PMDX-150 3-Amp Bipolar Micro-Stepping Motor Driver User`s Manual
Contents
1. 16 Appendix B Power Supply and Motor Selection s s s susununununnnnnnnnunununununununnnnnnnnnnnnnnnnnnnnanen tnam ua 17 Appendix C Motor W iring nerr nennen nnnm nnn nan aa anaiai inanasan ai anaana inaani aaan 17 PMDX 150 Manual 16 doc 2004 2007 Practical Micro Design Inc Page 2 of 17 Table of Contents 18 January 2007 All Rights Reserved PMDX 150 User s Manual PCB Revision PCB 402D Document Revision 1 6 Firmware Revision 1 0 1 0 Overview This document describes the configuration and operation of the PMDX 150 Micro Stepping Motor Driver The PMDX 150 provides an interface between a step pulse generator a PC etc and a single stepper motor and includes diagnostic modes to assist in troubleshooting This document pertains to the following versions of the PMD X 150 Circuit Board Revision PCB 402D marked on the bottom of the board Firmware Revision 1 0 marked on a label on the top side of the board 1 4 Important Safety Information The PMD X 150 is intended for integration by the purchaser into industrial control systems It is solely the purchaser s responsibility to assure that the system is configured in a manner consistent with applicable safety requirements Practical Micro Design Inc does not control how this board is integrated into the purchaser s system and cannot be responsible for guaranteeing the safety of your system The PMD X 150 is not guaranteed to be fail safe The s2. isolated Direction input opto isolated 6 Fault Fault output opto isolated Table 2 Power Supply and Control Connector Pin Out J1 2 1 1 Motor Power Supply Connect the motor power supply to the two motor power supply terminals This must be a DC power supply with a voltage not to exceed the maximum voltage specified in section 10 0 Electrical and Environmental Specifications The actual power supply voltage must be chosen to match the stepper motor and performance requirements of your application The maximum power supply current depends on the stepper motor and the PMDX 150 motor current DIP switch setting see section 3 1 Motor Current Selection 2 1 2 Opto Isolator Ground Reference This pin provides the common ground reference for the opto isolator inputs and output This pin is normally connected to the ground pin of the device that generates the step and direction signals i e the PC s parallel port a PMD X 120 etc This pin may also be connected to the negative motor supply Vneg but doing so will remove any isolation between the motor power supply and the step pulse generator 2 1 3 Step and Direction Inputs The step and direction inputs are optically isolated inputs to the PMDX 150 The PMDX 150 acts on the step input on either the rising or falling edge depending on the setting of the SPOL DIP switch see Figure 1 below and section 3 4 The direction signal is latched inside the PM
3. pulse to the motor In these cases there are fewer constraints on the input step signal as follows NOTE These step rate limits refer to the PMDX 150 s ability to follow the step input In actual practice the motor s performance will usually limit the step rates to much lower values PMDX 150 Manual 16 doc 2004 2007 Practical Micro Design Inc Page 9 of 17 18 January 2007 All Rights Reserved PMDX 150 User s Manual PCB Revision PCB 402D Document Revision 1 6 Firmware Revision 1 0 Operators Link Jump Start rate 40 KHz initial step rate when starting from a dead stop Maximum step rate 100 KHz Table 8 Micro Stepping non multiplied O perating Constraints 5 0 Reduced Current Mode W hen the DIP switches are set to enable reduced current mode see section 3 3 the PMDX 150 will detect periods of no motion no incoming step pulses W hen a motor has not moved for 30 seconds the PMDX 150 will reduce the motor drive current to approximately half of the current specified by the DIP switches see section 3 1 W hen an incoming step pulse is detected the motor current is returned to its full value and then the motor is advanced W hile the PMD X 150 is in reduced current mode the LED will flash in a repeating pattern of two long flashes one second each followed by 3 seconds off see also section 7 1 Activity and Status LED 6 0 Fault Handling The PMDX 150 is self monitoring and can detect and report
