SDH86MB Micro-stepping Stepper Motor Driver User Manual
Contents
1. contact imttusa com 12 13 SDHS86MB Micro stepping Motor Driver IM T T _www imttusa com _ problems like current clamp for example using 4A supply for 3A motor driver operation On the other hand if unregulated supply is used we may use a power supply of lower current rating than that of motor typically50 70 0f motor current The reason is that the driver draws current from the power supply capacitor of the unregulated supply only during the ON duration of the PWM cycle but not during the OFF duration Therefore the average current withdrawn from power supply is considerably less than motor current For example two 3A motors can be well supplied by one power supply of 4A rating Multiple Drivers It is recommended to have multiple drivers to share one power supply to reduce cost if the supply has enough capacity To avoid cross interference DO NOT daisy chain the power supply input pins of the drivers Instead please connect them to power supply separately Protection Functions To improve reliability the driver incorporates some built in protections features e Over voltage Protection When power supply voltage exceeds 85VDC protection will be activated and power indicator LED will turn red e Coil ground Short Circuit Protection Protection will be activated in case of short circuit between motor coil and ground Attention Since there is no protection against power leads reversal it is critical to make sure tha2. SDHS86MB Micro stepping Motor Driver IM T T _www imttusa com _ SDH86MB Micro stepping Stepper Motor Driver User Manual Innovetive Materials Testing Technologies Inc 3141 W Torreys P eak Drive Superior CO 80027 USA Phone 303 554 8000 Fax 303 554 8001 Email contact imttusa com 1 13 SDHS86MB Micro stepping Motor Driver IM T T _www imttusa com _ Features e Output current up to 8 28 A e Supply voltage up to 80VDC e Up to 1 50 micro step resolution with 16 selectable micro step setup e Increased torque at high speed e Suitable for 2 phase and 4 phase step motors with peak current lt 8 2A e Dip switch to set 8 different current values e Input pulse frequency up to 200kHz e Optically isolated input signals e Automatically standstill current reduction e Over voltage Over Current Short Circuit protection e Bipolar constant current chopping drive circuit Introduction The SD2H86MB isa cost effective micro stepping stepper motor driver based on new developed technology It is suitable for driving 2 phase 4 phase hybrid stepping motors By using the advanced bipolar constant current shopping technique it can output more torque at high speed from the same motor compared with traditional drivers such as L R drivers Its 3 state current control technology allows coil currents to be well controlled and with relatively small current ripple therefore less motor heating is achieved Specifications and Operating Envi
3. be run at only 70 of their rated current to prevent over heating Parallel Connections An 8 lead motor in a parallel configuration offers a staler but lower torque at higher speeds But because of the lower inductance there will be higher torque at higher speeds Multiply the rated current per phase or unipolar by 1 96 or the bipolar current by 1 4 to determine the peak output current Power Supply Selection SD2H86MB can match medium and small size stepping motors from Nema size 17 to 34 To achieve good driving performances it is important to select correct power supply Generally speaking supply voltage determines the high speed performance of the motor while output current determines the output torque of the driven motor particularly at lower speed Higher supply voltage will allow higher motor speed to be achieved at the price of more noise and heating If the motion speed requirement is low it s better to use lower supply voltage to decrease noise heating and improve reliability Both regulated and unregulated power supplies can be used to supply the driver However unregulated power supplies are preferred due to their ability to withstand current surge If regulated power supplies such as most switching supplies are used it is important to have large current output rating to avoid Innovative Materials Testing Technologies Inc 3141 W Torreys Peak Drive Superior CO 80027 USA Phone 303 554 8000 Fax 303 554 8001 Email
4. c 3141 W Torreys Peak Drive Superior CO 80027 USA Phone 303 554 8000 Fax 303 554 8001 Email contact imttusa com 7 13 SDHS86MB Micro stepping Motor Driver IM T T _www imttusa com _ PNP C E OPEN PULSE SIGNALS CONNECTION STEP DRIYER STEP R TOR Figure 3 Connection to PNP open collector signals Attention e When Vec 5V R 0 e When Vec 12V R 1kQ 0 25W e When Vec 24V R 2kQ 0 25W e It is recommended to use shielded cable for the cable from controller to driver Shield is connector to ground e Choose power line or motor line with line diameter not less than 1mm Innovetive Materials Testing Technologies Inc 3141 W Torreys Peak Drive Superior CO 80027 USA Phone 303 554 8000 Fax 303 554 8001 Email contact imttusa com 8 13 SDHS86MB Micro stepping Motor Driver IM T T _www imttusa com _ Differential driver control signals STEP ROTOR Figure 4 Connection to differential signals Attention e This is the recommended connection method e 26LS31 or compatible IC can be selected as the differential driver chip e It is recommended to use shielded cable for the cable from controller to driver Shield is connector to ground e Choose power line or motor line with line diameter not less than 1mm Innovetive Materials Testing Technologies Inc 3141 W Torreys Peak Drive Superior CO 80027 USA Phone 303 554 8000 Fax 303 554 8001 Email contact imttusa com 9 13 SDHS86MB Micro steppin
5. cally this will reduce motor heating up to 25 due to P I R of the original value Innovetive Materials Testing Technologies Inc 3141 W Torreys P eak Drive Superior CO 80027 USA Phone 303 554 8000 Fax 303 554 8001 Email contact imttusa com 5 13 SDHS86MB Micro stepping Motor Driver IM T T _www imttusa com _ Timing Chart of Control Signals In order to avoid some fault operations and deviations PUL DIR and ENA signals must obey by some rules as shown in the following diagram assuming J1 default setting is upward rising edge effective A B ai ee in i se i grag ge jaa ee ee enna DIR a oe ee es j Figure 1 Sequence Chart of control signals Timing Specifications Pulse width A B in figure 1 gt 2 5us pulse frequency lt 200 kHz Dir ENA switching time C in figure 1 gt 2us Wiring Notes In order to improve anti interference performance of the driver it is recommended to use twisted pair shield cable To prevent noises incurring in PUL DIR signal pulse direction signal wires and motor wires should not be tied up together It is better to separate them by at least 10 cm away otherwise the disturbing signals generated by motor will easily disturb pulse and direction signals causing motor position error system instability and other failures If a power supply serves several drivers separately connecting the drivers is recommended instead of daisy chaining It is prohibited to pull and plug conn
6. ector P2 while the driver is powered ON because there is high current flowing through motor coils even when motor is at standstill Pulling or plugging connector P2 with power on will cause extremely high back EMF voltage surge which may damage the driver The SD2H86MB can accept differential and single ended input signals including open collector and PNP output The SD2H86MB has 3 optically isolated logic inputs which are located on connector P1 to accept control signals These inputs are isolated to minimize electrical noises coupled onto the drive control signals Recommend to use differential control signals to increase noise immunity of the driver in interference environments Wiring diagram for open collector and PNP signals are illustrated in the Innovative Materials Testing Technologies Inc 3141 W Torreys Peak Drive Superior CO 80027 USA Phone 303 554 8000 Fax 303 554 8001 Email contact imttusa com 6 13 SDHS86MB Micro stepping Motor Driver IM T T _www imttusa com _ following figures NPN OPEN Collector SIGNALS CONNECTION STEP ROTOR Figure 2 Connection to NPN open collector signals Attention e When Vec 5V R 0 e When Vec 12V R 1kQ 0 25W e When Vec 24V R 2kQ 0 25W e It is recommended to use shielded cable for the cable from controller to driver Shield is connector to ground e Choose power line or motor line with line diameter not less than 1mm Innovetive Materials Testing Technologies In
