Anaheim Stepper MDM40001 Users Guide

							#L010068#L010068USERS GUIDE
MODEL MDM40001
MICROSTEP DRIVER  
ANAHEIM AUTOMATION
910 E. Orangefair Lane
Anaheim, CA 92801
TEL (714) 992-6990
FAX (714) 992-0471
E-Mail: [email protected]
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. 
						

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12 TABLE 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
REDUCING OUTPUT CURRENT.................... 9
MOTOR SELECTION .....................................9    
STEP MOTOR CONFIGURATION...................10
STEP MOTOR CONNECTION.......................12
POWER CONNECTIONS..................................12
ANAHEIM AUTOMATION STEP MOTOR SELECTION ........13
MICROSTEP SELECTION ................................14
FULLSTEP  OUTPUT SIGNAL .............................15
OPTICALLY  ISOLATED INPUTS  .........................15
TIMING...............................................16
FAULT PROTECTION....................................17
TORQUE/SPEED CURVES................................18The MDM40001 is a High Performance , low cost microstepping driver that incorporates
advanced surface mount and ASIC technology.  The MDM40001 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 applications. The MDM40001 was designed to meet those needs and offers
innovative features. 
The MDM40001 will deliver a peak current of 4 Amperes per phase at 40 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 MDM40001, various step resolutions can be implemented by the on-board dip
switches. These divisions range from 400 steps per revolution to 51,200 steps per
revolution, and are available in both binary and decimal numbers.  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 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 (3.7x 3.0x 1.2)
#Input Voltage 24 to 40VDC
#Output Current 4 Amps Peak
#400 to 51,200 steps/rev
#Short Circuit Protection
#Excessive-Temperature Protection
#No Minimum Inductance
#Optical Isolation
#Fault Output 
						

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34 4 Amp Microstep DriverMDM40001 (This Manual)
6 Amp Microstep DriverMDM60001
10 Amp Microstep DriverMDM10001
40VDC Power SupplyPSA40V4A
65VDC Power SupplyPSA65V5A
80VDC Power SupplyPSA80V4A
Shielded Motor CableAA129010S ORDERING INFORMATION FOR ANAHEIM AUTOMATIONPIN DESCRIPTIONS  P1
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#Description
1Step 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 Switch 1.
2Direction: This isolated input is used to change the direction of the
motor. Physical direction also depends on the connection of the motor
windings. 
3+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.
4ON/OFF: This isolated input is used to enable/disable the output
section of the driver. When HIGH (open) the outputs are enabled.
However, this input does not inhibit the step clock. Therefore the
outputs will be updated by the number of clock pulses (if any) applied to
the driver while it had been disabled.
5Reset: When LOW, this isolated input will reset the driver (outputs will
disable). When released, the driver will be at its initial state (Phase 1&3
off, Phase 2&4 full on). 
6Fault: This OPEN DRAIN output indicates a fault has occurred (ie.
short circuit or over temperature). This output is active low. 
7Fullstep: 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.
Table 1 - CONNECTOR P1 
						

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56 PIN DESCRIPTIONS  P2TYPICAL HOOK-UPS FOR APPLICATION:
Pin#Description
1Reduction Adjust: Phase Current Reduction Input.  A resistor between
this pin and pin 2 (Connector P2, Current Adjust) will proportionately
reduced the current in both windings (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. 
2Current Adjust: Phase Current Adjustment input. A resistor  connected
between this input and the ground input (connector P2, Pin 3) is used to
adjust the maximum Phase Current in the motor. A resistor MUST be
connected to this input. 
3Ground: Supply Voltage Ground. ( Return )
4+V: Supply Voltage Input.   (+12 - 40VDC)
5Phase 4 of the Step Motor
6Phase 2 of the Step Motor
7Phase 3 of the Step Motor
8Phase 1of the Step Motor
  Table 2 - CONNECTOR P2
FIGURE 1 
						

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78 SPECIFICATIONS
ABSOLUTE MAXIMUM RATINGS 
INPUT VOLTAGE+12 TO +48 VDC
OUTPUT CURRENT4 AMPS PEAK
PLATE TEMPERATURE70° C
STORAGE TEMPERATURE40° TO +125° C
INPUT CURRENT (PINS 1, 2, 4, 5)15 mA Max
ELECTRICAL SPECIFICATIONS  (TA=25E EC, V+ = 40VDC)
ITEMTESTMINTYPMAXUNI
CONDITIONTS
Input Voltage122440V
Phase Output CurrentRMS.4    3A
Phase Output CurrentPeak 4A
Quiescent Current Outputs Floating85mA
Active PowerIout=3 Amps RMS12W
Dissipation
Input Forward CurrentInput Pins715mA
1, 2 , 4, 5
Input Forward Voltage1.51.7V
Input Reverse5V
Breakdown Voltage
Output CurrentFault, Fullstep25mA
Outputs
Collector-EmitterFault Output140V
Voltage
Collector-EmitterFault Output0.2V
Saturation VoltageIcs=25mA DC
Drain-Source VoltageFullstep Output100VDrain-Source onFullstep Output.65ohm
ResistanceIcs=25mA DCs 
						

