Parker XLT50-D User manual

XLT50-D/XLT50-S 3-AXIS STEPPER DRIVE 1
1600.322.01 April 2003
XLT50-D/XLT50-S 3-Axis Stepper Drive
General Description
Based upon the XL50 single axis drive, the XLT50-D/-S offers a cost-effective 3-axis drive
solution in a single open-frame package. The XLT50-D/-S offers the following benefits:
• Reliable design based upon the XL50
• Cost-effective solution for 3-axis application
• Available with differential (-D) or single-ended (-S) inputs
Physical Appearance
The drive is contained within an open-frame aluminium case as shown in Figure A-1.
Mounting holes allow it to be attached to a panel using two 4mm screws.
Figure A-1. XTL50 Drive

XLT50-D/XLT50-S 3-AXIS STEPPER DRIVE
2
Dimensions
The overall dimensions of the drive are 141mm deep, 40mm wide (including P-clips) and
172mm high. The distance between centre fixings is 185mm and the overall height of the
flange mount is 195mm.
Mounting Information
Mount the drive vertically. Both the top 4.5mm diameter fixing hole and the bottom 4.5mm
width fixing slot should be used.
Mount the supply with a minimum free space of 50mm both below and above its case. Allow
a side clearance of 10mm free space on both sides.
Note, do not mount the supply above or close to other products which generate a significant
amount of heat by radiation or convection.

XLT50-D/XLT50-S 3-AXIS STEPPER DRIVE 3
Drive Layout & Connector Positions
Figure A2 shows the location of connectors X1, X4/5 and the bit switch, together with the
solder bridge contacts and LED.
X1
X4/5
Pin 1
Pin 16
Surface mount
bi-coloured LED
123456123456
78
ON
Figure A-2. XLT Drive Board Layout
Note: [1] Connector X4/5 is formed from two 8-way connectors treated as a single 16-way
connector.
[2] The solder bridge pads, numbered 1 to 6, next to the bit-switch can be used to alter the
step/direction, step-up/step-down and the standby settings of each axis. See the Control
section.

XLT50-D/XLT50-S 3-AXIS STEPPER DRIVE
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Power and Motor Connections
Make all DC input connections to the upper part of X4/5, the lower screw connections are
used for motor outputs, detailed in Table A-1.
Pin Noof X4/X5 Function
1 HV (24-85V)
2 0V (return for HV)
3Earth
4 Motor 1A+
5 Motor 1A-
6 Motor 1B+
7 Motor 1B-
8 Motor 2A+
9 Motor 2A-
10 Motor 2B+
11 Motor 2B-
12 Motor 3A+
13 Motor 3A-
14 Motor 3B+
15 Motor 3B-
16 Earth
Table A-1. X4/X5 Connector Pin Out

XLT50-D/XLT50-S 3-AXIS STEPPER DRIVE 5
Motor Connections (at the motor)
Make motor connections directly between the drive and motor, do not use any switching
devices, such as a contactor, in the motor supply cables.
The majority of applications use an eight-lead motor with the windings connected in parallel
or series, as shown in Figure A-3. Motor connections will need to be determined from the
data sheet of the motor. Wire colour or terminal markings identify the connections,
depending upon the make of the motor.
MOTOR CONNECTOR
PARALLEL
CONNECTIONS
SERIES
CONNECTIONS
Motor 1A+
Motor 1A-
Gnd
X4/5
Motor 1B+
Motor 1B-
++
+
+
--
-
-MOTOR
Motor case
++
+
+
--
-
-MOTOR
SAFETY
EARTH
SAFETY
EARTH
MOTOR CONNECTOR
Motor 1A+
Motor 1A-
Gnd
X4/5
Motor 1B+
Motor 1B-
Motor case
Figure A-3. 8 Lead Motor Connection Options

