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Yueqing Ann Electric Co.,Ltd
Tel: +86 577 61787199
Fax: +86 577 61787199
Add: Number 97,Zhen Bei West
Road,Qiligang Town,
YueQing,Zhengjiang,China
E-mail: ann@annelectric.com
Website: www.annelectric.com
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1. Introduction,Features and Applications
Introduction
The SD-2H086MB is an economical microstepping driver based on patented technology of ANN .It is suitable for driving 2-phase 4-phase hybrid stepping motors .By using the advanced bipolar constant-current shopping technique ,it can output more speed and torque from the same motor,compared with traditional drivers ,such as L/R drivers .Its 3-state current control technology allows coil currents to be well controlled and with relatively small current ripple,therefore less motor heating is achieved.
Features
2. Pin Assignment and Description��Low cost and good high-speed torque
��14 selectable resolutions ��Supply voltage up to +80VD ��Suitable for-2-phase and 4-phase motors ��Output current up to 5.86A ��Dip switch current setting 8different values ��Optically isolated input signals ��Pulse frequency up to 200KHz ��Automatic idle-current reduction ��Small size (107*97*48),Weight:1KG
The SD-2H086MB has two connectors ,P1for control signals connections,and connector P2 for power and motor connections .The following tables are brief descriptions of the two connectors of the SD-2H086MB.More Detailed descriptions of the pins and related issues are presented in section 7,8,9.
Connector P1 Configurations
Pin Function
Details PUL +,PUL- Pulse signal:In single pulse (pulse/direction)mode,this input represents pulse signal,effective for each rising or falling edge;4-5V when PUL-HIGH,0-0.5V when PUL-LOW.For reliable response ,pulse width should be longer than 5��s.Series connect resistors for current limiting when +12V or +24V used.
DIR+,DIR- DIR signal:In pulse mode,this signal has low/high voltage levels,representing two directions of motor rotation;For reliable motion response,DIR signal should be ahead of PUL signal by 5��s at least.4-5V when DIR-HIGH, 0-0.5V when DIR-LOW. ENA+
Enable signal:This signal is used for enabling/disabling the driver.High level for enabling the driver and low level for disabling the driver. ENA- Usually left unconnected (enabled)
Connector P2 Configurations
Pin Function
Details Gnd DC power ground +V DC power supply,20-80VDC,Including voltage fluctuation and EMF voltage A+,A- Motor Phase A B+ B-, Motor Phase B
3.Specifications and Operating Environment
Electrical Specifications (Tj=25��
Paraneters SD-2H086MB Min Typical Max Unit Output current 1.29 - 5.86(rms) A Supply voltage((DC) 20 68 80 VDC Logic signal current 6 10 30 mA Pulse input freauency 0 - 200 KHz Isolation resistance 500 M��
4.Operating Environment and other Specifications
Cooling
Natural Cooling or Forced cooling Operating Environment Environment Avoid dust,oil fog and corrosive gases Ambient Temperature 0��-50�� Humidity 40%RH-90%RH Operating Temperature 70��Max Vibration 5.9m/s2Max Storage Temperature -20��-65�� Weight Approx 1000 gram(35.4oz)
5.Applications
Suitable for a wide range of stepping motors from Nema size to ,It can be used in various kinds of machines ,such as tables ,labeling machines ,laser cutters,engraving machines,pick-place devices ,and so on .Particularly adapt to the applications desired with low vibration,high speed and high precision.
6.Selecting Supply Voltage
The power MOSEFTS inside the SD-2H086MB can actually operate within20V�D+80VDC
,including power input fluctuation and back EMF voltage generated by motor coils during motor shaft deceleration.Higher 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 driver damage .Therefore,it is suggested to choose only sufficiently high supply voltage for intended applications,and it is suggested go use power supplies with theoretical output voltage of +20V~+80V,leaving room for power fluctuation and back-EMF.
