Motion DMD870 User manual

User’s Manual
For DMD870 Digital Stepper Drive
V2.0-20180926
(March 2018)
Motion Control Products Ltd.
Innovative products for Automation Industry
Tel.: [phone]

DMD870 Digital Stepper Drive User’s Manual
The contents in this manual have been carefully prepared and are believed to be accurate,
but no responsibility is assumed for inaccuracies.
Motion Control Products Limited reserves the right to make changes without further
notice to any products herein to improve reliability, function or design. Motion Control
Products Limited 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.
Motion Control Product’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 Motion Control Product’s terms and
conditions of sales, the user of Motion Control Product’s products in life support or
aircraft applications assumes all risks of such use and indemnifies Motion Control
Products Limited against all damages.
Copyright © 2015 Motion Control Products Ltd. All rights reserved.
Motion Control Products Ltd
11-15 Francis Avenue
Bournemouth, Dorset, UK BH11 8NX
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Fax: [phone]
E-mail: [email protected]
www.motioncontrolproducts.com

DMD870 Digital Stepper Drive User’s Manual
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!
Notice
!
Caution
!
Warning
HEALTH AND SAFETY
Read this manual carefully before trying to install the stepper drive into
your system. The person setup the stepper drive should have a better
understanding on electronics and mechanics. Contact us if there is any
question about the products or this manual.
Make sure the power supply voltage does not exceed the drive’s
input range. Double check the connections and make sure the
power lead polarity is correct.
Disconnect the motor from the load if you are not sure the move
direction. Adjust the axis in the middle before trying to run the
motor.
Do NOT set high current on small stepper motor as this may damage
the motor.
Never disconnect the motor wires when the power is on.

DMD870 Digital Stepper Drive User’s Manual
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Contents
1. INTRODUCTION, FEATURES AND APPLICATIONS ....................................................... 1
Introduction ........................................................................................................1
Features ..............................................................................................................1
Applications ........................................................................................................2
2. SPECIFICATIONS......................................................................................................... 2
Electronic Specification Tj = 25℃/77℉..............................................................2
Operating Environment ......................................................................................2
Outline Dimensions (unit: mm [inch]) ................................................................3
Elimination of Heat .............................................................................................3
3. CONNECTORS AND PIN ASSIGNMENT........................................................................ 4
Connector P1 Configurations..............................................................................4
Selecting Active Pulse Edge and Control Signal Mode .......................................5
Connector P2 Configurations..............................................................................5
4. CONTROL SIGNAL CONNECTOR (P1) INTERFACE ........................................................ 6
5. CONNECTING THE MOTOR......................................................................................... 7
4-lead Motors Connections ................................................................................7
6-lead Motors Connections ................................................................................7
Half Coil Configurations ..................................................................................7
Full Coil Configurations...................................................................................8
Connections to 8-lead Motors ........................................................................8
6. POWER SUPPLY CONNECTION ................................................................................... 9
Regulated or Unregulated Power Supply ...........................................................9
Multiple Drives..................................................................................................10
Selecting Supply Voltage...................................................................................10

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7. MICROSTEP RESOLUTION & DRIVE OUTPUT CURRENT............................................. 10
Microstep Resolution Selection ........................................................................11
Current Settings ................................................................................................12
Dynamic current setting................................................................................12
Standstill current setting...............................................................................13
8. WIRING NOTES ........................................................................................................ 13
9. TYPICAL CONNECTION ............................................................................................. 14
10. SEQUENCE CHART OF CONTROL SIGNALS .............................................................. 15
11. PROTECTION FUCTIONS ......................................................................................... 16
Over-current Protection....................................................................................16
Over-voltage Protection....................................................................................16
Phase Error Protection......................................................................................16
Protection Indications.......................................................................................17
12. FREQUENTLY ASKED QUESTIONS ........................................................................... 17
Problem Symptoms and Possible Causes..........................................................18
13. TUNING SOFTWARE - PROTUNER........................................................................... 19
Introduction ......................................................................................................19
Connections and Testing...................................................................................19
RS232 Interface Connection..........................................................................20
Testing the Stepper System ..........................................................................21
How to use the software...................................................................................21
Option ...........................................................................................................21
Com Config Window .....................................................................................21
Tuning............................................................................................................22
SystemConfig.................................................................................................24
Anti-Resonance Introduction ........................................................................25

