Leadshine Technology ME742 User manual

User sManual
For
ME742
Economical Microstepping Driver
Version 1.0
2006 All RightsReserved
Attention: Please read thismanualcarefullybefore using the driver!
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Contents
I
TableofContents
1. Introduction, Featuresand Applications································································· 1
Introduction ······································································································ 1
Features ············································································································ 1
Applications······································································································ 1
2. Specificationsand Operating Environment ···························································· 1
ElectricalSpecifications ···················································································· 1
Operating Environmentand otherSpecifications ··············································· 2
MechanicalSpecifications················································································· 2
3. PinAssignmentand Description············································································ 3
ConnectorP1Configurations············································································· 3
ConnectorP2Configurations············································································· 4
4. ControlSignalConnector(P1)Interface································································ 4
5. Connecting the Motor ··························································································· 5
Connectionsto 4-lead Motors············································································ 5
Connectionsto 6-lead Motors············································································ 5
Half Coil Configurations············································································ 5
Full Coil Configurations ············································································ 5
Connectionsto 8-lead Motors············································································ 6
SeriesConnections···························································································· 6
ParallelConnections·························································································· 6
6. PowerSupplySelection ························································································ 7
Regulated orUnregulated PowerSupply ··························································· 7
Multiple Drivers································································································ 7
Selecting SupplyVoltage··················································································· 7
7. Selecting Microstep Resolution and DriverOutputCurrent···································· 8
Microstep Resolution Selection ········································································· 8
CurrentSettings ································································································ 8
Dynamic CurrentSetting ··········································································· 9
Standstill CurrentSetting··········································································· 9
8. Wiring Notes········································································································· 9
Contents
II
9. TypicalConnection ····························································································· 10
10. SequenceChart ofControlSignals····························································· 10
11. Protection Functions·························································································· 11
Over-voltage Protection··················································································· 11
Coil-ground Short Circuit Protection ······························································· 11
12. FrequentlyAsked Questions·············································································· 11
ProblemSymptomsand Possible Causes ························································· 12
APPENDIX ············································································································ 13
Twelve Month Limited Warranty····································································· 13
Exclusions ······································································································ 13
Obtaining WarrantyService············································································· 13
WarrantyLimitations······················································································· 13
Shipping Failed Product ·················································································· 13
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ME742EconomicalMicrosteppingDriverManualV1.0
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1. Introduction, Features and Applications
Introduction
TheME742 isaneconomicalmicrosteppingdriverbasedonpatentedtechnologyofLeadshine.It
issuitablefordriving2-phase and4-phase hybridsteppingmotors.Byusingtheadvancedbipolar
constant-currentchoppingtechnique,it canoutputmorespeedand torquefromthesamemotor,
comparedwithtraditionaldrivers,suchas L/R drivers.Its3-statecurrentcontroltechnology
allowscoil currentstobewell controlledandwithrelativelysmall currentripple,thereforeless
motorheatingisachieved.
Features
lLowcostand good high-speedtorque
lSupplyvoltageup to+70VDC
lOutputcurrentupto4.2A
lOpticallyisolatedinputsignals
lPulse frequencyup to200KHz
lAutomaticidle-currentreduction
l3-statecurrentcontroltechnology
l15 selectableresolutions
lSuitablefor2-phase and 4-phase motors
lDIPswitchcurrentsettingwith8different
values
lCW/CCWmodeavailable(optional)
lOver-voltageand short-circuitprotection
lSmall size (118*75.5*33mm)
Applications
SuitableforawiderangeofsteppingmotorsfromNEMAsize 16 to34.It canbeusedinvarious
kindsofmachines,suchas X-Ytables,labelingmachines,lasercutters,engravingmachines,
pick-place devices,and soon.Particularlyadapttotheapplicationsdesiredwithlowvibration,high
speedand highprecision.
2. Specifications andOperating Environment
ElectricalSpecifications (Tj =25 )
ME742
Parameters Min Typical Max Unit
Outputcurrent 1.0 - 4.2(3.0ARMS) A
Supplyvoltage 20 48 70 VDC
Logicsignalcurrent 7 10 16 mA
Pulse inputfrequency 0 - 200 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
OperatingEnvironment
Vibration 5.9m/s2 Max
StorageTemperature -20 －65
Weight Approx. 280gram(9.9oz)
MechanicalSpecifications (unit:mm, 1 inch =25.4 mm)
Figure 1:Mechanicalspecifications
*Recommended touseside mountingforbetterheatdissipation
Elimination ofHeat
lDriver sreliableworkingtemperatureshouldbe<65,andmotorworkingtemperatureshould
be<80;
lRecommend use automaticidle-currentreductionmode,namelycurrentautomaticallybe
reducedto60%whenmotorstops, soas toreduce driverheatingandmotorheating;
lRecommend use sidemountingtomaximize heatsinkarea.
