Leadshine Technology M325 User manual

User sManual
For
M325
Micro Microstepping Driver
Version 2.0
2000 All RightsReserved
Attention: Please read thismanualcarefullybefore using the driver!
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2000 byLeadshine TechnologyCompanyLimited.
All RightsReserved
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Contents
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Table of Contents
1. Introduction, Featuresand Applications....................................................................1
Introduction...........................................................................................................1
Features.................................................................................................................1
Applications..........................................................................................................1
2. Specifications............................................................................................................1
ElectricalSpecifications........................................................................................1
Operating Environmentand OtherSpecifications.................................................2
MechanicalSpecifications.....................................................................................2
Elimination ofHeat...............................................................................................2
3. PinAssignmentand Description...............................................................................3
ConnectorP1Configurations................................................................................3
SelectActive Edge orActive Leveland ControlSignalMode.............................3
ConnectorP2Configurations................................................................................4
4. ControlSignalConnector(P1)Interface...................................................................4
5. Connecting the Motor................................................................................................4
Connectionsto 4-lead Motors...............................................................................4
Connectionsto 6-lead Motors...............................................................................5
Half Coil Configurations...............................................................................5
Full Coil Configurations................................................................................5
Connectionsto 8-lead Motors...............................................................................6
SeriesConnections........................................................................................6
ParallelConnections......................................................................................6
6. PowerSupplySelection............................................................................................6
Regulated orUnregulated PowerSupply..............................................................7
Multiple Drivers....................................................................................................7
Selecting SupplyVoltage.......................................................................................7
7. Selecting Microstep Resolution and DriverOutputCurrent.....................................7
Microstep Resolution Selection............................................................................8
CurrentSettings.....................................................................................................8
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Dynamic CurrentSetting...............................................................................8
Standstill Current...........................................................................................8
8. Wiring Notes.............................................................................................................9
9. TypicalConnections..................................................................................................9
10. SequenceChart ofControlSignals.......................................................................10
11. FrequentlyAsked Questions..................................................................................11
ProblemSymptomsand Possible Causes............................................................11
APPENDIX.................................................................................................................12
Twelve Month Limited Warranty........................................................................12
Exclusions...........................................................................................................12
Obtaining WarrantyService................................................................................12
WarrantyLimitations...........................................................................................12
Shipping Failed Product......................................................................................12
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M325MicroMicrosteppingDriver ManualV2.0
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1. Introduction, Features and Applications
Introduction
TheM325isaverysmall size highperformance microsteppingdriverbasedononeofthemost
advancedtechnologies intheworldtoday.It ssuitablefordrivingany2-phase and 4-phase hybrid
steppingmotors.Byusingadvancedbipolarconstant-currentchoppingtechnique,it canoutput
morespeedand powerfromthesamemotor,comparedwithtraditionaldriverssuchas L/R drivers.
Its3-statecurrentcontroltechnologyallowscoil currentstobewell controlledwithrelatively
smallercurrentripple, thereforeless motorheatingisachieved.
Features
lHighperformance
lLowcost
lSupplyvoltageup to+24VDC
lOutputcurrentupto2.5A
lPulse frequencyup to100KHz
lInputsignalsTTLcompatibleand optically
isolated
lAutomaticidle-currentreduction
l3-statecurrentcontroltechnology forless
motorheating
l4selectablemicrostepresolutions:1,2,4,8
lPUL/DIR &CW/CCWmodeoptional
lSuitablefor2-phase and 4-phase motors
lDIPswitchcurrentsettingwith7different
values
lSmall size:86*55*20mm
Applications
SuitableforawiderangeofsteppingmotorsfromNEMAsize14to23,whichusedinvariouskinds
ofmachines,suchas X-Ytables,labelingmachines,lasercutters,engravingmachines,pick-place
devices,and etc.It sspeciallyadaptedtotheapplicationsdesiredwithlowvibration,highspeedand
highprecision.
