Superior Electric SLO-SYN Micro Series User manual

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1
Instructions
for
SLO-SYN®MICRO SERIES
Translator Oscillator Modules
Types 230-TOH and 430-TOH
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2
EXPRESS START-UP PROCEDURE
STEPS NECESSARY TO BECOME OPERATIONAL
This section outlines the minimum steps necessary for the unit to become operational. FAILURE TO PERFORM THESE STEPS MAY
RESULT IN DAMAGE TO THE DRIVE.
I. POWERSUPPLIES
Be absolutely certain that the power supplied to the Translator/Oscillator meets the following specifications:
Supply Nominal VoltageRange Current ConnectorJ2
Type Voltage (WorstCase) (Amperes) Pin Number
Logic +5 Vdc +4.75 to +5.25 Vdc
(without SSP-500) 0.6* 2
+5.00 to +5.25
(with SSP-500) 0.9* 2
Digital +15 Vdc +12 to +16 Vdc 0.030 1
Logic
Common — — — 3
Motor (Vm) +28 Vdc +26 to +32 Vdc 2.5 (230 drive) 4
4.0 (430 drive) 4
Motor Supply
Common — — — 5
* Current Level is Logic board (Translator/Oscillator, Indexer) dependent.
The Power Supply peak ripple voltages must not go higher than 32 volts or lower than 26 volts.
POWER CONNECTOR (mates with J2 on printed circuit board)
Superior Electric part number B209270-003
AMP part number 640599-5
MOTOR CONNECTOR (mates with J4 on printed circuit board)
Superior Electric part number B215744-007
Electrovert part number 25.600.0753
NOTE: These parts are supplied in the accessory kit provided with your unit.
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RECOMMENDED POWER SUPPLY CONFIGURATIONS
SINGLEUNITAPPLICATIONS
FIGURE1
II. DRIVE
1. Make sure the motor to be used is compatible with the drive.
Refer to the Section 3.3 for a list of compatible motors.
2. Use the motor connection diagrams shown in section 2.2 for
connection 4-, 6- or 8-lead motors. When using a 6-lead
motor, be sure to insulate and isolate the unused motor leads
to prevent inadvertent shorts to ground or to each other.
3. Install a resistor of appropriate value between the REDUCE
CURRENT- pin and the LOGIC COMMON pin. Refer to the
speed versus torque data in section 4 and the resistor ver-
sus current table in Section 3.7. If you desire to run the
REDUCE CURRENT- manually, refer to the circuit shown in
Figure 3.
4. Caution: The Drive Module case is connected to the Vom
and LOGIC COMMON pins internally. Do not connect your
power supply to ground at any other location.
5. Caution: Erratic operation may occur at speeds less than
350 steps per second due to motor resonance. Avoid this
speed range if a problem exists.
RECOMMENDED POWER SUPPLY CONFIGURATIONS
MULTIPLE UNITS FROM ONE POWER SUPPLY
FIGURE2
TYPICAL REDUCED CURRENT INTERFACE
FIGURE3
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INSTALLATION GUIDELINES FOR REDUCED NOISE INTERFERENCE
I. General Comments
SLO-SYN Micro Series drives use modem solid-state electronics such
as microprocessors to provide the features needed for advanced
motion control applications. In some cases, these applications pro-
duce electromagnetic interference (EMI, or electrical “noise”) that
may cause inappropriate operation of the microprocessor logic used
in the Micro Series product, or in any other computer-type equip-
ment in the user’s system.
This guide is aimed toward helping users avoid such problems at the
start by applying “good engineering practices” when designing their
systems. Following these guidelines will usually prevent EMI noise
from interfering with drive operation.
II. NoiseSources
What causes electrical noise? In general, any equipment that causes
arcs or sparks or that switches voltage or current a high frequencies
can cause interference. In addition, ac utility lines are often “pol-
luted” with electrical noise from sources outside a user’s control (such
as equipment in the factory next door).
The following are some of the more common causes of electrical
interference:
•power from the utility ac line
•relays, contactors and solenoids
•light dimmers
•arc welders
•motors and motor starters
•induction heaters
•radio controls or transmitters
•switch-mode power supplies
•computer-based equipment
•high frequency lighting equipment
•dc servo and stepper motors and drives
III. MountingLocation
When selecting a mounting location, it is preferable to keep the drive
away from obvious noise sources, such as those listed above. If
possible, locate the drive in its own metal enclosure to shield it and
its wiring from noise sources. If this cannot be done, keep the drive
at least three feet from any noise sources.
IV. Wiring Practices - “Dos and Don’ts”
Do the following when installing or wiring your drive or indexer:
•Do keep the drive and its wiring as far away; from noise sources
as possible
•Do provide a good, solid ground connection to the ac system earth
ground conductor. Bond the drive case to the system enclosure.
