Just Motion Control 2DM556 User Manual

2DM556

Digital Stepper Drive

Manual

Shenzhen Just Motion Control Electro-mechanics Co., Ltd
TEL:[phone]
FAX:[phone]

www.jmc-motion.com
Email:[e-mail]

Address: Floor2, Building A, Hongwei Industrial Zone No.6,
Liuxian 3rd Road, Shenzhen. China

Shenzhen Just Motion Control Electro-mechanics Co., Ltd 0755-26509689

- 2 -

Thanks for selecting JMC stepper motor driver. We

hope that the superior performance, outstanding quality,

excellent cost performance of our product can help you

accomplish your motion control project.

The content in this manual has been carefully

prepared and is believed to be accurate, but no

responsibility is assumed for inaccuracies.

All the contents of this manual, copyright is owned

by the Shenzhen JUST MOTION CONTROL

electromechanical Co., Ltd. Without JMC permission,

no unit or individual is allowed to copy.

Shenzhen Just Motion Control
Electro-mechanics Co., Ltd

Version

Editor

Verifier

V1.0

R&D

R&D

Shenzhen Just Motion Control Electro-mechanics Co., Ltd 0755-26509689

- 3 -

Contents

1. Overview .......................................................................................... - 4 -

2. Features ........................................................................................... - 4 -

3. Ports Introduction .......................................................................... - 5 -

3.1 ALM signal output ports ........................................................ - 5 -

3.2 Control Signal Input Ports ..................................................... - 6 -

3.3 Power Interface Ports............................................................. - 7 -

4. Technological Index ........................................................................ - 8 -

5. Connections to Control Signal ....................................................... - 9 -

5.1 Connections to Common Anode ............................................ - 9 -

5.2 Connections to Common Cathode ....................................... - 10 -

5.3 Connections to Differential Signal ...................................... - 11 -

5.4 Connections to 232 Serial Communication Interface .......... - 12 -

5.5 Sequence Chart of Control Signals ...................................... - 12 -

6. DIP Switch Setting ........................................................................ - 13 -

6.1 Activate Edge Setting .......................................................... - 13 -

6.2 Running Direction Setting ................................................... - 14 -

6.3 Micro steps Setting .............................................................. - 14 -

7. Faults alarm and LED flicker frequency .................................... - 15 -

8. Appearance and Installation Dimensions ................................... - 17 -

9. Typical Connection ....................................................................... - 17 -

10. Parameter Setting ....................................................................... - 19 -

11. Processing Methods to Common Problems and Faults ........... - 24 -

11.1 Power on power light off ................................................... - 24 -

11.2 Power on red alarm light on............................................... - 24 -

11.3 After input pulse signal but the motor not running ............ - 24 -

Shenzhen Just Motion Control Electro-mechanics Co., Ltd 0755-26509689

- 4 -

1. Overview

The 2DM556 is a two phase digital stepper driver based on
DSP. Its Micro step resolutions and output current are
programmable. And it has advanced control algorithm, which
can brings a unique level of system smoothness, provides
optimum torque and mid-range instability. The control
algorithm of Multi-Stepping can make stepper motor has smooth
system performance. The control algorithm of torque
compensation can improve the torque of motor in the high speed.
The control algorithm of motor self-test and parameter
auto-setup technology offers optimum responses with different
motors and easy-to-use. The control algorithm of smoothness
can enhance the acceleration and deceleration of motor. Its
unique features make the 2DM556 to be an ideal solution for
applications.

2. Features

 Parameter auto-setup and motor self-test
 Multi-Stepping inside
 Small noise, low heating, smooth movement
 Torque compensation in high speed
 Variable current control technology, High current efficiency
 Accelerate and decelerate control inside, Great improvement in

smoothness of starting or stopping the motor

Shenzhen Just Motion Control Electro-mechanics Co., Ltd 0755-26509689

- 5 -

 Support PUL/DIR and CW/CCW modes
 Storage the position of motor
 Optically isolated input and compatible with 5V or 24V
 User-defined micro steps
 Micro-step resolutions and Output current programmable
 Over current, over voltage and low voltage protection
 Green light means running while red light means protection or

