GS-DC200 Family STEPPER MOTOR CONTROL AND DRIVE SYSTEM FAMILY DESCRIPTION The GS-DC200 series is a family of single Eurocard boards that contain all the logic necessary to operate a stepper motor, including the instructions decoding, the step timing generation, the storage of the program to be executed. The motor interface can deliver phase current up to 2.5A. The boards can be used as a stand alone complete motion control system or they can be driven by a central host computer. The GS-DC200 family is built around the GS-C200, GS-C200S, GS-D200, GS-D200S modules, (see the relevant data sheet) and it retains all the features of these modules. SELECTION CHART Ordering Number Controller Sequencer Driver Instruction Set Commands Phase Current (A) GS-DC200 GS-C200+GS-D200 25 2.0 GS-DC200S GS-C200+GS-D200S 25 2.5 GS-DC200SS GS-C200S+GS-D200S 29 2.5 ABSOLUTE MAXIMUM RATINGS Symbol Vs Parameter DC Supply Voltage Tstg Storage Temperature Range Thop Max Operating Heatsink Temperature (GS-D200/200S) June 1994 Value Unit 42 V –40 to +105 °C +85 °C 1/7 GS-DC200 Family ELECTRICAL CHARACTERISTICS (Tamb = 25°C and VS=24V unless otherwise specified) Symbol Parameter Test Conditions Min Typ Max Unit 40 V Vs DC Supply Voltage Is Quiescent Supply Current Vi Logic Input Voltage Low High 2 0.8 5 V V Vo Logic Output Voltage Low High 2 0.8 5 V V Iph Programmable Phase Current 2 2.5 A A fc 12 150 mA GS-DC200 GS-DC200S/SS Chopper Frequency 17 tcpw Clock Pulse Width trpw Reset Pulse Width (Internal) MOTION CHARACTERISTICS kHz 5 µs 500 µs COMMUNICATION PORT CHARACTERISTICS Speed Range 10 to 10000 steps SIGNAL LINES 3(TXD, RXD, GND) Speed Resolution 10 steps BAUD RATE RANGE 110 to 9600 Ramp Length 1 to 999 steps FORMAT 1 Start Bit Ramp Resolution 1 step 7 Data Bit Positioning Range (GS-DC200/S) 0 to 9999999 2 Stop Bit Positioning Range (GS-DC200SS) –8388608 to +8388607 Odd Parity Single Movement Range 1 to 999999 steps Positioning Resolution 1 step Positioning Repeatibility ± 0 step Program Storage Capability 119 Bytes 2/7 GS-DC200 Family Figure 1. GS-DC200, GS-DC200S and GS-DC200SS Block Diagram Fig. 2 - GS-DC Stepper Motor Driver/Controller Board Dimensions in mm 3/7 GS-DC200 Family Fig. 3 - GS-DC200, GS-DC200S and GS-DC200SS Schematic Diagram 4/7 GS-DC200 Family GS-DC FAMILY BUS CONNECTOR PINS DESCRIPTION The GS-DC family uses a 32 pin (16+16) DIN 41612-VG 95324 male connector and a RS-232 connector. DIN BUS CONNECTOR (J1) Row a Signal Pin Row c Signal 1 Ground Not used 2 Ground Not used 3 Ground Power driver enable input 4 Ground Power driver control input 5 Ground Half/Full step select 6 Ground User input 3 7 Ground User input 2 8 Ground User output 3 9 Ground User input 1 10 Ground User output 2 11 Ground End-of-travel switch 12 Ground User output 1 13 Ground Home switch 14 Ground Prog. under execution output 15 Not used Not used 16 Not used Not used 17 Not used Not used 18 Not used Not used 19 Not used Not used 20 Not used Not used 21 Phase D output Phase D output 22 Phase C output Phase C output 23 Phase B output Phase B output 24 Phase A output Phase A output 25 Step enable input Stop enable input 26 Ramp in execution logic output Ramp in execution logic output 27 Motor moving Motor moving 28 +5V output +5V output 29 Supply voltage Supply voltage 30 Supply voltage Supply voltage 31 Supply ground Supply ground 32 Supply ground Supply ground 5/7 GS-DC200 Family RS-232 CONNECTOR (J2 - DB9) Pin 1 Ground Pin 2 Received data input Pin 3 Transmitted data output Pin 7 Ground GS-DC FAMILY HARDWARE AVAILABLE COMMANDS Dip switch configuration selection (0=OFF 1=ON) S1 S2 S3 Address Protocol 0 0 0 – Point-to-point 1 0 0 1 Multipoint 0 1 0 2 Multipoint 1 1 0 3 Multipoint 0 0 1 4 Multipoint 1 0 1 5 Multipoint 0 1 1 6 Multipoint 1 1 1 7 Multipoint S4 S5 S6 Baud rate 0 0 0 110 1 0 0 150 0 1 0 300 1 1 0 600 0 0 1 1200 1 0 1 2400 0 1 1 4800 1 1 1 9600 S7 Checksum 1 Disable 0 Enable S8 Stand alone operation 1 Enable 