User Manual
Contents
1. DIP switch SW2 Main fuse Option setup 6 3A slow blow Compatibility Speed range reduction Step generator adj Only active if SWI 10 ON Fast Speed when activating the fast input Slow Speed when activating the slow input Time Acc and dec Time R28 cte LED indicators POWER is lit when power is applied HE FAULT is lit when ES Ri a short circuit of the motor output has happened or if a hardware 1 4 fault is present PA0076 Step Motor Driver O 2 x D2 6mm mounting holes PA0076 version number for frontplate JVL Industri Elektronik A S User Manual Step Motor Driver PA0076 6 1 3 Connector overview R 12C 12 AC or DC power supply input 1 AC1 d E 14C 14A 12A 14A not used not connected internally Power Supply AC or DC power supply input2. PB0038 14 JVL INDUSTRI ELEKTRONIK A S PCB type RIS R12 R37 947 R44 RNI R42 C14 R55 md 44 58 The board edge is here V1 4 TYPE PA0076 Step Motor Driver TT0703GB Board with PA0076 112mm PA0076 1 100mm Measure in mm Tolerances 0 1 mm 52 7 Only PA0076 90 G N 2 5 So lt od go As gt SI lt 2356 o io S CO JVL Industri Elektronik A S User Manual Step Motor Driver PA0076 1 8 otor Connections Connection of J VL and MAE motors parallel Type ST23Xx MST34x and 2 00 8 Black Black White Yellow White Yellow Connection of J VL and MAE motors serial MST23x MST34x and HY200 xxxx xxx x8 Black Black White Orange White wiser ON o B B Red White N Yellow Yellow White Connection of MAE motor unipol HY 200 1 xxx xxxxx6
3. Motor in unipolar model 6 wires White A White Green Green E B Black B B White Red Red Connection of J VL and MAE 4 wire motors Type MST17x and HY 200 xxxx xxx x4 A Black White 17xx Orange Yellow 17xx A A Red 17 B Yellow 17xx B Connection of Zebotronics motor Type 8 terminals 1 Brown SM87 SM107 168 x xx amp A SM56 x xx Connection of Zebotronics motor Type 4 terminals Black 1 White 4 TT0005 15 JVL Industri Elektronik A S User Manual Multifunction Step Motor Driver PA0076 1 8 otor Connections Connection of Vexta motor Type PH2xx XX Motor in unipolar model 6 cables Black Yellow Red ol White Connection of Vexta stepmotor Type 2 Yellow Connection of Phytron motor Type ZS X Xxx X X Red Yellow TT0006 JVL Industri Elektronik A S User Manual Step Motor Driver PA0076 16
4. n RN7 Re R48 Cun R ss 5 4 setup w software V1 1 OFF Newest software Sw2 SW2 Option setup zl zie als C19 R28 DIP2 ON Speed range reduced 4 times OFF Speed range normal SW default settings Both switches in position OFF TTO704GB Option setup switch SW2 Only available at PAOO76 version 1 4 or newer The first switch makes it possible to be backward compatible with boards containing soft ware version 1 1 since certain features have been changed in newer versions in order to comply with major customer demands The second switch can be used to reduce the speed range for both the inputs slow and fast by 4 times This can be usefull for applications where a very low speed is desired Please notice that this feature only take effect when using the internal step generator JVL Industri Elektronik A S User Manual Step Motor Driver PA0076 12 1 6 Technical Data Description Min Max Units 17 12 50 V DC V AC Hz W Supply Voltage DC Supply Voltage AC Supply freguency if using an AC source Power Consumption terminals except AC1 2 left open Output Voltage dependent on supply Continuous Motor Current adjustable Peak Motor Current PWM Freguency AII logic inputs Terminals CLK DIR ENRG FAST SLOW L
5. 2 Ac2 He 44VAC TOVDC max Ground for GND 160 j 16 GND Ground tor power supply Power supply Ground for GND ptc ii 8 s Ground for power supply Fault output FLT 206 120A FAST Start input for fast rate Status outputs Startinputs Zero output from seguencer ZERO 220 o 22A SLOW Start input for slow rate E owes Step rate adjustment Slow rate adjustement SADJ ARCOM 1 Common term for rate adjust gt Vs 26C 26 ERR Step rate adjustment Direction input DIR oy Fast rate adjustment Various Step clock input CLK LEE 129 step clock output Energise ENRG 30C 0 Not used Various ground for 20 32A C 32C 32A SAADI T A Signalground internally connected to 16 18A C SGND Current adjustment DIN41612 Connector type D Located at rear of circuitboard 2A Motor output phase B 4C dn Motor output phase Motor Output 6c gt Hi A Motor output phase A 0 0 A 1 BA Motor output phase A 10C 10 24V Output for external use 1 man 24V mA Usersupply tes s Jen TTO702GB 1 3 1 B B Motor output Bipolar motor output for 2 or 4 phased stepper motors The current
