PRECIstep Step Motor DRIVER Constant Current - u
Contents
1. m 17 4 4 3 Jumper VCO Voltage Controlled Oscillator Re 18 4 4 4 Jumper CK ClOCK ccccccciiciiciicicicciiiiicciiiciriiiciiiicceiiceceiicceriiccerrriccccrrccerrrrccrnnricenenees 18 5 SDECIAINO TES 19 9 1 PUD TSS SMO METRE OT OE 19 FAULHABER GROUP User Manual AD CM M S gt F We create motion Version V4900UMyymmdd_CD R4 doc Page 2 20 PRECIstep 1 General information 1 1 Product Description The main interest of the use of a current mode driver such as the AD CM models is the current control independent from the supply voltage This allows to apply a much higher voltage than needed to drive the current without risk of overheat A higher supply voltage allows the motor develop more back EMF the motor may develop can be higher Therefore the results in a more constant torque output of the motor up to higher speeds and the possibility to boost motor currents if suitable The drivers AM CM M S are specifically designed to control the phase current in current mode operation of PRECISTEP two phases stepper motors They offer Full half step operation Current control preset currents 16 levels STANDBY current decay to 3396 of set operation current level BOOST current increase to 150 of set operation current level DISABLE current is Zero windings open shorted One phase ON two phase ON operation switch selected INHIBIT not phase current2. 4 2 Location of Components MOTOR 4 GND V Oo o gt Zz o Fig Component location AD CM M3S 4 3 Adjustment of the Speed Profile The Potentiometers MIN MAX ACC DEC located on the Plug in Board are used to set the parameters of the Speed profile used to move the motor The function and adjustment methods are explained below FAULHABER GROUP User Manual AD CM M S We create motion Version V4900UMyymmad CD R4 doc Page 15 20 PRECIste p 4 3 1 Speed Profile Graphic Description MAX MIN lace dec Time 4 3 2 MIN potentiometer Function The potentiometer serves to set the minimum speed of the motor To set up the minimum speed e urn MAX potentiometer CCW to zero e Set Jumper ADJ to position B e Press Start to see whether the motor starts and adjust MIN potentiometer until the motor starts with the application load Note the motor will reach the MIN speed within the first step pull in soeed range no ramp is used 4 3 3 MAX potentiometer Function The potentiometer is used to determine the maximum speed the motor will reach To reach this speed the motor will require and acceleration and a deceleration ramp respectively The set up is done as follows e SET UP MIN speed e Increase the ACC and DEC ramp by adjusting the corresponding potentiometers on the board see ACC and DEC Adjustment e Increase the MAX speed by turning CW e f the motor do
3. 2 PhseA 2 3 PhaseB 3 4 PhaseB 4 Connector Type Molex Mating Connector Housing Molex 51021 0400 Pins Moles 50058 8000 A cable with this mating connector is not supplied with the driver It is optional and can be ordered with Part Number 2 8000 15 077 It is supplied separately from motor and driver FAULHABER GROUP User Manual AD CM M S We create motion Version V4900UMyymmad CD R4 doc Page 11 20 PRECIstep 2 4 4 Current setting rotary switch Rotary Current level Position FAULHABER GROUP User Manual AD CM M S We create motion Version V4900UMyymmad CD R4 doc Page 12 20 PRECIstep 3 Set up of the AD CM M2S For hook up and functions of the AD CM MS it is required to look up also the functions of the AD CM M1S The AD CM M2S includes a mezzanine plug in board which offers e on board clock e Single speed setting trough potentiometer Note The driver AD CM M2S does not offer a speed ramp it is able to operate he motor only at a single speed which has to be reached during the first step generally at less than 200 600 Hz depending on load 3 1 Block Diagram ON OFF Direction VCC GND 3 2 Location of Components Qi es Qi e DI Sll GQNVWWOD DODODDD DODD VDD 1 Motor 4 o I Oy AL s aly Q Ol e Fig Component location AD CM M2S 3 3 Adjustment of the speed To set up the motor speed e Turn FMIN potentiomet
4. Pulse direction drive external control M2 Speed control drive w o speed ramp non standard M3 Speed control drive with speed ramp S External connection type S screw type for all connectors SP Screw type for supply and motor pins for COMMAND Special pin out FAULHABER GROUP User Manual AD CM M S We create adan Version V4900UMyymmad CD R4 doc J Page 20 20
5. of the Inputs Outputs on COMMAND connector PIN1 Operation Mode Selection Selected can be ONE Phase ON commutation LH or twp phase ON LL Input is not active if not connected With 1 phase ON the motor provides the same torque than with 2 phase ON mode but with a lower current consumption The AD CM M18 increases the current in the activated motor phase by a factor of 1 41 PIN2 Step resolution selection Input is not active if not connected Selected can be Full step LL or Half step LH PIN 1 2 Truth table mM ona Rmcknmde O UL Full step one phase ON The motor torque will be the two phase ON torque at all rotor positions corrected torque ripple The driver corrects the current by a factor of 1 41 for all positions of the commutation sequence where one phase Is activates PINS Direction of rotation The signal can be changed at any time it takes effect after the next following clock signal it is even possible to trigger a clock and direction at the same time the step execution is already in the opposite direction PIN4 External clock signal This input enables the host to control the position of the rotor exactly to an exact number of steps Each positive trigger impulse moves the motor by one step full step or half step dependent on setting of PIN1 or 2 Is has no function when ON board CLK versions M2 M3 is active FAULHABER GROUP User Manual AD CM M S We create motion Version V4900UMyymmdd_CD R4 do
6. to save energy Product Note DO NOT Connect Motor Phase Outputs A A B B to Power Positive Supply Voltage This will cause fatal damage to the driver FAULHABER GROUP User Manual AD CM M S We create motion Version V4900UMyymmad CD R4 doc Page 3 20 PRECIstep 1 1 1 Available versions The AD CM M S is available in three different versions 1 AD CM MIS Standard stock item Basic drive composed of a translator full step half step and the power drivers it requires only clock and direction signals and is destined to be controlled by a PC or other host It is able to control the position of the rotor shaft Please refer also to the Product Block Diagram Chapter 2 1 2 AD CM M2S Non Standard available on request only Basic drive AD CM M18 including a plug in board with a pulse generator to run a step motors at a fixed speed The speed is set manually with a potentiometer This version is good for speed control in start stop mode pull in operation Unplugging the blue jumpers will transform the unit into the AD CM M18 Please refer also to the Product Block Diagram Chapter 3 1 3 AD CM M3S Standard stock item Basic drive AD CM M1S including a plug in board with a pulse generator to run a step motors with a trapezoidal speed profile starting stopping at a start stop frequency The start stop frequency maximum frequency ramp time can be set manually with potentiometers This is a standalone step motor contr
7. PRECIsftep PRECIstep Step Motor DRIVER Constant Current Mode USER MANUAL AD CM MTS AD CM M29 AD CM M39 Revision 4 PRECISTEP SA Phone 41 0 32 910 60 50 FAULHABER GROUP F Rue Jardini re 33 Fax 41 0 32 910 60 59 We create motion 2300 La Chaux de Fonds info precistep com Switzerland WWW precistep co iniature Stepper M otors ision Gearheads ive Electronics User Manual PRECISTEP Step Motor DRIVER AD CM M S Contents 1 E10 rds feisisr tora RR 3 1 1 Product Description MR 3 1 1 1 Available WCU SIONS NN 4 1 2 Technical SBSCIIICBHOLIS sercon na ortae r rN Era EE Ea rd 5 1 3 Protection of In and Outputs ssssssessesssssseeeeeeneneenennnn nennen nennen nennen nnn n nnne nnn n nans 6 1 4 Suitable PRECISTEP Motors nennen nnn nnne ede nnn nnns nsns enirn nnn risas naar nns 6 1 5 Dimensions and FO gU o o RR RR RU 7 2 Set up and installation AD CM MS inserer 8 2 1 BOCK IAA m 8 2 0 Location of Components 2 T om ET 8 2 3 Connection ON ING GIVES EET m T 8 24 COMMAND Connector z ccscssoipsicsinsss22000 20062A Ae SAS 9 2 4 1 Operation Mode Selector Switch iii 11 2 4 8 LED near COMMAND connector inner nnnni nn nnns nnn arn nnn nnns nna 11 2 4 3 MOTOR Connector Power Supply cccccccccssseseecceeeeeeeeeeeeceeeeesaeeeeceeeeesseeeeeeeeeeesssaea