4. the next step input It then outputs four equally spaced step pulses during that time interval If the incoming step rate is below a certain rate approximately 250 steps second the step multiplier ceases to predict the step interval and simply outputs the four step pulses at an approximate 250 step second rate 4 1 Step Multiplier Operating Constraints It takes time for the step multiplier PLL to adjust to the incoming step frequency Therefore there are limits on the incoming step rate and how fast it can change as shown in the following table NOTE These step rate limits refer to the PMDX 150 s ability to follow the step input In actual practice the motor s performance will usually limit the step rates to much lower values Operators Lik Jump Start rate 250 steps second maximum but also may be limited by the motor initial step rate when starting from a dead stop Maximum step rate 25 KHz input step rate multiplied to 100 KHz micro steps to the motor Maximum step slew rate 2096 change in step period between subsequent step pulses for step rates over the jump start rate 250 steps second below that there is no limit to the slew rate except as limited by the motor Table 7 Step Multiplier O perating Constraints 4 2 Micro Stepping non multiplied Operating Constraints W hen the PMD X 150 is operating with the step multiplier disabled quarter step or eighth step modes each step pulse in generates a single step
5. D X 150 on the active edge of the step pulse selected by the SPOL DIP switch This reduces the setup and hold requirements on the pulse generator system See Figure 1 below for a depiction of the required step and direction timings and relationships See section 10 0 Electrical and Environmental Specifications for the D IR setup and hold values and the Step pulse and recovery times PMDX 150 Manual 16 doc 02004 2007 Practical Micro D esign Inc Page 5 of 17 18 January 2007 All Rights Reserved PMDX 150 User s Manual PCB Revision PCB 402D Document Revision 1 6 Firmware Revision 1 0 Min Step C 3 9 A pulse width Step SPOL switch up Min Step l l 1 l l a N a i l ulse recover l l l l Dir setup I time 1 l l Step i i SPOL switch down I AHHH 1 I i Min Step i r ulse recover 1 l l 1 I 1 l l 1 HE Dir setup o m Dir hold time time 1 i 1 l Figure 1 Step and Direction Timing Diagrams 2 1 4 Fault Output The Fault output is an open collector output which is optically isolated from the PMD X 150 s motor power and shares the common ground connection with the Step and Dir inputs The fault output is active low meaning that a fault condition exists with the Fault output is connected to the ground pin See section 6 0 Fault Handling for more information on the PMD X 150 s fault detection capabilities 2 2 S
6. PMDX 150 3 Amp Bipolar Micro Stepping Motor Driver User s Manual Document Revision Date PCB Revision Firmware Revision PMDX 9704D Gunston Cove Rd Lorton VA 22079 2366 USA 1 6 18 January 2007 PC B 402D 1 0 W eb http www pmdx com Phone 1 703 372 2975 FAX 1 703 372 2977 PMDX 150 Manual 16 doc 18 January 2007 2004 2007 Practical Micro Design Inc All Rights Reserved Page 1 of 17 PMDX 150 User s Manual PCB Revision PCB 402D Document Revision 1 6 Firmware Revision 1 0 aE o oY 3 11 Important Safety Information oe essessssescssseessseesessneessneessssesessussessuneessnseeessseeesseeessaneessnseeessueessuaeessnneessnees 3 1 2 c Warranty Summa yide nghe dip d ed CR Ra quia dd 3 13 uc P 4 L4 Updates to this Manual eee eed t eie tte eed Podere 4 2 0 CONNECtOFS n anann 4 21 Power Supply and Control Connector J1 sese 4 211 Motor Power SUDDlys dste nre en rh Pep baba taa ble demissa 5 2 1 2 O pto Isolator Ground Reference tnnt ttti 5 2 1 3 Step and D irection InpUts ntn p d teda 5 2 1 4 Fault QUEUE 62 6 a ais seta ei aun ie Ma LESE 6 2 2 Stepper Motor Connector J2 eeeseecssseccssesessseessnteecsneeesseeeessseessaecessseeessseeesseseessaneessnueeesseeessueesseneeesnnees 6 3 0 DIP Switch SettingS ssssssesesssssessesesesessenneeseesseneeaeeoeso
