Leadshine Technology M542 User manual

User sManual
For
M542
Economical MicrosteppingDriver
Version 1.0
2000 All Rights Reserved
Attention: Pleaseread thismanual carefully beforeusing the driver!
F/3, Block 2, Nanyou Tianan IndustryPark, Nanshan Dist, Shenzhen, China
PH. (86)755-26434369FAX[phone]
Web site: www.leadshine.com E-Mail: [e-mail]
The contentin thismanualhasbeencarefullypreparedandisbelievedto beaccurate,butno
responsibilityis assumedfor inaccuracies.
Leadshinereservestheright tomakechangeswithout furthernoticeto anyproductsherein to
improvereliability,function or design.Leadshinedoesnot assumeanyliabilityarising out of the
application or useof anyproductorcircuitdescribedherein;neitherdoesit conveyanylicense
underitspatentrightsof others.
Leadshine sgeneralpolicydoesnotrecommend theuse ofitsproductsin lifesupport oraircraft
applicationswhereinafailureormalfunctionoftheproductmaydirectlythreatenlifeorinjury.
According to Leadshine stermsand conditionsofsales,theuserof Leadshine sproductsinlife
support or aircraft applicationsassumesall risksofsuchuseand indemnifiesLeadshineagainstall
damages.
2000 byLeadshineTechnologyCompanyLimited.
All RightsReserved
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Contents
I
Table ofContents
1. Introduction, Features andApplications ·································································· 1
Introduction········································································································· 1
Features··············································································································· 1
Applications ········································································································ 1
2. Specifications andOperating Environment ····························································· 1
ElectricalSpecifications ······················································································ 1
OperatingEnvironment andother Specifications················································· 2
MechanicalSpecifications··················································································· 2
3. PinAssignment andDescription·············································································· 3
Connector P1 Configurations ·············································································· 3
Connector P2 Configurations ·············································································· 4
4. ControlSignalConnector(P1) Interface ································································· 4
5. ConnectingtheMotor ····························································································· 5
Connectionsto4-leadMotors·············································································· 5
Connectionsto6-leadMotors·············································································· 5
Half CoilConfigurations ············································································· 5
Full CoilConfigurations·············································································· 5
Connectionsto8-leadMotors·············································································· 6
Series Connections ······························································································ 6
ParallelConnections···························································································· 6
6. Power supplySelection ··························································································· 7
RegulatedorUnregulatedPower Supply····························································· 7
MultipleDrivers·································································································· 7
SelectingSupplyVoltage····················································································· 7
7. SelectingMicrostepResolution andDriver Output Current ···································· 8
MicrostepResolution Selection··········································································· 8
CurrentSettings ·································································································· 8
Dynamic Current Setting ············································································· 9
Standstill Current Setting············································································· 9
8.WiringNotes··········································································································· 9
Contents
II
9.TypicalConnection ······························································································· 10
10.Sequence Chartof Control Signals ······························································ 10
11. ProtectionFunctions···························································································· 11
Over-voltage Protection····················································································· 11
Coil-groundShortCircuitProtection································································· 11
12.FrequentlyAskedQuestions················································································ 11
ProblemSymptoms and PossibleCauses··························································· 11
APPENDIX ·············································································································· 13
TwelveMonthLimitedWarranty······································································· 13
Exclusions········································································································· 13
ObtainingWarrantyService ·············································································· 13
WarrantyLimitations························································································· 13
ShippingFailedProduct ···················································································· 13
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M542 Economical Microstepping DriverManualV1.0
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1. Introduction, Features and Applications
Introduction
TheM542isaneconomicalmicrostepping driverbasedon patentedtechnologyof Leadshine.Itis
suitablefordriving 2-phase and4-phase hybridstepping motors.Byusingtheadvancedbipolar
constant-currentchoppingtechnique,itcanoutput morespeedandtorquefrom thesame motor,
comparedwithtraditionaldrivers,suchasL/Rdrivers. Its3-statecurrentcontroltechnologyallows
coilcurrentstobewellcontrolledandwith relativelysmallcurrentripple, thereforeless motor
heating is achieved.