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ME742EconomicalMicrosteppingDriverManualV1.0
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3. PinAssignmentand Description
TheME742has twoconnectors,connectorP1forcontrolsignalsconnections,andconnectorP2for
powerand motorconnections.Thefollowingtables arebriefdescriptionsofthetwoconnectorsofthe
ME742.Moredetaileddescriptionsofthepinsandrelatedissues arepresentedinsection4,5,9.
ConnectorP1Configurations
PinFunction Details
PUL+(+5V)
PUL-(PUL)
Pulse signal: Insinglepulse (pulse/direction)mode,thisinputrepresentspulse
signal,activeateachrisingorfallingedge(setbyinsidejumperJ1); 4-5V
whenPUL-HIGH,0-0.5VwhenPUL-LOW.Indoublepulse mode
(pulse/pulse),thisinputrepresentsclockwise(CW)pulse，activeathighlevel
orlowlevel(setbyinsidejumperJ1).Forreliableresponse,pulse width
shouldbelongerthan2.5μs.Series connectresistorsforcurrent-limitingwhen
+12Vor+24Vused.
DIR+(+5V)
DIR-(DIR)
DIR signal: Insingle-pulse mode,thissignalhas low/highvoltagelevels,
representingtwodirectionsofmotorrotation;indouble-pulse mode(setby
insidejumperJ2),thissignaliscounter-clock(CCW)pulse，activeathigh
levelorlowlevel(setbyinsidejumperJ1).Forreliablemotionresponse,DIR
signalshouldbeaheadofPULsignalby5μsatleast.4-5VwhenDIR-HIGH,
0-0.5VwhenDIR-LOW.
ENA+(+5V)
ENA-(ENA)
Enablesignal: Thissignalisusedforenabling/disablingthedriver.Highlevel
(NPNcontrolsignal,PNPandDifferentialcontrolsignalsareon thecontrary,
namelyLowlevelforenabling.)forenablingthedriverand lowlevelfor
disablingthedriver. Usuallyleft UNCONNECTED(ENABLED).
SelectingActiveEdgeorActiveLevelandControlSignalMode
TherearetwojumpersJ1and J2insidetheME742specificallyforselectingactiveedgeoractive
leveland controlsignalmode,as showninfigure2.Default settingisPUL/DIR modeand
upward-risingedgeactive.
(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)
Figure 2:J1andJ2jumpers
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ConnectorP2Configurations
PinFunction Details
Gnd DC powerground
+V DC powersupply,20~70VDC,Includingvoltagefluctuation and EMF
voltage.
A+,A- MotorPhase A
B+,B- MotorPhase B
4. ControlSignalConnector(P1)Interface
TheME742canacceptdifferentialandsingle-endedinputs(includingopen-collectorandPNP
output).TheME742has 3opticallyisolatedlogicinputswhicharelocatedonconnectorP1toaccept
linedrivercontrolsignals. These inputsareisolatedtominimize oreliminateelectricalnoises coupled
ontothedrivecontrolsignals.Recommend uselinedrivercontrolsignalstoincrease noise immunity
ofthedriverininterference environments.Inthefollowingfigures,connectionstoopen-collectorand
PNPsignalsareillustrated.
Figure 3:Connectionstoopen-collectorsignal(common-anode)
Figure 4:ConnectiontoPNPsignal(common-cathode)
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5. Connecting theMotor
TheME742drivercandriveany2-pahse and4-pahse hybridsteppingmotors.
Connectionsto4-lead Motors
4leadmotorsaretheleastflexiblebuteasiesttowire.Speedandtorquewill dependonwinding
inductance.Insettingthedriveroutputcurrent,multiplythespecifiedphase currentby1.4to
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
ME742EconomicalMicrosteppingDriverManualV1.0
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motorsshouldberunatonly70%oftheir ratedcurrenttopreventoverheating.
Figure 7:6-leadmotorfull coil(higher torque) connections
Connectionsto8-lead Motors
8leadmotorsofferahighdegree offlexibilitytothesystemdesignerinthattheymaybeconnected
inseries orparallel, thussatisfyingawiderangeofapplications.
SeriesConnections
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
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6. PowerSupply Selection
TheME742 canmatchmediumandsmall size steppingmotors(fromNEMAsize 16 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.
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 damagetheME742.
Selecting SupplyVoltage
ThepowerMOSFETSinsidetheME742 canactuallyoperatewithin+20V－+70VDC,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+24～+36V,leavingroomforpowerfluctuation and
back-EMF.