0 Disable Note: Switch position 9 is not used. S10 0 Not connected 1 Connected Rx 6/7 RS232 TXD pull-dow n Phase peak current programming GS-DC200 Family USER NOTES To correctly operate the GS-DC boards family, it is recommended to read the following data sheets: GS-C200/200S; GS-D200/200S; GS-C200 PROG. Supply Voltage The recommended operating maximum supply voltage must include the ripple voltage on the Vs supply rail and it must not exceed 40V to avoid permanent damage to the board. The boards have internal capacitors connected between the supply and ground pins to assure the electrical stability. These capacitors cannot handle high values of current ripple and they would be permanently damaged if the voltage source impedance is not adequately low. The use of a low ESR, high current ripple, 470µF/50V capacitor located as close as possible to the board is recommended. Suitable units are the Sprague type 672 D or 678 D, the RIFA type PEC 126 or any equivalent unit. Board Protections The GS-DC200 board is protected against occasional or permanent short circuits to the supply voltage of the phase output pins. The GS-DC200S and GS-DC200SS are protected also against short circuits to ground or to another phase output. For the GS-DC200S and GS-DC 200SS the protection is of the latching type i.e. when an overload occurs, the board is automatically disabled. To restart the operations, the supply voltage must be switched off for at least 100 ms. Motor Connection When long wires are needed to connect a remote motor, it is recommended to use twisted pair cables with a proper cross section to minimize DC losses and RFI problems. Phase Current Programming The maximum output current/phase can be programmed by changing the value of the Rx resistor. The factory setting is for maximum current of 1 A GS-DC 200 2 A GS-DC200S / GS-DC200SS. The new value of Rx resistor for a different value of maximum phase current I (A) can be calculated according to the following formulas: GS-D200 I > 1,07 Rx = [ 10 – I ] kΩ Rx ≥ 8.2KΩ (0.993 ∗ I) –1 Rx = [ I ] kΩ 1– (0.993 ∗ I) Rx = [ 10 − (0.33 ∗ I) ] kΩ Rx ≥ 50KΩ (0.473 ∗ I) –1 Rx = [ I ] kΩ 3.03– (1,43 I) I < 1,07 GS-D200S I > 2,11 I < 2,11 The maximum programmed current must not exceed 2.0A for the GS-DC200 and 2.5A for the GS-DC200S/GS-DC200SS. Thermal Characteristics The maximum power dissipation occurs on the GS-D200/GS-D200S modules used on the boards. The thermal resistance case-to-ambient of the integral heatsink of these modules is 5°C/W. This means a 50°C temperature increase of the heatsink if the internal power dissipation is 10W. The maximum allowed heatsink temperature is 85°C. Therefore, according to the ambient temperature and/or the internal power dissipation, forced ventilation may be required. Programming To correctly program motion sequences, see the GS-C200/200S and/or GS-C200 PROG data sheets. Information furnished is believed to be accurate and reliable. However, SGS-THOMSON Microelectronics assumes no responsibility for the consequences of use of such information nor for any infringement of patents or other rights of third parties which may result from its use. No license is granted by implication or otherwise under any patent or patent rights of SGS-THOMSON Microelectronics. Specification mentioned in this publication are subject to change without notice. This publication supersedes and replaces all information previously supplied. SGS-THOMSON Microelectronics products are not authorized for use as critical components in life support devices or systems without express written approval of SGS-THOMSON Microelectronics. 1994 SGS-THOMSON Microelectronics – All Rights Reserved SGS-THOMSON Microelectronics GROUP OF COMPANIES Australia - Brazil - China - France - Germany - Hong Kong - Italy - Japan - Korea - Malaysia - Malta - Morocco - The Netherlands Singapore - Spain - Sweden - Switzerland - Taiwan - Thailand - United Kingdom - U.S.A. 7/7