User Manual

SMD41 and

SMD42

Step Motor Ministep Drivers

User Manual

LB0043-03GB

JVL Industri Elektronik A/S

Updated 10.5.2005

Copyright 1998-2005, JVL Industri Elektronik A/S. All rights reserved.

This user manual must not be reproduced in any form without prior written permission of JVL Industri Elektronik A/S.

JVL Industri Elektronik A/S reserves the right to make changes to information contained in this manual without prior notice.

Similarly JVL Industri Elektronik A/S assumes no liability for printing errors or other omissions or discrepances in this user manual.

MotoWare

is a registered trademark

JVL Industri Elektronik A/S

Blokken 42

DK-3460 Birkerød

Denmark

Tlf. +45 45 82 44 40

Fax. +45 45 82 55 50 e-mail: [email protected]

Internet: http://www.jvl.dk

Contents

1

1.1

Introduction ................................................................................... 6

1.2

Driver Connections ....................................................................... 7

1.3

Power Supply ................................................................................. 8

1.4

Adjustment of Motor Phase Current ............................................. 9

1.5

Connection of Motor ................................................................... 11

1.6

Step Pulse and Direction Inputs ................................................... 14

1.7

Error Output ................................................................................ 16

1.8

Selection of Curve Forms ............................................................ 17

1.9

Selection of Step Resolution ......................................................... 18

1.10 Physical Dimensions ..................................................................... 19

1.11 Technical Specifications ............................................................... 20

1.12 Motor Connections ...................................................................... 21

1.13 Connection to Indexer SMI30 ...................................................... 23

1.14 Connection to PLC / PC Boards .................................................. 24

1.15 Accessories .................................................................................. 25

1.16 CE Declaration of Conformity ..................................................... 26

JVL Industri Elektronik A/S — User Manual Step Motor Driver SMD41/42


1

JVL Industri Elektronik A/S — User Manual Step Motor Driver SMD41/42 5

6

1.1

Introduction

Step Motor Driver SMD41/42 is a mini-step driver which has been designed for driving step motors with phase currents of up to 9 Amp/phase (RMS).

Driver SMD41/42 is available in 10 different versions for supplying various phase currents and step resolutions up to 25,000 steps per motor revolution.

Overview — SMD41/42 Step Motor Driver Series

Ministeps per full-step

Motor

Current per phase 1/2/4/8 10 / 25 / 50 / 125

3Amp/RMS SMD41A3

6Amp/RMS SMD41/42B3

9Amp/RMS SMD41/42C3

SMD41A2

SMD41/42B2

SMD41/42C2

The advantage of using a ministep driver instead of a conventional driver is that mechanical resonance problems are significantly minimised. Resonance most often occurs at slow motor speeds and results either in loss of motor torque or the appearance of significant harmonics. The principle of the ministep technique is to drive the motor using a sinusoidal current in the interval between 2 physical full steps. This reduces the step velocity between each step and thus damps the resonance significantly.

A special feature of the SMD41/42 Driver provides a choice of 4 different curve forms to be used for mini-stepping. Theoretically it is correct to control the motor phase current using a sinusoidal current as mentioned above, but in practice however it is often advantageous to drive the motor using a modified sinusoidal curve since there is not always a linear relationship between the current and the motor position.

Motor Driver SMD41/42 is built into a black aluminium casing which provides a very robust construction that is insensitive to mechanical vibration. Both 2-phase and 4-phase step motors can be connected to the Driver, which utilises the "Bipolar Chopper" principle of operation, thus giving optimum motor performance.

Main Features:

•

Wide range of power supply: 20-80 VDC (SMD41) or 20-160VDC (SMD42) .

•

Step frequency up to 800 kHz.

•

Step Resolution: 200, 400, 800, 1600, 2000, 5000, 10000, 25000 ministeps per motor revolution.

•

Galvanically isolated Step-pulse and Direction Inputs.

•

"Power dump" output for sinking overloads.

•

Automatic switching between Operating and Standby Currents.

•

Facility for control of Operating and Standby currents via externally applied voltage

0-2.5V or 0-20mA.

•

Small physical dimensions: 100 x 22 x 114 mm

•

Error output for temperature overload and short-circuit conditions.

•

Thermal overload protection.

•

Filter option for Step-pulse Input.

•

Compatible with previous model SMD40.


1.2

Driver Connections

Scale 1 : 1

Power

Error

1

2

3

4

5

Current Curve

Resolution

50kHz Filter ON/OFF

I

I

O

1

2

3

O

O

4

5

I

I

O

O

8

9

6

7

I

I 10

11

I

I

12

13

O 14

GND /

Supply

20..80V=SMD41

20..160V=SMD42

Motor A

Motor A

Motor B

Motor B

+

-

+

-

Power Dump

M

Direction

Stepclock

PNP

PNP

Digital GND

Standby Current

Move Current

Current GND

Error

Current Curve

SW1

ON

OFF

ON

OFF

SW2

ON

ON

OFF

OFF

A

B

C

D

Ministep/Fullstep

SW3

ON

OFF

ON

OFF

SW4

ON

ON

OFF

OFF

Driver Model

- 1 - 2 - 3

10

10

10

10

25

50

1

2

4

10 125 8

Model :

Stepmotor Ministep Driver

Industri Elektronik

C


Made in Denmark

Mounting Plate / Heat Sink

“Power” Indicator LED

“Error” Indicator LED (short-circuit, temperature, etc.)