8. c Page 9 20 PIN5 PIN6 PIN7 PIN8 PIN 9 PIN7 9 PIN10 PIN11 PIN12 FAULHABER GROUP F We create motion PRECIstep RUN Command Input Only available on M2 and M3 version Activated by a positive edge of the signal STOP Command Input Only available on M2 and M3 version Activated by a positive edge of the signal Standby signal Current to the motor phases is reduced to 3396 of the operation current level as long as this input is active For more information see PIN7 9 Truth Table below under Pin 7 9 BUSY Output Available on M2 and M3 version and on M1 pulsed with CLK lower than 25Hz always active when CLK Frequency is higher Open collector output not short circuit protected Current boost operation The current increases by factor of 1 5 as long as this input is active For more information see PIN7 9 Truth Table below under Pin 7 9 Truth table Pin 7 Pin 9 Function Standby Boost Standby Conventional Information 3 Logic Low LL 0 0 6V 4 Logic High LH 1 6 24V 5V power supply output Maximum current 200mA source output GND general for the VCO voltage source Only available on M2 and MS version Input VCO or Output HOME The selection is done by a solder bridge behind the command header Functions HOME is a function needed to know the commutation position of the driver It is activated every time Phase A of the motor is energized with positive current This hel
9. ed to be mounted using the shown prepared holes on the M1 The M2 and M3 consist of two boards their assembly is possible by the tapped holes at the bottom of the assembly 48 0 53 5 83 2 Dimensions and mountin 12 0 4x M2 5x5 3 gt M 21 0 AD CM M1S AD CM M2S AD CM M3S The following provides the position of the pin 1 of Motor 4 cavities and Command 12 cavities connectors relative to the mounting holes e e eo AE jE olo e e e S FAULHABER GROUP _ We create motion MOTOR 4 GND V 1 1 Motor 4 User Manual AD CM M S Version V4900UMyymmdd_CD R4 doc Page 7 20 PRECIstep 2 Set up and installation AD CM M1S This section refers in principal to all functions offered of the step motor drivers type AD CM M18 the set up of the M2S and M3S version is relative to the functions of the M1S the same but offer some additional functionalities 2 1 Block Diagram Translator _ CT Phase A _ CT INH STY VCC GND 2 2 OOOO MOTOR 4 GND V LN Se 1 1 Motor 4 GNVWINOS So A Oy G 7 cr S e o e e e e e e e 9 S Q OJ e Fig Component location AD CM M1S 2 3 Connection of the drives This section will introduce to the functions of the Version AD CM MS which is the identical board for all versions of the AD CMM S Please refer to sections 2 2 fo
10. eeeeeeeeesaas 11 2 4 4 Current setting rotary Switch nnne nennen nennen nnn nnns nna nnn nnn nnns 12 3 Set up of the AD CM M2S ii r Eea ror aep a inn r ri assa a anser nnns 13 3 1 Block Daora sennae e E N AEE M 13 3 2 LOCO POS ON DORE ee E 13 3 8 Adjustment of ING speed 2 220s0222030 2926000560560020 nn een eue em dec inde eee 13 3 4 Operation of the AD CM M2 nne nnnnnnnr nnns nnns naar nnne sss nnns annes Sed deca a 14 3 4 1 Jumper ADJ SA nne nenin 14 3 4 2 Jumper VCO Voltage Controlled Oscillator Re 14 3 4 3 Switches buttons RUN and STOP cccccccccccccicccecccssesesectenscccsdeedeceeteccesaeseesenscctuncenedecteccstweneesencets 14 v JUMper CR xS 14 4 Set up of the AD CM MSS 15 4 1 BO d DIAE PCR ECT 15 4 2 Location of 6e 19010 0 SE anne TI 15 4 3 Adjustment of the Speed Profile sis 15 4 3 1 Speed Profile Graphic Description sn 16 4 3 2 MIN DOTEMMOMGIED 22h ee nil sme o ED estudios ed enr ext asta die tein etes dites nn arde eee 16 433 MAX potentiomelal RT 16 4 3 4 ACC and DEC Adjustment sssssssssssssssssseseee nennen nnn nnnnni nnn nnns nn na ann nns sna nans 16 4 4 Operation of the AD CM M3S nennen nnn nnns nnns na nnn sss sinn sa enn n riens nnns 17 4 4 1 Switches buttons RUN and STOP LL nnne nnns nn nnn n nnn nsns naar nnn nnns nana 17 4 4 2 Jumper ADJ AdjUSt RTT
