Cloudray DM Series User manual

DM860S USER MANUAL
DM860S
USER MANUAL

DM860S USER MANUAL
www.cloudraymotor.com
Contents
1. Product Overview............................................................................................................................................1
2.Application Environment and Installation....................................................................................................... 1
2.1Environmental requirement...................................................................................................................... 1
2.2Drive installation dimensions.....................................................................................................................2
3.Drive Port and Connection...............................................................................................................................3
3.1Port function description........................................................................................................................... 3
3.2 Power supply input................................................................................................................................. 3
3.3 Motor connection................................................................................................................................. 4
3.4 Control signal connection........................................................................................................................ 5
3.4.1 IN Port: connection for pulse command...........................................................................................5
3. 4.2 ENA port: enable/disable................................................................................................................. 5
3. 4.3Examples for control signal connection.............................................................................................6
4.The setting of DIP switches and operating parameters...................................................................................7
4.1The setting of current................................................................................................................................ 7
4.2 The setting of pulse per revolution...........................................................................................................8
4.3Motor direction selection.......................................................................................................................... 8
4.4Pulse filtering function selection............................................................................................................... 8
4.5Pulse mode selection................................................................................................................................. 9
4.6Open/closed loop selection....................................................................................................................... 9
5.Drive working status LED indication................................................................................................................ 9
6. Common Faults and Troubleshooting...........................................................................................................10
Appendix A. Guarantee Clause......................................................................................................................... 11

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1. Product Overview
Thank you for choosing Cloudray DM series digital step servo 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.
DM860S-IO type switch stepper drive is provided with the pulse train with S-shape acceleration/deceleration,
and triggers the motor start-stop only by normal switching value..
Power supply
24 – 100VDC or 18-80V AC, 48V or 60V AC recommended
Output Current
Up to 7.2 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
Direction & pulse, CW/CCW double pulse, A/B orthogonal pulse
Pulse filtering
250MHz digital signal processing filter
Neutral current
Automatically halve the current after the motor stopping
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.
2. Application Environment and Installation
2.1 Environmental requirement
Item
Cloudray DM860S

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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
2.2 Drive installation dimensions
151
37.5
5297
2.3 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

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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.
3. Drive Port and Connection
3.1 Port function description
Function
Grade
Definition
Remarks
Power supply input port
AC
Input AC power supply
AC 20~80V
DC 24~100V
AC
Input AC 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 AC
20~80V ,DC 24~100V. The AC power supply voltage should not exceed 80VAC. Do not directly connect to 220VAC
mains! ! !
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

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4-wire motor
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:
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 DM860S-IO 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.
There is only one connection mode for 4 leads motor.
8-wire series
8-wire parallel
6-wire series
6-wire center shaft head

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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 IN 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 DM860S drive can be used: 3.3V-24V (no need to connect resistor)
脉冲&方向（PUL + DIR）
双脉冲（CW +CCW）
正交脉冲（A/B 正交脉冲）
3. 4.2 ENA port: enable/disable
When the default optocoupler is off, the drive outputs the current to the motor. When the internal optocoupler
is on, the drive will cut off the current of each phase of the motor so that the motor is in a free state, and the
stepper pulse can not be responded.
When the motor is in the wrong state, ，the drive can be restarted by ENA input。The existing fault should be

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cleared at first. Then input a trailing edge signal to ENA terminal. After that, the drive can be excitation again
and running.
The level logic of the enable signal can be set to the opposite. The logic is opposite with above mentioned.
3. 4.3 Examples for control signal connection
Common Anode
Common Cathode
Difference

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4. The setting of DIP switches and operating parameters
The setting of current Semi / Full current option The setting of pulse per revolution
4.1 The setting of current
Peak Current
Average Current
SW1
SW2
SW3
Remarks
2.4A
2.0A
on
on
on
Other Current
can be
custom-made
.
3.1A
2.6A
off
on
on
3.8A
3.1A
on
off
on
4.5A
3.7A
off
off
on
5.2A
4.3A
on
on
off
5.8A
4.9A
off
on
off
6.5A
5.4A
on
off
off
7.2A
6.0A
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

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4.2 The setting of pulse per revolution
Stepping
count/revolution
SW5
SW6
SW7
SW8
Remarks
400
on
on
on
on
Other subdivision can be custom-made
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
DIP SW5, SW6, SW7, SW8 are used to set the speed when the motor is triggered. Built-in S-type acceleration and
deceleration.
When the switch is closed, the motor accelerates to the set speed.
When the switch is off, the motor decelerates and stops.
4.3 Motor direction selection
DIP SW5 is used to set the running direction of the motor under the initial pulse.
The “off”means that the motor direction is counterclockwise when inputting the initial pulse;
The “on”means that the motor direction is clockwise when inputting the initial pulse.
※The initial pulse is the testing pulse used when developing the drive software; Please refer to the actual
running direction of the motor.
4.4 Pulse filtering function selection
DIP SW6 is used to set the pulse filtering function of drive.
The “off”means the pulse filtering function is off;
The “on”means the pulse filtering function is on.
※The pulse filtering function is the filtering action by the drive upon the input commands. When the filtering
function is on, the drive will smoothen the input pulse command to make the acceleration and deceleration of
motor softer, but this will also cause certain delay of the pulse command.

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Filtering time setting: The default time of filtering function is 6.4ms, and the software can change the time below
the 25.6ms.
4.5 Pulse mode selection
DIP SW7 is used to set the pulse command mode of drives.
The “off”means pulse + direction (single pulse) mode; the “on”means double pulse mode.
※When you need to set the drive pulse mode to A/B orthogonal pulse mode, set the pulse mode check
function to A/B orthogonal pulse mode in the testing software and turn on SW7.
4.6 Open/closed loop selection
DIP SW8 is used to set the drive control mode.
The “off”means the closed loop control mode;
The “on”means the open loop control mode.
※
※The above parameters are set for the DIP switches;For other parameters, please refer to Appendix A:
Application Instructions for Testing Software
5. Drive working status LED indication
LED status
Drive status
Green indicator is on for long time
Drive not enabled
Green indicator is flickering
Drive working normally
One green indicator and one red indicator
Drive overcurrent
One green indicator and two red indicators
Drive input power overvoltage
One green indicator and three red indicators
The internal voltage of the drive is wrong
One green and four red indicators
Tracking error exceeds limits
One green and five red indicators
Encoder phase error

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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

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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
A.1 Warranty period: 18 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.
Mailing address:
Post code:
Tel.: