Operating Manual 3-Phase Stepper Motor Power Drive European ...

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BAUR Antriebe und Regelungen Tel +49 7821 9594[02] Fax [07] eMail
info@baur
-
mo
tion
-
control.de

www.baur
-
motion
-
control.de

3 Phasen Schrittmotor Treiber

3 Phasen Schrittmotor Verstärker

3 Phasen Schrittmotor Ansteuerung

3 Phasen Schrittmotor Endstufe






Operating Manual

3
-
Phase

Stepper M
otor

Power Drive

Europ
e
a
n F
ormat

SMD
e3
98
-
xxx





































SMDe398
-
920










SMDe398
-
900

(more power)



Sta
tus
:

43
/201
2


changes without notifications


Operation Manual SMDe398
-
xxx

2

BAUR Antriebe und Regelungen Tel +49 7821 9594[02] Fax [07] eMail
info@baur
-
mo
tion
-
control.de

www.baur
-
motion
-
control.de

Features:


-

3
-
Phase
-
stepper motor power drive


-

compatible to D900 / D920


-

european format, 19 inch, 3HE


-

24
-
130 Volt,

1,40
-
5,80 Arms


-

only one circuit board for whole power range


(
with fan option up to 130Vdc, 8Apeak)


-

200/400/500/1000/2000/2500/5000 and 10000 steps


-

for all established 3
-
phase stepper motors


-

Inputs:

(opto isolated
multi
-
range 3,5
-
24 Volt
)


Puls, Direction, Gate, Off/Reset, Fast


Step frequency up to 250 kHz


-

Outputs:


R
eady
/O
K

(relai contact
)


-

Connector: 32pol. VG
-
rail DIN41612 type D


pin compatible to D900 / D920


-

only one power supply


-

large condition indication via LED


-

prot
ection against over current, over temperature,


under voltage, shurt cut


-

automatic current reduction in halt mode


-

low noise and low resonant motion


-

high tourque consistancy step by step


-

dimensions:

L:B:H

160x100x25(mm)


Variant
s

/
Order
-
Key

SM
D
e3
98
-
900

3
-
p
hase
power drive

with

fan
option

SMD
e
398
-
920

3
-
p
hase
power drive

without fan option

Accessories

(
separately

deliverable
)

FO
.
3
98


fan
option
to expand SMDe398
-
920

Manual


printed operation manual DIN
-
A5



3
-
Phase
Stepper M
otor

Power Drive

i
n

E
uro
-
p
e
a
n F
ormat
,

c
ompatibl
e

to

D900 und D920

The stepper motor power drives SMDe398
-
900 and
SMDe398
-
920 are real alternative solutions to the well
known 3
-
phase stepper motor drives D900 und D920. Not
only continue the european format of stepper drives in
the
market, the prior goal of development was to operate the
whole operation area only with one circuit board. That is
done having a multi range signal interface (3,5
-
24V). For
more power above 60V and 6Apeak motor current the
drive can be expand simply by

the fan option. The
scematic design is from the approved fully digital wall
mounted version SMDx98. Substantial software algorithm
(automatic motor
-
setup, continious controller adjustment
according to operation conditions, boost
-

and standby
-
mode a.s.o.)
results in more performance. All established
3
-
phase

stepper motor types in hybrid technic are usable.



Auto
mati
c

Controller

Setup

During power up, the
operational parameters

are automatic adjusted

in the way
that d
ynami
c

a
nd
motion performance are
optima
l
.

The
power drive is balanced to the motor
.


Boost

a
nd

Current

Reduction

A
ppending to acceleration

the variable boost function becomes active a
nd
motor
current

r
a
i
sing

up accordingly
.
This results in more
dynamic
.
The current reduction
redu
ces

the motor c
urrent

after 2 seconds in halt mode down to
60%
of adjusted
nominal current
.


Automati
c

A
djustment

of

O
perational

P
arameter
s


During operation special conditions are continuously
observed

a
nd
desired parameters are automatic adjusted
.
This expands dynamic
motion behavior up to a higher step
frequency area.


StandBy

Mode

Slowing down the speed till halt mode the
power drive changes
gradually
to
StandBy Mode
. In this
condition, the m
otor is
at fully holding torque absolute
noise free.

That
„s

a big advantage i
n silent office
environments.


Fan

Controller

The fan is contro
l
l
ed by temperature

switching on and off
. Therefor
e

installation position
becomes uncritical.


Digital

Current

Controller

The
power drive is fully
digital.

The motor phase current is m
easured d
irect in the
motor wire.

Using th
e

fast digital controller
results in good
motion performance, less resonan
ts, high step accuracy

a
nd
high tourque consistancy step by step
.


