2 Phase Step Motor Drive
Contents
1. 0 9 4 3 Microstepping 9 4 4 Self 10 5 Motor Selection IRR 10 5 1 Recommended motors 11 Error 13 7 Reference Materials 13 7 1 Mechanical Outline 13 14 7 2 1 Electrical rated 14 7 2 2 Environmental Specifications 14 7 3 Torque Curves 15 8 Contacting 16 Rev 1 0 8 30 2010 2 SR4 User Manual 1 Introduction Thank you for selecting the MOONS SR4 Motor Drive We hope our commitment to performance quality and economy will make a successful motion control project 1 1 Overview The SR series drives are cost effective high performance 2 phase step drives The design is based on advanced digital current control technology and features high torque low noise and low vibration The running current and microstep resolution are switch selectable 1 2 Features Power Supply operates from 24 to 48 volt DC power supply Output Power position switch se2. 24 volt Power Supply Connecting a Sourcing Output again 5 24 volt ors ses ees oe Power Supply Driving a Relay Rev 1 0 8 30 2010 8 SR4 User Manual 4 Switch Selection Running Current Idle current Microstepping Self test 4 1 Running Current The output current of the SR4 Step Drive is set by the SW1 SW2 and SW3 switches and can be changed as necessary There are 8 settings available according to the ON OFF combination of the switches OFF OFF OFF SR4 SW1 SW2 SW3 4 2 Idle Current The running current of the SR4 drive is automatically reduced anytime the motor isn t moving Setting the SW4 switch to ON reduces the current to 50 of it running value Setting this switch to OFF maintains 9096 of the running current This 9096 setting is useful when a high holding torque is required To minimize motor and drive heating it is highly recommended that the idle current reduction feature be set to 50 unless the application requires the higher setting 4 3 Microstepping The microstep resolution is set by the SW5 SW6 SW7 switches There are 8 settings Microstep step rev SW5 SW6 SW7 OFF OFF OFF Rev 1 0 8 30 2010 SR4 User Manual 4 4 Self Test Setting switch SW8 to ON after the drive is powered up will cause the drive to perform a self test move of 2 revolutions both CW CCW at 1rps Setting switch SW8 to OFF disables this feature 5 Motor Selection Each position of
3. WEIGHT G CM Kg 17HD2401 03N 39 5 17HD4435 02N 34 3 17HD6404 05N 48 3 23HS Series 1 8 47 14 0 20 56 0 6 35 0 013 Parameters Moron MOTOR MOTOR LENGTH HOLDING INERTIA WEIGHT TORQUE mNm Rev 1 0 8 30 2010 12 SR4 User Manual 6 Error Codes The SR4 Step Drive has one bicolor red green LED to indicate status When the motor is en abled the green LED flashes slowly When the green LED is solid the motor is disabled If the red LED flashes an error has occurred Errors are indicated by a combination of red and green flashes as follows Solid green Motor disabled Flashing green Motor enabled 00000 3 2 green Bad internal voltage 00000 4red 1 green Over voltage 0900000 4red 2green Under voltage 06060000 5red 1 green Overcurrent short circuit 090900000 6 red 1 green Open motor winding 7 Reference Materials 7 1 Mechanical Outline 2 4 50 33 22 50 75 90 22 30 22 50 1 0 8 30 2010 13 SR4 User Manual 7 2 Specifications 7 2 1 Electrical Specifications Parameter Power Supply Output Current Peak STEP DIR Input Signal Average Forward Current Step Frequency STEP Minimum Pulse Width Hi and Low DIR Minimum Pulse Width Under Voltage Protection Over Voltage Protection STEP DIR Input Signal Voltage Driver Initialization time Rev 1 0 8 30 2010 15 SR4 User Manual 7 3 Torque Curves 1
4. ase Step Motor Drive MOONS STEP MOTOR DRIVER SR4 4696351000177 Input Voltage 24 48VDC Output Current 4 5A PEAK Motor Select AP a a te _ gt x STEP STEP Test Di sabled LED Codes MOTOR DIS MOTOR ENA SUPPLY yo TAGE HIGH IVER URRENT IPEN MOTOR Pia INTERNAL AG 1 VO f GR Green RD Red SOLID GRE EN GR GR GR 16 480 i 580 6RD aH 4RD User Manual Rev 1 1 m an 4 AMP amp MOONS Automation SR4 User Manual Contents 1 8 2 1 1 COVEN VICW 3 1 2 tttttttttettettettrtt itti ttr trit rrer rais 3 gt diagram ccc 4 2 Mounting the Drive 4 Connections emm emer rere me rere rer erra ens 5 3 1 Connecting to the Power Supply 5 3 2 Connecting to a 5 3 3 Connecting to the 6 3 3 1 Step Ce IFS CUO 6 33 2 EN MPUL MR M T F Pies 8 4 Switch Selection 9 Musas CO 9 4 2 Idle
