Anaheim Stepper MLU05641 Users Guide

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MLU05641
High Performance Microstepping 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 
						

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MLU05641 High Performance Microstepping Driver Features
•  Size 7.750L x 2.400W x 5.610H
•  High Torque Output
•  Output Current 5.0 Amps Peak
•  200 to 12,800 steps/rev (1,2,5,8,10,16,32 and 64 selectable step operations)
•  Short Circuit Protection
•  Over-Temperature and Over-Voltage Shutdown
•  No Minimum Inductance
•  Optical Isolation
•  Motor ON/OFF input
Introduction
The MLU05641 High Performance Microstepping Driver has an output current capability of 1.0 Amps mini-
mum to 5.0 Amps maximum (Peak Rating). The MLU05641 driver operates with an AC voltage of 95-250
Volts. The inputs are optically isolated with a minimum sourcing of 7.0 mA per input (+5VDC minimum to
+24VDC maximum). The clock input is set to receive either positive or negative edge clocks with a maxi-
mum frequency of 400KHz. The MLU05641 driver offers direction control and motor current ON/OFF
capabilities. The Reduce Current Enabled automatically reduces motor current to 50% of set value after
the last step is made. The driver has built-in features to indicate power on (Green LED), Clocks being
received (Yellow LED) and fault conditions (Red LED).
With the MLU05641, various step resolutions can be implemented by the onboard dip switch. These divi-
sions range from 200 steps per revolution to 12,800 steps per revolution. The bipolar drive configuration
handles 4, 6 and 8 lead motors. Protection devices have been added to this driver for Phase to Phase
Short-Circuit, Motor Mis-Wire, Over-Temperature and Over-Voltage conditions.
Pin Descriptions
The inputs on the MLU05641 are optically isolated with the anode (+) and cathode (-) both brought out to
the user.  With no current going through the opto-diode, the input is considered high. To enable the input
a minimum of 7.0 mA needs to be sourced or sinked through the opto-diode. This is done simply by placing
a voltage of +5 to +24 VDC across the two inputs of the opto-diode. If sinking current, then all three anodes
(+) should be tied together to the +voltage as shown in Figure 2. If sourcing current into the inputs, then all
three cathodes (-) should be tied together and grounded as shown in Figure 3. The MLU05641 also has an
optically isolated Fault Output Signal. This output has an open collector maximum voltage of 30V and can
sink up to 50mA.
Optically Isolated Inputs and Output
The following inputs and output to the MLU05641 are Optically Isolated.
To enable an input, apply a DC voltage source of +5VDC to +24VDC across the inputs. The Anodes (+)
are pins 1, 3, and 5 and the Cathodes (-) are pins 2, 4, and 6.
m e t I# n i P
k c o l C2& 1
n o i t c e r i D4& 3
f f O / n O6& 5
t u O t l u a F8& 7
Table 1: Optically isolated pinout 
						

