I-CAN SS86 Series User manual

Closed loop|stepper motor|stepper motor driver|BLDC motor|BLDC motor driver|Control project
Automation
CLOSED LOOP STEPPER MOTOR DRIVE
S S86
User manual
Dongguan ICAN Technology Co., Ltd
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■
SS86
█
External
Power Supply
Power Supply
Det.
Current
Difference
Difference
Det.
InputOutput
Motor
MOSFET
MOSFET
15V
reg
Switch
LED
DSP
Optical
lso
20~80VAC
Input Connector
RST-
RST+
Output
Connector
ENA-
ENA+
DIR-
DIR+
PUL-
PUL+
ALM-
ALM+
INPOS-
INPOS+
Encoder
OUT A-
OUT A+
OUT B-
OUT B+
OUT Z-
MB1
OUT Z+MB2
power
supply 24V
Closed Loop Stepper Motor Drive SS86
Closed Loop Stepper Motor Drive
Brief introduction
With high performance encoder, SS86 stepper servo driver gives position feedback signal to Cotex-M4
ARM processor and adjust the location every 50us. It has more accurate control both while running and
static positioning compared with many other similar products. SS86is used for 86mm closed loop stepper
motor. The Step-Servo is an innovative revolution for the world of stepper motor, it enhances the stepper
motors with servo technology to create a product with exceptional feature and broad capability.
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New Cotex-M4 ARM 32bit processor Closed loop
Smooth &Accurate Low Heating/High Efficiency
High Torque Fast Response
Output current 8A Resolution is 25600
Easy Tunning Pulse&Dir and CW/CCW control
Functional diagram
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85.5
150
1 2 3 4 5 6
N
0
15.5
37
5
4.5
V+A+B+ V-A-B-
1 1 1
2 2 24 4 4
3 3 3
5 5 5
6 6 68 8 80 0
B
7 7 7
9 9
A
CN1 CN2 CN3 CN4 CN5 SW
Closed Loop Stepper Motor Drive SS86
■
●
●
■
Parameter
Min.
Typical
Max.
Unit
Power supply
20
60
80
VDC
Output Current
1
-
8.0
A
Input pulse frequency
1
-
500K
Hz
Input pulse width
250
-
5E+8
ns
Direction signal width
62.5
-
-
μs
Input signal voltage
3.6
5
24
VDC
Output Signal voltage
-
-
100
mA
Output signal current
-
-
30
vdc
Heat Sinking Method
Natural cooling or fan-forced cooling
Atmosphere
Avoid dust, oily mist and corrosive air
Operating Temperature
-10~40℃
Ambient Humidity
Storage Temperature
-10 ~70℃
Vibration Resistance
5.9m/s² maximum
Electrical performance and environment indicators
Electrical Specifications
Environment Indicators
90% or less (non-condensing)
Dimension (Units: mm)
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PLC
CN4
CN5
●
●
1 2 3 4 5 6
N
0
1
1 1
333 5 55 7 77 99
A
B
00 888 666 444 2
2 2
V+A+B+
V-A-B-
CN1 CN2 CN3 CN4 CN5 SW
SW
1 2 3 4 5 6
N
0
1
1 1
333 5 55 7 77 99
A
B
00 888 666 444 2
2 2
V+A+B+
V-A-B-
CN1 CN2 CN3 CN4 CN5
SW
1 2 3 4 5 6
N
0
1
11
3335 557 7799
A
B
00 8886664442
22
V+A+B+
V-A-B-
CN1 CN2 CN3 CN4 CN5
●
Closed Loop Stepper Motor Drive SS86
Status LED
Switches for
selecting (SW1-SW6)
Encoder
connector(CN3)
Motor
connector(CN2)
Control signal
connector
Power supply
connector(CN1)
Motor
AC power supply
Power supply connector(CN1)
CN1
Input/Output
Function description
V-
Input
Power supply-
V+
Input
Power supply+(AC20-80V)
Motor connector(CN2)
CN2
Input/Output
Function description
B-
Input
Motor phase B-
B+
Input
Motor phase B+
A-
Input
Motor phase A-
A+
Input
Motor phase A+
Encoder connector(CN3)
编号
Connector
Input/Output
Function description
1
GND
Output
GND
2
5V
Output
+5V power supply for encoder
3
Z-
Input
Encoder Z-
4
Z+
Input
Encoder Z+
5
B-
Input
Encoder B-
6
B+
Input
Encoder B+
7
A-
Input
Encoder A-
8
A+
Input
Encoder A+
■ Drive interface and wiring diagram
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No.