2. Specifications
ElectricalSpecifications (Tj= 25 )
M325
Parameters Min. Typical Max. Unit
Peakoutputcurrent 0.39 - 2.5 Amps
Supplyvoltage +12 - +24 VDC
Logicsignalcurrent 7 10 16 mA
Pulse inputfrequency 0 - 100 KHz
Isolationresistance 500 - - MΩ
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Operating Environmentand OtherSpecifications
Cooling NaturalCoolingorforcedcooling
Environment Avoiddust, oilfogand corrosivegases
AmbientTemperature 0 －50
Humidity 40%RH －90%RH
OperatingTemperature 70Max
Operating
Environment
Vibration 5.9m/s2 Max
StorageTemperature -20 －65
Weight Approx. 150gram(5.3oz)
MechanicalSpecifications (unit=mm, 1 inch=25.4 mm)
Figure 1:Mechanicaldimensions
*Recommend use sidemountingforbetterheatdissipation
Elimination ofHeat
lDriver sreliableworkingtemperatureshouldbe<65,motorworkingtemperatureshouldbe
<80;
lRecommend use automatichalf-currentmode,namelycurrentautomaticallybereducedto60%
whenmotorstops, soas todecrease driverheatingand motorheating;
lRecommend use sidemountingtomaximize heatsinkarea.
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3. PinAssignmentand Description
TheM325 has twoconnectors,connectorP1forcontrolsignalsconnections,andconnectorP2for
powerand motorconnections.Thefollowingtables arebriefdescriptionsofthetwoconnectorsofthe
M325.Moredetaileddescriptionsofthepinsandrelatedissues arepresentedinsection4,5,9.
ConnectorP1Configurations
PinFunction Details
PUL
Pulse signal:Insinglepulse (pulse/direction)mode,thisinputrepresentspulse
signal,activeateachrisingorfallingedge(setbyinsidejumperJ1); 4-5Vwhen
PUL-HIGH,0-0.5VwhenPUL-LOW.Indoublepulse mode(pulse/pulse),this
inputrepresentsclockwise (CW)pulse，activeathigh levelorlowlevel(setby
insidejumperJ1).Forreliableresponse,pulse widthshouldbelongerthan5.0μs.
Series connectresistorsforcurrent-limitingwhen+12Vor+24Vused.
DIR
Direction signal: Insingle-pulse mode,thissignalhas low/highvoltagelevels,
representingtwodirectionsofmotorrotation;indouble-pulse mode(setbyinside
jumperJ2),thissignaliscounter-clock(CCW)pulse，activeathighlevelorlow
level(setbyinsidejumperJ1).Forreliablemotionresponse,DIR signalshould
beaheadofPULsignalby5μsatleast.4-5VwhenDIR-HIGH,0-0.5Vwhen
DIR-LOW.Please notethatmotiondirectionisalsorelatedtomotor-driver
wiringmatch. Exchangingtheconnectionoftwowires foracoil tothedriverwill
reversemotion direction.
OPTO Opto-couplerpowersupply, and thetypicalvoltageis+5V.
ENA
Enablesignal: Thissignalisusedforenabling/disablingdriver.Highlevelfor
enablingdriverand lowlevelfordisablingdriver.Usuallyleftunconnected
(enabled).
SelectActive Edge orActive Leveland ControlSignalMode
TherearetwojumpersJ1and J2insidetheM325specificallyforselectingactiveedgeoractivelevel
and controlsignalmode,as showninfigure2.Default settingisPUL/DIR modeand upward-rising
edgeactive.
(a) J1,J2opencircuit(b)J1shortcircuit,J2opencircuit
PUL/DIRmodeandactiveatupward-risingedgePUL/DIRmodeandactiveatdownward-fallingedge
(c)J1opencircuit,J2shortcircuit (d)J1, J2shortcircuit
CW/CCWmodeandactiveCW/CCWmodeandactive
athigh level(Thefixedlevel)atlow level(Thefixedlevel)
Figure2:J1and J2jumpers
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ConnectorP2Configurations
PinFunction Details
Gnd DC powerground
+V DC powersupply,12~24VDC,Includingvoltagefluctuation and EMF
voltage.
A+, A- MotorPhase A
B+, B- MotorPhase B
4. ControlSignalConnector(P1)Interface
TheM325uses opto-couplerstoincrease noise immunityand interface flexibility.Ifthe
opto-couplers supplyvoltageishigherthan+5V,acurrent-limitingresistorneedstobeconnected
ateachinputsignaltopreventoverheatingtheopto-couplers.Inthefollowingfigures,
connectionstoopen-collectorand difference controllerareillustrated.
Figure 3:Connectionstoopen-collectorsignal(common-anode)
Figure 4:Connectionstodifferencecontrol signal
5. Connecting theMotor
TheM325drivercandriveany2-pahse and 4-pahse hybridstepping motors.
Connectionsto4-lead Motors
4leadmotorsaretheleastflexiblebuteasiesttowire.Speedandtorquewill dependonwinding
inductance.Insettingthedriveroutputcurrent,multiplythespecifiedphase currentby1.4to
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determinethepeakoutputcurrent.
