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CENTENT CN0165 MICROSTEP DRIVE

24

MOTOR LOAD

Motor load is the most significant contributor to microstep positioning error. A step
motor only generates torque when an error angle in rotor position exists. The relationship
between rotor displacement angle and restoring torque for a typical motor is shown in

X

Figure 13

X

.

The function that relates error angle to torque
is approximately sinusoidal. An error angle
equal to one microstep occurs when the
motor load equals the holding torque divided
by the microstep resolution.

If the motor load is transient, the rotor error
will decrease to a residual level upon
removal of the transient load. This applies to
the load induced by the acceleration and
deceleration of the step motor during the
course of a normal move.

Figure 13 - Torque vs. rotor angle

MOTOR LINEARITY

Motor linearity is the relationship between the mechanical angle of shaft rotation and the
electrical angle of the winding currents. In an ideal motor this is directly proportional; the
application of sine-cosine currents produces uniform shaft rotation and equally spaced
microsteps.

Real motors exhibit distortion as represented
in

X

Figure 14 - Motor linearity

X

. Varying the

value of the current set resistor may help trim
the error.

Should this method be inadequate, the motor
winding currents may be distorted to
compensate for the non-linearity. Centent can
provide a 3rd Harmonic profile or generate a
compensated profile for motors of a like
model number or type. These custom profiles
are 'programmed' into the customer's CN0165
as a Current Profile Option, as described in
the next section.

Figure 14 - Motor linearity

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Содержание CN0165

Страница 1: ...CN0165 OPERATING MANUAL HIGH RESOLUTION 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: ...andby Current Trimpot 15 Offset Trimpot 15 Fault Led 16 Power On Reset 16 Under Voltage Lockout 16 PERFORMANCE Microstepping 16 Anti resonance 17 Torque and Power 18 Motor Winding Configuration 19 Power Supply Voltage 22 Power Supply Current 22 Motor and Drive Heating 23 ACCURACY Motor Tolerances 23 Motor Load 24 Motor Linearity 24 Current Profile Option 25 SPEED TORQUE CURVES 25 FULL SCALE DRAWIN...

Страница 4: ......

Страница 5: ... current standby easily adjustable from zero to full current reduces motor phase current while the motor is at rest The combination of these features results in an extremely efficient step motor drive with minimum motor iron losses heating The CN0165 uses high speed opto isolators for the Step Pulse and the Direction inputs to provide maximum noise immunity The Step Pulse and Direction inputs are ...

Страница 6: ...he Fault Reset Terminal to ground potential or by recycling the power supply power off power on 4 TERMINAL CONNECTOR A 12 position terminal strip provides the connections for the power supply the motor the Current Set and the indexer interface Step Pulse and Direction inputs Care must be taken not to over torque the terminal screws to prevent damage to the connector 5 RESOLUTION TABLE The Resoluti...

Страница 7: ...lowing the drive to overheat causes thermal stress that will eventually lead to permanent damage If this occurs it will be necessary to provide additional heat sinking As a practical guide additional heat sinking will be necessary for the CN0165 if it is operated at three amps or more A fan to force air circulation through the heat sink may also be required The optional HSK heat sink kit for Cente...

Страница 8: ...apacitor is higher than the drive s supply voltage During rapid deceleration of large inertial loads from high speeds step motors become generators of considerable electrical power This is returned to the power supply by the step motor drive If the supply cannot absorb this power the voltage generated may exceed the 80 volt limit of the CN0165 thus damaging the drive and power supply To protect th...

Страница 9: ... will produce a 37 VDC power supply voltage To calculate the size of the filter capacitor C1 use the following equation f f V I C SUPPLY SUPPLY μ μ 3000 48 2995 37 33 1 333 83 333 83 1 Equation 3 Power Supply filter capacitor C2 XFigure 3X page X4X is the 470 µf capacitor located close to the CN0165 s power supply terminals C1 may be made smaller by that amount if desired Both capacitors must have...

