Anaheim Stepper MBC10P31 Users Guide
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August 2012 L010184 MBC10P31 Series Programmable Pulse Generator User’s Guide 910 East Orangefair Lane, Anaheim, CA 92801 e-mail: info@anaheimautomation.com(714) 992-6990 fax: (714) 992-0471 website: www.anaheimautomation.com ANAHEIM AUTOMATION
August 2012 L010184 General Description The MBC10P31 is a low-cost single axis step motor driver integrated with a programmable pulse genera- tor. The MBC10P31 microstep driver/pulse generator has an output current capability of 1.5A minimum to 10.0A maximum (peak rating). The MBC10P31 driver operates with a DC voltage of 20VDC to 80VDC. The MBC10P31’s internal controller can store two different programmable motion profi les. The MBC10P31 also has directional soft and hard limit switch inputs, a busy output and a clock output that can be used for daisy chaining drivers together. The MBC10P31 driver features direction control and motor current On/ Off capabilities. The “Reduce Current Enabled” feature automatically reduces motor current to 50% of the set value. The driver has built in features to indicate power on (green LED), running (yellow LED) and error conditions (red LED). The MBC10P31 has a fi xed step resolution of 2000 steps/revolution for a 1.8° stepper motor. The bipolar drive confi guration handles 4, 6, and 8 lead step motors and is also equipped with over current protection. The MBC10P31 communicates via USB communication. The easy to use Windows software, SMPG-SMSI Software, is used to directly set up the two different motion profi les. MBC10P31 Features • Output Current of 10.0A Peak • 2000 Steps/Revolution • On-Board Programmable Pulse Generator with 2 motion profi les • Pulses From 1Hz to 50kHz • Directional Soft and Hard Limit Switch Inputs • Pulse Generator Clock Output • Busy Output • Motor On/Off Input and Automatic Current Reduction • Short Circuit Protection Motion Profi les and Running the Indexer The programmable pulse generator has the ability to store two different motion profi les. The profi les include a base speed (starting speed), a maximum speeds (running speed) and an ac- celeration/deceleration. The base speed has a range of 1-5000Hz, the maximum speed has a range of 1 Hz-50kHz and the acceleration/deceleration has a range of 100 to 9,999,999 steps/sec 2 There are “two ways” to get the unit to index: Examples are shown on the next page. 1. The fi rst way is to directly control it from the computer with the software provided. Once the motion profi les have been set, the unit is ready to run. From the software, the user can select which profi le to run and then click the begin motion button. If a soft limit command is sent or a soft limit input is activated, then the unit will immediately ramp down to base speed and stop. To stop motion immediately a hard limit command needs to be sent or a hard limit input must be activated. 2. The second way to make the unit run is to activate the run input. When the run input is activated, it looks at the max1\max2 input and selects from memory the speed profi le that was selected. To stop motion, release the run input. When this input is release, the deceleration option will then either ramp down to base speed and stop or just hard stop. If a soft+ or soft limit switch is activated when the Run input is active, the pulse generator will ramp down to base speed and keep running. If a hard+ or hard- limit switch is activated when the run input is active, the motor will stop immediately.
August 2012 L010184 Operation with Ramp Down Option A. Run is activated; Starts at base speed and immediately ramps up to max speed. B. Run is still active; Max speed is reached (keeps running at max speed). C. Run is inactivated; Motor ramps down. D. Pulses automatically stop when base speed is reached. Operation without Ramp Down Option A. Run is activated; Starts at base speed and immediately ramps up to max speed. B. Run is still active; Max speed is reached (keeps running at max speed). C. Run is inactivated; Motor stops immediately. Operation with Soft and Hard Limits A. Run is activated; Starts at base speed and immediately ramps up to max speed. B. Run is still active; Max speed is reached (keeps running at max speed). C. Run is still active; Soft limit is hit; Motor ramps down to base speed and keeps running. D. Run is still active; Base speed is reached (keeps running at base speed). E. Run is inactivated or Hard Limit is hit; Motor stops immediately.
