User's Manual
Contents
1. MOTEC Individuelle Antriebsl sungen User s Manual NOV M422 Fully Digital Stepping Driver Version 1 0 Attention Please read this manual carefully before using the driver The content in this manual has been carefully prepared and is believed to be accurate but no responsibility is assumed for inaccuracies Novomotec reserves the right to make changes without further notice to any products herein to improve reliability function or design Novomotec does not assume any liability arising out of the application or use of any product or circuit described herein neither does it convey any license under its patent rights of others Novomotec s general policy does not recommend the use of its products in life support or aircraft applications wherein a failure or malfunction of the product may directly threaten life or injury According to Novomotec s terms and conditions of sales the user of Novomotec s products in life support or aircraft applications assumes all risks of such use and indemnifies Novomotec against all damages Table of Contents 1 Introduction Features and Applications ccccccccsecceeceeeeeeeeeceeeeseeeeeeees 1 MOUNT lt 1 FAUST 1 PP 6 Cer 0 9 vera 2 PEAS ES Electrical SPECI CAUONS av Mechanical Specifications sairmos a Elmin Nea cetinecccatiaaSacenrtieahdeianeunsad a a I Operating Environment and other Specifications ccecceeeeeeeeeeeeeees II 32. Pin Assignment and Description rrrrnnrnnrrnnrnnnrvanennnnrannrernnnrnnnrnnnnnsennennnnnn II Connector P1 Configurations ccccccccsecceeeeeeeeeeeeeeeeeaeeeseeeseeeeseeesaeees II Selecting Active Pulse Edge and Control Signal Mode ccc0ee LI Connector P2 ConfiguratlonS erare a e III 4 Control Signal Connector P1 Interface rrrnnrrranrrnnnnrannnanennnrnnnnnrnnennnnn I 5 Connecting the Motor rrnrannnanennnnnnanevanennnnnranenanennnsnnanennnennannnanennnennnsnnnne IV Connections to 4 lead Motors rrrnrrnnrnarenarnrnrnrervnnrrnnernrnnnrnanenunenennnennnee IV Connections to 6 lead Motors rrrurrnnrnanennnnrannnnrnnnrranennrnnnenanenunenunnnennnene V HalrColConigualons 45442472 V Full Coil Configurations arrrnrnrnnnnnannrnnrrnannnnnrnnnnnnannnanrnnnnnnanenanennn V Connections to 8 lead Motors rrrarrrnrrnnrnarennnerannnernnnrvnnernsnnunnneennnenunener VI DENIES GC ONMECTIONS rerasan travis reas teen a eas Meee eens VI ParAeTonmetmisavv424ea NE VI 6 Power Supply Selection rrarrrrrnnrrnnnrranerarrnnrnnnennnenannnennnernnnenasenuenneenunennnnn VI Regulated or Unregulated Power Supply raranarannnnnranennnnnrannnanennnnnnnner VII MINNE DN ESS VII Selecting Supply Voltage nseri a R VII 7 Selecting Microstep Resolution and Driver Output Current 088 VIII Microstep Resolution Selection rrrarrrarrnnrnnrevarerannrernnn
3. to control signal terminal Figure 3 Connections to differential control signal 5 Connecting the Motor The NOV M422 can drive any 2 pahse and 4 pahse hybrid stepping motors Connections to 4 lead Motors 4 lead motors are the least flexible but easiest to wire Speed and torque will depend on winding inductance In setting the driver output current multiply the specified phase current by 1 4 to determine the peak output current P2 Figure 4 4 lead Motor Connections Connections to 6 lead Motors Like 8 lead stepping motors 6 lead motors have two configurations available for high speed or high torque operation The higher speed configuration or half coil is so described because it uses one half of the motor s inductor windings The higher torque configuration or full coil uses the full windings of the phases Half Coil Configurations As previously stated the half coil configuration uses 50 of the motor phase windings This gives lower inductance hence lower torque output Like the parallel connection of 8 lead motor the torque output will be more stable at higher speeds This configuration is also referred to as half chopper In setting the driver output current multiply the specified per phase or unipolar current rating by 1 4 to determine the peak output current P2 B NC Figure 5 6 lead motor half coil higher speed connections Full Coil Configurations The full coil configuration on a six lead motor
4. e drivers in the markets Its unique features make the NOV M422 an ideal solution for applications that require low speed smoothness Compared to the NOV M422C the NOV M422 makes the motor run into higher speed What s more a pulse filter smoother has been built into the NOV M422 Features Anti Resonance provides optimum torque and nulls mid range instability e Motor self test and parameter auto setup technology offers optimum responses with different motors Multi Stepping allows a low resolution step input to produce a higher microstep output for smooth system performance Microstep resolutions programmable from full step to 102 400 steps rev amp Supply voltage up to 40 VDC amp Output current programmable from 0 3A to 2 2A Pulse input frequency up to 75 KHz Tel 49 89 60019213 TTL compatible and optically isolated input amp Automatic idle current reduction Reduction rate can be software configured amp Support PUL DIR and CW CCW modes amp Over voltage over current phase error protections www novomotec de NOV M422 Digital Stepping Drive Manual V1 0 Applications Suitable for a wide range of stepping motors from NEMA frame size 14 to 23 It can be used in various kinds of machines such as laser cutters laser markers high precision X Y tables labeling machines and so on Its unique features make the NOV M422 an ideal solution for applications that require low speed sm
