WOBIT SID116 User manual

P.P.H. WObit E.K.J. Ober s.c.
62-045 Pniewy, Dęborzyce 16
tel. [phone], fax. [phone]
e-mail: [email protected]
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User manual
SID116
DC motor driver
with USB and RS485 –Modbus interfaces

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User manual SID116 –09.04.2015r. v.1.0
page 2
Contains
1. Safety and assembly rules.....................................................................................................................4
1.1 Safety rules ...................................................................................................................................................4
1.2 Assembly recommendation..........................................................................................................................4
2. Introduction .........................................................................................................................................5
2.1 Intended use.................................................................................................................................................5
2.2 Functions ......................................................................................................................................................6
3. Device description ................................................................................................................................8
3.1 Connectors and indicators arrangement......................................................................................................8
3.2 Power supply ................................................................................................................................................9
3.3 Motor and braking resistor.........................................................................................................................10
3.4 Incremental encoder ..................................................................................................................................11
3.5 Programmable inputs .................................................................................................................................12
3.6 Analog input ...............................................................................................................................................13
3.7 Programmable outputs...............................................................................................................................13
3.8 Control interfaces .......................................................................................................................................14
3.9 Communication interfaces .........................................................................................................................15
4. SID116 –PC software..........................................................................................................................16
4.1 USB connection with PC .............................................................................................................................16
4.2 Application interface description ...............................................................................................................16
5. Driver configuration............................................................................................................................25
5.1 Commissioning............................................................................................................................................25
5.2 Open loop operation (PWM mode)...........................................................................................................29
5.3 Regulator adjusting.....................................................................................................................................29
5.4 Current regulation ......................................................................................................................................31
5.5 Velocity regulation......................................................................................................................................32
5.6 Position regulator .......................................................................................................................................32
5.7 Dynamic braking (braking resistor).............................................................................................................34
5.8 Driver error handling. .................................................................................................................................36
6. MODBUS communication....................................................................................................................38
7. Record of changes...............................................................................................................................39
8. Technical parameters..........................................................................................................................40

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User manual SID116 –09.04.2015r. v.1.0
page 3
Thank you for selecting our product!
This instruction will help you at correct service and accurate exploitation of described device.
Information included in this instruction were prepared with high attention by our specialists and is description of the
product. Based on the information should not be inferred a certain features or suitability for a particular application. This
information does not release the user from the obligation of own judgment and verification.
P.P.H. WObit E.K.J. Ober s.c. reserves the right to make changes without prior notice.
Please read instructions below carefully and adhere to its recommendation
Please pay special attention to the following characters:
CAUTION!
Not adhere to instruction can cause damage or impede the use of hardware or software.
CAUTION!
The warranty does not cover mechanical or electrical damages caused by overvoltage, short circuit and
fault or break down caused by defective exploitation of the user/purchaser.

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User manual SID116 –09.04.2015r. v.1.0
page 4
1. Safety and assembly rules
1.1 Safety rules
1. Prior to first start-up of the device please refer to this manual and keep it for further use.
2. Provide appropriate working conditions in compliance with the device specification ( e.g.: power supply
voltage, temperature, maximum current consumption).
3. Protect inside of the device from any liquids or elements –it can cause electric shock and damage of the
device.
4. Basic features which knowledge and use will provide safe use consonant with its designation will be
demonstrate on the device or in this manual.
5. The device with its parts is manufactured in way to provide its safe mounting and connection.
6. The device is designed and manufactured as to conform to the principles of protection against the threats
mentioned above provided that the device is used in a manner consistent with its purpose and that it is
properly maintained.
7. The device can cause interference of sensitive radio and television devices in nearby.
1.2 Assembly recommendation
It is recommended to follow measures described below to prevent any possible interruptions of the device
operation:
Do not power the driver on the same line as the device without a corresponding high power line filters
(drivers/servo motors).
Minimize influence of external interference.
To minimize noises please use screening of the cable connecting motor with a driver. It is recommended
to use a ferrite bead assumed on the motor wire in close to the driver.
Encoder cable should be screened and shouldn’t lead in close of motor cables.
Signal cables shouldn’t lead in close to motor cables and should be possibly short.
While using servomotors supplied from the same power line please equip it in proper filters to eliminate
noises which can influence on driver operation. Use of filters can be also necessary while occurring other
noises from power line.
Picture. 1. Recommended mounting position
While mounting it is recommended to keep proper driver position to provide proper heat dissipation. It is
recommended mounting with space minimum 50 mm from next device to provide proper air circulation.