off line

3. Ports Introduction

3.1 ALM signal output ports

1
2

Port

Symbol

Name

Remark

1

ALM+

Alarm output +

+

-

2

ALM-

Alarm output -

Shenzhen Just Motion Control Electro-mechanics Co., Ltd 0755-26509689

- 6 -

3.2 Control Signal Input Ports

5

6

1

2
3

4

Port

Symbol

Name

Remark

1

PLS+

Pulse signal +

Compatible with

5V or 24V

2

PLS-

Pulse signal -

3

DIR+

Direction signal+

Compatible with

5V or 24V

4

DIR-

Direction signal-

5

ENA+

Enable signal +

Compatible with

5V or 24V

6

ENA-

Enable signal-

Shenzhen Just Motion Control Electro-mechanics Co., Ltd 0755-26509689

- 7 -

3.3 Power Interface Ports

5
6

1
2

3
4

1

Power Input

Ports

GND

Input Power-

DC24V-60V

2

VCC

Input Power +

3

Motor Phase

Wire Input Ports

A+

Phase A+

Motor Phase A

4

A-

Phase A-

5

B+

Phase B+

Motor Phase B

6

B-

Phase B-

Shenzhen Just Motion Control Electro-mechanics Co., Ltd 0755-26509689

- 8 -

4. Technological Index

Input Voltage

DC24V-60V

Pulse Frequency max

200K

Communication rate

57.6Kbps

Over voltage value

80V

Overall Dimensions（mm）

118×75.5×34

Weight

Approximate 260g

Environment

Specifications

Environment

Avoid dust, oil fog and corrosive gases

Operating

Temperature

+70℃ Max

Storage

Temperature

-20℃~+80℃

Humidity

40~90%RH

Cooling

method

Natural cooling or forced air cooling

Shenzhen Just Motion Control Electro-mechanics Co., Ltd 0755-26509689

- 9 -

5. Connections to Control Signal

5.1 Connections to Common Anode

270

270

270

VCC

2HSS57-KH

驱动器

控制器

脉冲信号

方向信号

使能信号

R

R

R

PUL+

PUL-

DIR+

DIR-

ENA+

ENA-

ALM+

ALM-

VCC

R1

Remark:
VCC is compatible with 5V or 24V;

R(3~5K) must be connected to control signal terminal.

Shenzhen Just Motion Control Electro-mechanics Co., Ltd 0755-26509689

- 10 -

5.2 Connections to Common Cathode

R1

270

270

270

2HSS57-KH

驱动器

控制器

脉冲信号

方向信号

使能信号

PUL+

PUL-

DIR+

DIR-

ENA+

ENA-

ALM-

VCC

VCC

VCC

R

R

R

ALM+

VCC

Remark:
VCC is compatible with 5V or 24V;

R(3~5K) must be connected to control signal terminal.

Shenzhen Just Motion Control Electro-mechanics Co., Ltd 0755-26509689

- 11 -

5.3 Connections to Differential Signal

Controller

2DM556

Driver

PUL+

PUL-

DIR+

DIR-

ENA+

ENA-

Pulse

Signal

Direction

Signal

Enable

Signal

VCC

ALM-

ALM+

R

Remark:
VCC is compatible with 5V or 24V;

R(3~5K) must be connected to control signal terminal.

Shenzhen Just Motion Control Electro-mechanics Co., Ltd 0755-26509689

- 12 -

5.4 Connections to 232 Serial Communication Interface

PIN1

PIN6

PIN1

PIN6

Crystal Head

foot

Definition

Remark

1

TXD

Transmit Data

2

RXD

Receive Data

4

+5V

Power Supply to HISU

6

GND

Power Ground

5.5 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:

Shenzhen Just Motion Control Electro-mechanics Co., Ltd 0755-26509689

- 13 -

PUL

DIR

ENA

PUL/DIR

t3

t4

t5>5μs

High level > 3.5V

Low level > 3.5V

High level > 3.5V

t2>6μs

Low level > 3.5V

t1>5μs

Remark:

a. t1: ENA must be ahead of DIR by at least 5μ s. Usually, ENA+ and
ENA- are NC (not connected).
b. t2: DIR must be ahead of PUL active edge by 6μ s to ensure correct
direction;
c. t3: Pulse width not less than 2.5μ s;
d. t4: Low level width not less than 2.5μ s.

6. DIP Switch Setting

6.1 Current Setting

The current setting is in the following table.

