Leadshine Technology MA860C User manual

User’s Manual
For
MA860C
Fully Digital Stepper Drive
Version 1.0
©2016 All Rights Reserved
Attention: Please read this manual carefully before using the drive!
11/F, BuildingA3, Nanshan ipark,NO.1001 Xueyuan Blvd, Nanshan Dist, Shenzhen, China
T: (86)755-26409254 F: (86)755-26402718
Web site: www.leadshine.com E-Mail: [e-mail]

Leadshine reserves the right to make changes without further notice to any products herein to improve reliability, function or design.
Leadshine does not assume any liability arising out of the application or use of any product or circuit described herein; neither does it
convey any license under its patent rights of others.
Leadshine’s general policy does not recommend the use of its products in life support or aircraft applications wherein a failure or
malfunction of the product may directly threaten life or injury. According to Leadshine’s terms and conditions of sales, the user of
Leadshine’s products in life support or aircraft applications assumes all risks of such use and indemnifies Leadshine against all damages.
©2016 by Leadshine Technology Company Limited.
All Rights Reserved

Contents
I
Table of Contents
1 Introductions................................................................................................................................................................1
1.1 Features...............................................................................................................................................................1
1.2 Applications ........................................................................................................................................................1
2. Specifications...............................................................................................................................................................1
2.1 Electrical Specifications .....................................................................................................................................1
2.2 Operating Environment and other Specifications ...............................................................................................2
2.3 Mechanical Specifications ..................................................................................................................................2
2.4 Elimination of Heating .......................................................................................................................................2
3 Pin Assignment and Description.................................................................................................................................3
3.1 Connector P1 Configurations..............................................................................................................................3
3.2 Selecting Internal Microstep and Control Signal Mode......................................................................................3
3.3 Connector P2 Configurations..............................................................................................................................3
4 Wiring...........................................................................................................................................................................4
4.1 Control Signal Connector (P1) Interface ............................................................................................................4
4.2 Connections of 4-lead Motor ..............................................................................................................................4
4.3 Connections of 6-lead Motor ..............................................................................................................................4
4.3.1 Half Coil Configurations .........................................................................................................................4
4.3.2 Full Coil Configurations ..........................................................................................................................5
4.4 Connections of 8-lead Motor ..............................................................................................................................5
4.4.1 Series Connections...................................................................................................................................5
4.4.2 Parallel Connections ................................................................................................................................5
4.5 Power Supply Selection......................................................................................................................................6
4.5.1 Regulated or Unregulated Power Supply.................................................................................................6
4.5.2 Multiple Drives........................................................................................................................................6
4.5.3 Selecting Supply Voltage .........................................................................................................................6
4.6 Wiring Notes.......................................................................................................................................................6
5 Selecting Microstep Resolution and drive Output Current.....................................................................................7
5.1 Microstep Resolution Selection..........................................................................................................................7
5.2 Current Settings ..................................................................................................................................................7
5.2.1 Dynamic Current Setting .........................................................................................................................8
5.2.2 Standstill Current Setting.........................................................................................................................8
5.3 Motor auto-identification and parameter auto-configuration..............................................................................8
6 Typical Connection......................................................................................................................................................8
7 Sequence Chart of Control Signals ............................................................................................................................9
8 Protection Functions....................................................................................................................................................9
9 FrequentlyAsked Questions.....................................................................................................................................10
9.1 Problem Symptoms and Possible Causes .........................................................................................................10
APPENDIX .................................................................................................................................................................... 11
Twelve Month Limited Warranty............................................................................................................................ 11
Exclusions............................................................................................................................................................... 11
Obtaining Warranty Service.................................................................................................................................... 11
Warranty Limitations .............................................................................................................................................. 11
Contact Us ......................................................................................................................................................................12

