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Baldor MN1940 manual

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Table of contents for the manual

  • Page 1

    DSM S - - Series Integrated Stepper Motor / Driver Installation Manual 04/07 M N1940[...]

  • Page 2

    [...]

  • Page 3

    Content s i MN1940 Contents 1 General Information 1-1 ................................. 2 Introduction 2-1 ........................................ 2.1 DSM S -Series int egrat ed mot or and driver 2-1 ................. 2.1.1 Option av ailability 2-2 .............................................. 2.2 Receiving and inspec tion 2-3 ...................[...]

  • Page 4

    ii Cont ents MN1940 5.2 Baldor SPI Int erf ace 5-4 ..................................... 5.2.1 S tarting Baldor SPI I nterfac e 5-4 ..................................... 5.2.2 Conf iguration par ameters 5-4 ........................................ 6 T roubleshooting 6-1 .................................... 6.1 I ntr oduct ion 6-1 ..................[...]

  • Page 5

    www .baldor motion.com General I nformat ion 1-1 MN1940 L T0227A02 Copy right B aldor (c ) 2007. All r ights r es erv ed. This manual is c opy righted and all r ights are res erv ed. This document or attac hed s oftwar e may not , in whole or in par t, be c opied or r eproduc ed in any form without the prior w ritten c ons ent of B ALDO R . BALD OR[...]

  • Page 6

    www .baldor motion.com 1-2 G eneral I nformat ion MN1940 Safety Notice Only qualified pers onnel s hould attempt the st art -up proc edure or tr oubles hoot this equipment. This equipment may be c onnec ted to ot her mac hines that hav e rotating par ts or parts that ar e cont rolled by this equipment. Impr oper us e c an caus e s erious or f atal [...]

  • Page 7

    www .baldor motion.com Int roducti on 2-1 MN1940 2.1 DSM S - Ser ies integrated m otor and driver The DS M S -Series high-torque integr ated motor and driv er is ideal for des igners who w ant the simplic ity of a motor with on -board elec tronic s . The D SM allows the s y s tem des igner to dec ide the best method of cont rol. The dr iv e’s int[...]

  • Page 8

    www .baldor motion.com 2-2 I ntroduct ion M N1940 A “Baldor Motion T oolk it CD ” is av ailable. This c ontains the Baldor S PI Int erfac e s oftw are, used f or c ommunicat ing and c onfiguring the D SM. This manual is intended t o guide you t hrough the ins tallation of t he DS M. The c hapter s s hould be read in s equence. The Basic I nstal[...]

  • Page 9

    www .baldor motion.com Int roducti on 2-3 MN1940 2.2 Receiving and inspectio n When y ou rec eiv e your DSM, there are s ev eral things y ou s hould do immediately : 1. Chec k the condit ion of the pac k aging and report any damage immediately to the c ar rier that deliv ered y our D SM. 2. Remov e the D S M from the s hipping c ontainer and remov [...]

  • Page 10

    www .baldor motion.com 2-4 I ntroduct ion M N1940 2.3 Units and abbreviations The following unit s and abbr ev iations may appear in this manual: V V olt ( als o V A C and VD C) ............... WW a t t .............. A Ampere ............... Ω Ohm ............... m Ω milliohm ............. μ F microfa rad .............. pF picofar ad ........[...]

  • Page 11

    www .baldor motion.com Basic I nst allat ion 3-1 MN1940 3.1 Intr oduction Y ou should read all t he sections in Basic I nstal lation . It is important that the c orrec t s teps are follow ed when ins talling the D SM. This sec tion des c ribes the mec hanical ins tallat ion of the DS M. 3.1. 1 Lo cati o n requ i rements Ens ure y ou hav e read and [...]

  • Page 12

    www .baldor motion.com 3-2 B asic I nst allat ion MN1940 3.1 .2 Mounting the DS M Ens ure y ou hav e read and unders tood t he locat ion requirements in s ec tion 3.1.1. Mount the DSM by the four holes in the f aceplat e. M5 bolts or s c rew s ar e rec ommended. 3.1.2.1 D imension s - DS MS17 L MAX L MAX2 58.3 (2.3 ) 2 (0.08) Ø 5 (0.2 ) 15 (0.59) [...]

