Anaheim Computer Drive MDM60001 User Manual

COPYRIGHT  
Copyright 1996 by Anaheim Automation. All rights reserved. No part of this publication  
may be reproduced, 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.  
USER'S MANUAL  
MODEL MDM60001  
MICROSTEP DRIVER  
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 applications wherein a failure or malfunction of the product may directly threaten  
life or injury. Per Anaheim Automation’s Terms and Conditions of Sales, the user of  
Anaheim Automation 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 construction, 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 the products are subjected to  
physical damage or abuse.  
Anaheim Automation will repair or replace at its option, any of its products which have  
been found to be defective and are within the warranty period, provided that the item is  
shipped freight prepaid, with RMA (return material authorization), to Anaheim  
Automation's plant in Anaheim, California.  
TECHNICAL SUPPORT  
Everyone needs help on occasion. If you have problems using any of the equipment covered  
by this manual, please read the manual to see if it will answer the questions you have. If  
you need assistance beyond what this manual can provide, you can call your Local  
Distributor where you purchased the unit.  
ANAHEIM AUTOMATION  
910 E. Orangefair Lane  
Anaheim, CA 92801  
TEL (714) 992-6990  
FAX (714) 992-0471  
May 21, 2002  
#L010070  
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ORDERING INFORMATION FOR ANAHEIM AUTOMATION  
MICROSTEP DRIVERS AND ACCESSORIES  
PIN DESCRIPTIONS P1  
Pin#  
Description  
4 Amp Microstep Driver  
6 Amp Microstep Driver  
10 Amp Microstep Driver  
40VDC Power Supply  
40VDC Power Supply  
MDM40001  
MDM60001 (This Manual)  
MDM10001  
1
2
3
4
Clock: A positive going edge on this isolated input advances  
the motor one increment. The size of the increment is  
dependent on the Microstep Select Inputs of Switch 1.  
PSA40V4A (For MDM40001)  
PSA40V8A-2 (For MDM40001)  
Includes +5Vdc Supply  
PSA65V5A (For MDM60001)  
PSA65V5A-2 (For MDM60001)  
Includes +5Vdc Supply  
PSA80V4A (For MDM10001)  
AA129010S  
Direction: This isolated input is used to change the direction  
of the motor. Physical direction also depends on the  
connection of the motor windings.  
65VDC Power Supply  
65VDC Power Supply  
Opto Supply (+5VDC): This input is used to supply current  
to the Isolated Inputs. A higher voltage may be used, but care  
should be taken to limit the current through the optocoupler.  
80VDC Power Supply  
Shielded Motor Cable  
On/Off: This isolated input is used to enable/disable the  
output section of the driver. When HIGH (open) the outputs  
are enabled. However, this input does not inhibit the step  
clock. Therefore the outputs will be updated by the number  
of clock pulses (if any) applied to the driver while it had been  
disabled.  
MDM40001  
This is the model number for a Single Axis, 4 Amp Microstep Driver. The MDM40001  
requires a dc power supply (up to 48 volts).  
MDM60001  
This is the model number for a Single Axis, 6 Amp Microstep Driver. MDM60001  
requires a 65Vdc power supply (PSA65V5A-2) that Anaheim Automation provides,  
purchased separately.  
5
6
7
Reset: When LOW, this isolated input will reset the driver  
(outputs will disable). When released, the driver will be at its  
initial state (Phase 1&3 off, Phase 2&4 full on).  
MDM10001  
Fault Out: This OPEN DRAIN output indicates a fault has  
occurred (ie. short circuit or over temperature). This output  
is active low.  
This is the model number for a Single Axis, 10 Amp Microstep Driver. The MDM10001  
requires an 80Vdc power supply (PSA80V4A) that Anaheim Automation provides,  
purchased separately.  
On F/S Out: This OPEN DRAIN output indicates when the  
driver is positioned at a full step. This output can be used to  
count the number of full steps the motor has moved,  
regardless of the number of microsteps in between. This  
output is active low.  
PSA40V4A  
This is an unregulated 40VDC, 4 Amp power supply.  
PSA65V5A  
This is an unregulated 65VDC, 5 Amp power supply.  
