USER MANUAL BSD-013G
Contents
1. block acceptable wires size 26 to 12 AWG This connector is used only when the driver operates in Step Direction N1 mode with signals provided from external microcontroller or PC All three inputs feature 4 7kohm pull up resistors to 5V This way controlling the input is as simple as shorting it to the Ground Any sinking device may be used for that purpose Specifically this can be done with jumper switch open collector open drain direct TTL gate output In all other cases it is important to make sure there will be no voltage exceeding 5V present on any input at any time Table 3 SIGNAL INPUT CONNECTOR J4 Terminal PIN DESCRIPTION LABEL 1 Enable ENA 2 Step STP 3 Direction DIR 4 Ground GND 2 3 4 1 ENA Enable BSD 013G User Manual Interinar Electronics 2 35 J6 AUXILIARY CONNECTOR Connector type single row 5 pin male header 0 100 pitch This header provides connection to potentiometer or Analog Voltage ANA and optional Start Stop switch Table 4 AUXILIARY CONNECTOR J6 Pin PIN DESCRIPTION LABEL 1 Internally connected to 5V 1 2 Wiper or Analog Positive DC Voltage ANA 2 3 Ground 3 4 Ground 4 5 Start Stop switch STA 5 2 3 5 1 PIN 1 Input active LOW Internally pulled up to 5V trough 4 7kohm resistor When LOW all motor outputs are ENABLED When HIGH all motor outputs are DISABLED but translat2. can deliver the special CMOS 3 3V version if requested By utilizing features of the on board microcontroller the BSD 013 becomes stand alone controller driver with minimal number of external components needed 2 2 HARDWARE DESCRIPTION Interinar Electronics The BSD 013G is based on powerful DMOS microstepping driver and together with fast microcontroller allows for easy building of an ideal step motor system The simplicity of the design has another advantage in lower number of components making this driver a very rigid and reliable Once configured correctly the driver does not require any further adjustments or maintenance Single voltage supply simplifies power requirements and lowers overall system cost STEP MOTOR DRIVER AND CONTROLLER VBB Ext POT Analog DC ENABLE DIRECTION OUTIA OUTIB OUT2A STEP OUT2B START STOP BSD 013G Figure 1 BSD 013G Simplified Block Diagram 2 1 Hardware Reference BSD 013G User Manual Interinar Electronics CONTROLLER FEATURES Constant Speed Operation at Fixed Step Frequency rate Varied Speed Operation at Frequency rate adjustable by potentiometer or analog voltage Step Pulse rate settings in three Frequency Ranges External Start and Stop control Continuous Operation until Stop signal is received Automatic Idle Current Reduction AICR in all Normal modes Immediate Stop DRIVER FEATURES Unipolar or Bipolar Step Motor ope
3. motors come in 6 or 8 wire version which gives more flexibility in selecting performance Most of thin can 2 phase motors have different switching sequence and will not work with BSD 013G please compare switching sequence in motor data sheet The 5 phase motors cannot be used with BSD 013G NEVER CONNECT OR DISCONNECT THE MOTOR WHILE THE POWER IS ON INSULATE UNUSED MOTOR LEADS SEPARATELY DO NOT CONNECT ANY MOTOR LEADS TO GROUND OR POWER SUPPLY 4 8 Application BSD 013G User Manual Interinar Electronics 4 2 1 4 WIRE MOTORS This type of motor can be connected only one way See drawing below If default direction of the rotation is opposite to desired then swapping two wires of only one phase will cause motor to rotate in opposite direction BSD 013G PENTAN CD Figure 8 Bipolar 4 wire motor connection Table 10 Parameters for bipolar 4 wire motor MODE POWER CURRENT VOLTAGE TORQUE Bipolar 100 100 100 100 4 2 2 6 WIRE MOTORS Motors with 6 leads can be connected in two different ways 1 Bipolar Series connection center tap is not used Both ends of each phase are connected to the driver In series connection motor should be operated at 70 of the rated current Running motor at full rated current will saturate and overheat the motor The series connection is preferred m
4. operation see Table 9 2 3 8 6 SW1 6 Microstepping MS2 MODE I Jox 3 4 MODE DESCRIPTION S1 OFF OFF OFF ON SETUP Vrer N1 or N2 S2 ON OFF OFF ON SETUP FREQUENCY RANGE N2 or N3 S3 ON OFF OFF OFF SETUP FIXED FREQUENCY N1 N2 N3 OFF OFF OFF OFF NORMAL OPERATION 2 3 8 1 SW1 1 Fixed Frequency Setup Default OFF Allowed position during boot up ON OFF Allowed position in normal operation OFF Used in modes S1 S2 S3 Function during boot up see Table 7 2 7 Hardware Reference Default OFF Allowed position during boot up ON or OFF Allowed position in normal operation ON or OFF Used in modes S1 S2 S3 N1 N2 N3 Function during boot up has no effect Function during normal operation see Table 9 2 8 Hardware Reference BSD 013G User Manual Interinar Electronics Table 9 Microstepping Resolution Truth Table SW1 5 SW1 6 RESOLUTION STEP EXCITATION MODE MS1 MS2 BSD 013G 8 BSD 013G 16 BSD 013G 8 BSD 013G 16 ON ON FULL FULL 2 PHASE 2 PHASE OFF ON HALF HALF 1 2 PHASE 1 2 PHASE ON OFF QUARTER QUARTER W1 2 PHASE W1 2 PHASE OFF OFF EIGHTH SIXTEENTH 2W1 2 PHASE 4W1 2 PHASE 2 4 CONNECTING TO BSD 013G 2 41 POWER SUPPLY The power supply selection should be based on step motor specification and maximum allowable voltage for the driver There is no need for stabilized power supply however it is recommended to use it When using a non stabilized powe
