Kalatec Automacao 2DM860H Release note

DIGITAL STEPPER DRIVER
MANUAL 2DM860H
WWW.KALATEC.COM.BR

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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
V3.22 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........................................................... - 8 -
5.1 Connections to Common Anode.............................................- 8 -
5.2 Connections to Common Cathode.......................................... - 9 -
5.3 Connections to Differential Signal........................................- 10 -
5.4 Connections to 232 Serial Communication Interface...........- 11 -
5.5 Sequence Chart of Control Signals....................................... - 11 -
6. DIP Switch Setting........................................................................... - 12 -
6.1 Current Setting........................................................ - 13 -
6.2 Standstill current Setting.........................................- 14 -
6.3 Micro steps Setting................................................. - 14 -
6.4 Function Setting...................................................... - 15 -
6.5 Smoothmess Setting................................................- 15 -
7. Faults alarm and LED flicker frequency..........................................- 16 -
8. Appearance and Installation Dimensions.........................................- 17 -
9. Typical Connection.......................................................................... - 18 -
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 2DM860H 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 2DM860H 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
Port Symbol Name Remark
1 ALM+ Alarm output +
2 ALM- Alarm output -

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3.2 Control Signal Input Ports
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
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
6GND 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
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
Remark:
VCC is compatible with 5V or 24V;
R(3~5K) must be connected to control signal terminal.

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5.3 Connections to Differential Signal
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
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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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

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6.4 Function Setting
SW4 ON Low Lever For Enable
OFF High Lever For Enable
SW3
ON
Max External Pulse
Frequency Of 100K
OFF
Max External Pulse
Frequency Of 200K
SW2 ON
Double pulse mode（CW/CCW）
OFF
Single pulse mode（PUL+DIR）
SW1 ON
Self-test mode (60 r/ min)
OFF External pulse mode
6.5 Smoothmess Setting
D0 No smooth parameters
D1-D7
Pulse smoothing coefficient, this
effect is gradually increasing

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7. Faults alarm and LED flicker frequency
Flicker
Frequency
Description to the Faults
1Error occurs when the motor coil current exceeds
the drive’s current limit.
2Voltage reference error in the drive
3Parameters upload error in the drive
4Error occurs when the input voltage exceeds the
drive’s voltage limit.

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8. Appearance and Installation Dimensions

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9. Typical Connection
Here is the typical connection of 2DM860H.

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10. Parameter Setting
The parameter setting method of 2DM860H 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 500
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