Table 1 - CONNECTOR P1  
PSA80V4A  
This is an unregulated 80VDC, 4 Amp power supply.  
3
4
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TYPICAL HOOK-UPS FOR APPLICATION:  
PIN DESCRIPTIONS P2  
Pin#  
Description  
1
Reduce Current: Phase Current Reduction Input. A resistor  
between this pin and pin 2 (Connector P2, Current Adjust) will  
proportionately reduced the current in both windings (1 second after  
the last positive going edge of the step clock input). The amount of  
current reduction will depend on the value of the resistor used.  
2
Current Adjust: Phase Current Adjustment input. A resistor  
connected between this input and the ground input (connector P2,  
Pin 3) is used to adjust the maximum Phase Current in the motor. A  
resistor MUST be connected to this input.  
3
4
5
6
7
8
0VDC: Supply Voltage Ground. ( Return )  
+V: Supply Voltage Input. (+24 -75VDC)  
Phase 4: of the Step Motor  
Phase 2: of the Step Motor  
Phase 3: of the Step Motor  
Phase 1: of the Step Motor  
Table 2 - CONNECTOR P2  
FIGURE 1  
5
6
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SPECIFICATIONS  
DETERMINING OUTPUT CURRENT  
ABSOLUTE MAXIMUM RATINGS  
The output current for the motor used when microstepping is determined differently from  
that of a halfstep/fullstep unipolar driver. In the MDM60001, a sine/cosine output current  
is used in rotating the motor. The output current for a given motor is determined by the  
motors current rating and the configuration for how the motor is hooked up. There is a  
current adjustment resistor used to set the output current of the MDM60001. This sets the  
peak output current of the sine/cosine waves. The specified motor current (which is the  
RMS value) is multiplied by a factor of 0.7, 1.0, or 1.4 depending on the motor  
configuration (half-coil, series, or parallel).  
INPUT VOLTAGE  
+24 TO +75 VDC  
6 AMPS PEAK  
70° C  
OUTPUT CURRENT  
PLATE TEMPERATURE  
STORAGE TEMPERATURE  
INPUT CURRENT (PINS 1, 2, 4, 5)  
40° TO +125° C  
15 mA Max  
SETTING OUTPUT CURRENT  
ELECTRICAL SPECIFICATIONS (TA=25EC, V+ = 75VDC)  
The output current on the MDM60001 is set by an external ±1%, 1/8 watt (or higher)  
resistor between pins 2 and 3 of connector P2. This resistor determines the per Phase RMS  
output current of the driver. The MDM60001 uses a 2mA current source to establish the  
reference voltage needed to control the output current. The relationship between the output  
current and the resistor value is as follows:  
ITEM  
TEST CONDITION  
MIN TYP MAX UNIT  
S
Input Voltage  
24  
75  
V
Phase Output Current  
Phase Output Current  
RMS  
Peak  
1
4
6
A
A
RMS OUTPUT CURRENT (Amps) = (.707)(0.002)(Resistor in Ohms)  
1.4  
RMS Current  
Resistor Value  
RMS Current  
Resistor Value  
Quiescent Current  
Outputs Floating  
13  
9
mA  
W
1.0  
1.2  
1.4  
1.6  
1.7  
1.9  
2.0  
2.2  
2.3  
2.4  
698  
845  
2.5  
2.6  
2.7  
2.9  
3.0  
3.2  
3.3  
3.4  
3.8  
4.0  
1740  
1820  
1890  
2030  
2100  
2230  
2320  
2370  
2670  
2870  
Active Power  
Dissipation  
Iout=4 Amps RMS  
988  
Input Forward Current  
Input Pins  
1, 2 , 4, 5  
7
15  
mA  
1110  
1180  
1330  
1400  
1540  
1600  
1670  
Input Forward Voltage  
1.4  
1.7  
V
V
Input Reverse  
Breakdown Voltage  
5
Output Current  
Fault, Fullstep  
Outputs  
25  
mA  
V
Collector-Emitter  
Voltage  
Fault Output  
140  
0.2  
100  
TABLE 3: RESISTOR VALUES WITH RESPECT TO OUTPUT CURRENT  
Closest 1% value selected  
Collector-Emitter  
Saturation Voltage  
Fault Output  
Ics=25mA DC  
V
WARNING! A current adjustment resistor is always necessary to keep the drive in a safe  
operating region. Do not operate the driver without a current adjustment resistor. When  
connecting the CURRENT ADJUSTMENT resistor between Pins 3 and 2 of Connector P2  
the length of the leads should be as short as possible to help minimize the noise coupled  
into the driver . Refer to Figure 1 for TYPICAL HOOK-UP.  
