Anaheim Stepper BLD731 Users Guide

							#L010012BL73-1 TRIPLE AXIS
BILEVEL STEP MOTOR DRIVER
· 10 Amperes/Phase Maximum
· Operating Current
· 7 Amperes/Phase Standstill
· Motor Current Transient Voltage Suppression
· Half-Step and Full-Step Operation
· Bilevel Drive Operation
· No RFI or EMI Problems
· TTL/CMOS Compatible Inputs
· Clock and Direction or
· Dual Clock Operation
· Motor Turn-Off Input
GENERAL DESCRIPTION
The Anaheim Automation BL73-1 Step Motor Driver is
designed to operate six or eight lead, 4-phase step motors
rated at 1 - 7 amps/phase.  Outstanding motor performance
is provided by means of a Bilevel Drive technique.
BILEVEL DRIVE
The basic function of a step motor driver is to control the
motor winding currents.  Motor performance is determined by
how fast the driver can increase and decrease the winding
currents. A rapid rise in winding current is achieved by
applying a high voltage directly to a motor.  This rapid rise of
current is also referred to as the kick or operating current.
 When a desired current level is reached, a low voltage is
applied to maintain a suitable holding current level.  When a
motor winding is turned off, a rapid decrease in winding
current is achieved by routing the energy in the collapsing
field back to the power supply through a high voltage path. 
The high voltage supply furnishes the energy necessary to
maintain motor output torque at high step rates thus providing
high mechanical power output.  The low voltage supply
provides much of the current needed at low step rates and all
of the holding current. 
Bilevel drivers do not use high frequency switching techniques
as chopper drivers do.  Consequently, they do not create the
EMI, RFI, and motor heating problems that are associated
with chopper drivers.
EXCITATION MODE SELECT
Users have a choice of dual-phase, full-step operation or
half-step operation. Dual-phase, 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 alternately
energizing one, and then two, phases at a time, rotating the
motor 0.9 degrees per step.  Full-step operation is onlysuggested for applications that specifically require that mode,
such as when retrofitting existing full-step systems.
STEP AND  DIRECTION CONTROL
The BL73-1 has two clock options:  Clock and Direction, or
Dual Clock operation. PIN 5 on Terminal Block(s) 1,2 & 3 can
be configured as the Direction Input or CCW Input by placing
jumper JP2, JP8, and JP14 in the appropriate position (see
Table 1).  Pulses applied to the Clock input cause the motor
to step in the clockwise direction if the Direction Input is a logic
1 or the counterclockwise direction if the Direction Input is a
logic 0.  Pulses applied to the CCW Input cause the motor
to step in the counterclockwise direction.  Either positive or
negative going pulse may be selected by setting JP1, JP7,
and JP13 to the appropriate position (See Table 1).
MOTOR ON/OFF INPUT
The motor on/off input allows for 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, especially in applications where
motors are stopped for long periods and no holding torque is
required.
ORDERING INFORMATIONDPF73003         3-AXIS DRIVER PACKBL73-1               STANDALONE  DRIVER ONLY        PSA100V5A      RECOMMENDED ANAHEIM                                       AUTOMATION POWER SUPPLY 
						