7. eats detected See section 6 0 Fault Handling for more information this pattern On solid Push button switch pressed see section 7 2 Push Button Switch and section 8 0 Test M ode Table 10 Activity LED Flash Patterns PMDX 150 Manual 16 doc 2004 2007 Practical Micro Design Inc Page 11 of 17 18 January 2007 All Rights Reserved PMDX 150 User s Manual PCB Revision PCB 402D Document Revision 1 6 Firmware Revision 1 0 7 2 Push Button Switch Pressing the push button switch provides several functions e When a fault condition exists pressing the switch attempts to clear the fault and re start the motor see section 6 0 e Re reads the DIP switches and implements the new settings regardless of whether or not a fault condition exists There are two exceptions to this a The SPOL switch always takes effect immediately see section 3 0 DIP Switch Settings b The RCEN switch which only takes effect after power on see section 3 0 DIP Switch Settings e When no fault condition exists pressing and holding the switch will enter Test mode see section 8 0 Note that whenever the push button switch is pressed the LED turns on solid 7 3 Idle Timer The PMD X 150 contains a idle timer This timer detects when two seconds have elapsed since either the last incoming step pulse or the last test mode step pulses If two seconds elapse the LED flashes an idle pattern of one slow flash one second o
8. ep pulses If the switch is O pen or up the PMDX 150 acts on the rising edge WARNING The SPOL switch takes effect immediately All other DIP switches take effect only after power on or after pressing the push button switch see section 7 2 Push Button Switch PMDX 150 Manual 16 doc 2004 2007 Practical Micro Design Inc Page 8 of 17 18 January 2007 All Rights Reserved PMDX 150 User s Manual PCB Revision PCB 402D Document Revision 1 6 Firmware Revision 1 0 4 0 Micro Stepping and Step Multiply Modes The PMDX 150 always drives the stepper motor in a micro stepping mode either quarter step or eighth step W hen full step mode is selected via the DIP switches the motor is actually driven in quarter step mode and the PMD X 150 s step multiplier is enabled The PMD X 150 then outputs four Step pulses for every one incoming step pulse W hen half step mode is selected the motor is driven in eighth step mode with the step multiplier enabled generating four step pulses for every one incoming step pulse This allows the PMDX 150 to emulate these two stepping modes while providing a smoother transition between incoming steps W hen quarter step or eighth step modes are selected the PMD X 150 disables the step multiplier The motor is driven directly in the corresponding micro step mode The step multiplier operates like a phase locked loop PLL It predicts the interval between the most recent step input and
9. eseenaeaeeoesouseueeaeeoesauseuaeeoesoeseeneuaesoesans 7 3l Motor Current Selection te eher dtr te ve t re e 7 3 2 Micro Step Mode Selact ee re e e ed c e rec n rt e dod 8 33 Reduced Current Enable is oe ci aa Sa Fo one a del 8 BA Step Polarity sso cete ie toe A UR RUNI a De hated 8 40 Micro Stepping and Step Multiply Modes ner eieee nennen enn anannan nana an nana nan n an ua 9 41 Step Multiplier O perating Constraints 9 42 Micro Stepping non multiplied O perating C onstraints sseeennnnn 9 5 0 Reduced Current Mode nenne esses nan ana naar ama am asma sna nna a amas R a RR RR SaaS aiaia 10 10007 74700 e meaa maea ar paaa ranam aea raaa raean a aa aa anaa Aaaa ae aeania anaana 10 7 0 Miscellaneous r 11 Jel 1 Activitycand Status FED acs onte rb onn ATT 11 42 Push Button Switch aree dt et i e ec e rto T Re ead 12 F3 Nelle Timer siete M M 12 74 Cooling Fan 0 PtiONial was anncncneandnnnacnnnanandanscananandannanananunanaannanuaaanals 12 8 0 Test Mode T 12 9 0 Mechanical SpecificationS ssessssssusunununununonnnnnnnnnnnnnnununununenennnennnnnnnnnnnnnnnnanannnnn nnmnnn nnaman nnaman 14 10 0 Electrical and Environmental Specifications s s s sssusunununenennnnnnnnnnunununununnnnnnnnnnnnnnnnnnannnnn ana 15 Appendix A Warranty