•Do use a single-point grounding scheme for all related compo-
nents of a system (this looks like a “hub and spokes” arrange-
ment).
•Do keep the ground connection short and direct.
•Do use a line filter on the ac input (Corcom type 10B1, 10S1 or
10K1 or equivalent) for noisy ac lines. Particularly bad ac lines
may need to be conditioned with a ferroresonant type isolation
transformer to provide “clean” power to the drive or indexer.
•Do keep signal and drive wiring well separated. If the wires must
cross, they should do so at right angles to minimize coupling. Power
wiring includes ac wiring, motor wiring, etc. and signal wiring in-
cludes inputs and outputs (I/O), serial communications (RS232
lines), etc.
•Do use separate conduits or ducts for signal and I/O wiring. Keep
all power wiring out of these signal line conduits.
•Do use shielded, twisted-pair cables for indexer I/O lines.
•Do ground shields only at one end, the indexer/drive end.
•Do use twisted-pair, shielded cable for the motor wiring.
•Do use solid-state relays instead of electromechanical contact
types wherever possible to minimize noise generation.
•Do suppress all relays to prevent noise generation. Typical sup-
pressors are capacitors or MOV’s. See manufacturers literature
for complete information.
•Do use shielded, twisted-pair cable for connection to RS232 se-
rial port.
Do Not do the following when installing your drive or indexer:
•Do not install sensitive computer-based equipment (such as an
indexer/drive) near a source of electromagnetic noise.
•Do not bundle power and signal lines together.
•Do not bundle motor cables and signal lines together.
•Do not fail to use shielded, twisted-pair cables for signals.
•Do not fail to properly connect the system grounds.
•Do not use “daisy-chained” grounds.
•Do not fail to ground signal cable shields at only one end.
•Do not assume that power from the ac line is adequately “clean”.
VTroubleshootingGuide
Electrical interference problems are common with today’s computer-
based controls, and such problems are often difficult to diagnose
and cure. If such a problem occurs with your system, it is recom-
mended that the following checks be made to locate the cause of the
problem.
1. Check the quality of the ac line voltage using an oscilloscope
and a line monitor, such as Superior Electric’s VMS series. If line
voltage problems exist, use appropriate line conditioning, such
as line filters or isolation transformers.
2. Be certain all of the previous Dos and Don’ts are followed for
location, grounding, wiring and relay suppression.
3. Doublecheckthegroundingconnections to besure they aregood
electrical connections and are as short and direct as possible.
4.Try operating the drive with all suspected noise sources switched
off. If the drive functions properly, switch the noise sources on
again, one at a time, and try to isolate which ones are causing
the interference problems. When a noise source is located, try
rerouting wiring, suppressing relays or other measures to elimi-
nate the problem.
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NOTES:
RecommendedCableTypes
1). SuperiorElectriccablepartnumbers:
215851-007 5feet(1.5meters)long
215851-008 10feet(3meters)long
2) SuperiorElectriccablepartnumbers:
215801,216066-001, 216067-001,
216022-001,etc.(seecatalogfordetails)
3). Typicaltypes:
Alpha: 6073,2463,45491,451271
Belden: 8767,9406,88641,88761
Carol: C1350,C1352,C1353
- SEE NOTE 3
SEE NOTE 2
SEE NOTE 1
RecommendedWiringPractices
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All entries in this manual refer to both the 230-TOH and the 430-
TOH modules, unless otherwise specified.
This manual is organized for the convenience of the operator.
Section 2, “Mounting and Pin Assignments,” provides diagrams and
reminders that are necessary, even for the experienced user and
installer.
Complete specifications (Section 3) will provide easily referenced
information concerning all aspects of installation, power and inter-
face requirements, as well as performance specifications.
The “Functional Description” (Section 4) provides operational in-
formation in narrative form. This presentation is useful in design,
diagnostic, and troubleshooting.
Section 5, “Pin Descriptions,” provides detailed information on
functions of the input connections in advance of using the equip-
ment.
Section 6, “Operating Instructions,” lists the procedures for using
a remote potentiometer, setting base speed and high speed and the
acceleration and deceleration potentiometers.
The following sections contain additional drawings and informa-
tion useful for setting up and operating the oscillator modules.
1.3.2 LOGIC and VOLTAGE CONVENTIONS
Throughout this manual, the following conventions are followed:
•The designation “Vo” signifies the logic signal common terminal.
“Vom” signifies the motor supply voltage common terminal. Vom is
internally connected to the drive module’s aluminum case.
•All logic functions are low true logic. A logic low or logic 0 will
activate a function and a logic high, or a logic 1 will deactivate a
function. Thus,
IN THIS MANUAL THE TERMS ACTIVE OR ACTIVATE WILL
IMPLY A LOGIC LOW CONDITION AND THE TERMS INACTIVE
OR DEACTIVATE WILL IMPLY A LOGIC HIGH CONDITION.