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910 DETERMINING OUTPUT CURRENTReducing the output current in the MDM40001 can be accomplished by connecting an
The output current for the motor used when microstepping is determined differently fromautomatically 1 second after the last positive going edge of the step clock input.  See
that of a half/full unipolar driver.  In the MDM40001, a sine/cosine output function isFigure 1 for TYPICAL HOOK-UP.
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 aThe amount of current per Phase in the reduction mode is related to the value of the
current adjustment resistor used to set the output current of the MDM40001.  This setscurrent adjustment resistor and the current reduction resistor.  When the current
the peak output current  of the sine/cosine waves.  The specified motor current (which isreduction circuit is activated, the current reduction resistor is paralleled with the current
the RMS value) is multiplied by a factor of 0.7, 1.0,  or 1.4 depending on the motoradjustment resistor.  This lowers the total resistance value, and thus lowers the per Phase
configuration (half-coil, series, or parallel).output current.  The relationship between the output current and the resistors value is as
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)(0.002)(Resistance in Ohms)      See
Figure1
RMS CurrentResistor ValueRMS CurrentResistor Value
0.3 A2101.2845
0.42801.4976
0.53571.61130
0.64221.81270
0.74872.01400
0.85622.21540
0.96342.41690
1.06982.61820
1.17682.822000
TABLE 3: 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. When connecting
the CURRENT ADJUSTMENT resistor between Pins 3 and 2 of Connector P2 the length of the
leads should be as short as possible to help minimize the noise coupled into the driver . Refer to
Figure 1 for TYPICAL HOOK-UP.
REDUCING OUTPUT CURRENT Output Reduction Current (Amps)= .002 x *R(Current Adjust) xR(CurrentReduction)                                             R(Current Adjust) +R(CurrentReduction) external resistor (1/8 watt or higher) between pins 1and 2 of connector P2 and ocurrs
follows:
NOTE: When connecting the current reduction resistor between pins 1 and 2 of
connector
 P2 , the lenth of the leads should be as short as possible to help minimize noise coupled
into the driver.
MOTOR SELECTION
The MDM40001 is a Bipolar driver working equally well with both Bipolar and Unipolar
Motor Configurations,( 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 higher low-end torque. Motors with high current ratings and low inductance
will perform better at higher speeds, providing higher high-end torque. 
Since the MDM40001 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
MDM40001 is set to the appropriate current level based on the motor being used.
Higher voltages 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. 
						

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1112 STEP 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. 
						

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1314 CONNECTING THE STEP MOTOR
Phase 1&3 of the Step Motor is connected between pins 7 and 8  on connector P2.  Phase
2&4 of the Step Motor is connected between pins 5 and 6 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 1 & Phase 3.
WARNING: Do not connect or disconnect motor wires while power is applied!
CONNECTING POWER
Pins 3 and 4 on connector P2 are used to connect the DC Power Supply to the
MDM40001.  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 requirements 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 ]
23D1021.0487
23D1042.0976
23D1083.91910
23D2041.8845
23D2094.72000
23D3062.91400
23D3094.62000
34D1063.01470
34D1094.82000
34D2073.51740
34D2094.62000
34D307             3.51740
34D3115.52000
TABLE 4: Resistor Table Selection is based on 6-Lead Step Motors 
             Series Coil Configurations. 
						

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1516 MICROSTEP SELECTIONFULLSTEP OUTPUT SIGNAL
The number of microsteps per step is selected by switches 1, 2, 3, and 4 of the DIPThe MDM40001 has an active LOW open drain output at Connector P1, Pin 7 labeled
switch.  Table 5 shows the standard resolution values  along with the associated inputsON F/S OUT.  This output is TRUE (active low) for the duration of the full step.  A full
for the select switches 1, 2, 3 and 4.  The standard waveforms are sinusoidal.step occurs when either Phase 1&3 or Phase 2&4 cross through zero (ie. full current in
ResolutionSteps/Select 1Select 2Select 3Select 4
     Rev
2400ONONONON
4800OFFONONON
81,600ONOFFONON
163,200OFFOFFONON
326,400ONONOFFON
6412,800OFFONOFFON
12825,600ONOFFOFFON
25651,200OFFOFFOFFON
51,000ONONONOFF
102,000OFFONONOFF
255,000ONOFFONOFF
5010,000OFFOFFONOFF
12525,000ONONOFFOFF
25050,000OFFONOFFOpen
TABLE 5
In order to select the microstepping
swicthes the top cover plate of the driver
must be removed.  The dip switches are
located on the top left hand corner as
show on the drawing to the right.
 one winding 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 at 25mA maximum. 
OPTICALLY ISOLATED INPUTS
The following inputs to the MDM40001 are Optically Isolated.
ItemPin #
Clock1
Direction2
On/Off4
Reset5
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 (1-2, 4-5). The value of the resistor should be calculated such that the
input current is approximately equal to the value listed in the Electrical Specifications. 
						

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1718 TIMINGFAULT PROTECTION
The Direction and Microstep Resolution Select inputs are synchronized with the positiveThe MDM40001 is internally protected against over temperature and short circuits.
going edge of the Step Clock input.  When the Step Clock input goes high, the DirectionThe over temperature set point is between 60EC and 70EC.  Care should be taken when
and Microstep Select inputs are latched and further changes to the inputs are ignoredchoosing a heatsink so that there is good thermal flow, otherwise hot spots may occur in
until the next rising edge of the Step Clock input.the MDM40001 which will reduce the effectiveness of the thermal protection.
After these signals are latched, the MDM40001 looks to see if any changes have occurredThe short circuit protection consists of PHASE to PHASE, PHASE to GROUND, and +V
to the Direction and the Microstep Select inputs.  If a change has occurred, theto PHASE.
MDM40001 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 MDM40001, the outputs will be disabled and can not be re-
MDM40001 will simply take the next step. This feature works as an automatic debounceenabled without resetting or powering down the driver.  At the same time the open
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 a Clockvoltage.  It is capable of sinking up to 25mA which can be used to drive a small relay or
input is 100nS.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 MDM40001 microstepping 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.
A thermal grease or 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.