MA860C Full Digital Stepper Drive Manual V1.0
1 Introductions
The MA860C is a fully digital stepper drive developed with advanced DSP control algorithm based on the latest
motion control technology. It has achieved a unique level of system smoothness, providing optimal torque and nulls
mid-range instability. Its motor auto-identification and parameter auto-configuration feature offers quick setup to
optimal modes with different motors. Compared with traditional analog drives, MA860C can drive a stepper motor at
much lower noise, lower heating, and smoother movement. Its unique features make MA860C an ideal choice for high
requirement applications.
1.1 Features
Anti-Resonance provides optimal torque and nulls mid-range instability
Motor auto-identification and parameter auto-configuration when power on, offer optimal responses with different
motors
Multi-Stepping allows a low resolution step input to produce a higher microstep output, thus offers smoother
motor movement
16 selectable microstep resolutions including 400, 800, 1600, 3200, 6400, 12800, 25600, 51200, 1000, 2000, 4000,
5000, 8000, 10000, 20000, 40000
Soft-start with no “jump” when powered on
Input voltage 18-80VAC or 30-100VDC
8 selectable peak current including 2.40A, 3.08A, 3.77A, 4.45A, 5.14A, 5.83A, 6.52A, 7.20A
Pulse input frequency up to 200 KHz, TTL compatible and optically isolated input
Automatic idle-current reduction
Suitable for 2-phase and 4-phase motors
Support PUL/DIR and CW/CCW modes
Over-voltage, over-current protections
1.2 Applications
Suitable for a wide range of stepping motors, size from NEMA24 to 34. It can be used in various kinds of machines,
such as X-Y tables, engraving machines, labeling machines, laser cutters, pick-place devices, and so on. Particularly
adapt to the applications desired with low noise, low heating, high speed and high precision.
2. Specifications
2.1 Electrical Specifications
(Tj= 25℃/77℉)
Parameters MA860C
Min Typical Max Unit
Output Peak Current 2.4 - 7.2 A
Input Voltage 18(30) 70(90) 80(100) VA C ( V D C)
Logic Signal Current 7 10 16 mA
Pulse input frequency 0 - 200 kHz
Pulse Width 2.5 - - uS
Isolation resistance 100 MΩ

MA860C Full Digital Stepper Drive Manual V1.0
2.2 Operating Environment and other Specifications
Cooling Natural Cooling or Forced cooling
Operating Environment
Environment Avoid dust, oil fog and corrosive gases
Ambient Temperature 0℃－65℃
Humidity 40%RH －90%RH
Operating Temperature -10℃－45℃
Vibration 5.9m/s2 Max
Storage Temperature -20℃－65℃
Weight Approx. 430g (15.2oz)
2.3 Mechanical Specifications
(unit: mm [1inch=25.4mm])
*Recommend use side mounting for better heat dissipation
2.4 Elimination of Heating
Drive’s reliable working temperature should be <45℃(113℉), and motor working temperature should be
<80℃(176℉);
It is recommended to use automatic idle-current mode, namely current automatically reduce to 50% when motor
stops, so as to reduce drive heating and motor heating;
It is recommended to mount the drive vertically to maximize heat sink area. Use forced cooling method to cool
the system if necessary.
112
4-Ф3.5
97
25.3
47.8
Figure 1: Mechanical specifications
151
112
42.5
22.5
4.5
Fan
57

MA860C Full Digital Stepper Drive Manual V1.0
3 PinAssignment and Description
The MA860C has two connectors, connector P1 for control signals connections, and connector P2 for power and motor
connections. The following tables are brief descriptions of the two connectors. More detailed descriptions of the pins
and related issues are presented in section 4, 5, 9.
3.1 Connector P1 Configurations
Pin Function Details
DIR-
DIR signal: In single-pulse mode, this signal has low/high voltage levels, representing two
directions of motor rotation; in CW/CCW mode (set by inside jumper CN6), this signal is
counter-clock (CCW) pulse. For reliable motion response, DIR signal should be ahead of PUL
signal by 5μs at least. 4-5V when DIR-HIGH, 0-0.5V when DIR-LOW. Please note that
rotation direction is also related to motor-drive wiring match. Exchanging the connection of
two wires for a coil to the drive will reverse motion direction.
DIR+
PUL- Pulse signal: In single pulse (pulse/direction) mode, this input represents pulse signal, each
rising edge active ; 4-5V when PUL-HIGH, 0-0.5V when PUL-LOW. In CCW mode (set by
inside jumper CN6), this input represents clockwise (CW) pulse. For reliable response, pulse
width should be longer than 2.5μs.
PUL+
ENA- Enable signal: This signal is used for enabling/disabling the drive. By default,it is usually left
UNCONNECTED (ENABLED). It is an optocoupler isolated input that accepts a 5-24V(1K
for +12V, 2k for +24V) single-ended or differential signal. When the optocoupler is turned-on,
the drive is deactivated. All the pulses will shut down, and the motor will be free. When the
optocoupler input is turned-off, the drive is activated.
ENA+
3.2 Selecting Internal Microstep and Control Signal Mode
There are two jumpers CN6 and CN7 inside the MA860C specifically for selecting control mode and enable internal
microstep , as shown in figure 2. Default setting are PUL/DIR mode and enable internal microstep . (Note: a short
circuit jumper.is in reserve )
(a)CN6,CN7opencircuit (b)CN7opencircuit,CN6shortcircuit
PUL/DIR mode and Enable internal microstep CW/CCW mode and Enable internal microstep
(c)CN7shortcircuit,CN6opencircuit (d)CN6,CN7shortcircuit
PUL/DIR mode and Disable internal microstep CW/CCW mode and Disable internal microstep
Figure 2:CN6 and CN7 jumper Settings
3.3 Connector P2 Configurations
Pin Function Details
A+, A- Motor Phase A
B+, B- Motor Phase B
AC,AC Power supply, 18~80VAC, Including voltage fluctuation and EMF voltage.