Страница 10: ...or has only one possible wiring configuration consider it to be connected in the Parallel configuration See Motor Winding Configuration in the Performance section of this manual page X19X to determine the best wiring configuration for the application The CN0165 is a high frequency switching type drive Because of the rapid rate of voltage and current change inherent with this type of drive consider...

Страница 11: ... Keep power supply leads as short as possible If the length exceeds 12 inches use a 0 1 µf capacitor across Terminals 1 2 at the drive 3 Never wire capacitors inductors or any other components to the motor output terminals 4 Ground the CN0165 case 5 Ground the step motor case Tables 1 2 page X8X show various manufacturers color codes for six lead motors and the connections to the CN0165 for half w...

Страница 12: ...ind White Blue White Green pairs Table 2 Half Winding Operation CN0165 TERMINAL MANUFACTURER 3 4 5 6 SUPERIOR RED RED WHITE GREEN GRN WHT ELECTRIC BLACK WHITE ORANGE BLACK WHITE PACIFIC BLACK ORANGE RED YELLOW SCIENTIFIC BLACK WHITE ORANGE WHITE RED WHITE YEL WHITE BODINE BROWN ORANGE RED YELLOW BRN WHITE ORANGE WHITE RED WHITE YEL WHITE PORTESCAP BROWN ORG WHITE RED YEL WHITE BROWN WHITE ORANGE R...

Страница 13: ...repeatedly entering thermal shutdown The Fault Output goes low LED on but does not latch if the power supply voltage drops below 18 volts DC When no fault condition exists the Fault Output is pulled up to 12 volts DC by an internal 470 ohm resistor and the LED is turned off The Fault Output is capable of sinking up to 20 milliamps of current While the Fault Output is low the internal counters rese...

Страница 14: ... The CN0165 employs a high speed opto isolator to isolate the Step Pulse Input from the driver s power supply The user must provide a 5 VDC supply shared with the Direction Input to operate the opto isolator circuitry This permits the use of current sink drivers such as TTL logic or open collector transistors to operate the input The minimum current required to operate the opto isolator is 5 milli...

Страница 15: ...he magnitude of the motor phase currents This is done by connecting a watt resistor between terminals 11 12 Terminal 11 is the Current Set Input and Terminal 12 is the ground reference Table 5 page X13X lists resistors to the nearest 5 standard value for both parallel half winding and series full winding operation An abbreviated table is printed on the case of the CN0165 for user convenience Use t...

Страница 16: ...bration The Current Set Input is used in conjunction with the Standby Current Trimpot see page X15X to set the current levels for active motor moving and standby motor idle conditions The Current Set Input may also be driven by external circuitry such as an operational amplifier or a digital to analog converter from a programmable controller Motor phase current is a linear function of the voltage ...

Страница 17: ...A 5 50 A 6 00 A 13 K 16 K 18 K 20 K 3 25A 3 50 A 3 75 A 4 00 A 6 50 A 7 00 A 7 50 A 8 00 A 22 K 24 K 27 K 30 K 4 25A 4 50 A 4 75 A 5 00 A 8 50 A 9 00 A 9 50 A 10 00 A 36 K 39 K 43 K 47 K 5 25A 5 50 A 5 75 A 6 00 A 10 50 A 11 00 A 11 50 A 12 00 A 51 K 56 K 62 K 68 K 6 25A 6 50 A 6 75 A 7 00 A 12 50 A 13 00 A 13 50 A 14 00 A 75 K 91 K 100 K 110 K 7 25A 7 50 A 7 75 A 8 00 A 14 50 A 15 00 A 15 50 A 16...

Страница 18: ... must come from a single option column A B C or D of XTable 6X It is permissible to switch the Option Header selection dynamically To accomplish this the shorting bars are replaced with TTL compatible drivers No damage will occur if the microstep resolution or current profile is changed while the motor is running Switching must occur at the full step location to maintain accurate step position As ...

Страница 19: ...ltage motor phase inductance and phase current magnitude can cause an uneven microstep size These errors can be compensated by adjusting the Offset Trimpot The magnitude of the untrimmed error is on the order of one sixteenth of a full step so it is unlikely to be noticeable at resolutions less than 16 microsteps Trimming is certainly unnecessary at resolutions below 10 microsteps Compensation is ...

