Anaheim Home Theater Server MDM40001 User Manual

COPYRIGHT  
Copyright 1996 by Anaheim Automation. All rights reserved. No part of this  
publication may be reproduced, transmitted, transcribed, stored in a retrieval system, or  
translated into any language, in any form or by any means, electronic, mechanical,  
magnetic, optical, chemical, manual, or otherwise, without the prior written permission  
of Anaheim Automation, 910 E. Orangefair Lane, Anaheim, CA 92801. The only  
exception to this would be use of the program examples in this manual.  
USER'S GUIDE  
MODEL MDM40001  
MICROSTEP DRIVER  
DISCLAIMER  
Though every effort has been made to supply complete and accurate information in this  
manual, the contents are subject to change without notice or obligation to inform the  
buyer. In no event will Anaheim Automation be liable for direct, indirect, special,  
incidental, or consequential damages arising out of the use or inability to use the product  
or documentation.  
Anaheim Automation’s general policy does not recommend the use of its products in life  
support applications wherein a failure or malfunction of the product may directly  
threaten  
life or injury. Per Anaheim Automation’s Terms and Conditions of Sales, the user of  
Anaheim Automation products in life support applications assumes all risks of such use  
and indemnifies Anaheim Automation against all damages.  
LIMITED WARRANTY  
All Anaheim Automation products are warranted against defects in workmanship,  
materials and construction, when used under Normal Operating Conditions and when  
used in accordance with specifications. This warranty shall be in effect for a period of  
twelve months from the date of purchase or eighteen months from the date of  
manufacture, whichever comes first. Warranty provisions may be voided if the products  
are subjected to physical damage or abuse.  
Anaheim Automation will repair or replace at its option, any of its products which have  
been found to be defective and are within the warranty period, provided that the item is  
shipped freight prepaid, with RMA (return material authorization), to Anaheim  
Automation's plant in Anaheim, California.  
TRADEMARKS  
ANAHEIM AUTOMATION  
910 E. Orangefair Lane  
Anaheim, CA 92801  
Control Link and Driver Pack are registered trademarks of Anaheim Automation.  
TEL (714) 992-6990  
FAX (714) 992-0471  
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ORDERING INFORMATION FOR ANAHEIM AUTOMATION  
MICROSTEP DRIVERS AND ACCESSORIES  
PIN DESCRIPTIONS P1  
Pin#  
Description  
4 Amp Microstep Driver  
6 Amp Microstep Driver  
10 Amp Microstep Driver  
40VDC Power Supply  
65VDC Power Supply  
80VDC Power Supply  
Shielded Motor Cable  
MDM40001 (This Manual)  
MDM60001  
MDM10001  
PSA40V4A  
PSA65V5A  
1
2
3
4
Step Clock Input: A positive going edge on this isolated input  
advances the motor one increment. The size of the increment is  
dependent on the Microstep Select Inputs of Switch 1.  
Direction: This isolated input is used to change the direction of the  
motor. Physical direction also depends on the connection of the motor  
windings.  
PSA80V4A  
AA129010S  
+5 VDC: This input is used to supply current to the Isolated Inputs. A  
higher voltage may be used, but care should be taken to limit the current  
through the optocoupler.  
MDM40001  
This is the model number for a Single Axis, 4 Amp Microstep Driver. The MDM40001  
requires a dc power supply (up to 40 volts). The PSA40V4A is the recommended power  
supply that Anaheim Automation supplies.  
ON/OFF: This isolated input is used to enable/disable the output  
section of the driver. When HIGH (open) the outputs are enabled.  
However, this input does not inhibit the step clock. Therefore the  
outputs will be updated by the number of clock pulses (if any) applied to  
the driver while it had been disabled.  
MDM60001  
This is the model number for a Single Axis, 6 Amp Microstep Driver. MDM60001  
requires a 65Vdc power supply (PSA65V5A) that Anaheim Automation provides,  
purchased separately.  
5
Reset: When LOW, this isolated input will reset the driver (outputs will  
disable). When released, the driver will be at its initial state (Phase 1&3  
off, Phase 2&4 full on).  
