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
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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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