Leadshine DMA860E User manual

User Manual
DMA860E
2-Phase Digital Stepper Drive
Hardware Version 2.0
Manual Revision 1.0

DMA860E Digital Stepper Drive User Manual
Noce
Read this manual carefully before any assembling and using. Incorrect handling of products in this manual can result
in injury and damage to persons and machinery. Strictly adhere to the technical informaon regarding installaon
re uirements.
This manual is not for use or disclosure outside of Leadshine except under permission. All rights are reserved. No part
of this manual shall be reproduced, stored in retrieval form, or transmi'ed by any means, electronic, mechanical,
photocopying, recording, or otherwise without approval from Leadshine. While every precauon has been taken in
the preparaon of the book, Leadshine assumes no responsibility for errors or omissions. Neither is any liability
assumed for damages resulng from the use of the informaon contained herein.
This document is proprietary informaon of Leadshine that is furnished for customer use ONLY. Informaon in this
document is subject to change without noce and does not represent a commitment on the part of Leadshine.
Therefore, informaon contained in this manual may be updated from me-to-me due to product improvements,
etc., and may not conform in every respect to former issues.
Record of Revisions
Manual Revision Date Descripon of Release
1.0 Oct, 2021 Inial Release

DMA860E Digital Stepper Drive User Manual
Table of Contents
1. Introductions
...........................................................................................................................................................................................................................
1
1.1 Features
.........................................................................................................................................................................................................................
1
1.2 Applications
................................................................................................................................................................................................................
1
2. Specications
..........................................................................................................................................................................................................................
1
2.1 Electrical Specications
..........................................................................................................................................................................................
1
2.2 Environment
..............................................................................................................................................................................................................
2
2.3 Mec anical Specications
....................................................................................................................................................................................
2
2.4 Elimination of Heat
.................................................................................................................................................................................................
2
3. Connection Pin Assignments and LED Indication
......................................................................................................................................................
3
3.1 P1 - Control Connector
............................................................................................................................................................................................
3
3.2 P2 - Fault and Brake Output Connector
.............................................................................................................................................................
3
3.3 P3 - Motor and Power Supply Connector
..........................................................................................................................................................
4
3.4 P4 - Tuning Connector
...........................................................................................................................................................................................
4
3.5 LED Lig t Indication
...............................................................................................................................................................................................
4
4. Control Signal and Output Signal
....................................................................................................................................................................................
4
4.1 Control Signal Connection
....................................................................................................................................................................................
4
4.2 Fault and Brake Output Connection
...................................................................................................................................................................
5
5. Motor Connection................................................................................................................................................................................................................ 6
5.1 Connections of 4-lead Motor
................................................................................................................................................................................
6
5.2 Connections of 6-lead Motor
................................................................................................................................................................................
6
5.2.1 Half Coil Conguration
.............................................................................................................................................................................
6
5.2.2 Full Coil Conguration
.............................................................................................................................................................................
6
5.3 Connections of 8-lead Motor
................................................................................................................................................................................
7
5.3.1 Series Connection
.......................................................................................................................................................................................
7
5.3.2 Parallel Connection
....................................................................................................................................................................................
7
6. Power Supply Selection
.......................................................................................................................................................................................................
7
6.1 Regulated or Unregulated Power Supply
..........................................................................................................................................................
7
6.2 Power Supply S aring
.............................................................................................................................................................................................
8
6.3 Selecting Supply Voltage
.......................................................................................................................................................................................
8
7. DIP Switc Congurations
.................................................................................................................................................................................................
8
7.1 Microstep Resolution Congurations
...............................................................................................................................................................
8
7.2 Output Current Congurations
...........................................................................................................................................................................
9
7.2.1 Dynamic Current Congurations
..........................................................................................................................................................
9
7.2.2 Idle Current Conguration
.....................................................................................................................................................................
9
7.3 Control Mode Congurations
..............................................................................................................................................................................
9
7.4 Smoot ing Time Conguration
........................................................................................................................................................................
10
7.3 Automatic Motor Matc ing & Self Conguration
.......................................................................................................................................
10
8. Wiring Notes........................................................................................................................................................................................................................ 10
9. Typical Connection
............................................................................................................................................................................................................
10
10. Sequence C art of Control Signals
..............................................................................................................................................................................
11
11. Protection Functions
.........................................................................................................................................................................................................
11
12. Troubles ooting
................................................................................................................................................................................................................
12
13. Warranty
..............................................................................................................................................................................................................................
13
14. Contact Us
............................................................................................................................................................................................................................
13

