SUMTOR HSC86A User manual

SUMTOR
HSC86A
Closed loop stepper driver
User’s manual
Address: No. 118-1, Liangdong Road, Liangxi District, Wuxi City
Phone: [phone]
Fax: [phone]
E-mail: [email protected]m
Http://www.sumtor.com
All rights reserved Do not reprint
【Please read this manual carefully before use to avoid damage to the drive】

SUMTOR HSC86A Closed Loop Stepper Driver User Manual
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Table of Contents
Product introduction.............................................................................................................. 1
1 Overview.................................................................................................................................................. 2
2. Features............................................................................................................................. 2
3. Application field...................................................................................................................................... 2
Electrical, mechanical and environmental indicators .......................................................................... 3
1. Electrical indicators................................................................................................................................. 3
2. Operating environment and parameters ............................................................................................... 3
3. Dimensional drawing of mechanical structure ...................................................................................... 4
4. Precautions for heat dissipation............................................................................................................. 4
Driver interface and wiring introduction ............................................................................................ 5
1. Interface description.............................................................................................................................. 5
2. Control signal interface circuit ...............................................................................................................7
3. Timing diagram of control signal ...........................................................................................................9
4. Control signal mode setting .................................................................................................................. 9
5. Wiring requirements ............................................................................................................................ 9
DIP switch setting ...........................................................................................................................10
Protection Function ........................................................................................................................11
Frequently Asked Questions ...........................................................................................................12
1. Common problems and solutions in the application..........................................................................12
2. Frequently Asked Questions about Drives. User Q&A .......................................................................12
Our company's product warranty clause ........................................................................................ 13

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Product introduction
1 Overview
HSC86A is a new low-voltage closed-loop stepping product developed by our company. This
product adopts the latest DSP digital processing chips and advanced variable current and frequency
conversion control algorithm technology provide equipment manufacturers with a cost-effective closed-
loop stepper drive solution. HSC86A has compact structure, small size, space saving, reduced
electromagnetic interference between lines; better vibration technology and low heat generation
technology effectively solve the problems of heat generation, vibration and noise of the motor and
driver, and it is green and environmentally friendly.
2. Features
●Working voltage: AC, DC universal, AC input voltage 24～80VAC, recommended working voltage
60VAC
●Maximum continuous output current 8.0A (advanced closed-loop stepping overload capability)
●Accepts differential and single-ended pulse/direction commands, with position/speed/torque three
control modes
●Adopt FOC magnetic field positioning control technology and space vector pulse width modulation
(SVPWM) closed-loop control technology
●Adopting advanced variable current technology and frequency conversion technology, effectively
reducing the heating of the motor and driver
●The number of pulses per circle can be set by debugging software or dial code (subdivision)
●With protection functions such as over-voltage, under-voltage, over-current and over-tolerance
●Single/double pulse mode, pulse effective edge optional
●The maximum pulse frequency of the control command is 200KHz
●Pulse, direction and enable signal input interface level is 5~24V compatible
●With serial port RS232 debugging function, but the company’s dedicated serial port debugging cable is
required
●Performance: stable speed, small overshoot, small tracking error, low heat of motor and driver
3. Application areas
Suitable for various small and medium-sized automation equipment and instruments, such as
laser machines, inkjet printers, small and medium-sized engraving machines, electronic processing
equipment, automatic grasping equipment, special CNC machine tools, packaging equipment and
robots, etc. Application in devices where users expect low noise and high speed the effect is particularly
good.

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Electrical, mechanical and environmental indicators
1. Electrical indicators
Parameters
HSC86A
Minimum
Value
Typical
Value
Maximum
Value
Unit
Continuous output current
0.5
-
8
A
Power supply voltage (AC/DC)
24
60
80
VAC
Logic input current
6
10
16
mA
Logic input voltage
5
5
24
Vdc
Pulse frequency
0
-
200
kHz
Pulse high level width
1.5
-
-
uS
Position error control accuracy
-
±1
-
Pulse
Speed control accuracy
-
±2
-
rpm
Maximum acceleration (no load)
-
100
-
rpm/ms
Overvoltage protection voltage
90
VAC
Insulation resistance
100
-
-
MΩ
Note: If the power input is DC, the input range is 24~110Vdc! ! !
2. Use environment and parameters
Cooling method
Natural cooling or forced air cooling
Environment
Location
Do not place it next to other heating equipment, avoid dust, oil mist, corrosive gas, and
excessive humidity.
In large and strong vibration places, flammable gas and conductive dust are prohibited.
Temperature
-5℃～+45℃
Humidity
40 ～90%RH
Vibration
10 ～55Hz／0.15mm
Storage temperature
-20℃～+65℃
Operating altitude
≤1000m
Weight
about 0.6KG