11. er CCW to zero e Set Jumper ADJ to position A e Set Jumper VCO to position A e See whether the motor starts and adjust FMIN potentiometer until the motor starts with the application load This determines the maximally possible pull in frequency It his however possible to set the speed to any lower value Note the motor will reach the MIN speed within the first step pull in speed range no ramp is used If the motor does not execute please consider to use the AD CM M3S FAULHABER GROUP User Manual AD CM M S We create motion Version V4900UMyymmad CD R4 doc Page 13 20 PRECIstep 3 4 Operation of the AD CM M2 e Jumpers VCO and ADJ in Position A motor starts upon power up The inputs RUN STOP have no function e Jumper VCO in Position A Jumper ADJ in Position B motor will react on the inputs RUN SIOP 3 4 1 Jumper ADJ z Adjust Position A The motor rotates on the set MIN operation speed settings Button input RUN motor will operate at FMIN speed Button Input STOP motor will stop Position B No function do not use this setting undefined speed may occur 3 4 2 Jumper VCO Voltage Controlled Oscillator Position A The on board frequency generator is activate motor speed is set by the on board FMIN potentiometer Position B The external Analogue Speed Reference input is used PIN 12 on COMMAND connector 3 4 3 Switches buttons RUN and STOP buttons not present on all boards Condition for correct function Jm
12. es not accelerate to the speed stalling of motor shaft increase the ACC time acceleration time given to the motor to reach the MAX speed by turning the ACC potentiometer CCW NOTE Maximum speed changes as well when MIN setting is changed the difference is not changing 4 3 4 ACC and DEC Adjustment Function The potentiometers adjust the time at which the motor will accelerate from MIN to MAX speed Turning the potentiometer CW will increase the acceleration tac and tac N the motor speed increases decreases faster Turning the potentiometer CCW will decrease the acceleration tacc and tac 7 the motor speed increases decreases slower User Manual AD CMM S FAULHABER GROUP _ We create motion Version V4900UMyymmad CD R4 doc Page 16 20 PRECIstep 4 4 Operation of the AD CM M3S e The Buttons RUN STOP allow to operate the motors manually See details below The functions RUN STOP are available also on the COMMAND connector and are operating in parallel to the switches e he Jumpers ADJ VCO CK determine specific operation parameters Please refer to the corresponding section below 4 4 1 Switches buttons RUN and STOP RUN Function Starts the motor to operate NOTE the PIN 5 on the COMMAND connector has the same identical function in case that the PIN 5 is activated 5 to 24VDC applied the RUN button has no function STOP Function otops the motor to operate the actual function is that the motor start
13. in 1 3 protected Driver OUT versus Pin 1 4 C protected Driver OUT versus Pin 2 3 C protected Driver OUT versus Pin 2 4 C protected Driver OUT versus Pin 3 4 protected Protection on COMMAND Inputs versus V protected Inputs versus GND protected Outputs versus V 3 _ not protected Outputs versus GND protected Pin 5V versus GND S not protected 1 4 Suitable PRECISTEP Motors The driver of the series AD CM M_S is specifically suitable for motors with windings designed for constant current control ADM0620 C ee AM0820 A 0 225 7 4or5 Nominal current for continuous operation is 0 225Am please check heating of the motor in your application AM1020 A 0 25 8 PS ADM1220 Eh E AM1524 A 0 25 125 8 O AM1524 A 0 45 3 6 PG Lower voltage operation motor AM2224 AV 4 8 RE CS o Voltage control motors of the types AM0820 V 3 V 5 or AM1020 V 3 V 6 V 12 or AM1524 V V 3 V 6 V 12 may be driven also in current control mode However the nominal current of the datasheet is not suitable to drive the motor continuously with this current please use lower setting Some voltage mode motors may offer a reduced operational speed because of their high back EMF NOTE The higher the voltage of the supply is the more torque the motor will develop at high speed FAULHABER GROUP User Manual AD CM M S We create motion Version V4900UMyymmdd_CD R4 doc Page 6 20 1 5 Dimensions and mountin PRECIstep The drivers are prepar