10. he Gnd terminal Max input low 0 4V referenced to the Gnd terminal Step pulse width 1 0 us minimum Step pulse recovery 2 0 us minimum Step frequency D epends on micro stepping mode see section 4 0 Dir setup time 1 0 us minimum see section 2 1 3 Dir hold time 1 0 us minimum see section 2 1 3 Fault O utput O pen collector optically isolated output signal Max sink current 100 mA referenced to the Gnd terminal Max pull up voltage 24VDC referenced to the Gnd terminal NOTE The open collector output requires a pull up resistor in the receiving equipment Environmental Temperature 0 to 55 C Relative Humidity 2096 to 8096 relative humidity non condensing NOTE Forced air cooling may be required at elevated temperatures or with current settings above 2 5 amps See section 3 1 Motor Current Selection for more information PMDX 150 Manual 16 doc 2004 2007 Practical Micro Design Inc Page 15 of 17 18 January 2007 All Rights Reserved PMDX 150 User s Manual PCB Revision PCB 402D Document Revision 1 6 Firmware Revision 1 0 Appendix A Warranty Statement Practical Micro Design Inc PMD warrants that this hardware product is in good working condition according to its specifications at the time of shipment for a period of 90 days from the date it was shipped from PMD Should the product in PMD s opinion malfunction within the warranty period PMD will repair or
11. ier can output 4 steps for every one step input Test mode supports debug and jogging without a controller connection LED flashes with step input and to indicate idle reduced current and fault conditions DIP switches for all settings no jumpers or trim pots to adjust Check the PMDX web site for revisions or updates to this manual http www pmdx com The latest revision of this manual is available on the PMD X 150 page follow the links from the main page 2 0 Connectors The PMDX 150 contains the following connectors Refer to the following sections for details on the pin outs for each connector Power supply and control interface Stepper motor connections Table 1 Summary of PMDX 150 Connectors 2 1 Power Supply and Control Connector J1 Connector J1 contains the motor power supply connection along with the step and direction inputs common opto isolator ground and the fault output Pin 1 is the pin closest to the reference PMDX 150 Manual 16 doc 18 January 2007 2004 2007 Practical Micro Design Inc All Rights Reserved Page 4 of 17 PMDX 150 User s Manual PCB Revision PCB 402D Document Revision 1 6 Firmware Revision 1 0 designator i e J1 pin 1 is the pin closest to the J1 text on the top side of the circuit board Also each pin is labeled on the bottom of the circuit board Pin Number Label Description N egative motor power supply input 4 Step Step input opto
12. mode direction so that the next push button press will move the motor in the opposite direction except as described below If the push button is released during step 1 of the test profile the motor halts at the next full step boundary If the push button is released during step 2 of the test profile it immediately ramps down from the current step frequency and then stops i e it does not wait until the ramp has reached it maximum frequency before ramping down and stopping Note that if the push button is pressed while a fault is indicated the push button serves to attempt to clear the fault it does not enter test mode W hen a fault is indicated it takes two button presses to enter test mode one to clear the fault and the second to enter test mode Each time test mode is entered the motor direction is reversed from the previous test mode It is possible to tap the push button to force a direction reversal without holding the switch long enough to generate a step pulse In this manner you can achieve successive runs of slow steps in the same direction W hile not in test mode i e push button not pressed if 30 seconds elapse with no incoming step pulses the test mode starting direction will be reset to its default power on value The actual motor direction depends on how the motor is connected to the PMD X 150 WARNING If you press the push button for test mode and nothing happens a fault may have occurred while starting te
