AMCI SD17040C Bedienungsanleitung

SD17040C

Stepper Driver

ADVANCED

MICRO CONTROLS INC.

Manual #: 940-0S110

Table of Contents

General Information .................. 2

Introducing the SD17040C ....... 3

Specifications ............................ 4

Mounting the SD17040C ........... 5

Switch Settings ......................... 6

Connecting Your Controller ..... 7

Connecting Your Motor ............ 9

Power Connector and

Indicator LED’s .......................... 10

Verifying System Setup ............ 11

Troubleshooting ........................ 13

ADVANCED MICRO CONTROLS INC.

GENERAL INFORMATION

Important User Information

The products and application data described in this manual are useful in a wide variety of different applications.

Therefore, the user and others responsible for applying these products described herein are responsible for deter-

mining the acceptability for each application. While efforts have been made to provide accurate information

within this manual, AMCI assumes no responsibility for the application or the completeness of the information

contained herein.

UNDER NO CIRCUMSTANCES WILL ADVANCED MICRO CONTROLS, INC. BE RESPONSIBLE OR

LIABLE FOR ANY DAMAGES OR LOSSES, INCLUDING INDIRECT OR CONSEQUENTIAL DAM-

AGES OR LOSSES, ARISING FROM THE USE OF ANY INFORMATION CONTAINED WITHIN THIS

MANUAL, OR THE USE OF ANY PRODUCTS OR SERVICES REFERENCED HEREIN.

No patent liability is assumed by AMCI, with respect to use of information, circuits, equipment, or software

described in this manual.

The information contained within this manual is subject to change without notice.

in part, for your personal use, provided that this copyright notice is included. You may distribute copies of this

complete manual in electronic format provided that they are unaltered from the version posted by Advanced

Micro Controls Inc. on our official website: www.amci.com. You may incorporate portions of this documents in

other literature for your own personal use provided that you include the notice “Portions of this document copy-

right 2009 by Advanced Micro Controls Inc.” You may not alter the contents of this document or charge a fee

for reproducing or distributing it.

Standard Warranty

ADVANCED MICRO CONTROLS, INC. warrants that all equipment manufactured by it will be free from

defects, under normal use, in materials and workmanship for a period of [18] months. Within this warranty

period, AMCI shall, at its option, repair or replace, free of charge, any equipment covered by this warranty

which is returned, shipping charges prepaid, within eighteen months from date of invoice, and which upon

examination proves to be defective in material or workmanship and not caused by accident, misuse, neglect,

alteration, improper installation or improper testing.

The provisions of the “STANDARD WARRANTY” are the sole obligations of AMCI and excludes all other

warranties expressed or implied. In no event shall AMCI be liable for incidental or consequential damages or

for delay in performance of this warranty.

Returns Policy

All equipment being returned to AMCI for repair or replacement, regardless of warranty status, must have a

Return Merchandise Authorization number issued by AMCI. Call (860) 585-1254 with the model number and

serial number (if applicable) along with a description of the problem. An “RMA” number will be issued.

Equipment must be shipped to AMCI with transportation charges prepaid. Title and risk of loss or damage

remains with the customer until shipment is received by AMCI.

24 Hour Technical Support Number

24 Hour technical support is available on this product. Start at our website, www.amci.com if you have inter-

net access. Product documentation and FAQ’s are available on the site that answer most common questions.

If you require additional technical support, call (860) 583-7271. Your call will be answered by the factory

during regular business hours, Monday through Friday, 8AM - 5PM Eastern. During non-business hours an

automated system will ask you to enter the telephone number you can be reached at. Please remember to

include your area code. The system will page an engineer on call. Please have your product model number

and a description of the problem ready before you call.

