Leadshine DMA860H User manual

User’s Manual
For
DMA860H
Fully Digital Stepper Drive
Version 1.0
©2012 All Rights Reserved
Attention: Please read this manual carefully before using the drive!

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.

Contents
I
Table of Contents
1. Introduction, Features and Applications.......................................................................................................................1
Introduction ..............................................................................................................................................................1
Features.....................................................................................................................................................................1
Applications..............................................................................................................................................................1
2. Specifications................................................................................................................................................................1
Electrical Specifications ...........................................................................................................................................1
Operating Environment and other Specifications.....................................................................................................2
Mechanical Specifications........................................................................................................................................2
Elimination of Heat...................................................................................................................................................2
3. Pin Assignment and Description...................................................................................................................................3
Connector P1 Configurations ...................................................................................................................................3
SelectingActive Pulse Edge or Active Level and Control Signal Mode..................................................................3
Connector P2 Configurations ...................................................................................................................................4
4. Control Signal Connector (P1) Interface......................................................................................................................4
5. Connecting the Motor...................................................................................................................................................4
Connections to 4-lead Motors...................................................................................................................................4
Connections to 6-lead Motors...................................................................................................................................5
Half Coil Configurations ..................................................................................................................................5
Full Coil Configurations...................................................................................................................................5
Connections to 8-lead Motors...................................................................................................................................5
Series Connections............................................................................................................................................5
Parallel Connections.........................................................................................................................................6
6. Power Supply Selection................................................................................................................................................6
Regulated or Unregulated Power Supply..................................................................................................................6
Multiple Drivers .......................................................................................................................................................
6
Selecting Supply Voltage..........................................................................................................................................7
7. Selecting Microstep Resolution and Driver Output Current.........................................................................................7
Microstep Resolution Selection................................................................................................................................7
Current Settings........................................................................................................................................................7
Dynamic Current Setting ..................................................................................................................................8
Standstill Current Setting..................................................................................................................................8
Auto Tuning by SW4........................................................................................................................................8
8. Wiring Notes.................................................................................................................................................................9
9. Typical Connection.......................................................................................................................................................9
10. Sequence Chart of Control Signals...........................................................................................................................10
11. Protection Functions.................................................................................................................................................11
Over-voltage protection..........................................................................................................................................11
Over-current Protection ..........................................................................................................................................11
Short Circuit Protection..........................................................................................................................................11
12. FrequentlyAsked Questions.....................................................................................................................................11
Problem Symptoms and Possible Causes ...............................................................................................................11
APPENDIX ....................................................................................................................................................................12

DMA860H Fully Digital Stepper Drive Manual V1.0
II
Twelve Month Limited Warranty............................................................................................................................12
Exclusions...............................................................................................................................................................12
Obtaining Warranty Service....................................................................................................................................12
Warranty Limitations..............................................................................................................................................12
Contact Us ......................................................................................................................................................................13

DMA860H Fully Digital Stepper Drive Manual V1.0
1
1. Introduction, Features andApplications
Introduction
The DMA860H 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, DMA860H can drive a stepper motor at
much lower noise, lower heating, and smoother movement. Its unique features make DMA860H an ideal choice for
high requirement applications.
Features
Anti-Resonance provides optimal torque and nulls mid-range instability
Motor auto-identification and parameter auto-configuration technology, offers 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 36-112VDC or 24V—80 VAC
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
Applications
Suitable for a wide range of stepping motors, from NEMA size 17 to 42. 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
Electrical Specifications (Tj= 25℃/77℉)
Parameters DMA860H
Min Typical Max Unit
Output Current 1.0 - 7.2 (Peak) A
Input Voltage +24 +68 +112 VDC
Logic Signal Current 7 10 16 mA
Pulse input frequency 0 - 200 kHz
Pulse Width 2.5 - - uS
Pulse Voltage - 5 - VDC
Isolation resistance 500 MΩ

DMA860H Fully Digital Stepper Drive Manual V1.0
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℃－50℃
Humidity 40%RH －90%RH
Operating Temperature 70℃M ax
Vibration 5.9m/s
2
Max
Storage Temperature -20℃－65℃
Weight Approx. 570g (20.10 oz)
Mechanical Specifications (unit: mm [inch])
Figure 1: Mechanical specifications
*Recommend use side mounting for better heat dissipation
Elimination of Heat
Driver’s reliable working temperature should be <70℃(158℉), 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 driver heating and motor heating;
It is recommended to mount the driver vertically to maximize heat sink area. Use forced cooling method to cool
the system if necessary.