6. be adjusted with these switches The resolution can be set in the range 200 to 4000 steps revolution based at a standard hybrid step motor with 200 full steps per revolution A standard rule is to set the step resolution to highest possible value since mechanical res onances is reduced to a minimum 1 4 4 DIP6 Motor Energise The motor can be permanently energised if DIP6 is set in the ON position If DIP6 is set in the OFF position the input will determine wheather the motor should be energised or not The ENRG input can typically be used to release the motor if it should be moved manually from its position 1 4 5 DIP7 9 Motor Phase Current The phase current for the motor can be set up at these switches The value specified is ex pressed as peak values during movement When the motor is stationary the current will be decreased to 50 or 80 of the setup value Notice that DIP2 set in position ON will decrease the specified values by 50 1 4 6 DIP10 Speed Adjustment If the FAST or SLOW inputs are used it means that the internal step generator is used the speed for either FAST or SLOW can be adjusted at the internal potentiometers DIP10 0 or by using the external inputs FADJ or SADJ DIP10 1 11 Industri Elektronik A S User Manual Multifunction Step Motor Driver PA0076 1 5 Option setup 1 921 sw2 s 27 A gt z a L
7. can be set for 2 to 5A phase through a dip switch with steps of 0 5A The tolerance at the motor current is 5 The step resolution at the motor can also be set at the dip switch The step resolution can be set at 200 400 1000 2000 og 4000 step per revolution if a standard motor with 200 full step per revolution is used 1 3 2 24 Supply output This terminal is intended for external purposes and can deliever up to 300mA The output is protected against shortterm overloads 4 sec 1 3 3 1 AC2 GND Main supply The main supply to the driver is connected at these terminals If an AC voltage is used as supply this must be done by using a transformator with 2 windings The common from the 2 windings must be connected to the GND terminals 16A C and 18A C The 2 windings are connected to the AC1 and AC2 terminals The voltage at AC1 and AC2 is thereby 180 de grees phaseshiftet If a DC voltage is used this can be connected with minus at the GND terminals and plus at the AC1 and AC2 terminals 1 3 4 FLT Fault output This terminal is an output which is used to indicate if the driver is functional or not The output is the NPN type and during normal operation it is active closed logic 0 If an error occur the output is set passive whereby the terminal is three stated y JVL Industri Elektronik A S User Manual Multifunction Step Motor Driver PA0076 1 3 Connector overview 1 3 5 1 3 6 1 354 1 3 8 1 3 9 1
8. output and must not be applied a voltage higher than 15V CLK clock input If the internal step generator is not used external pulses is applied at this input A single pulse is equal to 1 step A single step can be 1 200 1 400 1 1000 1 2000 or 1 4000 of a revolution This resolution is determined by the actual step resolution ENRG Energise input This input is used to activate the motor output If this input is not used dip switch no 6 can be set in position ON whereby the driver is always active If the input is pulled to OV the motor output is activated If the input is not connected left open the motor output is released whereby the motor is current less The input have to be controlled by a NPN output The maximum allowable voltage at the input is 15V SGND Signal ground Ground terminal which is used for all the digital inputs and outputs except RCOM SADJ og FADJ which uses RCOM CLKO Clock output This output produces a pulse every time the motor is moving a step A step is either a full step or a ministep The output is producing a step wheather the internal step generator is used or the external step input is used JVL Industri Elektronik A S User Manual Step Motor Driver PA0076 8 1 3 Connector overview 1 3 12 1 3 13 FAST SLOW These inputs can activate the internal step generator If the FAST input is activated the step generator will start and accelerate to the step frequency adjus
