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User`s Manual PDO 2035 Step Motor Driver

1. STEPinput is driven high The step pulse frequency then decreases linearly decelerating the motor and load to rest The PDO2035 lets you choose from two oscillator speed ranges 10 1200 steps second LO and 100 12000 steps sec HI Set the speed range with the LO HI switch speed range LO 3 HIT en internal oscillator BYPASS Cl AN potentiometer EXT INT LL 10 1200 steps sec To adjust the speed locate the trimpot labeled SPEED By turning the brass screw you can raise or lower the speed within the range you have selected Turning the screw clockwise makes the motor run faster 100 12000 steps sec The acceleration and deceleration rates can also be adjusted using the trimpots labeled ACCEL and DECEL The range of accel and decel rates is illustrated below Turning the screw clockwise makes the motor accelerate or decelerate faster 2500 steps sec 5000 steps sec 25 000 steps sec 12000 steps sec 50 000 steps sec 6000 1200 steps sec 600 10 000 100 000 steps sec 2 steps sec steps sec steps sec 300 20 000 3000 200 000 steps sec steps sec steps sec steps sec 150 no ramp 1500 no ramp steps sec steps sec LO range accel decel settings Shown at 2500 steps sec HI range accel decel settings Shown at 25 000 steps sec 10 Using the Oscillator with Switches amp PLCs If you plan to use the PDO 2035 in oscillator mode you may nee
2. 0 125 125 0 a Slide the 125 and 1000 mA switches toward HALF the labels as shown in the figure STEP 11 125 AM PS PHASE 25 AM PS PHASE 375 AM PS PHASE 5 AM PS PHASE 625 AMPS PHASE 75 AM PS PHASE 875 AM PS PHASE 1 AMPS PHASE 1000 500 250 125 Current Setting Table i 234512345 2345 2345 2345 23451 2345 2345 12 1 125 AMPS PHASE 1 25 AMPS PHASE 1 375 AMPS PHASE 1 5 AMPS PHASE 1 625 AMPS PHASE 1 75 AMPS PHASE 1 875 AMPS PHASE 2 AMPS PHASE Using Remote Speed Control Potentiometer The PDO 2035 step motor driver includes an analog signal input connector that can be used to control the oscillator speed externally Normally an on board potentiometer controls the speed Whether you use the on board or external pots the accel decel ramping remains active You will need e a1kQ 10kQ linear potentiometer A multiturn type is recommended ashielded three wire cable To install the external pot locate the 5 position front panel connector marked tach tach etc prepare a cable with your pot on one end and the connector on the other end X the potentiometer wiper connects to the WPR terminal X the potentiometer CW terminal connects to the CW terminal gt the third pot terminal c
3. 035 is set for 110 volt operation at the factory In order to use 220 volts you ll need to remove the cover and slide the switch to the 220V setting First disconnect all power from the system Next remove all four of the green connector plugs from the front panel Then using your small Phillips screw driver remove the five screws that hold the cover on The cover will slide off easily once all of the screws are removed You should see a black switch near the AC POWER connector right next to the big transformer Push the switch to the 220V side Now put the cover back on and replace all five screws tightening them carefully N Never operate the drive with the cover off Installing an AC Line Cord Remove about 5 mm 3 16 inches of insulation from each of the three wires of your line cord That s right three wires For safety always use a three wire power cord on anything with a metal case Depending on where you got your power cord it may have black white and green wires or brown blue green The AC power plug that was shipped with your PDO 2035 might be one of two types The old style is shown below on the left The new style shown on the right comes with an insulating rubber boot Make sure you follow the proper sketch for your connector style gt To Earth Ground gt To Neutral gt To Line Hot Old Style AC Power Plug E New Style AC Power Plug 4 Always unplug the line cord from the wall before a