Features
lLow costand good high-speedtorque
lSupplyvoltage upto +50VDC
lOutput currentupto 4.2A
lOpticallyisolatedinputsignals
lPulse frequencyup to 300KHz
lAutomaticidle-current reduction
l3-statecurrent control technology
l15 selectableresolutions
lSuitablefor2-phase and4-phase motors
lDIPswitchcurrentsetting with8different
values
lCW/CCWmodeavailable(optional)
lOver-voltageandshort-circuitprotection
lSmall size(118x75.5x33mm)
Applications
Suitableforawiderangeofstepping motorsfromNEMAsize17 to34.Itcanbeusedinvarious
kindsof machines,suchasX-Ytables,labeling machines, lasercutters, engraving machines,
pick-placedevices,and soon.Particularlyadaptto theapplicationsdesiredwithlow vibration,high
speedandhighprecision.
2. Specifications and Operating Environment
Electrical Specifications (Tj =25 )
M542
Parameters Min Typical Max Unit
Output current 1.0 - 4.2(3.0ARMS) A
Supplyvoltage 20 36 50 VDC
Logicsignalcurrent 7 10 16 mA
Pulse inputfrequency 0 - 300 KHz
Isolationresistance 500 MΩ
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OperatingEnvironment and otherSpecifications
Cooling NaturalCoolingor Forcedcooling
Environment Avoid dust,oilfog and corrosivegases
Ambient Temperature 0 －50
Humidity 40%RH －90%RH
Operating Temperature 70Max
OperatingEnvironment
Vibration 5.9m/s2 Max
StorageTemperature -20 －65
Weight Approx. 280 gram (9.9oz)
Mechanical Specifications (unit:mm, 1inch=25.4mm)
Front ViewSideView
Figure1: Mechanical specifications
*Recommendedto usesidemounting forbetterheat dissipation
Eliminationof Heat
lDriver sreliable working temperatureshould be<65,and motor working temperatureshould
be <80;
lIt isrecommendedtouse automaticidle-current reduction mode, namelycurrent automatically
reduceto60% whenmotor stops, soas to reduce driverheating andmotor heating;
lIt isrecommendedtosidemounting tomaximize heatsink area.
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3. PinAssignmentand Description
TheM542hastwo connectors, connector P1forcontrolsignalsconnections,andconnectorP2for
powerandmotorconnections. Thefollowingtablesarebriefdescriptionsofthetwo connectorsofthe
M542. More detaileddescriptionsof thepins and relatedissuesare presentedinsection4,5,9.
ConnectorP1Configurations
PinFunction Details
PUL+(+5V)
PUL-(PUL)
Pulsesignal: Insinglepulse(pulse/direction)mode,thisinputrepresentspulse
signal,effectivefor eachrisingorfalling edge(setbyinsidejumperJ1); 4-5V
whenPUL-HIGH,0-0.5VwhenPUL-LOW.In double pulse mode
(pulse/pulse),thisinputrepresentsclockwise(CW)pulse，effectivefor high
levelorlowlevel(setbyinsidejumperJ1).For reliableresponse, pulsewidth
should belongerthan2.5μs. Seriesconnect resistorsforcurrent-limiting when
+12Vor +24Vused.
DIR+(+5V)
DIR-(DIR)
DIR signal: Insingle-pulse mode,thissignalhaslow/highvoltagelevels,
representing twodirectionsof motor rotation;in double-pulsemode(setby
insidejumperJ3),thissignaliscounter-clock(CCW)pulse，effectivefor high
levelorlowlevel(setbyinsidejumperJ1).Forreliablemotionresponse, DIR
signalshould beaheadof PULsignalby5μsatleast.4-5VwhenDIR-HIGH,
0-0.5VwhenDIR-LOW.
ENA+(+5V)
ENA-(ENA)
Enablesignal: Thissignalisusedforenabling/disabling thedriver.High level
(NPNcontrolsignal,PNPand Differentialcontrol signalsareonthecontrary,
namelyLow levelfor enabling.)forenablingthedriverand low levelfor
disablingthedriver.Usuallyleft UNCONNECTED (ENABLED).
SelectingEffectivePulse Edge orEffectiveLeveland Control Signal Mode
Therearetwo jumpersJ1and J3insidetheM542 specificallyfor thepurposeofselecting effective
pulseedgeor effectiveleveland controlsignalmode,asshown in figure2.Default setting is
PUL/DIR mode and upward-rising edgeeffective.
(a)J1, J3 opencircuit (b) J1 short circuit, J3 opencircuit
PUL/DIRmodeand effectiveat upward-risingedgePUL/DIRmodeand effectiveat downward-falling edge
(c)J1 opencircuit, J3short circuit(d) J1, J3short circuit
CW/CCWmodeandeffectiveCW/CCWmodeand effective
at high level (Thefixedlevel)at low level (Thefixedlevel)
Figure2: J1and J3jumpers
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ConnectorP2Configurations
Pin Function Details
GND DC powerground
+V DC powersupply,20~50VDC,Includingvoltagefluctuation and EMF
voltage.
A+, A- Motor PhaseA
B+,B- Motor Phase B
4. ControlSignalConnector(P1)Interface
TheM542 canacceptdifferentialand single-endedinputsignals(includingopen-collectorand PNP
output).TheM542 has3opticallyisolatedlogicinputswhicharelocatedon connector P1to accept
linedrivercontrol signals.These inputs areisolatedtominimizeoreliminateelectricalnoisescoupled
onto thedrivecontrol signals.Recommend uselinedrivercontrolsignalsto increasenoiseimmunity
of thedriverininterferenceenvironments.Inthefollowing figures,connectionsto open-collector and
PNPsignalsareillustrated.
Figure3: Connections toopen-collectorsignal (common-anode)
Figure4: ConnectiontoPNPsignal (common-cathode)
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5. Connecting the Motor
The M542 drivercandriveany2-pahse and4-pahse hybrid stepping motors.
Connections to4-lead Motors
4leadmotorsaretheleastflexiblebuteasiestto wire.Speedand torquewilldepend on winding
inductance.Insetting thedriveroutputcurrent,multiplythespecifiedphasecurrent by1.4to
determinethe peakoutputcurrent.
Figure5: 4-leadMotor Connections
Connections to6-lead Motors
Like8leadstepping motors,6leadmotorshavetwo configurationsavailableforhigh speedor high
torqueoperation.Thehigherspeedconfiguration,or halfcoil, issodescribedbecauseit usesonehalf
of themotor sinductor windings.Thehighertorqueconfiguration,or full coil,uses thefullwindings
of thephases.
Half CoilConfigurations
Aspreviouslystated,thehalf coil configuration uses50% of themotor phasewindings.Thisgives
lowerinductance, hence,lowertorqueoutput.Liketheparallelconnection of8leadmotor,thetorque
output willbemorestableathigherspeeds. Thisconfiguration isalsoreferredto ashalf chopper.In
settingthedriveroutput currentmultiplythespecifiedperphase (or unipolar)currentratingby1.4to
determinethe peakoutputcurrent.
Figure6: 6-leadmotor halfcoil (higherspeed) connections
Full CoilConfigurations
Thefullcoilconfiguration onasixleadmotor should beusedinapplicationswherehighertorqueat
lowerspeedsisdesired.Thisconfiguration isalsoreferredtoasfullcopper.Infullcoilmode,the
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motorsshould be run atonly70%of theirratedcurrenttoprevent overheating.
Figure7: 6-leadmotor full coil (highertorque)connections
Connections to8-lead Motors
8leadmotorsofferahighdegreeofflexibilitytothesystemdesignerinthat theymaybeconnected
in seriesor parallel, thussatisfyinga wide rangeofapplications.
Series Connections
Aseriesmotorconfiguration would typicallybeusedin applicationswherea highertorqueatlower
speedsisrequired. Because thisconfiguration hasthe mostinductance,the performancewillstartto
degradeathigherspeeds. In series mode, the motorsshould alsobe run atonly70%of theirrated
currenttoprevent overheating.
Figure8: 8-leadmotor seriesconnections
ParallelConnections
An 8leadmotorin aparallelconfigurationoffersa morestable,but lowertorqueatlowerspeeds. But
becauseofthelowerinductance,therewillbehighertorqueathigherspeeds.Multiplytheperphase
(or unipolar)current rating by1.96,or thebipolarcurrentrating by1.4,to determinethepeakoutput
current.
Figure9: 8-leadmotor parallel connections
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6. Powersupply Selection
TheM542 canmatchmediumand small sizesteppingmotors(fromNemasize17 to34) madeby
Leadshineorothermotor manufacturesaround theworld. Toachievegooddrivingperformances, itis
important to selectsupplyvoltageandoutputcurrent properly.Generallyspeaking,supplyvoltage
determinesthehigh speedperformance of themotor,whileoutput current determinestheoutput
torqueof thedrivenmotor (particularlyatlowerspeed).Highersupplyvoltagewill allow higher
motor speedtobe achieved,atthepriceofmorenoise andheating.Ifthemotionspeedrequirement is
low, it sbettertouse lowersupplyvoltageto decrease noise,heating and improvereliability.
Regulated orUnregulated PowerSupply
Both regulatedandunregulatedpowersuppliescanbeusedtosupplythedriver.However,
unregulatedpowersuppliesarepreferredduetotheir abilityto withstand currentsurge. If regulated
powersupplies(suchasmostswitchingsupplies.)areindeedused,itisimportanttohavelarge
currentoutputratingto avoid problemslikecurrent clamp,forexampleusing4Asupplyfor3A
motor-driveroperation. On the otherhand,if unregulatedsupplyisused, one mayuse a powersupply
of lowercurrent ratingthanthatof motor (typically50%～70%ofmotor current).Thereason isthat
thedriverdrawscurrentfromthepowersupplycapacitoroftheunregulatedsupplyonlyduringthe
ON duration of thePWM cycle,but not during theOFF duration.Therefore, theaveragecurrent
withdrawn frompowersupplyisconsiderablyless thanmotor current.For example, two 3Amotors
canbe wellsuppliedbyone powersupplyof4Arating.
Multiple Drivers
It isrecommendedtohavemultipledriversto shareonepowersupplytoreducecost,if thesupply
hasenoughcapacity.Toavoid cross interference, DO NOT daisy-chainthepowersupplyinputpins
of thedrivers. (Instead,please connectthem to powersupplyseparately.)
Attention: NEVERconnectpowerandground inthewrong direction,asitwilldamage theM542.
SelectingSupply Voltage
ThepowerMOSFETSinsidetheM542 canactuallyoperatewithin +20V－+50VDC,including
powerinput fluctuation and backEMF voltagegeneratedbymotor coilsduring motor shaft
deceleration.Highersupplyvoltagecanincreasemotor torqueathigherspeeds,thushelpfulfor
avoiding losing steps.However,highervoltagemaycausebiggermotor vibrationatlowerspeed,and
it mayalsocauseover-voltageprotection orevendriverdamage. Therefore,itissuggestedtochoose
onlysufficientlyhigh supplyvoltagefor intendedapplications, and itissuggestedto use power
supplieswiththeoreticaloutputvoltageof+20～+45V,leavingroomfor powerfluctuation and
back-EMF.
M542 Economical Microstepping DriverManualV1.0
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7. Selecting Microstep Resolution and DriverOutputCurrent
Thisdriverusesan8-bitDIPswitchtosetmicrostepresolution,and motoroperating current,as
shown below:
Microstep Resolution Selection
Microstepresolution issetbySW5, 6, 7, 8ofthe DIPswitch as shown in thefollowing table:
Microstep
Steps/rev.(for 1.8°motor) SW5 SW6 SW7 SW8
2 400 OFF ON ON ON
4 800 ON OFF ON ON
8 1600 OFF OFF ON ON
16 3200 ON ON OFF ON
32 6400 OFF ON OFF ON
64 12800 ON OFF OFF ON
128 25600 OFF OFF OFF ON
5 1000 ON ON ON OFF
10 2000 OFF ON ON OFF
20 4000 ON OFF ON OFF
25 5000 OFF OFF ON OFF
40 8000 ON ON OFF OFF
50 10000 OFF ON OFF OFF
100 20000 ON OFF OFF OFF
125 25000 OFF OFF OFF OFF
Current Settings
For agivenmotor,higherdrivercurrentwillmakethemotor to output moretorque, butatthesame
timecausesmoreheating inthe motor and driver.Therefore,output currentisgenerallysettobesuch
thatthemotor will notoverheatforlong time operation.Sinceparalleland serialconnectionsof
motor coilswill significantlychangeresulting inductance and resistance, itisthereforeimportantto
setdriveroutputcurrentdepending onmotorphasecurrent,motor leadsandconnection methods.
