Joy-it NEMA 23 User manual

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Pascalstr. 8 47506 Neukirchen-Vluyn
NEMA CLOSED-LOOP STEP MOTOR
NEMA-23-04CL
1. GENERAL INFORMATION
Dear customer,
Thank you very much for choosing our product. In the following, we will
show you what you need to consider during commissioning and use.
Should you unexpectedly encounter any problems during use, please feel
free to contact us.

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2. CONNECTIONS
2 multi-core cables lead out of the stepper motor.
The 4-core cable belongs to the motor, the cable assignment is as follows:
In addition, an 18 - 70 V DC power supply for the motor must be connected to
the motor driver at V+ / V-.
In addition, a protective grounding can be connected to .
The 6-core cable belongs to the encoder, the cable assignment is as follows
There is another terminal block on the motor driver, this is for the control
signal.
The connections have the following functions:
Connection Colour
A+ Black
A- Green
B+ Blue
B- Red
Connection Function Remarks
PUL+ PUL+ and PUL- are the positive and negative termi-
nals of the control pulse signal.
3,3 V ~24 V
PUL-
DIR+ DIR+ and DIR- are the positive and negative terminals
of the directional signal.
DIR-
ENA+ ENA+ and ENA- the positive and negative terminals of
the enable signal.
ENA-
ALM+ ALM+ and ALM- are the positive and negative termi-
nals of the alarm output signal. < 24 V, 40 mA
ALM-
Connection Colour
EB+ White
EB- Yellow
EA+ Green
EA- Blue
VCC Red
GND Black

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The pin assignment of the RS-232 connection is as follows:
DIP switches 1 to 4 are used to configure the microsteps of the following dimen-
sions:
Pin Funktion
1NC
25V
3TXD
4GND
5RXD
6NC
3. DIP-SWITCHES
Mikrosteps SW1 SW2 SW3 SW4
3600 ON ON ON ON
800 OFF ON ON ON
1600 ON OFF ON ON
3200 OFF OFF ON ON
6400 ON ON OFF ON
12800 OFF ON OFF ON
25600 ON OFF OFF ON
7200 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
40000 OFF OFF OFF OFF

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With the DIP switch 5 (SW5) you can set the direction of rotation of the motor.
If the switch is set to ON, it rotates clockwise, if the switch is set to OFF, it rotates
counterclockwise.
The setting is only accepted aer a restart of the unit.
DIP switch 6 (SW6) is used to select whether the internal smoothing function for
the input pulse signal should be activated. If the switch is set to ON, this means
that the smoothing function is enabled, if it is set to OFF, the Function disabled.
The setting is only accepted aer a restart of the unit.
DIP switch 7 (SW7) is used to select the input pulse mode. If the switch is set to
ON, the PUL/DIR mode is active, if it is OFF, the CW/CCW mode is active.
The setting is only accepted aer a restart of the unit.
With the DIP-switch 8 (SW8) you can activate or deactivate the step loss detec-
tion. If the switch is set to OFF, the step loss detection is activated, if the switch
is set to ON, it is deactivated.
The setting is only applied aer the unit has been restarted.
A green and a red LED are installed on the motor driver to indicate the current
status.
4. LED INDICATORS
Drive statusLED status
The green LED lights up Drive not active
The green LED flashes Drive operates normally
The red and green LEDs light
up Overcurrent
The red LED flashes twice and
the green once Overvoltage
The red LED flashes three
times and the green LED once
Incorrect internal driver
voltage
The red LED flashes four times
and the green LED once
Tracking error exceeds
the limit value
The red LED flashes five times
and the green LED once Encoder phase error

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PUL, DIR port: Connection for pulse command
The standard signal is pulse-shaped.
The motor driver can receive three types of pulse command signals.
ENA-port: enable/disable
When the standard optocoupler is o, the driver outputs current to the motor.
When the internal optocoupler is on, the driver cuts o the current to each pha-
se of the motor, so that the motor is in a
is free state and cannot react to the step pulse.
If the motor is in the wrong state, the connection enables an automatic switch-
o. The level logic of the enable signal can also be set in reverse.
ALM-port: Alarm output
The ALM connector is used to output the driver's operating status to the exter-
nal control circuit. ALM outputs dierent optocoupler levels when the driver is in
the wrong state and in normal operating state.
5. CONTROL SIGNAL CONNECTION
Forward Backward
Backward
Backward
Forward
Forward
Pulse and direction
(PUL + DIR)
Double pulse
(CW + CCW)
Orthogonal pulse
(A/B orthogonaler Impuls)

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Control signal wiring example
Connection to open-collector signal
Connection to PNP signal
Dierential

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6. PC SOFTWARE
6.1 First steps
First you need to download the PC soware here and then install it on
your computer.
To control your motor driver with the PC soware, you need an appropri-
ate RJ-11 to SUB-D 9 connection cable.
When selecting the cable, pay attention to the correct pin assignment.
You must connect the RJ-11 plug to your motor driver and the SUB-D
plug to a COM port on your PC.
Now you can start the PC soware.
Now select the COM port to which the driver is connected and press
Connect.
When the connection has been successfully established, the status indi-
cator lights up green. This should look like this.

