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1. 17 Connections tO 6 lead MOCOIMS ccccsesecsececeesecarsncarsecarsecerseeerseetsats 17 Half COM CO GUIAUONSscicseieseeanchien eeeemreceara teste tens 18 FUE Coll COMMGUPATONS 5 anns nanea AAi ENNAN 18 Connections to 8 lead MOUOIS ccccsesecsesecsrsecarsecarsecarsecerseeersneetsets 18 Senes COMMCCHIONS aicarrartainitumtscateetntwuscejaciacaatagerietneetoueaens 18 Parallel COMME CHONS ososi eee aadiaines 19 6 Power SUPPlY SelectiON cccscssssessanesssnessaueveauevesesneesecevesnenensesessanas 19 Regulated or Unregulated Power SUpDI Y ccscsecseeeeeeeeeeeenenanaeans 19 TENS sD FIV GPS scctacheicss sirae AEE E 20 S lecting SUDDIY Voltage sisii acta nsntecneveacoumateneewhes 20 7 Selecting Microstep Resolution and Driver Output Current 00008 20 Microstep Resolution SelCtION ccsccecseceeseeccetecececeeetereeneneuenteens 21 CUPRCNE Setting S aei aN 21 Dynamic current setting s sssssssssssnnnnnsnnsnnnnnnrnnrnnnnnrnnnnernnrnnn 22 Standstill current setting ssssssssenunennnnnnrnrnnnnnnrnnnenenenrnrnnnnnne 22 Os WINA NOTES raiant Aa AE E E A T 22 9 TY PICA COMNECUO Nenea aaa aa 23 10 Sequence Chart of Control Signals ccccscseceeceeeeeeeeeeeeeeeeeeeeeeeeaees 23 11 Protection IFUNGCUIONS vc suncasce cegencvanesccoceecnavcestuorenusesenrmnueadeesemescusseeneses 24 Short voltage and Over voltage Protection ccccsceeeseeeeeeeeeeeenesenees 24 OVElrFCUFPENE PROLCCUIOMN sxse
2. J1 short circuit J3 open circuit d J1 J3short circuit CW CCW mode and active at low level The fixed level CW CCW mode and active at high level The fixed level Figure 2 J1 and J3 jumpers Connector P2 Configurations Pin Function Details VDC Power supply 24 80 VDC I GND Power Ground A A Motor Phase A B B Motor Phase B 4 Control Signal Connector P1 Interface The MondoStep 7 8 can accept differential and single ended inputs including open collector and PNP output The MondoStep 7 8 has 3 optically isolated logic inputs which are located on connector P1 to accept line driver control signals These inputs are isolated to minimize or eliminate electrical noises coupled onto the drive control signals Recommend use line driver control signals to increase noise immunity of the driver in interference environments In the following figures connections to open collector and PNP signals are illustrated Driver vcc Figure 3 Connections to open collector signal common anode Controller eee i Driver Bs ivi cman A AEA Figure 4 Connection to PNP signal common cathode 5 Connecting the Motor The MondoStep 7 8 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
3. at the price of more noise and heating If the motion speed requirement is low it s 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 supply 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 powe
4. toieice onscreen Go cake est eee 25 Short Circuit ProtectiOn cccscersscsrssecessecessecessecesseaeararstasaearareness 25 12 Frequently Asked QUESTIONS c ccccsesecsesessecetseceserencareneareneeeaeararatess 25 Problem Symptoms and Possible CauSes ccscscsessseseseeeerseeeseeneees 26 1 Introduction Features and Applications Introduction The MondoStep 7 8 is a high performance microstepping driver based on pure sinusoidal current control technology Owing to the above technology and the self adjustment technology self adjusting current control parameters according to different motors the driven motors can run with less noise lower heating smoother motion and have better performance at higher speed than most other drivers in the market It is suitable for driving 2 phase and 4 phase hybrid stepping motors Features High performance cost effective Supply voltage up to 80VDC Output current up to 7 8A Self adjustment technology Pure sinusoidal current control technology Pulse input frequency up to 300 KHz Automatic idle current reduction 16 selectable resolutions in decimal and binary up to 51 200 steps rev Suitable for 2 phase and 4 phase motors Support PUL DIR and CW CCW modes e TTL compatible and optically isolated input Short voltage over voltage over current and short circuit protection Applications Suitable for a wide range of stepping motors fr
