A
A
C
C
S
S
8
8
0
0
6
6
D
D
i
i
g
g
i
i
t
t
a
a
l
l
A
A
C
C
S
S
e
e
r
r
v
v
o
o
d
d
r
r
i
i
v
v
e
e
M
M
a
a
n
n
u
u
a
a
l
l
R
R
e
e
v
v
1
1
.
.
0
0
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14
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considerably less than motor current. For example, two 3A motors can be well
supplied by one power supply of 4A rating.
Selecting Supply Voltage
The ACS806 can actually operate within +18 ~ +80VDC, including power input
fluctuation and back EMF voltage generated by motor coils during motor shaft
deceleration. The rated voltage of the motor is an important parameter when selecting
supply voltage. Generally speaking, do not use a power supply voltage more than 5
volts of the rated voltage of the motor. Higher voltage may cause bigger motor
vibration at lower speed, and it may also cause over-voltage protection or even drive
damage.
Prepare Controller
Prepare a controller with pulse and direction signals. However, the ACS806 has a
built-in motion controller for self-test and Servo Tuning. The built-in motion controller
can generate control signal with trapezoidal velocity profile.
System Connections and Noise Prevention
After finishing the above steps, you can connect your servo system. Before you start,
make sure that the power is off. Connect your system according to previous
connection diagrams, and pay attention to the following tips when wiring.
Wire Gauge
The smaller wire diameter (lower gauge), the higher impedance. Higher impedance
wire will broadcast more noise than lower impedance wire. Therefore, when selecting
the wire gauge, it is preferable to select lower gauge (i.e. larger diameter) wire. This
recommendation becomes more critical as the cable length increases. Use the following
table to select the appropriate wire size to use in your application.
A
A
C
C
S
S
8
8
0
0
6
6
D
D
i
i
g
g
i
i
t
t
a
a
l
l
A
A
C
C
S
S
e
e
r
r
v
v
o
o
d
d
r
r
i
i
v
v
e
e
M
M
a
a
n
n
u
u
a
a
l
l
R
R
e
e
v
v
1
1
.
.
0
0
Tel: (86)755-26434369
15
Website: www.leadshine.com
Current (A)
Minimum wire size (AWG)
10
#20
15
#18
20
#16
Cable Routing
All content sensitive signal wires should be routed as far away from motor power
wires and Drive power wires as possible. Motor power and Drive power wires are
major sources of noise and can easily corrupt a nearby signal. This issue becomes
increasingly important with longer motor power and Drive power wires lengths.
Twisted Wires
Twisted wires effectively increasing noise immunity. The successive twists eliminate
noise transients along the length of the cable. Both signal cables and power cables
should be of the twisted and shielded type. Differential signal wires should be twisted
as a pair. The combination of twisted pair wires and a differential signal significantly
adds to noise immunity. Power wires should be twisted as a group along with the
ground (or chassis) wire, if available.
Cable Shielding
All signal wires should be bundled and shielded separately from Drive power and
motor power wires. Power wires should also be bundled and shielded. When
grounding a shield, the rule-of-thumb is to do so at the
‘
source
’
of power while
leaving the other shield end open. For example, in the case of motor power wires, this
would be the drive side. Ideally, twisted pairs should be individually shielded and
isolated from the outer shield, which encompasses all wires within the cable. However,
since this type of stringent shielding practice is often not required, typical cables do
not provide isolation between inner and outer shields.