3.5 Amp Bi-polar stepper motor drive MSE570 The MSE570 is a low cost high performance Eurocard Bi-polar drive designed for mounting in 3U high Euro-racks. Ideally suited for use with Nema size 23 & 34 stepper motors, the unit provides a wide range of current options. Designed for use by original equipment manufacturers, the unit provides a reliable and economic in-service proven’ drive solution. Furthermore, the MSE570 design enables users to customise the unit to meet their exact requirements by providing a series of upgrade options which can easily be implemented. Efficient chopped constant current drive The MSE570 features a chopped constant current output stage with on-board current settings from 0.5 to 3.5 Amps per phase to meet the requirements of virtually any 2 or 4 phase hybrid stepper motor in the Nema 17, 23 & 34 frame sizes. The use of chopped constant current drive techniques eliminate power consuming series resistors normally associated with low cost drives. Furthermore, the output current may be reduced via an external input when the motor is at standstill to reduce temperature rise in the drive and the motor. The drive is designed for use with rail voltages from 24 to 35 Vdc such as MSE173 when up to 4 drives can be incorporated in a single rack together with the power supply. For high speed operation the 35 Vdc Power supply type MSE562 is recommended for single and dual axis applications depending on motor current settings. Choice of full or half step drive The MSE570 may be set to operate in full step or half step drive. Half step drive is recommended since it provides increased resolution ( 400 steps/rev. using conventional hybrid stepper motors ) together with improved smoothness and damping of motor resonance. Customising the MSE 570 to meet individual application requirements Choice of external or internal step control In most applications MSE570 will be operated in conjunction with an external control source consisting of a clock pulse train to determine rate and distance together with a direction signal. Where operation off line from the control processor is required a print on the circuit board is provided for the user to add a simple voltage controlled oscillator to facilitate manual control of the motor drive system. Thermal Protection A thermal sensor may be fitted to prevent overheating of the heatsink and output stages. The sensor, such as the Airpax type 67L080, may be clipped to the heatsink and soldered in position at location ‘SW3’ When fitted an over-temperature signal is provided @ pin 20C This condition may be latched by setting SW1-2( LT ) on. The drive may be automatically disabled on overtemperature by setting switch SW1-1 on. Status LED’s for condition monitoring Provision on the MSE 570 drive board has been made for the user to add five status LED’s. These may be soldered in location at the front edge of the board to provide a visual indication of drive condition. The function of each indicator is shown in the table. Mclennan Servo Supplies Ltd . LED 1 LED 2 LED 3 LED 4 LED 5 Green yellow Red Red Yellow Power in on Output is disabled Over-temperature fault detected Overload fault detected Home phase output Tel: +44 (0)8707 700 700 www.mclennan.co.uk Specification MSE570 Type without front panel Type with front panel Supply Voltage Current consumption Output Stage Step logic Logic Supply Voltage Output Stage Output current per phase Step logic MSE570 PM 570 15-36 + 10% max. 1-3 A 2 Phase Bi-polar Full step / half step 15-24 + 10% max Notes Amps 2 Phase Bi-polar 0.5 to 3.5 Full step / half step CMOS Schmidt trigger Volts Volts Volts Volts Vdc Vdc 0 to 2 9V to 30V max. Open collector NPN transistor 1 max. Open Circuit Regulated +12 @ 50mA max. Regulated + 5 @ 50mA max. Chopped constant current Set by on-board DIP switch Open circuit for full step @ 12V with 10KΩ pull-up resistors & diode isolation or contact closure to 0V or open circuit Referenced to 0V @ 30mA max. + 24V max. For use with on-board oscillator Mm Optional Optional Optional 100 high x 160 long x 60 Vdc Amps Vdc Control signals Logic 0: ( Low ) Logic 1: ( high ) Monitor Outputs Low Level High Level Auxiliary outputs Up-grade options On board Oscillator Thermal Protection Condition monitoring Dimensions User fit options: refer to manual Typical Connections C 2 o Std. Eurocard : Use12E wide panel External Oscillator connections * +12V Pin 26a A o VR2 high speed set Motor Supply ( 15 to 36 Vdc) 4 o o Phase A 6 o o Phase A’ 8 o o Phase B 10 o o Phase B’ 12 o o 14 o o 16 o o 18 o o 20 o o 22 o o 24 o o 26 o o 28 o o 30 o o 32 o Max ripple: 3 V peak/Peak Depending on motor selected Chopped constant current Open circuit for full step Use motor supply if < 24 Vdc Max Min 0V Pin 30a Base speed VCO input Pin 22a High speed Sync input/output Home output Direction ( cw / ccw ) input Step ( Clock ) input Full/ half step input Reset input Output disable input Current reduction input Overload output signal Over temperature output Oscillator speed control input * Oscillator clock output * Oscillator base speed input * Oscillator run/stop input * +12 Vdc output ( 50 mA) + 5 Vdc output ( 50 mA ) o Logic Supply ( 15-24 Vdc ) Connect to motor rail as shown when < 24 Vdc VR1 Base Speed set base speed Pin 24a Stop Pin 24 c Run Oscillator Frequency High / base switch 10 kHz Max typical setting high speed high run stop switch base speed 0V Common Time Connector: 32 way a & c DIN41612 type D Note* Oscillator connections when circuit is fitted to MSE 570 Printed circuit board Mclennan Servo Supplies Ltd . Tel: +44 (0)8707 700 700 www.mclennan.co.uk Stepper motor drive current settings MSE570 The motor phase current can be set to suit the motor to be driven by the use of the on-board DIP switch fitted to the MSE570. The table below shows the nominal phase currents for each setting Switch Setting SW2-1 off off off off off off off off SW2-2 off off off off on on on on SW2-3 off off on on off off on on SW2-4 off on off on off on off on Nominal Current per phase ( Amps ) 0 0.5 0.9 1.2 1.3 1.6 1.85 2.1 on on on on on on on on off off off off on on on on off off on on off off on on off on off on off on off on 2.3 2.5 2.7 2.9 3.0 3.1 3.3 3.5 Typical Motor Motor Connections 17HS-020 23HS-102 Single winding parallel 34HS-106 23HS-104 34HS-209 23HS-304 34HS-109 series parallel series parallel series 34HS-106 parallel 23HS-309 34HS-109 34HS-209 parallel parallel parallel Rack mounting power supply The MSE 562 is designed for mounting in a 3U high Eurorack and is ideal for use with the MSE570 drive card. The unit will power up to 2 small motor axes or a single axis using a 34HS size motor. For applications requiring multi-axis operation using a combination of motors requiring high current settings the MSE173 Power supply is recommended to drive up to 4 motors. MSE562 provides a 35 Vdc motor rail for optimum high speed operation using the MSE570 drive together with a 24 Vdc supply for the drive’s on-board logic circuits. Alternatively where a small motor is to be used with the PM546 Drive to obtain ultra high speed operation the 70 Vdc rail may be utilised. Specification Width Depth Mounting Connector AC Supply 142.2 mm ( 28E ) 220 mm 3U high rack installation DIN41612 type D ( 32 way a & c ) 230 / 115 Vac 50 or 60 Hz. Outputs: 5V +0.25 V 1.5A Max 100mV ripple max. 24V + 2.0 V 1.0 A Max. 2.5 V ripple max. 35V +3.0 V 3.0A Max 4.0 V ripple max. 70V +3.0 V 2.0 A Max 14.0 V ripple max. Connections: Refer to handbook Mclennan Servo Supplies Ltd . Tel: +44 (0)8707 700 700 www.mclennan.co.uk Typical Power Supply consumption @ 36 Vdc ( Amps ) 1.0 1.1 1.2 1.3 1.4 1.5 1.6 1.7 2.0 2.2 2.4 2.5 2.6 2.8 3.0 MSE562 23HS-102X 40 Torque ( Ncm ) Torque ( Ncm ) Performance using MSE570 with 35Vdc supply 30 20 10 0 0 2000 4000 6000 8000 34HS-106 120 100 80 60 40 20 0 0 half steps per sec. ( 0.9 degrees ) Coils in parallel, 1.2 amps per phase 2000 4000 6000 8000 half steps per sec. ( 0.9 degrees ) Coils in parallel, 2.9 amps per phase 34HS-109 Torque ( Ncm ) Torque ( Ncm ) 23HS-104 30 20 10 0 0 2500 5000 7500 100 80 60 40 20 0 10000 0 half steps per sec. ( 0.9 degrees ) 200 150 100 50 0 2500 5000 7500 10000 half steps per sec. ( 0.9 degrees ) 0 2000 4000 6000 8000 half steps per sec. ( 0.9 degrees ) Coils in parallel, 2.3 amps per phase Coils in parallel, 3.5 amps per phase 23HS-309 34HS-209 Torque ( Ncm ) 50 40 30 20 10 0 0 4000 8000 12000 16000 half steps per sec. ( 0.9 degrees ) Coils in parallel, 3.5 amps per phase Mclennan Servo Supplies Ltd . 10000 34HS-209 60 50 40 30 20 10 0 Torque ( Ncm ) Torque ( Ncm ) 7500 Coils in parallel, 3.5 amps per phase 23HS-304 Torque ( Ncm ) 5000 half steps per sec. ( 0.9 degrees ) Coils in parallel, 2.1 amps per phase 0 2500 200 150 100 50 0 0 1000 2000 3000 half steps per sec. ( 0.9 degrees ) Coils in series, 2.1 amps per phase Tel: +44 (0)8707 700 700 www.mclennan.co.uk