Faulhaber PRECIstep AD CM M1S Manual de usuario

Stepper Motor DRIVER

Constant Current Mode

USER MANUAL

AD CM M1S

AD CM M2S

AD CM M3S

User manual AD CM M

Page 2 of 20

Release tracking

File Description Date

V4900UM240904_CD first tracked version 24.09.2004

V4900UM240205_DC Release with new product 24.02.2005

V4900UM051005_CD Updated PIN-out info and safety notice 05.10.2005

V4900UM241105_CD-R1 Correction of optional cable part number 24.11.2005

V4900UM161205_CD-R2 Correction of suitable motors 16.12.2005

V4900UM210706_CD-R3 Protection rating added, M2.5 screw correction 21.07.2006

V4900UM080408_CD-R4 Name Update Precistep 08.04.2008

V4900UM160311_CD-R5 Update of complete user manual 16.03.2011

Product denomination key

Typical Product type AD CM M1S

AD Driver product category

C Constant Current driver

M Mode

M1 Function Mode

M1= Pulse + direction drive, external control

M2= Speed control drive w/o speed ramp (non-standard)

M3= Speed control drive with speed ramp

S External connection type

S = Screw type for all connectors

Support

You may inquire with your questions about the software or the driver by e-mail or directly with your sales office. It is in

any case helpful to include the files you try to work with as well.

The e-mail contact address is:

[email protected]

User manual AD CM M

Page 3 of 20

Contents

1.GENERALINFORMATION.........................................................................................................................................................................................4

1.1PRODUCTDESCRIPTION......................................................................................................................................................4

1.1.1Availableversions........................................................................................................................................................5

1.2TECHNICALSPECIFICATIONS.................................................................................................................................................5

1.3PROTECTIONOFINPUTSANDOUTPUTS..................................................................................................................................6

1.4SUITABLEPRECISTEPMOTORS..........................................................................................................................................7

1.5DIMENSIONSANDMOUNTING..............................................................................................................................................8

2SET‐UPANDINSTALLATIONOFADCMM1S.............................................................................................................................................................9

2.1BLOCKDIAGRAM...............................................................................................................................................................9

2.2LOCATIONOFCOMPONENTS...............................................................................................................................................9

2.3CONNECTIONOFTHEDRIVES...............................................................................................................................................9

2.3.1COMMANDconnector................................................................................................................................................10

2.3.2Switchforoperationmode.........................................................................................................................................12

2.3.3LEDbusy(nearCOMMANDconnector)......................................................................................................................12

2.3.4MotorA/PowerSupply+Motor................................................................................................................................13

2.3.5Currentsetting,rotaryswitch(potentiometer).........................................................................................................13

3SET‐UPOFTHEADCMM2S...................................................................................................................................................................................14

3.1BLOCKDIAGRAM.............................................................................................................................................................14

3.2LOCATIONOFCOMPONENTS.............................................................................................................................................14

3.3ADJUSTMENTOFTHESPEED,FMINPOTENTIOMETER.............................................................................................................14

3.4OPERATIONOFTHEADCMM2........................................................................................................................................15

3.4.1JumperADJ=Adjust...................................................................................................................................................15

3.4.2JumperVCO=VoltageControlledOscillator..............................................................................................................15

3.4.4JumperCK=Clock......................................................................................................................................................15

4SET‐UPOFTHEADCMM3S...................................................................................................................................................................................16

4.1BLOCKDIAGRAM.............................................................................................................................................................16

4.2LOCATIONOFCOMPONENTS.............................................................................................................................................16

4.3ADJUSTMENTOFTHESPEEDPROFILE..................................................................................................................................16

4.3.1FMINpotentiometer..................................................................................................................................................17

4.3.2FMAXpotentiometer.................................................................................................................................................17

4.3.3ACCandDECAdjustment...........................................................................................................................................17

4.4OPERATIONOFTHEADCMM3S......................................................................................................................................18

4.4.1Switches/buttonsRUNandSTOP...............................................................................................................................18

4.4.2JumperADJ=Adjust...................................................................................................................................................18

4.4.3JumperVCO=VoltageControlledOscillator..............................................................................................................19

4.4.4JumperCK=Clock......................................................................................................................................................19

5SPECIALNOTES......................................................................................................................................................................................................20

5.1PULL‐UPRESISTOR...........................................................................................................................................................20



User manual AD CM M

Page 4 of 20

1. General Information

1.1 Product Description

The main interest of the use of a current mode driver such as the AD CM models is the current control

independent from the supply voltage (chopper). This allows to apply a much higher voltage than needed to

drive the current without risk of overheat.

It leads to a more constant torque output of the motor and increases the maximal speed plus gives the

possibility to boost the current if necessary.

The drivers AD CM M_S are specifically designed to control the phase current in current mode operation of

PRECIstep two phases stepper motors.

They offer:

•Full- and half-step operation

•Current control (preset currents – 16 levels of 50mA each)

•BOOST – current increase to 135% of set current level

•One-phase ON, two-phase ON operation (switch selection)

•STANDBY – activate or deactivate phase current to save energy

•INHIBIT – activate or deactivate phase current to save energy

•DISABLE- current is set to zero (windings open/shorted)

•STANDBY – current decay to 37% of set current level

Safety Note

DO NOT

Connect motor phase outputs A+, A-, B+, B- to positive supply

voltage input V+.

