User`s Manual 3535 3535 O
Contents
1. The oscillator is activated by driving the S7EPinputlow 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 S7EPinput is driven high The step pulse frequency then decreases linearly decelerating the motor and load to rest To change the slew speed locate the trimpot labeled SPEED By turning the brass screw you can raise or lower the speed within a range of 400 to 5000 steps per second Turning the screw clockwise makes the motor run faster The acceleration and deceleration rates can also be adjusted using the trimpots labeled ACCELand DECEL The range of accel and decel time is 5 to 900 milliseconds Turning the screw clockwise makes the motor accelerate and decelerate faster Using Remote Speed Control Potentiometer The latest revision of model 3535 O 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 To determine if your 3535 O is the correct revision look for either a two pin header labeled OXSPDO near the three blue trimpots or the name on the PC board 1000 053 followed by a letter B or C You will need e a100kQ or 200kQ linear potentiometer A multiturn type is recommended e atwo pin female connector compatible with 025 inch square pins on 1000 centers AMP type MTA 100 is one type that work2. idle current reduction reduces current to 50 of setting after one second Oscillator 400 to 5000 steps per second Linear acceleration and 0 suffix deceleration individually adjustable from 5 to 900 msec Inputs Step direction and enable optically isolated 5V logic 5 mA signal sink requirement Motor steps on rising edge of step line 10 usec minimum low pulse 50 usec minimum set up time for direction signal Step input doubles as run stop in oscillator mode 0 run 1 stop Physical Mounted on 1 4 inch thick black anodized aluminum heat transfer chassis 1 5 x 3 0 x 4 0 inches overall Power on LED See drawing on page 14 for more information Maximum chassis temperature 70 C Connectors European style screw terminal blocks Motor 4 position Signal Input 4 position DC Input 2 position CE Mark Complies with EN55011A and EN50082 1 1992 CE 15 Mechanical Outline 4x P5 2x 25 gas i 14 Getting Started To use your Applied Motion Products motor control you will need the following e a 12 35 volt DC power supply for the motor Please read the section entitled Choosing a Power Supply for help in choosing the right power supply 5 volts DC 15mA to activate
3. it signals a logic state to the phototransistors that are wired to the brains of the drive A schematic diagram of the input circuit is shown below You must supply 5 volts DC to activate the LEDs on the input side of the optoisolators The maximum current draw is 15 mA Your controlling logic must be capable of HV F sinking at least 5 mA to control each drive 38 S 5 input Most CMOS and open collector TTL EE a devices are directly compatible with this drive Cor y Logic low or 0 for a given input occurs when wo that input is pulled to less than 0 8 volts DC DIR In this state the LED is conducting current Week K Logic high or 1 occurs when the input is CEN greater then 4 volts or open Drive Input Circuit STEP tells the driver when to move the motor one step The drive steps on the falling 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 5 for details The DIRECTIONsignal should be changed at least 50 microseconds before a step pulse is 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 di
4. 11 3 99 3535 ai User s Manual 3535 3535 O Step Motor Drivers Applied Copyright 1998 Motion Applied Motion Products Inc Products 404 Westridge Drive Watsonville CA 95076 Tel 831 761 6555 800 525 1609 Fax 831 761 6544 motors drives controls 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 408 761 6544 Features Drives sizes 14 through 34 step motors Pulse width modulation switching amplifiers Phase current from 0 4 to 3 5 amps switch selectable 32 settings Step direction and enable inputs optically isolated Full and half step switch selectable Automatic 50 idle current reduction Built in ramping pulse generator with adjustable speed accel decel 3535 O 400 5000 Hz Block Diagram ci ae 1 I accel i i decel EEES EE E 1 speed adj STEP SLEW JUMPER full step half step Technical Specifications Amplifiers Dual bipolar H bridge pulse width modulated switching at 20 kHz 12 35 VDC input 0 4 3 5 amps phase output current switch selectable in 0 1 A increments 122 watts maximum output power Automatic