13. n three seconds off see section 7 1 Activity and Status LED This gives a visual indication that the PMD X 150 has power and is active N ote that reduced current mode will override the idle LED pattern with its own flash pattern when the reduced current timer expires and reduced current mode is enabled see section 5 0 Reduced Current M ode 7 4 Cooling Fan optional Depending on the ambient temperature motor current setting and motor that is connected to the PMDX 150 you may need to supply force air cooling to the PMD X 150 board to prevent thermal shut down The forced air cooling may be provided by an external fan moving air over the board as is the case in the PMDX Motion Management System units or by a fan mounted directly on the PMD X 150 board as described below The PMDX 150 has mounting holes in two of its heat sinks for use in mounting a 45mm square fan directly to the board The fan will be secured at only two of its corners and will be rotated 45 degrees with respect to the board After mounting the fan make sure that the impeller is free to rotate Cooling is effective either with air blowing onto or away from the board Power for the fan is not supplied by the PMDX 150 board you must provide the fan power separately O ne example of a fan that is suitable for use with the PMD X 150 is DigiKey part number 259 1196 8 0 Test Mode The PMDX 150 provides a method for stand alone motor testing This
14. nhance performance The use of heat sinks bonded directly to the A3977 s lead frame allows operation with up to 3 0 Amps of motor current The PMDX 150 has the following features Control Interface O pto isolated step and direction inputs Does not require a separate opto isolator power supply 3 3V compatibility for laptop computers O pto isolated fault output to signal error conditions from the PMD X 150 Latches the Dir direction input on selected edge of the Step input Input step rate up to 100 KHz Motor Interface Motor connector positioned so that it can project through a panel to allow installation in a box without internal motor wiring Up to 3 0 Amp motor drive current with bipolar chopper current limiting O ptional reduced current mode after 30 seconds of idle Clamping circuits to prevent damage from motor disconnect voltage spikes or back EMF 1 4 Updates to this Manual Power Supply Input Motor power supply input handles up to 35VDC input Protection from transient voltage spikes N o separate logic or opto coupler power supply required Self resetting poly switch fuse for over current protection Protection against reversed power supply wiring Special Features Pluggable wire clamp screw terminal strips for all connections to motor and controller O ver temperature shut down and fault indication Micro stepping modes full half quarter and eighth step Step multipl
15. or abuse beyond the control of Practical Micro Design Inc whether such damages be direct indirect consequential special or otherwise and whether such damages are incurred by the person to whom this warranty extends or a third party PMDX 150 Manual 16 doc 02004 2007 Practical Micro D esign Inc Page 16 of 17 18 January 2007 All Rights Reserved PMDX 150 User s Manual PCB Revision PCB 402D Document Revision 1 6 Firmware Revision 1 0 Appendix B Power Supply and Motor Selection To be determined Appendix C Motor Wiring To be determined PMDX 150 Manual 16 doc 02004 2007 Practical Micro D esign Inc Page 17 of 17 18 January 2007 All Rights Reserved
16. ply mode as described in the following table Refer to section 4 0 Micro Stepping and Step M ultiply M odes for information on the step pulse multiplier and the various micro stepping modes 6 5 Mode to Step Input Full Step Four 4 quarter steps for each step input Half Step Four 4 eighth steps for each step input O ne 1 quarter step for each step input Eighth Step JO ne 1 eighth step for each step input Table 6 Micro Step Mode Select DIP Switch Settings 3 3 Reduced Current Enable DIP switch lever 7 is the reduced current enable RCEN switch It determines whether the PMDX 150 reduces current to the motor after a period without movement If the switch lever is Closed or down then the PMDX 150 s Reduced Current mode is disabled If the switch lever is Open or up the Reduced Current mode is enabled See section 5 0 Reduced Current M ode for information on reduced current mode WARNING The RCEN switch only takes effect after powering on the board If you change the setting of this switch you must power the board off and back on Pressing the push button switch will not re read this setting see section 7 2 Push Button Switch 3 4 Step Polarity DIP switch lever 8 is the step polarity SPO L switch It determines which edge of the incoming step pulse the PMD X 150 acts on If the switch is Closed or down then the PMD X 150 acts on the falling edge of the incoming st