Connector
Input/Output
Function description
1
OUT Z-
Output
Encoder Z-
2
OUT Z+
Output
Encoder Z+
3
OUT B-
Output
Encoder B-
4
OUT B-
Output
Encoder B+
5
OUT A-
Output
Encoder A-
6
OUT A+
Output
Encoder A+
7
RST-
Input
Alarm reset input -
8
RST+
Input
Alarm reset input +
9
24V-
Input
Electromagnetic brake
power supply-
0
24V+
Input
Electromagnetic brake
power supply+
A
MB1
Output
Electromagnetic brake
output1
B
MB2
Output
Electromagnetic brake
output1
●
●
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●
1 2 3 4 5 6
N
0
1
1 1
333 555 777 99
A
B
00 888 666 444 2
2 2
V+A+B+
V-A-B-
CN1 CN2 SWCN3 CN4 CN5
1 2 3 4 5 6
N
0
1
11
33355577799
A
B
00 8886664442
22
V+A+B+
V-A-B-
CN1 CN2 SWCN3 CN4 CN5
1 2 3 4 5 6
N
0
1
1 1
333 5 55 7 77 99
A
B
00 888 666 444 2
2 2
V+A+B+
V-A-B-
CN1 CN2 SWCN3 CN4 CN5
Closed Loop Stepper Motor Drive SS86
Control signal connector(CN4)
Control signal connector(CN5)
No.
Connector
Input/Output
Function description
1
PUL-
Input
Pulse Input /CW Input- -
2
PUL+
Input
Pulse Input /CW Input+ +
3
DIR-
Input
Direction Input /CWW Input- -
4
DIR+
Input
Direction Input /CWW Input+ +
5
ENA-
Input
Enable Input -
6
ENA+
Input
Enable Input +
7
ALM-
Output
Fault Output-
8
ALM+
Output
Fault Output+
9
INPOS-
Output
In position Output-
0
INPOS+
Output
In position Output+
Function selection switches
Nama
Function description
SW1～SW4
Micro stepping setting
SW5
Initial direction selection
SW6
Single/double pulse matching
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Closed Loop Stepper Motor Drive SS86
■
Motor cable●
Encoder cable●
B+
A+
B+
NC
5V
B-
A-
A-
B-
NC
GND
A+
Connecting the motor
Closed loop stepper motor has two output cable, one is for motor and another is for encoder.
Don’t tear motor/ encoder cable to damage the motor.
(For example, taking motor with cable, put heavy things on it)
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■
▪
▪
▪
PUL+
DIR+
EN+
ALM+
INPOS+
MB2
24V+
RST+
OUT A+
OUT B+
OUT Z+
OUT A-
OUT B-
OUT Z-
RST-
24V-
MB1
INPOS-
ALM-
EN-
DIR-
PUL-
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Closed Loop Stepper Motor Drive SS86
Description of Input/output Signals
SS86 closed stepper motor driver input/output terminal:
6 line optically isolation digital sign input, 5-24V
2 line optically isolation digital sign output, 30V/100mA
Differential signal output(OUT A±、OUT B±、OUT Z±)
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Closed Loop Stepper Motor Drive SS86
■
DI R+
DI R-
PU L+
PU L-
EN+
EN-
DI R/CWW
VC C
PU L/CW
EN
DIR/CWW
PUL/CW
DI R+
DI R-
PU L+
PU L-
EN+
EN-
VC C
VC C
VC C
EN
DI R+
DI R-
PU L+
PU L-
EN+
EN-
DI R/CWW
PU L/CW
EN
●
Input signal
The signal input is OC input, the voltage is DC5V-24V. The largest frequency of pulse and direction signal is
500KHZ. The pulse rising edge is valid.
Common anode
Controller Driver
Common cathode
Controller
Driver
Controller Driver
Difference
Enable signal
Direction signal
Pulse
Input
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●
DC5～24V
ALM+
ALM-
0V
DC5～24V
ALM+
ALM-
Vu
0V
Vu
ALM+
ALM-
DC5～24V
电源 +
-
Vu
●
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Closed Loop Stepper Motor Drive SS86
■
Alarm signal output
Alarm signal is OC. The largest voltage is 30V and the largest current is 100mA
Output
Common anode
Relay
Common cathode
Controller Driver
Controller
Driver
Driver
Relay
Notice: Don't connect output with voltage over 30V, 100mA
Encoder output
SS86 has differential signal output(OUT Z±、OUT A±、OUT B±), 20mA max.
