Anaheim Stepper MDM10001 Users Guide

							USERS MANUAL 
MODEL MDM10001
MICROSTEP DRIVER  
ANAHEIM AUTOMATION
910 E. ORANGEFAIR LANE
ANAHEIM, CA 92801
(714) 992-6990
FAX (714) 992-0471
E-MAIL: [email protected]
May 21, 2002 #L010069COPYRIGHT
Copyright 1996 by Anaheim Automation.  All rights reserved.  No part of this
publication may be reproduced, transmitted, transcribed, stored in a retrieval system,
or translated into any language, in any form or by any means, electronic, mechanical,
magnetic, optical, chemical, manual, or otherwise, without the prior written permission
of Anaheim Automation, 910 E. Orangefair Lane, Anaheim, CA 92801.  The only
exception to this would be use of the program examples in this manual.
DISCLAIMER
Though every effort has been made to supply complete and accurate information in this
manual, the contents are subject to change without notice or obligation to inform the
buyer.  In no event will Anaheim Automation be liable for direct, indirect, special,
incidental, or consequential damages arising out of the use or inability to use the
product or documentation.  
Anaheim Automation’s general policy does not recommend the use of its products in
life support applications wherein a failure or malfunction of the product may directly
threaten 
life or injury.  Per Anaheim Automation’s Terms and Conditions of Sales, the user of
Anaheim Automation products in life support applications assumes all risks of such use
and indemnifies Anaheim Automation against all damages. 
LIMITED WARRANTY
All Anaheim Automation products are warranted against defects in workmanship,
materials and construction, when used under Normal Operating Conditions and when
used in accordance with specifications.  This warranty shall be in effect for a period of
twelve months from the date of purchase or eighteen months from the date of
manufacture, whichever comes first.  Warranty provisions may be voided if the
products are subjected to physical damage or abuse.
           
Anaheim Automation will repair or replace at its option, any of its products which have
been found to be defective and are within the warranty period, provided that the item
is shipped freight prepaid, with RMA (return material authorization), to Anaheim
Automations plant in Anaheim, California.
TRADEMARKS
Control Link and Driver Pack are registered trademarks of Anaheim Automation. 
						

							12TABLE OF CONTENTSINTRODUCTION   
PAGE
INTRODUCTION.........................................2
ORDERING INFORMATION ...............................3
DESCRIPTION ..........................................4
DRIVER TERMINAL  DESCRIPTION P1...............4
DRIVER TERMINAL  DESCRIPTION P2...............5
WIRING DIAGRAM................................6
SPECIFICATIONS.................................7
 OUTPUT CURRENT......................................8
DETERMINING OUTPUT CURRENT..................8
SETTING OUPUT CURRENT........................8
RESISTOR TABLE.................................9
REDUCING OUTPUT CURRENT....................10
MOTOR SELECTION....................................10
STEP MOTOR CONFIGURATION...................11
STEP MOTOR CONNECTION.......................12
POWER CONNECTIONS..................................13
ANAHEIM AUTOMATION MOTORS.......................14
MICROSTEP SELECTION ................................15
FULLSTEP  OUTPUT SIGNAL .............................16
OPTICALLY  ISOLATED INPUTS  .........................16
TIMING...............................................17
FAULT PROTECTION....................................18
TORQUE/SPEED CURVES................................19The MDM10001 is a High Performance , low cost microstepping driver that
incorporates advanced surface mount and ASIC technology.  The MDM10001 is
compact, easy to interface, and powerful enough to handle the most demanding
applications. Anaheim Automation recognizes that cost and size are important criteria
in many low and medium power application. The MDM10001 was designed to meet
those needs along, and offers innovative features. 
The MDM10001 will deliver a peak current of 10 Amperes per phase at 80 Volts,
providing outstanding motor performance. This advanced technology reduces ripple
current while maintaining the 20kHz chopping frequency in the motor, causing less
heat in both the motor and drive.  In many cases, no special or additional heatsink is
required. 
With the MDM10001, various step resolutions can be implemented by grounding the
appropriate select pin.  These divisions range from 400 steps per revolution to 51,200
steps per revolution, and are available in both binary and decimal numbers. The
MDM10001 allows the number of microsteps to be changed per step at any time.
There is no need to reset the driver.  The bipolar drive configuration handles 4, 6, and
8 lead motors.  Protection devices have been added to this driver for Any-Way-Short-
Circuit and Excessive-Temperature, and Over/Under Voltage conditions.  If an error
(short-circuit or excessive-temperature) occurs,  a ‘Fault Output’  can be used to
inform the machine control of a problem.  An ‘At Full Step’ output enables the control
to know when the motor is positioned in one of the natural step angles of the motor
(typically every 1.8°).
Driver features include:
# #Low Cost
#Small Size (3x 6x 1¼)
#Input Voltage 24 to 80VDC
#Output Current 10 Amps Peak
#400 to 51,200 steps/rev
#Short Circuit Protection
#Excessive-Temperature Protection
#No Minimum Inductance
#Optical Isolation
#Fault Output
#Over/Under Voltage 
						