DIP switch for selection of Curve Form

DIP switch for selection of Step Resolution

DIP switch for selection of Step-pulse Filter on/off

Power Supply Input SMD41: 20-80VDC / SMD42: 20-160VDC

Motor Output to 2- or 4-phase step motor

“Power Dump” Output

Step-pulse and Direction Inputs (optically isolated)

Input for adjusting Operating and Standby Currents

Error Output. Activated by short-circuit or temperature

TT0001


1.3

Power Supply

1.3.1

1.3.2

8

Fuse T10A

SMD41 = 20-80VDC

SMD42 = 20-160VDC

+

SMD41 : 33-50 Ohm/50W

SMD42 : 68-100 Ohm/50W

Warning.

If the supply voltage is increased above 95V for SMD41 or 180V for SMD42 it will damage the driver permanent.

Power

Error

1

2

3

4

5

Current Curve

Resolution


I

I

O

O

O

O

1

2

3

4

5

6

I

I

I

O 7

8

9

10

I

I

I

11

12

13

O 14

GND /

Supply

Motor A

Motor A

Motor B

Motor B

20..80V=SMD41

20..160V=SMD42

+

+

-

-

Power Dump

Direction

PNP

Stepclock

PNP

Digital GND

Standby Current

Move Current

Current GND

Error

M

Current Curve

SW1

ON

OFF

ON

OFF

SW2

ON

ON

OFF

OFF

A

B

C

D


SW3

ON

OFF

ON

OFF

SW4

ON

ON

OFF

OFF

Driver Model

- 1 - 2 - 3

10

10

10

25

10 50

10 125

1

2

4

8

Model :


Industri Elektronik

C


Made in Denmark

TT0003

Power Supply

The power supply for the SMD41/42 is connected to the Driver via terminals 1 and 2.

The supply must have an output capacitor of at least 4700µF for optimum operation.

To minimise cable induction, this capacitance should not be connected more than 1m from the Driver. 0.75mm cable (minimum) should be used to connect the power supply to the Driver. A T6.3 fuse (SMD41) will do it if you are using 80V and T10A fuse (SMD42) but please keep in mind that it must be a "slow blow" type. The current consumption can be very high during power up since the driver already at 20V try to achieve the selected motor current. The worst case situation is if the driver is setup for full current and is applied with step pulses at the same time during power up.

Important!

: The SMD41/42 should be protected using a slow-blow fuse of max. 10A since there is no internal fuse. The removable connector must never be removed while power is connected to the SMD41/42 as this will significantly shorten the connector’s lifetime.

Power dump

In certain circumstances, the step motor connected to the Driver can induce significant reverse energy surges back to the Driver. This occurs primarily during rapid deceleration of a step motor when large inertial masses are being decelerated. This phenomenon can be problematic since the energy can only be led to the Driver’s power supply capacitor, resulting in a large voltage increase.

In situations where the Driver is nominally powered by a voltage of 80VDC (or 160VDC for SMD42), this does not leave any margin for the above-mentioned reverse power surges. In order to solve this problem, the SMD41/42 Driver is equipped with a "safety valve" in the form of terminal 7 (see above illustration). This terminal is connected to a circuit which short-circuits the terminal to ground if the supply voltage exceeds 95VDC

(or 180VDC for SMD42). The short circuit is decoupled only when the supply voltage falls below 91VDC(or 168VDC for SMD42). The terminal must be connected to an external resistor, the size of which depends on deceleration parameters. Typically a 30-

50ohm/50W (or 68-100 Ohm for SMD42) resistor will be suitable. More specific guidelines cannot be given since the actual energy induced depends on motor data, temperature, deceleration rate, etc.


1.4

Adjustment of Motor Phase Current

1.4.1

R1 and R2 can be calculated as follows :

Amax: The maximum delieverable driver current: 3,6 or 9 Amp.RMS

Amp: The required current

R1 or R2 =

50000 x Amp

(Amax - Amp)

R1 = Standby Current Resistor

R2 = Operating Current Resistor

R1 R2

Power

Error

1

2

3

4

5

Current Curve

Resolution


I 1

I

O

2

3

O

O

4

5

I

I

O

O

8

9

6

7

I

I

10

11

I 12

I 13

O 14

GND /

Supply

20..80V=SMD41

20..160V=SMD42

Motor A

Motor A

Motor B

Motor B

+

-

+

-

Power Dump

M

Direction

Stepclock

PNP

PNP

Digital GND

Standby Current

Move Current

Current GND

Error

Current Curve

SW1

ON

OFF

ON

OFF

SW2

ON

ON

OFF

OFF

A

B

C

D


SW3

ON

OFF

ON

OFF

SW4

ON

ON

OFF

OFF

Driver Model

- 1 - 2 - 3

10

10

10

10

10

25

50

125

1

2

4

8

Model :


Industri Elektronik

C


Made in Denmark

TT0004


The current supplied to each of the step motor’s phases can be adjusted for standby and operating currents using input terminals 11-13. The values of Standby Current and Operating Current are determined, respectively, by the resistor connected between terminals 11+13 and terminals 12+13. The Driver automatically switches between the two currents by detecting the presence of step-pulses. If a rising edge is detected at the stepclock input the "Move current" is selected. If no rising edges is deteccted for 100mS at the stepclock input the current is automatically switched back to "Standby current".

