PrimoPal PST5056 Manual de usuario

PST5056

Stepper Motor Drive

User’s Manual

Version 1.0

This manual contains reserved and proprietary information. All rights are reserved. It may

not be copied, disclosed or used for any purposes not expressly authorized by PrimoPal

Motor.

PrimoPal Motor reserves the right to make changes without further notice to any products

for improving reliability, function or design.

This manual is intended for skilled technical staff. In case the arguments, the terms and the

concepts should not be clear you can contact PrimoPal Motor. It is forbidden to use the

products herein described without being sure to have understood characteristics, installation

and use procedures.

Even though products described have been designed with extreme care, they are not

intended or authorized for use as components in applications intended to support or sustain

life and in application where the failure of the product could create a situation where physical

injury may occur to lives.

PrimoPal Motor will not be liable for any direct or indirect damages coming from the use of

its products.

The content in this manual has been carefully checked and is believed to be accurate, but

no responsibility is assumed for inaccuracies. Any suggestion to improve it will be highly

appreciated.

Table of Contents

1. Introduction, Features and Applications.................................................................... 1

1.1 Introduction ..................................................................................................... 1

1.2 Features ........................................................................................................... 1

1.3 Applications..................................................................................................... 1

2. Specifications ............................................................................................................ 2

2.1 Electrical Specifications (Tj = 25°C) ................................................................ 2

2.2 Mechanical Specifications (unit=mm, 1 inch=25.4 mm) ................................ 2

2.3 Operating Environment and other Specifications............................................ 3

3. Pin Assignment and Description ............................................................................... 3

3.1 Connector P1 Configuration............................................................................ 3

3.2 Selecting Active Pulse Edge and Control Signal Mode................................... 4

3.3 Connector P2 Configuration............................................................................ 4

4. Control Signal Connector (P1) Interface ................................................................... 4

5. Connecting the Motor................................................................................................ 5

5.1 Connections to 4-lead Motors ......................................................................... 5

5.2 Connections to 6-lead Motors ......................................................................... 5

5.2.1 Half Coil Configurations ................................................................... 5

5.2.2 Full Coil Configurations.................................................................... 6

5.3 Connections to 8-lead Motors ......................................................................... 6

5.3.1 Series Connections .......................................................................... 6

5.3.2 Parallel Connections ........................................................................ 7

6. Power Supply Selection............................................................................................. 7

6.1 Multiple Drives................................................................................................ 7

6.2 Selecting Supply Voltage................................................................................. 8

7. Selecting Microstep Resolution and Drive Output Current....................................... 8

7.1 Microstep Resolution Selection....................................................................... 8

7.2 Current Settings............................................................................................... 9

7.2.1 Dynamic current setting ................................................................. 10

7.2.2 Standstill current setting ................................................................ 10

Table of Contents

8. Wiring Notes............................................................................................................ 10

9. Typical Connections ................................................................................................ 11

10. Sequence Chart of Control Signals........................................................................ 11

11. Protection Functions.............................................................................................. 12

11.1 Over-current Protection ............................................................................... 12

11.2 Over-voltage Protection............................................................................... 12

11.3 Phase Error Protection ................................................................................. 12

11.4 Protection Indications.................................................................................. 13

12. Frequently Asked Questions.................................................................................. 13

12.1 Symptoms and Possible Causes................................................................... 14

13. Warranty ................................................................................................................ 15

13.1 Twelve Month Limited Warranty................................................................. 15

13.2 Exclusions ................................................................................................... 15

13.3 Obtaining Warranty Service ........................................................................ 15

13.4 Shipping Failed Product .............................................................................. 15

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1. Introduction, Features and Applications

1.1 Introduction

The PST5056 is a versatility fully digital stepping driver based on a DSP with advanced

control algorithm. The PST5056 is the next generation of digital stepping motor controls. It

brings a unique level of system smoothness, providing optimum torque and nulls mid-range

instability. Motor self-test and parameter auto-setup technology offers optimum responses

with different motors and easy-to-use. The driven motors can run with much smaller noise,

lower heating, smoother movement than most of the drivers in the markets. Its unique

features make the PST5056 an ideal solution for applications that require low-speed

smoothness.