Drain-Source Voltage  
Fullstep Output  
V
Drain-Source on  
Resistance  
Fullstep Output  
Ics=25mA DC  
6.5  
ohms  
7
8
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REDUCING OUTPUT CURRENT  
STEP MOTOR CONFIGURATIONS  
Step motors can be configured as 4, 6, or 8 leads. Each configuration requires different  
currents. Shown below are different lead configurations and the procedures to determine  
their output current.  
Reducing the output current in the MDM60001 can be accomplished by connecting an  
external resistor (1/8 watt or higher) between pins 1 and 2 of connector P2 and ocurrs  
automatically 1 second after the last positive going edge of the step clock input. See Figure  
1 for TYPICAL HOOK-UP.  
6 Lead Motors  
The amount of current per Phase in the reduction mode is related to the value of the current  
adjustment resistor and the current reduction resistor. When the current reduction circuit  
is activated, the current reduction resistor is paralleled with the current adjustment resistor.  
This lowers the total resistance value, and thus lowers the per Phase output current. The  
relationship between the output current and the resistor's value is as follows:  
When configuring a 6 lead motor in a half-coil configuration (connected from one end of  
the coil to the center tap) use the specified per Phase (or unipolar) current rating to  
determine the current adjustment resistor value. This configuration will provide more  
torque at higher speeds. Use this to determine the current adjustment resistor value.  
RMS Reduction Current (Amps)=(.707)(.002)xR(Adjust)xR(Reduction)  
R(Adjust)+R(Reduction)  
When configuring the motor in a series configuration (connected from end to end with the  
center tap floating) multiply the per Phase (or unipolar) current rating by 0.7.Use this result  
to determine the current adjustment resistor value.  
NOTE: When connecting the current reduction resistor between pins 1 and 2 of connector  
P2 , the length of the leads should be as short as possible to help minimize noise coupled  
into the driver.  
MOTOR SELECTION  
The MDM60001 is a Bipolar driver working equally well with both Bipolar and Unipolar  
Motor Configurations,( i.e. 8 and 4 lead motors and 6 lead center tapped motors).  
Motors with low current ratings and high inductance will perform better at low speeds,  
providing higher low-end torque. Motors with high current ratings and low inductance will  
perform better at higher speeds, providing higher high-end torque.  
WARNING! Step motors will run hot even when configured correctly, damage may occur  
to the motor if a higher than specified current is used. Most specified motor currents are  
maximum values. Care should be taken to not exceed these ratings.  
Since the MDM60001 is a constant current source, it is not necessary to use a motor that  
is rated at the same voltage as the supply voltage. What is important is that the  
MDM60001 is set to the appropriate current level based on the motor being used.  
Higher voltages will cause the current to flow faster through the motor coils. This in turn  
means higher step rates can be achieved. Care should be taken not to exceed the maximum  
voltage of the driver.  
9
10  
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4 Lead Motors  
CONNECTING THE STEP MOTOR  
Phase 1&3 of the Step Motor is connected between pins 7 and 8 on connector P2. Phase  
2&4 of the Step Motor is connected between pins 5 and 6 on connector P2.  
Refer to Figure 1 for TYPICAL APPLICATION HOOK-UP  
NOTE: The physical direction of the motor with respect to the direction input will depend  
on the connection of the motor windings. To reverse the direction of the motor with respect  
to the direction input, switch the wires on Phase 1 & Phase 3.  
Use the specified series motor current to determine the current adjustment resistor value.  
Four Lead Motors are usually rated with their appropriate series current, as opposed to the  
Phase Current which is the rating for 6 and 8 lead motors.  