We Want Your Feedback

Manuals at AMCI are constantly evolving entities. Your questions and comments on this manual are both

welcomed and necessary if this manual is to be improved. Please direct all comments to: Technical Docu-

mentation, AMCI, 20 Gear Drive, Terryville CT 06786, or fax us at (860) 584-1973. You can also e-mail

your questions and comments to techsuppor[email protected]

20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786

Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com

INTRODUCING THE SD17040C

The SD17040C

The SD17040C is a micro-stepping driver that is part of the growing line of motion control products from

AMCI. It is designed for use with a variety of stepper motors including AMCI’s size 23 through size 34

motors. The driver can be programmed to a maximum resolution of 50,800 steps per turn and output a motor

current of 1.0 to 4.0ARMS that is programmable in 0.1ARMS increments. Other features of the driver include:

Inputs that accept 5Vdc to 24Vdc without the need of an external current limiting resistor

Anti-Resonance Circuitry

Back-EMF Protection Circuity

Programmable Step Resolution from 200 to 50,800 steps per turn

Programmable Idle Current Reduction

Programmable Current Loop Gain

Programmable Pulse Train Input (Step/Direction or CW/CCW)

Programmable Active State for the Disable Input

This manual is designed to get you up and running quickly using the SD17040C stepper driver.

As such, it assumes you have some basic knowledge of stepper systems, such as the resolution

you want run your motor at, and the reasons why you’d want to use Idle Current Reduction and

the reasons why you wouldn’t. If these terms or ideas are new to you, we’re here to help. AMCI

has a lot of information on our website and we are adding more all the time. If you can’t find what

you’re looking for at http:///www.amci.com, send us an e-mail or call us. We’re here to back you

up with all of our knowledge and experience.

ADVANCED MICRO CONTROLS INC.

SPECIFICATIONS

Driver Type

Two bipolar MOSFET H-bridges with 170Vdc

output bus. 20KHz PWM current control.

Physical Dimensions

Width: 2.1 inches max.

Depth: 4.0 inches max.

Height: 6.2 inches

7.0 inches with mounting tabs

Weight

2.4 lbs. (1.1 kg.)

Inputs

Electrical Characteristics for all Inputs: ..........

Differential. 1500 Vac/dc opto-isolated. Can be

wired as single ended inputs.

Indexer ....Motor steps on high going pulse.

250 nS min. pulse width, 2 MHz

maximum input frequency. 500 nS

minimum dwell time between direc-

tion changes.

Disable ....Programmable Active State (ON or

OFF). Disables current to motor.

Driver does not accept steps while dis-

abled.

Fault Output

Electrical Characteristics:

Open Collector/Emitter. 1500 Vac/dc

opto-isolated. 30Vdc, 20 mA max.

The Fault Output is normally on. Turns off under

the following conditions:

Reset ............... The driver initialization is not

yet complete on power up.

Short Circuit .... Motor Phase to Phase or Phase

to Earth Ground

Over Temp ...... Heat Sink temperature exceeds

90° C (195° F)

No Motor ........ The motor interlock terminals

are not connected.

Pulse Train Input

Switch selectable to CW/CCW or Step/Direction.

Motor Current

Switch selectable from 1.0 to 4.0A

RMS

in 0.1

Amp steps.

Idle Current Reduction

Switch selectable to Not reduced, To 69%, To

50%, or To 0%. Motor current is reduced to

selected level if a step pulse is not received for

one second for the To 50%, and To 0% settings.

For the To 69%, setting, current is reduced after

10 milliseconds. Current is restored to full

value on next pulse.

Resolution

Switch selectable to 200, 400, 1,000, 2,000,

5,000, 10,000, 12,800, 18,000 20,000, 21,600,

25,000, 25,400, 25,600, 36,000, 50,000, or

50,800 steps per turn.

Internal Power Fuses

10 Amp Slow Blow. Both Line and Neutral are

fused. Fuses are not user replaceable.

Environmental Specifications

Input Power 95 to 132Vac, 50/60 Hz, 5.0 Apk

max.

Driver will retain control of motor down to 85Vac

at reduced torque.

Ambient Operating Temperature

-4° to 122°F (-20° to 50°C)

Storage Temperature

-40° to 185°F (-40° to 85°C)

Humidity 0 to 95%, non-condensing

Motor Specifications

Type 2 phase hybrid. 4, 6, or 8 lead motor

Insulation Minimum 500Vdc phase-to-phase and

phase-to-case

Inductance 0.3 mH minimum. 2.5 to 45 mH rec-

ommended

Connectors

All mating connectors are included with driver.