Figure 5:4-leadMotorConnections
Connectionsto6-lead Motors
Like8leadsteppingmotors,6leadmotorshavetwoconfigurationsavailableforhighspeedorhigh
torqueoperation.Thehigherspeedconfiguration,orhalfcoil,issodescribedbecause it uses onehalf
ofthemotor sinductorwindings.Thehighertorqueconfiguration,orfull coil,uses thefull windings
ofthephases.
Half Coil Configurations
Aspreviouslystated,thehalfcoil configuration uses 50%ofthemotorphase windings.Thisgives
lowerinductance, hence,lowertorqueoutput.Liketheparallelconnection of8leadmotor,thetorque
outputwill bemorestableathigherspeeds.Thisconfigurationisalsoreferredtoas halfchopper.In
settingthedriveroutputcurrentmultiplythespecifiedperphase (orunipolar)currentratingby1.4to
determinethepeakoutputcurrent.
Figure 6:6-leadmotorhalfcoil(higherspeed)connections
Full Coil Configurations
Thefull coilconfigurationonasixleadmotorshouldbeusedinapplicationswherehighertorqueat
lowerspeedsisdesired.Thisconfiguration isalsoreferredtoasfull copper.Infullcoilmode,the
motorsshouldberunatonly70%oftheir ratedcurrenttopreventoverheating.
Figure 7:6-leadmotorfull coil(higher torque) connections
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Connectionsto8-lead Motors
8leadmotorsofferahighdegree offlexibilitytothesystemdesignerinthattheymaybeconnected
inseries orparallel, thussatisfyingawiderangeofapplications.
Series Connections
Aseriesmotorconfigurationwouldtypicallybeusedinapplicationswhereahighertorqueatlower
speedsisrequired. Because thisconfiguration has themostinductance, theperformance will start to
degradeathigherspeeds. Inseries mode, themotorsshouldalsoberunatonly70%oftheir rated
currenttopreventoverheating.
Figure 8:8-leadmotorseriesconnections
ParallelConnections
An8leadmotorinaparallelconfiguration offersamorestable, butlowertorqueatlowerspeeds. But
because ofthelowerinductance,therewill behighertorqueathigherspeeds.Multiplytheperphase
(orunipolar)currentratingby1.96,orthebipolarcurrentratingby1.4,todeterminethepeakoutput
current.
Figure 9:8-leadmotorparallelconnections
6. PowerSupply Selection
TheM325 canmatchmediumandsmall size steppingmotors(fromNemasize 14 to23)madeby
Leadshineorothermotormanufactures around theworld.Toachievegood drivingperformances, it is
importanttoselectsupplyvoltageandoutputcurrentproperly.Generallyspeaking,supplyvoltage
determines thehighspeedperformance ofthemotor,whileoutputcurrentdetermines theoutput
torqueofthedrivenmotor(particularlyatlowerspeed).Highersupplyvoltagewill allowhigher
motorspeedtobeachieved, attheprice ofmorenoise and heating.Ifthemotion speedrequirementis
low, it sbettertouse lowersupplyvoltagetodecrease noise, heatingand improvereliability.
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Regulated orUnregulated PowerSupply
Bothregulatedandunregulatedpowersupplies canbeusedtosupplythedriver.However,
unregulatedpowersupplies arepreferredduetotheirabilitytowithstandcurrentsurge.Ifregulated
powersupplies (suchas mostswitchingsupplies.)areindeedused,it isimportanttohavelarge
currentoutputratingtoavoidproblemslikecurrentclamp,forexampleusing4Asupplyfor3A
motor-driveroperation. Ontheotherhand, ifunregulatedsupplyisused, onemayuse apowersupply
oflowercurrentratingthanthatofmotor(typically50%～70%ofmotorcurrent).Thereason isthat
thedriverdrawscurrentfromthepowersupplycapacitoroftheunregulatedsupplyonlyduringthe
ON durationofthePWMcycle,butnotduringtheOFF duration.Therefore,theaveragecurrent
withdrawnfrompowersupplyisconsiderablyless thanmotorcurrent.Forexample,two3Amotors
canbewell suppliedbyonepowersupplyof4Arating.
Multiple Drivers
It isrecommendedtohavemultipledriverstoshareonepowersupplytoreduce cost,ifthesupply
has enoughcapacity.Toavoidcross interference, DONOT daisy-chainthepowersupplyinputpins
ofthedrivers. (Instead,please connectthemtopowersupplyseparately.)
