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CENTENT CN0162 MICROSTEP DRIVE

400

350

300

250

200

100

150

10K

F U L L S T E P S P E R S E C O N D

T O R Q U E
( O Z / I N )

P O W E R
( WAT T S )

( 6 A / P H A SE )

( 5A / PH AS E )

( 4A / P H A S E)

( 3A / P H A S E)

( 2A / PH AS E )

( 1A / P H A S E)

Figure 12: Winding current vs. torque

200

175

150

125

100

10K

F U L L ST E PS PER S ECON D

TOR Q U E
( O Z/ I N)

PO W ER
( WATT S)

P4 ( 105 W)

P1 ( 25W)

P3 ( 50W)

P2 ( 53W)

T1 , P 1 = 27  vo l t s , f ul l- w in di ng
T2 , P 2 = 54  vo l t s , f ul l- w in di ng
T3 , P 3 = 27  vo l t s , h al f -w i n di ng
T4 , P 4 = 54  vo l t s , h al f -w i n di ng

Figure 13: Half vs. Full winding operation

Содержание CN0162

Страница 1: ...OPERATING MANUAL CN0162 MICROSTEP DRIVE 3879 SOUTH MAIN STREET 714 979 6491 SANTAANA CALIFORNIA 92707 5710 U S A 0 M P A N Y ...

Страница 2: ...e Centent and the Centent Company logo are trademarks of Centent Company Other trademarks tradenames and service marks owned or registered by any other company and used in this manual are the property of their respective companies Copyright 2019 Centent Company 3879 South Main Street Santa Ana CA 97207 All Rights Reserved ...

Страница 3: ...RESOLUTION OPTIONS TABLE 18 MICROSTEP COMPENSATION Offset Trimpot adjust 19 FEATURES MICROSTEPPING 20 ANTI RESONANCE 21 POWER ON RESET 23 UNDER VOLTAGE LOCKOUT 23 FAULT LED 24 CHOPPING FREQUENCY 25 CURRENT PROFILE OPTION 25 PERFORMANCE MICROSTEP ACCURACY 27 MOTOR TOLERANCES 27 MOTOR LINEARITY 27 MOTOR LOAD 28 TORQUE AND POWER 28 MOTOR WINDING CONFIGURATION 30 POWER SUPPLY VOLTAGE 33 POWER SUPPLY C...

Страница 4: ...2 HIGH RESOLUTION MICROSTEP DRIVE 1 2 3 4 5 6 7 8 9 10 11 12 180 180 SEE TABLE 3 625 92 1mm 4 0 101 6mm 4 5 114 3mm 3 625 92 1mm 0 85 21 5mm 0 125 3 2mm 3 25 82 6mm 0 186 4 7mm 0 20 5 1mm MICROSTEPS PER STEP SEL A SEL B SEL C SEL D CURRENT SET AMPS ø RESISTOR 1A 2A 3A 4A 5A 6A 7A 3 6K 7 5K 24K 33K 43K 56K 75K 110K 150K 240K 430K 1 6M 12K 18K 0 7 17 8mm Figure 1 CN0162 MICROSTEP DRIVE ...

Страница 5: ... stability This allows continuous full power operation at speeds normally prohibited by mid band resonance The pin out of the driver is compatible with the CENTENT CN0142 and CN0143 microstep drives The H bridge output utilizes MOSFET design to minimize heating due to switching losses Automatic current standby reduces phase current to a low level while the motor is at rest to keep heating of the d...

Страница 6: ...nd controller interface The function of each contact is printed on the case adjacent to the terminal strip OPTION HEADER This 4 pin header is used to select microstep resolution The user jumpers the appropriate pins with the shorting bars supplied with the drive Four resolutions are available in each drive There are a total of 21 possible resolutions for the CN0162 FAULT LED This LED indicates tha...

Страница 7: ...terminal in detail POWER SUPPLY TERMINAL 1 2 Terminal 1 is the ground connection Terminal 2 connects to the positive output from the power supply The power supply voltage range is 12 to 80 VDC The power supply may be unregulated For unregulated supplies it is recommended that the ripple voltage be limited to a maximum of 10 of the DC output voltage The power supply terminals should have a capacito...