MA860C Full Digital Stepper Drive Manual V1.0
4 Wiring
4.1 Control Signal Connector (P1) Interface
The MA860C can accept differential and single-ended inputs (including open-collector and PNP output). The MA860C
has 3 optically isolated logic inputs which are located on connector P1 to accept line drive control signals. These inputs
are isolated to minimize or eliminate electrical noises coupled onto the drive control signals. Recommend use line
drive control signals to increase noise immunity of the drive in interference environments. In the following figures,
connections to open-collector and PNP signals are illustrated(Wiring according to the correct order of P1 interface).
Figure 3: Connections to open-collector Figure 4: Connection to PNP signal (common-cathode)
signal(common-anode)
4.2 Connections of 4-lead Motor
4 lead motors are the least flexible but easiest to wire. Speed and torque will depend on winding inductance. In setting
the drive output current, multiply the specified phase current by 1.4 to determine the peak output current.
Figure 5: 4-lead Motor Connections
4.3 Connections of 6-lead Motor
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.
4.3.1 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. In setting the drive output current multiply the specified
per phase (or unipolar) current rating by 1.4 to determine the peak output current.
Drive
Controller
VCC
PUL-
PUL+
ENA-
PUL
DIR
ENABLE
DIR-
DIR+
ENA+
Drive
Controller
VCC PUL-
PUL+
ENA-
PUL
DIR
ENABLE
DIR-
DIR+
ENA+

MA860C Full Digital Stepper Drive Manual V1.0
Figure 6: 6-lead motor half coil (higher speed) connections
4.3.2 Full Coil Configurations
The full coil configuration on a six lead motor should be used in applications where higher torque at lower speeds is
desired. This configuration is also referred to as full copper. In full coil mode, the motors should be run at only 70% of
their rated current to prevent over heating.
Figure 7: 6-lead motor full coil (higher torque) connections
4.4 Connections of 8-lead Motor
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.
4.4.1 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 over heating.
Figure 8: 8-lead motor series connections
4.4.2 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. Multiply the per phase (or unipolar) current rating by
1.96, or the bipolar current rating by 1.4, to determine the peak output current.
Figure 9: 8-lead motor parallel connections

MA860C Full Digital Stepper Drive Manual V1.0
4.5 Power Supply Selection
The MA860C can match medium and small size stepping motors (frame size from NEMA24 to 34) made by Leadshine
or other motor manufactures around the world. To achieve good driving performances, it is important to select supply
voltage and output current properly. Generally speaking, 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.
4.5.1 Regulated or Unregulated Power Supply
Both AC (18~80VAC)and DC (30~100VDC)power supplies can be used to supply the drive. However, AC power are
preferred due to it can provide more power and higher torque to the motor under the same cost. But if the AC mains
supply fluctuates greatly, it’s better to connect an AC voltage stabilizer between AC power and transformer. It’s also
can use DC power supplies include regulated power supplies (such as most switching supplies.) and unregulated power
supplies. When using regulated power supplies, it is important to have large current output rating to avoid problems
like current clamp, for example using 4A supply for 3A motor-drive operation. 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 drive draws current from the power supply capacitor of the unregulated supply only
during the ON duration of the PWM cycle, but not during the OFF duration. Therefore, the average current withdrawn
from power supply is considerably less than motor current. For example, two 3A motors can be well supplied by one
power supply of 4A rating.
4.5.2 Multiple Drives
It is recommended to have multiple drives 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 drives. (Instead, please connect
them to power supply separately.)
4.5.3 Selecting Supply Voltage
The power MOSFETS inside the MA860C can actually operate within +30-100VDC, including power input
fluctuation and back EMF voltage generated by motor coils during motor shaft deceleration. Higher supply voltage can
increase motor torque at higher speeds, thus helpful for avoiding losing steps. However, higher voltage may cause
bigger motor vibration at lower speed, and it may also cause over-voltage protection or even drive damage. Therefore,
it is suggested to choose only sufficiently high supply voltage for intended applications, and it is suggested to use
power supplies with theoretical output voltage of 36~70VAC or 50~90VDC, leaving room for power fluctuation and
back-EMF.
4.6 Wiring Notes
In order to improve anti-interference performance of the drive, it is recommended to use twisted pair shield cable.
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 drives, separately connecting the drives is recommended instead of
daisy-chaining.

