机(ENA)控制信号z具备双脉冲信号模式功能z精确正弦电流输出,使电机运行更加平稳2概述：适用于各种中小型自动化设备和仪器.如：雕刻机、打标机、切割机、激光照排、绘图仪、数控机床、水晶打磨机、自动装配设备等.在用户期望小噪声、高精度、高速度的设备中应用效果特佳3电气规格：说明最小值推荐值最大值供电电压VDC（3A）24 48 80供电电压VAC（3A）20 36 60输出相电流（峰值）A 2.2-6.0逻辑控制输入电流mA 8 10 20步进脉冲响应频率KHz 0-200 4使用环境及参数：冷却方式自然冷却场合尽量避免粉尘、油污及腐蚀性气体湿度0℃-+50℃温度40-90%RH使用环境震动5.9m/s2Max重量约0.5kg5输出/入信号功能说明：序号标示说明1 AC（GND）电源DC24-80V AC20-60V2 AC（V+）电源DC24-80V AC20-60V电源（直流无正负极），用户可根据各自需要选择.一般来说较高的电压有利于提高电机的高速力矩，但会加大驱动器的损耗和发热。

3 A+电机A相，A+、A-互调，可更改一次电机运转方向4 A-电机A相5 B+电机B相，B+、B-互调，可更改一次电机运转方向6 B-电机B相7 PUL+8 PUL-脉冲信号：上升沿有效.控制信号在+5V──+24V均可驱动，需注意限流.一般情况下，12V串接1K（1/8W）电阻.24V串接1.5K电阻9 DIR+10 DIR-方向信号：控制信号在+5V──+24V均可驱动，需注意限流.一般情况下，12V串接1K（1/8W）电阻.24V串接1.5K电阻11 ENA+12 ENA- 使能信号：此输入信号用于使能或禁止.驱动器将切断电机各相的电流使电机处于自由状态，此时步进脉冲不被响应.当不需用此功能时，使能信号端悬空即可。

DM860DStepper Motor Driver SpecificationOverviewThe DM860D is a new generation high-performance digital stepper driver based on DSP and PID control algorithm with microstep control technology. The motors driven by DM860D can run with much smaller noise and much less vibration than other drivers in the market. The DM860D possess the feature of lower noise, lower vibration, and lower heating. The DM860D’s voltage is DC24V-80V. It is suitable for all the 2-phase hybrid stepper motor whose current is less than 6.0A. There are 16 kinds of microstep of DM860D. The maximum step number of DM860D is 51200 steps/rev (microstep is 1/256 ). Its current range 2.0A-6.0A, and its output current has 8 stalls.DM860D has automatic semi-flow, over-voltage, under voltage and over-current protection function.Current selectionREF Peak SW1 SW2 SW32.00A 2.40A ON ON ON2.57A3.08A OFF ON ON3.14A 3.77A ON OFF ON3.71A4.45A OFF OFF ON4.28A5.14A ON ON OFF4.86A5.83A OFF ON OFF5.43A6.52A ON OFF OFF6.00A7.20A OFF OFF OFFMicrostep selectionPulse/REV SW5 SW6 SW7 SW8Default ON ON ON ON800 OFF ON ON ON1600 ON OFF ON ON3200 OFF OFF ON ON6400 ON ON OFF ON12800 OFF ON OFF ON25600 ON OFF OFF ON51200 OFF OFF OFF ON1000 ON ON ON OFF2000 OFF ON ON OFF4000 ON OFF ON OFF5000 OFF OFF ON OFF8000 ON ON OFF OFF10000 OFF ON OFF OFF20000 ON OFF OFF OFF40000 OFF OFF OFF OFFDefault: The pulse can be customized according to customers’ requirements.Common indicatorPhenomenon Reason Solution1. A short circuit of motor wires. Inspect or change wires2. The external voltage is over or low than the driver’s working voltage. Adjust the voltage to a reasonable rangThe red indicator is on.3. Unknown reason Return the goodsApplicationsIt can be applied in a variety of small scale automation equipment and instruments, such as labeling machine, cutting machine, packing machine, drawing machine, engraving machine, CNC machine and so on. It always performs well when it is used in equipment which requires for low-vibration, low-noise, high-precision and high-velocity.Driver functions descriptionsDriver function Operating instructionsOutput current setting Users can set the driver output current by SW1-SW3 three switches. The setting of the specific output current, please refer to the instructions of the driver panel figure.Microstep setting Users can set the driver Microstep by the SW5-SW8 four switches. The setting of the specific Microstep subdivision, please refer to the instructions of the driver panel figure.Automatic half current function Users can set the driver half flow function by SW4. "OFF" indicates the quiescent current is set to half of the dynamic current, that is to say, 0.5 seconds after the cessation of the pulse, current reduce to about half automatically. "ON" indicates the quiescent current and the dynamic current are the same. User can set SW4 to "OFF", in order to reduce motor and driver heating and improve reliability.Signal interfaces PUL+ and PUL- are the positive and negative side of control pulse signal; DIR+ and DIR- are the positive and negative side of direction signal; ENA+ and ENA- are the positive and negative side of enable signal.Motor interfaces A+ and A- are connected to a phase winding of motor; B+ and B- are connected to another phase winding of motor. If you need to backward, one of the phase windings can be reversed.Power interfaces It uses DC power supply. Recommended operating voltage is 24VDC-80VDC, and power consumption should be greater than 350W.Indicator lights There are two indicator lights. Power indicator is green. When the driver power on, the green light will always be lit. Fault indicator is red, when there is over-voltage or over-current fault, the red light will always be lit; after the driver fault is cleared, if re-power the red light will be off.Installation instructions Driver dimensions:150×98×51mm, please refer to dimensions diagram. Please leave 10CM space for heat dissipation. During installation, it should be close to the metal cabinet for heat dissipation.Signal interface details:The internal interface circuits of the driver are isolated by the opt coupler signals, R in the figure is an external current limiting resistor. The connection is differential. And it has a good anti-jamming performance.Control signal and external interface:Signal amplitudes External currentlimiting resistor R5V Without R12V 680Ω24V 1.8KΩ Outline and installation size (unit:mm)。

