Stepper motor

 

 

Following description summarizes information about stepper motors, used in Pannoramic scanners.

 

       Contents

2-Phase stepper motors

            Step control of stepper motors

            Sensors Home1,2

            Construction of the stepper motor

5-Phase stepper motors

            Construction of the motor unit

            Motor control board

                        DIP-switches

                        Current setup

 

 

 

                        Types of used 2-phase stepper motors

 

SANYO DENKI 103-547-52500;             X, Turret, Camera changer;

Step angle (full step) = 1.8° ± 0.09°;        200 full steps/revolution or 3200µ-steps/revolution (micro step);

 

                      “Sanyo_Step_103_547_52500.pdf”

 

 

SANYO DENKI 103-547-52300;             Y-motor;        

Step angle (full step) = 1.8° ± 0.09°;        200 full steps/revolution or 3200µ-steps/revolution (micro step);           

 

                      “Sanyo-motor_summary.pdf”

 

 

Sanyo Denki SH-1422-0441;                  Focus unit, P250;                          

Step angle (full step) = 0.9° ± 0.045°      400 full steps/revolution or 6400µ-steps/revolution (micro step);

 

                      “Sanyo-motor_summary.pdf”

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Nanotec ST2018L0804-A;           ND filter unit;                      

 Step angle (full step) = 1.8° ± 0.09°; 200 full steps/revolution or 3200steps/revolution (micro step);  

 

          “ST2018L0804-A”    and “http://en.nanotec.com/products/171-st2018-stepper-motor-nema-8/”

 

 

 

About basics, theory and principles please refer to:

http://www.solarbotics.net/library/pdflib/pdf/motorbas.pdf

 

Stepper motor basics                     (stored)

Drive circuit basics                         (stored)

Stepper motor and driver               (stored)

External recirculation diodes        (stored)

Stepper motor driving                     (stored)

Stepper motors 2011                      (stored)

 

 

 

 

 

 

 

 

 

                        Types of used 5-phase stepper motors

 

 

ORIENTAL MOTOR VEXTA

 

Manufacturer:          ORIENTAL MOTOR

Types:                        PK544PA or B; PK544PMA or B

 

PK544PA      single shaft with a resolution of 500full-steps/revolution; 0.72°/step

PK544PMA   single shaft with a resolution of 1000full-steps/revolution; 0.36°/step

 

The last letter of the type may be “A” or “B”.

The letter “A” means front shaft only while “B” means front and rear shaft present.

 

 

 

 

 

 

               Stepper motor implementation

 

·    All stepper motors in Pannoramic scanners are unexceptionally and always driven in micro stepping; this way very precise movement is reached.

·    One revolution (full turn) of the motor axle is divided into 3200 steps.

·    The forward direction of the motors axle is counter clock wise, CCW.

·    The parts and units of the stepper motors need neither maintenance nor mechanical adjustments.

 

 

Step control of stepper motors

·    The scan software sends to the stepper motor electronics the number of steps to go (any number between the hardware limits of the appropriate unit; the number will be limited to the defined HW limit), the rotation direction (CW or CCW) and the value for the u-time.

·    The stepper motor controller calculates the speed wave form of the motor (see below “The inertia”) and executes the number of steps to go.

·    If the command (number of steps to go and direction) is executed, the stepper motor controller acknowledges the command with the appropriate status (the controller sent the number of pulses to the motor driver circuit); regardless steps are lost or not!

·    In the Low Level Service part of the Service program the hardware limits are not checked, so the number of issued motor steps can be more than the hardware is able to move; lost steps can occur! This possibility is used to check and define the mechanical limits of the appropriate stepper motor driven construction.

 

 

          Stepper motors                              Wikipedia

                        Motors from Nanotec                                                                                                                    © Nanotec         Tutorials

https://en.nanotec.com/support/knowledge-base-pages/functionality-stepper-motor/    © Nanotec                              Components and parts of stepper motors.

Stepper motor animation                                                                                                             © Nanotec                              Interactive demonstration; how stepper motors work.

·       Adobe® flash player needs to be installed and allowed by the browser.

 

          “How to define the hardware limits”

 

 

 

 

 

 

 

 

 

 

2-phase stepper motors

 

 

 

These motor types are mainly used in scanners, developed until summer 2016 and later in units, that are seldom moved or vibration, resonance and noise is not important for the scan process (scan process even not in progress).

