Digiplan PKC Series User manual

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PKC Series Packaged
Stepper Drives
User Guide
For engineering For engineering
assistance in Europe: assistance in the U.S.:
Parker Hannifin plc Parker Hannifin Corporation
Electromechanical Division - Digiplan Compumotor Division
21 Balena Close 5500 Business Park Drive, Suite D
Poole, Dorset Rohnert Park, CA 94928
England, BH17 7DX USA
Direct Lines for Technical Support Telephone: [phone]
Tel: [phone] Fax: [phone] Fax: [phone]
E-mail: [email protected] FaxBack System: [phone]
BBS: [phone]
E-mail: [email protected]Part No: 1600.047.05 Januar
y
, 1997
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IMPORTANT INFORMATION FOR USERS
Installation and Operation of Digiplan Equipment
It is important that Digiplan motion control equipment is installed and operated in such a way that all applicable
safety requirements are met. Note that it may be necessary for the completed installation to comply with the Low
Voltage Directive or Machinery Directive. It is your responsibility as a user to ensure that you identify the relevant
safety standards and comply with them; failure to do so may result in damage to equipment and personal injury. In
particular, you should study the contents of this user guide carefully before installing or operating the equipment.
The installation, set-up, test and maintenance procedures given in this User Guide should only be carried out by
competent personnel trained in the installation of electronic equipment. Such personnel should be aware of the
potential electrical and mechanical hazards associated with mains-powered motion control equipment - please see
the safety warning below. The individual or group having overall responsibility for this equipment must ensure that
operators are adequately trained.
Under no circumstances will the suppliers of the equipment be liable for any incidental, consequential or special
damages of any kind whatsoever, including but not limited to lost profits arising from or in any way connected with
the use of the equipment or this user guide.
!
SAFETY WARNING
High-performance motion control equipment is capable of producing rapid movement and very high forces.
Unexpected motion may occur especially during the development of controller programs. KEEP WELL CLEAR of
any machinery driven by stepper or servo motors. Never touch any part of the equipment while it is in operation.
This product is sold as a motion control component to be installed in a complete system using good engineering
practice. Care must be taken to ensure that the product is installed and used in a safe manner according to local
safety laws and regulations. In particular, the product must be enclosed such that no part is accessible while power
may be applied.
If the equipment is used in any manner that does not conform to the instructions given in this User Guide, then the
protection provided by the equipment may be impaired.
The information in this user guide, including any apparatus, methods, techniques, and concepts described herein,
are the proprietary property of Parker Digiplan or its licensors, and may not be copied, disclosed, or used for any
purpose not expressly authorised by the owner thereof.
Since Digiplan constantly strives to improve all of its products, we reserve the right to modify equipment and user
guides without prior notice. No part of this user guide may be reproduced in any form without the prior consent of
Digiplan.
© Digiplan Division of Parker Hannifin plc, 1997
– All Rights Reserved –
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IMPORTANT INFORMATION FOR USERS
Power Connections
Supply
Voltage
Selection
The PKC60M/80M Packaged Drive is supplied with its supply voltage
selector set to 230V, as shown below.
115V 230V
AC SUPPLY
VOLTAGE
115V AC operation can be set by adjustment of the supply selector,
which is positioned by the supply input connector (see Mains Supply
in Installation ).
Note: No change of fuse is required between 230V and 115V
operation.
Supply Cable The drive is supplied with two mains supply cables:
IEC connector to an American style 3-pin plug - for use at 115V
IEC connector to flying leads - for use at 230V or 115V.
Factory
Jumper Link
Settings
The PKC Series uses CD60M/CD80M drives which are configured by
jumper link settings. As supplied from the factory, the link settings will
give the following drive performance:
Standby current reduction 50% of full load
Drive resolution 400 steps/rev
Energise permanently enabled
Motor current set to a minimum
To alter any of these settings refer to Chapter 3 Setting Up The
CD60/80M Drive.
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CONTENTS i
CONTENTS
Chapter 1. GENERAL DESCRIPTION .........................................................................1
Chapter 2. INSTALLATION .......................................................................................5
Chapter 3. SETTING UP THE CD60/80M DRIVE ..........................................................37
Chapter 4. OPT2 INTERFACE CARD.........................................................................41
Chapter 5. TROUBLESHOOTING..............................................................................43
Index.....................................................................................................................49
User Guide Change Summary
The following is a summary of the primary changes to this user guide
since the last version was released. This user guide, version
1600.047.05, supersedes version 1600.047.04.