Values for the two currents are typically adjusted so that the Operating Current is significantly higher than the Standby Current, since the motor must be supplied with more power to drive its load during acceleration and constant operation than when it is stationary. Note that the maximum Standby Current can be 50% of the maximum current for the actual driver type. The only overriding consideration that must be made in the adjustment of motor phase currents is that the thermal output of the motor must not exceed the maximum operating temperature of the step motor — see the manufacturer’s product data for the motor in question. Note that terminals 11-13 are not galvanically isolated from other Driver circuitry. The following table indicates the relationship between resistor values and motor phase currents. As illustrated, the motor current is also dependent on the model of the SMD41/42 Driver.

Motor Current (Amps RMS per phase) Resistor R1-2

SMD41Ax

0.00A

0.25A

0.50A

0.75A

1.00A

1.25A

1.50A

1.75A

2.00A

2.25A

2.50A

2.75A

3.00A (Maximum)

SMD41/42Bx

0.00A

0.50A

1.00A

1.50A

2.00A

2.50A

3.00A

3.50A

4.00A

4.50A

5.00A

5.50A

6.00A (Maximum)

SMD41/42Cx

0.00A

0.75A

1.50A

2.25A

3.00A

3.75A

4.50A

5.25A

6.00A

6.75A

7.50A

8.25A

9.00A (Maximum)

-

0 Ohm (short-circuit)

4.7kOhm

10kOhm

18kOhm

22kOhm

39kOhm

47kOhm

68kOhm

100kOhm

150kOhm

270kOhm

560kOhm none (open circuit)


1.4


Current Control

Operating Current

Standby Current

120 Ohm

Power

Error

1

2

3

4

5

Current Curve

Resolution


I 1

I

O

O

2

3

4

O

O

5

6

I

O 7

8

I

I

9

10

I 11

I

I

12

13

O 14

GND /

Supply

Motor A

+

Motor A

Motor B

Motor B

-

+

-

Power Dump

Direction

PNP

Stepclock

PNP

Digital GND

Standby Current

Move Current

Current GND

Error

1.4.2

Voltage Control

+ +

Standby Current

Operating

Current

Power

Error

1

2

3

4

5

Current Curve

Resolution


I 1

I

O

O

O

O

2

3

4

5

6

O

I

7

8

I

I

9

10

I 11

I

I

12

13

O 14

GND /

Supply

Motor A

Motor A

Motor B

Motor B

+

-

+

-

Power Dump

Direction

PNP

Stepclock

PNP

Digital GND

Standby Current

Move Current

Current GND

Error

TT0012GB

Motor Current Controlled by Voltage or Current

In cases where current control is not desired via an external resistor, but via an externally applied voltage, terminals 11-13 can also be used.

A voltage in the range 0 to 2.50VDC should be applied to the two terminals, corresponding to motor currents of 0 to 3Amp for SMD41Ax, 0 to 6 Amp for SMD41/42Bx, and 0 to 9 Amp for SMD41/42Cx.

If current control of the motor phase current using a standard signal in the range 0-20mA is required, a 127 Ohm/1%(E48) or 120 Ohm/5%(E24) resistor should be connected between "Current GND" and each input — see above illustration.

The relationship between the voltage at the terminals and the motor current is liniar from 0 to full-scale.

10 JVL Industri Elektronik A/S — User Manual Step Motor Driver SMD41/42

1.5

Connection of Motor

Terminate screen only for driver

Shield

Ground

Power

Error

1

2

3

4

5

Current Curve

Resolution


I

I

I

I

8

9

10

11

I

I

12

13

O 14

I

I

O

O

O

O

O

1

2

3

4

5

6

7

GND /

Supply

Motor A

Motor A

Motor B

Motor B

+

-

+

-

Power Dump

Direction

Stepclock

PNP

PNP

Digital GND

Standby Current

Move Current

Current GND

Error

TT0016GB

1.5.1

Cabling

For Driver models that supply a phase current in the range 0 to 6 A, it is recommended that 0.75mm² cable (minimum) is used to connect the motor to the Driver.

For Driver models that supply a phase current in the range 0 to 9 A, it is recommended that 1.5mm² cable is used to connect the motor to the Driver.

Cable lengths used to connect the motor to the Driver should not exceed 10 metres because of impedance loss.

Connected cables should be securely tightened since a poor connection can cause heating and destruction of the connector terminals. Similarly, tinned conductors should be avoided. The torque used for each screw is recommended in the range 0.22 - 0.25Nm.

Important!

To minimise spurious noise emission from the motor cables and fulfil CE requirements, screened cable must be used!