							344 Amp Microstep DriverMDM40001
6 Amp Microstep DriverMDM60001
10 Amp Microstep DriverMDM10001 (This
Manual)
40VDC Power SupplyPSA40V4A
65VDC Power SupplyPSA65V5A
80VDC Power SupplyPSA80V4A ORDERING INFORMATION FOR ANAHEIM AUTOMATION
MICROSTEP DRIVERS AND ACCESSORIES 
MDM40001
This is the model number for a Single Axis, 4 Amp Microstep Driver.  The
MDM40001 requires a dc power supply (up to 40 volts). The PSA40V4A is the
recommended power supply that Anaheim Automation supplies.
MDM60001
This is the model number for a Single Axis, 6 Amp Microstep Driver. MDM60001
requires a 65Vdc power supply (PSA65V5A) that Anaheim Automation provides,
purchased separately.
  
MDM10001
This is the model number for a Single Axis, 10 Amp Microstep Driver. The
MDM10001 requires an 80Vdc power supply (PSA80V4A) that Anaheim Automation
provides, purchased separately.  
PSA40V4A
This is an unregulated 40VDC, 4A power supply.
PSA65V5A
This is an unregulated 65VDC, 5A power supply.
PSA80V4A
This is an unregulated 80VDC, 4A power supply.PIN DESCRIPTIONS  P1
Pin#Description
1 - 4Microstep Select Inputs (1-4): These inputs select the number of
microsteps per step. They are optically isolated binary encoded inputs. 
5+5 VDC: This input is used to supply current to the Isolated Inputs. A
higher voltage may be used, but care should be taken to limit the current
through the optocoupler.
6Step Clock Input: A positive going edge on this isolated input advances
the motor one increment. The size of the increment is dependent on the
Microstep Select Inputs of Connector P1.
7Direction: This isolated input is used to change the direction of the motor.
Physical direction also depends on the connection of the motor windings. 
8Reset: When LOW, this isolated input will reset the driver (outputs will
disable). When released, the driver will be at its initial state (Phase A off,
Phase B full on). 
9ON/OFF: This isolated input is used to enable/disable the output section ofthe driver. When HIGH (open) the outputs are enabled. However, this inputdoes not inhibit the step clock. Therefore when enabled, the outputs will beupdated by the number of clock pulses (if any) applied to the driver while ithad been disabled.
10Current  Reduction: This isolated input is used to switch in and out the
Current Reduction Resistor connected to Connector P2 Pins 3 and 4. When
this input is LOW the Reduction Resistor is switched in.
Table 1 - CONNECTOR P1 
						

							56PIN DESCRIPTIONS  P2FIGURE 1
Pin#Description
1Fullstep: This OPEN DRAIN output indicates when the driver is
positioned at a full step. This output can be used to count the number of
full steps the motor has moved, regardless of the number of microsteps
in between. This output is active low.
2Fault: This OPEN DRAIN output indicates a fault has occurred (ie.
short circuit or over temperature). This output is active low. 
3Reduction Adjust: Phase Current Reduction Input.  A resistor between
this pin and pin 4 (Connector P2, Current Adjust) will proportionately
reduced the current in both windings (when selected by pin 10
Connector P1 or approximately 1 second after the last positive going
edge of the step clock input).  The amount of current reduction will
depend on the value of the resistor used. 
4Current Adjust: Phase Current Adjustment input. A resistor  connected
between this input and the ground input (connector P2, Pin 5) is used to
adjust the maximum phase current in the motor. A resistor MUST be
connected to this input. 
5Ground: Supply Voltage Ground. ( Return )
6+V: Supply Voltage Input.   (+24 - 80VDC)
7 Phase 4 of the Step Motor
8 Phase 3 of the Step Motor
9 Phase 2 of the Step Motor
10 Phase 1of the Step Motor
  Table 2 - CONNECTOR P2TYPICAL HOOK-UPS FOR APPLICATION: 
						