Страница 20: ...ed from the output transistors and the motor stops positioning When the power supply voltage falls below five volts the Phase outputs go to an open circuit floating condition While the CN0165 remains in an under voltage condition the drive is held in the reset state Once the power supply voltage rises above 18 volts and all internal voltages have stabilized to their proper levels the Power on Rese...

Страница 21: ...N0165 incorporates a mid band anti resonance compensation circuit to close the loop on this instability and damp it out electronically Called mid band instability or resonance this phenomenon appears as a torsional oscillation of 50 to 150 Hz while the motor is running in this speed range The torsional oscillation has a tendency to increase in amplitude with time until it reaches a peak equal to t...

Страница 22: ...s have to be taken to accommodate it TORQUE AND POWER Step motor performance curves exhibit two distinct regions with respect to speed as shown in XFigure 9X page X19X In Region 1 from 0 2000 full steps second motor torque is constant with speed while motor shaft power is proportional to speed In Region 2 from 2000 full steps second to maximum speed motor torque decreases as the inverse of the spe...

Страница 23: ...E DAMAGE TO MOTOR SHAFT BEARINGS MOTOR WINDING CONFIGURATION The customer has the option with six or eight lead motors of connecting the windings in parallel or series configuration For six lead motors the series and parallel configurations are also referred to as full winding and half winding respectively Since there are no configuration options for a four lead motor it is considered to be in the...

Страница 24: ...increments Note that when the motor in XFigure 10X is operated in excess of 4000 steps per second the current set resistor value makes no difference in performance What is significant is the reduction in low speed heating of the motor and drive evident at the lower current setting The effect of series versus parallel operation at low and high power supply voltages is illustrated in Figure 11 page ...

Страница 25: ...ng 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 11 Parallel vs Series operation ...

Страница 26: ... voltage will result in unwanted motor and drive heating To prevent damage to the drive or motor the power supply voltage must not exceed twenty five times 25 1 the motor s nameplate voltage rating POWER SUPPLY CURRENT Power supply current is determined by the load applied to the motor the speed the motor is running and the value of the current set resistor The power supply current for a series co...

Страница 27: ...2 2 55 0 φ ω I Equation 8 Region 1 Current dissipation Series operation Note that the power dissipation is four times higher for the parallel configuration In Region 2 power dissipation may be calculated as follows R2 Parallel 2 3 55 0 φ ω I Equation 9 Region 2 Current dissipation Parallel operation R2 Series 2 6 55 0 φ ω I Equation 10 Region 2 Current dissipation Series operation Region 1 power d...

Страница 28: ... the step motor during the course of a normal move Figure 13 Torque vs rotor angle MOTOR LINEARITY Motor linearity is the relationship between the mechanical angle of shaft rotation and the electrical angle of the winding currents In an ideal motor this is directly proportional the application of sine cosine currents produces uniform shaft rotation and equally spaced microsteps Real motors exhibit...

Страница 29: ... not work well with another model of step motor The CN0165 may be ordered with different current profiles in the same drive The eight selections see Option Header page X14X may be any combination of current profiles and step resolutions provided the step resolutions are all selected from the same column of the Resolution Options Table on page X14X MOTOR SPEED TORQUE CURVES The following speed torq...

Страница 30: ... 185 190 190 186 181 176 171 165 2K 3K FULL STEPS PER SUPERIOR M093 FD14 TORQUE OZ IN POWER WATTS 4K 5K 6K 7K 8K 9K 10K 100 150 200 250 300 350 400 50 1K 0K 1K 2K 3K 4K 5K 6K 7K 8K 9K 10K 224 213 204 195 163 137 118 99 87 76 67 0 47 90 129 145 152 157 154 154 152 148 2K 3K FULL STEPS PER RAPIDSYN 34D 9214R TORQUE OZ IN POWER WATTS 4K 5K 6K 7K 8K 9K 10K 100 150 200 250 300 350 400 ...

