Bholanath BH-MSD-6A-N User manual

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User’s Manual
For
BH-MSD-6A-N Micro Stepping Driver

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BHOLANATH PRECISION ENGINEERING PVT. LTD.
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2
Product Number code for Micro step drive
BH MSD 6A N
NEW
6 Amp
MICRO STEP DRIVE
BHOLANATH
1. DC Power input : 24~75VDC
2. Output Current: 2 Amps-6 Amps
3. Micro Stepping: 400, 800, 1600, 3200, 6400, 12800, 25600, 51200, 1000,
2000, 4000, 5000, 8000, 10000, 20000, 40000
4. Protect from: Overheat, lock automatic half current, error connect protect
5. Dimension: 118mmx75.5mmx34mm
6. Weight :280g.
7. Working environment: Temperature-15~40⁰C Humidity<90%

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Table of Contents
1. Introduction, Features and Applications..................................................................... 4
Introduction............................................................................................................. 4
Features................................................................................................................... 4
Applications............................................................................................................ 4
2. Specifications.............................................................................................................. 4
Electrical Specifications..........................................................................................4
Model no:-BH-MSD-6A-N.....................................................................................4
Drive prevention......................................................................................................4
Operating Environment...........................................................................................4
Elimination of Heat................................................................................................. 5
3. Pin Assignment and Description.................................................................................5
Connector P1 Configurations..................................................................................5
Connector P2 Configurations..................................................................................5
RS232 Communication interface……………………………….………………..5
Full current And Half current..................................................................................6
Wiring Notes........................................................................................................... 6
Switch choice.......................................................................................................... 6
4. Sequence Chart Of Control Signals………………………………………..……….7
5. Control signal mode setting…………………………………………………......….7
6. Parameter self-tuning function………………………………………………..……7
7. Calculation of Pulse Frequency……………………………………………...…......7
Frequency With Different RPM At 400 Micro Step…………………………......8
Frequency With Different RPM At 400 Micro Step……………………………..8
8. Connecting the Motor................................................................................................. 8
Connections to 4-lead Motors................................................................................. 8
Connections to 6-lead Motors................................................................................. 8
Half Coil & Full Coil Configurations..................................................................... 9
Connections to 8-lead Motors……………………………………………..……..9
Series & Parallel Connections……………………………………………………9
9. Power Supply Selection.............................................................................................. 10
Regulated or Unregulated Power Supply................................................................10
Multiple Drivers...................................................................................................... 10
10. Troubleshooting........................................................................................................ 11
11. Dimensions................................................................................................................12
12. Circuit connections Of BH MSD 6A-N With BH SDC-01,02..............................13
13. Circuit connections of BH MSD 6A-N With Arduino & PLC.................................14
14. Frequently Asked Questions................................................................................... ..15
15. Contact Us............................................................................................................... ..15

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1. Introduction, Features and Applications
Introduction
Micro stepping driver is particularly suitable for the applications desired with extremely low noise
and low temperature rise technology which significantly improve the performance of the stepper
motor that leads to low temperature rise, low vibration. With the adjustment technology (step/rev and
current) according to different motors, the driven motors automatically generate optimal parameters
for different motors, and achieve the best performance at higher speed. It is suitable for driving 2-
phase and 4-phase hybrid stepping motors.
Features

High
performance,
cost-effective
,Ultra
low
vibration
noise

Suitable
for
2-phase
and
4-phase
motors

Support
PUL/DIR
and
CW/CCW
modes

Short-voltage,
over-voltage,
over-current
and
short-circuit
protection

Low
temperature
rise,
smooth
motion
Pulses Response Frequency Can Reach 200KHz
Applications
Suitable for a wide range of stepping motors, from NEMA size 23 to 34. It can be used in various
kinds of machines, such as X-Y tables. And a variety of large-scale automation equipments and
instruments. For example: labeling machine, cutting machine, packaging machine, plotter, engraving
machine, CNC machine tools and so on. It always performs well when applied for equipment which
requires for low-vibration, low-noise, high-precision and high-velocity.
2. Specifications
Electrical Specifications
Model No:-BH-MSD-6A-N
Parameter Min T pical Max Unit
Input
Voltage(DC)
24
-
75
Vdc
Output
current
2
-
6
A
Signal
Voltage
5
-
24
V
Minimum Pulse
Width 1.5 6 µs
DRIVE PREVENTION :-
NOTE:- THE ABOVE VOLTAGE MAY DIFFER ACCORDING TO THE POWER SUPPLY IT IS RECOMMENDED
THEORITICALLY TO USE ABOVE VOLTAGE AS IT WILL PREVENT DRIVE FROM DAMAGE.
Operating Environment
Cooling Natural cooling or Forced cooling
Operating Environment Environment-Avoid dust, oil fog, corrosive gases
Temperature- -10℃
℃℃
℃－
－－
－45℃
℃℃
℃
Humidity-No Condensation, No Water Droplets
Operating Temperature- -10℃
℃℃
℃-
--
-45℃
℃℃
℃
Storage Temperature -20℃
℃℃
℃－
－－
－80℃
℃℃
℃