							78SPECIFICATIONSDETERMINING OUTPUT CURRENT
ABSOLUTE MAXIMUM RATINGS The output current for the motor used when microstepping is determined differently
INPUT VOLTAGE+24 TO +80 VDC
OUTPUT CURRENT10 AMPS PEAK
PLATE TEMPERATURE70° C
STORAGE TEMPERATURE40° TO +125° C
INPUT CURRENT (PINS 1, 2, 3, 4, 6, 7, 8, 9, 10)15 mA Max
OPERATING TEMPERATURE 0 TO +50° C
ELECTRICAL SPECIFICATIONS  (TA=25°C, V+ = 80VDC)
ITEMTEST CONDITIONMINTYPMAXUNITS
Input Voltage248080V
Phase Output CurrentRMS27A
Phase Output CurrentPeak10A
Quiescent Current Outputs Floating85mA
Active PowerIout=7 Amps RMS19W
Dissipation
Input Forward CurrentInput Pins715mA
1, 2 ,3, 4, 6, 7, 8, 9,10
Input Forward Voltage1.51.7V
Input Reverse5V
Breakdown Voltage
Output CurrentFault, Fullstep Outputs25mA
Collector-EmitterFault Output140V
Voltage
Collector-EmitterFault Output0.2V
Saturation VoltageIcs=25mA DC
Drain-Source VoltageFullstep Output100V
Drain-Source onFullstep Output.65ohms
ResistanceIcs=25mA DC
TABLE 3from that of a half/full unipolar driver.  In the MDM10001, 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 configuration for how the motor is
hooked up.  There is a current adjustment resistor used to set the output current of the
MDM10001.  This sets the peak output current  of the sine/cosine waves.  The
specified motor current (which is the RMS value) is multiplied by a factor of 0.7, 1.0,
or 1.4 depending on the motor configuration (half-coil, series, or parallel).
SETTING OUTPUT CURRENT
The output current on the MDM40001 is set by an external ±1%, 1/8 watt  (or higher)
resistor between pins 2 and 3 of connector P2.  This resistor determines the per Phase
RMS output current of the driver.  The MDM40001 uses a 1mA current source to
establish the reference voltage needed to control the output current.  The relationship
between the output current and the resistor value is as follows:
RMS OUTPUT CURRENT (Amps) = (0.707)(0.003)(Resistance in Ohms)      See
Figure1 
						

							910 RESISTOR TABLEREDUCING OUTPUT CURRENT
RMS CurrentResistor ValueRMS Current Resistor Value
2.09314.22000
2.1 10004.42050
2.310704.52100
2.411304.72150
2.511804.82260
2.712704.92320
2.813305.12370
3.014005.22430
3.114705.42490
3.315005.52610
3.415805.72670
3.516506.02800
3.716906.43010
3.817806.73160
4.018707.073320
4.11910--
TABLE 4:     RESISTOR VALUES WITH RESPECT TO OUTPUT CURRENT
                 Closest 1% value selected
WARNING!  A current adjustment resistor is always necessary to keep the drive in a
safe operating region. Do not operate the driver without a current adjustment resistor.
NOTE: When connecting the CURRENT ADJUSTMENT resistor between Pins 4 and
5 of Connector P2 the length of the leads should be as short as possible to help
minimize the noise coupled into the driver (See Figure 2).Reduction Current (Amps) = .003 x .707 x *R(Current Adjust) x R(CurrentReduction)                                              R(Current Adjust) + R(Current
Reduction) Reducing the output current in the MDM10001 can be accomplished by connecting an
external 1/8 watt (or higher) resistor between pins 3 and 4 of connector P2 and then
by either activating pin 10 on connector P1 or occurs automatically 1 second after the
last positive going edge of the step clock input.  See Figure 1 for TYPICAL HOOK-UP.
When pin 10 on connector P1 is pulled LOW, (Active) the output current of each phase
will reduce to the value set by the current reduction resistor.
The amount of current per phase in the reduction mode is related to the value of the
current adjustment resistor and the current reduction resistor.  When the current
reduction circuit is activated, the current reduction resistor is paralleled with the
current adjustment resistor.  This lowers the total resistance value, and thus lowers the
per phase output current.  The relationship between the output current and the resistors
value is as follows:
NOTE: When connecting the current reduction resistor between pins 3 and 4 of
connector
 P2 , the length of the leads should be as short as possible to help minimize noise
coupled into the driver.
MOTOR SELECTION
The MDM10001 is a Bipolar driver which works equally well with both Bipolar and
Unipolar motors,( i.e. 8 and 4 lead motors and 6 lead center tapped motors).
Motors with low current ratings and high inductance will perform better at low speeds,
providing high low-end torque. Motors with high current ratings and low inductance
will perform better at high speeds, providing high high-end torque. 
Since the MDM10001 is a constant current source, it is not necessary to use a motor
that is rated at the same voltage as the supply voltage.  What is important is that the
MDM10001 is set to the appropriate current. Higher voltage will cause the current to
flow faster through the motor coils.  This in turn means higher step rates can be
achieved.  Care should be taken not to exceed the maximum voltage of the driver. 
						