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# n i Pn o i t p i r c s e D
1: ) + ( e d o n A t u p n I k c o l C p e t Se n o y b r o t o m e h t s e c n a v d a t u p n i d e t a l o s i s i h t n o e g d e g n i o g e v i t i s o p A
. 1 h c t i w S f o s t u p n I t c el e S p e t s o r c i M e h t n o t n e d n e p e d s i t n e m e r c n i e h t f o e z i s e h T . t n e m e r c n i
2)- ( e d o h t a C t u p n I k c o l C p e t S
3: ) + ( e d o n A n o i t c e r i Dn o i t c e r i d l a c i s y h P . r o t o m e h t f o n o i t c e r i d e h t e g n a h c o t d e s u s i t u p n i d e t a l o s i s i h T
. s g n i d n i w r ot o m e h t f o n o i t c e n n o c e h t n o s d n e p e d o s l a
4)- ( e d o h t a C n o i t c e r i D
5: ) + ( e d o n A F F O / N O. r e v i r d e h t f o n o i t c e s t u p t u o e h t e l b a s i d d n a e l b a n e o t d e s u s i t u p n i d e t a l o s i s i h T
. k c o l c p e t s e h t t i bi h n i t o n s e o d t u p n i s i h t , r e v e w o H . d e l b a n e e r a s t u p t u o e h t , ) n e p o ( H G I H n e h W
6)- ( e d o h t a C F F O / N O
7: ) C ( t u O t l u a Ft u p t u o s i h t , s r u c c o t l u a f a n e h W . t u p t u o t l u a f d e t a l o s i y l l a c i t p o e h t f o r o t c e l l o c e h t s i s i h T
h g u o r h t t ne r r u c f o A m 0 5 n a h t e r o m s s a p t o n o t n e k a t e b t s u m e r a C . r e t t i m e e h t o t n i t n e r r u c t c u d n o c l l i w
. r o t s i s n a r t s i h t
8:) E ( t u O t l u a F. t u p t u o t l u a f d e t a l o s i y l l a c i t p o e h t f o r e t t i m e e h t s i s i h T
TB1: 8 Pin Input Terminal Description
Table 2: Pin descriptions for input terminal block connector (TB1)
TB3: 5 Pin Motor Terminal Description
Table 3: Pin descriptions for motor terminal block connector (TB3)
Power Supply Requirements
The MLU05641 has an input line voltage ranging from 95-250VAC. TB2 pin 1 is used as the hot terminal
and is internally fused, TB2 pin 2 is used as the neutral terminal and TB2 pin 3 is the EGND terminal. The
EGND terminal must be connected.
# n i Pn o i t p i r c s e D
1d n u o r G r o t o M
2:A 1 e s a h Pr o t o M p e t S e h t f o 1 e s a h P
3: B 1 e s a h Pr o t o M p e t S e h t f o 3 e s a h P
4:A 2 e s a h Pr o t o M p e t S e h t f o 2 e s a h P
5:B 2 e s a h Pr o t o M p e t S e h t f o 4 e s a h P
TB2: 3 Pin AC IN Terminal Description
# n i Pn o i t p i r c s e D
1: N I C At o H
2:N I C Al a r t u e N
3) d e t c e n n o c e b t s u M ( D N U O R G H T R A E
Table 4: Pin descriptions for AC IN terminal block connector (TB2) 
						

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Absolute Maximum Ratings
Input Voltage: 250 VAC
Output Current: 5.0 AMPS PEAK
Max Plate Temperature: 70° C
Storage Temperature: 0° to +50° C
Input Voltage (For isolated inputs):  +24V at 7mA
Fault Output Signal: Open Collector max. 30V / 50mA (optically isolated)
Electrical Specifications
m e t In i Mp y Tx a Ms t i n U
) r e w o P ( e g a t l o V t u p n I5 902 205 2CA V
e g a t l o V s u B r o t o M I7 2 111 335 3CD V
t n e r r u C t u p t u O e s a h P7 0 7 . 035 . 3)S M R ( A
t n e r r u C t u p t u O e s a h P0 . 10. 5)K A E P ( A
) s t u p n I ( e g a t l o V t u p n I5 . 342CD V
y c n e u q e r F k c o l C000 4zH k
y c n e u q e r F g n i p p o h C8 20323zH k
e r u t a r e p m e T n o i t a r e p O007C
Table 5: MLU10641 electrical specifications
Dimension Drawing
Figure 1: MLU10641 Dimensions 
						

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Hook Up Drawings
Figure 2: Hook up for current sinking inputs
Figure 3: Hook up for current sourcing inputs 
						

