DPD72001 User's Guide
Contents
1. o TORQUE oz in 250 225 200 TORQUE oz in 700 630 560 490 420 350 280 TORQUE oz in 210 140 70 381004 Torque Unipolar 23L108 Torque Unipolar 23L004 Power near 23L108 Power BLD72 Series with 23D309 and 34D109 20 25 30 SPEED RPS 35 40 45 23D309 Torque Unipolar 23D309 Power Scu 34D109 Power 20 25 30 SPEED RPS 5 10 15 20 25 30 35 40 45 50 SPEED RPS BLD72 Series with 34N112 and 34N214 ZC Torque Unipolar 7 34N214 Torque Unipolar 7 34N112 Power Sikri 34N214 Power ane bw A ta 0 5 10 15 3 40 45 50 200 180 160 140 250 340109 Torque Unipolar i 225 300 270 240 210 180 150 120 90 60 30 SHEM YAMOd snem YIMOd TORQUE oz in TORQUE oz in TORQUE oz in BLD72 Series with 23L210 and 23L310 250 I T I I 300 231210 Torque Unipolar 225 22. 10VAC MIN 225VAC MIN 215VAC HOOKUP 230VAC HOOKUP 245VAC HOOKUP June 2001 Dimensions Drawings DPD72001 Single Axis Driver Pack 6 975 MADE IN USA MONTON CONTROL MADE EASY MOTOR 611 MOTOR 83 2 1 amp 3 COMMON 3 ESET 4 DIRECTION CCW 5 CLOCK CW 6 6 000 2 amp 4 COMMON 11 2 12 MOTOR 4 13 S S S G 6 500 102 R SLOT 4 PLACES DPD72002 Dual Axis Driver Pack 6 975 MADE IN USA anren p UTOMATION MOTION CONTROL MADE EASY BHHHEHBHHHEHEHH 13 MOTOR 64 MOTOR 61 1 12 MOTOR 2 MOTOR 3 2 11 2 amp 4 COMMON 1 amp 3 COMMON 3 10 NC RESET 4 9 ON OFF DIRECTION CCW 5 CLOCK CW 6 6 CLOCK CW SFS 5 DIRECTION CCW ON OFF 9 4 RESET N C 10 3 1 amp 3 COMMON 2 amp 4 COMMON 11 2 MOTOR 63 MOTOR 02 12 MOTOR 64 13 1 MOTOR gi 5 075 6 500 102 SLOT 4 PLACES User s Guide DPD72001 DPD72002 13 Pin Terminal Description Terminal Description Cam s resa s jew Table 3 Motor Compatibility Standard Motors Part Number Unipolar Rating High Torque Motors Part Number Unipolar Rating Table 4 Table 5 Add suffix S for single ended shaft or suffix D for double ended shaft Notes Other motors not listed above may be compatible with this driver Anaheim Automation carries a full line of standard and high torque step motors C
3. 3L310 Torque Unipolar 270 23L210 Power 200 4 231310 Power 240 175 2 Eeer ERN MT v um Ts 9 150 f 180 Be D 125 4 150 2 a f 120 E 90 60 30 0 o 5 10 15 20 25 30 35 40 45 50 SPEED RPS BLD72 Series with 34D213 and 34D314 400 r 300 340213 Torque Unipolar 360 34D314 Torque Unipolar 270 340213 Power 820 4 oo 10 34D314 Power 240 280 210 i acetone tale E 240 E 1 200 150 2 160 120 amp Ei 120 90 80 60 40 4 5 30 0 4 0 0 5 10 15 20 25 30 35 40 45 50 SPEED RPS BLD72 Series with 42N214 and 42K214 2500 400 42N214 Torque Unipolar 2250 42K214 Torque Unipolar 360 42N214 Power 2000 42K214 Power 1750 4 S 1500 m 1250 2 2 1000 a 2 750 500 43 250 0 15 35 40 45 June 2001 ANAHEIM AUTOMATION
4. DPD72001 DPD72002 Unipolar Step Motor Driver User s Guide Aanem ANAHEIM AUTOMATION UTOMATION L010025 June 2001 Features e Integrated BLD72 300W Power Supply and Cooling Fan e Unipolar Operation Bilevel Driver Operation e 90 265 VAC Input Option X250 10 Amps per Phase Operating Current Kick Current e 7 Amps per Phase Standstill Current 95 Volt Operation Short Circuit Protection e Open Circuit Protection e Motor ON OFF Input e Half Step and Full Step Operations Fault LED e Detachable Terminal Block Compact and Rugged What Is a Step Motor Driver A step motor driver is a device that takes input signals usually Clock and Direction and translates this information into phase currents in the motor Each time the step motor driver receives a pulse the step motor moves one step If the driver receives 200 pulses the motor moves 200 steps The motor steps at the same frequency as the clock pulses Driver Figure 1 Step Motor Driver General Description The BLD72 is a step motor driver that can drive motors rated from 1 to 7 amps phase unipolar rating It can handle 6 lead and 8 lead motors This driver features a unipolar bilevel or dual voltage drive tech nique with short and open circuit protection with a Fault LED Bilevel Drive The basic function of a motor driver is to provide the rated motor phase current to the motor windings in the shortest possible time The bile
5. e 3 Sinking Clock Input Adjusting Kick Current By following the silkscreen instructions on the cover use a small screwdriver to adjust the potentiometer Line up the potentiometer s arrow to the number corresponding to the motors rated current amps phase 4 4 EN 7 N SS 1 4 Y 1 f YN Example 1 23D104 Motor Set to 2 0A Example 2 34D314 Motor Set to 7 0A June 2001 Motor ON OFF Input The motor on off input allows de energizing a motor without disturbing the positioning logic After re energizing the motor a routine can continue This reduces motor heating and conserves power espe cially in applications where motors are stopped for long periods and no holding torque is required If holding torque is required such as when lifting a load vertically then the motor must stay energized Jumper Functions Locations 13 Terminal Block 1 Function Negative Going Clocks CR amp JP1 ger 324 KICK CURRENT ADJUST Positive Going Clocks Terminal 5 CCW Terminal 5 Direction Ground Fault Detection Disabled WARNING Set Kick Current before operating motor Ground Fault Detection Enabled Standard Product Figure 4 Jumper Loactions Table 1 Jumper Settings Fault Protection There are 3 types of fault detection When a fault is detected the driver turns off the motor current and the red Fault LED indicates which type of fault occurred See t