14. oller mainly used for step motor bench tests Unplugging the blue jumpers will transform the unit into the AD CM M1S Please refer also to the Product Block Diagram Chapter 4 1 FAULHABER GROUP User Manual AD CM M S We create motion Version V4900UMyymmad CD R4 doc Page 4 20 PRECIstep 1 2 Technical Specifications Current Mode Driver the current level is preset by on board switches The stepper motor drivers AD CM M_ designed to drive the small stepper motors type AM in full step wave and half step mode AD CM M1S AD CM M2 AD CM M3S Power supply voltage Power supply current Can be set in 16 step of 50mA from 50 to 750mA 1 6 to 24 CW CCW full step two phase ON full step one phase ON wave half step Step frequency Dimensions 83 2x58 5x22 83 2x58 5x22 Conventional Information 1 Logic Low 0 0 6V 2 Logic High 1 6 24V FAULHABER GROUP User Manual AD CM M S T Version V4900UMyymmdd_CD R4 doc We create motion Page 5 20 PRECIstep 1 3 Protection of In and Outputs The AD CM M_S versions are offering increased protection levels for the in and outputs The listing shows the protection rating of the different in and outputs for both the actual AD CM M_S and the previous version If one of the non protected events occurs the driver will be damaged Driver OUT versus GND protected Driver OUT versus V 3 not protected Driver OUT Versus Pin 1 2 C protected Driver OUT versus P
15. p ADJ in Pos B Jmp VCO in Pos A NOTE PIN 5 and 6 on the COMMAND connector has the same identical function in case that the PIN 5 is activated 5 to 24VDC applied the RUN button has no function HUN Function Starts the motor to operate STOP Function Stops the motor to operate the motor stops immediately 3 4 4 Jumper CK z Clock Jumper SET the internal clock generator is active If an external clock is used at the same time clock signal present on PIN 4 on COMMAND connector the speed is no longer controlled by any of the clock signals Jumper NOT SET Only the external Clock Signal clock signal present on PIN 4 on COMMAND connector will be taken into account ramp generator is OFF as well FAULHABER GROUP User Manual AD CMM S HS arbata nition Version V4900UMyymmdd_CD R4 doc i Page 14 20 PRECIstep 4 Set up of the AD CM M3S For hook up and functions of the AD CM MSS it is required to look up also the functions of the AD CM M1S The AD CM MSS includes a mezzanine plug in board which offers e on board clock e MIN and Max Speed settings e ACC and DEC acceleration and deceleration time setting The functions are partially shared with the M1 board to determine the function of the plug in board with the M1 base board a series of jumpers is available For the use of these functions please refer to the following section 4 1 Block Diagram Translator ON OFF Direction VCC GND
16. ps to home the clock of the host to the driver commutation a function helpful to avoid step losses when power to the driver is lost If the motor is stopped with this output triggered the motor will not move uncontrolled upon power up VCO Input only available on M2 and M3 version Range 0 to 5V corresponding to Zero up to 6000Hz max Switching from full to half step operation or vice versa will not change the motor shaft speed User Manual AD CM M S Version V4900UMyymmad CD R4 doc Page 10 20 PRECIstep 2 4 1 Operation Mode Selector Switch To operate the driver it is also possible to work without using the COMMAND connector In this case the selection of the Drive Mode The hardware switches replace the need to use the Command Inputs Their operation is as follows Switch Switch Function OPO o o 1 PH ON selector Full step Half step selector DIR Sense of rotation Truth table for the OPO and F H Switches current correction activated torque remains the same in all rotor positions 2 4 2 LED near COMMAND connector LED active only on when motor is moving not operational on AD CM M1S boards see above 2 4 3 MOTOR Connector Power Supply The driver comes with a screw type terminal for the connection of the power supply 3 PhaseB 4 PhaseB 5 PhaseA GND V MOTOR 4 DECO DOD 1 6 PhaseA Pinf Motor Phase Motor PIN 1 PhseA 1
