TECHNICAL REFERENCE BSD V-3A Bipolar Stepper Driver

Transcription

1 TECHNICAL REFERENCE BSD V-3A Bipolar Stepper Driver

2 Contents Chapter 1 Safety Precautions.. 3 Chapter 2 Drive Overview Key Features Drive Description Applications. 4 Chapter 3 Drive Parameters and Installation Drive Technical Characteristics Connection Details Definition of Ports 7 I. Definition of Power Port (Connector1) 7 II. Definition of Motor Power Port (Connector2).. 7 III. Definition of Control Signal Port (Connector3)...8 IV. Indications.. 10 V. Speed ADJ POT...10 VI. Mode and Microstep Selection 10 Chapter4 Trouble Shooting Self Test User Level Trouble Shooting Guide. 12 Chapter 5 Calculations Motor Speed Calculation Motor Position Calculation

3 Chapter1 Safety Precautions For the sake of personal safety and avoidance of property loss, please read these safety precautions carefully before test running and use of the driver. The following safety measures must be strictly followed: Read this user manual carefully. Observe safety precautions strictly. Use a multi-meter to verify that the voltage on the driver terminals is safe; otherwise, the electric shock may occur. Never connect wires while the driver and the motor are working; otherwise, the electric shock may occur. Do not remove the housing of the driver when the power is on or the driver is working; otherwise, the electric shock may occur. To avoid personal injury and property loss, only qualified and service-trained personnel can operate the driver. Follow related technical specifications and electric installation standards during installation. The driver must be securely grounded with the cross section of the ground installation. The driver must be securely grounded with the cross section of the ground cable not less than 1.25mm². Do not insert any object into the driver, which may cause damage to the equipment. If any fault occurs to the drive, please return the driver to the maintenance and repair center. Opening the driver without authorization or improper operation may cause damage to the driver. Removing the enclosure of the driver without authorization will avoid the warranty. The waste driver shall be disposed of as industrial waste to avoid environmental pollution. Statement: When the driver is applied in some mechanical instruments where personal safety is directly involved (e.g. Nuclear power control, medical device, truck, train, airplane, amusement and safety devices), be sure to install proper fault-proof devices to avoid the possibility of personal injury. Electronic devices are not permanently reliable! Adequate safety measures must be taken to ensure personal and equipment safety in case of a failure. The users must be liable for any loss resulting from equipment fault or misoperation of the driver. 3

4 Chapter 2 Drive Overview 2.1 Key Features Digital stepper motor drive with PLC functionality. Suitable for driving two phase bipolar stepper motors. Compact design (54x64x22mm). Single DC power supply (14-36V). Current rating: 3 A rms, 4 A peak. Both Auto and Pulse & Direction mode. Mixed decay for better motor performance. Optically isolated input signals- Pulse, Direction and Disable. Connection to motor power supply and control signals can be easily made by pluggable terminal blocks. With protection function of short circuit, over temperature and reverse polarity. 2.2 Drive Description Full step, Half step and Micro stepping until 1/16 Automatic current reduction Uses highly integrated Trinamic driver IC Low power dissipation Can be interfaced with microprocessor, PC, PLC Ease of installation due to integration Auto pulse generator for self testing Cost effective system due to compactness and reduced wiring 2.3 Applications Industrial applications Robotics Pressing diamond rings Batch coding Setting of extrusion die Label application Wood working 4

5 Chapter 3 Drive Parameters and Installation 3.1 Drive Technical Characteristics Supply Voltage Maximum Current Logic level Maximum step frequency Table 1 Electrical Characteristics 14-36V DC Caution! Should not give more than 36VDC 3A (rms), 4A (peak) 5V & 24V 200kHz on micro stepping Micro step resolution Full step, ½, ¼, 1/8, 1/16 Input Signals Pulse, Direction, Disable Table 2 Operating Environment Cooling Method Operation environment Ambient operating temperature Storage temperature Weight Natural Air Cooling Avoid the environment with great amount of metallic powder, oil mist, or erosive gases. 0-50ºC 0-60ºC 250gm 5

6 3.2 Connection Details 6

7 3.3 Definition of Ports I. Definition of Power Port (Connector1) Pin No Pin Name Function 1 GND Ground terminal of power supply. 2 V+ Positive terminal of power supply. Supply Voltage Supply voltage range is 14 to 36VDC. Caution! Should not give more than 36 VDC. II. Definition of Motor Power Port (Connector2) Pin No Pin Name Function 1 B2 Motor coil B2 connection. 2 B1 Motor coil B1 connection. 3 A2 Motor coil A2 connection. 4 A1 Motor coil A1connection. 7

8 III. Definition of Control Signal Port (Connector3) Pin No Pin Name Function 1 +V0 Constant +5V generated by the drive for external use. Refer to Analog In External Analog input. Refer to GND Ground terminal for Vout, ANALOG,OPT I/O3, OPT I/O2 &, OPT I/O1. 4 I/O Digital Input/Output (Optional). Refer to DIS- External Disable Signal (Input). 6 DIS+ Refer to DIR- 8 DIR+ 9 PUL- 10 PUL+ External Direction Signal (Input). Refer to External Pulse (Input). Refer to Vout Constant +5V output with respect to GND generated by the drive for external use. This voltage can be used as the supply voltage for external potentiometer etc. Caution: Maximum current capacity of this +5V is 100mA only External Analog Input. The external analog signal should be within the range of 0 to +5V. Maximum current rating is 10mA.This signal is given through ANALOG with respect to GND. Note: Before using the external analog signal, set the On Board Vertical Potentiometer to a value at which maximum speed is getting (maximum anticlockwise).this will ensure smooth speed variation. Following figure shows the connection diagram of External Analog Input signal using an external potentiometer. Here the supply voltage (+5V) for the potentiometer is taken from the drive itself. 8