7. g Motor Driver IM T T _www imttusa com _ Mechanical Specifications unit inch 1 89 0 41 S E 5 12 5 9 0 197 Figure 5 Mechanical Drawings Note It is recommended to use side mounting for better heat dissipation Motor connection The SD2H86MB driver can drive any 2 pahse and 4 pahse Hybrid stepping motors e Connections to 4 lead Motors 4 lead motors are the least flexible but easiest to wire Speed and torque will depend on winding inductance In setting the driver output current multiply the motor rated current by 1 4 to determine the pack output current Innovetive Materials Testing Technologies Inc 3141 W Torreys Peak Drive Superior CO 80027 USA Phone 303 554 8000 Fax 303 554 8001 Email contact imttusa com 10 13 SDHS86MB Micro stepping Motor Driver IM T T _www imttusa com _ Figure 6 4 lead motor connections e Connections to 6 lead Motors NC Figure 7 6 lead motors full coil connection Figure 8 6 lead motors half coil connection Like 8 lead stepping motors 6 lead motors have two configurations available for high speed or high torque operation The higher speed configuration or half coil is so described because it uses one half of the motor s inductor windings The higher torque configuration or full coil uses the full windings of the phases Half coil Configurations As previously stated the half coil configuration uses 50 of the motor phase windings This gives lower induc
8. l make the motor to output more torque but at the same time causes more heating in the motor and driver Therefore output current is generally set to be such value that the motor will not overheat for long time operation Since parallel and serial connections of motor coils will significantly change resulting inductance and resistance it is important to set driver output current based on motor phase and connection methods Phase current rating supplied by motor manufacturer is important in selecting driver current however the selection also depends on leads and connections The first three bits SW 1 2 3 of the DIP switch are used to set the dynamic current Select a setting that is closest to the required current to your motor Dynamic Current Setting Peak current A SWI1 SW2 SW3 1 82A Off Off Off 2 73A On Off Off 3 63A Off On Off 4 65A On On Off 5 56A Off Off On 4 46A On Off On 7 37A Off On On 8 28A On On On Notes Due to motor inductance the actual current in the coil may be smaller than the dynamic current setting particularly under high speed condition Standstill Current Setting SW4 is used to set standstill current OFF means that the standstill current is set to be half of the selected dynamic current and ON means that standstill is set to be the same as the selected dynamic current When SW4 is set OFF the current automatically reduces to 50 of the selected dynamic current after 0 4 second of the last pulse Theoreti
9. pply voltage can increase motor torque at higher speeds thus helpful for avoiding losing steps However higher voltage may cause bigger motor vibration at lower speed and it may also cause over voltage protection or even driver damage Therefore it is suggested to choose only sufficiently high supply voltage for intended applications and it is suggested to use power supplies with theoretical output voltage of 20V 80V leaving room for power fluctuation and back EMF Selecting Micro Step Resolution This driver uses an 8 bit DIP switch to set micro step resolution and motor operating current as shown in the table below Micro Step resolution is set by SW 5 6 7 8 of the DIP switch as shown in the following table Micro Micro step SW5 SW6 SW7 SW8 step SW5 SW6 SW7 SW8 mode mode 1 2 On On On On 1 12 On On On Off 1 25 Off On On On 1 16 Off On On Off 1 3 On Off On On 1 20 On Off On Off 1 4 Off Off On On 1 25 Off Off On Off 1 5 On On Off On 1 30 On On Off Off 1 6 Off On Off On 1 32 Off On Off Off 1 8 On Off Off On 1 40 On Off Off Off 1 10 Off Off Off On 1 50 Off Off Off Off Innovative Materials Testing Technologies Inc 3141 W Torreys Peak Drive Superior CO 80027 USA Phone 303 554 8000 Fax 303 554 8001 Email contact imttusa com 4 13 SDHS86MB Micro stepping Motor Driver IM T T _www imttusa com _ Driver Output Current Setting For a given motor higher driver current wil
