Stappenmotor-sturing voor SLO-SYN stappenmotoren
Citation for published version (APA):
Snijders, R. A. J. (1991). Stappenmotor-sturing voor SLO-SYN stappenmotoren: technische beschrijving. (DCT
rapporten; Vol. 1991.009). Technische Universiteit Eindhoven.
Document status and date:
Gepubliceerd: 01/01/1991
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Stappenmotor-sturing
voor
SLO-SYN
stappenmotoren
technische beschrijving
(WEW 91.009)
R.A.J. Snijders
stappenmotor-sturing
Inhoudsopgave
1
Inleiding
1.
Overzicht
van
de totale stappenmotor-sturing
2.1
De
SLO-SYN
stuurmodules
2.2
De stuurschakeling
2.3
Verbinding met de PC
3.
Het motor- en voedingsgedeelte
3.2
De verbinding met de motoren
3.3
Voedingsaspecten
4. Kastindeling en -bekabeling
Bijlagen:
A.
Beschrijving
van
de
SLO-SYN
stuurmodules.
B. Produkt specificatie
van
de
SLO-SYN
stappenmotor
M062.
C. Beschrijving
van
de DELTA S-series voedingen.
2
3
4
4
6
7
8
8
9
11
stappenmotor-sturing
2
Inleiding
Voor het traverseren van het meetvolume
van
een LDA-systeem wordt gebruik gemaakt
van een traverseerinrichting die aangedreven wordt door stappenmotoren
van het type
SLO-SYN
(
zie bijlage
B
voor de produkt specificatie).
Er zijn drie mogelijkheden om dit meetvolume te verplaatsen:
1.
De laser met optiek en opnemers zijn niet verplaatsbaar, en het model wordt
getraverseerd.
2.
Het model is niet verplaatsbaar, en de laser plus optiek en opnemers worden
getraverseerd.
3.
Indien gebruik gemaakt wordt van een glasfiber verbinding tussen laser en optiek
hoeven alleen optiek en opnemers getraverseerd te worden, het model is in dit
geval ook niet verplaatsbaar.
De traverseerinrichting die gebruikt wordt is in principe geschikt voor
alle
drie genoemde
opstellingen.
De stappenmotoren worden aangestuurd door
de
stappenmotor-sturing
.
Bij
de oude
uitvoering van deze sturing werd een motor pas bekrachtigd wanneer deze moest gaan
bewegen,
dus
wanneer er van de
PC
pulsen binnen kwamen. Door de traagheid van de
sturings-electronica werden de eerste paar pulsen door de motoren niet ontvangen
waardoor de nauwkeurigheid niet optimaal kon zijn. Ook bij het in- en uitschakelen van
de bekrachtiging traden fouten op doordat de motor hierbij iets kon verspringen.
Om deze problemen te verhelpen
is een stappenmotor-sturing ontwikkeld waarbij de
motoren continue bekrachtigd zijn. Dit hield in dat er een zwaardere voeding moest
worden gebruikt, dat de gebruikte stuurmodules
(
SLO-SYN 230-T)
nu gekoeld moesten
worden vanwege de continuë belasting, en dat de stuurelectronica aangepast moest
worden.
Van deze nieuwe stappenmotor-sturing wordt
in dit rapport een gedetailleerde beschrijving
gegeven.
stappenmotor-sturing
1.
Overzicht
van
de totale stappenmotor-sturing
In
figuur
1
zien we
de
onderdelen waaruit de stappenmotor-sturing is opgebouwd, en de
koppelingen naar buiten.
De
PC
genereert een pulstrein voor een bepaalde stappenmotor, en geeft op
een
daarvoor
bestemde
lijn
de draairichting van deze motor
aan.
Deze signalen worden door de stuurschakeling gebufferd, en geschikt gemaakt voor de
SLQ-SYN
steiurmodules. Verder verzorgt
de
stuurschakeling de koppeling
van
de
schakelaars, waarmee de bekrachtiging per motor
aan-
en uitgeschakeld
kan
worden, met
de stuurmodules.
De stuurmodules dragen zorg voor de juiste aansturing van de windingen van de stappen-
motoren, ze worden daarbij' van vermogen voorzien door
een 28V-1OA geschakelde
voeding.
i Istappenmotor
-
sturing
aanhi t
IPC
via
pcm2-kast
stappen-
motoren
stappenmotor-sturing
2. Het stuurgedeelte
Een
schema van het stuurgedeelte van de stappenmotor-sturing staat afgebeeld in
figuur
2.
We zien in dit schema dat het stuurgedeelte opgebouwd is uit drie gedeelten, de SLO-
SYN stuurmodules, de stuurschakeling
(
insteekprint) en de verbinding naar de PC via de
Amphenol-connector
.
2.1 De
SLO-SYN stuurmodules
Een SLO-SYN 230-T stuurmodule
heeft
vijf stuuringangen die allen intern optisch
geïsoleerd zijn, tevens worden ze door de optische isolator
naar hoog getrokken wanneer
de ingang open wordt gelaten. De vijf stuuringangen zijn:
1.
2.
3.
4.
5.
Voor
PU
(
puls ingang)
Een opgaande
flank
op deze
ingang
zorgt ervoor dat de motor een stap neemt.
CW
/
CCW
(
richtings ingang)
Hiermee
kan
de
draairichting van de motor worden ingesteld
(
Clockwise of
Counter Clockwise)
.
H
I'F
(
halve
of
volle stap)
Wanneer
een logische
nul
op deze
ingang
staat is één stap gelijk
aan
de volle hoek
volgens de specificaties van de motor,
bij
een logische één wordt deze hoek
gehalveerd. In de halve stap mode loopt de motor geleidelijker en heeft een hogere
resolutie, maar het koppel wordt met 30% verminderd.
AWO
(
bekrachtiging uit)
Bij
een logische
nul
wordt de bekrachteging van de motor uitgeschakeld.
(
gereduceerde stroom)
Met deze ingang
kan
men de stroom naar de motor reduceren.
Een logische één geeft een stroom van
2
Ampère,
een
logische nul reduceert de
stroom tot
1
Ampère, door een weerstand naar aarde
aan
te sluiten
kan
men
tussenliggende waarden voor de stroom instellen.
optische isolatie van de stuurschakeling dient men zelf een spanning van een externe
voeding
aan
te sluiten op de "OPTO SUPPLY IN" aansluiting. Men
kan
echter ook
gebruik maken van de interne voeding op de "OPTO SUPPLY OUT", en deze door-
verbinden met de "OPTO SUPPLY IN". In dit laatste geval wordt echter geen optische
isolatie verkregen.
Verder is er nog de aansluiting voor aarde
(
LOGIC COMMON), deze is doorverbonden
met de VOM aansluiting
aan de motor-zijde
(
zie par.3.2), en met het huis van de
stuurmodule.
stappenmotor-sturing
5
230-T R::
I
I SLO-SYN 230-TI
E
I
I
stappenmotor-sturing
6
2.2
De stuurschakeling
De stuurschakeling maakt de signalen die afkomstig zijn
van
de
PC
geschikt voor de
aansturing van de
SLO-SYN
stuurmodules, bovendien verzorgt de stuurschakeling een
buffering van deze signden.
De in de stuurschakeling gebruikte digitale poorten hebben allen een 'open collector '-uit-
gang,
dit is mogelijk omdat de stuurmodules intern
naar
hoog getrokken worden
bij
een
open ingang.
Verder zien
we
in het schema drie jumpers
(
Jl t/rn
33)
waarmee
de draairichting van
elke motor afzonderlijk
kan
worden gedef~eerd, in figuur
3
kan
men zien waar de
jumpers zich bevinden op de stuurprint.
De schakelaars
op
het frontpaneel worden door de stuurschakeling doorverbonden met de
ingangen 'All Windings
Off
van de stuurmodules, met deze schakelaars kan de bekrachti-
ging van elke motor afzonderlijk worden afgeschakeld.
stappenmotor-sturing
2.3 Verbinding met de
PC
De koppeling
van de stappenmotorsturing met de PC geschiedt via de AMPHENOL-14p
connector. We zien dat
5
pennen hiervan aangesloten zijn, de X
Y
en
Z
waarover de
pulsen worden gestuurd, de DIR waarmee de draairichting van de motor wordt aangege-
ven, en de aarde.
De AMPHENOL-14p connector dient aangesloten te worden op de
SuB-D-9p
connector
van de PCM2-kast
(
digitale uitgang), de kabel die hievoor nodig
is staat afgebeeld in
figuur
4.
AMPHENOL
1 4
P
SUB
D
9 P
1 8 5O
9 \O
0
Is
O
O
-O
0
IO
0 -
7 14stappenmotor-sturing
8
3. Het motor- en voedingsgedeelte
Een schema van het motor- en voedingsgedeelte van de stappenmotor-sturing staat
afgebeeld in figuur
6.
In
dit schema zien we weer de SLO-SYN stuurmodules, de
aansluitingen
aan
deze zijde splitsen zich op in twee gedeelten, de verbinding naar de
motoren via de Toechel-C70 connectors, en de voedingschakeling.
3.1 De verbinding met de motoren
De SLO-SYN stuurmodule heeft vier aansluitingen voor een stappenmotor, nl. twee
aansluitingen voor OA
en
twee voor
0B.
Een motor met
8
aansluitingen kan op twee manieren aangesloten worden, seriëel of
parallel, een motor met 6 aansluitingen
kan
aileen seriëel aangesloten worden.
Een schema van deze verschillenden aansluitingen staat afgebeeld
in
de handleiding van
de stuurmodule, bijlage A10
(
fig.2.3).
De koppel/snelheid curve is voor een
type
motor in de twee gevallen van aansluiten
verschillend. Deze curven, voor verschillende typen motoren aangesloten
op
de stuurmo-
dule SLO-SYN 230-T
staan
afgebeeld in bijlage
A14
t/m A15. We zien dat bij een seriële
aansluiting van een motor het maximaal haalbare koppel hoger is dan wanneer deze motor
parallel aangesloten zou zijn. Echter bij een parallelle aansluiting neemt het koppel
minder snel af wanneer de snelheid van de motor hoger wordt, dan bij een seriële
aansluiting.
In bijlage A10 staat in tabel
3.1
een
lijst van motoren welke bij de SLO-SYN 230-T
stuurmodules, en dus bij deze stappenmotor-sturing, gebruikt kunnen worden, deze
kunnen zowel
seriëel
als parallel aangesloten worden.
Bij de traverseerinrichting, die door deze stappenmotor-sturing wordt aangestuurd, wordt
gebruik gemaakt van de M062-LE09 voor de horizontale bewegingen
(
X
en Z), en de
M091-FD8109 voor de verticale beweging
(
Y). De motoren zijn allen seriëel aangeslo-
ten. De gebruikte kabel
naar
de motorconnector,
en
de aansluitingen hiervan aan de motor
stappenmotor-sturing TOECHEL-C70 AMPHENOL 14 P
O
0
1 8O
0
o
b
AMPHENOL 1 4 Pn
7 14SLO-SYN
stappenmotor
8
aansluitingen
Jig. 5 Aansluitingen aan de stappenmotoren.
3.2
Voedingsaspecten
De
SLO-SYN
230-T stuurmodules moeten gevoed worden met een
28
VDC spanning, de
stroom die per stuurmodule geleverd moet kunnen worden is 2.5 Ampère.
De gebruikte voeding, een DELTA S28-10
(
zie bijlage C), is in staat
10
Ampère
continue te leveren bij 28 VDC, en is dus ruim geschikt om de drie stuurmodules van
vermogen te voorzien.
De behuizing van de voeding is geschikt om in een 19"-rack te worden opgenomen.
De filtercapaciteit over de voedingsaansluitingen van een stuurmodule ( Vm-Vom) moet
minimaal
4700
pF
zijn ( C4 t/m
C6 in
figuur
5),
wanneer deze echter meer dan
15
cm
van de aansluitingen verwijderd is moet een extra condensator van 250 pF direct over de
pennen Vm-Vom aangesloten worden
(
C1 t/m C3 in figuur 4).
Ter voorkoming van interferentie tussen de stuurmodules via de voedingslijnen is in de
plusleiding van elke stuurmodule een diode opgenomen
(
D1 t/m D3 in figuur
4),
tevens
zijn de voedingslijnen van elke stuurmodule apart aangesloten op de voeding.
stappenmotor-sturing
10
X-MOTOR Y-MOTOR+
-
ref Vp
Ip
S-
-
+ s+
-
+
195-265 V 50-60 HZDELTA
S28-10
*
CHASSIS
GNDOUTPUT
C
1
=C2=C3=22ckF 40V
C4=C5=C6=47W
40V
D1=D2=D3=BYX98-12OOR
stappenmotor-sturing
11
4.
Kastindeling en -bekabeling
Bij
de indeling van de kast is rekening gehouden met het feit dat kabels naar de motoren
en voedingskabels niet parallel mogen lopen met digitale stuurlijnen, i.v.m. storingen die
hierdoor zouden kunnen optreden.
De indeling van de kast staat weergegeven in figuur
7.
Hierin is te zien dat de stuurmodu-
les
(
2
t/m
4)
zijn gemonteerd op koelvinnen, deze
staan
vertikad opgesteld zodat de
lucht er in verticale richting langs kan stromen. Voor de
aan-
en afvoer van de lucht-
stroom is de kast onder en boven met geperforeerde plaat afgesloten.
r'
I
I l l 3 2 4
19
1
2
I
I
1 = DELTA S28-10 6 = bekr. schakelaars en PC-aansluiting
2 = SLO-SYN 230-T X-dir 7 = netschakelaar en 22OV-aansluiting
3 = SLO-SYN 230-T Y-dir 8 = 5 Volt voeding voor stuurschakeling
4
=
SLO-SYN 230-T Z-dir 9=
dioden condensatoren en motor-aansluiting5 = stuurschakeling
j i g .
7 Indeling
van
de kast.
In
figuur
8
staat de bekabeling van de stuurlijnen
aan
de printconnector
(
2
x
32p
EURO)
stappenmotor-sturing
12
moedercontac t
bekrach tigings-
schakel aars
bekrachtigings-
schakelaar
X-mCtCXbekrach tigings-
schakelaar
Y - m t w
bekracht igings-
schakelaar
Z-motor
t-
t-
t-
C
A
3
X
SLO-SYN
230-T
8
7
6
4
5 X
3
2
I
7
6
4
5 Y
3
2
1
7 14
031
01
40
01
O32*+5V
printcomec tor
stuwschakeling2
x
32p ELRO
1 8
A i N O ì 14pBijlage
A l
Stappenmotor-sturingINSTRUCTION
MANUAL
for
SLO-SYN”
MICRO SERIES
MOTION
CONTROLS
TRANSLATOR
MODULES
TYPES
230-T,
430-T9
230-TH
í ~ d
430dTH
\$
Superior
Electric
Stappenmotor-sturing
Bijlage
A2
EXPRESS
START-UP PROCEDURE
for
SLO-SYN@
MICRO SERIES
IvIuviops ~UNTRULS
MODULAR ?WAMSLA?OR
DROVES
TYPES 230-T, 230-TH, 430-1,430-TH
STEPS NECESSARY
TO
BECOME OPERATIONAL
This Supplementary Instruction outlines the minimum steps necessafy for the Translator Drive to become operational. FAILURE TO PERFORM THESE STEPS MAY RESULT IN DAMAGE TO THE DRIVE.
CAUTION: Never connect or disconnect anythlng from the module with power
on.
1.
2. 3. 4. 5. 6. 7. 8. 9.Connect the plus of a 28 Vdc power supply to Vm and the minus to Vom. The supply must be capable of supplying 2.5 am- peres for a 230-T or 230-TH and 4.0 amperes for a 430-T or 430-TH.
Figure 1 shows a recommended power supply for applications using one Translator Drive. Recommended power supply configurations for applications where multiple drives are to be operated from a single supply are shown in Figure 2. The power supply output filter capacitor must be 4700 pf minimum. If this capacitor is more than 6 inches (152mm)from the drive module, an additional 250 pf, 50 volt capacitor must
be
installed between Vm and Vom at the drive module. The power supply voltage peak ripple values must not go higher than 32 volts or lower than 26 volts.Make sure the motor to be used is compatible with the drive. Refer to the manual for a list of compatible motors. Use the motor connection diagrams shown in the manual for 4-, 6- or 8-lead motors. When using a Mead motor, be sure to insulate and isolate the unused wires. Be sure to insulate all motor leads to prevent inadvertent shorts to ground or to each other.
If it is desired to operate in the reduced-current mode, install a resistor of the appropriate value between the REDUCE CURRENT pin and the LOGIC COMMON pin. Refer to the speed/torque data and the resistor versus current table ln- cluded in the drive manual. If you desire to run the REDUCE CURRENT remotely, refer to the circuit example shown in Figure 2.
To connect to the logic controls, refer to Section 4 of the manual, Functional Description, for connections. Caution: the module case is tied to the Vom and LOGIC COMMON pins internally. Do not tie your power supply to ground at another location.
Caution: operation at speeds less than 350 full steps per second may be erratic due to motor resonance. Avoid this speed range if a problem exists.
Stappenmotor-sturing
Bijlage
A3
I
I
RECOMMENDED 28Volt dc MOTOR POWER SUPPLY2 3 0 / 4 3 0 T DRIVES
I
RECOMMENDED POWER SUPPLY CONFIGURATIONSFOR 2301430T MULTIPLE DRIVES ON ONE SUPPLY
I
VAR0 VU298
I I
---
RECOMMENDED POWER SUPPLY CONFIGURATIONSSINGLE DRIVE APPLICATIONS FIGURE 1
---
*
All IilbrcOP~Citsparswe 4700pF. 50Vdcimin.lRECOMMENDED POWER SUPPLY CONFIGURATIONS MULTIPLE DRIVES WITH ONE SUPPLY
FIGURE 2
LûBIC COM o ,
TTC LûGIC
NOTES:--
i
.-
A gHIQH* Irvsl TTL 11gnal a, the Inpul acllvatss REDUCE CUWENT.2.-Ke.p tho FETond currmllrvelrrsislor wllhln four Inches at lhe Modulr.
3.-Rofar lothomnual forcurrrnilevel rsslttorvoluss.
TYPICAL REDUCED CURRENT INTERFACE FIGURE 3
Stappenmotor-sturing
Bijlage
A4
SLO-SYN@ Micro Series
Motion Controls
INSTALLATION
GUIDELINES
FOR
REDUCED NOISE DMPEWFEREMCE
1
General CommentsSLO-SYN Micro Series drives use modern solid-state electronics such as microprocessors to provide the features needed for advanced motion control applications. In some cases, these applications produce electromagnetic interference (EMI, or
electrical “noise”) that may cause inappropriate operation of the microprocessor logic used in the Micro Series product, or in any other computer-type equipment in the user’s system.
This guide is aimed toward helping users avoid such problems at the start by applying “good engineering practices” when designing their systems. Following these guidelines will usually prevent EM1 noise from interfering with drive operation.
II
Noise
SourcesWhat causes electrical noise? In general. any equipment that causes arcs or sparks or that switches voltage or current at high frequencies can cause interference. In addition, ac utility lines are often “polluted with electrical noise from sources outside a user’s control (such as equipment in the factory next door).
The following are some of the more common causes of electrical interference: power from the utility ac line
relays, contactors and solenoids light dimmers
arc welders
motors and motor starters induction heaters
radio controls or transmitters switch-mode power supplies computer-based equipment high frequency lighting equipment dc servo and stepper motors and drives
111
Mounting LocationWhen selecting a mounting location, it is preferable to keep the drive away from obvious noise sources, such as those listed above. If possible, locate the drive in its own metal enclosure to shield it and its wiring from noise sources. If this cannot be done, keep the drive at least three feet from any noise sources.
Stappenmotor-sturing
Bijlage
A5
iV
Do the following when installing or wiring your drive or indexer: Wiring Practices
-
“Dos and Don’ts”e Do keep the drive and its wiring as far away from noise sources as possible.
Do provide a good, solid ground connection to the ac system earth ground conductor. Bond the drive case Bo use a single-point grounding scheme for ail related components of a system (this looks iike a “Rub and Do keep the ground connection short and direct.
Do use a line filter on the ac input (Corcom type 1061,
IOSI
or I O K I or equivalent) for noisy ac lines. Particuarlyto the system enclcsure.
spokes” arrangement).
bad ac lines may need to be conditioned with a ferroresonant type isolation transformer to provide “clean” power to the drive or indexer.
Do keep signal and drive wiring well separated. If the wires must cross, they should do so at right angles to mini- mize coupling. Power wiring includes ac wiring, motor wiring, etc. and signal wiring includes inputs and outputs (i/ O), serial communications (6232 lines), etc.
Do use separate conduits or ducts for signal and li0 wiring. Keep all power wiring out of these signal line conduits,
Do
use shielded, twisted-pair cables for indexer 110 linesDo ground shields only at one end, the indexer/drive end.
Do use twisted-pair, shielded cable for the motor wiring.
*
Do use solid-state relays instead of electromechanical contact types wherever possible to minimize noiseDo suppress all relays to prevent noise generation. Typical suppressors are capacitors or MOVs. See manufaclur- Do use shielded, twisted-pair cable for connections to RS232 serial port.
generation.
ers literature for complete inlormation.
