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DMD870 Digital Stepper Drive User’s Manual

Motion Control Products Ltd.

P a g e

| 2 3

www.motioncontrolproduts.com

Ki: Integral Gain. Integral Gain helps the Drive to overcome static current errors. A low or
zero value for the Integral Gain may have current errors at rest. Increasing the Integral Gain
can reduce the error. If the Integral Gain is too large, the systems may “hunt” (oscillate)
about the desired position.

Start button: The user can start a Step Response test by clicking this button. Start/Restart a
Step Response test to get an optimum response like Figure 12, and remember to save the
settings to the Drive when finish tuning. See Figure 14.

Figure 13: Kp=543, Ki=0 (poor performances)

Figure 14: Finish tuning and save setting to the drive

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Содержание DMD870

Страница 1: ...User s Manual For DMD870 Digital Stepper Drive V2 0 20180926 March 2018 Motion Control Products Ltd Innovative products for Automation Industry Tel 44 01202 599922 ...

Страница 2: ...ights of others Motion Control Product s general policy does not recommend the use of its products in life support or aircraft applications wherein a failure or malfunction of the product may directly threaten life or injury According to Motion Control Product s terms and conditions of sales the user of Motion Control Product s products in life support or aircraft applications assumes all risks of...

Страница 3: ...ronics and mechanics Contact us if there is any question about the products or this manual Make sure the power supply voltage does not exceed the drive s input range Double check the connections and make sure the power lead polarity is correct Disconnect the motor from the load if you are not sure the move direction Adjust the axis in the middle before trying to run the motor Do NOT set high curre...

Страница 4: ... 3 Elimination of Heat 3 3 CONNECTORS AND PIN ASSIGNMENT 4 Connector P1 Configurations 4 Selecting Active Pulse Edge and Control Signal Mode 5 Connector P2 Configurations 5 4 CONTROL SIGNAL CONNECTOR P1 INTERFACE 6 5 CONNECTING THE MOTOR 7 4 lead Motors Connections 7 6 lead Motors Connections 7 Half Coil Configurations 7 Full Coil Configurations 8 Connections to 8 lead Motors 8 6 POWER SUPPLY CONN...

Страница 5: ...N 14 10 SEQUENCE CHART OF CONTROL SIGNALS 15 11 PROTECTION FUCTIONS 16 Over current Protection 16 Over voltage Protection 16 Phase Error Protection 16 Protection Indications 17 12 FREQUENTLY ASKED QUESTIONS 17 Problem Symptoms and Possible Causes 18 13 TUNING SOFTWARE PROTUNER 19 Introduction 19 Connections and Testing 19 RS232 Interface Connection 20 Testing the Stepper System 21 How to use the s...

Страница 6: ...on Control Products Ltd Tel 44 01202 599922 Procedure for Achieving Optimum Performance 27 Err_check 28 About 29 APPENDIX 30 Twelve Month Limited Warranty 30 Exclusions 30 Shipping Failed Product Obtaining Warranty Service 30 Warranty Limitations 30 ...

Страница 7: ...speed smoothness Compared to the DMD432 DM432C broader input voltage and output current ranges make DMD870 being able to drive much more motors from size NEMA 17 to NEMA 34 What s more thanks to its higher performance DSP driven motors can achieve much higher speed above 3000RPM offering servo like performances DMD870 stepper drive is regarded as an improved model originally from DMD556 while supp...

Страница 8: ...rformances 2 SPECIFICATIONS Electronic Specification Tj 25 77 Parameters DMD870 Minimum Typical Maximum Output current A 0 5 7 5 5 0RMS Input voltage VDC 24 48 72 Logic signal current mA 7 10 16 Pulse input frequency kHz 0 200 Isolation resistance MΩ 500 Operating Environment Cooling Natural Cooling or Forced cooling Operating Environment Environment Avoid dust oil fog and corrosive gases Ambient ...

Страница 9: ...t sink should be 70 C 158 F and motor working temperature surface should be 80 C 176 F It is recommended to use automatic idle current mode namely current automatically reduce to 60 when motor stops so as to reduce driver heating and motor heating The drive must be mounted vertically to maximise heat sink area as shown in the following picture Use forced cooling method to cool the system if necess...

Страница 10: ...se signal In single pulse pulse direction mode this input represents pulse signal each rising or falling active edge software configurable 4 5V when PUL HIGH 0 0 5V when PUL LOW In double pulse mode pulse pulse this input represents clockwise CW pulse active both at high level and low level software configurable For reliable response the pulse width should be longer than 2 5μs Series connect resis...