Operation Manual SMDe398
-
xxx

3

BAUR Antriebe und Regelungen Tel +49 7821 9594[02] Fax [07] eMail
info@baur
-
mo
tion
-
control.de

www.baur
-
motion
-
control.de

Operational Controls
:





























Connecting Diagram
:




























Operation Manual SMDe398
-
xxx

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-
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tion
-
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-
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-
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Description of Operation


S
tep Accuracy
:

(Steps / Revolution)

According to a

50 pole
h
ybrid

stepper
motor

following
steps/rev are adjustable:
200, 400, 500, 1000, 2000, 2500,
5000 und 10000

Behavior of motion
:



less than

400



400


more than

400

Behavior of resonance

The motor resonance can be reduced by increasing the
steps/revolution. Following table will show the effect under
the condition the resonance at full step will be 100%

steps/rev.:

behavior of re
sonance

200


100%

400



29%

1000



8%


M
otor

Current SetUp
:

The motor current is set precisely with the HEX switch.

In general only as much current should be set as actually is
required for the application.
(see also ”Operating Controls”
on page 3).

Bec
ause of the motor inductance the set motor current
value can not be reached at higher step frequency rates.
Consequently the motor torque drops at higher speeds (see
torque/speed characteristic diagrams of the motor
manufacturer) We recommend a high curren
t motor
version with low inductance or a higher motor voltage (!
don‟t exceed max. voltage).


Current Reduction
:

The motor current is reduced to approximately 60% of the
set motor current. The losses in the motor as well as in the
drive can therefore be si
gnificantly reduced.

! Current reduction reduces holding torque. Assure the
resulting holding torque is acceptable for your application.

The current reduction is activated, if the pulse input is
inactive for more than approx. 2s.

Immediately after
detecti
ng an active pulse input nominal current is restored.

It is recommended to generally activate the current
reduction. Practical experience values show that the
temperature can be reduced more than 10°C




Condition Indicator: Status

Ready:


LED is continio
usly on


Error:


LED flashes as below:



2x under voltage



3x over temperature



4x over current



5x
---

Error conditionis is reset by input OFF/RESET.



Auto
matic

Controller
-
Setup

During power up, the
operational parameters

are automatic adjuste
d in the way
that dynamic and motion performance are optimal. The
power drive is balanced to the motor.


Boost

and

Current

Reduction

Appending to acceleration
the variable boost function becomes active and motor
current
raising

up accordingly. This results

in more
dynamic. The current reduction reduces the motor current
after 2 seconds in halt mode down to 60% of adjusted
nominal current.


Automatic

Adjustment

of

Operational

Parameters


During operation special conditions are continuously
observed and desir
ed parameters are automatic adjusted.
This expands dynamic motion behavior up to a higher step
frequency area.


StandBy

Mode

Slowing down the speed till halt mode the
power drive changes gradually to
StandBy Mode. In this
condition, the motor is at fully h
olding torque absolute
noise free. That„s a big advantage in silent office
environments.


Fan

Controller

The fan is contro
ll
ed by temperature

switching on and off. Therefore installation position
becomes uncritical.


Digital

Current

Controller

The
power dr
ive is fully
digital.

The motor phase current is measured direct in the
motor wire.

Using th
e

fast digital controller
results in good
motion performance, less resonants, high step accuracy

and
high tourque consistancy step by step
.
















Operation Manual SMDe398
-
xxx

5

BAUR Antriebe und Regelungen Tel +49 7821 9594[02] Fax [07] eMail
info@baur
-
mo
tion
-
control.de

www.baur
-
motion
-
control.de

Signal
Description


PULS
E



wide range

(3,5
-
24)Volt

A step is executed with each positive signal edge. The
power drive exclusively reacts on signal edges. In case of
an active current reduction (switch „current reduction“ on)
and pulse pauses greater than approx.

2
s, the motor current
is reduced to approx. 60% of the set value.


D
IR



wide range

(3,5
-
24)Volt

The direction signal defines the sense of motor rotation.
The logic assignment can be inverted by swapping the
wires of one motor phase.


OFF / RESET


wide ra
nge

(3,5
-
24)Volt

The input
OFF/RESET ha
s

a

double
fun
c
tion. I
n

n
ormal

operation

the motor gets currentless
.

The current chopper
is switched off.
This feature is occasionally used in
measuring equipment to be able to measure even the
smallest signal amplitu
des without interference. This
condition allows to move the motor manually.



I
n

ERROR condition

the power drive can be reseted for
restart
.



GATE:



wide range

(3,5
-
24)Volt

With active GATE incomming pulses are blocked. Useful
having more than one driv
e connected to one controller
unit (pulse supply) and select them by signal GATE.

For GATE active Jumper „GATE“ must be connected.


F
AST
:



wide range

(3,5
-
24)Volt

The input acts similar

a
s
DIP
-
switch

4

active
.