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Elimination of Heat

Driver
’
s
reliable
working
temperature
should
be
<
66
℃
℃℃
℃ ,
and
motor
working
temperature
should
be
<85
℃
℃℃
℃
;
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 driver has two connectors namely P1 & P2, Connector P1 for control signals connection,
Connector P2 for power and motor connections. The following tables are brief descriptions of
the two connectors.
Connector P1 Configurations
Pin
Function
Details
PUL+,CP+
PULSE
SIGNAL
POSITIVE
PUL-,CP-
PULSE
SIGNAL
NEGATIVE
DIR+,CW+
DIRECTION
SIGNAL
POSITIVE
DIR-,CW-
DIRECTION
SIGNAL
NEGATIVE
ENA+,FREE+
ENABLE
SIGNAL
POSITIVE
ENA-,FREE- ENABLE SIGNAL NEGATIVE
Connector P2 Configurations
Pin
Function
Details
Vdc
DC
POWER
SUPPLY
GND
GROUND
A+,A-
MOTOR
PHASE
A
B+,B- MOTOR PHASE B
RS232 Communication interface
Connect a PC or STU debugger with a dedicated serial cable and forbid
charged plug through STU and PC software Pro Tuner, subdivision and current
value,effective edge and single and double pulse all can be set and also can be used for the
elimination and adjustment of the resonance point.

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Wiring Notes
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.
Switch
Choice:
1.Microstepping choice:
SW5 on off on off on off on off on off on off on off on off
SW6 on on off off on on off off on on off off on on off off
SW7 on on on on off off off off on on on on off off off off
SW8 on on on on on on on on off off off off off off off off
Pulse/rev
400 800
1600 3200 6400
12800 25600 51200
1000 2000 4000 5000 8000
10000 20000 40000
2.Current choice ：
：：
：
SW 1 on
off
on
off
on
off
on
off
SW 2 on on
off
off
on on
off
off
SW 3 on on on
on
off
off
off
off
CURRENT(A) 2.00A 2.57 A 3.14 A 3.71 A 4.28 A 4.86 A 5.43 A 6.00 A
NOTE: FULL CURRENT AND HALF CURRENT CHOICE: (PORT SW 4 “OFF”-HALF CURRENT, “ON”-FULL CURRENT)
FULL CURRENT:-IF THE DRIVER IS IN FULL CURRENT MODE THIS WILL LEAD TO MOTOR HEAT AND IT
WILL ALSO DAMAGE THE DRIVER.
HALF CURRENT:-THE DRIVER SHOULD ALWAYS BE IN HALF CURRENT MODE AS THIS WILL REDUCE
THE HEAT OF MOTOR AND DRIVER.

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4. Sequence Chart of Control Signals
In order to avoid some fault operations and deviations, PUL, DIR and ENA should abide by some
rules, shown as following diagram:
NOTE: Enable signal is always high in this drive. Any external supply applied will disable the Drive.
Remark:
a) t1: ENA must be ahead of DIR by at least 5µs. Usually, ENA+ and ENA- are NC
(normally closed).
b)
t2:
DIR
must
be
ahead
of
PUL
effective
edge
by
5
µ
s
to
ensure
correct
direction;
c)
t3:
Pulse
width
not
less
than
2
µ
s;
d)
t4:
Low
level
width
not
less
than
2
µ
s.
5. Control Signal Mode Setting
Pulse trigger Edge and Single/Double Pulse Selection Trigger on rising or
falling edge of pulse by PC software ProTuner software or STU debugger. It is also possible
to set single pulse mode or double pulse mode .In dual pulse mode, the signal on the direction
control terminal must be held high or floating.
6. Parameter Self-Tuning Function
If switch SW4 Switched back and forth within 1 second, the driver can auto-
complete the motor parameters and internal parameters adjustment when the conditions like
motor, supply voltage changes, please conduct a self-tuning, otherwise,
the motor may not run normal
NOTE:-The pulse cannot be input at this time and the direction signal not change.
METHOD 1:-SW4 from on to off and then off back to on in 1 sec
METHOD 2:-SW4 from off to on and on then back to off on 1 sec
NOTE:-This model has power –on auto tuning function
7. CALCULATION OF PULSE FREQUENCY:-
F = (RPM MICRO STEP)/60
If need 60 RPM at 400 Micro step
Then Frequency = (60x400)/60
= 400Hz

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TABLE(a):-Frequency With Different RPM At 400 Micro Step(Default Setting)
RPM 60 120 180 240 300 360 420 480 540
FREQUENCY(Hz) 400 800 1200 1600 2000 2400 2800 3200 3600
If Need 60 RPM at 800 Micro Step
Then Frequency = (60x800)/60
= 800Hz
TABLE(b):-Frequency With Different RPM At 800 Micro Step
RPM 60 120 180 240 300 360 420 480 540
FREQUENCY(Hz) 800 1600 2400 3200 4000 4800 5600 6400 7200
8. Connecting the Motor
Connections to 4-lead Motors
4 lead motors are the least flexible but easiest to wire. Speed and torque will depend on winding
inductance.
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.
6-lead motor half coil (higher speed) connections
FOR
HALF
COIL
CONNECTION
CONNECT (A+)-A Com & (B+)-B Com/
A Com-(A-) & B Com-(B-)