5. However you will generally need a lot less than that depending on the motor type voltage speed and load conditions That s because the 3535 and 3535 O use switching amplifiers converting a high voltage and low Current into lower voltage and higher current The more the power supply voltage exceeds the motor voltage the less current you ll need from the power supply We recommend the following selection procedure 1 If you plan to use only a few drives get a power supply with at least twice the rated phase current of the motor 2 If you are designing for mass production and must minimize cost get one power supply with more than twice the rated current of the motor Install the motor in the application and monitor the current coming out of the power supply and into the drive at various motor loads This will tell you how much current you really need so you can design in a lower cost power supply If you plan to use a regulated power supply you may encounter a problem with current foldback When you first power up your drive the full current of both motor phases will be drawn for a few milliseconds while the stator field is being established After that the amplifiers start chopping and much less current is drawn from the power supply If your power supply thinks this initial surge is a short circuit it may foldback to alower voltage With many foldback schemes the voltage returns to normal only after the first motor step and is fine thereafte
6. careful not to reverse the wires Reverse connection will destroy your driver void your warranty and generally wreck your day fuse motor supply 12 35 VDC Connecting the Motor Warning When connecting the motor to the driver be sure that the motor power supply is off Secure any unused motor leads so that they can t short out to anything Never disconnect the motor while the drive is powered up Never connect motor leads to ground or to a power supply You must now decide how to connect your motor to the drive Red 4 A lead motor Four lead motors can only be connected one way Please follow the sketch at the A Blue right Six lead motors can be connected in Yellow i White series or center tap In series mode motors B B produce more torque at low speeds but cannot run as fast as in the center tap 4 Leads configuration In series operation the motor should be operated at 30 less than the rated current to prevent overheating Winding diagrams for both connection methods are shown on the next page 4 Mounting the Drive You can mount your drive on the wide or the narrow side of the chassis If you mount the drive on the wide side use 4 screws through the four corner holes For narrow side mounting applications you can use 4 screws in the two side holes smooth flat surface 4 screws narrow side mount wide side mount T
7. he amplifiers in the drive generate heat Unless you are running at 1 amp or below you may need a heat sink To operate the drive 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 Applied Motion Products can provide a compatible heat sink Often the metal enclosure of your system will make an effective heat sink Never use your drive in a space where there is no air flow or where other devices cause the surrounding air to be more than 50 C Never put the drive where it can get wet or where metal particles can get on it 13 Choosing a Power Supply Voltage Chopper drives work by switching the voltage to the motor terminals on and off while monitoring current to achieve a precise level of phase current To do this efficiently and silently you want to have a power supply with a voltage rating at least five times that of the motor Depending on how fast you want to run the motor you may need even more voltage than that More is better the only upper limit being the maximum voltage rating of the drive itself 35 volts If you choose an unregulated power supply do not exceed 24 volts This is because unregulated supplies are rated at full load current At lesser loads like when the motor s not moving the actual voltage can be up to 1 4 times the rated voltage Current The maximum supply current you could need is the sum of the two phase currents
8. me to or from speed Using Mechanical Switches with 3535 O Drive The 3535 O was designed to be used with active logic and for that reason are optically isolated To activate the optoisolators a small but not insignificant amount of current at 5 volts DC is required In some applications step motors and drives are used with mechanical switches only and there is no readily available source of 5 volts In these instances the 12 35 VDC motor power supply can be used with additional dropping resistors to power the opto LEDs The recommended wiring diagram is shown on page 11 Table lists the appropriate resistor value to use for a given power supply voltage 1 4 watt or larger resistors should be used Please take care not to reverse the wiring as damage to the LEDs will result rendering the drives inoperable Check your wiring carefully before turning on the power supply 70 Selecting Between Full and Half Step Operation Locate the bank of tiny switches near the motor HALESTEP connector The switch farthest from the edge of the gil Te circuit board is labeled HALF STEP Sliding the switch toward the HALF STEPlabel sets the driver for 02 CT that mode of operation The opposite position is full 04 CH step When set to full step the driver always uses 08 C two phases on mode to provide maximum motor 16 torque YN Setting Phase Current Before you turn on the power supply the first time you need t
