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]
www.wobit.com.pl
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
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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
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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
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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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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
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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
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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.

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User manual SID116 –09.04.2015r. v.1.0
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3.4 Incremental encoder
At velocity and position adjustment modes it is required to connect an encoder to the driver. SID116 allows
connection of incremental encoder with operating voltage 5..24 V. Encoders with supply 5 V can be supplied
directly from +5 V (25) output. Maximal output current efficiency is 150 mA.
Connection example of Push-Pull encoder type is presented below:
Picture. 6. Connection example of Push-Pull encoder type supplied from +5 V driver output
In case of encoder connection with power supply higher than 5 V encoder should be connected to external source
of power supply. To driver please lead EA, EB, EC and GND signals, where GND is ground of encoder power supply.
Maximal encoder pulses frequency shouldn’t exceed 1 MHz. In case of encoder with Open Drain or Open
Collector output type connection scheme is shown as following:
Picture. 7. Connection scheme of Open Drain/Open Collector encoder type supplied by +5 V driver output with use of pull-up resistors
Signal lines requires pulling-up by resistor to supply line. For +5 V power supply it is recommended to use 1 kΩ
resistor. In case of 12.. 24 V encoder supply please use 2 kΩresistor, to driver please lead EA, EB, EC and GND
signals, where GND ground of encoder power supply. Maximal encoder pulses frequency shouldn’t exceed 1 MHz.
Position counting direction from encoder can be reverse by exchange line of A with B channel
line

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User manual SID116 –09.04.2015r. v.1.0
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3.5 Programmable inputs
Programmable inputs allows connection of external control signal. Inputs are divided into:
Inputs with opto insulation IN0.0 - IN0.7 –signal ground is separate
Inputs without opto insulation IN1.0 - IN1.2 –signal ground is common with device supply ground.
Picture. 8. Inputs with opto insulation (I0.0 - I0.3)
Parameters:
Opto insulation
High state: 24 VDC (min 2 V, max. 26 V)
Low state: < 2 VDC
Picture. 10. Inputs without insulation (I1.0 - I1.2)
Picture. 9. Inputs with opto insulation (I0.4 - I0.7)
Parameters:
Opto insulation
High state: 24 VDC (min 2 V, max. 26 V)
Low state: < 2 VDC
Inputs I0.6 - I0.7 are also an interface inputs
Parameters:
None opto insulation, ground common with driver power
supply ground
High state: 24 VDC (min 2 V, max. 26 V)
Low state: < 2 VDC

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3.6 Analog input
Driver allows connection of external analog signal. Input can be used as velocity or position set point value.
Picture. 11. Analog input 0..10 V
Driver’s analog input range is 0..10 V. Input allows direct connection PLC driver with 0..10 V analog output. In case
of analog input control using potentiometer to its supply can be used encoder supply output +5 V (25). Then input
will be operate in its half range. To use full input range it is recommended use external stabilized power supply 10
V.
To minimize noises cables of analog signal should lead as far as possible from motor cables and braking
resistor.
3.7 Programmable outputs
Driver is equipped with two programmable outputs with opto insulation. Before running of outputs please supply
GNDQ (28) and VDDQ (29) terminals. Power supply should be in range 12..24 V.
Picture. 12. Programmable output with opto insulation
Parameters:
Opto insulation
Constant load max 2 A at 24 V for channel
Voltage range 12..24 V
Build-in protection diode for inductive load

3.8 Control interfaces
Driver allows connection of external interfaces using I0.6 (16) and I0.7 (17) fast inputs. Inputs operate as interface
are not filtrated. Each pulse generated on input is counted by internal counting system and after counting is
transmitted by control signal. Examples of interface signal configurations are presented below.
Picture. 13. Configuration example of fast inputs for step/dir signal
Parameters:
Max signal frequency200 kHz
Voltage range 5..24 V
Opto insulation
Picture. 14. Configuration example of fast inputs for master encoder signal
Parameters:
Max signal frequency 1 MHz
Voltage range 5..24 V
For open drain/collector encoder
types please use pull-up resistors
Opto insulation
Picture. 15. Configuration example of fast inputs for A/B pulse signal
Parameters:
Max signal frequency 200 kHz
Voltage range 5..24 V
Opto insulation

