Anaheim Stepper TM4000 Users Guide

							November 20011
TM4000
Track Mounted Step Motor 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
#L010110     
						

							User’s Guide # TM40002
TM4000 Driver Features
 1.0-4.5 Amperes/Phase Operating Current
 Higher Torque/Speed Output
 Improved Start-Stop Speeds
 Short Circuit Protection
 Open Motor Wire Detection
 No RFI or EMI Problems
 Requires 7-28 VAC or 10-40 VDC
 TTL-CMOS Compatible Inputs
 Receives Positive or Negative Going Clocks
 Full Step or Half Step Operation
 Motor Turn Off Provisions
 Open Frame Circuit Board Mounts on Snaptrack
General Description
The TM4000 driver is a low cost, unipolar step motor driver designed for 4-phase step motors. The
TM4000 can be mounted on easy to use snaptrack, available in lengths of up to 6 feet.
Half Step/Full Step
The TM4000 has two modes of operation full-step or half-step operation. Full-step operation occurs by
energizing two phases at a time, rotating a typical motor 1.8 degrees per step. Half-step operation occurs
by alternately energizing one, and then two, phases at a time, rotating the motor 0.9 degrees per step.
Full-step operation is only for applications that specifically require that mode, such as when retrofitting
existing full-step systems.
Bi-level Drive
The basic function of a step motor driver is to control the motor winding currents. Motor performance is
determined by how fast the driver can increase and decrease the winding currents. A rapid rise in winding
current is achieved by applying a high voltage directly to a motor winding. This rapid rise of current is also
referred to as the “kick” or operating current. When a desired current level is reached, the high voltage is
turned off and a low voltage is applied to maintain a suitable holding current level. When a motor winding
is turned off, a rapid decrease in winding current is achieved by routing the energy in the collapsing field
back to the power supply through a high voltage path. The high voltage supply furnishes the energy
necessary to maintain motor output torque at high step rates thus providing high mechanical power out-
put. The low voltage supply provides much of the current needed at low step rates and all of the holding
current. Bi-level drivers do not use high frequency switching techniques as chopper drivers do. Conse-
quently, they do not create the EMI, RFI, and motor heating problems that are associated with chopper
drivers.
Phase Inputs
The TM4000 has the ability to accept phase inputs to control each of the 4 motor phases. For example, a
micro controller can be used to control the motor phases. Terminals 1, 2, 3, and 4 of TB2, are used as the
inputs for phase 1, phase 2, phase 3, and phase 4 respectively. Either positive true phase inputs or
negative true phase inputs may be used. (See Jumper Functions/Locations) 
						

							November 20013
Clock, CCW, and Direction
Pulses applied to the clock input cause the motor to move in the clockwise direction if the direction control
input is a logic “1” (no connection), or in the counterclockwise direction if the direction control input is logic
“0”. Pulses applied to the CCW input cause the motor to move in the counter clockwise direction. Either
positive or negative going pulses may be used by setting jumpers in the appropriate position. To deter-
mine which setting to use, first consider the type of clock pulse output on the pulse generator or indexer
(controller). If the clock output on the controller is open-collector type (sinking), then use the negative
going jumper setting. If the clock output on the controller is a pnp or p-channel (sourcing) type, then use
the positive going jumper setting. If the clock output on the controller is a TTL/CMOS type (totem pole),
then either setting will work; but the jumper setting should be chosen based on the level of the clock output
when the controller is not pulsing. If the clock is low when not pulsing, then use the positive going jumper
setting. If the clock is high when not pulsing, then use the negative going jumper setting. (See Jumper
Functions/Locations)
t o P
g n i t t e Sd e t a R
r o t o M
t n e r r u Ck c i K
t n e r r u C
% 0A0 0 . 1A0 4 . 1
% 0 1A5 3 . 1A9 8 . 1
% 0 2A0 7 . 1A8 3 . 2
% 0 3A5 0 . 2A7 8 . 2
% 0 4A0 4 . 2A6 3 . 3
% 0 5A5 7 . 2A5 8 . 3
% 0 6A0 1 . 3A4 3 . 4
% 0 7A5 4 . 3A3 8 . 4
% 0 8A0 8 . 3A2 3 . 5
% 0 9A5 1 . 4A1 8 . 5
% 0 0 1A0 5 . 4A0 3 . 6
Current Adjust Setting (CUR. ADJ.)
The potentiometer R9 is used to set the motor current. The pot should be set according to the motor’s
rated current. This will produce a kick current of 1.4 times the rated motor current. (Refer to Wiring
Diagram for location of current adjust potentiometer R9)
Motor Connection
Refer to the hookup diagram for typical driver applications. Wiring connected to inputs must be separated
from motor connections and all other possible sources of interference. Important Note: When connecting
the driver to the step motor, consult the factory if more than 25 feet of cable will be used to extend between
the motor and driver. 
						