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User manual SID116 –09.04.2015r. v.1.0
page 5
2. Introduction
2.1 Intended use
SID116 is a sophisticated DC motor driver which allows to control current, velocity, position and trajectory with
symmetrical trapezoidal velocity profile. Driver allows motor control with direct current up to 16 A and voltage up
to 30 V and 4Q operation (motor can operate as a drive or as generator depend on current load and rotation
direction).
To driver can be connected an incremental encoder for position control. For precise homing can be used a C
encoder channel connected to mechanical limit or to limit switch.
SID116 is equipped with dynamic braking function (based on internal resistor with option to connect an external
resistance) and regenerative braking with configurable voltage limiting. It is also possible to connect a drive
equipped with external brake with control current no bigger than 2 A.
Dedicated software enables easy configuration of driver operation modes and drive parameters using USB
interface.
SID116 allows to assign settings (e.g. set position, velocity) directly to digital inputs at parallel/binary mode,
operation using Modbus interface (RS485), control using analog input 0..10 V, STEP/DIR interface, tracking
operation and position pulse regulation.
Picture. 2. Connection option of SID116 driver

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User manual SID116 –09.04.2015r. v.1.0
page 6
SID116 features:
Maximal motor constant current up to 16 A,
11 digital inputs (8 opto insulated), including 2 fast inputs for connection of STEP/DIR interface, tracking
encoder, control signals, do
2 opt insulated transistor outputs up to 2 A, 3 LED diodes,
1 analog input 0..10 V for setting velocity,
Communication in MODBUS-RTU (RS485) protocol,
Support of signals: ENABLE, STOP, DIR, BRAKE, LIMIT SWITCH, ERROR signalization/delete,
Dynamic braking (resistor) / regenerative braking,
USB connector for configuration,
Thermal and overload protection.
2.2 Functions
Main function of SID116 driver is control of drive operation with DC motor driver according to selected regulation
mode and control signal.
For each operation mode driver has independent memory of 16 settings. Each setting consist in numerical value
and type which defines if setting is absolute or relative. Absolute setting after selection is assigned directly to
pulse generator input. Relative setting is assigned to driver input after sum with current value of pulse generator.
All settings are saved in non-violate memory.
Picture. 3. Block diagram
Activation of selected setting is made by indication of its index. Index can be selected by:
Modbus protocol - after write its value to proper control register or using Jog command,
Driver input:
oBinary –values of individual inputs are treated as next index bits,
oParallel –input high state directly activate setting index assigned to it according to input priority,
PC application (USB).
Driver allows also direct control of set value based on selected control interface. Then each change on interface
input is transmitted to pulse generator input. User can use 4 control interfaces:
Analog input 0..10 V
Step/Dir –depend on Dir input state each signal slope cause setting increase or decrease by 1,
Master encoder –square wave signal value on input is assigned directly to set value,
AB Pulse –slope on A input cause increasing of set value by 1, slope on B input cause decreasing set
value by 1.

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User manual SID116 –09.04.2015r. v.1.0
page 7
Value of each control interface can be calculated using linear function (f(x) = ax + b).
Driver is equipped with 4 main operating modes:
Open loop (PWM) –set value is transmitted directly to power stage input as PWM duty with direction dependent
on sign. Maximal current is limited according to settings,
Current/torque adjustment:
oCurrent adjustment –value is set by current in milli amperes (mA),
oCurrent adjustment with maximal speed limitation –value set by current in milli amperes (mA),
maximal speed is limited according to settings (mode requires connection of encoder),
Velocity adjustment:
oVelocity adjustment –set value is velocity in revolutions per minute (rpm),
oVelocity adjustment with profile –set value is velocity in revolutions per minute (rpm);
acceleration, braking and maximal velocity are limited according to trapezoid velocity profile,
Position adjustment:
oPosition adjustment –set value is position in encoder pulses (steps).
oPosition adjustment with profile –set value is position in encoder pulses (steps); acceleration,
braking and maximal velocity are limited according to trapezoid velocity profile,
Mixed mode: this mode is a mix of position adjustment and velocity with profile adjustment modes; this
mode allows smooth changes between velocity and set position according to defined velocity profiles.
Moreover at this mode velocity is expressed in pulses per second (steps/s) which allows velocity
adjustment in range smaller than 1 rpm.
First two adjustment modes do not require position feedback. For correct current adjustment with velocity limit
and all next modes it is necessary to connect driver of an incremental encoder. At position adjustment and all
next modes it is possible drive homing based on C encoder channel and mechanical limit or limit switch.
Furthermore, irrespective of operation mode driver is equipped with dynamic brake function and braking energy
recuperation function. While motor is at generator operation (motor shaft is driven by external mechanical
system, e.g. as a result of inertia or gravity) the motor energy is returned to power supply e.g. to charge device
battery. Excessive of energy is dissipated on internal resistor or on external in case of higher load.