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3. Mechanical structure size drawing
HSC86A driver structure can match any model, 60 frame and 86 frame two-phase closed-loop
stepper motor, our company mainly recommends 3.0NM, 4.5NM, 8.5NM and 12NM closed-loop stepper
motors, can also match other manufacturers' closed-loop stepper motors, edit the number of encoder
lines is 250~5000 lines, but you need to contact our company to provide motor parameters and match
related programs according to different motors. If the customer has higher requirements for low-speed
vibration or high-speed performance, it is recommended to contact our company. Our company will
write the matching power according to the motor parameters. The algorithm of the machine, the motor
will show perfect performance.
Figure 1 Mechanical installation dimensions (units: mm)
4. Precautions for Heat Dissipation
The reliable working environment temperature of the drive is usually within -5°C ~ 45°C, and the
temperature of the drive is within 65°C when the drive is working. When the machine is working, the
temperature is within 70℃. If necessary, install a fan close to the drive to force heat to ensure that the
drive is working reliably. Work within the temperature range.

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Driver interface and wiring introduction
1. Interface description
1.1 Control port
3.81mm spacing terminal with green 6+4Pin
Pin
Signal
Function
Description
1
PUL+
Pulse positive input
Compatible with 5V to 24V level signals
2
PUL-
Pulse negative input
3
DIR+
Directional positive input
4
DIR-
Directional negative input
5
ENA+
Enable positive input
6
ENA-
Enable negative input
1
ALM+
The positive output of the alarm
signal
Set electrode open OC output, maximum pull-up level
24V,
The maximum output current is 100mA
2
ALM-
The negative output of the alarm
signal
3
PEND+
The positive output of the in place
signal
Set electrode open OC output, maximum pull-up level
24V,
The maximum output current is 100mA
4
PEND-
The negative output of the in
place signal
1.2 Motor and power input ports
Use green 4+2Pin 5.08mm spacing with screw terminals
Terminal
Symbol
Name
Description
1
A+
A phase motor winding+
2
A-
A phase motor winding-
3
B+
B phase motor winding+
4
B-
B phase motor winding-
1
AC1
AC/DC input
24V~ 80VAC
30V~ 110VDC
2
AC2
AC/DC input

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1.3 Encoder port
Use green 8Pin 3.81mm spaced screw terminals
(Note that the positive and negative poles of the power supply are not reversed!!!)
Pin
Signal
Function Description
1
PZ+
Encoder signal Z+ input
2
PZ-
Encoder signal Z- input
3
PB+
Encoder signal B+ input
4
PB-
Encoder signal B- input
5
PA+
Encoder signal A+ input
6
PA-
Encoder signal A- input
7
+5V
+5V output, Power supply for encoder
8
GND
GND output, Power supply for encoder
1.4 LED status indication
LED power indicator is green, when the drive is powered, the LED is lit; when the drive power is
cut off, the LED extinguishes. The red LED is a fault indicator. When a fault occurs, the indicator flashes
in a cycle of 5 seconds; when the fault is used when the user is cleared, the red LED is always off. The
flashing frequency of the red LED is 2Hz, where the LED is on for 200ms and off for 300ms. Red LED the
number of flashes within 5 seconds represents different fault information. The specific relationship is
shown in the following table:
Error #
Flashes
Blink pattern
Fault Description
1
1
Overcurrent fault (I peak value≥25A)
2
2
Overvoltage fault (Vac≥90V)
3
5
Tracking error out of tolerance fault
When the drive fails, the drive will stop and prompt the corresponding fault code. When the
user needs to power off and power on again, the fault can be cleared. When the drive fails, the drive will
be in the form of a queue, and the latest failure will be saved in the drive’s EEPROM, the drive can store
up to 10 latest historical faults. The user can read the corresponding error code(s).

