PLD880 Stepper motor driver I N S T R U CT I O N M A N U A L 01. 02. 03. 04. 04. 05. 06. 07. 08. 09. 10. General information Delivery set Technical features Driver installation and ventilation Driver functional capabilities Control Signal Connections to the driver Current and power option Stepper motor connection to the driver Protection functions, setup Step division option Terms of Warranty 2 2 3 5 6 7 10 11 13 14 15
01. General information! Check for more information. 01 General information Technical features Module power supply Operating current of stepper motor driver Stepdivision (microstep) 18...80V (bogey value 75V) 2,3...8A fig. 2 (discrete adjustment) 1:2, 1:4, 1:8, 1:16, 1:32 03 PLD880 is an available microstepping stepper motor driver. The driver has inbuilt coil short-circuit protection, back EMF effect protection, inbuilt automatic compensator of normal speed stepper motor resonance, phase current change scheme with frequency increase, polarity reversal power protection, soft starter scheme; STEP inbuilt frequency generator. The device works with standard control protocol STEP/DIR/ENABLE. The module has discrete regulation of operating current of stepper motor phases. All driver s control inputs are optoisolated and logic levels 2.5V, 3.3V, 5V compatible. The driver is AUTO-SLEEP mode supplied which is turned on when there is no STEP signal. The device is optimal for control of bipolar and unipolar Purelogic R&D stepper motors(pl86 series). Work with other stepper motors is also possible. 02 Stepper motor driver PLD880 1 pcs. Instruction manual 1 pcs. Delivery set STEP inbuilt generator frequency STEP Max signal frequency Max shaft rotation frequency Isolation resistance Operating temperature Unit weight without packaging 600 3`000 Hz 270 khz 42 cycles per second or 2530 cycles per minute (PL86H113, 75V, step division 1:32, 270 khz) 500 MOhm 0...60 С 0,6 kg Power off device before making any connections and mode operation changing. Do not mount the power switch after the power source (on the driver power line). Power switch should be installed before power supply, at ~220v side. Do not connect the drivers in series, only star connection is allowed. Do not connect power supply s «-» to ground, mass, housing, etc. Strictly observe the polarity of power supply and control signals connections. 3
03. Technical features Driver installation and ventilation 04 In order to ensure optimal thermal conditions of installation of the equipment inside the rack CNC control must be carried out, adhering to the scheme below: Fig. 1. Stermotor driver PLD880 dimensions Installing environmental conditions 1) Working environment temperature: 0~45 C. 2) Work environment humidity: lower than 40~80% (non condensing). 3) Storage environment temperature: -40~55 C. 4) Storage environment humidity: lower than 80% (non condensing). 5) Vibrate: lower than 0.5G. 6) Avoid direct sunlight. 7) Prevent oil mist, erosion of salt. 8) Prevent corrosive liquid, gas. 5
05. Driver functional capabilities 05 Driver functional capabilities Optoisolation of module control signals STEP/DIR/ENABLE. Expanded discrete adjustment of working current in stepper motor coils. Stepper motor softstarter. After turning on the power or ENABLE signal, current is increasing gradually in stepper motor coils. This allows to exclude typical bump when turning stepper motor on. AUTO-SLEEP mode, driver after 1 sec standstill (lack of STEP signal) automatically enters rotor hold mode (full/half operating current) for heating reduction. Coil short-circuit module protection, wrong stepper motor connection protection. Over-voltage protection (back EMF effect protection). Polarity reversal supply voltage protection (the driver will not be switched ON). Inbuilt automatic compensator of midfrequency stepper motor resonance. Phase current adjustment for vibrations exclusion at low revs. Modifications scheme of phase current form with frequency increase (morphing, transfer from microstep to step mode with with frequency increase). Inbuilt dumper (back EMF compensation device from stepper motor). Inbuilt STEP generator frequency (test driver start can be performed without PC or external generator connection). Optoisolated output of driver alarm signal. Convenient dismountable clip connectors to step motor, power source and control signals. Alarm indication supplied by STEP/ENABLE frequency, inbuilt dumper operation. STEP/DIR/ENABLE/ALARM signals are duplicated in DB-9M type connector for convenient connection to PLC4x-G2. Control Signal Connections 06 The driver operates with standard signals STEP/DIR/ENABLE. The signals are transmitted to differential optoisolated inputs. The scheme of differential input device and connection method to the controller with outputs open collector type is shown in fig.2. STEP signal characteristics working voltage 2.5V, 3.3V, 5V (you