Phasecurrentrating suppliedbymotor manufacturerisimportantin selecting drivercurrent,however
the selectionalsodependsonleadsand connections.
Thefirstthreebits(SW1,2,3) oftheDIPswitchareusedto setthedynamiccurrent.Selectasetting
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closestto yourmotor srequiredcurrent.
DynamicCurrentSetting
Peakcurrent(A)
RMS (A) SW1 SW2 SW3
1.00 0.71 ON ON ON
1.46 1.04 OFF ON ON
1.91 1.36 ON OFF ON
2.37 1.69 OFF OFF ON
2.84 2.03 ON ON OFF
3.31 2.36 OFF ON OFF
3.76 2.69 ON OFF OFF
4.20 3.00 OFF OFF OFF
Notes: Duetomotor inductance, theactualcurrent in thecoil maybesmallerthanthedynamic
currentsetting,particularlyunderhigh speedcondition.
Standstill CurrentSetting
SW4isusedfor thispurpose.OFF meaning thatthestandstillcurrent issettobehalf oftheselected
dynamiccurrent,andON meaningthatstandstillcurrentissettobethesame astheselecteddynamic
current.
Thecurrentautomaticallyreducedto 60% oftheselecteddynamiccurrent 1second afterthelast
pulse.Theoretically,thiswillreduce motorheating to36%(duetoP=I2*R) oftheoriginalvalue.If
theapplication needsadifferentstandstillcurrent,please contactLeadshine.
8. Wiring Notes
lIn orderto improveanti-interference performance of thedriver,it isrecommendedto use
twistedpairshield cable.
lToprevent noiseincurredin PUL/DIR signal,pulse/directionsignalwiresandmotor wires
should not betiedup together.It isbetterto separatethembyatleast10 cm,otherwisethe
disturbing signalsgeneratedbymotor will easilydisturb pulsedirection signals,causing motor
position error,systeminstabilityand otherfailures.
lIf apowersupplyservesseveraldrivers,separatelyconnecting thedriversisrecommended
insteadof daisy-chaining.
lIt isprohibitedtopull and plugconnector P2whilethedriverispoweredON,becausethereis
high currentflowing throughmotor coils(evenwhenmotor isat standstill).Pulling or plugging
connector P2with poweron willcauseextremelyhigh back-EMF voltagesurge,whichmay
damage the driver.
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9. TypicalConnection
Acompletestepping systemshould includestepping motor,stepping driver,powersupplyand
controller(pulse generator).Atypicalconnectionisshown asfigure 10.
Figure10:Typical connection
10.Sequence Chart of Control Signals
In ordertoavoidsomefaultoperationsanddeviations,PUL,DIR andENAsignalsmustabideby
somerules,asshown in thefollowing diagram(assuming J1default setting isupward-rising edge
effective):
Figure11:Sequence chart of control signals
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Remark:
(1) t1:ENAmustbeaheadofDIRbyatleast5μs. Usually,ENA+and ENA- areNC (not
connected). See “Connector P1Configurations”for more information.
(2) t2:DIR mustbeaheadof PULeffectiveedgebyatleast5μs to ensure correctdirection;
(3) t3:Pulse width not less than1.5μs;
(4) t4:lowlevelwidth notless than1.5μs.
11. Protection Functions
Toimprove reliability,the driverincorporatessome built-in protectionsfeatures.
Over-voltageProtection
Whenpowersupplyvoltageexceeds+52VDC,protectionwillbeactivatedandpowerindicatorLED
will turn red.
Coil-ground Short CircuitProtection
Protectionwillbe activatedincase of shortcircuitbetweenmotor coilandground.