Do nol do the following when installing your drive or indexer:
Do not install sensitive computer-based equipment (such as an indexer/drive) near a source of electromagnetic noise.
Do not bundle power and signal lines together.
Do not bundle motor cables and signal lines together.
Do not fail to use shielded, twisted-pair cables for signals.
Do not fail to properly connect the system grounds.
Do not use “daisy-chained’’ grounds.
Do not fail to ground signal cable shields at only one end.
Do not assume that power from the ac line is adequately “clean”.
Bijlage A6
Stappenmotor-sturing
NflNG INDEXER, BE SURE TO OLIO, CLEAN
CONNECTION
INDEXEf? CASE AND IENCLOSth?E
2- SHIELbE6
CABLE
(FOR BEST ROUND SHkLD C M Y BY TWISTED-PAIRI I
25-PIN "O" TO TERMINAL STRIP#-I-
CONVERTER*
u
r
SHIELD GROUND RE SURE TO&EP
SIGNAL CABLES WELL AWAY FROMr
LIMIT
.-
SWITCH
DO NOT GROUND SHIELD AT SWITCH END.
MOTOR WIRING AND AC POWER WIRING
f
SUCH AS MAGNUM CONNECTOR TYPE 15(FEMALk) COOPER INDUSTRIES, BUSSMAN CORP. Xt15125-NLStappenmotor-sturing
Bijlage
A7
V Troubleshooting Guide
Electrical interference problems are common with today’s computer
-
based controls, and such problems are often difficult to diagnose and cure. If such a problem occurs with your system, it is recommended that the following checks be made to locate the cause of the problem.i. Check the quality of the ac line voltage using an oscilloscope and a line monitor, such as Superior Electric’s VMS
2. Be certain all of the previous Dos and Don’ts are foiiowed for location, grounding, wiring and relay suppression 3. Double check the grounding connections to be sure they are good electrical connections and are as short and direct as
possible.
4. Try operating the drive with all suspected noise sources switched off. If the drive functions properly, switch the noise sources on again, one at a time, and try to isolate which ones are causing the interference problems. When a noise source is located, try rerouting wiring, suppressing relays or other measures to eliminate the problem.
Bijlage
A8
. _
WARNINGS:
0 Voltage is present
on
unprotected plns when unlt is0 No short circult protection for motor outputs is provided
In
0 Belme making changes to the motor
or
control wirlng,CAUTIONS:
e Assure motor compatibility before using the unit.
Observe all cooling and temperature limitations. Module case temperature must be maintained between O and 75 de- grees C. (32 and 167 degrees F).
0 Do not operate the unit without the proper filter capacilator as specified in section 3.5.1.3.
0 All Windings Off should be used with caution, as all holding torque is lost.
0 00 not connect or disconnect motor or signal cables while Dower is amlied.
operatlonai. îhls unil.
turn off ail power to the unit.
6 Do not apply power until all connections have been made correctly.
6 Do not exceed specified input voltages.
LIMITS OF USE:
6 Reconfiguration of the circuit in any fashion not shown in
NOTE
O. c t ~ ~ k w i ~ e amd eeunierciockwise direcîions are properly oriented when viewing the motor trom the label end.
2. The motor connector consists of 7 pins, and is Symmetrl- cal around the center pin. It connections are Inadver- tently rotated 180 degrees, motor direction (CW, CCW)
wlii be reversed. Motor direction can
also
be reversed byswapping the two motor connections of the same phase
(for example, by swapping
Ml
and M3).this manual will void the warranty.
SECTION
1:
INTRODUCTION
The 230 and 430 drive modules are differentiated as fol-
1.1 FEATURES
OVERVIEW
lows:
CURRENT VA
PERPHASE PERPHASE
230-T or TH . .
. . .
. .. . . .
. 2 Amps peak 56 VA nominal430-T or TH .
.
..
.. .
. . . , .3.5 Amps peak 96 VA nominal“T” designates the translator module.
“TH” designates the translator module equipped with the heat sink.
The 230-T(H) and 430-T(H) are high efficiency bipolar chopper translator modules, designed in small, easily mounted packages. They can be used with a wide range of Superior Electric SLO-SYN 2-phase stepping motors, 4 , 6 or 8 lead types.
The 230-T(H) and 430-T(H) use resistive current sensing and provide for full and half-step operation. Inputs are opti- cally isolated. with choice of using internal ot external opt0 power supplies. All units feature reduced current and all wind- ings off capabilities.
1.2 INSPECTION PARTS LIST
Translalor Module 230-T(H) or 430-T(H)
7-Pin Connector 8215744-007
8-Pin Terminal Strip B215744-008
1.3 USING
THIS MANUAL
This manual is an installation and operating guide to the 230-T(H) and 430-T(H) motor drive modules. All the informa- tion provided is necessary for using these modules success- fully.
We strongly recommend thaf this manual be read thor-
oughly and completely before attempting to install and
operate the equipment. 1.3.1 Organization
This manual is organized for the convenience of the opera- tor. Section 2, “Mounting and Pin Assignments,” provides the diagrams and reminders most necessary for the experienced user and installer.
Complete specifications (Section 3) will provide easily ref- erenced information concerning all aspects of installation, power and interface requirements, as well as periormance specifications.
The “Functional Description” (Section
4)
provides opera- tional information useful in design, diagnostic, and trouble- shooting situations.Section 5, “Pin Configuration and Operations” provides detailed information for use of the equipment.
1.3.2 Logic
and
Voltage ConventionsThroughout this manual, the following conventions are foi-
The designation “Vo“ signifies the logic signal common terminal. “Vom” signifies the motor supply voltage com- mon terminal. Both Vo and Vom are internally connected to the module’s aluminum case.
All logic functions are low Irueiogic. A logic low
or
logic O will activate a function and a logic high, or a logic i will deactivate a function. Thus,iN
THIS MANUAL THE TERMS ACTIVE OR ACTIVÀTE WILLIhlPLY
A
LOGICLOW
CONDiTiON &ND THE TERhS IkACTiVEOR DEACTIVATE
WILL
IMPLYA
LOOIC hIGH CONOMON.In cases where the function changes with a change in logic state, the low trtie (active) will be indicated with a bar.
Foor
lowed:
Stappenmotor-sturing
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A9
example, in the case of CW/*, CW is active with no connection.
All logic control pins are optically isolated internally. When a pin is left open, it is clamped in a logic high (inac- tivated) state by the optical isolator.
The motor drive changes state and advances the motor one step (or one-half step in the half-step mode) on a pos- itive going (low to high) pulse edge.
Clockwise (CW) and counterclockwise (GCW) are ori- ented correctly when viewing the motor from the name- plate (Label) end.
SECTION 2: MOUNTING AND PIN ASSIGNMENTS
The figures included here will be referenced in later sec- tions.2.1
MOUNTINGThe 230T and 430-T modules are epoxy encapsulated within an aluminum frame. The back surface of this frame has flanges and mounting holes. See Figure 2.1 below for the mounting hole diameters and locations.
It is recommended that 6-32 or 8-32 screws be used for mounting.
The major mounting consideration is that the case tem- perature be maintained below 167degreesF (75 degrees C).