may need extra current-limiting resistor connection), current consumption up to 20mА, min signal duration is 2ms. The step is carried out on the signal front edge. DIR signal characteristics working voltage 2.5V, 3.3V, 5V (you may need extra current-limiting resistor connection), current consumption up to 20мА, action time is 200 nsec before/after front edge STEP. ENABLE signal characteristics working voltage 2.5V, 3.3V, 5V (you may need extra current-limiting resistor connection), current consumption up to 20mА, action time is 100 ms. Logic unit (voltage is applied to the input) stepper motor driver is off and coils are cut off the current, zero stepper motor driver is on and stepper motor coils are supplied. Fig. 2. Differential input device 7
06. Current and power option Stepper motor driver Fig. 3. General scheme of CNC control 9
07. Current and power option 07 Current and power option Max supply voltage driver option depends on the applied stepper motor and desired max rotation speed. Optimal supply voltage calculation for the stepper motor is carried out according to the formula U=32*v (stepper motor phase inductance mh), but not more than 80V. Supply current must be chosen 50...70% from the claimed stepper motor coil current. Working current setting is performed by DIP-switches (current value is set up by SW1, SW2, SW3 and multiplier factor SW4). Phase current adaptation (stepper motor smooth running) is carried out by PHASE TRIM potentiometer when vibrations and uneven stepping at low revs is found. Adaption strategy is as follows: 1) A potentiometer is set to the extreme left position (minimum value). 2) Stepper motor is connected, voltage is supplied, vibration frequency is set up by STEP frequency generator. 3) PHASE TRIM potentiometer moves to ¼ while rotating PH2(A) TRIM, the vibration reduces. If there are still vibrations, PH1(A) TRIM potentiometer moves to ¼ again, rotating PH2(A) TRIM, the vibration reduces, etc. You may fail to reduce vibrations totally because of stepper motor specifics. When there is no STEP signal for more than 1 sec, the driver goes to AUTO-SLEEP mode and reduces the coil current to the value identified by DIP-switch SW5. POWER OFF DEVICE BEFORE MAKING ANY SWITCH-OVERS. Stepper motor connection to the driver 08 PLD880 driver is optimal for control of bipolar and unipolar stepper motors Purelogic R&D series PL86. Stepper motor connection to the driver is performed as it is shown in fig.2 (clips PH1.1[+A], PH1.2[-A] и PH2.1[+B], PH2.2[-B]). The driver has protection against wrong stepper motor coil connection and coils linked together / + power supply. Purelogic R&D stepper motor connection to the driver is performed according to fig. 4. Please note in case of changing phases PH1.x<>PH2.x, the motor will start rotating in the opposite direction (inversion analogue of DIR signal). The length of wires leading to the stepper motor from the driver must not exceed 10 meters. Longer wires can lead to driver s work failures. It is strongly recommended to interlace the stepper motor wires per phase, then put this braid to the screened metal sheath. Sheathes and stepper motor frame must be grounded. PH1.1 [+А] PH1.2 [-А] PH2.1 [+B] PH2.2 [-B] Red (RED) Orange (ORG) Blue (BLU) Green (GRN) Fig. 4. Purelogic R&D stepper motor connection to the driver 11
08. Protection functions, settings Protection functions, setup 09 POWER OFF DEVICE BEFORE MAKING ANY SWITCH-OVERS. Polarity reversal power protection - driver will not be switched on. Protection against wrong stepper motor coil connection and coils linked together / + power supply. In some cases by interturn short-circuit of stepper motor coil, shortcircuit protection may not work because there is no exceeding of permissible alarm current. This happens because under such coil short circuit resistance does not equal 0 and the driver maintains the specified current. Protection against voltage jumps protection function operates when there is more than 90V, protection against back EMF effect. Inbuilt dumper - back EMF compensation device from stepper motor. Softstarter - As power voltage or ENABLE signal is turned on, current in stepper motor coils increases gradually. Phase current adjustment - vibrations exclusion at low revs. Automatic compensator of midfrequency stepper motor resonance electronic scheme which allows to remove midfrequency resonance effect which appears in this range: 6-12 cycles per second. When the power is supplied, green LED POWER, green LED STEP/ENB and red LED ERROR flash on. When there is no alarm red ERR LED goes out in 1 sec and the green ones are still switched on (if ENABLE=1, green LED goes out; ENABLE=0, green LED is on or blinks when there is STEP frequency). When the protection function operates, the driver switches off stepper motor coils, red signal ERR flashes on, green STEP/ENB LED goes out and opto-coupler of error closes/opens. Collector (С) and emitter (Е) of opto-coupler error are terminated to DB-9M type connector according to fig.1. Switch SW9 (Function) inverts opening/closing of opto-coupler error. Fig. 5. Stepper motor driver connection scheme The driver restores its work after alarm cause removal and switching off/on power supply. 13