1.2 Features

Anti-Resonance, provides optimum torque and nulls mid-range instability

Motor self-test and parameter auto-setup technology, offers optimum responses with

different motors

Multi-Stepping allows a low resolution step input to produce a higher microstep output

for smooth system performance

Microstep resolutions programmable, from full-step to 102,400 steps/rev

Supply voltage up to +50 VDC

Output current programmable, from 0.5A to 5.6A

Pulse input frequency up to 200 KHz

TTL compatible and optically isolated input

Automatic idle-current reduction

Suitable for 2-phase and 4-phase motors

Support PUL/DIR and CW/CCW modes

Over-voltage, over-current, phase-error protections

1.3 Applications

Suitable for a wide range of stepping motors, from NEMA frame size 17 to 34. It can be used

in various kinds of machines, such as laser cutters, laser markers, high precision X-Y tables,

labeling machines, and so on. Its unique features make the PST5056 an ideal solution for

applications that require both low-speed smoothness and high speed performances.

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2. Specifications

2.1 Electrical Specifications (Tj = 25°C)

Parameters PST5056

Min Typical Max Unit

Output current 0.5 - 5.6 (4.0 RMS) A

Supply voltage +20 +36 +50 VDC

Logic signal current 7 10 16 mA

Pulse input frequency 0 - 200 kHz

Isolation resistance 500 MΩ

2.2 Mechanical Specifications (unit=mm, 1 inch=25.4 mm)

Figure 1: Mechanical dimensions

*Recommend use side mounting for better heat dissipation

Note: 1. Driver’s reliable working temperature should be less than 70°C (158°F), and motor

working temperature should be less than 80°C (176°F);

2. It is recommended to use automatic idle-current mode, namely current automatically

reduce to 50% when motor stops, so as to reduce driver heating and motor heating;

3. It is recommended to mount the driver vertically to maximize heat sink area. Use forced

cooling method to cool the system if necessary.

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2.3 Operating Environment and other Specifications

Cooling Natural Cooling or Forced cooling

Operating

Environment

Environment Avoid dust, oil fog and corrosive gases

Ambient Temperature 0Ԩ－50Ԩ(32Ԭ－122Ԭ)

Humidity 40%RH －90%RH

Operating Temperature 70Ԩ(158Ԭ) Max

Vibration 5.9m/s2 Max

Storage Temperature -20Ԩ－65Ԩ(-4Ԭ－149Ԭ)

Weight Approx. 280g (10 oz)

3. Pin Assignment and Description

The PST5056 has two connectors, connector P1 for control signals connections, and

connector P2 for power and motor connections. The following tables are brief descriptions of

the two connectors.

3.1 Connector P1 Configuration

Pin Function Details

PUL+

Pulse signal: In single pulse (pulse/direction) mode, this input

represents pulse signal, each rising or falling edge active (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, pulse width should be longer than 2.5μs. Series

connect resistors for current-limiting when +12V or +24V used. The

same as DIR and ENA signals.

PUL-

DIR+

DIR signal: In single-pulse mode, this signal has low/high voltage levels,

representing two directions of motor rotation; in double-pulse mode

(software configurable), this signal is counter-clock (CCW) pulse，active

both at high level and low level (software configurable). For reliable

motion response, DIR signal should be ahead of PUL signal by 5μs at

least. 4-5V when DIR-HIGH, 0-0.5V when DIR-LOW. Please note that

rotation direction is also related to motor-driver wiring match.

Exchanging the connection of two wires for a coil to the driver will

reverse motion direction.

DIR-

ENA+ Enable signal: This signal is used for enabling/disabling the driver. High

level (NPN control signal, PNP and Differential control signals are on the

contrary, namely Low level for enabling.) for enabling the driver and low

level for disabling the driver. Usually left UNCONNECTED (ENABLED).

ENA-

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3.2 Selecting Active Pulse Edge and Control Signal Mode

The PST5056 supports PUL/DIR and CW/CCW modes and pulse actives at rising or falling

edge. See more information about these settings in Section 10. Default setting is PUL/DIR

mode and rising edge active (NPN, and PNP control signal is on the contrary).

3.3 Connector P2 Configuration

Pin Function Details

+Vdc Power supply, 20~50 VDC, Including voltage fluctuation and EMF voltage.

GND Power Ground.

A+, A- Motor Phase A

B+, B- Motor Phase B

4. Control Signal Connector (P1) Interface

The PST5056 can accept differential and single-ended inputs (including open-collector and

PNP output). The PST5056 has 3 optically isolated logic inputs which are located on

connector P1 to accept line driver control signals. These inputs are isolated to minimize or

eliminate 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.

