MSD Microstepping Motor Drive User Manual
Contents
1. 24 20 32 36 Revs per Second RECOMMENDED MOTORS 4X 0 218 THRU 5 46 2 o ON LEADS 2 58 d NLIS am 65 54 Z 2s 9159 0005 9 53 0 013 MRS342 2 26 0 95 51 3 76 f 2 875 002 Black 73 025 0 51 12 0 Orange MINIMUM 2 Red 2977 PLUS GREEN YELLOW GROUND Yellow NOTE A 4 LEAD MOTORS 18 AWG Revs per Second Notes amel 763 478 8000 Telephone 763 478 8080 Fax TE MEA2. CCW pin The high speed range is 0 25 rev sec 0 1500 rpm Reduce the range by turning down the HI SPEED pot For example if the motor is to go 750 rpm when the external pot is on maximum turn the HI SPEED pot down about half way When switch 2 is away from the EXT SPEED label the high speed is set by the HI SPEED pot and the WPR input does nothing Never apply more than 5 Volts dc or less than 0 Volts to the WPR pin In joystick and oscillator modes the accel decel rate is set by the ACCEL pot CONNECTIONS The range is 1 to 250 rev sec sec Turning the pot clockwise makes the motor start and stop faster but if set too high the motor may run out of torque and stall In nearly all cases the accel decel rate set is respected by the MSD For example if the speed is switched while the motor is moving the drive will change speeds smoothly When operating in EXT SPEED mode and a sudden change is made in the voltage to the WPR terminal the drive accelerates or decelerates to the new speed smoothly according to the accel pot setting The only time the drive makes an instant change is when the SPEED input is on and the STEP input goes off That is done so that the MSD can stop instantly and exactly from a low speed run stop switch closed run O speed switch closed low speed Q WPR CCW l C CCW M Typical Wiring for Oscillator Mode Using External Speed Control Pot CO
3. If mounting on the narrow side first remove one of the screws from the heat sink then put it back with the bracket in place as shown in Figure 17 Bracket Bracket position for iti wide side mounting m 5 Place brackets side top and bottom of mounting Place brackets on top and bottom of drive This screw is already in the drive Figure 17 MOUNTING BRACKETS USE AND CARE e Never use the MSD in a space where there is no air flow or where the ambient temperature exceeds 50 12 Never block the fins of the heat sink or the vent holes e Never put the drive where it can get wet e Never allow metal particles near the drive Recommended Motors Motor Data and Dimensions Tol O Matic catalog motor current settings Figure 18 MAX PERMISSABLE DRIVE ROTOR WINDING CURRENT SETTING INERTIA WEIGHT MOTOR CONNECTION AMPS PEAK oz in Ibs MRS171 parallel parallel parallel parallel White Yellow Red Blue 1 66 1 220 42 16 30 99 1 220 30 99 1 66 42 16 17 frame motor speed torque characteristics Figure 20 Torque oz in 12 16 20 2 2 Revs Per Second RECOMMENDED MOTORS 49 12 5 MAX WITH OPTIONAL 1 500 002 38 1 0 05 MATING CONNECTOR PLUGGED IN 299 MAX 25 2 6 35 0 013 200 4 200 THRU 5 08 2 625 ONAG 322 66 67 20 6 1 01 00 25 06 Orange Yellow B Bi LEADS 12 0 100 16 20
4. SHORT light is on the MSD has detected a short circuit and has shut down the amplifiers Unplug the drive from the power source Check the motor wiring carefully Make sure that the connections to the drive are secure and that any unused motor leads are insulated from the drive power supply and each other Check the motor leads for shorts between phases or to ground Technical Specifications Specifications Amplifiers Dual MOSFET H bridge 3 state pulse width modulated switching at 20 kHz 0 5 5 5 Amps phase peak output current switch selectable in 0 1 increments 400 Watts maximum output power Overcurrent and overtemperature protection Automatic idle current reduction defeatable reduces current to 50 of setting after one second Power Supply Linear toroidal transformer based for high reliability and low noise 110 or 220 Vac input switch selectable 50 60 Hz 400W max internally fused with a 2 5A 250Vac fuse Dc voltage at nominal line voltage 75 Vdc full load 90 Vdc no load Inputs Speed Enable optically isolated differential 5 24V dc logic 2200 ohms internal resistor Step Direction optically isolated differential 5 12V dc logic 680 ohms internal resistance 24V dc with external 1000 ohm resistors Wiper 0 5V dc analog signal M ax recommended pot joystick impedance 1K 5K ohms Joystick dead zone 80 mV Potentiometer analog signal dead zone 40 mV In pulse amp direction mode motor
