Anaheim Stepper DPF11451 Users Guide
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11FIGURE 2 type H0 is a combination of the HOME and SOFT limit commands. When active high, H1 Homing Mode is selected. H1 is used for anti-backlash protection. It performs a decelerate, reverse, return off switch operation. NOTE: the switch must remain closed during deceleration, reverse, and return in H1 Mode. 15 FASTWhen active low, it is used in conjunction with JOG/RUN to cause a fast run (base speed) operation in the specified direction. 16BUSYThis open collector switch output is ON when the motor is moving. This output can sink 0.5A and stand off 40Vdc maximum. A 10k ohm pullup resistor can be jumpered in place to provide TTL levels (see section on Jumpers). 17CLOCKThis output is an open collector output, 15 microseconds wide (minimum) that is the clock input for the motor driver. It is buffered to assure adequate drive for an LS-TTL input. This signal is internally connected to the driver. 180VDCGround (0Vdc). 19DIRECTIONClockwise (CW) motion causes this output to be active high i.e. logic “1. Counterclockwise motion causes this output to be active low i.e. logic “0. This output tells the motor driver which direction to run. This signal is internally connected to the driver. 20COMPLETEThis open collector switch output turns on after the indexing cycle is executed. The pulse width (time that this output is on) is adjustable from about 12ms to 120ms (see Table). This output can sink 0.5A and stand off 40Vdc maximum. A 10k ohm pullup resistor can be jumpered in place to provide TTL levels. (see section on Jumpers). SETTINGPULSE WIDTHSETTINGPULSE WIDTH 112 ms679.5 ms 225.5 ms793 ms 339 ms8106.5 ms 452.5 ms9120 ms 566 ms---- TYPICAL HOOK-UPS FOR BUSY AND COMPLETE OUTPUTS OF THE MANUAL PRESET INDEXER BOARD: K1 will energize immediately after completion of an index cycle and remain energized for approximately an amount of time set by the “COMPLETE PULSE WIDTH” POT. K2 will be energized throughout an index cycle. MANUAL PRESET INDEXER TERMINAL (P2) DESCRIPTION PINFUNCTIONDESCRIPTION 1+5VDC+5VDC Regulated Voltage Supply Output 2 +12VDC Unreg+12VDC Unregulated Voltage Supply Output 30VDCGround (0Vdc). 40VDCGround (0Vdc). 59 - 12VAC IN 9 - 12VAC Voltage Supply Input for PCL451 version. 69 - 12VAC IN9 - 12VAC Voltage Supply Input for PCL451 version.
TIME SPEED BASE SPEED MAXIMUM SPEED ACCELERATION DECELERATION12FIGURE 5: Velocity Profile USING THE MANUAL PRESET INDEXER SELECTING MOTION PARAMETERS The velocity profile (motion speed and acceleration) is determined by the four green switches; the Base Speed, Max Speed, Acceleration/Deceleration, and Factor. Figure 5 shows a typical velocity profile of a step motor. BASE SPEED This is the speed at which the motor starts to run. There are 256 choices of Base Speeds as shown in the Table 3. They range from 2 steps/second to 3,611 steps/second. MAX SPEED As shown in Table 2, there are 256 choices available ranging from 163 steps/second to 14792 steps/second. ACCELERATION/DECELERATION The step motor starts to accelerate after taking 4 steps at the base speed and continues until it reaches the selected maximum speed taking the number of steps set by A/D at each speed in the internally generated ramp table. A/D=0 is no acceleration (run at BASE speed only), A/D=1 is the fastest (minimum ramp time), and A/D=F is the slowest (maximum ramp time). The step motor starts to decelerate at the calculated point and continues until it reaches the selected base speed and stops. FACTOR The F switch should be set first because it directly affects the Base and Max speed. Table 1 lists the maximum obtainable stepping rates for all F switch settings with the maximum speed F. FMax(steps/sec)FMaxFMaxFMax 0147924493082548C728 192645426691816D484 2716563759A1411E366 3584173360B946F246 TABLE 3: MAXIMUM MAX RATES FOR FACTOR SETTINGS EXAMPLE : Assume that the motor is to run at a Max Speed of 4500 steps/second. It can be seen from the table above that this speed can only be obtained with the F switch setting of 0 through 4. Any of these switch settings could provide speeds in excess of 4500 steps/second. The rule of thumb is to always chose the highest F switch setting that will provide the desired Max Speed, and also give the widest range for Base Speeds. In this example, F with a switch setting of 4 is the best choice. For a desired speed of 1200 steps/second, set F switch to A. For a desired speed of 13000 steps/second, only an F switch setting of 0 will suffice.