If screened cable is not used, other electronic equipment in the vicinity may be adversely affected.

The removable connector must never be removed while a voltage is connected as this will significantly reduce the lifetime of the connector. Note also that the connector’s lifetime is reduced by repeated connecting/disconnecting since the contact resistance of the pins is increased.

Note that GND (1) is connected to the chassis and functions as the main ground on the

SMD41/42.

See also

Motor Connections,

page 21, which describes how various models of motor should be connected to the SMD41/42.


1.5


Serial connection of phases:

Parallel connection of phases:

Motor

Torque

Parallel

Serial

Velocity

Current for Serial or Parallel connection

Maximum current settting

Example motor 4.2A

Motor

4-phase parallel

Motor

4-phase serial

Motor

2-phase

I x 1.41

1.41

4.2 x 1.41 =5.9

4.2

1.41

= 3A

4.2A

I = Nominal current per phase in accordance with manufacturer's specifications

TT0008

1.5.2

Connection of Step Motor

Various types of step motor are available:

1.

2-phase Bipolar (4 cables)

2.

4-phase Bipolar/Unipolar (8 cables)

3.

4-phase Unipolar (6 cables). Not suitable.

Note

that Type 3 motors indicated above (Unipolar motors) are not suitable for operation with this series of Drivers since the Drivers utilise the bipolar principle.

Note that a bipolar system typically yields 40% greater torque than unipolar systems.

2-phase or 4-phase motors can be connected to the Drivers as follows:

2-phase Motors

(4 cables).

This type of motor can be directly connected to the Driver’s output terminals.

The Driver current adjustment must not exceed the manufacturer’s specified rated current for the motor.

4-phase Motors

(8 cables).

This type of motor can be connected to the Driver in one of the 2 following ways:

1. Serial connection of phases.

2. Parallel connection of phases.

Selection of serial or parallel connection of the motor phases is typically determined by the speed requirements of the actual system.

If slow speeds are required (typically less than 1 kHz), the motor phases can be connected in serial. For operation at higher speeds (greater than 1 kHz), the motor phases can be connected in parallel.


1.5


Serial Connection

:

Using serial connection of the phases, a motor provides the same performance (up to

1kHz) as parallel connection, but using only approximately half the current. This can influence the selection of Driver model and enables a Driver rated for a lower motor current to be used. See illustration on previous page.

If the phases of a 4-phase step motor are connected in series, the motor’s rated phase current should be divided by 1.41. For example, if the rated current is 4.2A, the maximum setting of the Driver phase current must not exceed 3 A when the motor phases are connected in series.

Parallel Connection:

With parallel connection of motor phases, a motor will provide better performance at frequencies greater than 1kHz compared to serially connected phases, but requires approximately twice the current. This can influence the choice of Driver since it is necessary to select a Driver that can supply twice the current used for serial phase connection.

See illustration on previous page.

When the phases of a 4-phase motor are connected in parallel, the specified rated current of the motor must be multiplied by a factor of 1.41. For example, if the rated current is 4.2 A, the maximum setting of the Driver phase current must not exceed 5.9 A when the phases are connected in parallel.

It should be noted that the lower the self-induction of the motor the better since this influences the torque at high speeds. The torque is proportional to the current supplied to the motor.

The applied voltage is regulated by the Driver so that the phase current is adjusted to the selected value. In practice this means that if a motor with a large self-inductance (e.g.

100mH) is used, the Driver cannot supply the required phase current at high speeds (high rotational frequencies) since the output voltage is limited.


1.6

Step Pulse and Direction Inputs

Step occurs on the leading flank

Step clock (P9)

1

0

Min. 2.5µS

Direction (P8)

PLC or Pulse

Generator

Direction Output

Pulse Output

Ground

PNP Outputs

1

0

Min. 500nS Min. 500nS

Min. 2.5µS

The Direction signal must be well defined in this interval

Screen

Note ! : screen only connected on signal source.

Power

Error

1

2

3

4

5

Current Curve

Resolution


I

I

I

I

I

I

O

8

7

9

10

11

12

13

I

I

O

O

O

O

1

2

3

4

5

6

O 14

GND /

Supply

Motor A

Motor A

Motor B

Motor B

+

-

+

-

Power Dump

Direction

PNP

Stepclock

PNP

Digital GND

Standby Current

Move Current

Current GND

Error

TT0010

1.6.1

1.6.2

14


The 2 main inputs on the SMD41/42 are the Step Pulse and Direction Inputs shown in the above illustration. The Step Pulse Input is used for applying pulse signals which make the motor move. One signal pulse corresponds to a single ministep. The Direction Input determines the direction of the motor movement. If logic "1" is applied to the Direction Input, the motor moves forward. If logic "0" is applied to the Input, the motor moves backwards.

Both the Step Pulse and Direction Inputs are optically isolated from other Driver circuitry and must be driven either by a push-pull driver or a PNP (source) driver. The Inputs can handle voltages in the range 0 to 30 V, which makes the SMD41/42 well suited for industrial applications, for example in PLC systems.

Optical isolation of the Inputs ensures that the SMD41/42 is not affected by extraneous electrical noise.