When a user guide is updated, the new or changed text is
differentiated with a change bar in the outside margin (this paragraph
is an example). If an entire chapter is changed, the change bar is
located on the outside margin of the chapter title.
Major changes introduced at revision 05 are:
LVD compliance
Factory default jumper link settings have changed
Warning symbols used on Digiplan drives have the following meanings:
Refer to the
accompanying documentation
Risk of electric shock
Hot surface
Protective conductor terminal
Alternating current
Frame or chassis terminal
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ii PKC SERIES PACKAGED STEPPER DRIVES USER GUIDE
Product Type: PKC 60M/80M Packaged Stepper Drive
The above product is in compliance with the requirements of directives
•73/23/EEC Low Voltage Directive
•93/68/EEC CE Marking Directive
The PKC drive is sold as a complex component to professional assemblers, as a component it is
not compliant with Electromagnetic Compatibility Directive 89/336/EEC.
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CHAPTER 1. GENERAL DESCRIPTION 1
Chapter 1. GENERAL DESCRIPTION
Introduction The PKC series drives are packaged versions of the CD60/80M
models designed to operate directly from either 115v or 230v AC
mains supplies*. The built-in toroidal transformer will deliver a motor
supply voltage of either 85v or 55v DC, the lower voltage being
preferable in low-speed applications in order to minimise dissipation
in both motor and drive. A power dump circuit is incorporated which
dissipates regenerated power during deceleration of the motor.
Other features include full short-circuit and thermal protection,
programmable motor current fold-back at standstill, and
ministepping. Resolutions of 4000, 2000, 1000 or 400 steps/rev are
available.
A simple ramped oscillator is incorporated in the drive and this has
two speed ranges with preset speed controls. External speed
controls may be fitted if required. The slow speed may be set
between 400 and 10,000 steps/sec., and the fast speed between
4,000 and 100,000 steps/sec. The fast range is ramped with an
approximate acceleration time of 120mS and a deceleration time of
60mS. These times may be extended by the addition of a capacitor.
The PKC drives have provision for a BC7 buffered clock or RC9
ramped clock card to be fitted, and this will operate entirely
independently of the built-in oscillator. The drives can also be used
in conjunction with Digiplan or Compumotor packaged indexers; in
this case an OPT2 opto card will be required to provide isolation
between the control system and the drive.
The PKC drive may also be fitted with an IFX indexer card. This
version is covered by a separate user guide.
There are six drives in the range and are numbered according to the
corresponding CD drive module and the options that are fitted. The
drive types are:
PKC60M PKC80M
PKC60M/RC9 PKC80M/RC9
PKC60M/BC7 PKC80M/BC7
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2 PKC SERIES PACKAGED STEPPER DRIVES USER GUIDE
Note: Previous versions of the PKC used to incorporate
CD20/25/25M/30/35/35M drives. CD60/80M drives offer
ministepping as standard, and the CD80M offers higher current. The
former boost input is now external reset. The mains input to the
PKC is now via an IEC connector, and a mains voltage selector is
provided.
* The drive is ordered as a 115V or 230V model, but can be changed
to suit local requirements by altering the voltage selector.
Specification PKC60M PKC80M
Nominal output current (RMS) 6A 7.8A
Suitable motor current range 4-8A 5-10A
Motor supply voltage +55v or +85v
Logic supply voltage +24v
Auxiliary DC output +24v at 250mA (500mA with
external capacitor)
Standby current reduction 50% or 80% of full current
Minimum motor inductance 0.5mH
Nominal chopping frequency
(kHz) 18 18
Maximum stepping rates 200kHz at 4000 steps/rev
Suitable motor type 4,6or8lead(5leadnotsuitable)
Input logic levels Low 0 to +2v or short-circuit to
0v. High +10v to +12v or open-
circuit
Input impedance 4K7 pull-up to +12v
Logic outputs Open-collector NPN transistors,
low level +1v max at 15mA max;
high level +24v max.