4. Sold By Servo Systems Co 53 Green Pond Road Suite 2 Rockaway NJ 07866 973 335 1007 Toll Free 800 922 1103 Fax 973 335 1661 www servosystems com User s Manual PDO 2035 Step Motor Driver CURRENT BASE 125mA 2 POWER 345 2 RAPA GR A At Applied Motion Products PDO 2035 Step Motor Driver c T 4 GND 8 a o Ki Applied Motion Products motors drives controls Do I Have the Right Manual In April 1999 we began shipping PDO 2035 drives Prior to that we made a similar drive called the PD2035 The PDO 2035 which is the subject of this manual sports the following improvements Connections to the Enable input the external speed input or the TACH output used to require a crimped on connector which our customers found to be complicated and difficult We now use pluggable screw terminal connectors for everything The Step Dir and Enable inputs now support 5 24V signal levels without adding dropping resistors or setting the old 5V 24V switch You can also use sourcing PNP or sinking NPN input signals The PD2035 only accepted sinking signals So Which Drive Do I Have Just look at the front panel it either reads PDO 2035 or PD2035 If you have a PD2035 call or fax the factory and request the PD2035 User s Manual You can also download the manual in Adobe PDF format from our websit
5. d a source of voltage to activate the optoisolation circuits This is true if you are using mechanical switches or relays It may also be the case if you are using a PLC with optically isolated outputs since they behave like switches PDO 2035 CR 4 position lt COM connector LS IE run switch closed run PDO2035 5 position we connector 1 direction switch Setting Phase Current Before you turn on the power supply the first time you need to set the driver for the proper motor phase current The rated current is usually printed on the motor label The PDO 2035 drive current is easy to set If you wish you can learn a simple formula for setting current and never need the manual again Or you can skip to the table on the next page find the current setting you want and set the DIP switches according to the picture Current Setting Formula Locate the bank of DIP switches next to the motor connector Four of the switches have a value of current printed next to them such as 500 and 1000 Each switch controls the amount of current in milliamperes mA that it s label indicates There is always a base current of 125 mA To add to that slide the appropriate switches toward their labels You may need your small screwdriver for this Example Suppose you want to set the driver for 1 25 amps 4000 per phase 1250 mA You need the 125 mA base 500 d Si current plus another 1000 and 125 mA 250 ie 1250 125 100
6. e at www applied motion com Introduction Thank you for selecting an Applied Motion Products motor control We hope our dedication to performance quality and economy will make your motion control project successful If there s anything we can do to improve our products or help you use them better please call or fax We d like to hear from you Our phone number is 800 525 1609 or you can reach us by fax at 831 761 6544 Features Built in 30 volt DC power supply Drive accepts AC input 110 220 V 50 60Hz Drives sizes 14 through 23 step motors Can also be used to drive size 34 motors at low speeds Pulse width modulation recirculating switching amplifiers Phase current from 0 125 to 2 0 amps switch selectable 16 settings Step direction amplifier enable inputs tach output all optically isolated Full and half step switch selectable Automatic 50 idle current reduction defeatable by internal jumper Built in ramping pulse generator with adjustable speed accel decel Two speed ranges 10 1200 Hz and 100 12000 Hz Pluggable screw terminal connectors Fully enclosed in ventilated steel housing with aluminum heat transfer plate Block Diagram external speed pot osc Ha accel options d 1 common step direction Optical to Isolators motor a B 110 220 VAC Power Supply full step half step Getting Started To use your Applied Motion Products motor control you will
7. er photo transistor 30V 20 mA max Constructed on black anodized aluminum heat transfer plate Covered by heavy gauge ventilated steel housing 1 75 x 4 0 x 6 8 inches overall Power on LED See drawing on back cover for more information Ambient temperature range 0 70 C Pluggable screw terminal blocks Motor 4 position Wire size AWG 12 22 Signals step dir enable 4 position AWG 16 28 Signals tach external speed pot 5 position AWG 16 28 AC Power 3 position AWG 12 22 1A UL rated fast acting TR5 style Available from Digikey 800 DIGIKEY as part number WK3048BK 15 Mechanical Outline lt 4 00 CURRENT BASE 125mA POWER C LO LO LO Lr Applied Motion Products PDO 2035 Step Motor Driver Copyright 2000 Applied Motion Products Inc 10 2 00 PDO2035 ai