5. nnection A complete stepping system should include stepping motor stepping driver power supply and controller pulse generator A typical connection is shown as figure 9 Controller Driver R 0 if VCC 5V R 1K Power gt 0 125W if VCC 12V R 2K Power gt 0 125W if VCC 24V R must be connected to control signal terminal Figure 9 Typical connection 10 Sequence Chart of Control Signals In order to avoid some fault operations and deviations PUL DIR and ENA should abide by some rules shown as following diagram PUL DIR E CW CCW Figure 10 Sequence chart of control signals Remark a t1 ENA must be ahead of DIR by at least 51 Is Usually ENA and ENA are NC not connected See Connector P1 Configurations for more information b t2 DIR must be ahead of PUL effective edge by 5L s to ensure correct direction c 13 Pulse width not less than 7 51 1s d t4 Low level width not less than 7 51 IS 11 Protection Functions To improve reliability the driver incorporates some built in protection functions The NOV M422 uses one RED LED to indicate what protection has been activated The periodic time of RED is 3 s seconds and how many times the RED turns on indicates what protection has been activated Because only one protection can be displayed by RED LED so the driver will decide what error to display according to their priorities See the following Protection Indica
6. oothness 2 Specifications Electrical Specifications Tj 25 C 77 F Mechanical Specifications unit mm inch 86 3 388 20 5 0 808 27 5 1 084 55 2 167 79 3 113 Figure 1 Mechanical specifications Elimination of Heat Driver s reliable working temperature should be lt 70 C 158 F and motor working temperature should be lt 80 C 176 F Itis recommended to use automatic idle current mode namely current automatically reduce to 60 when motor stops so as to reduce driver heating and motor heating Itis recommended to mount the driver vertically to maximize heat sink area Use forced cooling method to cool the system if necessary Operating Environment and other Specifications Environment Avoid dust oil fog and corrosive gases Sel 40 RH 90 RH 2 Vibration 5 9m s Max Approx 100g 3 52740z 3 Pin Assignment and Description The NOV M422 has two connectors connector P1 for control signals connections and connector P2 for power and motor connections The following tables are brief descriptions of the two connectors More detailed descriptions of the pins and related issues are presented in section 4 5 9 Connector P1 Configurations DIR signal In single pulse mode this signal has low high voltage levels representing two directions of motor rotation in double pulse mode software configurable this signal is counter clock CCW pulse active b
7. ors from NEMA frame size 14 to 23 made by Novomotec or other motor manufactures around the world To achieve good driving performances it is important to select supply voltage and output current properly Generally speaking supply voltage determines the high speed performance of the motor while output current determines the output torque of the driven motor particularly at lower speed Higher supply voltage will allow higher motor speed to be achieved at the price of more noise and heating If the motion speed requirement is low its better to use lower supply voltage to decrease noise heating and improve reliability Regulated or Unregulated Power Supply Both regulated and unregulated power supplies can be used to supply the driver However unregulated power supplies are preferred due to their ability to withstand current surge If regulated power supplies such as most switching supplies are indeed used it is important to have large current output rating to avoid problems like current clamp for example using 4A supply for 3A motor driver operation On the other hand if unregulated supply is used one may use a power supply of lower current rating than that of motor typically 50 70 of motor current The reason is that the driver draws current from the power supply capacitor of the unregulated supply only during the ON duration of the PWM cycle but not during the OFF duration Therefore the average current withdrawn from power su
