Manual: 2HSS86H-KH-XX

2HSS86H-KH-XX
Hybrid Stepper Servo Drive

Manual
Shenzhen Just
Motion Control Electro-mechanics Co., Ltd
TEL:+86-0755-26509689
FAX:+86-0755-26509289
www.jmc-motion.com
Email:[email protected]
Address: Floor2, Building A, Hongwei Industrial Zone No.6,
Liuxian 3rd Road, Shenzhen. China
Shenzhen Just Motion Control Electro-mechanics Co., Ltd 0755-26509689
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

V1.1 R&D R&D
-2-
Contents
1. Overview ...........................................................................................- 4 -
2. Features ............................................................................................- 4 -
3. Ports Introduction ...........................................................................- 5 -
3.1 ALM and PEND signal output ports ......................................- 5 -
3.2 Control Signal Input Ports ......................................................- 5 -
3.3 Encoder Feedback Signal Input Ports .....................................- 6 -
3.4 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 ....................................- 16 -
9. Typical Connection ........................................................................- 16 -
10. Parameter Setting ........................................................................- 17 -
11. Processing Methods to Common Problems and Faults ............- 22 -
11.1 Power on power light off ....................................................- 22 -
11.2 Power on red alarm light on ...............................................- 22 -
11.3 Red alarm light on after the motor running a small angle ..- 22 -
11.4 After input pulse signal but the motor not running .............- 23 -
-3-
1. Overview
The HSS86H-KH hybrid stepper servo drive system
integrates the servo control technology into the digital stepper
drive perfectly. And this product adopts an optical encoder with
high speed position sampling feedback of 50 μ s, once the
position deviation appears, it will be fixed immediately. This
product is compatible the advantages of the stepper drive and
the servo drive, such as lower heat, less vibration, fast
acceleration, and so on. This kind of servo drive also has an excellent
cost performance.
2. Features
 Without losing step, High accuracy in positioning
 100% rated output torque
 Variable current control technology, High current efficiency
 Small vibration, Smooth and reliable moving at low speed
 Accelerate and decelerate control inside, Great improvement in
smoothness of starting or stopping the motor
 User-defined micro steps
 Compatible with 1000 and 2500 lines encoder
 No adjustment in general applications
 Over current, over voltage and over position error protection
 Green light means running while red light means protection or
off line
-4-
3. Ports Introduction
3.1 ALM and PEND signal output ports
1
2
3
4
Port Symbol Name Remark

1 PEND+ In position signal output + +
2 PEND- In position signal output -

3 ALM+ Alarm output + -
4 ALM- Alarm output -
3.2 Control Signal Input Ports
1
2
3
4
5
-5-
Port Symbol Name Remark

1 PLS+ Pulse signal + Compatible with
2 PLS- Pulse signal - 5V or 24V
3 DIR+ Direction signal+ Compatible with
4 DIR- Direction signal- 5V or 24V
5 ENA+ Enable signal + Compatible with
6 ENA- Enable signal - 5V or 24V
3.3 Encoder Feedback Signal Input Ports
1
2
3
4
5
Port Symbol Name Wiring color

1 PB+ Encoder phase B + Blue
2 PB- Encoder phase B - White
3 PA+ Encoder phase A + Yellow
4 PA- Encoder phase A - Green
5 VCC Input power Red
6 GND Input power ground Black
-6-
3.4 Power Interface Ports
1
2
3
4
5
Port Identification Symbol Name Remark

1 A+ Phase A+（Red）
Motor Phase A
2 Motor Phase A- Phase A- (Blue）
3 Wire Input Ports B+ Phase B+（Green）
Motor Phase B
4 B- Phase B-（Black）
5 VCC
Input Power +
Power Input AC24V-70V
6 Ports GND DC30V-100V
Input Power-
-7-
4. Technological Index
Input Voltage 24~70VAC or
30~100VDC
Output Current 6A 20KHz PWM
Pulse Frequency max 200K
Communication rate 57.6Kbps
 Over current peak value 12A±10%
Protection  Over voltage value 130V
 The over position error range can be
set through the HISU
Overall Dimensions（mm） 150×97.5×53
Weight Approximate 580g
Environment Avoid dust, oil fog and corrosive gases
Operating 70℃ Max
Environment Temperature
Storage -20℃~+65℃
Specifications Temperature
Humidity 40~90%RH
Cooling Natural cooling or forced air cooling
method
-8-
5. Connections to Control Signal

5.1 Connections to Common Anode
Controller 2HSS86H-KH
Drive
VCC
PUL+ 270
PUL-
Pulse DIR+
270
Signal
DIR-
Direction ENA+
270
Signal
ENA-
Enable
Signal
VCC
PEND+
VCC
R PEND-
ALM+
ALM-
Remark:
VCC is compatible with 5V or 24V;

