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GS-D500A
100V/5A STEP AND MICROSTEP DRIVE BOARD FOR STEPPER MOTORS
FEATURES 100V Operating Supply Voltage 5A/phase peak current 5, 25, 125 microsteps/step Full step and half step operation User selectable phase current 90 out of phase chopping to save power consumption Galvanic isolation Full output protection against short-circuits Thermal and undervoltage protection Step clock in excess of 200kHz Fault indication output Special circuit to reduce midrange instability
DESCRIPTION The GS-D500A is a member of the SGS-THOMSON family of stepper motor driver modules and boards. It drives motors in full step, half step and microstep mode. On top of that if offers an unusua lly large number of features that allow a complete control of the
electromechanical characteristics of the motion system to obtain optimum performance. The powermos output stages offer both low conduction and commutation losses for increased efficiency; this, combined with a complete protection scheme, results in an extremely rugged unit suitable for harsh environment operation.
ABSOLUTE MAXIMUM RATINGS
Symbol Vs Vss lph li Vis Tstg Thop DC Supply Voltage DC Logic Supply Voltage Output Current per Bridge Logic Input Current Isolation Voltage Storage Temperature Range Operating Heatsink Temperature Parameter Value 110 13 6 30 500 - 20 to +85 +85 Unit V V Apk mA V C C
Note: Absolute maximum ratings are limit values above which the unit can be permanently damaged * Thermal protection intervention @ Th > 90C
June 1994
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ELECTRICAL CHARACTERISTICS (Tamb = 25C and Vs = 24V unless otherwise specified)
Symbol Vs Vss Iph li Vsl Iosl fc Parameter DC Supply Voltage DC Logic Supply Voltage Phase Current per Output* Logic Input Current On board Logic Supply Output On board Logic Supply Current Output Clock Pulse Frequency 4.75 Test Conditions Min 12 11.5 0.5 10 5 5.25 100 200 12 Typ Max 100 12.5 5 Unit V V A mA V mA kHz
* Output Shorts Protection phase-to-phase, phase-to-ground. Note: the unit requires an input filtering capacitor in the range of 4700 to 10000 F/100V, with low ESR and located as close as possible to the board.
Figure 1. Signals timing
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Figure 2. Block diagram
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MECHANICAL DATA (dimensions are in millimeters)
GS-D500A HARDWARE AVAILABLE COMMANDS
SW1, SW2, SW3 SW4 SW5 SW6 R42 R43 Microsteps/step programming Phase peak current selection Midrange stabilization ON/OFF Current reduction at rest Phase AB current programming Phase CD current programming
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GS-D500A CONNECTORS PINS DESCRIPTION CONNECTOR J1 J1-1 J1-2 J1-3 J1-4 J1-6 Phase A output Phase B output Phase C output Phase D output Ground J3-4 J3-5 J3-6,7 J3-8 Microsteps/step rate remote programming (SW1). On board +5V output Return path for on board +5V output Disable input (see fig. 6): a logic high level applied to this input causes the power driver outputs to float. This condition allows the manual positioning of the system. Care must be used when this input is activated because the detention torque is lost. Optocoupler supply voltage Zero current control isolated input (see fig. 5): when activated the phase current is reduced to zero Microsteps/step rate remote programming (SW2) Fault logic output (see fig. 9): this ouput is at a low logic level whenever an anomalous condition is detected. Microsteps/step rate remote programming (SW3)
CONNECTOR J2 J2-1 J2-3 J2-2,4 Motor Supply Voltage Auxiliary Supply Voltage (+12V) Ground J3-12 J3-13 J3-9 J3-10
CONNECTOR J3 Pin Function J3-1 Step clock isolated input (see fig. 3): this is a logic input that performs the step function, i.e. on every transition of this input the motor is moved one step in the proper direction. J3-2 Direction isolated input (see fig. 4): the logic state applied to this pin decides the rotation direction of the motor shaft.
J3-15
Figure 3. Stepclock input circuit
Figure 4. Direction input circuit
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Figure 5. Zero current input circuit Figure 6. Disable input circuit
A - GS-D500A DESCRIPTION The GS-D500A is a complete subsystem to drive stepper motors either in full step or microstep mode. A very large number of auxiliary functions has been included to allow extreme simplicity and flexibility in use. Particular care has been devoted to protections, so that the GS-D500A can be safely used in very harsh environments. In addition to the obvious function to drive the motor phases in a chopping mode, the following functions have been implemented: Sine/cosine generation Selection of three different microsteps/step rates Selection of full/half step drive Programming of peak phasecurrent to optimize the torque
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Automatic phase current reduction at rest (selectable) Full protection against short-circuit between phase-to-phase and phase-to-ground Thermal and undervoltage protection Galvanic isolation of 3 input signals (clock, direction, zero current). Fault indication output On board auxiliary voltages generation Midrange stability circuitry (selectable)
As a result, the GS-D500A can provide up to 5A per phase and, in its simplest application, just three command signals are required: step clock, direction, disable.