Страница 8: ...ed between the power supply and the zener diode In the event of an over voltage condition the zener diode and fuse may be destroyed but the CN0162 and power supply will be protected from damage Power supply current requirements depend on the motor being used and whether it is wired for high performance parallel or low performance series operation See MOTOR WINDING CONFIGURATION page 30 in the PERF...

Страница 9: ...ombined load Each CN0162 must have separate power supply leads back to the power supply PHASE OUTPUTS TERMINALS 3 6 These are the phase winding outputs to the step motor One motor winding goes to PHASE A B and the other motor winding connects to PHASE C D No power is applied to the Phase outputs until reception of the initial step pulse after power up of the CN0162 see page 23 Power On Reset The C...

Страница 10: ...the end wires of each phase constitutes a winding Figure 5 The center taps are left unused In a 8 wire motor the windings are connected as pairs of series wired windings Figure 5 Full Winding Table I Table II Page 10 show various manufacturer s 6 wire motor lead color codes and how they connect to the CN0162 for full winding and half winding operation Table III Table IV Page 11 show various manufa...

Страница 11: ...pling back to the inputs and causing erratic operation 1 Never run the motor leads in the same cable or wiring harness as the STEP DIRECTION or 5 VDC input lines 2 Keep power supply leads as short as possible If the power supply lead length exceeds 12 inches use a 1 µf capacitor across Terminals 1 2 at the drive 3 Never wire capacitors inductors or any other components to the motor output terminal...

Страница 12: ... VEXTA BLUE RED BLACK GREEN JAPAN SERVO BLUE RED YELLOW GREEN Table II HALF WINDING OPERATION MOTOR TERMINAL MANUFACTURER 3 4 5 6 SUPERIOR ELECTRIC WHITE GREEN BLACK RED RAPIDSYN WHITE GREEN BLACK RED IMC WHITE GREEN BLACK RED EASTERN AIR DEV WHITE GREEN BLACK RED PACIFIC SCIENTIFIC BLACK ORG BLK RED RED YEL WARNER ELECTRIC BLACK ORANGE RED WHITE VEXTA BLUE WHITE YELLOW GREEN JAPAN SERVO BLUE WHIT...

Страница 13: ...T BRN WHT ORANGE RED WHT YELLOW DIGITAL MOTOR BLACK ORANGE RED YELLOW BLK WHT ORG WHT RED WHT YEL WHT Table IV PARALLEL WINDING OPERATION MOTOR TERMINAL MANUFACTURER 3 4 5 6 SUPERIOR ELECTRIC RED BLACK GREEN ORANGE WHITE RED WHT BLK WHT GRN WHT PACIFIC SCIENTIFIC BLACK BLK WHT RED RED WHT ORG WHT ORANGE YEL WHT YELLOW BODINE BROWN BRN WHT RED WHT RED ORG WHT ORANGE YELLOW YEL WHT PORTESCAP BROWN B...

Страница 14: ...PARALLEL Where RPARALLEL is the resistance required at Terminal 11 to set the desired standby current ISTANDBY This is the parallel combination of the existing CURRENT SET resistor RSET and the yet to be calculated STANDBY SET resistor RSTANDBY R R R R R PARALLEL SET SET PARALLEL STANDBY Where RSTANDBY is the resistor that will go between Terminal 7 and Terminal 11 Negligible power is involved so ...

Страница 15: ...de a 5 VDC supply to operate the optocoupler circuit This permits the use of current sink drivers such as TTL logic or open collector transistors to operate the input The current requirement is 16 milliamps which is compatible with standard TTL outputs STEP PULSE TERMINAL 9 Microstepping in the CN0162 occurs on both edges of the step pulse input This is done to improve motor smoothness at low spee...

Страница 16: ...EP PULSE and DIRECTION optocoupler LEDs An external 5 VDC supply is connected to this terminal to provide the source of LED current for the Step Pulse and Direction inputs If both are on 32 mA of current is required from the 5 VDC supply The LEDs have antiparallel connected diodes across them for protection against inadvertent polarity reversal If power supply voltages higher than 5 VDC must be us...

Страница 17: ... values rounded off to the nearest 5 standard resistors for both high performance half winding and low performance full winding operation Use the half winding values for operating 4 wire motors The maximum phase current of 7 2 amps is obtained with no CURRENT SET resistor Terminal 11 voltage equals 2 5 volts Zero phase current occurs with CURRENT SET shorted to ground Terminal 11 voltage equals 0 ...

