Anaheim Stepper MBC25SI1TB Users Guide
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August 2012 L0104401 MBC25SI1TB Programmable Simple Indexer/Driver User’s Guide 910 East Orangefair Lane, Anaheim, CA 92801 e-mail: [email protected](714) 992-6990 fax: (714) 992-0471 website: www.anaheimautomation.com ANAHEIM AUTOMATION
August 2012 L0104402 Table of Contents Features.....................................................................................................................................................3 Introduction.....................................................................................................................................................3 Motion Profi les and Running the Indexer ........................................................................................................3 Normal Operation.......................................................................................................................................4 Soft Limit Activated During Index ..............................................................................................................4 Hard Limit Activated During Index ..............................................................................................................4 LEDS...........................................................................................................................................................5 BAUD Rates ................................................................................................................................................5 Inputs and Outputs ........................................................................................................................................5 Connector Descriptions ..............................................................................................................................6 Ordering Information......................................................................................................................................7 Specifi cations................................................................................................................................................7 Dimensions and Jumper/Potentiometer Locations .....................................................................................8 Wiring Diagrams.........................................................................................................................................8 Microstep Modes........................................................................................................................................9 Setting the Output Current..............................................................................................................................9 Potentiometer Settings................................................................................................................................9 Reducing Output Current..............................................................................................................................9 Determining Output Current .......................................................................................................................10 Step Motor Confi gurations ......................................................................................................................10 6 Lead Motors ..........................................................................................................................................10 4 Lead Motors..........................................................................................................................................10 8 Lead Motors..........................................................................................................................................11 Connecting the Step Motor ......................................................................................................................11 Circuit Protection .....................................................................................................................................11 Functions...................................................................................................................................................12 SMPG-SMSI Software ..............................................................................................................................13 Installation ................................................................................................................................................13 Getting Started ........................................................................................................................................13 “The Unit is Connected” / “The Unit is NOT Connected............................................................................14 File Menu ................................................................................................................................................14 Setup Menu .............................................................................................................................................14 Toolbar .....................................................................................................................................................14 Program Window .......................................................................................................................................15 Direct Talk Mode .......................................................................................................................................16 COM Port Settings .......................................................................................................................................16 Unit Selection ...........................................................................................................................................16 Instructions ..............................................................................................................................................16 Troubleshooting ........................................................................................................................................20 Error Codes .............................................................................................................................................21 ASCII Table for Direct Mode .....................................................................................................................21 Torque Speed Curves ...............................................................................................................................21 Copyright .................................................................................................................................................22
August 2012 L0104403 General Description The MBC25SI1TB is a low cost single axis step motor driver integrated with a programmable simple indexer. The MBC25SI1TB microstep driver/pulse generator has an output current ca- pability of 0.5A minimum to 2.5A maximum (peak rating). The MBC25SI1TB driver operates with a DC voltage of 12VDC to 35VDC. The MBC25SI1TB’s internal controller has four different programmable motion profi les. The MBC25SI1TB 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 MBC25SI1TB driver features direction control and motor current On/Off capabilities. The “Reduce Current Enabled” feature automatically reduces motor current to 70% 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 MBC25SI1TB has various step resolutions that can be implemented. These divisions range from 200 steps/rev to 1600 steps/rev. The bipolar drive confi guration handles 4, 6 and 8 lead step motors and is also equipped with short circuit, over temperature and crossover current protection. The MBC25SI1TB communicates via RS232 communication. The easy to use Windows software, SMPG-SMSI Software, is used to directly set up to four dif- ferent motion profi les. MBC25SI1TB Features • Output Current of 2.5A Peak • 200 to 1600 Steps/Revolution (1, 2, 4 and 8 Selectable Step Operation) • On-Board Programmable Simple Indexer with 4 Motion Profi les • Pulses From 1Hz to 50kHz • Directional Soft and Hard Limit Switch Inputs • Clock Output for Daisy Chaining • Busy Output • Motor On/Off Input and Automatic Current Reduction • Short Circuit Protection Motion Profi les and Running the Indexer The programmable simple indexer has the ability to store up to four different motion profi les. The profi les include a base speed (starting speed), a maximum speeds (running speed) acceleration/ deceleration, and a number of steps (index) number. 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 and the index has a range of 0-8,388,607 steps. 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 individual index input. When an index input is activated, it selects from memory the speed profi le that was selected. If a soft limit input is activated, then the unit will immediately ramp down to base speed and continue running until the index has completed. To stop all motion before the index has completed a hard limit input must be activated.