							1112STEP MOTOR CONFIGURATIONS4 Lead Motors 
Step motors can be configured as 4, 6, or 8 leads.  Each configuration requires different
currents.  Shown below are different lead configurations and the procedures to
determine their output current.
6 Lead Motors 
When configuring a 6 lead motor in a half-coil configuration (connected from one end
of the coil to the center tap) use the specified per Phase (or unipolar) current rating to
determine the current adjustment resistor value.  This configuration will provide more
torque at higher speeds.  Use this to determine the current adjustment resistor value.
When configuring the motor in a series configuration (connected from end to end with
the center tap floating) multiply the per Phase (or unipolar) current rating by 0.7.Use
this result to determine the current adjustment resistor value.
WARNING! Step motors will run hot even when configured correctly, damage may
occur to the motor if a higher than specified current is used.  Most specified motor
currents are maximum values.  Care should be taken to not exceed these ratings.Use the specified series motor current to determine the current adjustment resistor
value.   Four 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.  
8 Lead Motors
Series Connection: When configuring the motor windings in series, multiply the per
Phase (or unipolar) current rating by 0.7. Use this result to determine the current
adjustment resistor value.
Parallel Connection: When configuring the motor windings in parallel, multiply the
per Phase (or unipolar) current rating by 1.4. Use this result to determine the current
adjustment resistor value.
NOTE: After the current has been determined, according to the motor connections
above, follow the procedure Determining Output Current above to find the current
value.  Then use Table 3 to choose the proper resistor value. 
						

							1314CONNECTING THE STEP MOTOR
Phase A of the Step Motor is connected between pins 9 and 10 on connector P2.  Phase
B of the Step Motor is connected between pins 7 and 8 on connector P2.  
Refer to Figure 1 for TYPICAL APPLICATION HOOK-UP
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 direction input, switch the wires on phase A & phase} wires pin 9 & 10.
WARNING: Do not connect or disconnect motor wires while power is applied!
CONNECTING POWER
Pins 5 and 6 on connector P2 are used to connect the DC Power Supply to the
MDM10001.  Wire size used to connect the power source to the driver should be at
least 16 gauge.  Heavier wire should be used for longer distances between the power
supply and the driver.  The power supply requirement are as follows:
Switching Power Supplies and regulated linears with overcurrent protection are not
recommended because of their inability to handle surge currents.  Adding a capacitor
to the output will alleviate this problem.
When multiple drivers are run from one power supply, each driver should have
separate power and ground wires that connect directly to the output capacitor of the
power supply.
Refer to Figure 1 for TYPICAL APPLICATION HOOK-UP.
WARNING: When using an unregulated power supply, care should be taken to ensure
that the output voltage DOES NOT exceed the maximum driver input voltage because
of line voltage fluctuations.  It is recommended that a input line filter be used on the
power supply to limit voltage spikes to the driver.Anaheim Automation Step Motor Selection Guide 
  Part Number Motor CurrentSeries
(Unipolar Rating) Configuration
 [ Amps ]1% Resistor
Value
[ Ohms ]
23D1042.0665
23D1083.91300
23D2041.8665
23D2094.71540
23D3062.9   976 
23D3094.61540
34D1063.01000
34D1094.81620
34D2073.51150
34D2094.61540
34D2136.52150
34D307             3.5   1150
34D3115.51820
34D3147.02320
42D1126.12000
42D1199.53160
42D2126.12000
42D2199.23090
42D22512.73320
NOTE: Resistor Table Selection is based on 6-Lead Step Motors 
         in Series or Entire Coil Configurations. 
						