Both Inputs are partly current driven, which also contributes to the Driver’s noise immunity, particularly if the signal source is located at a distance from the Driver. It is, however, recommended that screened cable is always used for connection to the Step Pulse and Direction Inputs.

Both inputs must be controlled from a "Source-driver". This means that they share a common ground — see above illustration.

The Driver executes the step on the leading flank of the Step Input pulse — see above illustration.

Input Filter

In situations where the step-pulse signal’s rise and fall time is very slow - > 1 µS, it is recommended that the built-in Input Filter is used. The Filter is enabled by setting DIP switch

5 to the "ON" position. This limits the bandwidth of the Step Pulse Input to <50kHz.

Note that the pulse width must be > 10 µS if the Input Filter is used.


1.6


This diagram should be used if a PNP output is to be connected

PNP Output

+

5-30VDC

Pulse source

To "Direction" or "Stepclock"

To "Digital GND"

This diagram should be used if an NPN output is to be connected

Input Circuitry on the SMD41 and 42

PC410

Direction P8

1,5kOhm

470pF

Stepclock P9

100pF

+

Pulse source

R

NPN Output

To "Direction" or "Stepclock"

To "Digital GND"

Digital GND P10

Chassis

100nF

PC410

TT0011

1.6.3

1.6.4

Signal Source with NPN Output

Normally the output circuit of the signal source is regarded as a PNP output to comply with European Standard. However there are a number of PLC controllers or PC axis boards that use an NPN output.

To connect these NPN systems to the SMD41/42, a "pull up" resistor must be used, as shown in the above illustration.

The size of the resistor depends on the actual signal source used. Use the following table to determine the required resistance.

Voltage

5-8VDC

8-14VDC

14-20VDC

20-30VDC

Resistance

(R)

470 Ohm

1.5 kOhm

2.2 kOhm

2.7 kOhm

It is recommended that a resistor type SFR25 (0.5W) or SFR16 (0.3W) is used.

Input Circuitry

As shown in the above illustration, the Driver’s input circuitry is galvanically isolated from other circuits.

This prevents ground loops that could cause unwanted errors in the step pulse and direction signals. Note that the Inputs’ ground (Digital GND) is also used for the Error Output P14.


1.7

Error Output

1.7.1

Error (P14)

1

0

Normal operation

Error

PLC

Ground

Input

+

+

TT0013GB

Power

Error

1

2

3

4

5

Current Curve

Resolution


I

I

O

O

O

O

1

2

3

4

5

6

O

I

7

8

I

I

9

10

I 11

I

I

12

13

O 14

GND /

Supply

Motor A

Motor A

Motor B

Motor B

+

-

+

-

Power Dump

Direction

PNP

Stepclock

PNP

Digital GND

Standby Current

Move Current

Current GND

Error

Error Output

The Driver’s Error Output enables a PLC or other equipment in a motion control system to verify that the Driver is functioning correctly.

Under normal operation the Error Output has a status of logic "1", but if the Driver is short-circuited or the temperature exceeds 85 degrees Centigrade, the Output is switched to logic "0".

Note that the Output is of the NPN type and must therefore have a "Pull up" resistor connected to the actual supply (0-30VDC).

For a PLC system operating with 24V levels, a 2.2kOhm resistor will typically be required.

This relatively low resistance is necessary to maintain a current of 10mA, which is typically required for a PLC input to be activated.

For 5V logic inputs, a resistance of 1kOhm is recommended.

Note

that the Error Output has a maximum rated loading of 50mA and is not short-circuit protected!


1.8

Selection of Curve Forms

Selection of curve form

Power

Error

1

2

3

4

5

Current Curve

Resolution


O

O

O

O

I

I

O

1

2

3

4

5

6

7

I

I

I

I

8

9

10

11

I

I

12

13

O 14

GND /

Supply

20..80V=SMD41

20..160V=SMD42

Motor A

Motor A

Motor B

Motor B

+

-

+

-

Power Dump

M

Direction

Stepclock

PNP

PNP

Digital GND

Standby Current

Move Current

Current GND

Error

Current Curve

SW1

ON

OFF

ON

OFF

SW2

ON

ON

OFF

OFF

A

B

C

D


SW3 SW4

Driver Model

- 1 - 2 - 3

ON

OFF

ON

OFF

ON

ON

OFF

OFF

10

10

10

25

10 50

10 125

1

2

4

8

Model :


Industri Elektronik

C


Made in Denmark

TT0014

1.8.1

Selection of Curve Forms

The mini steps normally use a sinusoidal curve to drive the motor.

For some types of step motor, the relationship between current and the step motor’s position is not completely linear.

In such cases, it is possible to modify the sinusoidal curve and thus achieve better and more precise positioning of the motor.

Using 2 DIP switches on the Driver (see above illustration), it is possible to operate the motor using 1 of 4 different curve forms: ideal sinusoidal curve, sine + 3%, sine + 6% or sine - 3%.

The DIP switch settings are given below:

DIP-switch settings

ON ON

OFF

ON

OFF

ON

OFF

OFF

Curve form

Curve A - Ideal sine

Curve B - Sine +3%

Curve C - Sine +6%

Curve D - Sine -3%

Contact JVL if external control of the selection of the curve form is required.