 

 

 

 

Stepper motors with control electronics mounted

 

·    All the stepper motors in the scanners are unexceptionally and always driven in micro stepping; this way very precise movement is reached.

·    One revolution (full turn) of the motor axle is divided into 3200 steps (except the focus motor).

·    The forward direction of the motor’s axle is counter clock wise, CCW.

 

·    The parts and units of the stepper motors need neither maintenance nor mechanical adjustments.

 

 

 

 

 

 

Stepper motors without control electronics mounted

 

In the P250 the construction and the type of some stepper motors are modified in relation to the DESK, MIDI and SCAN.

The communication and control protocol is not modified, but the control electronics was separated from the motor; it is situated in the “X-Y-Z-ND-motor and Flash light control.”.

 

 

 

 

 

The following chapters are highly recommended:

            Stepper motors                                Wikipedia

Stepper motors                                © Nanotec    Interactive, animated demonstration.

 

 

 

 

 

 

 

 

X- and Y-stage motors

 

The motor type in the P250 is the same (3200µ-steps/revolution) as in the DESK, MIDI and SCAN, but behind the PCB cover, the cable connection of the motor and the sensors is realized; the PCB itself does not contain control electronics.

  • The stepper motor cables are connected to the X- respective Y-part of the “X-Y-Z-ND-motor and Flash light” control electronics.
  • The Y-motor type is different, because this motor has a shaft on the rotor’s rear side also.

 

 

Focus motor

 

In the P250, the focus motor has a resolution of 6400 steps/revolution and does not contain control electronics; see above “X-Y-Z-ND-motor and Flash light” control electronics.

 

 

 

ND-motor

 

The neutral density unit’s drive motor has a resolution of 200 full steps/revolution (3200micro steps) and is used to drive the ND-disc in the ND-unit housing.

          “ND filter unit stepper motor” and “ND filter unit”

 

 

 

 

 

 

 

Step control of stepper motors

·    The scan software sends to the stepper motor electronics the number of steps to go (any number between the hardware limits of the appropriate unit; the number will be limited to the defined HW limit), the rotation direction (CW or CCW) and the value for the u-time.

·    The stepper motor controller calculates the speed wave form of the motor (see below “The inertia”) and executes the number of steps to go.

·    If the command (number of steps to go and direction) is executed, the stepper motor controller acknowledges the command with the appropriate status (the controller sent the number of pulses to the motor driver circuit); regardless steps are lost or not!

·    In the Low Level Service part of the Service program the hardware limits are not checked, so the number of issued motor steps can be more than the hardware is able to move; lost steps can occur! This possibility is used to check and define the mechanical limits of the appropriate stepper motor driven construction.

 

 

          Stepper motors                                                                                                                  Wikipedia

http://en.nanotec.com/support/tutorials/stepper-motor-and-bldc-motors-animation/        © Nanotec                              Interactive demonstration; how stepper motors work.

·       Adobe® flash player needs to be installed and allowed by the browser.

 

          “How to define the hardware limits”

 

 

 

 

 

 

            u-time

  • The “u-time” parameter means the “time of one micro step” (“u” means “μ” (micro)) and is used to define the time, evaluated between the execution of 2 micro steps of the rotor.
  • The u-time is used as a factor and defines the pause time between two steps that following each other if the rotor rotates with the full speed. This factor affects both, the full speed and the torque of the rotor as well; the torque and the speed are nonlinear reciprocal to each other.
  • The u-time is defined for each motor separate in the software, depending on the driven mechanics; e.g. the turret motor has to handle a higher load then the focus motor.
  • This value defines the possible full speed of the stepper motor.
  • The value of the u-time may be varied between 8 and 64; lower values define higher speed with reduced torque, higher values define higher torque with lower speed.

 

 

 

 

 

 

     Calculate the u-time

 

           Time between two step pulses = (u-time + 1) x 4μs

            Usable values are: 8 ≤ u-time ≤ 64

 

            A value, lower then u-time=8 should not be used, because missed steps can occur or the mechanical drive will not start. If the value of the u-time will be increased, the motor speed reduces and the torque increases; noise, vibration and resonance are also influenced.

 

            The following tables show parameter values of the stepper motors, used in the P250, during different actions or procedures. These values can be used to configure the stepper motors in the part “B-test” of the service program.

 

 

P250; Slide insert and removal values

              Param.