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6.2 Driver status
Number Funcon
1Lights up in case of overcurrent
2Lights up in case of overvoltage
3Lights up when the posion error limit has been exceeded
4Lights up in the event of an internal voltage error
5Lights up in the event of a parameter error
6Lights up when driver is acvated
7Lights up when output signal 1 of the motor driver is acve.
8Lights up when output signal 2 of the motor driver is acve.
9Indicates the number of pulses
10 Press to reset
11 Indicates the number of encoder steps
12 Indicates the current number of posion errors
13 Indicates the current voltage
14 Indicates the current microsteps
10
11
12
13
14
1
2
3
4
5
6
7
8
9

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6.3 IO Setup
Number Funcon
1Seng the pulse mode
2Seng the Acve Level of the Enable Pin
3Seng the funcon for output1 of the motor driver
4Seng the funcon for output2 of the motor driver
5Seng the acve PUL edge
6Seng the Enable Acon
7Seng the acve OUT1 edge
8Seng the acve OUT2 edge
9Seng the servo control mode
10 Seng the input mode
11 Seng the inpos limit
12 Seng the pulse idle me
10
11
12
1
2
3
4
5
6
7
8
9

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6.4 Parameter
Number Funcon
1Seng the maximum current
2Seng the base current
3Seng the Inial Locking Time
4Seng the standard microsteps
5Seng the encoder resoluon
6Seng the permissible step losses
7Adjusng the impulse noise lter
8Seng the pulse smoothing
9Speed feedback lter1
10 Speed feedback lter2
11 Acceleraon feedback lter
12 Frequency of the output pulse signal
11
3
7
10 12
124
568
9

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6.5 Current control loop
Number Function
1Activate / deactivate the proportional-integral regulator
2Proportional gain PI regulator
3Integral gain PI regulator
4Gain PI regulator
5Setting the current for the step test
6Perform a step test
7Shows the phase resistance in mΩ
8Shows the phase inductance in mH
9Setting the resistance
10 Setting the induction
11 Adjusting the torque
10
11
1
2
3
4
5
6
7
8
9

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6.6 Servo Mode 1
Number Funcon
1Seng the Proporonal Gain
2Seng the integral gain
3Damping factor
4Seng the speed feedback
5Seng the damping
1
2
3
4
5

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6.7 Servo Mode 2
Number Funcon
1Seng the proporonal gain
2Seng the integral gain
3Seng the gravity compensaon
4Speed feedback 1
5Speed feedback 2
6Speed Forward Gain
7Acceleraon Forward Gain
1
2
3
4
5
6
7

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6.8 Motion test
Number Funcon
1Seng the speed
2Seng the acceleraon
3Seng the distance
4Seng the delay between repeons
5Press and hold to move backwards
6Press and hold to move forward
7Press to move the set distance backwards
8Press to move the set distance forward
9Press to start the test mode with the set parameters
1
4
2
3
56
78
9

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6.9 Diagram display
Number Funcon
1Seng the CH1 graph
2Seng the CH2 graph
3Enable/disable the repeat funcon
4Seng the sampling interval
5Seng the sampling rate
6Indicates posion of the cursor on the X-axis
7Indicates posion of the cursor on the le Y-axis
8Indicates posion of the cursor on the right Y-axis
9Start or stop the diagram display
12
3
6
45
789

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Pascalstr. 8 47506 Neukirchen-Vluyn
PR
Published: 06.10.2021
www.joy-it.net
SIMAC Electronics GmbH
Pascalstr. 8 47506 Neukirchen-Vluyn
6. ADDITIONAL INFORMATION
Our information and take-back obligations according to
the Electrical and Electronic Equipment Act
(ElektroG)
Symbol on electrical and electronic equipment:
This crossed-out dustbin means that electrical and electronic appliances
do not belong in the household waste. You must return the old appliances
to a collection point.
Before handing over waste batteries and accumulators that are not en-
closed by waste equipment must be separated from it.
Return options:
As an end user, you can return your old device (which essentially fulfils
the same function as the new device purchased from us) free of charge for
disposal when you purchase a new device.
Small appliances with no external dimensions greater than 25 cm can be
disposed of in normal household quantities independently of the pur-
chase of a new appliance.
Possibility of return at our company location during opening hours:
SIMAC Electronics GmbH, Pascalstr. 8, D-47506 Neukirchen-Vluyn, Germa-
ny
Possibility of return in your area:
We will send you a parcel stamp with which you can return the device to
us free of charge. Please contact us by email at [e-mail] or by
telephone.
Information on packaging:
If you do not have suitable packaging material or do not wish to use your
own, please contact us and we will send you suitable packaging.
7. SUPPORT
If there are still any issues pending or problems arising aer your purcha-
se, we will support you by e-mail, telephone and with our ticket support
system.
Email: [e-mail]
Ticket system: http://support.joy-it.net
Telephone: [phone] (10-17 o‘clock)
For further information please visit our website:
www.joy-it.net