•In cases where the function changes with a change in logic state,
WARNINGS
•Voltage is present on unprotected pins when unit is opera-
tional.
•Noshort circuit protection isprovidedin this unit.
LIMITSOF USE
•Superior Electric disclaims any liability for operating this unit with-
out the correct filter capacitor.
•Assure motor compatibility before using the unit.
•Case temperature must be maintained between 0 and 75 degrees
C. (32 and 167 degrees F).
•Reconfiguration of the circuit in any fashion not shown in this
manual will void the warranty.
SECTION1:INTRODUCTION
1.1 FEATURES OVERVIEW
The 230-TOH and 430-TOH are differentiated as follows:
MOTOR CURRENT VA
PER PHASE PER PHASE
230-TOH 2 Amps peak 56 VA nominal
430-TOH 3.5 Amps peak 96 VA nominal
The 230-TOH and the 430-TOH are low-cost pulse generators that
are integrally packaged with a motor drive unit and a heat sink. These
translators are low to medium power, high efficiency units that can
control a wide range of Superior Electric SLO-SYN two-phase step-
ping motors with 4, 6 or 8 leads. These modules provide full-and
half-step operation.
The translator modules are designed as small, easily mounted
packages and allow for the external control of basic motor functions
as well as the manual adjustment of motor speed, acceleration and
deceleration.
1.2 INSPECTION PARTS LIST
The drive module, oscillator, and heat sink come fully assembled as
a single unit and are marked with the part number, either 230-TOH
or 430-TOH.
The terminal strip that is used to connect the motor leads to the
Oscillator/Driver unit is packaged separately, and is identified as
Superior Electric part # B215744-007.
1.3 USING THIS MANUAL
This manual is an installation and operating guide to the 230-TOH
and 430-TOH modules. All the information provided is necessary for
using these modules successfully.
We strongly recommend that this manual be read thoroughly
and completely before attempting to install and operate the
equipment.
1.3.1 Organization
•All Windings Off should be used with caution, as all holding torque
is lost.
NOTES:
1. Clockwise and counterclockwise directions are properly ori-
ented when viewing the motor from the lableend.
2. Motorconnector,J4,consistsof7pinsarrangedsymetrically
around the center pin. If the connector is inadvertantly ro-
tated180degrees,motordirection(CW,CCW)willbereversed.
Motordirectioncanalsobereversedbyswapingthetwomotor
connections of the same phase (for example, by swapping
M1 and M3).
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the low true (active) will be indicated with a bar. For example, in the
case of CW/CCW, CW is active with no connection.
•All logic control pins are optically isolated internally. When a pin
is left open, it is clamped in a logic high (inactivated) state.
•The motor drive changes state and advances the motor one step
(or on-half step in the half-step mode) on a positive going (low to
high) pulse edge.
•Clockwise (CW) and counterclockwise (CCW) are oriented cor-
rectly when viewing the motor from the label end.
SECTION2:MOUNTINGANDPINASSIGNMENTS
2.1 MOUNTING
The 230-TOH and 430-TOH modules are mounted by affixing the
heat sink to a flat surface. Figure 2.1 shows the mounting hole loca-
tions and diameters. It is recommended that 6-32 or 8-32 screws be
used for mounting.
The major mounting consideration is that the aluminum case
temperature be maintained below 167°F (75°C).
The heat sink should always be mounted with the fins ori-
ented vertically, or proper cooling will not occur.
If the heat sink is separated from the motor drive module for
mounting on opposite sides of a bulkhead, silicone heat sink com-
pound (such as Dow-Corning 340) should always be used during
reassembly. A very thin coating is sufficient; too much is worse than
none at all. Aluminum is the preferred bulkhead material if this
reconfiguration is done.
2.2 MOTOR CONNECTIONS
All motor connections are made via 7 pins on the oscillator board.
The terminal strip supplied by Superior Electric (Part # B215744-
007) is the recommended mounting method. Figure 2.2 shows the
location and function of the motor drive pins.
Figure 2.2
MotorandI/OSignalPinConnections
It is suggested that a Superior Electric motor cable be used. They
are available as follows:
WITH MATING TERMINAL
FORSUPERIOR ELECTRIC
NO TERMINALS CONNECTOR MOTORS
LENGTH PART NUMBER PART NUMBER
10 ft (3m) B216022-001 B216067-001
20 ft (7.6m) B216022-002 B216067-002
50 ft (15.2m) B216022-003 B216067-003
PLEASE NOTE: The motor drive pins are arranged symmetri-
cally about the center Vm pin. When connecting the motor, if
themotorconnectoris inadvertently rotated 180 degrees, then
the CW and CCW directions will be reversed. See Figure 2.2
Figure 2.1: Mounting Diagram
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The 230-TOH and 430-TOH can be used with 4-lead, 6-lead and 8-
lead SLO-SYN motors. Figure 2.2 shows the correct connections for
each possible motor configuration.