Connector Wire Strip Length Min. Tightening Torque

Indexer 28 - 16 AWG 0.275 inches 1.95 lb-in (0.22 nM)

Motor 24 - 12 AWG 0.275 inches 4.43lb-in (0.5 nM)

Power 24 - 12 AWG 0.275 inches 4.43lb-in (0.5 nM)

20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786

Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com

MOUNTING THE SD17040C

Outline Drawing

There are two ways to mount the SD17040C.

The first method is with four #10-32 screws into its side panel.

The second method is by the mounting tabs. Mounting tabs are for #6 screws.

Minimum and maximum screw lengths should be observed to prevent a screw from

shorting to the PC Board.

There are airflow holes in the top and bottom of the enclosure. To ensure adequate convec-

tional airflow, the driver must be mounted in the orientation shown in the drawing.

Grounding

The SD17040C must be grounded for proper operation. The

GND

connection on the power connector is con-

nected to the SD17040C enclosure and is a sufficient grounding point for most applications. When mounting

the SD17040C on a surface that is electrically conductive and grounded, you should also take steps to ensure

that the two are electrically bonded together. If necessary, remove paint for the bolt mounting surfaces of the

panel to ensure adequate electrical bonding.

Airflow and Wiring Space

To ensure adequate airflow and wiring space, you need two inches (50 mm) of space above and below the

driver, one and one-half inches (37 mm) of space to the left and right of the driver, and one inch (25 mm) of

space in front of the driver. These dimensions are typical for convectional cooling. If you have an active

cooling system such as enclosure fans, you will be able to mount the drivers closer together.

DIR/CCW

STEP/CW

DISABLE

FAULT

STEP/CW

DISABLE

FAULT

INTERLOCK

B CTAP

EARTH GND

A CTAP

INTERLOCK

GND

STEP/FAULT

POWER

AC POWER

95 – 132 V

50/60 Hz

2.05"

(52.1)

1.10"

(27.9)

0.118"

(4.78)

0.152"

(3.86)

dia.

0.312"

(7.92)

dia.

6.71"

(170.4)

0.152"

(3.86)

typ. 1.000"

(25.40)

0.60"

(15.2)

6.15"

(156.2)

4.00" (101.6)

4.000"

(101.60)

1.073"

(27.25)

0.875"

(22.23)

7.00"

(177.8)

2.750" (69.85)

#10-32 UNF-2B.

Four places.

Min. screw length = 0.31"

(7.9)

+ thickness of mounting panel.

Max. screw length = 0.62"

(15.8)

+ thickness of mounting panel.

ADVANCED MICRO CONTROLS INC.

SWITCH SETTINGS

The SD17040C is configured by DIP switches on the top of the driver. The factory default setting has all

switches in their off (0) position except for SB2-1. (CurrentLoop Gain = 1) All switch setting are latched.

You must cycle power to the driver before changes take effect.

Note on Idle Current Reduction

The SD17040C controls the

RMS current through the

motor. Therefore it can

momentarily put 1.4 times the

motor's rated current through

the windings safely. If you

choose a setting of No Reduc-

tion, the SD17040C will revert

to peak current control when

the motor is not turning. This

feature protects the motor from

damage. You will not see a

reduction in holding torque.