8. oth at high level and low level software configurable For reliable motion response DIR signal should be ahead of PUL signal by 5us at least 4 5V when DIR HIGH 0 0 5V when DIR LOW Please note that rotation direction is also related to motor driver wiring match Exchanging the connection of two wires for a coil to the driver will reverse motion direction Selecting Active Pulse Edge and Control Signal Mode The NOV M422 supports PUL DIR and CW CCW modes and pulse active at rising or falling edge See more information about these settings in Section 13 Default setting is PUL DIR mode and rising edge active Connector P2 Configurations Power Ground Motor Phase B 4 Control Signal Connector P1 Interface The NOV M422 uses opto couplers to increase noise immunity and interface flexibility If the opto couplers supply voltage is higher than 5V a current limiting resistor needs to be connected at each command signal terminal to prevent overheating the opto couplers In the following figures connections to open collector and differential controller are illustrated Controller Driver R 0 if VCC 5V R 1K Power gt 0 125W if VCC 12V R 2K Power gt 0 125W if VCC 24V R must be connected to control signal terminal Figure 2 Connections to open collector signal common anode Controller VCCo Driver R 0 if VCC 5V R 1K Power gt 0 125W if VCC 12V R 2K Power gt 0 125W if VCC 24V R must be connected
9. pply is considerably less than motor current For example two 3A motors can be well supplied by one power supply of 4A rating Multiple Drivers It is recommended to have multiple drivers to share one power supply to reduce cost if the supply has enough capacity To avoid cross interference DO NOT daisy chain the power supply input pins of the drivers Instead please connect them to power supply separately Selecting Supply Voltage The power MOSFETs inside the NOV M422 can actually operate within 20 40VDC including power input fluctuation and back EMF voltage generated by motor coils during motor shaft deceleration Higher supply voltage can increase motor torque at higher speeds thus helpful for avoiding losing steps However higher voltage may cause bigger motor vibration at lower speed and it may also cause over voltage protection or even driver damage Therefore it is suggested to choose only sufficiently high supply voltage for intended applications and it is suggested to use power supplies with theoretical output voltage of 20 36VDC leaving room for power fluctuation and back EMF 7 Selecting Microstep Resolution and Driver Output Current Microstep resolutions and output current are programmable the former can be set from full step to 102 400 steps rev and the latter can be set from 0 3A to 2 2A See more information about Microstep and Output Current Setting in Section 13 However when it s not in software configu
10. red mode this driver uses a 6 bit DIP switch to set microstep resolution and motor operating current as shown below Dynamic Current Microstep Resolution All ON is software configured AIL ON is software configured 1 213 4 5 6 Standstill Current ON haft OFF full Motor auto identification and parameter auto conliguration 2 change in I second Microstep Resolution Selection When it s not in software configured mode microstep resolution is set by SW5 6 of the DIP switch as shown in the following table Current Settings For a given motor higher driver current will make the motor to output more torque but at the same time causes more heating in the motor and driver Therefore output current is generally set to be such that the motor will not overheat for long time operation Since parallel and serial connections of motor coils will significantly change resulting inductance and resistance it is therefore important to set driver output current depending on motor phase current motor leads and connection methods Phase current rating supplied by motor manufacturer is important in selecting driver current however the selection also depends on leads and connections When it s not in software configured mode the first three bits SW1 2 3 of the DIP switch are used to set the dynamic current Select a setting closest to your motor s required current Dynamic current setting Notes Due to motor inductance
11. rrnnenannnsennnenennn VIII Ce SS UNG S E Aa aE A eee ween eea VIII Dynamic curem Seting 44424245 44 Fer IX Standstill current setting r orrrrnnrrarernnrrnanrranrrnrnnrannnanennnrnnnnnnnnennne IX SVING NOIS ve IX TPM NNN X 10 Sequence Chart of Control Signals araranrrnnnrranrvnnrnrannranennnrnnnnnnnnennnnne X T1 Protection FUNCIONS ea E vee da uamennewhan XI Over current Protection rrranrnnnnnrannnanennnrnnnnnnanennnnnnannnanenanennnsnnnne XI Over voltage Protection siemenen ieiet XI Phase ETO ProtGCHON vaare XII Protection Indications c cece ceccceceeeeeeeeeeeeseeeaeeeeeeceeeseeaeesaeeteeeeees XII 12 Frequently Asked Questions rrrnanrnnnrnnannnanenanennnnnnanennnrnnnnnrannnanennnennnnen XII Problem Symptoms and Possible Causes cccceccceeceeeeeeeeeeeseeeeees XIII NOV M422 Digital Stepping Drive Manual V1 0 1 Introduction Features and Applications Introduction The NOV M422 is a versatility fully digital stepping driver based on a DSP with advanced control algorithm The NOV M422 is the next generation of digital stepping motor controls It brings a unique level of system smoothness providing optimum torque and nulls mid range instability Motor self test and parameter auto setup technology offers optimum responses with different motors and easy to use The driven motors can run with much smaller noise lower heating smoother movement than most of th