DMA860E Digital Stepper Drive User Manual
Page | 1
1. Introductions
The DMA860E is a digital stepper drive with simple design and eas setup. B implementing Leadshine advanced
stepper control technolog , this stepper drive is able to power 2-phase and 4 phase stepper motors smoothl with
optimal torque and low motor heating & noise. Its operating voltage is 18-80VAC or 24-110VDC and it can output up
to 7.2A current. All the micro step and output current configurations can be easil done via built in DIP switches. Its
control t pe (step & direction or CW/CCW) and command smooth filtering can also be configured via DIP switches.
Therefore, the DMA860E are ideal choices for applications requiring simple step & direction control of NEMA 23, 24,
34, and 42 stepper motors.
1.1 Features
Step & direction (PUL/DIR) or CW/CCW (double pulse) control
Input voltage 18-80VAC or 24-110VDC (recommended 20-70VAC or 30-90VDC)
200 KHz max pulse input frequenc
16 microstep resolutions of 400-51,200 via DIP switches, or 200-51,200 via software (increase b 200)
8 output current settings of 2.4-7.2A via DIP Switches, or 1.0-7.2A via software (increase b 0.1)
Configurable control command smoothing for reducing motor vibration
Idle current reduction to 50% or 90% selection via SW4
Auto-tuning to match wide-range NEMA 23, 24, 34 and 42 stepper motors
Anti-Resonance for optimal torque, extra smooth motion, low motor heating and noise
Soft-start with no “jump” when powered on
Opticall isolated inputs with 5V or 24V
Fault and Brake outputs
Over-voltage and over-current protections
1.2 Applications
The DMA860E stepper drive are designed to power 2 phase (1.8°) or 4-phase (0.9°) NEMA 23, 24, 34, and 42 h brid
stepper motors. It can be easil adopted in man industries (CNC, medical, automation, packaging…), such as X-Y
tables, engraving machines, labeling machines, mills, plasma, laser cutters, pick and place devices, and so on. Its
excellent performance, simple design, and eas setup make it ideal for man step & direction control t pe applications.
2. Specifications
2.1 Electrical Specifications
Parameters DMA860E
Min T pical Max Unit
Output Current 2.4 - 7.2 A
Suppl Voltage 18
24
20 - 70
30 - 90
80
110
VAC
VDC
Logic signal current 7 10 16 mA
Pulse input frequenc 0 - 200 kHz
Minimal Pulse Width 2.5 - - μS

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Minimal Direction Setup 5.0 - - μS
Isolation resistance 500 MΩ
2.2 Environment
Cooling Natural Cooling or Forced cooling
Operating Environment
Environment Avoid dust, oil fog and corrosive gases
Ambient Temperature 0°C －65°C (32°F - 149°F)
Humidit 40%RH－90%RH
Operating Temperature 0°C －50°C (32°F - 122°F)
Vibration 10-50Hz / 0.15mm
Storage Temperature -20°C －65°C (-4°F - 149°F)
Weight Approx. 510g (1.13 lbs)
2.3 Mec anical Specifications
(unit: mm [1inch=25.4mm])
Figure 1 Mechanical specifications
Side mounting recommended for better eat dissipation
2.4 Elimination of Heat
DMA860E reliable working temperature should be < 60℃(140°F)
It is recommended to use automatic idle-current mode to reduce motor heating. That means set the SW4 pin of
DIP switch at “OFF” position.
It is recommended to mount the drive verticall to maximize heat sink area. Use forced cooling method to cool if
necessar .

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3. Connection Pin Assignments and LED Indication
Figure 2 Connectors, DIP switches, and LED locations
The DMA860E has three connector blocks P1&P2&P3 (see above picture). P1 is for control signals connections, and
P2 is for output signals connections, P3 is for power and motor connections. The following tables are brief descriptions
of the three connectors. More detailed descriptions of the pins and related issues are presented in section 4, 5, 9.
3.1 P1 - Control Connector
PIN Details
PUL+ (CW+) Pulse and Direction Connection:
(1) Opticall isolated, high level 4.5-5V or 24V, low voltage 0-0.5V
(2) Maximum 200 KHz input frequenc
(3) The width of PUL signal is at least 2.5μs, dut c cle is recommended 50%
(4) Single pulse (step & direction) or double pulse (CW/CCW) is set b DIP Switch SW9
(5) DIR signal requires advance PUL signal minimum 5 μs in single pulse mode
(6) The factor setting of control signal voltage is 24V, must need to set S2 (figure 2) if it is 5V
PUL- (CW-)
DIR+ (CCW+)
DIR- (CCW-)
ENA+
Enable Connection: (default no connection)
(1) Opticall isolated, differential.
(2) Disable the drive b 4.5- 24V input connection; enable the drive b 0-0.5V connection
(3) ENA signal requires advance DIR signal minimum 5μs in single pulse mode
(4) Enable time to be at least 200ms
ENA-
Notes:
(1) Shield cables are required for P1;
(2) Don’t tie P1/P2 cables and P3 cables together.
3.2 P2 - Fault and Brake Output Connector
Pin Details
BRK+ (1) Maximum 30V/100mA output
(4) Brake connection refer to chapter 4.2
BRK-