Attention: NEVERconnectpowerand groundinthewrongdirection,as it will damagetheM325.
Selecting SupplyVoltage
ThepowerMOSFETSinsidetheM325canactuallyoperatewithin+12V～+24VDC,including
powerinputfluctuationandbackEMF voltagegeneratedbymotorcoilsduringmotorshaft
deceleration.Highersupplyvoltagecanincrease motortorqueathigherspeeds,thushelpfulfor
avoidinglosingsteps.However,highervoltagemaycause biggermotorvibrationatlowerspeed,and
it mayalsocause over-voltageprotectionorevendriverdamage.Therefore,it issuggestedtochoose
onlysufficientlyhighsupplyvoltageforintendedapplications,and it issuggestedtouse power
supplies withtheoreticaloutputvoltageof+12～+20V,leavingroomforpowerfluctuation and
back-EMF.
7. Selecting MicrostepResolutionand DriverOutputCurrent
Thisdriveruses a6-bitDIPswitchtosetmicrostepresolution,and motoroperatingcurrent,as shown
below:
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Microstep Resolution Selection
Microstepresolution issetbySW5,SW6oftheDIPswitchas showninthefollowingtable:
Microstep Steps/rev.(for1.8 motor) SW5 SW6
1 200 ON ON
2 400 OFF ON
4 800 ON OFF
8 1600 OFF OFF
CurrentSettings
Foragivenmotor,higherdrivercurrentwill makethemotortooutputmoretorque,butatthesame
timecausesmoreheatinginthemotoranddriver.Therefore,outputcurrentisgenerallysettobesuch
thatthemotorwill notoverheatforlongtimeoperation.Since parallelandserialconnectionsof
motorcoilswill significantlychangeresultinginductance andresistance,itisthereforeimportantto
setdriveroutputcurrentdependingonmotorphase current,motorleadsandconnectionmethods.
Phase currentratingsuppliedbymotormanufacturerisimportantinselectingdrivercurrent, however
theselection alsodependson leadsand connections.
Thefirstthree bits(SW1,2,3)oftheDIPswitchareusedtosetthedynamiccurrent.Selectasetting
closesttoyourmotor srequiredcurrent.
DynamicCurrentSetting
Peakcurrent(A) SW1 SW2 SW3
0.39A OFF ON ON
0.71A ON OFF ON
1.10A OFF OFF ON
1.42A ON ON OFF
1.81A OFF ON OFF
2.13A ON OFF OFF
2.52A OFF OFF OFF
Notes: Duetomotorinductance,theactualcurrentinthecoilmaybesmallerthanthedynamic
currentsetting,particularlyunderhighspeedcondition.
Standstill Current
SW4isusedforthispurpose.OFFmeaningthatthestandstillcurrentissettobehalfoftheselected
dynamiccurrent,and ON meaningthatstandstill currentissettobethesameas theselecteddynamic
current.
Thecurrentautomaticallyreducedto60%oftheselecteddynamiccurrent0.2second afterthelast
pulse.Theoretically,thiswill reduce motorheatingto36%(duetoP=I2*R) oftheoriginalvalue.If
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theapplicationneedsadifferentstandstillcurrent,please contactLeadshine.
8. Wiring Notes
lInordertoimproveanti-interference performance ofthedriver,itisrecommendedtouse
twistedpair shieldcable.
lTopreventnoise incurredinpulse/dir signal,pulse/directionsignalwiresand motorwires
shouldnotbetieduptogether.Itisbettertoseparatethembyatleast10 cm,otherwise the
disturbingsignalsgeneratedbymotorwill easilydisturbpulse direction signals,causingmotor
positionerror, systeminstabilityand otherfailures.
lIfapowersupplyserves severaldrivers,separatelyconnectingthedriversisrecommended
insteadofdaisy-chaining.
lIt isprohibitedtopull andplugconnectorP2whilethedriverispoweredON,because thereis
highcurrentflowingthroughmotorcoils(evenwhenmotorisatstandstill). Pullingorplugging
connectorP2withpoweron willcause extremelyhighback-EMFvoltagesurge,whichmay
damagethedriver.
9. TypicalConnections
Acompletesteppingsystemshouldincludesteppingmotor,steppingdriver,powersupplyand
controller(pulse generator).Thefollowingfigures aretwotypicalconnectionsoftheM325.