For
operation a l or near full load, or at a higher temperature than 75 degreesF
(25 degrees C) mounting io a heat sink is required.A correctly configured heat sink is supplied by Superior Electric: Part #C215737-001-DB.
Also, the motor drive module can be ordered with the heat sink attached by specifying model #230-TH or 430-TH.
If no heat sinkor an alternate heat sink is used, silicone heat sink compound (such as Dow-Corning number 340) must be used on the mounting surface.
NOTE A very lhln coaling Is sulclen!; too much is worse than none at all.
When a heat sink is used, the heat sink fins should be mounted in a veriicai position, unless forced-air cooling is used.
Figure 2.1 shows the mounting hole locations and diame- ters for the Superior Electric supplied heat sink.
2.2
MOTOR CONNECTIONSAll motor connections are made via the 7 pins or a 7 pin connector (Superior Electric part number 6215744-007) on the motor drives. Figure 2.2 shows the location and function of the motor drive pins. Sections 3 (3.5.2.2) and 5 (5.9-5.12) give details of how to make the motor connections.
ELECTRICAL CONNECTIONS Figure 2.2 Oulpul Pin Asslgnmenls
,
MOOULE
Flgure 2.1: Mounling Diagram
Stappenmotor-sturing
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A10
DRIVE END
UNTERMINATED LEADS
MOTOR 10 FEET 25 FEET 50 FEET
END LONG LONG LONG
PLUG' 8216067-001 8216067-002 8216067-003
8216022-001 CABLE ONLY
'VVITHOUT CûNNECTûRS
PLEASE NOTE The motor drive plns are arranged syme- trically about the center Vm pin. If the motor connector is inadvertently rotated 180 degrees when connecting the
motor, then the CW and CCW directions will be reversed. The 230 and 430 Series Translator Modules can be used with 6-lead and 8-lead SLO-SYN" motors. Figure 2.3 shows the correct connections for each possible motor confiouration.
I
8216022-002 RZl6022-aO3
6-LEAO MOTORS. SERIES CONNECTION NûlE: N.C. = No Connecllon
8-LEAO MOTORS, SERIES CONNECTION
i{=;;;c?g&i;q)
OREEN WITEIRED
)-LEAD MOTORS. PARALLEL CONNECTION
MOTOR CONNECTIONS FIGURE 2.3 2.3 CONTROL INTERFACE
rior Electric part number 8215744-008.
All connections are made via 8 pins or lerminal strip, Supe-
SECTION
3:SPECIFICATIONS
3.1 PRODUCT DESCRIPTION
Bipolar, 2-phase stepping motor drive with translator.
Power semiconductor type: H-bridge power IC Translator: internal IC
Control signals optically isolated from the motor drive mod-
ule (except for Reduce Current)
3.2 PERFORMANCE
Resolution Half-step or full-step Step Rale
Chopping Freq. 20 kHz nominal Speedltorque:
MQTOfl
FAMILIES
O to 10.000 full-stepskec.
O to 10,000 half-stepskec. All speciiicatlons use typical data. MOTORS FOR USE
WITH
23Q-?(M)WITH CONI(ECT0RS M061-CS08 M063-CS06 M061-CE08 M063-CSO9 M062-CS09 M063-CE09 M062-CE09 WITH LEADS
hn061-LSOS b063-LE09 h.nO92-FDO9
M061-LE08 MO91-FCO9 MO92-FD3iO
M062-LSO9 M091-FD09 M092-FD8009
MOW-LE09 M091-FD8009 MO92-FOE109
M063-LSO6 M091-FD8109 M092-FD8814
M063-LSO9 M092-FC09
MOTORS
FOR USE WIT)) 430-T(H) WITH CûNNEC?ORSM06i-CSOB M063-CS06
MO61 -CE08 M063-CE06
M062-CS09 Mfl63-CS09
M062-CE09 M063-CE09
WITH LEADS
M061-LSO8 MO91 $DO6 MO93-FD801 I
M061-LE08 MO91 -FORI 06 M093-FD8014 M062-LSO9 MO92-FCO9 Mi
1
1
-FDi 2 M062-LE09 M092-FD09 M i1 I
-FD16 M063-LSO6 M092-FD310 M I1
I-FD8012 M063-LE06 M092-FD8009 M063-LSO9 M092-FD8109 M I 12-FD8012 M063-LE09 MO93-FCl4 M112-FJ8012 M091-FC06 M093-FD i4
M112-FJ8030 Mi 12-FD327Table 3.1: Motor Families
Stappenmotor-sturing
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1
Power Supply Necessary (See Section 3.5.1.1) Drive power dissipation (worst case)
230-T(H): 25 watts 430-T(H): 40 watts
5.3
MOTOR COl!’AT!R!L!TYFrame Sizes MO61 to MO92 MO61 to M112
No. of Leads 4,6,8
Min. inductance: 0.55mH
Max. resistance: 3.5 ohms including drive-to-motor cable Caution: DO NOT USE LARGER FRAME SIZE MOTOR THAN
THOSE LISTED, OR THE DRIVE MAY BE DAMAGED. 23Q-T:W) 430-T(W)
3.4 MECHANICAL SPECIFICATIONS
Type: Potted module; Potted module; Aluminum case Aluminum case
230-T 430-T
“H” Unit supplied with AI. heat sink (see Figure 2.1) Size (inches): 3.15(80mm)L 4.05( 103mm)L
2.70(68.6mm)W 2.70(68.6mm)W 1.31”(33.3mm)H 1.31”(33.3mm)H (add approx. 0.500” (12.7mm) to height for pins) Weight (Ibs.) l(0.45 kg) 1.5 (0.7 kg)
add 0.5 Ib (0.23kg) for “H” unit
3.5 ELECTRICAL SPECIFICATIONS
3.5.1 Input Power Supply
3.5.1.1
Power
and Voltages230-T(H) 430-T(H)
Supply Voltage:
28 VDC, nominal; 24 min to 36 max
including ripple including ripple 2.5 Amperes 4.0 Amperes
28 VDC, nominal; 24 min to 36 max Supply Current:
NOTE: Operation from a 28-30 VDC supply gives the best overall performance, considering tradeoffs
of
motor and drive heating, power supply current and torque vs. speed.3.5.1.2 Connections
Method: Pins or terminal block (Part #6215744-007). Assignment: Vm =
+
Vom = CommonVom and Vo are internally connected to the module’s aluminum case.
Cable Size: 14 gauge max., when using terminal block. Superior Electric cables are recommended; see Section 2.2 for part numbers.
WARNING: DO NOT OPERATE THIS UNIT WITHOUT EXTER- NAL FILTER CAPACITORIIIII
3.5.1.3 Filter Capacitor Requirement:
Minimum of 250 mld. 50 VOC needed across Vm
-
Vom at drive terminals, or within 6 inches (150mm) of them.Total filter capacitance on the motor power supply must be greater than or equal to 4700 microfarads; a 5O-volt (or higher) working voltage. and 3.3 amps ripple current rating are re- quired. If the power supply does not contain sufficient filtering, then additional filtering must be added between the Vm and Vom terminals. For example, Sprague 53D4726063JP6 capaci- tor is a suitable 4700 microfarad, 63 volt capacitor.