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User manual SID116 –09.04.2015r. v.1.0
page 8
3. Device description
3.1 Connectors and indicators arrangement
Picture. 4. SID116 indicators description

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User manual SID116 –09.04.2015r. v.1.0
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Table 1. SID116 connectors description
No
Name
Description
1
VDC+
Power supply 12..30 VDC
Driver power supply
2
GND
Ground
3
M+
Positive DC motor output
Motor
4
M-
Negative DC motor output
5
LOAD
Control output of external braking resistor
6
GND
Ground
Analog input
7
AIN
Analog input 0..10 V
8
GNDIN
Signal ground I0.0 –I0.03 inputs
Digital inputs with
opto insulation
9
I0.0
Programmable input
10
I0.1
Programmable input
11
I0.2
Programmable input
12
I0.3
Programmable input
13
GNDIN
Signal ground I0.4 –I0.07 inputs
Digital inputs with
opto insulation
14
I0.4
Programmable input
15
I0.5
Programmable input
16
I0.6
Programmable input, interface input
17
I0.7
Programmable input, interface input
18
I1.0
Programmable input
Digital inputs without
opto insulation
19
I1.1
Programmable input
20
I1.2
Programmable input
21
EC
Encoder C channel (index)
Incremental encoder
22
EB
Encoder B channel
23
EA
Encoder A channel
24
GND
Ground
25
+5V
Output +5 V
26
Q0.0
Programmable output
Digital outputs
without opto
insulation
27
Q0.1
Programmable output
28
GNDQ
Output’s ground
29
VDDQ
Output’s power supply
30
A
RS485 A channel
Modbus RTU
31
B
RS485 B channel
32
L
CAN L channel
CAN (not supported
at 1.0 software
version)
33
H
CAN H channel
POWER
Driver power supply signalization
Q0.2
Programmable signal diode
Q0.3
Programmable signal diode
Q0.4
Programmable signal diode
3.2 Power supply
Driver power supply
Driver must be supplied with 12..30 VDC voltage. For 24 V power supply current consumption is about 80 mA.
Power supply should be connected to VDC+ and GND (1, 2) terminal. In case using of transistor outputs please
consider current consumption for outputs.
+5 V output
Driver provides +5 V voltage which can be used as encoder supply (TTL type) or for potentiometers connected to
AIN input. Maximal current consumption for all +5 V outputs shouldn’t exceed 150 mA.
CAUTION!
Do not clench +5 V outputs with ground (GND) neither with power supply. It can cause damage of a driver.
Please avoid leading cables with +5 V signal in close to other signal which can generate noises.

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User manual SID116 –09.04.2015r. v.1.0
page 10
3.3 Motor and braking resistor
Driver allows connection of DC motors and braking resistor. Resistor is used to dissipate energy returned by
motor as a result of change of rotational velocity. Driver is equipped with internal braking resistor with 10 Ω
resistance and 10 W efficiency. In case of using a drive with high inertia it is possible to connect external
resistance. For this aim is used LOAD (5) output, second end should be connected to driver supply VDC+ (1).
Motor should be connected to M+(3) and M-(4)inputs, motor polarity can be important while use of drive with
encoder.
Picture. 5. Motor connection diagram and additional braking resistor (as an option)
CAUTION!
After connection of external braking resistor please properly set power and resistance of resistor and
driver power supply at SID116 –PC application. Lack of settings or entering wrong settings can cause
damage of a drive.
It is recommended to use a ferrite bead on motor cables to eliminate noises from commutator.
In case of drive with encoder its connection polarity force counting direction of encoder pulses.