DMD870 Digital Stepper Drive User’s Manual
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Procedure for Achieving Optimum Performance .........................................27
Err_check ......................................................................................................28
About ............................................................................................................29
APPENDIX.................................................................................................................... 30
Twelve Month Limited Warranty......................................................................30
Exclusions..........................................................................................................30
Shipping Failed Product & Obtaining Warranty Service ...................................30
Warranty Limitations ........................................................................................30

DMD870 Digital Stepper Drive User’s Manual
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1. INTRODUCTION, FEATURES AND APPLICATIONS
Introduction
Motion Control Products Ltd (MCP)’s digital stepper drive DMD870 is a versatility fully
digital stepper drive based on a DSP with advanced control algorithm. The DMD870 is the
next generation of digital stepper controls. It brings a unique level of system smoothness,
providing optimum torque and nulls mid-range instability. Motor auto-identification and
parameter auto-configuration technology offers optimum responses with different motors
and easy-to-use. The driven motors can run with much smaller noise, lower heating,
smoother movement than most of the Drives in the markets. Its unique features make the
DMD870 an ideal solution for applications that require low-speed smoothness.
Compared to the DMD432 (DM432C), broader input voltage and output current ranges
make DMD870 being able to drive much more motors from size NEMA 17 to NEMA 34.
What’s more, thanks to its higher performance DSP, driven motors can achieve much
higher speed (above 3000RPM), offering servo-like performances. DMD870 stepper drive
is regarded as an improved model originally from DMD556, while supports broader input
voltage range.
Features
Anti-Resonance, provides optimum torque and nulls mid-range instability
Motor auto-identification and parameter auto-configuration technology, offers
optimum responses with different motors
Multi-Stepping allows a low resolution step input to produce a higher microstep
output for smooth system performance
Output current programmable, from 0.5A to 7.0A
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, phase-error protections

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Applications
It can be used in various kinds of machines, such as laser cutters, laser markers, high
precision X-Y tables, labeling machines and so on. Its unique features make the DMD870
an ideal solution for applications that require both low-speed smoothness and high speed
performances.
2. SPECIFICATIONS
Electronic Specification Tj = 25℃/77℉
Parameters
DMD870
Minimum
Typical
Maximum
Output current (A)
0.5
-
7.5 (5.0RMS)
Input voltage (VDC)
+ 24
+ 48
+72
Logic signal current (mA)
7
10
16
Pulse input frequency (kHz)
0
-
200
Isolation resistance ( M Ω)
500
-
-
Operating Environment
Cooling
Natural Cooling or Forced cooling
Operating
Environment
Environment
Avoid dust, oil fog and corrosive gases
Ambient Temperature
0ºC－40ºC (32ºF－104ºF)
Humidity
40%RH－90%RH
Operating Temperature
70˚C (158˚F) Max
Vibration
5.9m/s2 Max
Storage
Temperature
-20ºC －65ºC (-4ºF －149ºF)
Weight
Approx. 280g (10 oz)

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Outline Dimensions (unit: mm [inch])
Elimination of Heat
Drive’s reliable working temperature (heat sink) should be <70°C (158°F), and
motor working temperature (surface) should be <80°C (176°F);
It is recommended to use automatic idle-current mode, namely current
automatically reduce to 60% when motor stops, so as to reduce driver heating
and motor heating;
The drive must be mounted vertically to maximise heat sink area as shown in the
following picture. Use forced cooling method to cool the system if necessary

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3. CONNECTORS AND PIN ASSIGNMENT
DMD870 stepper drive 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
Signal
Description
PUL+ / PUL-
Pulse signal: In single pulse (pulse/direction) mode, this input represents pulse
signal, each rising or falling active edge (software configurable); 4-5V when PUL-
HIGH, 0-0.5V when PUL-LOW. In double pulse mode (pulse/pulse), this input
represents clockwise (CW) pulse, active both at high level and low level (software
configurable). For reliable response, the pulse width should be longer than 2.5μs.
Series connect resistors for current-limiting when +12V or +24V is used. The same
as DIR and ENA signals.
Important NOTE: The drive must be mounted vertically onto a plate or a heat
sinking to maximize heat sink area as shown in the above picture. Please use
additional heat sinking or cool fan if necessary.