August 2012 L0104404 Motion Profi les and Running the Indexer: Continued Normal Operation A. A Profi le input is activated; Ramps up to max speed. B. No limit is active; Max speed is reached (keeps running at max speed). C. No Limit is active; Internal counter signals to ramp down to base speed. D. Internal Counter is complete; Base speed is reached. Pulses stop. Soft Limit Activated During Index A. A Profi le input is activated; Ramps up to max speed. B. No limit is active; Max speed is reached (keeps running at max speed). C. No limit is active; Internal counter signals to ramp down to base speed. D. Internal Counter is complete; Base speed is reached. Pulses stop. E. Internal Counter is complete; Pulses Stop. Operation with Soft and Hard Limits A. A Profi le input is activated; ramps up to max speed. B. No limit is active; Max speed is reached (keeps running at max speed). C. Hard limit is activated; Pulses stop
August 2012 L0104405 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 return to green and the error code register will be cleared. Refer to the table in section 5 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 MBC25SI1TB only accepts a baud rate of 38400. 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. Profi le 1,2,3,4: These inputs are used to select on of the four profi les. When one of the profi les is ac- tivated, the unit will change the speeds, acceleration and index number based on the pre-programmed values for that profi le and begin the index. Activate only one of these four inputs at once. Soft Limits: These two inputs are controlled by the direction of the indexer. When the indexer is running in the positive direction only soft+ will work. When the indexer 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 index is completed or a hard limit is reached. Hard Limits: These two inputs are controlled by the direction of the indexer. When the indexer is running in the positive direction only hard+ will work. When the indexer is running in the negative direction then only hard- will work. When pulled low the indexer will stop all pulses to the motor. To reverse off of a Hard Limit, change directions, and activate another profi le input again to move in the opposite direction. External Clock Output: The external clock is the output of the internal pulse that can be used to daisy chain other step motor drivers together. This is an open collector output that is capable of sinking 10mA. Busy Output: This is an open collector output that is capable of sinking 10mA. It is current sinking when the indexer is running and open when the indexer is not running.
August 2012 L0104406 Connector Descriptions Connector P5: Pin # Description 1 Phase 1 (A) 2 Phase 3 (A\) 3 Phase 2 (B) 4 Phase 4 (B\) Connector P2: Pin # Description 1 Power Supply Ground (0VDC) 2 Power Supply Input (12VDC - 35VDC) 3 Motor On/Off 4 Direction In 5 Profi le 4 6 Profi le 3 7 Profi le 2 8 Profi le 1 9 Ground (0VDC) Connector P3: Pin # Description 1 Clock Output 2 Busy Output 3 Hard- 4 Hard+ 5 Soft- 6 Soft+ 7 Ground (0VDC)
August 2012 L0104407 Ordering Information Specifi cations Part Number Description MBC25SI1TB 2.5A Microstep Driver with Integrated Programmable Simple Indexer PSAM24V2.7A Power supply for MBC25SI1 (24V @ 2.7A) AA9MFC-6 6 foot serial communication cable, Male to Female Voltage Requirements: 12 - 35 VDC Run Input (P2, Pin 5,6,7 and 8): Start Active Direction Input (P2, Pin 4):CW Inactive CWW Active On/Off Input (P2, Pin 3):On Inactive Off Active 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 (P3, Pin 1):Min 1 Hz Max 50kHz Output Current: T A=25°CMin 0.5A peak Max 2.5A 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: 38400,N,8,1
August 2012 L0104409 Microstep Modes The microstepping modes are set by using the software when the profi les are being setup. The ranges of microstepping are 200, 400, 800, and 1600 steps per revolution in a 200 step/revolu- tion step motor. To set the divisor just select the divisor wanted (1,2,4 or 8). (Refer to Motion Tab Sheet) Setting the Output Current The output current on the MBC25SI1TB is set by the on-board potentiometer R29 (Refer to Di- mensions/Jumper and Potentiometer Locations). This current adjust potentiometer determines the per phase peak output current of the driver. This relationship between 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 70% 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 0.5A 0% 0.7A 10% 0.9A 20% 1.1A 30% 1.3A 40% 1.5A 50% 1.7A 60% 1.9A 70% 2.1A 80% 2.3A 90% 2.5A 100%
August 2012 L01044010 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 MBC25SI1TB, a sine/cosine output function is used in rotat- ing 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 MBC25SI1TB. 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.