Cloudray DM Series User manual

DM320S USER MANUAL
User Manual
D M 3 2 0 S
DM series Stepper Drive
Address: No.10 Huashenmiao,Huashen Technology
Park,Yuhuatai District,Nanjing, China 210000
Email: [e-mail]
Web: www.cloudraymotor.com

DM320S USER MANUAL
Record of Revisions
Revision
Date
Description of Release
1.0
July 29, 2021
Initial Release

DM320S USER MANUAL
www.cloudraymotor.com
Contents
1. Product Overview ............................................................................................................................1
2. Application Environment and Installation....................................................................................2
2.1 Electrical Specifications.............................................................................................................2
2.2 Environmental requirement....................................................................................................2
2.3 Drive installation dimensions.................................................................................................3
2.4 Drive installation requirements..............................................................................................3
3. Drive Port and Connection ...........................................................................................................4
3.1 Port function description........................................................................................................4
3.2 Power supply input.................................................................................................................4
3.3 Motor connection.................................................................................................................5
3.4 Control signal connection ....................................................................................................6
3.4.1 PUL, DIR port: connection for pulse command...............................................................6
3.4.2 ENA port: used to enable or disable.................................................................................7
3.4.3 Control signal wiring example..........................................................................................7
4. DIP Switch Configurations...........................................................................................................9
4.1 The setting of current.............................................................................................................9
4.2 The setting of pulse per revolution...........................................................................................10
4.3 Half / full flow selection ......................................................................................................10
5. Drive working status LED indication.........................................................................................11
6. Common Faults and Troubleshooting............................................................................................12
Appendix A. Guarantee Clause..........................................................................................................13

Product Overview
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1. Product Overview
Thank you for choosing Cloudray DM series digital stepper drive.
DM series stepper drive, which surpasses the performance of common analog stepper drive
comprehensively based on the new 32-bit DSP platform developed by TI, and adopting the
micro-stepping technology and PID current control algorithm design. The DM series stepper drives
have the features of low noise, low vibration, low heating and high-speed high torque output, it is
suitable for most stepper motors by integrated with the micro-stepping technology.
The DM320S driver can select the running current and subdivision through the DIP switch.
There are 16 subdivisions and 8 current selections. It has overvoltage, undervoltage and overcurrent
protection. Its input and output control signals are optically isolated.
Power supply
12 –36VDC
Output Current
Up to 2.2 amps（peak value）
Current control
PID current control algorithm
Micro-stepping settings
DIP switch settings, 16 options
Speed range
Use the suitable motor，up to 3000rpm
Resonance suppression
Automatically calculate the resonance point and inhibit the IF vibration
Parameter adaption
Automatically detect the motor parameter when drive initialize,
optimize the controlling performance
Pulse mode
Support direction & pulse, CW/CCW double pulse, A/B quadrature
pulse input
Pulse filtering
2MHz digital signal filter
Idle current
The current is automatically halved after the motor stops running
We hope that our products with excellent performance can help you to complete the sports
control program successfully.
Please read this technical manual before using the products.

Application Environment and Installation
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2. Application Environment and Installation
2.1 Electrical Specifications
DM320S Parameters
Min
Typical
Max
Unit
Supply Voltage
18
24/36
40
VDC
Output Current
0.3
-
2.2
A
Logic Signal Current
6
10
15
mA
Pulse Input Frequency
200K
-
1M
Hz
Stepper Pulse Width
500
-
-
ns
Direction Setup Time
2000
-
-
ns
Input Signal Voltage
3.3
5
5
VDC
2.2 Environmental requirement
Item
Cloudray DM320S
Installation environment
Avoid dust, oil and corrosive environment
Vibration
0.5G（4.9m/s2）Max
Operating temperature/humidity
0℃ ~ 45℃ / 90% RH or less (no condensation)
Storage and transportation temperature:
-10℃ ~ 70℃
Cooling
Natural cooling / away from the heat source
Waterproof grade
IP54

Application Environment and Installation
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2.3 Drive installation dimensions
56
92.6
29
8.25
21
2.4 Drive installation requirements
Please install the drive vertically or horizontally, with its front facing forward, top facing
upward to facilitate cooling.
During assembly, avoid drillings and other foreign matters falling inside the drive.
During assembly, please use M3 screw to fix.
When there is vibration source (such as a driller) close to the installation position, please use a
vibrating absorber or a vibration resistant rubber gasket.
When multiple drives are installed in the control cabinet, please pay attention to reserve
enough space for sufficient heat dissipation. If necessary, you can configure cooling fans to ensure
good heat dissipation conditions in the control cabinet.