1.9

Selection of Step Resolution

Step resolution

Power

Error

1

2

3

4

5

Current Curve

Resolution


I 1

I

O

2

3

O

O

O

4

5

6

I

O 7

8

I

I

I

I

9

10

11

12

I 13

O 14

GND /

Supply

Motor A

Motor A

Motor B

Motor B

20..80V=SMD41

20..160V=SMD42

+

-

+

-

Power Dump

Direction

PNP

M

Stepclock

PNP

Digital GND

Standby Current

Move Current

Current GND

Error

Current Curve

SW1

ON

OFF

ON

OFF

SW2

ON

ON

OFF

OFF

A

B

C

D


SW3

ON

OFF

ON

OFF

SW4

ON

ON

OFF

OFF

Driver Model

- 1 - 2 - 3

10

10

10

25

10 50

10 125

1

2

4

8

Model :


Industri Elektronik

C


Made in Denmark

TT0015GB

1.9.1

Step Resolution

The SMD41/42 series comprises 3 different step resolution groups.

SMD41/42x3 has the lowest resolution and SMD41/42x2 has the greatest.

The following table shows the step resolutions that are available. The values "per revolution" are based on a standard motor with 200 steps per revolution.

Type

SMD41/42x2

SMD41/42x3

Mini steps/full step

10, 25, 50, 125

1, 2, 4, 8

Mini steps/revolution

2000, 5000, 10000, 25000

200, 400, 800, 1600

For Driver models SMD41/42x2 and SMD41/42x3, the ministep resolution can be adjusted using 2 DIP switches on the side panel of the Driver — see above illustration.

Use of higher step resolution minimises mechanical resonances and thus provides optimum motor torque throughout the entire range of velocity. Note that the motor’s resonances/torque is also heavily determined by the supply voltage. At high supply voltages, optimum torque is achieved at high rates of revolution.

Contact JVL if control of step resolution from an external unit is required.


1.10

0

17.0

r2,5

4.0

Physical Dimensions

100.0mm

8

5

57.0

r2,5

97.0

109.0

4.3

r2,5

Ø5

10.5

All dimensions in mm

Tolerance +/- 0.1 mm

114.0 mm

TT0009

22.0mm


1.11

Technical Specifications

Minimum Typical Maximum Absolute maximum

Power Supply:

SMD41 : Supply Voltage - nominal

SMD42 : Supply Voltage - nominal

Current Consumption, without motor

Driver Stage:

Chopper Frequency

Motor Current (per phase)

Power Loss in Driver (Watt per A RMS)

"Power Dump" Output:

Continuous Current

Voltage SMD41(42)

Step Pulse Input:

Voltage Logic "1"

Voltage Logic "0"

Current Logic "1"

Current Logic "0" (open)

Pulse Duration - Logic "1"

Pulse Duration - Logic "0"

Rise Time

Decay Time

Frequency

Frequency (with Step Filter - DIP 5)

Direction Input:

Voltage Logic "1"

Voltage Logic "0"

Current Logic "1" (source)

Current Logic "0" (open)

Current Control Inputs:

Input Impedance

Input Voltage

Diverse:

Temperature range (ambient)

Temperature alarm (internal temp.)

Humidity

Weight

Recommended Heat Sink Data SMD41Ax

Recommended Heat Sink Data SMD41Bx

Recommended Heat Sink Data SMD41Cx

Recommended Heat Sink Data SMD42Bx

Recommended Heat Sink Data SMD42Cx

0

0

20

20

35 @80V

20

0.0

0

8

0

4.3

0

500

500

4.3

0

10

0

0

-20

0

2

-

0

1

1

0.6

80

160

67 @40V 170 @20V

1.5

50

85

-

-

-

250

1

0.6

24

(3, 6, 9)*

2

90 (180)

28

3

20

3

100

100

800

50

28

3.0

12

3

2.50

45

-

-

-

-

-

-

95

* SMD41Ax - 3A RMS /SMD41/42Bx - 6A RMS/ SMD41/42Cx - 9A RMS

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

32

-

-

-

32

-

-

-

-

90

70

-

100 (200)

-

5.0

Units

VDC

VDC mADC kHz

A RMS

Watt

ADC

VDC ns ns ns ns

VDC

VDC mADC mADC kHz kHz

VDC

VDC mADC mADC kOhm

VDC

°C

°C

% gram

K/W

K/W

K/W

K/W

K/W


1.12

Motor Connections

Connection of JVL and MAE motors (parallel). Type MST23x/

MST34x and HY200-xxxx-xxx-x8

Black

Black / White

Orange / White

A+

A-

B+

Orange

Red

B B

B-

Red / White

Yellow / White

Yellow

Connection of JVL and MAE

4 wire motors. Type MST17x and HY200-xxxx-xxx-x4

Black (White 17xx)

A+

A-

B+

Orange

(Yellow 17xx)

Red (Red 17xx)

A

B

B-

Yellow (Blue 17xx)

Connection of JVL and MAE motors (serial). Type MST23x/

MST34x and HY200-xxxx-xxx-x8

Black

A+

Orange/White

Black/White

Connection of Zebotronics motor

Type : SMxxx.x.xx.x

(8 terminals)

1 Brown

3 Black

2 White

A+

A-

B+

Orange

Red

A-

B+

4 Red

5 Blue

A A

B B

B-

Yellow

Red/White

Yellow/White

Connection of MAE motor (unipol.)

