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DriveMax17/23CManual 0/20 rev1.03

DriveMax17/23C-DRV

IntegratedNEMA17/23StepperMotor+

Closed-LoopMicrostepDriver

Manual




COPYRIGHT2006ARCUS,

ALLRIGHTSRESERVED

Firstedition,October2006

ARCUSTECHNOLOGYcopyrightsthisdocument.Youmaynotreproduceor

translateintoanylanguageinanyformandmeansanypartofthispublication

withoutthewrittenpermissionfromARCUS.

ARCUSmakesnorepresentationsorwarrantiesregardingthecontentofthis

document.Wereservetherighttorevisethisdocumentanytimewithoutnotice

andobligation.RevisionHistory:

1.0Firstrevision

1.01 Fixedopto-isolatedoutputspecification

1.02 UpdatedsampleprogramandStepNLoopspecifications1.03 Updatedvoltagespecification,SNLerrorrange,micro-stepping,motor

stack,motorspecifications

FirmwareCompatibility:

V23

SoftwareCompatibility:V1.8




TableofContents

1.Introduction................................................................................................................................. 32.PartNumbering........................................................................................................................... 43.Dimensions ................................................................................................................................. 5

DMX-17-C-DRV........................................................................................................................ 5

DMX-23-C-DRV........................................................................................................................ 64.MotorSpecifications................................................................................................................... 7

5.Connectors .................................................................................................................................. 8

DB9ConnectorInformation ....................................................................................................... 8InterfaceBoardPinInformation ................................................................................................. 9

6.ElectricalInformation ............................................................................................................... 11

DMX-C-DRVInterfaceCircuit ................................................................................................ 11

Pulse/Dir/EnableOpto-isolatedInputs ..................................................................................... 11DirectionSignal ........................................................................................................................ 12

EnableSignal ............................................................................................................................ 12

Alarm/InPositionOpto-isolatedOutputs ................................................................................. 12PowerInput............................................................................................................................... 12

+5VDCOutput.......................................................................................................................... 12

7.Configuration ............................................................................................................................ 13Open-LoopConfiguration......................................................................................................... 13

StepNLoopClosedLoopConfiguration ................................................................................... 13

DefaultDMX-C-DRVParameters............................................................................................ 16DefaultDMX-C-DRVClosed-LoopParameters...................................................................... 16

8.Speed/TorqueCurve ................................................................................................................. 17




1.Introduction

DriveMax-C-DRVisanintegratedsingle-packageNEMA17/NEMA23steppermotorplus

closed-loopmicrostepdriverwithbuiltinencoder.Configurationofthedriverisdonethrough

ArcusTechnologysDynamicConfiguratorusingUSB2.0.

FeatureshighlightsoftheDriveMax-C-DRV:

- BipolarMicroStepperDriver- Builtinencoder50count(200counts/revwithquadrature)- Micro-stepping(inclosed-loopoperation):Fixedat8- Micro-stepping(inopen-loopoperation):1,2,4,8- 12to35VDCVoltageInput- Configurable100mAto2.5ACurrentSupport- Pulse/Dir/EnableOpto-isolatedinputs

- Opto-isolatedalarmandinpositionoutputs- Motoravailableindifferentsizesandwindings- SoftwareConfigurableSettingsusingUSBbasedDynamicConfigurator.




2.PartNumbering

MotorSizeDriveMax-C-DRVisavailableinbothNEMA17andNEMA23size

framemotor

MotorStackNEMA17versionisavailablein2,3or4stack.NEMA23versionis

availablein2or3stack.

Typically,alargersizemotorcanhandlehighertorquebutisslowerandrequireshigher

current.




3.Dimensions

DMX-17-C-DRV

Alldimensionsareininches

Model L(inches)

DMX-17-C-DRV-2 1.58

DMX-17-C-DRV-3 1.89

DMX-17-C-DRV-4 2.36




DMX-23-C-DRV

Alldimensionsareininches

Model L-MotorLength

DMX-23-C-DRV-2(DoubleStack) 2.2inch

DMX-23-C-DRV-3(TripleStack) 3.1inch




4.MotorSpecifications

ThefollowingchartshowsthespecificationsofthestandardstepmotorsusedforDriveMax-C-

DRVproducts.Allstandardstepmotorsare1.8degreebi-polarstepmotors.

NEMA

Size

Stack

Size

MaxAmp

/Phase

Holding

Torque

Resistance

/Phase

Inductance

/Phase

Inertia

Double 1.7A 0.44N-m 1.5Ohm 3.0mH 0.28oz-in2

17 Triple 2.0A 0.59N-m 1.4Ohm 2.7mH 0.37oz-in2

Quad 2.0A 0.89N-m 2.0Ohm 3.3mH 0.56oz-in2

Double 2.8A 1.22N-m 0.9Ohm 2.5mH 1.5oz-in2

23 Triple 2.8A 2.08N-m 1.1Ohm 3.8mH 2.6oz-in2

EventhoughNEMA23motorsareratedfor2.8A,maximumcurrentDriveMax-C-DRV

supportsis2.5A.