Figure 10:Typicalconnection withopen-collectorcontroller
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Figure 11:Typicalconnectionwithdifferencecontroller
10. Sequence Chart ofControlSignals
Inordertoavoidsomefault operationsanddeviations,PUL,DIR and ENAshouldabidebysome
rules, shownas thefollowingdiagram:
Figure12:Sequence chartofcontrol signals
Notes:
(1) t1:ENAmustbeaheadofDIR byatleast5ms.Usually,ENA+and ENA-areNC (not
connected).See “ConnectorP1Configurations”formoreinformation.
(2) t2:DIR mustbeaheadofPULeffectiveedgebyatleast5mstoensurecorrectdirection;
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(3) t3:Highlevelwidthnotless than5.0ms;
(4) t4:Lowlevelwidthnotless than5.0ms.
11. FrequentlyAskedQuestions
IntheeventthatyourM325 doesn toperateproperly,thefirststepistoidentifywhethertheproblem
iselectricalormechanicalinnature.Thenextstepistoisolatethesystemcomponentthatiscausing
theproblem.Aspart ofthisprocess you mayhavetodisconnecttheindividualcomponentsthatmake
up yoursystemand verifythattheyoperateindependently.It isimportanttodocumenteachstepin
thetroubleshootingprocess.You mayneedthisdocumentation toreferbacktoatalaterdate,and
these detailswill greatlyassistourTechnicalSupport staffindeterminingtheproblemshouldyou
needassistance.
Manyoftheproblemsthataffectmotioncontrolsystemscanbetracedtoelectricalnoise,controller
softwareerrors, ormistakeinwiring.
ProblemSymptomsand Possible Causes
Symptoms PossibleProblems
Nopower
Microstepresolution settingiswrong
DIPswitchcurrentsettingiswrong
Fault conditionexists
Motorisnotrotating
Thedriverisdisabled
Motorrotates inthewrongdirection Motorphases maybeconnectedinreverse
DIPswitchcurrentsettingiswrong
Thedriverinfault Somethingwrongwithmotorcoil
Controlsignalistooweak
Controlsignalisinterfered
Wrongmotorconnection
Somethingwrongwithmotorcoil
Erraticmotormotion
Currentsettingistoosmall, losing steps
Currentsettingistoosmall
Motorisundersizedfortheapplication
Acceleration issettoohigh
Motorstallsduringacceleration
Powersupplyvoltagetoo low
Inadequateheatsinking/cooling
Automaticcurrentreduction function notbeingutilized
Excessivemotoranddriverheating
Currentissettoohigh
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APPENDIX
Twelve MonthLimited Warranty
LeadshineTechnologyCo., Ltd.warrantsitsproductsagainstdefectsinmaterialsand
workmanshipforaperiodof12monthsfromshipment outoffactory.Duringthewarrantyperiod,
Leadshinewill either, atitsoption, repair orreplace productswhichprovedtobedefective.
Exclusions
Theabovewarrantydoes notextendtoanyproductdamagedbyreasonsofimproperorinadequate
handlingsbycustomer,improperorinadequatecustomerwirings,unauthorizedmodification or
misuse,oroperation beyond theelectricalspecificationsoftheproductand/oroperation beyond
environmentalspecificationsfortheproduct.
Obtaining Warranty Service
Toobtainwarrantyservice,areturnedmaterialauthorization number(RMA)mustbeobtained
fromcustomerservice ate-mail: [e-mail] beforereturningproductforservice.
Customershall prepayshippingcharges forproductsreturnedtoLeadshineforwarrantyservice,
and Leadshineshallpayforreturnofproductstocustomer.
Warranty Limitations
Leadshinemakes no otherwarranty,eitherexpressedorimplied,withrespecttotheproduct.
Leadshinespecificallydisclaimstheimpliedwarranties ofmerchantabilityand fitness fora
particularpurpose.Somejurisdictionsdonotallowlimitationsonhowlongandimpliedwarranty
lasts, sotheabovelimitation orexclusion maynotapplytoyou. However, anyimpliedwarrantyof
merchantabilityorfitness islimitedtothe12-monthdurationofthiswrittenwarranty.
Shipping Failed Product
Ifyourproductfail duringthewarrantyperiod,e-mail customerservice at [e-mail] to
obtainareturnedmaterialauthorizationnumber(RMA)beforereturningproductforservice.
Please includeawrittendescriptionoftheproblemalongwithcontactnameand address.Send
failedproducttodistributorinyourarea or: LeadshineTechnologyCo., Ltd.Floor3,Block2,
Nanyou TiananIndustrialPark,NanshanDist,Shenzhen,China. Alsoenclose information
regardingthecircumstances priortoproductfailure.
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