5. phase current is all you need to know to make it work with your motor Other motor s parameters like rated voltage resistance and impedance do not play any role at this initial setup However these parameters cannot be ignored as they will affect the system performance later on The BSD 013G uses reference voltage Veer always present on TP1 test point located right below dip switch SW1 to adjust and keep the motor current at correct level The relation between Vrer and phase current I can be described as follows Veer V k x I A Where Vreer in Volts Tin Amps k coefficient based on value of the sensing resistors R6 R7 k 2 64 for 0 330hm resistors marked as R33 for standard version 95mA to 1500mA k 21 6 for 2 7ohm resistors marked as 2R7 for special version 12mA to 185mA 3 1 Operation Modes BSD 013G User Manual Interinar Electronics Example Motor is labeled 0 91A BSD 013G driver with 0 330hm sensing resistors Veer 2 64 x 0 91A 2 4V This resulting Vper value must be used during motor current setup procedure The S1 mode can be entered only during boot up power up process while the SW1 4 dip switch in ON and SW1 1 to SW1 3 in OFF position see Table 7 Enter mode S1 Turn OFF the power Turn ON switch SW1 4 Turn OFF switch SW1 1 SW1 2 and SW1 3 Switches SW1 5 and SW1 6 are irrelevant in this mode on J AURAN Place JP1 in 1 2 position to use R1 trim pot or plac
6. the AICR is activated 4 seconds after the STA input goes HIGH and deactivated immediately when the STA input becomes LOW N3 the AICR is activated 4 seconds after the STA input goes HIGH and deactivated immediately when the STA input becomes LOW Automatic Idle Current Reduction IS NOT AVAILABLE IN SETUP MODES 3 7 Operation Modes BSD 013G User Manual Interinar Electronics 4 APPLICATION 41 POWER SUPPLY The BSD 013G is a constant current driver which means that it will maintain correct phase current regardless of the voltage applied to it However this statement implies certain limitations described below 4 1 1 VOLTAGE The BSD 013G works mostly in Constant Current Mode by switching the voltage on motor terminals chopping while monitoring and maintaining correct level of the phase current For that reason the BSD 013G is called a Constant Current Driver The driver will stay in Constant Current Mode as long as the voltage applied to the power terminal is higher than the rated voltage of the motor For example motor label shows 12V The BSD 013G will work in Constant Current Mode only if the power supply voltage is above 12V and lower than max allowed for the driver 30V If the power supply delivers 12V or less The driver will work in Voltage Mode In such case the driver will no longer maintain the phase current Here the phase current will be limited directly by the resistance of the motor s windings Both regulated and u
7. 0 1 5 V Control Analog Input ANA Analog DC Voltage Vana 0 E 5 V Protection Crossover Dead Time tDT 100 475 800 ns Thermal Shutdown Temperature Tj 165 C Thermal Shutdown Hysteresis TJHYS 15 C AICR delay time tAICR 4 s Idle current reduction IAICR 25 5 3 EXTERNAL STEP PULSE TIMING PARAMETERS ON STP INPUT Table 15 Step pulse timing parameters CHARACTERISTIC SYMBOL TYP UNITS STEP Minimum HIGH pulse width tA 1 us STEP Minimum LOW pulse width tB 1 us Setup time tC 200 ns Hold time tD 200 ns Maximum frequency fSTP 51600 Hz 5 13 Specification BSD 013G User Manual Interinar Electronics 5 4 STEP PULSE GENERATOR Table 16 Frequency of Step Pulse Generator RANGE FREQUENCY F1 2Hz to 100Hz F2 62 5Hz to 3 125kHz F3 500Hz to 26kHz Table 17 Frequency of Step Pulse Generator vs Analog Voltage on ADA input FREQUENCY RANGE ADA F1 F2 F3 OV 2Hz 62 5Hz 500Hz 5V 100Hz 3 125kHz 26kHz 55 MOUNTING bh 2 50 64mm P j z 00 140 x4 lt t ie st feu XN Figure 14 Mechanical dimensions 5 14 Specification
8. FICATION 5 1 ABSOLUTE MAXIMUM RATINGS 5 2 ELECTRICAL CHARACTERISTICS cesesseeeseeeeseeeteeeseeens 5 3 EXTERNAL STEP PULSE TIMING PARAMETERS ON STP INPUT 5 4 STEP PULSE GENERATOR 5 5 MOUNTING i Table of Contents BSD 013G User Manual Interinar Electronics 1 INTRODUCTION 1 1 1 BSD 013G Overview This manual discusses operations of the BSD 013G Single Axis Step Motor Driver and Controller The BSD 013G comes in two versions which differ only in maximum resolution of microstepping BSD 013G 8 with maximum resolution of 1 8 of the full step BSD 013G 16 with maximum resolution of 1 16 of the full step The BSD 013G is designed to work with most step motors both Unipolar and Bipolar as long as the switching sequence and power requirements for the motor complies with driver s specification The driver comes with standard phase current range from 95mA to 1500mA but it can be delivered as a special version with phase current in range from 12mA to 185mA Through the power of specialized components BSD 013G offers price performance ratio for Single Axis Stepper Control that was not previously available The BSD 013G is intended to replace a sophisticated and costly controllers in applications where only basic features are required and precise motion profile is not needed 1 1 2 FLEXIBILITY BSD 013G may operate as a common Step Direction driver or as a Stand Alone contro