3.5.2 OUTPUT TO MOTOR
3.5.2.1 Voltages and Current Output Voltage:
2 3 0 4 H) 430-T( H)
24-36 Volts nominal, depending on 36 Volts max.
to motor power supply voltage.
,
36 Volts max. Motor Current 2 Amperes peak 3.5 Amperes peak
per phase:
1
Ampere peak in 1.5 Amperes peak inreduced reduced
current mode current mode Motor VA 56 VA nominal 98 VA nominal
per phase: (at 28 VDC, ZA) (at 28 VDC, 3.5A)
3.5.2.2 Connections
Terminals: At drive: Phase A and Phase 6 pairs MaxlMin cable length: Total maximum resistance of motor
and cable: 3.5 ohms
Cable size, type: 14 gauge maximum when using ter- minal block pari #B215744-007. Special Requirements: Twist motor phase pairs: 6 twists/ft.
to minimize radiated EMI/RFI and help provide maximum motor perfor- mance.
3.6 CONTROL INTERFACE REQUIREMENTS 008.
Min pulse width low: Min pulse width high: Rise and fall time:
All connectionsvia 8 pins or terminal block part #B215744- 15 microseconds
50 microseconds less than 2 microseconds
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3.7 Opto-Isolation
Power required for opto-isolators: 4.5-7 VOC. 14 mA minimum. 20 mA maximum per input.
To use internal opto-isolator power supply: connect OPTO OUT and OPTO IN pins together,
Logic “sinking” i5 required to actbate ~pii~aliy-i~~iaied sig- nals (see sections 5.7 and 5.8)
3.8 ENVIRONMENTAL REQUIREMENTS
Storage Temp: - 40°F to
+
185°F ( - 40°C to+
85°C)Operating Temp:
+
32°F to+
167°F (0°C to+
75°C) caseHumidity: 95% max., noncondensing Altitude: 10,000 feet (3048 meters) max.
Heat sinking: Maintain case temperature below 167 degrees F (75 degrees C)
No heat sink needed for Reduced Current operation ai 77 degrees F (25 degrees C) ambient temperatures
(1
A for230-T; 1.5 A for 430-T).
Use heat sink part #C21573?-001-08 for operation at higher currents or higher ambient temperatures
SECTION 4:
FUNCTIONAL DESCRIPTION
4.1 OVERVIEW
In general, the 230-T(H) and 430-T(H) electronically con- veri input pulses into drive signals of the proper sequence and power required to operate a stepping motor: one input pulse being “translated” into one motor step.
To drive the motor, d technique called “chopping” is used.
Compared to older drive techniques, chopping gives Improved motor periormance while allowing the drive circuitry to dissi- pate less power. The voltage applied to the motor windings is turned on and off very rapidly. or chopped. The voltage level and chopping frequency are precisely controlled so that the desired current is produced.
The instantaneous current in the drive circuit is sensed and is used to control the current to the motor.
The translator circuitry accepts a single pulse at a time as an input and determines which windings (phases) of the motor must be turned on and off in order to advance the motor shaft one step. The translator circuit is fully self-contained and is
not accessible through any of the function pins.
4.2. SIGNAL DESCRIPTION
The 230-T(H) and 430-T(H) are configured for operation by the means of the pin assignments. How these tunctions are treated by the motor drive module is explained in Section 6.
Input pulses, one for each desired motoriep. are received by the translator circuit on the PULSE
lh
(PU) pin.Two input control signals alter the sequenceof motor wind- ings which will be energized. The CW/CCW pin controls
which direction the motor will move and the HALFIWL (H/F)
pin determines whether a hall or full step is taken.
Even when the motor is stationary. current is flowing through one or two of the windings. The magnetic field pro- duced by this current holds the shalt firmly with a force s p 3 lied as the “hold&torque.” The input control signal, ALL WINDINGS OFF (AWO!. turns off all current to?he motor, !bus allowing the shaft to be turned manually.
SECTION 5:
PIN
COkFIGURhTTION
AkD
DPERA-
NOTE The lollowing discussion assumes the Internal opto power supply is being used when describing signal tunc- tlons.
TIOkS
(Ret. Figure 2.2, Seclion 2.2)5.1
(m)
A low to high (positive going edge) transition on this pin causes the motor to take one step. Maximum frequency is
15kHZ.
5.2 C W I r W (DIRECTION)
A logical high or an open connection causes the motor shaft to step in the clockwise direction as viewed from the label end of the motor. A logical low, or connection to LOGIC COMMON results in counterclockwise rotation.
5.3
HIP
(HALF/FUn)A logical low or connection to LOGIC COMMON. causes the motor to step the full step angle indicated in its specifications.
A logical high (open) causes the motor to take a “hall step” equal to half of its specified step angle. When operated in half- step mode the motor provides smoother motion with finer res- olutlon but a approximately 30% less torque.
NOTE II the H# input is switched low wlth the Vm po#er on,
It Is posslble to get a lull step, one wfndlng on (“wave mode”) candltion that results In reduced motor torque. To
avold this, power lo the unll must be turned ofl (remove Vm) urhenever lhis Input Is switched low.
5.4
m
)-(A logical low or connection to LOGIC COMMON turns off all power to the motor windings.
WARNING
Holding torque Is eliminated when this signal is active. Insure that the motor load, *hen released by this command,
wilt not Injure property or personnel.
5.5
REDUCED CURRENT There are two ways to use this pin:1.
Connect i! directly to LOGIC COMMON (Pin#3). This reduces motor current to 1.OA for the 230 T(H) and to1.5A for the 430 T(H).
2. Connect if through a resistor (see Table below) to LOGIC COLtdON (Pin #3) for other values of reduced current.
Sîappenmotor-sturing
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NOTE: Connections to this pin must be kept short (2 inches or less) to avoid malfunction. Also, this signal is not optically isolated.
For the 230-T(H), typical values for resistors and the asso- ciated current are:
CURRENT (Amps) RESISTOR (ohms)
1 .o0 O (jumper) 1.25
1.50 1.75
2.00 open
2.49 k ohm, li4 watt,
1%
7.50 k ohm, li4 watt, 1 %
23.7 kohm, $14 watt, 1 %
For the 430-T(H). typical resistor values and the associated currents are:
CURRENT (Amps) RESISTORS (ohms)
1 5 O (jumper) 2 0 2.5 3.0 3 5 open 1.78 k ohm, 1/4 watt,
1%
5.62 k ohm, li4 watt, 1%
16.2 kohm, li4 watt, 1%
5.6 LOGIC COMMON
nally to Vom and to the module's aluminum case.
5.7 OPTO SUPPLY
OUT
Supplies proper voltage for opt0 inpuls from an internal source. By connecting OPTO SUPPLY OUT to OPTO SUPPLY
IN, the user can use 230-T(H), 430-T(H) internal power sup- ply. This aiiows logic functions to be activated by "sinking" (pulling them low; i.e.. connecting Ihem to LOGIC COMMON via an external switch or logic gate.)
In this case, the user's circuilry is not isolated from the translator.
5.8 OPTO SUPPLY IN
Reference point for inputs and outputs; connected inter-
Connection for opto-isolator power supply.