Type HY200-1xxx-xxxxx6

( Motor in unipolar model - 6 wires )

White

A+

A-

B+

Green

Black

A A

B B

White/

Green

White/

Red

Red

B -

B-

SM87/SM107/168.x.xx

7

6

8

Yellow

Gray

Green

SM56.x.xx

Connection of Zebotronics motor

Type : SMxxx.x.xx.x

(4 terminals)

A+

A-

B+

B-

Black 1

Red 3

A

B

TT0005


1.12

Connection of Vexta motor

Type PH2xx.xxx

A+

( Motor in unipolar model - 6 cables )

Black

A-

B+

Yellow

Red

A A

B

B

White

B-

Motor Connections

Connection of Phytron motor

Type ZSx.xxx.x,x

Red

Brown

Black

A+

A-

B+

Yellow

Blue

A A

B

B

B-

Violet

White

Green

Connection of Vexta stepmotor

Type : PH2xx-xxx

Black

Black / White

Orange / White

A+

A-

B+

Orange

Red

A

B

A

B

B -

Red / White

Yellow / White

Yellow


TT0006

1.13

Connection to Indexer SMI30

u

O4

O5

O6

O7

O8

O -

OE

O+

O1

O2

O3

P +

P -

AI1

A

B

AI2

AO1

DRIVER

SMI30 / 31

POWER

PROGRAM

MOTOR

ERROR

HM

PL

I

NL

I8

I7

I6

I

I5

I4

I3

I2

I

I1 RS232

RS485

Motor

A power-dump resistor may be mounted

(SMD41 : 33-50 Ohm/50W)

(SMD42 : 68-100 Ohm/50W)

+

Fuse T10A

Ground

Screen

Screen connected to digital GND as close to driver as possible

DRIVER

Screen

Power

Error

1

2

3

4

5

Current Curve

Resolution


I

I

O

O

O

O

1

2

3

4

5

6

I

I

O

I

7

8

9

10

I 11

I

I

12

13

O 14

GND /

Supply

Motor A

Motor A

Motor B

Motor B

+

-

+

-

Power Dump

Direction

PNP

Stepclock

PNP

Digital GND

Standby Current

Move Current

Current GND

Error

TT0017

Resistor values selected in accordance with table in section

"Adjustment of Motor Current”

2,2k

P+

SALA

COIN

SON

6

7

8

9

4

5

1

2

3

CLK-

CLK+

DIR-

DIR+

GND

1.13.1

Connection to Indexer SMI30

The above illustration shows how a typical connection is made between the SMD41/42 and JVL Indexer SMI30 or SMI31. It is recommended that screened cable is used for connecting the motor and the logic signals to the SMI3x in order to avoid spurious noise problems and to fulfil the requirements of CE conformity for the complete system.

It is recommended that the cable length between the SMI3x and SMD41/42 does not exceed 2 m.

The following SMI3x registers must be set:

PR

Pulses per motor revolution. This register must be set according to the number of steps per revolution selected on the SMD41/42.

CB15

Control flag for SALA (servo alarm). This flag is set to CB15=1 so that the SMI3x accepts logic 0 as the active level for the SALA input. This means that the SMI3x detects any error from the SMD41/42 when the "Error" Output goes to logic 0.


1.14

Connection to PLC / PC Boards

9

Stepclock

+

8

24VDC

10

Direction

Digital GND

9

Stepclock

+

8

24VDC

10

Direction

Digital GND

9

8

Stepclock

Direction

+ 24VDC

10

Digital GND

Aux.12V

Pulse

Direction

Aux.GND

9

8

Stepclock

Direction

10

Digital GND


TT0007

1.15

Accessories

The following accessories are available for use with the SMD41/42.

MM3101

Heat Sink Plate 100 x 160 x 15 mm. Thermal resistance 1K/W.

The Heat Sink Plate is ready for mounting in a 19" rack. Screws for mounting the SMD41/

42 are included.

MM3101 is suitable for all models of the SMD41/42.

MM3103

Heat Sink Plate 100 x 114 x 67.5 mm. Thermal resistance better than 0.6K/W.

The Heat Sink Plate is ready for "wall" mounting. Screws for mounting the SMD41/42 are included. MM3103 is suitable for all models of the SMD41/42.

Heatsink for 19” rack mounting type MM3101

Heatsink for “wall” mounting

type MM3103

TT0019

RP0001

CS0002

SMI30

Cables

Power dump resistor 33 Ohm/50W. Dimensions: 16x50x16mm excluding connection terminals and mounting flanges.

14-pole Connector. This connector is always mounted on the SMD41/42 on delivery and is standard.

If the connector is lost or becomes damaged, a new one can be ordered using this number.