DMA860H Fully Digital Stepper Drive Manual V1.0
3
3. PinAssignment and Description
The DMA860H 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.
Connector P1 Configurations
Pin Function Details
PUL+ Pulse signal: I
n single pulse (pulse/direction) mode, this input represents pulse signal, each
rising or falling edge active (set by inside jumper J1); 4.5-5V when PUL-HIGH, 0-0.5V when
PUL-LOW. In CW/CCW mode (set by inside jumper J2), this input represents clockwise (CW)
pulse. For reliable response, pulse width should be longer than 2.5μs.
PUL-
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 J2), this signal is
counter-clock (CCW) pulse. For reliable motion response, DIR signal should be ahead of PUL
signal by 5μs at least. 4.5-5V when DIR-HIGH, 0-0.5V when DIR-LOW. Please note that
rotation direction is also related to motor-driver wiring match. Exchanging the connection of
two wires for a coil to the driver will reverse motion direction.
DIR-
ENA+ Enable signal: This signal is used for enabling/disabling the driver. High level (NPN control
signal, PNP and differential control signals are on the contrary, namely low level for enabling.)
for enabling the driver and low level for disabling the driver. Usually left UNCONNECTED
(ENABLED).
ENA-
Selecting Active Pulse Edge orActive Level and Control Signal Mode
There are two jumpers J1 and J2 inside the DMA860H specifically for selecting active pulse edge and control signal
mode, as shown in figure 2. Default setting is PUL/DIR mode and upward-rising edge active. (Note: J3 inside the
driver is used to reverse the default rotation direction.)
(a) J1, J2 open circuit (b) J1 open circuit, J3 shirt circuit
PUL/DIR mode and Active at rising edge (NPN) PUL/DIR mode and active at falling edge (NPN)
(c) J1 short circuit, J3 open circuit (d) J1, J3 short circuit
CW/CCW mode and Active at rising edge (NPN) CW/CCW mode and active at falling edge (NPN)
Figure 2: J1 and J2 jumper Settings

DMA860H Fully Digital Stepper Drive Manual V1.0
4
Connector P2 Configurations
Pin Function Details
VDC Power supply, 24~112 VDC or 24V—80VAC, Including voltage fluctuation and EMF
voltage.
GND Power Ground.
A+, A- Motor Phase A
B+, B- Motor Phase B
4. Control Signal Connector (P1) Interface
The DMA860H can accept differential and single-ended inputs (including open-collector and PNP output). The
DMA860H has 3 optically isolated logic inputs which are located on connector P1 to accept line driver control signals.
These inputs are isolated to minimize or eliminate electrical noises coupled onto the drive control signals. Recommend
use line driver control signals to increase noise immunity of the driver in interference environments. In the following
figures, connections to open-collector and PNP signals are illustrated.
Figure 3: Connections to open-collector Figure 4: Connection to PNP signal (common-cathode)
signal (common-anode)
5. Connecting the Motor
The DMA860H can drive any 2-pahse and 4-pahse hybrid stepping motors.
Connections to 4-lead Motors
4 lead motors are the least flexible but easiest to wire. Speed and torque will depend on winding inductance. In setting
the driver output current, multiply the specified phase current by 1.4 to determine the peak output current.
Figure 5: 4-lead Motor Connections
Drive
Controller
VCC PUL-
PUL+
ENA-
PUL
DIR
ENABLE
DIR-
DIR+
ENA+
Drive
Controller
VCC PUL-
PUL+
ENA-
PUL
DIR
ENABLE
DIR-
DIR+
ENA+

DMA860H Fully Digital Stepper Drive Manual V1.0
5
Connections to 6-lead Motors
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.
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 driver output current multiply the specified
per phase (or unipolar) current rating by 1.4 to determine the peak output current.
Figure 6: 6-lead motor half coil (higher speed) connections
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
Connections to 8-lead Motors
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.
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.

DMA860H Fully Digital Stepper Drive Manual V1.0
6
Figure 8: 8-lead motor series connections
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
6. Power Supply Selection
The DMA860H can match medium and small size stepping motors (from NEMA frame size 17 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.
Regulated or Unregulated Power Supply
Both regulated and unregulated power supplies can be used to supply the driver. However, unregulated power supplies
are preferred due to their ability to withstand current surge. If regulated power supplies (such as most switching
supplies.) are indeed used, it is important to have large current output rating to avoid problems like current clamp, for
example using 4A supply for 3A motor-driver 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 driver 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.
Multiple Drivers
It is recommended to have multiple drivers 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 drivers. (Instead, please connect
them to power supply separately.)