7.Selecting Microstep Resolution and Driver Output Current
This driver uses an 8-bit DIP switch to set microstep resolution.and motor operating current,as shown below:
7.1Microstep Resolution Selection
Microstep resolution is set by SW 5,6,7,8 of the DIP switch as shown in the following table:
7.2Current SettingsSteps/rev.(for 1.8��motor)
SW5 SW6 SW7 SW8 400 On On On On 500 Off On On On 600 On Off On On 800 Off Off On On 1000 On On Off On 1200 Off On Off On 1600 On Off Off On 2000 Off Off Off On 2400 On On On Off 3200 Off On On Off 4000 On Off On Off 5000 Off Off On Off 6000 On On Off Off 6400 Off On Off Off 8000 On Off Off Off 10000 Off Off Off Off
For a given motor,higher driver current will make the motor to output more torque,but at the same time causes more heating in the motor and driver .Therefore,output current is generally set to be such that the motor will not overheat for long time operation .Since parallel and serial connections of motor coils will significantly change resulting inductance and resistance,it is therefore important to set driver output current ratintg supplied by motor phase and connection methods.Phase current rating supplied by motor manufacturer is important in selecting driver current ,however the selection also depends on leads and connections.
The first three bits (SW 1,2,3)of the DIP switch are used to set the dynamic current.Select a setting
Closest to your motor��s required current
Dynamic Current Setting
RMS current (A)
SW1 SW2 SW3 1.29A off off off 1.93A on off off 2.57A off on off 3.29A on on off 3.93A off off on 4.57A on off on 5.27A off on on 5.86A on on on
Notes:Due to motor inductance,the actual current in the coil may be samller than the dymamic current setting,particularly under high speed condition..
7.3Standstill Current Setting
SW4 is used for this purpose.OFF meaning that the standstill current is set to be half of the selected dynamic current,and ON meaning that standstill is set to be the same as the selected dynamic current.
The current automatically reduced to 60% of the selected dynamic current 0.4 second after the last pulse.Theoretically,this will reduce motor heating to 36%(due to P=12*R)of the original value .If the application needs a different standstill current,please contact He Tai.
8.Wiring Notes
��In order to improve anti-interference performance of the driver,it is recommended to use twisted pair shield cable.
��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,system instalility and other failures.
��If a power supply serves several drivers,separately connecting the drivers is recommended instead of daisy-chaining.
��It is prohibited to pull and plug connector P2 while the driver is powered ON. Because there is high current flowing through motor coils(even when motor is at standstill ). Pulling or pullgging connector P2 with power on will cause extremely high back-EMF voltage surge, which may damage the driver.
9.Seauence Chart of Conrtol Signals
In order to avoid some fault operations and deviations.PUL,DIR and ENA signals must abide by some rules ,as shown in the following diagram(assuming J1 default setting is upward-rising edge effective):
Figure1:Sequence chart of control signals
10.Control Signal Connector(p1) Interface
The SD-2H086MB can accept differential and single-ended input signals (including open-collector and PNP output). The SD-2H086MB has 3 optically logic inputs which are located on connector P1 to accept line driver control signals .These inputs are isolated to minimize electrical noises coupled onto the drive control signals.Recommend use line driver control signals to increase noise immunity of the driver in interference environments.In the following figures,connections to open-collector and PNP signals are illustrated.
Figuer 5:Mechanical specifications
*Recommended to use side mounting better heat dissipation
12.Connecting the Motor
The SD-2H086MB driver can drive any 2-pahse and 4-pahse by brid stepping motors.
Connections to 4-leda Motors
4 lead motors are the least flexible but eadiest to wire.Speed and torque will depend on winding inductance.In setting the driver output current,multiply the specified current by 1.4 to determine the pack output current.
Figure5:4-lead motor connections
Connections to 6-lead Motors
Like 8 lead stepping motors ,6 lead motors have two configurations a 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 lower torque..Like the parallel connection of 8 lead motor,the torque output will be more stable at higher speeds.This configuration is also referred to as half chopper.In setting the driver output current multiply the specified per phase(or unipolar)current rating by 1.4 to determine the peak output current.
Figure7:6-lead motor full coil (higher torque) connections
Connections to 8-lead Motors
8 lead motors offer a high degree of flexibility to the system designer in that may be connected in series or parallel,thus satisfying a wide range of applications.
Series Connections
A Series motor configuration would ty pically be used in applications where a higher torque at lower speeds is reauired.Because this configuration has the most inductance,the performance will start to degrade an higher speeds.In series mode,the motors should also be run at only 70% of their rated current to prevent over heating
Figure 8:8-lead motorconnections
Parallel Connections
An 8 lead motor in a parallel configuration offers a more stale.but lower torque at lower speeds.But because of the lower inductance,there will be higher torque at higher speeds.Multiply the per phase (or unipolar)current rating by 1.96,or the bipolar current by 1.4,to determine the peak output current.