R(3~5K) must be connected to control signal terminal.
-9-
5.2 Connections to Common Cathode
Controller 2HSS86H-KH
VCC
Drive
Pulse
Signal
PUL+ 270
VCC
Direction
PUL-
Signal
270
DIR+
VCC
Enable
Signal DIR-
270
ENA+
VCC
ENA-
PEND+
VCC
R PEND-
ALM+
ALM-
Remark:

- 10 -
5.3 Connections to Differential Signal
2HSS86H-KH
Controller Drive
270
PUL+
Pulse
Signal
PUL-
DIR+ 270
Direction
Signal DIR-
ENA+ 270
Enable
Signal ENA-
VCC
PEND+
VCC
R
PEND-
ALM+
ALM-
Remark:

- 11 -
5.4 Connections to 232 Serial Communication Interface
PIN1 PIN6 PIN1 PIN6
Crystal Head Definition Remark

foot
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:
- 12 -
t5>5μs
High level > 3.5V
t3 t4
PUL
High level > 3.5V

Low level > 3.5V
DIR t2>6μs
t1>5μs
Low level > 3.5V
ENA
PUL/DIR
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 Activate Edge Setting
SW1 is used for setting the activate edge of the input signal, “off”
means the activate edge is the rising edge, while “on” is the falling edge.
- 13 -
6.2 Running Direction Setting

SW2 is used for setting the running direction, “off” means CCW,
while “on” means CW.
6.3 Micro steps Setting
The micro steps setting is in the following table, while SW3、
SW4、SW5、SW6 are all on, the internal default micro steps inside is
activate，this ratio can be setting through the HISU.
Dial switch SW3 SW4 SW5 SW6
Micro steps
Default on on on on
800 off on on on
1600 on off on on
3200 off off on on
6400 on on off on
12800 off on off on
25600 on off off on
51200 off off off on
1000 on on on off
2000 off on on off
4000 on off on off
5000 off off on off
- 14 -
8000 on on off off

10000 off on off off
20000 on off off off
40000 off off off off
7. Faults alarm and LED flicker frequency
0.8s 2s
Red Alarm LED Flash Time Interval
Flicker Description to the Faults

Frequency
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.
5 Error occurs when the actual position following
error exceeds the limit which is set by the position
error limit.
- 15 -
8. Appearance and Installation Dimensions
142
12.8
6
53
4*￠4
2HSS86H
Hybrid Step Servo
97.5
44
26.5
142
150
9. Typical Connection
This drive can provide the encoder with a power supply of +5v,
maximum current 80mA. It adopts a quadruplicated-frequency counting
method, and the resolution ratio of the encoder multiply 4 are the pulses
per rotate of the servo motor. Here is the typical connection of
- 16 -
2HSS86H-KH.
VCC
PEND+
VCC
ALM+
Controller
ALM-
VCC
PUL+ 270
PUL-
Pulse DIR+
270
Signal
DIR-
Direction ENA+
270
Signal
ENA-
Enable
Signal
Blue
PB+
White
PB-
Yellow
Green PA+
PA-
Red
VCC
Black
GND
2HSS86H-KH
ECODER Drive
Red
A+
Blue
M Grenn
A-
B+
Black
B-
AC1
VAC
24~75V
AC2
10. Parameter Setting

The parameter setting method of 2HSS86H-KH drive is to use a
HISU adjuster through the 232 serial communication ports, only in this
way can we setting the parameters we want. There are a set of best
default parameters to the corresponding motor which are carefully
- 17 -
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 Dime- Drive Default
nsion Restart Value
P1 Current loop Kp 0—4000 1 N 1000
P2 Current loop Ki 0—1000 1 N 100
P3 Damping coefficient 0—1000 1 N 100
P4 Position loop Kp 0—4000 1 N 1300
P5 Position loop Ki 0—1000 1 N 250
P6 Speed loop Kp 0—3000 1 N 50
P7 Position loop Ki 0—1000 1 N 10
P8 Open loop current 0—60 0.1 N 45
P9 Close loop current 0—40 0.1 N 20
P10 Alarm level 0—1 1 N 0
P11 Reserved
P12 Stop lock enable 0—1 1 N 0
P13 Enable signal level 0—1 1 N 0
P14 Arrival level 0—1 1 N 1
P15 Encoder line number 0—1 1 Y 0
P16 Position error limit 0—3000 10 N 1000
P17 Reserved
P18 Motor type 0—5 0 Y 4
P19 Speed smoothness 0—10 1 N 0
P20 User-defined p/r 4-1000 50 Y 8
There are total 20 parameter configurations, use the HISU to download

the configured parameters to the drive, the detail descriptions to every
parameter configuration are as follows:
- 18 -
Item Description
Current loop Kp Increase Kp to make current rise fast. Proportional