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DIR+ / DIR-
DIR signal: In single-pulse mode, this signal has low/high voltage levels,
representing two directions of motor rotation; in double-pulse mode (software
configurable), this signal is counter-clock (CCW) pulse, active both at high level
and low level (software configurable). For reliable motion response, DIR signal
should be ahead of PUL signal by at least 5μs. 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.
ENA+ / ENA-
Enable signal: This signal is used for enabling/disabling the drive. High level for
enabling drive (NPN control signal, PNP and Differential control signals are on the
contrary, namely Low level for enabling.) and low level for disabling drive. Usually
left UNCONNECTED (ENABLED).
Selecting Active Pulse Edge and Control Signal Mode
DMD870 stepper drive supports PUL/DIR and CW/CCW modes and pulse actives at rising or
falling edge. See more information about these settings in Section 13. Default setting is
PUL/DIR mode and rising edge active (NPN, and PNP control signal is on the contrary).
Connector P2 Configurations
Pin Function
Details
+Vdc
Power supply, 24~72 VDC, Including voltage fluctuation and EMF voltage.
GND
Power Ground.
A+, A-
Motor Phase A
B+, B-
Motor Phase B

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4. CONTROL SIGNAL CONNECTOR (P1) INTERFACE
DMD870 stepper drive accepts differential and single-ended inputs (including open-
collector and PNP output). It 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.
Figure 1: Connections to open-collector signal (common-anode)
Figure 2: Connection to PNP signal (common-cathode)

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5. CONNECTING THE MOTOR
The DMD870 can drive any 2-pahse and 4-pahse hybrid stepping motors.
4-lead Motors Connections
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 3: 4-lead Motor Connections
6-lead Motors Connections
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 Drive output current multiply the specified per
phase (or unipolar) current rating by 1.4 to determine the peak output current.
Figure 4: 6-lead motor half coil (higher speed) connections

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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
overheating.
Figure 5: 6-lead motor full coil (higher torque) connections
8-lead Motors Connections
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.
Figure 6: 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.

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Figure 7: 8-lead motor parallel connections
NEVER disconnect or connect the motor while the power source is energised.
6. POWER SUPPLY CONNECTION
The DMD870 can match medium and small size stepping motors (from frame size NEMA 17
to size NEMA 34) made by MCP 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.
Note: MEANWELL DRP-240-24 (24VDC, 240Watt power supply) must be selected in order to make
the whole system comply with UL standards for safety.
Regulated or Unregulated Power Supply
Both regulated and unregulated power supplies can be used to supply the Drive. 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-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

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considerably less than motor current. For example, two 3A motors can be well supplied by
one power supply of 4A rating.
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.
Selecting Supply Voltage
The power MOSFETS inside the DMD870 can actually operate within +24 ~ +80VDC,
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 the
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 +24 ~ +72VDC, leaving room for power fluctuation and back-EMF.
7. MICROSTEP RESOLUTION & DRIVE OUTPUT
CURRENT
Microstep resolutions and output current are programmable, the former can be set from
full-step to 102,400 steps/rev and the latter can be set from 0.5A to 7.0A. See more
information about Microstep and Output Current Setting in Section 13.
However, when it’s not in software configured mode, this Drive uses an 8-bit DIP switch to
set microstep resolution, and motor operating current, as shown below:

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Microstep Resolution Selection
When it’s not in software configured mode, 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
1 to 512
Default/Software
configured
ON
ON
ON
ON
2
400
OFF
ON
ON
ON
4
800
ON
OFF
ON
ON
8
1600
OFF
OFF
ON
ON
16
3200
ON
ON
OFF
ON
32
6400
OFF
ON
OFF
ON
64
12800
ON
OFF
OFF
ON
128
25600
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
125
25000
OFF
OFF
OFF
OFF

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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.
When it’s not in software configured mode, 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
Peak Current
RMS
Current
SW1
SW2
SW3
Default/Software configured
(0.5 to 7.0A)
OFF
OFF
OFF
2.6A
1.8A
ON
OFF
OFF
3.4A
2.4A
OFF
ON
OFF
4.0A
2.8A
ON
ON
OFF
4.8A
3.4A
OFF
OFF
ON
5.4A
3.8A
ON
OFF
ON
6.1A
4.3A
OFF
ON
ON
7.0A
5.0A
ON
ON
ON
Notes: Due to motor inductance, the actual current in the coil may be smaller than the dynamic
current setting, particularly under high speed condition.

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Standstill current setting
SW4 is used for this purpose. OFF means that the standstill current is set to be half of the
selected dynamic current, and ON means that standstill current is set to be the same as the
selected dynamic current.
The current automatically reduced to 60% 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 us.
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 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.
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.

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9. 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 8.
Figure 8: Typical connection
DRIVE