MA860C Full Digital Stepper Drive Manual V1.0
It is prohibited to pull and plug connector P2 while the drive 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 drive.
5 Selecting Microstep Resolution and drive Output Current
This drive uses an 8-bit DIP switch to set microstep resolution, and motor operating current, as shown below:
5.1 Microstep Resolution Selection
Microstep resolution is set by SW5, 6, 7, 8 of the DIP switch as shown in the following table:
Microstep Steps/rev.(for 1.8°motor) SW5 SW6 SW7 SW8
2 400 ON ON ON ON
4 800 OFF ON ON ON
8 1600 ON OFF ON ON
16 3200 OFF OFF ON ON
32 6400 ON ON OFF ON
64 12800 OFF ON OFF ON
128 25600 ON OFF OFF ON
256 51200 OFF OFF OFF OFF
5 1000 ON ON ON OFF
10 2000 OFF ON ON OFF
20 4000 ON OFF ON OFF
25 5000 OFF OFF ON OFF
40 8000 ON ON OFF OFF
50 10000 OFF ON OFF OFF
100 20000 ON OFF OFF OFF
200 40000 OFF OFF OFF OFF
5.2 Current Settings
For a given motor, higher drive current will make the motor to output more torque, but at the same time causes more
heating in the motor and drive. Therefore, output current is generally set to be such that the motor will not overheat for
long time operation. Since parallel and serial connections of motor coils will significantly change resulting inductance
and resistance, it is therefore important to set drive output current depending on motor phase current, motor leads and
connection methods. Phase current rating supplied by motor manufacturer is important in selecting drive current,
however the selection also depends on leads and connections.
The first three bits (SW1, 2, 3) of the DIP switch are used to set the dynamic current. Select a setting closest to your
motor’s required current.

MA860C Full Digital Stepper Drive Manual V1.0
5.2.1 Dynamic Current Setting
Peak Current RMS Current SW1 SW2 SW3
2.40A 1.70A ON ON ON
3.08A 2.18A OFF ON ON
3.77A 2.67A ON OFF ON
4.45A 3.15A OFF OFF ON
5.14A 3.64A ON ON OFF
5.83A 4.12A OFF ON OFF
6.52A 4.61A ON OFF OFF
7.20A 5.09A OFF OFF OFF
Notes: Due to motor inductance, the actual current in the coil may be smaller than the dynamic current setting,
particularly under high speed condition.
5.2.2 Standstill Current Setting
SW4 is used for this purpose. OFF meaning that the standstill current is set to be half of the selected dynamic current,
and ON meaning that standstill current is set to be the same as the selected dynamic current.
The current automatically reduced to 50% of the selected dynamic current one second after the last pulse. If the
application needs a different standstill current, please contact Leadshine.
5.3 Motor auto-identification and parameter auto-configuration
The drive will operate the function of motor auto-identification and parameter auto-configuration when power on, and
calculate the optimal parameter using for current control after this processing,, then the stepper motor can output
optimal torque.
6 Typical Connection
A complete stepping system should include stepping motor, stepping drive, power supply and controller (pulse
generator). A typical connection is shown as figure 10.
Figure 10: Typical connection