							User’s Guide # TM40004
Jumper Functions/ Locations
n o i t c n u F1P J2P J3P J
t u p n I k c o l C g n i o G e v i t a g e N2- 12- 12- 1
t u p n I k c o l C g n i o G e v i t i s o P2- 13- 22- 1
s t u p n I e s a h P e u r T e v i t a g e N2- 12- 13- 2
s t u p n I e s a h P e u r T e v i t i s o P3- 23- 23- 2
) p i h S o t y d a e R ( t c u d o r P d r a d n a t S2- 12- 12- 1
Low Voltage Adjust (VLV ADJ.)
The potentiometer R24 is used to set the motor low voltage (VLV) supply which furnishes the current
necessary for holding (standstill) torque and low-speed running torque. Higher values for the low voltage
will produce more holding and low-speed torque. A proper VLV will produce a standstill current that is 65
to 100% of the rated motor current (i.e. for a motor rated at 1 amp, VLV should be set so that the standstill
current is 0.65 to 1 amps).
r o t o Ml l i t s d n a t S
t n e r r u C
) e s a h P / s p m A (. J D A V L V
t o P
g n i t t e Sr o t o Ml l i t s d n a t S
t n e r r u C
) e s a h P / s p m A (. J D A V L V
t o P
g n i t t e S
8 W L - * _ 2 0 0 L 7 17.%0*_ 4 0 2 D 3 262 . 1%5 3
8 W L - * _ 2 0 1 L 7 17.%5 4*_ 6 0 3 D 3 230 . 2%0 3
8 W L - * _ 2 0 2 L 7 17.%5 5*_ 6 0 1 D 4 31. 2%0 2
8 W L - * _ 3 0 2 L 7 150 . 1%0 2*_ 9 0 2 D 4 322 . 3%0
8 W L - * _ 2 0 0 L 3 27.%5 4*_ 7 0 2 D 4 354 . 2%5 2
8 W L - * _ 2 0 1 L 3 27.%0 8*_ 7 0 3 D 4 354 . 2%0 3
8 W L - * _ 4 0 1 L 3 24. 1%0 28W L - * _ 4 0 1 N 4 34. 1%5 6
8 W L - * _ 6 0 1 L 3 21. 2%08W L - * _ 8 0 1 N 4 337 . 2%0 3
8 W L - * _ 4 0 2 L 3 24. 1%5 38W L - * _ 4 0 1 K 4 34. 1%5 6
8 W L - * _ 6 0 2 L 3 21. 2%0 38W L - * _ 8 0 1 K 4 337 . 2%0 3
8 W L - * _ 3 0 3 L 3 250 . 1%5 38W L - * _ 7 0 2 N 4 354 . 2%0 4
8 W L - * _ 6 0 3 L 3 21. 2%5 58W L - * _ 7 0 2 K 4 354 . 2%0 4
* _ 2 0 1 D 3 27.%5 48W L - * _ 7 0 3 N 4 354 . 2%0 4
* _ 4 0 1 D 3 24. 1%0 28W L - * _ 7 0 3 K 4 354 . 2%0 4
* Substitute S or D for Single or Dual Shaft Motor 
						

							November 20015
Wiring Diagram
Heating Considerations
The temperature of the heatsink should never be allowed to rise above 60 degrees Celsius. If necessary,
air should be blown across the heatsink to maintain suitable temperatures.
Terminal Descriptions
n i Pno i t p i r c s e D
1)1 e s a h P ( t u p n I k c o l C
2)2 e s a h P ( t u p n I W C C
3)3 e s a h P ( l o r t n o C n o i t c e r i D
4)4 e s a h P ( p e t s l l u F / p e t s f l a H
5ff O / n O r o t o M
6tu p t u O C D V 5 +
7CD V 0
8)d e s u F ( t u p n I r e w o P C D / C A
9tu p n I r e w o P C An i Pno i t p i r c s e D
1)d e R ( 1 e s a h P
2)e t i h W / d e R ( 3 e s a h P
3)k c a l B ( 3 & 1 e s a h P M O C
4)e t i h W ( 4 & 2 e s a h P M O C
5)n e e r G ( 2 e s a h P
6)e t i h W / n e e r G ( 4 e s a h P
TB1: TB2: Power Requirements
The TM4000 can be powered by an AC or DC voltage (see specifications). For AC operation, the driver
may be purchased with a recommended step down transformer. A single transformer may be used to
power up several drivers based on power consumption.   
						