MOTOR CONNECTIONS, FIGURE 2.3
SECTION3:SPECIFICATIONS
3.1 PRODUCT DESCRIPTION
Bipolar, speed adjustable, 2-phase stepping motor drive with trans-
lator and oscillator
Full and half step only
Power semiconductor type: H-bridge power IC
Translator: Internal IC
Control signals are optically isolated from the motor drive module
(except for Reduce Current)
Power supplies are necessary: (see Section 3.5.1.1)
3.2 PERFORMANCE
Resolution: Half-step or full-step
Step Rate: 0 to 10,000 full-steps/sec.;
0 to 10,000 half-steps/sec.
Oscillator base speed frequency range: 0 Hz to 2500 Hz
(BASE SPEED ONLY connected to SIGNAL COMMON)
Oscillator high speed frequency range 0 HZ to 25k HZ
(HI SPEED POT 1 and 2 connected; Adjustment with user-sup-
plied 500 k ohm HI SPEED POT)
Accel/Decel adjustable range:
50ms to 2 sec.
Oscillator stability: Velocity; Accel/Decel ± 5% over temperature
and power supply range.
Speed/Torque: All specifications uses typical data.
See Section 7 for typical Speed/Torque curves.
Drive power dissipation (worst case)
230-TOH: 25 watts
430-TOH: 40 watts
3.3 MOTOR COMPATIBILITY
230-TOH 430-TOH
Frame Sizes: M061 to M092 M063 to M112
No. of Leads: 4, 6, 8 4, 6, 8
Min. Inductance 0.55 MH
Max. Resistance 3.5 ohms including drive-to-motor cable
CAUTION: DO NOT USE LARGER FRAME SIZE MOTOR THAN
THOSE LISTED, OR THE DRIVE MAY BE DAMAGED.
MOTOR FAMILIES
MOTORS FOR USE WITH 23O-TOH
WITH CONNECTOR
M061-CS08 M062-CS09 M063-CS06
M061-CE08 M062-CE09 M063-CS09
M063-CE09
WITHLEADS
M061-LS08 M063-LE09 M092-FD09
M061-LE08 M091-FC09 M092-FD310
M062-LS09 M091-FD09 M092-FD8009
M062-LE09 M091-FD8009 M092-FD8109
M063-LS06 M091-FD8109 M092-FD8814
M063-LS09 M092-FC09
MOTORS FOR USE WITH 430-TOH
WITH CONNECTOR
M061-CS08 M062-CE09 M063-CS09
M061-CE08 M063-CS06 M063-CE09
M062-CS09 M063-CE06
WITHLEADS
M061-LS08 M091-FD06 M093-FD8011
M061-LE08 M091-FD8106 M093-FD8014
M062-LS09 M092-FC09 M111-FD12
M062-LE09 M092-FD09 M111-FD16
M063-LS06 M092-FD310 M111-FD8012
M063-LE06 M092-FD8009 M112-FD327
M063-LS09 M092-FD8109 M112-FD8012
M063-LE09 M093-FC14 M112-FJ8012
M091-FC06 M093-FD14 M112-FJ8030
Table 3.1: Motor Families
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3.4MECHANICAL SPECIFICATIONS
Size (inches/mm): 3.7”Dx6.3”W x 2.25”H
(94mm D x 160mm W x 57mm H)
Weight (lbs/kg): 230-TOH: 1.5 (0.68 kg)
430-TOH: 2.0 (0.91 kg)
3.5ELECTRICALSPECIFICATIONS
3.5.1 INPUT POWER SUPPLY
3.5.1.1 Power and Voltages
Power Supply Requirements
Logic Voltage: +15 VDC
Range: +12.5 VDC to +17.5 VDC
Current: 40 milliamps max.
Digital Voltage: +5 VDC
Range: +4.75 VDC to +5.25 VDC
Current: 100 milliamps max.
NOTE:Logicanddigitalvoltage power supplies should beiso-
lated from the motor power supply.
Motor Supply Voltage: 28 VDC nominal, 24 min. to 36 max.
including ripple
Motor Supply Current: 230-TOH 2.5 Amperes
430-TOH 4.0 Amperes
NOTE: Operation from a 28-30 VDC supply gives the best over-
allperformance,consideringtrade-offsofmotoranddriveheat-
ing power supply current and torque vs. speed.
3.5.1.2Connections
Method: 5 Pin MTA type connector (e.g., AMP P/N 640599-5)
Assignment: J2
Pin Assignment
1+15V
2+5
3Vo (signal common)
4Vm (motor supply positive terminal)
5Vom (motor supply negative terminal)
Vom and Vo are internally connected to the module’s aluminum
case.