9. USER MANUAL BSD 013G SINGLE AXIS DRIVER AND CONTROLLER FOR BIPOLAR AND UNIPOLAR STEP MOTORS INTERINAR ELECTRONICS LLC http www interinar com rev 1 00 0409 Copyright Information 2006 2009 Interinar Electronics LLC All rights reserved This document is furnished exclusively for the customers of Interinar Electronics Other uses are unauthorized without written permission of Interinar Electronics Information contained in this document may be updated from time to time due to product improvements and may not conform in every respect to former issues Disclaimer of Liability Interinar Electronics is not responsible for special incidental or consequential damages resulting from any breach of warranty or under any legal theory including lost profits downtime goodwill damage to or replacement of equipment or property or any costs of recovering reprogramming or reproducing any data stored in or used with Interinar products Interinar Electronics is also not responsible for any personal damage including that to life and health resulting from use of any of our products Customer takes full responsibility for any application where Interinar products are implemented Interinar Electronics Technical Support Email support interinar com Website http www interinar com BSD 013G User Manual Interinar Electronics USER MANUAL nsnniarannesanrannonnnnnnsannasanasaonnansaneasnnensanasanasoararanannsannnnnnasanaena
10. ator The BSD 013G can output Step pulses in three separate frequency ranges but only one at the time Switching from one range to another is not possible during normal operation User needs to determine the value of the step pulse frequency based on motor parameters step mode of the driver and desired speed of the motor The R3 trim pot or external potentiometer may be used to adjust to any frequency available within particular range If the required frequency is not available within current range then S2 mode setup needs to be performed again The S2 mode can be entered only during boot up power up process while the SW1 4 and SW1 1 dip switches are ON and SW1 2 and SW1 3 are in OFF position see table 7 Enter mode S2 Turn OFF the power Turn ON switches SW1 4 and SW1 1 Turn OFF switch SW1 2 and SW1 3 Switches SW1 5 and SW1 6 are irrelevant for this mode OFF ON NNnhRWN Turn ON the power Set both switches SW1 2 and SW1 3 to desired position see table If the intended operation of the driver is mode N3 then move the SW1 1 to OFF position If the intended operation of the driver is mode N2 then leave SW1 1 in ON position Exit mode S2 Move SW1 4 to OFF position OFF onj 1 OFF on 1 AUMAR UN DAnNBRWNYN Turn OFF the power Actual st
11. directly to pins 1 2 and 3 of the J6 single row header see Figure 6 2 10 Hardware Reference BSD 013G User Manual Interinar Electronics 3 OPERATION MODES 3 1 1 OVERVIEW The BSD 013G is capable of driving and controlling step motors in several different modes The two types of Operation Mode are listed below Setup Mode o 1 Motor Current Setup and selection of Normal Mode N1 or N2 o 2 Selection of Frequency Range and Normal Mode N2 or N3 o 3 Fixed Frequency Setup Normal Mode o N1 Normal Operation as STEP DIRECTION driver o N2 Normal Operation as controller with Adjustable Step Pulse Frequency Generator o N3 Normal Operation as controller with Fixed Step Pulse Frequency Generator All other modes are subsets of these two basic modes Regardless of operation mode the BSD 013G always stops powering the motor when ENABLE signal is HIGH absent or not connected 3 2 SETUP MODE In Setup modes the BSD 013G will set and store Motor current Default mode of the driver Frequency range of the Step Pulse Generator SPG Fixed frequency of the Step Pulse Generator SPG 3 2 1 S1 MOTOR CURRENT SETUP MODE The BSD 013G cannot correctly control the step motor if the motor s phase current is not set prior to any mode of operation The phase current can be obtained directly from the label of the motor data sheet or by calling manufacturer The BSD 013G is a CONSTANT CURRENT type driver It means that the
12. e JP1 in 2 3 position for external potentiometer connected to J6 pins 1 2 and 3 Turn ON the power Connect Volt Meter between TP1 and GND Rotate trim pot or external potentiometer until the Volt Meter shows value equal to the Veer value calculated for that particular motor _ If intended operation of the driver is mode N1 then leave SW1 1 in OFF position If intended operation of the driver is mode N2 then move SW1 1 to ON position Exit from mode S1 Move SW1 4 to OFF position DAnbWPY DAUAN e Turn OFF the power Actual storing of the Vger value and the mode selection to the EEPROM occurs while the SW1 4 is moved from the ON to the OFF position However storing can be performed only once per each cycle That means if any mistake was made the whole procedure must be repeated starting from turning OFF the power first and then reentering the S1 mode again The driver will not be functional until the next power OFF to ON transition 3 2 Operation Modes BSD 013G User Manual Interinar Electronics 3 2 2 S2 FREQUENCY RANGE SELECTION MODE This setup mode needs to be entered only in case when user intends to use BSD 013G as a stand alone controller driver with on board Step Pulse Generator In such case the selection of the Step Frequencies Range must be done prior to using Step Pulse Gener