  • Page 13

    www .baldor motion.com Basic I nst allat ion 3-3 MN1940 Maximum len gth of screw th reads int o the motor housing is 3.5 mm ( 0.14 in) Customer ’s mounting flange M3 x 0. 5 screw DSMS1 7 Figure 2 - Screw thread limita tion - D SMS17[...]

  • Page 14

    www .baldor motion.com 3-4 B asic I nst allat ion MN1940 3.1.2.2 D imension s - DS MS23 L MAX L MAX2 75.2 (2.96) Ø 6.35 (0.25) 41.4 (1.63) 15 (0.59) 5.8 (0.23) 20.6 (0.81) 56.4 (2.22) Square All dimensions show n as mm (inches ) 4xØ 5 (0.2 ) 4.9 (0.19) 48.3 (1.9 ) 47.14 (1.86) Square Flying leads 305 (12) ‘P’ connector option 11 . 2 ( 0.44) 5[...]

  • Page 15

    www .baldor motion.com Basic I nst allat ion 3-5 MN1940 3.1.2.3 D imension s - DS MS34 All dimensions show n as mm (inches ) L MAX L MAX2 4xØ 5.5 (0.22) 37 (1.46) 25 (0.98) 13 (0.51) Ø 14 (0.55) 94.7 (3.73) 2 (0.08) 10 (0.39) Ø 73 (2.87) 69.6 (2.74) 86.1 (3.39) 18.6 (0.73) 31.8 (1.25) Flying leads 305 (12) Moto r St ack Dimensions (mm / inches )[...]

  • Page 16

    www .baldor motion.com 3-6 B asic I nst allat ion MN1940 3.1. 3 Oth er req u iremen ts for i n stallat io n H The DS M requires a power supply as desc ribed in s ec tion 4.2. H A PC that fulfills the f ollowing s pec ification: Minimum sp ecificat ion Recommend ed specificat ion Processo r Intel P entium 133 MHz Intel Pentium II 400 MHz or fas ter [...]

  • Page 17

    www .baldor motion.com Input / Out put 4-1 MN1940 4.1 Intr oduction This s ec tion des c ribes the input and output connec tions of the D SM. Logic lev el c ables must not run parallel to pow er c ables . Pow er c ables will intr oduce nois e into th e log ic leve l cab le s a nd m ake th e system u nre lia ble . Logic lev el c ables mus t be s hie[...]

  • Page 18

    www .baldor motion.com 4-2 I nput / Output MN1940 4.2 Motor pow er input The DS M requires an unregulated D C pow er s upply. The power s upply cur rent w ill depend upon volt age and load, but will not ex c eed 2 A (DS MS17 / DS MS23) or 4 A ( DS MS34). Locatio n Fly ing leads ( red and blac k ), ‘P ’ connec tor Input volta ge range +12 to +48[...]

  • Page 19

    www .baldor motion.com Input / Out put 4-3 MN1940 4.2. 1 Wi re siz es T able 1 desc ribes the w ire s iz es to prov ide optimal prot ect ion against EMI and RF I. Cor rec t wire s iz e is determined by the c urr ent requirement and the cable lengt h. The ac tual c able ty pe, wire gauge, shield ty pe and filter ing dev ices us ed are dependent on t[...]

  • Page 20

    www .baldor motion.com 4-4 I nput / Output MN1940 4.3 Logi c input s The DS M has thr ee optic ally is olated logic inputs . Thes e inputs are is olated to minimiz e or eliminate elect ric al nois e coupled ont o the driv e c ontrol s ignals , and are ov er -voltage protec ted. The input s may be c onfigured as either s ink ing inputs or s our cing[...]

  • Page 21

    www .baldor motion.com Input / Out put 4-5 MN1940 clos ed) will c ause t he driv er output c ir cuit ry to be dis abled. Note t hat the internal s ine/c os ine posit ion generator w ill c ontinue to inc rement or decr ement as long as s tep c loc k puls es ar e being rec eived by the D SM. The enable input is not s y nc hroniz ed to any other input[...]