Cable Size: 14 gauge max.
Cable Length: 20 ft (6.1m) max., twisted
3.5.2 OUTPUT TO MOTOR
3.5.2.1Motor Connections
Assignment: J4: 7 pins on oscillator board (See Figure 2.2)
Pin Assignment
1Vom — INTERNAL CONNECTION — DO NOT USE
2M1
3M3
4VM — INTERNAL CONNECTION — DO NOT USE
5M4
6M5
7Vom — INTERNAL CONNECTION — DO NOT USE
NOTE: The motor supply voltage connections are made inter-
nally between J-2 and the Vm and Vom pins on connector J4.
Vom is connected internally to the aluminum case of the drive
module.
Method: Pins or terminal block (Part #B215744-007).
Assignment: Vm = +, Vom = Common
Cable Size: 14 Gauge max., when using terminal block. Superior
Electric cables are recommended; see Section 2.2
for part numbers.
3.6 I/O(Interface
3.6.1 I/O Connector: J1: 15 pin, “D” type female.
(see Figure 2.2)
Pin Assignments:
Pin # Assignment
1ALL WINDINGS OFF
2CW/CCW
3PULSE IN
4DO NOT USE
5DO NOT USE
6RUN
7Vo (signal common)
8HI SPEED POT 1
9HALF/FULL
10 PULSE OUT
11 DO NOT USE
12 Vo (signal common)
13 DO NOT USE
14 BASE SPEED ONLY
15 HI SPEED POT 2
}
}
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NOTE: The bar denotes low logic, active state
Wire Size: 28 AWG minimum
Run Length: 50 feet (15 meters) max.; 15 feet (4.6 meters) max.
for HI SPEED POT 1 and HI SPEED POT 2.
Shielded cable must be used for highest noise immunity. Be sure to
ground the shield only at one end of the cable.
3.6.2Potentiometers(seeFigure9.0forpotentiometerlocations)
R1 Deceleration R3 High Speed
R2 Acceleration R4 Base Speed
3.6.3 I/O Characteristics
RUN, BASE SPEED ONLY (Input Characteristics)
High Voltage Level +5.5 VDC to +15 VDC
High Level Current 600 microamperes max.
Low Level Voltage 0 VDC to +4.5 VDC
Low Level Current 1.8 milliamperes max.
AWO, CW/CCW, PULSE IN, HALF/FULL (Input Characteristics)
High Level Input Sinking
Current less than 1 milliampere
Low Level Input Sinking
Current 10 to 20 milliamperes
NOTE:These inputs are tiedtoSignal Common (7,12)for a low
levelinput and opencollectored for the high inputlevel.
PULSE OUT Output Characteristics
High Level Output
Characteristics +24 VDC
Low Level Output Voltage +0.7 VDC max. at 40 milliam-
peres max.
3.7 ENVIRONMENTAL REQUIREMENTS
Storage Temp: -40°F to +185°F (-40°C to +85°C)
Operating Temp:
Drive Module: +32°F to +167°F (0°C to +75°C) on case
Oscillator: +32°F to +122°F (0°C to +50°C) free air
ambient
Humidity: 95% max., noncondensing
Altitude: 10,000 feet (3048 meters) max.
Thermal
Requirements: Maintain drive module case temperature
below 167°F (75°C)
NOTE:Thedrivemodulewilloperatewithinitstemperaturelimit
if heat sink fins are vertical and free air ambient is within the
specified limits.
SECTION4:FUNCTIONALDESCRIPTION
4.1 OVERVIEW
The 230-TOH and 430-TOH are motor drive/translator/pulse gen-
erator modules that allow for the operation of all basic motor func-
tions.
External power to the unit is required.
The functions that the module performs are:
•Adjustable acceleration and deceleration
•Adjustable base speed
•Clockwise/counterclockwise direction control
•Full-step/half-step control
•Run-stop control
•Remote mechanical speed adjustment
4.2Operational description
The 230-TOH and 430-TOH modules can be functionally divided into
four components:
1. Motor drive circuitry
2. Translator circuitry
3. Oscillator/pulse generator circuits
4. Logic control functions
To drive the motor, a technique called “chopping” is used. Com-
pared to older drive techniques, chopping gives improved motor per-
formance while allowing the drive circuitry to dissipate less power.
The voltage applied to the motor windings is turned on and off very
rapidly, or chopped, so that the desired current is produced.
The translator circuitry accepts a single pulse as an input and de-
termines which windings (phases) of the motor must be turned on
and off in order to advance the motor shaft one step, in the full-step
mode. The translator circuit is fully self-contained and is not acces-
sible through any of the function pins.