Fast= 0

Fast= 1

10000
steps

1000
steps

5000

steps

500
steps

2500
steps

400
steps

2000

steps


200
steps

<2000
steps

no action


READY:

The

Ready
-
Re
lai is
at normal operation

conducting
.
In
ERROR condition (over temperature, under voltage a.s.o.)
the relai contact opens


ERROR condition is latched

and can be reseted by
signal input „
OFF
/RESET


or


switching power drive
off and on again.
.


The power drive signals

READY,
when the power supply
is active for at least
500ms
.







Timing
:















1:
p
uls
e width



> 5ys

2:
direction

a
c
tiv
e

befor
e

pulse

> 1ys

3:
direction hold

after

p
uls
e

> 1ys

4:
direction
dea
c
tiv
e

before

p
uls
e

> 3ys

5:
g
ate,
o
ff a
c
tiv
e

before

pulse

> 500ys

6:
g
ate,
o
ff dea
c
tiv
e

before

p
uls
e

> 1ms

7:
p
uls
e slope



< 1ys


Operation Manual SMDe398
-
xxx

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BAUR Antriebe und Regelungen Tel +49 7821 9594[02] Fax [07] eMail
info@baur
-
mo
tion
-
control.de

www.baur
-
motion
-
control.de

Signalinterface
:









































The signal interface is completely isolated by opto
-
isolators. To have a wide flexibility, both inputs plus and
minus of the opto
-
isolators are available. So its easy to
drive the signal interface with high
-
, low
-

or RS422 active
signals



All
s
ignal
s

ha
v
e
a

wide range input

a
nd
can be driven
from

3,5V
to

24V
levels


Operation Manual SMDe398
-
xxx

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-
mo
tion
-
control.de

www.baur
-
motion
-
control.de


P
ower

S
upply
: (+Ub,
-
Ub)

The drive can be operated in the range
from

24
-
130Vmax

It must be guaranteed that the power supply voltage at no
load and +10% mains over
-
voltage does not exce
ed
13
0
Volt and that there is a sufficient charge capacitor of at
least 6800µF.


Never connect live supply voltage wires to the termi
-
nals, because the sudden charge current of the internal
electrolytic capacitors can destroy the internal fuses


! C H E C
K F O R C O R R E C T P O L A R I T Y



M
otor

C
onnection
:

By swapping a phase, e.g. phase U and V the motor sense
of rotation can be inverted to the logic assignment of the
direction signal „DIR“.


Under no circumstances motor wires must be
disconnec
ted during operation. Induction voltages can
destroy the power drive. For this reason assure proper
contact of the motor wires at the screw terminal.





Dimensions:






Operation Manual

SMD
e3
98
-
xxx

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info@baur
-
mo
tion
-
control.de

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-
motion
-
control.de

Specifications
:


Power Supply
:

absolute max.
supply voltage
:



130Vmax.

minimal
supply voltage
:






21V

r
ecommended voltage


24..
120
V

v
oltage ripple:




< 2.0V peak

i
nput peak current at power on:


<
3
.0A peak

f
using:

3,0 A medium

p
ower supply charge capacitor:


>6800µF

p
ower supply cable cross section:


0,75mm²

d
istance to power supply capacitor:



< 1m


Motor connection:

c
able cross s
ection:




>0,75mm²

c
able length:





<10m


Signal input interface:


(wide range 3.5
-
24V)

i
nput type:


opto isolator, reverse polarity protected

i
nput voltage:


low:



<1V




high:




>3.5V




nominal:





5
-
24
V




max:



<28V

i
nput current:





< 16 mA

p
ulse width:





> 2.5µs

p
ulse slope:





< 2µs

p
ulse frequency





<200kHz@>5V



Ready
:

T
yp
e of output
:






r
elai

c
onta
c
t

s
witch
ing

voltage
:

minimal



3 V




maximal



30 V

switch
ing

current
:

maximal



50 mA

internal resistance:



< 20
m
ohm

load
:







only

ohmi
c


Motor

Current Settings
:

H
EX
-
switch
, 16
positions


up
to

5,
8
A
rms [
8
,
2
As]








<5As@<48V








>5As@>72V


S
tep Accuracy Settings
:

DIP
-
s
chalter, 8
positions




200
-
10000


Ambient conditions:
(for Ub<80V, free standing)

temperature:



see appendix A

fan option:



>5Apeak recome
nded


UL94V
-
1 all components

IP20

Trouble shooting:


Motor has no holding torque but supply voltage is
connected

-
The motor voltage is below the minimum value

-
Signal inputs “Off” is active



Motor has holding torque, but doesn’t execute steps

-

The pulse

signal level is too low


Sudden “crackling“ noises in the motor

-

Motor is operated at the minimum voltage limit

-

The motor connection is bad


The motor doesn’t reach the set speed but starts

-

The motor voltage is too low for the required speed

-

The mo
tor current was set too low

-

The acceleration ramp was set too high

-

Motor wires are too long or too small cross section

-

Power supply is not powerful enough


The motor “loses“ steps and drifts

-

The amplitudes of the control signals are too low

-

Sign
al cable noise is too high (shielded cables?)