  • Page 22

    www .baldor motion.com 4-6 I nput / Output MN1940 4.3 .3 Sink ing / sour cing input c onfigura tion All DS MS17, 23 and 34 models can be w ired t o cr eate s ink ing inputs , wher e a referenc e voltage bet ween +5 and +24 VD C is c onnec ted to the O ptoc oupler R eferenc e (w hite) lead. The is olated inputs are then inter faced t o a sink ing ou[...]

  • Page 23

    www .baldor motion.com Input / Out put 4-7 MN1940 Next Move ESB (models NSB003-501 / NSB003-502 only) STEP0 ULN2003 Ste p Output 74AHCT244 GND 3 DSM Optocoupler refere nce Step clock input +5 V 4 +5 V DIR0 ULN2003 Directi on Output 74AHCT244 GND 5 Direction input REL NC 7 Enabl e input ‘X2’ ‘X12’ +5 V REL COM 1 DGND 8 Enable 1k* 1k* Figure [...]

  • Page 24

    www .baldor motion.com 4-8 I nput / Output MN1940 4.4 SP I interface DSM s etup par ameters are c hanged v ia an SPI (Serial P eripheral I nterfac e) por t. This port uses a 10 -pin IDC header , and c onnec ts to a US B port on your PC. T he rec ommended method of c onnect ing the SP I port to t he PC is by us ing parameter s etup c able C BL055 -5[...]

  • Page 25

    www .baldor motion.com Input / Out put 4-9 MN1940 4.4. 2 SPI si gn al d escrip ti o ns 4.4.2.1 +5 V out This out put is a voltage s upply for the s etup c able only. It is not designed to pow er any exter nal dev ices 4.4.2.2 C LK The c lock is driv en by the master and regulates the flow of the data bits . The mas ter may trans mit data at a v ar [...]

  • Page 26

    www .baldor motion.com 4-10 I nput / Output MN1940 4.5 Connection summar y - minimum system wiring As a guide, Figure 13 s how s an ex ample of the t y pical minimum w iring requir ed to operate t he DSM in c onjunc tion w ith a Nex tMov e ES B c ontroller. X2 X12 Moto r power supply NextMo ve ESB Red - 12-48 VDC / 12-75 VDC Black - 0 V Orange - St[...]

  • Page 27

    www .baldor motion.com Operat ion 5-1 MN1940 5.1 Intr oduction The motor inter fac e is ac c es s ed through the B aldor SP I Interf ace s oft ware, whic h is an eas y to ins tall and eas y t o use pr ogram us ed to s et the D SM’s parameters . T he Baldor S PI Interfac e is inc luded on the Baldor Motion T oolki t CD . 5.1. 1 Con n ecti ng the D[...]

  • Page 28

    www .baldor motion.com 5-2 Oper ation MN1940 4. When Windows finds the r equired VC P driver files , a dialog w ill war n that t hey have not pass ed ‘Window s Logo tes ting’. This is normal for the par ameter s etup c able’s V CP dr iv er , so cli ck Continue Anyway to c ontinue w ith the ins tallation. 5. When the Complet ing the Found New [...]

  • Page 29

    www .baldor motion.com Operat ion 5-3 MN1940 5.1 .6 S t arting the c ontrolle r and DSM If y ou have f ollowed the ins tr uct ions in t he prev ious s ec tions , y ou s hould hav e now c onnec ted power s our ces , inputs and output s, and the USB cable link ing the P C w ith the D SM. Bef ore you apply power for the f irs t time, it is v ery impor[...]

  • Page 30

    www .baldor motion.com 5-4 Oper ation MN1940 5.2 Baldor SPI Interface The Baldor S PI Inter fac e is a simple applic ation for conf iguring all as pec ts of the DSM. 5.2. 1 St artin g Bal do r SPI I nt erface On the W indows Start menu, selec t Progr ams, B ALD OR SPI Inter fac e, BALD O R SP I Interfac e. The s oftwar e will immediately try to es [...]

  • Page 31

    www .baldor motion.com Operat ion 5-5 MN1940 Microst ep Reso luti on Select (MSE L) The MSEL par ameter s pec ifies the mic ros tep res olution of t he DS M. The follow ing table lis ts valid MS EL paramet er s ettings : MSEL val ue: Step s per r evolut ion MSEL val ue: Step s per r evolut ion 1 200 64 12800 2 400 100 20000 4 800 108 21600 (1 mic r[...]