August 2012 L010184 LEDs When powered and operated properly, the status LED will be green. When an error occurs, the LED will change to RED and an error code will be generated in the error code register. To read and clear the error with the software, click on the “Verify Parameters” button. To read and clear the error while in “Direct Mode” use the “!” command. Once the error has been read and cleared, the LED will re- turn to green and the error code register will be cleared. Refer to the table page 20 for a list of the error codes. When the pulse generator is running the yellow LED will be on. Refer to the dimension drawing for location of the LEDs. For more detail on “Direct Mode” Refer to the Direct Talk Mode Section of User’s Guide. Baud Rates A term used frequently in serial data communications. A “baud” is defi ned as the reciprocal of the shortest pulse duration in a data word signal, including start, stop, and parity bits. This is often taken to mean the same as “bits per second”, a term that expresses only the number of “data” bits per second. Very often, the parity bit is included as an information or data bit. The MBC10P31 only ac- cepts a baud rate of 115.2k. Inputs and Outputs Inputs: All inputs are pulled up to 5VDC. A logic “0” activates inputs that are pulled up. An uncon- nected input will always remain inactive. Direction: When this input is not active, the motor will be moving in the clockwise or “+” direction. When this input is active, the motor will move in the counterclockwise or “-” direction. This input is not read when a software index command is given. To change direction while using the software, change the direction option there. When two motors are used, the second motor will move in the opposite direction by default. On/Off: When this input is not active, the motor will enabled or energized. When this input is active, the motor will be disabled or de-energized. Run: When this input is not active the pulse generator is stopped and will not output any pulses. When this input is active the pulse generator will output pulses starting at the base speed rate and will ramp up and output pulses at the max speed rate. When this input is released, the pulse generator will ramp down to base speed and stop or hard stop depending on the deceleration option. Max1/Max2: This input is used to select which profi le runs when the run input is activated. To use profi le 1, then this input needs to be inactive (open). To use profi le 2, then this input needs to be active. Soft Limits: These two inputs are controlled by the direction of the pulse generator. When the pulse generator is running in the positive direction only soft+ will work. When the pulse generator is running in the negative direction then only soft- will work. When pulled low the motor will ramp down to base speed and continue running until the run input is released or a hard limit is reached. Hard Limits: These inputs are controlled by the direction of the pulse generator. When the pulse generator is running in the positive direction only hard+ will work. When the pulse generator is run- ning in the negative direction then only hard- will work. When pulled low the pulse generator will stop all pulses to the motor. To reverse off of a Hard Limit, change directions, and activate the run input again to move in the opposite direction. Busy Output: This is an open drain output that is capable of sinking 75mA. It is current sinking when the indexer is running and open when the indexer is not running. Clock Output: This is an open drain output that is capable of sinking 75mA. This output will pulse at the same frequency as the internal clock to the motor driver. It is pulled low during the active pulse of the pulse generator. When the pulse generator is not running this output is open.