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Motor Selection
The MLU05641 is a Bipolar Microstep Driver that is compatible with both Bipolar and Unipolar Motor Con-
figurations, (i.e. 8 and 4 lead motors, and 6 lead center tapped motors).
Step 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 more high-end torque. 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.
Since the MLU05641 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 MLU05641 is set to the appropriate
current level based on the motor being used.  Refer to the following chart for setting the current potentiom-
eter based on the current code in the part number of the motor. Examples of motor part numbers are
shown below. Anaheim Automation offers a comprehensive line of step motors in 14, 17, 23, 34 and 42
frame sizes. Contact the factory to verify motor compatibility with the MLU05641.
Step Motor Current Setting Guide
Anaheim Automation offers motor cable, making hook-ups quick and easy!
Contact the factory or visit our website for more motor and cable offerings.
Table 6: Table selection for Anaheim Automation motor current settings
t n e r r u C r o t o M
e d o C r e b m u Nr a l o p i n U
g n i t a Rk a e P s e i r e S
g n i t a Rk a e P l e l l a r a P
g n i t a Rs e i r e S
t n e r r u C
g n i t t e Sl e l l a r a P
t n e r r u C
g n i t t e S
2 0
A 0 . 1A0 . 1A0 . 2%0%5 2
3 0
A 5 . 1A5 . 1A0 . 3%5 1%0 5
4 0
A 0 . 2A0 . 2A0 . 4%5 2%0 7
5 0
A 5 . 2A5 . 2A0 . 5%5 3%0 0 1
6 0
A 0 . 3A0 . 3A0 . 6%0 5%0 0 1
7 0
A 5 . 3A5 . 3A0 . 7%0 6%0 0 1
8 0
A 0 . 4A0 . 4A0 . 8%0 7-- - -
9 0
A 5 . 4A5 . 4A0 . 9%0 8-- - -
0 1
A 0 . 5A0 . 5A0 . 0 1%0 0 1-- - -
1 1
A 5 . 5A5 . 5A0 . 1 1%0 0 1-- - -
2 1
A 0 . 6A0 . 6A0 . 2 1%0 0 1-- - -
3 1
A 5 . 6A5 . 6A0 . 3 1%0 0 1-- - -
4 1
A 0 . 7A0 . 7A0 . 4 1%0 0 1-- - -
5 1
A 5 . 7A5 . 7A0 . 5 1-- - --- - -
6 1
A 0 . 8A0 . 8A0 . 6 1-- - --- - -
9 1
A 5 . 9A5 . 9A0 . 9 1-- - --- - -
2 2
A 0 . 1 1A0 . 1 1A0 . 2 2-- - --- - -
5 2
A 5 . 2 1A5 . 2 1A0 . 5 2-- - --- - - 
						

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Microstep Selection (SW1 Settings)
Switches 2, 3 and 4, of the DIP switch select the microstep resolution of the driver. Table 6 shows the
standard resolution values along with the associated positions for the select switches. The standard wave-
forms are sinusoidal. The steps/rev are based on a 200 step/rev motor.
Setting the Output Current
The output current on the MLU05641 is set by an onboard potentiometer. This potentiometer determines
the per phase peak output current of the driver. The relationship between the output current and the
potentiometer value is as follows:
Table 8:  Potentiometer values with respect to the output current
Refer to Table 6 for specific motor current settings.
n o i t u l o s e Rv e R / s p e t S1 t c e l e S2 t c e l e S3 t c e l e S4 t c e l e St n e r r u C e c u d e R o t u A
1
0 0 2FF ONONONOde l b a s i D
2
0 0 4FF ONONOFF Ode l b a s i D
5
0 0 0 1FF ONOFF ONOde l b a s i D
8
0 0 6 1FF ONOFF OFF Ode l b a s i D
0 1
0 0 0 2FF OFF ONONOde l b a s i D
6 1
0 0 2 3FF OFF ONOFF Ode l b a s i D
2 3
0 0 4 6FF OFF OFF ONOde l b a s i D
4 6
0 0 8 2 1FF OFF OFF OFF Ode l b a s i D
1
0 0 2NONONONOde l b a n E
2
0 0 4NONONOFF Ode l b a n E
5
0 0 0 1NONOFF ONOde l b a n E
8
0 0 6 1NONOFF OFF Ode l b a n E
0 1
0 0 0 2NOFF ONONOde l b a n E
6 1
0 0 2 3NOFF ONOFF Ode l b a n E
2 3
0 0 4 6NOFF OFF ONOde l b a n E
4 6
0 0 8 2 1NOFF OFF OFF Ode l b a n E
Table 7: Microstep selection on switch 1
** Although the MLU05641 has an internal fan, current settings above 4.50Amps (80%) may require
additional cooling.
t n e r r u C k a e Pg n i t t e S r e t e m o i t n e t o Pt n e r r u C k a e Pg n i t t e S r e t e m o i t n e t o P
A 0 0 . 1%0A 0 5 . 3%0 6
A 5 2 . 1%0 1A 0 0 . 4%0 7
A 5 7 . 1%0 2A 0 5 . 4%0 8
A 5 2 . 2%0 3A 5 7 . 4%0 9
A 5 6 . 2%0 4A 0 0 . 5%0 0 1
A 0 0 . 3%0 5- - - --- - - 
						

