Anaheim Stepper MDM60001 Users Guide

							USERS MANUAL 
MODEL MDM60001
MICROSTEP DRIVER  
ANAHEIM AUTOMATION
910 E. Orangefair Lane
Anaheim, CA 92801
TEL (714) 992-6990
FAX (714) 992-0471
http://members.aol.com/aamotion/
e-mail: [email protected]
May 21, 2002 #L010070COPYRIGHT
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.
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.
TECHNICAL SUPPORT
Everyone needs help on occasion.  If you have problems using any of the equipment covered
by this manual, please read the manual to see if it will answer the questions you have.  If
you need assistance beyond what this manual can provide, you can call your Local
Distributor where you purchased the unit. 
						

							12TABLE OF CONTENTS
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................................18INTRODUCTION   
The MDM60001 is a High Performance, low cost microstepping driver that incorporates
advanced surface mount and ASIC technology.  The MDM60001 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 MDM60001 was designed to meet those needs and offers
innovative features. 
The MDM60001 will deliver a peak current of 6 Amperes per phase at 75 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 MDM60001, 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 All-Way-Short-Circuit, Over/Under Voltage, 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 (3.4x 3.0x 1.375)
#Input Voltage 24 to 75VDC
#Output Current 6 Amps Peak
#400 to 51,200 steps/rev
#Short Circuit Protection
#Excessive-Temperature
Protection
#No Minimum Inductance
#Optical Isolation
#Fault Output 
						

							344 Amp Microstep DriverMDM40001
 6 Amp Microstep DriverMDM60001 (This Manual)
10 Amp Microstep DriverMDM10001
40VDC Power SupplyPSA40V4A    (For MDM40001)
40VDC Power SupplyPSA40V8A-2 (For MDM40001)
Includes +5Vdc Supply
65VDC Power SupplyPSA65V5A    (For MDM60001)
65VDC Power SupplyPSA65V5A-2 (For MDM60001)
Includes +5Vdc Supply
 80VDC Power SupplyPSA80V4A (For MDM10001)
Shielded Motor CableAA129010S ORDERING INFORMATION FOR ANAHEIM AUTOMATION
MICROSTEP DRIVERS AND ACCESSORIES PIN DESCRIPTIONS  P1
MDM40001
This is the model number for a Single Axis, 4 Amp Microstep Driver.  The MDM40001
requires a dc power supply (up to 48 volts).
MDM60001
This is the model number for a Single Axis, 6 Amp Microstep Driver.  MDM60001
requires a 65Vdc power supply (PSA65V5A-2) 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, 4 Amp power supply.
PSA65V5A
This is an unregulated 65VDC, 5 Amp power supply.
PSA80V4A
This is an unregulated 80VDC, 4 Amp power supply.Pin#Description
1Clock: 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. 
3Opto Supply (+5VDC): 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 Out: This OPEN DRAIN output indicates a fault has
occurred (ie. short circuit or over temperature). This output
is active low. 
7On F/S Out: 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 
						

							56PIN DESCRIPTIONS  P2
Pin#Description
1Reduce Current: 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. 
30VDC: Supply Voltage Ground. ( Return )
4+V: Supply Voltage Input.   (+24 -75VDC)
5Phase 4: of the Step Motor
6Phase 2: of the Step Motor
7Phase 3: of the Step Motor
8Phase 1: of the Step Motor
  Table 2 - CONNECTOR P2TYPICAL HOOK-UPS FOR APPLICATION:
FIGURE 1 
						

							78SPECIFICATIONSDETERMINING OUTPUT CURRENT
ABSOLUTE MAXIMUM RATINGS The output current for the motor used when microstepping is determined differently from
INPUT VOLTAGE+24 TO +75 VDC
OUTPUT CURRENT6 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+ = 75VDC)
ITEMTEST CONDITIONMINTYPMAXUNIT
S
Input Voltage2475V
Phase Output CurrentRMS1    4A
Phase Output CurrentPeak1.46A
Quiescent Current Outputs Floating13mA
Active PowerIout=4 Amps RMS9W
Dissipation
Input Forward CurrentInput Pins715mA
1, 2 , 4, 5
Input Forward Voltage1.41.7V
Input Reverse5V
Breakdown Voltage
Output CurrentFault, Fullstep25mA
Outputs
Collector-EmitterFault Output140V
Voltage
Collector-EmitterFault Output0.2V
Saturation VoltageIcs=25mA DC
Drain-Source VoltageFullstep Output100V
Drain-Source onFullstep Output6.5ohms
ResistanceIcs=25mA DCthat of a halfstep/fullstep unipolar driver.  In the MDM60001, a sine/cosine output current
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 MDM60001.  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 MDM60001 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 MDM60001 uses a 2mA 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) = (.707)(0.002)(Resistor in Ohms)
 
RMS CurrentResistor ValueRMS CurrentResistor Value
1.06982.51740
1.28452.61820
1.49882.71890
1.611102.92030
1.711803.02100
1.913303.22230
2.014003.32320
2.215403.42370
2.316003.82670
2.416704.02870
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. 
						