8. here the ambient temperature exceeds 50 C 120 F Never block the vent holes Never put the drive where it can get wet Never allow metal particles near the drive 14 Technical Specifications Amplifiers Oscillator Dual bipolar recirculating H bridge pulse width modulated switching at 20 kHz 0 125 2 0 amps phase output current switch selectable in 0 125 Aincrements 50 watts maximum output power Automatic idle current reduction reduces current to 50 of setting after one second Min motor inductance 1 mH HI range 100 12000 steps sec range 100 Hz resolution LO range 10 1200 steps sec 10 Hz resolution Speed adjustable by 15 turn potentiometer or user supplied external pot or 0 5 volt analog signal Linear acceleration and deceleration individually adjustable from 750 to 200 000 steps sec sec with single turn potentiometers Power Supply 110 or 220 VAC input switch selectable 50 60 Hz 75 W max Inputs Pulse Out Physical Connectors Fuse DC voltage at nominal line voltage 28 VDC full load 40 VDC no load Step optically isolated 5 24V 730 ohm input impedance Motor steps on rising edge of step line 10 usec minimum low pulse Step input used as run stop in oscillator mode closed run open stop Direction and Enable optically isolated 5 24V 2200 ohm input impedance 50 usec minimum set up time for direction signal Optically isolated uncommitted open collector open emitt
9. lator is going It produces one pulse per motor step You can connect this to a counter to provide position information or to a tachometer to provide speed data or both The pulse output is optically isolated for noise immunity which makes it more flexible and more reliable but also harder to hookup The TACH output is rated for 5 24VDC operation up to 20 mA 1000 Ohm peu PD02035 rr scope probe output signal LI Ll LI 5 usec Connecting the Pulse Output o a PLC or Oscilloscope Selecting Between Full and Half Step Locate the bank of DIP switches on the front panel Switch 1000 number 1 is labeled HALF STEP Sliding the switch toward the HALF STEPlabel sets the driver for that mode of operation The opposite position is full step When set to full step the driver always uses two phases on mode to provide maximum motor torque 9 Using the Oscillator The PDO2085 is equipped with an internal pulse generator that you can use to control the motor To LO H i zii select the oscillator mode of operation run stop mode BYPASS move switch 2 away from the BYPASSlabel as shown EXT gt INT at the right T The oscillator is activated by driving the S7EPinput low The frequency of step pulses will increase linearly accelerating the motor until it reaches a preset slew speed The motor will remain at this speed until the
10. need the following MAC power cord e 5 24 volts DC to adivetethe optoisolation dircuits asource of step pulses if your application calls for bidirectional rotation you ll aso need a direction signa aconpetible step notor mininuminductence of 1 ntYphese asrral fiat bade screanchiver 2 5 nm for tigaening the connectors and adjusting the oscillator If your application calls for connection to 220 VAC you will need a srral Phillips screwchiver in order to rerrovethe drive cover Aveys disconnect AC power to the chive before removing the cover Thesketth bdowshouws where to find the importan connection and ad ustmrent pants Pleese arineitnow All mating connectors are included mounting hole signal connector step dir enable signal connector ext speed tach out CURRENT BASE 125mA switches trimpots current setting speed accel decel full half step switches osc set up motor connector AC Power connector mounting hole 4 Connecting the AC Line 110 Volts The PDO 2035 is set for 110 volt operation at the factory All you need to do is install a power cord and plug it in If you want to direct wire the PDO 2035 to AC power you must consult a qualified electrician and observe all building and electrical codes You can install the AC cord yourself but be careful AC power can be dangerous 220 Volts The PDO 2
11. onnects to CCW gt the cable shield connects to the third pot terminal With this arrangement speed will increase as you turn the external pot clockwise The on board trimpots will still control acceleration and deceleration times Set the EXT INT switch to EXT to select the external potentiometer Signal Signal CCW External Pot Connection Analog Signal Connection You can also use an external analog voltage to set the speed The voltage must be between 0 and 5 VDC Connect the voltage to the WPR pin and the voltage return to CCW For the LO speed range the conversion is 240 steps sec volt For the HI speed range the formula is 2400 steps sec volt If the analog voltage source generates it s own accel and