Figure 9:8-lead motor parallel connections
13.Power Supply Selection
The SD-2H086MB can match medium and small size stepping motors(from Nema size 17 to 34)made by He Tai or other motor manufactures around the world.To achieve good driving performances,it is important to select supply voltate and output current properly.Generally speaking,supply voltage determines the high speed performance of the motor,while output current determines the output torque of the driven motor (particularly at lower speed ).higher supply voltate will allow higher motor speed to be achieved,at the price of more noise and heating.If the motion speed requirement is low,it��s better to use lower supply voltage to decrease noise ,heating and improve reliability.
Regulated or Unregulated Power SupplyIn figure ��
TX1 is transformer�� VDC+��1.414��Vout��power of transformer based on current of load.C1 is ��example ��100V/2200uF��C2 example��400V/0.22 uF��D1 based on current of load or output supply voltage
Both regulated and unregulated powr supplies can be used to supply the driver.However.unregulated power supplies are perferrde due to rheir ahility to withstand current surge.If regulated power supplies (such as most switching supplies.)are indeed used,it is important to havv large current output rating to avoid problems like current clamp,for example using 4A supply for 3A motor-driver operation.On the other hand ,if unregulated supply is used ,one may use a power supply of lower current rating than that of motor (typically50%~70%of motor current).The reason is that the driver draws current from the power supply capacitor of the unrrgulated supply only during the ON duration of the PWM cycle,but not during the OFF duration.Therefore, the average current withdrawn from power supply is considerably less than motor current,For example,two 3A motors can be well suppied by one power supply of 4A rating.
Multiple Drivers
It is recommended to have multiple drivers to share one power supply to reduce cost,if the supply has enough capacity.To avoid cross interference,DO NOT daisy-chain the power supply input pins of the drivers.(Instead,please connect them to power supply separately.)
14.Protection Functions
To improve reliability,the driver incorporates some built-in protections features.
15.Over-voltage Protection
When power supply voltage exceeds +85VDC,portetion will be activated and power indicator LED will turn red.
Coil-ground Short Circuit Protection
Protection will be activated in case of short circuit between motor coil and ground.
Attention:Since there is no protection against power leads(+,-)reversal,it is critical to make sure that power supply leads correctly connected to the driver .Otherwise,the driver will be damaged instantly.When power supply voltage is lower than +20VDC,the driver will not works properly.
16.Ferquently Asked Questions
In the event that your SD-2H086MB doesn��t operate properly,the first is to identify whether the problem is electrical or 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 document each step in the troubleshooting process.You may need this documentation to refer back to at a later date.and these details will greatly assist our Technical Support staff in determining the problem should you need assistance.
Many of the problems that affect motion control systems can be traced to electrical noise,controller software errors,or mistake in wiring.
17.APPENDIX
Twelve Month Limited Warranty
HE TAI Motor and Electriacl limited Comping .warrants its products against defects in materials and workmanship for a period of 12 months from shipment out of factory .During the warranty period,HE TAI will either ,at is option,repair or replace products which proved to be defective.
Exclusions
The above warranty does not extend to any product damaged by reasons of improper or inadequate handlings by customer ,improper or inadequate customer wirings ,unauthorized modification or misuse .or operation beyond the electrical sepeifications of the product and/or operation beyond environmental specifications for the product.
Obtaining Warranty Service
To obtain warranty service,a returned material authorization number(RMA)must be obtained from customer servict at e-mail:info@ht-motor.com befor returning product for service.Customer shall prepay shipping charges for products returned to HE TAI for warranty service,and HE TAI shall pay for return of products to customer.
Warranty Limitations
HE TAI makes mo other warranty ,either expressed or implied,with respect to the product.HE TAI specifically disclaims the implied warranties of merchantalbility and fitness for a particular purpose.Some jurisdictions do not allow limitations on how long and implied warranty lasts .so the above limitation or exclusion may to apply to you ,However,any implied warranty of merchantability or fitness is limited to the12-month duration of this written warranty.