Страница 18: ... K 5 6 K 6 8 K 7 5 K 1 25 A 1 50 A 1 75 A 2 00 A 2 5 A 3 0 A 3 5 A 4 0 A 10 K 12 K 15 K 18 K 2 25 A 2 50 A 2 75 A 3 00 A 4 5 A 5 0 A 5 5 A 6 0 A 22 K 24 K 30 K 33 K 3 25 A 3 50 A 3 75 A 4 00 A 6 5 A 7 0 A 7 5 A 8 0 A 39 K 43 K 51 K 56 K 4 25 A 4 50 A 4 75 A 5 00 A 8 5 A 9 0 A 9 5 A 10 0 A 68 K 75 K 91 K 110 K 5 25 A 5 50 A 5 75 A 6 00 A 10 5 A 11 0 A 11 5 A 12 0 A 130 K 150 K 180 K 240 K 6 25 A 12...

Страница 19: ...d standby torque and freewheeling functions may be implemented 5 VDC 11 12 STANDBY RESISTOR 220 220 0 RUN 1 STANDBY 0 ON 1 RESET CURRENT SET RESISTOR H11F1 H11F1 STANDBY FREEWHEEL TTL TTL Figure 6 External current standby RESOLUTION SELECT OPTION HEADER The OPTION HEADER is used to select the microstep resolution from the four available in each drive It is located on the face of the drive beneath ...

Страница 20: ...rting bars may be replaced with TTL compatible drivers to allow the user to change the microstep resolution while the motor is running Switching must occur at the full step location to maintain accurate step position An example of this would use a high resolution at low speed and switch to a medium or low resolution during acceleration and high speed This would keep the step rates at relatively lo...

Страница 21: ...puts There are two methods for trimming the CN0162 to a motor and power supply Both methods require the motor and power supply to be connected to the CN0162 The RESET METHOD depends on the CN0162 s power on reset behavior i e the drive does not apply power to the motor windings until a step pulse is received Any holding torque the motor has when powered up is due to offset errors This may be compe...

Страница 22: ...200 step revolution motor The sine cosine values may be replaced with values compensated for a specific motor type or characteristic See CURRENT PROFILE OPTION page 25 for further information on compensated current profiles Low speed vibration results from the start stop or incremental motion of the motor This generates periodic acceleration and deceleration reaction torques at the step rate When ...

Страница 23: ...w the motor to accelerate through this region However continuous operation in this speed band is impossible Above and below this range of speeds the oscillation amplitude may not be sufficient to stop the motor but it is still present Figure 8 shows the parametric resonance frequency versus motor step rate for three unrelated step motors In all three cases resonance breaks out at 1000 1400 full st...

Страница 24: ...orque available over the entire operating range of the drive The operation of the anti resonance circuit in most applications is transparent to the user in the sense that no special provisions have to be taken to accommodate it There are two instances where anti resonance may be disadvantageous 1 VERY HIGH SPEED The anti resonance circuit limits the maximum speed to 50 000 full steps per second Sh...

Страница 25: ...t and the motor has no holding torque The Phase outputs are active however and carry a high frequency square wave equal in voltage to the power supply After receiving the first step pulse the drive delivers full holding torque and the motor is located at the first microstep position PHASE A B outputs are at maximum current while PHASE C D outputs are at minimum current UNDER VOLTAGE LOCKOUT Under ...

Страница 26: ...reaker and extinguish the Fault LED The CN0162 has a sensor that trips the protection circuit when the case temperature exceeds 70 C The drive will not operate after it has cooled down The power supply must be recycled to operate the drive If a CN0162 has shut down due to overheating the cause is usually an inadequate heatsink Do not continue to operate the drive until adequate heat sinking has be...

Страница 27: ...ered as a substitute for proper operating procedures CHOPPING FREQUENCY To improve motor efficiency the CN0162 automatically adjusts its chopping frequency to be proportional to power supply voltage This means the motor ripple current is independent of power supply voltage Motor hysteresis losses are reduced and less motor heating results Because of this very low inductance motors may be used yiel...

Страница 28: ...cally designed to generate compensated current profiles It accommodates all size 23 34 and 42 motors and some smaller sizes as well For a non reoccurring engineering fee Centent will generate a profile tailored to a customer submitted motor The result is the highest obtainable open loop positioning accuracy for that motor The microstep resolutions for compensated profiles are the same as those ava...