  • Page 32

    www .baldor motion.com 5-6 Oper ation MN1940 5.2.2.2 I/ O sett ings vi ew The I/O set tings view show s two additi onal parameters for the DSM: Cloc k T ype The Cloc k T y pe paramet er c onfigures the s tep and direc tion i nputs for the ty pe of input s ignals being supplied t o the motor . H S tep/ Dir is the default s ett ing. A wavefor m s upp[...]

  • Page 33

    www .baldor motion.com T roubl eshooti ng 6-1 MN1940 6.1 Intr oduction This sec tion ex plains common pr oblems and their s olutions . 6.1 .1 Proble m diagnosis If y ou have f ollowed all the ins tr uct ions in t his manual in s equenc e, y ou s hould hav e few problems installing the D SM. If you do hav e a problem, read this sec tion fir st . 6.1[...]

  • Page 34

    www .baldor motion.com 6-2 T r oubleshoot ing MN1940 6.1 .4 Motor c ontrol problem s Symptom Check Contr oller outputs appears to be work ing, but w ill not cause D SM to turn. Chec k that the DSM is powered. Chec k that the logic c onnect ions bet ween motor and contr oller are cor re ct. Confir m that the s ense of the enable input is cor rec t t[...]

  • Page 35

    www .baldor motion.com S pecif icat ions 7-1 MN1940 7.1 Intr oduction This s ec tion pr ovides tec hnic al s pec ificat ions of all DSM models . 7.1 .1 Input power De scri pt ion DSMS17... DSMS23... DSMS34... Required supply type Unregulat ed DC Ripple voltage ±10% Minimum supply volt age +12VD C +12VD C +12VDC Maximum s upply volta ge +48VDC +75V[...]

  • Page 36

    www .baldor motion.com 7-2 S pecifi cations MN1940 7.1. 2 Mo to r speed & t orq u e - DSM S17 7.1.2.1 D SMS17 x -1A... S peed in full s teps per s ec ond (R PM) T orque (oz ·in) T orque·(N c m) 0 1000 2000 3000 4000 5000 6000 7000 (300) (600) (900) (1200) (1500) (1800) (2100) 50 60 40 30 20 10 0 35 42 28 21 14 7 24 VDC 48 VDC De scri pt ion V[...]

  • Page 37

    www .baldor motion.com S pecif icat ions 7-3 MN1940 7.1.2.3 D SMS17 x -3A... S peed in full s teps per s ec ond (R PM) T orque (oz ·in) T orque (N ·c m) 0 1000 2000 3000 4000 5000 6000 7000 (300) (600) (900) (1200) (1500) (1800) (2100) 50 60 40 30 20 10 0 35 42 28 21 14 7 24 VDC 48 VDC De scri pt ion Val u e Holding torque 52.9 N·c m (74.9 oz ·[...]

  • Page 38

    www .baldor motion.com 7-4 S pecifi cations MN1940 7.1. 3 Mo to r speed & t orq u e - DSM S23 7.1.3.1 D SMS23 x -1B... S peed in full s teps per s ec ond (R PM) T orque (N ·c m) T orque (oz ·in) 200 225 175 150 125 100 75 50 25 0 141 159 124 106 88 71 53 35 18 0 24 VDC 45 VDC 75 VDC 1000 (300) 2000 (600) 3000 (900) 4000 (1200) 5000 (1500) 600[...]

  • Page 39

    www .baldor motion.com S pecif icat ions 7-5 MN1940 7.1.3.3 D SMS23 x -3B... S peed in full s teps per s ec ond (R PM) T orque (oz ·in) T orque (N ·c m) 200 225 175 150 125 100 75 50 25 0 141 159 124 106 88 71 53 35 18 0 24 VDC 45 VDC 75 VDC 1000 (300) 2000 (600) 3000 (900) 4000 (1200) 5000 (1500) 6000 (1800) 7000 (2100) De scri pt ion Val u e Ho[...]

