Anaheim Stepper BLEN3 Users Guide

							AXIS#1 AXIS#2 AXIS#3VLV1 VLV2
VLV3VHV0VDC
0VDC#L010013 BLEN-3 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 BLEN-3 Stepall of the holding current.  applied to the Clock input cause the motor
Motor Driver is designed to operate six orto step in the clockwise direction if the
eight lead, 4-phase step motors rated at 1Bilevel drivers do not use high frequencyDirection Input is a logic 1 or the
- 7 amps/phase.  Outstanding motorswitching techniques as chopper driverscounterclockwise direction if the
performance is provided by means of ado.  Consequently, they do not create theDirection Input is a logic 0.  Pulses
Bilevel Drive technique.EMI, RFI, and motor heating problemsapplied to the CCW Input cause the motor
BILEVEL DRIVE
The basic function of a step motor drivermay be selected by setting JP2, JP4, and
is to control the motor winding currents.JP6 to the appropriate position (See Table
Motor performance is determined by how1).
fast the driver can increase and decrease
the winding currents. A rapid rise in
winding current is achieved by applying aThe motor on/off input allows for de-
high voltage directly to a motor.  Thisenergizing a motor without disturbing the
rapid rise of current is also referred to aspositioning logic.  After re-energizing  the
the kick or operating current.  When amotor, a routine can continue. This
desired current level is reached, a lowreduces motor heating and conserves
voltage is applied to maintain a suitablepower, especially in applications where
holding current level.  When a motormotors are stopped for long periods and
winding is turned off, a rapid decrease inno holding torque is required.
winding current is achieved by routing the
energy in the collapsing field back to the
power supply through a high voltage path.The kick (or operating) current level is
The high voltage supply furnishes thethe desired phase current level that the
energy necessary to maintain motorhigh voltage provides each time a step is
output torque at high step rates thustaken.  The high voltage is turned off
providing high mechanical power output.when this
The low voltage supply provides much ofthe current needed at low step rates andappropriate position (see Table 1).  Pulses
that are associated with chopper drivers.to step in the counterclockwise direction.
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, rotatingMOTOR ON/OFF INPUT
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 only
suggested for applications that specifically
require that mode, such as when
retrofitting existing full-step systems.
STEP AND  DIRECTION
CONTROL
The BLEN-3 has two clock options:
Clock and Direction, or Dual Clock
operation. Terminal 5 can be configured
as the Direction Input or CCW Input by
placing jumper JP1, JP3, and JP5 in theEither positive or negative going pulse
ADJUSTING KICK CURRENT 
						