5. d some fault operations and deviations PUL DIR and ENA should abide by some rules shown as following diagram t 25ys ta t L High Level gt 3 5V l l l PUL l l l l l i l High Level gt 3 5V l se Low Level lt 0 5V it 29us DIR tops Low Level lt 0 5V l ENA PUL DIR PUL CW JIR CCW CW CCW Figure 11 Sequence chart of control signals Remark a ti ENA must be ahead of DIR by at least 5 S 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 5 S to ensure correct direction c t3 Pulse width not less than 1 5 3 d t4 Low level width not less than 1 5L 11 Protection Functions To improve reliability the driver incorporates some built in protections features Short voltage and Over voltage protection When power supply voltage is lower than 18VDC over voltage protection will be activated and power indicator LED will turn off When power supply voltage exceeds 94VDC over voltage protection will be activated and the Alarm indicator LED will turn on Over current Protection Protection will be activated when continuous current reaches to 16A Short Circuit Protection Protection will be activated in case of short circuit between motor coils or between motor coil and ground 12 Frequently Asked Questions In the event that your driver doesn t o
6. f descriptions of the two connectors More detailed descriptions of the pins and related issues are presented in section 4 5 9 Connector P1 Configurations Pin Function Details PUL Dulse s In si ae un ale J3 re eli af je res spc ones alee e width shi onnect ee ors for current tlie iting gt AV USEC DIR DIR Sma In single pulse mode this Si H low high voltage levels representing two directions of motor rotation in double pulse mode set by inside jumper J1 this signal is counter clock CCW pulse active at high level or low level set by inside jumper J3 For DIR 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 motion 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 ENA ENA Selecting Effective Pulse Edge or Effective Level and Control Signal Mode There are two jumpers J1 and J3 inside the MondoStep 7 8 specifically for selecting active pulse edge or effective level and control signal mode as shown in figure 2 Default setting is PUL DIR mode and upward rising edge active Note J2 inside the driver is used to reverse the default rotation direction a J1 J3 open circuit b J1 open circuit J3 shirt circuit PUL DIR mode and Active at rising edge NPN PUL DIR mode and active at falling edge NPN Tie Moo c
7. herefore 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 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 Peak Current RMS Current SW1 SW2 SW3 2 8 A 20A ON ON N 3 5A 2 5A OFF ON ON 4 2 A 3 0A ON OF ON 4 9 A 3 5 A OFF OFF ON 5 7 A 41A ON ON OOF 6 4 A 4 6 A OFF ON OFF 7 0 A 50A ON OF OFF 7 8A 5 6A OFF OFF OFF Notes Due to motor inductance 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 set to be half of the selected dynamic current and ON meaning that standstill current is set to be the same as the selected dynamic current The current automatically reduced to 60 of the selected dynamic current one second after the last pulse Theoretically this will reduce motor heating to 36 due
8. m 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 8 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 P2 At A B B Figure 9 8 lead motor parallel connections 6 Power Supply Selection The MondoStep 7 8 can match medium and small size stepping motors from NEMA frame size 17 to 43 made by us 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
9. om NEMA size 17 to 43 It can be used in various kinds of machines such as X Y tables labeling machines laser cutters engraving machines pick place devices and so on Particularly adapt to the applications desired with low noise low heating high speed and high precision 2 Specifications Electrical Specifications T 25 C 777 Avoid dust oil fog and corrosive gases Environment nbient Temperat Humidity jperating Temperatu Vibration 5 9m s Max 40 RH 90 RH Approx 570g 20 10 oz Mechanical Specifications unit mm inch 151 5 945 48 1 89 97 3 819 23 5 0 925 69 2 717 143 5 63 Figure 1 Mechanical specifications It is recommended to use side mounting for better heat dissipation Elimination of Heat Driver s reliable working temperature should be lt 70 C 158 and motor working temperature should be lt 80 C 1767 It is recommended to use automatic idle current mode this automatically reduces the motor current to 60 when the motor stops so as to reduce driver heating and motor heating It is recommended to mount the driver vertically to maximize heat sink area Use forced cooling method to cool the system if necessary 3 Pin Assignment and Description The MondoStep 7 8 has two connectors connector P1 for control signals connections and connector P2 for power and motor connections The following tables are brie