The pulse input to the translator is internally generated by the
oscillator. This is accomplished by setting switch S1, position 4
to the “on” (closed) state, unless an external pulse source is
utilized. The oscillator circuitry controls the frequency of the pulse
train for acceleration, deceleration, high and base speeds in accor-
dance with the settings of potentiometers R1 thru R4.
The logic control circuitry accepts high or low logic levels through
the pins on connector J1 and adjusts the motor operational param-
eters as described in Section 5.
The 230-TOH and 430-TOH enable the user to remotely control
the high speed rate by connecting a 500 k ohm potentiometer be-
tweenpins8 & 15 onconnector J1. If no external potentiometer is
required,set position 3of switch S1to the “on”(closed) state.
SECTION5:PINCONNECTIONS
(Reference Figure 2.2)
Connector J1, 15-pin “D” type connector, female
5.1AWO (ALLWINDINGS OFF) -Pin 1
When connected to SIGNAL COMMON (closed), i.e., when acti-
vated, turns off all power to the motor windings. The motor shaft can
now be turned by hand. No motion can occur if this signal is active.
When this pin is left open, all windings are on.
WARNING:
Holding torque is eliminated when this signal is active. Ensure
that the motor load, when released by this command, will not
injure property or personnel.
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5.2CW/CCW(DIRECTION)-Pin2
A logical high causes the motor shaft to step in the clockwise di-
rection as viewed from the label end of the motor. A logical low, or
connection to LOGIC COMMON results in counterclockwise direc-
tion. With this pin left open, the motor will step in a CW direction.
5.3 PU (PULSE IN) - Pin 3
A low to high transition (positive going edge) on this pin causes
the motor to take one step in the direction selected by the CW/CCW
pin.
Normally, when the oscillator board is used for control, this pin is
connected to PULSE OUT, pin #10, by placing position 4 of switch
S1 in the “on” (closed) state.
Minimum pulse width low is 15 microseconds; minimum pulse width
high is 50 microseconds.
5.4 DO NOT USE - Pin 4
This pin is not available to the operator
5.5 DO NOT USE - Pin 5
This pin is not available to the operator
5.6 RUN - Pin 6
When connected to “Signal Common” (logic low), enables the os-
cillator.
If BASE SPEED ONLY is open (logic high) when RUN is activated,
the motor will accelerate according to the set rate, to the predeter-
mined high speed. When RUN is open (logic high), the motor will
decelerate according to the set rate until base speed is reached and
will then stop.
If BASE SPEED ONLY is activated (logic low) when RUN is acti-
vated (logic low), the motor will run at base speed until RUN is open
(logic high).
5.7 LOGIC COMMON (Vo) - Pin 7
Reference point for inputs and outputs.
5.8 HI SPEED POT 1 - Pin 8
Allows for control of high speed by means of an external 500k
ohm potentiometer, when used in conjunction with HI SPEED POT 2
(pin#15).
This is also a test point for acceleration and deceleration.
5.9 H/F (HALF/FULL) - Pin 9
When the pin H/F is connected to “SIGNAL COMMON” (logic low),
the motor operates in the full-step mode.
An open pin (logic high) selects the half-step mode. When oper-
ated in the half-step mode the motor provides smoother motion with
finer resolution, but at approximately 30% less torque.
NOTE:Whenatransitionfromhalf-steptofull-stepoperationis
made, Vm power should be removed to avoid a full-step, one
windingon operating mode.
5.10 PULSE OUT - Pin 10
Produces a pulse (square wave output) from oscillator. Connect
to “PULSE IN” by placing position 4 of switch S1 in the “on” (closed)
state if an external source is not required.
This is also a test point for monitoring base speed and high speed.
This output is an open collector output and should be connected to
PULSE IN if used for monitoring purposes.
5.11 DO NOT USE - Pin 11
This pin is not available to the operator.
5.12 SIGNAL COMMON - Pin 12
Reference point for all logic inputs and outputs.
5.13 DO NOT USE - Pin 13
This pin not available to the operator.
5.14 BASE SPEED ONLY - Pin 14
When connected to “SIGNAL COMMON,” (logic low) permits only
base speed velocity from oscillator.
Frequency Range: 0 Hz to 2500 Hz
There is no acceleration or deceleration when operating at base
speed.
If this pin is open (logic high), high speed mode is selected.
5.15 HI SPEED POT 2 - Pin 15
Allows for control of high speed by means of an external potenti-
ometer when used in conjunction with HI SPEED POT 1 (pin #8). As
an alternative to using an external potentiometer, the high speed can
be controlled by connecting an analog voltage (5 to 9 volts dc) to this
input. It will be necessary to “ramp” the analog input to control accel-
eration and deceleration of the pulse train. Position 3 of switch S1
must be “off” (open) when using analog voltage.
Note: 500k ohm (connected across pins #8 and #15) is recom-
mended when external control is required and position 3 of switch
S1 must be “off” (open).