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ALM+ (1) Maximum 30V/100mA output
(2) Sinking or sourcing
(3) The resistance between ALM+ and ALM- is low impedance as default, and will change to
high when the drive goes into error protection.
(4) Fault connection refer to chapter 4.3
ALM-
3.3 P3 - Motor and Power Supply Connector
Pin Function Details
A+, A- Motor Phase A connections. Connect motor A+ wire to A+ Pin; motor A- wire to A-
B+, B- Motor Phase B connections. Connect motor B+ wire to B+ Pin; motor B- wire to B-
AC Power suppl input 18-80VAC or 24-110 VDC(recommended 20-70VAC or 30-90VDC);
No polarit
AC
!
Warning Warning: Don’t plug or unplug the P1 & P2&P3 terminal block to avoid drive damage or injur when
DMA860E is powered on.
3.4 P4 - Tuning Connector
DMA860E has a tuning port with RS232 to modif the drive parameters, it is just used to modif parameter, not for
equipment control because neither precision nor stabilit is sufficient. If ou need a field bus drive, use a Leadshine
RS485 or EtherCAT t pe drives:
(http://www.leadshine.com/ProductSubT pe.aspx?t pe=products&categor =stepper-products&productt pe=stepper-dr
ives&subt pe=network-stepper-drives
The interface definition is as follows:
Figure 3: RS232 connector
3.5 LED Lig t Indication
There are two LED lights for DMA860E. The GREEN one is the power indicator which will be alwa s on generall .
The RED one is a protection indicator which will flash 1-2 times in a 3-second period, when protection enabled for a
DMA860E. Different number of flashes indicates different protection t pe (read section 11 for detail).
4. Control Signal and Output Signal
4.1 Control Signal Connection
The DMA860E can accept can accept differential or single-ended control signals (pulse, direction, and enable) in
open-collector or PNP connection through the P1 connector (figure 2). It is recommend to add an EMI line filter

DMA860E Digital Stepper Drive User Manual
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between the power suppl and the drive to increase noise immunit for the drive in interference environments.
Figure 4: Connections to open-collector signal Figure 5: Connections to PNP signal
(common-anode) (common-cathode)
Notes:
(1) ENA signal is no-connected as default;
(2) Control signal amplitude is 24 V as default. If it is 12 V, please set the S2 (Figure 2) selector switch to 5 V first, then
connect 1KΩresistor; If it is 5V, please set the S2 to 5V.
4.2 Fault and Brake Output Connection
Fault Output
When over voltage or over current protection happens, DMA860E red status LED light will blink and the impedance
state between ALM+ and ALM- will change (from low to high or high to low depending on configuration) and can thus
be detected. Fault output connection is optional, and it can be connected either in sinking or sourcing.
Figure 6 Sinking output Figure 7 Sourcing output
Brake Control
It is recommended to connect a fl -wheel diode in parallel to a 24VDC rela and brake coil connection. Refer to the
following figure for brake connection.
Figure 8 Brake output
Drive
Controller
VCC
PUL-
PUL+
ENA-
PUL
DIR
ENABLE
DIR-
DIR+
ENA+
Drive
Controller
VCC PUL-
PUL+
ENA-
PUL
DIR
ENABLE
DIR-
DIR+
ENA+