6. he RED lead on between the Sense Resistors Labled Rs in Figure 5 Touch the BLACK meter lead to each phase terminals 1 2 12 and 13 This should give readings between 0 450V and 0 550V If any readings are significantly less than 0 450V then the unit has been damaged If a factory repair is required contact Anaheim Automation for an RMA 800 345 9401 or 714 992 6990 June 2001 COPYRIGHT Copyright 2001 by Anaheim Automation All rights reserved No part of this publication may be repro duced transmitted transcribed stored in a retrieval system or translated into any language in any form or by any means electronic mechanical magnetic optical chemical manual or otherwise without the prior written permission of Anaheim Automation 910 E Orangefair Lane Anaheim CA 92801 DISCLAIMER Though every effort has been made to supply complete and accurate information in this manual the contents are subject to change without notice or obligation to inform the buyer In no event will Anaheim Automation be liable for direct indirect special incidental or consequential damages arising out of the use or inability to use the product or documentation Anaheim Automation s general policy does not recommend the use of its products in life support applica tions wherein a failure or malfunction of the product may directly threaten life or injury Per Anaheim Automation s Terms and Conditions the user of Anaheim Au
7. he Troubleshooting section for more informa tion LED Slow Blink Shorted wire in the motor or cable LED Fast Blink Open wire in the motor or cable LED On Solid Ground Fault Voltage Shorted to OV Table 2 Fault LED If the driver goes into a fault condition the fault may be reset by turning the power OFF for at least 15 seconds or by pulling the RESET FAULT input terminal 4 to a logic 0 for at least 100ms Motor Connections Figure 5 is a hookup diagram for typical BLD72 driver applications Input connections must be separated from motor connections and all other possible sources of interference IMPORTANT NOTE If the motor cable between the driver and the step motor extends beyond 25 feet consult the factory User s Guide DPD72001 DPD72002 Hook Up Drawing EXTERNAL PULSE GENERATOR 1 RED ANAHEIM AUTOMATION STEP MOTOR 2 DIRECTION 11 WHITE 12 GREEN Figure 5 Typical Hook Up for Clockwise and Direction Option and Motor Wiring Power Supply Requirements The DPD72001 and DPD72002 are both powered by an AC line voltage of 110VAC The X250 version is capable of line voltages ranging from 90 265VAC The following figure shows the various line voltages 140VAC MAX 110VAC MAX 125VAC MAX 100VAC NOM 115VAC NOM 130VAC NOM 90VAC MIN 105VAC MIN 120VAC MIN 265VAC MAX 235VAC MAX 250VAC MAX 215VAC NOM 230VAC NOM 245VAC NOM 195VAC MIN 2
8. l 5 cause the motor to step in the counterclockwise direction Jumper JP2 must be in the 1 2 position for this mode Either positive or negative going pulses may be used by setting jumper JP1 in the appropriate position see Table 1 To determine which setting to use first consider the type of clock pulse output on the pulse generator or indexer controller If the clock output on the controller is open collector type sinking then use the negative going jumper setting JP2 must be in the 1 2 position If the clock output on the controller is a pnp or p channel sourcing type then use the positive going jumper setting JP2 must be in the 2 3 position If the clock output on the controller is a TTL CMOS type totem pole then either setting will work but the jumper setting should be chosen based on the level of the clock output when the controller is not pulsing If the clock is low when not pulsing then use positive going jumper settings If the clock is high when not pulsing then use negative going jumper setting The clock inputs Clock and CCW are pulled up to 5VDC through a 10K ohm resistor for negative going clock inputs they are pulled down to OVDC through a 10K ohm resistor for positive going clock inputs The pullups pulldowns are followed by an RC filter See Figure 2 and Figure 3 ER m CLOCK IN 10K 2 INN CMOS e CLOCK IN uw NI 10K L DU ET V v Figure 2 Sourcing Clock Input Lr Figur