Figure 2: Connections to open-collector signal (common-anode)

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Figure 3: Connection to PNP signal (common-cathode)

5. Connecting the Motor

The stepper drive PST5056 can drive any 2-pahse and 4-pahse hybrid stepping motors.

5.1 Connections to 4-lead Motors

4-lead motors are the least flexible but easiest to wire. Speed and torque will depend on

winding inductance. In setting the drive output current, multiply the specified phase current

by 1.4 to determine the peak output current.

Figure 4: 4-lead Motor Connections

5.2 Connections to 6-lead Motors

Like 8-lead stepping motors, 6-lead motors have two configurations 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.

5.2.1 Half Coil Configurations

As previously stated, the half coil configuration uses 50% of the motor phase windings. This

gives lower inductance, hence, lower torque output. Like the parallel connection of 8-lead

motor, the output torque will be more stable at higher speed. This configuration is also

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referred to as half chopper. In setting the drive output current multiply the specified per phase

(or unipolar) current rating by 1.4 to determine the peak output current.

Figure 5: 6-lead motor half coil (higher speed) connections

5.2.2 Full Coil Configurations

The full coil configuration on a 6-lead motor should be used in applications where higher

torque at lower speed is desired. This configuration is also referred to as full copper. In full

coil mode, the motors should be run at only 70% of their rated current to prevent overheating.

Figure 6: 6-lead motor full coil (higher torque) connections

5.3 Connections to 8-lead Motors

8-lead motors offer a high degree of flexibility to the system designer in that they may be

connected in series or parallel, thus satisfying a wide range of applications.

5.3.1 Series Connections

A series motor configuration would typically be used in applications where a higher torque at

lower speed is required. Because this configuration has the most inductance, the

performance will start to degrade at higher speed. In series mode, the motors should also be

run at only 70% of their rated current to prevent overheating.

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Figure 7: 8-lead motor series connections

5.3.2 Parallel Connections

An 8-lead motor in a parallel configuration offers a more stable, but lower torque at lower

speed. But because of the lower inductance, there will be higher torque at higher speed.

Multiply per phase (or unipolar) current rating by 1.96, or the bipolar current rating by 1.4, to

determine the peak output current.

Figure 8: 8-lead motor parallel connections

6. Power Supply Selection

The stepper drive PST5056 can match medium and small size stepping motors (from NEMA

size 17 to 34). To achieve good driving performances, it is important to select supply voltage

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 voltage 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.

6.1 Multiple Drives

It is recommended to have multiple drives 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 drives. (Instead, please connect them to power supply separately.)

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6.2 Selecting Supply Voltage

The power MOSFETS inside the stepper drive PST5056 can actually operate within +18V～

+50VDC, 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 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 output

voltage of +24～+ 45V, leaving room for power fluctuation and back-EMF.

7. Selecting Microstep Resolution and Drive Output Current

Microstep resolutions and output current are programmable, the former can be set from

full-step to 102,400 steps/rev and the latter can be set from 0.5A to 5.6A. However, when it’s

not in software configured mode, this driver uses an 8-bit DIP switch to set microstep

resolution, and motor operating current, as shown below:

7.1 Microstep Resolution Selection

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When it’s not in software configured mode, microstep resolution is set by SW5, 6, 7, 8 of the

DIP switch as shown 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 OFF

100 20000 ON OFF OFF OFF

125 25000 OFF OFF OFF OFF

7.2 Current Settings

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 depending on motor

phase current, motor leads 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.

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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.

7.2.1 Dynamic current setting

Peak Current RMS Current SW1 SW2 SW3

Default/Software configured (0.5 to 5.6A) OFF OFF OFF

2.1A 1.5A ON OFF OFF

2.7A 1.9A OFF ON OFF

3.2A 2.3A ON ON OFF

3.8A 2.7A OFF OFF ON

4.3A 3.1A ON OFF ON

4.9A 3.5A OFF ON ON

5.6A 4.0A ON ON ON

Notes: Due to motor inductance, the actual current in the coil may be smaller than the

dynamic current setting, particularly under high speed condition.

7.2.2 Standstill 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 current is set to be the same as the

selected dynamic current.

The current automatically reduced to 60% of the selected dynamic current one second after

the last pulse. Theoretically, this will reduce motor heating to 36% (due to P=I2*R) of the

original value. If the application needs a different standstill current, please contact PrimoPal.