5.Connectors

DriveMax-C-DRVusesstandardD-SUB9connectorinterfaceasshownonthepicturebelow.

12345

6789

DB9ConnectorInformation

Pin# Name Description

1 Power Powersupplyinput(+12VDCto+35VDC)

2 Pulse Pulse(Step)opto-isolatedinput

3 Enable Enableopto-isolatedinput

4 Alarm Alarmopto-isolatedoutput

5 +5V +5Voutput(fromonboardvoltageregulator)

6 Ground Ground

7 Direction Directionopto-isolatedinput

8 InPosition Inpositionopto-isolatedoutput

9 Opto-supply Opto-supplyinput(+5VDC)


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InterfaceBoardPinInformation

DriveMax-C-DRVisavailablewithoptionalinterfaceboardasshownbelow.




TwopinConnector

Name DescriptionGND Ground

PWR Power+12Vto+35VDC

Fourpinconnector

Name Description

ENA EnableInput

DIR DirectionInputPUL PulseInput

Opto-Supply OptoSupplyInput+5VDC




6.ElectricalInformation

DMX-C-DRVInterfaceCircuit

Pulse/Dir/EnableOpto-isolatedInputs

Pulse(pin2),Direction(pin7),andEnable(pin3)signalsareopto-isolatedinputs.Inorderforthesesignalstobetriggered,+5VDCopto-supplyinput(pin9)isrequired.Currentlimiting

resistorof470OhmusedforeachofthePulse,Direction,andEnablesignals.Foropto-supply

greaterthan+5VDC,additionalcurrentlimitingresistorisrequired.




DirectionSignal

Directionsignalisanopto-isolatedinput.Ifthereisnoconnectiontodirectionsignal,themotor

willrotateinclockwisedirectionwhenviewingatthefrontfaceofthemotor.Whenthedirectionisconnectedtoground,therotatingisincounterclockwisedirection.

EnableSignal

Enablesignalisanopto-isolatedinput.Ifthereisnoconnectiontoenablesignal,thedriveris

enabledbydefault.Onlywhentheenablesignalisconnectedtothegroundoftheopto-supply

input,thedriverisdisabledandmotorisfree.

Alarm/InPositionOpto-isolatedOutputs

Alarm(pin4)andInPosition(pin8)signalsareopto-isolatedoutputs.Inorderforthesesignalstobetriggered,+5VDCopto-supplyinput(pin9)isrequired.Currentlimitingresistorof100

OhmusedforeachoftheAlarmandInPositionsignals.Foropto-supplygreaterthan+5VDC,

additionalcurrentlimitingresistorisrequired.

PowerInputPowerSupplyVoltageInput: 12VDCto35VDCPowerSupplyCurrentRequirement: 2.5A

+5VDCOutput

+5VDCvoltageoutput(pin5)isavailableforpoweringtheControlMaxplugincontrolleronly.

Anyotheruseisnotrecommended.




7.Configuration

DriveMax-C-DRVconfigurationisdoneusingArcusTechnologyspatent-pendingDynamic

ConfiguratorthroughthesameDB9connectorthatisusedfordrivercontrol.

Open-LoopConfiguration

DriveMax-C-DRVmodulehastheoptiontooperateinopen-loopmode.Inthismode,no

positioncorrectionisperformed.

Thefollowingconfigurablesettingsarestoredintheflashmemoryofthedriver.

Open-LoopconfigurationparametersSetting Range Description

Microstep 1,2,4,8 MicrostepsettingfromFull(1)toEighth(8)isavailable.Ifclosed-loopoperationischosen,onlymicrostepsettingof

8canbeused.

RunCurrent 100mAto2.5Ain

100mAincrement

RunCurrentisthecurrentthatisusedduringmotion.When

pulseinputisdetectedwhileinIdlemode,thecurrentis

immediatelysettoRunCurrentvalue.

IdleCurrent 100mAto2.5Ain

100mAincrement

IdleCurrentissetwhennopulseinputisdetectedforperiod

oftimesetintheIdleTime.IdleCurrentisusedtolowerthe

currentsupplytothemotorwhileidle.Lowercurrentmeans

lowerpowerusageandlowermotortemperature.Todisable

theIdleCurrent,settheIdleCurrentsameastheRun

Currentvalue.

IdleTime 100mSecto10Secin

100mSecincrement

Whennopulseinputisdetectedfortheperiodspecifiedby

IdleTime,thedrivercurrentissettoIdlemode.

Duringopen-loopconfiguration,besuretodisabletheclosed-loopfeature.

StepNLoopClosedLoopConfiguration

DriveMax-C-DRVhastheoptiontooperateinclosed-loopmode.InthismodeStepNLoop

closed-loopalgorithmallowsforaccuratepositioningofthemotorusingtheintegratedencoder.