5. steps on falling edge of step input 0 25 usec minimum pulse 2 MHz max step rate 1 usec minimum set up time 50Us minimum hold time for direction signal Outputs Tach amp Fault Optically isolated uncommitted open collector open emitter photo transistors 30V 20 mA max Tach output is 100 pulses per motor revolution 5096 duty cycle square wave Microstepping Oscillator joystick modes 1 64 step 12 800 5 r with 1 8 motor Pulse amp Direction mode 16 switch selectable resolutions 200 400 1000 2000 5000 10000 12800 18000 20000 21600 25000 25400 25600 36000 50000 50800 steps rev Self test 1 2 step TECHNICAL SPECIFICATIONS Oscillator Mode Speed Ranges LO speed range 0 5 rev sec HI speed range 0 25 rev sec Accel decel range 1 to 250 rev sec sec Physical Constructed with black anodized aluminum heat sink and heavy gauge steel housing 3 x 5 3 x 8 inches overall 7 8 lbs 70 C max heat sink temperature Power overtemp and overcurrent LEDs Mounting brackets and switch cover included Connectors European style pluggable screw terminal blocks Motor 4 position Signal input output 8 position Ac Input 3 position TECHNICAL SPECIFICATIONS Dimensions JgM ia Mounting Information Mounting the MSD The MSD can be mounted on the wide or the narrow side of the case Bolt brackets and screws from the accessory bag onto the MSD
6. the step input circuit is shown in Figure 7 NOTE DIRECTION and ENABLE circuits are the same as STEP 680 Figure 7 INPUT CIRCUIT The logic signals can be sourcing sinking or both differential The input current will be about 1 mA per volt Thus if the logic signals are 5 Volts then logic low or 0 for a given input occurs when the and signal pins have at least 4 Volts dc across them In this state the LED is conducting current Logic high or 1 occurs when the and inputs are less than 1 V apart or open STEP signals the driver to move the motor one step The drive steps on the falling edge of the pulse The minimum width is 1 microsecond DIRECTION controls which way the motor will turn See the Figure 6 for details The DIRECTION signal should be changed at least 1 microsecond before a step pulse is sent and held for at least 50 usec after the step pulse is sent If the controller changes the state of the direction input and sends a step pulse at the same instant the motor may take a step in the wrong direction ENABLE allows the user to turn off the current to the motor by setting this signal to logic 0 The logic circuitry continues to operate so the drive remembers the step position even when the amplifiers are disabled However the motor may move slightly when the current is removed depending on the exact motor and load characteristics If there is no need to disable the amplifiers it i
7. 000 STEPS REV 1 5 2000 STEPS REV 1 10 5000 STEPS REV 1 25 10000 STEPS REV 1 50 12800 STEPS REV 1 64 18000 STEPS REV 02 411504 daLSOUDIIN 93180891 44150 43415083 431 0 41150 J rri co e pe c e z J rri co e rr zi e z J rri co e rr e z J rri co e re zi e z J rri co e e z J mi co e c zi e J mi co e e z J mi co e c e z 43180901 20000 STEPS REV 1 100 21600 STEPS REV 1 arc min 29000 STEPS REV 1 125 25400 STEPS REV 1 127 25600 STEPS REV 1 128 36000 STEPS REV 01 50000 STEPS REV 1 250 50800 STEPS REV 1 254 43180901 431808901 43180901 4318090 3150 14 43180891 43180901 014110 34 NOILOTOS3H NOIL TOS3H NOILNTOSSY NOILOTOS3H 014770 34 NOILn10S38 NOILOTTOS3H 43180901 v v y y y y Special Features Fault Protection The MSD provides protection against motor short circuits and excessive drive temperature TEMP If the TEMP light is on the MSD has detected a thermal problem and shut down the amplifiers The first thing to do is to unplug the drive from the power source Next carefully touch the heat sink If it is very hot the drive has probably overheated Usually this means more air flow is needed around the drive SHORT If the