5. the 16 bit rotary switch selects a different motor and automatically sets the configuration parameters in the drive The SR4 drive comes programmed with up to 8 typical motors as factory defaults Drives can be customized with specially selected motors when re quired The rotary switch also selects a low or high inertia for each motor to allow for various load conditions The low setting is 1 1 and the high setting is 10 1 Each motor in the loaded database has unique settings to optimize the anti resonance oee the table below When the motor selection is changed the drive power supply will need to be cycled mm os Loo Motor selections ending in L for low inertia and those ending for high inertia Rev 1 0 8 30 2010 10 SR4 User Manual 5 1 Recommended motors 11HS Series 1 8 28 3Max 0 22 0 052 Depth 2 5Min PIN NO MOLEX 53253 0670 51065 0600 PIN NO I 05 0012 C 4 E 3 Unit mm 31 B D T TT Parameters 35 3Max 14HY Series 1 8 Depth 2 5Min Parameters PART CONNECTION Rev 1 0 n 8 30 2010 SR4 User Manual 17HD Series 1 8 4 M3 Depth 4 5Min AWG26 UL3266 VV Ten Parameters MOTOR PRT MOTOR PART CONNECTION LENGTH TORQUE INERTIA
6. 00 80 60 40 Torque mN m 20 500 400 300 200 Torque mN m 100 Torque N m 11HS5008 01 Drive SR4 Microstep 51200 steps rev Current 1 0A Peak 0 10 20 30 40 50 Speed rps 17HD2401 03N Drive 5 4 Microstep 51200 steps rev Current 2 0A Peak 0 10 20 30 40 50 Speed rps 17HD6404 05N Drive SR4 Microstep 51200 steps rev Current 2 0A Peak 0 10 20 30 40 50 Speed rps 23HS2442 05 Drive SR4 Microstep 51200 steps rev Current 4 5A Peak 20 Speed rps 30 50 15 14 401 03 Drive 5 4 Microstep 51200 steps rev Current 1 0A Peak 24V i 8 V 150 120 5 2 90 8 o 60 30 0 0 10 20 30 40 50 Speed rps 17HD4435 02N Drive 5 4 Microstep 51200 steps rev Current 2 0A Peak 300 2 250 E z 200 E m 150 5 100 50 0 0 10 20 30 40 50 Speed rps 23 50416 01 Drive SR4 Microstep 51200 steps rev Current 4 5A Peak 0 5 0 4 3 0 3 5 5 0 2 5 0 1 0 0 10 20 30 40 50 Speed rps 23HS3422 06 Drive SR4 Microstep 51200 steps rev Current 4 5A Peak 1 5 1 2 3 2 0 9 5 0 6 0 3 0 0 10 20 30 40 50 Speed rps Rev 1 0 8 30 2010 SR4 User Manual 8 Contacting MOONS Headquarters 168 Mingjia Road Minhang District Shanghai 201107 P R China Tel 86 0 21 52634688 Fax 86 0 21 52634098 Shenzhen Branch Office Room 2209 2
7. 2 F Kerry Center 2008 Renminnan Road Luohu District Shenzhen 518001 P R China Tel 86 0 755 25472080 Fax 86 0 755 25472081 B Beijing Branch Office Room 202 Unit 2 7th Building Huilongsen International Science amp Technology Industry Park No 99 kechuang 14th street Beijing 101111 P R China Tel 86 0 10 59755578 Fax 86 0 10 59755579 B Nanjing Branch Office Room 302 Building A Tengfei Creation Center 55 Jiangjun Road Jiangning District Nanjing 211100 P R China Tel 86 0 25 52785841 Fax 86 0 25 52785485 Qingdao Branch Office Room E 10th Floor 73 Wangjiao Mansion Hongkong Middle Road Shinan District Qingdao 266071 P R China Tel 86 0 532 85879625 Fax 86 0 532 85879512 B Europe Branch Moons Industries Europe S R L Via Torri Bianche n 1 20059 Vimercate MB Italy Tel 39 039 62 60 521 Fax 39 039 96 31 409 Service Center 86 400 820 9661 1 0 8 30 2010 16
8. er Following Rev 1 0 8 30 2010 6 SR4 User Manual Using Mechanical Switches 3 3 2 EN Input The EN input enables or disables the drive amplifier It is an optically isolated input that accepts a 5 to 24 volt single ended or differential signal The maximum voltage that can be applied to the input is 28V When EN input is closed the driver amplifier is deactivated All the MOSFETS will shut down and the motor will be free When EN input is open the drive is activated When the drive has encountered an error and the fault is removed from system a falling signal into the EN input will reset the error status and activate the drive amplifier again Switch or Relay closed logic low NPN Proximity Sensor Connecting an NPN type Proximity Sensor to an input when prox sensor activates input goes low Proximity Sensor Connecting an PNP type Proximity Sensor to an input when prox sensor activates input goes low Rev 1 0 8 30 2010 SR4 User Manual 3 3 3 Fault Output The FAULT Output is optically isolated The maximum collector current is 100mA and the maxi mum collector to emitter voltage is 30 volts The output can be wired to sink or source current When drive is working normally the output is open When the drive encounters an error the output closes 5 24 volt Power Supply Connecting a Sinking Output 5 24 volt Power Supply Connecting a Sourcing Output 5