							#L010013 level is reached.  The kick current level motor current.  Higher motor current will
should be set to approximately 1.4 timesproduce more holding torque.  To
the rated phase current.  For example, acalculate the Low Voltage (Vlv), use theThe high-voltage supply (Vhv) can range
motor rated at 5 amps/phase should befollowing equation where Iö is the ratedfrom 24 Vdc  to 70 Vdc. The BLEN-3
kicked to 7 amps (5x1.4=7).  Table 2motor current and Rö is the resistance ofrequires only a single high voltage supply.
shows various kick current levels forthe motor.The Vhv supply determines high-speed
corresponding phase currents.torque performance and acceleration.
WARNING:  The kick current level must
be set before operating a motor. 
TRANSIENT VOLTAGE
SUPPRESSION (TVS)
The BLEN-3 contains TVS diodes on thePOWER SUPPLY CONNECTIONS
motor phase outputs.  The TVS diodesallow longer motor cables to be used.
Normally when using long motor cables,
voltage transients and spikes are created.
These transients often exceed the voltage
ratings of the output phase transistors,
resulting in blown transistors.  TheMOTOR CONNECTIONS 
addition of the TVS Diodes suppressesVERIFYING CORRECTFigure 3 is a typical hookup diagram for
these transients and protects theSTANDSTILL CURRENTBLEN-3 driver applications. Wiring con-
transistors against damage.  nected to inputs must be separated from
DETERMINING LOW-VOLTAGE
SUPPLY LEVEL
The BLEN-3 is capable of having threeIMPORTANT NOTE: When the wiring
separate low voltage supplies (one forfrom the driver to the step motor extends
each axis)  or a single low voltage supplybeyond 25 feet, consult the factory.
for all three axes.  It is generally better to
use a separate low voltage for each motor,
but a single low voltage may be used to
simplify the power supply.  Jumpers JP7
and JP8 should be clipped out when using
separate low  voltage supplies for each
axis.  Jumpers JP7 and JP8 should be
soldered in place when using a single low
voltage supply.  CAUTION:  CHECK
JUMPERS JP7 AND JP8 BEFORE
APPLYING POWER!
The Low Voltage supply should provide
the motor with 70% to 100% of the ratedVlv = Iö x [Rö + 0.1] + 1.6Higher values for Vhv will produce more
      torque at higher speeds.  Lower values for
Example: To operate a motor with ratingsVhv will result in lower torque at higher
of Iö = 4.7 Amps and Rö = 0.39 Ohms,speeds.
calculate Vlv as follows:  
 Vlv = 4.7 (0.39 + 0.1) + 1.6 = 3.9 VoltsThe Vlv and Vhv power supplies can be
To calculate Vlv for 70% of the ratedterminal blocks TB1-TB3 on the front of
motor current use the following equation:the board, or through TB4 and TB5 (3-pin
Vlv = 0.7 Iö x [Rö + 0.1] + 1.6terminals) on the back of the board. 
The final determination of whether ade-
quate standstill current is provided by the
Vlv supply may be made as follows:
1.      Ground the Mode Select (pin 8)
          input.
2.Measure  the voltage drop across
resistors R11, R13 (Axis 1), R21,
R23 (Axis 2), and R31, R33 (Axis
3).  See Figure 1.
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 +2 volts
maximum.
5.Disconnect ground from Mode
Select Input if driver used is in
half-step operation.DETERMINING HIGH-VOLTAGE
SUPPLY LEVEL
connected to the BLEN-3 through the
motor connections and all other possible
sources of interference.  
						

							,#L010013 Potentiometer
SettingRated Motor
CurrentKick current
0 - 101.0 - 1.41.2 - 2.0
10 - 201.4 - 2.02.0 - 2.8
20 - 302.0 - 2.52.8 - 3.6
30 - 402.5 - 3.13.6 - 4.4
40 - 503.1 - 3.74.4 - 5.2
50 - 603.7 - 4.25.2 - 5.9
60 - 704.2 - 4.85.9 - 6.7
70 - 804.8 - 5.46.7 - 7.5
80 - 905.4 - 5.97.5 - 8.3
90 - 1005.9 - 7.08.3 - 10.0
TABLE 2: KICK CURRENT SETTINGS
FIGURE 3:  HOOKUP DIAGRAM. FUNCTIONJP1, JP3, JP5JP2, JP4, JP6
Terminal 5 = Direction2 - 3X
Terminal 5 = CCW1 - 2X
+ Going ClocksX2 - 3
- Going ClocksX1 - 2
DEFAULT2 - 31 - 2
TABLE 1:  JUMPER SETTINGS 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 10KÙ
resistor for positive going Clock inputs or pulled up to +5Vdc
through a 10KÙ resistor for negative going Clock inputs.  
Direction Control: (Terminal 5)
pulled up to +5Vdc through a 10KÙ resistor
Logic 1 (open) - CW motor direction
Logic 0 - CCW motor direction
Excitation Mode Select: (Terminal 8)
pulled up to +5Vdc through a 10KÙ resistor
Logic 1(open) - Half-step
Logic 0 - 2 ö Full-step
Motor On/Off: (Terminal 9)
pulled up to +5Vdc through a 10KÙ resistor
Logic 1 (open) - motor current on
Logic 0 - motor current off
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 - 70Vdc
Low Voltage: 3.0Vdc - 7.0 Vdc
Operating Temperature : 0 to 60 degrees C
The BLEN-3 driver should be mounted to a heat conducting
structure; fan cooling is also recommended. 
						

							#L010013 TORQUE/SPEED CURVES