13 SETTING THE M SWITCH Now that we have selected the F switch setting, we can find the value for M from Table 2. The factor setting is in the left hand column, and the Max Speed setting is along the top row. In example 1 for the desired M of 4500 steps/second, we set the F switch at 4. Table 1 lists the maximum speed values for each switch setting of F. Looking at the M values in Table 2 for an F switch setting of 4, the closest speeds are 4495 (M=C) and 4631 (M = D). For the desired maximum speed of 1200 steps/second (F=9) and M switch setting of 0 (1207 sps) or A (1173 sps) can be used. A speed of 13000 sps (F=0) requires an M switch setting of either A (12737 sps) or B (13102 sps). SETTING THE B SWITCH By choosing an F value, we restrict our choice of Base Speed to 16 possible values (see Table 3). In example 1, from maximum speed of 4500 steps/second (F = 4) we can select Base speeds ranging from 42 to 1223 steps/second. For the desired maximum speed of 1200 sps (F=9), the Base speed can be chosen from a range of 15 sps to 438 sps. If due to the selection of the factor we are limited to a low Base Speed, it is possible to choose a lower Factor and then choose the appropriate Base and Max settings. Thus, for maximum speed of 1200 sps, a Factor of A could also be used, giving the range of Base Speed 11 to 339 sps. M SWITCH SETTING 0123456789ABCDEF F163166170174179183188193199204210217223231238246 E242248253259266272279287295303313322332342354366 D320327335342351360369380390401412425438452467484 C481493504517529543557572588604623641661682705728 B626641656672689706725744764786809833859886915946 A9369579801004102810541082111111411173120712421281132213651411 91207123412631293132513581394143114701511154416011650170217571816 81699173717771820186419111959201120662123218422482316238824662548 72248229823512407246625262591265827302805288429683057315232523360 62520257626352697276228302902297730573141322933233422352736403759 52866293029973067314132183299338434743568366937743886400541324266 43322339734743554363937283821391940224132424643674495463147774930 33953404041314227432644314540465547774904503951815332549156615841 24878498550955211533254595592573258796033619663686551674369487165 16369650466466793694871107279745676427838804582638492873489919264 09968101901042210664109181118511464117581206712393127371310213487138951433014792 TABLE 4: MAX SPEED (FACTOR SETTING VS MAX SETTING)
14 B SWITCH SETTING 0123456789ABCDEF F251015192427323740444750535659 E371422293641485460657175798387 D4101928384854647279869399105110115 C614294357728197109120130141150159166174 B81937567594106126141157170183195207216227 A11285684112140159189212234254274292309324339 9153773109145181205244274303329355377399418438 82152103154205256290349387428464501533564590619 72869138206273341386459515569618666707749784821 63178155231307383434516578640694748795841880922 5358917726435043849558965973079185390695910031052 4421042063084085105776867688499219931054111611671223 3501242473704896106908219191015110111871260133313941460 262154309460610761860102111431264136814741565 1655 17301812 18320641161280910091141135215131671180919472066 2181 22812389 0124310617919 121615191717203822822520273029393120 2957 34483611 TABLE 5: BASE SPEED (FACTOR SETTING VS BASE SETTING) HOMING MODES There are two Homing Modes that may be initiated, H0 and H1. H0 HOMING MODE: This mode causes the motor to run at Max Speed in the direction selected. The motor runs until the nut encounters the SOFT limit switch, at which time the motor decelerates to the Base Speed. The nut continues to run at Base Speed until it hits the Home limit switch. This may be illustrated by using a step motor driving a leadscrew as shown below. CAUTION: The two limit switches should be placed such that the nut after hitting the Soft
STOPS SLOWS DOWN SCREWHOME LIMIT SOFT LIMIT NUT STEP MOTOR15 limit switch has enough time to get to Base Speed before encountering the Home limit switch. H1 H OMING MODE: When this homing mode is selected, the nut seeks home at Max speed. It decelerates to Base speed when the soft limit switch is encountered. The Soft limit switch must remain closed until the motor completely decelerates to Base speed, at which time the controller causes the motor to reverse direction and run at Base speed until the Soft limit switch is no longer closed. This mode is illustrated below. This Homing mode uses only one switch, but a flag is required to keep the switch closed during the deceleration cycle. If only a momentary switch closure is made, the motor will decelerate to Base speed and stop. This stopping point may not be accurate or repeatable; so, the flag is necessary. SETTING THE MOVE DISTANCE The index count or move distance for the DPD72451 can be accomplished by a number of methods. The easiest way is to use the red switches labeled “Internal Index Number” on the unit; these switches are used by default. External Count Modules may also be used. These include the Click Pot Module, AA1748, the Thumbwheel Module, AA1760, the BCD Input Module, AA2210, and the Quad Board, AA1754. These modules set the distance of the move, but will allow for different variations in interfacing (see descriptions in next section). JUMPERS There are four jumpers on the Manual Preset Indexer board. The first jumper, JP1, is used to set the debounce delay