9. o set the driver for the proper motor phase current The rated current is usually printed on the motor label The 3535 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 tiny switches near the motor connector Four of the switches have a value of current printed next to them such as 0 4 and 0 8 Each switch controls the amount of current in amperes A that it s label indicates There is always a base of current of 0 4 A To add to that slide the appropriate switches toward their labels You may need your small screwdriver for this HALF STEP C A Example 01 EW Suppose you want to set the driver for 2 2 amps per phase You need the 0 4 A base 02 Cr current plus another 1 6 and 0 2 A 04 H 2 2 0 441 6 0 2 08 CHA Slide the 1 6 and 0 2 A switches toward the labels 1 6 Q a as shown in the figure ay Current Setting Table Using the Oscillator Drives with an O suffix are equipped with internal pulse generators that you can use to drive the eee motor To set the drive to oscillator mode simply find the jumper located near the center of the printed circuit board and move it to the SLEW setting The figure at the right shows the proper setting of the jumper
10. r In that sense unregulated power supplies are better They are also less expensive 12 DIR 1 Grn Wht aww o A A White 6 White NC lead ne Geen motor motor aan Red een Red moat moa Blac B NC B B B 6 Leads Series Connected 6 Leads Center Tap Connected Eight lead motors can also be connected in 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 P a a Orange A Lrange A 9 BIk Wht Org Wht 8 lead ia Blk Wht Org motor motor we AS Black Black yel ft low ed ven vetlow EA Wht p B wnt Red Wht o 8 Leads Series Connected 8 Leads Parallel Connected Step Table full stepping cw Step 3 is the Power Up State 5 Connecting Logic The 3535 and 3535 O contain 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 drive
11. s well e ashielded two wire cable 9
12. sabled 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 6 Run Stop switch closed run Direction switch Table External Dropping Resistors Supply R Supply R Supply R Voltage Ohms Voltage Ohms Voltage Ohms 11 To install the external pot locate the connector on the 3535 O labelled OXSPD O It can be found between the signal connector and the three blue potentiometers e turn the screw on the blue SPEED potentiometer 15 turns counterclockwise If you don t do this the external potentiometer will not provide the correct speed range e prepare a cable with your pot on one end and the connector on the other end gt the potentiometer wiper connects to pin 2 gt the potentiometer CW terminal connects to pin 1 gt the third pot terminal connects to the wiper gt the cable shield connects to the CW pot terminal With this arrangement speed will increase as you turn the external pot clockwise The frequency range for the 200k pot will be XSPD 600 to 5000 steps per second ule The frequency range for the 100k pot will be 900 to 5000 steps per second external The on board trimpots will still control pot acceleration and declerations times Turning the pots clockwise makes the acceleration and deceleration faster i e reduces the ti
13. the optoisolation circuits if you are using a 3535 O and don t have 5V available see page 8 a source of step pulses capable of sinking at least 5 mA if your application calls for bidirectional rotation you ll also need a direction signal capable of sinking 5 mA a compatible step motor asmall flat blade screwdriver for tightening the connectors and adjusting the oscillator The sketch below shows where to find the important connection and adjustment points Please examine it now power jumper for selecting oscillator mode connector 3535 O only motor connector mounting hole 1 of 6 O f switches for A logic selecting current amp x connector STEP 5 DIR EN full or half stepping a connector for external trimpots for adjusting speed control oscillator speed accel and 3535 O only decel rates 3535 O only 3 Connecting the Power Supply If you need information about choosing a power supply please read Choosing a Power Supply located in the back of this manual If you re power supply does not have a fuse on the output or some kind of short circuit current limiting feature you need to put a 4 amp fast acting fuse between the drive and power supply Install the fuse on the power supply lead Connect the motor power supply terminal to the driver terminal labeled 12 35VDC Connect power supply to the drive terminal labeled with the ground symbol Use no smaller than 20 gauge wire Be
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