SECTION6:OPERATINGINSTRUCTIONS
6.1 INTRODUCTION
This section outlines the procedures for adding an external high
speed potentiometer to the 230-TOH and 430-TOH modules, for
setting base speed, and for adjusting high speed, acceleration and
deceleration.
6.2 OPERATION FROM EXTERNAL OR ON BOARD
POTENTIOMETERS
1. HI SPEED POT 1 and 2 allow connections to a remotepoten-
tiometerfor control ofHISPEEDsetting.
2. Connect a 500k ohm potentiometer between J1 pins #8 and
#15 for external control. OR:
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Connect HI SPEED POT 1 to HI SPEED POT 2 by placing posi-
tion 3 of switch S1 in the “on” (closed) position when no external
control is required.
6.3 BASE SPEED
Base speed is the rate at which a specific motor and load will start
of stop with no acceleration or deceleration.
1. Connect BASE SPEED ONLY (J1, pin #14) to SIGNAL COM-
MON.
2. Connect RUN (J1, pin #6) to SIGNAL COMMON.
3. Turn “Base Speed Pot” (R4) clockwise to increase base speed.
Speed (pulsefrequency)can bemonitoredat J-1,pin#10 (PULSE
OUT). Position 4 of switch S1 should be “on” (closed).
Three ranges of Base Speed and High Speed can be selected
with DIP switch S1 as follows.
* The maximum speed attainable by the drive is 10 kHz
The following table lists approximate settings for Base Speed Po-
tentiometer R4 when using range 2 (0 — 2500 Hz) and with High
Speed Potentiometer R3 set for 20 kHz.
BASE SPEED POTENTIOMETER R4 SETTING (number of
(HZ) turnsCWfromfullyCCWposition)
0 0
100 4
200 6
400 10-1/2
600 14-1/4
800 16-1/2
1000 18-1/4
1250 19-1/2
1500 20-1/2
1750 21-1/4
2000 22
2500 22-3/4
6.4HIGH SPEED
HI SPEED POTS 1 AND 2 ARE EITHER CONNECTED TO-
GETHER (FOR ON BOARD OPERATION) OR ARE CONNECTED
TO A REMOTE POTENTIOMETER. (Potentiometer set at minimum
resistance.)
1. Make sure that BASE SPEED ONLY (J1 pin #14) is OPEN.
2. Connect RUN (J1 pin #6) to SIGNAL COMMON.
3. Turn HIGH SPEED POT (R3) counterclockwise to increase ve-
locity to desired maximum limit.
Speed (pulsefrequency)can bemonitoredat J-1,pin#10 (PULSE
OUT). Position 4 of switch S1 should be “on” (closed).
The settings of “DIP” switch S1, described in 6.3, also affects the
High Speed Range as noted in 6.3.
The following table lists approximate settings for High Speed Po-
tentiometer R3 when using range 2 and with Base Speed Potenti-
ometer R4 set for 0 Hz.
BASE SPEED POTENTIOMETER R4 SETTING (number of
(HZ) turnsCWfromfullyCCWposition)
0 0
0.15 1/2
0.5 3/4
1 1
21-1/2
3 2
42-1/2
5 3
7 4
95-1/4
10 5-3/4
12 7
14 8-1/2
16 10
18 12
20 13-1/2
NOTE:Becauseoftheoscillatordesign,thehighspeedcannot
be set lower than the speed set on the base speed potentiom-
eter.For example,ifbasespeedissetto200Hz, thehighspeed
can be set no lower than 200 Hz.
6.5 ACCELERATION
Acceleration time to high speed, with the Acel potentiometer (R2)
fully counterclockwise is approximately 50 milliseconds. Range is
from 50 milliseconds to 2 seconds (approximately).
APPROX. APPROX. SWITCHPOSITIONS
RANGE BASE SPEED HIGHSPEED
RANGE RANGE S1-1 S1-2 S1-5 S1-6
10 — 1250 Hz 0 — 10 kHz ON OFF OFF ON
20 — 2500 Hz 0 — 20 kHz ON OFF ON OFF
30 — 5000 Hz 0 — 50 kHz* OFF ON OFF ON
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Measure acceleration with an oscilloscope connected be-
tween HI SPEED POT 1 and SIGNAL COMMON. Oscilloscope
should be triggered when RUN (J1 pin #6) goes low.
Then make the following settings:
1. Make sure BASE SPEED ONLY is Open.
2. Set RUN to Open.
This signal must be open circuited long enough to allow complete
deceleration.
3. Connect RUN to SIGNAL COMMON (logic low).
4. Measure acceleration time.
5. Adjust Acceleration potentiometer (R2) clockwise to increase
acceleration time.