Unit

U-time

U-time devisor

Acceleration

Current

Current devisor

X-motor

512

1

256

16

917568

Y-motor

512

1

256

16

917568

Z-motor

512

1

100

16

917568

ND-motor

512

2

256

16

917568

Turret; gear

16

1

256

64

1

Turret; belt

4

3

256

150

1

C. Changer

12

1

8

64

1

CC; Home1,2

12

1

256

64

1

P250; default values in the service program

              Param.

Unit

U-time

U-time devisor

Acceleration

Current

Current devisor

X-motor

512

1

100

16

917568

Y-motor

512

1

100

16

917568

Z-motor

512

1

100

16

917568

ND-motor

512

1

100

16

917568

Turret; gear

16

1

256

64

1

Turret; belt

4

1

256

150

1

C. Changer

12

1

8

64

1

CC; Home1,2

12

1

256

64

1

 

 

 

 

 

 

 

 

 

 

 

 

P250; Values during focusing procedures

              Param.

Unit

U-time

U-time devisor

Acceleration

Current

Current devisor

X-motor

559

4

256

6

917568

Y-motor

559

4

768

6

917568

Z-motor

550

1

300

6

917568

ND-motor

512

2

256

16

917568

Turret; gear

16

1

256

64

1

Turret; belt

4

3

256

150

1

C. Changer

12

1

8

64

1

CC; Home1,2

12

1

256

64

1

P250; Values during slide scan procedures

              Param.

Unit

U-time

U-time devisor

Acceleration

Current

Current devisor

X-motor

559

4

256

6

917568

Y-motor

559

4

768

6

917568

Z-motor

550

1

300

6

917568

ND-motor

512

2

256

16

917568

Turret; gear

16

1

256

64

1

Turret; belt

4

3

256

150

1

C. Changer

12

1

8

64

1

CC; Home1,2

12

1

256

64

1

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Inertia, speed, torque and noise

 

As common known, the inertia is an mostly unwanted aspect and so it might be a problem in driven mechanical systems and has to be handled precise, mainly if we achieve a longitudinal movement resolution of 1μm/rotor step; otherwise lost steps may occur during the mechanics movement or the defined position is not reached (the mechanics moved behind the issued number of steps).

In Pannoramic scanners the inertia of the entire mechanical drive is handled by the controlling of the stepper motors torque and so the speed also.

 

  • If the motor starts to drive, the speed of the rotor will start with the lowest level and is increased in the first nearly 250 steps to go until the maximal defined speed is reached.

 

  • The motor goes the issued number of steps reduced by 500 steps with full speed; then, in the last nearly 250 steps to go, the rotor speed will be decreased until the rotor stops again (see motor speed control).

 

  • If there have to go less then 500 steps, the full speed will not be reached.

 

  • The number of steps to go will be divided by 2 and so in the first half number of steps the speed will increase, then the speed is decreased until the number of issued steps is gone (see “Speed control 1”).

 

  • All these speed control mechanisms are done by modifying the u-time; the momentarily appropriate value is defined in the stepper motor controllers “Speed control table”.

 

            Noise and vibration will be also affected (in acceptable limits) by the used value of the u-time;

                      “How To Decrease Noise on Your Stepper Motor Driver” and “Designing for quiet, vibration-free operation”.

 

  • The inertia of the DC-motor driven mechanics is handled by the positioning of the sensors or the permanent magnets.

 

 

 

 

 

 


 

Sensors Home1 and Home2

 

In the stepper motor electronics and the motor mounting the sensors for Home1 and Home2 are located. To reach the start position within one revolution of the stepper motor’s rotor (mainly if steps are lost or when the power is turned on), a home position detection sensor is implemented, named “Home1”. This sensor detects always the start position for counting steps, within one revolution of the rotor. If the Home1 command is issued and the actual position is in the range between 1 and 1600, the motor axle rotates backward (CW) to reach the motor start position. If the actual position is in the range between 1601 and 3199 the motor axle rotates forward (CCW) to find the start position for step counting. Because the mechanical construction of the stepper motor driven components needs often more then 1 rotor revolution to fulfill its task, a second sensor, named “Home2” is implemented. This sensor limit is 342 revolutions of the motor axle. This is a wide limit and will not be reached by any of the stepper motor driven mechanical constructions in Pannoramic scanners. To reach the position “Home2” the motor axle is always driven backward (CW).