Disable Input

Anti-Resonance

Current Loop Gain

Self-Test Mode

STEP/DIR

CW/CCW

NO REDUCTION

TO 69%

IDLE CURRENT

REDUCTION

ENABLED

DISABLED

ANTI-RESONANCE

SWITCH

SETTINGS

TO 50%

TO 0%

ACTIVE HIGH

ACTIVE LOW

PULSE TRAIN INPUT

DISABLE INPUT

ACTIVE STATE

0 1

AutoID

Gain = 1

CURRENT LOOP

GAIN

Gain = 2

Gain = 3

Gain = 4

Gain = 5

Gain = 6

Gain = 7

Gain = 8

Gain = 9

Gain = 10

Gain = 11

Gain = 12

Gain = 13

Gain = 14

Gain = 15

Gain = 16

Gain = 17

Gain = 18

Gain = 19

Gain = 20

Gain = 21

Gain = 22

Gain = 23

Gain = 24

Gain = 25

Gain = 26

Gain = 27

Gain = 28

Gain = 29

Gain = 30

Gain = AutoMode

11 0

1 0 1

11 1

1 1 1

0 1 1

11 0

1011

1 1 1

11 1

1111

0 1

0 0

0 0 0

0 01

1 0 0

0 00 1

0100

0 00

0 0 0

0 00 0

0000

100 0

200 STEPS

400 STEPS

RESOLUTION

(Steps / Revolution)

1,000 STEPS

2,000 STEPS

5,000 STEPS

10,000 STEPS

12,800 STEPS

18,000 STEPS

20,000 STEPS

21,600 STEPS

25,000 STEPS

25,400 STEPS

25,600 STEPS

36,000 STEPS

50,000 STEPS

50,800 STEPS

0100

110 0

0010

101 0

0110

111 0

0001

100 1

0101

110 1

0011

101 1

0111

111 1

23451

SB1 SB2 SB3 SB4

1.0

1.1

1.2

1.3

1.4

1.5

1.6

1.7

1.8

1.9

2.0

2.1

2.2

2.3

2.4

2.5

2.6

2.7

2.8

2.9

3.0

3.1

3.2

3.3

3.4

3.5

3.6

3.7

3.8

3.9

4.0

OUTPUT CURRENT

0000 00

1000 00

0100 00

1100 00

0010 00

1010 00

0110 00

1110 00

0001 00

1001 00

0101 00

1101 00

0011 00

1011 00

0111 00

1111 00

0000 01

1000 01

0100 01

1100 01

0010 01

1010 01

0110 01

1110 01

0001 01

1001 01

0101 01

1101 01

0011 01

1011 01

0111 01

1111 01

0000 10

1000 10

0100 10

1100 10

0010 10

1010 10

0110 10

1110 10

0001 10

1001 10

0101 10

1101 10

0011 10

1011 10

0111 10

1111 10

0000 11

1000 11

0100 11

1100 11

0010 11

1010 11

0110 11

1110 11

0001 11

1001 11

0101 11

1101 11

0011 11

1011 11

0111 11

1111 11

1.0

4.0

You can program the Disable Input's

active state. When Active High, you must

apply power to the input to disable the

driver. When Active Low, you must apply

power to the input to enable the driver. If

you are not using the input, set this switch

to Active High and the driver will operate

as you expect. When the Disable Input is

active, the SD17040C removes power from

the motor and stops accepting indexer

pulses. Over-temp and Over-current faults

are cleared when the driver transitions from

a Disabled state.

This setting allows you to compensate for

variations in motor properties which will give you smoother motion and better positional

accuracy. See the Setting the Current Loop Gain section on page 11 for more information.

Self-Test mode is controlled by the switch SB4-1. If you change the state of this switch

while power is applied to the SD17040C, the driver will respond by rotating the attached

motor clockwise at 60 RPM with a resolution of 50,000 steps per turn. Note that changing

this switch does not alter the current supplied to the motor. All switch settings are read and

latched on power up. However, you must return this switch to its correct setting for normal

operation before cycling power or resetting the SD17040C.

Allows the SD17040C to compensate for

back-EMF generated by the motor. It

should be left enabled for most applica-

tions. Disable only if you are sure you do

not want this feature or under the advice of

AMCI tech support.

20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786

Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com

CONNECTING YOUR CONTROLLER

I/O Connector

The I/O connector on the SD17040C accepts inputs from your indexer

as well as the Disable Input and Fault Output.

All inputs accept 5Vdc differential signals and can also be wired to

accept single ended sinking or sourcing inputs of up to 24Vdc without

the need of an additional current limiting resistor.

Input Wiring

All inputs on the SD17040C are low

voltage, low power signals. All wiring

should use shielded, twisted pair cable

such as Belden 9727 instrumentation

cable.