WARNING: Do not connect or disconnect motor wires while power is applied!  
CONNECTING POWER  
8 Lead Motors  
Pins 3 and 4 on connector P2 are used to connect the DC Power Supply to the MDM60001.  
Wire size used to connect the power source to the driver should be at least 16 gauge.  
Heavier wire should be used for longer distances between the power supply and the driver.  
The power supply requirements are as follows:  
Series Connection: When configuring the motor windings in series, multiply the per Phase  
(or unipolar) current rating by 0.7. Use this result to determine the current adjustment  
resistor value.  
Switching Power Supplies and regulated linears with overcurrent protection are not  
recommended because of their inability to handle surge currents. Adding a capacitor to the  
output will alleviate this problem.  
When multiple drivers are run from one power supply, each driver should have separate  
power and ground wires that connect directly to the output capacitor of the power supply.  
Refer to Figure 1 for TYPICAL APPLICATION HOOK-UP.  
Parallel Connection: When configuring the motor windings in parallel, multiply the per  
Phase (or unipolar) current rating by 1.4. Use this result to determine the current  
adjustment resistor value.  
WARNING: When using an unregulated power supply, care should be taken to ensure that  
the output voltage DOES NOT exceed the maximum driver input voltage because of line  
voltage fluctuations. It is recommended that a input line filter be used on the power supply  
to limit voltage spikes to the driver.  
NOTE: After the current has been determined, according to the motor connections above,  
follow the procedure Determining Output Current above to find the current value. Then  
use Table 3 to choose the proper resistor value.  
11  
12  
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Anaheim Automation Step Motor Selection Guide  
MICROSTEP SELECTION  
The number of microsteps per step is selected by the internal dip switches.  
Table 5 shows the standard resolution values along with the associated  
settings for these switches. The standard waveforms are sinusoidal.  
Motor Current  
(Unipolar Rating)  
[ Amps ]  
Series Configuration  
1% Resistor Value  
[ Ohms ]  
Part Number  
suffix:  
single shaft - “S”  
dual shaft - “D”  
23D104  
23D108  
23D204  
23D209  
23D306  
23D309  
34D106  
34D109  
34D207  
34D209  
34D307  
34D311  
34D314  
2.0  
3.9  
1.8  
4.7  
2.9  
4.6  
3.0  
4.8  
3.5  
4.6  
3.5  
5.5  
7.0  
1000  
1960  
909  
Resolution  
Steps/  
Rev  
Switch 1  
Switch 2  
Switch 3  
Switch 4  
2
4
400  
ON  
OFF  
ON  
ON  
ON  
ON  
ON  
ON  
ON  
2370  
1450  
2320  
1500  
2400  
1760  
2320  
1760  
2770  
2870  
800  
8
1,600  
3,200  
6,400  
12,800  
25,600  
51,200  
1,000  
2,000  
5,000  
10,000  
25,000  
50,000  
OFF  
OFF  
ON  
ON  
ON  
16  
32  
64  
128  
256  
5
OFF  
ON  
ON  
ON  
OFF  
OFF  
OFF  
OFF  
ON  
ON  
OFF  
ON  
ON  
ON  
OFF  
OFF  
ON  
ON  
OFF  
ON  
ON  
OFF  
OFF  
OFF  
OFF  
OFF  
Open  
10  
25  
50  
125  
250  
OFF  
ON  
ON  
ON  
ON  
ON  
OFF  
OFF  
TABLE 4: Resistor Table Selection is based on 6-Lead Step Motors  
Series Coil Configurations.  
OFF  
OFF  
ON  
OFF  
ON  
OFF  
ON  
TABLE 5  
In order to select the microstepping switches, the  
top cover plate of the driver must be removed.  
The dip switch is located on the upper left hand  
corner as show on the drawing to the right.  
13  
14  
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FULLSTEP OUTPUT SIGNAL  
TIMING  
The MDM60001 has an active LOW open drain output at Connector P1, Pin 7 labeled ON  
F/S OUT. This output is TRUE (active low) for the duration of the full step. A full step  
occurs when either Phase 1&3 or Phase 2&4 cross through zero (ie. full current in one  
winding and 0 current in the other winding). This full step position is a common position  
no matter what resolution is selected.  