3.9 Communication interfaces
Driver allows communication at USB standard for driver parameters configuration by SID-PC application. SID116 is
detected as standard HID type device, system drivers for communication are included in operation system.
SID is additionally equipped with MODBUS –RTU protocol on RS485 bus. Driver is operating as SLAVE device.
Communication parameters can be adjusted using PC application. Device is equipped with internal RS485 (120Ω)
line terminator.
Picture.16. Driver connection diagram to RS485 bus
Default communication parameters:
Baudrate: 38400 bps
Stop bit: 1
Parity: None
Frame: 8 b
Default address : 1
Driver is equipped with build-in CAN interface (32, 33 derivations) but at current version
protocol is not supported.

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User manual SID116 –09.04.2015r. v.1.0
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4. SID116 –PC software
4.1 USB connection with PC
Driver configuration and programming is made using SID116-PC application. Driver should be connected with PC
using USB cable A –B mini type. After connection to computer please turn on driver power supply and run
SID116 –PC program. Correct communication will be signalized by information at top program window.
CAUTION!
1) USB connection should be made always before turning on driver power supply.
2) USB connection is consistent to noises at supply line and to electromagnetic noises existing at
industrial conditions. While occurring communication problems please use additional protecting
elements like:
use line filters,
use high quality USB cable, <1,5 m length equipped with ferrite beads,
use opt insulated USB HUBs at PC side.
At higher noises can occur that communication will be impossible.
4.2 Application interface description
4.2.1 Main application window
Picture. 17. Main application window
1) Toolbar.
2) Info about device
3) Driver current operation status
4) Tab allowing selection fo current Modbus
register.
5) Communication status with PC
6) Settings Record / Read
7) Control intefrace selection tab
8) Regulation mode selection and setting edition
tab
9) Current interface state and configuration tab
10) Driver I/O preview
11) Control signals preview
12) Advanced settings

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Picture. 18. Advanced settings panel

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Table 2. Main window tabs description
Tab
Description
At this tab you can find information concering type and status of connected device.
When communication is correct name field and connection status field will be
highlited on green.
Version field indicate driver current software version. Next to version number is
presented name of modification. „Standard” name means standard factory software.
At this tab is placed information concerning current parameters value.
Driver status field can take following values:
INITIALIZATION –driver is running, enable signal disabled,
HOMING –driver execute homing procedure,
REGULATION –driver operate according to current settings, driver is active,
ZATRZYMANY –drvier is stopped, emergency stop signal is active
BŁĄD/AWARIA – driver error, drive is not active
Driver mode field is presenting driver current operation mode.
Mode field of ramp profile can take values as below:
NIEAKTYWNY –profile generator is not active
BŁĄD – profile can’t be determinded for given parameters
OBLICZANIE PROFILU –driver counts parameters
PROFIL:PRZYSPIESZANIE –drive acceleration
PROFIL:STAŁA PRĘDKOŚĆ – drive after acceleration is moving with constant
velocity according to profile (trapezoid)
PROFIL:HAMOWANIE –drive braking
PROFIL:ZAKOŃCZONY – drive executed motion and waits for next setting
PROFIL:ZAKOŃCZONY/STAŁA PRĘDKOŚĆ – drive achieved set velocity and
moves with its value
Position field is presenting current drive position in steps which corresponds to single
encoder increment. Position can be reset at anytime by pressing „0” reset button.
Velocity field is presenting averaged driver velocity (averaging with period 100 ms.)
Current field indicates topical current supplied to motor in mA. Value is averaged
according to cyclic filter set at advanced settings tab (12).
Temperature field indicates current driver temperature at Celcius degrees.
Supply voltage field indicates driver voltage supply in mV.
PWM field indicates current power transmited to driver in % * 10.
Position error field indicates current position error in steps (difference between set
position and current position).
Velocity error indicates current position error at [rev./min] (difference between set
velocity and current velocity).
Current error field indicates topical current error in mA (difference between set
current and topical current).
Zapisz button –save all driver settings to non-violate memory.
Wczytaj button –read driver factory settings.
Stop button –allows drive stop.
Selection tab of control interface allows to select source of control signal:
Analog - control using analog input.
Step/Dir –control using step/dir interface.
Master encoder –tracking operation, tracking external signal of encoder.
AB pulse - pulse control mode.
Binary inputs –control using digital inputs with binary counted value to
setting index.