8. Wiring Notes

In order to improve anti-interference performance of the driver, 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, system instability and other failures.

If a power supply serves several drivers, separately connecting the drivers is

recommended instead of daisy-chaining.

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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 plugging connector P2 with power on will cause extremely high back-EMF

voltage surge, which may damage the driver.

9. Typical Connections

A complete stepping system should include stepping motor, stepping driver, power supply

and controller (pulse generator). A typical connection is shown as figure 9.

Figure 9: Typical connection

10. Sequence Chart of Control Signals

In order to avoid some fault operations and deviations, PUL, DIR and ENA should abide by

some rules, shown as following diagram:

Figure 10: Sequence chart of control signals

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Remark:

(1) t1: ENA must be ahead of DIR by at least 5s. Usually, ENA+ and ENA- are NC

(not connected). See “Connector P1 Configurations” for more information.

(2) t2: DIR must be ahead of PUL active edge by 5s to ensure correct direction;

(3) t3: Pulse width not less than 2.5s;

(4) t4: Low level width not less than 2.5s.

11. Protection Functions

To improve reliability, the driver incorporates some built-in protection functions. The PST5056

uses one RED LED to indicate what protection has been activated. The periodic time of RED

is 3 s (seconds), and how many times the RED turns on indicates what protection has been

activated. Because only one protection can be displayed by RED LED, so the driver will

decide what error to display according to their priorities. See the following Protection

Indications table for displaying priorities.

11.1 Over-current Protection

Over-current protection will be 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 (3 s).

11.2 Over-voltage Protection

When power supply voltage exceeds 52±1 VDC, protection will be activated and RED LED

will turn on twice within each periodic time (3 s).

11.3 Phase Error Protection

Motor power lines wrong & not connected will activate this protection. RED LED will turn on

four times within each periodic time (3 s).

Attention: When above protections are active, the motor shaft will be free or the LED will

turn red. Reset the driver by repowering it to make it function properly after removing above

problems. Since there is no protection against power leads (﹢,﹣) reversal, it is critical to

make sure that power supply leads correctly connected to driver. Otherwise, the driver will be

damaged instantly.

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11.4 Protection Indications

Priority Time(s) of ON Sequence wave of RED LED Description

1st 1 Over-current protection

2nd 2 Over-voltage protection

3rd 4 Phase error protection

12. FrequentlyAsked Questions

In the event that your stepper drive PST5056 doesn’t operate properly, the first step 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 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 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.

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12.1 Symptoms and Possible Causes

Symptoms Possible Problems

Motor is not rotating

No power

Microstep resolution setting is wrong

DIP switch current setting is wrong

Fault condition exists

The driver is disabled

Motor rotates in the wrong

direction Motor phases may be connected in reverse

The driver in fault DIP switch current setting is wrong

Something wrong with motor coil

Erratic motor motion

Control signal is too weak

Control signal is interfered

Wrong motor connection

Something wrong with motor coil

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 high

Power supply voltage too low

Excessive motor and driver

heating

Inadequate heat sinking / cooling

Automatic current reduction function not being utilized

Current is set too high

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13. Warranty

13.1 Twelve Month Limited Warranty

PrimoPal Motor Co., Ltd. warrants its products against defects in materials and

workmanship for a period of 12 months from shipment out of factory. During the warranty

period, PrimoPal Motor will either, at its option, repair or replace products which proved to

be defective.

13.2Exclusions

The above warranty does not extend to any product damaged by reasons of improper or

inadequate handlings by customer, improper or inadequate wirings, unauthorized

modification or misuse, or operation beyond the electrical specifications of the product

and/or operation beyond environmental specifications for the product.

In addition, the warranty only covers damage done to the product itself and does not cover

any damage caused by the product.

13.3ObtainingWarrantyService

To obtain warranty service, a returned material authorization number (RMA) must be

obtained from customer service e-mail box before returning product for service. Please

include a written description of the problem with contact name and address.

13.4 Shipping Failed Product

When sending failed product to distributor in your area or PrimoPal Motor’s head quarter

in China, the RMA should be clearly stated on each shipping documents otherwise the

parcel could be rejected. Customer will prepay shipping charges for products returned to

PrimoPal Motor for warranty service, and PrimoPal Motor will pay for return of products to

customer.

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Shanghai PrimoPal Precision Motor Co., Ltd.

Add: No. 1088, East Kangqiao road,

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