May be connected as described in 5.7, or user may provide a separate source for opto-isolators and "sink" to activate, as shown in Figure 5.1. This method may prowide the best noise
immunity since the user's circuitry is optically isolated from the translator. CONTROL SIGNAL CO(JTR0L LOGIC COMMON lLVDC, 80mA MWO rn I)EOUOI LOCICCOt1 CUñRENl V U
3"""
.OU1 rn o ~ i o a u p p ~ v \IN O vou V O H HI? CONTROL SIGNAL CONTROL LOGIC COMMON 4.0 TO TVDC, BOmA3"""
Ern c W m V U LOCICCOM b /out oP1o~uPPLv3"ZR
\IN e Y O UTWO SUGGESTED METHODS USING EXTERNAL POWER SUPPLY
CONTROL SIGNAL CONTROL LûGIC COMMON
3"""
3"""
rmmi cunmm V U LOOIC CO94 OPlOx&%V3
JUMPER tN UOY HI? I)EOUOI3"ZOR
A i l CURRUn LOGIC COtl. /OU1 OP10 SUPPLY ' I N V U3"""
YO" C - S V rn 20mA SINK% SIGNAL b CONTROL CONTROL LOGIC COMMON TWO SUGGESTED METHODS USING INTERNAL POWER SUPPLYFIGURE 5.1 OPTO CONNECTIONS
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A14
5.9 Vm 5.11 MOTOR Phase
A (OA)
Motor power supply input. Connect the pair of wires for one motor phase here. For example, MI, M3 on Superior Electric Motors.
5.10 Vom
to the module's aluminum case. Common for motor supply: connected internally to Vo and
5.12 MOTOR Phase B ($6)
Connect the pair of wires for the other motor phase here. For example, M4, M5 on Superior Electric Motors.
TYPICAL SPEED
VS.
TO1
230
SERIES MO
CPEED (1.8. STEPS PER S E W 1
SERIES CONNECTION M061-CS08 AN0 M061-LSO8 MOTORS
TYPICAL PERFORMANCE CHARACTERISTICS m
SPEED (1.8'STEPS PER SECONDI
SERIES CONNECTION M062-CS09 AND MO62-LSO9 MOTORS
TYPICAL PERFORMANCE CHARACTERISTICS
30
2.
m
n
d spEm (i.e. STEPS PER SECONDI
SERIES CONNECTION M063-CS09 AND M063-LSO9 MOTORS
!UE
CHARACTERISTICS
3N
CONTROLS
=Ern (I.E. STEPS PER SECONDI
PARALLEL CONkECTlON M061-CE08 ANû YOGI-LEOS )iiOTORS
TYPICAL PERFORMA)JCE CHARACTERISTICS
*
SPEED (1.8. JTm Pm SECOWDI
PARALLEL CONE~ECTION
hlO62-CE09 AkO M062-LE09 hnOTORS
TYPICAL PERFORMANCE CMARACTERIST~S
SPEED (1.8. SI33 Pm SEmDI
PhRALLEL CONNECTION M063-CE09 AND MO63-LE09 MOTORS
Bijlage A15
Stappenmotor-sturing3
-
[ N1
6-01 f u oFl
tm11 1 w6 51 0 8 3 1 2 2 1SPEED (i e- STEPS PER SECOSDI
SERIES CONNECTION M091-FC09 AN0 M091-FO09 MOTORS
-
f
NI
SERIES CONNECTION M092-FC09 AN0 M092-FD09 MOTORS I 2 5 1-
14%1
( ; : o 4 0SPEED I I W STEPS PER SECOW)
SERIES CONNECTION M092-FD310 MOTOR
-
8.j
I% f s o g 6 0 1633)$
''
-
j
SPEED (1.8. STEPS PER S E W )
PARALLEL CONNECTION M092-FD8109 AN0 M092-FO8009 MOTORS
i& 14%
Stappenmotor-sturing
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+
i
Bijlage
A16
E
13458,-
I 1474 g m 121 21 1P61TYPICAL SPEED
VS
430
SERIES
^m
f
-
1
TORQUE
CHARACTERISTICS
tsS,r ,&I d m';
i
MOTION
CONTROLS
Ig
f
N 4g
t F 7 1 16751 O M 142 41 12%-
-
p
f
i
SPEED (1.8. STEPS PER SECONO)
SERIES CONNECTION M062-CS09 AND M062-LSO9 MOTORS
E
1%-
d I E 0 18
d m
1 2 2 , 1% I 1TYPICAL PERFORMANCE CHARACTERISTICS
SPEED 0.8' STEPS PER trcocO8
SERIES CONNECTION M063-CS06 AND M063-LSO6 MOTORS
PARALLEL CONNECTION MO63-CEO6 AN0 M063-LE06 MOTORS
spEEI> (1.0. srrp9 PER trWN0)
PARALLEL CONNECTION h063-CE09 Ako hl063-LE09 hlOTORS
Stappenmotor-sturing
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TYPICAL PERFORMANCE CHARACTERISTICS
250 l v 6 51 200 041 21 150 I K n 81 m imsi M 1% 3) O
SPEED (1.8- STEPS PER SECOND)
SERIES CONNECTION M091-FC06 AND M091-FD06 MOTORS
WEED (1.8- STEPS PER SECOND)
SERIES CONNECTION M092-FC09 AND MO92-FD09 MOTORS
TYPICAL PERFORMANCE CHARACTERISTICS
50 au I282 4) 320 40 Mo 30 160 m 12288t I16941 I113 O1 80 I 5 6 SI M I l l f
SPEED (1.8. STEPS PER SECOND) SERIES CONNECTIOM M092-FO310 MOTOR
TYPICAL PERFORMANCE CHARACTERISTICS
SPEED (1.8- STEPS PER SECOND)
PARALLEL CONNECTION M091-FO8106 MOTOR
TYPICAL PERFORMNCE CHARACTERISTICS
___
SPEED (l.ûs STEPS PER SECOND)
PARALLEL CONNECTION M092-FOE109 AND M092-FOE009 MOTORS
TYPICAL PERFORMANCE CHARACTERISTICS
SPEED (1.8. STEPS PER SECOND)
SERIES CONNECTION M093-FOE011 MOTOR TYPICAL P E R F O R W E CHARACTERISTICS
---
SPEED (1.8. srrp9 PER S E m 1 SERIES CONNECTION M093-FC14 AND M093-FD14 MOTORSSPEED (1.8' STEPS PER SECOND)
PARALLEL CONNECTION M093-FD8014 MOTOR
Bijlage
A18
stappenmotor-sturing-
I i a +i 6 0e
SPEED 11.8' STEPS PER sECo(0)
SERIES CONNECTION Ml11-F012 MOTOR
f
(4%L
450 i31781-
o w f2ll8) ISD fW59)SPEED 11.8- STEPS PER SECWO)
SERIES CONNECTION M111-FD16 MOTOR
SPEED 11.8. STEPS PER SEWN01
PARALLEL CONhECTiON M0112-FD8012 AND M112-FJ8012 MOTORS
SERIES CONNECTION Mll2-FJ327 MOTOR
SIZO I1.W STEPS PER SWND)
PARALLEL CONNECTION Mlll-FD8012 MOTOR
-
...SPEED 11.8. STEPS PER S E W )
PARALLEL CONNECTION
Stappenmotor-sturing
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6.1
MOTOR
PERFORMANCEAll stepping motors exhibit instability at their natural fre- quency and harmonics of that frequency. Typically, this in- stability will occur at speeds between 50 and 500 full steps per second and, depending on the dynamic motor load parameters, can cause excessive velocity modulation or improper positioning.
