User Manual
Contents
1. of the controller are De central intelligence Simple installation No cables between motor and driver e EMC safe Switching noise remains within motor Compact Does not take space in cabi net e Low cost alternative to separate step or servo motor and driver Stall detect by means of magnetic encoder with resolution of up to 1024 pulses rev Interface possibilities to the SMC75 controller From PC PLC with serial commands via 5V serial or RS485 Pulse direction input Encoder output CANopen DeviceNet 8 I O 5 28VDC that can be configured as Inputs Outputs or analogue inputs Future option for Profibus DP Ethernet Bluetooth and Zigbee wireless 248 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 11 2 Step motor controllers SMCxx 11 2 1 Block diagram Positioning Speed Control Main supply SMC75 or SMC85 Controller P 12 48V SMC75 P 12 80V SMC85 1 8 step CVI Dri it hi di river 12 28V logic z 2 1600 step rev I 4 P Ground Saga gt Power supply connector oo Fuse 750mA i 1 i Output pr source driver High speed T 16Bit SMC75 digital logic 32Bit SMC85 ELEY Microprocessor Digital with IN8 Analog 8 Integrated Flash eo Qu o go Eg BS o n Optional Field Bus connector Encoder Optional Multifunction VO Interface Optional TT2140GB JVL Industri Elek2. output voltage is limited 254 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 11 4 How to connect in general 11 4 1 MIS23x M12 connections MI2 connectors 5 pin female 5 pin male 8 pin male 2 l l l 4 6 5 All connectors Front view TT2143GB PWR Spin male RS485 5 pin female V O1 4 8 pin female V OS 8 Spin female Shield 5 pole connector l Brown l White 2 White 2 Brown 3 Blue 3 Green 4 Black 4 Yellow 5 Grey 5 Grey 6 Pink 7 Blue 8 Red Colour code for standard cables JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 255 11 5 Quick Start SMC75A1MxAA 11 5 1 5 pin male 5 pin female I 3 X47 3 1 Cable RS485 M12 1 5 5 Exe LOS B Pe ea hc Getting started with the SMC75A1MxAA and MacTalk I Connect the cables and Power supply as shown above Use RS485 M12 1 5 5 cable if the PC has an RS485 interface or use the converter RS485 USB AT C 820 if the PC has a USB interface Please note that other models use an 8 pin female connector and therefore use RS485 M 2 1 5 8 cable 2 Switch on the SMC75 3 Start MacTalk and wait 5 seconds until it automatically is connected to the motor If no connection occurs check the serial cables and the Ma
3. 11 2 Step motor controllers SIVICxx SMC75 SMC75 mounted in a housing The compact step motor controller SMC75 is designed for positioning and speed control of stepper motors SMC75 is a PCB with di mensions 57x57mm and mounted with SMD electronics on both sides It is mounted directly in the housing of the JVL QuickStep motors MIS 231 232 and 234 forming a complete integrated step motor It may also be used with other types of step motors according to customers requirements The basic features of the controller are Serial RS485 or 5V serial position control ler Position controller with graphic program ming Option for CANbus CANopen DS 301 DSP 402 or DeviceNet under develop ment Adual supply facility is available so that position and parameters are maintained at emergency stop Gear mode MACmotor protocol so MACmotor and Quickstep motors can be connected on the same RS485 bus Command for easy PLC PC setup and communication e Power supply 12 48VDC Fixed 1600 pulses rev Built in processor with 8 In Out that can be configured as inputs PNP outputs or analogue inputs 5V serial and RS485 inter face for set up and programming MODBUS interface 9 6to IMb communication Driver technology is improved as com pared to SMD73 and supply voltage is 12 48VDC Control voltage 2 28VDC When used with the QuickStep motor or mounted on any other step motor the ad vantages
4. commended if a 4 or 8 wire motor is available instead This section will not describe the unipolar type further 2 phase or 4 phase motors can be connected to the Controllers as follows 2 phase Motors 4 wires This type of motor can be directly connected to the Controller s motor terminals The Controller current adjustment must not exceed the manufacturer s specified rated current for the motor 4 phase Motors 8 wires This type of motor can be connected to the Driver in one of the following two ways l Serial connection of phases 2 Parallel connection of phases Selection of serial or parallel connection of the motor phases is typically determined by the speed requirements of the actual system If slow speeds are required typically less than kHz the motor phases can be connect ed in serial For operation at higher speeds greater than kHz the motor phases can be connected in parallel JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 253 11 3 How to connect the motor 11 3 3 11 3 4 Serial Connection Using serial connection of the phases a motor provides the same performance up to I kHz as parallel connection but using only approximately half the current This can in fluence the selection of Controller model and enables a Controller rated for a lower mo tor current to be used See illustration on previous page If the phases of a 4 phase step motor are c
5. ctalk set up The Baud rate should be 19200 and the correct com port selected 4 When a connection has been established key in values of running current and standby current under Driver Parameters Remember to press Enter after each parameter is keyed in Actual motor values can be seen to the left of the input field 5 Set Startup mode to select Position to enable the motor driver There should now be current in the motor phases Depending on the standby current the motor shaft will be fixed Some current regulation noise should be heard from the motor 6 The motor and I O status can be seen to the left under Status 7 At Motion Parameter key in 1600 counts at Position The motor will now turn one revolution at the speed specified by Max Velocity 256 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x