							#L010012 TRANSIENT VOLTAGE SUPPRESSION (TVS)
The BL73-1 contains TVS diodes on the motor phase
outputs.  The TVS diodes allow longer motor cables to beused.  Normally when using long motor cables, voltagetransients and spikes are created.  These transients often
exceed the voltage ratings of the output phase transistors,
resulting in blown transistors.  The addition of the TVS diodes
suppresses these transients and protects the transistors
against damage. 
ADJUSTING KICK CURRENT
The kick (or operating) current level is the desired phase
current level that the high voltage provides each time a step
is taken.  The high voltage is turned off when this level is
reached. The kick current level should be set to
approximately 1.4 times the rated phase current.  For
example, a motor rated at 5 amps/phase should be kicked
to 7 amps (5x1.4=7).  Table 2 shows various kick current
levels for the corresponding phase currents. 
WARNING: The kick current level must be set before
operating a motor.
DETERMINING LOW-VOLTAGE SUPPLY LEVEL
The Low Voltage supply should provide the motor with 70%
to 100% of the rated  motor current.  Higher motor current will
produce more holding torque.  To calculate the Low Voltage
(VLV), use the following equation where If is the rated motor
current and Rf is the resistance of the motor.
VLV = If x [Rf + 0.1] + 1.6
Example: To operate a motor with ratings of If = 4.7 Amps
and Rf = 0.39 Ohms, calculate VLV as follows: 
 VLV = 4.7 (0.39 + 0.1) + 1.6 = 3.9 Volts
To calculate VLV for 70% of the rated motor current use the
following equation:
VLV = 0.7 If x [Rf + 0.1] + 1.6
VERIFYING CORRECT STANDSTILL CURRENT
The final determination of whether adequate standstill current
is provided by the VLV supply may be made as follows:
1.      Ground the mode select (HS/FS pin 8) input.
2.Measure  the voltage drop across resistors R7, R16
(Axis 1), R38, R47 (Axis 2), and R69, R78 (Axis 3).  See
Figure 3.
3.Multiplying  the reading by 20 gives the standstill current
in Amps, which should be between 70 and 100% of
rating.
4.Adjust VLV accordingly.  The VLV can be any voltage
equal to the step motors rated volts/phase, plus two
more volts, maximum.
5.Disconnect ground from Mode Select Input if the driver
is to be used in half-step operation.DETERMINING HIGH-VOLTAGE SUPPLY LEVEL
The high-voltage supply (VHV) can range from 24 VDC to 100
VDC. The BL73-1 requires only a single high voltage supply.
 The VHV supply determines high-speed torque performance
and acceleration. Higher values for VHV will produce more
torque at higher speeds.  Lower values for VHV will result in
lower torque at higher speeds.
POWER SUPPLY CONNECTIONS
The VLV and VHV power supplies and the 0VDC can be
connected to the BL73-1 through the quick disconnects on the
back of the board to the quick disconnects.  QD1, QD4, and
QD7 are High Voltage.  QD2, QD5, and QD8 are Low
Voltage.  QD3, QD6, and QD9 are 0VDC.
See Figure 3.
MOTOR CONNECTIONS
A typical hookup diagram for BL73-1 driver applications is
shown in figure 2 below. Wiring connected to inputs should be
separated from motor connections and all other possible
sources of interference.
IMPORTANT NOTE: When the wiring from the driver to the
step motor extends beyond 25 feet, consult the factory.
Figure – 2: Typical Hook-up for BL73 
						

							#L010012 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
Clock Inputs:  (Terminals 5 & 6)
15 microseconds minimum pulse width required.  The Clock
inputs are internally pulled down to 0VDC through a 10KW
resistor for positive going Clock inputs or pulled up to +5VDC
through a 10KW resistor for negative going Clock inputs. 
Fault Reset: (Terminal 4)
Pulled up to +5VDC through a 10kW resister.
Logic 1 (open) - Driver 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.
Direction Control: (Terminal 5)
Pulled up to +5VDC through a 10kW resistor
Logic 1 (open) - CW motor direction
Logic 0 - CCW motor direction
Excitation Mode Select: (Terminal 8)
Pulled up to +5VDC through a 10kW resistor
Logic 1(open) - Half-step
Logic 0 - 2 f Full-step
Motor On/Off: (Terminal 9)
Pulled up to +5VDC through a 10kW resistor
Logic 1 (open) - motor current on
Logic 0 - motor current off
Fault Output: (Terminal 10)
Open Drain Output
Capable of standing off 40VDC and sinking 100mA
Logic 0 (low) - Driver Fault Detected
Logic 1 (open drain) - No Fault
Output Current Rating:
(Terminals 1, 2, 3, 11, 12, & 13)
10 Amps per phase maximum operating or running current,
and 7 Amps per phase maximum standstill current.  Motor
phase  ratings of 1.0 Amp minimum are required to meet the
minimum kick level.
Power Requirement:
High Voltage: 24VDC - 100VDC
Low Voltage: 3.0VDC - 7.0 VDC
Operating Temperature: 0 to 70 Degrees C
The BL73-1 driver should be mounted to a heat conducting
structure; fan cooling is also recommended to keep the heat
sink within the given temperature range.
Notes:FUNCTIONJP1
JP7
JP13JP2
JP8
JP14JP3
JP9
JP15Terminal 5 = DirectionX2 - 3XTerminal 5 = CCWX1 - 2XPositive Going Clocks2 - 3XXNegative Going Clocks1 - 2XXSmall MotorXX1 – 2Large MotorXX2 – 3Standard Product1 – 22 - 31 - 2              TABLE 1: JUMPER SETTINGS
Potentiometer
SettingRated Motor
CurrentKick current0 - 101.0 - 1.41.2 - 2.010 - 201.4 - 2.02.0 - 2.820 - 302.0 - 2.52.8 - 3.630 - 402.5 - 3.13.6 - 4.440 - 503.1 - 3.74.4 - 5.250 - 603.7 - 4.25.2 - 5.960 - 704.2 - 4.85.9 - 6.770 - 804.8 - 5.46.7 - 7.580 - 905.4 - 5.97.5 - 8.390 - 1005.9 - 7.08.3 - 10.0        TABLE 2: KICK CURRENT SETTINGS 
						

							#L010012