User`s Manual-M860 - Stepper Motor drivers
Contents
1. www stepmotordriver com 9 22 info stepmotordriver com sunwina Electronics Company Ltd Stepper Motor Driver M860 Controller VCC Driver 270Q 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 3 Connections to open collector signal common anode Driver R 0 if VCC 5V be ee ee 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 4 Connection to PNP signal common cathode http www stepmotordriver com 10 22 info stepmotordriver com sunwina Electronics Company Ltd Stepper Motor Driver M860 5 Connecting the Motor The M860 driver 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 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 f2. Settings For a given motor higher Drive current will make the motor to output more torque but at the same time http www stepmotordriver com 15 22 info stepmotordriver com Qisunwind Electronics Company Ltd Stepper Motor Driver M860 causes more heating in the motor and Drive Therefore 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 Drive output current depending on motor phase current motor leads and connection methods Phase current rating supplied by motor manufacturer is important in selecting Drive 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 as or 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 SWA 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 http www stepmotordriver com 16 22 info stepmotordriver com sunwina Electroni
3. 60 Selecting Supply Voltage The power MOSFETS inside the M860 can actually operate within DC AC 20V 60V max DC AC80V 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 http www stepmotordriver com 14 22 info stepmotordriver com Qisunwind Electronics Company Ltd Stepper Motor Driver M860 theoretical output voltage of DC AC 20V 60V max DC AC80V 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 1 2 354 5 6 7 8 Standstill Current half full Microstep Resolution Selection Microstep resolution is set by SW5 6 7 8 ofthe DIP switch as shown in the following table NE NN NN 0125 33 0 a M 0 028125 12800 O i os OF or 0 007081 51200 O wa LL o H8 2000 o L1 LN NN NN 0006 1000 NN NN 0 0072 8000 OFF Current
4. Qisunwind Electronics Company Ltd Stepper Motor Driver M860 User s Manual M860 Stepper Motor Driver Version 1 0 2006 All Rights Reserved Attention Please read this manual carefully before using the driver Microstep Driver PUL 45V PUL PUL DIR 5V DIR DIR EWA 5V ENA ENA POWER 18 80VAC 24 110VDC Sunwind Electronics Company Ltd Add 7th Floor Block H Juyin Industrial Park Ganli Road 1 Buji Shenzhen China Homepage http www stepmotordriver com E mail info stepmotordriver com Phone 0086 755 86610835 Fax 0086 755 86610201 http www stepmotordriver com 1 22 info stepmotordriver com sunwina Electronics Company Ltd Stepper Motor Driver M860 The content in this manual has been carefully prepared and is believed to be accurate but no responsibility is assumed for inaccuracies Sunwind reserves the right to make changes without further notice to any products herein to improve reliability function or design Sunwind does not assume any liability arising out of the application or use of any product or circuit described herein neither does it convey any license under its patent rights of others Sunwind s general policy does not recommend the use of its products in life support or aircraft applications wherein a failure or malfunction of the product may directly threaten life or injury According to Sunwind s terms and conditions of sales the user of Sunwind s products in life support or aircraft
5. R de ve ete e eng Erg 20 Short Circuit Proleto sescenti eee E ee e NER TENNESSEE es 20 12 Frequently Asked Questions sssessssseses eene iiaii 20 http www stepmotordriver com 3 22 info stepmotordriver com sunwina Electronics Company Ltd Stepper Motor Driver M860 Problem Symptoms and Possible Causes cessere 21 APPENDIX e ONES 21 Twelve Month Limited Warranty e ceecesaeesaeeceeecnseeeeneeensaensnees 21 ID ARES 21 Obtaining Warranty Service ssssssseeee a eee ani nennen nnne tenens 22 Warranty Latmitatiofis iei scents NO ERYGUESE PERRA Rx VER ka eR EH Re eect 22 Contact US pH E PM 22 http www stepmotordriver com 4 22 info stepmotordriver com sunwina Electronics Company Ltd Stepper Motor Driver M860 1 Introduction Features and Applications Introduction The M860 is a high performance microstepping Drive based on pure sinusoidal current control technology Owing to the above technology and the self adjustment technology self adjust current control parameters according to different motors the driven motors can run with smaller noise lower heating smoother movement and have better performances at higher speed than most of the Drives in the markets It is suitable for driving 2 phase and 4 phase hybrid stepping motors Features High performance cost effective Automatic idle current reduction Supp