MDM10001  
This is the model number for a Single Axis, 10 Amp Microstep Driver. The MDM10001  
requires an 80Vdc power supply (PSA80V4A) that Anaheim Automation provides,  
purchased separately.  
6
7
Fault: This OPEN DRAIN output indicates a fault has occurred (ie.  
short circuit or over temperature). This output is active low.  
Fullstep: This OPEN DRAIN output indicates when the driver is  
positioned at a full step. This output can be used to count the number of  
full steps the motor has moved, regardless of the number of microsteps  
in between. This output is active low.  
PSA40V4A  
This is an unregulated 40VDC, 4A power supply.  
PSA65V5A  
Table 1 - CONNECTOR P1  
This is an unregulated 65VDC, 5A power supply.  
PSA80V4A  
This is an unregulated 80VDC, 4A power supply.  
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4
 
PIN DESCRIPTIONS P2  
Pin#  
TYPICAL HOOK-UPS FOR APPLICATION:  
Description  
1
Reduction Adjust: Phase Current Reduction Input. A resistor between  
this pin and pin 2 (Connector P2, Current Adjust) will proportionately  
reduced the current in both windings (1 second after the last positive  
going edge of the step clock input). The amount of current reduction  
will depend on the value of the resistor used.  
2
Current Adjust: Phase Current Adjustment input. A resistor connected  
between this input and the ground input (connector P2, Pin 3) is used to  
adjust the maximum Phase Current in the motor. A resistor MUST be  
connected to this input.  
3
4
5
6
7
8
Ground: Supply Voltage Ground. ( Return )  
+V: Supply Voltage Input. (+12 - 40VDC)  
Phase 4 of the Step Motor  
Phase 2 of the Step Motor  
Phase 3 of the Step Motor  
Phase 1of the Step Motor  
Table 2 - CONNECTOR P2  
FIGURE 1  
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6
 
SPECIFICATIONS  
Drain-Source on  
Resistance  
Fullstep Output  
Ics=25mA DC  
.65  
ohm  
s
ABSOLUTE MAXIMUM RATINGS  
INPUT VOLTAGE  
+12 TO +48 VDC  
4 AMPS PEAK  
70° C  
OUTPUT CURRENT  
PLATE TEMPERATURE  
STORAGE TEMPERATURE  
INPUT CURRENT (PINS 1, 2, 4, 5)  
40° TO +125° C  
15 mA Max  
ELECTRICAL SPECIFICATIONS (TA=25EC, V+ = 40VDC)  
ITEM  
TEST  
CONDITION  
MIN TYP MAX UNI  
TS  
Input Voltage  
12  
.4  
24  
40  
V
Phase Output Current  
Phase Output Current  
RMS  
Peak  
3
4
A
A
Quiescent Current  
Outputs Floating  
85  
mA  
W
Active Power  
Dissipation  
Iout=3 Amps RMS  
12  
15  
Input Forward Current  
Input Pins  
1, 2 , 4, 5  
7
mA  
Input Forward Voltage  
1.5  
1.7  
V
V
Input Reverse  
5
Breakdown Voltage  
Output Current  
Fault, Fullstep  
Outputs  
25  
mA  
V
Collector-Emitter  
Voltage  
Fault Output  
140  
0.2  
100  
Collector-Emitter  
Saturation Voltage  
Fault Output  
Ics=25mA DC  
V
Drain-Source Voltage  
Fullstep Output  
V
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7
8
 
DETERMINING OUTPUT CURRENT  
Reducing the output current in the MDM40001 can be accomplished by connecting an  
external resistor (1/8 watt or higher) between pins 1and 2 of connector P2 and ocurrs  
automatically 1 second after the last positive going edge of the step clock input. See  
Figure 1 for TYPICAL HOOK-UP.  
The output current for the motor used when microstepping is determined differently from  
that of a half/full unipolar driver. In the MDM40001, a sine/cosine output function is  
used in rotating the motor. The output current for a given motor is determined by the  
motors current rating and the configuration for how the motor is hooked up. There is a  
current adjustment resistor used to set the output current of the MDM40001. This sets  
the peak output current of the sine/cosine waves. The specified motor current (which is  
the RMS value) is multiplied by a factor of 0.7, 1.0, or 1.4 depending on the motor  
configuration (half-coil, series, or parallel).  
