Just Motion Control 2DM860 User manual

2DM860
Digital Stepper Drive
Manual
Shenzhen Just Motion Control Electro-mechanics Co., Ltd
TEL:[phone]
FAX:[phone]
www.jmc-motion.com
Email:[e-mail]
Address: Floor2, Building A, Hongwei Industrial Zone No.6,
Liuxian 3rd Road, Shenzhen. China

Shenzhen Just Motion Control Electro-mechanics Co., Ltd 0755-26509689
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Thanks for selecting JMC stepper motor driver. We
hope that the superior performance, outstanding quality,
excellent cost performance of our product can help you
accomplish your motion control project.
The content in this manual has been carefully
prepared and is believed to be accurate, but no
responsibility is assumed for inaccuracies.
All the contents of this manual, copyright is owned
by the Shenzhen JUST MOTION CONTROL
electromechanical Co., Ltd. Without JMC permission,
no unit or individual is allowed to copy.
Shenzhen Just Motion Control
Electro-mechanics Co., Ltd
Version
Editor
Verifier
V1.0
R&D
R&D

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Contents
1. Overview..........................................................................................- 4 -
2. Features ...........................................................................................- 4 -
3. Ports Introduction ..........................................................................- 5 -
3.1 ALM signal output ports........................................................- 5 -
3.2 Control Signal Input Ports .....................................................- 6 -
3.3 Power Interface Ports.............................................................- 7 -
4. Technological Index........................................................................- 8 -
5. Connections to Control Signal.......................................................- 9 -
5.1 Connections to Common Anode............................................- 9 -
5.2 Connections to Common Cathode.......................................- 10 -
5.3 Connections to Differential Signal ......................................- 10 -
5.4 Connections to 232 Serial Communication Interface..........- 12 -
5.5 Sequence Chart of Control Signals......................................- 12 -
6. DIP Switch Setting........................................................................ - 13 -
6.1 Activate Edge Setting..........................................................- 13 -
6.2 Running Direction Setting...................................................- 14 -
6.3 Micro steps Setting..............................................................- 14 -
7. Faults alarm and LED flicker frequency.................................... - 15 -
8. Appearance and Installation Dimensions...................................- 17 -
9. Typical Connection.......................................................................- 17 -
10. Parameter Setting.......................................................................- 19 -
11. Processing Methods to Common Problems and Faults...........- 24 -
11.1 Power on power light off...................................................- 24 -
11.2 Power on red alarm light on...............................................- 24 -
11.3 After input pulse signal but the motor not running............- 25 -

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1. Overview
The 2DM860 is a two phase digital stepper driver based on
DSP. Its Micro step resolutions and output current are
programmable. And it has advanced control algorithm, which
can brings a unique level of system smoothness, provides
optimum torque and mid-range instability. The control
algorithm of Multi-Stepping can make stepper motor has smooth
system performance. The control algorithm of torque
compensation can improve the torque of motor in the high speed.
The control algorithm of motor self-test and parameter
auto-setup technology offers optimum responses with different
motors and easy-to-use. The control algorithm of smoothness
can enhance the acceleration and deceleration of motor. Its
unique features make the 2DM860 to be an ideal solution for
applications.
2. Features
Parameter auto-setup and motor self-test
Multi-Stepping inside
Small noise, low heating, smooth movement
Torque compensation in high speed
Variable current control technology, High current efficiency
Accelerate and decelerate control inside, Great improvement in
smoothness of starting or stopping the motor

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Support PUL/DIR and CW/CCW modes
Storage the position of motor
Optically isolated input and compatible with 5V or 24V
User-defined micro steps
Microstep resolutions and Output current programmable
Over current, over voltage and low voltage protection
Green light means running while red light means protection or
off line
3. Ports Introduction
3.1 ALM signal output ports
1
2
Port
Symbol
Name
Remark
1
ALM+
Alarm output +
+
-
2
ALM-
Alarm output -

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3.2 Control Signal Input Ports
5
6
1
2
3
4
Port
Symbol
Name
Remark
1
DIR-
Direction signal-
Compatible with
5V or 24V
2
DIR+
Direction signal+
3
PLS-
Pulse signal -
Compatible with
5V or 24V
4
PLS+
Pulse signal +
5
ENA-
Enable signal -
Compatible with
5V or 24V
6
ENA+
Enable signal +

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3.3 Power Interface Ports
5
6
1
2
3
4
Port
Identification
Symbol
Name
Remark
1
Motor Phase
Wire Input Ports
A+
Phase A+
Motor Phase A
2
A-
Phase A-
3
B+
Phase B+
Motor Phase B
4
B-
Phase B-
5
Power Input
Ports
VCC
Input Power +
AC24V-80V
DC30V-110V
6
GND
Input Power-

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4. Technological Index
Input Voltage
24~80VAC
30~110VDC
Output Current
7.5A
Pulse Frequency max
200K
Communication rate
57.6Kbps
Protection
Over current peak value 12A±10%
Over voltage value 130V
The over position error range can be
set through the HISU
Overall Dimensions（mm）
150×97.5×53
Weight
Approximate 580g
Environment
Specifications
Environment
Avoid dust, oil fog and corrosive gases
Operating
Temperature
+70℃Max
Storage
Temperature
-20℃~+80℃
Humidity
40~90%RH
Cooling
method
Natural cooling or forced air cooling

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5. Connections to Control Signal
5.1 Connections to Common Anode
270
270
270
VCC
2HSS57-KH
驱动器
控制器
脉冲信号
方向信号
使能信号
R
R
R
PUL+
PUL-
DIR+
DIR-
ENA+
ENA-
ALM+
ALM-
VCC
R1
Remark:
VCC is compatible with 5V or 24V;
R(3~5K) must be connected to control signal terminal.