6. applications assumes all risks of such use and indemnifies Sunwind against all damages 2006 by Sunwind Electronics Company Limited http www stepmotordriver com 2 22 info stepmotordriver com sunwina Electronics Company Ltd Stepper Motor Driver M860 All Rights Reserved Table of Contents 1 Introduction Features andApplications essent 5 Introductton teen ed n tet as ETT E AO PExE OO EISE 5 lunc iien noeneen aiaa Sa OA EE 5 Applications oisinnean i ann E N Ea Eat 5 2S PE CHI CALI ONS ienna nans a a dubeds EAEN E TAE KATRS 6 Electrical Specifications essere e ieseana ene 6 Operating Environment and other Specifications csse 6 Mechanical Specifications e tenente enitn 6 Elinnnation of Heat ether ee rera Oe TUE RELY agere Qe er enun 7 3 Pin Assignment and Description esses eterne eene eene eene 8 Connector P1 Configurations 00 0 0 cecscececencesseeeeeseeeee tenente nennen nennen tenens 8 Selecting Effective Pulse Edge or Effective Level and Control Signal Mode 9 Connector P2 Configurations cceeseceeeceececeescencesecenceeeceeeeeceeeeeeeneee rennen nennen nens 9 4 Control Signal Connector P1 Interface sess cesses 9 5 Connecting the Motor ier iere tener ennt ue rete ee SERE Rea e dele re eerte ee 11 Connections to 4 leadMotors esssesseeeeee e o eene enne enne nennen neas 11 Connections
7. 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 http www stepmotordriver com 12 22 info stepmotordriver com sunwina Electronics Company Ltd Stepper Motor Driver M860 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 Figure 9 8 lead motor parallel connections 6 Power supply Selection The M860 can match medium and small size stepping motors from Nema size 34 to 53 made by Sunwind 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 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 reliabil
8. cs Company Ltd Stepper Motor Driver M860 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 to P l2 R of the original value If the application needs a different standstill current please contact Sunwind 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 http www stepmotordriver com 17 22 info stepmotordriver com sunwi
9. g Problem Symptoms and Possible Causes rr setting is wrong ea condition exists Motor Mu t be ma aaa may be connected in reverse wrong with motor coil Control signal is interfered Something wrong with motor coil Current setting is too small Acceleration is set too high Inadequate heat sinking cooling Current is set too high APPENDIX Twelve Month Limited Warranty Sunwind Electronics Company Limited warrants its products against defects in materials and workmanship for a period of 12 months from shipment out of factory During the warranty period Sunwind will either at its option repair or replace products which proved to be defective Exclusions The above warranty does not extend to any product damaged by reasons of improper or inadequate http www stepmotordriver com 21 22 info stepmotordriver com sunwina Electronics Company Ltd Stepper Motor Driver M860 handlings by customer improper or inadequate customer wirings unauthorized modification or misuse or operation beyond the electrical specifications of the product and or operation beyond environmental specifications for the product Obtaining Warranty Service To obtain warranty service a returned material authorization number RMA must be obtained from customer service at e mail info stepmotordriver com before returning product for service Customer shall prepay shipping charges for
10. ity http www stepmotordriver com 13 22 info stepmotordriver com sunwina Electronics Company Ltd Stepper Motor Driver M860 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 Attention NEVER connect power and ground in the wrong direction as it will damage the M8