The shield of the cable should be

grounded at one end only, preferably at

the indexer or controller. Do not ground

the shields at the SD17040C. If you

must splice the cable, do not connect the

shields to the ground of the junction

box.

Indexer Inputs

These inputs can be programmed to

accept Step & Direction or CW/CCW

pulses. This setting is controlled by

SB1-1.

Disable Input

When active, the motor current is off

and the driver does not accept indexer

pulses. The active state of the Disable

Input is set by switch SB1-4.

RLD

An additional load resistor may be

required on some PLC outputs to

improve switching time. A symptom of

this problem is that the motor will begin

to run rough at high speeds. A 470 or

560 ohm resistor should be used. For

5V and 12V systems use a 1W resistor.

For 24V systems use a 2W resistor.

These power ratings assume that the out-

put can be normally on. For systems

where you are sure the output is always

normally off, the wattage ratings can be

cut in half.

STEP/CW

DISABLE

FAULT +

FAULT

STEP/CW

DIR/CCW

Indexer Inputs

Disable Input

Fault Output

Indexer/Disable

Input +

Differential

Output

Differential Connection

Shielded, Twisted

Pair Cable

–

Sourcing

Output

+5 to +24V

Open Collector Sourcing Connection

may be needed in applications using a PLC DC output

to generate index pulses at high speeds. See the note on

this page for more information.

Shielded, Twisted

Pair Cable

Open Collector Sinking Connection

Sinking

Output

+5 to +24V

Shielded, Twisted

Pair Cable

(As Needed)

–

Indexer/Disable

Input

–

(As Needed)

Indexer/Disable

Input

may be needed in applications using a PLC DC output

to generate index pulses at high speeds. See the note on

this page for more information.

CONNECTING YOUR CONTROLLER

ADVANCED MICRO CONTROLS INC.

Output Wiring

The ±Fault Output is an optically isolated transistor capable of driving a typical PLC input. The Fault Output

is normally on (conducts current) and turns off under the following conditions:

The Interlock jumper is missing on the motor connector

There is a short in the motor, either phase to phase or phase to ground

The heatsink temperature exceeds 90°C (195°F)

The driver is in its reset state and is not ready to accept pulses

Both ends of the output are uncommitted, so it can be wired as a sourcing or sinking output. The figure shows

a typical connection as a sourcing output.

RLIMIT

A resistor may be needed to limit the current through the Fault Output. The value, and power rating of the

resistor is dependent on the value of Vdc, the voltage drop across the input, and the current requirements of

the input.

SD17040C

Fault Output

FAULT+

FAULT–

LIMIT

+5 to +24V

Open Collector Sourcing Output

PLC Input

Shielded, Twisted

Pair Cable

FAULT OUTPUT Electrical Specifications

VDC max: VCESAT:

30Vdc 1Vdc @ 20 mA

Power Dissipation: 20 mW max.

Ic max: 20 mA

SAT

20 Gear Drive, Plymouth Ind. Park, Terryville, CT 06786

Tel: (860) 585-1254 Fax: (860) 584-1973 http://www.amci.com

CONNECTING YOUR MOTOR

Compatible Motors

The SD17040C will work with many different motors, including those not sold by AMCI. This section

assumes that you have already chosen your motor and you are looking for wiring information. No wire colors

are given because there is no single industry wide color coding standard for stepper motor wires. You must

refer back to your motor data sheets for this information.

AMCI offers several different stepper motors in sizes 23, 34, and 42. Refer to our website, www.amci.com,

for additional information on these products.

Motor Wiring

The Interlock jumper is a safety

device that is needed for proper

operation. The SD17040C will not

power the motor without this jumper.

When the jumper is installed,

up to 170Vdc is present on the

connector. Do not use the Interlock

for anything other than its

intended use as a safety device.