AC supply voltage 115V or 230V
Frequency 47-63Hz
Supply voltage tolerance +/- 10%
Powerpeak 600VA
continuous 300VA
Operating temperature range 0°- 40°C
Maximum heatsink temperature 85°C
Humidity 0 - 95% non-condensing
Weight 7.25Kg
Dimensions in mm (ins) 292mm x 152mm, 188mm high
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CHAPTER 1. GENERAL DESCRIPTION 3
Recommended
diam. screw/bolt
size M6 or 0.25"
6.6
(0.26)
292.0 (11.5)
25.0 (1.0)
77.0 (3.0)
279.0 (11.0)
15.0
(0.6)
152.0 (6.0)
Figure 1-1. Mounting Dimensions - mm (ins)
Fuse Ratings Four fuses are fitted to the drive power supply circuits. These are
located on the motherboard, and are accessible by removing the
drive cover (refer to Chapter 5 "Removal and Replacement of Drive
Module"). The fuses are rated as follows:
Fuse Number Function
FS1 HV drive fuse, 10A 6.3 x 32mm.
Use a quick-blow, high breaking capacity type.
FS2 Power dump fuse, 1A time-delay 6.3 x 32mm
FS3 24v fuse, 2A time-delay 6.3 x 32mm
Mains fuse for
115V and 230V
AC
Mains input fuse, 6.3A time-delay, high breaking
capacity, 5 x 20mm, incorporated within the mains
connector.
Table 1-1. Fuse Ratings
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4 PKC SERIES PACKAGED STEPPER DRIVES USER GUIDE
LED
Functions There are four LEDs which indicate the drive operating conditions.
These are located behind the terminal blocks, and their functions are
as follows:
LED Number Function
LED1 indicates that the drive is on zero phase.
LED2 indicates a drive fault. The nature of the fault may
be confirmed by checking the LEDs on the drive
module which are visible through holes in the cover.
LED3 indicates that the +24v supply is present.
LED4 indicates that the high-voltage supply is present. It
also shows that the HV capacitor is charged up, so
do not attempt to work on the unit until this LED is
fully extinguished.
Table 1-2. LED Functions
LK4
SW1
RV1
RV2 LK2
LK1
not
fitted
FS1
FS2
FS3
C11
FS4 LK3
EC2
EC1
not
fitted
not
fitted
Figure 1-2. PKC Motherboard Showing Pot, Fuse and Link Positions
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CHAPTER 2. INSTALLATION 5
Chapter 2. INSTALLATION
The drive module has been designed to be mounted with the
mounting flanges on a vertical surface. In this position, optimum
cooling is guaranteed.
Motor and signal connections are made to three terminal blocks on
one end of the drive. The control signals are taken to TB1 and TB2,
the motor connections to TB3. The mains input is via an IEC mains
connector on the top of the drive. A voltage selector is provided to
select between 115V and 230V.
Mounting PKC drives must be installed by competent personnel familiar with
the installation, commissioning and operation of motion control
equipment. In the final application the equipment must be enclosed
to prevent the operator coming into contact with any high voltages.
This includes the motor terminations.
The PKC drives are not EMC compliant, they are sold as a complex
component for use by professional assemblers of motion control
systems.
Metal equipment cabinets offer the most advantages for siting the
equipment since they can provide operator protection, EMC
screening and can be readily fitted with interlocks arranged to
remove all AC power when the cabinet door is opened. This form of
installation also allows the fitting of metal trays beneath the
equipment to act as a flame barrier which must be provided in the
final installation, in accordance with LVD requirements.
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6 PKC SERIES PACKAGED STEPPER DRIVES USER GUIDE
General
Wiring and
Earthing
Recommen-
dations
Input/output signal connections longer than about 500mm should use
wires having a collective or individual screen. Route signal
connections separately from power and motor connections. If the
motor leads run in the same trunking as signal leads, then either the
motor or signal leads should be screened. Connect the screen to the
earth stud at one end, and insulate it at the remote end.
Where signal connections pass between units mounted in different
enclosures and separately energised from the mains, optical
isolation of all communication lines is recommended. It is still
desirable that all such isolated systems have their 0v rails directly
connected to earth.
Motor leads should be collectively screened if they run close to
power switching lines, particularly those driving unsuppressed
inductive loads. In general it is preferable to keep power
connections, motor leads and control signal connections separate as
far as possible. Where it is unavoidable to run motor leads in the
same trunking as control signal leads, either the motor leads or
signal leads should be screened. Connect the screen to earth at one
end, and insulate it at the remote end. In any event, control signal
connections longer than about 500mm (20") are best made using
wires having a collective or individual screen.
Contactors and relays feeding inductive loads should be adequately
suppressed.