							User’s Guide # TM40006
Dimensions
Fault Protection
There are 2 types of fault detection. When a fault is detected, the driver turns off the motor current and the
LED indicates which type of fault occurred. The LED is solid red during normal operation.
s k n i l B o w T - D E L
. e l b a c r o r o t o m e h t n i e r i w d e t r o h S
s k n i l B e n O - D E L
. e l b a c r o r o t o m e h t n i e r i w n e p O
If the driver goes into a fault condition, the fault may be reset by turning the power off for at least 20
seconds.
Motor On/Off
The motor On/Off feature allows the de-energizing of a motor without disturbing the positioning logic. After
reenergizing the motor, a routine can continue. This reduces motor heating and conserves power, espe-
cially in applications where motors are stopped for long periods.   
						

							November 20017
Transformer Drawings (AA2784)
Transformer Wiring Diagrams (Primary Input)
Note: Blue wires go to TB2, pins 8 & 9 on the driver.         
						

							User’s Guide # TM40008
Specifications
Control Inputs: (TB2, Pins 1-5)
TTL-CMOS Compatible
Logic “0” = 0-0.8VDC
Logic “1” = 3.5-5.0VDC
Pins 1-4 are pulled up or down (depending on the jumpers) through 10k ohm resistors. Pin 5 is pulled up
through a 10k ohm resistor.
Clock, CCW: (TB2, Pins 1 and 2)
15 microseconds minimum pulse width, positive or negative going.
Direction Control: (TB2, Pin 3)
Logic “1” (open) - Clockwise
Logic “0” - Counterclockwise
Mode Select: (TB2, Pin 4)
Logic “1” (open) - Half-step
Logic “0” - Full-step
Motor On/Off: (TB2, Pin 5)
Logic “1” (open) - Motor energized
Logic “0” - Motor de-energized
Output Current Rating: (TB1)
4.5 amperes per phase maximum operating current; 3.0 amperes per phase maximum standstill current.
Motor phase ratings of 1 ampere minimum are required to meet the minimum kick level.
+5VDC Output: (TB2, Pin 6)
100mA maximum
Power Requirements: (TB2, Pins 8 and 9)
7VAC (min) - 28VAC (max) or
10VDC (min) - 40VDC (max)
Operating Temperature:
Heatsink: 0°-60° C
Fuse:
5 Amp Fast Blow
5 x 20mm 
						

							November 20019
Troubleshooting
If a fault occurs, reset the fault by cycling power OFF for at least 20 seconds. After resetting, try to run the
motor again. If the driver faults again then check the conditions listed below.
Is the LED blinking twice?
This indicates that the motor has a phase shorted or there is a short in the motor cable or wiring. Check
the motor and the wiring for shorts. If the driver continues to sense “shorts” after the motor and wiring are
determined to be accurate, then the output transistor should be checked (see below).
Is the LED blinking once?
This indicates that there is an open or intermittent connection in one of the motor wires. Check the motor
and the wiring for opens. Another condition that may cause this type of fault, is when a large motor is
ramped down too quickly so that it loses it’s positioning.
Checking Output Transistors
1. Set the multimeter to “diode test”.
2. Place the red meter lead on (between) the sense resistors (labeled as R15 and R29 in Jumper
    Functions/Locations).
3. Touch the black meter lead to each phase (TB1, Pins 1,2,5 and 6).
4. Readings should be between 0.450 VDC and 0.550 VDC.
5. If any readings are significantly less than 0.450 VDC, then the unit has been damaged.
If a factory repair is required, please contact Anaheim Automation for an RMA# at:
(800) 345-9401 or (714) 922-6990
Power Supply Ordering Information
The AA2784 is the recommended transformer. For additional info on other transformers please contact
the factory.
y l p p u S C Dn o i t p i r c s e Dr e m r o f s n a r T C An o i t p i r c s e D
A 4 V 0 4 A S Ps p m A 4 t a C D V 0 45 9 2 2 A At t a W 0 0 1
A 7 . 2 V 4 2 A S Ps p m A 2 t a C D V 4 24 8 7 2 A At t a W 0 0 2
A 8 V 0 4 A S Ps p m A 8 t a C D V 0 45 8 7 2 A At t a W 0 0 3 
						

							User’s Guide # TM400010
Torque Speed Curves