17. r driver because the center taps of the motor s windings may be connected together Five wire unipolar setups employ this configuration 3 0 DIP Switch Settings The PMDX 150 contains 8 DIP switches that determine various aspects of its behavior The DIP switches are numbered 1 through 8 These numbers also appear on the DIP switch The functional labels shown in the table below also appear on the circuit board s silkscreen next to the DIP switch In the descriptions that follow the switch lever positions are described as open or closed The open position also called up is with the switch positioned away from the circuit board also marked open on the DIP switch The closed position also called down is with the switch lever positioned towards the circuit board DIP Switch Label Function NewSettingActivated On SELO L3 SEL1 pee SEL3 5 MS0 Mu Step Mode Select Motor current selection see section 3 1 Power on or push button press 6 MSI see section 3 2 Power on or push button press RCEN Reduced in enable o O eeoa os Poweron 8 SPOL Step polarity x section 3 4 Table 4 DIP Switch Summary As indicated in the table above most of the switches are read either at power on or when the push button switch is pressed This means that in order for the new settings to take effect you must either power the board off and back on or press the push bu
18. replace the product without charge Any replaced parts become the property of PMD This warranty does not apply to the software component of a product or to a product which has been damaged due to accident misuse abuse improper installation usage not in accordance with product specifications and instructions natural or personal disaster or unauthorized alterations repairs or modifications Limitations All warranties for this product expressed or implied are limited to 90 days from the date of purchase and no warranties expressed or implied will apply after that period All warranties for this product expressed or implied shall extend only to the original purchaser The liability of Practical Micro D esign Inc in respect of any defective product will be limited to the repair or replacement of such product Practical Micro Design Inc may use new or equivalent to new replacement parts Practical Micro D esign Inc makes no other representations or warranties as to fitness for purpose merchantability or otherwise in respect of the product N o other representations warranties or conditions shall be implied by statute or otherwise In no event shall Practical Micro D esign Inc be responsible or liable for any damages arising a from the use of the product b from the loss of use of the product c from the loss of revenue or profit resulting from the use of the product or d as aresult of any event circumstance action
19. several different fault conditions W hen a fault is detected the PMD X 150 enters fault mode and does the following e drives the Fault output low e disables the motor drivers e flashes a pattern on the LED that indicates the reason for the fault Once the PMD X 150 enters fault mode it remains in fault mode until either power is removed or the push button is pressed Even if the fault condition goes away the PMDX 150 remains in fault mode until one of the two above events This allows you to see the cause of a transient fault and assures that the system does not continue with corrupt motor positions If the push button is pressed and the fault condition remains or another fault is detected the system will re enter fault mode See section 7 2 for more information on the push button switch W hen a fault has been detected the activity LED repeats the following pattern e three short flashes e ashort pause e some number of short flashes indicates fault condition see Table 9 below e alonger pause This pattern repeats until the user presses the push button switch or power is removed from the PMDX 150 The second group of flashes indicates the reason for the fault condition as described below PMDX 150 Manual 16 doc 2004 2007 Practical Micro Design Inc Page 10 of 17 18 January 2007 All Rights Reserved PMDX 150 User s Manual PCB Revision PCB 402D Document Revision 1 6 Firmware Revision 1 0 Number of fla