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5.2 Connections to Common Cathode
R1
270
270
270
2HSS57-KH
驱动器
控制器
脉冲信号
方向信号
使能信号
PUL+
PUL-
DIR+
DIR-
ENA+
ENA-
ALM-
VCC
VCC
VCC
R
R
R
ALM+
VCC
Remark:
VCC is compatible with 5V or 24V;
R(3~5K) must be connected to control signal terminal.
5.3 Connections to Differential Signal

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Controller 2DM860
Driver
PUL+
PUL-
DIR+
DIR-
ENA+
ENA-
Pulse
Signal
Direction
Signal
Enable
Signal VCC
ALM-
ALM+
R1
Remark:
VCC is compatible with 5V or 24V;
R(3~5K) must be connected to control signal terminal.

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5.4 Connections to 232 Serial Communication Interface
PIN1 PIN6
PIN1 PIN6
Crystal Head
foot
Definition
Remark
1
TXD
Transmit Data
2
RXD
Receive Data
4
+5V
Power Supply to HISU
6
GND
Power Ground
5.5 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:

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PUL
DIR
ENA
PUL/DIR
t3 t4 t5>5μsHigh level > 3.5V
Low level > 3.5V
High level > 3.5V
t2>6μs
Low level > 3.5V
t1>5μs
Remark:
a. t1: ENA must be ahead of DIR by at least 5μs. Usually, ENA+ and
ENA- are NC (not connected).
b. t2: DIR must be ahead of PUL active edge by 6μs to ensure correct
direction;
c. t3: Pulse width not less than 2.5μs;
d. t4: Low level width not less than 2.5μs.
6. DIP Switch Setting
6.1 Current Setting
The current setting is in the following table.

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Dial switch
Current
SW1
SW2
SW3
Peak
RMS
2.1A
1.5A
0
0
0
3.15A
2.25A
1
0
0
4.03A
2.88A
0
1
0
4.78A
3.42A
1
1
0
5.69A
4.06A
0
0
1
6.44A
4.60A
1
0
1
7.35A
5.25A
0
1
1
8.4A
6.0A
1
1
1
6.2 Standstill current Setting
SW4 is used for setting the standstill current , “off”means the
standstill current is set to be half of the selected dynamic current or other
current, which can be set by the HISU, the details can be seen in the tenth
sections. while “on”means the standstill current is set to be the same as
the selected dynamic current.
6.3 Micro steps Setting
The micro steps setting is in the following table. And the micro steps
can be also setting through the HISU. The details can be seen in the tenth

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sections.
Dial switch
Micro steps
SW5
SW6
SW7
SW8
400
1
1
1
1
800
0
1
1
1
1600
1
0
1
1
3200
0
0
1
1
6400
1
1
0
1
12800
0
1
0
1
25600
1
0
0
1
51200
0
0
0
1
1000
1
1
1
0
2000
0
1
1
0
4000
1
0
1
0
5000
0
0
1
0
8000
1
1
0
0
10000
0
1
0
0
20000
1
0
0
0
40000
0
0
0
0
7. Faults alarm and LED flicker frequency

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0.8s 2s
Red Alarm LED Flash Time Interval
Flicker
Frequency
Description to the Faults
1
Error occurs when the motor coil current exceeds
the drive’s current limit.
2
Voltage reference error in the drive
3
Parameters upload error in the drive
4
Error occurs when the input voltage exceeds the
drive’s voltage limit.

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8. Appearance and Installation Dimensions
9. Typical Connection
Here is the typical connection of 2DM860.

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M
2DM860
Drive
Controller
Pulse
Signal
Direction
Signal
Enable
Signal
VCC PUL+
PUL-
DIR+
DIR-
ENA+
ENA-
Red
Blue
Grenn
Black
A+
A-
B+
B-
VAC
24~48V
AC1
AC2
ALM+
ALM-
VCC
R

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10. Parameter Setting
The parameter setting method of 2DM860 drive is to use a HISU
adjuster through the 232 serial communication ports, only in this way
we can set the parameters we want. There are a set of best default
parameters to the corresponding motor which are carefully adjusted by
our engineers, users only need refer to the following table, specific
condition and set the correct parameters.
Actual value = Set value ×the corresponding dimension
Mode
Definition
Range
Dime-
nsion
Drive
Restart
Default
Value
P1
Current loop Kp
0—4000
1
Y
4000
P2
Current loop Ki
0—1000
1
Y
100
P3
Damping coefficient
0—500
1
N
100
P4
Amplitude of first
resonance point
0—100
1
N
0
P5
Phase of first
resonance point
0—100
1
N
0
P6
Amplitude of
second resonance
point
0—100
1
N
0
P7
Phase of second
resonance point
0—100
1
N
0
P8
Anti-resonance
coefficient
0—100
1
N
0
P9
Reserved
P10
Enable signal level
0—1
1
N
1
P11
Edge of the pulse
0—1
1
N
1

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P12
Reserved
P13
Command Type
0—1
1
N
0
P14
User-defined micro
steps
4—1000
50
Y
0
P15
Time of standstill
current
0—4000
1ms
Y
1000
P16
Percentage of
standstill current
0—100
1
Y
50
P17
Speed smoothness
0—10
1
Y
0
P18
Enable of position
memory
0—1
1
Y
0
P19
User-defined
resistance of motor
0—100
mh
Y
0
P20
User-defined
inductance of motor
0—100
0.1Ohm
Y
0
P21
Result of position
memory
0—128
1
0
P22
Time of enable
position memory
0—100
1s
Y
5
There are total 22 parameter configurations, use the HISU to download
the configured parameters to the drive, the detail descriptions to every
parameter configuration are as follows:
Item
Description
Current loop Kp
Increase Kp to make current rise fast. Proportional
Gain determines the response of the drive to setting