10. perate 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 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 DIP switch current setting is wrong Fault condition exists The driver is disabled Motor phases may be connected in reverse Something wrong with motor coil DIP switch current setting is wrong Control signal is interfered Wrong motor connection Something wrong with motor coil Accelera Power Sul Inadequat Current is set too high
11. provo rix High Performance Microstepping Driver User s Manual Version 1 0 2010 PROBOTIX All Rights Reserved Attention Please read this manual carefully before using the driver Table of Contents 1 Introduction Features and Applications cccccccseseceeeeeeeeeeeeeeeeeeeeeeeees 1 TT OOU CU OM emanen cee nacecveive aivanteibanuin EES 1 Fe UII CS vicar rescence tated aaeeasiac useun cuneate iat as dewatered eens 1 AD DICALIONS sacatiescesduswatesivevsueeiaressnccesveuwsneaeriwaecoanaanestaudemiminubnoys 13 2e SO CCITICAU CIS eri a E uta da vdan uahesleunbualeaisunlouuguvlonssuvuuueiiey 13 Electrical Specifications Tj 25 C 77 cccsscseccseeseeeeceeseeeeseeeeseeens 13 Operating Environment and other Specifications ccccsceeerseenees 13 Mechanical Specifications unit MML INCHN ccceeceeeeeeeeeeeeeeeeeeeees 13 ElIMINA LON OP Hearia iets etiam eee eine dbe ieee el uiiak 14 3 Pin Assignment and DeSCYiptiOn ccccccceceeseeeeeeeeeeeeeeeeteeeeaeaeenanaes 14 Connector PI COMMGUPAL ONS oos snrriciana 15 Selecting Effective Pulse Edge or Effective Level and Control Signal Mode 15 C nnector PZ Configurations issidein ein a a 16 4 Control Signal Connector P1 Interface cccccseeeeeeeeeeeeeeeeeeeneseeees 16 5 CONNEC DE MOTOT ihiaitats srocauawis tin aiddaiuavemeaamauseuve ous chautananaeuwanammutecees 17 Connections to 4 lead MOUOIS ccccscsecsesecsesecarsecarsecarsecerseeerseeeteets
12. r MOSFETS inside the MondoStep 7 8 can actually operate within 24 80VDC 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 24 75VDC leaving room for power fluctuation and back EMF 7 Selecting Microstep Resolution and Driver Output Current This driver uses an 8 bit DIP switch to set microstep resolution and motor operating current as shown below Dynamic Current Microstep Resolution rme 1 2 3 4 5 6748 Standstill Current half full Microstep Resolution Selection Microstep resolution is set by SW5 6 7 8 of the DIP switch as shown in the following table Microstep Steps rev for 1 8 motor SW5 SW6 SW7 SW8 2 400 ON ON ON ON 4 800 8 1600 16 3200 32 6400 64 12800 128 25600 256 51200 5 1000 10 2000 20 4000 25 5000 40 8000 50 10000 100 20000 200 40000 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 T
13. to P I2 R of the original value If the application needs a different standstill current please contact us 8 Wiring Notes 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 If a power supply serves several drivers separately connecting the drivers is recommended instead of daisy chaining It is 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 Connection A complete stepping system should include stepping motor stepping driver power supply and controller pulse generator A typical connection is shown as figure 10 Driver Controller 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 10 Typical connection 10 Control Signal Timing Diagram In order to avoi
14. to determine the peak output current P2 Figure 5 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 A A B B NC Figure 6 6 lead motor half coil higher speed connections Full Coil Configurations The full coil configuration on a six lead motor 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 Figure 7 6 lead motor full coil higher torque connections Connections to 8 lead Motors 8 lead motors offer a high degree of flexibility to the syste
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