20. shes in second group Fault condition rcp O ver temperature under voltage shutdown or charge pump failure Has NAH Step pulse timing violation see note below Reserved usc mer Allegro A 3977 interface failure hardware problem 5 to 10 Self test or firmware error Table 9 Fault Mode LED Indications NOTE In addition to controller generated step pulse timing violations the step pulse timing error can also occur when strong interference signals generate false step inputs This can occur if you run the step signal wires near the motor s power leads or when there is a loose connection 7 0 Miscellaneous 7 1 Activity and Status LED The Activity LED DS1 indicates various states in the PMD X 150 as shown in the following table LED Pattern O ff for more than 5 seconds No power to the PMD X 150 or PMD X 150 board failure Very short flashes or flicker Incoming step pulses detected N ote that for slow pulse rates less than 15 steps second you can discern a flash for each step pulse For faster step rates you will see only a very fast flicker One ocu my flash es E EREMO mode see section 7 3 Idle Timer ocu my second on three seconds off Two slow flashes a current mode see section 5 0 Reduced Current M ode one second on one second off one second on three seconds off Three short flashes followed by a Fault mode The second set of flashes indicates the fault that was number of short flashes rep
21. st mode Release the push button and look at the LED If there was a fault the LED will flash to indicate the fault as shown in sections 6 0 and 7 1 If the LED does not indicate a fault condition then double check the motor wiring and the motor power supply PMDX 150 Manual 16 doc 2004 2007 Practical Micro Design Inc Page 13 of 17 18 January 2007 All Rights Reserved PMDX 150 User s Manual PCB Revision PCB 402D Document Revision 1 6 Firmware Revision 1 0 9 0 Mechanical Specifications 3 500 4 each 0 150 dia holes for 6 screw Figure 2 PMDX 150 Dimensions and Mounting Holes WARNING The PMDX 150 should be protected from liquids dirt or chips especially metal chips which can cause shorts coming in contact with the board PMDX 150 Manual 16 doc 2004 2007 Practical Micro Design Inc Page 14 of 17 18 January 2007 All Rights Reserved PMDX 150 User s Manual PCB Revision PCB 402D Document Revision 1 6 Firmware Revision 1 0 10 0 Electrical and Environmental Specifications Motor Power 12V DC to 35V DC 2 0 Amps maximum note that the chopper motor driver allows up to 3 amp motor currents using power supplies with less than 3 amp capacities Motor Current C hopping Frequency 20 KHz nominal Step amp Direction O ptically isolated input signals Inputs Max input high 12 0V at 11 mA max referenced to the Gnd terminal Min input high 3 0V at 1 6 mA referenced to t
22. tepper Motor Connector J2 Connector J2 contains the stepper motor connections The PMD X 150 supports stepper motor configurations with two motor phase windings and two connections per motor phase Pin 1 is the pin closest to the reference designator i e J2 pin 1 is the pin closest to the J2 text on the circuit board In addition pin 1 has a square pad on the bottom of the circuit board This connector can also be used to mount the PMD X 150 on a panel See section 9 0 Mechanical Specifications for the panel cut out dimensions Note that the motor rotation direction can be reversed by one of two methods by swapping the two motor leads of one phase either phase or by swapping the two phases See the appendices for more information about motor wiring PMDX 150 Manual 16 doc 2004 2007 Practical Micro Design Inc Page 6 of 17 18 January 2007 All Rights Reserved PMDX 150 User s Manual PCB Revision PCB 402D Document Revision 1 6 Firmware Revision 1 0 Label Description 0 Pin Number 1 Phase 1A one end of the Phase 1 motor coil Phase 1B other end of the Phase 1 motor coil TEESE SES onssaae 4 O ase nate eal 2 Phase 2B other end of the Phase 2 motor coil Table 3 Stepper Motor Connector Pin O ut J2 WARNING Short circuits or cross connects between motor windings will damage l the PMDX 150 Be cautious when using motors that have been wired for connection to a unipola