  • Page 40

    www .baldor motion.com 7-6 S pecifi cations MN1940 7.1. 4 Mo to r speed & t orq u e - DSM S34 7.1.4.1 D SMS34 x -1B... S peed in full s teps per s ec ond (R PM) T orque (N ·c m) T orque (oz ·in) 900 1000 800 700 600 500 400 300 200 100 0 0 1000 (300) 2000 (600) 3000 (900) 4000 (1200) 5000 (1500) 6000 (1800) 7000 (2100) 465 494 423 706 635 353[...]

  • Page 41

    www .baldor motion.com S pecif icat ions 7-7 MN1940 7.1.4.2 D SMS34 x -2B... S peed in full s teps per s ec ond (R PM) T orque (N ·c m) T orque (oz ·in) 900 1000 800 700 600 500 400 300 200 100 0 465 494 423 706 635 353 282 211 140 71 45 VDC 75 VDC 24 VDC 0 1000 (300) 2000 (600) 3000 (900) 4000 (1200) 5000 (1500) 6000 (1800) 7000 (2100) De scri p[...]

  • Page 42

    www .baldor motion.com 7-8 S pecifi cations MN1940 7.1.4.3 D SMS34 x -3B... S peed in full s teps per s ec ond (R PM) T orque (oz ·in) T orque (N ·c m) 900 1000 800 700 600 500 400 300 200 100 0 465 494 423 706 635 353 282 211 140 71 45 VDC 75 VDC 24 VDC 0 1000 (300) 2000 (600) 3000 (900) 4000 (1200) 5000 (1500) 6000 (1800) 7000 (2100) De scri pt[...]

  • Page 43

    www .baldor motion.com S pecif icat ions 7-9 MN1940 7.1 .5 Digit al input s De scri pt ion Un it Va l u e Ty p e Opto -isolated Supply volt age Maximum Minimum VDC 24 5 Input forw ard voltage (max) S tep c loc k / Dir ec tion Enable VDC 1.7 1.4 Input current (typical, 5V) S tep c loc k / Dir ec tion Enable mA 10.6 6.7 Input current (maximum allowab[...]

  • Page 44

    www .baldor motion.com 7-10 S pecifi cations MN1940[...]

  • Page 45

    Index MN1940 A Abbrev iations , 2 -4 B Baldor SP I Interfac e, 5 -4 clo ck I OF , 5- 6 cloc k ty pe, 5 -6 conf iguration paramet ers , 5 -4 DIR (directi on overrid e), 5 -5 dire ction overri de (DIR), 5-5 HCDT (hol d current d elay time ), 5-5 hol d current d ela y time (HCDT), 5-5 MHC (motor holding c ur rent) , 5 -5 micr ost ep res olution s elec[...]

  • Page 46

    Index MN 1940 M MHC (motor holding c ur rent) , 5 -5 Mounting, 3 -2 DSMS 17, 3 -2 DSMS 23, 3 -4 DSMS 34, 3 -5 sec uri ng DSM c ables , 3 -5 MRC (motor r un c urrent ), 5 -5 O Oper ation, 5 -1 connec ting t o the PC , 5 -1 installing B aldor SPI inter fac e, 5 -2 installing t he USB driv er , 5-1 installing t he vir tual CO M port driver, 5-1 st art[...]

  • Page 47

    Comments MN1940 If y ou have any s ugges tions for impr ovement s t o this manual, please let us k now . Write y our comment s in t he spac e pr ovided below, remove t his page f rom the manual and mail it to: Manuals Baldor UK Lt d Mint Motion Cent re 6 Bris tol D is tribution P ark Hawkley Dri v e Bristol BS32 0BF United K ingdom. Alternat ively,[...]

  • Page 48

    Comment s MN1940 Thank you for taking the time to help us.[...]

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    [...]

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    P r i n t e di nU K E Baldor UK Ltd Eur ope (Southe rn) Baldor ASR AG , Switzer land T el: +41 52 647 4700 Fax : +41 52 659 2394 Euro pe Baldor ASR GmbH, Ger many T el: +49 (0) 89 905 080 Fax : +49 ( 0) 89 905 08491 Australia Australian Baldor PTY Ltd T el: +61 2 9674 5455 Fax : +61 2 9674 2495 Mexico Baldor de Mexico T el: +52 477 761 2030 Fax : +[...]