Страница 31: ...3 72 92 106 126 133 152 2K 3K FULL STEPS PER WARNER SM 200 0125 BC TORQUE OZ IN POWER WATTS 4K 5K 6K 7K 8K 9K 10K 50 75 100 125 150 175 200 25 1K 0K 1K 2K 3K 4K 5K 6K 7K 8K 9K 10K 145 144 138 139 124 113 99 86 74 67 59 0 31 61 92 109 125 132 134 132 133 131 2K 3K FULL STEPS PER MAE MY200 2240 460A8 TORQUE OZ IN POWER WATTS 4K 5K 6K 7K 8K 9K 10K 50 75 100 125 150 175 200 ...

Страница 32: ... 122 134 133 134 133 129 130 127 2K 3K FULL STEPS PER MAE MY200 3437 400A8 TORQUE OZ IN POWER WATTS 4K 5K 6K 7K 8K 9K 10K 100 150 200 250 300 350 400 50 1K 0K 1K 2K 3K 4K 5K 6K 7K 8K 9K 10K 397 397 294 199 149 117 93 78 63 53 45 0 88 130 132 132 129 124 120 113 105 100 2K 3K FULL STEPS PER SUPERIOR M093 FD11 TORQUE OZ IN POWER WATTS 4K 5K 6K 7K 8K 9K 10K 100 150 200 250 300 350 400 ...

Страница 33: ...25 126 124 118 116 111 107 2K 3K FULL STEPS PER BODINE 34T3 2005 TORQUE OZ IN POWER WATTS 4K 5K 6K 7K 8K 9K 10K 100 150 200 250 300 350 400 50 1K 0K 1K 2K 3K 4K 5K 6K 7K 8K 9K 10K 397 397 269 188 135 107 87 73 60 51 43 0 88 119 125 120 119 116 113 107 102 96 2K 3K FULL STEPS PER JAPAN SERVO KP88M2 001 TORQUE OZ IN POWER WATTS 4K 5K 6K 7K 8K 9K 10K 100 150 200 250 300 350 400 ...

Страница 34: ... 0 51 94 103 107 108 107 104 102 99 96 2K 3K FULL STEPS PER RAPIDSYN 34D 9206A TORQUE OZ IN POWER WATTS 4K 5K 6K 7K 8K 9K 10K 100 150 200 250 300 350 400 25 1K 0K 1K 2K 3K 4K 5K 6K 7K 8K 9K 10K 46 39 36 35 39 43 46 47 49 48 49 0 8 16 23 35 48 62 73 87 96 108 2K 3K FULL STEPS PER VEXTA PH265 05 TORQUE OZ IN POWER WATTS 4K 5K 6K 7K 8K 9K 10K 50 75 100 125 150 175 200 ...

Страница 35: ...0 100 103 107 106 102 99 96 2K 3K FULL STEPS PER VEXTA PH296 01 TORQUE OZ IN POWER WATTS 4K 5K 6K 7K 8K 9K 10K 100 150 200 250 300 350 400 50 1K 0K 1K 2K 3K 4K 5K 6K 7K 8K 9K 10K 262 248 213 159 118 93 74 60 49 42 35 0 54 94 105 105 103 99 94 88 83 79 2K 3K FULL STEPS PER BODINE 34T2 2104 TORQUE OZ IN POWER WATTS 4K 5K 6K 7K 8K 9K 10K 100 150 200 250 300 350 400 ...

Страница 36: ...7 0 62 97 103 100 101 99 96 91 87 82 2K 3K FULL STEPS PER SUPERIOR M092 FD08 TORQUE OZ IN POWER WATTS 4K 5K 6K 7K 8K 9K 10K 100 150 200 250 300 350 400 25 1K 0K 1K 2K 3K 4K 5K 6K 7K 8K 9K 10K 74 70 65 65 67 68 64 60 54 49 44 0 15 29 43 59 76 86 94 96 97 98 2K 3K FULL STEPS PER SUPERIOR ME61FD 80083 TORQUE OZ IN POWER WATTS 4K 5K 6K 7K 8K 9K 10K 50 75 100 125 150 175 200 ...