They are position output.
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●
●
MB2
MB1
+24V
GND
U
B
DC24V
+
-
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Closed Loop Stepper Motor Drive SS86
In Position Output signal
When the motor is running, the INPOS is high level, when the motor stops, INPOS is low level.
Motor speed
Signal
Running Running
Stop Stop
Electromagnetic brake
When an alarm signal come out from driver, electromagnetic brake disconnects with MB1, MB2,
motor stops automatically.
When electromagnetic brake power connects with MB1 and MB2, motor runs;
Varistor
Electromagnetic
brake
Power supply
Driver
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Subdivision (Step/r)
SW1
SW2
SW3
SW4
200
ON
ON
ON
ON
400
OFF
ON
ON
ON
800
ON
OFF
ON
ON
1600
OFF
OFF
ON
ON
3200
ON
ON
OFF
ON
6400
OFF
ON
OFF
ON
12800
ON
OFF
OFF
ON
25600
OFF
OFF
OFF
ON
1000
ON
ON
ON
OFF
2000
OFF
ON
ON
OFF
4000
ON
OFF
ON
OFF
5000
OFF
OFF
ON
OFF
8000
ON
ON
OFF
OFF
10000
OFF
ON
OFF
OFF
20000
ON
OFF
OFF
OFF
25000
OFF
OFF
OFF
OFF
1 2 3 4 5 6
N
0
1
1 1
333 5 55 7 77 99
A
B
00 888 666 444 2
2 2
V+A+B+
V-A-B-
CN1 CN2 CN3 CN4 CN5 SW
●
t
t
1 2 3 456
N
0
1
1 1
333 5 55 7 77 99
A
B
00 888 666 444 2
2 2
V+A+B+
V-A-B-
CN1 CN2 CN3 CN4 CN5 SW
Closed Loop Stepper Motor Drive SS86
■
●
Function setting
Microstepping
The microstep resolution is set by the SW1, SW2, SW3 and SW4 switches. There are
16 settings.
Initial direction selection
SW5=ON, Motor rotates anticlockwise; SW5=OFF, Motor rotates clockwise (factory setting)
Motor rotates anticlockwise
When motor rotates anticlockwise, status
LED flickers as Green-Yellow-Red-
Blue-Green.
Motor rotates clockwise
When motor rotates clockwise, status
LED flickers as Green- Blue-Red-
Yellow-Green.
LED On
LED Off
LED On
LED Off
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●
1 2 3 4 5 6
N
0
1
1 1
333 5 55 7 77 99
A
B
00 888 666 444 2
2 2
V+A+B+
V-A-B-
CN1 CN2 CN3 CN4 CN5 SW
Closed Loop Stepper Motor Drive SS86
Pulse&Direction mode selection
SW6=OFF, Pulse&Dir Mode; SW6=ON, CW&CCW Mode
The setting will take effect after recycle the power
CW Pulse
CWW Pulse
PUL input
DIR input
H
L
H
L
Above10μs
H
L
H
L
Above10μsAbove10μs
CW
CWW
CW
CWW
CW/CCW Pulse
When pulse is input at PUL/CW terminal,
the motor will rotate by one step in one
direction.
When pulse is input at DIR/CWW terminal,
the motor will rotate by one step in the
other direction. Motor Motion
Motor Motion
Pulse & Direction
When pulse is input at PUL terminal, and DIR
terminal is high voltage, the motor will rotate by
one step in one direction.
When pulse is input at PUL terminal, and DIR
terminal is low voltage, the motor will rotate by
one step in the other direction.
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t
}
■
Closed Loop Stepper Motor Drive SS86
LED Error Codes
LED On
LED Off
Blinking cycle
When alarm LED is on, please check the reason as following tab.
LED
●●●●
Green, yellow, red, blue circulation flashing
Motor rotates clockwise normally
●●●●
Green, blue, red, yellow circulation flashing
Motor rotates anticlockwise
normally
●●●●
2 green, 2red circulation flashing
Over current protection
●●●●●
2 green, 3red circulation flashing
Open circuit protection
●●●●●●
2 green, 4red circulation flashing
Over voltage protection
●●●●●●●
2 green, 5red circulation flashing
Under voltage protection
● ●● ●●
3 green, 2red circulation flashing
Overload protection
● ●● ●
Flashing blue
In position output
● ●● ●
Flashing red
Enable status
Notice: Turning on power is banned when driver hasn’t been connected with motor, power
positive and negative pole will ruin the driver.