8. EP and DIR inputs unconnected CONNECTIONS asn 5 joystick fire button Speed rev sec Speed vs Input Voltage Joystick Mode SPEED input off open HI SPEED pot at maximum CONNECTIONS Setting Up for Oscillator Mode In oscillator mode the MSD uses the direction set by the DIR input Off or open gives clockwise motion Motor speed and the function of the STEP input can be determined from the following table In oscillator mode the MSD operates at 12800 steps rev speed set when STEP when STEP by goes ON goes OFF joystick t speed accel to speed instant sto joystick accel to speed instant stop LO SPEED joystick Q OFF open ey accel to speed decel to stop WPR input trimmed by T OFF open BS sd ey accel to speed decel to stop There are two speed ranges in oscillator mode One is the low speed range which is activated when the SPEED input is on The low speed can be set from 0 to 5 rev sec 0 300 rpm by adjusting the LO SPEED pot Turning the pot clockwise increases the speed The high speed setting is used when the SPEED input is off or open If switch 2 is toward the words EXT SPEED then the high speed is proportional to the voltage applied to the WPR terminal and is trimmed by the HI SPEED pot Connect an external 1K 5K pot to the WPR CW and CCW terminals or apply a 0 to 5 Volt analog signal to the WPR terminal ground the analog signal to the
9. ETTINGS Current Setting Table 0 2 C WB gt 0 2 0 5 11 9 04 5 0 8 5 0 8 El o 1 6 1 6 gt 0 ER PHASE 2n m 0 2 0 2 0 7 4 9 o4r mo 0 8 AMPS 0 8 o 1 6 1 6 PHASE 5 gt c 5 0 8 Co 1 6 CER PHASE 0 2 1 1 0 8 0 2 gt 2 5 0 5 3 04 3o AMPS 0 8 0 8 o PHASE 1 6 PHASE 1 6 ME 2 0 2 0 2 0 Mil 1 6 CER PHASE 20 0 2 1 3 amps 0 8 ML PHASE 19 SETTINGS Idle Current Reduction The MSD drive is equipped with a feature that automatically reduces the motor current by 5096 anytime the motor is not moving This reduces drive heating by approximately 5096 and lowers motor heating by 7596 This feature can be disabled if desired so that full current is maintained at all times This is useful when a high holding torque is required To minimize motor and drive heating it is strongly recommended that you use the idle current reduction feature unless your application strictly forbids it Idle current reduction is enabled by sliding CURRENT switch 1 toward the 5096 IDLE label as shown in Figure 15 Sliding the switch away from the 50 label disables the reduction feature Idle Current Reduction 50 IDLE Selected No Current Reduction 50 ID
10. LE Figure 15 IDLE CURRENT REDUCTION Microstepping Most step motor drives offer a choice between full step and half step resolutions In full step mode both motor phases are used all the time Half stepping divides each step into two smaller steps by alternating between both phases on and one phase on Microstepping drives like the MSD precisely control the amount of current in each phase at each step position as a means of electronically subdividing the steps even further The MSD offers a choice of full and half step as well as 14 other step resolutions The highest setting divides each full step into 254 microsteps providing 50 800 steps per revolution when using a 1 8 motor In addition to providing precise positioning and smooth motion microstep drives can be used for motion conversion between different units The 25 400 step rev setting is provided as a means of converting motion from metric to English There are 25 4 mm in an inch Other settings provide step angles that are decimal degrees continued SETTINGS 36 000 steps rev makes the motor take 0 01 steps Some settings are used with lead screws When the drive is set to 2000 steps rev and used with a 5 pitch lead screw you get 0001 inches step NOTE These resolutions are for the motor only Actuator performance may not correspond at high microstepping rates due to system compliance and friction 200 STEPS REV FULL 400 STEPS REV HALF 1
11. NNECTIONS Setting Up for Oscillator Mode using an Analog Signal In oscillator mode the MSD can rotate the motor at a speed proportional to an analog voltage The voltage must be applied to the WPR terminal The direction of rotation is controlled by the digital DIR input and the motor can be stopped either by setting the analog input voltage to 0 or by turning the digital STEP signal off To use the MSD in this mode set switch 1 away joystick from the JOYSTICK label and set switch 2 toward ext speed the EXT SPEED label The HI SPEED pot sets the maximum speed the motor speed when the analog signal is at 5 Volt DC The range is 0 25 rev sec Wiring diagrams and a plot of speed vs voltage are shown below run stop switch closed run signal return 0 5V speed signal 0 5V speed signal Signal return Wiring for Speed Control by 0 5 Volt Analog Signal Unidirectional CONNECTIONS 25 20 speed rev sec 0 1 2 3 4 5 Speed vs Input Voltage EXT SPEED mode HI SPEED pot at maximum Connecting Digital Inputs and Limit Switches The MSD contains optical isolation circuitry to prevent the electrical noise inherent in switching amplifiers from interfering with your circuits This arranagement also allows a wide range of input voltages to be used and allows the option of using sinking or sourcing inputs A schematic diagram of the input circuit is shown on the next page A 5 12Vdc power su