The Direction and Microstep Resolution Select inputs are synchronized with the positive  
going edge of the Step Clock input. When the Step Clock input goes high, the Direction  
and Microstep Select inputs are latched and further changes to the inputs are ignored until  
the next rising edge of the Step Clock input.  
After these signals are latched, the MDM60001 looks to see if any changes have occurred  
to the Direction and the Microstep Select inputs. If a change has occurred, the MDM60001  
will execute the change before taking the next step. Only AFTER the change has been  
executed will the step be taken. If no change has occurred the MDM60001 will simply take  
the next step. This feature works as an automatic debounce for the Direction and Microstep  
Select inputs.  
This output can be used to count the number of mechanical full steps the motor has traveled  
without having to count the number of microsteps in between. A controller that utilizes this  
output can greatly reduce its position tracking overhead and thus substantially increase its  
throughput.  
This high speed MOSFET output is non-isolated and has the ability to sustain the  
maximum driver voltage at 25mA maximum.  
The minimum pulse width for the Clock input is 75 nS. The typical execution time for a  
Direction or Microstep Select change is 100nS. The typical execution time for a Clock  
input is 100nS.  
OPTICALLY ISOLATED INPUTS  
The following inputs to the MDM60001 are Optically Isolated.  
The Reset and Enable inputs are asynchronous to any input and can be changed at any time.  
The Reset requires a minimum pulse width of 500 nS.  
Item  
Clock  
Pin #  
The Fullstep output typically occurs 75nS after the positive edge of the Step Clock  
(excluding changes to the Direction or the Microstep Select inputs).  
1
2
4
5
Direction  
On/Off  
Reset  
WARNING! If using a voltage other than +5VDC, the current through the optocoupler  
must NOT exceed the maximum limit.  
The Isolated inputs may be powered by a DC voltage other than +5 VDC. In doing so, care  
should be taken to limit this current, an external resistor should be placed in series with the  
input pins (1-2, 4-5). The value of the resistor should be calculated such that the input  
current is approximately equal to the value listed in the Electrical Specifications.  
15  
16  
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FAULT PROTECTION  
TORQUE/SPEED CURVES  
The MDM60001 is internally protected against over temperature, over/under voltage, and  
short circuits.  
The over temperature set point is between 60C and 70EC. Care should be taken when  
choosing a heatsink so that there is good thermal flow, otherwise hot spots may occur in  
the MDM60001 which will reduce the effectiveness of the thermal protection.  
The short circuit protection consists of PHASE to PHASE, PHASE to GROUND, and +V  
to PHASE.  
In the condition where the DC voltage of the driver drops below +23 volts the driver’s  
output stage will be disabled. When the driver’s DC voltage rises back above 24 volts, the  
driver will automatically re-enable the outputs (if previously enabled).  
In the condition where the DC voltage of the driver exceeds approximately 82 volts, the  
driver will execute a fault.  
If any fault is detected by the MDM60001, the outputs will be disabled and can not be re-  
enabled without resetting or powering down the driver. At the same time the open collector  
FAULT output is turned on.  
The FAULT output is non-isolated and has the ability to sustain the maximum driver  
voltage. It is capable of sinking up to 25mA which can be used to drive a small relay or  
LED.  
OVER TEMPERATURE PROTECTION  
The MDM60001 microstepper is a power device and is designed to protect itself from  
overheating. It does this by monitoring the surface temperature of the drive plate and will  
automatically shutdown if the temperature reaches 60°C (152°F).  
To prevent nuisance shutdowns, proper heatsinking is required to limit the temperature at  
the drive plate.  
A thermal grease or thermal pad should be used between the drive plate and the mounting  
surface of the heatsink. The fins of the heatsink should be mounted vertically with at least  
3" of space below and above the heatsink for efficient cooling.  
In some applications fan cooling will be required to maintain the plate temperature below  
the 60°C shutdown temperature.  
17  
18  
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Notes:  
TORQUE/SPEED CURVES  
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Notes:  
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