11. ly voltage up to 80V DC AC Output current up to 7 2A Pulse frequency up to 300 KHz Self adjustment technology Suitable for 2 phase and 4 phase motors Over voltage short circuit and over current protections 16 selectable resolutions in decimal and binary up to 51 200 steps rev Pure sinusoidal current control technology Support PUL DIR and CW CCWmodes TTL compatible and optically isolated input Slim size 151x97x52mm Applications Suitable for a wide range of stepping motors from NEMA size 34 to 53 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 http www stepmotordriver com 5 22 info stepmotordriver com Qisunwind Electronics Company Ltd Stepper Motor Driver M860 2 Specifications and Operating Environment Electrical Specifications Tj 25 C 77 F input Voltage 24 68 80 VDC Pulse input frequency 0 00 300 KHz ENENNEEENEN 9 1L o Putse Voltage 5 00 24 VDC Operating Environment and other Specifications Environment Avoid dust oil fog conosive gases Humidity 40 RH 90 RH Vibration 5 9m s2 Max Approx 570g 20 10 oz Mechanical Specifications unit mm inch http www stepmotordriver com 6 22 info stepmotordriver com sunwina Electronics Co
12. mpany Ltd Stepper Motor Driver M860 Figure 1 Mechanical specifications Recommend use side mounting for better heat dissipation Driver s reliable working temperature should be lt 70 C 158 F and motor working temperature should be lt 80 C 176 F Itis recommended to use automatic idle current mode namely current automatically reduce to 6096 when motor stops so as to reduce driver heating and motor heating L Itis recommended to mount the driver vertically to maximize heat sink area Use forced cooling method to cool the system if necessary http www stepmotordriver com 7 22 info stepmotordriver com sunwind Electronics Company Ltd Stepper Motor Driver M860 Drive Case Important NOTE The driver must be mounted vertically onto a plate or a heat sinking to maximize heat sink area as shown in the above picture Please use additional heat sinking or cool fan if necessary 3 Pin Assignment and Description The M860 has two connectors connector P1 for control signals connections and connector P2 for power and motor connections The following tables are brief descriptions of the two connectors More detailed descriptions of the pins and related issues are presented in section 4 5 9 Connector P1 Configurations DIR signal In single pulse mode this signal has low high voltage levels representing two directions of motor rotation in double pulse mode set by inside jumpe
13. na Electronics Company Ltd Stepper Motor Driver M860 Controller M860 Driver 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 Sequence Chart of Control Signals In order to avoid some fault operations and deviations PUL DIR and ENA signals must abide by some rules as shown in the following diagram assuming J1 default setting is upward rising edge active http www stepmotordriver com 18 22 info stepmotordriver com sunwina Electronics Company Ltd Stepper Motor Driver M860 t 25ps tu b tu t High Level gt 3 5V l l PUL i i l CS High Level gt 3 5V E T ae Low Level lt 0 5V it 2 ous DIR t dps ER Low Level lt 0 5V ENA PUL DIR PUL CW IR CCW ENA CW CCW Figure 11 Sequence chart of control signals http www stepmotordriver com 19 22 info stepmotordriver com sunwina Electronics Company Ltd Stepper Motor Driver M860 Remark 1 tt ENA must be ahead of DIR by at least 5us Usually ENA and ENA are NC not connected See Connector P1 Configurations for more information 2 tz DIR must be ahead of PUL effective edge by at least 5us to ensure correct direction 3 ts Pulse width not less than 1 5ys 4 ta low level width not less than 1 5ys 11 Protection Functions To improve reliability the driver incorpora
14. products returned to Sunwind for warranty service and Sunwind shall pay for return of products to customer Warranty Limitations Sunwind makes no other warranty either expressed or implied with respect to the product Sunwind specifically disclaims the implied warranties of merchantability and fitness for a particular purpose Some jurisdictions do not allow limitations on how long and implied warranty lasts so the above limitation or exclusion may not apply to you However any implied warranty of merchantability or fitness is limited to the 12 month duration of this written warranty Shipping Failed Product If your product fail during the warranty period e mail customer service at info stepmotordriver com to obtain a returned material authorization number RMA before returning product for service Please include a written description of the problem along with contact name and address Send failed product to distributor in your area or Sunwind Electronics Company Limited Add 7th Floor Block H Juyin Industrial Park Ganli Road 1 Buji Shenzhen China P C 518112 Also enclose information regarding the circumstances prior to product failure http www stepmotordriver com 22 22 info stepmotordriver com