This will cause fatal damage to the driver.

AVOID

Connecting and disconnecting the motor from the driver while it

is powered on.

User manual AD CM M

Page 5 of 20

1.1.1 Available versions

The AD CM M_S is available in three different versions

1) AD CM M1S (Standard stock item)

Basic driver, requiring only clock and direction signals, it is destined to be controlled by a PC

or any other host. A switch on the board enable the user to choose manually between one

phase-on or two phase-on mode, clockwise or counter clockwise rotation and full or half

step operation.

It is able to control the position of the rotor shaft. Note that any speed profile can be

obtained depending on the host used for controlling the driver.

Please refer also to the “Product Block Diagram” in chapter 2.1.

2) AD CM M2S (Non-Standard – available on request only)

Basic drive AD CM M1S including a plug-in board with a pulse generator to run a stepper

motor at a fixed speed. The speed is set manually with a potentiometer.

This version is good for speed control in start-stop mode (pull-in) operation.

Unplugging the blue jumpers will transform the unit into the AD CM M1S.

Typical speed profile possible with this driver:

Please refer also to the “Product Block Diagram” in chapter 3.1.

3) AD CM M3S (Standard stock item)

Basic drive AD CM M1S including a plug-in board with a pulse generator to run a stepper

motor with a trapezoidal speed profile starting/stopping at a given frequency. The

start/stop frequency, maximum frequency, acceleration/deceleration time can be set

manually with potentiometers.

This is a standalone stepper motor controller mainly used for bench tests or demonstrators.

Unplugging the blue jumpers will transform the unit into the AD CM M1S.

Typical speed profile possible with this driver:

Please refer also to the “Product Block Diagram” in chapter 4.1.

1.2 Technical Specifications

As the AD CM M_S is a Current Mode Driver, the current level is preset by on-board switches with steps of

50mA.

User manual AD CM M

Page 6 of 20

It is designed to drive the small stepper motors in full step or half step, one phase-on or two phase-on,

clockwise or counter clockwise.

AD CM M1S AD CM M2 AD CM M3S

Power supply voltage Min

Max

V 10

Power supply current mA 13

Motor Output current max. mA 750

Output current setting 0...15

mA Can be set in 16 steps of 50mA

from 0 to 750mA

Logic input level low

high

V 0 to 0.6 (+10% max)

1.6 to 24

Direction of rotation cw/ccw

Step mode full step (one phase ON or two phase ON)

half step (one phase ON)

Step frequency (speed) Min

max.

full

step/s

---

10*

6000

10*

6000

Dimensions mm 83.2x53.5x12 83.2x53.5x21 83.2x53.5x21

* If using the internal clock generator

1.3 Protection of Inputs and Outputs

The AD CM M_S versions are offering increased protection levels for the inputs and outputs as presented in the

list below.

Driver output short-circuit AD CM M_S

Driver OUT versus GND ☺ protected

Driver OUT versus V+  not protected

Driver OUT versus Pin 1-2 ☺ protected

Driver OUT versus Pin 1-3 ☺ protected

Driver OUT versus Pin 1-4 ☺ protected

Driver OUT versus Pin 2-3 ☺ protected

Driver OUT versus Pin 2-4 ☺ protected

Driver OUT versus Pin 3-4 ☺ protected

Protection on COMMAND AD CM M_S

Inputs versus V+ ☺ protected

Inputs versus GND ☺ protected

Outputs versus V+  not protected

Outputs versus GND ☺ protected

Pin +5V versus GND  not protected

Note

If one of the non protected events occurs, the driver will be damaged.

User manual AD CM M

Page 7 of 20

1.4 Suitable PRECISTEP Motors

The driver of the series AD CM M_S is specifically suitable for motors with windings designed for constant

current control.

Motor Type Winding Current setting

(switch position)

Voltage setting

(recommended)

AM0820 V-3-18 3 16 V

AM1020 A-0,25-8 5 12 V

ADM1220(S) V2 6 10 V

ADM1220(S) V3 4 15.5 V

AM1524 A-0,25-12,5 5 18.5 V

AM1524 A-0,45-3,6 9 10 V

AM1524 V-6-35 3 27 V

AM2224(-R3) AV-4,8 10 14.5 V

AM2224(-R3) AV-18 5 27 V

For other stepper motors, the current control mode is possible but not optimal.