The construction of the sensor Home1 and the fact that the motor axle moves always backward to reach Home2 is the reason for the negative hardware limit of the stepper motor driven unit, limited to be less then 1600 steps in negative direction, counted from Home1, Home2.

 

          “How to define hardware limits” and “Sensor “Home1” and hardware limits”

 

 

 

 

 

 

 

 

 

Reach the home position of the mechanical drive

 

After the command Home1 is issued, the motor axle is driven forward or backward as described above. If the sensor Home1 signals the software that the home position is reached and we issue the command Home2, the software checks the state of the sensor Home2 first, before executing the command. If Home2 is active, movement does not occur; if the Home2 state is inactive the software drives the motor axle backward until Home2 signals active state. The software stops motor driving and is checking the state of Home1 again. This is important, because otherwise the position of Home1 would be different, if the forward or backward direction was executed. If Home1 is inactive, the motor is driven forward to find the start position with Home1. If the sensors Home1 and Home2 are active at the same time, the step counter for counting motor steps is reset to zero and the home position over the entire mechanical construction is found.

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Construction of the stepper motor

 

 

The 2-pase stepper motors, used in Pannoramic scanners are almost all from the same type; using the same electronics and using an identical communication and control protocol.

 

Differences are given in the mounting of the motor (sensor cover and motor mounting) and the connection of the motor axle to the mechanical drive. These connections are individual adapted to the mechanics to be driven.

 

Furthermore, to make the motor selectable for information and control data, each motor, used in the Pannoramic scanner got an address. Each communication pattern contains this address also. This way, only the addressed motor will receive the information stream, where the motor address and the data pattern address are identical.

 

Status and sensor information is transferred by using the same principle; see also above “Addresses”.

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Watch video:            Stepper motor components

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Types of the combined sensor cover and motor mounting

 

The shape of the cover on the sensor side is identical for all the three types, only the connection of the motor to the mechanical drive is different / modified.

 

1 = Motor axle drilling

This drilling is always situated in the center of the mounting; it differs in diameter according to the requirements of the connected peripheral.

 

2 = Sensor cover mounting

Two bolts in diagonal position fixing the sensor cover to the motor.

 

 

3 = Motor mounting to the mechanical drive

The motor mounting solution differs according to the possibilities or requirements, offered by the mechanical drive to be connected.

 

 

 

 

 

 

 

 

 

A = Turret motor mounting

The turret motor is mounted via two mounting nuts (3); these are driven into the threaded drilling of the sensor cover mounting (2); see also the image above “Stepper motor (turret unit)”. 

 

B = Focus motor mounting

The focus motor is mounted to the focus block via the drillings (3).

 

C= Mounting of all other used stepper motors

The X-motor and the Y-motor are mounted with this solution.

The drillings (3) are used to fixing the motor to the appropriate mechanics.

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

                                      Sensors; Home1 Home2

 

 

After removing the “Sensor cover and motor mounting” plate, the sensors Home1 and Home2 becomes visible.

 

 

 

The sensor Home1 is a foil disc and this is adhesive bonded to the motor axle gear; its position in relation to the diode Home1 is very important; at the same time, the sensor Home2 have to be in home position (during gluing the foil disc).

The sensor is used to find the start position for step counting inside 1 revolution of the motor axle.

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

The sensor Home2 is realized with two gear wheels, mounted onto the same axle and both are driven from the motor axle gear. The sensor Home2 determines and limits the number of possible revolutions of the rotor for the entire driven mechanics.

 

Remark

The “Home2 diode” is bent backward to make the “Home2 hole” visible; this is not the working position of the diode!

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

The sensor disc “Home1” consists of a half part black and a half part translucent (white). If the disc rotates CCW (forward) the transistor is lightened by a half revolution of the motor axle, if the white part is illuminated, the other half revolution interrupts the light path to the photo transistor, if the black part is over the coupler.

 

·       This way, two edges (transitions) are generated, from white to black and from black to white.

 

If the disc rotates forward, the transition from black to white is used to check the state of the Home2 sensor.

 

The Home1,2 position is reached if the Home1 sensor had a transition from black to white, the sensor Home2 shows the active state and the sensor Home1 stays on white (if the direction of rotation is forward). To ensure, that the same position is used, if the motor rotates backward, the state of the sensor Home2 is checked by the transition from white to black of the sensor Home1, and then a forward movement is followed.