6. hielded cable is not used other electronic equipment in the vicinity may be adversely affected The removable connector must never be removed while a voltage is connected as this will significantly reduce the lifetime of the connector Note also that the connector s life time is reduced by repeated connecting disconnecting since the contact resistance of the pins is increased Note that P is connected to the chassis and functions as the main ground on the Con troller See also Motor Connections Section 15 6 page 303 which describes how various models of motor should be connected to the Controller 252 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 11 3 How to connect the motor Serial connection of phases Velocity Current for Serial or Parallel connection Maximum current settting Exarrple motor 4 2A Motor 4 phase Ix 1 41 4 2x 1 41 5 9 parallel Motor l 4 2 PA A phase 141 1417 serial Motor 2 42A 2 Norrinal current per phase in accordance with manufacturer s specifications TT2207GB 11 3 2 Connection of Step Motor Various types of step motor are available 2 phase Bipolar 4 connectors 2 4 phase Bipolar Unipolar 8 connectors 3 4 phase Unipolar 6 connectors Note that Type 3 motors indicated above Unipolar motors produce 4096 less torque This motor type can be used with success but is not re
7. ivalent from CViLux CViLux Housing Crimp terminals Crimp contact 50079 8000 x 6 Crimp contact Cl44T011PEO x 6 Molex 09 91 0300 Molex 08 50 106 TT2152 02GB Housing 6 pin 51021 0600 x 1 Housing 6 pin C14406 S000 x 1 Nylon UL94V 0 Pitch 3 96mm The figure below shows the generation 2 connector for future or special purposes Please contact JVL for further information Generation 2 interface J1 P O _ RX 5V serial tx User I O RS485 Devicenet sense RS422 Encoder outputs SQPOFQ 36S2 B 1 Plastron Precision co Ltd Female header TT2221GB JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 251 11 3 How to connect the motor Only SMC Terminate screen only at SMC75 TT2168GB 11 3 1 Cabling For SMC75 controllers that supply a phase current in the range 0 to 3 A it is recom mended that 0 5mm cable minimum is used to connect the motor to the controller 0 75mm is recommended Motor cable lengths should not exceed 10 metres because of impedance loss It is possi ble to use longer cables but motor performance will decrease Cables should be securely connected since a poor connection can cause heating and de struction of the connector Similarly tinned conductors should be avoided Important To minimise spurious noise emission from the motor cables and to fulfil CE require ments shielded cable must be used If s
8. onnected in series the motor s rated phase current should be divided by 1 41 For example if the rated current is 4 2A the maxi mum setting of the Controller phase current must not exceed 3 A when the motor phas es are connected in series Parallel Connection With parallel connection of motor phases a motor will provide better performance at frequencies greater than I kHz compared to serially connected phases but requires ap proximately twice the current This can influence the choice of Controller since it is nec essary to select a Controller that can supply twice the current used for serial phase connection See illustration on previous page When the phases of a 4 phase motor are connected in parallel the specified rated cur rent of the motor must be multiplied by a factor of 1 41 For example if the rated current is 2 0A the maximum setting of the Controller phase current must not exceed 2 83A when the phases are connected in parallel It should be noted that the lower the self induction of the motor the better since this influences the torque at high speeds The torque is proportional to the current supplied to the motor The applied voltage is regulated by the Controller so that the phase current is adjusted to the selected value In practice this means that if a motor with a large self inductance e g 100mH is used the Controller cannot supply the required phase current at high speeds high rotational frequencies since the
9. rmonics The principle of the ministep technique is to drive the motor using a sinusoidal current in the interval between 2 physical full steps This re duces the step velocity between each step and thus damps any resonance significantly Comparison between ministep and full step Resonance during full step operation Position Current Full steps Overshoot 4 Full steps Both 2 phase and 4 phase step motors can be connected to the Controller which utilises the Bipolar Chopper principle of operation thus giving optimum motor performance 250 JVL Industri Elektronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 11 2 Step motor controllers SMCxx 11 2 2 SMC75 Connector overview The connections to the various connectors of the SMC75 PCB board is shown below Note that GND and P are connected together internally SMC75 Circuitboard s 299 User IO RS422 Communication Multifunction 1 0 Ground Ground RS232 5V RS422 optional Tx Te Multifunction 1 0 _ Recommended connectors Molex or equivalent from CViLux Crimp contact 50079 8000 x 10 Housing 10 pin 51021 1000 x 1 J1 Generation 2 connector 1 X P Main power Crimp contact Cl44T011PEO x 10 Housing 10 pin CI4410 S000 x 1 pe 2m CVI i Control voltage input Optional 3 XI P Main ground Recommended connectors Recommended connector Molex or equ
10. tronik A S User Manual Integrated Stepper Motors MIS23x 34x 43x 249 11 2 Step motor controllers SMCxx Step Motor Controller SMC75 is a mini step driver with fixed 1600 pulses rev which has been designed for driving step motors with phase currents of up to 3 Amp phase RMS The Controller SMC75 is available in 2 different versions for various applications It is built into the QuickStep Integrated Step Motors but for OEM and low cost applications it can be delivered as a PCB or in its own housing with M12 connectors For easy mount ing and service the version with M I2 connectors is recommended A version with cable glands can be used for high volume and low cost applications Order no SMC75AI X 8 SMC75AIAC x x 8 SMC75AIM3 P 4 A x 8 SMC75AIMS x x SMC75AIM6 X x 8 l x SMC75AIWO x 8 x Other combinations and features are also possible for OEM use See Connector over view for the MIS23x on page 32 for further information The box version which is built into a black aluminium casing provides a very robust construction that is insensitive to mechanical vibration and electrical noise The advantage of using a ministep driver instead of a conventional full step or half step driver is that mechanical resonance problems are significantly minimised Resonance most often occurs at slow motor speeds and results either in loss of motor torque or the appearance of significant ha
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