12. R MOTION PRODUCTS MSD Microstepping Motor Drive USER S MANUAL we O MATIC INC Excell n Motion 3600 4053C Copyright 1998 Tol O Matic Incorporated All rights reserved Axidyne and Tol O Matic are registered trademarks of Tol O Matic Incorporated 1 2000 BASIC WIRING SCHEMATIC CONNECTION FOR THE MSD e STEP amp DIRECTION CONTROLLER Lf WITH THE MRS171 MOTOR THE WIRING COLOR CODE IS AS FOLLOWS 2 7 A YLW 2 2 B BLU ton WHT L1 Connection for Pulse and Direction Mode Contents Introduction 20001115 NU 1 PAI 1 2 WIOCES of OPCra OD 4 5 Connections Connections and AdjustmentSs ee 6 Connecting an Ac LINE c 7 an Ae Line Gord EDEN 8 CONC CLES 9 CONNEC CUNE oa 10 11 Sinking LOIC 12 LOLIO 12 Setting up for Joystick Mode 13 Seline up Or WO 15 Setting up for Analog Signal using an Analog Signal 17 Connecting Digital Inputs and Limit Switches 19 7 0 OE T S 19 IUCN 19 Usine the Fault OO rc 20 Settings S
13. alog Jovsrick 7 voltage STEP and DIR inputs can be used for limit switches SPEED input selects speed range LO SPEED and HI SPEED pots adjust the 2 speed ranges osc BYPASS C H o SELF TEST Lo Oscillator Mode speed can be controlled by on board potentiometers Joystick Mode and or by an external analog voltage STEP input starts and stops the motor Jovsrick Ll DIR input controls direction of rotation SPEED input selects the speed range AMA osc BYPASS C H o Self Test Mode is used for trouble shooting If the MSD isn t responding to SELF TEST step pulses turn on the self test Oscillator Mode To activate the self test slide switch 6 toward the TEST label The drive will slowly rotate the motor 1 2 revolution forward then 1 2 rev backward The pattern repeats until the switch is Self Test Mode moved away from the TEST label The MSD always uses half step mode during the self test no matter how the steps rev switches are set The self test ignores the STEP and DIRECTION inputs while operating The ENABLE input continues to function normally SELF TEST INTRODUCTION Getting Started To use the MSD Microstepping Motor Drive the following are needed a power cable line cord a compatible step motor a small flat blade screwdriver for tightening the connectors For pulse amp direction mode a source step pulses usually an indexer is used For osc
14. e the power cord may have black white and green wires or brown blue green Connections Refer to Figure 4 AC POWER Figure 4 AC LINE CORD INSTALLATION 1 Connect the black or brown wire to the MSD line or hot terminal of the ac power connector 2 Connect the white or blue wire to neutral That s the N terminal 3 Connect the green wire to the GND terminal This connects the MSD metal enclosure and dc power supply ground to earth ground CONNECTIONS Connecting the Motor Caution To avoid personal injury and or damaging the MSD e Never connect the motor to the driver when the ac power is on Never disconnect the motor while the ac power is on Never connect motor leads to ground or to a power supply Tol O Matic catalog stepper motors are all four lead parallel connected Four lead motors should be connected as shown in Figure 5 See pages 25 and 26 for Tol O Matic recommended motors Yellow MRS 171 FRAME MOTOR 5 23 AND 34 FRAME MOTORS Figure 5 MOTOR CONNECTION To reverse the rotation at the motor rather than in programming reverse the and connections of one phase Full Stepping DIR 0 Step 2 is the Power Up State Figure 6 STEP TABLE CONNECTIONS Connecting Logic The MSD drive contains optical isolation circuitry to prevent the electrical noise inherent in switching amplifiers from interfering with your circuits A schematic diagram of