MA860C Full Digital Stepper Drive Manual V1.0
7 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:
Figure 11: Sequence chart of control signals
Remark:
a) t1: ENA must be ahead of DIR by at least 5s. Usually, ENA+ and ENA- are NC (not connected). See
“Connector P1 Configurations” for more information.
b) t2: DIR must be ahead of PUL effective edge by 5s to ensure correct direction;
c) t3: Pulse width not less than 2.5s;
d) t4: Low level width not less than 2.5s.
8 Protection Functions
To improve reliability, the drive incorporates some built-in protections features.
Priority Time(s) of
Blink Sequence wave of red LED Description
1st 1
Over-current protection activated when peak
current exceeds the limit.
2nd 2
Over-voltage protection activated when drive
working voltage is greater than 113VAC
When above protections are active, the motor shaft will be free or the red LED blinks. Reset the drive by repowering it
to make it function properly after removing above problems.

MA860C Full Digital Stepper Drive Manual V1.0
9 Frequently Asked Questions
In the event that your drive 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.
9.1 Problem Symptoms and Possible Causes
Symptoms Possible Problems
Motor is not rotating
No power
Microstep resolution setting is wrong
DIP switch current setting is wrong
Fault condition exists
The drive is disabled
Motor rotates in the wrong direction Motor phases may be connected in reverse
The drive in fault DIP switch current setting is wrong
Something wrong with motor coil
Erratic motor motion
Control signal is too weak
Control signal is interfered
Wrong motor connection
Something wrong with motor coil
Current setting is too small, losing steps
Motor stalls during acceleration
Current setting is too small
Motor is undersized for the application
Acceleration is set too high
Power supply voltage too low
Excessive motor and drive heating
Inadequate heat sinking / cooling
Automatic current reduction function not being utilized
Current is set too high

MA860C Full Digital Stepper Drive Manual V1.0
APPENDIX
Twelve Month Limited Warranty
Leadshine Technology Co., Ltd. warrants its products against defects in materials and workmanship for a period of 12 months from
shipment out of factory. During the warranty period, Leadshine will either, at its option, repair or replace products which proved to be
defective.
Exclusions
The above warranty does not extend to any product damaged by reasons of improper or inadequate handlings by customer, improper or
inadequate customer wirings, unauthorized modification or misuse, or operation beyond the electrical specifications of the product and/or
operation beyond environmental specifications for the product.
ObtainingWarrantyService
To obtain warranty service, a returned material authorization number (RMA) must be obtained from customer service at e-mail:
[email protected] before returning product for service. Customer shall prepay shipping charges for products returned to Leadshine for
warranty service, and Leadshine shall pay for return of products to customer.
WarrantyLimitations
Leadshine makes no other warranty, either expressed or implied, with respect to the product. Leadshine specifically disclaims the implied
warranties of merchantability and fitness for a particular purpose. Some jurisdictions do not allow limitations on how long and implied
warranty lasts, so the above limitation or exclusion may not apply to you. However, any implied warranty of merchantability or fitness is
limited to the 12-month duration of this written warranty.
Shipping Failed Product
If your product fail during the warranty period, e-mail customer service at [e-mail] to obtain a returned material authorization
number (RMA) before returning product for service. Please include a written description of the problem along with contact name and
address. Send failed product to distributor in your area or: 11/F, Building A3 , Nanshan iPark, No.1001Xueyuan Blvd, Nanshan District
Shenzhen, China. Also enclose information regarding the circumstances prior to product failure.

MA860C Full Digital Stepper Drive Manual V1.0
Contact Us
China Headquarters
Address: 11/F, Building A3 , Nanshan iPark, No.1001Xueyuan Blvd, Nanshan District Shenzhen, China
Web: http://www.leadshine.com
Sales Hot Line:
Tel: [phone] (for All)
86-755-2641-7674 (for Asia, Australia, Africa areas)
86-755-2640-9254 (for Europe, America areas)
Fax: [phone]
Email: [email protected].
Technical Support:
Tel: [phone] and 86-755-2647-1129
Fax: [phone]
Email: [e-mail].
Leadshine U.S.A
Address: 25 Mauchly, Suite 318 Irvine, California 92618
Tel: [phone]
Fax: [phone]
Web: http://www.leadshineUSA.com
Email: [email protected] and [e-mail].
Leadshine Hong Kong
Address: Rm 3, 9/F, Block E, Wah Lok Industrial Center,31-41 Shan Mei St., Fo Tan, Shatin, Hong Kong
Tel: [phone]
Fax: [phone]
Email: [e-mail].