The amount of current per Phase in the reduction mode is related to the value of the  
current adjustment resistor and the current reduction resistor. When the current  
reduction circuit is activated, the current reduction resistor is paralleled with the current  
adjustment resistor. This lowers the total resistance value, and thus lowers the per Phase  
output current. The relationship between the output current and the resistor's value is as  
follows:  
SETTING OUTPUT CURRENT  
The output current on the MDM40001 is set by an external ±1%, 1/8 watt (or higher)  
resistor between pins 2 and 3 of connector P2. This resistor determines the per Phase  
RMS output current of the driver. The MDM40001 uses a 1mA current source to  
establish the reference voltage needed to control the output current. The relationship  
between the output current and the resistor value is as follows:  
Output Reduction Current (Amps)= .002 x *R(Current Adjust) xR(CurrentReduction)  
R(Current Adjust) +R(CurrentReduction)  
RMS OUTPUT CURRENT (Amps) = (0.707)(0.002)(Resistance in Ohms)  
Figure1  
See  
NOTE: When connecting the current reduction resistor between pins 1 and 2 of  
connector  
RMS Current  
Resistor Value  
RMS Current  
Resistor Value  
845  
P2 , the lenth of the leads should be as short as possible to help minimize noise coupled  
into the driver.  
0.3 A  
0.4  
0.5  
0.6  
0.7  
0.8  
0.9  
1.0  
1.1  
210  
280  
357  
422  
487  
562  
634  
698  
768  
1.2  
1.4  
1.6  
1.8  
2.0  
2.2  
2.4  
2.6  
2.82  
976  
MOTOR SELECTION  
1130  
The MDM40001 is a Bipolar driver working equally well with both Bipolar and Unipolar  
Motor Configurations,( i.e. 8 and 4 lead motors and 6 lead center tapped motors).  
1270  
1400  
Motors with low current ratings and high inductance will perform better at low speeds,  
providing higher low-end torque. Motors with high current ratings and low inductance  
will perform better at higher speeds, providing higher high-end torque.  
1540  
1690  
Since the MDM40001 is a constant current source, it is not necessary to use a motor that  
is rated at the same voltage as the supply voltage. What is important is that the  
MDM40001 is set to the appropriate current level based on the motor being used.  
1820  
2000  
TABLE 3: RESISTOR VALUES WITH RESPECT TO OUTPUT CURRENT  
Closest 1% value selected  
WARNING! A current adjustment resistor is always necessary to keep the drive in a safe  
operating region. Do not operate the driver without a current adjustment resistor. When connecting  
the CURRENT ADJUSTMENT resistor between Pins 3 and 2 of Connector P2 the length of the  
leads should be as short as possible to help minimize the noise coupled into the driver . Refer to  
Figure 1 for TYPICAL HOOK-UP.  
Higher voltages will cause the current to flow faster through the motor coils. This in turn  
means higher step rates can be achieved. Care should be taken not to exceed the  
maximum voltage of the driver.  
REDUCING OUTPUT CURRENT  
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10  
 
STEP MOTOR CONFIGURATIONS  
4 Lead Motors  
Step motors can be configured as 4, 6, or 8 leads. Each configuration requires different  
currents. Shown below are different lead configurations and the procedures to determine  
their output current.  
6 Lead Motors  
When configuring a 6 lead motor in a half-coil configuration (connected from one end  
of the coil to the center tap) use the specified per Phase (or unipolar) current rating to  
determine the current adjustment resistor value. This configuration will provide more  
torque at higher speeds. Use this to determine the current adjustment resistor value.  
Use the specified series motor current to determine the current adjustment resistor value.  
Four Lead Motors are usually rated with their appropriate series current, as opposed to  
the Phase Current which is the rating for 6 and 8 lead motors.  
8 Lead Motors  
Series Connection: When configuring the motor windings in series, multiply the per  
Phase (or unipolar) current rating by 0.7. Use this result to determine the current  
adjustment resistor value.  
When configuring the motor in a series configuration (connected from end to end with  
the center tap floating) multiply the per Phase (or unipolar) current rating by 0.7.Use this  
result to determine the current adjustment resistor value.  