Страница 37: ...0 47 87 95 96 95 93 89 85 83 82 2K 3K FULL STEPS PER JAPAN SERVO KPM8AM2 TORQUE OZ IN POWER WATTS 4K 5K 6K 7K 8K 9K 10K 100 150 200 250 300 350 400 25 1K 0K 1K 2K 3K 4K 5K 6K 7K 8K 9K 10K 78 75 70 71 71 73 67 60 53 46 40 0 16 31 47 63 81 89 94 95 93 89 2K 3K FULL STEPS PER VEXTA PH268 05 TORQUE OZ IN POWER WATTS 4K 5K 6K 7K 8K 9K 10K 50 75 100 125 150 175 200 ...

Страница 38: ... 37 0 28 54 78 87 91 93 91 88 87 82 2K 3K FULL STEPS PER SUPERIOR M091 FD09 TORQUE OZ IN POWER WATTS 4K 5K 6K 7K 8K 9K 10K 100 150 200 250 300 350 400 25 1K 0K 1K 2K 3K 4K 5K 6K 7K 8K 9K 10K 48 44 39 36 39 43 44 43 43 42 40 0 9 17 24 35 48 59 67 77 85 89 2K 3K FULL STEPS PER SUPERIOR M061 FD08 TORQUE OZ IN POWER WATTS 4K 5K 6K 7K 8K 9K 10K 50 75 100 125 150 175 200 ...

Страница 39: ... 57 80 89 85 87 83 82 74 67 2K 3K FULL STEPS PER RAPIDSYN 23D 6306 TORQUE OZ IN POWER WATTS 4K 5K 6K 7K 8K 9K 10K 50 75 100 125 150 175 200 50 1K 0K 1K 2K 3K 4K 5K 6K 7K 8K 9K 10K 146 140 134 109 87 70 57 48 40 34 29 0 31 59 72 77 77 76 74 71 68 65 2K 3K FULL STEPS PER RAPIDSYN 34 9601A TORQUE OZ IN POWER WATTS 4K 5K 6K 7K 8K 9K 10K 100 150 200 250 300 350 400 ...

Страница 40: ...0 29 55 65 67 70 68 67 63 62 65 2K 3K FULL STEPS PER SUPERIOR M091 FD 6006 TORQUE OZ IN POWER WATTS 4K 5K 6K 7K 8K 9K 10K 100 150 200 250 300 350 400 50 1K 0K 1K 2K 3K 4K 5K 6K 7K 8K 9K 10K 283 260 170 112 78 63 49 43 35 31 26 0 57 75 74 69 70 66 67 63 62 58 2K 3K FULL STEPS PER VEXTA PH299 01 TORQUE OZ IN POWER WATTS 4K 5K 6K 7K 8K 9K 10K 100 150 200 250 300 350 400 ...

Страница 41: ...1 41 53 57 56 55 54 52 49 46 2K 3K FULL STEPS PER RAPIDSYN 23D 6204 TORQUE OZ IN POWER WATTS 4K 5K 6K 7K 8K 9K 10K 50 75 100 125 150 175 200 25 1K 0K 1K 2K 3K 4K 5K 6K 7K 8K 9K 10K 99 95 88 67 53 42 34 28 24 21 17 0 21 39 45 46 47 45 44 42 41 39 2K 3K FULL STEPS PER SUPERIOR M062 FD04 TORQUE OZ IN POWER WATTS 4K 5K 6K 7K 8K 9K 10K 50 75 100 125 150 175 200 ...

Страница 42: ... 0 0 12 23 35 39 40 37 36 34 34 0 2K 3K FULL STEPS PER TORQUE OZ IN POWER WATTS 4K 5K 6K 7K 8K 9K 10K 50 75 100 125 150 175 200 WARNER SM 200 0080 B8 50 1K 0K 1K 2K 3K 4K 5K 6K 7K 8K 9K 10K 149 131 76 51 37 26 21 17 0 0 0 0 29 33 34 33 29 29 26 0 0 0 2K 3K FULL STEPS PER SUPERIOR M091 FD03 TORQUE OZ IN POWER WATTS 4K 5K 6K 7K 8K 9K 10K 100 150 200 250 300 350 400 ...