DMA860E Digital Stepper Drive User Manual
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5. Motor Connection
The DMA860E can drive 2-phase and 4-pahse bipolar h brid stepper motors with 4, 6, or 8 wires.
5.1 Connections of 4-lead Motor
The 4 lead motors are the least flexible and eas to connect. And the Speed – torque of motor depends on winding
inductance. The output current from drive that is multipl the specified phase current b 1.4 to determine the peak
output current.
Figure 9: 4-lead Motor Connections
5.2 Connections of 6-lead Motor
Like 8 lead stepping motors, 6 lead motors have two configurations available for high speed or high torque operations.
The higher speed configuration, or half coil, is described, because it uses one half of the motor’s inductor windings.
The higher torque configuration, or full coil, uses the full coil windings.
5.2.1 Half Coil Configuration
As previousl 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 multipl the specified
per phase (or unipolar) current rating b 1.4 to determine the peak output current.
Figure 10: 6-lead motor half coil (higher speed) connections
5.2.2 Full Coil Configuration
The full coil configuration on a six lead motor should be used in applications where higher torque at lower speed is
desired. This configuration is also referred to as full copper. In full coil mode, the motors should be run at onl 70% of
their rated current to prevent overheating.
Figure 11: 6-lead motor full coil (higher torque) connections

DMA860E Digital Stepper Drive User Manual
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5.3 Connections of 8-lead Motor
8 lead motors offer a high degree of flexibilit to the s stem designer in that the ma be connected in series or parallel,
thus satisf ing a wide range of applications.
5.3.1 Series Connection
A series motor configuration would t picall be used in applications where a higher torque at lower speed is required.
Because this configuration has the most inductance, the performance will start to degrade at higher speed. In series
mode, the motors should also be run at onl 70% of their rated current to prevent overheating.
Figure 12: 8-lead motor series connections
5.3.2 Parallel Connection
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. Multipl the per-phase (or unipolar) current rating b
1.96, or the bipolar current rating b 1.4, to determine the peak output current.
Figure 13: 8-lead motor parallel connections
6. Power Supply Selection
The DMA860E can power medium and large size stepping motors (frame size from NEMA 23 to 42) made b
Leadshine or other motor manufacturers. To get good driving performances, it is important to select suppl voltage and
output current properl . Generall speaking, suppl voltage determines the high speed performance of the motor, while
output current determines the output torque of the driven motor (particularl at lower speed). Higher suppl 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 suppl voltage to decrease noise, heating and improve reliabilit .
6.1 Regulated or Unregulated Power Supply
Both regulated and unregulated power supplies can be used to suppl the drive. However, unregulated power supplies
are preferred due to their abilit to withstand current surge and fast response for current change. If ou prefer to a
regulated power suppl , it is suggested to choose such a power suppl speciall designed for stepper/servo controls
such as Leadshine LSP series power suppliers. Or, in the case when onl normal switching power supplies are
available, it is important to use “OVERSIZE” high current output rating power supplies (for example, using a 4A
power suppl for 3A stepper motor) to avoid problems such as current clamp. On the other hand, if unregulated suppl

DMA860E Digital Stepper Drive User Manual
Page | 8
is used, one ma use a power suppl of lower current rating than that of motor (t picall 50% ～70% of motor current).
The reason is that the drive draws current from the power suppl capacitor of the unregulated suppl onl during the
ON duration of the PWM c cle, but not during the OFF duration. Therefore, the average current withdrawn from
power suppl is considerabl less than motor current. For example, two 3A motors can be well supplied b one power
suppl of 4A rating.
6.2 Power Supply S aring
Multiple DMA860E drives can share one power suppl to reduce cost, if that power suppl has enough power capacit .
To avoid cross interference, connect each stepper drive directl to the shared power suppl separatel . To avoid cross
interference, DO NOT dais -chain connect the power suppl input pins of the Drivers. Instead connect them to power
suppl separatel .
6.3 Selecting Supply Voltage
The DMA860E is designed to operate within 18 - 80VAC or 24-110VDC voltage input. When selecting a power suppl ,
besides voltage from the power suppl power line voltage fluctuation and back EMF voltage generated during motor
deceleration needs also to be taken into account. Please make sure leaving enough room for power line voltage
fluctuation and back-EMF voltage charge back.
Higher suppl voltage can increase motor torque at higher speeds, thus helpful for avoiding losing steps. However,
higher voltage ma cause bigger motor vibration at lower speed, and it ma also cause over-voltage protection or even
drive damage. Therefore, it is suggested to choose onl sufficientl high suppl voltage for intended applications.
7. DIP Switc Configurations
The DMA860E has one 10-bit DIP switch and one 1-bit selector. The first 10-bit is used to configure settings of micro
step resolution, output current, motor standstill current, pulse t pe and smoothing time as shown below.
SW1 SW2 SW3 SW4 SW5 SW6 SW7 SW8 SW9 SW10
The second 1-bit selector is located on the top (S2 in figure 2), used to configure the voltage of control signals. For the
safet of opticall coupled, the factor setting is 24V, which no need to connect 2K resistors like the old drives, making
it easier to use. When the voltage of the control signal is 5V, the S2 must be set to 5V, otherwise, the motor won't work.
7.1 Microstep Resolution Configurations
Microstep resolution is set b SW5, 6, 7, 8 of the DIP switches as shown in the following table, default means can be
set b Leadshine ProTuner
Microstep Steps/rev.(for 1.8°motor) SW5 SW6 SW7 SW8
2 400(default) 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
Idle Current
Output Current Microstep Control Mode Smoothing Time