-
The wiring concept is not optimal (all ground signals


must be connected one common potential)

-

The mechanical shaft coupling has play

-

The motor stalls and can‟t follow


Motor vibrates at pulse frequency
and doesn’t start

-

Start/Stop
-
frequency too high

-

Motor windings are connected wrong or broken cable

-

The automatic current reduction remains active (pulse


duration too low at low pulse frequencies)

-

The motor current is set too low


The automatic c
urrent reduction doesn’t work

-

The pulse input remains active after the last

-

The current reduction is not enabled


The motor is hot

Up to 85 ° Celsius should be no problem


The power drive ICs are hot

Up to 85 ° Celsius should be no problem


Poor step
accuracy

-

Motor inductance is too high

-

Motor current setting is too low

-

external magnetic feelds influences the controller


Operation Manual SMDe398
-
xxx

9

BAUR Antriebe und Regelungen Tel +49 7821 9594[02] Fax [07] eMail
info@baur
-
mo
tion
-
control.de

www.baur
-
motion
-
control.de

General Installation Requirements


The device housing
1

must be grounded separately. In most
cases a wing nut on the front panel or another grounding
connection is available. Each

component must be grounded
wit a separate grounding wire at a central ”grounding
point“. This is usually the machine bed or a grounding rail
inside the electrical cabinet.


Before installation and setup make sure that the required
drive power is sufficien
t for your application and that the
maximum values are not exceeded.


Mounting orientation is vertical, make sure air intake
1

and
cooling slots are not blocked.


External magnetic feelds are not allowed

This can
occur

by fans. r
elais, a.s.o.

! minimal distance > 20cm from drive


Only shielded motor cable must be installed. For identical
potential between motor flange and power drive )short
distance) the shield is grounded on both ends. Otherwise it
is recommended to ground only t
he device end and that the
shield on the motor end is ground connected galvanically
isolated via a capacitor.


In general the ground potential difference must be in
the range of only a couple mV.


For symmetrical motor cables such as with 2 phase
steppers
twisted pair wires are recommended per circuit.


Signal cables must also be shielded. Twisted pair wires are
recommended per circuit.


The ground potential common point should be located
directly at the housing or the mounting point of the power
drive.


Si
gnal cable and motor cable must be separated. Long
parallel cable installation must be avoided. Cable crossings
(if necessary) should be installed vertically.


Check all device settings for validity.




1

if available

Sa
f
ety and Protection Requirements


The installation of

the device must only be conducted by
an educated, trained and experienced expert (electro). The
local guidelines for safety, installation of electrical and
mechanical systems and EMI must be observed.


Unintended operation and faulty installation of the
device
can lead to personal injury (incl. the possibility of death)

and the device as well as other external components can be
damaged or an excessive pollution of the environment can
occur.


Operation is only permitted with the mounted housing
2
.
Because
of eventually present high voltage the device must
not be opened (also not after a long period of idle time).
Make sure children have no direct access to the device.


No technical modifications of the device are permitted.


The device housing
3

must be grou
nded separately. In most
cases a wing nut on the front panel or another grounding
connection is available. The device must be grounded prior
to the installation.


Under no circumstances live of functional connectors must
be removed or connected. All instal
lations must be
conducted in the powerless de
-
energized state.


Device operation in damp, humid environment or with
present spray water is not permitted.






2

not with open frame (only PCBs)

3

if available

Operation Manual SMDe398
-
xxx

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-
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tion
-
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-
motion
-
control.de

Appendix

A

T
hermal behavior

according

to

23°C
ambient
temperatur
e

























!
over

6
0°C
is

fan option recomended

























Operation Manual SMDe398
-
xxx

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BAUR Antriebe und Regelungen Tel +49 7821 9594[02] Fax [07] eMail
info@baur
-
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tion
-
control.de

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-
motion
-
control.de

Appendix

B

external magnetic influence




The motor
p
hase currents are me
assured direct in the motor

wirering.
E
xternal magnetic feelds can
influence

the current senso
rs

and
t
here for it is strictly recomended to avoid
devi
ces supplying magnetic
feelds

near the power drive
.




This is easely done by fans, electromagnetical re
lais, transformers, motors, permanent magnets a.s.o.

a
nd
can destroy the power drive.













This devices like above should be placed at a distance of minimum > 20cm



Operation Manual SMDe398
-
xxx

12

BAUR Antriebe und Regelungen Tel +49 7821 9594[02] Fax [07] eMail
info@baur
-
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tion
-
control.de

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-
motion
-
control.de