Parallel Connection: When configuring the motor windings in parallel, multiply the per  
Phase (or unipolar) current rating by 1.4. Use this result to determine the current  
adjustment resistor value.  
WARNING! Step motors will run hot even when configured correctly, damage may  
occur to the motor if a higher than specified current is used. Most specified motor  
currents are maximum values. Care should be taken to not exceed these ratings.  
NOTE: After the current has been determined, according to the motor connections above,  
follow the procedure Determining Output Current above to find the current value. Then  
use Table 3 to choose the proper resistor value.  
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12  
 
CONNECTING THE STEP MOTOR  
Anaheim Automation Step Motor Selection Guide  
Phase 1&3 of the Step Motor is connected between pins 7 and 8 on connector P2. Phase  
2&4 of the Step Motor is connected between pins 5 and 6 on connector P2.  
Part Number  
Motor Current  
(Unipolar Rating)  
[ Amps ]  
Series  
Configuration  
1% Resistor  
Value  
Refer to Figure 1 for TYPICAL APPLICATION HOOK-UP  
[ Ohms ]  
NOTE: The physical direction of the motor with respect to the direction input will  
depend on the connection of the motor windings. To reverse the direction of the motor  
with respect  
23D102  
23D104  
23D108  
23D204  
23D209  
23D306  
23D309  
34D106  
34D109  
34D207  
34D209  
34D307  
34D311  
1.0  
2.0  
3.9  
1.8  
4.7  
2.9  
4.6  
3.0  
4.8  
3.5  
4.6  
3.5  
5.5  
487  
976  
to the direction input, switch the wires on Phase 1 & Phase 3.  
1910  
845  
WARNING: Do not connect or disconnect motor wires while power is applied!  
CONNECTING POWER  
2000  
1400  
2000  
1470  
2000  
1740  
2000  
1740  
2000  
Pins 3 and 4 on connector P2 are used to connect the DC Power Supply to the  
MDM40001. Wire size used to connect the power source to the driver should be at least  
16 gauge. Heavier wire should be used for longer distances between the power supply  
and the driver. The power supply requirements are as follows:  
Switching Power Supplies and regulated linears with overcurrent protection are not  
recommended because of their inability to handle surge currents. Adding a capacitor to  
the output will alleviate this problem.  
When multiple drivers are run from one power supply, each driver should have separate  
power and ground wires that connect directly to the output capacitor of the power supply.  
Refer to Figure 1 for TYPICAL APPLICATION HOOK-UP.  
WARNING: When using an unregulated power supply, care should be taken to ensure  
that the output voltage DOES NOT exceed the maximum driver input voltage because  
of line voltage fluctuations. It is recommended that a input line filter be used on the  
power supply to limit voltage spikes to the driver.  
TABLE 4: Resistor Table Selection is based on 6-Lead Step Motors  
Series Coil Configurations.  
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MICROSTEP SELECTION  
FULLSTEP OUTPUT SIGNAL  
The number of microsteps per step is selected by switches 1, 2, 3, and 4 of the DIP  
switch. Table 5 shows the standard resolution values along with the associated inputs  
for the select switches 1, 2, 3 and 4. The standard waveforms are sinusoidal.  
The MDM40001 has an active LOW open drain output at Connector P1, Pin 7 labeled  
ON F/S OUT. This output is TRUE (active low) for the duration of the full step. A full  
step occurs when either Phase 1&3 or Phase 2&4 cross through zero (ie. full current in  
one winding and 0 current in the other winding). This full step position is a common  
position no matter what resolution is selected.  
Resolution  
Steps/  
Rev  
Select 1  
Select 2  
Select 3  
Select 4  
This output can be used to count the number of mechanical full steps the motor has  
traveled without having to count the number of microsteps in between. A controller that  
utilizes this output can greatly reduce its position tracking overhead and thus  
substantially increase its throughput.  
2
4
400  
ON  
OFF  
ON  
ON  
ON  
ON  
ON  
ON  
ON  
800  
8
1,600  
3,200  
6,400  
12,800  
25,600  
51,200  
1,000  
2,000  
5,000  
10,000  
25,000  
50,000  
OFF  
OFF  
ON  
ON  
ON  
This high speed MOSFET output is non-isolated and has the ability to sustain the  
maximum driver voltage at 25mA maximum.  