13. el is not what is desired then swapping wires of just one phase of the motor will reverse direction order 2 3 4 4 GND Ground Input the wiper of the external potentiometer or positive Analog DC voltage ANA Any potentiometer of value from 5kohm to 1Mohm may be used A DC voltage in range from 0 to 5V may be used in place of the potentiometer The function of this pin depends on the operating mode Table 5 Function of PIN 2 MODE FUNCTION DESCRIPTION JPi Si Veer Adjustment 2 3 S3 Setup of Fixed Step Pulse Frequency 2 3 N2 Adjustment of Step Pulse Frequency 2 3 Not protected Applying voltage higher than 5 5V or lower than 0 5V to this pin will damage the driver Reversing polarity is not allowed and will result in permanent damage to the driver 2 3 5 3 PIN 3 Signal Ground return path for potentiometer or DC voltage ANA Should not be used as power ground or for any other purpose 2 3 5 4 PIN 4 Signal Ground return path for all three inputs Should not be used as power ground or for any other purpose 2 5 Hardware Reference Signal Ground return path for Start Stop switch Should not be used as power ground or for any other purpose 2 6 Hardware Reference BSD 013G User Manual Interinar Electronics 2 3 5 5 PIN 5 Input external Start Stop switch STA Use Normal Open NO switch for most applications The Start Stop switch is necessary if opera
14. er current Running motor at full rated current will saturate and overheat the motor 4 10 Application BSD 013G User Manual J 3 BSD 013G Interinar Electronics STEP MOTOR haed pi Y Figure 11 Bipolar series connection of 8 wire motor Unipolar connection only one pair of each phase is used This connection works better at higher speeds BSD 013G STEP MOTOR AAABA Figure 12 Unipolar connection of 8 wire motor Bipolar Parallel connection Motor should be run at 1 4 of the rated current This connection is not recommended as higher current generates more heat in the driver and motor 4 11 Application BSD 013G User Manual Interinar Electronics m e Ld x STEP MOTOR 7 B Ir BSD 013G e F RaZ z e mMm i O Q enc O Figure 13 Bipolar parallel connection of 8 wire motor Table 12 Parameters for 8 wire motor MODE POWER CURRENT VOLTAGE TORQUE Bipolar Series 100 70 140 140 Bipolar Parallel 100 140 70 140 Unipolar 100 100 100 100 43 TROUBLESHOOTING If after power on the driver does not function accordi
15. ethod because it produces less heat in the driver and produces higher torque STEP MOTOR BSD 013G Figure 9 Bipolar series connection of 6 wire motor 4 9 Application BSD 013G User Manual Interinar Electronics The BSD 013G may not be able to drive some motors in series connection Specifically construction of 7 5 degree tin can motors requires different switching sequence In such case center tap connection must be used Unipolar connection one end of each phase is insulated The other end and center tap are connected to the driver The driver should be adjusted to full rated current of the motor This connection works better at higher speeds O J E O e m e Bo g i anann Figure 10 Unipolar connection of 6 wire motor Table 11 Parameters for 6 wire motor MODE POWER CURRENT VOLTAGE TORQUE Bipolar Series 100 70 140 140 Unipolar 100 100 100 100 4 2 3 8 WIRE MOTORS This motor can be connected in three ways 1 Bipolar Series connection which gives more torque at lower speeds and less torque at higher speeds In series connection motor should be operated at only 70 of the rated current because using twice as large winding of each phase produces rated torque at low
16. ing pulses when 3 5 Operation Modes 3 6 Operation Modes BSD 013G User Manual Interinar Electronics O R o O m JP1 U u J ie i l e e C STEP voto e 33 7 BSD 013G e be i e of ef e s e m e J6 START STOP n swi ABBAS Z som V Figure 7 Normal N3 operation as fixed step frequency controller 3 4 AUTOMATIC IDLE CURRENT REDUCTION AICR The BSD 013G driver is equipped with Automatic Idle Current Reduction AICR circuitry The main purpose of using this feature is the reduction of the heat dissipated in the motor and the driver during the time when the motor stays idle in one position without moving for prolonged time Driving the motor at 100 its rated current while still standing will not only produce the heat in the motor which may lead to overheating but it is a waste of energy In majority of applications the torque needed to keep the load in the position is minimal compared to the torque needed to move the load from one location to another Only a handful of applications require producing the holding torque at the same level during both rotation and stand still periods Automatic Idle Current Reduction is active in all Normal Operation Modes Ni the AICR is activated 4 seconds after last step pulse present on STP input and deactivated immediately when a new step pulse arrives on STP input N2