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2. Control signal interface circuit
HSC86A driver signal input interface can be differential signal input, common anode signal
single-ended input and common cathode signal single-ended input, built-in high-speed photoelectric
isolation coupler; output is triode open collector OC output, the interface connection is as follows:
Figure 2 Input signal differential connection

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Figure 3 Input signal single-ended common anode connection
Figure 4 Input signal single-ended common cathode connection
Note: The voltage range of the signal input interface in the figure is 5~24Vdc, no matter it is single-
ended connection or differential connection, series current limiting resistor is not required. For the
output interface, the maximum external pull-up voltage is 28Vdc, and the maximum output current is
100mA. Choose the appropriate pull-up resistor according to the external pull-up voltage. The basic
parameter value. If the external pull-up voltage is 24Vdc, the pull-up resistor is 2K. The pull-up voltage is

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12Vdc, and the pull-up resistance is 1K. If it is to drive a relay or a motor brake coil, please consult our
relevant application engineer.
3. Control signal timing diagram
In order to avoid some misoperations and deviations, PUL-, DIR- and ENA- should meet certain
requirements, as shown in the following figure:
Figure 5 Timing diagram of control signal
Notes:
1) t1: ENA (enable signal) should be advanced by DIR at least 5μs and determined to be high. Under
normal circumstances, it is recommended to leave it in the air;
2) t2: DIR is at least 1μs ahead of the falling edge of PUL to determine whether its state is high or low;
3) t3: The pulse width is at least not less than 1.5μs;
4) t4: The low-level width is not less than 1.5μs.
4. Control signal mode setting
Pulse trigger edge selection: Set the pulse rising edge or falling edge trigger to be valid through the
PC software.
Single and double pulse selection: Set single pulse or double pulse to be effective through PC
software.
Direction selection: Set the initial running direction of the motor through the PC software.
5. Wiring requirements
1) In order to prevent the drive from being interfered, it is recommended to use shielded cables for the
control signal and short-circuit the shielding layer with the ground wire. Except for special requirements,
the shielding wire of the control signal cable should be grounded at one end: the upper computer of the
shielded wire is grounded, and the shielded wire One end of the drive is suspended. Only the same point
is allowed to be grounded in the same machine. If it is not a real grounding wire, the interference may
be serious. At this time, the shielding layer is not connected. If conditions permit, the use of thermal
grounding technology is the most effective shielding.

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2) The pulse and direction signal wires and the motor wires are not allowed to be wrapped side by side.
It is better to separate them by at least 10cm, otherwise the motor noise will easily interfere with the
pulse direction signal and cause malfunctions such as inaccurate motor positioning and system
instability.
3) If one power supply supplies multiple drives, they should be connected in parallel at the power
supply, and it is not allowed to connect to one drive first and then to the other in a chain connection.
4) It is strictly forbidden to unplug and plug the driver terminals when the power is on. When the
charged motor stops, there is still a large current flowing through the coil. Unplugging and plugging the
terminals will cause a huge momentary induced electromotive force and burn the driver.
5) It is strictly forbidden to connect the lead wire to the terminal after tinning, otherwise the terminal
may be damaged by overheating due to the increase of the contact resistance.
6) The wire end of the wiring cannot be exposed outside the terminal to prevent accidental short-circuit
and damage the drive.
4. DIP switch setting
HSC86A digital integrated low-voltage servo drive adopts 8-bit DIP switches to set the subdivision
accuracy (electronic gear ratio), the initial direction of motor rotation, self-test and function mode
selection. The detailed description is as follows:
Subdivision accuracy (electronic gear ratio) Direction and function mode setting Motor selection
Subdivision accuracy (electronic gear ratio): When SW1, SW2, SW3, SW4 are all on, the drive's
internal micro-step subdivision adopts the drive's internal default micro-step subdivision, and the