							1516MICROSTEP SELECTIONFULLSTEP OUTPUT SIGNAL
The number of microsteps per step is selected by pins 1, 2, 3, and 4 of Connector P1.The MDM10001 has an active LOW open drain output at Connector P2, Pin 1 labeled
Table 6 shows the standard resolution values  along with the associated inputs for pinsFULLSTEP.  This output is TRUE (active low) for the duration of the full step.  A full
1, 2, 3 and 4.  The standard waveforms are sinusoidal.step occurs when either Phase A or Phase B cross through zero (ie. full current in one
ResolutionSteps/Select 1Select 2Select 3Select 4
     Rev
24000VDC0VDC0VDC0VDC
4800Open0VDC0VDC0VDC
81,6000VDCOpen0VDC0VDC
163,200OpenOpen0VDC0VDC
326,4000VDC0VDCOpen0VDC
6412,800Open0VDCOpen0VDC
12825,6000VDCOpenOpen0VDC
25651,200OpenOpenOpen0VDC
51,0000VDC0VDC0VDCOpen
102,000Open0VDC0VDCOpen
255,0000VDCOpen0VDCOpen
5010,000OpenOpen0VDCOpen
12525,0000VDC0VDCOpenOpen
25050,000Open0VDCOpenOpenwinding and 0 current in the other winding).  This full step position is a common
position no matter what resolution is selected.
This output can be used to count the number of mechanical full steps the motor has
traveled without having to count the number of microsteps in between.  A controller
that utilizes this output can greatly reduce its position tracking overhead and thus
substantially increase its throughput.
This high speed MOSFET output is non-isolated and has the ability to sustain the
maximum driver voltage.  It is capable of sinking up to 25mA.
OPTICALLY ISOLATED INPUTS
The following inputs to the MDM10001 are Optically Isolated.
ItemPin #
Select1-4
Clock6
Direction7
Reset8
On/Off9
Current Reduction10
WARNING!  If using a voltage other than +5VDC, the current through the
optocoupler must NOT exceed the maximum limit.
The Isolated inputs may be powered by a DC voltage other than +5 VDC.  In doing so,
care should be taken to limit this current, an external resistor should be placed in series
with the input pins (1-4, 6-10). The value of the resistor should be calculated such that
the input current is approximately equal to the value listed in the Electrical
Specifications in Table 3. 
						

							1718TIMINGFAULT PROTECTION
The Direction and Microstep Resolution Select inputs are synchronized with theThe MDM10001 is internally protected against over temperature and short circuits.
positive going edge of the Step Clock input.  When the Step Clock input goes high, theThe over temperature set point is between 60°C and 70°C.  Care  should be taken when
Direction and Microstep Select inputs are latched and further changes to the inputs arechoosing a heatsink so that there is good thermal flow, otherwise hot spots may occur
ignored until the next rising edge of the Step Clock input.in the MDM10001 which will reduce the effectiveness of the thermal protection.
After these signals are latched, the MDM10001 looks to see if any changes haveThe short circuit protection consists of PHASE to PHASE, PHASE to GROUND, and
occurred to the Direction and the Microstep Select inputs.  If a change has occurred,+V to PHASE.
the MDM10001 will execute the change before taking the next step.  Only AFTER the
change has been executed will the step be taken.  If no change has occurred theIf any fault is detected by the MDM10001, the outputs will be disabled and can not be
MDM10001 will simply take the next step. This feature works as an automaticre-enabled without resetting or powering down the driver.  At the same time the open
debounce for the Direction and Microstep Select inputs.collector FAULT output is turned on.
The minimum pulse width for the Clock input is 75 nS.  The typical execution time forThe FAULT output is non-isolated and has the ability to sustain the maximum driver
a Direction or Microstep Select change is 100nS.  The typical execution time for avoltage.  It is capable of sinking up to 25mA which can be used to drive a small relay
Clock input is 100nS.or LED.
The Reset and Enable inputs are asynchronous to any input and can be changed at any
time.
The Reset requires a minimum pulse width of 500 nS.
The Fullstep output typically occurs 75nS after the positive edge of the Step Clockoverheating.  It does this by monitoring the surface temperature of the drive plate and
(excluding changes to the Direction or the Microstep Select inputs).will automatically shutdown if the temperature reaches 60°C  (152°F). OVER TEMPERATURE PROTECTION
The MDM10001 microstepper is a power device and is designed to protect itself from
To prevent nuisance shutdowns, proper heatsinking is required to limit the temperature
at the drive plate.
Thermal grease or a thermal pad should be used between the drive plate and the
mounting surface of the heatsink.  The fins of the heatsink should be mounted
vertically with at least 3 of space below and above the heatsink for efficient cooling.
In some applications fan cooling will be required to maintain the plate temperature
below the 60°C shutdown temperature.