August 2012 L010184 Connector P2: Pin # Description 1 Power Supply Ground (0VDC) 2 Power Supply Input (20VDC - 80VDC) 3 Motor Phase 1 (A) 4 Motor Phase 3 (/A) 5 Motor Phase 2 (B) 6 Motor Phase 4 (/B) 7 Run 8 Max 1/Max 2 9 Motor On/Off 10 Direction In 11 Busy Output 12 Clock Output 13 Soft Limit + 14 Soft Limit - 15 Hard Limit + 16 Hard Limit - Connector Descriptions
August 2012 L010184 Ordering Information Specifi cations Part Number Description MBC10P31 10.0A Microstep Driver with integrated programmable Pulse Generator PSA80V4A-1 Power supply for MBC10P31 (80V@4.0A) AAUSB-6 6 foot USB communication cable, A-Male to B-Male Voltage Requirements: 20 - 80 VDC Run Input (Pin 6): Start Low (0VDC) Direction Input (Pin 10):CW High (Open) CWW Low (0VDC) On/Off Input (Pin 9):On High (Open) Off Low (0VDC) Busy Output (Pin 11): Open Drain type Output, 75mA Sink, 40VDC Stand Off Clock Output (Pin 12): Open Drain type Output, 75mA Sink, 40VDC Stand Off Clock Out Frequency (Pin 12):Min 1 Hz Max 50kHz Output Current: T A=25°CMin 1.5A peak Max 10.3A peak Driver Chopping Frequency: 25kHz - 30kHz Operating Temperature: 0° - 70° C LEDsGreen Power On Red Programming Error Yellow Pulse Generator is busy Com Port Settings: 115200,N,8,1
August 2012 L010184 Setting the Output Current The output current on the MBC10P31 is set by the on-board potentiometer. This current adjust potentiometer determines the per phase peak output current of the driver. This relationship be- tween the output current and the potentiometer setting is as follows: Potentiometer Settings Reducing Output Current Reducing the output current is accomplished automatically depending on the current reduction setting in the SMPG-SMSI software. The amount of current per phase in the reduction mode is approximately 50% of the set current. When the current reduction circuit is activated, the current reduction resistor is paralleled with the current adjustment potentiometer. This lowers the total resistance value, and thus lowers the per phase output current. This is done when the pulse generator is not running. Peak Current Potentiometer Setting 1.5A 0% 2.4A 10% 3.0A 20% 4.0A 30% 5.2A 40% 6.4A 50% 7.7A 60% 8.7A 70% 9.8A 80% 10.0A 90% 10.3A 100%
August 2012 L010184 Determine Output Current The output current used for motor when microstepping is determined differently from that of a full/half step unipolar driver. In the MBC10P31, 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 wiring confi guration of the motor. There is a current adjustment potentiometer used to set the output current of the MBC10P31. This sets the peak output current of the sine/cosine waves. The specifi ed motor current (which is the unipolar value) is multiplied by a factor of 1.0, 1.4, or 2.0 depending on the motor confi guration (series, half-coil, or parallel). Step Motor Confi gurations Step motors can be confi gured as 4, 6, or 8 leads. Each confi guration requires different currents. Refer to the lead confi gurations and the procedures to determine their output current. WARNING! Step motors will run hot even when confi gured correctly. Damage may occur to the motor if a higher than specifi ed current is used. Most specifi ed motor currents are maximum values. Care should be taken to not exceed these ratings. 6 Lead Motors When confi guring a 6 lead motor in a half-coil confi guration (connected from one end of the coil to the center tap), multiply the specifi ed per phase (or unipolar) current rating by 1.4 to determine the current setting potentiometer value. This confi guration will provide more torque at higher speeds when compared to the series confi guration. When confi guring the motor in a series confi guration (connected from end to end with the cen- ter tap fl oating) use the specifi ed per phase (or unipolar) current rating to determine the current setting potentiometer value. 4 Lead Motors Multiply the specifi ed series motor current by 1.4 to determine the current adjustment potenti- ometer value. 4 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.
August 2012 L010184 8 Lead Motors Series Connection: When confi guring the motor windings in series, use the per phase (or uni- polar) current rating to determine the current setting potentiometer value. Parallel Connection: When confi guring the motor windings in parallel, multiply the per phase (or unipolar) current rating by 2.0 to determine the current setting potentiometer value. Note: After the current has been determined, according to the motor connections above, use the potentiometer setting table to choose the proper setting for the current setting potentiometer. Connecting the Step Motor The MB10P31 is designed to accept one motor. For wiring of the motor refer to the pages con- taining the connector descriptions and hookup diagrams. The motor is wired into pins 3, 4, 5 and 6 of the terminal block. 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 to the direc- tion input, switch the wires on phase 1 and phase 3. With the operation of 2 motors, they will run in the opposite direction when wired the same. WARNING: Do not connect or disconnect motor wires while power is applied! Circuit Protection This driver is equipped with over current protection. Note: When drive experiences a fault condition, it will seize to function. Power down, inspect wiring, motors, etc. and allow for a 30 second pause to resume functioning. If driver is too hot, additional ventilation and airfl ow should be added to prevent temperature to exceed recommended temperature limit.