100 OHM, 0.1uF @ 600V
Cs
L
R
CONTACTS
INDUCTIVE
LOAD
AC OR
DC
SUPPLY
SUPPLY
DC
-
+
LOAD
INDUCTIVE
CONTACTS
R
L
D1
Rs
Figure 2-1. Typical Suppression Circuits
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CHAPTER 2. INSTALLATION 7
Mains Supply The AC mains supply is connected via the IEC mains connector at
the top of the unit (see Figure 2-2). The voltage is set to either 115V
or 230V using the mains selector positioned by the IEC inlet.
The input is protected by a 6.3A time-lag, high-breaking-capacity
fuse (5 x 20mm) incorporated in the mains connector. Peak power is
600VA; continuous power drawn from the supply must not exceed
300VA.
CAUTION
Do not adjust the power selection switch while power is applied to the drive.
115/230V 50/60 Hz
600VA Peak
FUSE 6.3A T HB
115V 230V
AC SUPPLY
VOLTAGE
Figure 2-2. Power Connector and Voltage Selector
Mains AC Power
Connections The drive is supplied with an AC mains supply cable having an IEC
drive compatible plug at one end and an American style 3-pin plug at
the other. If you do not wish to use the American style 3-pin plug (for
example the drive is to be used at 230v AC) you may cut it off and
use an alternative supply connection. But, TAKE CARE the supply
cable uses European colour coding:
Line (Live) - Brown
Neutral - Blue
Ground (Earth) - Green/yellow
Mains wiring should use an approved cable type (minimum CSA
0.75mm2). The mains wiring should be routed away from signal
wiring and the motor cable.
It is important that the equipment is earthed.
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8 PKC SERIES PACKAGED STEPPER DRIVES USER GUIDE
A disconnect device must be provided which isolates all mains
supply current-carrying conductors. If the mains supply is
permanently connected, a switch or circuit breaker must be included
in the wiring. It must be placed close to the equipment (less than 1
metre) and marked as the disconnecting device for the equipment.
Motor
Connections Connect the motor leads to TB3 using the connection data on the
following pages. Connect one phase of the motor to terminals 1A
and 1B, and the other phase to terminals 2A and 2B. To reverse the
direction of rotation relative to the direction control input, interchange
the connections to 1A and 1B (see Figure 2-3).
Do not use as drive current setting which exceeds the motor rating.
NOTE: If the PKC was sold with a QM or RM motor (sold in the
USA) refer to the "Digiplan Motor User Guide" supplied with the
motor, or call Digiplan USA. This motor user guide contains
complete wiring and current information for these motors.
TB3
MOTOR
LED1
LED4
RV1
RV2
16 1
30 15
TB2 TB1
1A
1B
2B
2A
MOTOR
PHASES
ZERO PHASE
FAULT
24V ON
HT ON
SLOW
FAST
Figure 2-3. Signal and Motor Connections
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CHAPTER 2. INSTALLATION 9
Motor Cable
The recommended gauge for PKC drives is 1.5mm2. Use a cable
containing four conductors plus the braided screen. The
temperature rating of the cable must be greater than or equal to the
motor case temperature and should be at least 80°C. The insulation
rating should be at least 350V.
Motor Earth
The motor body must be reliably earthed (less than 0.1Ωresistance).
Motor Insulation
Motor insulation must be rated to withstand at least 500V rms.
WARNING
The case of a motor can become very hot.
Precautions may need to be taken to prevent operator contact.
Important note: The toroidal transformer is rated for 300VA
continuous. This level of power demand will only be required when
attempting to operate a 42-size motor continuously close to its full
rated torque. In practice, a typical stepper application operating at
70% of the rated torque will not overload the drive’s power supply. In
general, stepper motors are not suitable for continuous operation at
high speed.
Environmental
Considerations The operational temperature range for the drive system is:
• Operating Temperature: 0°to 40°C (32°to 104°F)
• Relative Humidity: 0% to 95% (non-condensing)
• Storage Temperature: -40°to 85°C (-40°to 185°F)
Refer to the manufacturer’s environmental specifications for the
maximum motor case temperature when it is in operation. This may
be a hazard to system operators.
The mains input to the drive must be Installation Category II
maximum.
PKC drives can be used in a Pollution Degree 2 environment i.e., one
in which only non-conductive pollution occurs.
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10 PKC SERIES PACKAGED STEPPER DRIVES USER GUIDE
N.C. - no connection.
MAKE TYPE A+ A– B- B+ NOTES
Pacific Scientific 6-lead Black Orange Red Yellow White/Blk/Org,
White/Red/Yel N.C.