16 FIGURE 6 time for the JOG, HOME, and INDEX inputs. When JP1 is in the “1-2 position, the debounce delay is approximately 12.5 milliseconds. When JP1 is in the “2-3 position, the debounce delay is approximately 0.3 milliseconds. The active low signal on these inputs must be wider than the debounce delay time. To use an external Count Module, the INT/EXT input (pin 13) must be pulled low to a logic “0. The on-board switches will be ignored. External Count Modules plug into either connector labeled “EXTERNAL COUNT MODULE CONNECTOR”(P1 or P2). When only using one module for both FORWARD and REVERSE indexes, jumper JP2must be in the “1-2 position. When using external Count Modules, it is possible to use one module for FORWARD indexing and another module for REVERSE indexing. The connector on the side of the unit is the FORWARD count; the connector on the top (of front face) is the REVERSE count. When using two modules fordifferent FORWARD and REVERSE indexes, jumper JP2 must be in the “2-3 position. JUMPER LOCATION / FUNCTION JP1DEBOUNCE INPUT DELAY 1-212.5 ms 2-30.3 ms
17 FIGURE 7 FIGURE 8 JP2EXTERNAL COUNT MODULES 1-2ONE MODULE (SAME FORWARD AND REVERSE) 2-3SEPARATE MODULES FOR FORWARD AND REVERSE COUNT INPUT BOARDS All of the Count Input Boards or Modules set the number of steps the motor will move when an Index is initiated, but each Module allows for a different variation in interfacing. AA1748 - CLICK POT MODULE A CLICK POT module consists of 10 position (0 - 9) digital pots mounted on a printed circuit board. One pot is used per each decade (digit). These units are available in 2, 4, or 6 decades. The user dials in the step count on the pots. Any time the motor is indexed, it will move the number of steps set on the pots. One module is required per axis. The module is connected to the Manual Preset Indexer via a supplied 5 lead cable. AA1760 - THUMBWHEEL SWITCH MODULE These thumbwheel switches provide an attractive way to input a step count. The user dials in the desired count on the thumbwheels, which can be mounted on an enclosure face. The module is available in 3, 4, 5, or 6 decades. The module is connected via a supplied 5-lead cable.
FIGURE 9 AA1754 - QUAD BOARD COUNTER The quad board module is a 4-bank version of the clickpot module with each bank having 6 decades. The user can dial in four different move lengths and then select any one of them as desired. The module is connected to the indexer via a supplied 5-lead cable. CPinPin 6 O5 N N E CT O R Pin 1Pin 2Pin 3Pin 4 P1 (To Indexer)Common+5VdcClockResetKey0Vdc P2 (Expansion)Common+5VdcClockResetKey0Vdc P3 (Select Select #1Select #2Select #4Key+5Vdc0Vdc Inputs) The selection of the switch banks is done by switching select lines 1 and 2 on connector P3. The select lines are low true meaning that if a select line is pulled low (to 0Vdc), it is recognized as being on or true. When a select line is not pulled low it is internally pulled up to +5Vdc and is off or false. The bank select lines must be set at least 1 millisecond before the Index command is given. The select lines must remain in the set state until the index is complete.
FIGURE 10 Once the move is finished, the select lines may be changed as needed. BANK SELECT TABLESELECTLINE #1#2 SWITCH BANK #100 SWITCH BANK #210 SWITCH BANK #301 SWITCH BANK #411 0 = Low 0 - .8Vdc 1= High 3.5 - 5Vdc Select line #4 is only used if additional count input devices are daisychained to the expansion connector (P2). If select line #4 is low, that quad board is ignored and the count input device connected to the P2 expansion connector is read. This allows multiple quad boards to be used together. The daisychained count input device does not have to be a quad board; it could be a thumbwheel switch or click pot module. AA2210 BCD COUNTER MODULE The AA2210 BCD counter interface module enables the user to select any move length from 0 to 999,999 steps using a standard PLC (programmable logic controller). Selecting the proper inputs creates a count value in steps, resulting in a move distance. The module is connected to the indexer via a supplied 5-lead cable. Note: All Inputs are active low (0-0.8Vdc). All unused inputs may be ignored since they are pulled up. Example: For a move distance of 1234 steps the following inputs should be pulled low. 1s Decade: Bit 4 (TB1, pin 4) 10s Decade: Bit 1 and 2 (TB2, pin 2 and 3) 100s Decade: Bit 2 (TB1, pin 7) 1000s Decade: Bit 1 (TB2, pin 6) All Other inputs must be open or high (3.5-5Vdc).
CMOS+5VDC INPUT1K 10K 220pFSPECIFICATIONS Control Inputs :TTL-MOS Compatible Logic 0: 0 to 0.8 Vdc Logic 1: 3.5 to 5 Vdc All Input Terminals are pulled up to +5Vdc through 1k ohm resistors. Busy and Complete Outputs (pins 16 and 20) are open collector outputs that can sink 500mA and stand-off 40Vdc maximum (no sourcing). Pull-up resistors may be jumpered to these outputs to produce TTL level signals (see section on jumpers). Ground (pin 18) - 0Vdc +5Vdc Output (TB2, pin 1) - Up to 250mA is available for the user to power up external circuitry. The total current drawn from pin 1 and pin 2 must not exceed 250mA. +12Vdc Unregulated Output (TB2, pin 2) - Up to 250mA is available for the user to power up external circuitry. The total current drawn from pin 1 and pin 2 must not exceed 1.0A. 910 E. ORANGEFAIR LANE ANAHEIM, CA 92801 Tel: 714-992-6990 fax: 714-992-0471 email: [email protected]