Страница 11: ...wires for a coil to the Drive will reverse motion direction ENA ENA Enable signal This signal is used for enabling disabling the drive High level for enabling drive NPN control signal PNP and Differential control signals are on the contrary namely Low level for enabling and low level for disabling drive Usually left UNCONNECTED ENABLED Selecting Active Pulse Edge and Control Signal Mode DMD870 ste...

Страница 12: ...ts which are located on connector P1 to accept line Drive control signals These inputs are isolated to minimize or eliminate electrical noises coupled onto the drive control signals Recommend use line Drive control signals to increase noise immunity of the Drive in interference environments In the following figures connections to open collector and PNP signals are illustrated Figure 1 Connections ...

Страница 13: ...ations available for high speed or high torque operation The higher speed configuration or half coil is so described because it uses one half of the motor s inductor windings The higher torque configuration or full coil uses the full windings of the phases Half Coil Configurations As previously stated the half coil configuration uses 50 of the motor phase windings This gives lower inductance hence...

Страница 14: ...ted in series or parallel thus satisfying a wide range of applications Series Connections A series motor configuration would typically be used in applications where a higher torque at lower speeds is required Because this configuration has the most inductance the performance will start to degrade at higher speeds In series mode the motors should also be run at only 70 of their rated current to pre...

Страница 15: ... better to use lower supply voltage to decrease noise heating and improve reliability Note MEANWELL DRP 240 24 24VDC 240Watt power supply must be selected in order to make the whole system comply with UL standards for safety Regulated or Unregulated Power Supply Both regulated and unregulated power supplies can be used to supply the Drive However unregulated power supplies are preferred due to the...

Страница 16: ...r supply voltage can increase motor torque at higher speeds thus helpful for avoiding losing steps However higher voltage may cause bigger motor vibration at lower speed and it may also cause over voltage protection or even the drive damage Therefore it is suggested to choose only sufficiently high supply voltage for intended applications and it is suggested to use power supplies with theoretical ...

Страница 17: ...in the following table Microstep Steps rev for 1 8 motor SW5 SW6 SW7 SW8 1 to 512 Default Software configured ON ON ON ON 2 400 OFF ON ON ON 4 800 ON OFF ON ON 8 1600 OFF OFF ON ON 16 3200 ON ON OFF ON 32 6400 OFF ON OFF ON 64 12800 ON OFF OFF ON 128 25600 OFF OFF OFF ON 5 1000 ON ON ON OFF 10 2000 OFF ON ON OFF 20 4000 ON OFF ON OFF 25 5000 OFF OFF ON OFF 40 8000 ON ON OFF OFF 50 10000 OFF ON OFF...

Страница 18: ...t motor leads and connection methods Phase current rating supplied by motor manufacturer is important in selecting Drive current however the selection also depends on leads and connections When it s not in software configured mode the first three bits SW1 2 3 of the DIP switch are used to set the dynamic current Select a setting closest to your motor s required current Dynamic current setting Peak...

Страница 19: ...o improve anti interference performance of the Drive it is recommended to use twisted pair shield cable To prevent noise incurred in PUL DIR signal pulse direction signal wires and motor wires should not be tied up together It is better to separate them by at least 10 cm otherwise the disturbing signals generated by motor will easily disturb pulse direction signals causing motor position error sys...

Страница 20: ...l Products Ltd P a g e 14 Tel 44 01202 599922 9 TYPICAL CONNECTION A complete stepping system should include stepping motor stepping Drive power supply and controller pulse generator A typical connection is shown as figure 8 Figure 8 Typical connection DRIVE ...

Страница 21: ...DIR and ENA should abide by some rules shown as following diagram Figure 9 Sequence chart of control signals Remark a t1 ENA must be ahead of DIR by at least 5μs Usually ENA and ENA are NC not connected See Connector P1 Configurations for more information b t2 DIR must be ahead of PUL active edge by 5μs to ensure correct direction c t3 Pulse width not less than 2 5μs d t4 Low level width not less ...

Страница 22: ...e activated when continuous current exceeds 16A or in case of short circuit between motor coils or between motor coil and ground and RED LED will turn on once within each periodic time 3s Over voltage Protection When power supply voltage exceeds 91 1 VDC protection will be activated and RED LED will turn on twice within each periodic time 3s Phase Error Protection Motor power lines wrong not conne...

Страница 23: ...mechanical in nature The next step is to isolate the system component that is causing the problem As part of this process you may have to disconnect the individual components that make up your system and verify that they operate independently It is important to document each step in the troubleshooting process You may need this documentation to refer back to at a later date and these details will ...