17. r the installation and set up of the additional functions offered by the versions AD CM M2S and AD CM M3S Note Both of these versions can be used as AD CM M18 the moment the jumpers ADJ VCO CK are or the mezzanine board are removed FAULHABER GROUP User Manual AD CM M S We create motion Version V4900UMyymmad CD R4 doc i Page 8 20 PRECIstep 2 4 COMMAND connector Input voltage for all inputs variable from 5 24VDC This connector is available on all driver versions it provides access to all functionality of the respective using through a 12pin header for a processor PC or PLC I O Sign Explanation Type 4 1 1 PHON Full step 1 phase ON wave 2 1 FS HS jFulStepHafStepmodeswih XIX X 3 CCW CW Sense of rotation switch default CW 4 1 ck External clockinput KL x 5 RUN Stars the clock generator X X 6 1 STOP STOP stops the clock generator Pt x xX 7 1 sB Currentstandby KK x O BUSY Output Lowwhenclockisacive XK x BOOST Curentboost KL x N VOO 5Vpowersupply KL VCO External control voltage for the oscillator VCO o HOME Active when Phase A is commutated with positive current _8 KE M CLK input is active on positive trigger signal O Output for more information please refer to Input for more information please refer to N Neutral sink and source pins to connect directly Functional description
18. s to decelerate the moment Stop is activated or pressed NOTE the PIN 5 on the COMMAND connector has the same identical function in case that the PIN 5 is activated 5 to 24VDC applied the RUN button has no function 4 4 2 Jumper ADJ z Adjust Position A The motor rotates on the set MIN and Max operation speed settings Button RUN pressed Acceleration from MIN speed to MAX speed Button STOP pressed Motor will decelerate but will continue to run at the speed setting of the MIN Start Stop MIN X gt tie das Time Position B The motor rotates on the set MIN and Max operation speed settings but will stop automatically after the deceleration when the MIN speed has been reached Button RUN pressed Acceleration from MIN speed to MAX speed Button STOP pressed Motor will decelerate and stop rotating Speed i Stop MAX MIN lace ldec Time FAULHABER GROUP _ User Manual AD CM M_S We create motion Version V4900UMyymmdd_CD R4 doc Page 17 20 PRECIstep 4 4 3 Jumper VCO Voltage Controlled Oscillator Position A The on board ramp generator is activated and used to influence the acceleration time of the motor from Min to Max clock speed Position B The external Analogue Speed Reference input is used PIN 12 on COMMAND connector 4 4 4 Jumper CK Clock Function Jumper SET the internal clock generator is active If an external clock is used at the same time clock signal presen
19. t on PIN 4 on COMMAND connector the speed is no longer controlled by any of the clock signals Jumper NOT SET Only the external Clock Signal clock signal present on PIN 4 on COMMAND connector will be taken into account ramp generator is OFF as well FAULHABER GROUP User Manual AD CM M S HS arbata nition Version V4900UMyymmdd_CD R4 doc i Page 18 20 PRECIstep 5 Special NOTES 5 1 Pull up resistor Pull Up The inputs of the drivers namely clock direction START STOP are open collector inputs Open Collector or Open Drain output is frequently offered by programmable logics because of their higher safety They require an adaptation to the AD driver series with a PULL UP resistor VCC External Host Controller R DDODDODDODVDYVODD Fig pull up resistor connexion This configuration is necessary for the inputs ouputs 1 7 of all PreciStep drivers The value of resistor used to pull up an open collector is not critical Smaller values offer faster switching times at the price of higher current consumption Typical values range from a few thousand to a few hundred thousand Ohms Please note that the signal is inversed this way FAULHABER GROUP User Manual AD CMM S Y We create motion Version V4900UMyymmdd_CD R4 doc Page 19 20 PRECIstep Versions Product denominator key Typical Product type AD CM M1S AD Driver product category C V Constant Current drive M Mode M1 Function Mode M1
Download Pdf Manuals
Related Search