INTERLOCK

B CTAP

EARTH GND

A CTAP

INTERLOCK

LEAD

MOTOR

Eight Lead Series Connected

Motor Case

INTERLOCK

B CTAP

EARTH GND

A CTAP

INTERLOCK

LEAD

MOTOR

Eight Lead Parallel Connected

Motor Case

INTERLOCK

B CTAP

EARTH GND

A CTAP

INTERLOCK

LEAD

MOTOR

Six Lead Series Connected

Motor Case

INTERLOCK

B CTAP

EARTH GND

A CTAP

INTERLOCK

LEAD

MOTOR

Six Lead Center Tap Connected

Motor Case

INTERLOCK

B CTAP

EARTH GND

A CTAP

INTERLOCK

LEAD

MOTOR

Four Lead Connected

Motor Case

SHIELDS SHIELDS

SHIELDS

Interlock Jumper Interlock Jumper

Interlock Jumper

Motor Case

NOTES

170Vdc is present on the

connector when power is applied

to the motor. Install the supplied

rubber boot on the connector

during normal operation.

Motor connections should be tight.

Loose connections may lead to

arcing which will heat the connector.

Phoenix Contact specifies a tighten-

ing torque of 4.4 to 5.4 lb-in. (0.5 to

0.6 Nm)

Refer to the torque vs. speed curves on your motor's

specifications sheet to determine if you should wire the

motor to the SD17040C in series, parallel, or centertap

configuration.

ADVANCED MICRO CONTROLS INC.

POWER CONNECTOR AND INDICATOR LED’s

Power Connector

The SD17040C operates on 115Vac. If 230Vac is the only power available, consider using one

of the 230Vac drivers available from AMCI. Information on these drivers can be found on our

website, http://www.amci.com. If this is not an option, a step-down transformer must be

installed to power the SD17040C. The transformer must have a minimum power rating of 600

VA.

The SD17040C must be grounded for proper operation. Grounding is accomplished with the

GND pin on the power connector, and through proper bonding to the enclosure. Power con-

nections should be tight. Loose connections may lead to arcing which will heat the connector.

Phoenix Contact specifies a tightening torque of 4.4 to 5.4 lb-in (0.5 to 0.6 nM)

Indicator LED’s

The SD17040C has two indicator LED’s.

STEP/FAULT

!Green:

Driver Operational

!Flashing Green:

Driver Operational, Receiving Pulses

!Red:

Driver Fault (The Over Temperature and Over Current faults can be cleared with the Disable Input.)

1) Over Temperature Fault: The heatsink temperature exceeds 90°C (195°F)

2) Over Current Fault: Generally, a short exists somewhere in the system. This can be a short in the

motor or in the driver itself.

A)Phase–Phase Short: There is an electrical short between the two motor windings. The short

exists in the motor cable or in the motor itself.

B)Phase–Ground Short: One of the motor’s windings is shorted to earth ground. (The EARTH

GND terminal of the Motor Connector is used as the reference point.) The

fault can be in the motor cable or in the motor itself.

C)Back EMF: In applications with large motors and high deceleration rates, back-EMF generated

by the motor may also cause this fault.

3) Interlock Fault: The two Interlock Terminals on the motor connector are not connected with a short

jumper.

!Flashing Red:

Current Loop Gain AUTOID Error. There is a problem with the motor wiring or the motor

current is set tozero.

!Flashing Red/Green @ 1Hz:

Step Violation: The indexer sent step pulsesto the SD17040C before the

driver was ready for them. The driver was disabled, in a fault condition,or had not completed its initialization

sequence on power up or reset. The stepper motor position will be invalid. The motor is not disabled and can still

be driven. While there is motion, the LED will flash at approximately 4 Hz.

!CURRENT LOOP GAIN:

This LED is also used when the Current Loop Gain is set to AutoID. (SB2:1-

5 all turned off) When set to AutoID, the driver will determine the parameters of the attached motor and

will flash the Step/Fault LED green the number of times that the parameter should be set to. Flashing

red indicates a problem with the motor wiring or the motor current is set to zero. Further information

can be found in the next section of the manual, Verifying System Setup.

Power

!Green:

Power is applied to the driver in the range of 95 or 132 Vac.

AC POWER

95 – 132 V

50/60 Hz

GND

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