6. Repeat steps 2 - 5 until acceleration is attained.
The following table gives approximate settings for the Accelera-
tion potentiometer (R2).
ACCELERATION POTENTIOMETER R2 SETTING
TIME (numberofturns CW
(milliseconds) fromfully CCW position)
22 0
60 1/2
100 1
200 2
300 3
400 4
500 5
600 6
800 8
1000 10
1250 12-1/2
1500 15
1750 17-1/2
2000 20
2200 22
The acceleration times are essentially unaffected by any potenti-
ometer or switch settings.
6.6 DECELERATION
Deceleration time from high speed to base speed, with the Decel-
eration potentiometer (R1) fully counterclockwise is 50 milliseconds.
Range is from 50 milliseconds to 2 seconds.
Measure deceleration with an oscilloscope connected to HI
SPEED POT 1 and SIGNAL COMMON. Oscilloscope should trigger
when RUN (J1 pin #6) goes high.
Then make the following settings:
1. Make sure BASE SPEED ONLY is Open.
2. Connect RUN (J1 pin #6) to SIGNAL COMMON (low).
Maintain low until high speed is achieved.
3. Remove RUN connection to SIGNAL COMMON.
Maintain until measurement is complete
[Oscilloscope will be triggered when RUN is open. This signal must
be open circuited long enough to allow complete deceleration.]
4. Measure deceleration time.
5. Adjust Deceleration potentiometer (R1). Clockwise movement
increases deceleration time.
6. Repeat steps 2 - 5 until desired deceleration is reached.
The following table give approximate settings for the Deceleration
Potentiometer (R1).
DECELERATION POTENTIOMETER R1 SETTING
TIME (numberofturns CW
(milliseconds) fromfully CCW position)
22 0
60 1/2
100 1
200 2
300 3
400 4
500 5
600 6
800 8
1000 10
1250 13
1500 15-1/2
1750 18
2000 20
6.7 REDUCED CURRENT
6.7.1 Reduced Current for 230-TOH
It is possible to configure the 230-TOH drive to deliver less than
2.0 amps to the motor. To do this, a jumper or a resistor is connected
betweentheLOGIC COMMON(J3pin #3)andREDUCECURRENT
(J3 pin #4) pins on the motor drive module. These pins protrude
through holes in the oscillator circuit board and are shown in Figure
9.0.
Care should be taken to keep the resistor or jumper leads under 2
inches (51mm) long. This signal is not optically isolated. The proper
values for resistors and their associated current are:
CURRENT RESISTOR
(amperes) (ohms)
1.00 0 (jumper)
1.25 2.49 k, 1/4 watt, 1%
1.50 7.50 k, 1/4 watt, 1%
1.75 23.7 k, 1/4 watt, 1%
2.0 open
6.7.2 Reduced Current for 430-TOH
The 430-TOH drive can operate at reduced current in the same
fashion. The proper resistor values and their associated currents
are:
CURRENT RESISTOR
(amperes) (ohms)
1.5 0 (jumper)
2.0 1.78k, 1/4 watt, 1%
2.5 5.62k, 1/4 watt, 1%
3.0 16.2k, 1/4 watt, 1%
3.5 open
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TYPICALSPEEDVS.TORQUECHARACTERISTICS
230SERIESMOTIONCONTROLS
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TYPICALSPEEDVS.TORQUECHARACTERISTICS
430SERIESMOTIONCONTROLS
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430SERIESMOTIONCONTROLS
(Continued)
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SECTION 8: TROUBLESHOOTING
WARNING
Motorsconnectedtothisdrive can develop high torqueand
large amounts of mechanical energy.
Keepclearofthemotorshaft,andallpartsmechanicallylinked
tothe motor shaft.
Turn off the power to the drive before performing work on
parts mechanically coupled to the motor.
If installation and operation instructions have been followed care-
fully, this unit should perform correctly. If motor fails to step properly,
the following checklist will be helpful.
InGeneral:
• Check all installation wiring carefully for wiring errors or poor con-
nections.
• Check to see that the proper DC voltage level is being supplied to
the unit.
• Be sure the motor is compatible for use with this unit.
8.1IFMOTORDIRECTION (CW, CCW) IS REVERSED, CHECK:
Connections to the J2 Motor Connector are reversed.
8.2 IF THE MOTOR MOTION IS ERRATIC, Check:
Low filter capacitor
Input pulses not of proper level or width.
Supply voltage out of tolerance.
Motion parameters (base speed, high speed, acceleratin/decel-
eration) may need adjustment.
8.3 IF TORQUE IS LOW, Check:
AWO (All Windings Off) active or REDUCED CURRENT active.
Improper supply voltage.
If a malfunction occurs that cannot be corrected by making these
correction, contact Superior Electric.
SECTION9: COMPONENTLAYOUT
See Figure 9.0 below
Figure9.0 Component Layout
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