15. eduction reduces motor and drive heating saves power Pluggable screw terminal connectors make wiring easy Oscillator Mode operates from internal pots external pots 0 5V dc analog signal or analog joystick Two speed ranges can be selected on the fly by a digital signal with automatic ramping between speeds Inputs and outputs are optically isolated differential sourcing or sinking Speed amp Enable 5 24V dc Step amp Direction 5 12V dc Tach Out signal allows easy measurement of speed Enable input allows motor current to be shut off on command Built in 80 volt power supply accepts or 220 Vac power 50 60 Hz MOSFET pulse width modulation switching amplifiers 3 state continued INTRODUCTION Microstepping pulse amp direction model with 16 step rev settings from 200 full step through 50 800 Overtemp and overcurrent short circuit and surge protection Built in self test for troubleshooting CE and TUV compliant INTRODUCTION Modes of Operation The MSD has four modes of operation selected by three dip switches Pulse amp Direction Mode the MSD receives step pulses from an indexer osc BYPASS such as the SSC Steps revolution are SELF TEST set by switches 1 4 This mode is the same as earlier models of MSD Pulse amp Direction Mode Joystick Mode speed and direction are determined by an external an
16. equency counter is connected the speed will read out in revs second with two decimal places Do not connect the Tach output to more than 24 The current into the Tach terminal must not exceed 20 mA Enable Input ENABLE allows the user to turn off the current to the motor by setting this signal to logic 0 The logic circuitry continues to operate so the drive remembers the step position even when the amplifiers are disabled However the motor may move slightly when the current is removed depending on the exact motor and load characteristics If you have no need to disable the amplifiers you don t need to connect anything to the ENABLE input CONNECTIONS Using the Fault Output The MSD has a fault output to indicate if the drive has overheated or if a short circuit has occurred at the motor outputs The fault output is optically isolated for noise immunity This makes it more flexible and more reliable but also more difficult to set up To connect to 5 Volt logic consult Figure 11 Max current is 20 mA For other connections consult the factory The photo transistor turns on when there is a fault In the circuit shown in Figure 11 the signal will be high near 5 Volts when there is no fault The signal will go low 0 Volts if a fault occurs ND 1 5 MSD Resistor 10 1 4W 1kQ i EY TTL or CMOS input Figure 11 FAULT OUTPUT Settings Setting Phase Current Before turning on t
17. ete Phase CHEEOEE ee ika naini 21 Current Setting Formula 21 Current Setting 22 Special Features idle Current 23 Nicro ie 23 ET 25 P T 25 OT P 25 Technical Specifications Ii DP CM EINER 26 Din gt 28 Mounting Information M MSD 29 Useand CATE 29 CONTENTS Recommended Motors Motor Data Dimensions 30 Tol O Matic Catalog Motor Summary 30 17 Frame Motor Dimensions Speed Torque RN 30 31 23 Frame Motor Speed Torque Characteristics sess 3l 34 Frame Motor 19 32 34 Frame Motor Speed Torque Characteristics sues 32 CONTENTS About This Manual Introduction This manual provides the information necessary to configure and install the Tol O Matic MSD Micro Stepping Drive for use with any of the Tol O Matic MRS stepper motors and with the Tol O Matic SSC servo stepper controller or other step and direction sources If you have difficulty configuring installing or programming your system please contact your local distributor for help or call Tol O Matic at 1 800 328 2174 SAFETY SYMBOLS The following symbols are used throughout this manual to alert the user to potential safe