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Principle of sensor Home2

 

The Home2 sensor consists of two gearwheels; the cog number differs by 1, in relation to each other. Each gearwheel has a hole on a specified position. In the Home2 position the holes fitting each other; light can pass through the sensor to the photo transistor and the Home2 position is recognized. The gear wheels are mounted on the same axle and both are driven at the same time from the gearwheel situated on the motor axle.

 

Because the number of cogs differs by 1, the position of the holes is different after 1 revolution of the motor axle; the holes are not fitting each other; light will not arrive to the photo transistor and home 2 is not reached. The number of cogs for the gear wheels was chosen so, that the Home2 state will be active next time, if the motor axle had done the number of revolutions, defined by the product of the cog numbers.

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Photo couplers

 

Each sensor has its own photo coupler; it consists of an infrared LED, acting as the light emitter and an infrared photo transistor, acting as light receiver. The sensor allows the light of the LED to the transistor if the acting position is reached; otherwise, the light path between LED and transistor is broken by the sensor. The state (light / no light) and the transition edge (Home 1) contain the information; this is recognized by the electronics and transferred to the software.

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Electronics (PCB) cover

 

By removing the PCB cover the PCB becomes visible. The electronics cover is mounted to the PCB mounting standoffs; increases the mechanical stability of the connector and contain the cooling plate for the stepper motor driver circuit.

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 PCB mounting standoff

 

With this solution the PCB position is fixed; by removing the standoffs, the PCB and the sensors can be moved sideward; the PCB is then hold only by the soldered motor connection.

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

5-Phase stepper motor

 

Modifications since summer 2016

 

5-Phase stepper motors improving the smoothness of step movements, reducing so vibration, resonance and noise of the motor, even during the scan process in progress is this important.

 

2 types of 5-Phase stepper motors are used since summer 2016 in S_M_D-type scanners:

 

PK544PA      single shaft with a resolution of 500full-steps/revolution; 0.72°/step

PK544PMA   single shaft with a resolution of 1000full-steps/revolution; 0.36°/step

 

The last letter may be “A” or “B”.

The letter “A” means front shaft only while “B” means front and rear shaft present.

 

By using DIP switches inside the motor control unit, the revolution of 1000full-steps is transformed to the number of steps like a 200 or a 400 2-phase full-step motor uses.

The conversion logic (HW and firmware together) transforms the 5-phase rotor revolution of 1000full-steps (or 500full-steps) into 3200µ -steps (200full-steps/revolution) or into 6400µ-steps (400full-steps/revolution) respectively.

 

·      Today 5-Phase stepper motors with a rotor revolution of 1000full-steps are preferred in S_M_D_II-type scanners.

·      Only the Y-motor has a rear shaft also.

 

          Enhancements_2016

 

 

 

 

                    Construction of the motor unit

 

5-Phase stepper motors are implemented into the focus unit (6400micro-steps/revolution), and the X- and Y-stage unit (3200micro-steps/revolution).

For the user the 5-phase motor uses the same step resolution (after transformation) as required for the traditional X-Y-stage unit.

·      The focus unit’s traditional rotor resolution of 3200micro-steps/revolution is now increased to 6400micro-steps/revolution; so focusing of slides with a thickness of 1.2mm becomes also possible.

 

          Oriental motor 0.36°/step

                        Oriental motor 0.72°/step

 

 

Watch video:            5-phase motor unit

                                   5-phase motor unit construction

 

 

 

Sensors Home1 and Home2

Modifications are made mainly on the motor axle’s gear wheel and the sensor Home1.

 

The sensor Home1 foil disc is replaced by a metal half disc and this is hold by a bolt, driven into the motor axle’s gear wheel clamp.

 

  • With this solution, relations between the sensors Home1 and Home2 are always constant

 

The working principles of the sensors are not changed.

 

          working principle of the sensors Home1 and Home2

 

Watch video:            Sensors Home1,2 and Home1

 

 

 

 

 

 

 

 

 

  • The working principle of the sensors Home1, 2 is not modified, only the physical construction is modified.

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

              Motor control board

 

5-Phase stepper motors requiring different drive electronics than the 2-Phase stepper motor.

The manufacturer of stepper motors offers the appropriate motor driver also as a compact driver module (DS507F-2).

 

  • This driver module controls the stepper motor in micro-stepping mode.