16  
32  
64  
128  
256  
5
OFF  
ON  
ON  
ON  
OPTICALLY ISOLATED INPUTS  
OFF  
OFF  
OFF  
OFF  
ON  
ON  
The following inputs to the MDM40001 are Optically Isolated.  
OFF  
ON  
ON  
ON  
OFF  
OFF  
ON  
ON  
Item  
Clock  
Pin #  
OFF  
ON  
ON  
1
2
4
5
OFF  
OFF  
OFF  
OFF  
OFF  
Open  
Direction  
On/Off  
Reset  
10  
25  
50  
125  
OFF  
ON  
ON  
ON  
ON  
ON  
OFF  
OFF  
OFF  
OFF  
ON  
OFF  
ON  
WARNING! If using a voltage other than +5VDC, the current through the optocoupler  
must NOT exceed the maximum limit.  
250  
OFF  
ON  
The Isolated inputs may be powered by a DC voltage other than +5 VDC. In doing so,  
care should be taken to limit this current, an external resistor should be placed in series  
with the input pins (1-2, 4-5). The value of the resistor should be calculated such that the  
input current is approximately equal to the value listed in the Electrical Specifications.  
TABLE 5  
In order to select the microstepping  
swicthes the top cover plate of the driver  
must be removed. The dip switches are  
located on the top left hand corner as  
show on the drawing to the right.  
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15  
16  
 
TIMING  
FAULT PROTECTION  
The Direction and Microstep Resolution Select inputs are synchronized with the positive  
going edge of the Step Clock input. When the Step Clock input goes high, the Direction  
and Microstep Select inputs are latched and further changes to the inputs are ignored  
until the next rising edge of the Step Clock input.  
The MDM40001 is internally protected against over temperature and short circuits.  
The over temperature set point is between 60EC and 70EC. Care should be taken when  
choosing a heatsink so that there is good thermal flow, otherwise hot spots may occur in  
the MDM40001 which will reduce the effectiveness of the thermal protection.  
After these signals are latched, the MDM40001 looks to see if any changes have occurred  
to the Direction and the Microstep Select inputs. If a change has occurred, the  
MDM40001 will execute the change before taking the next step. Only AFTER the  
change has been executed will the step be taken. If no change has occurred the  
MDM40001 will simply take the next step. This feature works as an automatic debounce  
for the Direction and Microstep Select inputs.  
The short circuit protection consists of PHASE to PHASE, PHASE to GROUND, and +V  
to PHASE.  
If any fault is detected by the MDM40001, the outputs will be disabled and can not be re-  
enabled without resetting or powering down the driver. At the same time the open  
collector FAULT output is turned on.  
The minimum pulse width for the Clock input is 75 nS. The typical execution time for  
a Direction or Microstep Select change is 100nS. The typical execution time for a Clock  
input is 100nS.  
The FAULT output is non-isolated and has the ability to sustain the maximum driver  
voltage. It is capable of sinking up to 25mA which can be used to drive a small relay or  
LED.  
The Reset and Enable inputs are asynchronous to any input and can be changed at any  
time.  
OVER TEMPERATURE PROTECTION  
The Reset requires a minimum pulse width of 500 nS.  
The MDM40001 microstepping is a power device and is designed to protect itself from  
overheating. It does this by monitoring the surface temperature of the drive plate and  
will automatically shutdown if the temperature reaches 60°C (152°F).  
The Fullstep output typically occurs 75nS after the positive edge of the Step Clock  
(excluding changes to the Direction or the Microstep Select inputs).  
To prevent nuisance shutdowns, proper heatsinking is required to limit the temperature  
at the drive plate.  
A thermal grease or thermal pad should be used between the drive plate and the  
mounting surface of the heatsink. The fins of the heatsink should be mounted vertically  
with at least 3" of space below and above the heatsink for efficient cooling.  
In some applications fan cooling will be required to maintain the plate temperature below  
the 60°C shutdown temperature.  
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18  
 
TORQUE/SPEED CURVES  
TORQUE/SPEED CURVES  
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