8-lead Black Orange Red Yellow Link Wh/Blk & Wh/Org
Link Wh/Red & Wh/Yel
T.box 1 3 2 4 Link 5 & 6,link 7 & 8
Astrosyn, 6-lead Red Red/Wh Grn Grn/Wh White & Black N.C.
Rapidsyn,
Slo-syn T.box (x6) 1 3 4 5 2 & 6 N.C.
Slo-syn 8-lead Red Red/Wh Grn Grn/Wh Link Black & White, link
Org & Blk/Wh
T.box (x8) 1 3 5 4 Link 2 & 6, link 7 & 8
Stebon, Digiplan SM 8-lead Red Yel Pink Blk Link Blue & violet, link
White & Grey
T.box 1 2 3 4 Link 5 & 6, link 7 & 8
M.A.E. 6-lead Grn/Wh Grn Red Red/Wh White & Black N.C.
8-lead Black Orange Red Yellow Link Wh/Blk & Wh/Org,
Link Wh/Red & Wh/Yel
T.box 6 5 8 7 Link 1 & 3, link 2 & 4
Zebotronics T.box 1 4 5 8 Link 2 & 3, link 6 & 7
Oriental 6-lead Black Green Red Blue Yellow & White N.C.
Sonceboz 8-lead Green Grn/Wh Red Red/Wh Link Org & Blk/Wh, link
Black & White
Japan Servo 6-lead Red Blue Green Yellow 2 x White N.C.
Escap 8-lead Brown Org/Wh Red Yel/Wh Link Brn/Wh & Org,
Link Red/Wh & Yellow.
Bodine 8-lead Brown Orange Yellow Red Link Wh/Brn & Wh/Org,
link Wh/Yel & Wh/Red.
T.box 1 3 4 2 Link 5 & 7,link 6 & 8
Digiplan/Compumotor 4-lead - - - - Internally wired in parallel
OEM Series 8-lead Red Black Green White Link blue & yellow
Link orange & brown
Digiplan/Compumotor 8-lead Red Black White Green Link Yel & Blue
QM & S Motors Link Org & Brown
Digiplan/Compumotor
QM & S Motors T.box 1 3 4 5 Link 2 & 6
(except 106-205) Link 7 & 8
Digiplan/Compumotor T.box 1 3 7 8 Link 5 & 6
QM & S106-205 Link 2 & 4
Table 2-1. Motor Connection Data - Windings in Series
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CHAPTER 2. INSTALLATION 11
N.C. - no connection. For 6-lead motors, connections shown are for one half-winding.
MAKE TYPE A+ A– B- B+ NOTES
Pacific Scientific 6-lead Black Wh/Blk/ Red Wh/Red/ Or & Yellow N.C.
Orange Yellow
8-lead Black & Or & Red/ Yel &
Wh/Or Wh/Blk Wh/Yel Wh/Red
T.box 1 & 5 3 & 6 2 & 7 4 & 8
Astrosyn, 6-lead Red Black Green White Red/Wh &
Rapidsyn, Grn/Wh N.C.
Slo-syn T.box(x6) 1 6 4 2 3 & 5 N.C.
Slo-syn 8-lead Red & Blk & Grn & Org &
White Red/Wh Blk/Wh Grn/Wh
T.box(x8) 1 & 2 3 & 6 4 & 7 5 & 8
Stebon, Digiplan SM 8-lead Rd & Yel & Wh & Black &
Blue Violet Pink Grey
T.box 1 & 6 2 & 5 3 & 8 4 & 7
M.A.E. 6-lead Grn/Wh White Red Black Grn & Red N.C
8-lead Black & Or & Red & Yel &
Wh/Or Wh/Blk Wh/Yel Wh/Red
T.box 3 & 6 1 & 5 4 & 8 2 & 7
Zebotronics T.box 1 & 2 3 & 4 5 & 6 7 & 8
Oriental 6-lead Black Yellow Red White Grn & Blue N.C.
Sonceboz 8-lead Grn & Or & Red & Blk &
Blk/Wh Grn/Wh White Red/Wh
Japan Servo 6-lead Red White* Green White*
Escap 8-lead Brn & Brn/Wh & Red & Red/Wh &
Orange Org/Wh Yellow Yel/Wh
Bodine 8-lead Brn & Wh/Brn & Yel & Wh/Yel &
Wh/Or Orange Wh/Red Red
T.box 1 & 7 3 & 5 4 & 6 2 & 8
Digiplan/Compumotor 4-lead Red Black Green White
OEM Series† 8-lead Red & Yellow & Green & Brown &
Blue Black Orange White
Digiplan/Compumotor
QM & S Motors 8-lead Red & Blue Blk & Yellow Wh & Brn Green & Org.
