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1. 47 8 1 882 112 4 409 Figure 1 Mechanical specifications Recommend use side mounting for better heat dissipation Elimination of Heat Driver s reliable working temperature should be lt 70 C 158 F and motor working temperature should be lt 80 C 176 F It is recommended to use automatic idle current mode namely current automatically reduce to 60 when motor stops so as to reduce driver heating and motor heating M752 Microstepping Driver Manual V1 0 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 M752 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 jumper J1 this signal is counter clock CCW pulse active at high level or low level set by inside jumper J3 For 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 rotation direction is also related to motor driver wiring match Exch2. Microstepping Driver Manual V1 0 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 M752 can match medium and small size stepping motors from NEMA frame size 17 to 43 made by Rayne Motors 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 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 ha
3. 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 M752 Microstepping Driver Manual V1 0 Controller Figure 4 Connection to PNP signal common cathode 5 Connecting the Motor The M752 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 A B B 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 t
4. User s Manual For M752 High Performance Microstepping Driver Version 1 0 2008 All Rights Reserved Attention Please read this manual carefully before using the driver The content in this manual has been carefully prepared and is believed to be accurate but no responsibility is assumed for inaccuracies Rayne Motors reserves the right to make changes without further notice to any products herein to improve reliability function or design Rayne Motors 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 Rayne Motors 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 Rayne Motors terms and conditions of sales the user of Rayne Motors products in life support or aircraft applications assumes all risks of such use and indemnifies Rayne Motors against all damages Contents Table of Contents 1 Introduction Features and Applications ccccccceesssscceeeeccceeceeessessssaseeeeeeeeeees Producoes nents goa actatartat seas aehaantedeasethenethcs I QUE race ecteb cep tectesetiet E ect areca actos ete tenses tse noe eede ADP ICANO NS saoire a a a Dhaudthessusanccavegeascay ee ed ncosete iene 2 AOPE ANON Sorra a E a EN Flecmieal SPC CIC ALTOS nussise
5. aa a lgnouedecetees tae acssuesaenieowte Contents Dynamic CUNTCNUS CUT IN G16 3 54 04 ccaieretantel a eariedanae ante eeens 9 Stands ill current seting 1 cevscene hiosencsceacsbesdeessastenataueuiete EA NE 9 Se WARIS NOE Soara actus vestnca E a E a 10 9 Typical Connec Ho m meii A AN 10 10 Sequence Chart of Control Signal S ennoriore n E T 11 li Protection FONCIONS eienen E E 11 Short voltage and Over voltage protection ccccccccsssssecceceeecceeeesessssseeeeees 11 Over CUITENC PF FOLECUON eian ciara tienen tuatanioensants 12 Short Circuit Proteco Disnei n a A inde NurcenanseG 12 PDF Requemtly Asked QUCS HONS asnan a a a aaa 12 Problem Symptoms and Possible Causes cccsssssscccecceccceeessesssceeeeeeeeeeeees 13 APPENDIX Geen tenes mene et Boa reo Pe eee enone ee Pee Per me RD epee A 14 Twelve Month Limited Warranty scc ci0docaccasdoedenen tte eanecaac een eeeess 14 FE IVS ONS ceca agate Sash caian ap oscnanaua e a the donates tones mens sGestaRaueuecees 14 Obtaining Warranty Service soroen i ienaa a aaia EATA 14 Warranty LIMHAUON S nran a E 14 I M752 Microstepping Driver Manual V1 0 1 Introduction Features and Applications Introduction The M752 is a high performance microstepping driver 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 sm
6. aller noise lower heating smoother movement and have better performances at higher speed than most of the drivers 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 Supply voltage up to 75 VDC Output current up to 5 2A 16 selectable resolutions in decimal and binary up to 51 200 steps rev Self adjustment technology Suitable for 2 phase and 4 phase motors Pure sinusoidal current control technology Support PUL DIR and CW CCW modes Pulse input frequency up to 300 KHz Short voltage over voltage over current TTL compatible and optically isolated input protections Applications Suitable for a wide range of stepping motors from NEMA size 17 to 34 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 77F M752 Microstepping Driver Manual V1 0 Operating Environment and other Specifications Environment Avoid dust oil fog and corrosive gases Humidity 40 RH 90 RH Vibration 5 9m s Max Mechanical Specifications unit mm inch 118 4 646 112 4 409 a ee 9 25 0 364 25 3 0 996 75 5 2 972
7. anging the connection of two wires for a coil to the driver will reverse motion direction The default rotation direction can be reverse by inside jumper J2 Selecting Active Pulse Edge or Active Level and Control Signal Mode There are two jumpers J1 and J3 inside the M752 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 rising edge active NPN and PNP control signal is on the contrary J2 inside the driver is used to reverse the default rotation direction Please note that rotation 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 M752 Microstepping Driver Manual V1 0 n fe f b J1 open circuit J3 shirt circuit PUL DIR mode and active at falling edge NPN Ooo d J1 J3short circuit CW CCW mode and active at high level The fixed level a J1 J3 open circuit PUL DIR mode and Active at rising edge NPN uff s fol c J1 short circuit J3 open circuit CW CCW mode and active at low level The fixed level Figure 2 J1 and J3 jumpers Connector P2 Configurations Motor Phase B 4 Control Signal Connector P1 Interface The M752 can accept differential and single ended inputs including open collector and PNP output The M752 has 3 optically isolated logic inputs which are located on connector P1 to