decel ramps such as a servo controller set the ACCEL and DECR trimpots at the no accel decel setting so the oscillator does not interfere with the ramps 13 Mounting the Drive You should mount the PDO 2035 on the heat transfer plate as shown below Use 8 or 10 screws The amplifiers in the drive generate heat Unless you are running at 1 amp or below you may need a heat sink To operate the PDO 2035 continuously at maximum power you must properly mount it on a heat sinking surface with a thermal constant of no more than 4 C watt Often the metal chassis or enclosure of your system will work as an effective heat sink Never use your drive in a space where there is no air flow or w
12. s 30 MA S A A an Wav If your controlling logic is 24V it must be capable of sinking at least 30 mA to control csree each drive input If you are using 5 volt at logic TTL level then each signal must sink lt Din va 5 mA C If your STEP DIR and ENABLE signalsare sinking NPN then connect COM to your power supply If your signals are sourcing PNP then connect COM to power supply STEP tells the driver when to move the motor one step The drive steps on the rising edge of the pulse If the pulse is negative low the minimum width is 10 microseconds DIRECTION signals which way the motor should turn See the step table on page 7 for details The DIRECTIONsignal should be changed at least 50 microseconds before a step pulseis sent If you change the state of the direction input and send 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 you have no need to disable the amplifiers you don t need to connect anything to the ENABLE input 8 Using the TACH Output The PDO2035 has a pulse output to tell you how fast the oscil
13. ttaching it to the PDO 2035 Connect the black or brown wire to the PDO 2035 L terminal of the AC power connector That is the line or hot connection e Connect the white or blue wire to neutral That s the N terminal Finally and most importantly connect the green wire to the GND terminal That connects the PDO 2035 metal enclosure and DC power supply ground to earth ground Connecting the Motor Never connect the motor to the driver when the AC power is on Secure any unused motor leads Never disconnect the motor while the AC power is on Never connect motor leads to ground or to a power supply You must now decide how to connect your motor to the drive Four lead motors can only be connected one way Please follow the sketch at the right Red 4 Six lead motors can be connected in A load series or center tap In series mode motors a produce more torque at low speeds but motor cannot run as fast as in the center tap Plug configuration In series operation the motor should be operated at 30 less than the Yellow ai White rated current to prevent overheating B B Winding diagrams for both connection methods are shown below NC means not 4 Leads connected __Grn Wht se Grn Wht as 4 White motor motor Green Re a Green Red Red ee 8 Red A a ka B NC B B B NC 6 Leads Series Connected 6 6 Leads Center Tap Connected Eight lead motors can also be connected in
14. two ways series and parallel As with six lead motors series operation gives you more torque at low speeds and less torque at high speeds In series operation the motor should be operated at 30 less than the rated current to prevent over heating The wiring diagrams for eight lead motors are shown below A Orange A Orange Bik Wht Org Wht 8 8 lead lead BIK Wht Org motor motor Wit A A Black Black Yel Red low Red Red yey Yellow Yel Wht Wht e Red Wht _ B B Wht 8 Leads Series Connected 8 Leads Parallel Connected Step Table full stepping DIR 1 CW DIR 0 CCW Step 3 is the Power Up State Connecting Logic The PDO2035 drive contains optical isolation circuitry to prevent the electrical noise inherent in switching amplifiers from interfering with your circuits Optical isolation is accomplished by powering the motor driver from a different supply than your circuits There is no electrical connection between the two signal communication is achieved by infrared light When your circuit turns on or turns off an infrared LED built into the PDO2035 signals a logic state to the photo transistors that are wired to the brains of the drive A schematic diagram of the input circuit is shown on the right You must supply 5 24 volts DC to activate the LEDs on the input side of the coi optoisolators The maximum current draw g 9 i g i

User`s Manual PDO 2035 Step Motor Driver

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