9. 3 10 1 3 11 ZERO output The ZERO output indicates when the internal sequence electronic is in its zero position The output is a NPN type and will be active lt 1V if the zero position is achieved During the other steps the output is passive floating The output refers to the SGND terminal RCOM SADJ FADJ Rate adj common Slow adj Fast adj These terminals are used for adjusting the internal step generator The slow rate can be adjusted by a 100 kOhm potentiometer connected between the RCOM and the SADJ terminals The slow rate can be adjusted in the range 30 1000 full steps per second The fast rate can be adjusted by a 10 kOhm potentiometer connected between the RCOM and the FADJ terminals The fast rate can be adjusted in the range 600 20 000 full steps per second The step generator can be started by an activating of either the FAST or SLOW input The tolerance at the step frequency the step rate is 2 This tolerance only covers the internal functions in 76 If the speed is controlled by an external potiontiometer at the SADJ or FADJ inputs the tolerance will also depend at the quality of this Notice that an internal scale function will make sure that the speed at the motor always is the same regardless how the step resolution is adjusted the number of steps per revolu tion DIR Direction input The DIR input controls the direction of the motor rotation The input must be controlled from a NPN
10. PA0076 Step Motor Driver User Manual VL Industri Elektronik 5 LB0045 02GB Revised 28 12 2005 Copyright 1998 2005 Industri Elektronik A S All rights reserved This user manual must not be reproduced in any form without prior written permission of JVL Industri Elektronik A S JVL Industri Elektronik A S reserves the right to make changes to information contained in this manual without prior notice Similarly JVL Industri Elektronik A S assumes no liability for printing errors or other omissions or discrepancies in this user manual MotoWare is a registered trademark JVL Industri Elektronik A S Blokken 42 DK 3460 Birkergd Denmark 45 45 82 44 40 Fax 45 45 82 55 50 e mail jvl dk Internet http www jvl dk Contents 1 1 1 2 1 3 1 4 1 5 1 6 1 7 1 8 E A A E e 4 EEA LEES vere 5 General board Overview u esssessessssssessessessssssessessessssssesssssessscssessssssesseseesssssesssessessssssessesecsssssssssesacsssssnessesecsesssesessocssessessesscsecssneseessseseeees 6 Connector overview Dipswitch settings vai Option AAA EA UA p tt Technical nora aaa taa s Physical Dimensions Motor Connections JVL Industri Elektronik A S User Manual Step Motor Driver PA0076 Introduction JVL Industri Elektronik A S User Manual Step Motor Driver PA0076 1 1 Features PAOO76 is an
11. advanced multifunction step mo tor driver that can be controlled either by step pulses from an external source or by the internal step gen erator The driver is characterised by an ability for control ling all the basic parameters from either the internal adjustments or from the external source These adjustement covers step resolution speeds acceleration motor currents and more The Controllers can be supplied from either a AC sup ply or a DC supply The supply is not critical and can be a simple low cost solution such as a transformer connected between the mains supply and PA0076 An internal switch mode power supply is producing 24VDC for external purposes This supply can deliever a current up to 300mA which is more than enough for most applications which typically can be sensors or limit switches All user inputs and outputs are filtered which means that 76 will work properly also in an environ ment with a high level of electrical noise Main Features Dimmensions PA0076 112x160mm PA0076 1 100x160mm Single supply Up to 4000 mini steps per revolution Controls either 2 or 4 phase step motors Noise filters at all input and outputs Short circuit and thermal overload protection e Stepfrequency up to 200 kHz Adjustable standby current minimize motor temperature and increase life time e Standard DIN41612 type D connector Following input facilities Step and direction Slow and fast speed ad