Digiplan/Compumotor
QM & S Motors T.box 1 & 2 3 & 6 4 & 7 5 & 8
(except 106-205)
Digiplan/Compumotor
QM & S 106-205 T.box 1 & 5 3 & 6 2 & 7 4 & 8
* Use correct White for each phase. † Size 34 only. Size 23 can only be operated in series.
Table 2-2. Motor Connection Data - Windings in Parallel
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12 PKC SERIES PACKAGED STEPPER DRIVES USER GUIDE
Motor Supply
Voltage
Setting
As supplied the drive will operate at a motor supply voltage of 85v DC.
This is necessary in order to obtain the optimum high-speed
performance, but in low-speed applications it may be preferable to use a
lower supply voltage. In this way the power dissipation in both motor and
drive is minimised. The supply voltage may be changed by removing the
drive cover as outlined in Chapter 5 "Removal and Replacement of Drive
Module", and rearranging the transformer leads as follows:
85v DC supply 55v DC supply
White lead to tab 9 White lead to tab 1
Red lead to tab 1 Red lead to tab 9
Control Signal
Connections All control signals are taken to terminals TB1 and TB2, these
terminals being arranged on two levels. TB1 is the lower terminal
and is numbered 1 to 15, TB2 is the upper terminal and is numbered
16 to 30. The terminal functions are as follows:
Term
No. Terminal Function Term No. Terminal Function
1 +24v out 16 Positive motion limit input
2 Fault output 17 Negative motion limit input
3Zero phase output 18 Direction request input
4Ext. reset input 19 Allow clock input
5 Motor direction (in or out) 20 Motion /deceleration complete out
6Motor clock (in or out) 21 Fast 2 input
7Energise input 22 Slow 2 input
8 0v. 23 Slow adjust 2 (a)
9 Slow adjust 1 24 Slow adjust 2 (b)
10 Fast adjust 1 25 Fast adjust 2 (a)
11 Speed adjust 1 common 26 Fast adjust 2 (b)
12 Fast 1 input 27 Ramped or buffered clock output
13 Slow 1 input 28 Motion requested+in motion out
14 Not used 29 Internal clock out/home speed in
15 Not used 30 Buffered clock in/fast modify in
Table 2-3. Control Connector Terminal Functions
The built-in oscillator is referred to as clock 1 and the optional BC7
or RC9 card as clock 2. Terminals 16 - 30 are only used when the
optional clock card is fitted.
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CHAPTER 2. INSTALLATION 13
Description of
Terminal Functions 1.
+24v OUT: This is an auxiliary output which may be used to
power external circuitry, maximum current 500mA. It is advisable to
use an external decoupling capacitor (2200uF 40v) if the current to
be drawn exceeds 250mA.
2.
FAULT: This is a composite output signal which goes high in the
event of an overload, supply failure or overtemperature fault. It is
driven by an open-collector transistor and should therefore be pulled
up by an external resistor when the signal is required. The resistor
should be returned to a voltage no higher than 24v and should not
allow more than 15mA to flow when the output is low.
____________
3.
ZERO PHASE: The zero phase output is low when the
translator is in its primary state. This occurs every 8 steps in the half
step mode, and the signal will therefore go low 50 times per rev. with
a 200-step motor. It corresponds with current flowing from A to B in
each motor phase. At switch-on the translator is always reset to the
zero phase state. The signal is used when establishing a
mechanical reference or "datum" position.
__________________
4.
EXTERNAL RESET: Connect to 0V for 1 second to reset a fault
condition. ______
This terminal was formerly BOOST
5. DIRECTION: Taking this input low will reverse the direction of
motor rotation. The direction should only be changed when the
motor is stationary or running within the start/stop speed range. Do
not change the direction signal within 5uS of the low-going edge of a
clock pulse. This terminal is also the direction output from the BC7
or RC9 when fitted.
_______
6.
CLOCK: An external ramped clock signal is fed in via this
terminal. The clock pulses should be low-going with a minimum
pulse width of 1µS. When the drive is being run from the internal
oscillator, the clock pulses may be monitored at this point.
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