DMA860H Fully Digital Stepper Drive Manual V1.0
7
Selecting Supply Voltage
The power MOSFETS inside the DMA860H can actually operate within +24 ~ +80VDC or 24V—80 VAC, 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 driver
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 +20 ~ +68VDC or 24V—68 VAC, leaving room for
power fluctuation and back-EMF.
7. Selecting Microstep Resolution and Driver Output Current
This driver uses an 8-bit DIP switch to set microstep resolution, and motor operating current, as shown below:
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 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
Current Settings
For a given motor, higher driver current will make the motor to output more torque, but at the same time causes more
heating in the motor and driver. Therefore, output current is generally set to be such that the motor will not overheat for
long time operation.

DMA860H Fully Digital Stepper Drive Manual V1.0
8
Since parallel and serial connections of motor coils will significantly change resulting inductance and resistance, it is
therefore important to set driver output current depending on motor phase current, motor leads and connection methods.
Phase current rating supplied by motor manufacturer is important in selecting driver 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.
Dynamic Current Setting
REF Current Peak Current SW1 SW2 SW3
2.00A
2.40A
ON ON ON
2.57A 3.08A OFF ON ON
3.14A
3.77A
ON OFF ON
3.71A 4.45A OFF OFF ON
4.28A
5.14A
ON ON OFF
4.86A 5.83A OFF ON OFF
5.43A
6.52A
ON OFF OFF
6.00A 7.20A 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.
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. Theoretically,
this will reduce motor heating to 36% (due to P=I2*R) of the original value. If the application needs a different
standstill current, please contact Leadshine.
28BAuto Tuning by SW4
To get the optimized performance, switch SW4 two times in one second to identify the motor parameter after power-up
if it is the first time installation. The motor parameter is identified and the drive’s current loop parameters are
calculated automatically when SW4 is activated. The motor shaft will have a little vibration during auto-configuration.
If the user changes the motor or the power supply, don’t forget to toggle SW4 once again.

DMA860H Fully Digital Stepper Drive Manual V1.0
9
8. Wiring Notes
In order to improve anti-interference performance of the driver, 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 drivers, separately connecting the drivers is recommended instead of
daisy-chaining.
It is prohibited to pull and plug connector P2 while the driver 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 driver.
9. Typical Connection
A complete stepping system should include stepping motor, stepping driver, power supply and controller (pulse
generator).A typical connection is shown as figure 10.
Auto Tuning Requirement and Procedure:
1. Motor is connected to drive.
2. Power is connected to drive.
3. Turn on the power.
4. Make sure there is no pulse applied to drive.
5. Switch SW4 two times in one second. That is
OFF-ON-OFF or ON-OFF-ON.

DMA860H Fully Digital Stepper Drive Manual V1.0
10
DM860
DIR+
Controller
VCC PUL-
270O
270O
270O
PUL+
ENA-
Pulse
Direction
Enable
DIR-
ENA+
VDC
GND
Recommended Power Supply
24 ~ 68VDC
VCC = 5V
A+
A-
B+
B-
Stepper
Motor
Figure 10: Typical connection
10. 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:

DMA860H Fully Digital Stepper Drive Manual V1.0
11
a) t1: ENA must be ahead of DIR by at least 5µs. 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 5µs to ensure correct direction;
c) t3: Pulse width not less than 2.5µs;
d) t4: Low level width not less than 2.5µs.
11. Protection Functions
To improve reliability, the driver incorporates some built-in protections features.
Over-voltage protection
When power supply voltage exceeds +94VDC, over-voltage protection will be activated and power indicator LED will
turn red.
Over-current Protection
Protection will be activated when continuous current exceeds the limit.
Short Circuit Protection
Protection will be activated in case of short circuit between motor coils or between motor coil and ground.
When above protections are active, the motor shaft will be free or the LED will turn red. Reset the driver by
repowering it to make it function properly after removing above problems.
12. FrequentlyAsked Questions
In the event that your driver 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.
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 driver is disabled
Motor rotates in the wrong direction Motor phases may be connected in reverse

DMA860H Fully Digital Stepper Drive Manual V1.0
12
The driver 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 driver heating
Inadequate heat sinking / cooling
Automatic current reduction function not being utilized
Current is set too high