17. ion depends on signal level on DIR input aia necessary for N1 Operation Mode Figure 6 Normal N2 operation as adjustable step frequency controller Perform S1 setup with N1 selection Cycle the power OFF ON 3 3 3 N3 NORMAL OPERATION AS FIXED STEP FREQUENCY CONTROLLER Ha er 5 aP ny This mode takes advantage of the on board Step Pulse Generator SPG which outputs step pulses at ENABLE a fixed frequency The BSD 013G energizes the motor only when ENABLE signal is low The SPG starts g j o outputting pulses when STA input becomes LOW and stops outputting pulses when the STA input goes al a4 J _ i eee HIGH The direction of the rotation depends on voltage level on DIR input ROUND 3 A L aspa e ae Parameters necessary for N3 Operation Mode leks res Perform S1 setup with N2 selection i Perform S2 setup with N3 selection P Perform S3 setup Ji Sia nono a Cycle the power OFF ON O Peed X Figure 5 Normal N1 operation as Step Direction driver 3 3 2 N2 NORMAL OPERATION AS ADJUSTABLE STEP FREQUENCY CONTROLLER This mode takes advantage of the on board Step Pulse Generator SPG which outputs step pulses with frequency adjustable by potentiometer The BSD 013G energizes the motor only when ENABLE signal is low The SPG starts outputting pulses when STA input becomes LOW and stops outputt
18. iver in case the motor reaches mechanical limits of the assembly The S3 mode can be entered only during boot up power up process while the SW1 1 dip switch is ON and SW1 2 SW1 3 and SW1 4 are in OFF position see table 7 Enter mode S3 Turn OFF the power Turn ON switch SW1 1 Turn OFF switch SW1 2 SW1 3 and SW1 4 Switches SW1 5 and SW1 6 in position selecting desired step mode according to table 9 Connect ENABLE switch between ENA and GND and leave it in OFF position Connect DIRECTION switch between DIR and GND and leave it in OFF position Rotate the trim pot or external pot to the middle position Turn ON the power Turn ON the ENABLE switch MOTOR SHOULD START ROTATING Rotate the trim pot or external pot to increase or decrease the speed of the motor Change positions of SW1 5 and SW1 6 to select other step modes Use ENABLE and DIRECTION switches if motor moves to mechanical limits of your assembly Once the motor operates at desired frequency you may store it and exit this setup mode Exit mode S3 Move SW1 1 to OFF position Turn OFF the power Actual storing of the fixed frequency range value and the mode selection to the EEPROM occurs while the SW1 1 is moved from the ON to the OFF position However storing can be performed only once per each cycle That means if the mistake was made the whole procedure must be repeated starting from turning OFF the power first and then reentering the S3 mode again The d
19. ller driver The advanced design allows easy connection to variety of step motors available on the market and supports both Unipolar and Bipolar step motors Tuning the driver to a specific step motor is an easy process and does not require any special knowledge or skills 1 1 3 SAFETY SUMMARY Always remove power and discharge the circuit before touching it This module contains parts susceptible to damage by ESD Electrostatic Discharge The BSD 013G must be handled in accordance to procedures specified for ESD devices Do not make any modification to the board or components DO NOT PLUG UNPLUG ANY WIRES AND CONNECTORS TO FROM THE MODULE WHILE POWER IS ON 1 1 4 TECHNICAL SUPPORT Interinar Electronics is happy to respond to any question or concern regarding the BSD 013G or any other product it manufactures or sells Contact Technical Support Staff by sending email to support interinar com 1 1 Introduction BSD 013G User Manual 2 HARDWARE REFERENCE 21 1 OVERVIEW The BSD 013G is designed to control and drive Unipolar and Bipolar Step Motors either directly by outputting step pulses from internal Step Pulse Generator SPG or indirectly by accepting Step and Direction signals from the external microcontroller or PC Any source of TTL level signals 5V logic can be used as a controlling device for BSD 013G driver The operation of the standard version with CMOS 3 3V external devices is possible but not guaranteed However we
20. neia 1 INTRODUCT naa 1 1 1 BSD 013G Overview 14 2 FLEXIBILITV 1 1 3 SAFETY SUMMARY 1 1 4 TECHNICAL SUPPORT 2 HARDWARE REFERENCE 2 1 1 OVERVIEW eee 2 2 HARDWARE DESCRIPTION 2 2 1 CONTROLLER FEATURES 2 2 2 DRIVER FEATURES 2 3 CONNECTORS ceseseeeeee 2 3 1 AVAILABLE CONNECTORS 2 3 2 POWER CONNECTOR J1 2 3 3 MOTOR CONNECTOR J3 2 3 4 SIGNAL INPUT CONNECTOR J4 2 3 5 J6 AUXILIARY CONNECTOR 2 3 6 JPL JUMPER seeeeeeeeee 2 3 7 Ri TRIM POTENTOMETER 2 3 8 SW1 DIP SWITCH 2 4 CONNECTING TO BSD 013G 2 4 1 POWER SUPPLY 2 4 2 STEP MOTOR 2 4 3 EXTERNAL CONTROLLER 2 4 4 START STOP SWITCH 2 4 5 EXTERNAL POTENTIOMETI 3 OPERATION MODES 3 1 1 OVERVIEW 3 2 SETUP MODE isccscccccccsscececeseccceccazeces 3 2 1 S1 MOTOR CURRENT SETUP MODE 3 2 2 S2 FREQUENCY RANGE SELECTION MODE 3 2 3 S3 FIXED FREQUENCY SETUP MODE 3 3 NORMAL MODE cccccesssctcceicccneiccnccsendesessiasetesccceadsecenasaze 3 3 1 N1 NORMAL OPERATION AS STEP DIRECTION DRIVER 3 3 2 N2 NORMAL OPERATION AS ADJUSTABLE STEP FREQUENCY CONTROLLER 3 3 3 N3 NORMAL OPERATION AS FIXED STEP FREQUENCY CONTROLLER 3 4 AUTOMATIC IDLE CURRENT REDUCTION AICR 4 APPLICATION 4 1 POWER SUPPLY 4 1 1 VOLTAGE 4 1 2 CURRENT 4 2 STEPPER MOTOR 4 2 1 4 WIRE MOTORS 4 2 2 6 WIRE MOTORS 4 2 3 8 WIRE MOTORS 4 3 TROUBLESHOOTING 5 ELECTRICAL AND MECHANICAL SPECI