Gain determines the response of the drive to setting
command. Low Proportional Gain provides a stable
system (doesn’t oscillate), has low stiffness, and the
current error, causing poor performances in tracking
current setting command in each step. Too large
proportional gain values will cause oscillations and
unstable system.
Current loop Ki Adjust Ki to reduce the steady error. Integral Gain
helps the drive to overcome static current errors. A
low or zero value for Integral Gain may have current
errors at rest. Increasing the integral gain can reduce
the error. If the Integral Gain is too large, the system
may “hunt” (oscillate) around the desired position.
Damping This parameter is used to change the damping
coefficient coefficient in case of the desired operating state is
under resonance frequency.
Position loop Kp The PI parameters of the position loop. The default
Position loop Ki values are suitable for most of the application, you
don’t need to change them. Contact us if you have
any question.
- 19 -
Speed loop Kp The PI parameters of the speed loop. The default

Speed loop Ki values are suitable for most of the application, you
don’t need to change them. Contact us if you have
any question.
Open loop This parameter affects the static torque of the motor.
current
Close loop This parameter affects the dynamic torque of the
current motor. (The actual current = open loop current +
close loop current)
Alarm Control This parameter is set to control the Alarm
optocoupler output transistor. 0 means the transistor
is cut off when the system is in normal working, but
when it comes to fault of the drive, the transistor
becomes conductive. 1 means opposite to 0.
Stop lock enable This parameter is set to enable the stop clock of the
drive. 1 means enable this function while 0 means
disable it.
Enable Control This parameter is set to control the Enable input
signal level, 0 means low, while 1 means high.
Arrival Control This parameter is set to control the Arrival
optocoupler output transistor. 0 means the transistor
is cut off when the drive satisfies the arrival
- 20 -
command, but when it comes to not, the transistor

becomes conductive. 1 means opposite to 0.
Encoder This drive provides two choices of the number of
resolution lines of the encoder. 0 means 1000 lines, while 1
means 2500 lines.
Position error The limit of the position following error. When the
limit actual position error exceeds this value, the drive
will go into error mode and the fault output will be
activated. (The actual value = the set value× 10)
Motor type Parameter 1 2 3 4 5
selection Type 86J18 86J18 86J18 86J18 86J18
65EC 80EC 95EC 118EC 156EC
Speed This parameter is set to control the smoothness of

the speed of the motor while acceleration or
smoothness
deceleration, the larger the value, the smoother the
speed in acceleration or deceleration.
0 1 2 … 10
- 21 -
User-defined p/r This parameter is set of user-defined pulse per

revolution, the internal default micro steps inside is
activate while SW3、SW4、SW5、SW6 are all on,
users can also set the micro steps by the outer DIP
switches. (The actual micro steps = the set value
× 50)
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 feedback signal and if the motor is connected
with the drive.
 The stepper servo drive is over voltage or under voltage. Please
lower or increase the input voltage.
11.3 Red alarm light on after the motor running a small
angle
 Please check the motor phase wires if they are connected correctly，
if not， please refer to the 3.4 Power Ports.
- 22 -
 Please check the parameter in the drive if the poles of the motor and
the encoder lines are corresponding with the real parameters, if not,
set them correctly.
 Please check if the frequency of the pulse signal is too fast, thus the
motor may be out of it rated speed, and lead to position error.
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.
- 23 -

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2HSS86H-KH-XX

Hybrid Stepper Servo Drive

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

Version Editor Verifier

Port Symbol Name Remark

2 PEND- In position signal output -

Port Symbol Name Remark

3.3 Encoder Feedback Signal Input Ports

Port Symbol Name Wiring color

3.4 Power Interface Ports

Port Identification Symbol Name Remark

5. Connections to Control Signal

VCC is compatible with 5V or 24V;

5.2 Connections to Common Cathode

VCC is compatible with 5V or 24V;

5.3 Connections to Differential Signal

VCC is compatible with 5V or 24V;

5.4 Connections to 232 Serial Communication Interface

PIN1 PIN6 PIN1 PIN6

Crystal Head Definition Remark

High level > 3.5V

6. DIP Switch Setting

6.2 Running Direction Setting

8000 on on off off

7. Faults alarm and LED flicker frequency

Red Alarm LED Flash Time Interval

Flicker Description to the Faults

8. Appearance and Installation Dimensions

10. Parameter Setting

There are total 20 parameter configurations, use the HISU to download

Current loop Kp Increase Kp to make current rise fast. Proportional

Speed loop Kp The PI parameters of the speed loop. The default

command, but when it comes to not, the transistor

65EC 80EC 95EC 118EC 156EC

Speed This parameter is set to control the smoothness of

User-defined p/r This parameter is set of user-defined pulse per

11. Processing Methods to Common Problems and

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