Step Motor Indexer. The SMI30 is a programmable Indexer which can be used as a standalone unit for executing user programs for motor control using positioning and various speeds. The SMI30 is based on a motor processor that can generate step pulse frequencies up to 2MHz. See

Connection to Indexer SMI30,

page 23, for further details.

JVL can supply customised cables for specific applications. Contact JVL for further information.


1.16

CE Declaration of Conformity

EU - Declaration of Conformity

We hereby declare that the followiing eqipment fulfils the protection requirements of Council Directive 89/336/EEC on electromagnetic compatibility (EMC).

Identification of equipment

Category:

Motor Controller

Manufacture:

JVL Industri Elektronik A/S

Type:

SMD41A/B/C, 1/2/3 Step Motor Ministep Driver

SMD42A/B/C, 1/2/3 Step Motor Ministep Driver

Manufacturer’s Data:

JVL Industri Elektronik A/S

Blokken 42

DK-3460 Birkerød

Tlf. +45 45 82 44 40

Fax. +45 45 82 55 50

E-mail: [email protected]

Internet: http://www.jvl.dk

The following standards have been used as the basis for this declaration:

Emission - EN50081-2 1993

Immunity - EN50082-2 1994

Notes:

The CE-mark only imdicates conformity with EMC-direktive 89/336/EEC

26

Date 1st.January 1999

Bo V. Jessen

Technical Director

TT0018

Revideret 14.2.1996


1.18

A

Accessories

Adjustment of Step Resolution

25

18

I

Indexer SMI30 or SMI31

23, 25

Input circuitry

Input Filter

14

Introduction

6

15

B

Bandwidth of Step Pulse

Input

14

Bipolar motors

12

C

Cabling

11, 23, 25

CB15 register (SMI3x Indexer)

23

CE requirements

11, 26

Chopper frequency

20

Connection of motor

12–13

Connection of motor phases

13

Connections, Overview

Connector

7

25

CS0002 4-pole connector

25

Current Control Inputs

20

Current control of motor current

17

10

Curves Forms, Selection of

M

Ministeps

6, 18

MM3101 Heat Sink Plate

25

Motor Connection

12–

13, 21–22

20

Motor current

Adjustment of control via external voltage or current

Motor Phases

12

9

10

N

Noise

Noise emission

NPN

11, 14

15–16

11

O

Operating Current

Optical isolation

9

14

Overview of the SMD41

Driver Series

6

D

Decay time

F

Features

6

14, 20

Declaration of Conformity

26

Dimensions

19

DIP switches

E

Error Output

14, 17–18

Direction Input

14, 20

Filter, SMD41 Input Filter

14

Fuse

8

16

P

Parallel connection of motor phases

PC Boards

Phase Current, Adjustment of Motor Phase

Current

Phases

12

24

9

12–13

Physical Dimensions

PLC systems

PNP

14

Power Dump

Power Loss

16, 24

Power Supply

Pulse duration

Pulses

14

19

8, 20, 25

20

8, 20

14, 20

G

Galvanic isolation

H

Heat Sink

Humidity

20, 25

20

14

R

Registers, SMI3x

Resonances

Rise time

23

6, 18

RP0001 Power Dump Resistor

14, 20

25

Index

S

SALA (servo alarm)

Screened cable

23

11, 23

Serial connection of motor phases

12–13

Short-circuit protection

16

Sinusoidal wave forms

SMD40

6

SMD41 Overview

6

17

SMI30, SMI31 Indexers

23, 25

Specifications

Standby Current

Step Pulse Input

Step Resolution

20

9

14, 20

18

T

Technical Specifications

20

Temperature protection

16

Temperature Range

Torque

13

20

U

Unipolar Motors

12

V

Voltage control of motor current

10

W

Weight

20


User Manual

Step Motor Ministep Drivers

User Manual

JVL Industri Elektronik A/S

Contents

1

1.1

Introduction

1.2

Driver Connections

Industri Elektronik

1.3

Power Supply

1.4

Adjustment of Motor Phase Current

1.4

Adjustment of Motor Phase Current

1.5

Connection of Motor

1.5

Connection of Motor

1.5

Connection of Motor

1.6

Step Pulse and Direction Inputs

1.6

Step Pulse and Direction Inputs

1.7

Error Output

1.8

Selection of Curve Forms

1.9

Selection of Step Resolution

1.10

Physical Dimensions

1.11

Technical Specifications

1.12

Motor Connections

Connection of MAE motor (unipol.)

Type HY200-1xxx-xxxxx6

1.12

Connection of Vexta motor

Type PH2xx.xxx

Motor Connections

Connection of Phytron motor

Type ZSx.xxx.x,x

Connection of Vexta stepmotor

Type : PH2xx-xxx

1.13

Connection to Indexer SMI30

1.14

Connection to PLC / PC Boards

1.15

Accessories

Heatsink for 19” rack mounting type MM3101

Heatsink for “wall” mounting

type MM3103

1.16

CE Declaration of Conformity

EU - Declaration of Conformity

1.18

Index

Related manuals

B&K Precision

1511

JVL

MIS340

JVL

MAC00-EP41

JVC

MX-C55C

Samsung

HT-DB760

Table of contents