15. r J3 this signal is counter clock CCW pulse effective for high level or low level set by inside jumper Jl For reliable motion response DIR signal should be ahead of PUL signal by 5u s at least 4 5V when DIR HIGH 0 0 5V when DIR LOW Single pulse and double pulses mode switch http www stepmotordriver com 8 22 info stepmotordriver com Qisunwind Electronics Company Ltd Stepper Motor Driver M860 There are two jumpers inside the M860 specifically for switch Single pulse and double pulses mode as shown in figure 2 Default setting is Single pulse mode JP1 Jumpers ete o lete o O e e 0 e e k 2 a X amp B T ga Gs GB B Single Pulse Mode Double Pulses Mode Figure 2 Single pulse double pulses mode switch Connector P2 Configurations DC AC power supply 20 80V Including voltage fluctuation and EMF voltage or Phase A Motor Phase B 4 Control Signal Connector P1 Interface The M860 can accept differential and single ended inputs including open collector and PNP output The M860 has 3 optically isolated logic inputs which are located on connector P1 to accept line Drive control signals These inputs are isolated to minimize or eliminate electrical noises coupled onto the drive control signals Recommend use line Drive control signals to increase noise immunity of the Drive in interference environments In the following figures connections to open collector and PNP signals are illustrated http
16. tes some built in protections features Over voltage Protection When power supply voltage is lower than DC AC 60V over voltage protection will be activated and power indicator LED will turn off When power supply voltage exceeds AC100V over voltage protection will be activated and the red indicator LED will light 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 M860 doesn t operate 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 http www stepmotordriver com 20 22 info stepmotordriver com Qisunwind Electronics Company Ltd Stepper Motor Driver M860 assistance Many of the problems that affect motion control systems can be traced to electrical noise controller Software errors or mistake in wirin
17. to 6 leadMotors esses aa seen enne enne nennen ennt 11 Half Coil Configurations 2 0 cece eects eee eee eene enemies 11 Full Coil Configurations esssseeeeee ee ee eene entente neret 12 Connections to 8 leadMotors esee i seen eene eene emeret enne tenen 13 Senes COMME CHONS ertet oe eR NR eser it RR RR Re eR Renee trt atn e 13 Parallel Connections ecco E Ine He E Ue E He ERR PE RRER RES 13 6 Power Supply Selection 2 eiit iioii e b RR eat n voti eth 13 Regulated or Unregulated Power Supply sse 14 Mul ple Drives eene tie rer erede ON re E ta t vas ep ees ee e EVER uiis 14 Selecting Supply Voltage ciere RI won eden ete eee ne e enn ete ep ettet 14 7 Selecting Microstep Resolution and Drive Output Current eee LS Microstep Resolution Selection sess e eene nennen 15 CUMTENE SEUSS M E 15 Dynamic current setting ssssssssesseeR e ee emnes LO Standstill current setting nennt xe ten enne reet ha he eria dee rte ra Reo 16 8 Wiring Noles M 17 9 Typical Connection corretti eerte e tose seo DR e EEE HRSG E PR HERE ves 17 10 Sequence Chart of Control Signals sss eene 18 11 Protection FUDCfIODS iere ere tee EA elenasebatensie Re PEERS ERR LEE eee eue Re Vut 20 Short voltage and Over voltage protection ssssseees ee seen 20 Over current Prove Ctl OM eerte ire eee ine ve eet FEY De O
18. ull windings of the phases Half Coil Configurations As previously stated the half coil configuration uses 5096 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 http www stepmotordriver com 11 22 info stepmotordriver com sunwina Electronics Company Ltd Stepper Motor Driver M860 P2 At A NC Bt 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 P2 At N B B 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 system 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
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