 

To drive different kind of motors and to set special conditions, DIP-switches are used.

 

 

In traditional 2-phase stepper motor controllers the address of the control unit was programmed into the controller, so address modifying was required if the motor (controller) was exchanged.

 

  • In the new solution, address programming into the controller is no longer required, the motor address can be set now via DIP-switches, found on the motor controller board.

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

DIP-switches

 

The DIP-switches are used to parameterize the motor control and to adapt the rotor full-step resolution.

 

Switch positions 1-4

Four switches are used to define the motor address in binary form.

We know that in S_M_D-type scanners max 16 units are addressable over the internal I2C bus; the addresses are coded from 0 to 15.

 

Please remember

  • X-motor has the address 03,
  • Y-motor has the address 04 and
  • Z-motor has the address 05.

 

Depending on the task of the motor, the appropriate controller address is coded here in binary form.

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Switch position 5

is used to set the number of full-steps/revolution of the connected motor or in other words, the rotor’s movement in degrees/full-step.

 

ON-state:       1000full-steps/revolution or          0.36°/ full-step

OFF-state:     500full-steps/revolution or            0.72°/ full-step

 

  • Check the value for the connected motor and set the DIP-switch into the required position!

 

 

 

 

Switch position 6

is used to set the number of full-steps/revolution to be emulated (required).

 

ON-state:       400full-steps/revolution;    for focus unit

OFF-state:     200full-steps/revolution;    X- or Y-stage unit

 

  • Verify the implementation of the motor unit and set the DIP-switch into the required position!

 

 

 

 

 

 

 

 

 

 

 

 

 

              Detailed, explicit settings

 

X-motor

 

DIP-switches

Address=03

 

1

2

3

4

5

6

ON

ON

OFF

OFF

ON

OFF

 

 

 

 

Setting of Switch 5 is true, if a motor with 0.36°/full-step resolution is connected.

 

Read settings as:

The address of the motor controller is 03, this means X-motor; a 5-phase motor with a resolution of 1000full-steps/revolution is connected and this resolution will be transformed into 200full-steps/revolution.

 

 

 

 

 

 

 

 

 

 

 

 

Y-motor

DIP-switches

Address=04

 

1

2

3

4

5

6

OFF

OFF

ON

OFF

ON

OFF

 

 

 

 

Setting of Switch 5 is true, if a motor with 0.36°/full-step resolution is connected.

 

Read settings as:

The address of the motor controller is 04, this means Y-motor; a 5-phase motor with a resolution of 1000full-steps/revolution is connected and this resolution will be transformed into 200full-steps/revolution.

 

 

 

 

 

 

 

 

 

 

 

 

 

Z-motor

DIP-switches

Address=05

 

1

2

3

4

5

6

ON

OFF

ON

OFF

ON

ON

 

 

 

 

Setting of Switch 5 is true, if a motor with 0.36°/full-step resolution is connected.

 

Read settings as:

The address of the motor controller is 05, this means Z-motor; a 5-phase motor with a resolution of 1000full-steps/revolution is connected and this resolution will be transformed into 400full-steps/revolution.

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

                    Current setup

 

Independent of the motor implementation as X-, Y- or Z-motor, please check or set the position of the appropriate potentiometer in the stepper motor driver module as shown on the right.

 

  • Because the correct setup of the current requires special setup tools, and these are mostly not available in the field, the technician should check the position of the potentiometer visually.
  • Drive the potentiometer only, if extremely deviation exists.

 

Run

This potentiometer defines the maximal current during starting rotor drive, until the full speed is reached and the breaking current, until the rotor stops.

 

  • The potentiometer is set a bit before the HALF position

 

 

Stop

This potentiometer defines the current during standstill operation; the rotor is not moving but the coils are energized.

 

  • The potentiometer is set a bit after the first QUARTER position, see on the right.

 

 

ECO

 

After the full speed of the rotor is reached, the rotor is running with this current in full speed.

Micro-step: The STOP potentiometer sets the ratio of standstill current to the motor operating current. In ECO drive mode, the standstill current becomes the discounted value to the ECO current.

 

  • The potentiometer is set a bit after the first QUARTER position, see on the right.

 

More details can be found in:       DS507F-2; Bipolar Microstep Driver (12-24VDC).pdf (stored)

                                                           DS_Technical_Information.pdf (stored)

 

 

 

 

 

 

 

 

 

End