21. ng motor parameters and configuring the driver Each individual switch is numbered from 1 to 6 The driver is shipped with all switches in OFF state as default Table 7 Power Up Mode Condition Truth Table BSD 013G User Manual Interinar Electronics 2 3 8 2 SW1 2 Frequency Range Setup Default OFF Allowed position during boot up OFF Allowed position in normal operation OFF Used in modes S1 S2 S3 Function during boot up none Function in S2 mode see Table 8 2 3 8 3 SW1 3 Frequency Range Setup Default OFF Allowed position during boot up OFF Allowed position in normal operation OFF Used in modes S1 S2 S3 Function during boot up none Function in S2 mode see Table 8 Table 8 FREQUENCY RANGE SELECTION SW1 2 AND SW1 3 SW1 x MODE 2 3 FREQUENCY RANGE S2 OFF OFF RESERVED 7 S2 ON OFF 2Hz to 80Hz F1 S2 OFF ON 62 5Hz to 3 125kHz F2 S2 ON ON 500Hz to 26kHz F3 2 3 8 4 SW1 4 Motor Current Setup Default OFF Allowed position during boot up ON OFF Allowed position in normal operation OFF Used in modes S1 S2 S3 Function during boot up see Table 7 2 3 8 5 SW1 5 Microstepping MS1 Default OFF Allowed position during boot up ON or OFF Allowed position in normal operation ON or OFF Used in modes S1 S2 S3 N1 N2 N3 Function during boot up has no effect Function during normal
22. ng to previously set mode turn it off and make sure that the SW1 1 to SW1 4 are left in OFF position Turn ON the power again and observe presence of 5V min 4 5V max 5 2V on pin 1 of J6 AUX in reference to GND pin 3 4 of J6 If min of 4 5V is not present then disconnect all ports but J1 POWER and check the voltage again Presence of correct voltage in this condition suggests that problems are associated with shorts on other ports Look for damaged connectors and wires In cases the BSD 013G shows no presence of 5V contact our Technical Support by sending email to support interinar com 4 12 Application BSD 013G User Manual Interinar Electronics 5 ELECTRICAL AND MECHANICAL SPECIFICATION 5 1 ABSOLUTE MAXIMUM RATINGS Table 13 Absolute maximum ratings for BSD 013G driver controller CHARACTERISTIC SYMBOL RATING UNITS Motor Supply Voltage VB 30 V Motor Current Tout 1 5 A Logic Input Voltage Vin 0 3 to 5 5 v Operating Ambient Temperature Ta 20 to 85 BS 5 2 ELECTRICAL CHARACTERISTICS Table 14 Electrical characteristics for BSD 013G driver controller CHARACTERISTIC SYMBOL Condition Min Typ Max UNITS Motor Outputs Motor Supply Voltage VB Operating 8 30 V Motor Current Tout Standard 95 1500 mA Special 12 185 mA Control Logic Enable Step Direction STA Logic Input Voltage VIH 1 35 V VIL
23. nregulated power supplies may be used A regulated power supply can be rated up to max allowed voltage for the BSD 013G which is 30Vdc However unregulated power supply cannot exceed 21Vdc because it is rated at full load current At lesser loads like when the driver is disabled the actual voltage of the power supply may be up to 1 4 times higher which will exceed the maximum voltage allowed for the driver 4 1 2 CURRENT The BSD 013G requires no more current than the twice of the phase current 2 x Ipn of the motor There is a common misconception based on wrong measurements that in real application only fraction of that current is being utilized However these measurements are performed using RMS values which lead to mistakes in selecting the power supply If the power supply is not capable of supplying enough current then the driver will not be able to deliver it to the motor As a result the motor will not produce the torque specified in data sheet The current needed for logic on the board is marginal and may be ignored in this calculation 42 STEPPER MOTOR The BSD 013G is based on DMOS technology and despite the fact it features output protection it will be damaged if not properly connected to the motor Common mistakes include phase wire mixing and connecting motor directly to Vbb or Gnd Only two phase stepper motors may be used That includes both bipolar and unipolar motors Bipolar motors are always 4 wire type Unipolar
24. or is still processing Step and Direction signals This condition may result in initial position error when using ENABLE to start and stop the motor The driver must be ENABLED in advance before Step and Direction changes Regardless of operation mode the BSD 013G always stops powering the motor when ENABLE signal is HIGH absent or not connected 2 3 4 2 STP Step Positive 5V from driver s internal voltage regulator Used when external potentiometer connected Should not be used as a source of voltage current for any other purpose if the current drained from this pin exceeds 10mA Not protected Shorting this pin to ground for prolonged time will damage the driver 2 3 5 2 PIN 2 Input active LOW Internally pulled up to 5V trough 4 7kohm resistor A Low to High transition rising edge advances the motor one increment The size of the increment is determined by MS1 and MS2 see Table 9 Minimum Step pulse High Time width is 1 0us Minimum Step pulse Low Time is 1 0us 2 3 4 3 DIR Direction Input active LOW Internally pulled up to 5V trough 4 7kohm resistor Determines the direction of the rotation of the motor Any changes to this input do not take effect until the next Step rising edge If the motor connections follow correct phase order then when this input is Low the direction will be Clockwise and when High Counterclockwise If the direction of the rotation in reference to DIR signal lev