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internal default micro-step subdivision of the drive is initially 400Pulse/rev. The electronic gear ratio can
also be set through the debugging software. SW5 sets the motor direction, when it is ON, the motor
rotates clockwise (CW), when it is OFF, the motor rotates counterclockwise (CCW); SW6 function mode
selection, when it is OFF, the drive is in space vector control mode (FOC) , When it is on, the drive point
motion mode (PM), this mode has a better start-stop effect.
Motor
SW7
SW8
Description
60-30
ON
ON
Suitable for our 60 series
3NM closed loop motor
86-45
OFF
ON
Suitable for our 86 series
4.5NM closed loop
motor
86-85
ON
OFF
Suitable for our 86 series
8.5NM closed loop
motor
86-120
OFF
OFF
Suitable for our 86 series
12NM closed loop motor
Protection functions
1) Overvoltage protection
When the input voltage is higher than 90VAC, the drive will stop working. At this time, the fault must be
eliminated, and power on again to reset.
2) Undervoltage protection
When the input voltage is lower than 15VAC, the drive will stop working. At this time, the fault must be
eliminated, and power on again to reset.
3) Overcurrent protection
When overcurrent occurs, the drive will stop working. At this time, the fault must be eliminated, and
power on again to reset.
4) Tracking error is out of tolerance
When the tracking error is out of tolerance, the drive stops working. At this time, the fault must be
eliminated, and power on again to reset.
Note: Since the drive does not have the protection function of the positive and negative poles of the
power supply, please reconfirm that the positive and negative poles of the power supply are connected
correctly before powering on. Reverse connection of the positive and negative poles will cause the fuse
in the drive to be burned out!

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Common Problems
1. Common problems and solutions in the application
Phenomenon
Possible Problem
Solution
Motor
not
rotating
Power light not lit
Check the power supply circuit, normal power supply
Powerful motor shaft
The pulse signal is weak, and the signal current is
increased to 7-16mA
Subdivision is too small
Choose the right segment
Drive is protected
Power off then on again
Enable signal is low
This signal is pulled high or not connected
No response to control signals
No power
Open circuit in the motor wire
Check for loose motor wires and re-connect
Voltage is too high or too low
Check power
Damaged motor or drive
Replace motor or driver
Inaccurate
location
Signal interference
Eliminate interference (separate/shield wires, etc)
Shielding ground is not connected
Connect to reliable grounding
Open circuit in the motor wire
Check for loose motor wires and re-connect
Segmentation error
Adjust Subdivision setting
Stall when
the motor is
accelerating
Acceleration time is too short
Increase acceleration time
Motor torque is too small
Choose a higher torque motor
Low voltage
Increase the voltage appropriately
2. Answers to frequently asked questions about the drive
1) What are the advantages of subdivision servo drives?
●Because of reducing the step angle of each step, the step uniformity is improved, so the control
accuracy can be improved.
●It can greatly reduce motor vibration. Low-frequency oscillation is an inherent characteristic of stepper
motors. Subdivision is the best way to eliminate it.
●It can effectively reduce torque ripple and increase output torque.
The above advantages are generally recognized by users and bring benefits to them, so it is
recommended that you use subdivision drives.
2) Why does my motor only rotate in one direction?
●Maybe the direction signal is too weak, or the polarity of the wiring is wrong, or the signal voltage is
too high and it burns the direction current limiting resistor.
●The pulse mode does not match, the signal is pulse/direction, and the driver must be set to this mode.
●If there are other problems, please contact our company's application engineers.

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Our company's product warranty clause
1 One year warranty
Our company provides a one-year warranty from the date of shipment for the defects of raw materials
and workmanship of its products. During the warranty period, our company provides free maintenance
services for defective products.
2 Not covered by warranty
●Improper wiring, such as the reverse connection of the positive and negative poles of the power supply
and the unplugging and unplugging when the power is on
●Unauthorized modification of internal components
●Use beyond electrical and environmental requirements
●Environmental heat dissipation is too poor
3 Repair process
Please contact the relevant agent or the company's salesman
4 Warranty limitations
●The warranty scope of our company's products is limited to the product's components and processes
(that is, consistency).
●Our company does not guarantee that its products can be suitable for the specific purpose of the
customer, because the suitability is also related to the technical index requirements, use conditions and
environment of the purpose.