Shenzhen Just Motion Control Electro-mechanics Co., Ltd 0755-26509689

- 14 -

Dial switch

Current

SW1

SW2

SW3

Peak

RMS

1.4A

1.0A 0 0

0

2.1A

1.5A 1 0

0

2.7A

1.92A 0 1

0

3.2A

2.28A 1 1

0

3.8A

2.71A 0 0

1

4.3A

3.07A 1 0

1

4.9A

3.5A 0 1

1

5.6A

4.0A 1 1

1

6.2 Standstill current Setting

SW4 is used for setting the standstill current , “off” means the
standstill current is set to be half of the selected dynamic current or other
current, which can be set by the HISU, the details can be seen in the tenth
sections. While “on” means the standstill current is set to be the same as
the selected dynamic current.

6.3 Micro steps Setting

The micro steps setting is in the following table. And the micro steps
can be also setting through the HISU. The details can be seen in the tenth
sections.

Shenzhen Just Motion Control Electro-mechanics Co., Ltd 0755-26509689

- 15 -

Dial witch

Micro steps

SW5

SW6

SW7

SW8

400

0 1 1

1

800

1 0 1

1

1600

0 0 1 1 3200

1 1 0 1 6400

0 1 0 1 12800

1 0 0

1

25600

0 0 0

1

1000

1 1 1

0

2000

0 1 1

0

4000

1 0 1 0 5000

0 0 1

0

8000

1 1 0

0

10000

0 1 0

0

20000

1 0 0

0

25000

0 0 0

0

7. Faults alarm and LED flicker frequency

Shenzhen Just Motion Control Electro-mechanics Co., Ltd 0755-26509689

- 16 -

0.8s 2s

Red Alarm LED Flash Time Interval

Flicker

Frequency

Description to the Faults

1

Error occurs when the motor coil current exceeds
the drive’s current limit.

2

Voltage reference error in the drive

3

Parameters upload error in the drive

4

Error occurs when the input voltage exceeds the
drive’s voltage limit.

Shenzhen Just Motion Control Electro-mechanics Co., Ltd 0755-26509689

- 17 -

8. Appearance and Installation Dimensions

9. Typical Connection

Here is the typical connection of 2DM556.

Shenzhen Just Motion Control Electro-mechanics Co., Ltd 0755-26509689

- 18 -

M

2DM556

Drive

Controller

Pulse

Signal

Direction

Signal

Enable

Signal

VCC

PUL+

PUL-

DIR+

DIR-

ENA+

ENA-

Red

Blue

Grenn

Black

A+

A-

B+

B-

VDC

24~60V

AC1
AC2

ALM+

ALM-

VCC

R

Shenzhen Just Motion Control Electro-mechanics Co., Ltd 0755-26509689

- 19 -

10. Parameter Setting

The parameter setting method of 2DM556 drive is to use a HISU
adjuster through the 232 serial communication ports, only in this way
we can set the parameters we want. There are a set of best default
parameters to the corresponding motor which are carefully adjusted by
our engineers, users only need refer to the following table, specific
condition and set the correct parameters.

Actual value = Set value × the corresponding dimension

Mode

Definition

Range

Dime­nsion

Drive
Restart

Default
Value

P1

Current loop Kp

0—4000

1 Y 500

P2

Current loop Ki

0—1000

1 Y 100

P3

Damping coefficient

0—500

1 N 100

P4

Amplitude of first
resonance point

0—100

1 N 0

P5

Phase of first
resonance point

0—100

1 N 0

P6

Amplitude of
second resonance
point

0—100

1 N 0

P7

Phase of second
resonance point

0—100

1 N 0

P8

Anti-resonance
coefficient

0—1000

1 N 0

P9

Reserved

P10

Enable signal level

0—1

1 N 1

P11

Edge of the pulse

0—1

1 N 1

Shenzhen Just Motion Control Electro-mechanics Co., Ltd 0755-26509689

- 20 -

P12

Reserved

P13

Command Type

0—1

1 Y 0

P14

User-defined micro
steps

4—1000

50 Y 0

P15

Time of standstill
current

0—4000

1ms

N

1000

P16

Percentage of
standstill current

0—100

1 Y 50

P17

Speed smoothness

0—10

1 Y 0

P18

Enable of position
memory

0—1

1 Y 0

P19

User-defined
resistance of motor

0—100

mh

Y

0

P20

User-defined
inductance of motor

0—100

0.1Ohm

Y

0

P21

Result of position
memory

0—128

1 0

P22

Time of enable
position memory

0—100

1s Y 5

There are total 22 parameter configurations, use the HISU to
download the configured parameters to the drive, the detail descriptions
to every parameter configuration are as follows:

Shenzhen Just Motion Control Electro-mechanics Co., Ltd 0755-26509689

- 21 -

Item

Description

Current loop Kp

(P1)

Current loop Ki

(P2)

The P1 and P2 is used to set Kp and Ki of Current
loop at the moment of power-on. When the motor is
turning, the Kp and Ki is got by the Self-tuning
algorithm.

Damping

coefficient

(P3)

This parameter is used to change the damping
coefficient in case of the desired operating state is
under resonance frequency.This parameter is useful
in high speed.

Amp 1—2

Phase 1—2

(P4,P5,P6,P7)

2DM556 Driver provides robust anti-resonance
control to stop the vibrations and maintain
equilibrium.
Amp1 and Phase1 is Phase adjustment for 1st and
Amplitude adjustment for 1st resonance area
respectively. Usually between 0.6rps and 1.2rps.
Amp2 and Phase2 is Phase adjustment for 2nd and
Amplitude adjustment for 2nd resonance area
respectively. Usually between 1.2rps and 2.4rps.

Anti-resonance

coefficient

This parameter is used for reducing resonance.
Usually between 3rps and 4rps.

Shenzhen Just Motion Control Electro-mechanics Co., Ltd 0755-26509689

- 22 -

(P8)

Enable signal

level

(P10)

This parameter is set to control the Enable Input
signal level. 0 means low, while 1 means high.

Edge of the pulse

(P11)

This parameter is set to choice the edge of the input
pulse. 0 means rising edge, while 1 means falling
edge.

Command Type

(P13)

This parameter is set to choice the PUL/DIR mode
or CW/CCW mode. 0 means PUL/DIR mode,while
means CW/CCW mode.

User-defined

micro steps

((P14)

This parameter is set of user-defined micro steps.
The actual micro steps = the set value × 50. For
example, if the parameter is 4, the micro steps is 4
× 50 =800. But If this parameter is 0, which means
micro steps is set by the outer DIP switches.

Time of

standstill current

(P15)

This parameter is set the time when the standstill
current is set to be half of the selected dynamic
current or other current.

Percentage of

standstill current

This parameter is set the percentage of standstill
current.

Shenzhen Just Motion Control Electro-mechanics Co., Ltd 0755-26509689

- 23 -

(P16)

Speed

smoothness

(P17)

This parameter is set to control the smoothness of
the speed of the motor while acceleration or
deceleration, the larger the value, the smoother the
speed in acceleration or deceleration.

1

2

10

…

0

Enable of

position memory

(P18)

This parameter is set to enable the function of
position memory. 0 means disable, while 1 means
enable. If set 1, the 2DM556 can remember the
position of motor in the next time of power on.

User-defined

inductance of

motor

(P19)

This parameter is set the inductance of motor. 0
means 2DM556 gets the inductance by control
algorithm of Parameter auto-setup, while 1 means

2DM556 gets the inductance through user sets.

User-defined

resistance of

motor

This parameter is set the resistance of motor. 0
means 2DM556 gets the resistance by control
algorithm of Parameter auto-setup, while 1 means

Shenzhen Just Motion Control Electro-mechanics Co., Ltd 0755-26509689

- 24 -

(P20)

2DM556 gets the resistance through user sets.

Result of

position memory

(P21)

This parameter is set to control the smoothness of
Display the result of position memory

Time of enable

position memory

(P22)

This parameter is set of the time when enable the
position memory. The time is mean the space of
time to stop plus input.

11. Processing Methods to Common Problems and
Faults

11.1 Power on power light off

 No power input, please check the power supply circuit. The voltage

is too low.

11.2 Power on red alarm light on

 Please check the motor is connected with the drive.
 The stepper digital drive is over voltage or under voltage. Please

lower or increase the input voltage.

11.4 After input pulse signal but the motor not running

 Please check the input pulse signal wires are connected in reliable

way.
 Please make sure the input pulse mode is corresponding with the real

input mode.
 The Driver is disabled.