							910RMS  Reduction Current (Amps)=(.707)(.002)xR(Adjust)xR(Reduction)                                                                 R(Adjust)+R(Reduction) REDUCING OUTPUT CURRENTSTEP MOTOR CONFIGURATIONS
Reducing the output current in the MDM60001 can be accomplished by connecting ancurrents.  Shown below are different lead configurations and the procedures to determine
external resistor (1/8 watt or higher) between pins 1 and 2 of connector P2 and ocurrstheir output current.
automatically 1 second after the last positive going edge of the step clock input.  See Figure
1 for TYPICAL HOOK-UP.
The amount of current per Phase in the reduction mode is related to the value of the currentWhen configuring a 6 lead motor in a half-coil configuration (connected from one end of
adjustment resistor and the current reduction resistor.  When the current reduction circuitthe coil to the center tap) use the specified per Phase (or unipolar) current rating to
is activated, the current reduction resistor is paralleled with the current adjustment resistor.determine the current adjustment resistor value.  This configuration will provide more
This lowers the total resistance value, and thus lowers the per Phase output current.  Thetorque at higher speeds.  Use this to determine the current adjustment resistor value.
relationship between the output current and the resistors value is as follows:
NOTE: When connecting the current reduction resistor between pins 1 and 2 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 MDM60001 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 MDM60001 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
MDM60001 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.Step motors can be configured as 4, 6, or 8 leads.  Each configuration requires different6 Lead Motors 
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. 
						

							11124 Lead Motors CONNECTING THE STEP MOTOR
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.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 MDM60001.
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. 
						

							1314Anaheim Automation Step Motor Selection Guide MICROSTEP SELECTION
  Part Number
suffix:
single shaft - “S”
dual shaft - “D” Motor Current
(Unipolar Rating) 
 [ Amps ]Series Configuration
1% Resistor ValueTable 5 shows the standard resolution values  along with the associated
[ Ohms ]
23D1042.01000
23D1083.91960
23D2041.8909
23D2094.72370
23D3062.91450
23D3094.62320
34D1063.01500
34D1094.82400
34D2073.51760
34D2094.62320
34D307                  3.51760
34D3115.52770
                34D3147.02870
   TABLE 4: Resistor Table Selection is based on 6-Lead Step Motors 
                   Series Coil Configurations.The number of microsteps per step is selected by the internal dip switches.
settings for these switches.  The standard waveforms are sinusoidal.
ResolutionSteps/Switch 1Switch 2Switch 3Switch 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 switches, the
top cover plate of the driver  must be removed.
The dip switch is located on the upper left hand
corner as show on the drawing to the right.
  
						

							1516FULLSTEP OUTPUT SIGNALTIMING
The MDM60001 has an active LOW open drain output at Connector P1, Pin 7 labeled ONThe Direction and Microstep Resolution Select inputs are synchronized with the positive
F/S OUT.  This output is TRUE (active low) for the duration of the full step.  A full stepgoing edge of the Step Clock input.  When the Step Clock input goes high, the Direction
occurs when either Phase 1&3 or Phase 2&4 cross through zero (ie. full current in oneand Microstep Select inputs are latched and further changes to the inputs are ignored until
winding and 0 current in the other winding).  This full step position is a common positionthe next rising edge of the Step Clock input.
no matter what resolution is selected.
This output can be used to count the number of mechanical full steps the motor has traveledto the Direction and the Microstep Select inputs.  If a change has occurred, the MDM60001
without having to count the number of microsteps in between.  A controller that utilizes thiswill execute the change before taking the next step.  Only AFTER the change has been
output can greatly reduce its position tracking overhead and thus substantially increase itsexecuted will the step be taken.  If no change has occurred the MDM60001 will simply take
throughput.the next step. This feature works as an automatic debounce for the Direction and Microstep
This high speed MOSFET output is non-isolated and has the ability to sustain the
maximum driver voltage at 25mA maximum. The minimum pulse width for the Clock input is 75 nS.  The typical execution time for a
OPTICALLY ISOLATED INPUTSinput is 100nS.
The following inputs to the MDM60001 are Optically Isolated.The Reset and Enable inputs are asynchronous to any input and can be changed at any time.
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.After these signals are latched, the MDM60001 looks to see if any changes have occurred
Select inputs.
Direction or Microstep Select change is 100nS.  The typical execution time for a Clock
The Reset requires a minimum pulse width of 500 nS.
The Fullstep output typically occurs 75nS after the positive edge of the Step Clock
(excluding changes to the Direction or the Microstep Select inputs). 
						

							1718FAULT PROTECTIONTORQUE/SPEED CURVES
The MDM60001 is internally protected against over temperature, over/under voltage, and
short circuits.
The over temperature set point is between 60C and 70EC.  Care should be taken when
choosing a heatsink so that there is good thermal flow, otherwise hot spots may occur in
the MDM60001 which will reduce the effectiveness of the thermal protection.
The short circuit protection consists of PHASE to PHASE, PHASE to GROUND, and +V
to PHASE.
In the condition where the DC voltage of the driver drops below +23 volts the driver’s
output stage will be disabled.  When the driver’s DC voltage rises back above 24 volts, the
driver will automatically re-enable the outputs (if previously enabled).
In the condition where the DC voltage of the driver exceeds approximately 82 volts, the
driver will execute a  fault.
If any fault is detected by the MDM60001, the outputs will be disabled and can not be re-
enabled without resetting or powering down the driver.  At the same time the open collector
FAULT output is turned on.
The FAULT output is non-isolated and has the ability to sustain the maximum driver
voltage.  It is capable of sinking up to 25mA which can be used to drive a small relay or
LED.
OVER TEMPERATURE PROTECTION
The MDM60001 microstepper is a power device and is designed to protect itself from
overheating.  It does this by monitoring the surface temperature of the drive plate and will
automatically shutdown if the temperature reaches 60°C (152°F).
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.