12. should be used in applications where higher torque at lower speeds is desired This configuration is also referred to as full copper In full coil mode the motors should be run at only 70 of their rated current to prevent over heating P2 NC Figure 6 6 lead motor full coil higher torque connections Connections to 8 lead Motors 8 lead motors offer a high degree of flexibility to the system designer in that they may be connected in series or parallel thus satisfying a wide range of applications Series Connections A series motor configuration would typically be used in applications where a higher torque at lower speeds is required Because this configuration has the most inductance the performance will start to degrade at higher speeds In series mode the motors should also be run at only 70 of their rated current to prevent over heating P2 Figure 7 8 lead motor series connections Parallel Connections An 8 lead motor in a parallel configuration offers a more stable but lower torque at lower speeds But because of the lower inductance there will be higher torque at higher speeds Multiply the per phase or unipolar current rating by 1 96 or the bipolar current rating by 1 4 to determine the peak output current Figure 8 8 lead motor parallel connections NEVER disconnect or connect the motor while the power source is energized 6 Power Supply Selection The NOV M422 can match medium and small size stepping mot
13. the actual current in the coil may be smaller than the dynamic current setting particularly under high speed condition Standstill current setting SW4 is used for this purpose OFF meaning that the standstill current is software configured and ON meaning that standstill current is set to be the same as the selected dynamic current By default the current automatically reduced to 60 of the selected dynamic current two second after the last pulse Theoretically this will reduce motor heating to 36 due to P R of the original value 8 Wiring Notes e In order to improve anti interference performance of the driver it is recommended to use twisted pair shield cable To prevent noise incurred in PUL DIR signal pulse direction signal wires and motor wires should not be tied up together It is better to separate them by at least 10 cm otherwise the disturbing signals generated by motor will easily disturb pulse direction signals causing motor position error system instability and other failures f a power supply serves several drivers separately connecting the drivers is recommended instead of daisy chaining Itis prohibited to pull and plug connector P2 while the driver is powered ON because there is high current flowing through motor coils even when motor is at standstill Pulling or plugging connector P2 with power on will cause extremely high back EMF voltage surge which may damage the driver 9 Typical Co
14. this process you may have to disconnect the individual components that make up your system and verify that they operate independently It is important to document each step in the troubleshooting process You may need this documentation to refer back to at a later date and these details will greatly assist our Technical Support staff in determining the problem should you need assistance Many of the problems that affect motion control systems can be traced to electrical noise controller software errors or mistake in wiring Problem Symptoms and Possible Causes Microstep resolution setting is wrong Fault condition exists Motor phases may be connected in reverse Something wrong with motor coil Control signal is interfered Something wrong with motor coil Current setting is too small Acceleration is set too high Inadequate heat sinking cooling Current is set too high
15. tions table for displaying priorities Over current Protection Over current protection will be activated when continuous current exceeds the limit or in case of short circuit between motor coils or between motor coil and ground and RED LED will turn on once within each periodic time 3 s Over voltage Protection When power supply voltage exceeds 48 2 VDC protection will be activated and RED LED will turn on twice within each periodic time 3 s Phase Error Protection Motor power lines wrong amp not connected will activate this protection RED LED will turn on four times within each periodic time 3 s Attention When above protections are active the motor shaft will be free or the LED will turn red Reset the driver by repowering it to make it function properly after removing above problems Since there is no protection against power leads reversal it is critical to make sure that power supply leads correctly connected to driver Otherwise the driver will be damaged instantly Protection Indications Priority Time s of ON Sequence wave of RED LED Description Over current Ae 1 protection wit 5 Over voltage protection SE 4 _ Phase error protection 12 Frequently Asked Questions In the event that your driver doesn t operate properly the first step is to identify whether the problem is electrical or mechanical in nature The next step is to isolate the system component that is causing the problem As part of
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