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. The only
exception to this would be use of the program examples in this manual.
USER'S GUIDE
MODEL MDM40001
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.
TRADEMARKS
ANAHEIM AUTOMATION
910 E. Orangefair Lane
Anaheim, CA 92801
Control Link and Driver Pack are registered trademarks of Anaheim Automation.
TEL (714) 992-6990
FAX (714) 992-0471
E-Mail: [email protected]
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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
65VDC Power Supply
80VDC Power Supply
Shielded Motor Cable
MDM40001 (This Manual)
MDM60001
MDM10001
PSA40V4A
PSA65V5A
1
2
3
4
Step Clock Input: 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.
Direction: This isolated input is used to change the direction of the
motor. Physical direction also depends on the connection of the motor
windings.
PSA80V4A
AA129010S
+5 VDC: 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.
MDM40001
This is the model number for a Single Axis, 4 Amp Microstep Driver. The MDM40001
requires a dc power supply (up to 40 volts). The PSA40V4A is the recommended power
supply that Anaheim Automation supplies.
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.
MDM60001
This is the model number for a Single Axis, 6 Amp Microstep Driver. MDM60001
requires a 65Vdc power supply (PSA65V5A) that Anaheim Automation provides,
purchased separately.
5
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
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.
6
7
Fault: This OPEN DRAIN output indicates a fault has occurred (ie.
short circuit or over temperature). This output is active low.
Fullstep: 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, 4A power supply.
PSA65V5A
Table 1 - CONNECTOR P1
This is an unregulated 65VDC, 5A power supply.
PSA80V4A
This is an unregulated 80VDC, 4A power supply.
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PIN DESCRIPTIONS P2
Pin#
TYPICAL HOOK-UPS FOR APPLICATION:
Description
1
Reduction Adjust: 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
Ground: Supply Voltage Ground. ( Return )
+V: Supply Voltage Input. (+12 - 40VDC)
Phase 4 of the Step Motor
Phase 2 of the Step Motor
Phase 3 of the Step Motor
Phase 1of the Step Motor
Table 2 - CONNECTOR P2
FIGURE 1
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SPECIFICATIONS
Drain-Source on
Resistance
Fullstep Output
Ics=25mA DC
.65
ohm
s
ABSOLUTE MAXIMUM RATINGS
INPUT VOLTAGE
+12 TO +48 VDC
4 AMPS PEAK
70° C
OUTPUT CURRENT
PLATE TEMPERATURE
STORAGE TEMPERATURE
INPUT CURRENT (PINS 1, 2, 4, 5)
40° TO +125° C
15 mA Max
ELECTRICAL SPECIFICATIONS (TA=25EC, V+ = 40VDC)
ITEM
TEST
CONDITION
MIN TYP MAX UNI
TS
Input Voltage
12
.4
24
40
V
Phase Output Current
Phase Output Current
RMS
Peak
3
4
A
A
Quiescent Current
Outputs Floating
85
mA
W
Active Power
Dissipation
Iout=3 Amps RMS
12
15
Input Forward Current
Input Pins
1, 2 , 4, 5
7
mA
Input Forward Voltage
1.5
1.7
V
V
Input Reverse
5
Breakdown Voltage
Output Current
Fault, Fullstep
Outputs
25
mA
V
Collector-Emitter
Voltage
Fault Output
140
0.2
100
Collector-Emitter
Saturation Voltage
Fault Output
Ics=25mA DC
V
Drain-Source Voltage
Fullstep Output
V
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DETERMINING OUTPUT CURRENT
Reducing the output current in the MDM40001 can be accomplished by connecting an
external resistor (1/8 watt or higher) between pins 1and 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.
The output current for the motor used when microstepping is determined differently from
that of a half/full unipolar driver. In the MDM40001, a sine/cosine output function 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 MDM40001. 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).
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:
SETTING OUTPUT CURRENT
The output current on the MDM40001 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 MDM40001 uses a 1mA 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:
Output Reduction Current (Amps)= .002 x *R(Current Adjust) xR(CurrentReduction)
R(Current Adjust) +R(CurrentReduction)
RMS OUTPUT CURRENT (Amps) = (0.707)(0.002)(Resistance in Ohms)
Figure1
See
NOTE: When connecting the current reduction resistor between pins 1 and 2 of
connector
RMS Current
Resistor Value
RMS Current
Resistor Value
845
P2 , the lenth of the leads should be as short as possible to help minimize noise coupled
into the driver.