Motion status/Alarm
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●
13
Model
Holding
Torque(Nm)
Current/
phase(A)
Resistance
(Ω)
Inductance
(mH)
Diameter of
axle X(mm)
Axial length
L1(mm)
Motor Length
L(mm)
Encoder
Resolution
SM8601A-1000AO
3.4
6.0
0.35
1.7
9.5
30
88
1000
SM8602A-1000AO
4.5
6.0
0.35
3.0
12.7
30
100
1000
SM8603A-1000AO
8.5
6.0
0.42
4.6
14
30
138
1000
SM8604A-1000AO
11
7.0
0.56
6.9
14
30
176
1000
ICAN July 2016
86max
69.6±0.2
4- 6.6±0.2Φ
L1
9.2±0.2
L
69.6±0.2
86max
1.6±0.2
11
400
X
25_+0.4
-0
Φ73_+0.0 5
-0.0 2
600 1200 1800 2400 3000
0
3.0
3.5
1.5
2.0
2.5
48VDC
50VAC
600 1200 1800 2400 3000
0
5.5
6.5
2.5
3.5
4.5
50VAC
70VAC
600 1200 1800 2400 3000
0
8.0
10
2.0
4.0
6.0
50VAC
70VAC
600 1200 1800 2400 3000
0
12
15
3.0
6.0
9.0
50VAC
70VAC
Closed Loop Stepper Motor Drive SS86
■ Recommended motor
Nema 34 closed loop stepper motor
unit:mm
Driver:SS86
Driver:SS86 Driver:SS86
Driver:SS86
Motor:SM8601A-1000AO
Motor:SM8603A-1000AO Motor:SM8604A-1000AO
Motor:SM8602A-1000AO
Current:6.0A
Current:6.0A Current:7.0A
Current:6.0A
Holding
Torque
Speed rpm
Holding
Torque
N.m N.m
Speed rpm
Holding
Torque
Holding
Torque
N.m N.m
Speed rpm Speed rpm
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ICAN July 2016
Closed Loop Stepper Motor Drive SS86
■
●
●
●
L
9.8
13
9.5
11.7
13.8
G:Universal cable M:Motor cable SW:SW series
SW:SW series
SW - 50 G M 03
SW - 14 F E 03
01:1M
03:3M
05:5M
L
6.8
8.8
12.8
8.2
16.8
F High soft cable:
Name
Cable material
Model number
Cable 1M
Cable 3M
Cable 5M
Motor cable
General (not resistant
to bending)
SW50GM01
SW50GM03
SW50GM05
High soft (resistant to
bending 500W times)
SW50FM01
SW50FM03
SW50FM05
Encoder cable
High soft (resistant to
bending 500W times)
SW14FE01
SW14FE03
SW14FE05
Accessories
Naming rule for motor cable
Series name Cable cross
section
Cable category Cable use Cable length
E:Encoder cable 01:1M
03:3M
05:5M
F High soft cable:
Series name Cable cross
section
Cable category Cable use Cable length
Driver side
Driver side
Motor side
Motor side
Naming rule for encoder cable
Cable list
1. Make sure all the cable terminals are connected well to avoid short circuit and damage the driver
2. Use Shielded Twisted Pair(STP) as encoder and control line to enhance anti-jamming capability.
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Add:4/F, Block B, RuiLian Zhenxing Industrial
Park, Wanjiang District, Dongguan City,
Guangdong Province, China
Tel: [phone]
Fax:[phone]
ican-tech.en.alibaba.com
Website:
After sale service
Warranty period
Dongguan ICAN Technology provides warranty for 1 year from the date of shipping.
Maintenance process
1) Get the maintenance permission
2) Ship the package to the following address: 4/F, Block B, RuiLian Zhenxing Industrial Park,
Wanjiang District, Dongguan City, Guangdong Province
Tel: [phone]
Return policy
1. After use or man-made damage condition (etc, wrong wiring), no return
2. ICAN Technology guarantees the product quality, but product incompatibility is not in
the return or maintain condition.
3. Customers don’t use the products under the specified electrical performance and
environment indicators, no maintain condition
Aut o m a tion
Dongguan ICAN Technology Co., Ltd
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