Drive Port and Connection
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3. Drive Port and Connection
3.1 Port function description
Function
Grade
Definition
Remarks
Power supply input port
V+
Input V+ power supply
DC 12~36V
V-
Input V- power supply
Motor connection port
B-
connect two terminals of
motor’s phase-B winding
B+
A-
connect two terminals of
motor’s phase-A winding
A+
Enable connection
ENA+
Enable control interface
3.3 ~ 24V level
compatible
ENA-
Pulse connection
PUL+
Pulse input interface
PUL-
DIR+
Direction input interface
DIR-
3.2 Power supply input
The power supply of the drive can be both AC power and DC power, and the input voltage
range is 24V~50VDC.
Input power polarity should not be reversed!!!
The drive’s work mode is constant current control. The drive output the voltage to motor by
changing the input power into PWM chopping wave when it is working. In this case, the input
power will affect the performance of drive.
Power selection reference:
Voltage:
The stepper motor has the characteristic of torque decreasing as the motor speed increases, and
the voltage of the input power supply will affect the declining amplitude of the motor torque at high
speed. Increasing the voltage of the input power supply appropriately can increase the output torque
of the motor at high speed. And use low voltage when it is low speed required, can lower motor’s
heating appropriately.
Current:

Drive Port and Connection
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The work of the drive is to convert the input power supply with high voltage and low current to
the low voltage and high current at both terminals of the motor winding.In this case, the current of
power supply will be lower than the motor’s.
The effects of regeneration voltage:
When the stepper motor is working, it also keeps the characteristics of the generator. At
deceleration, the kinetic energy accumulated by the load is converted into electric energy, which
will be superimposed on the drive circuit and the input power. In application, attention should be
paid to the setting of acceleration and deceleration time to prevent the protection of the drive or
power supply.
When the drive is powered off, similarly, the drive LED indicator will be on if the load is
increased to allow the motor to move.
3.3 Motor connection
4线电机 A+
A-
B+
B-
8线串联
A+
A-
B+
B-
8线并联
A+
A-
B+
B-
6线串接
A+
A-
B+
B-
NC
NC
6线中心抽头
B+
B-
A+
A-
NC
NC
The matching motor of the DM 422S drive is the low resistance and low inductance hybrid
stepper motor.
The common 2-phase stepper motor’s lead number are 4, 8 and 6.
4-wire motor
8-wire series
8-wire parallel
6-wire series
6-wire center shaft head

Drive Port and Connection
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There is only one connection mode for 4 leads motor.
Series and parallel connection mode are used by 8 leads motor:
When series used, the winding inductance increased. The set of drive current should be about
0.7times than before. This is suitable for low speed required.
When parallel used, the winding inductance decreased. The set of drive current should be
about 1.4times than before. This is suitable for high speed required.
Parallel and central tapping connection mode are used by 6 leads motor:
When parallel used, all the winding connected, and the inductance was higher. This is suitable
for low speed required.
When central tapping used, half of the winding connected, and the inductance was lower. This
is suitable for high speed required.
3.4 Control signal connection
3.4.1 PUL, DIR port: connection for pulse command
The signal interface of standard DM series drive is switch.
The upper controller can be the pulse signal generating device, such as PLC, MCU, control
card and controller.
The pulse level that DM 556S drive can be used: 3.3V-24V (no need to connect resistor)
Pulse&Direction（PUL + DIR）
Dual Pulse （CW +CCW）
Orthogonal Pulse（A/B）

Drive Port and Connection
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3.4.2 ENAport: used to enable or disable
When the default optocoupler is off, the driver outputs current to the motor. When the internal
optocoupler is turned on, the driver will cut off the current of each phase of the motor to make the
motor free. At this time, the step pulse is not responded.
The ENA input can be used to restart the drive when the motor is in an error state. First, the
existing fault should be eliminated, and then a falling edge signal is input to the ENA terminal, and
the drive can be re-energized.
The level logic of the ENA signal can be set to the opposite, with the logic being opposite to
the above.4.
3.4.3 Control signal wiring example
Common anode Common cathode

Drive Port and Connection
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Difference