DMA860E Digital Stepper Drive User Manual
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256 51200 OFF OFF OFF ON
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
7.2 Output Current Configurations
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 generall set to be such that the motor will not overheat for
long time operation. Since parallel and serial connections of motor coils will significantl 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 b 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 d namic current. Select a setting closest to our
motor’s required current.
7.2.1 D namic Current Configurations
Peak Current RMS Current SW1 SW2 SW3
2.40A(default) 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 ma be smaller than the d namic current setting,
particularl under high speed condition. Default means can be set b Leadshine ProTuner
7.2.2 Idle Current Configuration
SW4 is used to set motor idle current percentage. At OFF position it means the standstill current is set to be 50% of the
selected output current. At ON position it means standstill current is set to be 90%.
The current automaticall reduced to 50% of the selected d namic current 0.4 second after the last pulse.
7.3 Control Mode Configurations
DIP switch SW9 is used to configure the control mode. Factor setting is single pulse (step & direction, or pulse &
direction) control. Setting to ON to change the control model to double pulse (CW/CCW) control t pe.

DMA860E Digital Stepper Drive User Manual
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7.4 Smoot ing Time Configuration
DMA860E has an advanced feature called control command smoothing to make the input pulse from pulse generator
(controller, PLC, etc.) S-curve acceleration, to improve motion smoothness and high-speed start frequenc in man
circumstances. This is achieved through adding filtering time which is configured SW10. Setting to ON to activate the
feature with 12ms acceleration time.
7.3 Automatic Motor Matc ing & Self Configuration
When powered on a DMA860E will automaticall configure itself with the best settings to match the driven stepper
motor for optimal performance. No action is needed.
8. 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 b at least 10 cm, otherwise the disturbing signals generated b motor will
easil disturb pulse direction signals, causing motor position error, s stem instabilit and other failures.
If onl one power suppl serves multiple DMA860E drives, separatel connecting the drives to the power suppl
is recommended instead of dais -chaining.
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
extremel high back-EMF voltage surge, which ma damage the drive.
9. Typical Connection
A complete stepping s stem should include stepping motor, stepping drive, power suppl and controller (pulse
generator). A t pical connection is shown as below.
Figure 14: T pical connection

DMA860E Digital Stepper Drive User Manual
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10. Sequence C art of Control Signals
In order to avoid some fault operations and deviations, PUL, DIR and ENA should abide b some rules, shown as
following diagram:
Figure 15: Sequence chart of control signals
Remark:
a) t1: ENA must be ahead of DIR b at least 5ms. Usuall , ENA+ and ENA- are NC (not connected). See
“Connector P1 Configurations” for more information.
b) t2: DIR must be ahead of PUL effective edge b 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.
11. Protection Functions
To improve reliabilit , the drive incorporates some built-in protections features.
Priority Time(s) of
Blink Sequence wave of red LED Description
1st 1Over-current protection activated when peak
current exceeds the limit.
2nd 2Over-voltage protection activated when drive
working voltage is greater than 160VDC
3nd 3 Reserved.
When above protections are active, the motor shaft will be free or the red LED blinks. Reset the drive b repowering it
to make it function properl after removing above problems.

DMA860E Digital Stepper Drive User Manual
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12. Troubles ooting
In the event that our drive doesn’t operate properl , the first step is to identif whether the problem is electrical or
mechanical in nature. The next step is to isolate the s stem component that is causing the problem. As part of this
process ou ma have to disconnect the individual components that make up our s stem and verif that the operate
independentl . It is important to document each step in the troubleshooting process. You ma need this documentation
to refer back to at a later date, and these details will greatl assist our Technical Support staff in determining the
problem should ou need assistance.
Man of the problems that affect motion control s stems can be traced to electrical noise, controller software errors, or
mistake in wiring.
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 t e wrong direction Motor phases ma be connected in reverse
T e 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 suppl voltage too low
Excessive motor and drive eating
Inadequate heat sinking / cooling
Automatic current reduction function not being utilized
Current is set too high