There are also other instabilities which may cause
a
loss of torque at stepping rates outside the range of natural resonance frequencies. One such instability is broadly identified as mid-range instability. Thisis
identified by the dotted area (...) on the speed torque curves.Usually, the dampening of the system and acceleration/ deceleration through the resonance areas aids in reducing
instability to a level that provides smooth shaft velocity and accurate positioning. If instability does cause unac- ceptable performance under actual operating conditions, the following techniques can be used to reduce velocity modulation.
1. Avoid constant speed operation at the motor’s unsta- ble frequencies. Select a base speed that is above the mo- tor’s resonani irequencies and adjust acceleration and deceleration
!o
move the motor through unstable regions quickly.2. The motor winding current can be reduced as dis- cussed
in
section 5.5. Lowering the current will reduce torque proportionally. The reduced energy delivered to the motor can decrease velocity modulation.SECTION 7:
TROUBLESHOOTING
WAWWiW8:
Motors connected lo this drive can develop high lorque and large amounts of mechanical energy.
Keep clear of the motor shaft, and all parts mechanically linked to the motor shalt.
Turn OH the power to the drive before performing work on parts mechanically coupled to the motor.
If installation and operation instructions have been followed carefully, this unit should perform correctly. If the motor fails to step properly, the following checklist will be helpful.
In General:
Check all installation wiring carefully for wiring errors or poor connections.
-
Check to see that the proper dc voltage level is being sup- plied to the unit.Be sure the motor is compatible for use with this unit.
~~ ~
7.1
IF
MOTOR DIRECTION
(CW, CCW)IS REVERSED,
Check:
Connection to the 52, Motor Connector may be rotated 180
degrees.
7.2
IFTHE MOTOR MOTiON IS ERRATIC,
Check:Low filter capacitor.
Input pulses not of proper level or width. Supply voltage out of tolerance.
7.3
IF TORQUE IS
LOW, Check:active.
AT0 (All Windings Off) active or REDUCED CURRENT Improper supply voltage.
If a malfunction occurs that cannot be corrected by making these corrections, contact Superior Electric Company.
Bijlage
A20
Stappenmotor-sturingDISTRIBUTION COAST-TO-COAST AND INTERNATIONAL
Superior Electric products are available nationwide through an extensive authorized distributor network. These distributors offer literature, technical assistance and a wide range of models off the shelf for fastest possible delivery.
In addition, Superior Electric sales engineers and rnanu- facturers' representatives are conveniently located to provide prompt attention to customers' needs. Call the nearest office listed lor ordering and application informa- tion or for the address of the closest authorizeddistributor.
BRISTOL IN EUROPE iN CAiu&D&
383 Middle Street The American Superior Electric
Bristol, CT 06010 Koperwerf 33 Company, Ltd.
Tel: (203) 582-9561 38 Torlake Crescent
TWX: 710-454-0682 Tel: 31 70 3679590 Toronto, Ontario M8Z 1 83
FAX: 203-589-2136 TELEX: 31 436 Supe nl Tel: (416) 255-2318
Superior Electric Nederland B.V. 2544 EM The Hague, Netherlands
FAX: O11 31 70 296274 TELEX: 06-967806 FAX: 416-231-6022
WARRANTY AND LIMITATION OF LIABILITY
The Superior Electric Company (the "Company"), Bristol, Connecticut. warrants lo Ihe tirst end user purchaser (the "purchaser") or equipment
manutactured by the Company that such equipment. it new, unused and in original unopened cartons at the time of purchase, wilt be tree hom
detects in material and workmanship under normal use and service for a period 01 one year trom date 01 shipment from the Company's factory
or a warehouse of the Company in the event that the equipment is purchased from the Company or for a period ot one year from the date 01 shipment
from the business establishment of an authorized distributor ot the Company in the event that the equipment is purchased from an authorized
distributor
THE COMPANY'S OBLIGATION UNDER THIS WARRANTY SHALL BE STRICTLY AND EXCLUSIVELY LIMITED TO REPAIRING OR
REPLACING, AT THE FACTORY OF A SERVICE CENTER OF THE COMPANY, ANY SUCH EQUIPMENT OF PARTS THEREOF WHICH AN
AUTHORIZED REPRESENTATIVE OF THE COMPANY FINDS TO BE DEFECTIVE IN MATERIAL OR WORKMANSHIP UNDER NORMAL
USE AND SERVICE WITHIN SUCH PERIOD OF ONE YEAR. THE COMPANY RESERVES THE RIGHT TO SATISFY SUCH OBLIGATION IN FULL BY REFUNDING THE FULL PURCHASE PRICE OF ANY SUCH DEFECTIVE EQUIPiWENT. This warranty does nol apply to any
equipment which has been tampered with or altered in any way, which has been improperly installed or which has been subject to misuse, neglect
or accident
ANY IMPLIED WARRANTY OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE, and of any other obligations or liabilities
on the part ot the Company: and no person is authorized to assume lor the Company any other liability with respect lo equipment rnanutactured
by the Company The Company shall have no liability with respect to equipment nol 01 its manufacture. THE COMPANY SHALL HAVE NO
LIABILITY WHATSOEVER IN ANY EVENT FOR PAYMENT OF ANY INCIDENTAL OR CONSEQUENTIAL DAMAGES, INCLUDING,
WITHOUT LIMITATION, DAMAGES FOR INJURY TO ANY PERSON OR PROPERTY.
Writtenauthorization lo return any equipment of parts thereot must be obtained trom the Company. The Company shall not be responsible lor
any transportation charges
IF FOR ANY REASON ANY OF THE FOREGOING PROVISIONS SHALL BE INEFFECTIVE, THE COMPANY'S LIABILITY FOR DAMAGES
ARISING OUT OF ITS MANUFACTURE OR SALE OF EQUIPMENT, OR USE THEREOF, WHETHER SUCH LIABILITY IS BASED ON
WARRANTY, CONTRACT, NEGLIGENCE, STRICT LIABILITY IN TORT OR OTHERWISE, SHALL NOT IN ANY EVENT EXCEED THE FULL PURCHASE PRICE OF SUCH EQUIPMENT.
Any action against the Company based upon any liability or obligation arising hereunder or under any law applicable io the sale of equipment.
or the use thereof. must be commenced within on war after the cause 01 such action arises
,
THE FOREGOING WARRANTY IS IN LIEU OF ANY OTHER WARRANTIES, EXPRESS OR IMPLIED, INCLUDING, WITHOUT LIMITATION,
These products are sold subject to the standard Limitation 01 Liability and/or Warranty of The Superior Electric Company, The
American Superior Electric Company, Ltd , or Superior Electric Nederalnd 8 V.
The right to make engineering relinements on all prodiJcis is reserved Dimensions and other details are subject to change
S E - I 2 9 0 2
Superior
Electric
A
Bristol, Connecticut
06010-7488
-"",
TEL: (203) 582-9561 TELEX: 96-2446 WX: 710-654-0682 Cable Address: SUPELEC FAX: (203) 589-2136