18. he power supply the first time set the driver for the proper motor phase current The rated current is printed on the motor label The current to be set on the MSD is the peak current not rms so multiply the motor rating by 1 414 to get the maximum setting Refer to page 23 of this manual for current limit settings of Tol O Matic MRS series stepper motors The MSD current is easy to set Use the simple formula for setting current Or skip to the table on the next page find the current setting you want and set the DIP switches according to the picture Caution Settings higher than recommended will cause motor to overheat CURRENT SETTING FORMULA Refer to Figure 12 Locate the bank of seven switches labeled CURRENT on the front face of the driver Six of the switches have a value of current printed next to them such as 0 1 and 1 6 Each switch controls the amount of current in amperes A that its label indicates There is always a base current of 0 5 A To add to that slide the appropriate switches toward their labels Example Suppose you want to set the driver for 2 9 Amps per phase You need 0 2 the 0 5 A base current plus another 04 ll 2 0 and 0 4 A CURRENT 0 8 Clo 2 9 TOTAL 0 5 BASE 2 0 0 4 BASE 0 5A Slide the 2 0 and 0 4 A switches 1 6 toward the labels as shown in 2 0 Bill the figure Figure 12 CURRENT SETTING EXAMPLE Refer to Figures 13 and 14 for current settings S
19. illator mode an instrument for measuring motor speed tachometer freq counter or For joystick mode an analog joystick Connections Connections and Adjustments Refer to Figure 2 for important connection and adjustment points All mating connectors are included Logic Connector DIR STEP ENABLE FAULT OUT LEDs Oaa POWER TEMP CURRENT 04 SHORT BASE 0 5 A 13 HIGH B Switches Seb IDLE REDUCTION eti 4r PHASE CURRENT MSD re Switches MICROSTEP MOTOR n RESOLUTION TOL O MATIC INC Connector Hamel MN USA MOTOR pv Figure 2 CONNECTION AND ADJUSTMENT POINTS Connector Ac POWER X SS SS X SS S SS SS SS S SS SS SS S NS SS ss SS SS SS SS SS SS SS SS X CONNECTIONS Connecting the Ac Line 110 Volts The MSD is set for 110 Volt operation at the factory Install a power cord and plug it in Before direct wiring the MSD to ac power consult a qualified electrician and observe all building and electrical codes WARNING Ac power be dangerous Use extreme caution in installing the ac cord 220 Volts The MSD is set for 110 Volt operation at the factory In order to use 220 Volts a switch setting inside the case must be changed This can be done from the outside with a small screwdriver Caution Do not open the MSD case Do not attempt to change the 110 220 Volt switch se
20. pply must be used to supply current to the LEDs on the input side of the optoisolators 24 Vdc is acceptable for the SPEED and ENABLE inputs The STEP and DIR inputs can be operated at 24V if a 1000 ohm resistor is added to each input Most CMOS and open collector TTL devices are directly compatible with this drive as are typical PLC and proximity sensor outputs MSD Input Circuit CONNECTIONS SINKING CIRCUITS NPN If the output devices prefer to sink current then connect the terminals to the positive power supply and the terminals to the signals i e STEP DIR etc If a TTL circuit is used to drive the MSD connect the terminals to the 5 Volt bus No ground connection is needed If a PLC or proximity sensor is used an external power supply is needed SOURCING CIRCUITS PNP If the output devices can only source current some PLC outputs are this way connect the terminals to the ground of the dc power supply that powers the output circuits Then connect the signals to the terminals 5 DIR etc NOTE We refer to an input as being ON when current is flowing through the input A signal is OFF when no current is flowing An input is OFF when COM and the input terminal are at the same voltage or when the input is left unconnected open Tach Output The Tach Out signal is provided for measuring the motor speed It generates 100 pulses per revolution so if a fr
21. s unnecessary to connect anything to the ENABLE input CONNECTIONS Setting Up for Pulse amp Direction Mode Connect indexer controller to the Step and Direction inputs Set the steps rev e Set the OSC Bypass and Self Test Switches page 3 DIFFERENTIAL LOGIC If the controller has 5 STEP DIR and DIR outputs which many indexers do connect SIEP to 5 STEP to STEP and so forth as shown in Figure 8 Indexer or Controller with Differential Outputs Seca optional signal Figure 8 DIFFERENTIAL LOGIC CONNECTIONS CONNECTIONS SINKING LOGIC If the controller has STEP DIR and 5V outputs connect STEP and DIR to 5V then connect STEP to STEP Connect DIR to DIR as shown in Figure 9 This is the connection to use for the Tol O Matic SSC servo stepper controller Indexer or Controller with Sinking Outputs optional signal Figure 9 SINKING LOGIC CONNECTIONS SOURCING LOGIC If the controller has STEP DIR and GND ground or common outputs connect STEP and DIR to GND then connect STEP to STEP Connect DIR to DIR as shown in Figure 10 Indexer or Controller with Sourcing Outputs optional signal Figure 10 SOURCING LOGIC CONNECTIONS CONNECTIONS If the Logic Voltage is not 5 to 12 Volts The MSD optical isolation circuits have built in resistors for 5 12 Volt logic If the logic voltage is greater than 12 Volts bu