10. reliable response pulse width should be longer than 5us DIR signal In pulse mode this signal has low high voltage levels representing two DIR DIR directions of motor rotation For reliable motion response DIR signal should be ahead of PUL signal by Sus at least ENA Enable signal This signal is used for enabling disabling the driver High level for enabling the driver and low level for disabling the driver ENA sually left unconnected enabled Connector P2 Configurations Pin Function Details Gnd C power ground V C power supply 20 80 VDC Including voltage fluctuation and EMF voltage At A otor Phase A B B Motor Phase B Innovetive Materials Testing Technologies Inc 3141 W Torreys Peak Drive Superior CO 80027 USA Phone 303 554 8000 Fax 303 554 8001 Email contact imttusa com 3 13 SDHS86MB Micro stepping Motor Driver IMTT Applications SD2H86MB is suitable for a wide range of stepper motors from Nema size 14 to Nema size 34 It can be used in various kinds of machines such as numerical control machine labeling machines laser cutters engraving machines pick place devices and so on Particularly adapt to the applications desired with low vibration high speed and high precision Selecting Supply Voltage The power MOSEFTS inside the SD2H86MB can actually operate from 20V to 80VDC including power input fluctuation and back EMF voltage generated by motor coils during motor shaft deceleration Higher su
11. ronment Electrical Specifications Tj 25 C Parameters 2D Min Typical Max Unit Output current 1 82 8 28 peak A Supply voltage DC 20 68 80 VDC Logic signal current 6 10 30 mA Pulse input frequency 0 200 KHz Isolation resistance 500 m2 Control signal input high 3 6 5 5 5 VDC Control signal input low 5 5 0 0 3 VDC Innovetive Materials Testing Technologies Inc 3141 W Torreys P eak Drive Superior CO 80027 USA Phone 303 554 8000 Fax 303 554 8001 Email contact imttusa com 2 13 SDHS86MB Micro stepping Motor Driver IM T T _www imttusa com _ Operating Environment and other Specifications Cooling Natural Cooling or Forced cooling Environment Avoid dust oil fog and corrosive gases Ambient Temperature 0 C 50 C Operating Environment Humidity 40 RH 90 RH Operating Temperature 70 C Max Vibration 5 9m s Max Storage Temperature 20 C 65 C Weight Approx 1000 gram 35 40z Pin Assignment and Description The SD2H86MB has two connectors connector P1 for control signals connections and connector P2 for power and motor connections The following tables are brief descriptions of the two connectors of the SD2H86MB More Detailed descriptions of the pins and related issues are presented following sections Connector P1 Configurations Pin Function Details Pulse input signal In single pulse pulse direction mode this input represents pulse PUL PUL signal effective for each rising or falling edge For
12. t power supply leads correctly connected to the driver Otherwise the driver will be damaged instantly When power supply voltage is lower than 20VDC the driver will not works properly Innovative Materials Testing Technologies Inc 3141 W Torreys Peak Drive Superior CO 80027 USA Phone 303 554 8000 Fax 303 554 8001 Email contact imttusa com 13 13
13. tance hence lower torque Like the parallel connection of 8 lead motor the torque output will be more stable at higher speeds This configuration is also referred to as half chopper In setting the driver output current multiply the rated current per phase or unipolar by 1 4 to determine the peak output current Full Coil Configurations The full coil configuration on a six lead motor should be used in applications where higher torque at lower speeds is desired This configuration is also referred to as full copper In full coil mode the motor should be run at only 70 of their rated current to prevent over heating Innovative Materials Testing Technologies Inc 3141 W Torreys Peak Drive Superior CO 80027 USA Phone 303 554 8000 Fax 303 554 8001 Email contact imttusa com 11 13 SDHS86MB Micro stepping Motor Driver IM T T _www imttusa com _ e Connections to 8 lead Motors PZ RZ O Figure 9 8 lead motor serial connections Figure 10 8 lead motor parallel connections 8 lead motors offer a high degree of flexibility to the system designer in that may be connected in series or parallel thus satisfying a wide range of applications Series Connections A Series motor configuration would typically be used in applications where a higher torque at lower speeds is required Because this configuration has the most inductance the performance will start to degrade at higher speeds In series mode the motors should also
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