9 3.3.3 Digital Input / Output (Optional) There is one digital I/O provided. These are optional and it can be used to connect limit switch or such devices to the drive External Disable Input The user can disable the drive at any time either by giving a +5VDC supply to DIS+ with respect to DIS- or by giving a -5VDC supply to DIS- with respect to DIS+. Giving this input stops the motor independent of all other settings External Direction Input The direction of the motor rotation can be changed either by giving a +5VDC supply to DIR+ with respect to DIR- or by giving a -5VDC supply to DIR- with respect to DIR External Pulse Input To run the motor in Pulse & Direction mode, either a positive logic 5V pulse train generated by PLC or Microcontroller etc should be given to PUL+ with respect to PULor a negative logic 5V pulse train generated by PLC or Microcontroller etc should be given to PUL- with respect to PUL+. Here pulse is referred to a sequence of pulses and each pulse represents a position unit. Caution! The magnitude should not exceed +5V and minimum ON time is 25µsec.Min current 10mA. 9

10 IV. Indications LED-PWR Green LED Power LED LED-RUN Red LED glows in two conditions 1) when drive is enabled in Auto Mode 2)pulse is coming in Pulse & Direction Mode 3) will flash at invalid microstep selection LED-MODE Green LED Glows when Auto mode is selected V. Speed ADJ POT 100K On Board Vertical Potentiometer Used for speed adjustment in Auto Mode. Refer to Speed Adjustment For speed adjustment in Auto mode a small preset is provided in this drive. By rotating anti clock wise direction the speed can be increased. VI. Mode and micro step selection Mode and microstep can be selected using the rotary switch. Mode will be automatically changed to Auto mode when the switch position is in any one of the positions from 8 to F. This time MODE LED (Green LED) will glow. From 0 to 7 positions are used for microstep selection in Pulse & Direction mode. At invalid micro step selection (position 5 to 7 and D to F) RUN LED (Red) will flash. Reset the drive (Turn OFF and Turn ON) after each mode change. Rotary switch positions for different micro stepping selection. Pulse & Direction Mode Auto Mode Switch Position Microstep Switch Position Microstep 0 Full Step 8 Full Step 1 1/2 9 1/2 2 1/4 A 1/4 3 1/8 B 1/8 4 1/16 C 1/16 5 Invalid D Invalid 6 Invalid E Invalid 7 Invalid F Invalid 10

11 Chapter 4 Trouble Shooting 4.1 Self Test The user can self test the drive if the power supply section is OK (If green LED glows). For self testing set the mode to Pulse & Direction and ensure that the drive is in full step. Then make the connections as shown below. Caution! This kind of connection is made only for self testing. Connection Diagram for Self Test Here one push button switch is connected to each digital input PUL+, DIR+ and DIS+. Each press on these push buttons makes a logic level change on the corresponding input. When the push button switch corresponds to Pulse input is pressed, pulse input signal changes from 0 to 5V and when the push button is released it changes from +5V to 0.Then the motor will rotate one step. Like the above method the user can test the Direction, Disable, and I/O inputs of the drive with the corresponding push button switches. 11

12 4.2 User Level Trouble Shooting Guide The table given below shows some user level trouble shooting tips which are useful while working with the BSD 3630 with an external pulse generator. Symptom Cause Action to do Green LED is not glowing Power part does not function. If power supply is OK, please contact us. Red LED is not glowing Pulse is not getting Check pulse generator and connection Red LED is glowing but motor is not running Pulse frequency may be too high; Pulse signal has not the required current capacity. Reduce the frequency; Raise the current capacity of the pulses to at least 10mA. 12

13 Chapter 5 Calculations 5.1 Motor Speed Calculation The speed of the motor is depended on some parameters viz. number of steps per rotation, micro step resolution and number of pulses per second applied. Pulse input signal controls the velocity and acceleration of the motor. The velocity depends on pulse frequency and the acceleration on the change of frequency. 1 X No. of pulses/sec (pps) Motor speed in rotations/sec = Ns X Resolution Where, Ns = 200 (Steps per rotation) for 1.8 step angle motors Resolution = 1.16 (micro steps per step) depends on DIP switch position No. of pulses = the number of pulses per second applied to Pulse pin Note: Normally sudden start/stop rpm of the motors depend on the applied voltage, motor parameters and load on motor. It is possible to run the motor above the sudden start/stop rpm with acceleration.toque will be reduced at higher speed. 5.2 Motor Position Calculation The sum of the pulses indicates the position displacement performed. Motor position (rotations) = 1 X No. of pulses Ns X Resolution Caution! BSD 3630 does not contain any user serviceable part. Attempting to open the case or replace any internal component may result in damage to the unit and/or personal injury. This also voids the warranty. 13