22. t no more than 24 Volts add series resistors to the signal pins i e STEP DIR etc Use 1 4 Watt 1000 ohms Setting Up for Joystick Mode In this mode speed and direction are determined by the voltage applied to the WPR wiper terminal 2 5 Volts is stopped no speed Increasing the WPR voltage toward 5 volts results in forward motion speed increases with voltage Decreasing the WPR voltage from 2 5 toward 0 results in reverse motion with speed increasing as voltage decreases In joystick mode the MSD operates at 12800 steps rev The maximum speed is determined by two things the state of the SPEED input and the HI SPEED and LO SPEED trimpots When the SPEED input is ON the speed range of the joystick can be adjusted with the LO SPEED pot up to 5 rev sec 300 rpm When the SPEED input is OFF or open the joystick speed range is adjusted with the HI SPEED pot up to 25 rev sec 1500 rpm Turning the pots clockwise increases the speed In joystick mode limit switches can be connected to the MSP to prevent motion outside of defined limits The forward limit should be connected to the STEP input and the reverse limit should be connected to the DIR input When the forward limit is ON the motor will not move forward that is when the joystick voltage is between 2 5 and 5 Volts When the reverse limit is ON the motor will not move when the joystick is in the 0 to 2 5 Volt range If limits are not needed leave the ST
23. tting until the power has been removed from the drive for at least five minutes Before changing the 110 220 Volt switch setting remove the motor connector and the ac power connector from the drive Set the drive on the widest side so that the heat sink fins are pointing upward Look through the opening in the case located directly above the three position and four position green connectors see Figure 3 s CD AC POWER MOTOR gt gt gt 03 4 pue E switch in 110V position Figure 3 200V SWITCH SETTINGS OLLVIN O 10 L Unplug these connectors fuse fuse switch in 220V position continued CONNECTIONS and observe two black objects The one on the left is the fuse The black object to the right of the fuse is the 110 220 V switch Figure 3 shows the two positions of the switch To change from 110V to 220V carefully insert a screwdriver into the slot and push the switch to the right INSTALLING AN AC LINE CORD WARNING Always use a three wire power cord when working with ac power Failure to do so could result in damage to the MSD and or personal injury or death WARNING Always disconnect the line cord from the source before attaching it to the MSD Remove approximately 5 mm 3 inches of insulation from each of the three wires of the line cord Depending on the sourc
24. ty hazards Caution When this symbol appears exercise care to avoid the possibility of sustaining slight operator injury or equipment damage WARNING When this symbol appears exercise extreme caution to avoid an IMMEDIATE DANGER of sustaining severe operator injury or irreparable equipment damage NOTE Failure to comply with cautions warnings and requirements in this manual may result in damage to equipment not covered under Tol O Matic warranties INTRODUCTION Features e DIR DIR SPEED STEP EN FAULT WPR FAULT row vr snort JOYSTICK EXT SPEED 50 IDLE CURRENT 0 BASE 05 08 e 2 0 HIGH SPEED S LOW SPEED ACCEL e 056 BYPASS SELF TEST 11111111 02777 ak Ls le TOL O MATIC INC Hamel MN USA AC POWER The MSD Stepper Drive is a microstepping chopper drive with integral power supply packaged in a sheet metal enclosure with heat sink Digital oscillator provides smooth accel decel ramps and precise speed control Powerful microstepping amplifier provides high torque and smooth quiet motion Accepts a wide range of motors NEMA sizes 14 42 0 5 to 5 5 Amps peak phase Easy to configure with on board switches and potentiometers for all settings e Automatic idle current r
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