Attention:Since thereisno protection againstpowerleads(﹢, ﹣)reversal,it iscriticaltomake
surethatpowersupplyleadscorrectlyconnectedto thedriver.Otherwise, thedriverwill bedamaged
instantly.Whenpowersupplyvoltage is lowerthan+20VDC,thedriverwillnot worksproperly.
12. FrequentlyAsked Questions
In theeventthatyourM542 doesn toperateproperly,thefirststepistoidentifywhetherthe
problemiselectricalormechanicalin nature.Thenextstepistoisolatethesystemcomponent that
iscausingtheproblem.Aspart of thisprocess you mayhavetodisconnecttheindividual
componentsthatmake up your systemandverifythattheyoperate independently.It isimportantto
document eachstepin the troubleshooting process.You mayneedthisdocumentation to referback
to atalaterdate,andthese detailswill greatlyassistourTechnical Support staffindeterminingthe
problemshould youneedassistance.
Manyoftheproblemsthataffectmotioncontrol systemscanbetracedto electricalnoise,
controllersoftware errors, ormistakein wiring.
Problem Symptoms and Possible Causes
Symptoms PossibleProblems
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Nopower
Microstepresolutionsettingiswrong
DIPswitchcurrentsetting iswrong
Fault conditionexists
Motorisnotrotating
Thedriverisdisabled
Motorrotatesinthe wrong direction Motorphasesmaybeconnectedinreverse
DIPswitchcurrentsetting iswrong
Thedriverinfault
Something wrongwithmotor coil
Control signal istoo weak
Control signal isinterfered
Wrongmotor connection
Something wrongwithmotor coil
Erraticmotormotion
Current settingistoosmall, losing steps
Current settingistoosmall
Motorisundersizedfor theapplication
Acceleration isset too high
Motorstallsduringacceleration
Powersupplyvoltagetoo low
Inadequateheat sinking/ cooling
Automaticcurrent reductionfunctionnot beingutilized
Excessivemotorand driverheating
Current isset too high
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APPENDIX
TwelveMonth Limited Warranty
LeadshineTechnologyCo., Ltd.warrantsitsproductsagainstdefectsinmaterialsand
workmanship for aperiod of12monthsfromshipment outof factory.Duringthewarrantyperiod,
Leadshine willeither,atitsoption, repairor replace productswhichprovedto be defective.
Exclusions
The abovewarrantydoesnotextend toanyproductdamagedbyreasonsof improperor inadequate
handlingsbycustomer,improperor inadequatecustomerwirings,unauthorizedmodificationor
misuse, oroperationbeyondtheelectricalspecificationsoftheproductand/oroperationbeyond
environmentalspecificationsforthe product.
ObtainingWarrantyService
Toobtainwarrantyservice,areturnedmaterialauthorization number(RMA) mustbeobtained
fromcustomerserviceate-mail: [e-mail] beforereturningproductforservice.
Customershall prepayshippingchargesfor productsreturnedtoLeadshinefor warrantyservice,
and Leadshine shallpayfor returnof productstocustomer.
WarrantyLimitations
Leadshinemakes no otherwarranty,eitherexpressedor implied,withrespectto theproduct.
Leadshinespecificallydisclaimstheimpliedwarrantiesofmerchantabilityand fitness fora
particularpurpose. Somejurisdictionsdo notallow limitationsonhow long andimpliedwarranty
lasts, sothe abovelimitationor exclusionmaynot applytoyou.However,anyimpliedwarrantyof
merchantabilityor fitness islimitedtothe 12-month duration ofthiswrittenwarranty.
ShippingFailed Product
If yourproductfail during thewarrantyperiod,e-mail customerserviceat [e-mail] to
obtain areturnedmaterialauthorization number(RMA) beforereturning productforservice.
Please includeawrittendescription oftheproblemalongwithcontactname andaddress. Send
failedproducttodistributor in yourareaor:LeadshineTechnologyCo., Ltd.Floor 3,Block2,
Nanyou TiananIndustryPark,NanshanDist,Shenzhen,China. Alsoencloseinformationregarding
thecircumstances prior toproductfailure.
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