23. test mode generates internal step and direction signals without a controller connected using the momentary contact push button switch SW 2 The test mode will also operate when the PMDX 150 connected to a controller If a controller is connected to the PMD X 150 while in test mode the PMD X 150 will ignore the incoming step and direction signals for as long as test mode is active W hile in test mode all motor movements are made in full step equivalent increments For example in full step mode a full step equivalent is four steps because the PMD X 150 actually drives the motor in quarter step mode see Table 6 on page 8 for a list of micro step modes Pressing and holding the push button when no fault is indicated turns the LED on solid and causes the PMDX 150 to move the motor using the following profile PMDX 150 Manual 16 doc 2004 2007 Practical Micro Design Inc Page 12 of 17 18 January 2007 All Rights Reserved PMDX 150 User s Manual PCB Revision PCB 402D Document Revision 1 6 Firmware Revision 1 0 1 Brief pause 2 5 full steps at a rate of 2 steps per second 3 Ramp up to 400 full steps per second and maintain that rate until the push button is released note that the ramp up plateau and ramp down are done using eighth step mode but the step rate is in full step equivalent steps per second 4 Ramp down from 400 full steps per second to 25 full steps per second then stop 5 Toggle the test
24. tton switch possibly entering test mode The exceptions are the RC EN switch which is only read at power on and the SPO L switch which takes effect immediately 3 1 Motor Current Selection DIP switch levers 1 through 4 select the motor current The table below shows the motor currents supported by the PMD X 150 Note that the current settings marked with may require forced air cooling to prevent thermal shutdown Other current settings may also require forced air cooling at elevated ambient temperatures this depends on the installation environment and motor Section 7 4 describes how to mount a fan directly on the PMD X 150 though any forced airflow will work If thermal shutdown occurs there is no harm to the PMDX 150 However the unit must be reset in order to resume operation See section 6 0 Fault Handling for more information PMDX 150 Manual 16 doc 2004 2007 Practical Micro Design Inc Page 7 of 17 18 January 2007 All Rights Reserved PMDX 150 User s Manual PCB Revision PCB 402D Document Revision 1 6 Firmware Revision 1 0 DIP Switch open up closed down 4 3 2 1 Current Closed Closed Closed Closed 0 75 Amps 5 Open Closed Closed Closed 2 00 Amps 5 TAT Amps Open Open Closed Closed 2 58 Amps 5 RISE 286 Amps 25 300 Amos 255 Table 5 Motor Current Select DIP Switch Settings 3 2 Micro Step Mode Select DIP switch levers 5 and 6 select the micro step and step multi
25. ystem into which the PMD X 150 is installed should provide fail safe protection and emergency stop capability Automated machine tools into which the PMD X 150 may be integrated can cause injury Precautions should be taken to assure that operators are trained in their proper operation and safety procedures and that they are protected from moving parts that may be under remote control and may move unexpectedly This product may not be used in life support or other critical safety applications 1 2 Warranty Summary The PMD X 150 is warranted against failure due to defective parts or workmanship for 90 days from the date of sale Refer to Appendix A for complete warranty details If you have an item requiring service please see the support page on the PMDX web site http www pmdx com for return instructions The purchaser must pay shipping to return the unit to PMDX W e will ship the repaired unit back to you via ground transportation at our expense Repairs are normally completed within 10 business days See Appendix A for our complete warranty details PMDX 150 Manual 16 doc 02004 2007 Practical Micro D esign Inc Page 3 of 17 18 January 2007 All Rights Reserved PMDX 150 User s Manual Document Revision 1 6 1 3 Features PCB Revision PCB 402D Firmware Revision 1 0 The PMDX 150 Micro Stepping Motor Driver is based on the Allegro A3977 micro stepping driver chip along with a microprocessor and additional circuits to e
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