Motor Type Winding Current setting

(switch position)

Voltage setting

(recommended)

Notes

ADM0620 V3 1 10 V 33% torque reduction

ADM0620 V6 - - Definitely not recommended for current mode

AM0820 V-5-56 1 17 V 38% torque reduction

AM0820 A-0,225-7 4 10 V 12% torque reduction

AM1020 V-3-16 3 14.5 V 17% torque reduction

AM1020 V-6-65 1 19.5 V 45% torque reduction

AM1020 V-12-250 - - Definitely not recommended for current mode

ADM1220(S) V6 1 14.5 V 45% torque reduction

ADM1220(S) V12 - - Definitely not recommended for current mode

AM1524 V-12-150 - - Definitely not recommended for current mode

AM2224(-R3) AV-0,9 15 (max) 10 V 35% torque reduction

AM2224(-R3) AV-12-75 - - Definitely not recommended for current mode

Notes

•The settings of the second table use a lower current than the nominal current recommended in the

datasheet (that is why torque is reduced in most cases). It is possible to set a higher current but the

temperature may rise very quickly causing irreversible damages to the motor.

•It is often possible to set the current to a close matching value by using the boost function. The idea is

then to set the current to a lower value and increase it up to 135% by using the PIN7 of the COMMAND

connector (see section 2.3.1 for more information). However, this solution is not direct and requires

controlling externally the boost function.

•Also, when the current setting is not appropriated to the winding, please note that some motors may

offer a reduced operational speed because of their high back-EMF.

•Generally speaking, the higher the voltage of the supply is, the more torque the motor will develop at

high speed.

User manual AD CM M

Page 8 of 20

1.5 Dimensions and mounting

The drivers can be mounted by using the four holes on the board. However, the M2 and M3 consist of two boards

assembled through these holes, which means that you have to fix the driver by using 4 screws M2.5.

53.5 12.0 21.0

14.2

83.2

AD CM M2S

AD CM M3S

AD CM M1S

4x O2,7

48.0

53.5

4x M2.5 5.3

User manual AD CM M

Page 9 of 20

2Set-up and installation of AD CM M1S

This section refers to all functions offered by the stepper motor driver type AD CM M1S. The set-up of the M2S

and M3S version is the same, relatively to the functions of the M1S, but offers some additional functionalities.

2.1 Block Diagram

Host

GNDSTY GND

INH

Clock

Direction

Ph a se B

Ph a se A

Translator

2.2 Location of Components

F/H

DIR

Busy

OPO

F/H

DIR

Busy

OPO

GND V+1 MOTOR 4

•COMMAND, screw-type terminal, 12-positions

•MOTOR A, locking connector, Molex 4-pins miniature

•POWER SUPPLY + MOTOR, screw type terminal, 6-positions

•Switch, manual switch, 3-pins

•Current selection, screw type potentiometer, 16-positions

•Status LED “busy” indicator

For Pin-out and functional explanations, please see the respective section.

2.3 Connection of the drives

This section will introduce the functions of the Version AD CM M1S, which are identical for all versions of the AD

CM M_S.

Please refer to sections 3 and 4 for the installation and set-up of the additional functions offered by the versions

AD CM M2S and AD CM M3S.

Command

LED « bus

» Switch

Power supply

+ Motor

Motor A

Current selection

User manual AD CM M

Page 10 of 20

Note

Both M2S and M3S versions can be used as M1S version if the jumpers ADJ, VCO and CK on the mezzanine

board are removed (see section 3 and 4 for more information about the jumpers).

2.3.1 COMMAND connector

Input voltage for all inputs varies from 5 to 24VDC

This 12-pins connector is available on all driver versions, it provides access to all functionality.

# I/O Type Designation Explanation M1 M2 M3

1 I 1-PH ON Full-step; 1-phase ON (wave) X X X

2 I FS/HS Full Step/Half Step mode switch X X X

3 I CCW/CW Sense of rotation switch, default = CW X X X

4 I CLK1External clock input X X X

5 I RUN Starts the clock generator X X

6 I STOP Stops the clock generator X X

7 I BOOST Current boost X X X

8 O BUSY Output = Low when clock is active X X

9 I STB Current Standby X X X

10 O2VCC +5V power supply (max 200mA) X X X

11 O GND Ground potential ≥0 Volt X X X

12 I VCO External control voltage for the oscillator (VCO) X X

123O HOME Active when Phase A is commutated with positive current X

1 CLK input is active on positive trigger signal

2Output, sink and source pins, to connect directly

3 PIN12 can be set as input or output. Please refer to PIN12 description below.

Functional description of the Inputs/Outputs on COMMAND connector:

PIN1, Operation mode Selection

Selection can be one phase-ON (LH*) or twp phase-ON (LL) commutation

Input is not active if not connected

With one phase-ON, the motor provides the same torque than with two phase-ON mode, but with a

lower current consumption. In phase-ON, the AD CM M1S automatically increases the current in the

motor phase by a factor of 1.4, meaning that the current consumption is 1.4 x Inominal instead of 2 x

Inominal in two phase-ON.

PIN2 Step resolution selection

Input is not active if not connected.

Selected can be Full-step (LL*) or Half-step (LH)

If PIN1 is active, only full-step operation is possible

PIN 1+2 Truth table

PIN 1 PIN 2 Function mode

LL* LL Full-step, two phase-ON

LH LL Full-step, one phase-ON

LL LH Half-step (two phase-ON)

LH LH

Full-step, one phase-ON

*LL for Logic Low and LH for Logic High (see table of section 1.2 for values). LL can also mean that the

PIN is not connected.

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