0.3 A
0.4
0.5
0.6
0.7
0.8
0.9
1.0
1.1
210
280
357
422
487
562
634
698
768
1.2
1.4
1.6
1.8
2.0
2.2
2.4
2.6
2.82
976
MOTOR SELECTION
1130
The MDM40001 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).
1270
1400
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.
1540
1690
Since the MDM40001 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
MDM40001 is set to the appropriate current level based on the motor being used.
1820
2000
TABLE 3: RESISTOR VALUES WITH RESPECT TO OUTPUT CURRENT
Closest 1% value selected
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.
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.
REDUCING OUTPUT CURRENT
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STEP MOTOR CONFIGURATIONS
4 Lead Motors
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.
6 Lead Motors
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.
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.
8 Lead Motors
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.
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.
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! 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.
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.
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CONNECTING THE STEP MOTOR
Anaheim Automation Step Motor Selection Guide
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.
Part Number
Motor Current
(Unipolar Rating)
[ Amps ]
Series
Configuration
1% Resistor
Value
Refer to Figure 1 for TYPICAL APPLICATION HOOK-UP
[ Ohms ]
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
23D102
23D104
23D108
23D204
23D209
23D306
23D309
34D106
34D109
34D207
34D209
34D307
34D311
1.0
2.0
3.9
1.8
4.7
2.9
4.6
3.0
4.8
3.5
4.6
3.5
5.5
487
976
to the direction input, switch the wires on Phase 1 & Phase 3.
1910
845
WARNING: Do not connect or disconnect motor wires while power is applied!
CONNECTING POWER
2000
1400
2000
1470
2000
1740
2000
1740
2000
Pins 3 and 4 on connector P2 are used to connect the DC Power Supply to the
MDM40001. 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:
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.
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.
TABLE 4: Resistor Table Selection is based on 6-Lead Step Motors
Series Coil Configurations.
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MICROSTEP SELECTION
FULLSTEP OUTPUT SIGNAL
The number of microsteps per step is selected by switches 1, 2, 3, and 4 of the DIP
switch. Table 5 shows the standard resolution values along with the associated inputs
for the select switches 1, 2, 3 and 4. The standard waveforms are sinusoidal.
The MDM40001 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.
Resolution
Steps/
Rev
Select 1
Select 2
Select 3
Select 4
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.
2
4
400
ON
OFF
ON
ON
ON
ON
ON
ON
ON
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
This high speed MOSFET output is non-isolated and has the ability to sustain the
maximum driver voltage at 25mA maximum.
16
32
64
128
256
5
OFF
ON
ON
ON
OPTICALLY ISOLATED INPUTS
OFF
OFF
OFF
OFF
ON
ON
The following inputs to the MDM40001 are Optically Isolated.
OFF
ON
ON
ON
OFF
OFF
ON
ON
Item
Clock
Pin #
OFF
ON
ON
1
2
4
5
OFF
OFF
OFF
OFF
OFF
Open
Direction
On/Off
Reset
10
25
50
125
OFF
ON
ON
ON
ON
ON
OFF
OFF
OFF
OFF
ON
OFF
ON
WARNING! If using a voltage other than +5VDC, the current through the optocoupler
must NOT exceed the maximum limit.
250
OFF
ON
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.
TABLE 5
In order to select the microstepping
swicthes the top cover plate of the driver
must be removed. The dip switches are
located on the top left hand corner as
show on the drawing to the right.
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TIMING
FAULT PROTECTION
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.
The MDM40001 is internally protected against over temperature and short circuits.
The over temperature set point is between 60EC and 70EC. Care should be taken when
choosing a heatsink so that there is good thermal flow, otherwise hot spots may occur in
the MDM40001 which will reduce the effectiveness of the thermal protection.
After these signals are latched, the MDM40001 looks to see if any changes have occurred
to the Direction and the Microstep Select inputs. If a change has occurred, the
MDM40001 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
MDM40001 will simply take the next step. This feature works as an automatic debounce
for the Direction and Microstep Select inputs.
The short circuit protection consists of PHASE to PHASE, PHASE to GROUND, and +V
to PHASE.
If any fault is detected by the MDM40001, 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 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.
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.
The Reset and Enable inputs are asynchronous to any input and can be changed at any
time.
OVER TEMPERATURE PROTECTION
The Reset requires a minimum pulse width of 500 nS.
The MDM40001 microstepping 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).
The Fullstep output typically occurs 75nS after the positive edge of the Step Clock
(excluding changes to the Direction or the Microstep Select inputs).
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.
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TORQUE/SPEED CURVES
TORQUE/SPEED CURVES
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