25. oring of the frequency range value and the mode selection to the EEPROM occurs while the SW1 4 is moved from the ON to the OFF position However storing can be performed only once per each cycle That means if any mistake was made the whole procedure must be repeated starting from turning OFF the power first and then reentering the S2 mode again The driver will not be functional until the next power OFF to ON transition 3 3 Operation Modes BSD 013G User Manual Interinar Electronics 3 23 S3 FIXED FREQUENCY SETUP MODE This setup mode needs to be entered only in case when user intends to use BSD 013G as stand alone controller driver with on board Step Pulse Generator operating at Fixed Step Frequency In such case the selection of the Step Frequencies Range S2 mode must be done prior to entering S3 mode and using Step Pulse Generator Once S3 mode is entered the Step Pulse Generator will output immediately Step pulse at the frequency determined by previous S2 setup and the actual position of the trim pot or external potentiometer Precaution must be taken while entering this mode as the motor will start immediately if the ENABLE input is LOW or shorted to GND It is recommended to perform this setup very first time without any load attached to the motor s shaft Once approximate frequency is established user may repeat this setup again with load attached It is also recommended to use ENABLE and DIRECTION switches connected to the dr
26. r supply specifically rectifier capacitor type please derate the Max Allowed Voltage to 70 in order to prevent overvoltage and damage to the driver This type of power supply can produce about 1 4 times the rated voltage when the load is not present or very low This type of overvoltage condition may occur when the driver is disabled NEVER CONNECT OR DISCONNECT ANY PORT FROM BSD 013G WHILE POWER IN ON 2 4 2 STEP MOTOR The step motor should be connected to the J3 terminal block Labels are placed next to the terminals in two groups clearly marking each phase There is no reference to the beginning and end of each phase Make sure that all four motor wires are tightly connected and there is no possibility of accidental disconnection For 6 and 8 wire motors make sure all unused wires are separately insulated This is especially important when additional connectors are used between the driver and the motor DISCONNECTING MOTOR WHILE POWER IS ON WILL CAUSE PERMANENT DAMAGE TO THE DRIVER 2 43 EXTERNAL CONTROLLER In case the BSD 013G will work in mode N1 as a driver with externally provided Step and Direction signals it is important to connect appropriate signals to corresponding poles of J4 terminal block This terminal block allows controlling three main inputs of the driver Step Direction and Enable The fourth pole is used for signal ground and should not be used as power ground All three inputs are pulled up internally to 5V thro
27. ration Built in Translator Phase Current from 95mA to 1500mA default Phase Current from 12mA to 185mA special order Four Stepping Modes Full Half 1 4 1 8 BSD 013G 8 or 1 16 BSD 013G 16 Automatic current decay mode detection selection Mixed and Slow current decay modes Synchronous rectification for low power dissipation Fixed Off Time current regulator for Constant Current operation Internal Under Voltage Lock Out protection Thermal Shutdown protection Crossover Current protection Single Power Supply Hardware Reference BSD 013G User Manual Interinar Electronics 2 3 CONNECTORS 2 3 1 AVAILABLE CONNECTORS The BSD 013G features following connectors e POWER CONNECTOR 31 power for step motor and all electronics on board e MOTOR CONNECTOR J3 step motor e SIGNAL INPUT CONNECTOR J4 Enable Step and Direction signals e AUXILIARY CONNECTOR J6 Start Stop switch and potentiometer connector The location of the connectors on the board is shown below POWER CONNECTOR MOTOR CONNECTOR J1 j BSD 013G a S8m i6n i SIGNAL INPUT AUXILIARY CONNECTOR CONNECTOR J6 J1 Figure 2 Connectors and Major Components 2 3 Hardware Reference BSD 013G User Manual Interinar Electronics 2 3 2 POWER CONNECTOR J1 Connector type Standard 5mm 2 pole terminal block acceptable wires size 26 to 12 AWG Table 1 POWER CONNECTOR J1 Terminal PIN DESCRIPTION LABEL 1 Negati