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Full Coil Configurations
Lower speeds is desired. This configuration is also referred to as full chopper. In full coil mode,
the motors should be run at only 70% of their rated current to prevent overheating.
6-lead motor full coil (higher torque) connections
NOTE:THE ABOVE CONFIGURATIONS IS FOR CONNECTING IN A BIPOLAR
MICROSTEP DRIVE AS PER APPLICATION/NON-AVAILABILITY OF A UNIPOLAR
MICROSTEP DRIVE.
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 overheating.
8-lead motor series connections
Parallel Connections
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.
8-lead motor parallel connections
FOR
FULL
COIL
CONNECTION
CONNECT (A+)-(A-) & (B+)-(B-)
LEAVE A Com & B Com OPEN

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9. Power Supply Selection
The Micro step Driver can match Large and small size stepping motors (from Nema size 17 to Nema
size 34). To achieve good driving performances, it is important to select supply voltage and output
current properly. 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.
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,
but
not
during
the
OFF
duration.
Therefore,
the
average
current
withdrawn
from
power
supply
is
considerably
less
than
motor
current
Multiple Drivers
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).
10. Troubleshooting
a. The status on light’s indication
RUN: green, normal work light.
ERROR: red, failure light, the motor with phase short-circuit, overvoltage and undervoltage
protection.
NOTE:
TO CHECK IF DRIVE IS OK/NOT OK, CONNECT ONLY SUPPLY (DC) VOLTAGE AND
GROUND TO THE MICROSTEP DRIVE AND CHECK THE LED INDICATOR IF IT SHOWS
GREEN THEN DRIVE IS OK AND IF THE LED INDICATOR SHOWS RED THEN DRIVE IS
NOT OK. THIS TEST SHOULD BE DONE WHEN THE BELOW TROUBLE SHOOTING IS
CARRIED AND MOTOR IS NOT RUNNING.

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b. Troubles
Problems Possible cause Solutions
No
power
supply
Check
the
power
supply
Motor is not
No
control
signal
Check
the
control
signal
rotating
The
driver
is
disabled
Don
’
t
connected
the
enable
signal
or
enable
the
driver
Supply
voltage
is
too
high
or
Check
the
supply
voltage
too
low
ALM lights
Motor
line
short-circuit
Check
motor
lines
eliminate
the
short-circuit
Motor
line
wrong
connect
Check
the
motor
wiring
Motor
or
drive
failure
Replace
the
motor
or
drive
Motor rotates in
Motor
phases
connected
in
Reverse
the
phases
line
the wrong
reverse
direction
Wrong
I/p
direction
signal
Change
direction
setting
Motor
line
break
Change
the
phases
are
connected
Inaccurate
The
Micro
steps
set
incorrectly.
Set
the
correct
segments
The
motor
load
is
too
heavy.
Increasing
the
current
Position
Control
signal
is
interfered
Eliminate
interference
Power
supply
voltage
too
low
Increasing
the
supply
voltage
Motor Stalled
Accelerating
time
is
too
short.
Extend
the
acceleration
time
Current
setting
is
too
small
Increasing
the
current
Motor
torque
is
too
small
Replace
the
motor

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Problems Possible cause Solutions
Wrong
connection
for
power
Check
wiring
of
power
LED
off
turn
Low-voltages
for
power
Enlarge
voltage
of
power
Wrong
connection
of
stepper
Correct
its
wiring
Motor
doesn
’
t
run,
motor
without
holding
torque
RESET
signal
is
effective
when
offline
Make
RESET
ineffective
Motor
doesn
’
t
run,
but
Without
input
pulse
signal
Adjust
PMW
&
signal
level
maintains
holding
torque
Too
small
relative
to
current
Correct
rated
current
setting
setting
Motor
’
s
holding
torque
is
Acceleration
is
too
fast
Reduce
the
acceleration
too
small
Motor
stalls
Rule
out
mechanical
failure
Driver
does
not
match
with
Change
a
suitable
driver
The motor
11. Dimensions

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12. Circuit connections Of BH MSD 6A-N With BH-SDC 01,SDC 02

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13. Circuit Connections Of BH MSD 6A-N With PLC & Arduino
NOTE: Enable signal is always high in this drive. Any external supply applied will disable the Drive.

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14. 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.
The content in this manual has been carefully prepared and is believed to be accurate, but no
responsibility is assumed for inaccuracies
We manufacture 1.8⁰ HYBRID STEPPER MOTORS of size NEMA17, NEMA23, NEMA24, and
NEMA34 in square frame and Nema 23 in Round frame and available in our product range
are Linear Actuator Stepper Motors, Planetary Geared Stepper Motors, Stepper motors
with Brakes and Customized Stepper Motors.
BHOLANATH
STEP
SERVO
MOTOR
&
DRIVE