Страница 29: ... were directly proportional then sine cosine varying currents would cause a uniform rate of rotation resulting in uniformly spaced microsteps For most motors this function resembles Figure 9 The motor current profile must be distorted from the sine cosine profile to compensate for non linearity The effectiveness of this will determine the microstep position accuracy The electrical to mechanical an...

Страница 30: ...nsient or due to acceleration the rotor error will decrease to a residual level upon removal of that transient 300 TORQUE OZ IN 300 1 8 0 1 8 MECHANICAL ANGLE Figure 10 Torque vs rotor angle TORQUE AND POWER Step motor performance curves exhibit two distinct regions with respect to speed In Region 1 Figure 11 page 29 motor torque is constant with speed while motor shaft power is proportional to sp...

Страница 31: ... TORQUE POWER 0 Figure 11 Torque power vs speed The intersection of the constant torque line and the motor load line marks the beginning of Region 2 Above this speed motor torque is not dependent on the value of the current set resistor As the motor enters Region 2 torque begins to drop off as the inverse of the speed Motor winding inductance limits the rate of current rise and as speed increases ...

Страница 32: ... also doubled This performance improvement comes at the expense of greater motor and drive heating The low performance configuration is called full winding operation in 6 wire motors and series operation in 8 wire motors Similarly the high performance configuration is called half winding operation in 6 wire motors and parallel operation in 8 wire motors Performance in a 6 wire full winding configu...

Страница 33: ...he motor and drive evident at the lower current setting Figure 13 page 32 illustrates the effects of full vs half winding operation at low and high power supply voltages Note that full winding operation at 54 VDC yields performance virtually identical to half winding operation at 27 VDC Full winding configuration is preferred for Region 1 operation and is suitable for Region 2 if the power availab...

Страница 34: ...ASE 3A PHASE 2A PHASE 1A PHASE Figure 12 Winding current vs torque 200 175 150 125 100 75 50 25 10K 1K 2K 3K 4K 5K 6K 7K 8K 9K FULL STEPS PER SECOND TORQUE OZ IN POWER WATTS P4 105W P1 25W P3 50W P2 53W T1 T2 T3 T4 T1 P1 27 volts full winding T2 P2 54 volts full winding T3 P3 27 volts half winding T4 P4 54 volts half winding Figure 13 Half vs Full winding operation ...

Страница 35: ...consideration the choice of power supply voltage should be just high enough to meet the application s power requirements and no higher POWER SUPPLY CURRENT Power supply current depends on the current set resistor value the speed the motor is running and the load applied to the motor Generally speaking the power supply current for a full winding configured motor will not exceed 1 3 the motor s rate...

Страница 36: ...ing configuration the power supply voltage current set and other factors The power losses in a step motor drive are primarily resistive and therefore easy to calculate Each channel of the drive may be considered to be equivalent to a 55 ohm resistor Step motor drive current dissipation in Region 1 is always considerably higher than in Region 2 In Region 1 motor phase currents and therefore drive c...

Страница 37: ...king Repeatedly tripping the Fault indicator by allowing the drive to overheat induces thermal stress that will eventually lead to failure of the CN0162 drive Generally if the CN0162 is too hot to touch additional cooling is required The case temperature of the drive should never under any circumstance be allowed to exceed 70 degrees C 158 degrees F As a practical guide heat sinking will be necess...

Страница 38: ...age 1 8 5 0 VDC Logic 0 current 12 20 mA Pulse width high 300 nSec Pulse width low 300 nSec Rise time Fall time Frequency 1 5 Mhz DIRECTION INPUT Logic 1 voltage 1 8 5 0 VDC Logic 0 current 12 20 mA ENVIRONMENTAL Operating temperature 20 75 C Humidity 0 100 Shock 100 G MECHANICAL Weight 17 19 oz Terminal Screw Torque 4 5 lb in Mounting screw size 6 8 Size L x W x H 4 75 x 4 0 x 0 85 in Mounting ho...

Страница 39: ...ep motors up to 7 2 amps phase CN0165 microstep step motors up to 10 0 amps phase Centent complements their driver series with a family of step motor controllers and indexers These controllers may also be used with other manufacturer s drives They are packaged in the same distinctive style of anodized aluminum covers as the Centent step motor drives CN0170 2 axis intelligent controller with RS 232...

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