MA860H型两相混合式步进电机驱动器使用说明书概述MA860H型细分型两相混合式步进电机驱动器，采用AC18-80V或DC60V供电，适合驱动电流小于8.0A外径57～86毫米的两相混合式步进电机。

此驱动器采用交流伺服驱动器的电流环进行细分控制，电机的转矩波动小，低速运行平稳，振动和噪音低。

高速时可输出相对较高的力矩，定位精度高。

广泛适用于雕刻机、数控机床、包装机械、传动设备等分辩率要求较高的设备上。

主要特点1 平均电流控制，两相正弦电流驱动输出2 AC18-80V或DC60V供电3 光电隔离信号输入/输出4 有过压、欠压、过流、相间短路保护功能5 十四档细分和自动半流功能6 八档输出相电流设置7 具备脱机功能8 启动转速高9 高速力矩大电气参数DC60输入电压 V供电输入电流 小于8安培输出电流 2.0A～7.8A温 度 工作温度-10～45℃；存放温度-40℃～70℃湿 度 不能结露，不能有水珠气 体 禁止有可燃气体和导电灰尘重 量 450克注：拨码开关请在未上电时调好，严禁带电操作，切记！控制信号接口图1是驱动器的接线原理图1、控制信号定义PUL+： 步进脉冲信号输入正端PUL-： 步进脉冲信号输入负端DIR+： 步进方向信号输入正端DIR-： 步进方向信号输入负端ENA+： 脱机使能复位信号输入正端ENA-： 脱机使能复位信号输入负端脱机使能信号有效时复位驱动器故障，禁止任何有效的脉冲，驱动器的输出功率元件被关闭，电机无保持扭矩。

2、控制信号连接上位机的控制信号可以高电平有效，也可以低电平有效。

当高有效时，把所有控制信号的负端连在一起作为信号地，低有效时，把所有控制信号的正端连在一起作为信号公共端。

现在以集电极开路和PNP输出为例，接口电路示意图如下：图2. 输入接口电路（共阴极接法）控制器PNP输出注意：VCC值为5V时，R短接；VCC值为12V时，R为1K，大于1/8W电阻；VCC值为24V时，R为2K，大于1/8W电阻；R必须接在控制器信号端。