StepNLoopcontrolperformsthefollowingoperations:

1) PositionDeltamonitoring:Deltapositionisthedifferencebetweentheactualandthe

targetposition.WhentheDeltagoesovertheallowedErrorRange,themotorisstoppedandtheStepNLoopStatusgoesintothestallerrorstate.Inthissituation,

thealarmoutputwillbetriggered.

2) PositionCorrectionattheendofthemove:Correctionofthemotorpositionisdoneattheendofanytargetedmove.




Thefollowingconfigurablesettingsarestoredintheflashmemoryofthedriver.

Closed-Loopconfigurationparameters

Setting Range DescriptionEnableClosed

Loop

0or1 Enable/DisableStepNLoopclosed-loopalgorithm.

Microstep 8 Ifclosed-loopoperationischosen,onlymicrostepsetting

of8canbechosen.

RunCurrent 100mAto2.5Ain

100mAincrement

RunCurrentisthecurrentthatisusedduringmotion.When

pulseinputisdetectedwhileinIdlemode,thecurrentis

immediatelysettoRunCurrentvalue.

IdleCurrent 100mAto2.5Ain

100mAincrement

IdleCurrentissetwhennopulseinputisdetectedforperiod

oftimesetintheIdleTime.IdleCurrentisusedtolowerthe

currentsupplytothemotorwhileidle.Lowercurrentmeans

lowerpowerusageandlowermotortemperature.Todisable

theIdleCurrent,settheIdleCurrentsameastheRun

Currentvalue.

IdleTime 100mSecto10Secin

100mSecincrement

Whennopulseinputisdetectedfortheperiodspecifiedby

IdleTime,thedrivercurrentissettoIdlemode.

ToleranceRange 10pulsesto2000

pulsesin10pulse

increment

Whentheactualencoderpositioniswithindesiredencoder

positionbythistolerancerange,nopositioncorrectionis

done.

ErrorRange 100pulsesto2000

pulsesin10pulse

increment

Whentheactualencoderpositioniswithindesiredencoder

positionbythiserrorrange,positioncorrectionisdonewhen

idle.Iftheactualencoderpositionisoutsideofcorrection

range,themotorstatusgoestoerrorstate.

MaxAttempt 1to100attempts Thisisthemaximumnumberofcorrectiontriesthatthe

controllerwillattempt.Ifthecorrectioncannotbedone

withinthisnumberoftries,themotorstatusgoestoerror

state.

CorrectionSpeed Low,Medium,High CorrectionspeedofStepNLoopAlgorithm.

- Low:- Medium:- High:

EncoderPolarity 0or1 Encoderpolarityformagneticencoder

Duringclosed-loopconfiguration,besuretoenabletheclosed-loopfeature.ConfigurationoftheDriveMaxparametersisdoneusingaDB9toUSBconfigurationcable

(USBCC)thatisUSBpoweredanddoesnotrequireanyexternalpower.




SimplyconnecttheconfigurationcablebetweentheDB9connectoroftheDriveMaxandUSB

portofPCasshownbelow:

Configurationcablepartnumber USBCC

USBDriver PerformaxUSBDriverdownloadablefrom

theArcuswebsite

DriveMax-C-DRVcomeswithsimpleandeasytouseWindowsconfigurationprogramasshown

belowtoreadandwriteDMX17/23C-DRVparameters.




Stepstorunconfigurationprogram

1)Ifrunningforthefirsttime,downloadandinstallthelatestPerformaxUSBDriverfromtheArcussupportwebsite.OncetheUSBdriverisinstalled,itdoesnotneedtobeinstalledagain.

2)Plugintheconfigurationcable.Ifpluggedinforthefirsttime,followthetypicalUSBdeviceconfigurationsteps.

3)StarttheDriveMaxconfigurationprogram.

4)PlugintheDB9connectortoDB9oftheDriveMaxandreadorwritetheparameters.

5)Whenwritingtheparameterisdone,thevaluesarepermanentlystoredinFlashmemorythat

areloadedandusedatthepowerup.

DefaultDMX-C-DRVParameters

Product Micro-Step

RunCurrent

(Amp)

IdleCurrent

(Amp)

IdleTime

(msec)

DirectionPolarity

DMX-17-C-DRV-2 8 1.6 0.5 500 CW

DMX-17-C-DRV-3 8 1.6 0.5 500 CW

DMX-17-C-DRV-4 8 1.6 0.5 500 CW

DMX-23-C-DRV-2 8 2.2 1 500 CW

DMX-23-C-DRV-3 8 2.2 1 500 CW

DefaultDMX-C-DRVClosed-LoopParameters

Sameforallmotorandstacksizes

Closed-LoopParameter Value

EnableClosed-Loop On

ToleranceRange 100

ErrorRange 1000

MaxAttempt 10

CorrectionSpeed High

EncoderPolarity 1




8.Speed/TorqueCurve



D i M 17/23C M l 19/20 1 03

ContactInformation

ArcusTechnology,Inc.

48501WarmSpringsBlvd#104

Fremont,CA94539510-661-9100510-661-9200

www.arcus-technology.com

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