9. ontact the factory regarding compatibility See last two pages for speed toque curves June 2001 Specifications Control Inputs All Terminals 5 6 8 9 TTL compatible Logic 0 0 to 0 8 V Logic 1 3 5 to 5 0 V Fault Reset Terminal 4 Pulled up to 5VDC through a 10k Ohm Logic 1 open Driver enabled and Fault detection enabled Logic 0 Resets a Fault condition driver is disabled when this input is low This input must be held low for at least 100ms Clock Inputs Terminals 5 and 6 Pulse required 15 microseconds minimum The clock input is pulled up down internally to 5VDC OVDC through a 10k Ohm resistor based upon JP2 selection Direction Control Terminal 5 Pulled up to 5VDC through a 10k Ohm Logic 1 open CW Logic 0 CCW Excitation Mode Select Terminal 8 Pulled up to 5VDC through a 10k Ohm Logic 1 open Half step Logic 0 2 Phase Full step Power ON OFF Terminal 9 Logic 1 open Motor current on Logic 0 Motor current off Output Current Rating Terminals 1 2 3 11 12 and 13 10 Amps phase maximum operating current 7 0 Amps phase maximum standstill current over the operating voltage and temperature range Motor phase ratings of 1 0 Amp minimum are required to meet the minimum kick level User s Guide DPD72001 DPD72002 Troubleshooting If a Fault occurs reset the Fault by applying a logic 0 to the Reset Fault Inp
10. tomation products in life support applications assumes all risks of such use and indemnifies Anaheim Automation against all damages LIMITED WARRANTY All Anaheim Automation products are warranted against defects in workmanship materials and construc tion when used under Normal Operating Conditions and when used in accordance with specifications This warranty shall be in effect for a period of twelve months from the date of purchase or eighteen months from the date of manufacture whichever comes first Warranty provisions may be voided if products are subjected to physical modifications damage abuse or misuse Anaheim Automation will repair or replace at its option any product which has been found to be defective and is within the warranty period provided that the item is shipped freight prepaid with previous authori zation RMA to Anaheim Automation s plant in Anaheim California TECHNICAL SUPPORT If you should require technical support or if you have problems using any of the equipment covered by this manual please read the manual completely to see if it will answer the questions you have Be sure to refer to the TROUBLESHOOTING section of this manual If you need assistance beyond what this manual can provide contact your Local Distributor where you purchased the unit or contact the factory direct User s Guide DPD72001 DPD72002 Torque Speed Curves 160 BLD72 Series with 23L004 and 23L108 144 128 112
11. ut terminal 4 for at least 100ms or by cycling power OFF for at least 15 seconds After resetting try to run the motor again If the driver faults again then check the conditions listed below Is the LED Blinking Slowly once a second This indicates that the motor has a phase shorted or there is a short in the motor cable or wiring Check the motor and the wiring for shorts If the driver continues to sense shorts after the motor and wiring are determined to be accurate then the output transistors should be checked see below Is the LED Blinking Quickly three times a second This indicates that there is an open or intermittant connection in one of the motor wires Check the motor and the wiring for opens Another condition that may cause this type of fault is when a large motor is ramped down too quickly so that it loses it s positioning Is the LED On Steadily This indicates that there is a ground fault a voltage shorted to OV This defection is useful in detecting a short to case in a motor when the motor s case and the driver s OV are both connected to earth ground Excessvie noise on the OV line may also cause the driver to sense this type of fault This type of fault sensing may be disbled by placing jumper JP3 in position 1 2 Note If the ground fault detection is disabled do not connect the driver s OV to earth ground Checking Output Transistors Remove the side plate Set the multimeter to Diode Test Place t
12. vel driver uses a high voltage to get a rapid rate of current rise in the motor windings in the least amount of time When reaching the preset trip current the driver turns off the high voltage and sustains the current from the low voltage supply Half Step Full Step Users have a choice of full step operation or half step operation Full step operation occurs by energizing two phases at a time rotating a typical motor 1 8 degrees per step Half step operation occurs by alter nately energizing one and then two phases at a time rotating the motor 0 9 degrees per step Full step operation is suggested for applications that specifically require that mode such as when retrofitting exist ing full step systems User s Guide DPD72001 DPD72002 Clock Modes The BLHV has two clock options Clock and Direction or Dual Clock operation Jumper JP2 is used to select the clock option Basically JP2 selects Terminal 5 as either the Direction input or the CCW input With the Clock and Direction option most common option clock pulses applied to the Clock input Ter minal 6 cause the motor to step The direction of the motor is determined by the logic level of the Direction input Terminal 5 Jumper JP2 must be in the 2 3 position for this mode see Figure 4 and Table 1 With the Dual Clock option clock pulses applied to the Clock input Terminal 6 cause the motor to step in the clockwise direction Clock pulses applied to the CCW input Termina
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