12. justment Slow and fast start stop Motor current adjustment Energize input enable Following output facilities Zero phase output Fault output Step clock output 24VDC output max 300mA nternal step generator with on board adjust ment of speed and velocities Motor current up to 5A peak Can handle motors up to 6Nm e Automatic current reduction in standby Power and Fault indicators on board High efficiency Mos Fet power stage keeps temperature at a low level 5 JVL Industri Elektronik A S User Manual Multifunction Step Motor Driver PA0076 1 2 General board overview DIN 2x16 pin D type connector with all external l O s and power supply connections 4 x D3 2mm mounting holes when mounted on a surface Cu cm 015 PB0038 14 cno wos RNI01 rioze 04 DIP switch SW1 row 058 Main setup 0 7 Eo Step resolution Motor current of c21 Others El s JVL INDUSTRI ELEKTRONIK A S PCB type
13. ogic 0 0 Logic 1 Only CLK input Freguency 50 duty cycle 0 logic outputs Terminals ZERO CLKO FLT Logic 0 Specified with load lt 15mA Logic 1 Pull up resistor must be applied externally Diverse Operating Temperature Range Weight Fuse size position F1 13 Industri Elektronik A S User Manual Multifunction Step Motor Driver PA0076 2 7 Physical Dimensions 55 9 Only PA0076 E ES am ho 5 n o A 52 7 Only PA0076 50 0 Only PA0076 1 k 40138 m Lu vat 016 Ron po Jens t 0101 R105 6120 10105 u RN103 RN101 RN104 R102C RNIOS LJ RN102 09 0106 T RIS m RO 2 ot 02 umo RM R20 ca RNI v 625 624
14. ted at the internal or external FAST potentiometer If the SLOW input is activated the step generator will start and accelerate to the step fre quency adjusted at the internal or external SLOW potentiometer Dip Switch no 10 will de termine whether the internal or external potentiometer will be used The CLK input must not be connected when the step generator is used The inputs is passive when not connected An activation of either FAST or SLOW input means that the input terminal is connected to OV the SGND terminal The inputs must therefore be controlled from a NPN output and the maximum voltage applied must be less than 15V CADJ Current adjustment The motor current can be adjusted at this terminal but only if dip switch 6 7 and 8 is set in the OFF position The current can be adjusted by connecting a resistor between the SGND and CADJ terminal JVL Industri Elektronik A S User Manual Multifunction Step Motor Driver PA0076 1 4 Dipswitch settings Dip Switch layout PA0076 step motor driver P ETE a a n nl m 12 3 45 6 7 8 9 10 Standby Current Speed Adjustment DIP1 DIP10 ON 80 Standby ON Internal Pot OFF 5096 Standby OFF External Pot Current Scale Motor Phase Current DIP2 DIP8 DIP9 ON 50 Reduction ON 2 0A OFF 10096 Normal ON 2 5A OFF ON 3 0A OFF ON 3 5A ON OFF 440A Steps revolution ON OFF 45 DIP5 OFF OFF 5 0A ON 200 step rev OFF OFF External 32A ON 400 s
15. tep rev OFF ON 1000 step rev TTO701GB OFF ON 2000 step rev ON OFF 4000 step re ON OFF 4000 step rev DIP6 OFF OFF 4000 step rev ON Always Energised OFF OFF 4000 step rev OFF Remote energised ENRG input 1 4 1 DIP1 Standby Current This switch controls the phase current for the motor when the motor is stationary The absolute value of the current is determined by DIP7 8 and 9 Also DIP2 has an influence since DIP2 in general is reducing the current to 50 of the value set by DIP7 9 DIP1 set in the ON position will decrease the motor current to 50 when the motor is sta tionary If DIP1 is set in the OFF position this value will be 80 Example DIP7 8 and 9 is set in a combination which will setup the full scale current to 5 0A DIP2 is set to OFF which means that it has no influence DIP1 is set to OFF which means that the phase current for the motor will be 2 5 when the motor is stationary 1 4 2 DIP2 Current Scale If small motors are used it can be convinient to reduce the motor current full scale DIP2 set in position ON will reduce the current scale with 50 Example If DIP7 8 and 9 is set to 5 0 A DIP2 set in position ON it will decrease this value to 2 5A DIP2 also have an influence at the standby current when motor is stationary JVL Industri Elektronik A S User Manual Step Motor Driver PA0076 10 1 4 Dipswitch settings 1 4 3 DIP3 5 Steps revolution The step resolution can
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