9. lectable 8 settings max 4 5 amps peak Current Control advanced digital current control provides excellent high speed torque e Microstep Resolution position switch selectable 8 settings 400 800 1600 3200 6400 12800 25600 51200 step rev e Speed Range speeds up to 3000 rpm e Anti Resonance raises the system damping ratio to eliminate midrange instability and allow stable operation throughout the speed range of the motor Auto Setup measures motor parameters and configures motor current control and anti reso nance gain settings Microstep Emulation performs high resolution stepping by synthesizing coarse steps into fine micro steps e Control Modes Step amp Direction or CW CCW pulse e Input Digital Filters 2 MHz digital filter for high speed inputs Motor Type Select a 16 bit rotary switch is used to select the desired motor database which is pre loaded at the Factory Load Inertia Select as part of the motor database each motor can be selected for use with low or high load inertia Idle Current switch selectable for 50 or 90 idle running current reduction 1 second after the motor stops e Self Test switch selectable the drive will perform a 2 rev 1 ros CW CCW move test Rev 1 0 8 30 2010 SR4 User Manual 1 3 Block diagram SR4 Block Diagram 24 48VDC External Power Supply 5V switching reg MOSFETs 8 motor Rotary code 4 uw Optical Isolati
10. on 8 bit switch LED 2 Mounting the Drive The SR4 Step Drive be mounted on the wide or the narrow side of the chassis If it is mount ed on the wide side M3 screws should be used through the four corner holes For narrow side mounting applications M3 screws can be used in the two side holes The amplifiers in the drive generate heat To operate the drive continuously at maximum power forced air cooling as from a fan should be provided Never use the drive in a space where there is no air flow or where other devices can cause the surrounding air to be more than 40 C Never put the drive where it can get wet or where metal particles can fall into it Rev 1 0 8 30 2010 4 SR4 User Manual 3 Connections To use the SR4 Step Drive the following items ECL ded Rotary Switch FAULT Output A power supply 24 48 VDC DIR Input Pulse amp Direction signal STEP Input Acompatible step motor SW8 To Selection lt Switches SW1 3 1 Connecting to the Power Supply Motor Connections If the power supply does not have a fuse on the Power Connector V output or some kind of short circuit current limiting device a fast acting fuse is required A4 amp fast acting fuse should be installed in line with the power supply lead Grounding screw Connect the motor power supply terminal to the drive terminal labeled V Connect the power s
11. upply to the drive terminal labeled V Be careful not to reverse the wires 3 2 Connecting to a Motor A 4 LEAD BIPOLAR MOTOR B 6 LeEaps SERIES CONNECTED C e LEADS CENTER TAP CONNECTED Black At Black At Black 4 LEAD MOTOR 6 LEAD 6 LEAD Yellow NC MOTOR Yellow A MOTOR Green A Green A Green NC B B B NC Red White Blue Red White Blue BlueB D s LEADS PARALLEL CONNECTED E 8 LEADS SERIES CONNECTED Black At Orange Yellow 8 LEAD Orange Yellow MOTOR Green A A Green Red White Brown Bt White Be Blue B Rev 1 0 8 30 2010 SR4 User Manual 3 3 Connecting to the Inputs 3 3 1 Step amp Direction Inputs The SR4 Step Drive has two high speed optically isolated inputs called STEP and DIR They ac cept 5 to 24 volt single ended or differential signals up to 2MHz The maximum voltage that can be applied to the input is 28V The motor executes one step with the falling edge of the STEP signal The direction of rotation is controlled by the DIR signal level A low level signal 0 level will result in clockwise rotation and a high level signal 1 level will result in counterclockwise rotation Indexer dll with Sinking Outputs Indexer with Sourcing Outputs Indexer with Differential Outputs Connecting to Indexer with Differential Outputs Many high speed indexers have differential outputs Encoder Wiring for Encod
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