Страница 24: ...onnected in reverse The drive in fault DIP switch current setting is wrong Motor coil problems motor problem Erratic motor motion Control signal is too weak Control signal is interfered Wrong motor connection Motor coil problems Current setting is too small losing steps Motor stalls during acceleration Current setting is too small Motor is undersized for the application Acceleration is set too hig...

Страница 25: ...NT Windows 2000 Windows XP And the selected PC should have at least 1 serial port to communicate with the drive Connections and Testing Connect the stepping system according to the contents in previous sections and connect the PC to the Drive as the following figure How to Install ProTuner Double click ProTuner_All_Setup_V1 0 exe to begin the ProTuner Click Next to enter the License Agreement wind...

Страница 26: ...10 RS232 interface connection RS232 Communication Connector RJ11 Connector Pin Signal Description I O 1 NC Not connected 2 5V leave it unconnected when connect to a PC serial port 5V power only for STU O 3 TxD RS232 transmit O 4 GND Ground GND 5 RxD RS232 receive I 6 NC Not connected Below diagram is the cable connection to a PC serial port Male DB9 ...

Страница 27: ...s Phase Error check the motor motor wirings and try again If it still doesn t work after you followed all of the previous steps please contact our technical team enquiries motioncontrolproducts com for the support If the RED LED is off and the motor is normal you can start to tune the drive and motor system with ProTuner However we recommend the users to read the following contents before starting...

Страница 28: ...he menu bar Tuning The user can choose one or two drop down menu s by clicking Tuning including CurrentLoop and SystemConfig CurrentLoop In Current Tuning window the user can tune the Kp Proportional Gain and Ki Integral Gain of Drive s current loop to optimise responses with different motors Start Restart a Step Response test to get an optimum response Kp Proportional Gain Proportional Gain deter...

Страница 29: ...Increasing the Integral Gain can reduce the error If the Integral Gain is too large the systems may hunt oscillate about the desired position Start button The user can start a Step Response test by clicking this button Start Restart a Step Response test to get an optimum response like Figure 12 and remember to save the settings to the Drive when finish tuning See Figure 14 Figure 13 Kp 543 Ki 0 po...

Страница 30: ...ace manually tuning the drive with ProTuner Just change SW4 two times in 1 second and then the drive will auto identify the new motor and auto configure related control parameters for optimum responses Recommend to use this function after changing the driven motor SystemConfig In SystemConfig window the user can configure Peak Current Microstep Command Type Active Edge and eliminate motor resonanc...

Страница 31: ...is 3000 CommandType Command Type of control signal including PUL DIR and CW CCW Set this parameter according to Command Type of motion controller ActiveEdge Active Edge The user can set the triggered edge of pulse command signal in this panel When the Drive works in CW CCW mode no matter what level is at fixed level terminal the Drive can works properly DirectionDef Direction Definition Relate the...

Страница 32: ...ually between 0 6rps and 1 2rps Amp1 is Amplitude adjustment for 1st resonance area Phase1 is Phase adjustment for 1st resonance area The user can enter a value directly in the text box or move the slider bar back and forth to get an optimum value 2nd Resonance Area Parameters for 2nd resonance area Usually between 1 2rps and 2 4rps Default Amp2 and Phase2 values are zero 3rd Resonance Area Parame...

Страница 33: ...and forth See Figure 16 Figure 16 Anti resonance tuning Step 2 Run the motor at the resonance speed and verify the motor smoothness You may find a better smoothing value by slightly moving the slider bars of AMP s and Phase s back and forth It is very important to make the AMP s and Phase s adjustments at the proper test speeds with an unloaded motor Running at an incorrect test speed will not exc...

Страница 34: ...final parameter settings to the Drive when finish tuning See Figure 17 Figure 17 Finishing tuning and download parameter settings to the Drive Err_check Error Check This window shows both the present status of each error event and their history Current error event s can be reset by clicking Erase Current Err button and all error events can be reset by clicking Erase All button List of the last ten...

Страница 35: ...tection Motor power lines wrong not connected will activate this protection ErrCounter Displays current error s and current error history Erase Current Err Erase Current Err button The user can clear current error s by clicking this button Erase All Erase All button The user can clear all error s including error history by clicking this button About The user can choose two drop down menus by click...

Страница 36: ...lproducts com pages returns php before returning the product for service Please include a written description of the problem along with contact name and address Customer shall prepay shipping charges returned to Motion Control Products for warranty service and Motion Control Products shall pay for return of products to the customer providing the fault is not customer caused Send the failed product...

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