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When configuring the motor in a series configuration (connected from end to end with the center tap
floating) use the specified per Phase (or unipolar) current rating to determine the current setting potenti-
ometer value.
Reducing Output Current
Reducing the output current is accomplished by setting switch 1 of the DIP switch to the ON position and
occurs approximately after the last positive going edge of the step clock input. The amount of current per
phase in the reduction mode is approximately 50% of the set current.
Determining Output Current
The output current for the motor used when microstepping is determined differently from that of a full/half
step unipolar driver. In the MLU10641, 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 configuration of
the motor. There is a current adjustment potentiometer used to set the output current of the MLU10641.
This sets the peak output current of the sine/cosine waves. The specified motor current (which is the
unipolar value) is multiplied by a factor of 1.0, 1.4, or 2.0 depending on the motor configuration (series,
half-coil, or parallel).
Step Motor Configurations
Step motors can be configured as 4, 6, or 8 leads. Each configuration requires different currents. Refer to
the lead configurations and the procedures to determine their output current.
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.
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), multiply the specified per Phase (or unipolar) current rating by 1.4 to determine the current
setting potentiometer value. This configuration will provide more torque at higher speeds when compared
to the series configuration. 
						

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4 Lead Motors
Multiply the specified series motor current by 1.4 to determine the current adjustment potentiometer
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, use the per Phase (or unipolar)
current rating to determine the current setting potentiometer value.
Parallel Connection: When configuring the motor windings in parallel, multiply the per Phase (or unipo-
lar) 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 Table 7 to
choose the proper setting for the current setting potentiometer. 
						

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Connecting the Step Motor
Phase 1 and 3 of the step motor is connected between pins 1 and 2 on the motor connector (TB3).  Phase
2 and 4 of the step motor is connected between pins 3 and 4 on the motor connector (TB3).  The motors
case should be grounded to pin 5 on the motor connector (TB3) for protection. Refer to Figures 2 and 3 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, swap the
wires on Phase 1 and  Phase 3.
WARNING: Do not connect or disconnect motor wires while power is applied!
Short-Circuit, Mis-Wire, and Over-Current Conditions
If it is found that there is a condition that causes on over current in the driver phase transistors, the Red
LED will turn on solid and power will be shut off to the motor.  To reset the drive turn power off, check
wiring, and turn power back on.
Over-Temperature and Over-Voltage Conditions
If it is found that there is an over temperature on the internal heat sink, or an over voltage on the motor bus
voltage,  the Red LED will blink and power will be shut off to the motor.  To reset the drive turn power off,
check wiring, and turn power back on.
ANAHEIM AUTOMATION
COPYRIGHT
Copyright 2003 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, 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 products are subjected to physical modifications, damage, abuse, or misuse.
Anaheim Automation will repair or replace at its’ option, any product which has been found to be defective and is within the warranty period, provided that the item is
shipped freight prepaid, with previous authorization (RMA#) to Anaheim Automation’s plant in Anaheim, California.
TECHNICAL SUPPORT
If you should require technical support or if you have problems using any of the equipment covered by this manual, please read the manual completely to see if it will
answer the questions you have.  Be sure to refer to the TROUBLESHOOTING section of this manual.  If you need assistance beyond what this manual can provide,
contact your Local Distributor where you purchased the unit, or contact the factory direct.