8. east 5us 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 5us to ensure correct direction c t3 Pulse width not less than 1 5us d t4 Low level width not less than 1 5us 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 17VDC short voltage protection will be activated and the power indicator LED will turn off When the power supply voltage is back to normal operation range the driver will automatically reset and power indicator LED will turn on When power supply voltage exceeds 95VDC over voltage protection will be activated and power indicator LED will turn red M752 Microstepping Driver Manual V1 0 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 When above protections are active the motor shaft will be free or the LED will turn red except short voltage protection Reset the driver by repowering it to make it function properly after removing above problems 12 Frequently Asked Questions In the event that your driver doesn t operate properly the first step is to identify whether the proble
9. fications 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 before returning product for service Customer shall prepay shipping charges for products returned to Rayne Motors for warranty service and Rayne Motors shall pay for return of products to customer Warranty Limitations Rayne Motors makes no other warranty either expressed or implied with respect to the product Rayne Motors 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 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 Rayne Motors Also enclose information regarding the circumstances prior to product failure
10. m 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 M752 Microstepping Driver Manual V1 0 Problem Symptoms and Possible Causes Microstep resolution setting is wrong Acceleration is set too high Inadequate heat sinking cooling Current is set too high M752 Microstepping Driver Manual V1 0 APPENDIX Twelve Month Limited Warranty Rayne Motors warrants its products against defects in materials and workmanship for a period of 12 months from shipment out of factory During the warranty period Rayne Motors 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 handlings by customer improper or inadequate customer wirings unauthorized modification or misuse or operation beyond the electrical speci
11. 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 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 M752 Microstepping Driver Manual V1 0 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 I R of the original value If the application needs a different standstill current please contact Rayne Motors 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 b
12. nei a waest bars etuleet dell iaaisneeeneebeneee Operating Environment and other Specifications cccccssccseccecceeeesesssssseeeees Mechanical Speci ications eon aar EA A EERS Eliminanon ok Hea orei a a S 2 Pin Assiznment and DescriDtioioseceniosi eaa i a aas Connector Fl CommouraiOns ns uanmiancdnnriancanl se demsosrapenalonaines Selecting Active Pulse Edge or Active Level and Control Signal Mode Connector P2 COmMOUEALIONS eanne E e N 4 Control Signal Connector PI Interface narudia ia e E DAC ONME CHIME the MOO masen e a a a Connections tod lead MO tT xgcsiitscnsadtetlevtinow hatedinew a CONNECTIONS 10 O 1 EAC NEO LOPS uea sistnessc des abtumensenearntdonienibeas RS Half Coil Conf curationS 6 cece Seccieia tmnt a testa Met eee Pull Com C Ont Cura Ons i 2655 25 520s ica teea aca ree seas E Connections 10 8 lead Motors ccisiiiat iin iana needa datactanteeesesd EA AS Series CONNEC ONS saunris Parallel COMMEC HONS sscd ciaieedscue ue siasnat cueneertaad anshaiaseatcmmacensssuaemeunmnm ames O POWEE SUDDIY Selecon hans E a a Regulated or Unregulated Power Supply ccccceessssccecccccceceeseseessscaeeeeeeeeeees Milaple DIVET S eee E EE N E a Selechine Supply Voltaireren e e E A E 7 Selecting Microstep Resolution and Driver Output Current ccccceesceeeeeeeeeees Microstep RESOMULIOIGS CISC LIOR yeiesteacs o laeteadeidraeweneess CET GIL SENES ass iaccttatt hc tas caste T tuan vad tahoes laa
13. orque 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 M752 Microstepping Driver Manual V1 0 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 AW 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 A AOR 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 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 A B B Figure 8 8 lead motor series connections M752
14. ose only sufficiently high supply voltage for intended applications and it is suggested to use power supplies with theoretical output voltage of 20 68VDC 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 P S 1 2 3 4 5 6 7 8 Standstill Current half full Microstep Resolution Selection Microstep resolution is set by SWS 6 7 8 of the DIP switch as shown in the following table Microstep Steps rev for 1 8 motor SW5 SW6 SW SWB 400 N ON ON ON 4 800 ON ON ON 8 1600 FF OFF ON ON 16 3200 ON OFF ON ON Ca o 400 o ON OFF ON 64 12800 ON OFF ON 128 25600 OFF OFF OFF ON 256 S20 ON OFF OFF ON Pe ON on ONO 102000 ON ON OFF M752 Microstepping Driver Manual V1 0 Ea PE ee er re 5010000 OFF 10 2000 SCON OFF 2000 40000 OFF OFF OFF OFF 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 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 driver output current depending on
15. ve 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 M752 Microstepping Driver Manual V1 0 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 power MOSFETS inside the M752 can actually operate within 20 75VDC 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 cho
16. y 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 Controller M752 Driver 20 68 VDC Stepping Motor B E 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 M752 Microstepping Driver Manual V1 0 10 Sequence Chart of Control Signals In order to avoid some fault operations and deviations PUL DIR and ENA should abide by some rules shown as following diagram tus t ty High Level gt 3 5V eri ed l PUL PUL CW High Level gt 3 5V Low Level lt 0 5V pe JIR CCW Low Level lt 0 5V ENA ENA PUL DIR CW CCW Figure 11 Sequence chart of control signals Remark a tl ENA must be ahead of DIR by at l
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