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A1 - SUPPLY VOLTAGE
THE POWER SUPPLY MUST BE TURNED OFF WHEN PLUGGING OR UNPLUGGING THE BOARD
The supply pins are: J2-1 for Motor Supply Voltage J2-3 for Auxiliary Voltage J2-2,4 for Ground rail The other supply voltages needed by the boards are internally generated. If an undervoltage condition is detected (Vs < 10V) the GS-D500A is automatically disabled and a led is activated. The Motor Supply voltage is in the range from 12 to 100V, the Auxiliary voltage from 11 to 13V. At power-on the Auxiliary Supply voltage must be applied before the Motor Supply voltage, while at power-off the Motor Supply voltage must be removed before the Auxiliary voltage. A2 - FULL-STEP/HALF-STEP/MICROSTEP PROGRAMMING BY HARDWARE The number of microsteps per step is field programmable. The digitized sine and cosine functions, required by a microstepping control, are stored in a Lock-Up-Table inside the GS-D500A. Two options are provided for the proper microsteps/step rate selection. Three switches (SW1, SW2, SW3) are available on the front edge of the board. The full-step/half-step/microstep mode is defined by the following table. To operate the logic pins of the J3 connector, the three internal switches must be in the OFF state. A3 - CURRENT REDUCTION AT REST Phase current can be reduced when the motor is stopped if SW6 is open. Current reduction is operative about 1 second after the last clock pulse. A2.1 - MICROSTEP PROGRAMMING BY HOST COMPUTER The microsteps/step rate can also be remotely changed by using the three logic inputs available on the J3 connector (pins 4,12 and 15) that corresponds, respectively, to SW1, SW2, SW3. The interactionbetween logic signals and hardware switches is shown in fig. 4. Figure 7. Remote microstepping programming
SW1 OFF ON ON OFF ON
SW2 ON ON OFF ON ON
SW3 OFF OFF ON ON ON Half step
MODE
125 microsteps/step 25 microsteps/step 5 microsteps/step Full step
The switches are in OFF condition when the knob is pulled versus the board edge. Invalid combinations disable the board.
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A4 - SETTING OF THE DIRECTION POLARITY The rotation direction signal must be applied at pin J3-3. The direction (CW or CCW) depends on the status of the direction signal as shown in the following table:
DIR. SIGNAL HIGH LOW ROTATION CCW CW
A6 - MIDRANGE STABILITY A particular circuitry is implemented on the board to avoid midrange oscillations. This circuit is inserted on the current control loop when SW5 is OFF. A7 - CURRE NT SEL ECTI ON I N MICROSTEP/CONSTANT CURRENT SWITCHING (SW4) When the board is used to drive a motor in microstep mode, an automatic switching from sinusoidal/cosinusoidal current to constant current is performed when the sinusoidal output waveform excee ds 500Hz. The constant output current can be chosen to be 0.707 of the peak current or the peak current: this possibility is given by SW4. (See fig. 8).
SW4 OFF SW4 ON 0.707 x Ipeak Ipeak
A5 - PHASE CURRENT PROGRAMMING The phase current can be programmed by means two on-board trimmer called R42 and R43 (see mechanical drawing). R42 programs the current in phase AB, while R43 programs the current in phase CD.
An histeresys is inserted on the 500Hz threshold to avoid unwanted oscillations. Figure 8. Current selection by SW4
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A8 - OUTPUT OVERLOAD AND SHORT CIRCUIT PROTECTION To prevent permanent damage to the GS-D500A, three protections have been implemented against overload and short circuits between: - output to output - output to ground When one of these adverse conditions occurs, the driver of the output H-bridges is disabled for about 500ms and the condition is signaled by the FAULT signal. A9 - FAULT SIGNAL The FAULT signal is available at pin J3-13. When a fault is present, pin 13 goes low versus pins 6,7. Whenever the FAULT signal is activated, the led provided in the front edge of the module is switched ON. The FAULT signal is active (low) when: - the supply voltage is lower than 12V - the heatsink temperature is higher than 90C - an output overload is present - a disable is active.
Figure 9 - FAULT signal output circuit
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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. (c) 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.
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