Страница 43: ... 0 12 24 31 32 31 30 29 0 0 0 2K 3K FULL STEPS PER RAPIDSYN 23D 6102 TORQUE OZ IN POWER WATTS 4K 5K 6K 7K 8K 9K 10K 50 75 100 125 150 175 200 25 1K 0K 1K 2K 3K 4K 5K 6K 7K 8K 9K 10K 63 59 50 35 28 21 17 0 0 0 0 0 13 22 23 24 23 23 0 0 0 0 2K 3K FULL STEPS PER SUPERIOR M061 FD02 TORQUE OZ IN POWER WATTS 4K 5K 6K 7K 8K 9K 10K 50 75 100 125 150 175 200 ...

Страница 44: ... 3 2mm 3 25 82 6mm 0 186 4 7mm 0 20 5 1mm 0 7 17 8mm PARALLEL SERIES WINDING CONFIGURATIONS 180 180 INTERNAL RESET FAULT LED 12V SEE CURRENT SET TABLE PARALLEL SERIES 25A 50A 75A 1 0A 1 5A 2 0A 2 5A 3 0A 3 5A 4 0A 4 5A 5 0A 5 5A 6 0A 6 5A 7 0A 7 5A 8 0A 8 5A 9 0A 9 5A 10 0A 0 5A 1 0A 1 5A 2 0A 3 0A 4 0A 5 0A 6 0A 7 0A 8 0A 9 0A 10 0A 11 0A 12 0A 13 0A 14 0A 15 0A 16 0A 17 0A 18 0A 19 0A 20 0A 1 2K...

Страница 45: ... mA Pulse width high 500 nSec Pulse width low 500 nSec Rise time Fall time Frequency 1 0 MHz Direction Input Logic 1 voltage 1 8 5 0 VDC Logic 0 current 3 20 mA MIN MAX UNITS ENVIRONMENTAL Operating temperature 20 75 C 4 167 F Humidity 0 100 Shock 100 G MIN MAX UNITS MECHANICAL Weight 17 19 oz 482 539 gram Mounting screw size 6 8 Terminal Screw Torque 4 5 lb in Size L x W x H 4 75 4 00 0 85 in 121...

Страница 46: ...mping 1 deceleration 4 16 18 24 diode 2 4 9 direction 10 Direction Input 1 10 41 distortion 15 24 dynamometer 25 E electrical angle 16 24 electrical tape 7 epoxy 1 erratic operation 6 error angle 24 external resistors 10 F fan 3 fault led 1 2 9 14 16 output 1 3 9 status 2 terminal 16 terminal 2 9 16 fault led 14 fault LED 9 Fault LED 1 2 16 filter capacitor 5 friction 19 full step location 14 full...

Страница 47: ...23 power supply1 2 4 5 7 9 10 15 16 18 20 22 23 25 power supply failure 1 R Rapidsyn 23D 6102 39 Rapidsyn 23D 6204 37 Rapidsyn 23D 6306 35 Rapidsyn 34 9601A 35 Rapidsyn 34D 9206A 30 Rapidsyn 34D 9214R 26 reset 9 16 resolution table 2 RFI 6 S series 4 series operation 6 7 19 20 23 shorting bars 2 14 speed power curves 25 speed torque curves 25 standby trimpot 2 15 step pulse 10 15 16 Step Pulse Inp...

Страница 48: ...P DRIVE 44 V Vexta PH265 05 30 Vexta PH268 05 33 Vexta PH296 01 31 Vexta PH299 01 36 vibration 12 15 16 17 viscous 1 W Warner SM 200 0080 B8 38 Warner SM 200 0125 BC 27 winding configuration 19 23 wire gauge 3 Z zener diode 4 ...

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