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7. Selecting MicrostepResolutionand DriverOutputCurrent
Thisdriveruses an8-bitDIPswitchtosetmicrostepresolution,andmotoroperatingcurrent,as
shownbelow:
Microstep Resolution Selection
Microstepresolution issetbySW5, 6, 7, 8oftheDIPswitch as showninthefollowingtable:
Microstep Steps/rev.(for1.8°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
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
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closesttoyourmotor srequiredcurrent.
DynamicCurrentSetting
Peakcurrent(A) RMS (A) SW1 SW2 SW3
1.00A 0.71A ON ON ON
1.46A 1.04A OFF ON ON
1.91A 1.36A ON OFF ON
2.37A 1.69A OFF OFF ON
2.84A 2.03A ON ON OFF
3.31A 2.36A OFF ON OFF
3.76A 2.69A ON OFF OFF
4.20A 3.00A OFF OFF OFF
Notes: Duetomotorinductance,theactualcurrentinthecoilmaybesmallerthanthedynamic
currentsetting,particularlyunderhighspeedcondition.
Standstill CurrentSetting
SW4isusedforthispurpose.OFFmeaningthatthestandstillcurrentissettobehalfoftheselected
dynamiccurrent,and ON meaningthatstandstill currentissettobethesameas theselecteddynamic
current.
Thecurrentautomaticallyreducedto60%oftheselecteddynamiccurrent0.4second afterthelast
pulse.Theoretically,thiswill reduce motorheatingto36%(duetoP=I2*R) oftheoriginalvalue.If
theapplicationneedsadifferentstandstillcurrent,please contactLeadshine.
8. Wiring Notes
lInordertoimproveanti-interference performance ofthedriver,itisrecommendedtouse
twistedpair shieldcable.
lTopreventnoise incurredinPUL/DIR signal,pulse/direction signalwires and 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.
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9. TypicalConnection
Acompletesteppingsystemshouldincludesteppingmotor,steppingdriver,powersupplyand
controller(pulse generator).Atypicalconnectionisshownas figure10.
Figure 10:Typicalconnection
10. Sequence ChartofControlSignals
Inordertoavoidsomefault operationsand deviations,PUL,DIR and ENAsignalsmustabideby
somerules,as showninthefollowingdiagram(assumingJ1default settingisupward-risingedge
effective):
Figure 11:Sequencechartofcontrol signals
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Remark:
(1) t1:ENAmustbeaheadofDIR byatleast5μs.Usually,ENA+and ENA-areNC (not
connected).See “ConnectorP1Configurations”formoreinformation.
(2) t2:DIRmustbeaheadofPULactivefallingedgebyatleast5μstoensurecorrect
direction;
(3) t3:Pulse widthnotless than2.5μs;
(4) t4:lowlevelwidthnotless than2.5μs.
11. ProtectionFunctions
Toimprovereliability, thedriverincorporates somebuilt-inprotectionsfeatures.
Over-voltage Protection
Whenpowersupplyvoltageexceeds+80VDC,protection will beactivatedand powerindicatorLED
will turnred. Whenpowersupplyvoltageislowerthan+20VDC,thedriverwill notworksproperly.
Coil-ground ShortCircuit Protection
Protectionwill beactivatedincaseofshort circuitbetweenmotorcoil andground.
Attention:Since thereisnoprotectionagainstpowerleads(﹢, ﹣)reversal,itiscriticaltomake
surethatpowersupplyleadscorrectlyconnectedtothedriver.Otherwise,thedriverwill bedamaged
instantly.
12. FrequentlyAskedQuestions
IntheeventthatyourME742 doesn toperateproperly,thefirststepistoidentifywhetherthe
problemiselectricalormechanicalinnature.Thenextstepistoisolatethesystemcomponentthat
iscausingtheproblem.Aspartofthisprocess you mayhavetodisconnecttheindividual
componentsthatmakeup yoursystemand verifythattheyoperateindependently. It isimportantto
documenteachstepinthetroubleshootingprocess. You mayneedthisdocumentation toreferback
toatalaterdate,andthese detailswill greatlyassistourTechnicalSupportstaffindeterminingthe
problemshouldyou needassistance.
Manyoftheproblemsthataffectmotion controlsystemscanbetracedtoelectricalnoise,
controllersoftwareerrors, ormistakeinwiring.
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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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ME742EconomicalMicrosteppingDriverManualV1.0
Tel: [phone]WebSite: www.leadshine.com
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:LeadshineTechnology Co.,Ltd.3/F,Block2,Nanyou
TiananIndustrialPark,NanshanDist,Shenzhen,China. Alsoenclose information regardingthe
circumstances priortoproductfailure.
Authorized Distributor of Leadshine Technology www.leadtronker.com
www.leadtronker.com雷赛智能官方代理：雷创智能科技