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Serial inputs –control using digital inputs with value counted to setting
index (individual input activates directly ascribed index).
Modbus/PC –control by PC application or Modbus RTU protocol by setting
index selection.
Interface tab presents current value of selected interface.
Analog input field –presents current voltage at driver analog input in miliwolts (mV)
Analog input field presents current value of analog input converted by Interface
coefficients.
Master encoder value field –displays value of master encoder converted by Interface
coefficients. Next to this field is located a reset button.
Step/Dir field –displays value of step/dir interface converted by Interface coefficients.
Next to this field is located a reset button.
AB pulse field –displays value of pulse interface converted by Interface coefficients.
Next to this field is located a reset button.
Interface coefficients –is conversion of interface value by linear function. There are
available two conversion modes:
Gain/Constant coefficient mode –means direct entering of coeffincients
Minimum/Maximum mode –means giving value which will be indicated for
0 and for 10 000 value.
Gain field allows to enter control interface amplification (floating point value). Entered
value should be confirmed by pressing ENTER button.
Constant coefficient field allows to enter constant coefficient of control interface
(floating point value). Entered value should be confirmed by pressing ENTER button.
Minimum field allows to enter control interface value (floating point value) at 0 point.
Entered value should be confirmed by pressing ENTER button.
Maksimum field allows to enter control interface value (floating point value) at 10 000
point. Entered value should be confirmed by pressing ENTER button.
I/O tab displays inputs state and allows to control its state.
Inputs buttons 0.0 –0.7, 1.0 –1.2 –displays status of proper driver inputs. Pressing of
the button cause enforcing inputs high state. Enforcing settings are saved to non-
violate memory and allows to activate input while driver start-up.
Q0 –Q4 buttons –displays status of proper driver outputs. Pressing of the button
cause enforcing outputs high state. Enforcing settings are saved to non-violate
memory and allows to activate output while driver start-up.
Signal fields allows to display values of selected signals.
Parallel inputs field indicates index inidcated by index inputs at parallel mode.
Binary inputs field indicates by index inputs at binary mode.
4.2.2 Advanced settings.

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Picture. 19. Advanced settings panel
At this window are located driver parameters divided into 10 groups. Each group parameter is stored at non-
violate driver memory.
Settings record is made by pressing save button at main application window. Each parameter has description
displayed after pressing name of the parameter. Entering of a parameter should be confirmed by pressing ENTER
button.
Panel Auto indicator activates auto-hide function of advanced settings section.
Collapse button hides parameters of selected setting groups.
Expand button expands parameter groups to show available parameters.
Table 3. Advanced parameters description
Parameter
Description
01.Homing settings
Homing mode
Available modes:
HOME_ON_INIT_POS –homing turned on, only position reset
HOME_ON_CURRENT –homing after exceeding homing current
HOME_ON_ZERO_SPEED –homing up to occurring drive velocity = 0
HOME_ON_MIN –homing, limit switch connected to MIN_LIM input
HOME_ON_ENC –homing to encoder C channel
HOME_ON_CURRENT_AND_ENC –homing up to exceeding of maximal current, then to encoder C
channel
HOME_ON_ZERO_SPEED_AND_ENC –homing up to zero velocity, then to encoder C channel
HOME_ON_MIN_AND_ENC –homing to MIN_LIM input, then to encoder C channel.
Homing current
Maximal current while homing in mA
Homing velocity
Homing velocity in rpm
Homing position
Position after homing –drive after homing will execute movement to set position (only positive
values)
02. Regulator parameters