XLT50-D/XLT50-S 3-AXIS STEPPER DRIVE
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Control XLT50 Drive
Input Configuration
The XLT50 drive is available in two versions:
•XLT50-D Differential step/direction inputs
•XLT50-S Single-ended step/direction inputs
The use of differential inputs gives the option of good electrical noise immunity and finds
greatest use where control signals have to be routed long distances in electrically noisy
environments. The single-ended version does not have the same noise immunity, but offers
the choice of a simple control interface.
Table A-2 lists the signal functionality for a differential input drive.
Pin Function (differential input) Pin Function (differential input)
1 Step 1+ 14 Step 1-
2 Direction 1- 15 Direction 1+
3 Step 2+ 16 Step 2-
4 Direction 2- 17 Direction 2+
5 Step 3+ 18 Step 3-
6 Direction 3- 19 Direction 3+
7 Shutdown (bar) 1 20 Shutdown (bar) 2
8 Shutdown (bar) 3 21 0V
9 Fault 1 22 Zero phase (bar) 1
10 Fault 2 23 Zero phase (bar) 2
11 Fault 3 24 Zero phase (bar) 3
12 Composite fault 25 0V
13 Reserved
Table A-2. X1 Connector Differential Inputs Function
Differential Input Circuit Configuration
Figure A-4 shows the differential input circuit for the Step and Direction signals.
220R 2631
DIR+
STEP+
DIR-
STEP-
Drive
Figure A-4. Differential Input Circuit Configuration

XLT50-D/XLT50-S 3-AXIS STEPPER DRIVE 7
Table A-3 lists the signal functionality for a single-ended input drive.
Pin Function (differential input) Pin Function (differential input)
1 NC 14 Step 1-
2 Direction 1- 15 NC
3 NC 16 Step 2-
4 Direction 2- 17 NC
5 NC 18 Step 3-
6 Direction 3- 19 NC
7 Shutdown (bar) 1 20 Shutdown (bar) 2
8 Shutdown (bar) 3 21 0V
9 Fault 1 22 Zero phase (bar) 1
10 Fault 2 23 Zero phase (bar) 2
11 Fault 3 24 Zero phase (bar) 3
12 Composite fault 25 0V
13 Reserved
Note: NC means No Connection
Table A-3. X1 Connector Single-ended Inputs Function
Single-ended Input Circuit Configuration
Figure A-5 shows the single-ended input circuit for the Step and Direction signals.
440R
+5V
2631
DIR-
STEP-
Drive
Figure A-5. Single-ended Input Circuit Configuration
Figure A-6 shows the input circuit of a Shutdown(bar) signal. This signal, when active (logic
pull-down low) will shutdown the selected axis number.

XLT50-D/XLT50-S 3-AXIS STEPPER DRIVE
8
0V
+5V
5K6
82K
10nF
Drive
Shutdown
Figure A-6. Shutdown Input Circuit Configuration
The Shutdown input circuit forms a filter that introduces an approximate 1mS delay, which
reduces the chances of false triggering of the Shutdown input.
Fault Ouputs
The individual Fault 1, 2 & 3 outputs indicate an over-current fault has occurred on a
particular axis (1, 2 or 3). The Fault output can be reset by toggling (turning OFF and ON)
the axis Shutdown input. If a supply rail fault occurs, all three axes Fault outputs will signal a
fault. In this situation you may either reset each individual axis or cycle the power to the
drive to clear the fault indication.
Composite Fault Output
This output is used to alert a controller that a fault has occurred on one or more axes of the
drive.
Zero Phase Outputs
The individual Zero Phase outputs 1, 2 & 3 indicate the zero phase condition for each
individual axis, that occurs once every electrical cycle or 50 times per mechanical revolution
of the motor.
LED Indicators Function
The bi-coloured LED indicates the state of the drive, as shown in Table A-4.
Colour Function
Green Supplies OK (HV and internal
supplies). The LED is non-latched
Green & Red
(Orange) Supplies OK & Fault (over-current or
possibly latched supply fault after HV
over-voltage)
Red Fault (supply fault)
Table A-4. LED Indicator Function