28. river will not be functional until the next power OFF to ON transition 3 4 Operation Modes BSD 013G User Manual 33 NORMAL MODE Interinar Electronics BSD 013G User Manual Interinar Electronics the STA input goes HIGH The direction of the rotation depends on voltage level on DIR input The JP1 jumper needs to be set in position 2 3 if external potentiometer will be used The BSD 013G will function properly only in Normal Mode To access it the SW1 1 to SW1 4 have to be in Parameters necessary for N2 Operation Mode OFF position and after power up the driver will enter Normal Mode based on stored parameters The Perform S1 setup with N2 selection position of the SW1 5 and SW1 6 is irrelevant for mode selection and can be changed at any time Perform S2 setup with N2 selection Cycle the power OFF ON SWwl ORF onj 1 Ay RI O 2 u lel mr l v 3 A B e 4 e 5 e f Seen 6 7 YN Or A BSD 013G e 2 J a e A Figure 4 Switch SW1 during boot up to Normal Mode m e ij 7 e i ai J6 3 3 1 N1 NORMAL OPERATION AS STEP DIRECTION DRIVER STARTSTOP o spamm o The BSD 013G energizes the motor only when ENABLE signal is low and motor will start rotating when the STEP pulse is present on STP input The direction of the rotat
29. ting the driver as a stand alone controller in modes N2 and N3 Instead of switch the open collector open drain or direct TTL gate output may be used If Enable input is used as start stop condition then the STA input can be used as an End Limit switch Not protected Applying voltage higher than 5 5V or lower than 0 5V to this pin will damage the driver Reversing polarity is not allowed and will result in permanent damage to the driver 2 36 JP1 JUMPER The BSD 013G has built in a small trim potentiometer trim pot R1 for adjusting motor current and setting the fixed frequency of Step Pulse Generator SPG To use this trim pot JP1 jumper has to be set in 1 2 position Move jumper to 2 3 position if external potentiometer or analog voltage ANA connected to J6 header will be used Table 6 JUMPER JP1 POSITION DESCRIPTION 1 2 Use trim pot R1 default 2 3 Use external potentiometer connected to J6 pin 2 2 3 7 R1 TRIM POTENTOMETER The trim potentiometer trim pot installed on board is all it is needed to set up the motor current and driver configuration To use this trim pot the JP1 jumper needs to be in 1 2 position see Table 6 Caution needs to be taken when using this trim pot Use only special trimming tool or small flat screwdriver This component has limited duty cycle and easily is damaged when improper tool is used 2 3 8 SW1 DIP SWITCH The 6 position dip switch is used in process of setti
30. ugh 4 7kohm resistors The TTL 5V level interface open collector opto coupler relay and switch can be used directly in connection with this port see Figure 3 The CMOS 3 3V operation is possible but not guaranteed If not used the Step and Direction inputs may be left disconnected The Enable input will be always used regardless of the operation mode of the driver 2 9 Hardware Reference BSD 013G User Manual Interinar Electronics CONTROLLER TTL LOGIC j OPEN COLLECTOR d orrocouner Y3 K _t to ENA stp DRGS RELAY SWITCH o ai ae roan caries IT Figure 3 Controlling methods 2 44 START STOP SWITCH The BSD 013G working in modes N2 or N3 as stand alone controller requires START STOP switch or TTL 5V level signal The switch or signal must be connected directly to pins 4 and 5 of the J6 single row header Open collector open drain relay or opto coupler may be also used if properly connected see Figure 3 2 45 EXTERNAL POTENTIOMETER The BSD 013G features a small trim pot and does not require external potentiometer for setting up motion parameters This small trim pot has limited duty cycle and should not be used during normal operation For that reason using external potentiometer is strongly recommended and convenient When controller works in mode N2 with adjustable step frequency the use of the external potentiometer is necessary The potentiometer must be connected
31. ve or Common Voltage Supply GND 2 Positive Voltage Supply VBB Polarity reversal is NOT ALLOWED and will cause permanent damage to the driver Exceeding Max Allowed Voltage will result in permanent damage to the driver When using a non stabilized power supply specifically rectifier capacitor type please derate the Max Allowed Voltage to 70 in order to prevent overvoltage and damage to the driver This type of power supply can produce about 1 4 times the rated voltage when the load is not present or very low This type of overvoltage condition may occur when the driver is disabled 2 3 3 MOTOR CONNECTOR J3 Connector type Standard 5mm 4 pole terminal block acceptable wires size 26 to 12 AWG The pairs of terminals belonging to the same phase are located next to each other and labeled on the board as PH1 and PH2 Mixing wires of two phases together is prohibited and will result in permanent damage to the driver In case the initial rotation of the motor has to be reversed and the DIR input cannot be used swap the wires of one phase only Do not swap the wires of two phases at the same time as this will not reverse the direction Table 2 MOTOR CONNECTOR J3 Terminal PIN DESCRIPTION LABEL l1 OUT2B 2 OUT2A Pee 3 OUTIA 4 OUTIB PHI 2 4 Hardware Reference BSD 013G User Manual Interinar Electronics 2 3 4 SIGNAL INPUT CONNECTOR J4 Connector type Standard 5mm 4 pole terminal
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