DIP Switch Configurations
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4. DIP Switch Configurations
4.1 The setting of current
The setting of DIP switches and operating parameters
The seting of current Semi / Full current option The setting of pulse per revolution
Peak Current
Average Current
SW1
SW2
SW3
Remarks
0.3A
0.2A
on
on
on
Other Current
can be
custom-made.
0.5A
0.3A
off
on
on
0.7A
0.5A
on
off
on
1.0A
0.7A
off
off
on
1.3A
1.0A
on
on
off
1.6A
1.2A
off
on
off
1.9A
1.4A
on
off
off
2.2A
1.6A
off
off
off
DIP SW1, SW2, SW3 are used to set current which is output from drive to motor.
Generally, the current setting is the motor rated current. If your system has high request to the
heating, please decrease the current properly to lower the motor’s heating, but at the same time, the
output torque will be lower. If you don’t need the motor running continuous, you can increase the
current to higher the torque. But be minded that the current can not be 1.5times over than the rated
current.
SW1
SW2
SW3
SW4
SW5
SW6
SW7
SW8

DIP Switch Configurations
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4.2 The setting of pulse per revolution
Stepping
count/revolution
SW4
SW4
SW6
Remarks
Stan Mode
off
off
off
Other Subdivision can be custom-made
200
off
off
on
400A
off
on
off
800
off
on
on
400B
on
off
off
1600
on
off
on
3200
on
on
off
6400
on
on
on
DIP SW5, SW6, SW7, SW8 are used to set the number of pulses required per revolution of the
motor.
Motor speed = command pulse frequency / per revolution pulse
Motor stroke = number of command pulses / pulse per revolution
4.3 Half / full flow selection
DIP SW4 is used to set the quiescent current value when the motor stops.
Off means that when the drive power-on pulse stops, the driver switches the current output to
the motor to half of the rotation (half-flow);
On indicates that the drive maintains the same current output as the rotation to the motor (full
flow) when the drive power-on pulse is stopped. In general use, SW4 should be set to off, so that
the heat generated by the motor and the driver is reduced, and the reliability is improved.

Drive working status LED indication
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5. Drive working status LED indication
LED status
Drive status
Green indicator is flickering
Drive working normally
One green indicator and one red indicator
Drive alarm

Common Faults and Troubleshooting
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6. Common Faults and Troubleshooting
Phenomenon
Possible situations
Solutions
Motor does not
work
Power indicator is off
Check the power supply circuit for normal
power supply
The motor rotor is locked but the motor
does not work
Pulse signal is weak; increase the signal
current to 7-16mA
The speed is too slow
Select the right micro-stepping
Drive is protected
Solve the alarm and re-power
Enable signal problem
Pull up or disconnect the enable signal
Command pulse is incorrect
Check whether the upper computer has pulse
output
The steering of
motor is wrong
The rotary direction of motor is reverse
Adjust the DIP SW5
The motor cable is disconnected
Check the connection
The motor has only one direction
Pulse mode error or DIR port damaged
Alarm
indicator is on
The motor connection is wrong
Check the motor connection
The motor connection and encoder
connection are wrong
Check the sequence of encoder connection
The voltage is too high or too low
Check the power supply
The position or
speed is wrong
The signal is disturbed
Eliminate interference for reliable grounding
The command input is incorrect
Check the upper computer instructions to
ensure the output is correct
The setting of Pulse per revolution is
wrong
Check the DIP switch status and correctly
connect the switches
Encoder signal is abnormal
Replace the motor and contact the
manufacturer
The drive
terminal
burned up
Short circuit between terminals
Check power polarity or external short circuit
Internal resistance between terminals is
too large
Check whether there is any solder ball due to
excessive addition of solder on the wire
connections
The motor is
out of tolerance
Acceleration and deceleration time is
too short
Reduce command acceleration or increase
drive filtering parameters
Motor torque is too low
Select the motor with high torque
The load is too heavy
Check the load weight and quality and adjust
the mechanical structure
The current of power supply is too low
Replace the appropriate power supply

Appendix A. Guarantee Clause
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Appendix A. Guarantee Clause
A.1 Warranty period: 12 months
We provide quality assurance for one year from the date of delivery and free maintenance
service for our products during the warranty period.
A.2 Exclude the following:
■Improper connection, such as the polarity of the power supply is reversed and insert/pull
the motor connection when the power supply is connected.
■Beyond electrical and environmental requirements.
■Change the internal device without permission.
A.3 Maintenance process
For maintenance of products, please follow the procedures shown below:
(1) Contact our customer service staff to get the rework permission.
(2) The written document of the drive failure phenomenon is attached to the goods, as well as
the contact information and mailing methods of the sender.