09. Protection functions, setup When the protection function operates, the driver switches off stepper motor coils, red signal ERROR flashes on, GREEN LED STEP/ENB goes out and error optocoupler is circuited/opened. Collector (С) and emitter (Е) of error optocoupler is displayed to connector DB-9M type according to fig.1. SW9 switch-over(function) inverts circuit/opening of error optocoupler. The driver restores its work after alarm cause removal and switching off/on powel supply. When there is STEP signal, STEP/ENB blinks. When ENABLE signal is supplied, STEP/ENB goes out, when no ENABLE signal - STEP/ENB flashes. The driver has inbuilt STEP frequency generator a convenient function for a test driver start-up without access to PC or any other external generator of STEP frequency. Generator frequency is regulated by FREQ potentiometer. When turned on SW10, the driver can be operated by DIR/ENABLE signals and change stepper motor step division. 10 Step division option The driver allows to divide electronically physical stepper motor step - 2, 4, 8, 16 and 32. Thus positioning accuracy is higher. Step division mode is called microstep division. This mode allows to reduce stepper motor resonances at low revs. It is recommended to use PLD880 driver in step division 1:8, 1:16 or 1:32. In these modes stepper motor rotates as smooth as possible, lowfrequency vibrations are minimal and an automatic compensator of midfrequency stepper motor resonance works its best. Switching of step division mode is performed via DIP-switches SW6, SW7, SW8. Step division choice must be performed only when driver supply is OFF. Terms of Warranty 11 The warranty period is 12 months after purchasing and is valid only if all operational conditions and scheduled maintenance are strictly followed. 1. General terms 1.1. In case of product acquisition as separate components, Seller guarantees working ability of every component, but does not assume responsibility for the quality of their joint work (mismatch of components). If you have questions please consult our technical support team. 1.2. Seller does not guarantee compatibility of the purchased product with the one that Buyer already has or bought from third parties. 1.3. Product s component parts and configuration can be changed by manufacturer without notice due to the product consistent technical improvement. 2. Conditions for warranty acceptance 2.1. The product is accepted only in the same completeness of set as it was purchased. 3. Warranty service procedure 3.1. Warranty service is performed by testing the claimed product defect. 3.2. If the defect is proved, warranty repair is carried out. 4. We do not assume any responsibility for glass, electric lamps, starters and expendable materials as well as: 4.1. Damaged product caused by inappropriate transport and store conditions, wrong connection, operation in abnormal (off-design) mode, or in conditions which are not manufacturer-supplied (including temperature and humidity out of limits of recommended range), having damages due to third-party circumstances (voltage jumps, natural disasters, etc.), also having mechanical or thermal damages. 15
11. Terms of Warranty 4.2. The product with traces of foreign objects or substances impact, including dust, liquids, insects, also objects having extraneous inscription. 4.3. The product with traces of unauthorized tampering and (or) repair process (traces of opening, home-made soldering, elements changing etc). 4.4. The product with self-diagnostic function that shows improper exploitation. 4.5. Technically complex product in respect of which assembly and integration and start-up works were not performed by Seller specialists or by recommended organizations, except in cases directly regulated under goods documentation. 4.6. In cases when the product exploitation was performed in conditions when power supply did not correspond with manufacturer s requirements, also when there is no electrical protection device. 4.7. The product which was resold by the initial buyer to the third party. 4.8. The product with defects which were caused by low-quality spare parts or fulfilled their service life spare parts,consumable materials, also using spare parts, consumable materials not corresponding with manufacturer s requirements. Produced and accepted in accordance with obligatory requirements of valid technical documentation and is qualified for exploitation. Lot number: Technical Control Department 17
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