XLT50-D/XLT50-S 3-AXIS STEPPER DRIVE 9
Bit Switch Settings
The bit switch mounted behind connector X1 controls the resolution of the drive in steps/rev.
The switch also controls the current level settings of the individual axes as a percentage of
the full output current obtainable. Resolution is set using bit switches 1 and 2, as indicated
in Table A-5.
Bit-switch settings only take effect following a power cycle or by de-energising and re-
energising the drive.
Bit Switch 1 Bit Switch 2 Overall Resolution
in steps/rev
OFF OFF 4000
OFF ON 2000
ON OFF 800
ON ON 400
Table A-5. Resolution Settings Using Switches 1 and 2
The current level of individual axes is set using switches 3 to 8 as shown in Table A-6.
Bit Switch 3 Bit Switch 4 Axis 1 Current Level
in % of full rating
ON ON 100%
ON OFF 80%
OFF ON 64%
OFF OFF 50%
Bit Switch 5 Bit Switch 6 Axis 2 Current Level
in % of full rating
ON ON 100%
ON OFF 80%
OFF ON 64%
OFF OFF 50%
Bit Switch 7 Bit Switch 8 Axis 3 Current Level
in % of full rating
ON ON 100%
ON OFF 80%
OFF ON 64%
OFF OFF 50%
Table A-6. Current Settings Using Switches 3 to 8

XLT50-D/XLT50-S 3-AXIS STEPPER DRIVE
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Solder Bridge Pads
Next to the bit-switch are six solder bridge pads numbered 1 to 6. By bridging the pad with
solder the functionality of each axis can be adjusted, as follows:
CAUTION – Risk of equipment damage
You must observe electrostatic precautions before attempting to make any changes to
the drive.
Solder
Pad
Number
Function Description
1 Standby 50% (un-bridged pad
default)
70% (bridged pad)
Standby select for axis 1
Note 1
2 Standby 50% (un-bridged pad
default)
70% (bridged pad)
Standby select for axis 2
Note 1
3 Standby 50% (un-bridged pad
default)
70% (bridged pad)
Standby select for axis 3
Note 1
4 Step/dir. (un-bridged pad default)
Step+/Step- (bridged pad) Allows conventional step, direction control or step-up/step-down control
for axis 1 –Note 2
5 Step/dir. (un-bridged pad default)
Step+/Step- (bridged pad) Allows conventional step, direction control or step-up/step-down control
for axis 2 –Note 2
6 Step/dir. (un-bridged pad default)
Step+/Step- (bridged pad) Allows conventional step, direction control or step-up/step-down control
for axis 3 –Note 2
Table A-7. Use of Solder Bridge Pads
Note: [1] The standby current selected via pads 1, 2 & 3 is 50% or 70% of the bit-switch
(switches 3 to 8) selected current, not the maximum output current of the drive.
[2] Step-up/step-down control uses two independent step pulse trains, one for each direction
of rotation. Connect the step-down signal to the normal step input and the step-up signal to
the direction input.

XLT50-D/XLT50-S 3-AXIS STEPPER DRIVE 11
Functional Specification
Parameter Value
Amplifier type MOSFET chopper
Motor resolution 400, 800, 2000, 4000 steps/rev
Maximum stepping rate 200kHz at 4000 steps/rev
Nominal chopping frequency 20kHz (XLT50)
Protection circuits Short circuit (phase-to-phase, across phases
and phase to ground), motor overcurrent,
over/under voltage, logic supply fault
Maximum output current XLT50: 5A peak +/-10%
Output current adjustment 50%, 64%, 80% & 100% of maximum
current, switch selectable
Standby current reduction 50% or 70% selected by solder bridge
Standby reduction time 30mS from last step pulse
Nominal motor bus voltage 80V DC
Supply voltage, DC operation XLT50: 40 to 84V absolute limits
Motor inductance range (recommended) 0.8 - 10mH
Step and Direction input levels Differential TTL
Minimum ON state current 6.3mA
Maximum current 15mA
Differential ON state voltage 3.5V min.
Differential maximum voltage 5V
Maximum –ve input voltage 0.5V (for
XLT50-S)
Fault & Zero phase outputs Open collector outputs
Maximum current 15mA max.
On state voltage 0.8V max.
Maximum open collector voltage 30V max.
Table A-7. Functional Specification

XLT50-D/XLT50-S 3-AXIS STEPPER DRIVE
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Drive Environment Specification
Parameters All drive types
Environment Pollution degree 2, Installation category II
Operating temperature range 0 to 50°C ambient
Storage temperature range -20 to 70°C
Humidity 5 to 95% non-condensing
Cooling Natural convection
Housing Aluminium
Protection class IP00
Weight of drive XLT50 0.35kg
Table A-8. Environment Specification